A Particle Filtering Approach for Fault Detection and Isolation of UAV IMU Sensors: Design, Implementation and Sensitivity Analysis

Sensor fault detection and isolation (SFDI) is a fundamental topic in unmanned aerial vehicle (UAV) development, where attitude estimation plays a key role in flight control systems and its accuracy is crucial for UAV reliability. In commercial drones with low maximum take-off weights, typical redundant architectures, based on triplex, can represent a strong limitation in UAV payload capabilities. This paper proposes an FDI algorithm for low-cost multi-rotor drones equipped with duplex sensor architecture. Here, attitude estimation involves two 9-DoF inertial measurement units (IMUs) including 3-axis accelerometers, gyroscopes and magnetometers. The SFDI algorithm is based on a particle filter approach to promptly detect and isolate IMU faulted sensors. The algorithm has been implemented on a low-cost embedded platform based on a Raspberry Pi board. Its effectiveness and robustness were proved through experimental tests involving realistic faults on a real tri-rotor aircraft. A sensitivity analysis was carried out on the main algorithm parameters in order to find a trade-off between performance, computational burden and reliability

Dissecting CYP1A2 Activation by Arylalkanoic Acid Prodrugs toward the Development of Anti-Inflammatory Agents

Arylalkane-derived prodrugs of arylacetic acids are a small group of substances that have long been known for their anti-inflammatory action. Despite their ease of synthesis and good potential for the development of new potent and safe anti-inflammatory agents, this group of substances has not received much attention from researchers so far. Therefore, representative arylalkane derivatives were investigated through molecular docking techniques to verify the possible hepatic activation mode toward active metabolites by CYP1A2. In this regard, arylalkanoic acid prodrugs were docked with a crystallographic structure of human CYP1A2, in which the enzyme is co-crystallized with the selective competitive inhibitor α-naphthoflavone BHF. Of note, all the examined compounds proved capable of interacting with the enzyme active site in a manner similar to Nabumetone, thus confirming that a productive metabolic transformation is feasible. On the basis of these findings, it is possible to argue that subtle differences in the way CYP1A2 accommodates the ligands depend on the fine details of their molecular structures. Overall, these data suggest that compounds simply formed by an aromatic moiety bearing an appropriate alkane-derived chain could lead to innovative anti-inflammatory agents

Pitfalls in respiratory allergy management: alexithymia and its impact on patient-reported outcomes.

OBJECTIVES: Alexithymia is a personality trait characterized by a limited ability to identify and express emotions and it represents a possible risk factor for disease development and management. The objective of the study is to evaluate alexithymia in patients with persistent asthma and comorbid rhinitis and its relation with patient-reported outcomes (PROs). METHODS: Alexithymia, quality of life, illness perception, and stress were assessed, as well as rhinitis symptoms and asthma control in out-patients classified according to GINA and ARIA guidelines. RESULTS: Out of 115 patients, 19% turned out to be alexithymic (TAS-20 ≥ 61). Concerning alexithymia level, no difference was detected between males and females (χ(2) = 0.317) and among GINA levels (χ(2) = 0.22). Alexithymics had significantly lower Asthma Control Test scores when compared with non-alexithymics (15.86 vs. 19; p = .02). Alexithymics had a worse quality of life (p .001), and inertia (p < .001). CONCLUSION: Alexithymia is present in a relevant percentage of subjects and, as it can modulate illness perception, quality of life, and stress, it should be considered in disease management