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In this brief, we consider the problem of 3-D path generation and tracking for unmanned air vehicles (UAVs). The proposed path generation algorithm allows us to find a path satisfying arbitrary initial and final conditions, specified in terms of position and velocity. Our method assumes that aircraft structural and dynamic limitations can be translated in a turn radius constraint; therefore, the generated paths satisfy a constraint on the minimum admissible turning radius. The proposed algorithm for the path tracking guarantees, under specified assumptions, that the tracking error, both in position and in attitude, asymptotically tends to zero. The work has been carried out with reference to the UAV of the Italian Aerospace Research Center (CIRA). Simulation results for both the path generation and the tracking algorithms are presented; the latter have been obtained using a detailed 6-degree-of-freedom model of the CIRA UAV in the presence of wind and turbulence. [ABSTRACT FROM AUTHOR]

Point-of-care devices have attracted a huge interest by the scientific community because of the valuable potentiality for rapid diagnosis and precision medicine through cost-effective and easy-to-use devices for on-site measurement by unskilled personnel. Herein, we reported a smartphone-assisted electrochemical device consisted of a screen-printed electrode modified with carbon black nanomaterial and a commercially available smartphone potentiostat i.e. EmStat3 Blue, for sensitive detection of tyrosine. Once optimized the conditions, tyrosine was detected in standard solutions by square wave voltammetry, achieving a linear range comprised between 30 and 500 μM, with a detection limit equal to 4.4 μM. To detect tyrosine in serum, the interference of another amino acid i.e. tryptophan was hindered using a sample treatment with an extraction cartridge. The agreement of results analyzing serum samples with HPLC reference method and with the developed smart sensing system demonstrated the suitability of this smartphone-assisted sensing tool for cost-effective and rapid analyses of tyrosine in serum samples., (Copyright © 2021 Elsevier B.V. All rights reserved.)