Simultaneous maximum-likelihood calibration of odometry and sensor parameters

For a differential-drive mobile robot equipped with an on-board range sensor, there are six parameters to calibrate: three for the odometry (radii and distance between the wheels), and three for the pose of the sensor with respect to the robot frame. This paper describes a method for calibrating all six parameters at the same time, without the need for external sensors or devices. Moreover, it is not necessary to drive the robot along particular trajectories. The available data are the measures of the angular velocities of the wheels and the range sensor readings. The maximum-likelihood calibration solution is found in a closed form

Analysis of Adaptive Traffic Control Systems Design of a Decision Support System for Better Choices

open3siNear half of the world population lives in cities. For many years big cities have faced the dif culties caused by junctions. Junctions and congestion are the cause of many other problems, like air pollution, time waste, delays, increased average trip time, decreased average cruise speed, increased fuel consumption and many others. These important issues cost a lot to governments in terms of both time and money. Cities suffer from the well-known problem of xed-time planning for traf c signals at intersections. In this paper the authors went through these problems and discussed about the dif culties of xed-time plan traf c lights and their solutions. Adaptive traf c control systems are one of the soltions which are exactly opposite to xed-time plans. Four different adaptive traf c control systems will be discussed. Each of them has unique characteristics that make it worthy to compare. The general architecture of these systems is based on a similar concept, but there is a great number of general and detailed differences that makes them interesting to compare. By making a deep comparison between these systems, which is one of the outputs of this research, governments and the authorities in charge can have an appropriate reference to look for their bene ts and choose an adaptive traf c control system to apply to their networks.Studer, Luca; Ketabdari, Misagh; Marchionni, GiovannaStuder, LUCA PASINO; Ketabdari, Misagh; Marchionni, Giovann

La Gestione dei trasporti in emergenza: attività, prodotti e risultati dell'esercitazione nazionale di Protezione Civile in Valtellina

L'articolo riporta l’esperienza maturata dal Laboratorio Mobilità e Trasporti del Politecnico di Milano in qualità di Centro di Competenza per la Gestione e la Sicurezza dei Trasporti per il Dipartimento di Protezione Civile Nazionale durante l’esercitazione nazionale di Protezione Civile in Valtellina. Le attività svolte, i prodotti realizzati e utilizzati ma soprattutto i risultati e l’esperienza emersi da una esercitazione temporalmente estesa e di estremo rilievo in ambito di Protezione Civile, si ritiene siano ancora estremamente attuali e utili come esempio per la gestione dei trasporti in caso di emergenze rilevanti

Introduzione

L'introduzione inquadra il tema del libro e spiega l'articolazione in tre parti. La prima offre un glossario di 21 parole chiave legato ai due temi portanti delle ricerche condotte durante la Summer School, la contrazione e il camminare. Il proposito dei piccoli saggi che compongono questa parte è quello di restituire al lettore un terreno di riflessioni utili a ragionare sulle implicazioni spaziali della contrazione e sui risvolti metodologici del camminare come preciso punto di vista attraverso il quale osservare e rintracciare i segni dello svuotamento e della dismissione nei territori contemporanei. La seconda parte offre un saggio fotografico di Daniele Cinciripini e Serena Marchionni realizzato durante la Summer School Recycland, che intende descrivere il paesaggio attraversato come palinsesto ed evocarne l’attuale stato potenziale. La terza ed ultima parte presenta una panoramica delle ricerche condotte dalle studentesse e dagli studenti partecipanti alla Summer School attraverso una selezione dei materiali inclusi negli elaborati finali, introdotti da brevi saggi di inquadramento scritti dai tutor che hanno seguito il lavoro dei gruppi

Road Users Exposed to Harm from Transportation of Dangerous Goods - Definition and Estimation

The Italian Interreg Project DESTINATION was intended to acquire data on the transportation of dangerous goods and use them, developing a tool to protect the territory. The Project developed a risk analysis model for examination and assessment of the elements exposed to harm in the event of accident scenarios involving hazardous substances. Defining the risk model, the need emerged for a procedure able of explicitly estimating the number of road users that could be affected in case of dangerous goods accident. After a brief presentation of the risk model, this paper describes the method adopted for the quantification of the possible involved road users, in coherence with the Project’s objectives and requirements. Due to the specific nature of the subject, it was necessary to consider parameters not included in traditional vehicle queuing models, such as the possibility of assessing users in transit on roads not directly affected by the accident and of differentiating analyses depending on the temporal development of the event (instantaneous vs. noninstantaneous events)

Possible Impacts of C-ITS on Supply-Chain Logistics System

The purpose of this research is to introduce an analysis, which is qualitative and whenever possible quantitative, on how Cooperative Intelligent Transport Systems (C-ITS) can affect a Supply-Chain Logistics System by adopting a three-level approach. Considerations are made on the role and importance of Logistics within a company, its cost structure and the strategic relevance it assumes within the Supply-Chain, while considering its evolution from a Physical Distribution Management to a Supply-Chain Management. The increasing importance of logistics requires more sophisticated solutions to reduce or optimize its costs, as well as to find new opportunities to redesign the network configuration and the value-chain. These applications require a careful evaluation method in order to assess their effective adoption. The research is based on a literature review of the most relevant European Road ITS and C-ITS projects evaluation methods and benefits. The result of the investigation is an analysis that classifies the impact of C-ITS on the structure of the Supply-Chain according to different levels. Firstly, the paper reports the different impacts of a large-scale C-ITS deployment on the Logistics cost structure of a company and more in general, on the expected costs. After that, a second level of analysis deals with a possible redesign of the Distribution Network, oriented to the optimization of transportation costs over long distances. Finally, the third step of the analysis investigates a possible impact of C-ITS on the value-chain from several perspectives within the different roles of the subjects involved in the Supply Chain

Cefiderocol treatment for carbapenem-resistant Acinetobacter baumannii infection in the ICU during the COVID-19 pandemic: a multicentre cohort study

open16noFunding: This study was carried out as part of our routine work and supported by internal funding.Objectives: To analyse the impact of cefiderocol use on outcome in patients admitted to the ICU for severe COVID-19 and further diagnosed with carbapenem-resistant Acinetobacter baumannii (CR-Ab) infection.Methods: Retrospective multicentre observational study was performed at four Italian hospitals, from January 2020 to April 2021. Adult patients admitted to ICU for severe COVID-19 and further diagnosed with CR-Ab infections were enrolled. Patients treated with cefiderocol, as compassionate use, for at least 72 h were compared with those receiving alternative regimens. Primary endpoint was all-cause 28 day mortality. The impact of cefiderocol on mortality was evaluated by multivariable Cox regression model.Results: In total, 107 patients were enrolled (76% male, median age 65 years). The median time from ICU admission to CR-Ab infection diagnosis was 14 (IQR 8-20) days, and the main types of CR-Ab infections were bloodstream infection (58%) and lower respiratory tract infection (41%). Cefiderocol was administered to 42 patients within a median of 2 (IQR 1-4) days after CR-Ab infection diagnosis and as monotherapy in all cases. The remaining patients received colistin, mostly (82%) administered as combination therapy. All-cause 28 day mortality rate was 57%, without differences between groups (cefiderocol 55% versus colistin 58% P = 0.70). In multivariable analysis, the independent risk factor for mortality was SOFA score (HR 1.24, 95% CI 1.15-1.38, P < 0.001). Cefiderocol was associated with a non-significant lower mortality risk (HR 0.64, 95% CI 0.38-1.08, P = 0.10).Conclusions: Our study confirms the potential role of cefiderocol in the treatment of CR-Ab infection, but larger clinical studies are needed.openPascale, Renato; Pasquini, Zeno; Bartoletti, Michele; Caiazzo, Luca; Fornaro, Giacomo; Bussini, Linda; Volpato, Francesca; Marchionni, Elisa; Rinaldi, Matteo; Trapani, Filippo; Temperoni, Chiara; Gaibani, Paolo; Ambretti, Simone; Barchiesi, Francesco; Viale, Pierluigi; Giannella, MaddalenaPascale, Renato; Pasquini, Zeno; Bartoletti, Michele; Caiazzo, Luca; Fornaro, Giacomo; Bussini, Linda; Volpato, Francesca; Marchionni, Elisa; Rinaldi, Matteo; Trapani, Filippo; Temperoni, Chiara; Gaibani, Paolo; Ambretti, Simone; Barchiesi, Francesco; Viale, Pierluigi; Giannella, Maddalen