130,482 research outputs found
UAV trajectory control with rule-based minimum-energy reference generation
No full textThis paper deals with the hierarchical real-time control of unmanned aerial vehicles (UAVs) with rule-based strategy for mission time and energetic references generator based on optimal control theory. The objective of this work is to design a control which ensures an energy consumption close to the optimality, and easily implementable thanks to its low computational cost. The first part of the work deals with the extraction of simple and immediate rules for the determination of the optimal mission time, and the generation of 'energetic trajectories' from the analysis of the optimal control strategy results, to minimize the consumption over a high heterogeneous amount of simulations. Then, a hierarchical real-time controller is proposed to track desired energetic trajectories, identified as optimal. The results provided are validated through numerical experiments and compared in terms of energy performance with the optimal solution
Studio delle relazioni fra le caratteristiche della carcassa e la qualità della carne in vitelloni Chianini
No full textScopo della ricerca è stato quello di studiare le relazioni esistenti fra le misure rilevate su carcasse di vitelloni Chianini ed alcune caratteristiche delle carni da esse derivate; i risultati confermano che la qualità della carne non è influenzata dalla morfologia del corpo animale
Genetic variability of meat quality traits in Chianina beef cattle
No full textThe heritability of quality traits (chemical composition, colour, tenderness and water-holding capacity) of the meat derivingfrom three muscles (Triceps brachii, Longissimus dorsi and Semitendinosus) was evaluated in 92 young Chianinabulls. The animals were raised on two farms with different feeding programs, and were slaughtered at approximately 19months of age. Single pair correlations were considered in order to evidence the relationships between the same traitsdetected in the three muscles and between all the traits of the same muscle.The h2 values range from 0.00 to 0.24 for the chemical composition, from 0.00 to 0.19 for colour parameters, from 0.03to 0.31 for those observed after 48 h, and from 0.00 to 0.08 for tenderness and water-holding capacity. The values werenot homogeneous for the three muscles. The most heritable trait was yellowness (b*48) in all three muscles, with valuesof 0.11 in the Longissimus dorsi, 0.23 in the Semitendinosus, and 0.31 in the Triceps brachii. Conversely, tendernessappeared to have a low heritability, as did the parameters relating to the water-holding capacity. Colour traitsobserved before and after 48 h of storage generally were significantly and positively correlated, indicating that certaincolour characteristics are maintained even after 48 h of storage. There was not always a close relationship between thetraits of each muscles: significant correlations existed between the Triceps brachii and the Longissimus dorsi muscles,confirming the similar quality traits of their meat, while there were considerable differences between these muscles andthe Semitendinosus
Myofibrill fragmentation index and meat tenderness in Chianina beef
No full textIl muscolo semimembranoso, prelevato da 21 carcasse di vitelli Chianini, è stato sottoposto ad analisi il giorno della macellazione, dopo 1, 2 e 11 giorni; i parametri considerati o sono stati il pH, la tenerezza della carne cotta e l'indice di frammentazione miofibrillare. I risultati mostrano un progressivo intenerimento della carne con il procedere della frollatura, confermato da un graduale aumento dell'indice di frammentazione miofibrillare
Acoustical reconstruction of San Petronio Basilica in Bologna during the Baroque period: the effect of festive decorations
No full textThe Basilica of San Petronio in Bologna (Italy) is a large Gothic church characterized by three naves divided by cluster piers made of brick and flanked by square chapels. It is 130 m long, 60 m wide and 44 m high, developing a volume of 170000 m3. The widespread use of smooth plaster and the substantial lack of decoration give rise to a reverberation time (in unoccupied conditions) which varies from about 13 s at 125 Hz to 5 s at 4 kHz, with an average of 10.7 s at mid frequencies. In occupied conditions the expected mid-frequency reverberation time should lower to about 6.5 s. Nonetheless, these acoustic conditions appear scarcely compatible with the characteristics of the Baroque music which was composed for the "Cappella musicale" during the 17th century. However, historical research pointed out how, in that period, rich draping and curtains were often used during the major religious and civil celebrations. The analysis of the acoustic consequences of such temporary installations was performed by means of acoustic simulation based on historical records calibrated on the current configuration of the church. The paper presents the results of such reconstructio
Effetto della somministrazione di monensin e di tylosina sulla produzione ruminale di acidi grassi volatili in agnelli.
No full textCrescita relativa dei tagli pregiati in rapporto all'età, al peso vivo ed all'incremento ponderale nei bovini di razza Chianina.
No full textEffect of turmeric powder (Curcuma longa L.) and ascorbic acid on antioxidant capacity and oxidative status in rabbit burgers after cooking
No full textThe aim of this study was to evaluate the effects of turmeric powder and ascorbic acid on lipid oxidation and antioxidant capacity in cooked rabbit burgers. The burgers were derived from 3 different formulations (C, control, with no additives; Tu with 3.5% of turmeric powder and AA with 0.1% of ascorbic acid) and were stored at 4°C for 0 and 7 d and cooked. The lipid oxidation (thiobarbituric acid reactive substances [TBARS]) and antioxidant capacity (2,2-azinobis-[3 ethylbenzothiazoline-6-sulfonic acid] {ABTS}, 1,1-diphenyl-2-pircydrazyl [DPPH] and ferric reducing ability [FRAP]) were evaluated. A significant interaction between storage time and formulation (P<0.001) was observed for DPPH, FRAP and TBARS in cooked burgers. At day 0 and day 7, the DPPH value was higher in Tu and AA compared to C burgers. At day 0, C showed a lower level of FRAP than the Tu and AA burgers. At day 7, the FRAP values tended to decrease but remained significantly higher in Tu and AA compared to C burgers. Lipid oxidation at day 0 in Tu and AA showed lower TBARS values compared to C burgers. The addition of 3.5% turmeric powder in rabbit burgers exerts an antioxidant effect during storage and it seems more effective in controlling lipid oxidation than ascorbic acid after cooking
Metodo di regressione multipla per la stima dei tagli pregiati nei vitelloni Chianini. 2) Valutazione della capacità produttiva sulla base di rilievi su animali in vita.
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