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Kinematic Guidance using Virtual Reference Point for Underactuated Marine Vehicles with Sideslip Compensation
Get PDFPath following for underwater vehicles remains a significant challenge due to underactuation in the sway and heave directions. Most existing approaches rely on line-of-sight guidance to address this issue. In this paper, we explore an alternative approach using kinematic guidance, based on virtual reference point guidance, wherein a fictitious point offset from the vehicle's center of rotation is used to reformulate the kinematic control problem and mitigate underactuation constraints. While this concept has been explored to some extent, previous works have largely overlooked the impact of the vehicle’s attitude. To address this limitation, we propose a solution that simultaneously accounts for the vehicle’s attitude while minimizing cross-track error by defining the error dynamics in the body reference frame, which enables direct control of yaw and sway through yaw rate actuation. A model predictive controller is designed to optimize both attitude stabilization and trajectory tracking performance and is enhanced with an adaptive extended Kalman filter-like observer to estimate the sideslip caused by ocean currents and external disturbances. The proposed controller is evaluated under the influence of ocean currents and modeling uncertainties, and compared to an existing method from the literature, demonstrating its effectiveness in maintaining path-following accuracy while stabilizing the attitude
Ecoreati vittime e danni sociali: un'analisi giuridica e criminologica
Get PDFIl report è stato predisposto nell'ambito delle attività relative al Milestone 1 del progetto SEVeso.
Il documento ha due obiettivi:
1) tracciare lo stato dell'arte della letteratura in tema di green victimology e green criminology;
2) analizzare la normativa e la giurisprudenza costituzionali, sovranazionali e nazionali in materia ambientale
Dataset of the paper "Simulation-driven machine learning for real-time damage prognosis in masonry structures"
No full textThis dataset, developed as part of the Horizon 2020 HOLAHERIS project, contains data, models and results related to a machine learning predictor for damage prognosis in cracked masonry walls based on mechanically consistent crack patterns induced by external actions (earthquake-like loads and differential settlements). The stress increase indicator machine learning predictor is trained through more than 100 crack patterns generated by an accurate block-based numerical model, and the related stress increase indicator. Good predictions on masonry piers with features different from those used in the training data support the generalization potential of the proposed method. Accordingly, the training data set could be straightforwardly enlarged also by using numerical models for masonry (e.g., utilized in other research groups). The machine learning predictor is implemented within a Python code which is released in this dataset, together with input data which are collected within the same Python code
Quantification of hair steroids and behavioral assessment in pigs exposed to Lavender essential oil nebulization
No full textThis dataset contains raw data regarding hormonal hair quantification and behavioral assessment of pigs exposed to lavender (Lavandula angustifolia) essential oil (LEO) nebulization.
LEO is a phytoextract traditionally used in aromatherapy for its calming and anxiolytic effects, potentially acting at both the psychological (effect of the odour) and physiological level (effects of the inhaled volatile compounds via the limbic system, particularly the amygdala and hippocampus). Although the exact cellular mechanism of action is still unknown, some studies found that LEO inhalation resulted in anxiolytic effects similar to benzodiazepines.
A total of 108 pig were equally divided into 3 experimental groups: standard farming conditions (C=control), LAO nebulization for 10 minutes once a day (L1) or twice a day (L2). The trial lasted 127 days.
For hormonal steroid quantification, a sub-sample of 24 pigs per group was randomly selected. Animals were shaved at the beginning of the trial, to set the zero, and then again at the end of the trial (day 127) to quantify cortisol and DHEA.
As for behavioral assessment, 4 pens per experimental group were videotaped from 6:30AM to 6:30PM on days 7, 77 and 126 (beginning, middle and end of the trial)
Data on Femicide in Italy from 2022 to 2018
No full textThe dataset contains useful information for analyzing the phenomenon of female homicide and femicide. The years taken into consideration were 2018-2022, It consists of 610 cases containing information on the victim and the murderer, when known. From this data, it was possible to establish in each case the location and date of the crime and the age and nationality of born of the murdered woman. With regard to the murderer, if known, data was collected on sex, age, nationality of born, type of relationship with the victim, motive, and subsequent suicide, if applicable
Unravelling the influence of pollen diet on the gut microbiome and honeybee immunity
No full textThe dataset titled "Unravelling the Influence of Pollen Diet on the Gut Microbiome and Honeybee Immunity" provides a comprehensive resource to investigate the impact of pollen-based diets on gut microbiome composition and immunity in honeybees. Specifically, it aims to correlate pollen of different botanical and geographical origins with selected honeybee markers: the abundance of core microbial taxa and proteins involved in the immune response detectable in the haemolymph. This multidisciplinary study combines proteomics and microbiological analysis focused on key immunological biomarkers: a comprehensive proteomic approach based on MALDI BeeTyping and SDS-PAGE profiles, together with qPCR for the quantification of target microorganisms, was used to elucidate these interactions, in bees fed with pollen deriving from 8 botanical families. The available files include protein analysis and microbial absolute abundance tables in .xlsx format and all the machine output for the analysis performed. These data allow for exploration of the interplay between the microbiome and honeybee immune responses in relation to the pollen nutrition. This dataset is a valuable asset for researchers in honeybee health, microbial ecology, and animal nutrition
Il ventre delle città. Esperimenti legislativi, pianificazione urbana e suggestioni letterarie nel Secolo borghese
Get PDF[The underbelly of cities. Legislative experiments, urban planning and literary suggestions in the Bourgeois Century]. In 1884, the city of Naples was struck by a tragic cholera epidemic. The disease brought to the fore all the atavistic ills of the center: lack of running water, lack of an adequate sewage system, and overcrowding. Capable of vividly describing the conditions of the Neapolitan plebeians, Matilde Serao’s prose is recognized as a masterpiece of verist literature. It photographs the human misery e and, at the same time, the problems associated with an ambitious building redevelopment pursued through exceptional legal instruments. The exemplarity of the Neapolitan case, however, should not make us forget that similar housing and social emergencies - with subsequent building speculation - had already been addressed in Haussmann’s Paris. In the same decades, other Italian cities adopted regulatory plans that served as a premise for a transformation of the traditional urban fabric
Back to Fundamentals of Research: Ethics and Academic Freedom. Position Paper
Get PDFOn December 2, 2024, the University of Bologna organised an international event titled: “Back to Fundamentals of Research: Ethics and Academic Freedom.” The event featured prominent speakers and experts from national and international institutions, who shared their insights on emerging ethical concerns and the risks to academic freedom. Through this position paper, the University of Bologna aims to highlight the key messages that emerged from the discussions and to outline the challenges and recommendations to create a more responsible and supportive research environment
Dataset of the Survey on management and welfare of IHDHs Bredeers
No full textHeavy Draft Horses (IHDHs). The survey asked about various management practices and welfare issues of IHDHs. The survey was divided into several sections. In particular, the first section asked for general information on respondents and farm details. The second section covered all aspects of equine welfare and included questions on feeding, housing, health and behaviour.
A sample of 92 IHDH breeders completed the survey and each row of the dataset represents the answers of a single respondent. The aim of the study was to gather information on the general farm management performed by IHDHs breeders and highlight the good practices and welfare concerns faced by the IHDHs.
The results of this survey are discussed in Benedetti, B., M. Felici, G. Pigozzi, F. Patroncini, and B. Padalino. 2025. “Management and Welfare of the Italian Heavy Draft Horse.” Italian Journal of Animal Science 24 (1): 784–99. doi: 10.1080/1828051X.2025.2470960
RNAseq analysis on the foot of mediterranean mussels experimentally exposed to heat waves for 3 and 30 days
No full textThis dataset contains RNAseq data to measure gene expression and identify differentially expressed genes (DEGs) in Mediterranean mussels (Mytilus galloprovincialis) exposed for 3 and 30 days to experimental heat waves (28°C), mimiking the temperature increase expected in 2050. The control group was maintained at a temperature of 20.0 ± 0.5 ◦C, while the exposed group was brought to 28.0 ± 0.5 °C by warming the water at a rate of 0.5 °C·h-1. The water temperatures were kept constant for 30 days using electronic thermostats and heat exchangers. Seawater parameters (temperature, salinity, and pH) were checked daily