Dynamic Bayesian network for semantic place classification in mobile robotics

In this paper, the problem of semantic place categorization in mobile robotics is addressed by considering a time-based probabilistic approach called dynamic Bayesian mixture model (DBMM), which is an improved variation of the dynamic Bayesian network. More specifically, multi-class semantic classification is performed by a DBMM composed of a mixture of heterogeneous base classifiers, using geometrical features computed from 2D laserscanner data, where the sensor is mounted on-board a moving robot operating indoors. Besides its capability to combine different probabilistic classifiers, the DBMM approach also incorporates time-based (dynamic) inferences in the form of previous class-conditional probabilities and priors. Extensive experiments were carried out on publicly available benchmark datasets, highlighting the influence of the number of time-slices and the effect of additive smoothing on the classification performance of the proposed approach. Reported results, under different scenarios and conditions, show the effectiveness and competitive performance of the DBMM.

Intelligent outcome measures in liaison psychiatry:essential even if not desirable. Commentary on... a multidimensional Framework for Routine Outcome Measurement in Liaison Psychiatry (FROM-LP)

Service development is guided by outcome measures that inform service commissioners and providers. Those in liaison psychiatry should be encouraged to develop a positive approach that integrates the collection of outcome measures into everyday clinical practice. The Framework for Routine Outcome Measurement in Liaison Psychiatry (FROM-LP) is a very useful tool to measure service quality and clinical effectiveness, using a combination of clinician-rated and patient-rated outcome measures and patient-rated experience measures. However, it does not include measures of cost-effectiveness or training activities. The FROM-LP is a significant step towards developing nationally unified outcome measures.

La responsabilité civile dans les cas de dommages causés par les robots d’assistance au Québec

Le développement exponentiel de la technologie et le vieillissement de la population permettent d’introduire dans notre quotidien les robots d’assistance. La coexistence de l’homme avec ces robots intelligents et autonomes soulève une question fondamentale: dans l’éventualité où un robot provoquerait un accident causant un dommage à une personne ou à un bien qui serait le responsable? Aucune loi ne réglemente les activités de la robotique d’assistance dans le monde. Cette étude vise l’analyse de l’applicabilité des régimes de responsabilité du Code Civil du Québec aux cas de dommages causés par le robot d’assistance. L’analyse des régimes de responsabilité du Code civil du Québec permet de constater que deux régimes de responsabilité sont susceptibles d’être appliqués aux cas spécifiques de dommages causés par le robot d’assistance: le régime de responsabilité du fait des biens, énoncé à l’article 1465 C.c.Q., et le régime de responsabilité du fait des fabricants et vendeurs spécialisés, énoncé à l’article 1468 C.c.Q. Cela s’explique par la présence de critères et de conditions de mise en œuvre des régimes qui sont transposables aux différents aspects concernant la fabrication et l’utilisation du robot d’assistance.

Como construir com inteligência

A seleção deste tema deve-se ao fato de para além de ser um tema bastante interessante, o fato de possuir também uma perspetiva futura muito interessante, sobretudo quando contextualizado como solução de problemas tais como dependência energética, poluição e excesso de população. Apesar de muitos dos conceitos ligados ao tema não serem assim tão recentes, a verdade é que os recentes avanços tecnológicos, (informática e robótica), associados a novas ideologias, (preservação do meio ambiente e energias renováveis), e a diferentes conjunturas, nomeadamente a crise económica de 2009, trouxe uma nova perspetiva sobre o tema e sobre as suas potencialidades. Consultando a Internet é possível reunir varias informações sobre como construir com inteligência passando por temáticas como os edifícios Inteligentes, a sustentabilidade ou até mesmo os serviços de saúde em casa, contudo ainda é algo difícil perceber qual a importância que estes aspetos podem vir a desempenhar no futuro. Isto advém em grande medida, da própria dificuldade dos autores em concordar sobre o que realmente é um edifício inteligente e qual pode ser a sua importância para as cidades no futuro. Desta forma o objetivo deste trabalho passa por abordar os conceitos base do que são edifícios inteligentes desde a sua génese até ao presente, não só a partir do ponto de vista tecnológico como também do ponto de vista ambiental e da forma como estes se articulam, principalmente num período de dificuldade económica como o vivido nos dias de hoje. Hoje em dia torna-se demasiado redutor só pensar os edifícios inteligentes a partir da sua componente tecnológica uma vez que a sua adaptabilidade permite que sejam uma solução para um número muito maior de problemas, alguns dos quais onde a componente tecnológica perde o seu lugar de destaque para a componente ambiental, onde um design inteligente pode potenciar grandes melhorias com o mínimo de gastos económicos. Em conclusão um edifício Inteligente é nos dias de hoje muito mais que a soma das suas partes seja ela tecnológica, económica ou ambiental. A “verdadeira” Inteligência está em conjugar o melhor de cada vertente potenciando o que têm de melhor de forma a proporcionarem uma qualidade de vida acrescida ao utilizador sem comprometer o meio e sem implicar gastos económicos incomportáveis.

FY2010 Annual Report Research, Intelligent Transportation Systems, and Technology Transfer Activities, October 18, 2011

Transportation research makes a difference for Iowans and the nation. Implementation of cost effective research projects contributes to a transportation network that is safer, more efficient, and longer lasting. Working in cooperation with our partners from universities, industry, other states, and FHWA, as well as participation in the Transportation Research Board (TRB), provides benefits for every facet of the DOT. This allows us to serve our communities and the traveling public more effectively. Pooled fund projects allow leveraging of funds for higher returns on investments. In 2010, Iowa led fifteen active pooled fund studies, participated in twenty-two others, and was wrapping-up, reconciling, and closing out an additional 6 Iowa Led pooled fund studies. In addition, non-pooled fund SPR projects included approximately 20 continued, 9 new, and over a dozen reoccurring initiatives such as the technical transfer/training program. Additional research is managed and conducted by the Office of Traffic and Safety and other departments in the Iowa DOT.

Revêtement intelligent à base des silices mésoporeuses fonctionnalisées pour le relargage stimulé d’agents antimicrobiens

Les biofilms bactériens sont composés d’organismes unicellulaires vivants au sein d’une matrice protectrice, formée de macromolécules naturelles. Des biofilms non désirés peuvent avoir un certain nombre de conséquences néfastes, par exemple la diminution du transfert de chaleur dans les échangeurs de chaleurs, l’obstruction de membranes poreuses, la contamination des surfaces coques de navires, etc. Par ailleurs, les bactéries pathogènes qui prolifèrent dans un biofilm posent également un danger pour la santé s’ils croissent sur des surfaces médicales synthétiques comme des implants biomédicaux, cathéters ou des lentilles de vue. De plus, la croissance sur le tissu naturel par certaines souches des bactéries peut être fatale, comme Pseudomonas aeruginosa dans les poumons. Cependant, la présence de biofilms reste difficile à traiter, car les bactéries sont protégées par une matrice extracellulaire. Pour tenter de remédier à ces problèmes, nous proposons de développer une surface antisalissure (antifouling) qui libère sur demande des agents antimicrobiens. La proximité et la disposition du système de relargage placé sous le biofilm, assureront une utilisation plus efficace des molécules antimicrobiennes et minimiseront les effets secondaires de ces dernières. Pour ce faire, nous envisageons l’utilisation d’une couche de particules de silice mésoporeuses comme agents de livraison d’agents antimicrobiens. Les nanoparticules de silice mésoporeuses (MSNs) ont démontré un fort potentiel pour la livraison ciblée d’agents thérapeutiques et bioactifs. Leur utilisation en nano médecine découle de leurs propriétés de porosité intéressantes, de la taille et de la forme ajustable de ces particules, de la chimie de leur surface et leur biocompatibilité. Ces propriétés offrent une flexibilité pour diverses applications. De plus, il est possible de les charger avec différentes molécules ou biomolécules (de tailles variées, allant de l’ibuprofène à l’ARN) et d’exercer un contrôle précis des paramètres d’adsorption et des cinétiques de relargage (désorption). Mots Clés : biofilms, nanoparticules de silice mésoporeuses, microfluidique, surface antisalissure.

Gestion de contexte dans un habitat intelligent à base d’ontologie : modélisation, implantation et validation

Le laboratoire DOMUS développe des applications sensibles au contexte dans une perspective d’intelligence ambiante. L’architecture utilisée présentement pour gérer le contexte a atteint ses limites en termes de capacité d’évoluer, d’intégration de nouvelles sources de données et de nouveaux capteurs et actionneurs, de capacité de partage entre les applications et de capacité de raisonnement. Ce projet de recherche a pour objectif de développer un nouveau modèle, un gestionnaire de contexte et de proposer une architecture pour les applications d’assistance installées dans un habitat intelligent. Le modèle doit répondre aux exigences suivantes : commun, abstrait, évolutif, décentralisé, performant et une accessibilité uniforme. Le gestionnaire du contexte doit permettre de gérer les événements et offrir des capacités de raisonnement sur les données et le contexte. La nouvelle architecture doit simplifier le développement d’applications d’assistance et la gestion du contexte. Les applications doivent pouvoir se mettre à jour si le modèle de données évolue dans le temps sans nécessiter de modification dans le code source. Le nouveau modèle de données repose sur une ontologie définie avec le langage OWL 2 DL. L’architecture pour les applications d’assistance utilise le cadre d’applications Apache Jena pour la gestion des requêtes SPARQL et un dépôt RDF pour le stockage des données. Une bibliothèque Java a été développée pour gérer la correspondance entre le modèle de données et le modèle Java. Le serveur d’événements est basé sur le projet OpenIoT et utilise un dépôt RDF. Il fournit une API pour la gestion des capteurs / événements et des actionneurs / actions. Les choix d’implémentation et l’utilisation d’une ontologie comme modèle de données et des technologies du Web sémantique (OWL, SPARQL et dépôt RDF) pour les applications d’assistance dans un habitat intelligent ont été validés par des tests intensifs et l’adaptation d’applications déjà existantes au laboratoire. L’utilisation d’une ontologie a pour avantage une intégration des déductions et du raisonnement directement dans le modèle de données et non au niveau du code des applications.

Intelligent Sensor Systems for Structural Health Monitoring Applications

The convergence between the recent developments in sensing technologies, data science, signal processing and advanced modelling has fostered a new paradigm to the Structural Health Monitoring (SHM) of engineered structures, which is the one based on intelligent sensors, i.e., embedded devices capable of stream processing data and/or performing structural inference in a self-contained and near-sensor manner. To efficiently exploit these intelligent sensor units for full-scale structural assessment, a joint effort is required to deal with instrumental aspects related to signal acquisition, conditioning and digitalization, and those pertaining to data management, data analytics and information sharing. In this framework, the main goal of this Thesis is to tackle the multi-faceted nature of the monitoring process, via a full-scale optimization of the hardware and software resources involved by the {SHM} system. The pursuit of this objective has required the investigation of both: i) transversal aspects common to multiple application domains at different abstraction levels (such as knowledge distillation, networking solutions, microsystem {HW} architectures), and ii) the specificities of the monitoring methodologies (vibrations, guided waves, acoustic emission monitoring). The key tools adopted in the proposed monitoring frameworks belong to the embedded signal processing field: namely, graph signal processing, compressed sensing, ARMA System Identification, digital data communication and TinyML.

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.

Electrospun hierarchical artificial muscle for soft robotics applications

Nowadays, one of the most ambitious challenges in soft robotics is the development of actuators capable to achieve performance comparable to skeletal muscles. Scientists have been working for decades, inspired by Nature, to mimic both their complex structure and their perfectly balanced features in terms of linear contraction, force-to-weight ratio, scalability and flexibility. The present Thesis, contextualized within the FET open Horizon 2020 project MAGNIFY, aims to develop a new family of innovative flexible actuators in the field of soft-robotics. For the realization of this actuator, a biomimetic approach has been chosen, drawing inspiration from skeletal muscle. Their hierarchical fibrous structure was mimicked employing the electrospinning technique, while the contraction of sarcomeres was designed employing chains of molecular machines, supramolecular systems capable of performing movements useful to execute specific tasks. The first part deals with the design and production of the basic unit of the artificial muscle, the artificial myofibril, consisting in a novel electrospun core-shell nanofiber, with elastomeric shell and electrically conductive core, coupled with a conductive coating, for the realization of which numerous strategies have been investigated. The second part deals instead with the integration of molecular machines (provided by the project partners) inside these artificial myofibrils, preceded by the study of several model molecules, aimed at simulating the presence of these molecular machines during the initial phases of the project. The last part concerns the realization of an electrospun multiscale hierarchical structure, aimed at reproducing the entire muscle morphology and fibrous organization. These research will be joined together in the near future like the pieces of a puzzle, recreating the artificial actuator most similar to biological muscle ever made, composed of millions of artificial myofibrils, electrically activated in which the nano-scale movement of molecular machines will be incrementally amplified to the macro-scale contraction of the artificial muscle.

Hardware-software design of embedded systems for intelligent sensing applications

This Thesis wants to highlight the importance of ad-hoc designed and developed embedded systems in the implementation of intelligent sensor networks. As evidence four areas of application are presented: Precision Agriculture, Bioengineering, Automotive and Structural Health Monitoring. For each field is reported one, or more, smart device design and developing, in addition to on-board elaborations, experimental validation and in field tests. In particular, it is presented the design and development of a fruit meter. In the bioengineering field, three different projects are reported, detailing the architectures implemented and the validation tests conducted. Two prototype realizations of an inner temperature measurement system in electric motors for an automotive application are then discussed. Lastly, the HW/SW design of a Smart Sensor Network is analyzed: the network features on-board data management and processing, integration in an IoT toolchain, Wireless Sensor Network developments and an AI framework for vibration-based structural assessment.

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).

A concepção estratégico-tática no handebol : implicações para a formação de jogadores inteligentes

Universidade Estadual de Campinas . Faculdade de Educação Física

Possibilidades corporais como expressão da inteligencia humana no processo de ensino-aprendizagem

Universidade Estadual de Campinas . Faculdade de Educação Física

Inteligência artificial aplicada à Zootecnia

Os sistemas biológicos são surpreendentemente flexíveis pra processar informação proveniente do mundo real. Alguns organismos biológicos possuem uma unidade central de processamento denominada de cérebro. O cérebro humano consiste de 10(11) neurônios e realiza processamento inteligente de forma exata e subjetiva. A Inteligência Artificial (IA) tenta trazer para o mundo da computação digital a heurística dos sistemas biológicos de várias maneiras, mas, ainda resta muito para que isso seja concretizado. No entanto, algumas técnicas como Redes neurais artificiais e lógica fuzzy tem mostrado efetivas para resolver problemas complexos usando a heurística dos sistemas biológicos. Recentemente o numero de aplicação dos métodos da IA em sistemas zootécnicos tem aumentado significativamente. O objetivo deste artigo é explicar os princípios básicos da resolução de problemas usando heurística e demonstrar como a IA pode ser aplicada para construir um sistema especialista para resolver problemas na área de zootecnia.