Loosely Coupled GNSS and UWB with INS Integration for Indoor/Outdoor Pedestrian Navigation dagger
SENSORS
Authors: Di Pietra, Vincenzo; Dabove, Paolo; Piras, Marco
Abstract
The growth of location-based services (LBS) has increased rapidly in last years, mainly due to the possibility to exploit low-cost sensors installed in portable devices, such as smartphones and tablets. This work aims to show a low-cost multi-sensor platform developed by the authors in which an ultra-wideband (UWB) indoor positioning system is added to a classical global navigation satellite systems-inertial navigation system (GNSS-INS) integration, in order to acquire different synchronized data for further data fusion analysis in order to exploit seamless positioning. The data fusion is based on an extended Kalman filter (EKF) and on a geo-fencing approach which allows the navigation solution to be provided continuously. In particular, the proposed algorithm aims to solve a navigation task of a pedestrian user moving from an outdoor space to an indoor environment. The methodology and the system setup is presented with more details in the paper. The data acquired and the real-time positioning estimation are analysed in depth and compared with ground truth measurements. Particular attention is given to the UWB positioning system and its behaviour with respect to the environment. The proposed data fusion algorithm provides an overall horizontal and 3D accuracy of 35 cm and 45 cm, respectively, obtained considering 5 different measurement campaigns.
A fast and reliable method for detecting SNP rs67384697 (Hsa-miR-148a binding site) by a single run of allele-specific real-time PCR
HLA
Authors: Malnati, Mauro S.; Biswas, Priscilla; Ugolotti, Elisabetta; Di Marco, Eddi; Sironi, Francesca; Parolini, Francesca; Garbarino, Lucia; Mazzocco, Michela; Zipeto, Donato; Biassoni, Roberto
Abstract
Surface expression of human leukocyte antigen (HLA)-class I molecules is critical for modulating T/natural killer lymphocytes' effector functions. Among HLA molecules, HLA-C, the most recently evolved form of class I antigens, is subjected to both transcriptional and multiple post-transcriptional regulation mechanisms affecting its cell surface expression. Among the latter a region placed in the 30 untranslated region of HLA-C transcript contains the single nucleotide polymorphism (SNP) rs67384697 "G-ins/del" that has been found to be strictly associated with surface levels of HLA-C allomorphs because of the effect on the binding site of a microRNA (Hsa-miR-148a). Higher expression of HLA-C has been proved to influence HIV-1 infection via a better control of viremia and a slower disease progression. More importantly, the analysis of SNP rs67384697 "G-ins/del" combined with the evaluation of the HLA-Bw4/-Bw6 C1/C2 supratype, as well as the killer immunoglobulin-like receptor genetic asset, has proved to be pivotal in defining the status of Elite Controllers in the Caucasian population. Here we describe a new reliable and fast method of allele-specific real-time PCR to monitor the integrity/disruption of the binding site of the microRNA Hsa-miR-148a in a high-throughput format that can be easily applied to studies involving large cohorts of individuals.