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Article ; Online: Life tables in entomology: A discussion on tables' parameters and the importance of raw data.

Rossini, Luca / Contarini, Mario / Speranza, Stefano / Mermer, Serhan / Walton, Vaughn / Francis, Frédéric / Garone, Emanuele

PloS one

2024 Volume 19, Issue 3, Page(s) e0299598

Abstract: Life tables are one of the most common tools to describe the biology of insect species and their response to environmental conditions. Although the benefits of life tables are beyond question, we raise some doubts about the completeness of the ... ...

Abstract	Life tables are one of the most common tools to describe the biology of insect species and their response to environmental conditions. Although the benefits of life tables are beyond question, we raise some doubts about the completeness of the information reported in life tables. To substantiate these doubts, we consider a case study (Corcyra cephalonica) for which the raw dataset is available. The data suggest that the Gaussian approximation of the development times which is implied by the average and standard error usually reported in life tables does not describe reliably the actual distribution of the data which can be misleading and hide interesting biological aspects. Furthermore, it can be risky when life table data are used to build models to predict the demographic changes of the population. The present study highlights this aspect by comparing the impulse response generated by the raw data and by its Gaussian approximation based on the mean and the standard error. The conclusions of this paper highlight: i) the importance of adding more information to life tables and, ii) the role of raw data to ensure the completeness of this kind of studies. Given the importance of raw data, we also point out the need for further developments of a standard in the community for sharing and analysing data of life tables experiments.
MeSH term(s)	Animals ; Life Tables ; Insecta/physiology ; Entomology/methods ; Lepidoptera
Language	English
Publishing date	2024-03-07
Publishing country	United States
Document type	Journal Article
ZDB-ID	2267670-3
ISSN	1932-6203 ; 1932-6203
ISSN (online)	1932-6203
ISSN	1932-6203
DOI	10.1371/journal.pone.0299598
Database	MEDical Literature Analysis and Retrieval System OnLINE

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Book ; Online: Less Conservative Robust Reference Governors and Their Applications

Castroviejo-Fernandez, Miguel / Li, Huayi / Cotorruelo, Andrés / Garone, Emanuele / Kolmanovsky, Ilya

2024

Abstract: The applications of reference governors to systems with unmeasured set-bounded disturbances can lead to conservative solutions. This conservatism can be reduced by estimating the disturbance from output measurements and canceling it in the nominal ... ...

Abstract	The applications of reference governors to systems with unmeasured set-bounded disturbances can lead to conservative solutions. This conservatism can be reduced by estimating the disturbance from output measurements and canceling it in the nominal control law. In this paper, a reference governor based on such an approach is considered and time-varying, disturbance and state estimation errors bounding sets are derived. Consequently, the traditional implementation of a reference governor, which exploits a constraint admissible positively-invariant set of constant commands and initial states, is replaced by one which utilizes a time-dependent sequence of similar sets (which are not necessary nested). Examples are reported which include two applications to longitudinal control of aircraft that illustrate handling of elevator uncertainty and wing icing. Comment: 20 pages
Keywords	Electrical Engineering and Systems Science - Systems and Control
Subject code	005
Publishing date	2024-01-03
Publishing country	us
Document type	Book ; Online
Database	BASE - Bielefeld Academic Search Engine (life sciences selection)

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Book ; Online: Tracking and Following a Suspended Moving Object using Camera-Based Vision System

Ambrosino, Michele / Mahmalji, Manar / Rosselló, Nicolás Bono / Garone, Emanuele

2023

Abstract: When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a robotic system ...

Abstract	When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a robotic system needs to interact with a dynamic environment or moving target. However, this kind of vision system is known to have low data transmission rates, packet loss during communication and noisy measurements as major disadvantages. These problems can perturb the control performance and the quality of the robot-environment interaction. To improve the quality of visual information, in this paper, we propose to model the dynamics of the motion of a target object and use this model to implement an Extended Kalman Filter based on Intermittent Observations of the vision system. The effectiveness of the proposed approach was tested through experiments with a robotic arm, a camera device in an eye-to-hand configuration, and an oscillating suspended block as a target to follow. Comment: 6pages, 11 figures
Keywords	Computer Science - Robotics ; Mathematics - Optimization and Control
Subject code	629
Publishing date	2023-11-09
Publishing country	us
Document type	Book ; Online
Database	BASE - Bielefeld Academic Search Engine (life sciences selection)

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Article: Modelling ectotherms’ populations considering physiological age structure and spatial motion: A novel approach

Rossini, Luca / Bono Rosselló, Nicolás / Contarini, Mario / Speranza, Stefano / Garone, Emanuele

Ecological informatics. 2022 Sept., v. 70

2022

Abstract: The mathematical description of the dynamics of ectotherm populations has a crucial role in understanding and forecasting insect pests outbreaks, as well as to support the formulation of low-impact control strategies. Even though in recent years a ... ...

Abstract	The mathematical description of the dynamics of ectotherm populations has a crucial role in understanding and forecasting insect pests outbreaks, as well as to support the formulation of low-impact control strategies. Even though in recent years a considerable step forward has been made in modelling the biological life cycle of many ectotherms, the modelling of spatial aspects still remain partially unexplored. This work aims to fill a gap in knowledge by modelling the environmental factors-driven spatial motion of insects considering populations which develop over time, and through their life stages. Accordingly, spatial motion is proposed by modifying an existing physiologically based model by adding a subdivision of the area of interest in interconnected subareas represented by means of graph. Besides the mathematical framework, the model behavior is theoretically analyzed by considering three common cases of spatial motion occurring in cultivated fields: trap attraction, wind transportation, and a combination of the both cases. Simulations focus on the case of Drosophila suzukii, chosen due to the large amount of biological data available in the current literature. The behavior analysis shows the great potential of the model presented in this paper in the field of pest management, agriculture, and ecology.
Keywords	Drosophila suzukii ; age structure ; ectothermy ; models ; pest management ; transportation ; wind
Language	English
Dates of publication	2022-09
Publishing place	Elsevier B.V.
Document type	Article
ZDB-ID	2212016-6
ISSN	1878-0512 ; 1574-9541
ISSN (online)	1878-0512
ISSN	1574-9541
DOI	10.1016/j.ecoinf.2022.101703
Database	NAL-Catalogue (AGRICOLA)

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Article: Smart testing and selective quarantine for the control of epidemics.

Pezzutto, Matthias / Bono Rosselló, Nicolás / Schenato, Luca / Garone, Emanuele

Annual reviews in control

2021 Volume 51, Page(s) 540–550

Abstract: This paper is based on the observation that, during Covid-19 epidemic, the choice of which individuals should be tested has an important impact on the effectiveness of selective confinement measures. This decision problem is closely related to the ... ...

Abstract	This paper is based on the observation that, during Covid-19 epidemic, the choice of which individuals should be tested has an important impact on the effectiveness of selective confinement measures. This decision problem is closely related to the problem of optimal sensor selection, which is a very active research subject in control engineering. The goal of this paper is to propose a policy to smartly select the individuals to be tested. The main idea is to model the epidemics as a stochastic dynamic system and to select the individual to be tested accordingly to some optimality criteria, e.g. to minimize the probability of undetected asymptomatic cases. Every day, the probability of infection of the different individuals is updated making use of the stochastic model of the phenomenon and of the information collected in the previous days. Simulations for a closed community of 10'000 individuals show that the proposed technique, coupled with a selective confinement policy, can reduce the spread of the disease while limiting the number of individuals confined if compared to the simple contact tracing of positive and to an off-line test selection strategy based on the number of contacts.
Language	English
Publishing date	2021-03-26
Publishing country	England
Document type	Journal Article
ZDB-ID	1501302-9
ISSN	1872-9088 ; 1367-5788
ISSN (online)	1872-9088
ISSN	1367-5788
DOI	10.1016/j.arcontrol.2021.03.001
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Article ; Online: Self-Reconfigurable Hierarchical Frameworks for Formation Control of Robot Swarms.

Zhang, Yuwei / Oguz, Sinan / Wang, Shaoping / Garone, Emanuele / Wang, Xingjian / Dorigo, Marco / Heinrich, Mary Katherine

IEEE transactions on cybernetics

2023 Volume 54, Issue 1, Page(s) 87–100

Abstract: Hierarchical frameworks-a special class of directed frameworks with a layer-by-layer architecture-can be an effective mechanism to coordinate robot swarms. Their effectiveness was recently demonstrated by the mergeable nervous systems paradigm (Mathews ... ...

Abstract	Hierarchical frameworks-a special class of directed frameworks with a layer-by-layer architecture-can be an effective mechanism to coordinate robot swarms. Their effectiveness was recently demonstrated by the mergeable nervous systems paradigm (Mathews et al., 2017), in which a robot swarm can switch dynamically between distributed and centralized control depending on the task, using self-organized hierarchical frameworks. New theoretical foundations are required to use this paradigm for formation control of large swarms. In particular, the systematic and mathematically analyzable organization and reorganization of hierarchical frameworks in a robot swarm is still an open problem. Although methods for framework construction and formation maintenance via rigidity theory exist in the literature, they do not address cases of hierarchy in a robot swarm. In this article, we extend bearing rigidity to directed topologies and extend the Henneberg constructions to generate self-organized hierarchical frameworks with bearing rigidity. We investigate three-key self-reconfiguration problems: 1) framework merging; 2) robot departure; and 3) framework splitting. We also derive the mathematical conditions of these problems and then develop algorithms that preserve rigidity and hierarchy using only local information. Our approach can be used for formation control generally, as in principle it can be coupled with any control law that makes use of bearing rigidity. To demonstrate and validate our proposed hierarchical frameworks and methods, we apply them to four scenarios of reactive formation control using an example control law.
Language	English
Publishing date	2023-12-20
Publishing country	United States
Document type	Journal Article
ISSN	2168-2275
ISSN (online)	2168-2275
DOI	10.1109/TCYB.2023.3237731
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Book ; Online: Constraint Control of a Boom Crane System

Ambrosino, Michele / Dawans, Arnaud / Garone, Emanuele

2021

Abstract: Boom cranes are among the most used cranes to lift heavy loads. Although fairly simple mechanically, from the control viewpoint this kind of crane is a nonlinear underactuated system which presents several challenges, especially when con-trolled in the ... ...

Abstract	Boom cranes are among the most used cranes to lift heavy loads. Although fairly simple mechanically, from the control viewpoint this kind of crane is a nonlinear underactuated system which presents several challenges, especially when con-trolled in the presence of constraints. To solve this problem, we propose an approach based on the Explicit Reference Governor (ERG), which does not require any online optimization, thus making it computationally inexpensive. The proposed control scheme is able to steer the crane to a desired position ensuring the respect of limited joint ranges, maximum oscillation angle, and the avoidance of static obstacles. Comment: The paper was published in 37th International Symposium on Automation and Robotics in Construction (ISARC 2020)
Keywords	Electrical Engineering and Systems Science - Systems and Control ; Computer Science - Robotics
Publishing date	2021-03-03
Publishing country	us
Document type	Book ; Online
Database	BASE - Bielefeld Academic Search Engine (life sciences selection)

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Book ; Online: Oscillation Reduction for Knuckle Cranes

Ambrosino, Michele / Thierens, Brent / Dawans, Arnaud / Garone, Emanuele

2021

Abstract: Boom cranes are among the most common material handling systems due to their simple design. Some boom cranes also have an auxiliary jib connected to the boom with a flexible joint to enhance the maneuverability and increase the workspace of the crane. ... ...

Abstract	Boom cranes are among the most common material handling systems due to their simple design. Some boom cranes also have an auxiliary jib connected to the boom with a flexible joint to enhance the maneuverability and increase the workspace of the crane. Such boom cranes are commonly called knuckle boom cranes. Due to their underactuated properties, it is fairly challenging to control knuckle boom cranes. To the best of our knowledge, only a few techniques are present in the literature to control this type of cranes using approximate models of the crane. In this paper we present for the first time a complete mathematical model for this crane where it is possible to control the three rotations of the crane (known as luff, slew, and jib movement), and the cable length. One of the main challenges to control this system is how to reduce the oscillations in an effective way. In this paper we propose a nonlinear control based on energy considerations capable of guiding the crane to desired sets points while effectively reducing load oscillations. The corresponding stability and convergence analysis is proved using the LaSalle's invariance principle. Simulation results are provided to demonstrate the effectiveness and feasibility of the proposed method. Comment: This paper was published in 37th International Symposium on Automation and Robotics in Construction (ISARC 2020)
Keywords	Electrical Engineering and Systems Science - Systems and Control ; Computer Science - Robotics
Subject code	629
Publishing date	2021-03-03
Publishing country	us
Document type	Book ; Online
Database	BASE - Bielefeld Academic Search Engine (life sciences selection)

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Article: A general ODE-based model to describe the physiological age structure of ectotherms: Description and application to Drosophila suzukii

Rossini, Luca / Bono Rosselló, Nicolás / Speranza, Stefano / Garone, Emanuele

Ecological modelling. 2021 Sept. 15, v. 456

2021

Abstract: This paper introduces a novel general model based on Ordinary Differential Equations (ODEs) which is able to describe the population dynamics of a large class of insect pests. The proposed model is a physiologically-inspired generalization of a number of ...

Abstract	This paper introduces a novel general model based on Ordinary Differential Equations (ODEs) which is able to describe the population dynamics of a large class of insect pests. The proposed model is a physiologically-inspired generalization of a number of ad hoc models presented through the years in the literature. Its main feature is that it allows the systematic generation of a population model for a species by simply defining its key features, namely the sex ratio and the development, fertility, and mortality rates. The first part of the paper provides a detailed description of the model and shows that most ODE-based models existing in literature can be obtained as a special case of the proposed model. The second part of the paper shows an application of the model to the spotted wing drosophila Drosophila suzukii, which is a highly relevant pest in agriculture. The biological features of this species, i.e., the sex ratio and the various rates, were retrieved from the existing scientific literature. The obtained model was validated using data from a three-year survey conducted in two experimental fields. Results show that the model describes faithfully the experimental populations, although the simulations were performed completely in open-loop and without any adaptation of the parameters extracted from the existing literature.
Keywords	Drosophila suzukii ; age structure ; ectothermy ; models ; mortality ; population dynamics ; sex ratio ; surveys
Language	English
Dates of publication	2021-0915
Publishing place	Elsevier B.V.
Document type	Article
ZDB-ID	191971-4
ISSN	0304-3800
ISSN	0304-3800
DOI	10.1016/j.ecolmodel.2021.109673
Database	NAL-Catalogue (AGRICOLA)

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Article ; Online: On the effect of the number of tests and their time of application in tracing policies against COVID-19.

Rossello, Nicolas Bono / Pezzutto, Matthias / Schenato, Luca / Castagliuolo, Ignazio / Garone, Emanuele

IFAC-PapersOnLine

2021 Volume 54, Issue 15, Page(s) 157–162

Abstract: In this paper we explore the effect of the number of daily tests on an epidemics control policy purely based on testing and selective quarantine, and the impact of these actions depending on the time their application starts. We introduce a general model ...

Abstract	In this paper we explore the effect of the number of daily tests on an epidemics control policy purely based on testing and selective quarantine, and the impact of these actions depending on the time their application starts. We introduce a general model incorporating a stochastic disease evolution, a particular weighted graph representing the population, and an optimal contact tracing strategy to allocate available tests. Simulations on a community of 50'000 individuals show that the evolution of the epidemic produces a clear non-linear response to the variation of the number of tests used and to the starting time of their application. These results suggest that not only a minimum number of tests is necessary to obtain a positive outcome from the tracing strategy but also that there exists a saturation on the contribution of additional tests. The results also show that the timing in the application of the measures is as important as the measures themselves and that an excessive delay can be hardly overcome.
Language	English
Publishing date	2021-11-02
Publishing country	Netherlands
Document type	Journal Article
ZDB-ID	2839185-8
ISSN	2405-8963 ; 2405-8963
ISSN (online)	2405-8963
ISSN	2405-8963
DOI	10.1016/j.ifacol.2021.10.248
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