Geometric versus Model Predictive Control based guidance algorithms for fixed-wing UAVs in the presence of very strong wind fields.

The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of environmental conditions. Due to their small size, low weight, and low speeds, they require the capability of coping with wind speeds that are approaching or even faster than the nominal airspeed. In this thesis, a nonlinear-geometric guidance strategy is presented, addressing this problem. More broadly, a methodology is proposed for the high-level control of non-holonomic unicycle-like vehicles in the presence of strong flowfields (e.g. winds, underwater currents) which may outreach the maximum vehicle speed. The proposed strategy guarantees convergence to a safe and stable vehicle configuration with respect to the flowfield, while preserving some tracking performance with respect to the target path. As an alternative approach, an algorithm based on Model Predictive Control (MPC) is developed, and a comparison between advantages and disadvantages of both approaches is drawn. Evaluations in simulations and a challenging real-world flight experiment in very windy conditions confirm the feasibility of the proposed guidance approach.

Identification of stock units of Mullus barbatus (Linnaeus, 1758) in the Italian seas: development of genomic 2b-RAD markers and biological variation analysis.

This thesis is settled within the STOCKMAPPING project, which represents one of the studies that were developed in the framework of RITMARE Flagship project. The main goals of STOCKMAPPING were the creation of a genomic mapping for stocks of demersal target species and the assembling of a database of population genomic, in order to identify stocks and stocks boundaries. The thesis focuses on three main objectives representing the core for the initial assessment of the methodologies and structure that would be applied to the entire STOCKMAPPING project: individuation of an analytical design to identify and locate stocks and stocks boundaries of Mullus barbatus, application of a multidisciplinary approach to validate biological methods and an initial assessment and improvement for the genotyping by sequencing technique utilized (2b-RAD). The first step is the individuation of an analytical design that has to take in to account the biological characteristics of red mullet and being representative for STOCKMAPPING commitments. In this framework a reduction and selection steps was needed due to budget reduction. Sampling areas were ranked according the individuation of four priorities. To guarantee a multidisciplinary approach the biological data associated to the collected samples were used to investigate differences between sampling areas and GSAs. Genomic techniques were applied to red mullet for the first time so an initial assessment of molecular protocols for DNA extraction and 2b-RAD processing were needed. At the end 192 good quality DNAs have been extracted and eight samples have been processed with 2b-RAD. Utilizing the software Stacks for sequences analyses a great number of SNPs markers among the eight samples have been identified. Several tests have been performed changing the main parameter of the Stacks pipeline in order to identify the most explicative and functional sets of parameters.

Evaluation of green algae deployment for organic pollutant removal in urban wastewater through ERE-CALUX potency assessment

The interest of the scientific community towards organic pollutants in freshwater streams is fairly recent. During the past 50 years, thousands of chemicals have been synthesized and released into the general environment. Nowadays their occurrence and effects on several organism, invertebrates, fish, birds, reptiles and also humans are well documented. Because of their action, some of these chemicals have been defined as Endocrine Disrupters Compounds (EDCs) and the public health implications of these EDCs have been the subject of scientific debate. Most interestingly, among those that were noticed to have some influence and effects on the endocrine system were the estrone, the 17β-estradiol, the 17α-estradiol, the estriol, the 17α-ethinylestradiol, the testosterone and the progesterone. This project focused its attention on the 17β-estradiol. Estradiol, or more precisely, 17β-estradiol (also commonly referred to as E2) is a human sex hormone. It belongs to the class of steroid hormones. In spite of the effort to remove these substances from the effluents, the actual wastewater treatment plants are not able to degrade or inactivate these organic compounds that are continually poured in the ecosystem. Through this work a new system for the wastewater treatment was tested, to assess the decrease of the estradiol in the water. It involved the action of Chlorella vulgaris, a fresh water green microalga belonging to the family of the Chlorellaceae. This microorganism was selected for its adaptability and for its photosynthetic efficiency. To detect the decrease of the target compound in the water a CALUX bioassay analysis was chosen. Three different experiments were carried on to pursue the aim of the project. By analysing their results several aspects emerged. It was assessed the presence of EDCs inside the water used to prepare the culture media. C. vulgaris, under controlled conditions, could be efficient for this purpose, although further researches are essential to deepen the knowledge of this complex phenomenon. Ultimately by assessing the toxicity of the effluent against C. vulgaris, it was clear that at determined concentrations, it could affect the normal growth rate of this microorganism.

Ecological distribution of semi-demersal fishes in space and time on the shelf of Antalya Gulf

In this study we provide a baseline data on semidemersal fish assemblages and biology in a heterogeneous and yet less studied portion of the shelf of Antalya Gulf. The distribution of fish abundance in three transects subjected to different fisheries regulations (fishery vs non fishery areas), and including depths of 10, 25, 75, 125, 200 m, was studied between May 2014 and February 2015 in representative months of winter, spring, summer and autumn seasons. A total of 76 fish species belonging to 40 families was collected and semidemersal species distribution was analyzed in comparison with the whole community. Spatial distribution of fish was driven mainly by depth and two main assemblages were observed: shallow waters (10-25; 75 m) and deep waters (125-200 m). Significant differences among transects were found for the whole community but not for the semidemersal species. Analysis showed that this was due to a strong relation of these species with local environmental characteristics rather than to a different fishing pressure over transects. Firstly all species distribute according to the bathymetrical gradient and secondly to the bottom type structure. Semidemersal species were then found more related to zooplankton and suspended matter availability. The main morphological characteristics, sex and size distribution of the target semidemersal species Spicara smaris (Linnaeus, 1758), Saurida undosquamis (Richardson, 1848), Pagellus acarne (Risso, 1827) were also investigated.