A 2-dimensional computational model to analyze the effects of cellular heterogeinity on cardiac pacemaking

The mechanical action of the heart is made possible in response to electrical events that involve the cardiac cells, a property that classifies the heart tissue between the excitable tissues. At the cellular level, the electrical event is the signal that triggers the mechanical contraction, inducing a transient increase in intracellular calcium which, in turn, carries the message of contraction to the contractile proteins of the cell. The primary goal of my project was to implement in CUDA (Compute Unified Device Architecture, an hardware architecture for parallel processing created by NVIDIA) a tissue model of the rabbit sinoatrial node to evaluate the heterogeneity of its structure and how that variability influences the behavior of the cells. In particular, each cell has an intrinsic discharge frequency, thus different from that of every other cell of the tissue and it is interesting to study the process of synchronization of the cells and look at the value of the last discharge frequency if they synchronized.

Feeding entrainment of locomotor activity and clock gene expression in Senegalese sole, Solea senegalensis

The present study was conducted to investigate the influence of restricted food access on Solea senegalensis behaviour and daily expression of clock genes in central (diencephalon and optic tectum) and pheripheral (liver) tissues. The Senegalese sole is a marine teleost fish belonging to the Class of Actinopterygii, Order Pleuronectiformes and Family Soleidae. Its geographical distribution in the Mediterranean sea is fairly broad, covering the south and east of the Iberian Peninsula, the North of Africa and Middle East until the coast of Turkey. From a commercial perspective Solea senegalensis has acquired in recent years, a key role in aquacolture industry of the Iberian Peninsula. The Senegalese sole is also acquiring an important relevance in chronobiological studies as the number of published works focused on the sole circadian system has increased in the last few years. The molecular mechanisms underlying sole circadian rhythms has also been explored recently, both in adults and developing sole. Moreover, the consideration of the Pleuronectiformes Order as one of the most evolved teleost groups make the Senegalese sole a species of high interest under a comparative and phylogenetic point of view. All these facts have reinforced the election of Senegalese sole as model species for the present study. The animals were kept under 12L:12D photoperiod conditions and divided into three experimental groups depending on the feeding time: fed at midlight (ML), middark (MD) or random (RND) times. Throughout the experiment, the existence of a daily activity rhythm and it synchronization to the light-dark and feeding cycles was checked. To this end locomotor activity was registred by means of two infrared photocells placed in pvc tube 10 cm below the water surface (upper photocell) and the other one was located 10 cm above the bottom of the tank (bottom photocell). The photocell were connected to a computer so that every time a fish interrupted the infrared light beam, it produced an output signal that was recorded. The number of light beam interruptions was stored every 10 minutes by specialized software for data acquisition.

Effects of photoperiod and feeding regimes on Neuropeptide Y (NPY) and Agouti-related Protein (AgRP) expression in central areas of senegalese sole, Solea senegalensis

In the present study, we have tried to expand our knowledge about the endocrine mechanisms that regulate feeding and growth in cultured fish, which could be relevant for the improvement of fish farming conditions and feeding strategies. In order to reach this goal, we have investigated some orexigenic hormones, Neuropeptide Y (NPY) and the paralogues of Agouti-related protein, (AgRP1, AgRP2) in Solea senegalensis, an important species for Mediterranean aquaculture. We focused on hormones synchronization to different feeding regimes (diurnal vs nocturnal and random feeding) and photoperiod (light-dark cycle vs constant darkness). Therefore, the achieved results could also be relevant from a chronobiological perspective. Solea senegalensis specimen were reared in two different photoperiods, i.e.LD Light-Dark conditions as well as in DD conditions (constant darkness) along with different feeding regimes (fed at ML, Med and RND times), so to determine if mRNA expression of orexigenic hormones (NPY, AgRP1 and AgRP2) are entrained by feeding time and/or photoperiod. Our results show an independence of npy mRNA expression from the feeding time and suggest an endogenous control of npy expression in telencephalon of sole, while in optice tectum, npy expression could be entrained by the light-dark cycle. Our results on Senegalese sole AgRP1 and AgRP2 showed the same pattern of expression, indicating that expression of AgRPs is related to photoperiod in optic tectum, instead to feeding time. However the involvement of AgRP1 and AgRP2 in feeding behaviour should not be discarded in sole, as further research will be carried out with specimens maintained under different fasting conditions. our results reinforce the role of the telencephalon as the main neural area involved in the neuroendocrine control of food intake in fish, where endogenous NPY rhythms have been found, while diencephalon statistical variations weren’t observed suggesting that this brain area could be less involved in the neuroendocrine control of food intake in fish than previously thought.

Motion Control of an Advanced Electric Implement for Agricultural Autonomous Vehicles

Nowadays, the development of intelligent and autonomous vehicles used to perform agricultural activities is essential to improve quantity and quality of agricultural productions. Moreover, with automation techniques it is possible to reduce the usage of agrochemicals and minimize the pollution. The University of Bologna is developing an innovative system for orchard management called ORTO (Orchard Rapid Transportation System). This system involves an autonomous electric vehicle capable to perform agricultural activities inside an orchard structure. The vehicle is equipped with an implement capable to perform different tasks. The purpose of this thesis project is to control the vehicle and the implement to perform an inter-row grass mowing. This kind of task requires a synchronized motion between the traction motors and the implement motors. A motion control system has been developed to generate trajectories and manage their synchronization. Two main trajectories type have been used: a five order polynomial trajectory and a trapezoidal trajectory. These two kinds of trajectories have been chosen in order to perform a uniform grass mowing, paying a particular attention to the constrains of the system. To synchronize the motions, the electronic cams approach has been adopted. A master profile has been generated and all the trajectories have been linked to the master motion. Moreover, a safety system has been developed. The aim of this system is firstly to improve the safety during the motion, furthermore it allows to manage obstacle detection and avoidance. Using some particular techniques obstacles can be detected and recovery action can be performed to overcome the problem. Once the measured force reaches the predefined force threshold, then the vehicle stops immediately its motion. The whole project has been developed by employing Matlab and Simulink. Eventually, the software has been translated into C code and executed on the TI Lauchpad XL board.

Development of a Robotic Wires Storage System for Switchgear Manufacturing Automation

Considering the great development of robotics in industrial automation, the Remodel project aims to reproduce, through the use of Cobots, the wiring activity typical of a human operator and to realize an autonomous storage work. My researches focused on this second topic. In this paper, we will see how to realize a gripper compatible with an Omron TM5X-900, able to perform a pick and place of different types of cables, but also how to compute possible trajectories. In particular, what I needed, was a trajectory going from the Komax, the cables production machine, to a Warehouse taking into account the possible entangles of cables with the robot during its motion. The last part has been dedicated to the synchronization between robot and main machine work.