An Integrated System for UAV Control Using a Neural Network Implemented in a Prototyping Board

Modern aerospace vehicles are expected to have non-conventional flight envelopes and then, in order to operate in uncertain environments, they must guarantee a high level of robustness and adaptability. A Neural Network (NN) controller, with real-time learning capability, can be used in applications with manned or unmanned aerial vehicles. In this paper a novel real-time control system, based on a NN model, in order to control the trajectories of a hexacopter is proposed. The proposed NN is optimized by the analytical calculation of the embedding parameters. The paper shows a performance evaluation, through a real experimental testbed, of the proposed approach in terms of error measures and computation of the angular velocities of the hexacopter.     

A proposal toward the development of accessible e-learning content by human involvement

Most of the existing efforts for supporting the design, preparation, and deployment of accessible e-learning applications propose guidelines that primarily address technical accessibility issues. Little, if any, consideration is given to the real actors involved in the learning experience, such as didactical experts and disabled learners. Moreover, implementing artifacts addressed to the e-learning world requires a wide range of particular skills which are related not only to technical but also to didactical, pedagogical, usability, and accessibility aspects of the produced material. This paper argues that the know-how of a number of stakeholders should be blended into a joint design activity, and that it should be possible to determine the role of each participant in the successive phases of the development lifecycle of e-learning applications. The paper sketches the methodological guidelines of a design framework based on involving the users with disabilities, as well as pedagogical experts, in the development process. The novelty of this proposal mainly stems from being built up around the core of strategies and choices specifically bound to accessibility requirements. Characteristic elements of learner-centered design are then further integrated into processes and methodologies which are typical of participatory and contextual design approaches. Following such guidelines, it will be possible to gain a deeper understanding of the requirements and of the operational context of people needing accessible material, either as learners or educators. The underlying objective is to increase the potential to realize learning systems that better meet different user needs and that provide a more satisfying learning experience. Moreover, when people get involved in the development process, they gain a sense of ownership of the system and are therefore more likely to accept and “promote” it.     

Influence of sex, estrous cycle, and drug-onset age on cocaine self-administration in rats (Rattus norvegicus).

The influence of sex, phase of the estrous cycle, and age of drug onset on cocaine self-administration was examined. Adult male, adult female, and adolescent male rats (Rattus norvegicus) were evaluated using low fixed-ratio (FR) schedules of drug delivery with a single fixed cocaine unit dose or a range of cocaine unit doses with a single FR schedule. Sex differences in adults were observed for mg/kg consumption of the 3.0-mg/kg unit dose, with consumption being significantly less in estrus females than in males. Over the estrous cycle, mg/kg consumption of this unit dose was significantly less during estrus than during metestrus-diestrus. Differences due to age of drug onset were also observed, with mg/kg consumption of the 3.0-mg/kg unit dose being significantly less in adolescent males than adult males or adult females during metestrus-diestrus. In contrast, these various groups did not have significantly different mg/kg intakes of cocaine unit doses     

SCIDDICA-SS3: a new version of cellular automata model for simulating fast moving landslides

Cellular Automata (CA) are discrete and parallel computational models useful for simulating dynamic systems that evolve on the basis on local interactions. Some natural events, such as some types of landslides, fall into this type of phenomena and lend themselves well to be simulated with this approach. This paper describes the latest version of the SCIDDICA CA family models, specifically developed to simulate debris-flows type landslides. The latest model of the family, named SCIDDICA-SS₃, inherits all the features of its predecessor, SCIDDICA-SS₂, with the addition of a particular strategy to manage momentum. The introduction of the latter permits a better approximation of inertial effects that characterize some rapid debris flows. First simulations attempts of real landslides with SCIDDICA-SS₃ have produced quite satisfactory results, comparable with the previous model.     

Global feedback stabilization of the angular velocity of a symmetric rigid body

In this paper we prove that the angular velocity equations of a symmetric rigid body can be globally stabilized by means of linear feedback when two control torques act on the body.     

A Survey of Airworthiness and Certification for UAS

The Italian SMAT project is a civilian program supported by Piemonte Region developed for the territorial monitoring and surveillance and for the prevention of natural hazards. In a different way from the previous surveillance programs, the SMAT project is based on the use of several unmanned platforms that are able to cooperate through ground coordination and control station. The flight in non-segregated airspace, needed in order to accomplish the territorial monitoring mission, is a main issue to be investigated and defined, because of the current lack of a common consensus and agreement on the regulations of UAS. The present work outlines the international initiatives that deal with the development of the regulatory framework on airworthiness and certification of UAS and their potential impact on the SMAT project.     

Formal methods integration for the specification of dependable distributed systems

This paper describes a real-world case study in the specification and analysis of dependable distributed systems. The case study is an automated transport system with safety requirements. In order to manage the complexity of the problem of specifying the dynamic behavior of the whole system, a compositional approach is used, based on the integration of the trace logic of the Communicating Sequential Processes (CSP) theory, and stochastic Petri nets (SPNs). It is argued that the integration of different formal methods is a useful approach in the definition of practical engineering methodologies for the specification, design and analysis of complex dependable distributed systems.     

Investigation of High-Velocity Suspension Flame Sprayed (HVSFS) glass coatings

High-Velocity Suspension Flame Spraying (HVSFS) has recently emerged as a potential alternative to conventional HVOF-spraying: employing liquid suspensions instead of dry powder feedstock enables the use of very fine grain-sized particles, resulting in small-sized lamellae. Thin, low-porosity coatings can thus be manufactured. This paper details the first attempt at manufacturing glass coatings using the HVSFS technique: these coatings can have multiple applications (anti-corrosion coatings on metal and ceramic substrates, bio-compatible coatings, etc). A CaO–ZrO₂–SiO₂ glass frit was selected for this attempt. Excellent potentialities emerged (very low porosity), but some problems still existed (big “droplet-like” features on the coating surface), which have recently been largely overcome thanks to process modifications.     

Unraveling the Link between Interferon-α and Systemic Lupus Erythematosus: From the Molecular Mechanisms to Target Therapies

Systemic lupus erythematosus (SLE) is a chronic, systemic autoimmune disease with a wide range of clinical expressions. The kidney is often affected, usually within 5 years of the onset of SLE, and lupus nephropathy (LN) carries a high risk for increased morbidity. The clinical heterogeneity of the disease is accompanied by complex disturbances affecting the immune system with inflammation and tissue damage due to loss of tolerance to nuclear antigens and the deposition of immune complexes in tissues. Several studies have reported that in human SLE, there is an important role of the Type-I-interferons (INF) system suggested by the upregulation of INF-inducible genes observed in serial gene expression microarray studies. This review aims to describe the transduction pathways of Type-I-interferons, in particular INFα, and its immune-regulatory function in the pathogenesis of SLE and, in particular, in LN. In addition, recent novelties concerning biologic therapy in LN will be discussed.     

Polymer Encapsulated Liposomes for Oral Co-Delivery of Curcumin and Hydroxytyrosol

Curcumin (Cur) is a hydrophobic polyphenol from the rhizome of Curcuma spp., while hydroxytyrosol (HT) is a water-soluble polyphenol from Olea europaea. Both show outstanding antioxidant properties but suffer from scarce bioavailability and low stability in biological fluids. In this work, the co-encapsulation of Cur and HT into liposomes was realized, and the liposomal formulation was improved using polymers to increase their survival in the gastrointestinal tract. Liposomes with different compositions were formulated: Type 1, composed of phospholipids and cholesterol; Type 2, also with a PEG coating; and Type 3 providing an additional shell of Eudragit^® S100, a gastro-resistant polymer. Samples were characterized in terms of size, morphology, ζ-potential, encapsulation efficiency, and loading capacity. All samples were subjected to a simulated in vitro digestion and their stability was investigated. The Eudragit^®S100 coating demonstrated prevention of early releases of HT in the mouth and gastric phases, while the PEG shell reduced bile salts and pancreatin effects during the intestinal digestion. In vitro antioxidant activity showed a cumulative effect for Cur and HT loaded in vesicles. Finally, liposomes with HT concentrations up to 40 μM and Cur up to 4.7 μM, alone or in combination, did not show cytotoxicity against Caco-2 cells.