Un nuovo algoritmo di Landing Detection per aeromobili quadri-rotore

In questa tesi si è realizzato un nuovo algoritmo di "Landing Detection",il quale utilizza i dati rilevati dall’accelerometro e dal giroscopio, situati all’interno dell’IMU (Inertial Measurement Unit), e i segnali PWM inviati ad i motori, rappresentati dai livelli dei canali di radiocomunicazione (RC).

Un algoritmo di rotazione di immagini per la decorazione digitale ceramica

L'attività di tesi è stata svolta presso la divisione System Ceramics della società System Group S.p.A. di Fiorano Modenese (MO) che si occupa dello sviluppo di soluzioni per l'industria ceramica, tra cui la decorazione delle piastrelle. Tipicamente nelle industrie ceramiche la movimentazione dei pezzi è effettuata tramite nastro trasportatore e durante il trasporto i pezzi possono subire leggeri movimenti. Se il pezzo non viene allineato alla stampante prima della fase di decorazione la stampa risulta disallineata e vi possono essere alcune zone non stampate lungo i bordi del pezzo. Perciò prima di procedere con la decorazione è fondamentale correggere il disallineamento. La soluzione più comune è installare delle guide all'ingresso del sistema di decorazione. Oltre a non consentire un’alta precisione, questa soluzione si dimostra inadatta nel caso la decorazione venga applicata in fasi successive da stampanti diverse. Il reparto di ricerca e sviluppo di System Ceramics ha quindi ideato una soluzione diversa e innovativa seguendo l'approccio inverso: allineare la grafica via software a ogni pezzo in base alla sua disposizione, invece che intervenire fisicamente modificandone la posizione. Il nuovo processo di stampa basato sull'allineamento software della grafica consiste nel ricavare inizialmente la disposizione di ogni piastrella utilizzando un sistema di visione artificiale posizionato sul nastro prima della stampante. Successivamente la grafica viene elaborata in base alla disposizione del pezzo ed applicata una volta che il pezzo arriva presso la zona di stampa. L'attività di tesi si è focalizzata sulla fase di rotazione della grafica ed è consistita nello studio e nell’ottimizzazione del prototipo di applicazione esistente al fine di ridurne i tempi di esecuzione. Il prototipo infatti, sebbene funzionante, ha un tempo di esecuzione così elevato da risultare incompatibile con la velocità di produzione adottata dalle industrie ceramiche.

Implementazione di un algoritmo di navigazione autonoma di alto livello e sviluppo software di una Control Ground Station

Caratteristiche hardware di un rover terrestre (progetto SHERPA). Implementazione tramite il framework ROS di un algoritmo di alto livello di navigazione autonoma basato su due possibili algoritmi di basso livello: LOS (Lightweight Object Streaming developed by BlueBotics) o Navigation Stack. Sviluppo di una Control Ground Station (Java) basata su: protocollo SSH2 oppure sfruttando la libreria LOS.

Studio e implementazione di un algoritmo per il labeling di immagini

L’Image Labeling è una tecnica che si occupa di assegnare ad ogni pixel di un’immagine un valore, chiamato label (etichetta), in base a determinate caratteristiche dei punti vicini. Lo scopo del labeling è di semplificare e/o modificare la rappresentazione delle immagini al fine di ottenere qualcosa di più significativo e facile da analizzare.

Sviluppo e analisi di un algoritmo parallelo di riconoscimento di oggetti in immagini

Implementazione sequenziale e parallela dell'algoritmo Evolution Constructed feature per il riconoscimento di oggetti in immagini. Analisi dei risultati ottenuti dall'algoritmo tramite la precision e la recall. Confronto dei tempi di esecuzione delle due versioni dell'algoritmo al fine di valutare gli effettivi guadagni ottenuti tramite la parallelizzazione.

Classification of organisms previously reported as the SP and Stewart-Letscher groups, with descriptions of Necropsobacter gen. nov. and of Necropsobacter rosorum sp. nov. for organisms of the SP group

To allow classification of bacteria previously reported as the SP group and the Stewart-Letscher group, 35 isolates from rodents (21), rabbits (eight), a dog and humans (five) were phenotypically and genotypically characterized. Comparison of partial rpoB sequences showed that 34 of the isolates were closely related, demonstrating at least 97.4 % similarity. 16S rRNA gene sequence comparison of 20 selected isolates confirmed the monophyly of the SP group and revealed 98.5 %-100 % similarity between isolates. A blast search using the 16S rRNA gene sequences showed that the highest similarity outside the SP group was 95.5 % to an unclassified rat isolate. The single strain, P625, representing the Stewart-Letscher group showed the highest 16S rRNA gene similarity (94.9-95.5 %) to members of the SP group. recN gene sequence analysis of 11 representative strains resulted in similarities of 97-100 % among the SP group strains, which showed 80 % sequence similarity to the Stewart-Letscher group strain. Sequence similarity values based on the recN gene, indicative for whole genome similarity, showed the SP group being clearly separated from established genera, whereas the Stewart-Letscher group strain was associated with the SP group. A new genus, Necropsobacter gen. nov., with only one species, Necropsobacter rosorum sp. nov., is proposed to include all members of the SP group. The new genus can be separated from existing genera of the family Pasteurellaceae by at least three phenotypic characters. The most characteristic properties of the new genus are that haemolysis is not observed on bovine blood agar, positive reactions are observed in the porphyrin test, acid is produced from (+)-L-arabinose, (+)-D-xylose, dulcitol, (+)-D-galactose, (+)-D-mannose, maltose and melibiose, and negative reactions are observed for symbiotic growth, urease, ornithine decarboxylase and indole. Previous publications have documented that both ubiquinones and demethylmenaquinone were produced by the proposed type strain of the new genus, Michel A/76(T), and that the major polyamine of representative strains (type strain not included) of the genus is 1,3-diaminopropane, spermidine is present in moderate amounts and putrescine and spermine are detectable only in minor amounts. The major fatty acids of strain Michel A/76(T) are C(14 : 0), C(16 : 0), C(16:1)omega7c and summed feature C(14 : 0) 3-OH/iso-C(16 : 1) I. This fatty acid profile is typical for members of the family Pasteurellaceae. The G+C content of DNA of strain Michel A/76(T) was estimated to be 52.5 mol% in a previous investigation. The type strain is P709(T) ( = Michel A/76(T) = CCUG 28028(T) = CIP 110147(T) = CCM 7802(T)).

Proposal of Bisgaardia hudsonensis gen. nov., sp. nov. and an additional genomospecies, isolated from seals, as new members of the family Pasteurellaceae

Phenotypic and phylogenetic studies were performed on eight Gram-negative-staining, rod-shaped bacteria isolated from seals. Biochemical and physiological studies showed identical profiles for all of the isolates and indicated that they were related to the family Pasteurellaceae. 16S rRNA gene sequencing demonstrated that the organism represented a distinct cluster with two sublines within the family Pasteurellaceae with <96% sequence similarity to any recognized species. Multilocus sequence analysis (MLSA) including rpoB, infB and recN genes further confirmed these findings with the eight isolates forming a genus-like cluster with two branches. Genome relatedness as deduced from recN gene sequences suggested that the isolates represented a new genus with two species. On the basis of the results of the phylogenetic analysis and phenotypic criteria, it is proposed that these bacteria from seals are classified as Bisgaardia hudsonensis gen. nov., sp. nov. (the type species) and Bisgaardia genomospecies 1. The G+C content of the DNA was 39.5 mol%. The type strain of Bisgaardia hudsonensis gen. nov., sp. nov. is M327/99/2(T) (=CCUG 43067(T)=NCTC 13475(T)=98-D-690B(T)) and the reference strain of Bisgaardia genomospecies 1 is M1765/96/5 (=CCUG 59551=NCTC 13474).

Basfia succiniciproducens gen. nov., sp. nov., a new member of the family Pasteurellaceae isolated from bovine rumen

Gram-negative, coccoid, non-motile bacteria that are catalase-, urease- and indole-negative, facultatively anaerobic and oxidase-positive were isolated from the bovine rumen using an improved selective medium for members of the Pasteurellaceae. All strains produced significant amounts of succinic acid under anaerobic conditions with glucose as substrate. Phenotypic characterization and multilocus sequence analysis (MLSA) using 16S rRNA, rpoB, infB and recN genes were performed on seven independent isolates. All four genes showed high sequence similarity to their counterparts in the genome sequence of the patent strain MBEL55E, but less than 95 % 16S rRNA gene sequence similarity to any other species of the Pasteurellaceae. Genetically these strains form a very homogeneous group in individual as well as combined phylogenetic trees, clearly separated from other genera of the family from which they can also be separated based on phenotypic markers. Genome relatedness as deduced from the recN gene showed high interspecies similarities, but again low similarity to any of the established genera of the family. No toxicity towards bovine, human or fish cells was observed and no RTX toxin genes were detected in members of the new taxon. Based on phylogenetic clustering in the MLSA analysis, the low genetic similarity to other genera and the phenotypic distinction, we suggest to classify these bovine rumen isolates as Basfia succiniciproducens gen. nov., sp. nov. The type strain is JF4016(T) (=DSM 22022(T) =CCUG 57335(T)).

Nicoletella semolina gen. nov., sp. nov., a new member of Pasteurellaceae isolated from horses with airway disease

Gram-negative, nonmotile bacteria that are catalase, oxidase, and urease positive are regularly isolated from the airways of horses with clinical signs of respiratory disease. On the basis of the findings by a polyphasic approach, we propose that these strains be classified as Nicoletella semolina gen. nov, sp. nov., a new member of the family Pasteurellaceae. N. semolina reduces nitrate to nitrite but is otherwise biochemically inert; this includes the lack of an ability to ferment glucose and other sugars. Growth is fastidious, and the isolates have a distinctive colony morphology, with the colonies being dry and waxy and looking like a semolina particle that can be moved around on an agar plate without losing their shape. DNA-DNA hybridization data and multilocus phylogenetic analysis, including 16S rRNA gene (rDNA), rpoB, and infB sequencing, clearly placed N. semolina as a new genus in the family Pasteurellaceae. In all the phylogenetic trees constructed, N. semolina is on a distinct branch displaying approximately 5% 16S rDNA, approximately 16% rpoB, and approximately 20% infB sequence divergence from its nearest relative within the family Pasteurellaceae. High degrees of conservation of the 16S rDNA (99.8%), rpoB (99.6%), and infB (99.7%) sequences exist within the species, indicating that N. semolina isolates not only are phenotypically homogeneous but also are genetically homogeneous. The type strain of N. semolina is CCUG43639(T) (DSM16380(T)).

Proposal of Histophilus somni gen. nov., sp. nov. for the three species incertae sedis 'Haemophilus somnus', 'Haemophilus agni' and 'Histophilus ovis'

Earlier investigations have shown that 'Haemophilus somnus', 'Haemophilus agni' and 'Histophilus ovis' represent the same species. In the present investigation, the taxonomic position of this species is explored further by sequencing the 16S rRNA and rpoB genes of strains that were investigated previously by DNA-DNA hybridization. These results clearly support the allocation of this species to a novel genus within the family PASTEURELLACEAE: The phenotypic separation of Histophilus somni gen. nov., sp. nov. from other members of the family can, for most strains, be based on capnophilia, yellowish pigmentation and indole production. However, due to phenotypic variation, the use of a species-specific PCR test based on the 16S rRNA gene is included in the species description. This is justified by the high sequence similarity of the 16S rRNA gene within the species and the fact that the highest sequence similarity to any other taxon within the family is 93.4 %. The type strain, 8025(T)=ATCC 43625(T)=CCUG 36157(T), was isolated in the USA from a bovine brain with lesions of thromboembolic meningoencephalitis.