Learning soft task priorities for control of redundant robots

Movement primitives (MPs) provide a powerful framework for data driven movement generation that has been successfully applied for learning from demonstrations and robot reinforcement learning. In robotics we often want to solve a multitude of different, but related tasks. As the parameters of the primitives are typically high dimensional, a common practice for the generalization of movement primitives to new tasks is to adapt only a small set of control variables, also called meta parameters, of the primitive. Yet, for most MP representations, the encoding of these control variables is precoded in the representation and can not be adapted to the considered tasks. In this paper, we want to learn the encoding of task-specific control variables also from data instead of relying on fixed meta-parameter representations. We use hierarchical Bayesian models (HBMs) to estimate a low dimensional latent variable model for probabilistic movement primitives (ProMPs), which is a recent movement primitive representation. We show on two real robot datasets that ProMPs based on HBMs outperform standard ProMPs in terms of generalization and learning from a small amount of data and also allows for an intuitive analysis of the movement. We also extend our HBM by a mixture model, such that we can model different movement types in the same dataset

Conventional and algorithmic music listening before radiotherapy treatment: A randomized controlled pilot study

Music listening is a widespread approach in the field of music therapy. In this study, the effects of music listening on anxiety and stress in patients undergoing radiotherapy are investigated. Sixty patients with breast cancer who were candidates for postoperative curative radiotherapy were recruited and randomly assigned to three groups: Melomics-Health (MH) group (music listening algorithmically created, n = 20); individualized music listening (IML) group (playlist of preferred music, n = 20); no music group (n = 20). Music listening was administered for 15 min immediately before simulation and during the first five radiotherapy sessions. The State-Trait Anxiety Inventory (STAI) and the Psychological Distress Inventory (PDI) were administered before/after treatment. Cochran’s Q test and McNemar test for paired proportions were performed to evaluate if the proportion of subjects having an outcome score below the critical value by treatment and over time was different, and if there was a change in that proportion. The MH group improved in STAI and PDI. The IML group worsened in STAI at T1 and improved STAI-Trait at T2. The IML group worsened in PDI at T2. The No music group generally improved in STAI and PDI. Clinical and music listening-related implications are discussed defining possible research perspectives in this field

Upper Body-Based Power Wheelchair Control Interface for Individuals with Tetraplegia

Many power wheelchair control interfaces are not sufficient for individuals with severely limited upper limb mobility. The majority of controllers that do not rely on coordinated arm and hand movements provide users a limited vocabulary of commands and often do not take advantage of the user's residual motion. We developed a body-machine interface (BMI) that leverages the flexibility and customizability of redundant control by using high dimensional changes in shoulder kinematics to generate proportional control commands for a power wheelchair. In this study, three individuals with cervical spinal cord injuries were able to control a power wheelchair safely and accurately using only small shoulder movements. With the BMI, participants were able to achieve their desired trajectories and, after five sessions driving, were able to achieve smoothness that was similar to the smoothness with their current joystick. All participants were twice as slow using the BMI however improved with practice. Importantly, users were able to generalize training controlling a computer to driving a power wheelchair, and employed similar strategies when controlling both devices. Overall, this work suggests that the BMI can be an effective wheelchair control interface for individuals with high-level spinal cord injuries who have limited arm and hand control

Unilateral versus coordinated effects:comparing the impact on consumer welfare of alternative merger outcomes

The nature of tacitly collusive behaviour often makes coordination unstable, and this may result in periods of breakdown, during which consumers benet from reduced prices. This is allowed for by adding demand uncertainty to the Compte et al. (2002) model of tacit collusion amongst asymmetric rms. Breakdowns occur when a rm cannot exclude the possibility of a deviation by a rival. It is then possible that an outcome with collusive behaviour, subject to long/frequent break downs, can improve consumer welfare compared to an alternative with sustained unilateral conduct. This is illustrated by re-examining the Nestle/Perrier merger analyzed by Compte et al., but now also taking into account the potential for welfare losses arising from unilateral behaviour

Caratterizzazione dell’ambiente marino dei Campi Flegrei. Risultati preliminari della campagna oceanografica RICAMAR 2013

The caldera of the Phlegraean Fields (also known as Campi Flegrei) is one of the most dangerous and populated volcanic area in the world, covering an area that comprises the western part of Naples and the Gulf of Pozzuoli. The main peculiarity of current volcanic activity is the gradual and periodic lift (positive or negative) of part of the Earth\u27s surface (bradyseism) combined, only during the positive phase, with a strong sismicity and surficial hydrotermal activity. Deformative models, calibrated using land-based measurements, highlighted the Gulf of Pozzuoli as the area with the largest deformation. Although the network of monitoring sensors on land is well developed and structured, there is a lack of sensing systems for the marine deformation. The activities of RIlievi per la Caratterizzazione dell’Ambiente MARino nel Golfo di Pozzuoli 2013 (RICAMAR2013) project - sinergically conducted by the Italian Navy\u27s Survey Vessel Ammiraglio Magnaghi , the Italian Hydrographic Office (IIM) and the Istituto Nazionale di Geofisica e Vulcanologia (INGV)- were targeted to fulfill this gap. In fact, the creation of marine observatories about the caldera\u27s phenomena will be based on the data collected during these bathymetric, magnetometric, stratigrafic and hydrologic surveys

Screening for sickle cell disease: Focus on newborn investigations

Drepanocytosis is a genetic disease relevant for its epidemiological, clinical and socio-economic aspects. In our country the prevalence is highly uneven with peaks in former malaria areas, but migration flows in recent years have led to significant changes. In this document we review the screening programs currently existing in Italy with particular emphasis on newborn screening, which in other countries around the world, including within Europe, is at most universal and mandatory. The essential laboratory issues are reviewed, from sampling aspects (cord blood or peripheral), to the analytical (analytical methods dedicated to neonatal screening and adult carrier detection) and post analytical (reporting, informative) ones. An economic analysis based on data collected in the province of Modena is also proposed, clearly showing that neonatal screening is also beneficial from an economic point of view

Contextual effects of immigrant presence on populist radical right support: testing the ‘halo effect’ on Front National voting in France

This paper examines the relationship between immigration and populist radical right (PRR) support, based on an analysis of the contextual effects of immigrant presence on Front National vote in France in 2017. Using a unique set of survey data geolocalising respondents at the subcommunal level, it finds evidence for the existence of a curvilinear “halo effect,” with substantial increases in the probability of PRR vote in areas surrounding communities with significantly higher-than-average immigrant populations, and independent of other socio-economic context, as well as individual socio-demographic characteristics. Most importantly, a path analysis confirms the presence of individual attitudinal mediators of this halo effect on PRR vote, thus testing the foundation of the halo, namely that the contextual effects of immigrant presence act on attitudes which drive PRR support. These findings provide a significant step forward in understanding the mechanisms linking subjective experience of immigration with voting for the populist radical right

Multicentric study on malignant pleural mesothelioma and non-occupational exposure to asbestos

Insufficient evidence exists on the risk of pleural mesothelioma from non-occupational exposure to asbestos. A population-based case–control study was carried out in six areas from Italy, Spain and Switzerland. Information was collected for 215 new histologically confirmed cases and 448 controls. A panel of industrial hygienists assessed asbestos exposure separately for occupational, domestic and environmental sources. Classification of domestic and environmental exposure was based on a complete residential history, presence and use of asbestos at home, asbestos industrial activities in the surrounding area, and their distance from the dwelling. In 53 cases and 232 controls without evidence of occupational exposure to asbestos, moderate or high probability of domestic exposure was associated with an increased risk adjusted by age and sex: odds ratio (OR) 4.81, 95% confidence interval (CI) 1.8–13.1. This corresponds to three situations: cleaning asbestos-contaminated clothes, handling asbestos material and presence of asbestos material susceptible to damage. The estimated OR for high probability of environmental exposure (living within 2000 m of asbestos mines, asbestos cement plants, asbestos textiles, shipyards, or brakes factories) was 11.5 (95% CI 3.5–38.2). Living between 2000 and 5000 m from asbestos industries or within 500 m of industries using asbestos could also be associated with an increased risk. A dose–response pattern appeared with intensity of both sources of exposure. It is suggested that low-dose exposure to asbestos at home or in the general environment carries a measurable risk of malignant pleural mesothelioma. © 2000 Cancer Research Campaig

Impact of treatment on cellular immunophenotype in MS: a cross-sectional study

OBJECTIVE: To establish cytometry profiles associated with disease stages and immunotherapy in MS. METHODS: Demographic/clinical data and peripheral blood samples were collected from 227 patients with MS and 82 sex- and age-matched healthy controls (HCs) enrolled in a cross-sectional study at 4 European MS centers (Spain, Italy, Germany, and Norway). Flow cytometry of isolated peripheral blood mononuclear cells was performed in each center using specifically prepared antibody-cocktail Lyotubes; data analysis was centralized at the Genoa center. Differences in immune cell subsets were assessed between groups of untreated patients with relapsing-remitting or progressive MS (RRMS or PMS) and HCs and between groups of patients with RRMS taking 6 commonly used disease-modifying drugs. RESULTS: In untreated patients with MS, significantly higher frequencies of Th17 cells in the RRMS population compared with HC and lower frequencies of B-memory/B-regulatory cells as well as higher percentages of B-mature cells in patients with PMS compared with HCs emerged. Overall, the greatest deviation in immunophenotype in MS was observed by treatment rather than disease course, with the strongest impact found in fingolimod-treated patients. Fingolimod induced a decrease in total CD4(+) T cells and in B-mature and B-memory cells and increases in CD4(+) and CD8(+) T-regulatory and B-regulatory cells. CONCLUSIONS: Our highly standardized, multisite cytomics data provide further understanding of treatment impact on MS immunophenotype and could pave the way toward monitoring immune cells to help clinical management of MS individuals