971 resultados para Ardupilot Arduino autopilota Flightgear controllo automatico volo opensource UAV pilotaggio remoto


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In questo lavoro di tesi sono stati confrontati diversi protocolli per la purificazione della proteina CRM197 mediante cromatografia di affinità a cationi divalenti. Il CRM197 è una variante della tossina difterica caratterizzata da stessa massa molecolare e struttura. A causa di un’unica mutazione (G52E), tale variante è atossica e presenta numerose applicazioni in campo farmaceutico (in particolare nella preparazione di vaccini coniugati). Fino ad ora, per la produzione del CRM197 è stato utilizzato il ceppo originale di derivazione, cioè Corynebacterium diphteriae, e la produzione eterologa nel batterio Escherichia coli ha mostrato notevoli difficoltà. In particolare, mentre è stato possibile definire un valido protocollo di sovraespressione e di estrazione proteica, le fasi successive di purificazione e di refolding (rinaturazione) sono ancora problematiche e causano basse rese finali, ostacolando le prospettive di scale-up su scala industriale. Il CRM197, infatti, per le sue caratteristiche strutturali, come l’elevata percentuale di amminoacidi idrofobici e la presenza di foglietti β esposti al solvente, è suscettibile alla formazione di aggregati insolubili che impone, lungo tutto il processo, il controllo delle interazioni idrofobiche (con agenti denaturanti e/o detergenti). In un precedente lavoro di tesi, è stato sviluppato un protocollo valido per ottenere un’elevata espressione proteica intracellulare. Il primo passaggio di purificazione prevede una cromatografia di affinità su colonna che viene sfruttata anche per eseguire il refolding proteico. Tuttavia, durante la messa a punto di tale processo, sono stati osservati evidenti fenomeni di aggregazione della proteina, oltre all’instaurarsi di legami aspecifici proteina-proteina o proteina-resina cromatografica. In questo lavoro di tesi sono state affrontate alcune problematiche legate a tale passaggio di purificazione per cercare di individuare le condizioni ottimali per ottenere il CRM197 in forma nativa e biologicamente attiva.

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The objective of this thesis is the power transient analysis concerning experimental devices placed within the reflector of Jules Horowitz Reactor (JHR). Since JHR material testing facility is designed to achieve 100 MW core thermal power, a large reflector hosts fissile material samples that are irradiated up to total relevant power of 3 MW. MADISON devices are expected to attain 130 kW, conversely ADELINE nominal power is of some 60 kW. In addition, MOLFI test samples are envisaged to reach 360 kW for what concerns LEU configuration and up to 650 kW according to HEU frame. Safety issues concern shutdown transients and need particular verifications about thermal power decreasing of these fissile samples with respect to core kinetics, as far as single device reactivity determination is concerned. Calculation model is conceived and applied in order to properly account for different nuclear heating processes and relative time-dependent features of device transients. An innovative methodology is carried out since flux shape modification during control rod insertions is investigated regarding the impact on device power through core-reflector coupling coefficients. In fact, previous methods considering only nominal core-reflector parameters are then improved. Moreover, delayed emissions effect is evaluated about spatial impact on devices of a diffuse in-core delayed neutron source. Delayed gammas transport related to fission products concentration is taken into account through evolution calculations of different fuel compositions in equilibrium cycle. Provided accurate device reactivity control, power transients are then computed for every sample according to envisaged shutdown procedures. Results obtained in this study are aimed at design feedback and reactor management optimization by JHR project team. Moreover, Safety Report is intended to utilize present analysis for improved device characterization.

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I moderni motori a combustione interna diventano sempre più complessi L'introduzione della normativa antinquinamento EURO VI richiederà una significativa riduzione degli inquinanti allo scarico. La maggiore criticità è rappresentata dalla riduzione degli NOx per i motori Diesel da aggiungersi a quelle già in vigore con le precedenti normative. Tipicamente la messa a punto di una nuova motorizzazione prevede una serie di test specifici al banco prova. Il numero sempre maggiore di parametri di controllo della combustione, sorti come conseguenza della maggior complessità meccanica del motore stesso, causa un aumento esponenziale delle prove da eseguire per caratterizzare l'intero sistema. L'obiettivo di questo progetto di dottorato è quello di realizzare un sistema di analisi della combustione in tempo reale in cui siano implementati diversi algoritmi non ancora presenti nelle centraline moderne. Tutto questo facendo particolare attenzione alla scelta dell'hardware su cui implementare gli algoritmi di analisi. Creando una piattaforma di Rapid Control Prototyping (RCP) che sfrutti la maggior parte dei sensori presenti in vettura di serie; che sia in grado di abbreviare i tempi e i costi della sperimentazione sui motopropulsori, riducendo la necessità di effettuare analisi a posteriori, su dati precedentemente acquisiti, a fronte di una maggior quantità di calcoli effettuati in tempo reale. La soluzione proposta garantisce l'aggiornabilità, la possibilità di mantenere al massimo livello tecnologico la piattaforma di calcolo, allontanandone l'obsolescenza e i costi di sostituzione. Questa proprietà si traduce nella necessità di mantenere la compatibilità tra hardware e software di generazioni differenti, rendendo possibile la sostituzione di quei componenti che limitano le prestazioni senza riprogettare il software.

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The ingestion of a meal evokes a series of digestive processes, which consist of the essential functions of the digestive system: food transport, secretory activity, absorption of nutrients and the expulsion of undigested residues do not absorbed. The gastrointestinal chemosensitivity is characterized by cellular elements of the endocrine gastrointestinal mucosa and nerve fibers, in particular of vagal nature. A wide range of mediators endocrine and/or paracrine can be released from various endocrine cells in response to nutrients in the diet. These hormones, in addition to their direct activity, act through specific receptors activating some of the most important functions in the control of energy intake and energy homeostasis in the body. For integration of this complex system of control of gastrointestinal chemosensitivity, recent evidence demonstrates the presence of taste receptors (TR) belonging to the family of G proteins coupled receptor expressed in the mucosa of the gastrointestinal tract of different mammals and human. This thesis is divided into several research projects that have been conceived in order to clarify the relationship between TR and nutrients. To define this relationship I have used various scientific approaches, which have gone on to evaluate changes in signal molecules of TR, in particular of the α-transducin in the fasting state and after refeeding with standard diet in the gastrointestinal tract of the pig, the mapping of the same molecule signal in the gastrointestinal tract of fish (Dicentrarchus labrax), the signaling pathway of bitter TR in the STC-1 endocrine cell line and finally the involvement of bitter TR in particular of T2R38 in patients with an excessive caloric intake. The results showed how there is a close correlation between nutrients, TR and hormonal release and how they are useful both in taste perception but also likely to be involved in chronic diseases such as obesity.

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The introduction of exotic species is one of the most important threats to biodiversity.This phenomenon may cause economic and environmental damage. To prevent these invasions there are institutions like EPPO. Nevertheless, the introduction of exotic pests is an increasing issue, difficult to control. Classic biological control, based on importation of natural enemies from the country of origin, has been successfully used for over 120 years, but it has also raised some criticism. My research work has focused on the study of the new associations occurring between indigenous parasitoids and three exotic pests introduced in Italy and Europe. The three target insects considered were: Cacyreus marshalli Butler (Lepidoptera: Lycaenidae), a pest of Geranium plants; Dryocosmus kuriphilus Yasumatsu (Hymenoptera: Cynipidae), a plague of Castanea sp. and Harmonia axyridis (Pallas) (Coleoptera: Coccinellidae). This ladybug has been introduced as a biological control agent, but since some years it considered as an invasive species. For C. marshalli I performed laboratory tests on acceptance and suitability of immature stages of this butterfly by Exorista larvarum (Diptera: Tachinidae) and Brachymeria tibialis (Hymenoptera: Chalcidicae). The experiments showed that these two parasitoids could be used to contain this pest. For D. kuriphilus I performed field samplings in an infested chestnut area, the samples were maintained in rearing chamber until gall wasp or parasitoids emergence. In the 3-year research many parasitoids of gall wasps were found; one of these, Torymus flavipes (Walker), was found in large number. For H. axyridis the research work included a first phase of field sampling, during which I searched indigenous parasitoids which had adapted to this new host; the only species found was Dinocampus coccinellae (Schrank) (Hymenoptera: Braconidae). Laboratory tests were performed on the wasp rearing, biology and capacity to contain H. axyridis.

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Ultrasound imaging is widely used in medical diagnostics as it is the fastest, least invasive, and least expensive imaging modality. However, ultrasound images are intrinsically difficult to be interpreted. In this scenario, Computer Aided Detection (CAD) systems can be used to support physicians during diagnosis providing them a second opinion. This thesis discusses efficient ultrasound processing techniques for computer aided medical diagnostics, focusing on two major topics: (i) Ultrasound Tissue Characterization (UTC), aimed at characterizing and differentiating between healthy and diseased tissue; (ii) Ultrasound Image Segmentation (UIS), aimed at detecting the boundaries of anatomical structures to automatically measure organ dimensions and compute clinically relevant functional indices. Research on UTC produced a CAD tool for Prostate Cancer detection to improve the biopsy protocol. In particular, this thesis contributes with: (i) the development of a robust classification system; (ii) the exploitation of parallel computing on GPU for real-time performance; (iii) the introduction of both an innovative Semi-Supervised Learning algorithm and a novel supervised/semi-supervised learning scheme for CAD system training that improve system performance reducing data collection effort and avoiding collected data wasting. The tool provides physicians a risk map highlighting suspect tissue areas, allowing them to perform a lesion-directed biopsy. Clinical validation demonstrated the system validity as a diagnostic support tool and its effectiveness at reducing the number of biopsy cores requested for an accurate diagnosis. For UIS the research developed a heart disease diagnostic tool based on Real-Time 3D Echocardiography. Thesis contributions to this application are: (i) the development of an automated GPU based level-set segmentation framework for 3D images; (ii) the application of this framework to the myocardium segmentation. Experimental results showed the high efficiency and flexibility of the proposed framework. Its effectiveness as a tool for quantitative analysis of 3D cardiac morphology and function was demonstrated through clinical validation.

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The last decade has witnessed very fast development in microfabrication technologies. The increasing industrial applications of microfluidic systems call for more intensive and systematic knowledge on this newly emerging field. Especially for gaseous flow and heat transfer at microscale, the applicability of conventional theories developed at macro scale is not yet completely validated; this is mainly due to scarce experimental data available in literature for gas flows. The objective of this thesis is to investigate these unclear elements by analyzing forced convection for gaseous flows through microtubes and micro heat exchangers. Experimental tests have been performed with microtubes having various inner diameters, namely 750 m, 510 m and 170 m, over a wide range of Reynolds number covering the laminar region, the transitional zone and also the onset region of the turbulent regime. The results show that conventional theory is able to predict the flow friction factor when flow compressibility does not appear and the effect of fluid temperature-dependent properties is insignificant. A double-layered microchannel heat exchanger has been designed in order to study experimentally the efficiency of a gas-to-gas micro heat exchanger. This microdevice contains 133 parallel microchannels machined into polished PEEK plates for both the hot side and the cold side. The microchannels are 200 µm high, 200 µm wide and 39.8 mm long. The design of the micro device has been made in order to be able to test different materials as partition foil with flexible thickness. Experimental tests have been carried out for five different partition foils, with various mass flow rates and flow configurations. The experimental results indicate that the thermal performance of the countercurrent and cross flow micro heat exchanger can be strongly influenced by axial conduction in the partition foil separating the hot gas flow and cold gas flow.

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Over the last 60 years, computers and software have favoured incredible advancements in every field. Nowadays, however, these systems are so complicated that it is difficult – if not challenging – to understand whether they meet some requirement or are able to show some desired behaviour or property. This dissertation introduces a Just-In-Time (JIT) a posteriori approach to perform the conformance check to identify any deviation from the desired behaviour as soon as possible, and possibly apply some corrections. The declarative framework that implements our approach – entirely developed on the promising open source forward-chaining Production Rule System (PRS) named Drools – consists of three components: 1. a monitoring module based on a novel, efficient implementation of Event Calculus (EC), 2. a general purpose hybrid reasoning module (the first of its genre) merging temporal, semantic, fuzzy and rule-based reasoning, 3. a logic formalism based on the concept of expectations introducing Event-Condition-Expectation rules (ECE-rules) to assess the global conformance of a system. The framework is also accompanied by an optional module that provides Probabilistic Inductive Logic Programming (PILP). By shifting the conformance check from after execution to just in time, this approach combines the advantages of many a posteriori and a priori methods proposed in literature. Quite remarkably, if the corrective actions are explicitly given, the reactive nature of this methodology allows to reconcile any deviations from the desired behaviour as soon as it is detected. In conclusion, the proposed methodology brings some advancements to solve the problem of the conformance checking, helping to fill the gap between humans and the increasingly complex technology.

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This work demonstrates that the plasma - induced combustion of intermediate to low-level radioactive waste is a suitable method for volume reduction and stabilization. Weaknesses of existing facilities can be overcome with novel developments. Plasma treatment of LILW has a high economical advantage by volume reduction for storage in final repositories.

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Nowadays it is requested more investigations on alternative rearing systems that are able to improve poultry welfare and to warrant high-quality and safe meat products. This thesis work was focused on the evaluation of the oxidative stability of poultry meats, obtained with different rearing systems, diets (supplemented with bioactive compounds), and packaging conditions. The thesis work was divided into the following parts: - Evaluation of the effects of different rearing systems on the quality, fatty acid composition and oxidative stability of poultry thigh and breast meat belonging to different product categories (“rotisserie” and “cut-up” carcasses); - Evaluation of the effects of different rearing systems and packaging conditions on the shelf-life of poultry thigh meat stored at 4°C for 14 days, and the effects of feed supplementation with thymol (control diet and diet with 2 different concentration of thymol) and packaging conditions on lipid oxidation of poultry thigh meat shelf-life (stored at 4°C for 14 days). The oxidative stability of poultry meat was studied by means of the spectrophotometric determinations of peroxide value and thiobarbituric acid reactive substances. - Evaluation of anti-inflammatory effects of different flavonoids (thymol, luteolin, tangeretin, sulforaphane, polymethoxyflavones, curcumin derivates) to detect their biological activity in LPS-stimulated RAW 264.7 macrophage cells in vitro, in order to study more in depth their action mechanisms. It was evaluated the cell vitality (MTT assay), nitrite concentration and protein profile. The study was focused on the identification of potential dietary bioactive compounds in order to investigate their biological activity and possible synergic effects, and to develop new suitable strategies for long-term promotion of human health, in particular against cancer.

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La neuroriabilitazione è un processo attraverso cui individui affetti da patologie neurologiche mirano al conseguimento di un recupero completo o alla realizzazione del loro potenziale ottimale benessere fisico, mentale e sociale. Elementi essenziali per una riabilitazione efficace sono: una valutazione clinica da parte di un team multidisciplinare, un programma riabilitativo mirato e la valutazione dei risultati conseguiti mediante misure scientifiche e clinicamente appropriate. Obiettivo principale di questa tesi è stato sviluppare metodi e strumenti quantitativi per il trattamento e la valutazione motoria di pazienti neurologici. I trattamenti riabilitativi convenzionali richiedono a pazienti neurologici l’esecuzione di esercizi ripetitivi, diminuendo la loro motivazione. La realtà virtuale e i feedback sono in grado di coinvolgerli nel trattamento, permettendo ripetibilità e standardizzazione dei protocolli. È stato sviluppato e valutato uno strumento basato su feedback aumentati per il controllo del tronco. Inoltre, la realtà virtuale permette l’individualizzare il trattamento in base alle esigenze del paziente. Un’applicazione virtuale per la riabilitazione del cammino è stata sviluppata e testata durante un training su pazienti di sclerosi multipla, valutandone fattibilità e accettazione e dimostrando l'efficacia del trattamento. La valutazione quantitativa delle capacità motorie dei pazienti viene effettuata utilizzando sistemi di motion capture. Essendo il loro uso nella pratica clinica limitato, una metodologia per valutare l’oscillazione delle braccia in soggetti parkinsoniani basata su sensori inerziali è stata proposta. Questi sono piccoli, accurati e flessibili ma accumulano errori durante lunghe misurazioni. È stato affrontato questo problema e i risultati suggeriscono che, se il sensore è sul piede e le accelerazioni sono integrate iniziando dalla fase di mid stance, l’errore e le sue conseguenze nella determinazione dei parametri spaziali sono contenuti. Infine, è stata presentata una validazione del Kinect per il tracking del cammino in ambiente virtuale. Risultati preliminari consentono di definire il campo di utilizzo del sensore in riabilitazione.

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Objectives: The aim of this research was to evaluate the impact of Cardiac Rehabilitation (CR) on risky lifestyles, quality of life, psychopathology, psychological distress and well-being, considering the potential moderating role of depression, anxiety and psychosomatic syndromes on lifestyles modification. The influence of CR on cardiac morbidity and mortality was also evaluated. Methods: The experimental group (N=108), undergoing CR, was compared to a control group (N=85) of patients affected by cardiovascular diseases, not undergoing CR, at baseline and at 1-month, 6- and 12-months follow-ups. The assessment included: the Structured Clinical Interview for DSM-IV, the structured interview based on Diagnostic Criteria for Psychosomatic Research (DCPR), GOSPEL questionnaire on lifestyles, Pittsburgh Sleep Quality Index, Morisky Medication Adherence Scale, MOS 36-Item Short Form Health Survey, Symptom Questionnaire, Psychological Well-Being Scale and 14-items Type D Scale. Results: Compared to the control group, CR was associated to: maintenance of the level of physical activity, improvement of correct dietary behaviors and stress management, enhancement of quality of life and sleep; reduction of the most frequently observed psychiatric diagnoses and psychosomatic syndromes at baseline. On the contrary, CR was not found to be associated with: healthy dietary habits, weight loss and improvement on medications adherence. In addition, there were no relevant effects on sub-clinical psychological distress and well-being, except for personal growth and purpose in life (PWB). Also, CR did not seem to play a protective role against cardiac recurrences. The presence of psychosomatic syndromes and depressive disorders was a mediating factor on the modification of specific lifestyles. Conclusions: The findings highlight the need of a psychosomatic assessment and an evaluation of psychological sub-clinical symptomatology in cardiac rehabilitation, in order to identify and address specific factors potentially associated with the clinical course of the heart disease.

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The quality of fish products is indispensably linked to the freshness of the raw material modulated by appropriate manipulation and storage conditions, specially the storage temperature after catch. The purpose of the research presented in this thesis, which was largely conducted in the context of a research project funded by Italian Ministry of Agricultural, Food and Forestry Policies (MIPAAF), concerned the evaluation of the freshness of farmed and wild fish species, in relation to different storage conditions, under ice (0°C) or at refrigeration temperature (4°C). Several specimens of different species, bogue (Boops boops), red mullet (Mullus barbatus), sea bream (Sparus aurata) and sea bass (Dicentrarchus labrax), during storage, under the different temperature conditions adopted, have been examined. The assessed control parameters were physical (texture, through the use of a dynamometer; visual quality using a computer vision system (CVS)), chemical (through footprint metabolomics 1H-NMR) and sensory (Quality Index Method (QIM). Microbiological determinations were also carried out on the species of hake (Merluccius merluccius). In general obtained results confirmed that the temperature of manipulation/conservation is a key factor in maintaining fish freshness. NMR spectroscopy showed to be able to quantify and evaluate the kinetics for unselected compounds during fish degradation, even a posteriori. This can be suitable for the development of new parameters related to quality and freshness. The development of physical methods, particularly the image analysis performed by computer vision system (CVS), for the evaluation of fish degradation, is very promising. Among CVS parameters, skin colour, presence and distribution of gill mucus, and eye shape modification evidenced a high sensibility for the estimation of fish quality loss, as a function of the adopted storage conditions. Particularly the eye concavity index detected on fish eye showed a high positive correlation with total QIM score.

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La regolazione dei sistemi di propulsione a razzo a propellente solido (Solid Rocket Motors) ha da sempre rappresentato una delle principali problematiche legate a questa tipologia di motori. L’assenza di un qualsiasi genere di controllo diretto del processo di combustione del grano solido, fa si che la previsione della balistica interna rappresenti da sempre il principale strumento utilizzato sia per definire in fase di progetto la configurazione ottimale del motore, sia per analizzare le eventuali anomalie riscontrate in ambito sperimentale. Variazioni locali nella struttura del propellente, difettosità interne o eterogeneità nelle condizioni di camera posso dare origine ad alterazioni del rateo locale di combustione del propellente e conseguentemente a profili di pressione e di spinta sperimentali differenti da quelli previsti per via teorica. Molti dei codici attualmente in uso offrono un approccio piuttosto semplificato al problema, facendo per lo più ricorso a fattori correttivi (fattori HUMP) semi-empirici, senza tuttavia andare a ricostruire in maniera più realistica le eterogeneità di prestazione del propellente. Questo lavoro di tesi vuole dunque proporre un nuovo approccio alla previsione numerica delle prestazioni dei sistemi a propellente solido, attraverso la realizzazione di un nuovo codice di simulazione, denominato ROBOOST (ROcket BOOst Simulation Tool). Richiamando concetti e techiche proprie della Computer Grafica, questo nuovo codice è in grado di ricostruire in processo di regressione superficiale del grano in maniera puntuale, attraverso l’utilizzo di una mesh triangolare mobile. Variazioni locali del rateo di combustione posso quindi essere facilmente riprodotte ed il calcolo della balistica interna avviene mediante l’accoppiamento di un modello 0D non-stazionario e di uno 1D quasi-stazionario. L’attività è stata svolta in collaborazione con l’azienda Avio Space Division e il nuovo codice è stato implementato con successo sul motore Zefiro 9.

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La ricerca esamina il ruolo delle imprese che svolgono attività di sicurezza privata in Italia (oggi definita anche "sussidiaria" o "complementare") in relazione allo sviluppo delle recenti politiche sociali che prevedono il coinvolgimento di privati nella gestione della sicurezza in una prospettiva di community safety. Nel 2008/2009 le politiche pubbliche di sicurezza legate al controllo del territorio hanno prodotto norme con nuovi poteri “di polizia” concessi agli amministratori locali e la previsione di associazione di cittadini per la segnalare eventi dannosi alla sicurezza urbana (“ronde”). Nello stesso periodo è iniziata un’importante riforma del settore della sicurezza privata, ancora in fase di attuazione, che definisce le attività svolte dalle imprese di security, individua le caratteristiche delle imprese e fissa i parametri per la formazione del personale. Il quadro teorico del lavoro esamina i concetti di sicurezza/insicurezza urbana e di società del rischio alla luce delle teorie criminologiche legate alla prevenzione situazionale e sociale e alla community policing. La ricerca sul campo si basa sull’analisi del contenuto di diverse interviste in profondità con esponenti del mondo della sicurezza privata (imprenditori, dirigenti, studiosi). Le interviste hanno fatto emergere che il ruolo della sicurezza privata in Italia risulta fortemente problematico; anche la riforma in corso sulla normativa del settore è considerata con scarso entusiasmo a causa delle difficoltà della congiuntura economica che rischia di compromettere seriamente la crescita. Il mercato della sicurezza in Italia è frastagliato e scarsamente controllato; manca un’azione di coordinamento fra le diverse anime della sicurezza (vigilanza privata, investigazione, facility/security management); persiste una condizione di subalternità e di assenza di collaborazione con il settore pubblico che rende la sicurezza privata relegata in un ruolo marginale, lontano dalle logiche di sussidiarietà.