Study of led lamps technologies impact on the utility

With the growing interest in the issue of reducing powerconsumption in electricity applications, energy-saving devises and the problem of their operation gains more attention. The increase in the utilization of energy-saving lamps, especially LED lamps, leads to the wide interest in their influence on the power system. The impact of discussed devices on the voltage and current in the grid must be thoroughly studied before launching devices into the market. The studies undertaken on the LED lamps present in a wide range the issue of harmonic emission from lamps and their influence on power quality. Due to many anufacturing technologies, different LED devices can have various effects on the utility. It is significant to carry out researches concerning the adverse effects of energy-saving lamps in order to utilize devices that meet certain requirements which are set by the international commissions.

Three Essays on a Longitudinal Analysis of Business Start-ups using the Kauffman Firm Survey

This dissertation focused on the longitudinal analysis of business start-ups using three waves of data from the Kauffman Firm Survey. The first essay used the data from years 2004-2008, and examined the simultaneous relationship between a firm’s capital structure, human resource policies, and its impact on the level of innovation. The firm leverage was calculated as, debt divided by total financial resources. Index of employee well-being was determined by a set of nine dichotomous questions asked in the survey. A negative binomial fixed effects model was used to analyze the effect of employee well-being and leverage on the count data of patents and copyrights, which were used as a proxy for innovation. The paper demonstrated that employee well-being positively affects the firm's innovation, while a higher leverage ratio had a negative impact on the innovation. No significant relation was found between leverage and employee well-being. The second essay used the data from years 2004-2009, and inquired whether a higher entrepreneurial speed of learning is desirable, and whether there is a linkage between the speed of learning and growth rate of the firm. The change in the speed of learning was measured using a pooled OLS estimator in repeated cross-sections. There was evidence of a declining speed of learning over time, and it was concluded that a higher speed of learning is not necessarily a good thing, because speed of learning is contingent on the entrepreneur's initial knowledge, and the precision of the signals he receives from the market. Also, there was no reason to expect speed of learning to be related to the growth of the firm in one direction over another. The third essay used the data from years 2004-2010, and determined the timing of diversification activities by the business start-ups. It captured when a start-up diversified for the first time, and explored the association between an early diversification strategy adopted by a firm, and its survival rate. A semi-parametric Cox proportional hazard model was used to examine the survival pattern. The results demonstrated that firms diversifying at an early stage in their lives show a higher survival rate; however, this effect fades over time.

Technologies for urban and rural internet of things

Nowadays, application domains such as smart cities, agriculture or intelligent transportation, require communication technologies that combine long transmission ranges and energy efficiency to fulfill a set of capabilities and constraints to rely on. In addition, in recent years, the interest in Unmanned Aerial Vehicles (UAVs) providing wireless connectivity in such scenarios is substantially increased thanks to their flexible deployment. The first chapters of this thesis deal with LoRaWAN and Narrowband-IoT (NB-IoT), which recent trends identify as the most promising Low Power Wide Area Networks technologies. While LoRaWAN is an open protocol that has gained a lot of interest thanks to its simplicity and energy efficiency, NB-IoT has been introduced from 3GPP as a radio access technology for massive machine-type communications inheriting legacy LTE characteristics. This thesis offers an overview of the two, comparing them in terms of selected performance indicators. In particular, LoRaWAN technology is assessed both via simulations and experiments, considering different network architectures and solutions to improve its performance (e.g., a new Adaptive Data Rate algorithm). NB-IoT is then introduced to identify which technology is more suitable depending on the application considered. The second part of the thesis introduces the use of UAVs as flying Base Stations, denoted as Unmanned Aerial Base Stations, (UABSs), which are considered as one of the key pillars of 6G to offer service for a number of applications. To this end, the performance of an NB-IoT network are assessed considering a UABS following predefined trajectories. Then, machine learning algorithms based on reinforcement learning and meta-learning are considered to optimize the trajectory as well as the radio resource management techniques the UABS may rely on in order to provide service considering both static (IoT sensors) and dynamic (vehicles) users. Finally, some experimental projects based on the technologies mentioned so far are presented.

On the motion planning & control of nonlinear robotic systems

In the last decades, we saw a soaring interest in autonomous robots boosted not only by academia and industry, but also by the ever in- creasing demand from civil users. As a matter of fact, autonomous robots are fast spreading in all aspects of human life, we can see them clean houses, navigate through city traffic, or harvest fruits and vegetables. Almost all commercial drones already exhibit unprecedented and sophisticated skills which makes them suitable for these applications, such as obstacle avoidance, simultaneous localisation and mapping, path planning, visual-inertial odometry, and object tracking. The major limitations of such robotic platforms lie in the limited payload that can carry, in their costs, and in the limited autonomy due to finite battery capability. For this reason researchers start to develop new algorithms able to run even on resource constrained platforms both in terms of computation capabilities and limited types of endowed sensors, focusing especially on very cheap sensors and hardware. The possibility to use a limited number of sensors allowed to scale a lot the UAVs size, while the implementation of new efficient algorithms, performing the same task in lower time, allows for lower autonomy. However, the developed robots are not mature enough to completely operate autonomously without human supervision due to still too big dimensions (especially for aerial vehicles), which make these platforms unsafe for humans, and the high probability of numerical, and decision, errors that robots may make. In this perspective, this thesis aims to review and improve the current state-of-the-art solutions for autonomous navigation from a purely practical point of view. In particular, we deeply focused on the problems of robot control, trajectory planning, environments exploration, and obstacle avoidance.

Integrated communication and learning towards autonomous mobile radio networks

The integration of distributed and ubiquitous intelligence has emerged over the last years as the mainspring of transformative advancements in mobile radio networks. As we approach the era of “mobile for intelligence”, next-generation wireless networks are poised to undergo significant and profound changes. Notably, the overarching challenge that lies ahead is the development and implementation of integrated communication and learning mechanisms that will enable the realization of autonomous mobile radio networks. The ultimate pursuit of eliminating human-in-the-loop constitutes an ambitious challenge, necessitating a meticulous delineation of the fundamental characteristics that artificial intelligence (AI) should possess to effectively achieve this objective. This challenge represents a paradigm shift in the design, deployment, and operation of wireless networks, where conventional, static configurations give way to dynamic, adaptive, and AI-native systems capable of self-optimization, self-sustainment, and learning. This thesis aims to provide a comprehensive exploration of the fundamental principles and practical approaches required to create autonomous mobile radio networks that seamlessly integrate communication and learning components. The first chapter of this thesis introduces the notion of Predictive Quality of Service (PQoS) and adaptive optimization and expands upon the challenge to achieve adaptable, reliable, and robust network performance in dynamic and ever-changing environments. The subsequent chapter delves into the revolutionary role of generative AI in shaping next-generation autonomous networks. This chapter emphasizes achieving trustworthy uncertainty-aware generation processes with the use of approximate Bayesian methods and aims to show how generative AI can improve generalization while reducing data communication costs. Finally, the thesis embarks on the topic of distributed learning over wireless networks. Distributed learning and its declinations, including multi-agent reinforcement learning systems and federated learning, have the potential to meet the scalability demands of modern data-driven applications, enabling efficient and collaborative model training across dynamic scenarios while ensuring data privacy and reducing communication overhead.

Robotic Manipulation of DLOs for Wiring Harness Assembly: a Machine Learning Approach

In recent times, a significant research effort has been focused on how deformable linear objects (DLOs) can be manipulated for real world applications such as assembly of wiring harnesses for the automotive and aerospace sector. This represents an open topic because of the difficulties in modelling accurately the behaviour of these objects and simulate a task involving their manipulation, considering a variety of different scenarios. These problems have led to the development of data-driven techniques in which machine learning techniques are exploited to obtain reliable solutions. However, this approach makes the solution difficult to be extended, since the learning must be replicated almost from scratch as the scenario changes. It follows that some model-based methodology must be introduced to generalize the results and reduce the training effort accordingly. The objective of this thesis is to develop a solution for the DLOs manipulation to assemble a wiring harness for the automotive sector based on adaptation of a base trajectory set by means of reinforcement learning methods. The idea is to create a trajectory planning software capable of solving the proposed task, reducing where possible the learning time, which is done in real time, but at the same time presenting suitable performance and reliability. The solution has been implemented on a collaborative 7-DOFs Panda robot at the Laboratory of Automation and Robotics of the University of Bologna. Experimental results are reported showing how the robot is capable of optimizing the manipulation of the DLOs gaining experience along the task repetition, but showing at the same time a high success rate from the very beginning of the learning phase.

Neural Network based Non Orthogonal Random Access for 6G NTN-IoT

Pervasive and distributed Internet of Things (IoT) devices demand ubiquitous coverage beyond No-man’s land. To satisfy plethora of IoT devices with resilient connectivity, Non-Terrestrial Networks (NTN) will be pivotal to assist and complement terrestrial systems. In a massiveMTC scenario over NTN, characterized by sporadic uplink data reports, all the terminals within a satellite beam shall be served during the short visibility window of the flying platform, thus generating congestion due to simultaneous access attempts of IoT devices on the same radio resource. The more terminals collide, the more average-time it takes to complete an access which is due to the decreased number of successful attempts caused by Back-off commands of legacy methods. A possible countermeasure is represented by Non-Orthogonal Multiple Access scheme, which requires the knowledge of the number of superimposed NPRACH preambles. This work addresses this problem by proposing a Neural Network (NN) algorithm to cope with the uncoordinated random access performed by a prodigious number of Narrowband-IoT devices. Our proposed method classifies the number of colliding users, and for each estimates the Time of Arrival (ToA). The performance assessment, under Line of Sight (LoS) and Non-LoS conditions in sub-urban environments with two different satellite configurations, shows significant benefits of the proposed NN algorithm with respect to traditional methods for the ToA estimation.

Continual learning on nano drones

Miniaturized flying robotic platforms, called nano-drones, have the potential to revolutionize the autonomous robots industry sector thanks to their very small form factor. The nano-drones’ limited payload only allows for a sub-100mW microcontroller unit for the on-board computations. Therefore, traditional computer vision and control algorithms are too computationally expensive to be executed on board these palm-sized robots, and we are forced to rely on artificial intelligence to trade off accuracy in favor of lightweight pipelines for autonomous tasks. However, relying on deep learning exposes us to the problem of generalization since the deployment scenario of a convolutional neural network (CNN) is often composed by different visual cues and different features from those learned during training, leading to poor inference performances. Our objective is to develop and deploy and adaptation algorithm, based on the concept of latent replays, that would allow us to fine-tune a CNN to work in new and diverse deployment scenarios. To do so we start from an existing model for visual human pose estimation, called PULPFrontnet, which is used to identify the pose of a human subject in space through its 4 output variables, and we present the design of our novel adaptation algorithm, which features automatic data gathering and labeling and on-device deployment. We therefore showcase the ability of our algorithm to adapt PULP-Frontnet to new deployment scenarios, improving the R2 scores of the four network outputs, with respect to an unknown environment, from approximately [−0.2, 0.4, 0.0,−0.7] to [0.25, 0.45, 0.2, 0.1]. Finally we demonstrate how it is possible to fine-tune our neural network in real time (i.e., under 76 seconds), using the target parallel ultra-low power GAP 8 System-on-Chip on board the nano-drone, and we show how all adaptation operations can take place using less than 2mWh of energy, a small fraction of the available battery power.

Infertility Care And The Introduction Of New Reproductive Technologies In Poor Resource Settings.

The overall prevalence of infertility was estimated to be 3.5-16.7% in developing countries and 6.9-9.3% in developed countries. Furthermore, according to reports from some regions of sub-Saharan Africa, the prevalence rate is 30-40%. The consequences of infertility and how it affects the lives of women in poor-resource settings, particularly in developing countries, has become an important issue to be discussed in reproductive health. In some societies, the inability to fulfill the desire to have children makes life difficult for the infertile couple. In many regions, infertility is considered a tragedy that affects not only the infertile couple or woman, but the entire family. This is a position paper which encompasses a review of the needs of low-income infertile couples, mainly those living in developing countries, regarding access to infertility care, including ART and initiatives to provide ART at low or affordable cost. Information was gathered from the databases MEDLINE, CENTRAL, POPLINE, EMBASE, LILACS, and ICTRP with the key words: infertility, low income, assisted reproductive technologies, affordable cost, low cost. There are few initiatives geared toward implementing ART procedures at low cost or at least at affordable cost in low-income populations. Nevertheless, from recent studies, possibilities have emerged for new low-cost initiatives that can help millions of couples to achieve the desire of having a biological child. It is necessary for healthcare professionals and policymakers to take into account these new initiatives in order to implement ART in resource-constrained settings.

In vitro Fluoride Release and Tensile Bond Strength of a Polymeric Intra-Buccal Bioadhesive

The intra-buccal polymeric bioadhesive systems that can stay adhered to the oral soft tissues for drug programmed release, with the preventive and/or therapeutic purpose has been employed for large clinical situations. A system based on hydroxypropyl methyl cellulose/Carbopol 934`/magnesium stearate (HPMC/Cp/StMg) was developed having the sodium fluoride as active principle. This kind of system was evaluated according to its resistance to the removal by means of physical test of tensile strength. Swine buccal mucosa extracted immediately after animals` sacrifice was employed as substrate for the physical trials, to obtain 16 test bodies. Artificial saliva with or without mucin was used to involve the substrate/bioadhesive system sets during the trials. Artificial salivas viscosity was determined by means of Brookfield viscometer, showing the artificial saliva with mucin 10.0 cP, and the artificial saliva without mucin 7.5 cP. The tensile strength assays showed the following averages: for the group ""artificial saliva with mucin"" - 12.89 Pa, and for the group ""without mucin"" - 12.35 Pa. Statistical analysis showed no significant difference between the assays for both artificial salivas, and it was possible to conclude that the variable mucin did not interfered with the bioadhesion process for the polymeric devices. The device was able to release fluoride in a safe, efficient and constant way up to 8 hours.

Geographic variation and positive selection on M7 lysin, an acrosomal sperm protein in mussels (Mytilus spp.)

Successful fertilization in free-spawning marine organisms depends on the interactions between genes expressed on the surfaces of eggs and sperm. Positive selection frequently characterizes the molecular evolution of such genes, raising the possibility that some common deterministic process drives the evolution of gamete recognition genes and may even be important for understanding the evolution of prezygotic isolation and speciation in the marine realm. One hypothesis is that gamete recognition genes are subject to selection for prezygotic isolation, namely reinforcement. In a previous study, positive selection on the gene coding for the acrosomal sperm protein M7 lysin was demonstrated among allopatric populations of mussels in the Mytilus edulis species group (M. edulis, M. galloprovincialis, and M. trossulus). Here, we expand sampling to include M7 lysin haplotypes from populations where mussel species are sympatric and hybridize to determine whether there is a pattern of reproductive character displacement, which would be consistent with reinforcement driving selection on this gene. We do not detect a strong pattern of reproductive character displacement; there are no unique haplotypes in sympatry nor is there consistently greater population structure in comparisons involving sympatric populations. One distinct group of haplotypes, however, is strongly affected by natural selection and this group of haplotypes is found within M. galloprovincialis populations throughout the Northern Hemisphere concurrent with haplotypes common to M. galloprovincialis and M. edulis. We suggest that balancing selection, perhaps resulting from sexual conflicts between sperm and eggs, maintains old allelic diversity within M. galloprovincialis.

Análise funcional comparativa de algoritmos de aprendizagem por reforço

De entre todos os paradigmas de aprendizagem actualmente identificados, a Aprendizagem por Reforço revela-se de especial interesse e aplicabilidade nos inúmeros processos que nos rodeiam: desde a solitária sonda que explora o planeta mais remoto, passando pelo programa especialista que aprende a apoiar a decisão médica pela experiencia adquirida, até ao cão de brincar que faz as delícias da criança interagindo com ela e adaptando-se aos seus gostos, e todo um novo mundo que nos rodeia e apela crescentemente a que façamos mais e melhor nesta área. Desde o aparecimento do conceito de aprendizagem por reforço, diferentes métodos tem sido propostos para a sua concretização, cada um deles abordando aspectos específicos. Duas vertentes distintas, mas complementares entre si, apresentam-se como características chave do processo de aprendizagem por reforço: a obtenção de experiência através da exploração do espaço de estados e o aproveitamento do conhecimento obtido através dessa mesma experiência. Esta dissertação propõe-se seleccionar alguns dos métodos propostos mais promissores de ambas as vertentes de exploração e aproveitamento, efectuar uma implementação de cada um destes sobre uma plataforma modular que permita a simulação do uso de agentes inteligentes e, através da sua aplicação na resolução de diferentes configurações de ambientes padrão, gerar estatísticas funcionais que permitam inferir conclusões que retractem entre outros aspectos a sua eficiência e eficácia comparativas em condições específicas.

Sensor de glicose polarimétrico

Esta tese tem como principal objectivo a investigação teórica e experimental do desempenho de um sensor polarimétrico baseado num cristal líquido para medição da concentração de glicose. Recentemente uma série de sensores polarimétricos baseados em cristais líquidos foram propostos na literatura e receberam considerável interesse devido as suas características únicas. De facto, em comparação com outros moduladores electro-ópticos, o cristal líquido funciona com tensões mais baixas, tem baixo consumo de energia e maior ângulo de rotação. Além disso, este tipo de polarímetro pode ter pequenas dimensões que é uma característica interessante para dispositivos portáteis e compactos. Existem por outro lado algumas desvantagens, nomeadamente o facto do desempenho do polarímetro ser fortemente dependente do tipo de cristal líquido e da tensão a ele aplicada o que coloca desafios na escolha dos parâmetros óptimos de operação. Esta tese descreve o desenvolvimento do sensor polarimétrico, incluindo a integração dos componentes de óptica e electrónica, os algoritmos de processamento de sinal e um interface gráfico que facilita a programação de diversos parâmetros de operação e a calibração do sensor. Após a optimização dos parâmetros de operação verificou-se que o dispositivo mede a concentração da glicose em amostras com uma concentração de 8 mg/ml, com uma percentagem de erro inferior a 6% e um desvio padrão de 0,008o. Os resultados foram obtidos para uma amostra com percurso óptico de apenas 1 cm.

Aspiração manual de trombos no enfarte agudo do miocárdio com supradesnivelamento segmento ST: impacto da técnica de aspiração manual de trombos na reperfusão do miocárdio durante a intervenção coronária percutânea primária

Mestrado em Tecnologia de Diagnóstico e Intervenção Cardiovascular. Área de especialização: Intervenção Cardiovascular.

Intelligent decision making in electricity markets: simulated annealing Q-Learning

Electricity markets are complex environments, involving a large number of different entities, playing in a dynamic scene to obtain the best advantages and profits. MASCEM is a multi-agent electricity market simulator to model market players and simulate their operation in the market. Market players are entities with specific characteristics and objectives, making their decisions and interacting with other players. MASCEM is integrated with ALBidS, a system that provides several dynamic strategies for agents’ behavior. This paper presents a method that aims at enhancing ALBidS competence in endowing market players with adequate strategic bidding capabilities, allowing them to obtain the higher possible gains out of the market. This method uses a reinforcement learning algorithm to learn from experience how to choose the best from a set of possible actions. These actions are defined accordingly to the most probable points of bidding success. With the purpose of accelerating the convergence process, a simulated annealing based algorithm is included.