A Design Framework for Aggregation in a System of Digital Twins

Mechanical and Mechatronic Engineerin

Maintaining Structured Experiences for Robots via Human Demonstrations: An Architecture To Convey Long-Term Robot\u2019s Beliefs

This PhD thesis presents an architecture for structuring experiences, learned through demonstrations, in a robot memory. To test our architecture, we consider a specific application where a robot learns how objects are spatially arranged in a tabletop scenario. We use this application as a mean to present a few software development guidelines for building architecture for similar scenarios, where a robot is able to interact with a user through a qualitative shared knowledge stored in its memory. In particular, the thesis proposes a novel technique for deploying ontologies in a robotic architecture based on semantic interfaces. To better support those interfaces, it also presents general-purpose tools especially designed for an iterative development process, which is suitable for Human-Robot Interaction scenarios. We considered ourselves at the beginning of the first iteration of the design process, and our objective was to build a flexible architecture through which evaluate different heuristic during further development iterations. Our architecture is based on a novel algorithm performing a oneshot structured learning based on logic formalism. We used a fuzzy ontology for dealing with uncertain environments, and we integrated the algorithm in the architecture based on a specific semantic interface. The algorithm is used for building experience graphs encoded in the robot\u2019s memory that can be used for recognising and associating situations after a knowledge bootstrapping phase. During this phase, a user is supposed to teach and supervise the beliefs of the robot through multimodal, not physical, interactions. We used the algorithm to implement a cognitive like memory involving the encoding, storing, retrieving, consolidating, and forgetting behaviours, and we showed that our flexible design pattern could be used for building architectures where contextualised memories are managed with different purposes, i.e. they contains representation of the same experience encoded with different semantics. The proposed architecture has the main purposes of generating and maintaining knowledge in memory, but it can be directly interfaced with perceiving and acting components if they provide, or require, symbolical knowledge. With the purposes of showing the type of data considered as inputs and outputs in our tests, this thesis also presents components to evaluate point clouds, engage dialogues, perform late data fusion and simulate the search of a target position. Nevertheless, our design pattern is not meant to be coupled only with those components, which indeed have a large room of improvement

Connectomics across development:towards mapping brain structure from birth to childhood

The brain is probably the most complex system of the human body, composed of numerous neural units interconnected at dierent scales. This highly structured architecture provides the ability to communicate, synthesize information and perform the analytical tasks of human beings. Its development starts during the transition between the embryonic and fetal periods, from a simple tubular to a highly complex folded structure. It is globally organized as early as birth. This developing process is highly vulnerable to antenatal adverse conditions. Indeed, extreme prematurity and intra uterine growth restriction are major risk factors for long-term morbidities, including developmental ailments such as cerebral palsy, mental retardation and a wide spectrum of learning disabilities and behavior disorders. In this context, the characterization of the brainâs normative wiring pattern is crucial for our understanding of its architecture and workings, as the origin of many neurological and neurobehavioral disorders is found in early structural brain development. Diusion magnetic resonance imaging (dMRI) allows the in vivo assessment of biological tissues at the microstructural level. It has emerged as a powerful tool to study brain connectivity and analyse the underlying substrate of the human brain, comprising its structurally integrated and functionally specialized architecture. dMRI has been widely used in adult studies. Nevertheless, due to technical constraints, this mapping at earlier stages of development has not yet been accomplished. Yet, this time period is of extreme importance to comprehend the structural and functional integrity of the brain. This thesis is motivated by this shortfall, and intends to fill the gap between the clinical and neuroscience demands and the methodological developments needed to fulfill them. In our work, we comprehensibly study the brain structural connectivity of children born extremely prematurely and/or with additional prenatal restriction at school-age. We provide evidence that brain systems that mature early in development are the most vulnerable to antenatal insults. Interestingly, the alterations highlighted in these systems correlate with the neurobehavioral and cognitive impairments seen in these children at school-age. The overall brain organization appear also altered after preterm birth and prenatal restriction. Indeed, these children show dierent brain network modular topology, with a reduction in the overall network capacity. What remains unclear is whether the alterations seen at school age are already present at birth and, if yes, to what extent. In this thesis we set the technical basis to enable the connectome analysis as early as at birth. This task is challenging when dealing with neonatal data. Indeed, most of the assumptions used in adult data processing methods do not hold, due to the inverted image contrast and other MRI artefacts such as motion, partial volume and intensity inhomogeneities. Here, we propose a novel technique for surface reconstruction, and provide a fully-automatic procedure to delineate the newborn cortical surface, opening the way to establish the newborn connectome

LIPIcs, Volume 248, ISAAC 2022, Complete Volume

LIPIcs, Volume 248, ISAAC 2022, Complete Volum

Feature Papers of Drones - Volume I

[EN] The present book is divided into two volumes (Volume I: articles 1–23, and Volume II: articles 24–54) which compile the articles and communications submitted to the Topical Collection ”Feature Papers of Drones” during the years 2020 to 2022 describing novel or new cutting-edge designs, developments, and/or applications of unmanned vehicles (drones). Articles 1–8 are devoted to the developments of drone design, where new concepts and modeling strategies as well as effective designs that improve drone stability and autonomy are introduced. Articles 9–16 focus on the communication aspects of drones as effective strategies for smooth deployment and efficient functioning are required. Therefore, several developments that aim to optimize performance and security are presented. In this regard, one of the most directly related topics is drone swarms, not only in terms of communication but also human-swarm interaction and their applications for science missions, surveillance, and disaster rescue operations. To conclude with the volume I related to drone improvements, articles 17–23 discusses the advancements associated with autonomous navigation, obstacle avoidance, and enhanced flight plannin