Ontology for autonomous robotics

Creating a standard for knowledge representation and reasoning in autonomous robotics is an urgent task if we consider recent advances in robotics as well as predictions about the insertion of robots in human daily life. Indeed, this will impact the way information is exchanged between multiple robots or between robots and humans and how they can all understand it without ambiguity. Indeed, Human Robot Interaction (HRI) represents the interaction of at least two cognition models (Human and Robot). Such interaction informs task composition, task assignment, communication, cooperation and coordination in a dynamic environment, requiring a flexible representation. Hence, this paper presents the IEEE RAS Autonomous Robotics (AuR) Study Group, which is a spin-off of the IEEE Ontologies for Robotics and Automation (ORA) Working Group, and its ongoing work to develop the first IEEE-RAS ontology standard for autonomous robotics. In particular, this paper reports on the current version of the ontology for autonomous robotics as well as on its first implementation successfully validated for a human-robot interaction scenario, demonstrating the developed ontology’s strengths which include semantic interoperability and capability to relate ontologies from different fields for knowledge sharing and interactions.info:eu-repo/semantics/publishedVersio

Designing Tools for Reflection: a concept-driven approach

We are surrounded by objects. We often use and interact with them to do our daily activities. They do not only support us and augment our abilities, but also, can be considered as companions of our thoughts. We think with objects, because they contain information about us: about our memories, experiences, emotions, and activities as Sherry Turkle highlights (2011). Furthermore, our everyday objects are increasingly computed, smart and connected to the Internet. They are able to collect data, elaborate and provide real-time feedbacks. These feedbacks cannot only support us to improve our activities, but also enables critical thinking and reflection on our actions. This resonates very well with what Donald Schön meant by having reflective conversation with materials at hand (1983;1996). He highlighted that materials –artifacts– of a situation talk back to designer, so they enable and support reflection in action of designing. So, how about if we consider that our daily objects can talk back and make us think on our actions in order to consider alternatives? This dissertation, is an attempt to consider this opportunity. The nature of this dissertation is mostly conceptual and its scope is defining the physical and behavioral characteristics of smart artifacts able to provoke thoughts and reflection in user leading to a conscious behavior change. I sought to use existing theories about reflective thinking in HCI and beyond, as valuable sources for developing design concept. I have been inspired by the Concept-Driven interaction design research (Stolterman and Wiberg 2011) and created and defined the whole structure of this dissertation based on this methodology, from the definition of the concept – Tool for Reflection – to the construction of a theoretical model from the design outcome –Make Me Think model. During this process, I used different methods such as conducting literature analysis, context analysis, survey, participatory session and prototyping. The sustainable urban mobility behaviors in the city of Turin (Italy) as the target behavior and home as the place for using Tool for Reflection have been chosen for this research. In particular, informed by architectural studies, I conceptualized In-Between Places as a category of places that connect home places to city places. I suggested to consider such areas as suitable places for evoking thoughts on urban mobility behaviors, in home. This dissertation provides a theoretical perspective with which to guide the design of smart objects that evoke reflection. It first provides a set of characteristics of a Tool for Reflection as a physical artifact. Then it provides a theoretical model, considering the relationship between a Tool for Reflection and a user. The key contributions include the design of the Sóle, a smart lamp, not only as an example of a Tool for Reflection with its theoretically pre-defined characteristics, but also as an instrument for iterating from design to the theory. The overall approach, the methodology and the findings should be of interest in particular to researchers working on design for reflection in the HCI. More broadly this dissertation can be of interest of researchers in the HCI, whose research is around designing artifacts, both as an ‘outcome’ and as an ‘instrument’ of the research process

Experimentation with sdr sensors for cloud gnss signal processing

The implementation of conventional GNSS positioning techniques in IoT devices, in which low energy consumption is always a priority, is not feasible in most cases because they require too much energy consumption. Thanks to the technological advances of recent years, new techniques have been developed that manage to free the device from the vast majority of work, drastically reducing its energy consumption in addition to many other advantages. With this premise and under the atmosphere of the European project "Navigation and GNSS in Smart Cities - Testbed Concept Definition (HANSEL)", the objective of the student will be to design, develop and validate a prototype of sensor capable of capturing, storing and transmitting GNSS and Cellular signal fragments for later remote processing on an external server. For this, the student must learn about technologies such as GNSS positioning by processing signal fragments, assisted GNSS positioning, and capturing radio-frequency signals through the use of devices based on Software Defined Radio, among others. He will also need to develop his autonomy and creativity to find a way to overcome the challenges that each task presents

A cellular model for human daily behaviour

All the biochemical, physiological or behavioural processes whose period is about 24 hours possess a circadian rhythm. In mammals circadian rhythms control almost all aspects of human daily behaviour and physiology. Dysregulation of circadian rhythms leads to several pathologies, such as depression, cancer and metabolic syndromes. Mammalian circadian system is organized in a hierarchic fashion: suprachiasmatic nucleus (SCN) is master clock and governs the circadian rhythms of all peripheral oscillators, virtually all the other cells of the body. The study of human circadian rhythms in subjects in vivo is expensive, time consuming and invading. However, since SCN and peripheral oscillators share the same circadian molecular machinery, it is possible to use peripheral oscillator as model to study molecular mechanisms of circadian rhythms. To visualize in real-time cellular circadian rhythms, fibroblasts were infected with a lentivirus coding for the circadian reporter firefly luciferase under a clock gene promoter (Bmal1). After the synchronization of circadian rhythms, the measurement of the light emitted by the cells gave a representation of fibroblast circadian oscillations. The aim of the thesis was to establish the use of human primary skin fibroblasts as a valuable model to study different aspects of human circadian rhythms. To address these questions three projects were designed. A first set of experiments aimed at validating human skin fibroblast model, ascertaining that this in vitro model parallels in vivo human circadian parameters. We found a very good correlation between the in vivo and the in vitro period length in the three groups of subjects (two sighted and one blind) recruited for this study. Interestingly, although the in vivo period obtained from the blind group was longer than the in vivo period obtained from the sighted groups, the in vitro period length from the three groups of subjects was similar, revealing that human skin fibroblasts are insensitive to the after-effects caused by light. In summary, human circadian period can be approximated by measurement in fibroblasts. In a second project human age-related circadian impairments were studied in the cellular skin fibroblasts model. Indeed sleep-wake cycle alterations and phase advancing of gene expression and behaviour can be found in elder individuals. To better understand the rebound of ageing on the circadian rhythms we characterized the period length of skin fibroblasts from young and elder persons. No differences in amplitude, phase and period length were found between cells from the two groups. However, in the presence of sera from older donors human fibroblasts showed a reduced period length and a shorter phase of entrainment compared to the same cells measured in the presence of sera from young donors. These differences are likely due to one or more thermolabile substances, since heat-inactivation of sera from older donors almost undid the reduction of the circadian period length. Thus, these results suggest that during ageing the molecular machinery of peripheral circadian clocks does not change per se, but some age-related circadian changes observed in vivo might be caused by circulating molecules. Human fibroblasts were also used to investigate the role of melatonin as zeitgeber on peripheral oscillators. Melatonin is secreted in a circadian fashion and was demonstrated to regulate the SCN firing rate and to entrain the sleep-wake cycle of most mammals and humans. The circadian presence of melatonin is well conserved in all biological fluids, suggesting that melatonin may be one of the molecules that the master clock uses to synchronize peripheral oscillators. This hypothesis was tested in damped fibroblasts, using a wide range of concentrations of melatonin to restore the amplitude of the rhythms. However, no increase of amplitude or phase shift of the rhythms was observed after treating cells with melatonin. Moreover, the application of the hormone to newly synchronized oscillators decreased their bioluminescence. In summary, the experiments demonstrated that melatonin does not play a direct role as peripheral oscillator zeitgeber. In conclusion, the studies of the present thesis succeeded in revealing three primary findings: first, fibroblast circadian rhythms parallel human circadian physiology, such as circadian period length. Second, apparently, during ageing the molecular components of peripheral circadian clocks in skin fibroblasts do not change per se, but some age-related circadian changes observed in vivo might be caused by one or more heat-sensitive substances present in the blood of older subjects. Finally, melatonin does not possess direct synchronizing properties on peripheral oscillators like fibroblasts. In total, the present thesis revealed that primary human skin fibroblasts are an easily accessible, cheap and reliable model to enlighten our understanding of human circadian mechanisms

Assessing the Impact of Game Day Schedule and Opponents on Travel Patterns and Route Choice using Big Data Analytics

The transportation system is crucial for transferring people and goods from point A to point B. However, its reliability can be decreased by unanticipated congestion resulting from planned special events. For example, sporting events collect large crowds of people at specific venues on game days and disrupt normal traffic patterns. The goal of this study was to understand issues related to road traffic management during major sporting events by using widely available INRIX data to compare travel patterns and behaviors on game days against those on normal days. A comprehensive analysis was conducted on the impact of all Nebraska Cornhuskers football games over five years on traffic congestion on five major routes in Nebraska. We attempted to identify hotspots, the unusually high-risk zones in a spatiotemporal space containing traffic congestion that occur on almost all game days. For hotspot detection, we utilized a method called Multi-EigenSpot, which is able to detect multiple hotspots in a spatiotemporal space. With this algorithm, we were able to detect traffic hotspot clusters on the five chosen routes in Nebraska. After detecting the hotspots, we identified the factors affecting the sizes of hotspots and other parameters. The start time of the game and the Cornhuskers’ opponent for a given game are two important factors affecting the number of people coming to Lincoln, Nebraska, on game days. Finally, the Dynamic Bayesian Networks (DBN) approach was applied to forecast the start times and locations of hotspot clusters in 2018 with a weighted mean absolute percentage error (WMAPE) of 13.8%

Human immunodeficiency virus and diabetes mellitus : a missed link to improve pregnancy outcome in Ethiopia

Introduction: Evidences indicate that human immuno-deficiency virus (HIV) and diabetes (DM) impact pregnancy outcomes but no experience on the integrated service delivery of HIV, DM and pregnancy care. This study explored the domains and levels of integration among DM, HIV and pregnancy care to prepare a service delivery model in Ethiopia. Methods: A sequential exploratory mixed method and the integration theoretical framework guided the study. An exploratory qualitative phase used focused group discussion, in-depth interview and observation to explore the level of integration and to refine a questionnaire for the quantitative phase. The data were transcribed and coded for theme-based analysis. The descriptive quantitative phase described HIV, DM and pregnancy care services, and determined the burden of DM among HIV patients and the prevalence of pregnancy and pregnancy outcomes. Data was analysed using Epi-info. The findings were triangulated, discussed and interpreted. Results: Seven themes were generated: joint plan, shared budget, monitoring system, structural location, the need of policy guide, the practice of integrated service delivery and suggested integration approaches. A coordinated HIV and pregnancy care services were noted. There was a linkage between diabetes and HIV, and diabetes and pregnancy care. The 1.5% of diabetes among HIV, the low number of pregnancies per a mother in diabetes (1.8) and HIV (1.3); the high adverse pregnancy outcomes among HIV (13.4% abortion, 12.4% low birth weight (LBW), 3.5% pre-term birth, 2.1% congenital malformation) and diabetes (3.2% big baby, 3.2% LBW, 3.1% Cesarean-section); the respective absent and low (16.2%) diabetes screening service at anti-natal and HIV clinics, the absent pregnancy care service for diabetic females justified the development of the tripartite integrated service delivery model of diabetes, HIV and pregnancy care. Conclusions: The model suggests active diabetes screening, evaluation and treatment at HIV and antenatal clinics. It considers the coordination between non-communicable diseases (NCD), HIV and maternal health units. Pregnancy care could be coordinated at HIV and NCD units. Full integration can be practiced between HIV and pregnancy care units. Preparing policy guide, building the capacity of health providers, advocating and piloting the model may be prioritized before the implementation of the model.Health StudiesD. Litt. et Phil. (Health Studies

Symmetric and Asymmetric Distributions

In recent years, the advances and abilities of computer software have substantially increased the number of scientific publications that seek to introduce new probabilistic modelling frameworks, including continuous and discrete approaches, and univariate and multivariate models. Many of these theoretical and applied statistical works are related to distributions that try to break the symmetry of the normal distribution and other similar symmetric models, mainly using Azzalini's scheme. This strategy uses a symmetric distribution as a baseline case, then an extra parameter is added to the parent model to control the skewness of the new family of probability distributions. The most widespread and popular model is the one based on the normal distribution that produces the skewed normal distribution. In this Special Issue on symmetric and asymmetric distributions, works related to this topic are presented, as well as theoretical and applied proposals that have connections with and implications for this topic. Immediate applications of this line of work include different scenarios such as economics, environmental sciences, biometrics, engineering, health, etc. This Special Issue comprises nine works that follow this methodology derived using a simple process while retaining the rigor that the subject deserves. Readers of this Issue will surely find future lines of work that will enable them to achieve fruitful research results

Safety assessment of next generation nuclear systems: methodology development and case studies on fission and fusion devices

L'abstract è presente nell'allegato / the abstract is in the attachmen

Organizational Misconduct within the National Collegiate Athletic Association

Prior research on organizational misconduct within intercollegiate athletics focuses on the penalties administered by the NCAA and types of violations committed by member institutions, rather than the engagement of misconduct and the role of the NCAA as a social-control agent. Consequently, the purpose of this dissertation is to analyze the relationship between social-control agents and potential wrongdoers (i.e., organizations), in addition to how the relationship affects the evolving line separating right from wrong. A three-paper multiple method examination has been conducted, including a historical analysis of NCAA enforcement, a qualitative framing analysis on the detailing of NCAA major infractions to the public, and a quantitative analysis on the likelihood of sanctions as a result of engaging in organizational misconduct. The historical chapter advances literature on social-control agents by investigating the concept of organizational layering which takes place when third-party regulators examine cases of organizational misconduct. The qualitative chapter expands literature on framing theory, specifically the analysis on the different framing techniques utilized by social control agents and media members when present cases of organizational misconduct to the public. The quantitative chapter consists of a two-stage probit regression model which found evidence that the type of violations committed in major violation cases are significant in determining the likelihood of sanctions. This study will contribute to intercollegiate athletic administration by providing an opportunity to better comprehend NCAA enforcement procedures, along with utilizing the findings to discover how the NCAA functions as a social-control agent