Bounding bubbles: the vertex representation of 3d Group Field Theory and the suppression of pseudo-manifolds

Based on recent work on simplicial diffeomorphisms in colored group field theories, we develop a representation of the colored Boulatov model, in which the GFT fields depend on variables associated to vertices of the associated simplicial complex, as opposed to edges. On top of simplifying the action of diffeomorphisms, the main advantage of this representation is that the GFT Feynman graphs have a different stranded structure, which allows a direct identification of subgraphs associated to bubbles, and their evaluation is simplified drastically. As a first important application of this formulation, we derive new scaling bounds for the regularized amplitudes, organized in terms of the genera of the bubbles, and show how the pseudo-manifolds configurations appearing in the perturbative expansion are suppressed as compared to manifolds. Moreover, these bounds are proved to be optimal.Comment: 28 pages, 17 figures. Few typos fixed. Minor corrections in figure 6 and theorem

Improving domiciliary robotic services by integrating the ASTRO Robot in an AmI Infrastructure

This work describes the ECHORD Experiment ASTROMOBILE, a project aimed to design, develop and test a system for favourable independent living, improved quality of life and efficiency of care for senior citizens in domestic environments. The system, composed of a mobile robotic platform (called ASTRO) and an Ambient Intelligent Infrastructure that actively cooperated between them and with the end-user, was designed and implemented with a user-centred design approach, involving different stakeholders. The system was designed to deliver services to users, like drug delivery, stand support, reminding, info-entertainment. The design took advantages of the integration of robotic platforms with smart environments, to provide to users higher quality and localization based services. Senior end-users were involved in the experimentation of the system in the DomoCasa Living Lab and feedbacks were gathered for the technology assessment. Particularly, this paper demonstrates the general feasibility of the ASTROMOBILE system and thanks to users feedbacks its acceptability and usability

Preliminary evaluation of SensHand V1 in assessing motor skills performance in Parkinson Disease

Nowadays, the increasing old population 65+ as well as the pace imposed by work activities lead to a high number of people that have particular injuries for limbs. In addition to persistent or temporary disabilities related to accidental injuries we must take into account that part of the population suffers from motor deficits of the hands due to stroke or diseases of various clinical nature. The most recurrent technological solutions to measure the rehabilitation or skill motor performance of the hand are glove-based devices, able to faithfully capture the movements of the hand and fingers. This paper presents a system for hand motion analysis based on 9-axis complete inertial modules and dedicated microcontroller which are fixed on fingers and forearm. The technological solution presented is able to track the patients' hand motions in real-time and then to send data through wireless communication reducing the clutter and the disadvantages of a glove equipped with sensors through a different technological structure. The device proposed has been tested in the study of Parkinson's disease

Ambient Assisted Living and Ageing: Preliminary Results of RITA Project

The ageing of population is a social phenomenon that most of worldwide countries are facing. They are, and will be even more in the future, indeed trying to find solutions for improving quality of life of their elderly citizens. The project RITA wants to demonstrate that an update of the current socio-medical services with an Ambient Assisted Living (AAL) approach could improve the service efficiency and the quality of life of both elderly and caregiver. This paper presents the preliminary results obtained in RITA

Bubbles and jackets: new scaling bounds in topological group field theories

We use a reformulation of topological group field theories in 3 and 4 dimensions in terms of variables associated to vertices, in 3d, and edges, in 4d, to obtain new scaling bounds for their Feynman amplitudes. In both 3 and 4 dimensions, we obtain a bubble bound proving the suppression of singular topologies with respect to the first terms in the perturbative expansion (in the cut-off). We also prove a new, stronger jacket bound than the one currently available in the literature. We expect these results to be relevant for other tensorial field theories of this type, as well as for group field theory models for 4d quantum gravity.Comment: v2: Minor modifications to match published versio

A Novel GCK Large Genomic Rearrangement in a Patient with MODY-2 Detected by Clinical Exome Sequencing

Maturity-onset diabetes of the young (MODY) is a rare form of non-autoimmune diabetes with an autosomal dominant inheritance. To date, 14 genes have been reported as genetic basis of MODY. GCK gene, encoding the glucokinase enzyme, was the first MODY gene to be identified. GCK heterozygous inactivating variants cause the GCK-MODY or MODY2 subtype. However, partial or whole gene deletions have been rarely identified, showing it to be a rare cause of GCK-MODY. We reported the molecular evaluation of a Ukrainian patient with clinical diagnosis of MODY2. We performed the Next generation sequencing of the clinical exome using the Clinical Exome Solution® kit (SOPHiA Genetics), followed by the design of a 14 genes virtual panel related to the suggestive diagnosis of MODY. Bioinformatics analysis was performed using the SOPHiA DDM platform (SOPHiA Genetics). The SALSA MLPA kit for MODY (MRC-Holland) was used for relative quantification of GCK exons. From the molecular evaluation, no pathogenic sequence variants were detected in the investigated genes. Copy Number Variation analysis was able to identify a large deletion involving the last three exons of the GCK gene. This result was confirmed by MLPA. To the best of our knowledge, the identified rearrangement has never been reported in the literature

Cognitive vision system for control of dexterous prosthetic hands: Experimental evaluation

<p>Abstract</p> <p>Background</p> <p>Dexterous prosthetic hands that were developed recently, such as SmartHand and i-LIMB, are highly sophisticated; they have individually controllable fingers and the thumb that is able to abduct/adduct. This flexibility allows implementation of many different grasping strategies, but also requires new control algorithms that can exploit the many degrees of freedom available. The current study presents and tests the operation of a new control method for dexterous prosthetic hands.</p> <p>Methods</p> <p>The central component of the proposed method is an autonomous controller comprising a vision system with rule-based reasoning mounted on a dexterous hand (CyberHand). The controller, termed cognitive vision system (CVS), mimics biological control and generates commands for prehension. The CVS was integrated into a hierarchical control structure: 1) the user triggers the system and controls the orientation of the hand; 2) a high-level controller automatically selects the grasp type and size; and 3) an embedded hand controller implements the selected grasp using closed-loop position/force control. The operation of the control system was tested in 13 healthy subjects who used Cyberhand, attached to the forearm, to grasp and transport 18 objects placed at two different distances.</p> <p>Results</p> <p>The system correctly estimated grasp type and size (nine commands in total) in about 84% of the trials. In an additional 6% of the trials, the grasp type and/or size were different from the optimal ones, but they were still good enough for the grasp to be successful. If the control task was simplified by decreasing the number of possible commands, the classification accuracy increased (e.g., 93% for guessing the grasp type only).</p> <p>Conclusions</p> <p>The original outcome of this research is a novel controller empowered by vision and reasoning and capable of high-level analysis (i.e., determining object properties) and autonomous decision making (i.e., selecting the grasp type and size). The automatic control eases the burden from the user and, as a result, the user can concentrate on what he/she does, not on how he/she should do it. The tests showed that the performance of the controller was satisfactory and that the users were able to operate the system with minimal prior training.</p

Principal components analysis based control of a multi-dof underactuated prosthetic hand

<p>Abstract</p> <p>Background</p> <p>Functionality, controllability and cosmetics are the key issues to be addressed in order to accomplish a successful functional substitution of the human hand by means of a prosthesis. Not only the prosthesis should duplicate the human hand in shape, functionality, sensorization, perception and sense of body-belonging, but it should also be controlled as the natural one, in the most intuitive and undemanding way. At present, prosthetic hands are controlled by means of non-invasive interfaces based on electromyography (EMG). Driving a multi degrees of freedom (DoF) hand for achieving hand dexterity implies to selectively modulate many different EMG signals in order to make each joint move independently, and this could require significant cognitive effort to the user.</p> <p>Methods</p> <p>A Principal Components Analysis (PCA) based algorithm is used to drive a 16 DoFs underactuated prosthetic hand prototype (called CyberHand) with a two dimensional control input, in order to perform the three prehensile forms mostly used in Activities of Daily Living (ADLs). Such Principal Components set has been derived directly from the artificial hand by collecting its sensory data while performing 50 different grasps, and subsequently used for control.</p> <p>Results</p> <p>Trials have shown that two independent input signals can be successfully used to control the posture of a real robotic hand and that correct grasps (in terms of involved fingers, stability and posture) may be achieved.</p> <p>Conclusions</p> <p>This work demonstrates the effectiveness of a bio-inspired system successfully conjugating the advantages of an underactuated, anthropomorphic hand with a PCA-based control strategy, and opens up promising possibilities for the development of an intuitively controllable hand prosthesis.</p