Coaching or gaming? Implications of strategy choice for home based stroke rehabilitation

Background: The enduring aging of the world population and prospective increase of age-related chronic diseases urge the implementation of new models for healthcare delivery. One strategy relies on ICT (Information and Communications Technology) home-based solutions allowing clients to pursue their treatments without institutionalization. Stroke survivors are a particular population that could strongly benefit from such solutions, but is not yet clear what the best approach is for bringing forth an adequate and sustainable usage of home-based rehabilitation systems. Here we explore two possible approaches: coaching and gaming. Methods: We performed trials with 20 healthy participants and 5 chronic stroke survivors to study and compare execution of an elbow flexion and extension task when performed within a coaching mode that provides encouragement or within a gaming mode. For each mode we analyzed compliance, arm movement kinematics and task scores. In addition, we assessed the usability and acceptance of the proposed modes through a customized self-report questionnaire. Results: In the healthy participants sample, 13/20 preferred the gaming mode and rated it as being significantly more fun (p < .05), but the feedback delivered by the coaching mode was subjectively perceived as being more useful (p < .01). In addition, the activity level (number of repetitions and total movement of the end effector) was significantly higher (p <.001) during coaching. However, the quality of movements was superior in gaming with a trend towards shorter movement duration (p=.074), significantly shorter travel distance (p <.001), higher movement efficiency (p <.001) and higher performance scores (p <.001). Stroke survivors also showed a trend towards higher activity levels in coaching, but with more movement quality during gaming. Finally, both training modes showed overall high acceptance. Conclusions: Gaming led to higher enjoyment and increased quality in movement execution in healthy participants. However, we observed that game mechanics strongly determined user behavior and limited activity levels. In contrast, coaching generated higher activity levels. Hence, the purpose of treatment and profile of end-users has to be considered when deciding on the most adequate approach for home based stroke rehabilitation.

TARDI VARISCAN DEFORMATION IN THE IBERIAN PENINSULA; A LATE FEATURE IN THE LAURASIA-GONDWANA DEXTRAL COLLISION

The Late Variscan deformation event in Iberia, is characterized by an intraplate deformation regime induced by the oblique collision between Laurentia and Gondwan. This episode in Iberia is characterized by NNE-SSW strike-slip faults, which are considered by the classic works as sinistral strike-slips. However, the absence of Mesozoic formations constraining the age of this sinistral kinematics, led some authors to consider it as the result of Alpine reworking. Structural studies in Almograve and Ponta Ruiva sectors (SW Portugal), not only shows that NNE-SSW faults presents a clear sinistral kinematics and are occasionally associated with E-W dextral shears, but also that this kinematics is related to the late deformation episodes of Variscan Orogeny. In Almograve sector, the late Variscan structures are characterized by NNE-SSW sinistral kink-bands, spatially associated with E-W dextral faults. These structures are contemporaneous and affect the previously deformed Carboniferous units. The Ponta Ruiva Sector constrains the age of deformation because the E-W dextral shears affect the Late Carboniferous (late Moscovian) units, but not the overlying Triassic series. The new exposed data shows that the NNE-SSW and the E-W faults are dynamically associated and results from the same deformation event. The NNE-SSW sinistral faults could be considered as second order dominoes structures related with first order E-W dextral shears, related with Laurasia-Gondwana collision during Late Carboniferous-Permian Times.

Scene Mapping and Understanding by Robotic Vision

The first mechanical Automaton concept was found in a Chinese text written in the 3rd century BC, while Computer Vision was born in the late 1960s. Therefore, visual perception applied to machines (i.e. the Machine Vision) is a young and exciting alliance. When robots came in, the new field of Robotic Vision was born, and these terms began to be erroneously interchanged. In short, we can say that Machine Vision is an engineering domain, which concern the industrial use of Vision. The Robotic Vision, instead, is a research field that tries to incorporate robotics aspects in computer vision algorithms. Visual Servoing, for example, is one of the problems that cannot be solved by computer vision only. Accordingly, a large part of this work deals with boosting popular Computer Vision techniques by exploiting robotics: e.g. the use of kinematics to localize a vision sensor, mounted as the robot end-effector. The remainder of this work is dedicated to the counterparty, i.e. the use of computer vision to solve real robotic problems like grasping objects or navigate avoiding obstacles. Will be presented a brief survey about mapping data structures most widely used in robotics along with SkiMap, a novel sparse data structure created both for robotic mapping and as a general purpose 3D spatial index. Thus, several approaches to implement Object Detection and Manipulation, by exploiting the aforementioned mapping strategies, will be proposed, along with a completely new Machine Teaching facility in order to simply the training procedure of modern Deep Learning networks.

Planning and assessment techniques for spine surgeries

The rate of diagnosis and treatment of degenerative spine disorders is increasing, increasing the need for surgical intervention. Posterior spine fusion is one surgical intervention used to treat various spine degeneration pathologies To minimize the risk of complications and provide patients with positive outcomes, preoperative planning and postsurgical assessment are necessary. This PhD aimed to investigate techniques for the surgical planning and assessment of spine surgeries. Three main techniques were assessed: stereophotogrammetric motion analysis, 3D printing of complex spine deformities and finite element analysis of the thoracolumbar spine. Upon reviewing the literature on currently available spine kinematics protocol, a comprehensive motion analysis protocol to measure the multi-segmental spine motion was developed. Using this protocol, the patterns of spine motion in patients before and after posterior spine fixation was mapped. The second part investigated the use of virtual and 3D printed spine models for the surgical planning of complex spine deformity correction. Compared to usual radiographic images, the printed model allowed optimal surgical intervention, reduced surgical time and provided better surgeon-patient communication. The third part assessed the use of polyetheretherketone rods auxiliary to titanium rods to reduce the stiffness of posterior spine fusion constructs. Using a finite element model of the thoracolumbar spine, the rods system showed a decrease in the overall stress of the uppermost instrumented vertebra when compared to regular fixation approaches. Finally, a retrospective biomechanical assessment of a lumbopelvic reconstruction technique was investigated to assess the patients' gait following the surgery, the implant deformation over the years and the extent of bony fusion between spine and implant. In conclusion, this thesis highlighted the need to provide surgeons with new planning and assessment techniques to better understand postsurgical complications. The methodologies investigated in this project can be used in the future to establish a patient-specific planning protocol.

Unveiling the unknown of cool stars with high-resolution spectroscopy

Cool giant and supergiant stars are among the brightest populations in any stellar system and they are easily observable out to large distances, especially at infrared wavelengths. These stars also dominate the integrated light of star clusters in a wide range of ages, making them powerful tracers of stellar populations in more distant galaxies. High-resolution near-IR spectroscopy is a key tool for quantitatively investigating their kinematic, evolutionary and chemical properties. However, the systematic exploration and calibration of the NIR spectral diagnostics to study these cool stellar populations based on high-resolution spectroscopy is still in its pioneering stage. Any effort to make progress in the field is innovative and of impact on stellar archaeology and stellar evolution. This PhD project takes the challenge of exploring that new parameter space and characterizing the physical properties, the chemical content and the kinematics of cool giants and supergiants in selected disc fields and clusters of our Galaxy, with the ultimate goal of tracing their past and recent star formation and chemical enrichment history. By using optical HARPS-N and near-infrared GIANO-B high-resolution stellar spectra in the context of the large program SPA-Stellar Population Astrophysics: the detailed, age-resolved chemistry of the Milky Way disk” (PI L. Origlia), an extensive study of Arcturus, a standard calibrator for red giant stars, has been performed. New diagnostics of stellar parameters as well as optimal linelists for chemical analysis have been provided. Then, such diagnostics have been used to determine evolutionary properties, detailed chemical abundances of almost 30 different elements and mixing processes of a homogeneous sample of red supergiant stars in the Perseus complex.

Quantum integrability as a new method for exact results on N=2 supersymmetric gauge theories and black holes

In this thesis I show a triple new connection we found between quantum integrability, N=2 supersymmetric gauge theories and black holes perturbation theory. I use the approach of the ODE/IM correspondence between Ordinary Differential Equations (ODE) and Integrable Models (IM), first to connect basic integrability functions - the Baxter’s Q, T and Y functions - to the gauge theory periods. This fundamental identification allows several new results for both theories, for example: an exact non linear integral equation (Thermodynamic Bethe Ansatz, TBA) for the gauge periods; an interpretation of the integrability functional relations as new exact R-symmetry relations for the periods; new formulas for the local integrals of motion in terms of gauge periods. This I develop in all details at least for the SU(2) gauge theory with Nf=0,1,2 matter flavours. Still through to the ODE/IM correspondence, I connect the mathematically precise definition of quasinormal modes of black holes (having an important role in gravitational waves’ obervations) with quantization conditions on the Q, Y functions. In this way I also give a mathematical explanation of the recently found connection between quasinormal modes and N=2 supersymmetric gauge theories. Moreover, it follows a new simple and effective method to numerically compute the quasinormal modes - the TBA - which I compare with other standard methods. The spacetimes for which I show these in all details are in the simplest Nf=0 case the D3 brane in the Nf=1,2 case a generalization of extremal Reissner-Nordström (charged) black holes. Then I begin treating also the Nf=3,4 theories and argue on how our integrability-gauge-gravity correspondence can generalize to other types of black holes in either asymptotically flat (Nf=3) or Anti-de-Sitter (Nf=4) spacetime. Finally I begin to show the extension to a 4-fold correspondence with also Conformal Field Theory (CFT), through the renowned AdS/CFT correspondence.

Valutazione cinematica complessiva, in vivo e sotto carico, di un modello protesico di caviglia a 3 componenti.

Nonostante le importanti ricadute che gli impianti protesici di caviglia hanno nella qualità della vita dei pazienti che si sottopongono ad intervento di sostituzione articolare, le reali proprietà biomeccaniche e cinematiche in-vivo e sotto carico degli impianti protesici sono state scarsamente studiate e descritte in letteratura. Lo scopo di questa trattazione è quella di valutare la cinematica protesica complessiva, in vivo, attraverso l’utilizzo dell’Analisi Radiostereometrica model-based (MB-RSA) e di ulteriori metodiche clinico-strumentali. La valutazione cinematica è stata permessa dall’analisi della posizione degli impianti attraverso la MB-RSA. Tra gli obiettivi secondari, i pazienti sono stati valutati clinicamente mediante AOFAS Ankle-Hindfoot score e SF-36, mediante full-body gait analysis con sensori inerziali e valutazione posturale-stabilometrica mediante Y Balance Test e workstation dedicata Delos DPPS. I pazienti sottoposti ad iter completo con valutazione clinica e strumentale a fine follow-up sono risultati 18 (2 drop-out). Il ROM complessivo a catena cinetica chiusa ha evidenziato una dorsi-plantarflessione complessiva media di 19.84°. Gli score clinici hanno mostrato tutti un netto miglioramento nel post-operatorio. La gait analysis ha evidenziato uno schema del passo composto dai tre principali spike e compatibile con schemi fisiologici. Dal punto di vista cinematico, i risultati angolari MB-RSA ricavati durante questo lavoro di tesi evidenziano tutti e 6 i gradi di libertà, dato coerente con la mobilità di una caviglia nativa. Valori di articolarità differenti sono stati registrati mediante sensori inerziali. Infine, in una valutazione cinematica complessiva, le possibili implicazioni sul bilanciamento posturale e propriocettivo presente nelle caviglie artrosiche e successivamente sottoposte a sostituzione protesica totale sono ampiamente descritte e discusse. I dati raccolti in questo lavoro di tesi rappresentano il risultato di una valutazione cinematica complessiva, e potranno aiutare a definire una tipologia di soggetto artrosico in cui i risultati siano verosimilmente migliori ed eventualmente a migliorare design e strumentari futuri.

Studio e sperimentazione di missioni autonome di un veicolo terrestre controllato con sistemi inerziali e satellitari

L'argomento del lavoro di tesi svolto ha lo scopo di testare le prestazioni di dispositivi riceventi per Global Navigation Satellite System (GNSS) che utilizzano la tecnologia di posizionamento Real-Time Kinematics (RTK) e valutarne le prestazioni rispetto alle tradizionali riceventi GNSS, nello sviluppo di missioni autonome per veicoli di terra di piccole dimensioni. Per questi esperimenti è stato usato un rover di piccole dimensioni alimentato a batteria, su cui è stato installato un autopilota Pixhawk Cube Orange con firmware Ardupilot, nello specifico Ardurover. Attraverso il software Mission Planner è stato richiesto al rover di effettuare completamente in autonomia delle missioni per testare sia le prestazioni dei sistemi GNSS tradizionali sia dei sistemi RTK. Attraverso i dati raccolti durante le sperimentazioni è stato fatto un confronto tra GNSS e RTK. I dati raccolti sono stati utilizzati per valutare le prestazioni in termini di precisione dei sistemi e non sono state rilevate significative differenze durante l'utilizzo del dispositivo RTK per lo svolgimento della missione richiesta al rover, con l'architettura hardware proposta.

Mock HI observations of Milky Way-like simulated galaxies

L'obiettivo di questo lavoro di tesi consiste nel descrivere sia il processo necessario per la creazione di osservazioni sintetiche di galassie simulate simili alla Via Lattea nella riga di emissione a 21 cm dell'idrogeno neutro (HI), sia il lavoro di analisi fondamentale che serve a confrontare in modo efficace l'output generato con delle osservazioni di galassie reali. Come prima cosa è descritta la teoria quantistica che sta alla base dell'emissione a 21 cm di HI, illustrando l'importanza di tale riga di emissione nell'ambito dell'astronomia e come si possano ottenere informazioni fondamentali sulle sorgenti di questa radiazione a partire dai dati osservativi. Il lavoro poi si focalizza sull'utilizzo del software MARTINI per la creazione di osservazioni sintetiche della linea a 21 cm per una galassia simulata con proprietà simili alla Via Lattea generata utilizzando il modello numerico SMUGGLE. Infine, si passa ad una breve descrizione dell'analisi dei dati sintetici creati, e al loro confronto con dei dati provenienti da osservazioni reali di galassie con proprietà simili, per ottenere una valutazione qualitativa della bontà del modello SMUGGLE impiegato nella simulazione numerica.

Jeans modeling of massive early-type galaxies with observed stellar kinematic profiles up to 2-3 effective radii

A recent integral-field spectroscopic (IFS) survey, the MASSIVE survey (Ma et al. 2014), observed the 116 most massive (MK < −25.3 mag, stellar mass M∗ > 10^11.6 M⊙) early-type galaxies (ETGs) within 108 Mpc, out to radii as large as 40 kpc, that correspond to ∼ 2 − 3 effective radii (Re). One of the major findings of the MASSIVE survey is that the galaxy sample is split nearly equally among three groups showing three different velocity dispersion profiles σ(R) outer of a radius ∼ 5 kpc (falling, flat and rising with radius). The purpose of this thesis is to model the kinematic profiles of six ETGs included in the MASSIVE survey and representative of the three observed σ(R) shapes, with the aim of investigating their dynamical structure. Models for the chosen galaxies are built using the numerical code JASMINE (Posacki, Pellegrini, and Ciotti 2013). The code produces models of axisymmetric galaxies, based on the solution of the Jeans equations for a multicomponent gravitational potential (supermassive black hole, stars and dark matter halo). With the aim of having a good agreement between the kinematics obtained from the Jeans equations, and the observed σ and rotation velocity V of MASSIVE (Veale et al. 2016, 2018), I derived constraints on the dark matter distribution and orbital anisotropy. This work suggests a trend of the dark matter amount and distribution with the shape of the velocity dispersion profiles in the outer regions: the models of galaxies with flat or rising velocity dispersion profiles show higher dark matter fractions fDM both within 1 Re and 5 Re. Orbital anisotropy alone cannot account for the different observed trends of σ(R) and has a minor effect compared to variations of the mass profile. Galaxies with similar stellar mass M∗ that show different velocity dispersion profiles (from falling to rising) are successfully modelled with a variation of the halo mass Mh.