Cognitive risk perception system for obstacle avoidance in outdoor mUAV missions

La robótica ha evolucionado exponencialmente en las últimas décadas, permitiendo a los sistemas actuales realizar tareas sumamente complejas con gran precisión, fiabilidad y velocidad. Sin embargo, este desarrollo ha estado asociado a un mayor grado de especialización y particularización de las tecnologías implicadas, siendo estas muy eficientes en situaciones concretas y controladas, pero incapaces en entornos cambiantes, dinámicos y desestructurados. Por eso, el desarrollo de la robótica debe pasar por dotar a los sistemas de capacidad de adaptación a las circunstancias, de entendedimiento sobre los cambios observados y de flexibilidad a la hora de interactuar con el entorno. Estas son las caracteristicas propias de la interacción del ser humano con su entorno, las que le permiten sobrevivir y las que pueden proporcionar a un sistema inteligencia y capacidad suficientes para desenvolverse en un entorno real de forma autónoma e independiente. Esta adaptabilidad es especialmente importante en el manejo de riesgos e incetidumbres, puesto que es el mecanismo que permite contextualizar y evaluar las amenazas para proporcionar una respuesta adecuada. Así, por ejemplo, cuando una persona se mueve e interactua con su entorno, no evalúa los obstáculos en función de su posición, velocidad o dinámica (como hacen los sistemas robóticos tradicionales), sino mediante la estimación del riesgo potencial que estos elementos suponen para la persona. Esta evaluación se consigue combinando dos procesos psicofísicos del ser humano: por un lado, la percepción humana analiza los elementos relevantes del entorno, tratando de entender su naturaleza a partir de patrones de comportamiento, propiedades asociadas u otros rasgos distintivos. Por otro lado, como segundo nivel de evaluación, el entendimiento de esta naturaleza permite al ser humano conocer/estimar la relación de los elementos con él mismo, así como sus implicaciones en cuanto a nivel de riesgo se refiere. El establecimiento de estas relaciones semánticas -llamado cognición- es la única forma de definir el nivel de riesgo de manera absoluta y de generar una respuesta adecuada al mismo. No necesariamente proporcional, sino coherente con el riesgo al que se enfrenta. La investigación que presenta esta tesis describe el trabajo realizado para trasladar esta metodología de análisis y funcionamiento a la robótica. Este se ha centrado especialmente en la nevegación de los robots aéreos, diseñando e implementado procedimientos de inspiración humana para garantizar la seguridad de la misma. Para ello se han estudiado y evaluado los mecanismos de percepción, cognición y reacción humanas en relación al manejo de riesgos. También se ha analizado como los estímulos son capturados, procesados y transformados por condicionantes psicológicos, sociológicos y antropológicos de los seres humanos. Finalmente, también se ha analizado como estos factores motivan y descandenan las reacciones humanas frente a los peligros. Como resultado de este estudio, todos estos procesos, comportamientos y condicionantes de la conducta humana se han reproducido en un framework que se ha estructurado basadandose en factores análogos. Este emplea el conocimiento obtenido experimentalmente en forma de algoritmos, técnicas y estrategias, emulando el comportamiento humano en las mismas circunstancias. Diseñado, implementeado y validado tanto en simulación como con datos reales, este framework propone una manera innovadora -tanto en metodología como en procedimiento- de entender y reaccionar frente a las amenazas potenciales de una misión robótica. ABSTRACT Robotics has undergone a great revolution in the last decades. Nowadays this technology is able to perform really complex tasks with a high degree of accuracy and speed, however this is only true in precisely defined situations with fully controlled variables. Since the real world is dynamic, changing and unstructured, flexible and non context-dependent systems are required. The ability to understand situations, acknowledge changes and balance reactions is required by robots to successfully interact with their surroundings in a fully autonomous fashion. In fact, it is those very processes that define human interactions with the environment. Social relationships, driving or risk/incertitude management... in all these activities and systems, context understanding and adaptability are what allow human beings to survive: contrarily to the traditional robotics, people do not evaluate obstacles according to their position but according to the potential risk their presence imply. In this sense, human perception looks for information which goes beyond location, speed and dynamics (the usual data used in traditional obstacle avoidance systems). Specific features in the behaviour of a particular element allows the understanding of that element’s nature and therefore the comprehension of the risk posed by it. This process defines the second main difference between traditional obstacle avoidance systems and human behaviour: the ability to understand a situation/scenario allows to get to know the implications of the elements and their relationship with the observer. Establishing these semantic relationships -named cognition- is the only way to estimate the actual danger level of an element. Furthermore, only the application of this knowledge allows the generation of coherent, suitable and adjusted responses to deal with any risk faced. The research presented in this thesis summarizes the work done towards translating these human cognitive/reasoning procedures to the field of robotics. More specifically, the work done has been focused on employing human-based methodologies to enable aerial robots to navigate safely. To this effect, human perception, cognition and reaction processes concerning risk management have been experimentally studied; as well as the acquisition and processing of stimuli. How psychological, sociological and anthropological factors modify, balance and give shape to those stimuli has been researched. And finally, the way in which these factors motivate the human behaviour according to different mindsets and priorities has been established. This associative workflow has been reproduced by establishing an equivalent structure and defining similar factors and sources. Besides, all the knowledge obtained experimentally has been applied in the form of algorithms, techniques and strategies which emulate the analogous human behaviours. As a result, a framework capable of understanding and reacting in response to stimuli has been implemented and validated.

Cognitive strategies for reducing energy consumption in wireless sensor networks

El consumo energético de las Redes de Sensores Inalámbricas (WSNs por sus siglas en inglés) es un problema histórico que ha sido abordado desde diferentes niveles y visiones, ya que no solo afecta a la propia supervivencia de la red sino que el creciente uso de dispositivos inteligentes y el nuevo paradigma del Internet de las Cosas hace que las WSNs tengan cada vez una mayor influencia en la huella energética. Debido a la tendencia al alza en el uso de estas redes se añade un nuevo problema, la saturación espectral. Las WSNs operan habitualmente en bandas sin licencia como son las bandas Industrial, Científica y Médica (ISM por sus siglas en inglés). Estas bandas se comparten con otro tipo de redes como Wi-Fi o Bluetooth cuyo uso ha crecido exponencialmente en los últimos años. Para abordar este problema aparece el paradigma de la Radio Cognitiva (CR), una tecnología que permite el acceso oportunista al espectro. La introducción de capacidades cognitivas en las WSNs no solo permite optimizar su eficiencia espectral sino que también tiene un impacto positivo en parámetros como la calidad de servicio, la seguridad o el consumo energético. Sin embargo, por otra parte, este nuevo paradigma plantea algunos retos relacionados con el consumo energético. Concretamente, el sensado del espectro, la colaboración entre los nodos (que requiere comunicación adicional) y el cambio en los parámetros de transmisión aumentan el consumo respecto a las WSN clásicas. Teniendo en cuenta que la investigación en el campo del consumo energético ha sido ampliamente abordada puesto que se trata de una de sus principales limitaciones, asumimos que las nuevas estrategias deben surgir de las nuevas capacidades añadidas por las redes cognitivas. Por otro lado, a la hora de diseñar estrategias de optimización para CWSN hay que tener muy presentes las limitaciones de recursos de estas redes en cuanto a memoria, computación y consumo energético de los nodos. En esta tesis doctoral proponemos dos estrategias de reducción de consumo energético en CWSNs basadas en tres pilares fundamentales. El primero son las capacidades cognitivas añadidas a las WSNs que proporcionan la posibilidad de adaptar los parámetros de transmisión en función del espectro disponible. La segunda es la colaboración, como característica intrínseca de las CWSNs. Finalmente, el tercer pilar de este trabajo es teoría de juegos como algoritmo de soporte a la decisión, ampliamente utilizado en WSNs debido a su simplicidad. Como primer aporte de la tesis se presenta un análisis completo de las posibilidades introducidas por la radio cognitiva en materia de reducción de consumo para WSNs. Gracias a las conclusiones extraídas de este análisis, se han planteado las hipótesis de esta tesis relacionadas con la validez de usar capacidades cognitivas como herramienta para la reducción de consumo en CWSNs. Una vez presentada las hipótesis, pasamos a desarrollar las principales contribuciones de la tesis: las dos estrategias diseñadas para reducción de consumo basadas en teoría de juegos y CR. La primera de ellas hace uso de un juego no cooperativo que se juega mediante pares de jugadores. En la segunda estrategia, aunque el juego continúa siendo no cooperativo, se añade el concepto de colaboración. Para cada una de las estrategias se presenta el modelo del juego, el análisis formal de equilibrios y óptimos y la descripción de la estrategia completa donde se incluye la interacción entre nodos. Con el propósito de probar las estrategias mediante simulación e implementación en dispositivos reales hemos desarrollado un marco de pruebas compuesto por un simulador cognitivo y un banco de pruebas formado por nodos cognitivos capaces de comunicarse en tres bandas ISM desarrollados en el B105 Lab. Este marco de pruebas constituye otra de las aportaciones de la tesis que permitirá el avance en la investigación en el área de las CWSNs. Finalmente, se presentan y discuten los resultados derivados de la prueba de las estrategias desarrolladas. La primera estrategia proporciona ahorros de energía mayores al 65% comparados con una WSN sin capacidades cognitivas y alrededor del 25% si la comparamos con una estrategia cognitiva basada en el sensado periódico del espectro para el cambio de canal de acuerdo a un nivel de ruido fijado. Este algoritmo se comporta de forma similar independientemente del nivel de ruido siempre que éste sea espacialmente uniformemente. Esta estrategia, a pesar de su sencillez, nos asegura el comportamiento óptimo en cuanto a consumo energético debido a la utilización de teoría de juegos en la fase de diseño del comportamiento de los nodos. La estrategia colaborativa presenta mejoras respecto a la anterior en términos de protección frente al ruido en escenarios de ruido más complejos donde aporta una mejora del 50% comparada con la estrategia anterior. ABSTRACT Energy consumption in Wireless Sensor Networks (WSNs) is a known historical problem that has been addressed from different areas and on many levels. But this problem should not only be approached from the point of view of their own efficiency for survival. A major portion of communication traffic has migrated to mobile networks and systems. The increased use of smart devices and the introduction of the Internet of Things (IoT) give WSNs a great influence on the carbon footprint. Thus, optimizing the energy consumption of wireless networks could reduce their environmental impact considerably. In recent years, another problem has been added to the equation: spectrum saturation. Wireless Sensor Networks usually operate in unlicensed spectrum bands such as Industrial, Scientific, and Medical (ISM) bands shared with other networks (mainly Wi-Fi and Bluetooth). To address the efficient spectrum utilization problem, Cognitive Radio (CR) has emerged as the key technology that enables opportunistic access to the spectrum. Therefore, the introduction of cognitive capabilities to WSNs allows optimizing their spectral occupation. Cognitive Wireless Sensor Networks (CWSNs) do not only increase the reliability of communications, but they also have a positive impact on parameters such as the Quality of Service (QoS), network security, or energy consumption. These new opportunities introduced by CWSNs unveil a wide field in the energy consumption research area. However, this also implies some challenges. Specifically, the spectrum sensing stage, collaboration among devices (which requires extra communication), and changes in the transmission parameters increase the total energy consumption of the network. When designing CWSN optimization strategies, the fact that WSN nodes are very limited in terms of memory, computational power, or energy consumption has to be considered. Thus, light strategies that require a low computing capacity must be found. Since the field of energy conservation in WSNs has been widely explored, we assume that new strategies could emerge from the new opportunities presented by cognitive networks. In this PhD Thesis, we present two strategies for energy consumption reduction in CWSNs supported by three main pillars. The first pillar is that cognitive capabilities added to the WSN provide the ability to change the transmission parameters according to the spectrum. The second pillar is that the ability to collaborate is a basic characteristic of CWSNs. Finally, the third pillar for this work is the game theory as a decision-making algorithm, which has been widely used in WSNs due to its lightness and simplicity that make it valid to operate in CWSNs. For the development of these strategies, a complete analysis of the possibilities is first carried out by incorporating the cognitive abilities into the network. Once this analysis has been performed, we expose the hypotheses of this thesis related to the use of cognitive capabilities as a useful tool to reduce energy consumption in CWSNs. Once the analyses are exposed, we present the main contribution of this thesis: the two designed strategies for energy consumption reduction based on game theory and cognitive capabilities. The first one is based on a non-cooperative game played between two players in a simple and selfish way. In the second strategy, the concept of collaboration is introduced. Despite the fact that the game used is also a non-cooperative game, the decisions are taken through collaboration. For each strategy, we present the modeled game, the formal analysis of equilibrium and optimum, and the complete strategy describing the interaction between nodes. In order to test the strategies through simulation and implementation in real devices, we have developed a CWSN framework composed by a CWSN simulator based on Castalia and a testbed based on CWSN nodes able to communicate in three different ISM bands. We present and discuss the results derived by the energy optimization strategies. The first strategy brings energy improvement rates of over 65% compared to WSN without cognitive techniques. It also brings energy improvement rates of over 25% compared with sensing strategies for changing channels based on a decision threshold. We have also seen that the algorithm behaves similarly even with significant variations in the level of noise while working in a uniform noise scenario. The collaborative strategy presents improvements respecting the previous strategy in terms of noise protection when the noise scheme is more complex where this strategy shows improvement rates of over 50%.

Androgen responsiveness to competition in humans: the role of cognitive variables

Although androgens are commonly seen as male sex hormones, it has been established over the years that in both sexes, androgens also respond to social challenges. To explain the socially driven changes in androgens, two theoretical models have been proposed: the biosocial model and the challenge hypothesis. These models are typically seen as partly overlapping; however, they generate different predictions that are clarified here. In humans, sports competition and nonmetabolic competitive tasks have been used in the laboratory setting, as a proxy for agonistic interactions in animals. The results reviewed here show that the testosterone (T) response to competition in humans is highly variable – the studies present postcompetition T levels and changes in T that depend on the contest outcome and that cannot be predicted by the current theoretical models. These conflicting results bring to the foreground the importance of considering cognitive factors that could moderate the androgen response to competition. Among these variables, we elect cognitive appraisal and its components as a key candidate modulating factor. It is known that T also modulates the cognitive processes that are relevant to performance in competition. In this article, we reviewed the evidence arising from studies investigating the effect of administering exogenous T and compare those results with the findings from studies that measured endogenous T levels. Finally, we summarized the importance of also considering the interaction between androgens and other hormones, such as cortisol, when investigating the social modulation of T, as proposed by the dual-hormone hypothesis.

Assessment of fight outcome is needed to activate socially driven transcriptional changes in the zebrafish brain

Group living animals must be able to express different behavior profiles depending on their social status. Therefore, the same genotype may translate into different behavioral phenotypes through socially driven differential gene expression. However, how social information is translated into a neurogenomic response and what are the specific cues in a social interaction that signal a change in social status are questions that have remained unanswered. Here, we show for the first time, to our knowledge, that the switch between status-specific neurogenomic states relies on the assessment of fight outcome rather than just on self- or opponent-only assessment of fighting ability. For this purpose, we manipulated the perception of fight outcome in male zebrafish and measured its impact on the brain transcriptome using a zebrafish whole genome gene chip. Males fought either a real opponent, and a winner and a loser were identified, or their own image on a mirror, in which case, despite expressing aggressive behavior, males did not experience either a victory or a defeat. Massive changes in the brain transcriptome were observed in real opponent fighters, with losers displaying both a higher number of differentially expressed genes and of coexpressed gene modules than winners. In contrast, mirror fighters expressed a neurogenomic state similar to that of noninteracting fish. The genes that responded to fight outcome included immediate early genes and genes involved in neuroplasticity and epigenetic modifications. These results indicate that, even in cognitively simple organisms such as zebrafish, neurogenomic responses underlying changes in social status rely on mutual assessment of fighting ability.

Cognitive change processes in a group cognitive behavior therapy of depression

The present study attempted to examine the causal relationships among changes in automatic thoughts, dysfunctional attitudes, and depressive symptoms in a 12-week group cognitive behavior therapy (GCBT) program for depression. In all, 35 depressed patients attending the GCBT program were monitored with the Automatic Thoughts Questionnaire, Dysfunctional Attitudes Scale, and Beck Depression Inventory at the pre-treatment, 4th and 8th sessions, and post-treatment. The results were as follows: (1) GCBT reduces negative cognitions; (2) changes in automatic thoughts and dysfunctional attitudes lead to change in depressive symptoms; and (3) automatic thoughts play a mediating role between dysfunctional attitudes and depression. The findings taken as a whole support the Causal Cognition Model of depression. (C) 2003 Elsevier Science Ltd. All rights reserved.

Children's auditory perception and cognitive processing skills in adverse listening situations

Thesis (Ph.D.)--University of Washington, 2016-06

Cerebellar language and cognitive functions in childhood: A comparative review of the clinical research

Background: Recent research addressing evidence from functional neuroimaging studies, neurophysiological research, and new advances in neuropsychology together with traditional cerebellar lesion studies have recently implicated the cerebellum in adult language and cognitive functions. However, more limited information is currently available in describing the functional connectivity present in the paediatric population. Aims: It is the purpose of this paper to review recent clinical research pertaining to paediatric populations, outlining the impact of site of lesion and specific associated clinical changes in children with cerebellar disturbances. Main contribution: The specific contribution of the right cerebellar hemisphere to language function is identified to also exist in the paediatric population, highlighting the existence of functional connections between this region of the brain and left frontal cortical areas early in development. Conclusions: Implications for future research in paediatric populations are extensive, as a greater awareness and an understanding of the recently acknowledged involvement of the cerebellum in cognition and nonmotor linguistic function is anticipated to also add new dimension and direction to the analysis of childhood language outcomes associated with the cerebellum.

An integrated cognitive model of panic disorder: The role of positive and negative cognitions

One reason for the neglect of the role of positive factors in cognitive-behavioural therapy (CBT) may relate to a failure to develop cognitive models that integrate positive and negative cognitions. Bandura [Psychol. Rev. 84 (1977) 191; Anxiety Res. 1 (1988) 77] proposed that self-efficacy beliefs mediate a range of emotional and behavioural outcomes. However, in panic disorder, cognitively based research to date has largely focused on catastrophic misinterpretation of bodily sensations. Although a number of studies support each of the predictions associated with the account of panic disorder that is based on the role of negative cognitions, a review of the literature indicated that a cognitively based explanation of the disorder may be considerably strengthened by inclusion of positive cognitions that emphasize control or coping. Evidence to support an Integrated Cognitive Model (ICM) of panic disorder was examined and the theoretical implications of this model were discussed in terms of both schema change and compensatory skills accounts of change processes in CBT. (C) 2004 Elsevier Ltd. All rights reserved.

Borrowing from models of motor control to translate cognitive processes: Evidence for hypokinetic-hyperkinetic linguistic homologues?

In relation to motor control, the basal ganglia have been implicated in both the scaling and focusing of movement. Hypokinetic and hyperkinetic movement disorders manifest as a consequence of overshooting and undershooting GPi (globus pallidus internus) activity thresholds, respectively. Recently, models of motor control have been borrowed to translate cognitive processes relating to the overshooting and undershooting of GPi activity, including attention and executive function. Linguistic correlates, however, are yet to be extrapolated in sufficient detail. The aims of the present investigation were to: (1) characterise cognitive-linguistic processes within hypokinetic and hyperkinetic neural systems, as defined by motor disturbances; (2) investigate the impact of surgically-induced GPi lesions upon language abilities. Two Parkinsonian cases with opposing motor symptoms (akinetic versus dystonic/dyskinetic) served as experimental subjects in this research. Assessments were conducted both prior to as well as 3 and 12 months following bilateral posteroventral pallidotomy (PVP). Reliable changes in performance (i.e. both improvements and decrements) were typically restricted to tasks demanding complex linguistic operations across subjects. Hyperkinetic motor symptoms were associated with an initial overall improvement in complex language function as a consequence of bilateral PVP, which diminished over time, suggesting a decrescendo effect relative to surgical beneficence. In contrast, hypokinetic symptoms were associated with a more stable longitudinal linguistic profile, albeit defined by higher proportions of reliable decline versus improvement in postoperative assessment scores. The above findings endorsed the integration of the GPi within cognitive mechanisms involved in the arbitration of complex language functions. In relation to models of motor control, 'focusing' was postulated to represent the neural processes underpinning lexical-semantic manipulation, and 'scaling' the potential allocation of cognitive resources during the mediation of high-level linguistic tasks. (c) 2005 Elsevier Ltd. All rights reserved.

Increasing male involvement in family planning decision making: trial of a social-cognitive intervention in rural Vietnam

We tested a social-cognitive intervention to influence contraceptive practices among men living in rural communes in Vietnam. It was predicted that participants who received a stage-targeted program based on the Transtheoretical Model (TTM) would report positive movement in their stage of motivational readiness for their wife to use an intrauterine device (IUD) compared to those in a control condition. A quasi-experimental design was used, where the primary unit for allocation was villages. Villages were allocated randomly to a control condition or to two rounds of intervention with stage-targeted letters and interpersonal counseling. There were 651 eligible married men in the 12 villages chosen. A significant positive movement in men's stage of readiness for IUD use by their wife occurred in the intervention group, with a decrease in the proportions in the precontemplation stage from 28.6 to 20.2% and an increase in action/maintenance from 59.8 to 74.4% (P < 0.05). There were no significant changes in the control group. Compared to the control group, the intervention group showed higher pros, lower cons and higher self-efficacy for IUD use by their wife as a contraceptive method (P < 0.05). Interventions based on social-cognitive theory can increase men's involvement in IUD use in rural Vietnam and should assist in reducing future rates of unwanted pregnancy.

Developmental changes in the response to obstacles during prehension

Adults are proficient at reaching to grasp objects of interest in a cluttered workspace. The issue of concern, obstacle avoidance, was studied in 3 groups of young children aged 11-12, 9-10, and 7-8 years (n = 6 in each) and in 6 adults aged 18-24 years. Adults slowed their movements and decreased their maximum grip aperture when an obstacle was positioned close to a target object (the effect declined as the distance between target and obstacle increased). The children showed the same pattern, but the magnitude of the effect was quite different. In contrast to the adults, the obstacle continued to have a large effect when it was some distance from the target (and provided no physical obstruction to movement).

The pathophysiology of 'brain shrinkage' in alcoholics - Structural and molecular changes and clinical implications

This article represents a symposium of the 2004 ISBRA Congress held in Mannheim. The presentations were: Review of the neuropathological and neurochemical changes seen in alcohol-related ' brain shrinkage ' by Clive Harper; In Vivo Detection of Macrostructural and Microstructural Markers of Brain Integrity in Human Alcoholism and a Rodent Model of Alcoholism by Adolf Pfefferbaum, Elfar Adalsteinsson and Edith Sullivan; Gene and Protein Changes in the Brains of Alcoholics with ' Brain Shrinkage ' by Joanne Lewohl and Peter Dodd; Cross sectional and longitudinal MR spectroscopy studies of chronic adult alcoholics by Michael Taylor; Brain Atrophy Associated with Impairment on a Simulated Gambling Task in Long-Term Abstinent Alcoholics by George Fein and Bennett Landman.

Global processing speed as a mediator of developmental changes in children's auditory memory span

This study examined the role of global processing speed in mediating age increases in auditory memory span in 5- to 13-year-olds. Children were tested on measures of memory span, processing speed, single-word speech rate, phonological sensitivity, and vocabulary. Structural equation modeling supported a model in which age-associated increases in processing speed predicted the availability of long-term memory phonological representations for redintegration processes. The availability of long-term phonological representations, in turn, explained variance in memory span. Maximum speech rate did not predict independent variance in memory span. (c) 2005 Elsevier Inc. All rights reserved.