Effects of a defender on run-up velocity and ball speed when crossing a football

This study evaluated effects of defensive pressure on running velocity in footballers during the approach to kick a stationary football. Approach velocity and ball speed/accuracy data were recorded from eight football youth academy participants (15.25, SD=0.46 yrs). Participants were required to run to a football to cross it to a receiver to score against a goal-keeper. Defensive pressure was manipulated across three counterbalanced conditions: defender-absent (DA); defender-far (DF) and defender-near (DN). Pass accuracy (percentages of a total of 32 trials with 95% confidence limits in parenthesis) did not significantly reduce under changing defensive pressure: DA, 78% (55–100%); DF, 78% (61–96%); DN, 59% (40–79%). Ball speed (m·s−1) significantly reduced as defensive pressure was included and increased: DA, 23.10 (22.38–23.83); DF, 20.40 (19.69–21.11); DN, 19.22 (18.51–19.93). When defensive pressure was introduced, average running velocity of attackers did not change significantly: DA versus DF (m·s−1), 5.40 (5.30–5.51) versus 5.41 (5.34–5.48). Scaling defender starting positions closer to the start position of the attacker (DN) significantly increased average running velocity relative to the DA and DF conditions, 5.60 (5.50–5.71). In the final approach footfalls, all conditions significantly differed: DA, 5.69 (5.35–6.03); DF, 6 .22 (5.93–6.50); DN, 6.52 (6.23–6.80). Data suggested that approach velocity is constrained by both presence and initial distance of the defender during task performance. Implications are that the expression of kicking behaviour is specific to a performance context and some movement regulation features will not emerge unless a defender is present as a task constraint in practice.

Driver perceptions of the benefits of reducing their driving speed on safety, emissions, and stress and road rage

The existing literature shows driving speed significantly affects levels of safety, emissions, and stress in driving. In addition, drivers who feel tense when driving have been found to drive more slowly than others. These findings were mostly obtained from crash data analyses or field studies, and less is known regarding driver perceptions of the extent to which reducing their driving speed would improve road safety, reduce their car’s emissions, and reduce stress and road rage. This paper uses ordered probit regression models to analyse responses from 3538 Queensland drivers who completed an online RACQ survey. Drivers most strongly agreed that reducing their driving speed would improve road safety, less strongly agreed that reducing their driving speed would reduce their car’s emissions and least strongly agreed that reducing their driving speed would reduce stress and road rage. Younger drivers less strongly agreed that these benefits would occur than older drivers. Drivers of automatic cars and those who are bicycle commuters agreed more to these benefits than other drivers. Female drivers agreed more strongly than males on improving safety and reducing stress and road rage. Type of fuel used, engine size, driving experience, and distance driven per week were also found to be associated with driver perceptions, although these were not found to be significant in all of the regression models. The findings from this study may help in developing targeted training or educational measures to improve drivers’ willingness to reduce their driving speed.

Did you see that? Dissociating advanced visual information and ball flight constrains perception and action processes during one-handed catching

The integration of separate, yet complimentary, cortical pathways appears to play a role in visual perception and action when intercepting objects. The ventral system is responsible for object recognition and identification, while the dorsal system facilitates continuous regulation of action. This dual-system model implies that empirically manipulating different visual information sources during performance of an interceptive action might lead to the emergence of distinct gaze and movement pattern profiles. To test this idea, we recorded hand kinematics and eye movements of participants as they attempted to catch balls projected from a novel apparatus that synchronised or de-synchronised accompanying video images of a throwing action and ball trajectory. Results revealed that ball catching performance was less successful when patterns of hand movements and gaze behaviours were constrained by the absence of advanced perceptual information from the thrower's actions. Under these task constraints, participants began tracking the ball later, followed less of its trajectory, and adapted their actions by initiating movements later and moving the hand faster. There were no performance differences when the throwing action image and ball speed were synchronised or de-synchronised since hand movements were closely linked to information from ball trajectory. Results are interpreted relative to the two-visual system hypothesis, demonstrating that accurate interception requires integration of advanced visual information from kinematics of the throwing action and from ball flight trajectory.

Prior storm experience moderates water surge perception and risk

Background How accurately do people perceive extreme water speeds and how does their perception affect perceived risk? Prior research has focused on the characteristics of moving water that can reduce human stability or balance. The current research presents the first experiment on people's perceptions of risk and moving water at different speeds and depths. Methods Using a randomized within-person 2 (water depth: 0.45, 0.90 m) ×3 (water speed: 0.4, 0.8, 1.2 m/s) experiment, we immersed 76 people in moving water and asked them to estimate water speed and the risk they felt. Results Multilevel modeling showed that people increasingly overestimated water speeds as actual water speeds increased or as water depth increased. Water speed perceptions mediated the direct positive relationship between actual water speeds and perceptions of risk; the faster the moving water, the greater the perceived risk. Participants' prior experience with rip currents and tropical cyclones moderated the strength of the actual–perceived water speed relationship; consequently, mediation was stronger for people who had experienced no rip currents or fewer storms. Conclusions These findings provide a clearer understanding of water speed and risk perception, which may help communicate the risks associated with anticipated floods and tropical cyclones.

Complex behavior and perception in Drosophila emerges from iterative feedback-regulated reflexes

For a hungry fruit fly, locating and landing on a fermenting fruit where it can feed, find mates, and lay eggs, is an essential and difficult task requiring the integration of both olfactory and visual cues. Understanding how flies accomplish this will help provide a comprehensive ethological context for the expanding knowledge of their neural circuits involved in processing olfaction and vision, as well as inspire novel engineering solutions for control and estimation in computationally limited robotic applications. In this thesis, I use novel high throughput methods to develop a detailed overview of how flies track odor plumes, land, and regulate flight speed. Finally, I provide an example of how these insights can be applied to robotic applications to simplify complicated estimation problems. To localize an odor source, flies exhibit three iterative, reflex-driven behaviors. Upon encountering an attractive plume, flies increase their flight speed and turn upwind using visual cues. After losing the plume, flies begin zigzagging crosswind, again using visual cues to control their heading. After sensing an attractive odor, flies become more attracted to small visual features, which increases their chances of finding the plume source. Their changes in heading are largely controlled by open-loop maneuvers called saccades, which they direct towards and away from visual features. If a fly decides to land on an object, it begins to decelerate so as to maintain a stereotypical ratio of expansion to retinal size. Once they reach a stereotypical distance from the target, flies extend their legs in preparation for touchdown. Although it is unclear what cues they use to trigger this behavior, previous studies have indicated that it is likely under visual control. In Chapter 3, I use a nonlinear control theoretic analysis and robotic testbed to propose a novel and putative mechanism for how a fly might visually estimate distance by actively decelerating according to a visual control law. Throughout these behaviors, a common theme is the visual control of flight speed. Using genetic tools I show that the neuromodulator octopamine plays an important role in regulating flight speed, and propose a neural circuit for how this controller might be implemented in the flies brain. Two general biological and engineering principles are evident across my experiments: (1) complex behaviors, such as foraging, can emerge from the interactions of simple independent sensory-motor modules; (2) flies control their behavior in such a way that simplifies complex estimation problems.

Aging Affects the Neural Representation of Speed in Macaque Area MT

Human perception of speed declines with age. Much of the decline is probably mediated by changes in the middle temporal (MT) area, an extrastriate area whose neural activity is linked to the perception of speed. In the present study, we used random-dot pa

Temporal Dynamics of Decision-Making during Motion Perception in the Visual Cortex

How does the brain make decisions? Speed and accuracy of perceptual decisions covary with certainty in the input, and correlate with the rate of evidence accumulation in parietal and frontal cortical "decision neurons." A biophysically realistic model of interactions within and between Retina/LGN and cortical areas V1, MT, MST, and LIP, gated by basal ganglia, simulates dynamic properties of decision-making in response to ambiguous visual motion stimuli used by Newsome, Shadlen, and colleagues in their neurophysiological experiments. The model clarifies how brain circuits that solve the aperture problem interact with a recurrent competitive network with self-normalizing choice properties to carry out probablistic decisions in real time. Some scientists claim that perception and decision-making can be described using Bayesian inference or related general statistical ideas, that estimate the optimal interpretation of the stimulus given priors and likelihoods. However, such concepts do not propose the neocortical mechanisms that enable perception, and make decisions. The present model explains behavioral and neurophysiological decision-making data without an appeal to Bayesian concepts and, unlike other existing models of these data, generates perceptual representations and choice dynamics in response to the experimental visual stimuli. Quantitative model simulations include the time course of LIP neuronal dynamics, as well as behavioral accuracy and reaction time properties, during both correct and error trials at different levels of input ambiguity in both fixed duration and reaction time tasks. Model MT/MST interactions compute the global direction of random dot motion stimuli, while model LIP computes the stochastic perceptual decision that leads to a saccadic eye movement.

Cortical Dynamics of Visual Motion Perception: Short-Range and Long Range Apparent Motion

This article describes further evidence for a new neural network theory of biological motion perception that is called a Motion Boundary Contour System. This theory clarifies why parallel streams Vl-> V2 and Vl-> MT exist for static form and motion form processing among the areas Vl, V2, and MT of visual cortex. The Motion Boundary Contour System consists of several parallel copies, such that each copy is activated by a different range of receptive field sizes. Each copy is further subdivided into two hierarchically organized subsystems: a Motion Oriented Contrast Filter, or MOC Filter, for preprocessing moving images; and a Cooperative-Competitive Feedback Loop, or CC Loop, for generating emergent boundary segmentations of the filtered signals. The present article uses the MOC Filter to explain a variety of classical and recent data about short-range and long-range apparent motion percepts that have not yet been explained by alternative models. These data include split motion; reverse-contrast gamma motion; delta motion; visual inertia; group motion in response to a reverse-contrast Ternus display at short interstimulus intervals; speed-up of motion velocity as interfiash distance increases or flash duration decreases; dependence of the transition from element motion to group motion on stimulus duration and size; various classical dependencies between flash duration, spatial separation, interstimulus interval, and motion threshold known as Korte's Laws; and dependence of motion strength on stimulus orientation and spatial frequency. These results supplement earlier explanations by the model of apparent motion data that other models have not explained; a recent proposed solution of the global aperture problem, including explanations of motion capture and induced motion; an explanation of how parallel cortical systems for static form perception and motion form perception may develop, including a demonstration that these parallel systems are variations on a common cortical design; an explanation of why the geometries of static form and motion form differ, in particular why opposite orientations differ by 90°, whereas opposite directions differ by 180°, and why a cortical stream Vl -> V2 -> MT is needed; and a summary of how the main properties of other motion perception models can be assimilated into different parts of the Motion Boundary Contour System design.

Cortical Dynamics of Visual Motion Perception: Short-Range and Long-Range Apparent Motion

This article describes further evidence for a new neural network theory of biological motion perception. The theory clarifies why parallel streams Vl --> V2, Vl --> MT, and Vl --> V2 --> MT exist for static form and motion form processing among the areas Vl, V2, and MT of visual cortex. The theory suggests that the static form system (Static BCS) generates emergent boundary segmentations whose outputs are insensitive to direction-ofcontrast and insensitive to direction-of-motion, whereas the motion form system (Motion BCS) generates emergent boundary segmentations whose outputs are insensitive to directionof-contrast but sensitive to direction-of-motion. The theory is used to explain classical and recent data about short-range and long-range apparent motion percepts that have not yet been explained by alternative models. These data include beta motion; split motion; gamma motion and reverse-contrast gamma motion; delta motion; visual inertia; the transition from group motion to element motion in response to a Ternus display as the interstimulus interval (ISI) decreases; group motion in response to a reverse-contrast Ternus display even at short ISIs; speed-up of motion velocity as interflash distance increases or flash duration decreases; dependence of the transition from element motion to group motion on stimulus duration and size; various classical dependencies between flash duration, spatial separation, ISI, and motion threshold known as Korte's Laws; dependence of motion strength on stimulus orientation and spatial frequency; short-range and long-range form-color interactions; and binocular interactions of flashes to different eyes.

Perception de la douleur durant le traitement orthodontique avec boîtiers auto-ligaturants

Introduction Cette recherche constitue une étude clinique descriptive, visant à évaluer la douleur durant le traitement orthodontique avec boîtiers auto-ligaturants passifs et actifs. Matériel et méthode L'étude a été effectuée chez 39 patients (18 garçons, 21 filles), âge moyen 14 (entre 11 et 19 ans). Deux types de boîtiers auto-ligaturants ont été utilisés (SPEED n=20 et Damon n=19). Pour évaluer la douleur, un questionnaire a été élaboré par l'équipe de recherche. L’étude comportait 4 phases, c’est-à-dire l’évaluation de la douleur suite à l’insertion des 4 premiers fils orthodontiques du traitement de chaque patient (0.016 Supercable, 016 CuNiTi, 016X022 CuNiTi, 019X025 CuNiTi). Le même questionnaire était utilisé lors de chaque phase et le questionnaire comprenait 6 différents temps (T0: avant l’insertion du fil orthodontique, T1: immédiatement suite à l’insertion du fil, T2: 5h après l’insertion, T3: 24h après l’insertion, T4: 3 jours après l’insertion, T5: une semaine après l’insertion, T6: 4 semaines après l’insertion) suite à l’insertion de chaque fil. L’échelle visuelle analogue (EVA) et la version courte du questionnaire de Saint-Antoine ont été utilisés afin d’évaluer la douleur. Les données des EVA entre les groupes ont été comparées en utilisant le U test Mann-Whitney. Résultats et discussion Pour les deux premiers fils et pour tous les temps étudiés, il n’y avait pas de différence statistiquement significative entre les deux groupes (SPEED et Damon). Cependant, au moment de l’insertion (T0) du troisième fil (016X022 CuNiTi), parmi les patients ayant rapporté de la douleur (SPEED 47.1%, Damon 55.6%), le groupe Damon a rapporté une douleur significativement plus élevée que le groupe SPEED (p=0.018), (EVA moyenne SPEED=14.14±8.55, Damon=33.85±19.64). Trois jours après l’insertion du troisième fil, toujours parmi les patients ayant rapporté de la douleur (SPEED 23.5%, Damon 33.4%), la douleur était significativement plus élevée chez le groupe Damon que chez le groupe SPEED (p=0.008), (EVA moyenne SPEED=8.74±4.87, Damon=25.15±9.69). La plupart des analgésiques ont été pris suite à la pose du premier fil au temps T2 (5h) et T3 (24h). Il n’y avait pas de différence statistiquement significative entre les groupes en ce qui a trait au nombre de patients qui prenaient des analgésiques. La douleur n’a pas affecté le style de vie pour la grande majorité des patients. Les mots descriptifs sensoriels « tiraillement », « étau » et « élancement » et le mot affectif « énervant » étaient le plus souvent utilisés. Conclusion Les patients du groupe Damon ont ressenti significativement plus de douleur que les patients du groupe SPEED à l’insertion du troisième fil et trois jours suite à l’insertion. Plus de patients ont pris des médicaments pour la douleur avec le premier fil et le style de vie n’était pas affecté pour une majorité de patients. « Tiraillement », « étau », « élancement » et « énervant » étaient les mots descriptifs les plus utilisés par les patients pour décrire leur douleur.

Comparaison de la perception de la douleur entre le traitement orthodontique avec Invisalign® et le traitement avec fils et boîtiers fixes

Introduction : L’inconfort causé par les appareils orthodontiques peut significativement affecter la coopération des patients dans leur traitement. La douleur, ainsi que la détérioration de la fonction (mastication, élocution) sont reconnus comme les déterminants majeurs de la coopération des patients traités par appareils amovibles. Invisalign® se positionne comme une alternative esthétique aux multiples inconforts observés lors des traitements fixes avec boîtiers. À ce jour, peu d’études ont cherché à comparer la douleur (quantitativement et qualitativement) perçue entre cette technique et celle avec boîtiers fixes sur une longue période. Objectif : L’objectif de la présente étude est d’évaluer la douleur ressentie par les patients qui suivent un traitement orthodontique avec coquilles correctrices Invisalign® et de la comparer avec celle des patients qui suivent un traitement orthodontique conventionnel avec des boîtiers fixes. Matériels et Méthodes: L’étude compte 70 patients (29 garçons, 41 filles), moyenne d’âge de 16 ans [11 à 30]. Les trois sous-groupes sont Invisalign® (n=31), boîtiers Damon (n=19) et boîtiers Speed (n=20). Les groupes avec boîtiers (Damon et Speed) sont les 2 groupes de l’étude menée au sein de la clinique d’Orthodontie de l’Université de Montréal en 2011 qui comparait la perception de la douleur durant le traitement orthodontique entre boîtiers auto-ligaturants passifs et actifs. L’étude a été organisée en 4 phases correspondant à l’insertion des 4 premiers fils pour les groupes avec boîtiers (Phase 1: 0,016" Supercable, Phase 2: 0,016" CuNiTi, Phase 3: 0,016"x0,022" CuNiTi, Phase 4: 0,019"x0,025" CuNiTi) et à l’insertion des coquilles 1, 4, 7 et 10 pour le groupe Invisalign®. À l’aide d’un questionnaire, l’étude évalue pour chaque phase l’ampleur (grâce à une échelle visuelle analogue EVA), la durée et la localisation de la douleur à 6 différents points (T1: immédiatement après l’insertion, T2: 5h après, T3: 24h après, T4: 3 jours après, T5: une semaine après, T6: 2 semaines après). Résultats: À T1Ph3 le pourcentage de patients rapportant de la douleur était plus élevé avec Damon qu’avec Invisalign® (p=0,032) (Damon=55,6% ; Invisalign®=23,3%) mais il n’y avait pas de différence avec le groupe Speed (p=0,114). Les patients avec Invisalign® rapportaient significativement moins d’irritation des tissus mous (muqueuses, gencives) que les patients avec des boîtiers. Pour les résultats des EVA, les différences étaient statistiquement significatives à 2 temps : T3Ph1 (Médiane Invisalign®=33,31, Médiane Speed=49,47; p=0,025) et T3Ph4 (Médiane Invisalign®=13,15, Médiane Damon=27,28; p=0,014). Pour la majorité des patients la douleur ne nécessitait pas la prise de médicament et il n’y avait pas de différence significative entre les groupes sur ce point. La qualité de vie était légèrement affectée lors de la première phase et moindrement pour le groupe Invisalign® que pour les groupes avec boîtiers. Pour les patients Invisalign®, la douleur atteignait son niveau le plus élevé entre 5 et 24 heures après l’insertion de la première coquille, et diminuait en intensité et en durée à chaque phase. Conclusion: La perception de la douleur lors d’un traitement orthodontique avec Invisalign® est inférieure à celle ressentie lors d’un traitement avec des boîtiers fixes. Cette méthode de traitement est donc une thérapie attirante pour les patients désirant un traitement esthétique et relativement confortable.

Microbe-associated molecular pattern (MAMP) signatures, synergy, size and charge: influences on perception or mobility and host defence responses

Triggering of defences by microbes has mainly been investigated using single elicitors or microbe-associated molecular patterns (MAMPs), but MAMPs are released in planta as complex mixtures together with endogenous oligogalacturonan (OGA) elicitor. We investigated the early responses in Arabidopsis of calcium influx and oxidative burst induced by non-saturating concentrations of bacterial MAMPs, used singly and in combination: flagellin peptide (flg22), elongation factor peptide (elf18), peptidoglycan (PGN) and component muropeptides, lipo-oligosaccharide (LOS) and core oligosaccharides. This revealed that some MAMPs have additive (e.g. flg22 with elf18) and even synergistic (flg22 and LOS) effects, whereas others mutually interfere (flg22 with OGA). OGA suppression of flg22-induced defences was not a result of the interference with the binding of flg22 to its receptor flagellin-sensitive 2 (FLS2). MAMPs induce different calcium influx signatures, but these are concentration dependent and unlikely to explain the differential induction of defence genes [pathogenesis-related gene 1 (PR1), plant defensin gene 1.2 (PDF1.2) and phenylalanine ammonia lyase gene 1 (PAL1)] by flg22, elf18 and OGA. The peptide MAMPs are potent elicitors at subnanomolar levels, whereas PGN and LOS at high concentrations induce low and late host responses. This difference might be a result of the restricted access by plant cell walls of MAMPs to their putative cellular receptors. flg22 is restricted by ionic effects, yet rapidly permeates a cell wall matrix, whereas LOS, which forms supramolecular aggregates, is severely constrained, presumably by molecular sieving. Thus, MAMPs can interact with each other, whether directly or indirectly, and with the host wall matrix. These phenomena, which have not been considered in detail previously, are likely to influence the speed, magnitude, versatility and composition of plant defences.

The feeling of fluent perception: A single experience from multiple asynchronous sources

Zeki and co-workers recently proposed that perception can best be described as locally distributed, asynchronous processes that each create a kind of microconsciousness, which condense into an experienced percept. The present article is aimed at extending this theory to metacognitive feelings. We present evidence that perceptual fluency-the subjective feeling of ease during perceptual processing-is based on speed of processing at different stages of the perceptual process. Specifically, detection of briefly presented stimuli was influenced by figure-ground contrast, but not by symmetry (Experiment 1) or the font (Experiment 2) of the stimuli. Conversely, discrimination of these stimuli was influenced by whether they were symmetric (Experiment 1) and by the font they were presented in (Experiment 2), but not by figure-ground contrast. Both tasks however were related with the subjective experience of fluency (Experiments 1 and 2). We conclude that subjective fluency is the conscious phenomenal correlate of different processing stages in visual perception.

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.