Analysis and verification of ECA rules in intelligent environments

Intelligent Environments (IEs) are physical spaces where Information Technology (IT) and other pervasive computing technologies are combined in order to achieve specific goals for the users and the environment. IEs have the goal of enriching user experience, increasing awareness of the environment. A number of applications are currently being deployed in domains ranging from smart homes to e-health and autonomous vehicles. Quite often IE support human activities, thus essential requirements to be ensured are correctness, reliability, safety and security. In this paper we present how a set of techniques and tools that have been developed for the verification of software can be employed in the verification of IE described by means of event-condition-action rules. More precisely, we reduce the problem of verifying key properties of these rules to satisfiability and termination problems that can be addressed using state-of-the-art Satisfiability Modulo Theory (SMT) solvers and program analysers. Our approach has been implemented in a tool called vIRONy. Our approach has been validated on a number of case studies from the literature

Symbolic verification of event–condition–action rules in intelligent environments

In this paper we show how state-of-the art SMT-based techniques for software verification can be employed in the verification of event–condition–action rules in intelligent environments. Moreover, we exploit the specific features of intelligent environments to optimise the verification process. We compare our approach with previous work in a detailed evaluation section, showing how it improves both performance and expressivity of the language for event–condition–action rules

Il trattamento riabilitativo integrato alla terapia farmacologica con anticorpo anti RANK-L

abstract pubblicato su atti congressual

25th Annual Computational Neuroscience Meeting: CNS-2016

Abstracts of the 25th Annual Computational Neuroscience Meeting: CNS-2016 Seogwipo City, Jeju-do, South Korea. 2–7 July 201

25th annual computational neuroscience meeting: CNS-2016

The same neuron may play different functional roles in the neural circuits to which it belongs. For example, neurons in the Tritonia pedal ganglia may participate in variable phases of the swim motor rhythms [1]. While such neuronal functional variability is likely to play a major role the delivery of the functionality of neural systems, it is difficult to study it in most nervous systems. We work on the pyloric rhythm network of the crustacean stomatogastric ganglion (STG) [2]. Typically network models of the STG treat neurons of the same functional type as a single model neuron (e.g. PD neurons), assuming the same conductance parameters for these neurons and implying their synchronous firing [3, 4]. However, simultaneous recording of PD neurons shows differences between the timings of spikes of these neurons. This may indicate functional variability of these neurons. Here we modelled separately the two PD neurons of the STG in a multi-neuron model of the pyloric network. Our neuron models comply with known correlations between conductance parameters of ionic currents. Our results reproduce the experimental finding of increasing spike time distance between spikes originating from the two model PD neurons during their synchronised burst phase. The PD neuron with the larger calcium conductance generates its spikes before the other PD neuron. Larger potassium conductance values in the follower neuron imply longer delays between spikes, see Fig. 17.Neuromodulators change the conductance parameters of neurons and maintain the ratios of these parameters [5]. Our results show that such changes may shift the individual contribution of two PD neurons to the PD-phase of the pyloric rhythm altering their functionality within this rhythm. Our work paves the way towards an accessible experimental and computational framework for the analysis of the mechanisms and impact of functional variability of neurons within the neural circuits to which they belong

3D Steering: Additive Manufacturing in Snake-Like Surgical Devices

The minimally invasive approach has revolutionized the standard in surgery. In conventional open procedures, the surgeon exposes the diseased area with a relatively large incision. Contrary to conventional surgery, in minimally invasive surgery, several small incisions are used to insert the surgical instruments and reach the target area, reducing the risk of infections and surgical trauma. The surgical instruments currently used are straight and rigid, allowing only straight paths to be followed. An alternative is passively flexible instruments, such as endoscopes and catheters, that require external guidance, e.g., the blood vessel wall, and therefore cannot provide a stable platform to operate. Areas with a high density, like the brain, or situations that demand to actively decide the path to follow, such as in the peripheral bronchi of the lungs, require snake-like instruments that are able to follow multi-curved paths and can maintain their position without external support. Because of the great potential advantages that these types of instruments could offer and because of the new surgical possibilities that might be explored, companies and researchers are working on creating solutions. However, the complexity of such instruments creates difficulties in the surgical implementation and remain a major challenge.In this context, additive manufacturing, also known as 3D printing, offers a new paradigm for design, manufacturing, and assembly, allowing the production of complex geometries difficult to produce with conventional manufacturing. Using additive manufacturing might help to solve some of the major challenges in snake-like surgical instruments, such as a large number of components and long assembly time. Therefore, the main purpose of the research described in this thesis, is to explore how the combination of additive manufacturing and mechanical solutions can help in designing snake-like instruments, while minimizing the assembly and device complexity. This thesis is organized into three parts as the main components of a snake-like surgical instrument: Part I, Control, focuses on the control side of the instrument with particular attention to mechanical solutions. Part II, Shaft, focuses on the possibility of fabricating snake-like instruments with additive manufacturing technology, and Part III, End-Effector, on the use of 3D printing to enhance end-effector functions.Medical Instruments & Bio-Inspired Technolog

MemoBox: A mechanical follow-the-leader system for minimally invasive surgery

With the increase in Natural Orifice Transluminal Endoscopic Surgery procedures, there is an increasing demand for surgical instruments with additional degrees of freedom, able to travel along tortuous pathways and guarantee dexterity and high accuracy without compromising the surrounding environment. The implementation of follow-the-leader motion in surgical instruments allows propagating the decided shape through its body and moving through curved paths avoiding sensitive areas. Due to the limited operational area and therefore the instrument size, the steerable shaft of these instruments is usually driven by cables that are externally actuated. However, a large number of degrees of freedom requires a great number of actuators, increasing the system complexity. Therefore, our goal was to design a new memory system able to impose a follow-the-leader motion to the steerable shaft of a medical instrument without using actuators. We present a memory mechanism to control and guide the cable displacements of a cable-driven shaft able to move along a multi-curved path. The memory mechanism is based on a programmable physical track with a mechanical interlocking system. The memory system, called MemoBox, was manufactured as a proof-of-concept demonstration model, measuring 70 mm × 64 mm × 6 mm with 11 programmable elements and featuring a minimum resolution of 1 mm. The prototype shows the ability to generate and shift complex 2D pathways in real-time controlled by the user.Medical Instruments & Bio-Inspired TechnologyEMSD EEMCS Project technician

Additive manufacturing of medical instruments: A state-of-the-art review

Goal: Additive manufacturing, also known as 3D printing, has begun to play a significant role in the field of medical devices. This review aims to provide a comprehensive overview and classification of additively manufactured medical instruments for diagnostics and surgery by identifying medical and technical aspects. Methods: A scientific literature search on additively manufactured medical instruments was conducted using the Scopus database. Results: We categorized the relevant articles (71) by considering the novelty of each proposed instrument and its clinical application. Then, we analyzed the relevant articles by examining the reasons behind choosing additive manufacturing technology to produce instruments for diagnostics and surgery. Possible customization (27%) and Cost-effectiveness (23%) were the main reasons expressed. Technical specifications of the additive manufacturing technology and the material used were also analyzed, and a tendency of using material extrusion technology (35% of the applications) and polymeric materials (86% of the applications) was shown. Conclusions: Additive manufacturing is opening the door to a new approach in the production of medical devices, which allows the complexity of their designs to be pushed to the extreme. However, we found that technical limitations need to be tackled and important aspects such as sterilization or debris contamination are still not considered to be relevant factors during the design and fabrication process. Keeping in mind the challenges of such a new field, additive manufacturing technology can be considered as a great opportunity to provide easy access to healthcare in developing countries as well as an important step toward patient-specific medicine.Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.Medical Instruments & Bio-Inspired Technolog

Exploring non-assembly 3D printing for novel compliant surgical devices

In minimally invasive surgery, maneuverability is usually limited and a large number of degrees of freedom (DOF) is highly demanded. However, increasing the DOF usually means increasing the complexity of the surgical instrument leading to long fabrication and assembly times. In this work, we propose the first fully 3D printed handheld, multi-steerable device. The proposed device is mechanically actuated, and possesses five serially controlled segments. We designed a new compliant segment providing high torsion and axial stiffness as well as a low bending stiffness by merging the functions of four helicoids and a continuum backbone. Compliant segments were combined to form the compliant shaft of the new device. In order to control this compliant shaft, a control handle was designed that mimics the shaft structure. A prototype called the HelicoFlex was built using only three 3D printed parts. HelicoFlex, with its 10 degrees of freedom, showed a fluid motion in performing single and multi-curved paths. The multi-steerable instrument was 3D printed without any support material in the compliant shaft itself. This work contributes to enlarge the body of knowledge regarding how additive manufacturing could be used in the production of multi-steerable surgical instruments for personalized medicine.</p

Implementation of anisotropic soft pads in a surgical gripper for secure and gentle grip on vulnerable tissues

Current surgical grippers rely on friction grip, where normal loads (i.e. pinch forces) are translated into friction forces. Operating errors with surgical grippers are often force-related, including tissue slipping out of the gripper because of too low pinch forces and tissue damaging due to too high pinch forces. Here, we prototyped a modular surgical gripper with elastomeric soft pads reinforced in the shear direction with a carbon-fiber fabric. The elastomeric component provides low normal stiffness to maximize contact formation without the need of applying high normal loads (i.e. pinch forces), whereas the carbon-fiber fabric offers high shear stiffness to preserve the formed contact under the lateral loads (i.e. shear forces) that occur during tissue lifting. Additionally, we patterned the pads with a sub-surface micropattern, to further reduce the normal stiffness and increase shear stiffness. The body of the prototype gripper, including shaft, joints, and gripper tips, was fabricated in a single step using 3D printing, followed by manual attachment of the soft pads to the gripper. The gripping performance of the newly developed soft gripper on soft tissues was experimentally compared to reference grippers equipped with metal patterned pads. The soft-pad gripper generated similar gripping forces but significantly lower pinch forces than metal-pad grippers. We conclude that grippers with anisotropic-stiffness pads are promising for secure and gentle tissue grip.</p