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A robotic platform for precision agriculture and applications
Get PDFAgricultural techniques have been improved over the centuries to match with the growing demand of an increase in global population. Farming applications are facing new challenges to satisfy global needs and the recent technology advancements in terms of robotic platforms can be exploited.
As the orchard management is one of the most challenging applications because of its tree structure and the required interaction with the environment, it was targeted also by the University of Bologna research group to provide a customized solution addressing new concept for agricultural vehicles.
The result of this research has blossomed into a new lightweight tracked vehicle capable of performing autonomous navigation both in the open-filed scenario and while travelling inside orchards for what has been called in-row navigation. The mechanical design concept, together with customized software implementation has been detailed to highlight the strengths of the platform and some further improvements envisioned to improve the overall performances.
Static stability testing has proved that the vehicle can withstand steep slopes scenarios. Some improvements have also been investigated to refine the estimation of the slippage that occurs during turning maneuvers and that is typical of skid-steering tracked vehicles.
The software architecture has been implemented using the Robot Operating System (ROS) framework, so to exploit community available packages related to common and basic functions, such as sensor interfaces, while allowing dedicated custom implementation of the navigation algorithm developed.
Real-world testing inside the university’s experimental orchards have proven the robustness and stability of the solution with more than 800 hours of fieldwork.
The vehicle has also enabled a wide range of autonomous tasks such as spraying, mowing, and on-the-field data collection capabilities. The latter can be exploited to automatically estimate relevant orchard properties such as fruit counting and sizing, canopy properties estimation, and autonomous fruit harvesting with post-harvesting estimations.Le tecniche agricole sono state migliorate nel corso dei secoli per soddisfare la crescente domanda di aumento della popolazione mondiale. I recenti progressi tecnologici in termini di piattaforme robotiche possono essere sfruttati in questo contesto.
Poiché la gestione del frutteto è una delle applicazioni più impegnative, a causa della sua struttura arborea e della necessaria interazione con l'ambiente, è stata oggetto di ricerca per fornire una soluzione personalizzata che sviluppi un nuovo concetto di veicolo agricolo.
Il risultato si è concretizzato in un veicolo cingolato leggero, capace di effettuare una navigazione autonoma sia nello scenario di pieno campo che all'interno dei frutteti (navigazione interfilare). La progettazione meccanica, insieme all'implementazione del software, sono stati dettagliati per evidenziarne i punti di forza, accanto ad alcuni ulteriori miglioramenti previsti per incrementarne le prestazioni complessive.
I test di stabilità statica hanno dimostrato che il veicolo può resistere a ripidi pendii. Sono stati inoltre studiati miglioramenti per affinare la stima dello slittamento che si verifica durante le manovre di svolta, tipico dei veicoli cingolati.
L'architettura software è stata implementata utilizzando il framework Robot Operating System (ROS), in modo da sfruttare i pacchetti disponibili relativi a componenti base, come le interfacce dei sensori, e consentendo al contempo un'implementazione personalizzata degli algoritmi di navigazione sviluppati.
I test in condizioni reali all'interno dei frutteti sperimentali dell'università hanno dimostrato la robustezza e la stabilità della soluzione con oltre 800 ore di lavoro sul campo.
Il veicolo ha permesso di attivare e svolgere un'ampia gamma di attività agricole in maniera autonoma, come l'irrorazione, la falciatura e la raccolta di dati sul campo. Questi ultimi possono essere sfruttati per stimare automaticamente le proprietà più rilevanti del frutteto, come il conteggio e la calibratura dei frutti, la stima delle proprietà della chioma e la raccolta autonoma dei frutti con stime post-raccolta
Influence of the natural environment on health: evaluation of different environmental contexts (urban, green spaces) and intervention proposals
Get PDFUrbanization has grown during the last decades, with an increase in population concentrated in cities. Cities are usually relatively nature-poor, and the loss of green urban space likely leads to less contact with the natural world for urban dwellers. It is known that the natural environment could provide important advantages, and the loss of contact with this type of environment has potential negative impacts on the quality of life. The use of green urban space demonstrated stronger benefits for mental health and stress reduction.
In general, exposure to green urban space is linked to a reduction in mortality rates, due to the promotion of a healthy lifestyle. Green urban space could be an optimal environment in which to perform physical activity. Undertaking regular physical activity is one of the major determinants of health. The benefits of exercise have been widely demonstrated through a wide range of studies. Benefits are linked to the treatment and prevention of most chronic and non-communicable diseases, that are not contagious, but they are usually long-lasting. Regular physical activity could reduce mental health problems, such as anxiety. The World Health Organization proposed to improve physical activity programs through the implementation of interventions in green urban spaces. Green urban space provides a safe, accessible, and attractive place to perform physical activity.
All the interventions aimed to promote the practice of physical activity and to reduce sedentary behavior are important. It is well known that physical activity has several positive effects, a great amount of the population remains inactive. A good strategy could be to show people how integrated physical activity into their all-day life, for example through the use of green urban space or active commuting. The results in the present thesis showed the effectiveness of performing physical activity in a natural environment and of active commuting
Harnessing the cellular and molecular complexity of high-risk neuroblastoma to investigate novel potential treatment approaches
Get PDFNeuroblastoma (NB) is the most common type of tumor in infants and the third most common cancer in children. Current clinical practices employ a variety of strategies for NB treatment, ranging from standard chemotherapy to immunotherapy. Due to a lack of knowledge about the molecular mechanisms underlying the disease's onset, aggressive phenotype, and therapeutic resistance, these approaches are ineffective in the majority of instances. MYCN amplification is one of the most well-known genetic alterations associated with high risk in NB. The following work is divided into three sections and aims to provide new insights into the biology of NB and hypothetical new treatment strategies.
First, we identified RUNX1T1 as a key gene involved in MYCN-driven NB onset in a transgenic mouse model. Our results suggested that that RUNX1T1 may recruit the Co-REST complex on target genes that regulate the differentiation of NB cells and that the interaction with RCOR3 is essential.
Second, we provided insights into the role of MYCN in dysregulating the CDK/RB/E2F pathway controlling the G1/S transition of the cell cycle. We found that RB is dispensable in regulating MYCN amplified NB's cell cycle, providing the rationale for using cyclin/CDK complexes inhibitors in NBs carrying MYCN amplification and relatively high levels of RB1 expression.
Third, we generated an M13 bacteriophage platform to target GD2-expressing cells in NB. Here, we generated a recombinant M13 phage capable of binding GD2-expressing cells selectively (M13GD2). Our results showed that M13GD2 chemically conjugated with the photosensitizer ECB04 preserves the retargeting capability, inducing cell death even at picomolar concentrations upon light irradiation. These results provided proof of concept for M13 phage employment in targeted photodynamic therapy for NB, an exciting strategy to overcome resistance to classical immunotherapy
Neo-standard Italian at school: the case of variation between indicative and subjunctive.
Get PDFIl lavoro descritto in questo elaborato indaga la presenza dei tratti dell’italiano neostandard in un corpus di produzioni scolastiche scritte, con particolare attenzione all’uso di indicativo e congiuntivo nelle frasi completive. In particolare, delle tendenze di ristandardizzazione selezionate si osservano gli usi linguistici di alunni/e, le correzioni imposte dai/dalle docenti e le indicazioni delle grammatiche per la scuola; questa ricognizione permette di tracciare un quadro generale degli atteggiamenti della scuola nei confronti dei tratti del neostandard. La seconda parte dell’elaborato è dedicata a un’analisi dell’alternanza modale nelle subordinate completive; in primo luogo, si espone una revisione della letteratura sulla complementazione, sulla modalità e sul congiuntivo in italiano, con un focus particolare sulla sua recessione; in seguito, si procede all’analisi del fenomeno sulla base dei dati appositamente raccolti nelle scuole che hanno partecipato all'indagine. In secondo luogo, l’accettabilità dell’indicativo pro congiuntivo in testi scritti a scuola viene ulteriormente indagata tramite la somministrazione di un compito di correzione ai/alle docenti. L’ultima parte dell’elaborato accoglie un’analisi approfondita delle grammatiche per la scuola, la cui trattazione del congiuntivo è messa in relazione con le osservazioni della letteratura specialistica; ciò permette di completare il quadro riguardo agli atteggiamenti della scuola e di proporre riflessioni di natura glottodidattica.The research described in this thesis investigates features of neo-standard Italian in a corpus of school students’ texts. Special attention is dedicated to the use of indicative and subjunctive in complement clauses. In particular, restandardisation trends are observed from the point of view of the students’ usage, the corrections applied by teachers and the instructions of school grammar books; this analysis allows drawing a general profile of the attitude of Italian schools towards neo-standard traits. The second part of the thesis is dedicated to analysing mood variation in complement clauses. First, a review of the literature on complementation, modality and Italian subjunctive is outlined, with special attention to its disappearance; then, the phenomenon is investigated in the data collected in the schools that took part in the research. Secondly, the acceptability of indicative in lieu of subjunctive in texts written at school is further investigated by means of a correction test administered to the teachers. The final part of the thesis contains a detailed analysis of school grammar books, whose treatment of the subjunctive is compared to the scientific literature; this chapter allows to complete the picture regarding the attitude of Italian schools and to make proposals related to grammar teaching
The role of Phospholipases as novel potential modulators of aggressiveness in Glioblastoma
Get PDFGlioblastoma is the most malignant brain tumor in adults. The standard care of treatment is tumor resection, radiotherapy, and chemotherapy. Despite these invasive therapeutic approaches, glioblastoma prognosis remains unchanged. Therefore, a better understanding of the molecular mechanisms driving tumor transformation is needed to uncover novel therapeutic strategies. Several studies have shown the significance of lipid signaling and phospholipases (PLCs) in the regulation of different mechanisms in the central nervous system as well as in glioblastoma pathogenesis. This work suggests a potential role of PLCβ1 in the maintenance of a less aggressive phenotype of the tumor. Indeed, it was demonstrated that PLCβ1 gene was relatively less expressed in glioblastoma patients compared to their healthy/low-grade counterparts. Moreover, PLCβ1 silencing, in both immortalized and primary cell lines, led to increased cell migration, invasion, proliferation, cell survival and induced the upregulation of mesenchymal markers and metalloproteinases. Moreover, PLCγ1, another abundant PLC isoform in the brain, has been identified as a key element for the aggressiveness of glioblastoma. Data collected on patients’ biopsies and engineered cell models, suggested a strong correlation between PLCγ1 expression level and the acquisition of a more aggressive tumor phenotype. Finally, this trend was further probed using patient-derived glioblastoma stem cells (GSCs), which are a specific tumor population that drives aggressiveness, resistance, and recurrence in glioblastoma. GSCs analysis on the transcriptomic profiles confirmed that PLCγ1 downregulation modulated positively the activation of pathways that negatively regulate cell motility and migration and led to a decreased expression of genes involved in cancer development and progression. Taken together, these data highlight the importance of further investigating phospholipases as potential prognostic biomarkers and targets in the development of new therapeutic strategies for glioblastoma
Genotype-phenotype correlation in trisomy 21
Get PDFDown syndrome (DS) or trisomy 21 (T21) is the most common genetic cause of intellectual disability (ID). Subjects with DS are characterized by complex and variable clinical features including intellectual disability (ID) and craniofacial dysmorphisms.
The aim of the thesis is to uncover genotype-phenotype relationships in DS possibly useful to devise therapies based on molecular and cellular mechanisms.
In this work, we have investigated different aspects of DS:
- we have collected clinical data of children with DS and we have evaluated the cognitive impairment through specific cognitive tests
- we have analysed genomics of DS through the study of partial trisomy (PT21) cases. We have described new PT21 cases confirming the hypothesis of the highly restricted DS critical region (HR-DSCR) recently identified as the minimal region whose duplication is shared by all PT21 subjects diagnosed with DS, while it is absent in all PT21 non-DS subjects. Moreover, we have characterized new transcripts included in the HR-DSCR;
- we have studied gene expression through RNAseq in blood cells of children with DS;
-metabolic alterations in plasma of children with DS were identified through different methods: Nuclear Magnetic resonance, routine blood exams performed during the follow up of the subjects and enzyme-linked immunosorbent assay (ELISA);
- to test possible correlations between specific Hsa21 regions and alterations in transcriptomics and metabolomics, we have used trisomic iPSCs and differentiated them into neuronal derivatives.
Significant alterations in gene expression and metabolic profiles have been identified, as well as significant correlations with clinical and cognitive aspects. Specific genes and the HR-DSCR may play a role in these alterations: cell models need to be developed to investigate this role. Neural derivatives from trisomic iPSCs are a promising model to better understand genotype-phenotype correlations in DS
Relative influence of gaze and static arm position in the Superior Parietal Lobule of the macaque monkey during reaching
Get PDFThe superior parietal lobule (SPL) of macaques is classically described as an associative cortex implicated in visuospatial perception, planning and control of reaching and grasping movements (De Vitis et al., 2019; Galletti et al., 2003, 2018, 2022; Fattori et al., 2017; Hadjidimitrakis et al., 2015). These processes are the result of the integration of signals related to different sensory modalities.
During a goal-directed action, eye and limb information are combined to ensure that the hand is transported at the gazed target location and the arm is maintained steady in the final position. The SPL areas V6A, PEc and PE contain cells sensitive to the direction of gaze and limb position but less is known about the degree of independent encoding of these signals. In this thesis, we evaluated the influence of eye and arm position information upon single neuron activity of areas V6A, PEc and PE during the holding period after the execution of arm reaching movement, when the gaze and hand are both still at the reach target. Two male macaques (Macaca fascicularis) performed a reaching task while single unit activity was recorded from areas V6A, PEc and PE. We found that neurons in all these areas were modulated by eye and static arm positions with a joint encoding of gaze and somatosensory signals in V6A and PEc and a mostly separate processing of the two signals in PE.
The elaboration of this information reflects the functional gradient found in the SPL with the caudal sector characterized by visuo-somatic properties in comparison to the rostral sector dominated by somatosensory signals. This evidence well agree also with the recent reallocation of areas V6A and PEc in Brodmann’s area 7 depending on their similar structural and functional features with respect to PE belonging to Brodmann’s area 5 (Gamberini et al., 2020)
Navigation design and flight dynamics operations of the ArgoMoon cis-lunar CubeSat.
Get PDFOn November 16, 2022, the NASA’s Space Launch System (SLS) has been launched for the first time in the context of Artemis-1 mission where, together with the Orion Multi-Purpose Crew Vehicle, a set of 10 CubeSats have been delivered into a translunar trajectory. Among the small satellites deployed during Artemis-1 there is ArgoMoon, a 6U CubeSat built by the Italian company Argotec and coordinated by Italian Space Agency (ASI). The primary goal of ArgoMoon is to capture images of the Interim Cryogenic Propulsion Stage. The ArgoMoon trajectory has been designed as a highly elliptical geocentric orbit, with several encounters with the Moon.
In order to successfully fly ArgoMoon along the designed cis-lunar trajectory, a ground-based navigation system has been developed exploiting the guidance techniques also used for regular deep space missions. The navigation process is subdivided into Orbit Determi- nation (OD) and a Flight Path Control (FPC), and it is designed to follow the reference trajectory, prevent impacts with the Earth and the Moon, intensively test the navigation techniques, and guarantee the spacecraft disposal at the end of the mission. The work done in this thesis has accomplished the navigation of ArgoMoon, covering all aspects of the project life, from pre-launch design and analysis to actual operations. Firstly, the designed navigation process and the pre-mission assessment of its performance will be presented. Then, the results of the ArgoMoon navigation operations performed after the launch in November 2022 will be described in detail by discussing the main encountered challenges and the adopted solutions. The results of the operations confirmed the robustness of the designed navigation which allowed to accurately estimate the trajectory of ArgoMoon despite a series of complex events
Concepts and methods for efficient decentralized learning in federated settings
Get PDFDeep Neural Networks (DNNs) have revolutionized a wide range of applications beyond traditional machine learning and artificial intelligence fields, e.g., computer vision, healthcare, natural language processing and others. At the same time, edge devices have become central in our society, generating an unprecedented amount of data which could be used to train data-hungry models such as DNNs. However, the potentially sensitive or confidential nature of gathered data poses privacy concerns when storing and processing them in centralized locations. To this purpose, decentralized learning decouples model training from the need of directly accessing raw data, by alternating on-device training and periodic communications. The ability of distilling knowledge from decentralized data, however, comes at the cost of facing more challenging learning settings, such as coping with heterogeneous hardware and network connectivity, statistical diversity of data, and ensuring verifiable privacy guarantees. This Thesis proposes an extensive overview of decentralized learning literature, including a novel taxonomy and a detailed description of the most relevant system-level contributions in the related literature for privacy, communication efficiency, data and system heterogeneity, and poisoning defense. Next, this Thesis presents the design of an original solution to tackle communication efficiency and system heterogeneity, and empirically evaluates it on federated settings. For communication efficiency, an original method, specifically designed for Convolutional Neural Networks, is also described and evaluated against the state-of-the-art. Furthermore, this Thesis provides an in-depth review of recently proposed methods to tackle the performance degradation introduced by data heterogeneity, followed by empirical evaluations on challenging data distributions, highlighting strengths and possible weaknesses of the considered solutions. Finally, this Thesis presents a novel perspective on the usage of Knowledge Distillation as a mean for optimizing decentralized learning systems in settings characterized by data heterogeneity or system heterogeneity. Our vision on relevant future research directions close the manuscript
Crystal engineering strategies against antimicrobial resistance: a solid contribution to a contemporary problem
Get PDFThis PhD thesis sets its goal in the application of crystal engineering strategies to the design, formulation, synthesis, and characterization of innovative materials obtained by combining well established biologically active molecules and/or GRAS (generally recognized as safe) compounds with co-formers able to modulate specific properties of the molecule of interest. The solid-state association, via non-covalent interactions, of an active ingredient with another molecular component, a metal salt or a complex, may alter in a useful way the physicochemical properties of the active ingredient and/or may allow to explore new ways to enhance, in a synergistic way, the overall biological performance.
More specifically this thesis will address the threat posed by the increasing antimicrobial resistance (AMR) developed by microorganisms, which call for novel therapeutic strategies. Crystal engineering provides new tools to approach this crisis in a greener and cost-effective way.
This PhD work has been developed along two main research lines aiming to contribute to the search for innovative solutions to the AMR problem.
Design, preparation and characterization of novel metal-based antimicrobials, whereby organic molecules with known antimicrobial properties are combined with metal atoms also known to exert antimicrobial action.
Design, preparation and characterization of co-crystals obtained by combining antibacterial APIs (active pharmaceutical ingredients) with natural antimicrobials