Towards generalized measures grasping CA dynamics

In this paper we conceive Lyapunov exponents, measuring the rate of separation between two initially close configurations, and Jacobians, expressing the sensitivity of a CA's transition function to its inputs, for cellular automata (CA) based upon irregular tessellations of the n-dimensional Euclidean space. Further, we establish a relationship between both that enables us to derive a mean-field approximation of the upper bound of an irregular CA's maximum Lyapunov exponent. The soundness and usability of these measures is illustrated for a family of 2-state irregular totalistic CA

Tracking uncertainty in a spatially explicit susceptible-infected epidemic model

In this paper we conceive an interval-valued continuous cellular automaton for describing the spatio-temporal dynamics of an epidemic, in which the magnitude of the initial outbreak and/or the epidemic properties are only imprecisely known. In contrast to well-established approaches that rely on probability distributions for keeping track of the uncertainty in spatio-temporal models, we resort to an interval representation of uncertainty. Such an approach lowers the amount of computing power that is needed to run model simulations, and reduces the need for data that are indispensable for constructing the probability distributions upon which other paradigms are based

A New Approach to Dynamic Modeling of Continuum Robots

ABSTRACT In this thesis, a new approach for developing practically realizable dynamic models for continuum robots is proposed. Based on the new dynamic models developed, a novel technique for analyzing the capabilities of continuum manipulators to be employed in various real world applications has also been proposed and developed. A section of a continuum arm is modeled using lumped model elements (masses, springs and dampers). It is shown that this model, although an approximation to a continuum structure, can be used to conveniently analyze the dynamics of the arm with suitable tradeoff in accuracy of modeling. This relatively simple model is more plausible to implement in an actual real-time controller when compared to other techniques of modeling continuum arms. Principles of Lagrangian dynamics are used to derive the expressions for the generalized forces in the system. The force exerted by McKibben actuators at different pressure level - length pairs is characterized and is incorporated into this dynamic model. The constraints introduced in the analytical model conform to the physical and operational limitations of the Octarm VI continuum robot manipulator. The model is validated by comparing the results of numerical simulation with the physical measurements of a continuum arm prototype built using McKibben actuators. Based on the new lumped parameter dynamic model developed for continuum robots, a technique for deducing measures of manipulability, forces and impacts that can be sustained or imparted by the tip of a continuum robot has been developed. These measures are represented in the form of ellipsoids whose volume and orientation gives information about the various functional capabilities (end effector velocities, forces and impacts) of the arm at a particular configuration. The above mentioned ellipsoids are exemplified for different configurations of the continuum section arm and their physical significances are analyzed. The new techniques proposed and methodologies adopted in this thesis supported by experimental results represent a significant contribution to the field of continuum robots

Methods and Tools for Objective Assessment of Psychomotor Skills in Laparoscopic Surgery

Training and assessment paradigms for laparoscopic surgical skills are evolving from traditional mentor–trainee tutorship towards structured, more objective and safer programs. Accreditation of surgeons requires reaching a consensus on metrics and tasks used to assess surgeons’ psychomotor skills. Ongoing development of tracking systems and software solutions has allowed for the expansion of novel training and assessment means in laparoscopy. The current challenge is to adapt and include these systems within training programs, and to exploit their possibilities for evaluation purposes. This paper describes the state of the art in research on measuring and assessing psychomotor laparoscopic skills. It gives an overview on tracking systems as well as on metrics and advanced statistical and machine learning techniques employed for evaluation purposes. The later ones have a potential to be used as an aid in deciding on the surgical competence level, which is an important aspect when accreditation of the surgeons in particular, and patient safety in general, are considered. The prospective of these methods and tools make them complementary means for surgical assessment of motor skills, especially in the early stages of training. Successful examples such as the Fundamentals of Laparoscopic Surgery should help drive a paradigm change to structured curricula based on objective parameters. These may improve the accreditation of new surgeons, as well as optimize their already overloaded training schedules

Reformism and Evaluation in the Field of Social and Political Sciences. Consequences for the Academic Community, Projects, People

After the introduction of the most recent University evaluation reforms, this article aims at presenting the first findings of a research project on these reforms and the evaluation processes carried out so far in the field of social and political sciences. In particular, the research wishes to investigate the relational dynamics, the behaviors and the values of the academic profession with special attention to the scientific activity, but without putting aside the implications for the teaching, management and the “third mission” activities. Inserted in the line of studies on higher education and evaluation well consolidated in Italy, the research is characterized by the added value  of  connecting the criticaltheoretical level to the empirical one