Qualitative design and implementation of human-robot spatial interactions

Despite the large number of navigation algorithms available for mobile robots, in many social contexts they often exhibit inopportune motion behaviours in proximity of people, often with very "unnatural" movements due to the execution of segmented trajectories or the sudden activation of safety mechanisms (e.g., for obstacle avoidance). We argue that the reason of the problem is not only the difficulty of modelling human behaviours and generating opportune robot control policies, but also the way human-robot spatial interactions are represented and implemented. In this paper we propose a new methodology based on a qualitative representation of spatial interactions, which is both flexible and compact, adopting the well-defined and coherent formalization of Qualitative Trajectory Calculus (QTC). We show the potential of a QTC-based approach to abstract and design complex robot behaviours, where the desired robot's behaviour is represented together with its actual performance in one coherent approach, focusing on spatial interactions rather than pure navigation problems

A bank of unscented Kalman filters for multimodal human perception with mobile service robots

A new generation of mobile service robots could be ready soon to operate in human environments if they can robustly estimate position and identity of surrounding people. Researchers in this field face a number of challenging problems, among which sensor uncertainties and real-time constraints. In this paper, we propose a novel and efficient solution for simultaneous tracking and recognition of people within the observation range of a mobile robot. Multisensor techniques for legs and face detection are fused in a robust probabilistic framework to height, clothes and face recognition algorithms. The system is based on an efficient bank of Unscented Kalman Filters that keeps a multi-hypothesis estimate of the person being tracked, including the case where the latter is unknown to the robot. Several experiments with real mobile robots are presented to validate the proposed approach. They show that our solutions can improve the robot's perception and recognition of humans, providing a useful contribution for the future application of service robotics

Computationally efficient solutions for tracking people with a mobile robot: an experimental evaluation of Bayesian filters

Modern service robots will soon become an essential part of modern society. As they have to move and act in human environments, it is essential for them to be provided with a fast and reliable tracking system that localizes people in the neighbourhood. It is therefore important to select the most appropriate filter to estimate the position of these persons. This paper presents three efficient implementations of multisensor-human tracking based on different Bayesian estimators: Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and Sampling Importance Resampling (SIR) particle filter. The system implemented on a mobile robot is explained, introducing the methods used to detect and estimate the position of multiple people. Then, the solutions based on the three filters are discussed in detail. Several real experiments are conducted to evaluate their performance, which is compared in terms of accuracy, robustness and execution time of the estimation. The results show that a solution based on the UKF can perform as good as particle filters and can be often a better choice when computational efficiency is a key issue

High occurrence of Flavescence dorée phytoplasma early in the season on grapevines infected with grapevine yellows

Research NoteA survey for the presence of phytoplasmas associated with grapevine yellows in about 500 Italian vineyards was conducted from 1999 to 2004. Grapevines with the earliest symptoms were mostly infected with Flavescence dorée type C phytoplasma (FD-C). As the season advanced, a steady relative decrease in the occurrence of FD-C coincided with a clear relative increase in Bois noir phytoplasma. The relative occurrence of Flavescence dorée type D phytoplasma remained stable.

Structure–function relationship during the early and long-term hydration of one-part alkali-activated slag

Understanding the mechanisms controlling the early (fresh) and long-term (hardened) hydration of one-part alkali-activated slags (AAS) is key to extend their use as low CO2 substitutes for ordinary Portland cement (OPC). Their “just add water” use makes them easier and less hazardous to manipulate than the more studied two-part ones. This is due to the absence of liquid alkaline activators, which are environmentally and energy demanding. In this work, numerous experimental techniques have been linked to obtain a comprehensive physico-chemical characterization of a one-part AAS activated with Na2CO3 and Ca(OH)2 powders at several water to solid ratios (w/s). Calorimetry and pH/conductivity measurements describe the functioning of the activators immediately after contact with water. Early reactivity is characterized through in situ X-ray powder diffraction (XRPD) and small amplitude oscillatory shear (SAOS) rheology, which reveal a rapid precipitation of nanometric hydration products (nano-C-A-S-H), which results in a continuous increase in the paste cohesivity until setting. Moreover, SAOS shows that rejuvenating the paste by means of shearing (performed externally to the rheometer in this study) is enough to restore the initial cohesion (i.e., workability) for long time spans until setting occurs. The long-term hydration is characterized by ex situ XRPD on aged AAS pastes, in parallel with mechanical testing on AAS mortar. A correlation can be observed between the amount of nano-C-A-S-H and the increase in compressive strength. Overall, this formulation shows satisfactory fresh and solid properties, demonstrating suitability for low- and normal-strength applications

Environmental sensitivity mapping to oil spill and response actions for shoreline and portuary zone of Imbituba, SC, Brazil

Environmental Sensitivity Index maps (ESI) have been produced for the shoreline of Imbituba, located in the southern coast of Santa Catarina State, Brazil, in the scales of 1:50,000 and 1:10,000. Adequate cleanup procedures were selected and indicated for each coastal segment identified, in accordance to expected oil behavior in each one. The study area comprises an important environmental protection area for right whales (Eubalaena glacialis) reproduction. The ESI maps include information for three main components: sensitive biological resources, human-uses resources and shoreline habitats. Data of biological resources and some human-use information were obtained from an integrated project named Environmental Sensitivity Index Maps of Santos Sedimentary Marine Basin. Shoreline habitats data were obtained in field survey. Methodology applied was that proposed by the Brazilian Environment Ministry (MMA), adapted from the National Oceanic and Atmosphere Administration (NOAA), with the aid of remote sensing and geographical information system (SIG). Twenty segments were identified in the study area, comprising 15 km of shoreline. Only 6 different ESI were identified, with the most representative in extension being the ESI 3 (dissipative exposed beaches)

Palladium(II) complexes of quinolinylaminophosphonates: synthesis, structural characterization, antitumor and antimicrobial activity

Three types of palladium(II) halide complexes of quinolinylaminophosphonates have been synthesized and studied. Diethyl and dibutyl [alpha-anilino-(quinolin-2-ylmethyl)]phosphonates (L1, 12) act as N,N-chelate ligands through the quinoline and aniline nitrogens giving complexes cis-[Pd(L1/12)X-2] (X Cl, Br) (1-4). Their 3-substituted analogues [alpha-anilino-(quinolin-3-ylmethyl)]phosphonates (L3, L4) form dihalidopalladium complexes trans-[Pd(L3/L4)(2)X-2] (5-8), with trans N-bonded ligand molecules only through the quinoline nitrogen. Dialkyl [alpha-(quinolin-3-ylamino)-N-benzyl]phosphonates (L5, L6) give tetrahalidodipalladium complexes [Pd-2(L5/L6)(3)X-4] (9-12), containing one bridging and two terminal ligand molecules. The bridging molecule is bonded to the both palladium atoms, one through the quinoline and the other through the aminoquinoline nitrogen, whereas terminal ligand molecules are coordinated each only to one palladium via the quinoline nitrogen. Each palladium ion is also bonded to two halide ions in a trans square-planar fashion. The new complexes were identified and characterized by elemental analyses and by IR, UV-visible, H-1, C-13 and P-31 nuclear magnetic resonance and ESI-mass spectroscopic studies. The crystal structures of complexes 1-4 and 6 were determined by X-ray structure analysis. The antitumor activity of complexes in vitro was investigated on several human tumor cell lines and the highest activity with cell growth inhibitory effects in the low micromolar range was observed for dipalladium complexes 11 and 12 derived from dibutyl ester L6. The antimicrobial properties in vitro of ligands and their complexes were studied using a wide spectrum of bacterial and fungal strains. No specific activity was noted. Only ligands L3 and L4 and tetrahalidodipalladium complexes 9 and 11 show poor activities against some Gram positive bacteria

Wastewater Treatment Using Alkali-Activated-Based Sorbents Produced from Blast Furnace Slag

Currently, slags from secondary steel production, foundries, and blast furnaces represent a major environmental problem since they end up mainly in landfills, and their valorization would bring undeniable advantages both to environment and economy. Moreover, the removal of heavy metal ions from mines wastewater is one of the challenges of the last decades, and adsorption has been proposed as one of the most promising techniques for this purpose. In this context, the use of alkali-activated slags as sorbent can be a good opportunity to develop low cost, environmentally friendly, and sustainable materials. Accordingly, wastewater decontamination by adsorption over a porous monolithic bed made of alkali-activated hydraulic binders is proposed. Alkali-activated materials were prepared using slags from the metallurgical industry and reacted with an alkaline component (high alumina calcium aluminate cement, CAC 80) at ambient conditions. The obtained monolithic foams were tested to evaluate the uptake efficiency towards metal capture. Solutions containing Cu(II), Fe(III), Ni(II), Mn(II), and simulating the metal concentrations of a real mine effluent were tested, both in single- and multi-ion solutions. Promising capture efficiency, values of 80–100% and of 98–100% in the case of the single ion and of the multi-ion solutions were obtained, respectively

Influence of cellulose nanofibrils on the rheology, microstructure and strength of alkali activated ground granulated blast-furnace slag: a comparison with ordinary Portland cement

This paper reports on the effect of cellulose nanofibrils (CNFs) on the fresh-state properties of alkali activated ground granulated blast-furnace slag (GGBS). Surface functionalized (oxidized) CNFs were added to alkali activated GGBS water suspensions (hydraulic pastes). The rheological behaviour of the pastes was compared with OPC and interpreted based on the CNF-mineral surface interaction, and on the CNF-water interaction and swelling. The water dispersion of CNFs with different surface functionalization degrees resulted in gels of different viscosity and yield stress, due to their different hydrophilicity and water adsorption properties. On increasing the CNFs surface oxidation degree, the viscosity of the CNF water dispersion decreases and the CNF water adsorption increases, while the viscosity of fresh pastes increases because of the reduced amount of available mixing water. In the hardened state, the hydraulic pastes show differences in mechanical strength related to the type and the amount of CNF influencing the porosity of the matrix as evidenced by the microstructural investigation performed by X-ray microtomography. The presence of higher amounts of CNFs induces the formation of porous agglomerates that may act as stress concentrators due to the swelling ability of nanofibrils