Coordinated transportation with minimal explicit communication between robots

PreprintWe propose and demonstrate how attractor dynamics can be used to design and implement a distributed dynamic control architecture that enables a team of two robots, without force/torque sensors and equipped solely with low-level sensors, to carry a long object and simultaneously avoid obstacles. The explicit required communication between robots is minimal. The robots have no prior knowledge of their environment. Experimental results in indoor environments show that if parameter values are chosen within reasonable ranges then the overall system works quite well even in cluttered environments. The robots’ behavior is stable and the generated trajectories are smooth

Determinants of merger and acquisition activity in the renewable energy industry in the United States of America

For the past few decades, the renewable energy industry has grown and expanded its influence and competitiveness in global markets. This thesis analysis whether certain factors related to the energy industry are conducive to mergers and acquisitions. Using regression analysis, it concludes that solar industry growth, power industry growth, and crude oil prices have no impact on M&A activity on the given timeframe

Integrating verbal and nonverbal communication in a dynamic neural field architecture for human–robot interaction

How do humans coordinate their intentions, goals and motor behaviors when performing joint action tasks? Recent experimental evidence suggests that resonance processes in the observer’s motor system are crucially involved in our ability to understand actions of others’, to infer their goals and even to comprehend their action-related language. In this paper, we present a control architecture for human–robot collaboration that exploits this close perception-action linkage as a means to achieve more natural and efficient communication grounded in sensorimotor experiences. The architecture is formalized by a coupled system of dynamic neural fields representing a distributed network of neural populations that encode in their activation patterns goals, actions and shared task knowledge. We validate the verbal and nonverbal communication skills of the robot in a joint assembly task in which the human–robot team has to construct toy objects from their components. The experiments focus on the robot’s capacity to anticipate the user’s needs and to detect and communicate unexpected events that may occur during joint task execution.Fundação para a Ciência e a Tecnologia (FCT) - Bolsa POCI/V.5/A0119/2005 and CONC-REEQ/17/2001European Commission through the project JAST (IP-003747

Brazilian economy and real estate: a synthesis of the last decades

Como desdobramento da pesquisa realizada para obtenção do título de mestre por um dos autores, ambos os autores discorrem nesse artigo sobre os principais eventos econômicos e marcos regulatórios que ocorreram nas últimas décadas no Brasil e em São Paulo e o desenvolvimento do mercado imobiliário face a esses acontecimentos.A partir da criação do Banco Nacional da Habitação, na década de 1960, até o recente êxito produtivo do Programa Minha Casa, Minha Vida; considerando, nesse ínterim, eventos econômicos nacionais e políticas federais e municipais (na cidade de São Paulo), esses acontecimentos são sintetizados em ordem cronológica, com o intuito de ressaltar a importância da economia sobre a produção urbana residencial, particularmente a realizada pela iniciativa privada.As a result of the research carried out to obtaining the title of master by one of the authors, both the authors comment in this article on the major economic events and regulatory systems, which occurred in recent decades paragraph Brazil and Sao Paulo, and the development of the real estate, in the face of these events.From the creation of the Bank National Housing (BNH), in the 1960s, to the recent production success of  Program My House, My Life (PMHML); whereas in the interim, economic events national and federal and municipal policies (in the city of Sao Paulo), these events are summarized in chronological order, in order to highlight the importance of the economy on residential urban production, particularly carried out by private initiative. 

A dynamic field approach to goal inference and error monitoring for human-robot interaction

In this paper we present results of our ongoing research on non-verbal human-robot interaction that is heavily inspired by recent experimental findings about the neuro-cognitive mechanisms supporting joint action in humans. The robot control architecture implements the joint coordination of actions and goals as a dynamic process that integrates contextual cues, shared task knowledge and the predicted outcome of the user’s motor behavior. The architecture is formalized by a coupled system of dynamic neural fields representing a distributed network of local but connected neural populations with specific functionalities. We validate the approach in a task in which a robot and a human user jointly construct a toy ’vehicle’. We show that the context-dependent mapping from action observation onto appropriate complementary actions allows the robot to cope with dynamically changing joint action situations. This includes a basic form of error monitoring and compensation.Fundação para a Ciência e a Tecnologia (FCT) - POCI/V.5/A0119/2005, CONC-REEQ/17/200

The Role of Saliva in Food Sensory Perception: Relevant Knowledge to Design Healthy Foods

Food choices and consumption are determined by a range of factors that contribute to aversion or pleasure and guide to final intake. Among these, the sensorial characteristics of food have a major and decisive role in choice behaviour. Although some of the mechanisms involved in oral food perception, namely in taste and astringency perception, are considerable known, many questions remains, particularly in what concerns variations among individuals in their sensitivity for food sensorial aspects. The understanding of the mechanisms leading to different responses for the same sensorial stimulus is particularly important to understand food choices. Bitter has been the basic taste most studied for variations among individuals in perception and in how this influences food behaviour and nutritional status. The observation, at several years ago, that some individuals are very sensitive to the bitterness of the compounds phenyl thiocarbamide (PTC) or 6-n-propylthyouracil (PROP), whereas others are almost insensitive, triggered the emergence of diverse studies about the motif for that, resulting in the identification of gene polymorphisms for the bitter taste receptor TAS2R38. Subsequently to that, polymorphisms for other receptors and taste qualities have been identified. Even so, these genetic variations are not able to explain the total diversity in taste/oral sensations responses. In recent years, it has begun to become apparent that saliva has a relevant role in taste recognition mechanisms. Apart from astringency, which is well known to depend on salivary proteins to develop and being perceived, basic tastes started to be related with saliva composition. Some salivary proteins, among which carbonic anhydrase VI, cystatins, amylase and others, have been observed to relate with taste perception. However, saliva secretion changes with taste stimulation and according dietary habits. Moreover, body weight condition, metabolic status or diverse pathologies are responsible for changes in saliva composition. Being this fluid important in modulating oral food perception, to know individuals’ saliva composition becomes of interest for modulating or directing choices. Based on the literature and recent scientific results, the role of saliva in food sensory perception will be discussed according to these two angles. The question of the high between-subject variability in view of saliva properties and its consequence on perception will be emphasized.Acknowledgements This article was funded by FCT-Science and Technology Foundation as part of Project UID/AGR/00115/2013. Funding was additionally provided by the FCT-Portuguese Science Foundation: research contract IF/01778/2013-Elsa Lamy, while FCT was not involved in carrying out this study or submitting it for publication

Endothelial dysfunction in type 2 diabetes: effect of antioxidants

Individuals with insulin resistance and diabetes mellitus have increased cardiovascular morbidity and mortality, caused in part by vascular complications. Endothelial dysfunction has been implicated in the pathogenesis of vascular diabetic disease. This abnormal function of the vasculature precedes cardiovascular disease and is associated with impaired endothelium-dependent vasorelaxation. The main etiology of the increased mortality and morbidity of type 2 diabetic patients is atherosclerosis. Increased production of free radicals is associated with the pathophysiology of diabetes, resulting in oxidative damage to lipids and proteins. Reduction of oxidative stress in diabetic patients may delay the onset of atherogenesis and the appearance of micro- and macrovascular complications. Alpha-lipoic acid (LA) is a multifunctional antioxidant that has been shown to have beneficial effects on polyneuropathy and on markers of oxidative stress in various tissues. This study was conducted to investigate the effects of LA on endothelial function in diabetic and hyperlipidemic animal models. Carbohydrate and lipid metabolism, endothelial function, plasma malondialdehyde (MDA) and urinary 8-hydroxydeoxyguanosine (8-OHdG) were assessed in non-diabetic controls (Wistar rats), untreated diabetic Goto-Kakizaki (GK) rats and, atherogenic diet (AD)-fed GK rats (fed with atherogenic diet only, treated with alpha-lipoic acid and treated with vehicle, for 3 months). AD resulted in a 3-fold increase in both total and non-HDL serum cholesterol levels and in a 2-fold increase triglyceride levels while endothelial function was significantly reduce MDA and 8-OHdG levels were higher in the GK and GK hyperlipidemic groups and were completely reversed by the antioxidant. Hyperlipidemic GK diabetic rats showed significantly reduced endothelial function that was partially improved with LA. Furthermore, lipoic acid significantly reduced serum cholesterol levels, without lowering HDL cholesterol. Alpha-lipoic acid supplementation represents an achievable adjunct therapy to improve endothelial function and reduce oxidative stress, factors that are implicated in the pathogenesis of atherosclerosis in diabetes

Neuro-cognitive mechanisms of decision making in joint action: A human-robot interaction study

In this paper we present a model for action preparation and decision making in cooperative tasks that is inspired by recent experimental findings about the neurocognitive mechanisms supporting joint action in humans. It implements the coordination of actions and goals among the partners as a dynamic process that integrates contextual cues, shared task knowledge and predicted outcome of others’ motor behavior. The control architecture is formalized by a system of coupled dynamic neural fields representing a distributed network of local but connected neural populations. Different pools of neurons encode task-relevant information about action means, task goals and context in the form of self-sustained activation pat- terns. These patterns are triggered by input from connected populations and evolve continuously in time under the influence of recurrent interactions. The dynamic model of joint action is evaluated in a task in which a robot and a human jointly construct a toy object. We show that the highly context sensitive mapping from action observation onto appropriate complementary actions allows coping with dynamically changing joint action situations.The present research was conducted in the context of the fp6-IST2 EU-IP Project JAST (Project No. 003747) and partly financed by the FCT grants POCl/V.5/A0119/2005 and CONC-REEQ/17/2001. We would like to thank Profs. Harold Bekkering and Ruud Meulenbroek for the numerous discussions, and Emanuel Sousa, Flora Ferreira, Nzoji Hipolito, Rui Silva and Toni Machado for their help during the robotic experiments. We also thank the anonymous reviewers for their insightful comments and feedback on how to improve the manuscript

Learning a musical sequence by observation : a robotics implementation of a dynamic neural field model

We tested in a robotics experiment a dynamic neural field model for learning a precisely timed musical sequence. Based on neuro-plausible processing mechanisms, the model implements the idea that order and relative timing of events are stored in an integrated representation whereas the onset of sequence production is controlled by a separate process. Dynamic neural fields provide a rigorous theoretical framework to analyze and implement the necessary neural computations that bridge gaps between sensation and action in order to mediate working memory, action planing, and decision making. The robot first memorizes a short musical sequence performed by a human teacher by watching color coded keys on a screen, and then tries to execute the piece of music on a keyboard from memory without any external cues. The experimental results show that the robot is able to correct in very few demonstration-execution cycles initial sequencing and timing errors.The work received financial support from FCT - Fundação para a Ciência e Tecnologia within the Project Scope: PEst- OE/EEI/UI0319/2014, the Research Centers for Mathematics and Algoritmi through the FCT Pluriannual Funding Program, PhD and Post-doctoral Grants (SFRH/BD/41179/2007, SFRH/BD/48529/2008 and SFRH/BPD/71874/2010, financed by POPH-QREN-Type 4.1-Advanced Training, co-funded by the European Social Fund and national funds from MEC), and Project NETT: Neural Engineering Transformative Technologies, EU-FP7 ITN (nr.289146)

Antioxidant responses of edible and model plant species subjected to subtoxic zinc concentrations

Zinc (Zn) is a common heavy metal in polluted soils, as it is a widespread pollutant deriving both from natural sources and anthropogenic activities. The antioxidant tolerance/defence mechanisms against oxidative stress induced by subtoxic concentrations of Zn (50 and 150 μM ZnSO4) were studied in a widespread edible plant (lettuce; Lactuca sativa L.) and in an important model plant (Arabidopsis thaliana (L.) Heynh.). After 10 days (Arabidopsis) and 20 days (lettuce) of Zn exposure, Zn uptake/translocation was evaluated in both roots and shoots, while indicators of oxidative stress and stress intensity, total antioxidant capacity, and enzymatic and non-enzymatic antioxidative defence were measured in leaves. From an overall comparison of the two species, Zn root uptake in Arabidopsis subjected to 50 and 150 μM ZnSO4 was approximately 3- and 5-fold lower than in lettuce, while Zn translocation from roots to apical leaves was more efficient in Arabidopsis (23.7 vs 21.3% at 50 μM ZnSO4 and 19.3 vs 12.9% at 150 μM ZnSO4). Generally, a higher degree of Zn-induced oxidative stress (863.8 vs 21.3 μg g−1 FW H2O2 and 1.33 vs 0.75 μMg−1 FW MDAeq at 150 μM ZnSO4) and antioxidant response (441.2 vs 258.5mMg−1 FW TEAC and 91.0 vs 54.9% RSA at 150 μM ZnSO4) were found in lettuce. The aim of this study is understanding (a) if subtoxic Zn levels can affect Zn uptake and translocation in the studied species and (b) if this eventual Zn absorption can influence plant oxidative status/antioxidant response. Considering that soil contamination by Zn can affect crop production and quality, the results of this research could be important for environmental, nutritional and human health issues