Extracting FSA descriptions of robot behaviours from the dynamics of automatically designed controller networks

Automatic design has become a common approach to evolve complex networks, such as artificial neural networks (ANNs) and random boolean networks (RBNs), and many evolutionary setups have been discussed to increase the efficiency of this process. However networks evolved in this way have few limitations that should not be overlooked. One of these limitations is the black-box problem that refers to the impossibility to analyze internal behaviour of complex networks in an efficient and meaningful way. The aim of this study is to develop a methodology that make it possible to extract finite-state automata (FSAs) descriptions of robot behaviours from the dynamics of automatically designed complex controller networks. These FSAs unlike complex networks from which they're extracted are both readable and editable thus making the resulting designs much more valuable.

Tesi sperimentale per valutare l'esperienza chirurgica nell'uso del robot Da Vinci Si

Questa tesi si compone di due parti tra loro correlate. Nella prima viene analizzato l’attuale stato dell’arte in ambito di robot chirurgici e, successivamente, sono illustrate le caratteristiche tecniche e funzionali del robot chirurgico Da Vinci Si e ne viene evidenziata la mancanza di sensori in grado di fornire all’utilizzatore un feedback aptico. La seconda parte propone uno studio che ha lo scopo di dimostrare come l’esperienza del chirurgo riesca a sopperire alla mancanza di un sensore in grado di fornire un riscontro della forza impressa sugli strumenti nel campo operatorio. A questo proposito, vengono illustrati i risultati del test appositamente costruito, cui è stato sottoposto un campione di chirurghi di diversi ambiti specialistici, per dimostrare come l’esperienza e la destrezza consentono all’utilizzatore del robot Da Vinci Si di ricevere un’indicazione della forza impressa sui tessuti del campo operatorio tramite un riscontro visivo.

Un’applicazione di elaborazione del linguaggio naturale per il gioco di "Indovina chi?" su robot umanoide

La tesi è stata incentrata sul gioco «Indovina chi?» per l’identificazione da parte del robot Nao di un personaggio tramite la sua descrizione. In particolare la descrizione avviene tramite domande e risposte L’obiettivo della tesi è la progettazione di un sistema in grado di capire ed elaborare dei dati comunicati usando un sottoinsieme del linguaggio naturale, estrapolarne le informazioni chiave e ottenere un riscontro con informazioni date in precedenza. Si è quindi programmato il robot Nao in modo che sia in grado di giocare una partita di «Indovina chi?» contro un umano comunicando tramite il linguaggio naturale. Sono state implementate regole di estrazione e categorizzazione per la comprensione del testo utilizzando Cogito, una tecnologia brevettata dall'azienda Expert System. In questo modo il robot è in grado di capire le risposte e rispondere alle domande formulate dall'umano mediante il linguaggio naturale. Per il riconoscimento vocale è stata utilizzata l'API di Google e PyAudio per l'utilizzo del microfono. Il programma è stato implementato in Python e i dati dei personaggi sono memorizzati in un database che viene interrogato e modificato dal robot. L'algoritmo del gioco si basa su calcoli probabilistici di vittoria del robot e sulla scelta delle domande da proporre in base alle risposte precedentemente ricevute dall'umano. Le regole semantiche realizzate danno la possibilità al giocatore di formulare frasi utilizzando il linguaggio naturale, inoltre il robot è in grado di distinguere le informazioni che riguardano il personaggio da indovinare senza farsi ingannare. La percentuale di vittoria del robot ottenuta giocando 20 partite è stata del 50%. Il data base è stato sviluppato in modo da poter realizzare un identikit completo di una persona, oltre a quello dei personaggi del gioco. È quindi possibile ampliare il progetto per altri scopi, oltre a quello del gioco, nel campo dell'identificazione.

Installazione del navigation stack su rover terrestre e applicazione del kinect nello human-robot interaction.

Progetto SHERPA. Installazione e configurazione del Navigaton Stack su Rover terrestre. Utilizzo e configurazione di LMS151 Sick. Utilizzo e configurazione di Asus Xtion Pro. Progettazione di software per la localizzazione e l'inseguimento di persone tramite camera di profondita.

Analysis of robot dynamics through complexity measures: an application in automatic design

L'applicazione di misure, derivanti dalla teoria dell'informazione, fornisce un valido strumento per quantificare alcune delle proprietà dei sistemi complessi. Le stesse misure possono essere utilizzate in robotica per favorire l'analisi e la sintesi di sistemi di controllo per robot. In questa tesi si è analizzata la correlazione tra alcune misure di complessità e la capacità dei robot di portare a termine, con successo, tre differenti task. I risultati ottenuti suggeriscono che tali misure di complessità rappresentano uno strumento promettente anche nel campo della robotica, ma che il loro utilizzo può diventare difficoltoso quando applicate a task compositi.

Multiplex suspension array for human anti-carbohydrate antibody profiling

Glycan-binding antibodies form a significant subpopulation of both natural and acquired antibodies and play an important role in various immune processes. They are for example involved in innate immune responses, cancer, autoimmune diseases, and neurological disorders. In the present study, a microsphere-based flow-cytometric immunoassay (suspension array) was applied for multiplexed detection of glycan-binding antibodies in human serum. Several approaches for immobilization of glycoconjugates onto commercially available fluorescent microspheres were compared, and as the result, the design based on coupling of end-biotinylated glycopolymers has been selected. This method requires only minute amounts of glycans, similar to a printed glycan microarray. The resulting glyco-microspheres were used for detection of IgM and IgG antibodies directed against ABO blood group antigens. The possibility of multiplexing this assay was demonstrated with mixtures of microspheres modified with six different ABO related glycans. Multiplexed detection of anti-glycan IgM and IgG correlated well with singleplex assays (Pearson's correlation coefficient r = 0.95-0.99 for sera of different blood groups). The suspension array in singleplex format for A/B trisaccharide, H(di) and Le(x) microspheres corresponded well to the standard ELISA (r > 0.94). Therefore, the described method is promising for rapid, sensitive, and reproducible detection of anti-glycan antibodies in a multiplexed format.

Retraining of interjoint arm coordination after stroke using robot-assisted time-independent functional training

We have developed a haptic-based approach for retraining of interjoint coordination following stroke called time-independent functional training (TIFT) and implemented this mode in the ARMin III robotic exoskeleton. The ARMin III robot was developed by Drs. Robert Riener and Tobias Nef at the Swiss Federal Institute of Technology Zurich (Eidgenossische Technische Hochschule Zurich, or ETH Zurich), in Zurich, Switzerland. In the TIFT mode, the robot maintains arm movements within the proper kinematic trajectory via haptic walls at each joint. These arm movements focus training of interjoint coordination with highly intuitive real-time feedback of performance; arm movements advance within the trajectory only if their movement coordination is correct. In initial testing, 37 nondisabled subjects received a single session of learning of a complex pattern. Subjects were randomized to TIFT or visual demonstration or moved along with the robot as it moved though the pattern (time-dependent [TD] training). We examined visual demonstration to separate the effects of action observation on motor learning from the effects of the two haptic guidance methods. During these training trials, TIFT subjects reduced error and interaction forces between the robot and arm, while TD subject performance did not change. All groups showed significant learning of the trajectory during unassisted recall trials, but we observed no difference in learning between groups, possibly because this learning task is dominated by vision. Further testing in stroke populations is warranted.

Thin-Film Sparse Boundary Array Design for Passive Acoustic Mapping During Ultrasound Therapy

A new 2-D hydrophone array for ultrasound therapy monitoring is presented, along with a novel algorithm for passive acoustic mapping using a sparse weighted aperture. The array is constructed using existing polyvinylidene fluoride (PVDF) ultrasound sensor technology, and is utilized for its broadband characteristics and its high receive sensitivity. For most 2-D arrays, high-resolution imagery is desired, which requires a large aperture at the cost of a large number of elements. The proposed array's geometry is sparse, with elements only on the boundary of the rectangular aperture. The missing information from the interior is filled in using linear imaging techniques. After receiving acoustic emissions during ultrasound therapy, this algorithm applies an apodization to the sparse aperture to limit side lobes and then reconstructs acoustic activity with high spatiotemporal resolution. Experiments show verification of the theoretical point spread function, and cavitation maps in agar phantoms correspond closely to predicted areas, showing the validity of the array and methodology.

A 20-channel receive-only mouse array coil for a 3 T clinical MRI system

A 20-channel phased-array coil for MRI of mice has been designed, constructed, and validated with bench measurements and high-resolution accelerated imaging. The technical challenges of designing a small, high density array have been overcome using individual small-diameter coil elements arranged on a cylinder in a hexagonal overlapping design with adjacent low impedance preamplifiers to further decouple the array elements. Signal-to-noise ratio (SNR) and noise amplification in accelerated imaging were simulated and quantitatively evaluated in phantoms and in vivo mouse images. Comparison between the 20-channel mouse array and a length-matched quadrature driven small animal birdcage coil showed an SNR increase at the periphery and in the center of the phantom of 3- and 1.3-fold, respectively. Comparison with a shorter but SNR-optimized birdcage coil (aspect ratio 1:1 and only half mouse coverage) showed an SNR gain of twofold at the edge of the phantom and similar SNR in the center. G-factor measurements indicate that the coil is well suited to acquire highly accelerated images.

MicroRNA Expression Array Identifies Novel Diagnostic Markers for Conventional and Oncocytic Follicular Thyroid Carcinomas

Objective:The most difficult thyroid tumors to be diagnosed by cytology and histology are conventional follicular carcinomas (cFTCs) and oncocytic follicular carcinomas (oFTCs). Several microRNAs (miRNAs) have been previously found to be consistently deregulated in papillary thyroid carcinomas; however, very limited information is available for cFTC and oFTC. The aim of this study was to explore miRNA deregulation and find candidate miRNA markers for follicular carcinomas that can be used diagnostically.Design:Thirty-eight follicular thyroid carcinomas (21 cFTCs, 17 oFTCs) and 10 normal thyroid tissue samples were studied for expression of 381 miRNAs using human microarray assays. Expression of deregulated miRNAs was confirmed by individual RT-PCR assays in all samples. In addition, 11 follicular adenomas, two hyperplastic nodules (HNs), and 19 fine-needle aspiration samples were studied for expression of novel miRNA markers detected in this study.Results:The unsupervised hierarchical clustering analysis demonstrated individual clusters for cFTC and oFTC, indicating the difference in miRNA expression between these tumor types. Both cFTCs and oFTCs showed an up-regulation of miR-182/-183/-221/-222/-125a-3p and a down-regulation of miR-542-5p/-574-3p/-455/-199a. Novel miRNA (miR-885-5p) was found to be strongly up-regulated (>40-fold) in oFTCs but not in cFTCs, follicular adenomas, and HNs. The classification and regression tree algorithm applied to fine-needle aspiration samples demonstrated that three dysregulated miRNAs (miR-885-5p/-221/-574-3p) allowed distinguishing follicular thyroid carcinomas from benign HNs with high accuracy.Conclusions:In this study we demonstrate that different histopathological types of follicular thyroid carcinomas have distinct miRNA expression profiles. MiR-885-5p is highly up-regulated in oncocytic follicular carcinomas and may serve as a diagnostic marker for these tumors. A small set of deregulated miRNAs allows for an accurate discrimination between follicular carcinomas and hyperplastic nodules and can be used diagnostically in fine-needle aspiration biopsies.