Simulation of healthcare facilities with unity game engine

LAUREA MAGISTRALEAll’interno di questo lavoro di tesi viene affrontata la realizzazione di un modello di simulazione che possa essere applicato a situazioni ad alta densità di persone. Per la realizzazione della simulazione è stato sviluppato un approccio nuovo basato sull’utilizzo di elementi Pop-Up. Queste sono strutture virtuali che racchiudono oggetti, spazi e le funzionalità necessarie ad utilizzarli. Grazie a delle interfacce, gli agenti sono in grado di usufruire di questi oggetti con dinamiche più semplici rispetto ad altre modalità di simulazione perché parte del potere decisionale che dovrebbe essere svolto dagli agenti viene distribuito ai pop-up. Essi possono essere utilizzati per la rappresentazione di comportamenti collaborativi e competitivi tra persone. Il principale vantaggio di una logica a pop-up risiede nella loro semplicità di implementazione e nel conseguente risparmio computazionale. Il modello realizzato è stato poi applicato alla simulazione della sala d’attesa del pronto soccorso dell’ospedale San Raffaele di Milano. La simulazione è basata sui dati reali di accesso al pronto soccorso da parte dei pazienti, sulla planimetria della struttura e su osservazioni dirette in loco.Within this thesis work the realization of a simulation model that can be applied to situations with high density of people is addressed. For the realization of the simulation a new approach based on the use of Pop-Up elements was developed. These are virtual structures that contain objects, spaces and the functionalities necessary to use them. Thanks to interfaces, agents are able to take advantage of these objects with simpler dynamics than other typologies of simulation because a fraction of the decision power that should be carried out by the agents is shared with the Pop-Ups. Pop-Ups can be used for the representation of collaborative and competitive behaviours between people. The main advantage of a Pop-up logic lies in their simplicity of implementation and consequent computational savings. The realized model has been then applied to the simulation of the waiting room of the emergency room of the San Raffaele Hospital in Milan. The simulation is based on the real data of access to the emergency room by the patients, the layout of the structure and direct observations during daily operations

Classification and Integration of Software Component Models for Robotics

The Component Based Software Engineering (CBSE) allows the realization of modular and flexible systems composed by reusable software components. In the robotics field, the CBSE principles struggle to become spread used due to the extreme variability in functionality, applications and involved hardware that characterize the domain. This variability directly impacts on the component implementations limiting their reuse capability. The component model concept plays a fundamental role since it defines the rules that supervise the components definitions and their interactions. These rules strongly influences the capability of components to cope with the variability of the robotics domain. The high number of proposed component models, both in literature and in the industrial field, claims for a model for their comparison and classification in order to highlight commonalities and differences among different approaches. In this work we propose a feature-based classification model that exploits a clear separation of concerns when analyzing different component models. The four identified concerns refer to the Communication, the Computation, the Configuration and the Coordination aspects. This approach allows for a better understanding of the constructs provided by different models in order to manage the variability of the system. From the classification, it results clear that robotic domain specific models offer constructs that are well suited for addressing the specific issues of robotics although they lack in providing a sufficient level of flexibility. On the other hand, general purpose models offer a higher level of flexibility without offering relevant robotic specific features. We propose the integration of component models as a key to overcome this limitation. In particular, the integration between the Service Component Architecture (SCA) and the Robot Operating System (ROS) allows the developers to fully exploit the benefits of both approaches while mitigating their deficiencies. We present the control software of the BART robot as a proof of the benefits of this approach

A microdialysis technique for continuous subcutaneous glucose monitoring in diabetic patients (part 1)

Lettre de Louis Phélypeaux de Pontchartrain (secrétaire d'Etat de la Marine et de la Maison du roi) à Gabriel Nicolas de La Reynie (lieutenant général de police de Paris) datée du 27 mars 1693. In: Correspondance administrative sous le règne de Louis XIV, recueillie et mise en ordre par G. B. Depping. Tome II. Administration de la justice – Police – Galères. Paris : Imprimerie nationale, 1851. pp. 613-614

A Reuse-Oriented Development Process for Component-based Robotic Systems

State of the art in robot software development mostly relies on class library reuse and only to a limited extent to component-based design. In the BRICS project we have defined a software development process that is based on the two most recent and promising approaches to software reuse, i.e. Software Product Line (SPL) and Model-Driven Engineering (MDE). The aim of this paper is to illustrate the whole software development process that we have defined for developing flexible and reusable component-based robotics libraries, to exemplify it with the case study of robust navigation functionality, and to present the software tools that we have developed for supporting the proposed process

Equations and nomogram for the relationship of human blood p50 to 2,3-diphosphoglycerate, CO2, and H+

We describe a new method for tonometry of small amounts of blood (up to 0.25 mL) at known pO2, PCO2, and temperature, in small, reusable, closed Pyrex flasks. Equilibrated blood is analyzed for oxygen saturation, pH, and organic phosphate concentration with standard techniques, and its p50 (the pO2 at which hemoglobin is half-saturated with oxygen) is determined with full control of all the variables known to affect it. The SD in the measurement of p50 is 0.044 kPa (0.33 mmHg). We made 63 determinations of p50 on normal human blood under different conditions of pH and pCO2, and with different concentrations of 2,3-diphosphoglycerate and ATP. Empirical equations and a nomogram were derived, which allow the calculation of p50 from known values of pCO2, pH, and [2,3-DPG]/[Hb4] molar ratio with a SD of 97 and 114 Pa (0.73 and 0.86 mmHg), respectively