Robust Adaptive Control with Applications to Multi-Agent Systems and Mobile Robotics

This thesis deals with robust adaptive control and its applications, and it is divided into three main parts. The first part is about the design of robust estimation algorithms based on recursive least squares. First, we present an estimator for the frequencies of biased multi-harmonic signals, and then an algorithm for distributed estimation of an unknown parameter over a network of adaptive agents. In the second part of this thesis, we consider a cooperative control problem over uncertain networks of linear systems and Kuramoto systems, in which the agents have to track the reference generated by a leader exosystem. Since the reference signal is not available to each network node, novel distributed observers are designed so as to reconstruct the reference signal locally for each agent, and therefore decentralizing the problem. In the third and final part of this thesis, we consider robust estimation tasks for mobile robotics applications. In particular, we first consider the problem of slip estimation for agricultural tracked vehicles. Then, we consider a search and rescue application in which we need to drive an unmanned aerial vehicle as close as possible to the unknown (and to be estimated) position of a victim, who is buried under the snow after an avalanche event. In this thesis, robustness is intended as an input-to-state stability property of the proposed identifiers (sometimes referred to as adaptive laws), with respect to additive disturbances, and relative to a steady-state trajectory that is associated with a correct estimation of the unknown parameter to be found.

Mind the gaps: cognitive-inspired AI for high-level visual sensemaking. Towards abstract concept image classification

The abundance of visual data and the push for robust AI are driving the need for automated visual sensemaking. Computer Vision (CV) faces growing demand for models that can discern not only what images "represent," but also what they "evoke." This is a demand for tools mimicking human perception at a high semantic level, categorizing images based on concepts like freedom, danger, or safety. However, automating this process is challenging due to entropy, scarcity, subjectivity, and ethical considerations. These challenges not only impact performance but also underscore the critical need for interoperability. This dissertation focuses on abstract concept-based (AC) image classification, guided by three technical principles: situated grounding, performance enhancement, and interpretability. We introduce ART-stract, a novel dataset of cultural images annotated with ACs, serving as the foundation for a series of experiments across four key domains: assessing the effectiveness of the end-to-end DL paradigm, exploring cognitive-inspired semantic intermediaries, incorporating cultural and commonsense aspects, and neuro-symbolic integration of sensory-perceptual data with cognitive-based knowledge. Our results demonstrate that integrating CV approaches with semantic technologies yields methods that surpass the current state of the art in AC image classification, outperforming the end-to-end deep vision paradigm. The results emphasize the role semantic technologies can play in developing both effective and interpretable systems, through the capturing, situating, and reasoning over knowledge related to visual data. Furthermore, this dissertation explores the complex interplay between technical and socio-technical factors. By merging technical expertise with an understanding of human and societal aspects, we advocate for responsible labeling and training practices in visual media. These insights and techniques not only advance efforts in CV and explainable artificial intelligence but also propel us toward an era of AI development that harmonizes technical prowess with deep awareness of its human and societal implications.

Robotics and neurodevelopmental disorder: design and implementation of a system of engagement metrics in human-robot interactions.

In the recent decades, robotics has become firmly embedded in areas such as education, teaching, medicine, psychology and many others. We focus here on social robotics; social robots are designed to interact with people in a natural and interpersonal way, often to achieve positive results in different applications. To interact and cooperate with humans in their daily-life activities, robots should exhibit human-like intelligence. The rapid expansion of social robotics and the existence of various kinds of robots on the market have allowed research groups to carry out multiple experiments. The experiments carried out have led to the collections of various kinds of data, which can be used or processed for psychological studies, and studies in other fields. However, there are no tools available in which data can be stored, processed and shared with other research groups. This thesis proposes the design and implementation of visual tool for organizing dataflows in Human Robot Interaction (HRI).

Motor Unit Spike Trains Recontruction from sEMG Signals for Gesture Classification on a Low-Power Processing Platform

Hand gesture recognition based on surface electromyography (sEMG) signals is a promising approach for the development of intuitive human-machine interfaces (HMIs) in domains such as robotics and prosthetics. The sEMG signal arises from the muscles' electrical activity, and can thus be used to recognize hand gestures. The decoding from sEMG signals to actual control signals is non-trivial; typically, control systems map sEMG patterns into a set of gestures using machine learning, failing to incorporate any physiological insight. This master thesis aims at developing a bio-inspired hand gesture recognition system based on neuromuscular spike extraction rather than on simple pattern recognition. The system relies on a decomposition algorithm based on independent component analysis (ICA) that decomposes the sEMG signal into its constituent motor unit spike trains, which are then forwarded to a machine learning classifier. Since ICA does not guarantee a consistent motor unit ordering across different sessions, 3 approaches are proposed: 2 ordering criteria based on firing rate and negative entropy, and a re-calibration approach that allows the decomposition model to retain information about previous sessions. Using a multilayer perceptron (MLP), the latter approach results in an accuracy up to 99.4% in a 1-subject, 1-degree of freedom scenario. Afterwards, the decomposition and classification pipeline for inference is parallelized and profiled on the PULP platform, achieving a latency < 50 ms and an energy consumption < 1 mJ. Both the classification models tested (a support vector machine and a lightweight MLP) yielded an accuracy > 92% in a 1-subject, 5-classes (4 gestures and rest) scenario. These results prove that the proposed system is suitable for real-time execution on embedded platforms and also capable of matching the accuracy of state-of-the-art approaches, while also giving some physiological insight on the neuromuscular spikes underlying the sEMG.

Hemodynamic, Ventilatory And Gasometric Evaluation Of An Experimental Bronchopleural Fistula.

To investigate the hemodynamic and ventilatory changes associated with the creation of an experimental bronchopleural fistula (BPF) treated by mechanical ventilation and thoracic drainage with or without a water seal. Six large white pigs weighing 25 kg each which, after general anesthesia, underwent endotracheal intubation (6mm), and mechanically ventilation. Through a left thoracotomy, a resection of the lingula was performed in order to create a BPF with an output exceeding 50% of the inspired volume. The chest cavity was closed and drained into the water sealed system for initial observation of the high output BPF. Significant reduction in BPF output and PaCO2 was related after insertion of a water-sealed thoracic drain, p< 0.05. Insertion of a water-sealed thoracic drain resulted in reduction in bronchopleural fistula output and better CO2 clearance without any drop in cardiac output or significant changes in mean arterial pressure.

As diferenças rítmicas entre o português europeu e o português brasileiro: uma abordagem otimalista e minimalista

The aim of this paper is to discuss some rhythmic differences between European and Brazilian Portuguese and their relationship to pretonic vowel reduction phenomena. After the basic facts of PE and PB are presented, we show that the issue cannot be discussed without taking into account secondary stress placement, and we proceed to present the algorithm-based approach to secondary stress in Portuguese, representative of Metrical Phonology analyses. After showing that this deterministic approach cannot adequately explain the variable position of secondary stress in both languages regarding words with an even number of pretonic syllables, we argue for the interpretation of secondary stress and therefore for the construction of rhythmic units at the PF interface, as suggested in Chomsky s Minimalist Program. We also propose, inspired by the constrain hierarchies as proposed in Optimality Theory, that such interpretation must take into account two different constraint rankings, in EP and BP. These different rankings would ultimately explain the rhythmic differences between both languages, as well as the different behavior of pretonic vowels with respect to reduction processes.

Praticas socioculturais, poder e diferenciação em Bico, Cuiamucu e Canela-Fina - comunidades amazonicas

Universidade Estadual de Campinas . Faculdade de Educação Física

Acões motrizes e representações sociais no jogo do laço no vale do Itabapoana

Universidade Estadual de Campinas . Faculdade de Educação Física

Creche e Emei : encontro ou confronto

Universidade Estadual de Campinas . Faculdade de Educação Física

Percepção de esforço em exercício sob fadiga em normóxia e hipóxia

Universidade Estadual de Campinas . Faculdade de Educação Física

A novel polar-based human face recognition computational model

Motivated by a recently proposed biologically inspired face recognition approach, we investigated the relation between human behavior and a computational model based on Fourier-Bessel (FB) spatial patterns. We measured human recognition performance of FB filtered face images using an 8-alternative forced-choice method. Test stimuli were generated by converting the images from the spatial to the FB domain, filtering the resulting coefficients with a band-pass filter, and finally taking the inverse FB transformation of the filtered coefficients. The performance of the computational models was tested using a simulation of the psychophysical experiment. In the FB model, face images were first filtered by simulated V1- type neurons and later analyzed globally for their content of FB components. In general, there was a higher human contrast sensitivity to radially than to angularly filtered images, but both functions peaked at the 11.3-16 frequency interval. The FB-based model presented similar behavior with regard to peak position and relative sensitivity, but had a wider frequency band width and a narrower response range. The response pattern of two alternative models, based on local FB analysis and on raw luminance, strongly diverged from the human behavior patterns. These results suggest that human performance can be constrained by the type of information conveyed by polar patterns, and consequently that humans might use FB-like spatial patterns in face processing.

Ambiente de desenvolvimento e início da vida reprodutiva em mulheres Brasileiras

Modelos teóricos inspirados na teoria da história de vida têm avaliado padrões de reprodução humanos em países desenvolvidos, com resultados ainda não conclusivos. Em vista das condições de vida na população brasileira, foram investigadas relações entre marcos da carreira reprodutiva feminina, condições ambientais e variáveis psicossociais relacionadas às condições de criação. Foram entrevistadas 606 mulheres em seis estados. Os resultados apóiam a teoria da história de vida, mostrando associações entre condições de vida na infância e início da vida sexual e da reprodução, mas não com a idade da menarca. Sugerimos que diferentes marcadores da vida reprodutiva podem estar sob controle de diferentes fenômenos e que a diversidade de condições da população brasileira oferece contextos alternativos para testar hipóteses.

A psicologia redescobrirá a sexualidade?

O senso comum indica o psicólogo como o profissional mais preparado para trabalhar com a sexualidade. Raramente, entretanto, formamos psicólogos para lidar com a vida sexual em contextos que não sejam clínicos. Esse artigo sintetiza uma crítica às abordagens "sexológicas", dominantes no século XX, argumentando que a abordagem "construcionista", ao desconstruir a heteronormatividade e a subordinação da mulher como naturais, validou-se como paradigma alternativo de grande relevância para a pesquisa e a prática de profissionais que abordam a sexualidade. O construcionismo interpretou melhor novos desafios, como a epidemia da Aids, especialmente em contextos de desigualdade e violação de direitos, inspirando a prevenção baseada na análise de gênero e compreensão de cenários, cenas, scripts e trajetórias de sujeitos sexuais. O trabalho dos psicólogos será beneficiado se sua formação redescobrir a sexualidade, repensar a sexologia, superar abordagens baseadas em valores pessoais e em psicologias com pretensões universalistas, ao menos no campo da sexualidade.

Caracterização físico-química de polpas de frutos da Amazônia e sua correlação com a atividade anti-radical livre

Características físico-químicas (cor, pH, acidez total titulável, sólidos solúveis totais, conteúdo de lipídios e umidade) e níveis de compostos bioativos (ácido ascórbico, fenólicos totais) foram determinados em quinze amostras de polpas de frutos procedentes da região Amazônica (abiu, acerola, açaí, araçá-boi, bacaba, bacuri, buriti, cajá, cajarana, caju, cupuaçu, graviola, murici, noni e tamarindo). A atividade de radicais livres foi avaliada pelo método de ABTS. Algumas polpas apresentaram alta potencialidade antioxidante, associada com a atividade antirradicais livres obtida e os conteúdos dos componentes bioativos como compostos fenólicos e ácido ascórbico, destacando-se acerola e acaí. O conteúdo total de compostos fenólicos foi correlacionado à capacidade antioxidante das polpas.

A rational protocol for the successful crystallization of l-amino-acid oxidase from Bothrops atrox

Despite the valuable contributions of robotics and high-throughput approaches to protein crystallization, the role of an experienced crystallographer in the evaluation and rationalization of a crystallization process is still crucial to obtaining crystals suitable for X-ray diffraction measurements. In this work, the difficult task of crystallizing the flavoenzyme l-amino-acid oxidase purified from Bothrops atrox snake venom was overcome by the development of a protocol that first required the identification of a non-amorphous precipitate as a promising crystallization condition followed by the implementation of a methodology that combined crystallization in the presence of oil and seeding techniques. Crystals were obtained and a complete data set was collected to 2.3 A resolution. The crystals belonged to space group P2(1), with unit-cell parameters a = 73.64, b = 123.92, c = 105.08 A, beta = 96.03 degrees. There were four protein subunits in the asymmetric unit, which gave a Matthews coefficient V (M) of 2.12 A3 Da-1, corresponding to 42% solvent content. The structure has been solved by molecular-replacement techniques.