Multimodal Signal Processing and Learning Aspects of Human-Robot Interaction for an Assistive Bathing Robot

We explore new aspects of assistive living on smart human-robot interaction (HRI) that involve automatic recognition and online validation of speech and gestures in a natural interface, providing social features for HRI. We introduce a whole framework and resources of a real-life scenario for elderly subjects supported by an assistive bathing robot, addressing health and hygiene care issues. We contribute a new dataset and a suite of tools used for data acquisition and a state-of-the-art pipeline for multimodal learning within the framework of the I-Support bathing robot, with emphasis on audio and RGB-D visual streams. We consider privacy issues by evaluating the depth visual stream along with the RGB, using Kinect sensors. The audio-gestural recognition task on this new dataset yields up to 84.5%, while the online validation of the I-Support system on elderly users accomplishes up to 84% when the two modalities are fused together. The results are promising enough to support further research in the area of multimodal recognition for assistive social HRI, considering the difficulties of the specific task. Upon acceptance of the paper part of the data will be publicly available

Goitre and Iodine Deficiency in Europe

The prevalence of endemic iodine-deficiency goitre in Europe has been reduced in many areas by the introduction of iodination programmes. Recent reports, however, show that goitre remains a significant problem and that its prevalence has not decreased in a number of European countries. Hetzel1 has pointed out that the high global prevalence of iodine-deficiency disorders could be eradicated within 5-10 years by introduction of an iodised salt programme. The current World Health Organisation recommendations for iodine intake are between 150 and 300 μg/da

On the limits of Brans-Dicke spacetimes: a coordinate-free approach

We investigate the limit of Brans-Dicke spacetimes as the scalar field coupling constant omega tends to infinity applying a coordinate-free technique. We obtain the limits of some known exact solutions. It is shown that these limits may not correspond to similar solutions in the general relativity theory.Comment: LaTeX, 16 pp, report DF/UFPB/02-9

On limits of spacetimes -- a coordinate-free approach

A coordinate-free approach to limits of spacetimes is developed. The limits of the Schwarzschild metric as the mass parameter tends to 0 or $\infty$ are studied, extending previous results. Besides the known Petrov type D and 0 limits, three vacuum plane-wave solutions of Petrov type N are found to be limits of the Schwarzschild spacetime.Comment: 19 p

On the Symmetries of the Edgar-Ludwig Metric

The conformal Killing equations for the most general (non-plane wave) conformally flat pure radiation field are solved to find the conformal Killing vectors. As expected fifteen independent conformal Killing vectors exist, but in general the metric admits no Killing or homothetic vectors. However for certain special cases a one-dimensional group of homotheties or motions may exist and in one very special case, overlooked by previous investigators, a two-dimensional homethety group exists. No higher dimensional groups of motions or homotheties are admitted by these metrics.Comment: Plain TeX, 7 pages, No figure

Self-similar Bianchi type VIII and IX models

It is shown that in transitively self-similar spatially homogeneous tilted perfect fluid models the symmetry vector is not normal to the surfaces of spatial homogeneity. A direct consequence of this result is that there are no self-similar Bianchi VIII and IX tilted perfect fluid models. Furthermore the most general Bianchi VIII and IX spacetime which admit a four dimensional group of homotheties is given.Comment: 5 pages, Latex; One reference and minor clarifications added. To appear in General Relativity and Gravitatio

Killing tensors in pp-wave spacetimes

The formal solution of the second order Killing tensor equations for the general pp-wave spacetime is given. The Killing tensor equations are integrated fully for some specific pp-wave spacetimes. In particular, the complete solution is given for the conformally flat plane wave spacetimes and we find that irreducible Killing tensors arise for specific classes. The maximum number of independent irreducible Killing tensors admitted by a conformally flat plane wave spacetime is shown to be six. It is shown that every pp-wave spacetime that admits an homothety will admit a Killing tensor of Koutras type and, with the exception of the singular scale-invariant plane wave spacetimes, this Killing tensor is irreducible.Comment: 18 page

All spacetimes with vanishing curvature invariants

All Lorentzian spacetimes with vanishing invariants constructed from the Riemann tensor and its covariant derivatives are determined. A subclass of the Kundt spacetimes results and we display the corresponding metrics in local coordinates. Some potential applications of these spacetimes are discussed.Comment: 24 page

Killing Tensors and Conformal Killing Tensors from Conformal Killing Vectors

Koutras has proposed some methods to construct reducible proper conformal Killing tensors and Killing tensors (which are, in general, irreducible) when a pair of orthogonal conformal Killing vectors exist in a given space. We give the completely general result demonstrating that this severe restriction of orthogonality is unnecessary. In addition we correct and extend some results concerning Killing tensors constructed from a single conformal Killing vector. A number of examples demonstrate how it is possible to construct a much larger class of reducible proper conformal Killing tensors and Killing tensors than permitted by the Koutras algorithms. In particular, by showing that all conformal Killing tensors are reducible in conformally flat spaces, we have a method of constructing all conformal Killing tensors (including all the Killing tensors which will in general be irreducible) of conformally flat spaces using their conformal Killing vectors.Comment: 18 pages References added. Comments and reference to 2-dim case. Typos correcte

Local Embeddings for Relational Data Integration

Deep learning based techniques have been recently used with promising results for data integration problems. Some methods directly use pre-trained embeddings that were trained on a large corpus such as Wikipedia. However, they may not always be an appropriate choice for enterprise datasets with custom vocabulary. Other methods adapt techniques from natural language processing to obtain embeddings for the enterprise's relational data. However, this approach blindly treats a tuple as a sentence, thus losing a large amount of contextual information present in the tuple. We propose algorithms for obtaining local embeddings that are effective for data integration tasks on relational databases. We make four major contributions. First, we describe a compact graph-based representation that allows the specification of a rich set of relationships inherent in the relational world. Second, we propose how to derive sentences from such a graph that effectively "describe" the similarity across elements (tokens, attributes, rows) in the two datasets. The embeddings are learned based on such sentences. Third, we propose effective optimization to improve the quality of the learned embeddings and the performance of integration tasks. Finally, we propose a diverse collection of criteria to evaluate relational embeddings and perform an extensive set of experiments validating them against multiple baseline methods. Our experiments show that our framework, EmbDI, produces meaningful results for data integration tasks such as schema matching and entity resolution both in supervised and unsupervised settings.Comment: Accepted to SIGMOD 2020 as Creating Embeddings of Heterogeneous Relational Datasets for Data Integration Tasks. Code can be found at https://gitlab.eurecom.fr/cappuzzo/embd