VHDL-based system design of a cognitive sensorimotor loop (CSL) for haptic Human-Machine Interaction (HMI)

This document is a summary of the Bachelor thesis titled “VHDL-Based System Design of a Cognitive Sensorimotor Loop (CSL) for Haptic Human-Machine Interaction (HMI)” written by Pablo de Miguel Morales, Electronics Engineering student at the Universidad Politécnica de Madrid (UPM Madrid, Spain) during an Erasmus+ Exchange Program at the Beuth Hochschule für Technik (BHT Berlin, Germany). The tutor of this project is Dr. Prof. Hild. This project has been developed inside the Neurobotics Research Laboratory (NRL) in close collaboration with Benjamin Panreck, a member of the NRL, and another exchange student from the UPM Pablo Gabriel Lezcano. For a deeper comprehension of the content of the thesis, a deeper look in the document is needed as well as the viewing of the videos and the VHDL design. In the growing field of automation, a large amount of workforce is dedicated to improve, adapt and design motor controllers for a wide variety of applications. In the specific field of robotics or other machinery designed to interact with humans or their environment, new needs and technological solutions are often being discovered due to the existing, relatively unexplored new scenario it is. The project consisted of three main parts: Two VHDL-based systems and one short experiment on the haptic perception. Both VHDL systems are based on a Cognitive Sensorimotor Loop (CSL) which is a control loop designed by the NRL and mainly developed by Dr. Prof. Hild. The CSL is a control loop whose main characteristic is the fact that it does not use any external sensor to measure the speed or position of the motor but the motor itself. The motor always generates a voltage that is proportional to its angular speed so it does not need calibration. This method is energy efficient and simplifies control loops in complex systems. The first system, named CSL Stay In Touch (SIT), consists in a one DC motor system controller by a FPGA Board (Zynq ZYBO 7000) whose aim is to keep contact with any external object that touches its Sensing Platform in both directions. Apart from the main behavior, three features (Search Mode, Inertia Mode and Return Mode) have been designed to enhance the haptic interaction experience. Additionally, a VGA-Screen is also controlled by the FPGA Board for the monitoring of the whole system. This system has been completely developed, tested and improved; analyzing its timing and consumption properties. The second system, named CSL Fingerlike Mechanism (FM), consists in a fingerlike mechanical system controlled by two DC motors (Each controlling one part of the finger). The behavior is similar to the first system but in a more complex structure. This system was optional and not part of the original objectives of the thesis and it could not be properly finished and tested due to the lack of time. The haptic perception experiment was an experiment conducted to have an insight into the complexity of human haptic perception in order to implement this knowledge into technological applications. The experiment consisted in testing the capability of the subjects to recognize different objects and shapes while being blindfolded and with their ears covered. Two groups were done, one had full haptic perception while the other had to explore the environment with a plastic piece attached to their finger to create a haptic handicap. The conclusion of the thesis was that a haptic system based only on a CSL-based system is not enough to retrieve valuable information from the environment and that other sensors are needed (temperature, pressure, etc.) but that a CSL-based system is very useful to control the force applied by the system to interact with haptic sensible surfaces such as skin or tactile screens. RESUMEN. Este documento es un resumen del proyecto fin de grado titulado “VHDL-Based System Design of a Cognitive Sensorimotor Loop (CSL) for Haptic Human-Machine Interaction (HMI)” escrito por Pablo de Miguel, estudiante de Ingeniería Electrónica de Comunicaciones en la Universidad Politécnica de Madrid (UPM Madrid, España) durante un programa de intercambio Erasmus+ en la Beuth Hochschule für Technik (BHT Berlin, Alemania). El tutor de este proyecto ha sido Dr. Prof. Hild. Este proyecto se ha desarrollado dentro del Neurorobotics Research Laboratory (NRL) en estrecha colaboración con Benjamin Panreck (un miembro del NRL) y con Pablo Lezcano (Otro estudiante de intercambio de la UPM). Para una comprensión completa del trabajo es necesaria una lectura detenida de todo el documento y el visionado de los videos y análisis del diseño VHDL incluidos en el CD adjunto. En el creciente sector de la automatización, una gran cantidad de esfuerzo está dedicada a mejorar, adaptar y diseñar controladores de motor para un gran rango de aplicaciones. En el campo específico de la robótica u otra maquinaria diseñada para interactuar con los humanos o con su entorno, nuevas necesidades y soluciones tecnológicas se siguen desarrollado debido al relativamente inexplorado y nuevo escenario que supone. El proyecto consta de tres partes principales: Dos sistemas basados en VHDL y un pequeño experimento sobre la percepción háptica. Ambos sistemas VHDL están basados en el Cognitive Sesnorimotor Loop (CSL) que es un lazo de control creado por el NRL y cuyo desarrollador principal ha sido Dr. Prof. Hild. El CSL es un lazo de control cuya principal característica es la ausencia de sensores externos para medir la velocidad o la posición del motor, usando el propio motor como sensor. El motor siempre genera un voltaje proporcional a su velocidad angular de modo que no es necesaria calibración. Este método es eficiente en términos energéticos y simplifica los lazos de control en sistemas complejos. El primer sistema, llamado CSL Stay In Touch (SIT), consiste en un sistema formado por un motor DC controlado por una FPGA Board (Zynq ZYBO 7000) cuyo objetivo es mantener contacto con cualquier objeto externo que toque su plataforma sensible en ambas direcciones. Aparte del funcionamiento básico, tres modos (Search Mode, Inertia Mode y Return Mode) han sido diseñados para mejorar la interacción. Adicionalmente, se ha diseñado el control a través de la FPGA Board de una pantalla VGA para la monitorización de todo el sistema. El sistema ha sido totalmente desarrollado, testeado y mejorado; analizando su propiedades de timing y consumo energético. El segundo sistema, llamado CSL Fingerlike Mechanism (FM), consiste en un mecanismo similar a un dedo controlado por dos motores DC (Cada uno controlando una falange). Su comportamiento es similar al del primer sistema pero con una estructura más compleja. Este sistema no formaba parte de los objetivos iniciales del proyecto y por lo tanto era opcional. No pudo ser plenamente desarrollado debido a la falta de tiempo. El experimento de percepción háptica fue diseñado para profundizar en la percepción háptica humana con el objetivo de aplicar este conocimiento en aplicaciones tecnológicas. El experimento consistía en testear la capacidad de los sujetos para reconocer diferentes objetos, formas y texturas en condiciones de privación del sentido del oído y la vista. Se crearon dos grupos, en uno los sujetos tenían plena percepción háptica mientras que en el otro debían interactuar con los objetos a través de una pieza de plástico para generar un hándicap háptico. La conclusión del proyecto fue que un sistema háptico basado solo en sistemas CSL no es suficiente para recopilar información valiosa del entorno y que debe hacer uso de otros sensores (temperatura, presión, etc.). En cambio, un sistema basado en CSL es idóneo para el control de la fuerza aplicada por el sistema durante la interacción con superficies hápticas sensibles tales como la piel o pantallas táctiles.

Análisis de la embarcabilidad de aviones de combate terrestres

La retirada de los aviones Harrier, en servicio en operaciones embarcadas con Armadas de diferentes países, está basada en la perspectiva de poder sustituirlos por el F-35B, versión de operación vertical del controvertido programa Joint Strike Fighter. Este proyecto en realidad engloba el diseño de tres aviones de combate muy distintos entre sí, que, a pesar de tener una considerable parte en común, y dados sus muy diferentes requisitos, es un proyecto tremendamente complejo. Como consecuencia de todo esto, y ante el sobrecoste y los continuos retrasos acumulados en el desarrollo de un proyecto tan ambicioso, se plantean numerosas incertidumbres temporales y económicas, que hacen atractivo el estudio de posibles alternativas de menor riesgo. Esta tesis es un trabajo de investigación tecnológica que plantea el estudio de la modificación de determinados diseños de aviones de combate de operación terrestre, con idea de que puedan satisfacer los exigentes requisitos de operación desde un buque. Tras estudiar las peculiaridades de dichas operaciones, y analizar los tipos de buque y sus necesidades de modificación asociadas más importantes, se propone qué acciones a realizar, y se identifican las áreas de mayor interés, permitiendo establecer un procedimiento objetivo de comparación, con el fin de poder seleccionar los potenciales candidatos para su adaptación. Se aplica esta metodología, en particular, a dos casos de diseño de especial interés; el Eurofighter Typhoon y el Saab Gripen. En ambos, y por lo que respecta a las modificaciones planteadas, no se aprecian especiales dificultades que permitan descartar las posibilidades técnicas de su adaptación. Por último, y dada la complejidad de la consecución del objetivo final, se sugieren posibles líneas de investigación, desde completar y extender la filosofía de trabajo a otros subsistemas, al análisis de los costes de las modificaciones. ABSTRACT The Harrier fleet has been in active service in several Navies from different countries as a carrier-based aircraft. However, this aircraft may be withdrawn and replaced by the F-35B, a vertical capability version of the controversial Joint Strike Fighter (JSF) programme, which great complexity and constant development delays raise numerous uncertainties from a temporal and economical point of view. In fact, this program encompasses the design of three different fighter aircraft which, at the same time, share many similarities. All these aspects led us to undertake the analysis of other lower-risk alternatives. This thesis is a technological research work aimed at studying those design changes required for several fighter aircraft, initially designed for ground operation, in order to make them fullfil the highly demanding requirements for operating from aircraft carriers. After analizing the peculiarities of such operations, and studying different types of ships as well as their most significant modifications, specific actions to undertake are proposed, and those areas of greatest interest are identified, for the purposes of establishing an objective comparison procedure, and selecting potential candidates for this adaptation. This methodology is applied to design two specific cases of particular concern: the Eurofighter Typhoon and the Saab Gripen. In both instances, no major problems have been encountered regarding the modifications suggested. Finally, given the complexity of the analysis performed, some future research lines are outlined such as completing and extending this methodology to other subsystems, and giving an initial estimate of the modification costs.

Transgenic tobacco plants with reduced capability to detoxify reactive oxygen intermediates are hyperresponsive to pathogen infection

Reactive oxygen intermediates (ROI) play a critical role in the defense of plants against invading pathogens. Produced during the “oxidative burst,” they are thought to activate programmed cell death (PCD) and induce antimicrobial defenses such as pathogenesis-related proteins. It was shown recently that during the interaction of plants with pathogens, the expression of ROI-detoxifying enzymes such as ascorbate peroxidase (APX) and catalase (CAT) is suppressed. It was suggested that this suppression, occurring upon pathogen recognition and coinciding with an enhanced rate of ROI production, plays a key role in elevating cellular ROI levels, thereby potentiating the induction of PCD and other defenses. To examine the relationship between the suppression of antioxidative mechanisms and the induction of PCD and other defenses during pathogen attack, we studied the interaction between transgenic antisense tobacco plants with reduced APX or CAT and a bacterial pathogen that triggers the hypersensitive response. Transgenic plants with reduced capability to detoxify ROI (i.e., antisense APX or CAT) were found to be hyperresponsive to pathogen attack. They activated PCD in response to low amounts of pathogens that did not trigger the activation of PCD in control plants. Our findings support the hypothesis that suppression of ROI-scavenging enzymes during the hypersensitive response plays an important role in enhancing pathogen-induced PCD.

Are the returns to technological change in health care declining?

Whether the U.S. health care system supports too much technological change—so that new technologies of low value are adopted, or worthwhile technologies become overused—is a controversial question. This paper analyzes the marginal value of technological change for elderly heart attack patients in 1984–1990. It estimates the additional benefits and costs of treatment by hospitals that are likely to adopt new technologies first or use them most intensively. If the overall value of the additional treatments is declining, then the benefits of treatment by such intensive hospitals relative to other hospitals should decline, and the additional costs of treatment by such hospitals should rise. To account for unmeasured changes in patient mix across hospitals that might bias the results, instrumental–variables methods are used to estimate the incremental mortality benefits and costs. The results do not support the view that the returns to technological change are declining. However, the incremental value of treatment by intensive hospitals is low throughout the study period, supporting the view that new technologies are overused.

The challenge of contracting for technological information

Contracting to provide technological information (TI) is a significant challenge. TI is an unusual commodity in five ways. (i) TI is difficult to count and value; conventional indicators, such as patents and citations, hardly indicate value. TI is often sold at different prices to different parties. (ii) To value TI, it may be necessary to “give away the secret.” This danger, despite nondisclosure agreements, inhibits efforts to market TI. (iii) To prove its value, TI is often bundled into complete products, such as a computer chip or pharmaceutical product. Efficient exchange, by contrast, would involve merely the raw information. (iv) Sellers’ superior knowledge about TI’s value make buyers wary of overpaying. (v) Inefficient contracts are often designed to secure rents from TI. For example, licensing agreements charge more than marginal cost. These contracting difficulties affect the way TI is produced, encouraging self-reliance. This should be an advantage to large firms. However, small research and development firms spend more per employee than large firms, and nonprofit universities are major producers. Networks of organizational relationships, particularly between universities and industry, are critical in transmitting TI. Implicit barter—money for guidance—is common. Property rights for TI are hard to establish. Patents, quite suitable for better mousetraps, are inadequate for an era when we design better mice. Much TI is not patented, and what is patented sets fuzzy demarcations. New organizational forms are a promising approach to contracting difficulties for TI. Webs of relationships, formal and informal, involving universities, start-up firms, corporate giants, and venture capitalists play a major role in facilitating the production and spread of TI.

O-linkage of N-acetylglucosamine to Sp1 activation domain inhibits its transcriptional capability

The posttranslational modification of eukaryotic intracellular proteins by O-linked N-acetylglucosamine (O-GlcNAc) monosaccharides is essential for cell viability, yet its precise functional roles are largely unknown. O-GlcNAc transferase utilizes UDP-GlcNAc, the end product of hexosamine biosynthesis, to catalyze this modification. The availability of UDP-GlcNAc correlates with glycosylation levels of intracellular proteins as well as with transcriptional levels of some genes. Meanwhile, transcription factors and RNA polymerase II can be modified by O-GlcNAc. A linkage between transcription factor O-GlcNAcylation and transcriptional regulation therefore has been postulated. Here, we show that O-GlcNAcylation of a chimeric transcriptional activator containing the second activation domain of Sp1 decreases its transcriptional activity both in an in vitro transcription system and in living cells, which is in concert with our observation that O-GlcNAcylation of Sp1 activation domain blocks its in vitro and in vivo interactions with other Sp1 molecules and TATA-binding protein-associated factor II 110. Furthermore, overexpression of O-GlcNAc transferase specifically inhibits transcriptional activation by native Sp1 in cells. Thus, our studies provide direct evidence that O-GlcNAcylation of transcription factors is involved in transcriptional regulation.

Production of infectious human respiratory syncytial virus from cloned cDNA confirms an essential role for the transcription elongation factor from the 5' proximal open reading frame of the M2 mRNA in gene expression and provides a capability for vaccine development.

Infectious human respiratory syncytial virus (RSV) was produced by the intracellular coexpression of five plasmid-borne cDNAs. One cDNA encoded a complete positive-sense version of the RSV genome (corresponding to the replicative intermediate RNA or antigenome), and each of the other four encoded a separate RSV protein, namely, the major nucleocapsid N protein, the nucleocapsid P phosphoprotein, the major polymerase L protein, or the protein from the 5' proximal open reading frame of the M2 mRNA [M2(ORF1)]. RSV was not produced if any of the five plasmids was omitted. The requirement for the M2(ORF1) protein is consistent with its recent identification as a transcription elongation factor and confirms its importance for RSV gene expression. It should thus be possible to introduce defined changes into infectious RSV. This should be useful for basic studies of RSV molecular biology and pathogenesis; in addition, there are immediate applications to the development of live attenuated vaccine strains bearing predetermined defined attenuating mutations.

Modelo de alta capacidade de inovação para PMEs

Sob as condições presentes de competitividade global, rápido avanço tecnológico e escassez de recursos, a inovação tornou-se uma das abordagens estratégicas mais importantes que uma organização pode explorar. Nesse contexto, a capacidade de inovação da empresa enquanto capacidade de engajar-se na introdução de novos processos, produtos ou ideias na empresa, é reconhecida como uma das principais fontes de crescimento sustentável, efetividade e até mesmo sobrevivência para as organizações. No entanto, apenas algumas empresas compreenderam na prática o que é necessário para inovar com sucesso e a maioria enxerga a inovação como um grande desafio. A realidade não é diferente no caso das empresas brasileiras e em particular das Pequenas e Médias Empresas (PMEs). Estudos indicam que o grupo das PMEs particularmente demonstra em geral um déficit ainda maior na capacidade de inovação. Em resposta ao desafio de inovar, uma ampla literatura emergiu sobre vários aspectos da inovação. Porém, ainda considere-se que há poucos resultados conclusivos ou modelos compreensíveis na pesquisa sobre inovação haja vista a complexidade do tema que trata de um fenômeno multifacetado impulsionado por inúmeros fatores. Além disso, identifica-se um hiato entre o que é conhecido pela literatura geral sobre inovação e a literatura sobre inovação nas PMEs. Tendo em vista a relevância da capacidade de inovação e o lento avanço do seu entendimento no contexto das empresas de pequeno e médio porte cujas dificuldades para inovar ainda podem ser observadas, o presente estudo se propôs identificar os determinantes da capacidade de inovação das PMEs a fim de construir um modelo de alta capacidade de inovação para esse grupo de empresas. O objetivo estabelecido foi abordado por meio de método quantitativo o qual envolveu a aplicação da análise de regressão logística binária para analisar, sob a perspectiva das PMEs, os 15 determinantes da capacidade de inovação identificados na revisão da literatura. Para adotar a técnica de análise de regressão logística, foi realizada a transformação da variável dependente categórica em binária, sendo grupo 0 denominado capacidade de inovação sem destaque e grupo 1 definido como capacidade de inovação alta. Em seguida procedeu-se com a divisão da amostra total em duas subamostras sendo uma para análise contendo 60% das empresas e a outra para validação (holdout) com os 40% dos casos restantes. A adequação geral do modelo foi avaliada por meio das medidas pseudo R2 (McFadden), chi-quadrado (Hosmer e Lemeshow) e da taxa de sucesso (matriz de classificação). Feita essa avaliação e confirmada a adequação do fit geral do modelo, foram analisados os coeficientes das variáveis incluídas no modelo final quanto ao nível de significância, direção e magnitude. Por fim, prosseguiu-se com a validação do modelo logístico final por meio da análise da taxa de sucesso da amostra de validação. Por meio da técnica de análise de regressão logística, verificou-se que 4 variáveis apresentaram correlação positiva e significativa com a capacidade de inovação das PMEs e que, portanto diferenciam as empresas com capacidade de inovação alta das empresas com capacidade de inovação sem destaque. Com base nessa descoberta, foi criado o modelo final de alta capacidade de inovação para as PMEs composto pelos 4 determinantes: base de conhecimento externo (externo), capacidade de gestão de projetos (interno), base de conhecimento interno (interno) e estratégia (interno).

Compostos fenólicos de resíduos agroindustriais: identificação, propriedades biológicas e aplicação em matriz alimentar de base lipídica

A geração de resíduos sólidos pelas atividades agroindustriais tem criado a demanda por um reaproveitamento tecnológico desses materiais. Assim, o objetivo deste trabalho foi avaliar o potencial bioativo e tecnológico de resíduos agroindustriais, como fontes naturais de compostos fenólicos com atividade antioxidante. Foram analisados resíduos agroindustriais vinícolas, de indústrias produtoras de polpas congeladas de frutas (açaí, cajá, cupuaçu e graviola) e provenientes do beneficiamento de café e de laranja. Inicialmente, foi realizado um estudo para a determinação das condições ótimas de extração, empregando planejamento experimental multivariado com delineamento composto central rotacional, cujos resultados foram avaliados empregando a técnica de superfície de resposta. Na sequência, foram feitos a triagem dos resíduos, baseada na atividade antioxidante, e a caracterização fenólica dos extratos hidroalcoólicos obtidos dos resíduos agroindustriais. De acordo com os resultados de atividade antioxidante, engaço de uva da variedade Chenin Blanc (EC) e semente de açaí (SA) foram os resíduos selecionados, os quais seguiram para as etapas de concentração e fracionamento bioguiado de sua(s) molécula(s) bioativa(s), as quais foram posteriormente identificadas por UHPLC-ESI-LTQ-MS. Extratos brutos e concentrados foram avaliados in vitro quanto à capacidade de desativação de espécies reativas de oxigênio (radicais peroxila, ânion superóxido e ácido hipocloroso) e então, aplicados em óleo de soja, emulsão e suspensão de lipossomos, a fim de se avaliar a efetividade desses extratos como antioxidante natural em matrizes lipídicas. Concentrações intermediárias de etanol (40-60%) e alta temperatura (96°C), exceto para semente de açaí (25°C), foram as condições ótimas para a extração de antioxidantes dos resíduos agroindustriais. Epicatequina, ácido gálico, catequina e procianidina B1 foram os compostos de maior ocorrência, quando avaliados pela técnica de HPLC-DAD. O EC apresentou a maior atividade antioxidante global e SA a maior atividade entre os resíduos de polpas de frutas, laranja e café. A concentração dos extratos brutos de EC e SA, pela resina Amberlite XAD®-2, produziu aumento significativo da atividade antioxidante. Além disso, extratos brutos e concentrados apresentaram atividade antiproliferativa e anti-inflamatória. Os extratos concentrados foram fracionados por meio de Sephadex LH-20, a partir da qual foi possível identificar quatro frações de maior bioatividade para o EC e três para o SA. Procianidina B1, catequina, epicatequina e resveratrol foram identificados no extrato concentrado e frações de EC. Dezoito procianidinas poliméricas, catequina, epicatequina foram os principais compostos identificados em SA, por meio de UHPLC-ESI-LTQ-MS. Resveratrol também foi encontrado em SA pela primeira vez. Quando avaliados em óleo de soja, EC e SA demonstraram atividade pro-oxidante. Contudo, elevada atividade antioxidante foi verificada quando essas amostras foram aplicadas em sistemas lipídicos coloidais, pois retardaram o consumo de oxigênio em uma emulsão óleo/água e o período de indução na produção de dienos conjugados em uma suspensão de lipossomos. Portanto, os resíduos agroindustriais EC e SA possuem potencial tecnológico de reaproveitamento industrial podendo ser considerados possíveis matérias-primas para a obtenção de extratos ricos em antioxidantes ou pela extração de antioxidantes naturais de uso pelas indústrias farmacêutica e/ou de alimentos.

The location of the Spanish technological centers

Paper submitted to the 42nd Congress of ERSA, Dortmund, August 27th–31st 2002.

Identification of technological districts: the case of Spain

Paper submitted to the 51st European Congress of the Regional Science Association International, 37th Spanish Regional Science Association Conference, Barcelona, August 30-September 3, 2011.

Effects of high-color-discrimination capability spectra on color-deficient vision

Light sources with three spectral bands in specific spectral positions are known to have high-color-discrimination capability. W. A. Thornton hypothesized that they may also enhance color discrimination for color-deficient observers. This hypothesis was tested here by comparing the Rösch–MacAdam color volume for color-deficient observers rendered by three of these singular spectra, two reported previously and one derived in this paper by maximization of the Rösch–MacAdam color solid. It was found that all illuminants tested enhance discriminability for deuteranomalous observers, but their impact on other congenital deficiencies was variable. The best illuminant was the one derived here, as it was clearly advantageous for the two red–green anomalies and for tritanopes and almost neutral for red–green dichromats. We conclude that three-band spectra with high-color-discrimination capability for normal observers do not necessarily produce comparable enhancements for color-deficient observers, but suitable spectral optimization clearly enhances the vision of the color deficient.

Desiccant capability of organic xerogels: Surface chemistry vs porous texture

Resorcinol-Formaldehyde xerogels are organic polymers that can be easily tailored to have specific properties. These materials are composed of carbon, hydrogen and oxygen, and have a surface that is very rich in oxygen functionalities, and is therefore very hydrophilic. Their most interesting feature is that they may have the same chemical composition but a different porous texture. Consequently, the influence of porous characteristics, such as pore volume, surface area or pore size can be easily assessed. In this work, a commonly used desiccant, silica gel, is compared with organic xerogels to determine their rate and capacity of water adsorption, and to evaluate the role of surface chemistry versus porous texture. It was found that organic xerogels showed a higher rate of moisture adsorption than silica gel. Pore structure also seems to play an important role in water adsorption capacity. The OX-10 sample, whose porosity was mainly composed of micro-mesoporosity displayed a water adsorption capacity two times greater than that of the silica gel, and three times higher than that of the totally macroporous xerogel OX-2100. The presence of feeder pores (mesopores) that facilitate the access to the hydrophilic surface was observed to be the key factor for a good desiccant behaviour. Neither the total pore volume nor the high surface area (i.e. high microporosity) of the desiccant sample, is as important as the mesopore structure.