Visual Environment Assessment for Safe Autonomous Quadrotor Landing

openAutonomous identification and evaluation of safe landing zones are of paramount importance for ensuring the safety and effectiveness of aerial robots in the event of system failures, low battery, or the successful completion of specific tasks. In this thesis it is presented a novel approach, for detecting and assess potential landing sites for safe quadrotor landing. The proposed solution efficiently integrates both 2D and 3D environmental information and eliminates the need for external aids such as GPS and computationally intensive elevation maps. Semantic data derived from a Neural Network (NN), is combined with geometric data obtained from a disparity map, to extract environmental features and critical geometric attributes such as slope, flatness, and roughness. In particular, this method efficiently combines both metric and semantic information, making it also more robust, compared to other solutions that solely relies on one type of information only. Based on those attributes, several cost metrics are defined to evaluate safety, stability, and suitability of regions in the environments and identify the most suitable landing area. In this way we have a comprehensive evaluation of all the relevant aspects related to the safe site detection. This approach runs in real-time on quadrotors equipped with limited computational capabilities. Experimental results conducted in diverse environments demonstrate that the proposed method can effectively assess and identify suitable landing areas, enabling the safe and autonomous landing of a quadrotor in unknown environments.Autonomous identification and evaluation of safe landing zones are of paramount importance for ensuring the safety and effectiveness of aerial robots in the event of system failures, low battery, or the successful completion of specific tasks. In this thesis it is presented a novel approach, for detecting and assess potential landing sites for safe quadrotor landing. The proposed solution efficiently integrates both 2D and 3D environmental information and eliminates the need for external aids such as GPS and computationally intensive elevation maps. Semantic data derived from a Neural Network (NN), is combined with geometric data obtained from a disparity map, to extract environmental features and critical geometric attributes such as slope, flatness, and roughness. In particular, this method efficiently combines both metric and semantic information, making it also more robust, compared to other solutions that solely relies on one type of information only. Based on those attributes, several cost metrics are defined to evaluate safety, stability, and suitability of regions in the environments and identify the most suitable landing area. In this way we have a comprehensive evaluation of all the relevant aspects related to the safe site detection. This approach runs in real-time on quadrotors equipped with limited computational capabilities. Experimental results conducted in diverse environments demonstrate that the proposed method can effectively assess and identify suitable landing areas, enabling the safe and autonomous landing of a quadrotor in unknown environments

The role of the External Quality Assessment

External Quality Assessment (EQA) and Proficiency Testing (PT) are valuable tools in the quality improvement process. They provide objective evidence of laboratory competence for customers, accrediting bodies, and regulatory agencies, and serve as a unique source of information that is not obtainable in other ways. Traditional EQA/PT schemes tend to address only the analytical process (examination procedures), but some innovative schemes have been recently introduced to evaluate both pre- and post-analytical activities of the medical laboratory. The most important considerations in selecting an EQA/PT program include the evidence that: (i) samples are commutable (i.e. they behave like patient samples), (ii) reference values are traceable, (iii) method comparability with available peer groups is allowable, (iv) the size of peer group is statistically appropriate, and (v) both the timeliness and the usefulness of reports is granted. Careful evaluation of a single EQA/PT result should be coupled with active tracking of all results over time, and monitoring performances represent a challenging issue for medical laboratories. It is also important to consider that every EQA/PT scheme presents some limitations and that it is not appropriate to use EQA/PT as the sole means for evaluating laboratory quality. Therefore, there is the need to underline that internal quality control (IQC), EQA/PT and other tools have to be implemented and used to monitor and improve the quality in laboratory diagnostics

Visual Environment Assessment for Safe Autonomous Quadrotor Landing

Autonomous identification and evaluation of safe landing zones are of paramount importance for ensuring the safety and effectiveness of aerial robots in the event of system failures, low battery, or the successful completion of specific tasks. In this paper, we present a novel approach for detection and assessment of potential landing sites for safe quadrotor landing. Our solution efficiently integrates 2D and 3D environmental information, eliminating the need for external aids such as GPS and computationally intensive elevation maps. The proposed pipeline combines semantic data derived from a Neural Network (NN), to extract environmental features, with geometric data obtained from a disparity map, to extract critical geometric attributes such as slope, flatness, and roughness. We define several cost metrics based on these attributes to evaluate safety, stability, and suitability of regions in the environments and identify the most suitable landing area. Our approach runs in real-time on quadrotors equipped with limited computational capabilities. Experimental results conducted in diverse environments demonstrate that the proposed method can effectively assess and identify suitable landing areas, enabling the safe and autonomous landing of a quadrotor.Comment: 7 pages, 5 figures, 1 table, submitted to IEEE International Conference on Robotics and Automation (ICRA), 202

Cell-Based Therapies for Diabetic Complications

In recent years, accumulating experimental evidence supports the notion that diabetic patients may greatly benefit from cell-based therapies, which include the use of adult stem and/or progenitor cells. In particular, mesenchymal stem cells and the circulating pool of endothelial progenitor cells have so far been the most studied populations of cells proposed for the treatment of vascular complications affecting diabetic patients. We review the evidence supporting their use in this setting, the therapeutic benefits that these cells have shown so far as well as the challenges that cell-based therapies in diabetic complications put out

Potential Prognostic Significance of Decreased Serum Levels of TRAIL after Acute Myocardial Infarction

BACKGROUND: Since soluble TRAIL exhibits anti-inflammatory and anti-atherosclerotic activities both in vitro and in animal models, this study was designed to assess the relationship between the serum levels of TRAIL and clinical outcomes in patients with acute myocardial infarction (AMI). METHODOLOGY/PRINCIPAL FINDINGS: Levels of TRAIL were measured by ELISA in serial serum samples obtained from 60 patients admitted for AMI, both during hospitalization and in a follow-up of 12 months, as well as in 60 healthy control subjects. Serum levels of TRAIL were significantly decreased in patients with AMI at baseline (within 24 hours from admission), compared with healthy controls, and showed a significant inverse correlation with a series of negative prognostic markers, such as CK, CK-MB and BNP. TRAIL serum levels progressively increased at discharge, but normalized only at 6-12 months after AMI. Of note, low TRAIL levels at the patient discharge were associated with increased incidence of cardiac death and heart failure in the 12-month follow-up, even after adjustment for demographic and clinical risk parameters (hazard ratio [HR] of 0.93 [95% CI, 0.89 to 0.97]; p = 0.001). CONCLUSIONS/SIGNIFICANCE: Although the number of patients studied was limited, our findings indicate for the first time that circulating TRAIL might represent an important predictor of cardiovascular events, independent of conventional risk markers

Upregulation of SOCS-1 by Nutlin-3 in acute myeloid leukemia cells but not in primary normal cells

OBJECTIVE: It has been shown that SOCS-1 plays an important role in the proper control of cytokine/growth factor responses and acts as a tumor suppressor in acute myeloid leukemias. Therefore, the objective of the present study was to evaluate the in vitro effect of treatment with Nutlin-3, a small molecule inhibitor of the MDM2/p53 interaction, on the expression of the suppressor of cytokine signaling 1 in primary acute myeloid leukemia cells and in myeloid cell lines with differential p53 status. METHOD: The expression of the suppressor of cytokine signaling 1 was quantitatively analyzed by real-time PCR in myeloid p53wild-type (OCI and MOLM) and p53null HL-60, leukemic cell lines, in patient-derived acute myeloid leukemia blasts, and in primary normal cell types, such as macrophages, endothelial cells, and bone marrow mesenchymal stem cells. The p53-dependence of the suppressor of cytokine signaling 1 upregulation that is induced by Nutlin-3 was analyzed in experiments performed using siRNA for p53, while the functional upregulation of the suppressor of cytokine signaling 1 was analyzed by assessing the levels of phosphorylated STAT-3. RESULTS: Nutlin-3 significantly upregulated the transcription of the suppressor of cytokine signaling 1 in p53wild-type OCI and MOLM but not in p53deleted p53null HL60, myeloid leukemic cell lines, as well as in primary acute myeloid leukemia blasts. Conversely, and somewhat unexpectedly, Nutlin-3 did not modulate the suppressor of cytokine signaling 1 expression in primary normal macrophages, endothelial cells, and bone marrow mesenchymal stem cells. The p53-dependent upregulation of the suppressor of cytokine signaling 1 by Nutlin-3 was associated with the downregulation of phosphorylated STAT-3, a major molecular target of the suppressor of cytokine signaling 1. CONCLUSION: Overall, our data suggest a potential role for the suppressor of cytokine signaling 1 as a therapeutic target of Nutlin-3 in p53 wild-type acute myeloid leukemias

COVID-19 and individual genetic susceptibility/receptivity: Role of ACE1/ACE2 genes, immunity, inflammation and coagulation. might the double x-chromosome in females be protective against SARS-COV-2 compared to the single x-chromosome in males?

In December 2019, a novel severe acute respiratory syndrome (SARS) from a new coronavirus (SARS-CoV-2) was recognized in the city of Wuhan, China. Rapidly, it became an epidemic in China and has now spread throughout the world reaching pandemic proportions. High mortality rates characterize SARS-CoV-2 disease (COVID-19), which mainly affects the elderly, causing unrestrained cytokines-storm and subsequent pulmonary shutdown, also suspected micro thromboembolism events. At the present time, no specific and dedicated treatments, nor approved vaccines, are available, though very promising data come from the use of anti-inflammatory, anti-malaria, and anti-coagulant drugs. In addition, it seems that males are more susceptible to SARS-CoV-2 than females, with males 65% more likely to die from the infection than females. Data from the World Health Organization (WHO) and Chinese scientists show that of all cases about 1.7% of women who contract the virus will die compared with 2.8% of men, and data from Hong Kong hospitals state that 32% of male and 15% of female COVID-19 patients required intensive care or died. On the other hand, the long-term fallout of coronavirus may be worse for women than for men due to social and psychosocial reasons. Regardless of sex-or gender-biased data obtained from WHO and those gathered from sometimes controversial scientific journals, some central points should be considered. Firstly, SARS-CoV-2 has a strong interaction with the human ACE2 receptor, which plays an essential role in cell entry together with transmembrane serine protease 2 (TMPRSS2); it is interesting to note that the ACE2 gene lays on the X-chromosome, thus allowing females to be potentially heterozygous and differently assorted compared to men who are definitely hemizygous. Secondly, the higher ACE2 expression rate in females, though controversial, might ascribe them the worst prognosis, in contrast with worldwide epidemiological data. Finally, several genes involved in inflammation are located on the X-chromosome, which also contains high number of immune-related genes responsible for innate and adaptive immune responses to infection. Other genes, out from the RAS-pathway, might directly or indirectly impact on the ACE1/ACE2 balance by influencing its main actors (e.g., ABO locus, SRY, SOX3, ADAM17). Unexpectedly, the higher levels of ACE2 or ACE1/ACE2 rebalancing might improve the outcome of COVID-19 in both sexes by reducing inflammation, thrombosis, and death. Moreover, X-heterozygous females might also activate a mosaic advantage and show more pronounced sex-related differences resulting in a sex dimorphism, further favoring them in counteracting the progression of the SARS-CoV-2 infection

Circulating TRAIL Shows a Significant Post-Partum Decline Associated to Stressful Conditions

Background: Since circulating levels of TNF-related apoptosis inducing ligand (TRAIL) may be important in the physiopathology of pregnancy, we tested the hypothesis that TRAIL levels change at delivery in response to stressful conditions. Methods/Principal Findings: We conducted a longitudinal study in a cohort of 73 women examined at week 12, week 16, delivery and in the corresponding cord blood (CB). Serum TRAIL was assessed in relationship with maternal characteristics and to biochemical parameters. TRAIL did not vary between 12 (67.6627.6 pg/ml, means6SD) and 16 (64.0616.2 pg/ml) weeks ’ gestation, while displaying a significant decline after partum (49.3626.4 pg/ml). Using a cut-off decline.20 pg/ml between week 12 and delivery, the subset of women with the higher decline of circulating TRAIL (41.7%) showed the following characteristics: i) nullipara, ii) higher age, iii) operational vaginal delivery or urgent CS, iv) did not receive analgesia during labor, v) induced labor. CB TRAIL was significantly higher (131.6652 pg/ml) with respect to the corresponding maternal TRAIL, and the variables significantly associated with the first quartile of CB TRAIL (,90 pg/ml) were higher prepregnancy BMI, induction of labor and fetal distress. With respect to the biochemical parameters, maternal TRAIL at delivery showed an inverse correlation with C-reactive protein (CRP), total cortisol, glycemia and insulin at bivariate analysis, but only with CRP at multivariate analysis