Fast, Robust, and Versatile Event Detection through HMM Belief State Gradient Measures

Event detection is a critical feature in data-driven systems as it assists with the identification of nominal and anomalous behavior. Event detection is increasingly relevant in robotics as robots operate with greater autonomy in increasingly unstructured environments. In this work, we present an accurate, robust, fast, and versatile measure for skill and anomaly identification. A theoretical proof establishes the link between the derivative of the log-likelihood of the HMM filtered belief state and the latest emission probabilities. The key insight is the inverse relationship in which gradient analysis is used for skill and anomaly identification. Our measure showed better performance across all metrics than related state-of-the art works. The result is broadly applicable to domains that use HMMs for event detection.Comment: 8 pages, 7 figures, double col, ieee conference forma

Development of a sensor for microvibrations measurement in the AlbaSat CubeSat mission

openMicrovibrations on spacecraft represent an issue for payloads requiring high pointing accuracy and/or stability over time, and they might represent a particular concern for CubeSats and small satellites that, usually, are not equipped with very-high performance attitude control systems. Hence, collecting reliable measures of the vibration spectra during the operations of a CubeSat represents a significant research activity. This thesis presents the development of a sensor, configured as a payload within the AlbaSat mission, capable of accurately measuring the microvibrations in space, with particular focus on those produced by the Momentum Exchange Devices (MED), i.e., Reaction or Momentum Wheels, that represent one of the most important microvibrations sources. The thesis takes place in the framework of the AlbaSat mission. AlbaSat is a 2U CubeSat developed by a student team of the University of Padova under the “Fly Your Satellite! – Design Booster” programme promoted by the European Space Agency (ESA). The mission has four different objectives: (1) to collect measurements of the space debris environment in-situ, (2) to measure the microvibrations on board the CubeSat, (3) to precisely determine the position of the satellite through laser ranging and (4) to investigate alternative systems for possible Satellite Quantum Communication applications on nanosatellites. The requirements for the correct sizing of the sensor and the chosen physical and functional architecture are defined and presented in the thesis. A meticulous schedule for functional tests is finally outlined, aimed at verifying the correct functionality of the microvibration sensor. These tests serve as a starting point for the future development of the payload.Microvibrations on spacecraft represent an issue for payloads requiring high pointing accuracy and/or stability over time, and they might represent a particular concern for CubeSats and small satellites that, usually, are not equipped with very-high performance attitude control systems. Hence, collecting reliable measures of the vibration spectra during the operations of a CubeSat represents a significant research activity. This thesis presents the development of a sensor, configured as a payload within the AlbaSat mission, capable of accurately measuring the microvibrations in space, with particular focus on those produced by the Momentum Exchange Devices (MED), i.e., Reaction or Momentum Wheels, that represent one of the most important microvibrations sources. The thesis takes place in the framework of the AlbaSat mission. AlbaSat is a 2U CubeSat developed by a student team of the University of Padova under the “Fly Your Satellite! – Design Booster” programme promoted by the European Space Agency (ESA). The mission has four different objectives: (1) to collect measurements of the space debris environment in-situ, (2) to measure the microvibrations on board the CubeSat, (3) to precisely determine the position of the satellite through laser ranging and (4) to investigate alternative systems for possible Satellite Quantum Communication applications on nanosatellites. The requirements for the correct sizing of the sensor and the chosen physical and functional architecture are defined and presented in the thesis. A meticulous schedule for functional tests is finally outlined, aimed at verifying the correct functionality of the microvibration sensor. These tests serve as a starting point for the future development of the payload

Proceedings of the 2018 Canadian Society for Mechanical Engineering (CSME) International Congress

Published proceedings of the 2018 Canadian Society for Mechanical Engineering (CSME) International Congress, hosted by York University, 27-30 May 2018

Designing a New Tactile Display Technology and its Disability Interactions

People with visual impairments have a strong desire for a refreshable tactile interface that can provide immediate access to full page of Braille and tactile graphics. Regrettably, existing devices come at a considerable expense and remain out of reach for many. The exorbitant costs associated with current tactile displays stem from their intricate design and the multitude of components needed for their construction. This underscores the pressing need for technological innovation that can enhance tactile displays, making them more accessible and available to individuals with visual impairments. This research thesis delves into the development of a novel tactile display technology known as Tacilia. This technology's necessity and prerequisites are informed by in-depth qualitative engagements with students who have visual impairments, alongside a systematic analysis of the prevailing architectures underpinning existing tactile display technologies. The evolution of Tacilia unfolds through iterative processes encompassing conceptualisation, prototyping, and evaluation. With Tacilia, three distinct products and interactive experiences are explored, empowering individuals to manually draw tactile graphics, generate digitally designed media through printing, and display these creations on a dynamic pin array display. This innovation underscores Tacilia's capability to streamline the creation of refreshable tactile displays, rendering them more fitting, usable, and economically viable for people with visual impairments

Psr1p interacts with SUN/sad1p and EB1/mal3p to establish the bipolar spindle

Regular Abstracts - Sunday Poster Presentations: no. 382During mitosis, interpolar microtubules from two spindle pole bodies (SPBs) interdigitate to create an antiparallel microtubule array for accommodating numerous regulatory proteins. Among these proteins, the kinesin-5 cut7p/Eg5 is the key player responsible for sliding apart antiparallel microtubules and thus helps in establishing the bipolar spindle. At the onset of mitosis, two SPBs are adjacent to one another with most microtubules running nearly parallel toward the nuclear envelope, creating an unfavorable microtubule configuration for the kinesin-5 kinesins. Therefore, how the cell organizes the antiparallel microtubule array in the first place at mitotic onset remains enigmatic. Here, we show that a novel protein psrp1p localizes to the SPB and plays a key role in organizing the antiparallel microtubule array. The absence of psr1+ leads to a transient monopolar spindle and massive chromosome loss. Further functional characterization demonstrates that psr1p is recruited to the SPB through interaction with the conserved SUN protein sad1p and that psr1p physically interacts with the conserved microtubule plus tip protein mal3p/EB1. These results suggest a model that psr1p serves as a linking protein between sad1p/SUN and mal3p/EB1 to allow microtubule plus ends to be coupled to the SPBs for organization of an antiparallel microtubule array. Thus, we conclude that psr1p is involved in organizing the antiparallel microtubule array in the first place at mitosis onset by interaction with SUN/sad1p and EB1/mal3p, thereby establishing the bipolar spindle.postprin

Removal of antagonistic spindle forces can rescue metaphase spindle length and reduce chromosome segregation defects

Regular Abstracts - Tuesday Poster Presentations: no. 1925Metaphase describes a phase of mitosis where chromosomes are attached and oriented on the bipolar spindle for subsequent segregation at anaphase. In diverse cell types, the metaphase spindle is maintained at a relatively constant length. Metaphase spindle length is proposed to be regulated by a balance of pushing and pulling forces generated by distinct sets of spindle microtubules and their interactions with motors and microtubule-associated proteins (MAPs). Spindle length appears important for chromosome segregation fidelity, as cells with shorter or longer than normal metaphase spindles, generated through deletion or inhibition of individual mitotic motors or MAPs, showed chromosome segregation defects. To test the force balance model of spindle length control and its effect on chromosome segregation, we applied fast microfluidic temperature-control with live-cell imaging to monitor the effect of switching off different combinations of antagonistic forces in the fission yeast metaphase spindle. We show that spindle midzone proteins kinesin-5 cut7p and microtubule bundler ase1p contribute to outward pushing forces, and spindle kinetochore proteins kinesin-8 klp5/6p and dam1p contribute to inward pulling forces. Removing these proteins individually led to aberrant metaphase spindle length and chromosome segregation defects. Removing these proteins in antagonistic combination rescued the defective spindle length and, in some combinations, also partially rescued chromosome segregation defects. Our results stress the importance of proper chromosome-to-microtubule attachment over spindle length regulation for proper chromosome segregation.postprin

History of Construction Cultures Volume 1

History of Construction Cultures Volume 1 contains papers presented at the 7ICCH – Seventh International Congress on Construction History, held at the Lisbon School of Architecture, Portugal, from 12 to 16 July, 2021. The conference has been organized by the Lisbon School of Architecture (FAUL), NOVA School of Social Sciences and Humanities, the Portuguese Society for Construction History Studies and the University of the Azores. The contributions cover the wide interdisciplinary spectrum of Construction History and consist on the most recent advances in theory and practical case studies analysis, following themes such as: - epistemological issues; - building actors; - building materials; - building machines, tools and equipment; - construction processes; - building services and techniques ; -structural theory and analysis ; - political, social and economic aspects; - knowledge transfer and cultural translation of construction cultures. Furthermore, papers presented at thematic sessions aim at covering important problematics, historical periods and different regions of the globe, opening new directions for Construction History research. We are what we build and how we build; thus, the study of Construction History is now more than ever at the centre of current debates as to the shape of a sustainable future for humankind. Therefore, History of Construction Cultures is a critical and indispensable work to expand our understanding of the ways in which everyday building activities have been perceived and experienced in different cultures, from ancient times to our century and all over the world

Dichotomic role of NAADP/two-pore channel 2/Ca2+ signaling in regulating neural differentiation of mouse embryonic stem cells

Poster Presentation - Stem Cells and Pluripotency: abstract no. 1866The mobilization of intracellular Ca2+stores is involved in diverse cellular functions, including cell proliferation and differentiation. At least three endogenous Ca2+mobilizing messengers have been identified, including inositol trisphosphate (IP3), cyclic adenosine diphosphoribose (cADPR), and nicotinic adenine acid dinucleotide phosphate (NAADP). Similar to IP3, NAADP can mobilize calcium release in a wide variety of cell types and species, from plants to animals. Moreover, it has been previously shown that NAADP but not IP3-mediated Ca2+increases can potently induce neuronal differentiation in PC12 cells. Recently, two pore channels (TPCs) have been identified as a novel family of NAADP-gated calcium release channels in endolysosome. Therefore, it is of great interest to examine the role of TPC2 in the neural differentiation of mouse ES cells. We found that the expression of TPC2 is markedly decreased during the initial ES cell entry into neural progenitors, and the levels of TPC2 gradually rebound during the late stages of neurogenesis. Correspondingly, perturbing the NAADP signaling by TPC2 knockdown accelerates mouse ES cell differentiation into neural progenitors but inhibits these neural progenitors from committing to the final neural lineage. Interestingly, TPC2 knockdown has no effect on the differentiation of astrocytes and oligodendrocytes of mouse ES cells. Overexpression of TPC2, on the other hand, inhibits mouse ES cell from entering the neural lineage. Taken together, our data indicate that the NAADP/TPC2-mediated Ca2+signaling pathway plays a temporal and dichotomic role in modulating the neural lineage entry of ES cells; in that NAADP signaling antagonizes ES cell entry to early neural progenitors, but promotes late neural differentiation.postprin