Applying neuromorphic vision sensors to planetary landing tasks

Recently there has been an increasing interest in application of bio-mimetic controller s and neuromorphic vision sensor s to planetary landing tasks. Within this context, we present combined low-level (SPICE) and high-level (behavioral) simulations of a novel neuromorphic VLSI vision sensor in a realistic planetary landing scenar io. We use results from low level simulations to build an abstr act descr iption of the chip which can be used in higher level simulations which include closed-loop control of the cr aft

Scale-free networks in complex systems

In the past few years, several studies have explored the topology of interactions in different complex systems. Areas of investigation span from biology to engineering, physics and the social sciences. Although having different microscopic dynamics, the results demonstrate that most systems under consideration tend to self-organize into structures that share common features. In particular, the networks of interaction are characterized by a power law distribution, $P(k)\sim k^{-\alpha}$, in the number of connections per node, $k$, over several orders of magnitude. Networks that fulfill this propriety of scale-invariance are referred to as ``scale-free''. In the present work we explore the implication of scale-free topologies in the antiferromagnetic (AF) Ising model and in a stochastic model of opinion formation. In the first case we show that the implicit disorder and frustration lead to a spin-glass phase transition not observed for the AF Ising model on standard lattices. We further illustrate that the opinion formation model produces a coherent, turbulent-like dynamics for a certain range of parameters. The influence, of random or targeted exclusion of nodes is studied.Comment: 9 pages, 4 figures. Proceeding to "SPIE International Symposium Microelectronics, MEMS, and Nanotechnology", 11-15 December 2005, Brisbane, Australi

Event-driven visual attention for the humanoid robot iCub.

Fast reaction to sudden and potentially interesting stimuli is a crucial feature for safe and reliable interaction with the environment. Here we present a biologically inspired attention system developed for the humanoid robot iCub. It is based on input from unconventional event-driven vision sensors and an efficient computational method. The resulting system shows low-latency and fast determination of the location of the focus of attention. The performance is benchmarked against an instance of the state of the art in robotics artificial attention system used in robotics. Results show that the proposed system is two orders of magnitude faster that the benchmark in selecting a new stimulus to attend

A Multi Agent Model for the Limit Order Book Dynamics

In the present work we introduce a novel multi-agent model with the aim to reproduce the dynamics of a double auction market at microscopic time scale through a faithful simulation of the matching mechanics in the limit order book. The agents follow a noise decision making process where their actions are related to a stochastic variable, "the market sentiment", which we define as a mixture of public and private information. The model, despite making just few basic assumptions over the trading strategies of the agents, is able to reproduce several empirical features of the high-frequency dynamics of the market microstructure not only related to the price movements but also to the deposition of the orders in the book.Comment: 20 pages, 11 figures, in press European Physical Journal B (EPJB

Study of semi-synthetic plastic objects of historic interest using non-invasive total reflectance FT-IR

A significant proportion of modern and contemporary artifacts and objects of historical interest, are composed of materials in the form of synthetic, semi-synthetic, and natural polymers. Each class of polymer and corresponding composite plastics are subject to different degradation processes. This means that conservators and curators of 20th century collections are faced with varied, nontrivial preservation issues. An unresolved problem is the identification of early plastics based on semi-synthetic polymers such as cellulose nitrate, cellulose acetate, and casein formaldehyde, which were often used to imitate the more valuable natural materials such as ivory, tortoiseshell, ebony, and bone. This exemplifies the need for non-invasive methods specifically tailored for identification of plastic materials in collections, so as to provide conservators with a means of materials classification to support preventive conservation strategies and interventive treatments. The present work is aimed at evaluating the effectiveness of non-invasive Total Reflectance (TR) FT-IR spectroscopy, coupled with a custom reference spectral TR FT-IR library, for the identification of materials comprising a series of unknown objects. A set of ten heritage objects made from early semi-synthetic materials was used as a training test set to validate the proposed methodological approach. The FT-IR data acquired on the test objects were pre-processed and finally classified using commercial software tools used for the automatic classification of spectra in FT-IR spectroscopy. The procedure was successfully applied to several cases, although residual uncertainties remained in a few examples. The results obtained are critically analyzed and discussed in the perspective of proposing a robust method for in-field prescreening of the chemical composition of plastic artistic and historical objects

Self-reported adherence supports patient preference for the single tablet regimen (STR) in the current cART era

Objective: To analyze self-reported adherence to antiretroviral regimens containing ritonavir-boosted protease inhibitors, non-nucleoside reverse transcriptase inhibitors (NNRTI), raltegravir, and maraviroc. Methods: Overall, 372 consecutive subjects attending a reference center for HIV treatment in Florence, Italy, were enrolled in the study, from December 2010 to January 2012 (mean age 48 years). A self-report questionnaire was filled in. Patients were defined as “non-adherent” if reporting one of the following criteria:<90% of pills taken in the last month, ≥1 missed dose in the last week, spontaneous treatment interruptions reported, or refill problems in the last 3 months. Gender, age, CD4, HIV-RNA, years of therapy, and type of antiretroviral regimen were analyzed with respect to adherence. Results: At the time of the questionnaire, 89.8% of patients had <50 copies/mL HIV-RNA and 14.2% were on their first combined antiretroviral therapy. 57% of patients were prescribed a regimen containing ritonavir boosted protease inhibitors (boosted PI), 41.7% NNRTI, 17.2% raltegravir, and 4.8% maraviroc; 49.5% of the subjects were on bis-in-die regimens, while 50.5% were on once-daily regimens, with 23.1% of these on the single tablet regimen (STR): tenofovir/emtricitabine/efavirenz. The non-adherence proportion was lower in NNRTI than in boosted-PI treatments (19.4% vs 30.2%), and even lower in STR patients (17.4%). In multivariable logistic regression, patients with the NNRTI regimen (OR: 0.56, 95% CI: 0.34–0.94) and the STR (OR: 0.45, 95% CI: 0.22–0.92) reported lower non-adherence. Efavirenz regimens were also associated with lower non-adherence (OR: 0.42, 95% CI: 0.21–0.83), while atazanavir/ritonavir regimens were associated with higher non-adherence. No other relation to specific antiretroviral drugs was found. A higher CD4 count, lower HIV-RNA, and older age were also found to be associated with lower non-adherence, while a longer time on combined antiretroviral therapy was related to higher non-adherence. Conclusion: In conclusion, older age, higher CD4 cell counts, lower HIV-RNA viral loads, and the use of STR are all related to lower non-adherence. In particular, the use of STR maintains an advantage in improving adherence with respect to other cARTs, even with the availability of new, well-tolerated antiretroviral drugs and drug classes in recent years

Dependence of brain DTI maps of fractional anisotropy and mean diffusivity on the number of diffusion weighting directions

The rotational variance dependence of diffusion tensor imaging (DTI) derived parameters on the number of diffusion weighting directions (N) has been investigated by several Monte Carlo simulation studies. However, the dependence of fractional anisotropy (FA) and mean diffusivity (MD) maps on N, in terms of accuracy and contrast between different anatomical structures, has not been assessed in detail. This experimental study further investigated in vivo the effect of the number of diffusion weighting directions on DTI maps of FA and MD. Human brain FA and MD maps of six healthy subjects were acquired at 1.5T with varying N (6, 11, 19, 27, 55). Then, FA and MD mean values in high (FAH, MDH) and low (FAL, MDL) anisotropy segmented brain regions were measured. Moreover, the contrast-to-signal variance ratio (CVRFA, CVRMD) between the main white matter and the surrounding regions was calculated. Analysis of variance showed that FAL, FAH and CVRFA significantly (p 0.05) depend on N. Unlike MD values, FA values significantly vary with N. It is noteworthy that the observed variation is opposite in low and high anisotropic regions. In clinical studies, the effect of N may represent a confounding variable for anisotropy measurements and the employment of DTI acquisition schemes with high N (> 20) allows an increased CVR and a better visualization of white matter structures in FA maps