ViDRILO: The Visual and Depth Robot Indoor Localization with Objects information dataset

In this article we describe a semantic localization dataset for indoor environments named ViDRILO. The dataset provides five sequences of frames acquired with a mobile robot in two similar office buildings under different lighting conditions. Each frame consists of a point cloud representation of the scene and a perspective image. The frames in the dataset are annotated with the semantic category of the scene, but also with the presence or absence of a list of predefined objects appearing in the scene. In addition to the frames and annotations, the dataset is distributed with a set of tools for its use in both place classification and object recognition tasks. The large number of labeled frames in conjunction with the annotation scheme make this dataset different from existing ones. The ViDRILO dataset is released for use as a benchmark for different problems such as multimodal place classification and object recognition, 3D reconstruction or point cloud data compression.

Investigation of un-American propaganda activities in the United States : Hearings before a Special Committee on Un-American Activities, House of Representatives, Seventy-fifth Congress, third session-Seventy-eighth Congress, second session, on H. Res. 282, to investigate (1) the extent, character, and objects of un-American propaganda activities in the United States, (2) the diffusion within the United States of subversive and un-American propaganda that is instigated from foreign countries or of a domestic origin and attacks the principle of the form of government as guaranteed by our Constitution, and (3) all other questions in relation thereto that would aid Congress in any necessary remedial legislation.

Martin Dies, chairman.

Libs in cultural heritage: recognition and identification of objects in an underwater archaeological shipwreck

Nowadays, one of the most important areas of interest in archeology is the characterization of the submersed cultural heritage. Mediterranean Sea is rich in archaeological findings due to storms, accidents and naval battles since prehistoric times. Chemical analysis of submerged materials is an extremely valuable source of information on the origin and precedence of the wrecks, and also the raw materials employed during the manufacturing of the objects found in these sites. Nevertheless, sometimes it is not possible to extract the archaeological material from the marine environment due to size of the sample, the legislation or preservation purposes. In these cases, the in-situ analysis turns into the only alternative for obtaining information. In spite of this demand, no analytical techniques are available for the in-situ chemical characterization of underwater materials. The versatility of laser-induced breakdown spectroscopy (LIBS) has been successfully tested in oceanography 1. Advantages such as rapid and in situ analysis with no sample preparation make LIBS a suitable alternative for field measurements. To further exploit the inherent advantages of the technology, a mobile fiber-based LIBS platform capable of performing remote measurements up to 50 meters range has been designed for the recognition and identification of artworks in underwater archaeological shipwrecks. The LIBS prototype featured both single-pulse (SP-LIBS) and multi-pulse excitation (MP-LIBS) 2. The use of multi-pulse excitation allowed an increased laser beam energy (up to 95 mJ) transmitted through the optical fiber. This excitation mode results in an improved performance of the equipment in terms of extended range of analysis (to a depth of 50 m) and a broader variety of samples to be analyzed (i.e., rocks, marble, ceramics and concrete). In the present work, the design and construction considerations of the instrument are reported and its performance is discussed on the basis of the spectral response, the remote irradiance achieved upon the range of analysis and its influence on plasma properties, as well as the effect of the laser pulse duration and purge gas to the LIBS signal. Also, to check the reliability and reproducibility of the instrument for field analysis several robustness tests were performed outside the lab. Finally, the capability of this instrument was successfully demonstrated in an underwater archaeological shipwreck (San Pedro de Alcántara, Malaga).

Incidence of debris discs around FGK stars in the solar neighbourhood

Context. Debris discs are a consequence of the planet formation process and constitute the fingerprints of planetesimal systems. Their counterparts in the solar system are the asteroid and Edgeworth-Kuiper belts. Aims. The aim of this paper is to provide robust numbers for the incidence of debris discs around FGK stars in the solar neighbourhood. Methods. The full sample of 177 FGK stars with d ≤ 20 pc proposed for the DUst around NEarby Stars (DUNES) survey is presented. Herschel/PACS observations at 100 and 160 μm were obtained, and were complemented in some cases with data at 70 μm and at 250, 350, and 500 μm SPIRE photometry. The 123 objects observed by the DUNES collaboration were presented in a previous paper. The remaining 54 stars, shared with the Disc Emission via a Bias-free Reconnaissance in IR and Sub-mm (DEBRIS) consortium and observed by them, and the combined full sample are studied in this paper. The incidence of debris discs per spectral type is analysed and put into context together with other parameters of the sample, like metallicity, rotation and activity, and age. Results. The subsample of 105 stars with d ≤ 15 pc containing 23 F, 33 G, and 49 K stars is complete for F stars, almost complete for G stars, and contains a substantial number of K stars from which we draw solid conclusions on objects of this spectral type. The incidence rates of debris discs per spectral type are 0.26^+0.21_-0.14 (6 objects with excesses out of 23 F stars), 0.21^+0.17_-0.11 (7 out of 33 G stars), and 0.20^+0.14_-0.09 (10 out of 49 K stars); the fraction for all three spectral types together is 0.22^+0.08_-0.07 (23 out of 105 stars). The uncertainties correspond to a 95% confidence level. The medians of the upper limits of L_dust/L_∗ for each spectral type are 7.8 × 10^-7 (F), 1.4 × 10^-6 (G), and 2.2 × 10^-6 (K); the lowest values are around 4.0 × 10^-7. The incidence of debris discs is similar for active (young) and inactive (old) stars. The fractional luminosity tends to drop with increasing age, as expected from collisional erosion of the debris belts.

Green Belt 7 Bridges: Phase One, Context, Structure, Form

OTRI 1508 " GREEN BELT 7 BRIDGES"

Iowa Seat Belt Use Survey 2013 Data Collection Methodology Report, September 26, 2013

In an effort to achieve greater consistency and comparability in state-wide seat belt use reporting, the National Highway Traffic Safety Administration (NHTSA) issued new requirements in 2011 for observing and reporting future seat belt use. The requirements included the involvement of a qualified statistician in the sampling and weighting portions of the process as well as a variety of operational details. The Iowa Governor’s Traffic Safety Bureau contracted with Iowa State University’s Survey & Behavioral Research Services (SBRS) in 2011 to develop the study design and data collection plan for the State of Iowa annual survey that would meet the new requirements of the NHTSA. A seat belt survey plan for Iowa was developed by SBRS with statistical expertise provided by Zhengyuan Zhu, Ph.D., Associate Professor of Statistics at Iowa State University and was approved by NHTSA on March 19, 2012.

Iowa Seat Belt Use Survey 2014 Data Collection Methodology Report, September 25, 2014

In an effort to achieve greater consistency and comparability in state-wide seat belt use reporting, the National Highway Traffic Safety Administration (NHTSA) issued new requirements in 2011 for observing and reporting future seat belt use. The requirements included the involvement of a qualified statistician in the sampling and weighting portions of the process as well as a variety of operational details. The Iowa Governor’s Traffic Safety Bureau contracted with Iowa State University’s Survey & Behavioral Research Services (SBRS) in 2011 to develop the study design and data collection plan for the State of Iowa annual survey that would meet the new requirements of the NHTSA. A seat belt survey plan for Iowa was developed by SBRS with statistical expertise provided by Zhengyuan Zhu, Ph.D., Associate Professor of Statistics at Iowa State University and was approved by NHTSA on March 19, 2012.

Iowa Seat Belt Use Survey 2015 Data Collection Methodology Report, September 9, 2015

In an effort to achieve greater consistency and comparability in state-wide seat belt use reporting, the National Highway Traffic Safety Administration (NHTSA) issued new requirements in 2011 for observing and reporting future seat belt use. The requirements included the involvement of a qualified statistician in the sampling and weighting portions of the process as well as a variety of operational details. The Iowa Governor’s Traffic Safety Bureau contracted with Iowa State University’s Survey & Behavioral Research Services (SBRS) in 2011 to develop the study design and data collection plan for the State of Iowa annual survey that would meet the new requirements of the NHTSA. A seat belt survey plan for Iowa was developed by SBRS with statistical expertise provided by Zhengyuan Zhu, Ph.D., Associate Professor of Statistics at Iowa State University and Director of the Center for Survey Statistics and Methodology. The plan was approved by NHTSA on March 19, 2012.

Simplified Chinese lacquer techniques and Nanban style decoration on Luso-Asian objects from the late sixteenth or early seventeenth centuries

The meeting of multiple cultures and their mutual influence during the Portuguese expansion in Asia led to the emergence of different types of fusion styles in objects commissioned by the settlers, merchants, and religious orders present in Portuguese India. The east-Asian lacquer coatings of modestly sized wooden objects of various types dating from the sixteenth and early seventeenth centuries have been analyzed as part of the research for a doctoral thesis that aims to establish their cultural and geographical attribution within the context of the Getty Conservation Institute’s lacquer research project. Among the objects were three seventeenthcentury lacquered trays from Portuguese museums and private collections that had previously been classified as Japanese Nanban, Chinese or Ryukyuan lacquers or even as Indo-Portuguese artifacts. The materials and techniques that were identified show close similarities with Chinese techniques mentioned in historic accounts — the only existing Ming Chinese Treatise on lacquering Xiushi lu and the eighteenth-century memoirs of the Jesuit priest d’Incarville. These nearly 400-year-old artifacts are among the first lacquered objects commissioned by Europeans and probably the first of Chinese origin. Their detailed technical study contributes to international lacquer research and complements existing knowledge and perceptions of the lacquering processes that were applied in response to an early European demand for exotic items.

Enabling Human Centric Smart Campuses via Edge Computing and Connected Objects

Early definitions of Smart Building focused almost entirely on the technology aspect and did not suggest user interaction at all. Indeed, today we would attribute it more to the concept of the automated building. In this sense, control of comfort conditions inside buildings is a problem that is being well investigated, since it has a direct effect on users’ productivity and an indirect effect on energy saving. Therefore, from the users’ perspective, a typical environment can be considered comfortable, if it’s capable of providing adequate thermal comfort, visual comfort and indoor air quality conditions and acoustic comfort. In the last years, the scientific community has dealt with many challenges, especially from a technological point of view. For instance, smart sensing devices, the internet, and communication technologies have enabled a new paradigm called Edge computing that brings computation and data storage closer to the location where it is needed, to improve response times and save bandwidth. This has allowed us to improve services, sustainability and decision making. Many solutions have been implemented such as smart classrooms, controlling the thermal condition of the building, monitoring HVAC data for energy-efficient of the campus and so forth. Though these projects provide to the realization of smart campus, a framework for smart campus is yet to be determined. These new technologies have also introduced new research challenges: within this thesis work, some of the principal open challenges will be faced, proposing a new conceptual framework, technologies and tools to move forward the actual implementation of smart campuses. Keeping in mind, several problems known in the literature have been investigated: the occupancy detection, noise monitoring for acoustic comfort, context awareness inside the building, wayfinding indoor, strategic deployment for air quality and books preserving.

Robotic Sensing and Manipulation of Deformable Linear Objects with Learning-based methods

Nowadays robotic applications are widespread and most of the manipulation tasks are efficiently solved. However, Deformable-Objects (DOs) still represent a huge limitation for robots. The main difficulty in DOs manipulation is dealing with the shape and dynamics uncertainties, which prevents the use of model-based approaches (since they are excessively computationally complex) and makes sensory data difficult to interpret. This thesis reports the research activities aimed to address some applications in robotic manipulation and sensing of Deformable-Linear-Objects (DLOs), with particular focus to electric wires. In all the works, a significant effort was made in the study of an effective strategy for analyzing sensory signals with various machine learning algorithms. In the former part of the document, the main focus concerns the wire terminals, i.e. detection, grasping, and insertion. First, a pipeline that integrates vision and tactile sensing is developed, then further improvements are proposed for each module. A novel procedure is proposed to gather and label massive amounts of training images for object detection with minimal human intervention. Together with this strategy, we extend a generic object detector based on Convolutional-Neural-Networks for orientation prediction. The insertion task is also extended by developing a closed-loop control capable to guide the insertion of a longer and curved segment of wire through a hole, where the contact forces are estimated by means of a Recurrent-Neural-Network. In the latter part of the thesis, the interest shifts to the DLO shape. Robotic reshaping of a DLO is addressed by means of a sequence of pick-and-place primitives, while a decision making process driven by visual data learns the optimal grasping locations exploiting Deep Q-learning and finds the best releasing point. The success of the solution leverages on a reliable interpretation of the DLO shape. For this reason, further developments are made on the visual segmentation.

Affordances and Language: How the Level of Object Familiarity modulates the Manipulation and Categorization of Objects across Development

According to much evidence, observing objects activates two types of information: structural properties, i.e., the visual information about the structural features of objects, and function knowledge, i.e., the conceptual information about their skilful use. Many studies so far have focused on the role played by these two kinds of information during object recognition and on their neural underpinnings. However, to the best of our knowledge no study so far has focused on the different activation of this information (structural vs. function) during object manipulation and conceptualization, depending on the age of participants and on the level of object familiarity (familiar vs. non-familiar). Therefore, the main aim of this dissertation was to investigate how actions and concepts related to familiar and non-familiar objects may vary across development. To pursue this aim, four studies were carried out. A first study led to the creation of the Familiar and Non-Familiar Stimuli Database, a set of everyday objects classified by Italian pre-schoolers, schoolers, and adults, useful to verify how object knowledge is modulated by age and frequency of use. A parallel study demonstrated that factors such as sociocultural dynamics may affect the perception of objects. Specifically, data for familiarity, naming, function, using and frequency of use of the objects used to create the Familiar And Non-Familiar Stimuli Database were collected with Dutch and Croatian children and adults. The last two studies on object interaction and language provide further evidence in support of the literature on affordances and on the link between affordances and the cognitive process of language from a developmental point of view, supporting the perspective of a situated cognition and emphasizing the crucial role of human experience.

Landslide susceptibility in the Belt and Road Initiative

The Belt and Road Initiative (BRI) is a project launched by the Chinese Government whose main goal is to connect more than 65 countries in Asia, Europe, Africa and Oceania developing infrastructures and facilities. To support the prevention or mitigation of landslide hazards, which may affect the mainland infrastructures of BRI, a landslide susceptibility analysis in the countries involved has been carried out. Due to the large study area, the analysis has been carried out using a multi-scale approach which consists of mapping susceptibility firstly at continental scale, and then at national scale. The study area selected for the continental assessment is the south-Asia, where a pixel-based landslide susceptibility map has been carried out using the Weight of Evidence method and validated by Receiving Operating Characteristic (ROC) curves. Then, we selected the regions of west Tajikistan and north-east India to be investigated at national scale. Data scarcity is a common condition for many countries involved into the Initiative. Therefore in addition to the landslide susceptibility assessment of west Tajikistan, which has been conducted using a Generalized Additive Model and validated by ROC curves, we have examined, in the same study area, the effect of incomplete landslide dataset on the prediction capacity of statistical models. The entire PhD research activity has been conducted using only open data and open-source software. In this context, to support the analysis of the last years an open-source plugin for QGIS has been implemented. The SZ-tool allows the user to make susceptibility assessments from the data preprocessing, susceptibility mapping, to the final classification. All the output data of the analysis conducted are freely available and downloadable. This text describes the research activity of the last three years. Each chapter reports the text of the articles published in international scientific journal during the PhD.

Trajectory planning of single and dual-arm robots for time-optimal handling of liquids and objects

This Thesis studies the optimal control problem of single-arm and dual-arm serial robots to achieve the time-optimal handling of liquids and objects. The first topic deals with the planning of time-optimal anti-sloshing trajectories of an industrial robot carrying a cylindrical container filled with a liquid, considering 1-dimensional and 2-dimensional planar motions. A technique for the estimation of the sloshing height is presented, together with its extension to 3-dimensional motions. An experimental validation campaign is provided and discussed to assess the thoroughness of such a technique. As far as anti-sloshing trajectories are concerned, 2-dimensional paths are considered and, for each one of them, three constrained optimizations with different values of the sloshing-height thresholds are solved. Experimental results are presented to compare optimized and non-optimized motions. The second part focuses on the time-optimal trajectory planning for dual-arm object handling, employing two collaborative robots (cobots) and adopting an admittance-control strategy. The chosen manipulation approach, known as cooperative grasping, is based on unilateral contact between the cobots and the object, and it may lead to slipping during motion if an internal prestress along the contact-normal direction is not prescribed. Thus, a virtual penetration is considered, aimed at generating the necessary internal prestress. The stability of cooperative grasping is ensured as long as the exerted forces on the object remain inside the static-friction cone. Constrained-optimization problems are solved for 3-dimensional paths: the virtual penetration is chosen among the control inputs of the problem and friction-cone conditions are treated as inequality constraints. Also in this case experiments are presented in order to prove evidence of the firm handling of the object, even for fast motions.