Temporo-parietal cortex encodes location of the self: joining fMRI with neuroscience robotics to study bodily self-consciousness

Neuroimaging of the self has focused on high-level mechanisms such as language, memory or imagery of the self and implicated widely distributed brain networks. Yet recent evidence suggests that low-level mechanisms such as multisensory and sensorimotor integration may play a fundamental role in self-related processing. In the present study we used visuotactile multisensory conflict, robotics, virtual reality, and fMRI to study such low-level mechanisms by experimentally inducing changes in self-location. Participants saw a video of a person's back (body) or an empty room (no-body) being stroked while a MR-compatible robotic device stroked their back. The latter tactile input was synchronous or asynchronous with respect to the seen stroking. Self-location was estimated behaviorally confirming previous data that self-location only differed between the two body conditions. fMRI results showed a bilateral activation of the temporo-parietal cortex with a significantly higher BOLD signal increase in the synchronous/body condition with respect to the other conditions. Sensorimotor cortex and extrastriate-body-area were also activated. We argue that temporo-parietal activity reflects the experience of the conscious 'I' as embodied and localized within bodily space, compatible with clinical data in neurological patients with out-of-body experiences.

Sant Boi 2012

Projecte presentat per al Concurs de projectes amb intervenció de jurat per al desenvolupament a nivell d'avanprojecte del Pla de Millora Urbana del Sector FECSA-ENDESA i Casernes, a Sant Boi del Llobregat

BIO-INSPIRED COMPUTATIONAL TECHNIQUES APPLIED TO THE CLUSTERING AND VISUALIZATION OF SPATIO-TEMPORAL GEOSPATIAL DATA

The coverage and volume of geo-referenced datasets are extensive and incessantly¦growing. The systematic capture of geo-referenced information generates large volumes¦of spatio-temporal data to be analyzed. Clustering and visualization play a key¦role in the exploratory data analysis and the extraction of knowledge embedded in¦these data. However, new challenges in visualization and clustering are posed when¦dealing with the special characteristics of this data. For instance, its complex structures,¦large quantity of samples, variables involved in a temporal context, high dimensionality¦and large variability in cluster shapes.¦The central aim of my thesis is to propose new algorithms and methodologies for¦clustering and visualization, in order to assist the knowledge extraction from spatiotemporal¦geo-referenced data, thus improving making decision processes.¦I present two original algorithms, one for clustering: the Fuzzy Growing Hierarchical¦Self-Organizing Networks (FGHSON), and the second for exploratory visual data analysis:¦the Tree-structured Self-organizing Maps Component Planes. In addition, I present¦methodologies that combined with FGHSON and the Tree-structured SOM Component¦Planes allow the integration of space and time seamlessly and simultaneously in¦order to extract knowledge embedded in a temporal context.¦The originality of the FGHSON lies in its capability to reflect the underlying structure¦of a dataset in a hierarchical fuzzy way. A hierarchical fuzzy representation of¦clusters is crucial when data include complex structures with large variability of cluster¦shapes, variances, densities and number of clusters. The most important characteristics¦of the FGHSON include: (1) It does not require an a-priori setup of the number¦of clusters. (2) The algorithm executes several self-organizing processes in parallel.¦Hence, when dealing with large datasets the processes can be distributed reducing the¦computational cost. (3) Only three parameters are necessary to set up the algorithm.¦In the case of the Tree-structured SOM Component Planes, the novelty of this algorithm¦lies in its ability to create a structure that allows the visual exploratory data analysis¦of large high-dimensional datasets. This algorithm creates a hierarchical structure¦of Self-Organizing Map Component Planes, arranging similar variables' projections in¦the same branches of the tree. Hence, similarities on variables' behavior can be easily¦detected (e.g. local correlations, maximal and minimal values and outliers).¦Both FGHSON and the Tree-structured SOM Component Planes were applied in¦several agroecological problems proving to be very efficient in the exploratory analysis¦and clustering of spatio-temporal datasets.¦In this thesis I also tested three soft competitive learning algorithms. Two of them¦well-known non supervised soft competitive algorithms, namely the Self-Organizing¦Maps (SOMs) and the Growing Hierarchical Self-Organizing Maps (GHSOMs); and the¦third was our original contribution, the FGHSON. Although the algorithms presented¦here have been used in several areas, to my knowledge there is not any work applying¦and comparing the performance of those techniques when dealing with spatiotemporal¦geospatial data, as it is presented in this thesis.¦I propose original methodologies to explore spatio-temporal geo-referenced datasets¦through time. Our approach uses time windows to capture temporal similarities and¦variations by using the FGHSON clustering algorithm. The developed methodologies¦are used in two case studies. In the first, the objective was to find similar agroecozones¦through time and in the second one it was to find similar environmental patterns¦shifted in time.¦Several results presented in this thesis have led to new contributions to agroecological¦knowledge, for instance, in sugar cane, and blackberry production.¦Finally, in the framework of this thesis we developed several software tools: (1)¦a Matlab toolbox that implements the FGHSON algorithm, and (2) a program called¦BIS (Bio-inspired Identification of Similar agroecozones) an interactive graphical user¦interface tool which integrates the FGHSON algorithm with Google Earth in order to¦show zones with similar agroecological characteristics.

A bio-inspired agent-based programming environment for pervasive platforms

Abstract in English : Ubiquitous Computing is the emerging trend in computing systems. Based on this observation this thesis proposes an analysis of the hardware and environmental constraints that rule pervasive platforms. These constraints have a strong impact on the programming of such platforms. Therefore solutions are proposed to facilitate this programming both at the platform and node levels. The first contribution presented in this document proposes a combination of agentoriented programming with the principles of bio-inspiration (Phylogenesys, Ontogenesys and Epigenesys) to program pervasive platforms such as the PERvasive computing framework for modeling comPLEX virtually Unbounded Systems platform. The second contribution proposes a method to program efficiently parallelizable applications on each computing node of this platform. Résumé en Français : Basée sur le constat que les calculs ubiquitaires vont devenir le paradigme de programmation dans les années à venir, cette thèse propose une analyse des contraintes matérielles et environnementale auxquelles sont soumises les plateformes pervasives. Ces contraintes ayant un impact fort sur la programmation des plateformes. Des solutions sont donc proposées pour faciliter cette programmation tant au niveau de l'ensemble des noeuds qu'au niveau de chacun des noeuds de la plateforme. La première contribution présentée dans ce document propose d'utiliser une alliance de programmation orientée agent avec les grands principes de la bio-inspiration (Phylogénèse, Ontogénèse et Épigénèse). Ceci pour répondres aux contraintes de programmation de plateformes pervasives comme la plateforme PERvasive computing framework for modeling comPLEX virtually Unbounded Systems . La seconde contribution propose quant à elle une méthode permettant de programmer efficacement des applications parallélisable sur chaque noeud de calcul de la plateforme

Neuroscience robotics to investigate multisensory integration and bodily awareness.

Humans experience the self as localized within their body. This aspect of bodily self-consciousness can be experimentally manipulated by exposing individuals to conflicting multisensory input, or can be abnormal following focal brain injury. Recent technological developments helped to unravel some of the mechanisms underlying multisensory integration and self-location, but the neural underpinnings are still under investigation, and the manual application of stimuli resulted in large variability difficult to control. This paper presents the development and evaluation of an MR-compatible stroking device capable of presenting moving tactile stimuli to both legs and the back of participants lying on a scanner bed while acquiring functional neuroimaging data. The platform consists of four independent stroking devices with a travel of 16-20 cm and a maximum stroking velocity of 15 cm/s, actuated over non-magnetic ultrasonic motors. Complemented with virtual reality, this setup provides a unique research platform allowing to investigate multisensory integration and its effects on self-location under well-controlled experimental conditions. The MR-compatibility of the system was evaluated in both a 3 and a 7 Tesla scanner and showed negligible interference with brain imaging. In a preliminary study using a prototype device with only one tactile stimulator, fMRI data acquired on 12 healthy participants showed visuo-tactile synchrony-related and body-specific modulations of the brain activity in bilateral temporoparietal cortex.

Pla d'acollida per a la integració d'adolescents i joves nouvinguts a la ciutat de Sant Boi de Llobregat

L'estudi que presentem té com a primer objectiu conèixer en profunditat les necessitats dels i les adolescents i joves immigrats i la realitat actual dels diferents serveis per a donar resposta a aquestes necessitats. Un segon objectiu ha estat elaborar conjuntament amb els agents socials i les entitats de Sant Boi un pla d'acollida per facilitar la integració d¿aquests adolescents i joves, així com la coordinació dels diferents agents, entitats i serveis municipals. Per aquest motiu es planteja una investigació col·laborativa amb diferents agents i entitats representatius del teixit social de la població, i amb els/les tècnics/iques de les diferents regidories de l'Ajuntament (joventut, serveis socials, nova ciutadania, participació i educació). Els objectius generals de la investigació són els següents: a) fer una anàlisi de necessitats dels i les adolescents i joves immigrants de la població de Sant Boi amb referència a la seva participació social; b) realitzar un estudi diagnòstic de l'acollida d¿adolescents i joves immigrants en el teixit associatiu i social en el municipi de Sant Boi de Llobregat; c) elaborar un pla d'acollida integral per als i les adolescents i joves nouvinguts a la ciutat de Sant Boi. El disseny de la investigació segueix les fases d¿una avaluació participativa. Al llarg del procés s'ha treballat de forma consensuada entre l'equip de recerca i els agents socials de la zona: Administració pública i entitats d'iniciativa social. L'anàlisi de necessitats i la diagnosi de l'atenció socioeducativa dels i les joves immigrats s'ha desenvolupat a través de dos instruments de recollida d'informació: un qüestionari per als i les joves, fonamentat en un model dinàmic de ciutadania i una entrevista semiestructurada als agents socials de la zona. Les conclusions, les hem classificat segons els eixos i àmbits del nou Programa municipal transversal per a nova ciutadania de Sant Boi i en forma de propostes a partir de les necessitats detectades.

Pla d'acollida per a la integració d'adolescents i joves nouvinguts a la ciutat de Sant Boi de Llobregat

L'estudi que presentem té com a primer objectiu conèixer en profunditat les necessitats dels i les adolescents i joves immigrats i la realitat actual dels diferents serveis per a donar resposta a aquestes necessitats. Un segon objectiu ha estat elaborar conjuntament amb els agents socials i les entitats de Sant Boi un pla d'acollida per facilitar la integració d¿aquests adolescents i joves, així com la coordinació dels diferents agents, entitats i serveis municipals. Per aquest motiu es planteja una investigació col·laborativa amb diferents agents i entitats representatius del teixit social de la població, i amb els/les tècnics/iques de les diferents regidories de l'Ajuntament (joventut, serveis socials, nova ciutadania, participació i educació). Els objectius generals de la investigació són els següents: a) fer una anàlisi de necessitats dels i les adolescents i joves immigrants de la població de Sant Boi amb referència a la seva participació social; b) realitzar un estudi diagnòstic de l'acollida d¿adolescents i joves immigrants en el teixit associatiu i social en el municipi de Sant Boi de Llobregat; c) elaborar un pla d'acollida integral per als i les adolescents i joves nouvinguts a la ciutat de Sant Boi. El disseny de la investigació segueix les fases d¿una avaluació participativa. Al llarg del procés s'ha treballat de forma consensuada entre l'equip de recerca i els agents socials de la zona: Administració pública i entitats d'iniciativa social. L'anàlisi de necessitats i la diagnosi de l'atenció socioeducativa dels i les joves immigrats s'ha desenvolupat a través de dos instruments de recollida d'informació: un qüestionari per als i les joves, fonamentat en un model dinàmic de ciutadania i una entrevista semiestructurada als agents socials de la zona. Les conclusions, les hem classificat segons els eixos i àmbits del nou Programa municipal transversal per a nova ciutadania de Sant Boi i en forma de propostes a partir de les necessitats detectades.

Description of a robotics-oriented relational positioning methodology

This paper presents a relational positioning methodology for flexibly and intuitively specifying offline programmed robot tasks, as well as for assisting the execution of teleoperated tasks demanding precise movements.In relational positioning, the movements of an object can be restricted totally or partially by specifying its allowed positions in terms of a set of geometric constraints. These allowed positions are found by means of a 3D sequential geometric constraint solver called PMF – Positioning Mobile with respect to Fixed. PMF exploits the fact that in a set of geometric constraints, the rotational component can often be separated from the translational one and solved independently.

A programming environment having three levels of complexity for mobile robotics = Entorno de programación con tres niveles de complejidad para robótica móvil

This paper presents a programming environment for supporting learning in STEM, particularly mobile robotic learning. It was designed to maintain progressive learning for people with and without previous knowledge of programming and/or robotics. The environment was multi platform and built with open source tools. Perception, mobility, communication, navigation and collaborative behaviour functionalities can be programmed for different mobile robots. A learner is able to programme robots using different programming languages and editor interfaces: graphic programming interface (basic level), XML-based meta language (intermediate level) or ANSI C language (advanced level). The environment supports programme translation transparently into different languages for learners or explicitly on learners’ demand. Learners can access proposed challenges and learning interfaces by examples. The environment was designed to allow characteristics such as extensibility, adaptive interfaces, persistence and low software/hardware coupling. Functionality tests were performed to prove programming environment specifications. UV BOT mobile robots were used in these tests

The Effect of Adding CO2 to Hypoxic Inspired Gas on Cerebral Blood Flow Velocity and Breathing during Incremental Exercise

Hypoxia increases the ventilatory response to exercise, which leads to hyperventilation-induced hypocapnia and subsequent reduction in cerebral blood flow (CBF). We studied the effects of adding CO2 to a hypoxic inspired gas on CBF during heavy exercise in an altitude naïve population. We hypothesized that augmented inspired CO2 and hypoxia would exert synergistic effects on increasing CBF during exercise, which would improve exercise capacity compared to hypocapnic hypoxia. We also examined the responsiveness of CO2 and O2 chemoreception on the regulation ventilation (E) during incremental exercise. We measured middle cerebral artery velocity (MCAv; index of CBF), E, end-tidal PCO2, respiratory compensation threshold (RC) and ventilatory response to exercise (E slope) in ten healthy men during incremental cycling to exhaustion in normoxia and hypoxia (FIO2 = 0.10) with and without augmenting the fraction of inspired CO2 (FICO2). During exercise in normoxia, augmenting FICO2 elevated MCAv throughout exercise and lowered both RC onset andE slope below RC (P<0.05). In hypoxia, MCAv and E slope below RC during exercise were elevated, while the onset of RC occurred at lower exercise intensity (P<0.05). Augmenting FICO2 in hypoxia increased E at RC (P<0.05) but no difference was observed in RC onset, MCAv, or E slope below RC (P>0.05). The E slope above RC was unchanged with either hypoxia or augmented FICO2 (P>0.05). We found augmenting FICO2 increased CBF during sub-maximal exercise in normoxia, but not in hypoxia, indicating that the 'normal' cerebrovascular response to hypercapnia is blunted during exercise in hypoxia, possibly due to an exhaustion of cerebral vasodilatory reserve. This finding may explain the lack of improvement of exercise capacity in hypoxia with augmented CO2. Our data further indicate that, during exercise below RC, chemoreception is responsive, while above RC the ventilatory response to CO2 is blunted.

Can wild ungulate carcasses provide enough biomass to maintain avian scavenger populations? An empirical assessment using a bio-inspired computational model

Background: The reduction in the amount of food available for European avian scavengers as a consequence of restrictive public health policies is a concern for managers and conservationists. Since 2002, the application of several sanitary regulations has limited the availability of feeding resources provided by domestic carcasses, but theoretical studies assessing whether the availability of food resources provided by wild ungulates are enough to cover energetic requirements are lacking. Methodology/Findings: We assessed food provided by a wild ungulate population in two areas of NE Spain inhabited by three vulture species and developed a P System computational model to assess the effects of the carrion resources provided on their population dynamics. We compared the real population trend with to a hypothetical scenario in which only food provided by wild ungulates was available. Simulation testing of the model suggests that wild ungulates constitute an important food resource in the Pyrenees and the vulture population inhabiting this area could grow if only the food provided by wild ungulates would be available. On the contrary, in the Pre-Pyrenees there is insufficient food to cover the energy requirements of avian scavenger guilds, declining sharply if biomass from domestic animals would not be available. Conclusions/Significance: Our results suggest that public health legislation can modify scavenger population trends if a large number of domestic ungulate carcasses disappear from the mountains. In this case, food provided by wild ungulates could be not enough and supplementary feeding could be necessary if other alternative food resources are not available (i.e. the reintroduction of wild ungulates), preferably in European Mediterranean scenarios sharing similar and socio-economic conditions where there are low densities of wild ungulates. Managers should anticipate the conservation actions required by assessing food availability and the possible scenarios in order to make the most suitable decisions.

Controle do inóculo inicial para redução dos danos pela podridão: 'olho-de-boi' em macieiras

O objetivo deste trabalho foi avaliar o impacto da redução do inóculo no controle da podridão-'olho-de-boi' (POB) causada por Cryptosporiopsis sp. em maçãs e minimização de perdas. Os experimentos foram realizados em Vacaria-RS, nos ciclos 2006/07 e 2007/08. Na fase de dormência de macieiras Pink Lady®, foram aplicados os seguintes tratamentos erradicantes (dose p.i.): calda sulfocálcica (3,0%); oxicloreto de cobre (0,5%); hidróxido de cobre (0,3%); óxido cuproso (0,3%) e testemunha sem pulverização. A redução do inóculo foi avaliada em solução oriunda da lavagem de ramos, gemas floríferas e frutos, semeados em meio semisseletivo. Na colheita, a incidência da POB foi avaliada em quatro categorias de frutos: caídos sob a área de projeção da copa; nas plantas; infecções latentes, e após três meses de armazenamento em câmara frigorífica. Houve relação linear positiva entre os níveis de inóculo de Cryptosporiopsis sp. em gemas e os danos por POB (R² = 0,948; P = 0,001). O uso da calda sulfocálcica possibilitou a maior redução de inóculo nas gemas, com redução em 50% dos danos totais ocasionados por POB na safra de 2006/07. Nos frutos, o inóculo apresentou um incremento linear ao longo do ciclo, sendo relativamente maior em 2007/08, onde os tratamentos erradicantes possibilitaram controle superior a 40% nos danos com benefício econômico pela redução do inóculo.

Tratamentos hidrotérmico e com radiação UV-C no controle pós-colheita da podridão olho-de-boi em uma linha comercial de seleção de maçãs

Avaliaram-se os efeitos da aspersão hidrotérmica e da radiação UV-C no controle pós-colheita da podridão olho-de-boi (POB) em maçãs 'Fuji', após um e oito meses de armazenamento, e 'Gala', após cinco meses de armazenamento, ambas sob condição de atmosfera controlada (AC). Esses frutos foram inoculados ou mantidos com infecção natural de Cryptosporiopsis perennans. As maçãs 'Fuji' foram submetidas aos seguintes tratamentos, aplicados em uma linha comercial de seleção: sem tratamento (testemunha); aspersão hidrotérmica (água a 50ºC por 12 segundos); radiação UV-C (0,0069 kJ m-2); e aspersão hidrotérmica + radiação UV-C. As maçãs 'Gala' também foram submetidas a estes tratamentos utilizados em 'Fuji', exceto ao tratamento com aspersão hidrotérmica + radiação UV-C. Após os tratamentos, as maçãs foram incubadas a 22ºC por 15 dias e avaliadas quanto à incidência da doença. Nas maçãs 'Fuji', os tratamentos de aspersão hidrotérmica e/ou radiação UV-C reduziram a incidência da POB nos frutos inoculados e com infecção natural, proporcionando controle superior a 56% e 54%, em relação à testemunha, respectivamente. Em maçãs 'Gala' inoculadas, os tratamentos com aspersão hidrotérmica e radiação UV-C também reduziram o número de unidades formadoras de colônias (UFC) nos frutos, com controle superior a 70%, e a incidência da POB, com controle superior a 69% em relação à testemunha. Em maçãs 'Gala', com infecção natural, estes tratamentos apresentaram controle da POB superior a 85% em relação à testemunha. Os resultados obtidos mostram que os tratamentos com aspersão hidrotérmica e/ou radiação UV-C reduzem a incidência da POB em maçãs 'Fuji' e 'Gala', em linha comercial de seleção. Todavia, o uso da radiação UV-C, em ambas as cultivares, foi o tratamento que apresentou maior benefício e retorno econômico.