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IEEE Annual Conference on Decision and Control

作者： Carlos Vivas Silvia Siri Antonella Ferrara Simona Sacone Giulia Cavanna Francisco R. Rubio Dept. de Ingenieria de Sistemas y Automatica Escuela Superior de Ingenieros Universidad de Sevilla Spain Dept. of Informatics Bioengineering Robotics and Systems Engineering Univ. of Genova Italy Dept. of Electrical Computer and Biomedical Engineering University of Pavia Italy

ISBN: (纸本)9781479978878

The estimation of traffic densities in portions of road links is an important open problem. This work contributes to the topic proposing a distributed switched observer design method, based on Luenberger-like and consensus ideas. To this aim, a switching mode model (SMM) is employed, representing the freeway system switching among different sets of linear difference equations. The proposed scheme allows every observer to estimate the densities of the overall system, with very limited information exchange requirements between observers. Asymptotic stability of the overall scheme is proved when the system operates under observable modes, together with L_2-gain disturbance rejection capabilities. The solution is provided in terms of a set of LMIs that use the structure of the SMM to alleviate the computational requirements. The effectiveness of the approach is shown with simulation examples.

关键词： Traffic density Freeway design approach Observers Difference equation Distribute

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Analysis of upper limb movement in Multiple Sclerosis subjects during common daily actions

Analysis of upper limb movement in Multiple Sclerosis subjec...

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

作者： L. Pellegrino G. Stranieri E. Tiragallo A. Tacchino G. Brichetto M. Coscia M. Casadio student at University of Genoa Genoa Italy researcher at Italian Multiple Sclerosis Foundation (FISM) Genoa Italy postdoctoral fellow at the Translational Neural Engineering Laboratory Center for Neuroprosthetics and Institute of Bioengineering School of Engineering Ecole Polytechnique Fédérale de Lausanne Lausanne Switzerland assistant professor at the University of Genoa Dept. Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa Italy

ISBN: (纸本)9781424492695

The goal of this study was to investigate the movement and muscle activity of the upper limb during common activities of daily life in people with Multiple Sclerosis (PwMS) with low and mild-moderate level of upper limb impairments. We found significant changes in muscles activity in PwMS compared to healthy subjects when holding and lifting objects used in everyday life. These differences were particularly remarkable in subjects with moderate level of impairment, in which the disease affected also movement smoothness. Remarkably, the smoothness of the movement during the interaction with common objects of daily activities highly correlated with the subjects' ability measured with the Abilhand scale.

关键词： PwMS subjects' ability measured disease affected also

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A Petri Net Model for an Open Path Multi-AGV System

A Petri Net Model for an Open Path Multi-AGV System

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International Conference on informatics in Control, Automation and robotics

作者： Davide Giglio Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova

ISBN: (纸本)9781479979202

Automated distribution warehouses in which pallet and roll pallet loads are transported by means of forklift AGVs are considered in this work, with the objective of defining a mathematical model which accurately represents the behaviour of AGVs in the system. AGVs can move freely in the warehouse (an open path AGV system is adopted), and their transportation activities can be modelled as a sequence of elementary or basic actions. In the paper, a coloured Petri net (CPN) model is proposed. It allows representing any sequence of elementary actions of AGVs (including pick-up and drop-off activities), and accurately models the interactions among AGVs, in order to guarantee the safety during the execution of activities. The CPN model can be used to analyse and implement deadlock prevention and deadlock recovery strategies, and it has been adopted in the building of a discrete-event simulator which is employed to analyse the system's performance and to evaluate scheduling policies for transportation tasks.

关键词： Coloured Petri Nets Automated Distribution Warehouses Autonomous Guided Vehicles Forklift AGVs

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A Mixed-Integer Mathematical Programming Model for Integrated Planning of Manufacturing and Remanufacturing Activities

A Mixed-Integer Mathematical Programming Model for Integrate...

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International Conference on informatics in Control, Automation and robotics

作者： Davide Giglio Massimo Paolucci Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova

ISBN: (纸本)9781479979202

This paper considers a hybrid remanufacturing and manufacturing system on a closed-loop supply chain. The system manufactures a set of new products characterized by a multi-level structure through multi-stage assembly operations. The required raw or basic parts can be acquired new from suppliers or provided as new by a de-manufacturing facility which performs a remanufacturing process from acquired old products returned by customers. The quality of returned products has impact on the quantity of recovered basic parts which can be assumed as good as new, and on the duration of the remanufacturing process. The considered problem is to determine the production lots for the system machines as well as the quantity of new basic parts and retuned products to be acquired in order to satisfy a deterministic demand in the time buckets of the planning period. The performance criterion to be minimized includes the acquisition costs for the new and returned items, inventory and production costs, recovering and disposal costs, and tardiness costs. A mixed-integer programming model is proposed and its effectiveness is demonstrated by experiments on a case study.

关键词： Remanufacturing Production Planning Mixed-Integer Programming Modelling

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25th Annual Computational Neuroscience Meeting CNS-2016, Seogwipo City, South Korea, July 2-7, 2016 Abstracts

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BMC NEUROSCIENCE 2016年第1期17卷 1-112页

作者： [Anonymous] Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego USA UNIC CNRS Gif sur Yvette France The European Institute for Theoretical Neuroscience (EITN) Paris France ATR Computational Neuroscience Laboratories Kyoto Japan Krembil Research Institute University Health Network Toronto Canada Department of Physiology University of Toronto Toronto Canada Department of Medicine (Neurology) University of Toronto Toronto Canada Department of Physics University of New Hampshire Durham USA Department of Neurophysiology Nencki Institute of Experimental Biology Warsaw Poland Department of Theory Wigner Research Centre for Physics of the Hungarian Academy of Sciences Budapest Hungary Department of Mathematical Sciences KAIST Daejoen Republic of Korea Department of Mathematics University of Houston Houston USA Department of Biochemistry & Cell Biology and Institute of Biosciences and Bioengineering Rice University Houston USA Department of Biology and Biochemistry University of Houston Houston USA Grupo de Neurocomputación Biológica Dpto. de Ingeniería Informática Escuela Politécnica Superior Universidad Autónoma de Madrid Madrid Spain Department of Biological Sciences University of Southern California Los Angeles USA Center for Neuroscience Korea Institute of Science and Technology Seoul South Korea Department of Neurology Albert Einstein College of Medicine Bronx USA Center for Neuroscience KIST Seoul South Korea Department of Neuroscience University of Science and Technology Daejon South Korea Systems Neuroscience Group QIMR Berghofer Medical Research Institute Herston Australia Department of Psychology Yonsei University Seoul South Korea Department of Psychiatry Kyung Hee University Hospital at Gangdong Seoul South Korea Department of Psychiatry Veterans Administration Boston Healthcare System and Harvard Medical School Brockton USA Department of Electrical and Electronic Engineering The University of Melbourne Parkvil

A1 Functional advantages of cell-type heterogeneity in neural circuits Tatyana O. Sharpee A2 Mesoscopic modeling of propagating waves in visual cortex Alain Destexhe A3 Dynamics and biomarkers of mental disorders Mitsuo Kawato F1 Precise recruitment of spiking output at theta frequencies requires dendritic h-channels in multi-compartment models of oriens-lacunosum/moleculare hippocampal interneurons Vladislav Sekulić, Frances K. Skinner F2 Kernel methods in reconstruction of current sources from extracellular potentials for single cells and the whole brains Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári F3 The synchronized periods depend on intracellular transcriptional repression mechanisms in circadian clocks. Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett, Kresimir Josić O1 Assessing irregularity and coordination of spiking-bursting rhythms in central pattern generators Irene Elices, David Arroyo, Rafael Levi, Francisco B. Rodriguez, Pablo Varona O2 Regulation of top-down processing by cortically-projecting parvalbumin positive neurons in basal forebrain Eunjin Hwang, Bowon Kim, Hio-Been Han, Tae Kim, James T. McKenna, Ritchie E. Brown, Robert W. McCarley, Jee Hyun Choi O3 Modeling auditory stream segregation, build-up and bistability James Rankin, Pamela Osborn Popp, John Rinzel O4 Strong competition between tonotopic neural ensembles explains pitch-related dynamics of auditory cortex evoked fields Alejandro Tabas, André Rupp, Emili Balaguer-Ballester O5 A simple model of retinal response to multi-electrode stimulation Matias I. Maturana, David B. Grayden, Shaun L. Cloherty, Tatiana Kameneva, Michael R. Ibbotson, Hamish Meffin O6 Noise correlations in V4 area correlate with behavioral performance in visual discrimination task Veronika Koren, Timm Lochmann, Valentin Dragoi, Klaus Obermayer O7 Input-location dependent gain modulation in cerebellar nucleus neurons Maria Psarrou, Maria Schilstra, Neil Davey, Benjamin Torben-Ni

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Task scheduling for multiple forklift AGVs in distribution warehouses

Task scheduling for multiple forklift AGVs in distribution w...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Davide Giglio Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Genova Italy

Distribution warehouses are considered in this paper with the aim of scheduling the transportation of pallet and roll pallet loads from the storage area to the gates at which the trucks arrive. Transportation activities are carried out by forklift AGVs that can move freely along the warehouse's aisles (guide paths are not considered). In this paper, an optimization procedure is proposed, which is based on three sequential phases. In the first phase, the number of AGVs to be allocated to each arrived truck is determined; in the second phase, an AGV-to-truck assignment problem is solved; in the third phase, the single tasks are assigned to and sequenced on the AGVs. All phases are based on the formalization and solution of a specific mathematical programming problem, and a heuristic procedure is also proposed to solve a part of the third phase.

关键词： Logic gates Transportation Mathematical programming Loading Buffer storage Job shop scheduling Schedules

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Bio-inspired active vision for obstacle avoidance

Bio-inspired active vision for obstacle avoidance

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International Conference on Computer Graphics Theory and Applications (GRAPP)

作者： Manuela Chessa Saverio Murgia Luca Nardelli Silvio P. Sabatini Fabio Solari Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genova Italy

ISBN: (纸本)9781479976850

Reliable distance estimation of objects in a visual scene is essential for any artificial vision system designed to serve as the main sensing unit on robotic platforms. This paper describes a vision-centric framework for a mobile robot which makes use of bio-inspired techniques to solve visual tasks, in particular to estimate disparity. Such framework features robustness to noise, high speed in data processing, good performance in 3D reconstruction, the possibility to orientate the cameras independently and it requires no explicit estimation of the extrinsic parameters of the cameras. These features permit navigation with obstacle avoidance allowing active exploration of the scene. Furthermore, the modular design allows the integration of new modules with more advanced functionalities.

关键词： Robot kinematics Cameras Estimation Three-dimensional displays Navigation Robot vision systems

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Experimental results on obstacle avoidance for high speed unmanned surface vehicles

Experimental results on obstacle avoidance for high speed un...

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OCEANS

作者： Enrico Simetti Sandro Torelli Giuseppe Casalino Alessio Turetta Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Genova Italy

This work presents the first experimental results of the real-time motion planner developed within an on-going research project between DIBRIS, University of Genova and Selex-ES, Italy, one of the leading players for providing large systems aimed at security and surveillance. The ultimate goal of the research project is the development of a complete solution for managing and supervising a team of Unmanned Surface Vehicles (USVs), operating in a (semi-)autonomous manner within a civilian harbour. The proposed obstacle avoidance algorithm exploits the kinematic information of the vessels operating in the harbour in order to compute the optimal path to reach the target position, while at the same time avoiding any moving obstacle. The paper recalls the fundamentals of the proposed approach, introduces the developed USV prototypes and finally presents the adaptation of the motion planner for its use on the real tests. Field trials are presented to show the effectiveness of the approach even at high speeds.

关键词： Vehicles Safety Kinematics Prototypes Collision avoidance Graphical user interfaces Educational institutions

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Effect of interface type in the VR-based acquisition of pedestrian skills in persons with ASD

Effect of interface type in the VR-based acquisition of pede...

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

作者： Mario Saiano Eleonora Garbarino Simonetta Lumachi Silvano Solari Vittorio Sanguineti the Dept of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Via all'Opera Pia 13 16145 Genoa Italy the Dept. of Primary Care ASL3 Genovese Genoa Italy the Philos Counseling Academy Genoa Italy the Dept. of Education Sciences University of Genoa Corso A. Podestá 2 Genoa Italy

ISBN: (纸本)9781424492695

Possession of 'social' skills is crucial for persons with autism spectrum disorders (ASD) to maintain a certain independence and a better quality of life, and interaction with virtual environments seems an effective learning aid. In a previous study, we reported that in adults with ASD interaction with a virtual environment (a virtual city) is beneficial to the acquisition of pedestrian skills (street crossing and street navigation). Interaction was based on a gesture-based interface (Microsoft Kinect). Here we compare the learning performance when the same virtual environment is operated by a gamepad interface. We used exactly the same training protocol and data analysis than the original study. We found that both interface types are effective in the acquisition of street crossing and city navigation skills. The gamepad interface seems easier to use (thus leading to faster interaction), but gesture-based interfaces are superior in terms of transfer of the learned skills to real road environments (as reported by parents and caregivers).

关键词： ASD learned skills pedestrian skills heart atrium septum defect Skill Learning Virtual environments Persons Health-Related Quality Of Life Pedestrians Street Road Social Skills

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Optimizing train loading operations in innovative and automated container terminals 19

Optimizing train loading operations in innovative and automa...

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Anghinolfi, D. Caballini, C. Sacone, S. DIBRIS-Department of Informatics Bio Engineering Robotics and Systems Engineering University of Genova Italy Italian Centre of Excellence in Integrated Logistics University of Genova Italy

ISBN: (纸本)9783902823625

In this paper the problem of optimizing the train loading operations in innovative automated freight terminals is addressed. In particular, the considered terminal is supposed to be provided with an innovative transfer system allowing to load/unload containers in a fast and horizontal way under the electric line. In these terminals, the timing of the train loading process is crucial, together with the necessity of maximizing the number of containers to be loaded on the train. An optimization problem is stated for determining, while taking into account some specific constraints, the optimal loading plan in order to maximize the number of containers loaded and minimize the set up operations necessary for adapting wagons configurations to the various containers to be loaded. Besides the use of optimal algorithms, a heuristic procedure is also defined for solving the proposed optimization problem. The comparison among the two approaches shows very close performances both in terms of computational time and solutions quality. © IFAC.

关键词： Loading

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