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Minimalistic in-flight odometry based on two optic flow sensors along a bouncing trajectory
Lucia Bergantin,Charles Coquet,Amaury Negre,Thibaut Raharijaona,Nicolas Marchand,Franck Ruffier 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
Estimating the distance traveled while navigating in a GPS-deprived environment is key for aerial robotic applications. For drones, this issue is often coupled with weight and computational power constraints, from which stems the importance of minimalistic equipment. In this study, we present a visual odometry strategy based solely on two optic flow magnitudes perceived by two optic flow sensors oriented at ±30° on either side of a drone’s vertical axis. As results, (i) we measured the local optic flow divergence and the local translational optic flow respectively as the subtraction and the sum of the two optic flow magnitudes perceived (ii) we validated experimentally the visual odometer on a hexarotor oscillating upand-down while following a 50m-long circular trajectory under three illuminance conditions (117lux, 814lux and 1518lux). The measured optic flow divergence was used to estimate the flight height by means of an Extended Kalman Filter. The estimated flight height scaled the measured translational optic flow, which was integrated to perform minimalistic visual odometry.
ENRICO ZIO,NICOLA PEDRONI,MATTEO BROGGI,LUCIA ROXANA GOLEA 한국원자력학회 2009 Nuclear Engineering and Technology Vol.41 No.10
In this paper, an infinite impulse response locally recurrent neural network (IIR-LRNN) is employed for modelling the dynamics of the Lead Bismuth Eutectic eXperimental Accelerator Driven System (LBE-XADS). The network is trained by recursive back-propagation (RBP) and its ability in estimating transients is tested under various conditions. The results demonstrate the robustness of the locally recurrent scheme in the reconstruction of complex nonlinear dynamic relationships.
Macrolide Resistance and In Vitro Selection of Resistance to Antibiotics in Lactobacillus Isolates
Lorenzo Drago,Roberto Mattina,Lucia Nicola,Valentina Rodighiero,Elena De Vecchi 한국미생물학회 2011 The journal of microbiology Vol.49 No.4
Spreading of resistance to antibiotics is of great concern due to the increasing rate of isolation of multiresistant pathogens. Since commensal bacteria may transfer determinants of resistance to pathogens, studies on development of resistance should include also lactobacilli. Resistance to macrolides, penicillins and tetracycline was determined in 40 isolates of Lactobacillus acidophilus, Lactobacillus plantarum, Lactobacillus crispatus,and Lactobacillus casei isolated from faeces of apparently healthy volunteers. Frequency of mutation and changes in susceptibility after serial exposure to these antibiotics at concentrations of 4× and 8× MIC were evaluated in susceptible isolates. Acquired resistance was defined as an increment in MIC values of at least four times in respect to the pre-selection values. Resistance to macrolides and/or tetracycline was identified in 14 and 4 isolates, respectively. ermB gene and A2058G mutation in 23S rRNA were detected in macrolide resistant isolates. Frequencies of mutation of susceptible isolates (n=26) were lower for ampicillin and erythromycin than for tetracycline. Serial exposure to antibiotics led to selection of resistant mutants. However,acquired resistance was rather unstable and was lost after subcultures in antibiotic-free medium in most mutants. Resistance to erythromycin was associated to a A2058G mutation in 23S rRNA. In conclusion,results indicate that resistance to macrolides and tetracycline is present among intestinal lactobacilli. Decrease in susceptibility following serial exposure to antibiotics might occur in lactobacilli, in a strain- and antibiotic-dependent way. Since lactobacilli are often used as probiotics, their ability to acquire resistance should be evaluated for isolates candidate to be included in probiotics based products.
Federica Cozza,Andrea Lizio,Lucia Catherine Greco,Stefania Bona,Giordana Donvito,Elena Carraro,Silvia Tavazzi,Nicola Ticozzi,Barbara Poletti,Valeria Ada Sansone,Christian Lunetta 대한신경과학회 2021 Journal of Clinical Neurology Vol.17 No.1
Background and Purpose The study aimed to obtain optometric findings of amyotrophic lateral sclerosis (ALS) patients in different stages of the disease, and to determine the relation between ocular data and ALS-related features; that is, functional and cognitive impairment and staging. Methods The optometric protocol included tests of the ocular motility [broad-H test and Northeastern State University College of Optometry (NSUCO) test], near point of convergence (NPC), error refraction, best-corrected visual acuity, and binocular visual alignment, and an ocular symptoms questionnaire. The functional measures included the Amyotrophic Lateral Sclerosis Functional Rating Scale–revised (ALSFRS-r) and Milano-Torino staging (Mi- ToS), and cognitive impairment was assessed using the Edinburgh Cognitive and Behavioural ALS Screen (ECAS). Demographic and clinical features were also collected, including whether the patients used an eye-tracking communication device (ETCD). Results Two-hundred consecutive ALS patients (median age of 64 years, 118 males and 82 females) in different stages of disease were recruited. Nearly 70% of patients reported at least one ocular symptom, and the use of an ETCD was found to be significantly related to the presence of most symptoms. Moreover, the severely symptomatic group was characterized by significantly lower ALSFRS-r total and subscale scores, and higher MiToS. Abnormal NPC values were significantly related to lower ALSFRS-r total and bulbar-subscale scores. Patients with acceptable NSUCO test values exhibited significantly higher ECAS scores. Conclusions The presence of ocular alteration in patients in different stages of ALS supports the idea that this is a multisystem disorder and emphasizes the importance of optometric evaluations in multidisciplinary assessments to address ocular impairment early in the disease process
Zio, Enrico,Pedroni, Nicola,Broggi, Matteo,Golea, Lucia Roxana Korean Nuclear Society 2009 Nuclear Engineering and Technology Vol.41 No.10
In this paper, an infinite impulse response locally recurrent neural network (IIR-LRNN) is employed for modelling the dynamics of the Lead Bismuth Eutectic eXperimental Accelerator Driven System (LBE-XADS). The network is trained by recursive back-propagation (RBP) and its ability in estimating transients is tested under various conditions. The results demonstrate the robustness of the locally recurrent scheme in the reconstruction of complex nonlinear dynamic relationships.