86,546 research outputs found
Profondo solco d'ero¬sione sottomarina nel Flysch Numidico di Cefalù (Sicilia settentrio¬nale). Sc. Sal., 1-3.
No full textAdaptive control method and system in a terrestrial vehicle for tracking a route, particularly in an autonomous driving scenario
No full textA method is described for the control of the lateral movement of a terrestrial vehicle arranged to track a predetermined trajectory, particularly in an assisted driving or autonomous driving scenario, comprising: determining a lateral offset of the vehicle center of mass from the predetermined trajectory; determining a look-ahead error defined as a distance of a virtual look-ahead position of the vehicle center of mass from the predetermined trajectory; and controlling the steering angle of the vehicle so as to also minimize the lateral offset and the first derivative of said look-ahead error over time
PROCEDIMENTO E SISTEMA DI PIANIFICAZIONE DI UN PERCORSO PER UN VEICOLO TERRESTRE PER ELUSIONE DI OSTACOLI CON RAPIDA REAZIONE, PARTICOLARMENTE IN UNO SCENARIO DI GUIDA AUTONOMA
No full textApplication of high-resolution 3D-T2-ZOOMit in the evaluation of inter-hemispheric cysts in patients with dysgenesis of corpus callosum: technical aspects and imaging patterns at 3T-MRI
No full textMETHOD AND SYSTEM FOR PLANNING A PATH FOR A LAND VEHICLE FOR OBSTACLE AVOIDANCE WITH FAST REACTION, PARTICULARLY IN AN AUTONOMOUS DRIVE SCENARIO
No full textInterferon beta-1a downregulates TNFalpha-induced intercellular adhesion molecule 1 expression on brain microvascular endothelial cells through a tyrosine kinase-dependent pathway
No full textHybrid parameter identification of a multi-modal underwater soft robot
No full textWe introduce an octopus-inspired, underwater, soft-bodied robot capable of performing waterborne pulsed-jet propulsion and benthic legged-locomotion. This vehicle consists for as much as 80% of its volume of rubber-like materials so that structural flexibility is exploited as a key element during both modes of locomotion. The high bodily softness, the unconventional morphology and the non-stationary nature of its propulsion mechanisms require dynamic characterization of this robot to be dealt with by ad hoc techniques. We perform parameter identification by resorting to a hybrid optimization approach where the characterization of the dual ambulatory strategies of the robot is performed in a segregated fashion. A least squares-based method coupled with a genetic algorithm-based method is employed for the swimming and the crawling phases, respectively. The outcomes bring evidence that compartmentalized parameter identification represents a viable protocol for multi-modal vehicles characterization. However, the use of static thrust recordings as the input signal in the dynamic determination of shape-changing self-propelled vehicles is responsible for the critical underestimation of the quadratic drag coefficient
Interferon β-1a downregulates TNFα-induced intercellular adhesion molecule 1 expression on brain microvascular endothelial cells through a tyrosine kinase-dependent pathway
No full textTNFα (100 U/ml, 24 h) upregulated intercellular adhesion molecule 1 (ICAM1) expression on brain microvascular endothelial cell (BMEC) culture. The tyrosine kinase (TK) inhibitor genestein (100 μg/ml), the protein kinase C (PKC) inhibitor staurosporin (1 nM), and interferon (IF) β-1a (1000 U/ml) antagonized TNFα effect. When an ineffective dose of IFβ-1a (100 U/ml) was challenged with ineffective doses of either genestein (10 μg/ml) or staurosporin (0.1 nM), the combination IFβ-1a-genestein significantly reduced TNFα-induced ICAM1 expression whereas IFβ-1a-staurosporin did not. These findings indicate that a TK- rather than a PKC-dependent mechanism is involved in the modulation of TNFα response by IFβ-1a on BMECs. Copyright (C) 2000 Elsevier Science B.V
An LPV Approach to Autonomous Vehicle Path Tracking in the Presence of Steering Actuation Nonlinearities
No full textThis article deals with trajectory tracking for autonomous cars during evasive maneuvers and in the presence of steering actuator nonlinearities. This article develops an LPV MISO H-infinity controller based on the feedback of the lateral error at the center of gravity and the look-ahead distance. The controller architecture offers a way to cope with the effect of the steering nonlinearities, by scheduling one of the control weighting functions. A detailed experimental validation on three different maneuvers (straight driving, wide bend, and a double-lane change) shows the effectiveness of the proposed LPV solution
Hybrid parameter identification of a multi-modal underwater soft robot
No full textWe introduce an octopus-inspired, underwater, soft-bodied robot capable of performing waterborne pulsed-jet propulsion and benthic legged-locomotion. This vehicle consists for as much as 80% of its volume of rubber-like materials so that structural flexibility is exploited as a key element during both modes of locomotion. The high bodily softness, the unconventional morphology and the non-stationary nature of its propulsion mechanisms require dynamic characterization of this robot to be dealt with by ad hoc techniques. We perform parameter identification by resorting to a hybrid optimization approach where the characterization of the dual ambulatory strategies of the robot is performed in a segregated fashion. A least squares-based method coupled with a genetic algorithm-based method is employed for the swimming and the crawling phases, respectively. The outcomes bring evidence that compartmentalized parameter identification represents a viable protocol for multi-modal vehicles characterization. However, the use of static thrust recordings as the input signal in the dynamic determination of shape-changing self-propelled vehicles is responsible for the critical underestimation of the quadratic drag coefficient
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