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A new Connectivity Toolbox to infer topological features of in-vitro neural networks

A new Connectivity Toolbox to infer topological features of ...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Vito Paolo Pastore Daniele Poli Sergio Martinoia Paolo Massobrio Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genova Genova 16145 Italy

ISBN: (纸本)9781424492695

A detailed analysis of functional connectivity of in vitro neural networks, as well as the possibility to understand the interplay between topology, structure, function and dynamics, is very important for better understanding how the nervous system represents and stores the information. Thus, we developed an informatics toolbox to infer functional connectivity in in-vitro neuronal networks. To prove the validity of the software tool and to verify its performances, we used it to estimate topological metrics on mature hippocampal assemblies coupled to Micro-Electrode Arrays (MEAs).

关键词： Connectivity Toolbox in-vitro neural networks MEAs

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Incorporating perception uncertainty in human-aware navigation: A comparative study

Incorporating perception uncertainty in human-aware navigati...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Zeynab Talebpour Deepak Viswanathan Rodrigo Ventura Gwenn Englebienne Alcherio Martinoli Ecole Polytechnique Federale de Lausanne School of Architecture Civil and Environmental Engineering Department of Informatics University of Amster-dam Institute for Systems and Robotics Universidade de Lisboa Portugal Human Media Interaction Laboratory University of Twente Netherlands

In this work, we present a novel approach to human-aware navigation by probabilistically modelling the uncertainty of perception for a social robotic system and investigating its effect on the overall social navigation performance. The model of the social costmap around a person has been extended to consider this new uncertainty factor, which has been widely neglected despite playing an important role in situations with noisy perception. A social path planner based on the fast marching method has been augmented to account for the uncertainty in the positions of people. The effectiveness of the proposed approach has been tested in extensive experiments carried out with real robots and in simulation. Real experiments have been conducted, given noisy perception, in the presence of single/multiple, static/dynamic humans. Results show how this approach has been able to achieve trajectories that are able to keep a more appropriate social distance to the people, compared to those of the basic navigation approach, and the human-aware navigation approach which relies solely on perfect perception, when the complexity of the environment increases. Accounting for uncertainty of perception is shown to result in smoother trajectories with lower jerk that are more natural from the point of view of humans.

关键词： Uncertainty Robots Navigation Proposals Detectors Computational modeling Probabilistic logic

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A nonlinear optimal control approach for two-class freeway traffic regulation to reduce congestion and emissions

A nonlinear optimal control approach for two-class freeway t...

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European Control Conference

作者： C. Pasquale I. Papamichail C. Roncoli S. Sacone S. Siri M. Papageorgiou Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Dynamic Systems and Simulation Laboratory Technical University of Crete

ISBN: (纸本)9781467371605

This paper proposes a freeway traffic controller with the objective of minimizing, at the same time, congestion phenomena and traffic emissions. A multi-class framework is considered in the paper, i.e two classes of vehicles (cars and trucks) are explicitly modelled and specific control actions for each vehicle class are computed. The controller is based on the formulation and solution of a constrained discrete-time nonlinear optimal control problem for which a specific solution algorithm, the feasible direction algorithm, is used. The effectiveness of the proposed approach is shown and discussed in the paper by means of some simulation results.

关键词： vehicle class nonlinear optimal control Traffic law Freeway Emissions control action traffic emission Trucks traffic controller Controllers paper

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A decentralized team routing strategy among telecom operators in an energy-aware network

A decentralized team routing strategy among telecom operator...

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SIAM Conference on Control and Its Applications 2015

作者： Aicardi, Michele Bruschi, Roberto Davoli, Franco Lago, Paolo Department of Informatics Bioengineering Robotics and Systems Engineering DIBRIS-University of Genoa Genoa Italy National Inter-University Consortium for Telecommunications CNIT-University of Genoa Research Unit Genoa Italy Department of Electrical Electronic and Telecommunications Engineering Naval Architecture DITEN-University of Genoa Genoa Italy

ISBN: (纸本)9781510811539

We consider a networking infrastructure, upon which various "large" users (e.g., Telecom Operators, data centers, etc.) have multiple paths to deliver an aggregated entry flow to a certain destination. The flow of each user can be split among the different paths that traverse energy-aware routers. The routers adopt a specific strategy to minimize the power-delay product for each link, which gives rise to quadratic link (in the aggregated link flows) cost functions. We seek person-by-person satisfactory (p.b.p.s.) strategies stemming from a team optimal control problem of the users. The team optimization problem is defined among Decision Makers (DMs-one for each user) that try to minimize a common aggregate cost function of their routes, each one acting solely on the basis of the knowledge of the amount of flow to be routed. We derive piecewise linear p.b.p.s. solutions, which are characterized by a set of parameters. The latter can be found by solving a set of nonlinear fixed point equations.

关键词： Cost functions

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The development of a low-cost obstetric simulator to train midwifery students and test objective examinations' skills 4

The development of a low-cost obstetric simulator to train m...

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4th International Workshop on Innovative Simulation for Health Care, IWISH 2015

作者： Ricci, S. Paci, A. Marcutti, S. Marchiolè, P. Torre, G. Casadio, M. Vercelli, G. Cordone, M. University of Genova Dept. Informatics Bioengineering Robotics and Systems Engineering Italy ASL3 Genova Gynecology and Obstetric Villa Scassi Hospital Italy University of Genova Centre of Advanced Simulation Italy

ISBN: (纸本)9788897999539

The study presents the design a low cost simulator that allows precise identification of the fetal position, enabling doctors and students to train and improve their skills by inspecting visually and manually what happens inside a simulated birth canal. The system consists on a female pelvis, a custom-made fetal mannequin, and a visual display to show in real time the birth canal and the position of the fetus. Students are often unable not only to identify correctly the fetal head position, but also to discriminate between the two fontanels. This system can help them to train this ability and could be an important instrument for the instructors to objectively assess the clinical skill of each student.

关键词： Students

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The facility location problem in a reverse logistic network: Weeenmodels project in the city of Genoa

The facility location problem in a reverse logistic network:...

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International IEEE Conference on Intelligent Transportation systems

作者： Silvia Siri Ishara Thirimadura Mendis Cino Repetto the Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy T Bridge SpA Genova Italy

ISBN: (纸本)9781467365970

In this paper a multi-stage multi-commodity facility location problem for a reverse logistic network is proposed. In particular, this problem is applied to the city of Genoa, Italy, which is the test case for the Weeenmodels project, co-financed by the European Commission, started in 2013 and lasting until 2016. This project aims at defining and developing innovative logistic solutions for collection, reuse and recycle of waste deriving from electric and electronic equipment, according to the recent European Directive 2012/19/EU. For this problem, a MILP formulation is proposed in the paper. Some interesting results about the development of the waste collection system in the city of Genoa are presented and discussed.

关键词： proposed project aims problem

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MPC-based tertiary and secondary optimal control in islanded microgrids

MPC-based tertiary and secondary optimal control in islanded...

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IEEE International Symposium on systems engineering (ISSE)

作者： F. Delfino M. Rossi G. Ferro R. Minciardi M. Robba Department of Electrical Electronic and Telecommunication Engineering University of Genova Italy Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy

Microgrids that are able to work both in grid-connected and islanded modes need a hierarchical structure based on tertiary, secondary and primary controllers, which are fundamental for the maintenance of frequency and stability. In this paper, two types of controllers are formalized and solved as optimal control problems: tertiary and secondary controls. For secondary control two different scaled single-phase models are used for the microgrid: one merely electric and the other one based on the synchronous machine. The approach is applied to a real test-bed facility: the University of Genova Smart Polygeneration Microgrid (SPM). Specifically, a portion of the microgrid is selected to study the behavior in islanded mode. The considered grid is characterized by: a diesel engine connected to an electrically excited synchronous generator, a photovoltaic plant and an electric storage (these last two are respectively connected to a couple of inverters set as current source generator (CSI)).

关键词： Optimization Microgrids Mathematical model Generators Biological system modeling Photovoltaic systems

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An optimization based architecture for local systems managed by PLC devices

An optimization based architecture for local systems managed...

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IEEE International Symposium on systems engineering (ISSE)

作者： F. Delfino M. Rossi R. Minciardi M. Robba Department of Electrical Electronic and Telecommunication Engineering University of Genova Italy Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy

Hybrid systems at the local scale (from nanogrids to low voltage microgrids) that include renewables have experienced an extraordinary growth all over the world and have attracted the attention of both academies and industries to build economic and environmental appealing solutions based on innovative control architectures. These architectures have to take into account the uncertainty and the intermittency of renewables, and should provide in the future services to the Distribution System Operator. In this paper, two approaches are combined: an upper level MPC (Model Predictive Control)-based optimization algorithm provides set points to a lower level algorithm implemented on a PLC (Programmable Logic Controller). The approach is tested for a portion of the University of Genova Smart Polygeneration Microgrid.

关键词： Optimization Photovoltaic systems Batteries Microgrids Computer architecture Standards

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Model-based event-triggered control for freeway traffic systems

Model-based event-triggered control for freeway traffic syst...

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International Conference on Event-based Control, Communication, and Signal Processing (EBCCSP)

作者： Antonella Ferrara Simona Sacone Silvia Siri Department of Electrical Computer and Biomedical Engineering University of Pavia Italy Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy

ISBN: (纸本)9781467378895

In this paper a model-based event-triggered control scheme for freeway traffic systems is proposed. The freeway network is a spatially distributed system in which sensors and actuators act on portions of the overall system. Measurements and control actions can be transmitted among the plant and the controllers via a shared communication network. For this reason the freeway network can be controlled relying on a design framework typical of Networked Control systems. In the proposed control scheme the number of transmissions over the network is reduced by adopting local triggering conditions included in sensors, allowing transmissions from the sensors to the controller only when such conditions are verified. One of the novelties of this work stands in considering not only sensors able to measure the freeway traffic state but also sensors which measure the traffic demands, which can be regarded as disturbances affecting the system dynamics.

关键词： Traffic control Sensor systems Vehicles Atmospheric measurements Particle measurements Time measurement

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Vergence control learning through real V1 disparity tuning curves

Vergence control learning through real V1 disparity tuning c...

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International IEEE/EMBS Conference on Neural engineering, CNE

作者： Agostino Gibaldi Andrea Canessa Silvio P. Sabatini Department of Informatics Bioengineering Robotics and System Engineering University of Genova Genova ITALY

A neural network architecture able to autonomously learn effective disparity-vergence responses and drive the vergence eye movements of a simulated binocular active vision system is proposed. The proposed approach, instead of exploiting purposely designed resources, relies on the direct use of a set of real disparity tuning curves, measured in the primary visual cortex of two macaque monkeys and courteously made available by (Prince et al., 2002), that provides a distributed representation of binocular disparity. The network evolves following a differential Hebbian rule that exploits the overall population activity to measure the state of the system, i.e. the deviation from the desired vergence position, so as its modification as a consequence of the action performed. Accordingly, the signal provides an effective intrinsic reward to develop a stable and accurate vergence behaviour. Emerging from a direct interaction of the sensing system with the environment, the resulting control provides a precise and accurate control for small disparities, as well as a raw control on a broader working range when large disparities are experienced. The developed control converges to a stable state that intrinsically and continuously adapts to the characteristics of the ongoing stimulation. The results proved how actually naturally distributed resources allows for robust and flexible learning capabilities in changeable situations.

关键词： Sociology Statistics Neurons Mercury (metals) Tuning Visualization Retina

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