Pre-emptive versus non-pre-emptive real time scheduling in intelligent mobile robotics

Autonomous and semi-autonomous mobile robots have to perform a multiplicity of concurrent activities in order to carry out useful tasks in unstructured human-populated environments. Even if it is commonly accepted that a successful accomplishment of assigned tasks requires some sort of real time capability to quickly react and adapt to environmental changes, it is not clear which operating system support is best suited for the scheduling and synchronizing of concurrent activities with different timing requirements. This paper discusses this problem, comparing two different real time scheduling policies for autonomous robot applications: pre-emptive rate monotonic and non pre-emptive Earliest Deadline First (EDF). Experimental results are presented and evaluated.     

Numerical analysis of a synchronization phenomenon: Pedestrian–structure interaction

The pedestrian–structure interaction is considered by developing a non-linear double pendulum model, representing the lateral walking of the pedestrian and the horizontal vibration mode of the structure. To understand the synchronization phenomenon, the two oscillators were considered in their phase spaces, and a ring-dynamics approach was applied. As synchronization occurs, pedestrian motion becomes in phase quadrature with a quarter-of-period in advance of the bridge motion: this ensures stability of walking conditions on a moving deck, but causes random cancellation of forces typical of an incoherent crowd. Correspondingly, the lateral force transmitted to the structure increases its value, approaching resonance conditions.     

A non-linear and distributed modelling procedure of fets

This paper describes a rigorous and systematic procedure to derive a non-linear distributed FET model that an easily be implemented in CAD routines of simulators based on harmonic balance techniques. The new model is derived from a knowldge of the conventional linear lumped equivalent circuit, from non-linear current sources extracted with pulsed measurements, and from the physical dimensions of the FET. For fundamental and haromonic requencies, the FET is modelled by N identical cells. Each cell is made up of a non-linear two-port section inserted between two linear four-port sections that simulate the coupling and the distributed effects along the electrodes of the FET in the width direction only. This non-linear distributed scaling approach to FET modelling has been applied to the analysis of a submicrometre-gate GaAs FET at Millimetre-wave frequencies, and the results were compared to the non-linear lumped element approach. This approach can be applied to other transistors used in non-linear regions at microwave and millimetre-wave frequencies.     

Comparison of bioactive phytochemical content and release of isothiocyanates in selected brassica sprouts

The consumption of brassica sprouts as raw vegetables provides a fair amount of glucosinolates (GLs) and active plant myrosinase, which enables the breakdown of GLs into health-promoting isothiocyanates (ITCs). This study reports the determination of the main constituents related to human health found in edible sprouts of two Brassica oleracea varieties, broccoli and Tuscan black kale, and two Raphanus sativus varieties, Daikon and Sango. Radish sprouts exhibited the highest ability to produce ITCs, with Daikon showing the greatest level of conversion of GLs into bioactive ITCs (96.5%), followed by Sango (90.0%). Tuscan black kale gave a value of 68.5%, whereas broccoli displayed the lowest with 18.7%. ITCs were not the exclusive GL breakdown products in the two B. oleracea varieties, since nitriles were also produced, thus accounting for the lower conversion observed. Measuring the release of plant ITCs is a valuable tool in predicting the potential level of exposure to these bioactive compounds after the consumption of raw brassica sprouts.     

Proteome changes in lamb semimembranosus muscles associated with the inclusion of sunflower cake in their diet

A diet based on sunflower cake for lambs was assayed in order to reuse biodiesel industrial by-products with the aim of reducing livestock costs and evaluating their influence on meat quality. To achieve these goals, sixteen male lambs were fed diets containing different levels of sunflower cake (control, 5%, 10% and 15%). Afterwards, their semimembranosus muscles were analysed by two-dimensional electrophoresis coupled to mass spectrometry and their functional protein association was examined using STRING. Structural and metabolic proteins in the lambs’ proteomes changed significantly according to their diet. Fifteen proteins showed significant changes caused by the inclusion of sunflower cake, and the most differentially abundant structural proteins were detected in 2-DE gels from the lambs. Differentially abundant metabolic proteins such as ENO3 (enolase 3), MDH1 (malate dehydrogenase) and ALDH1A1 (retinal dehydrogenase) have been proposed as biomarkers of quality parameters in other species.     

Capture of UAVs Through GPS Spoofing Using Low-Cost SDR Platforms

Wireless Personal Communications - The increased use of unmanned aerial vehicles (UAVs), better known as drones, by civilians has grown exponentially and their autonomous flight control systems...     

Pulsed Vacuum Osmotic Dehydration of Beetroot,Carrot and Eggplant Slices: Effect of Vacuum Pressure on the Quality Parameters

Pulsed vacuum osmotic dehydration (PVOD) is a widely used technique for reducing moisture content and water activity in biological products. This study aimed to analyze the effect of vacuum application (VA) on PVOD of beetroot, carrot, and eggplant slices, with respect to chemical (moisture, water activity, specific pigments, polyphenols, and sodium content), optical (color), mechanical (shrinkage, maximum stress, and elasticity), and structural (microstructure) properties. PVOD was conducted at three different vacuum pressures (0, 40, and 80 kPa, for 10 min), during a total process time of 300 min. Osmotic processing was performed at 35 °C by using a ternary osmotic solution [40% sucrose +?10% sodium chloride (w/w)]. Eggplant and carrot samples were more sensitive to VA, compared to beetroot. This was related to their porous and less compact structure. In general, VA reduced the moisture content and water activity and preserved the carotenoid content. VA caused loss of betalain and phenolic acid, favored sodium uptake, and induced significant changes in the optical, mechanical, and structural properties, compared to the osmotic processing conducted at atmospheric pressure.     

Malignant Transformation of Giant Cell Tumour of Bone: A Review of Literature and the Experience of a Referral Centre

Giant cell tumour of bone (GCTB) is a benign, locally aggressive primary bone neoplasm that represents 5% of all bone tumours. The principal treatment approach is surgery. Although generally GCTB is considered only a locally aggressive disease, it can metastasise, and lung metastases occur in 1–9% of patients. To date, only the use of denosumab has been approved as medical treatment for GCTB. Even more rarely, GCTB undergoes sarcomatous transformation into a malignant tumour (4% of all GCTB), but history of this malignant transformation is unclear and unpredictable. Considering the rarity of the event, the data in the literature are few. In this review, we summarise published data of GCTB malignant transformation and we analyse three cases of malignant transformation of GCTB, evaluating histopathology, genetics, and radiological aspects. Despite the rarity of this event, we conclude that a strict follow up is recommended to detect early malignant transformation.