Integrazione di algoritmi di visione basati su flusso ottico per il controllo di un velivolo senza pilota

Il lavoro svolto in questa tesi si colloca nell’area della robotica aerea e della visione artificiale attraverso l’integrazione di algoritmi di visione per il controllo di un velivolo senza pilota. Questo lavoro intende dare un contributo al progetto europeo SHERPA (Smart collaboration between Humans and ground-aErial Robots for imProving rescuing activities in Alpine environments), coordinato dall’università di Bologna e con la compartecipazione delle università di Brema, Zurigo, Twente, Leuven, Linkopings, del CREATE (Consorzio di Ricerca per l’Energia e le Applicazioni Tecnologiche dell’Elettromagnetismo), di alcune piccole e medie imprese e del club alpino italiano, che consiste nel realizzare un team di robots eterogenei in grado di collaborare con l’uomo per soccorrere i dispersi nell’ambiente alpino. L’obiettivo di SHERPA consiste nel progettare e integrare l’autopilota all’interno del team. In tale contesto andranno gestiti problemi di grande complessità, come il controllo della stabilità del velivolo a fronte di incertezze dovute alla presenza di vento, l’individuazione di ostacoli presenti nella traiettoria di volo, la gestione del volo in prossimità di ostacoli, ecc. Inoltre tutte queste operazioni devono essere svolte in tempo reale. La tesi è stata svolta presso il CASY (Center for Research on Complex Automated Systems) dell’università di Bologna, utilizzando per le prove sperimentali una PX4FLOW Smart Camera. Inizialmente è stato studiato un autopilota, il PIXHAWK, sul quale è possibile interfacciare la PX4FLOW, in seguito sono stati studiati e simulati in MATLAB alcuni algoritmi di visione basati su flusso ottico. Infine è stata studiata la PX4FLOW Smart Camera, con la quale sono state svolte le prove sperimentali. La PX4FLOW viene utilizzata come interfaccia alla PIXHAWK, in modo da eseguire il controllo del velivolo con la massima efficienza. E’ composta da una telecamera per la ripresa della scena, un giroscopio per la misura della velocità angolare, e da un sonar per le misure di distanza. E’ in grado di fornire la velocità di traslazione del velivolo, e quest’ultima, integrata, consente di ricostruire la traiettoria percorsa dal velivolo.

Outpatient Parenteral Antimicrobial Therapy Practices among Adult Infectious Disease Physicians

Objective. To identify current outpatient parenteral antibiotic therapy practice patterns and complications. Methods. We administered an 11-question survey to adult infectious disease physicians participating in the Emerging Infections Network (EIN), a Centers for Disease Control and Prevention-sponsored sentinel event surveillance network in North America. The survey was distributed electronically or via facsimile in November and December 2012. Respondent demographic characteristics were obtained from EIN enrollment data. Results. Overall, 555 (44.6%) of EIN members responded to the survey, with 450 (81%) indicating that they treated 1 or more patients with outpatient parenteral antimicrobial therapy (OPAT) during an average month. Infectious diseases consultation was reported to be required for a patient to be discharged with OPAT by 99 respondents (22%). Inpatient (282 [63%] of 449) and outpatient (232 [52%] of 449) infectious diseases physicians were frequently identified as being responsible for monitoring laboratory results. Only 26% (118 of 448) had dedicated OPAT teams at their clinical site. Few infectious diseases physicians have systems to track errors, adverse events, or "near misses" associated with OPAT (97 [22%] of 449). OPAT-associated complications were perceived to be rare. Among respondents, 80% reported line occlusion or clotting as the most common complication (occurring in 6% of patients or more), followed by nephrotoxicity and rash (each reported by 61%). Weekly laboratory monitoring of patients who received vancomycin was reported by 77% of respondents (343 of 445), whereas 19% of respondents (84 of 445) reported twice weekly laboratory monitoring for these patients. Conclusions. Although use of OPAT is common, there is significant variation in practice patterns. More uniform OPAT practices may enhance patient safety.

Wilhelm Gesenius' hebräische Grammatik

völlig umgearb. von E. Kautzsch. Facsimile der Siloah-Inschrift beigef. von J. Euting, Schrifttafel von M. Lidzbarski

David Wolffsohn : ein Beitrag zu der Geschichte des Zionismus

dargest. von Abraham Robinsohn. [Redig. von Klatzkin]

Manchester, Chetham's Library MS 8009 (Mun. A.6.31): A Codicological Description

This article presents a complete codicological description of Manchester, Chetham's Library, MS 8009 (Mun.A.6.31), a late fifteenth-century production that contains a combination of secular and religious texts. The manuscript's significance for both the literary and textual scholar was recognized by Derek Pearsall when he suggested its suitability for a facsimile edition. The restrictions imposed by the Governors of the Library for reproduction under the present conditions, however, suggest that Pearsall's recommendation may have to wait for some time. The purpose of this paper is to fill that void by correcting some inaccuracies in previous descriptions and completing them with supporting visual evidence.

A collection of the most approved pieces of music from various authors: transcribed while member of Harvard University, from July 1789 to July 1793

John Pierce kept this journal while he was a student at Harvard College. It consists of manuscript musical scores with annotations indicating the occasions at which the music was performed. These occasions included commencements, public exhibitions and Dudleian lectures. A note indicates that one anthem was prepared by Samuel Holyoke at Pierce's request, to be performed at Pierce's class commencement exercises, held on July 13, 1793. Several annotations were made in May 1794, the year following Pierce's graduation. There is a table of contents on the last page.

Theses of 1663

Handwritten document written in Latin and dated August 1663 purported to be the Harvard College Commencement Theses of 1663, but considered by John Noble of the Colonial Society of Massachusetts to be a contemporary parody. Noble notes of the 1663 Theses, that "there seems to be no reason to doubt that this is a genuine, original manuscript of the date which it bears," but describes it as a "blaze of literary and scholastic pyrotechnics" that suggests it was created satirically (John Noble, "Harvard Theses of 1663" in the Publications of the Colonial Society, Volume V: Transactions, April 1898, pages 322-339).

Lower Manhattan, New York, N.Y., 1730 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: A plan of the city of New York from an actual survey, made by James Lyne. It was reproduced by Henry Dunreath Tyler ca. 1890. Scale [ca. 1:3,200]. Covers lower Manhattan below Worth St. Facsimile of an original map made in 1728 appearing in various eds. of Valentine's Manual of New York. The image inside the map neatline is georeferenced to the surface of the earth and fit to the Universal Transverse Mercator (UTM) Zone 18N NAD83 projection. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as roads, drainage, selected public buildings (churches, markets, etc.), city wards, wharves, and more. Relief is shown by hachures. Includes index to points of interest. This layer is part of a selection of digitally scanned and georeferenced historic maps from The Harvard Map Collection as part of the Imaging the Urban Environment project. Maps selected for this project represent major urban areas and cities of the world, at various time periods. These maps typically portray both natural and manmade features at a large scale. The selection represents a range of regions, originators, ground condition dates, scales, and purposes.

Lower Manhattan, New York, N.Y., 1808 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Plan of the city of New York, 1808. It was published by the New York Common Council in the Manual of the corporation of the city of New York, for the years ... 1852. Facsimile copied from D. Longworth's map of 1808. Scale [ca. 1:7,500]. Covers lower Manhattan and portion of Brooklyn. The image inside the map neatline is georeferenced to the surface of the earth and fit to the Universal Transverse Mercator (UTM) Zone 18N NAD83 projection. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as roads, drainage, city wards, selected public buildings, ferry lines, wharves, and more. Relief is shown by hachures. Includes index to points of interest. This layer is part of a selection of digitally scanned and georeferenced historic maps from The Harvard Map Collection as part of the Imaging the Urban Environment project. Maps selected for this project represent major urban areas and cities of the world, at various time periods. These maps typically portray both natural and manmade features at a large scale. The selection represents a range of regions, originators, ground condition dates, scales, and purposes.

Philadelphia, Pennsylvania and vicinity, Landowners, 1681 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Fac-simile of a portion of Holme's map of the Province of Pennsylvania : with names of original purchasers from William Penn 1681. It was published by L. H. Everts & co. ca. 1884. Scale not given. Facsimile of a map published in 1681. The image inside the map neatline is georeferenced to the surface of the earth and fit to the Pennsylvania South State Plane Coordinate System NAD83 (in Feet) (Fipszone 3702). All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. Cadastral map showing townships, landowner names, property boundaries, drainage, and more. This layer is part of a selection of digitally scanned and georeferenced historic maps from The Harvard Map Collection as part of the Imaging the Urban Environment project. Maps selected for this project represent major urban areas and cities of the world, at various time periods. These maps typically portray both natural and manmade features at a large scale. The selection represents a range of regions, originators, ground condition dates, scales, and purposes.

Philadelphia, Pennsylvania, 1750 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: A map of Philadelphia and parts adjacent : with a perspective view of the State-House, by N. Scull and G. Heap. Facsimile of a 1750 map republished by Benj. R. Boggs in 1893. Scale [ca. 1:65,000]. The image inside the map neatline is georeferenced to the surface of the earth and fit to the Pennsylvania South State Plane Coordinate System NAD83 (in Feet) (Fipszone 3702). All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as roads, drainage, selected rural buildings with occupants' names, and more. Relief is shown pictorially. Includes text, distance table, ill., and ground-level view of the Statehouse (later Independence Hall). Facsimile of state showing estate of Wm. Allen near Germantown with his name added to the "Table of distances". This layer is part of a selection of digitally scanned and georeferenced historic maps from The Harvard Map Collection as part of the Imaging the Urban Environment project. Maps selected for this project represent major urban areas and cities of the world, at various time periods. These maps typically portray both natural and manmade features at a large scale. The selection represents a range of regions, originators, ground condition dates, scales, and purposes.

Philadelphia, Pennsylvania, Reed's map, 1774 (Raster Image) (Image 1 of 2)

This layer is a georeferenced raster image of the historic paper map entitled: Fac simile of Reed's map : to the honourable House of Representatives of the freemen of Pennsylvania this map of the city and liberties of Philadelphia with the catalogue of purchasers is humbly dedicated by their most obedient humble servant, Iohn Reed, James Smither sculp. Facsimile of a map originally published in 1774. Republished by Charles L. Warner in 1870. Scale [1:23,760]. Covers portions of Philadelphia, Pa. This layer is image 1 of 2 total images of the two sheet source map, representing the eastern portion of the map. The image inside the map neatline is georeferenced to the surface of the earth and fit to the Pennsylvania South State Plane Coordinate System NAD83 (in Feet) (Fipszone 3702). All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. Cadastral map showing property boundaries, areas, lot numbers, and names of landowers. Includes features such as roads, drainage, and more. Includes inset: A ground plan of the city of Philadelphia. Also includes extensive text and index of landowners. This layer is part of a selection of digitally scanned and georeferenced historic maps from The Harvard Map Collection as part of the Imaging the Urban Environment project. Maps selected for this project represent major urban areas and cities of the world, at various time periods. These maps typically portray both natural and manmade features at a large scale. The selection represents a range of regions, originators, ground condition dates, scales, and purposes.

Philadelphia, Pennsylvania, Reed's map, 1774 (Raster Image) (Image 2 of 2)

This layer is a georeferenced raster image of the historic paper map entitled: Fac simile of Reed's map : to the honourable House of Representatives of the freemen of Pennsylvania this map of the city and liberties of Philadelphia with the catalogue of purchasers is humbly dedicated by their most obedient humble servant, Iohn Reed, James Smither sculp. Facsimile of a map originally published in 1774. Republished by Charles L. Warner in 1870. Scale [1:23,760]. Covers portions of Philadelphia, Pa. This layer is image 2 of 2 total images of the two sheet source map, representing the western portion of the map. The image inside the map neatline is georeferenced to the surface of the earth and fit to the Pennsylvania South State Plane Coordinate System NAD83 (in Feet) (Fipszone 3702). All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. Cadastral map showing property boundaries, areas, lot numbers, and names of landowers. Includes features such as roads, drainage, and more. Includes inset: A ground plan of the city of Philadelphia. Also includes extensive text and index of landowners. This layer is part of a selection of digitally scanned and georeferenced historic maps from The Harvard Map Collection as part of the Imaging the Urban Environment project. Maps selected for this project represent major urban areas and cities of the world, at various time periods. These maps typically portray both natural and manmade features at a large scale. The selection represents a range of regions, originators, ground condition dates, scales, and purposes.

Washington, D.C., 1791 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Plan of the city intended for the permanent seat of the government of t[he] United States : projected agreeable to the direction of the President of the United States, in pursuance of an act of Congress passed the sixteenth day of July, MDCCXC, "establishing the permanent seat on the bank of the Potowmac", by Peter Charles L'Enfant. It was published by U.S. Coast and Geodetic Survey in 1887. Scale ca. 1:15,840. Facsimile of L'Enfant's 1791 plan for Washington, D.C. The image inside the map neatline is georeferenced to the surface of the earth and fit to the Maryland State Plane Coordinate System Meters NAD83 (Fipszone 1900). All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as proposed streets and government building locations, drainage, parks, and more. Includes notes, text, statistical data, and index to points of interest. This layer is part of a selection of digitally scanned and georeferenced historic maps from The Harvard Map Collection as part of the Imaging the Urban Environment project. Maps selected for this project represent major urban areas and cities of the world, at various time periods. These maps typically portray both natural and manmade features at a large scale. The selection represents a range of regions, originators, ground condition dates, scales, and purposes.

Los Angeles, California, 1849 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Plan de la Ciudad de Los Angeles, surveyed & drawn by E.O.C. Ord, Lt., U.S.A. & Wm. R. Hutton, asst., August 29th 1849. It was published by the Historical Society of Southern California ca. 1930. Scale [ca. 1:6,330] . Facsimile of a manuscript map. The image inside the map neatline is georeferenced to the surface of the earth and fit to the California State Plane Zone V Coordinate System NAD83 (in Feet) (Fipszone 0405). All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as roads, drainage, block and lot numbers, ground cover, and more. Relief is shown by hachures. This layer is part of a selection of digitally scanned and georeferenced historic maps from The Harvard Map Collection as part of the Imaging the Urban Environment project. Maps selected for this project represent major urban areas and cities of the world, at various time periods. These maps typically portray both natural and manmade features at a large scale. The selection represents a range of regions, originators, ground condition dates, scales, and purposes.