Communication Through Motion: Legibility of Multi-Robot Systems

The interaction between a user and a multi-robot system in a shared environment is a relatively uncharted topic. But, as these types of systems will increase in the future years, an efficient way of communication is necessary. To this aim, it is interesting to discover if a multi-robot system can communicate its intentions exploiting only some motion-variables, which are characteristics of the motion of the robots. This study is about the legibility of a multi-robot system: In particular, we focus on the influence of these motion-variables on the legibility of more than one group of robots that move in a shared environment with the user. These motion-variables are: Trajectory, dispersion and stiffness. They are generally used to define the motion of a group of mobile robots. Trajectory and dispersion were found relevant for the correctness of the communication between the user and the multi-robot system, while stiffness was found relevant for the rapidity of communication. The analysis of the influence of the motion-variables was carried out with an ANOVA (analysis of variance) based on a series of data coming from an experimental campaign conducted in a virtual reality set-up

On Coverage Control for Limited Range Multi-Robot Systems

This paper presents a coverage based control algorithm to coordinate a group of autonomous robots. Most of the solutions presented in the literature rely on an exact Voronoi partitioning, whose computation requires complete knowledge of the environment to be covered. This can be achieved only by robots with unlimited sensing capabilities, or through communication among robots in a limited sensing scenario. To overcome these limitations, we present a distributed control strategy to cover an unknown environment with a group of robots with limited sensing capabilities and in the absence of reliable communication. The control law is based on a limited Voronoi partitioning of the sensing area, and we demonstrate that the group of robots can optimally cover the environment using only information that is locally detected (without communication). The proposed method is validated by means of simulations and experiments carried out on a group of mobile robots

Integrated Care for Chronic Diseases – State of the Art

Chronic diseases represent a high cost for healthcare systems, for individuals, families, businesses and governments. The World Health Organization (WHO) estimates that an increase of 10% of chronic diseases is associated with a reduction of 0.5% of annual economic growth. Primary care has proven to ensure high levels of efficiency, effectiveness, equity, safety, timely and centrality of the patient achieving better health outcomes and lower costs. The Chronic Care Model (CCM) proposes a proactive approach in assisting the empowerment of patients and their community. The CCM contributes to improving the quality of care and health outcomes and the reduction of inequalities (e.g., ethnicity, social status) too

Contribution of oxygen extraction fraction to maximal oxygen uptake in healthy young men

We analysed the importance of systemic and peripheral arteriovenous O2 difference (a- v− O2 and a-vf O2 difference, respectively) and O2 extraction fraction for maximal oxygen uptake ( V˙ O2max ). Fick law of diffusion and the Piiper and Scheid model were applied to investigate whether diffusion vs perfusion limitations vary with V˙ O2max . Articles (n=17) publishing individual data (n=154) on V˙ O2max , maximal cardiac output ( Q˙ max ; indicator-dilution or Fick method), a- v− O2 difference (catheters or Fick equation) and systemic O2 extraction fraction were identified. For the peripheral responses, group-mean data (articles: n=27; subjects: n=234) on leg blood flow (LBF; thermodilution), a-vf O2 difference and O2 extraction fraction (arterial and femoral venous catheters) were obtained. Q˙ max and two-LBF increased linearly by 4.9-6.0 L·min-1 per 1 L·min-1 increase in V˙ O2max (R2 =0.73 and R2 =0.67, respectively; both P<0.001). The a- v− O2 difference increased from 118-168 mL·L-1 from a V˙ O2max of 2-4.5 L·min-1 followed by a reduction (second-order polynomial: R2 =0.27). After accounting for a hypoxemia-induced decrease in arterial O2 content with increasing V˙ O2max (R2 =0.17; P<0.001), systemic O2 extraction fraction increased up to ~90% ( V˙ O2max : 4.5 L·min-1 ) with no further change (exponential decay model: R2 =0.42). Likewise, leg O2 extraction fraction increased with V˙ O2max to approach a maximal value of ~90-95% (R2 =0.83). Muscle O2 diffusing capacity and the equilibration index Y increased linearly with V˙ O2max (R2 =0.77 and R2 =0.31, respectively; both P<0.01), reflecting decreasing O2 diffusional limitations and accentuating O2 delivery limitations. In conclusion, although O2 delivery is the main limiting factor to V˙ O2max , enhanced O2 extraction fraction (≥90%) contributes to the remarkably high V˙ O2max in endurance-trained individuals

W_{\infty} Gauge Transformations and the Electromagnetic Interactions of Electrons in the Lowest Landau Level

We construct a $W_{\infty}$ gauge field theory of electrons in the lowest Landau level. For this purpose we introduce an external gauge potential $\cal A$ such that its $W_{\infty}$ gauge transformations cancel against the gauge transformation of the electron field. We then show that the electromagnetic interactions of electrons in the lowest Landau level are obtained through a non-linear realization of $\cal A$ in terms of the $U(1)$ gauge potential A^{\m}. As applications we derive the effective Lagrangians for circular droplets and for the \n =1 quantum Hall system.Comment: 10 pages, CCNY-HEP-93/2 plain te

Laughlin Wave Function and One-Dimensional Free Fermions

Making use of the well-known phase space reduction in the lowest Landau level(LLL), we show that the Laughlin wave function for the $\nu = {1\over m}$ case can be obtained exactly as a coherent state representation of an one dimensional $(1D)$ wave function. The $1D$ system consists of $m$ copies of free fermions associated with each of the $N$ electrons, confined in a common harmonic well potential. Interestingly, the condition for this exact correspondence is found to incorporate Jain's parton picture. We argue that, this correspondence between the free fermions and quantum Hall effect is due to the mapping of the $1D$ system under consideration, to the Gaussian unitary ensemble in the random matrix theory.Comment: 7 pages, Latex , no figure

Unravelling the hidden ancestry of American admixed populations

The movement of people into the Americas has brought different populations into contact, and contemporary American genomes are the product of a range of complex admixture events. Here we apply a haplotype-based ancestry identification approach to a large set of genome-wide SNP data from a variety of American, European and African populations to determine the contributions of different ancestral populations to the Americas. Our results provide a fine-scale characterization of the source populations, identify a series of novel, previously unreported contributions from Africa and Europe and highlight geohistorical structure in the ancestry of American admixed populations

Multi-Robot Adversarial Resilience using Control Barrier Functions

In this paper we present a control barrier functionbased (CBF) resilience controller that provides resilience in a multi-robot network to adversaries. Previous approaches provide resilience by virtue of specific linear combinations of multiple control constraints. These combinations can be difficult to find and are sensitive to the addition of new constraints. Unlike previous approaches, the proposed CBF provides network resilience and is easily amenable to multiple other control constraints, such as collision and obstacle avoidance. The inclusion of such constraints is essential in order to implement a resilience controller on realistic robot platforms. We demonstrate the viability of the CBF-based resilience controller on real robotic systems through case studies on a multi-robot flocking problem in cluttered environments with the presence of adversarial robots