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9th International Workshop on Innovative Simulation for Health Care, IWISH 2020

作者： Calandrino, Andrea Riitano, Alessio Ricci, Serena Torre, Giancarlo Chirico, Marco University of Genova Via Pastore 3 Genova16132 Italy IRCCS Giannina Gaslini Children's Hospital Via Gerolamo Gaslini 5 Genova16147 Italy Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Via all'Opera Pia 13 Genova16145 Italy

ISBN: (纸本)9788885741515

During the actual COVID-19 pandemic universities and institutions have transferred all their educational activities to mass distributed e-learning platforms, badly affecting students' interactions, limiting peer-tutoring and collaboration activities. Authors believe into the importance of these interactions in building an efficient educational pathway, valorizing what they call "horizontal communication" to be sided to the canonical "vertical" one, usually conveyed by those platforms. In this paper we report the experience of an online bottom-up peer collaboration platform named "Sciumegu", made and run by medical students themselves, active in the University of Genoa Medical School since 2007, aimed to ease students' collaborative interactions and peer-tutoring, study materials sharing and academic information transmission. Users' behavior during lockdown period has been analyzed in order to underline any difference from normality, finding that students referred much more to the platform to simulate exams (+84,98% than in 2019) and to download lectures, notes and slides (+34,20% than in 2019). This enforces the assumption that students need peer interaction to advance their academic careers and to prepare their exams in the best way, taking advantage of a digital targeted educational instrument like "Sciumegu" when those interactions are precluded. We assert this platform has filled the gap left by the educational digital step forward operated by schools and universities. In particular, "Sciumegu" responded to pandemic lockdown impositions, enforcing and promoting peer collaboration through a shared environment where to peer interact, far from traditional social media harmful distractions. © 2020 The Authors.

关键词： COVID-19

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Physiological assessment of brain, cardiovascular, and respiratory changes in multimodal motor imagery brain-computer interface training

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Brain-Computer Interfaces 2025年第1期12卷

作者： Evangelos Georgaras Athanasios Vourvopoulos a Electrical and Computer Engineering Department National Technical University of Athens Athens Greece b Bioengineering Department Institute for Systems and Robotics - Lisboa Instituto Superior Técnico Universidade de Lisboa Lisboa Portugal

ABSTRACTBrain-Computer Interfaces (BCIs) can provide a non-muscular communication channel for individuals with motor impairments. When integrated with virtual reality (VR) and haptic feedback, motor imagery (MI)-based BCIs can augment the rehabilitation outcome for patients with severe motor impairments. However, the physiological impact of these protocols beyond brain-related signals, that reflect autonomic nervous system (ANS) activity, remains underexplored. This study aims to investigate variations in a broader range of physiological signals besides electroencephalography (EEG) – including electrocardiography (ECG), photoplethysmography (PPG), and respiration – across different experimental conditions and to identify the factors driving these changes. 19 healthy subjects underwent MI training across five combinations of feedback conditions: abstract vs. realistic feedback, head-mounted display (HMD) vs. monitor, and the presence or absence of haptic feedback, compared with motor execution data. PPG results were compared with ECG results to assess the reliability of the finger-clip PPG sensor regarding its ability to replace ECG in cases where ease of use and unobtrusiveness in heart monitoring are required. Current findings show that VR-based MI with haptic feedback, results in increased modulation of Beta and Gamma bands, while all conditions may impose a greater mental burden than motor execution, as indicated by the increased respiration rate and decreased heart-rate variability.

关键词： Brain-computer interfaces autonomic nervous system motor imagery virtual reality haptic feedback

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A Task Allocation Approach for Human-Robot Collaboration in Product Defects Inspection Scenarios

A Task Allocation Approach for Human-Robot Collaboration in ...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Hossein Karami Kourosh Darvish Fulvio Mastrogiovanni Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa Italy Dynamic Interaction Control Istituto Italiano di Tecnologia Genova Italy

ISBN: (数字)9781728160757

ISBN: (纸本)9781728160764

The presence and coexistence of human operators and collaborative robots in shop-floor environments raises the need for assigning tasks to either operators or robots, or both. Depending on task characteristics, operator capabilities and the involved robot functionalities, it is of the utmost importance to design strategies allowing for the concurrent and/or sequential allocation of tasks related to object manipulation and assembly. In this paper, we extend the FLEXHRC framework presented in [1] to allow a human operator to interact with multiple, heterogeneous robots at the same time in order to jointly carry out a given task. The extended FLEXHRC framework leverages a concurrent and sequential task representation framework to allocate tasks to either operators or robots as part of a dynamic collaboration process. In particular, we focus on a use case related to the inspection of product defects, which involves a human operator, a dual-arm Baxter manipulator from Rethink robotics and a Kuka youBot mobile manipulator.

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A Chatbot that Uses a Multi-agent Organization to Support Collaborative Learning 23rd

A Chatbot that Uses a Multi-agent Organization to Support Co...

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23rd International Conference on Human-Computer Interaction, HCII 2021

作者： da Silveira Colissi, Mateus Vieira, Renata Mascardi, Viviana Bordini, Rafael H. School of Technology Pontifical Catholic University of Rio Grande do Sul Av. Ipiranga 6681 Porto AlegreRS Brazil CIDEHUS University of Évora Palácio do Vimioso Largo do Marquês de Marialva no. 8 Évora Portugal Department of Informatics Engineering Robotics and Systems Engineering University of Genova Via Dodecaneso 35 GenovaGE16146 Italy

ISBN: (纸本)9783030786441

This work investigates and apply the use of a multi-agent system to assist in the coordination of group tasks, specifically in educational environments, in which the interaction occurs indirectly, that is, asynchronously. The system has a web interface integrated with a chatbot for more natural interaction. The chatbot communicates with the multi-agent system that is responsible for the organization of the group, that is, it contains information about the tasks and members of the groups, in addition to restrictions that can be imposed according to the organization of the group, and it is also able to return the requested information in natural language through the chatbot. This approach was validated in a practical undergraduate course of software engineering. The students assessed the functionalities and usability of the system while working in groups in order to develop software collaboratively. Our system was used to assist students in a real project. With this assessment, it was found that the system was able to support the development of the group tasks, ensuring quick and consistent responses to the student’s request. © 2021, Springer Nature Switzerland AG.

关键词： Multi agent systems

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engineering reliable interactions in the reality-artificiality continuum

arXiv

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arXiv 2020年

作者： Ancona, Davide Bassano, Chiara Chessa, Manuela Mascardi, Viviana Solari, Fabio University of Genova Italy DIBRIS Department of Computer Science and Technology Bioengineering Robotics and Systems Engineering

Milgram’s reality-virtuality continuum applies to interaction in the physical space dimension, going from real to virtual. However, interaction has a social dimension as well, that can go from real to artificial depending on the companion with whom the user interacts. In this paper we present our vision of the Reality-Artificiality bidimensional Continuum (RAC), we identify some challenges in its design and development and we discuss how reliable interactions might be supported inside RAC. Copyright © 2020, The Authors. All rights reserved.

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Distributed formation trajectory planning for multi-vehicle systems

Distributed formation trajectory planning for multi-vehicle ...

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American Control Conference (ACC)

作者： Binh Nguyen Truong Nghiem Linh Nguyen Tung Nguyen Hung La Mehdi Sookhak Thang Nguyen Department of Engineering Texas A&M University–Corpus Christi Corpus Christi TX USA School of Informatics Computing and Cyber Systems Northern Arizona University Flagstaff AZ USA School of Engineering Information Technology and Physical Sciences Federation University Australia Churchill VIC Australia Department of Information Technology Uppsala University Uppsala Sweden Department of Computer Science and Engineering Advanced Robotics and Automation (ARA) Lab University of Nevada Reno NV USA Department of Computing Sciences Texas A&M University–Corpus Christi Corpus Christi TX USA

This paper addresses the problem of distributed formation trajectory planning for multi-vehicle systems with collision avoidance among vehicles. Unlike some previous distributed formation trajectory planning methods, our proposed approach offers great flexibility in handling computational tasks for each vehicle when the global formation of all the vehicles changes. It affords the system the ability to adapt to the computational capabilities of the vehicles. Furthermore, global formation constraints can be handled at any selected vehicles. Thus, any formation change can be effectively updated without recomputing all local formations at all the vehicles. To guarantee the above features, we first formulate a dynamic consensus-based optimization problem to achieve desired formations while guaranteeing collision avoidance among vehicles. Then, the optimization problem is effectively solved by ADMM-based or alternating projection-based algorithms, which are also presented. Theoretical analysis is provided not only to ensure the convergence of our method but also to show that the proposed algorithm can surely be implemented in a fully distributed manner. The effectiveness of the proposed method is illustrated by a numerical example of a 9-vehicle system.

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Multiscale regression on unknown manifolds

arXiv

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arXiv 2021年

作者： Liao, Wenjing Maggioni, Mauro Vigogna, Stefano School of Mathematics Georgia Institute of Technology AtlantaGA30313 United States Department of Mathematics Department of Applied Mathematics and Statistics Mathematical Institute of Data Science Johns Hopkins University BaltimoreMD21218 United States MaLGa Center Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Genova16145 Italy

We consider the regression problem of estimating functions on RD but supported on a d-dimensional manifold M ⊂ RD with d D. Drawing ideas from multi-resolution analysis and nonlinear approximation, we construct low-dimensional coordinates on M at multiple scales, and perform multiscale regression by local polynomial fitting. We propose a data-driven wavelet thresholding scheme that automatically adapts to the unknown regularity of the function, allowing for efficient estimation of functions exhibiting nonuniform regularity at different locations and scales. We analyze the generalization error of our method by proving finite sample bounds in high probability on rich classes of priors. Our estimator attains optimal learning rates (up to logarithmic factors) as if the function was defined on a known Euclidean domain of dimension d, instead of an unknown manifold embedded in RD. The implemented algorithm has quasilinear complexity in the sample size, with constants linear in D and exponential in d. Our work therefore establishes a new framework for regression on low-dimensional sets embedded in high dimensions, with fast implementation and strong theoretical guarantees. Copyright © 2021, The Authors. All rights reserved.

关键词： Regression analysis

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Position Feedback Control of Lagrangian Robotic systems via an Affine PD-Based Control Law. Part 1: Design of LMI Conditions

Position Feedback Control of Lagrangian Robotic Systems via ...

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Sciences and Techniques of Automatic Control and Computer engineering MI-STA, IEEE International Maghreb Meeting of the Conference on

作者： Sahar Jenhani Hassè ne Gritli Giuseppe Carbone Higher Institute of Information and Communication Technologies University of Carthage Tunis Tunisia Laboratory of Robotics Informatics and Complex Systems (RISC Lab - LR16ES07) National Engineering School of Tunis University of Tunis El Manar Tunis Tunisia Department of Mechanical Energy and Management Engineering University of Calabria Rende (Cs) Italy

ISBN: (数字)9781665479189

ISBN: (纸本)9781665479196

Among the appropriate methods to describe the morphology of a robotic system, we note the development of a nonlinear dynamic model defined by the equations of the robot’s motion. Thus, the control design method can be based on the linearization of the nonlinear model. Therefore, in this work, we rely on the difference between the nonlinear model of Lagrangian robotic systems and the approximated linear dynamics to obtain a dynamical model that satisfies a certain Lipschitz condition. Thus, we introduce an affine PD-based control law in the obtained dynamic model to develop by three methods the stability conditions using the Schur complement, the Young inequality and the S-procedure lemma. These conditions are described by Linear Matrix Inequalities (LMIs). Finally, we present some results by adopting, as an illustrative example, the manipulator robot with two degrees of freedom, as a Lagrangian robotic system.

关键词： Conferences Dynamics Morphology Mathematical models Stability analysis Linear matrix inequalities Nonlinear dynamical systems

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Advances in Optimization and Decision Science for Society, Services and Enterprises 1

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丛书名： AIRO Springer Series

2019年

作者： Massimo Paolucci Anna Sciomachen Pierpaolo Uberti

ISBN: (数字)9783030349608

ISBN: (纸本)9783030349592;9783030349622

The contributions included in the volume are drawn from presentations at ODS2019 – International Conference on Optimization and Decision Science, which was the 49th annual meeting of the Italian Operations Research Society (AIRO) held at Genoa, Italy, on 4-7 September 2019. This book presents very recent results in the field of Optimization and Decision Science. While the book is addressed primarily to the Operations Research (OR) community, the interdisciplinary contents ensure that it will also be of very high interest for scholars and researchers from many scientific disciplines, including computer sciences, economics, mathematics, and engineering. Operations Research is known as the discipline of optimization applied to real-world problems and to complex decision-making fields. The focus is on mathematical and quantitative methods aimed at determining optimal or near-optimal solutions in acceptable computation times. This volume not only presents theoretical results but also covers real industrial applications, making it interesting for practitioners facing decision problems in logistics, manufacturing production, and services. Readers will accordingly find innovative ideas from both a methodological and an applied perspective.

关键词： Operations Research, Management Science Calculus of Variations and Optimization Graph Theory Game Theory Mathematical Applications in Computer Science

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Binary and Ternary Human Gait Phase Classification Using Machine Learning Algorithms

Binary and Ternary Human Gait Phase Classification Using Mac...

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International Conference on Innovation and Intelligence for informatics, Computing, and Technologies (3ICT)

作者： Amal Mekni Jyotindra Narayan Hassène Gritli RISC Laboratory (LR16ES07) Higher Institute of Information and Communication Technologies University of Carthage ENIT University of Tunis El Manar Borj Cedria Tunis Tunisia Department of Mechanical Engineering Thapar Institute of Engineering and Technology Patiala Punjab India Department of Computing Imperial College London UK Laboratory of Robotics Informatics and Complex Systems (RISC Lab - LR16ES07) ENIT University of Tunis El Manar Le Belvédère Tunis Tunisia ISTIC University of Carthage Borj Cedria Tunis Tunisia

ISBN: (数字)9798331533137

ISBN: (纸本)9798331533144

Accurately identifying gait phases offers vital in-sights into medical diagnostics, requiring precise biomechanical assessment. Despite various machine learning (ML) methods, achieving high precision is challenging. This study uses ML techniques to classify the gait phases of 100 individuals (average age 41.91 ± 5.3 years). Classification algorithms considered in this work are: k-Nearest Neighbor (k-NN), Logistic Regression (LR), Decision Tree (DT), Random Forest (RF), Support Vector Machine (SVM), and Naive Bayesian (NB). The performance of these algorithms is evaluated using two training methods while classifying binary (stance/swing) and ternary (stance-I1stance-Illswing) subphases. In the first method, 80% of the data from binary or ternary phases is randomly selected for training and the rest for testing. In the second method, data is divided by participants, with 80% used for training and 20% for testing. The RF algorithm consistently outperforms others in both training methods, achieving 99.5% (first method) and 99.9% (second method) accuracy in binary classification and 99.4% (first method) and 99.5% (second method) in ternary classification. Despite the reduced performance while transitioning from bi-nary to ternary classification, consistency is maintained for all ML algorithms. Moreover, the second training method is more effective for classifying binary and ternary gait phases.

关键词： Training Support vector machines Radio frequency Technological innovation Machine learning algorithms Nearest neighbor methods Classification algorithms Medical diagnosis Random forests Testing

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