Robotics learning based on collaborative projects

[EN]Nowadays companies demand graduates able to work in multidisciplinary and collaborative projects. Hence, new educational methods are needed in order to support a more advanced society, and progress towards a higher quality of life and sustainability. The University of the Basque Country belongs to the European Higher Education Area, which was created as a result of the Bologna process to ensure the connection and quality of European national educational systems. In this framework, this paper proposes an innovative teaching methodology developed for the "Robotics" subject course that belongs to the syllabus of the B.Sc. degree in Industrial Electronics and Automation Engineering. We present an innovative methodology for Robotics learning based on collaborative projects, aimed at responding to the demands of a multidisciplinary and multilingual society.

Progettazione e implementazione di un sistema dinamico per la gestione del packet filtering

Un livello di sicurezza che prevede l’autenticazione e autorizzazione di un utente e che permette di tenere traccia di tutte le operazioni effettuate, non esclude una rete dall’essere soggetta a incidenti informatici, che possono derivare da tentativi di accesso agli host tramite innalzamento illecito di privilegi o dai classici programmi malevoli come virus, trojan e worm. Un rimedio per identificare eventuali minacce prevede l’utilizzo di un dispositivo IDS (Intrusion Detection System) con il compito di analizzare il traffico e confrontarlo con una serie d’impronte che fanno riferimento a scenari d’intrusioni conosciute. Anche con elevate capacità di elaborazione dell’hardware, le risorse potrebbero non essere sufficienti a garantire un corretto funzionamento del servizio sull’intero traffico che attraversa una rete. L'obiettivo di questa tesi consiste nella creazione di un’applicazione con lo scopo di eseguire un’analisi preventiva, in modo da alleggerire la mole di dati da sottoporre all’IDS nella fase di scansione vera e propria del traffico. Per fare questo vengono sfruttate le statistiche calcolate su dei dati forniti direttamente dagli apparati di rete, cercando di identificare del traffico che utilizza dei protocolli noti e quindi giudicabile non pericoloso con una buona probabilità.

XWiki Mobile: architetture collaborative per device mobili

Studio di una interfaccia mobile web per la piattaforma XWiki.

Structured P2P Video Streaming and Collaborative Failure Detection

Il video streaming in peer-to-peer sta diventando sempre più popolare e utiliz- zato. Per tali applicazioni i criteri di misurazione delle performance sono: - startup delay: il tempo che intercorre tra la connessione e l’inizio della ripro- duzione dello stream (chiamato anche switching delay), - playback delay: il tempo che intercorre tra l’invio da parte della sorgente e la riproduzione dello stream da parte di un peer, - time lag: la differenza tra i playback delay di due diversi peer. Tuttavia, al giorno d’oggi i sistemi P2P per il video streaming sono interessati da considerevoli ritardi, sia nella fase di startup che in quella di riproduzione. Un recente studio su un famoso sistema P2P per lo streaming, ha mostrato che solitamente i ritardi variano tra i 10 e i 60 secondi. Gli autori hanno osservato anche che in alcuni casi i ritardi superano i 4 minuti! Si tratta quindi di gravi inconvenienti se si vuole assistere a eventi in diretta o se si vuole fruire di applicazioni interattive. Alcuni studi hanno mostrato che questi ritardi sono la conseguenza della natura non strutturata di molti sistemi P2P. Ogni stream viene suddiviso in blocchi che vengono scambiati tra i peer. A causa della diffusione non strutturata del contenuto, i peer devono continuamente scambiare informazioni con i loro vicini prima di poter inoltrare i blocchi ricevuti. Queste soluzioni sono estremamente re- sistenti ai cambiamenti della rete, ma comportano una perdita notevole in termini di prestazioni, rendendo complicato raggiungere l’obiettivo di un broadcast in realtime. In questo progetto abbiamo lavorato su un sistema P2P strutturato per il video streaming che ha mostrato di poter offrire ottimi risultati con ritardi molto vicini a quelli ottimali. In un sistema P2P strutturato ogni peer conosce esattamente quale blocchi inviare e a quali peer. Siccome il numero di peer che compongono il sistema potrebbe essere elevato, ogni peer dovrebbe operare possedendo solo una conoscenza limitata dello stato del sistema. Inoltre il sistema è in grado di gestire arrivi e partenze, anche raggruppati, richiedendo una riorganizzazione limitata della struttura. Infine, in questo progetto abbiamo progettato e implementato una soluzione personalizzata per rilevare e sostituire i peer non più in grado di cooperare. Anche per questo aspetto, l’obiettivo è stato quello di minimizzare il numero di informazioni scambiate tra peer.

Collaborative Change: Environmental Jolt, Network (Re)Design and Firm Performance

Motivated by the need to understand which are the underlying forces that trigger network evolution, we develop a multilevel theoretical and empirically testable model to examine the relationship between changes in the external environment and network change. We refer to network change as the dissolution or replacement of an interorganizational tie, adding also the case of the formation of new ties with new or preexisting partners. Previous research has paid scant attention to the organizational consequences of quantum change enveloping entire industries in favor of an emphasis on continuous change. To highlight radical change we introduce the concept of environmental jolt. The September 11 terrorist attacks provide us with a natural experiment to test our hypotheses on the antecedents and the consequences of network change. Since network change can be explained at multiple levels, we incorporate firm-level variables as moderators. The empirical setting is the global airline industry, which can be regarded as a constantly changing network of alliances. The study reveals that firms react to environmental jolts by forming homophilous ties and transitive triads as opposed to the non jolt periods. Moreover, we find that, all else being equal, firms that adopt a brokerage posture will have positive returns. However, we find that in the face of an environmental jolt brokerage relates negatively to firm performance. Furthermore, we find that the negative relationship between brokerage and performance during an environmental jolt is more significant for larger firms. Our findings suggest that jolts are an important predictor of network change, that they significantly affect operational returns and should be thus incorporated in studies of network dynamics.

Target Tracking in UWB Multistatic Radars

Detection, localization and tracking of non-collaborative objects moving inside an area is of great interest to many surveillance applications. An ultra- wideband (UWB) multistatic radar is considered as a good infrastructure for such anti-intruder systems, due to the high range resolution provided by the UWB impulse-radio and the spatial diversity achieved with a multistatic configuration. Detection of targets, which are typically human beings, is a challenging task due to reflections from unwanted objects in the area, shadowing, antenna cross-talks, low transmit power, and the blind zones arised from intrinsic peculiarities of UWB multistatic radars. Hence, we propose more effective detection, localization, as well as clutter removal techniques for these systems. However, the majority of the thesis effort is devoted to the tracking phase, which is an essential part for improving the localization accuracy, predicting the target position and filling out the missed detections. Since UWB radars are not linear Gaussian systems, the widely used tracking filters, such as the Kalman filter, are not expected to provide a satisfactory performance. Thus, we propose the Bayesian filter as an appropriate candidate for UWB radars. In particular, we develop tracking algorithms based on particle filtering, which is the most common approximation of Bayesian filtering, for both single and multiple target scenarios. Also, we propose some effective detection and tracking algorithms based on image processing tools. We evaluate the performance of our proposed approaches by numerical simulations. Moreover, we provide experimental results by channel measurements for tracking a person walking in an indoor area, with the presence of a significant clutter. We discuss the existing practical issues and address them by proposing more robust algorithms.

Tuning remoto di filtering, pre-processing e buffering per scenari internet of things

La tesi propone una soluzione middleware per scenari in cui i sensori producono un numero elevato di dati che è necessario gestire ed elaborare attraverso operazioni di preprocessing, filtering e buffering al fine di migliorare l'efficienza di comunicazione e del consumo di banda nel rispetto di vincoli energetici e computazionali. E'possibile effettuare l'ottimizzazione di questi componenti attraverso operazioni di tuning remoto.

Information Filtering for Ultrasound-based Real-time Registration

This paper presents methods based on Information Filters for solving matching problems with emphasis on real-time, or effectively real-time applications. Both applications discussed in this work deal with ultrasound-based rigid registration in computer-assisted orthopedic surgery. In the first application, the usual workflow of rigid registration is reformulated such that registration algorithms would iterate while the surgeon is acquiring ultrasound images of the anatomy to be operated. Using this effectively real-time approach to registration, the surgeon would then receive feedback in order to better gauge the quality of the final registration outcome. The second application considered in this paper circumvents the need to attach physical markers to bones for anatomical referencing. Experiments using anatomical objects immersed in water are performed in order to evaluate and compare the different methods presented herein, using both 2D as well as real-time 3D ultrasound.

Prognosis of patients with HIV-1 infection starting antiretroviral therapy in sub-Saharan Africa: a collaborative analysis of scale-up programmes

Background Prognostic models have been developed for patients infected with HIV-1 who start combination antiretroviral therapy (ART) in high-income countries, but not for patients in sub-Saharan Africa. We developed two prognostic models to estimate the probability of death in patients starting ART in sub-Saharan Africa. Methods We analysed data for adult patients who started ART in four scale-up programmes in Côte d'Ivoire, South Africa, and Malawi from 2004 to 2007. Patients lost to follow-up in the first year were excluded. We used Weibull survival models to construct two prognostic models: one with CD4 cell count, clinical stage, bodyweight, age, and sex (CD4 count model); and one that replaced CD4 cell count with total lymphocyte count and severity of anaemia (total lymphocyte and haemoglobin model), because CD4 cell count is not routinely measured in many African ART programmes. Death from all causes in the first year of ART was the primary outcome. Findings 912 (8·2%) of 11 153 patients died in the first year of ART. 822 patients were lost to follow-up and not included in the main analysis; 10 331 patients were analysed. Mortality was strongly associated with high baseline CD4 cell count (≥200 cells per μL vs <25; adjusted hazard ratio 0·21, 95% CI 0·17–0·27), WHO clinical stage (stages III–IV vs I–II; 3·45, 2·43–4·90), bodyweight (≥60 kg vs <45 kg; 0·23, 0·18–0·30), and anaemia status (none vs severe: 0·27, 0·20–0·36). Other independent risk factors for mortality were low total lymphocyte count, advanced age, and male sex. Probability of death at 1 year ranged from 0·9% (95% CI 0·6–1·4) to 52·5% (43·8–61·7) with the CD4 model, and from 0·9% (0·5–1·4) to 59·6% (48·2–71·4) with the total lymphocyte and haemoglobin model. Both models accurately predict early mortality in patients starting ART in sub-Saharan Africa compared with observed data. Interpretation Prognostic models should be used to counsel patients, plan health services, and predict outcomes for patients with HIV-1 infection in sub-Saharan Africa.

Comparison of biological stability and metabolism of CCK2 receptor targeting peptides, a collaborative project under COST BM0607

Stability of radiolabelled cholecystokinin 2 (CCK2) receptor targeting peptides has been a major limitation in the use of such radiopharmaceuticals especially for targeted radionuclide therapy applications, e.g. for treatment of medullary thyroid carcinoma (MTC). The purpose of this study was to compare the in vitro stability of a series of peptides binding to the CCK2 receptor [selected as part of the COST Action on Targeted Radionuclide Therapy (BM0607)] and to identify major cleavage sites.

Comparison of the binding and internalization properties of 12 DOTA-coupled and ¹¹¹In-labelled CCK2/gastrin receptor binding peptides: a collaborative project under COST Action BM0607

Specific overexpression of cholecystokinin 2 (CCK2)/gastrin receptors has been demonstrated in several tumours of neuroendocrine origin. In some of these cancer types, such as medullary thyroid cancer (MTC), a sensitive diagnostic modality is still unavailable and therapeutic options for inoperable lesions are needed. Peptide receptor radionuclide therapy (PRRT) may be a viable therapeutic strategy in the management of these patients. Several CCK2R-targeted radiopharmaceuticals have been described in recent years. As part of the European Union COST Action BM0607 we studied the in vitro and in vivo characteristics of 12 1,4,7,10-tetraazacyclododecane-1,4,7,10-tetraacetic acid (DOTA)-conjugated CCK2R binding peptides. In the present study, we analysed binding and internalization characteristics. Stability, biodistribution and imaging studies have been performed in parallel by other centres involved in the project.

Evaluation of filtering blebs using the 'Wuerzburg bleb classification score' compared to clinical findings

To determine the agreement between intraocular pressure and the 'Wuerzburg bleb classification score', as well as between single items of the score and intraocular pressure. Interobserver variability was analyzed.

Tenofovir in second-line ART in Zambia and South Africa: collaborative analysis of cohort studies

Tenofovir (TDF) is increasingly used in second-line antiretroviral treatment (ART) in sub-Saharan Africa. We compared outcomes of second-line ART containing and not containing TDF in cohort studies from Zambia and the Republic of South Africa (RSA).