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18th AIAA Aviation Technology, Integration, and Operations Conference, 2018

作者： Chandarana, Meghan Lewis, Michael Allen, Bonnie Danette Sycara, Katia Scherer, Sebastian Carnegie Mellon University PittsburghPA15213 United States University of Pittsburgh PittsburghPA15260 United States NASA Langley Research Center HamptonVA23681 United States Dept. of Mechanical Engineering 5000 Forbes Ave. PittsburghPA United States Informatics and Distributed Systems and Intelligent Systems 135 North Bellefield Ave. PittsburghPA15260 United States Crew Systems & Aviation Operations Branch MS 492 United States Robotics Institute 5000 Forbes Ave PittsburghPA15213 United States

ISBN: (数字)9781624105562

ISBN: (纸本)9781624105562

As part of swarm search and service (SSS) missions, swarms are tasked with searching an area while simultaneously servicing jobs as they are encountered. Jobs must be immediately serviced and can be one of multiple types. Each type requires that vehicle(s) break off from the swarm and travel to the job site for a specified amount of time. The number of vehicles needed and the service time for each job type are known. Once a job has been successfully serviced, vehicles return to the swarm and are available for reallocation. When planning SSS missions, human operators are tasked with determining the required number of vehicles needed to handle the expected job demand. The complex relationship between job type parameters makes this choice challenging. This work presents a prediction model used to estimate the swarm size necessary to achieve a given performance. User studies were conducted to determine the usefulness and ease of use of such a prediction model as an aid during mission planning. Results show that using the planning tool leads to 7x less missed area and a 50% cost reduction. © 2018, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Vehicles

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Considering discrepancy when calibrating a mechanistic electrophysiology model

arXiv

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arXiv 2020年

作者： Lei, Chon Lok Ghosh, Sanmitra Whittaker, Dominic G. Aboelkassem, Yasser Beattie, Kylie A. Cantwell, Chris D. Delhaas, Tammo Houston, Charles Novaes, Gustavo Montes Panfilov, Alexander V. Pathmanathan, Pras Riabiz, Marina Weber dos Santos, Rodrigo Worden, Keith Mirams, Gary R. Wilkinson, Richard D. Computational Biology & Health Informatics Dept. of Computer Science University of Oxford United Kingdom MRC Biostatistics Unit University of Cambridge United Kingdom Centre for Mathematical Medicine & Biology School of Mathematical Sciences University of Nottingham United Kingdom Department of Bioengineering University of California San Diego United States Systems Modeling and Translational Biology GlaxoSmithKline R&D Stevenage United Kingdom ElectroCardioMaths Programme Centre for Cardiac Engineering Imperial College London United Kingdom CARIM School for Cardiovascular Diseases Maastricht University Netherlands Graduate Program in Computational Modeling Universidade Federal de Juiz de Fora Brazil Department of Physics and Astronomy Ghent University Belgium Laboratory of Computational Biology and Medicine Ural Federal University Ekaterinburg Russia U.S. Food and Drug Administration Center for Devices and Radiological Health Office of Science and Engineering Laboratories United States Department of Biomedical Engineering King’s College London Alan Turing Institute United Kingdom Dynamics Research Group Department of Mechanical Engineering University of Sheffield United Kingdom School of Mathematics and Statistics University of Sheffield United Kingdom

Uncertainty quantification (UQ) is a vital step in using mathematical models and simulations to take decisions. The field of cardiac simulation has begun to explore and adopt UQ methods to characterise uncertainty in model inputs and how that propagates through to outputs or predictions. In this perspective piece we draw attention to an important and under-addressed source of uncertainty in our predictions — that of uncertainty in the model structure or the equations themselves. The difference between imperfect models and reality is termed model discrepancy, and we are often uncertain as to the size and consequences of this discrepancy. Here we provide two examples of the consequences of discrepancy when calibrating models at the ion channel and action potential scales. Furthermore, we attempt to account for this discrepancy when calibrating and validating an ion channel model using different methods, based on modelling the discrepancy using Gaussian processes (GPs) and autoregressive-moving-average (ARMA) models, then highlight the advantages and shortcomings of each approach. Finally, suggestions and lines of enquiry for future work are provided. Copyright © 2020, The Authors. All rights reserved.

关键词： Uncertainty analysis

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Synthesis of fuzzy, artificial intelligence and neural networks for hierarchical intelligent control

Synthesis of fuzzy, artificial intelligence and neural netwo...

引用

Neural and Fuzzy systems: The Emerging Science of Intelligent Computing 1994

作者： Fukuda, Toshio Shibata, Takanori Dept. of Mechano-Informatics and Systems Nagoya University 1 Furo-cho Chikusa-ku Nagoya464-01 Japan Bio-Robotics Robotics Department Mechanical Engineering Laboratory Ministry of International Trade and Industry 1-2 Namiki Tsukuba305 Japan

This chapter presents a new structure of intelligent control for robotic motion. This structure is analogous to the human cerebral control structure for intelligent control. Therefore, the system has a hierarchical structure as an integrated approach of Neuromorphic and Symbolic control, including an applied neural network for servo control, a knowledge based approximation, and a fuzzy set theory for a human interface. The neural network in the servo control level is numerical manipulation, while the knowledge based part is symbolic manipulation. In the neuromorphic control, the neural network compensates for the nonlinearities of the system and uncertainty in its environment. The knowledge base part develops control strategies symbolically for the servo level with a-priori knowledge. The fuzzy logic combined with the neural network is used between the servo control level and the knowledge based part to link numerals to symbols and express human skills through learning. © 2017 SPIE.

关键词： Fuzzy neural networks

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Insert your own body in the oculus rift to improve proprioception 11

Insert your own body in the oculus rift to improve proprioce...

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11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, VISIGRAPP 2016

作者： Chessa, Manuela Caroggio, Lorenzo Huang, Huayi Solari, Fabio Dept. of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Viale Causa 13 Genoa Italy

A natural interaction in virtual reality environments, in particular when wearing head-mounted-displays, is often prevented by the lack of a visual feedback about the user's own body. This paper aims to create a virtual environment, in which the user can visually perceive his/her own body, and can interact with the virtual objects, by using a virtual body that replicates his/her movements. To this aim, we have set up an affordable virtual reality system, which combines the Oculus Rift head-mounted-display, a Microsoft Kinect, and a Leap Motion, in order to recreate inside the virtual environments a first-person avatar, who replicates the movements of the user's full-body and the fine movements of his/her fingers and hands. By acting in such an environment, the user is able to perceive him/herself thus improving his/her experience in the virtual reality. Here, we address and propose a solution to the issues related to the integration of the different devices, and to the alignment and registration of their reference systems. Finally, the effectiveness of the proposed system is assessed through an experimental session, in which several users report their feeling by answering to a 5-points Likert scale questionnaire. Copyright © 2016 by SCITEPRESS - Science and Technology Publications, Lda. All rights reserved.

关键词： Virtual reality

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Model predictive control with state estimation for freeway systems

Model predictive control with state estimation for freeway s...

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American Control Conference

作者： A. Brandi A. Ferrara S. Sacone S. Siri C. Vivas F. Rubio the Dept. of Electrical Computer and Biomedical Engineering University of Pavia Italy the Dept. of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy the Dept. de Ingeniería de Sistemas y Automática Escuela Superior de Ingenieros Universidad de Sevilla Spain

ISBN: (纸本)9781509045839

The objective of the paper is the design of a ramp metering control scheme for freeway systems in which the traffic state estimation is also considered. The development of an approach for estimating the traffic densities is motivated by the fact that traffic flow measurements at some locations are in many cases the only available information obtained by sensors, whereas the knowledge of the traffic density is necessary for determining suitable ramp metering actions. A piecewise-affine version of the Asymmetric Cell Transmission Model is adopted and, on the basis of its operating mode and observability properties, a density estimation mechanism based on switched Luenberger observers is realized. The problem is formulated and solved resorting to Linear Matrix Inequalities. The ramp metering control action is then computed by applying a Model Predictive Control approach that uses state estimates in place of measurements. Some simulation results have been performed to test the effectiveness of the proposed approach.

关键词： estimation freeway systems

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An oculus rift based exergame to improve awareness in disabled people 11

An oculus rift based exergame to improve awareness in disabl...

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11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, VISIGRAPP 2016

作者： Chessa, Manuela Balocchi, Gabriele Busi, Michela Novellino, Antonio Solari, Fabio Dept. of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Viale Causa 13 Genoa Italy ETT SpA Via Sestri 37 Genoa16154 Italy

In this paper we present an exergame, based on the Oculus Rift head-mounted-display, with the aim of improving spatial awareness in young people with cognitive deficits. The scope is to create a virtual environment that should be immersive, and should allow a natural human-computer interaction, without creating discomfort to the users. The exergame is simple, since the aim of the present work is not to create a photo-realistic scenario, but a familiar environment in which to play and exercise cognitive abilities. To measure and track the movements of the users' legs, in order to simulate the walking in the environment in a safe way, an additional sensor, the Playstation Move, has been embedded into the system. Finally, the system has been tested with some disabled subjects, who confirmed the usability of the exergame and a general positive feeling with such an immersive virtual reality. Copyright © 2016 by SCITEPRESS - Science and Technology Publications, Lda. All rights reserved.

关键词： Virtual reality

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Nano risk evaluation in laboratory environment by a customized layer of protection analysis approach

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Chemical engineering Transactions 2017年 61卷 1063-1068页

作者： Lunghi, Erika Reverberi, Andrea P. Pastorino, Laura Fabiano, Bruno Civil Chemical and Environmental Engineering Department DICCA Polytechnic School Genoa University via Opera Pia 15 Genoa16145 Italy Chemistry and Industrial Chemistry Dept. DCCI Genoa University via Dodecaneso 31 Genoa16146 Italy Informatics Bioengineering Robotics and System Engineering Dept. via Opera Pia 13 Genoa16145 Italy

Nanotechnologies are widely used in various industrial settings and by the year 2020, it is expected that nearly 20 % of all products manufactured in the world will take a certain amount of nanotechnology. However, there is a substantial imbalance of knowledge between application of nanotechnology and its impact on health and environment, also considering that nanoparticle synthesis by chemical methods assumed a key role for economic, industrial and scale-up issues. The information currently available on nanomaterial risk assessment within the workplace are limited: systematic methods for assessing exposure are not known yet and the number of workers exposed is hardly estimated. This knowledge gap imposes to the scientific community the need to join efforts to provide a shared opinion on safety, health and welfare of workers who use, manipulate, or produce nanomaterials, adopting as well preventive and protective measures proportionated to the risk according to the precautionary principle. We develop a novel framework for Nano Risk Assessment within the laboratory context, by combining LOPA and HazId techniques, assigning credit factors to specific operative procedures and safety training, suitable to mitigate risk exposure and avoid over-conservative evaluations. Conclusions are drawn on applicative results and possible direction for further implementation of the approach, in view of sustainable, healthy and safe production at research and industrial level. Copyright © 2017, AIDIC Servizi S.r.l.

关键词： Risk assessment

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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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Predicting seizures in untreated temporal lobe epilepsy using point-process nonlinear models of heartbeat dynamics

Predicting seizures in untreated temporal lobe epilepsy usin...

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

作者： G. Valenza A. Romigi L. Citi F. Placidi F. Izzi M. Albanese E. P. Scilingo M. G. Marciani A. Duggento M. Guerrisi N. Toschi R. Barbieri Dept. of Information Engineering University of Pisa Pisa Italy Massachusetts General Hospital Harvard Medical School Boston USA Dept. of Systems Medicine Tor Vergata University and Hospital Rome Italy 2IRCCS Neuromed Sleep Medicine Centre Pozzilli IS Italy School of Computer Science and Electronic Engineering University of Essex Colchester UK Dept. of Biomedicine and Prevention University of Rome “Tor Vergata” Rome Italy Dept. of Electronics Informatics and Bioengineering Politecnico di Milano Milano Italy

Symptoms of temporal lobe epilepsy (TLE) are frequently associated with autonomic dysregulation, whose underlying biological processes are thought to strongly contribute to sudden unexpected death in epilepsy (SUDEP). While abnormal cardiovascular patterns commonly occur during ictal events, putative patterns of autonomic cardiac effects during pre-ictal (PRE) periods (i.e. periods preceding seizures) are still unknown. In this study, we investigated TLE-related heart rate variability (HRV) through instantaneous, nonlinear estimates of cardiovascular oscillations during inter-ictal (INT) and PRE periods. ECG recordings from 12 patients with TLE were processed to extract standard HRV indices, as well as indices of instantaneous HRV complexity (dominant Lyapunov exponent and entropy) and higher-order statistics (bispectra) obtained through definition of inhomogeneous point-process nonlinear models, employing Volterra-Laguerre expansions of linear, quadratic, and cubic kernels. Experimental results demonstrate that the best INT vs. PRE classification performance (balanced accuracy: 73.91%) was achieved only when retaining the time-varying, nonlinear, and non-stationary structure of heartbeat dynamical features. The proposed approach opens novel important avenues in predicting ictal events using information gathered from cardiovascular signals exclusively.

关键词： Heart rate variability Brain models Epilepsy Complexity theory Frequency measurement Resonant frequency

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Bioelectrical and metabolic activity recordings by means of organic field effect transistors

Bioelectrical and metabolic activity recordings by means of ...

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AISEM Annual Conference

作者： A. Spanu M. Tedesco S. Martinoia S. Lai P. Cosseddu A. Bonfiglio Dept. of Informatics Bioengineering Robotics and System Engineering University of Genova Genova Italy Dept. of Electrical and Electronic Engineering University of Cagliari Cagliari Italy

The introduction, in the early 70's, of the Ion Sensitive Field Effect Transistor (ISFET), completely revolutionized the biosensing field thanks to its versatility and the reliability of its transduction principle. Since then, a lot of different ISFET-based biosensors have been studied and realized for a great number of applications. Among them, a fast growing field of application is the electrophysiological field, in which ISFET-based sensors are employed for the detection of several parameters of electroactive cells, such as their electrical and metabolic activity. Here an innovative system based on a particular kind of Organic Thin Film Transistor (OTFT), called Organic Charge Modulated FET (OCMFET), is presented as a flexible, transparent, and low cost alternative to common ISFETs for the transduction of the electrical and metabolic activity of electrogenic cells. The exploitation of organic electronics in the electrophysiological field may bring several advantages over the existing techniques, thus introducing a novel paradigm in the way in which we interface living systems.

关键词： Sensors Electrodes Organic thin film transistors Logic gates OFETs

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