Ontological framework to improve motion planning of manipulative agents through semantic knowledge-based reasoning

This paper describes the actions taken in developing a framework that aims to improve the motion planning of a manipulative robotic agent through reasoning based on semantic knowledge. The Semantic Web Rule Language (SWRL) was employed to draw new insights from the existing information about the robotic system and its environment. Recent ontology-based standards have been developed (IEEE 1872-2015; IEEE 1872.2-2021; IEEE 7007-2021), and others are currently under development (IEEE P1872.1; IEEE P1872.3) to improve robot performance in task execution. Ontological knowledge “semantic map" was generated using a deep neural network trained to detect and classify objects in the environment where the manipulator agent acts. Manipulation constraints were deduced, and the environment corresponding to the agent’s manipulation workspace was created so the planner could interpret it to generate a collision-free path. Several SPARQL queries were used to explore the semantic map and allow ontological reasoning. The proposed framework was implemented and validated in a real experimental setting, using the ROSPlan planning framework to perform the planning tasks. This ontology-based framework proved to be a promising strategy. E.g., it allows the robotic manipulative agent to interact with objects, e.g., to choose a mobile phone or a water bottle, using semantic information from the environment to solve the requested tasks.This work is financed by national funds through FCT - Foundation for Science and Technology, I.P., through IDMEC, under LAETA, project UIDB/50022/2020. The work of Rodrigo Bernardo was supported by the PhD Scholarship BD/6841/2020 from FCT. This work has received funding from: the project 0770_EUROAGE2_4_E (POCTEP Programa Interreg V-A Spain-Portugal), and the European Union’s Horizon 2020 programme under StandICT.eu 2023 (under Grant Agreement No.: 951972).info:eu-repo/semantics/publishedVersio

Ontology based robot reasoning in the elderly care domain - the EUROAGE projects

This paper describes the actions developed and currently in development within the EUROAGE projects related to the ontology-based robot reasoning in the elderly care domain. Recent ontology-based standards were developed (IEEE 1872-2015; IEEE 1872.2-2021; IEEE 7007-2021), and others are currently in development (IEEE P1872.1; IEEE P1872.3) to improve robot performance while executing tasks. This is a very hot topic in current standardization efforts worldwide. The elderly care domain has special characteristics related to interactions with humans and robots living in the same workspace. As such, robots must also commit to social and ethical norms (IEEE 7007-2021). The robot and the actions it can perform in such interactions are defined according to the IEEE 1872-2015. Moreover, a semantic map of the environment was developed (using some concepts from the IEEE 1872.2- 2021) where the robot can interact with the elder and the sensors in the smart home. In this environment, an ontology-based platform was developed that allows the robot to interact with the objects, e.g., to pick a cell phone or bottle of water, using semantic information from that environment to solve demanded tasks. Ongoing efforts are underway to thoroughly add to the reasoning framework of the previously stated standards and the concepts from the IEEE 7007-2021 to ensure that the robot's actions are ethically and socially correct.info:eu-repo/semantics/publishedVersio

Uncalibrated eye-to-hand visual servoing using inverse fuzzy models

(c) 2007 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.A new uncalibrated eye-to-hand visual servoing based on inverse fuzzy modeling is proposed in this paper. In classical visual servoing, the Jacobian plays a decisive role in the convergence of the controller, as its analytical model depends on the selected image features. This Jacobian must also be inverted online. Fuzzy modeling is applied to obtain an inverse model of the mapping between image feature variations and joint velocities. This approach is independent from the robot's kinematic model or camera calibration and also avoids the necessity of inverting the Jacobian online. An inverse model is identified for the robot workspace, using measurement data of a robotic manipulator. This inverse model is directly used as a controller. The inverse fuzzy control scheme is applied to a robotic manipulator performing visual servoing for random positioning in the robot workspace. The obtained experimental results show the effectiveness of the proposed control scheme. The fuzzy controller can position the robotic manipulator at any point in the workspace with better accuracy than the classic visual servoing approach.info:eu-repo/semantics/publishedVersio

Localization System for Optimization of Picking in a Manual Warehouse

Inbound logistics assumes increasing importance in retail operations, because there are usually hidden inefficiencies that contribute to higher labour costs and more time spent in the usual procedures in warehouses. The work developed was carried out in a manual warehouse of a retail company, with the main goal being the optimization of picking tasks and the improvement of the warehouse operations, as well as stock management. The solution is based on the development and implementation of a localization system, to reduce one of the most time-consuming components of picking, the search time for products in the warehouse. This application led to a reduction of this unproductive time by 93% to 100%, meaning the complete elimination of this component, which led to an optimization of the picking activity, by increasing the warehouse preparation capacity by 63%. Apart from the software upgrade, the operators now use Personal Digital Assistants to perform and validate the picking of items, increasing the accuracy of picking and the traceability of stock.info:eu-repo/semantics/publishedVersio

Cytogenetic characterization and evaluation of c-MYC gene amplification in PG100, a new Brazilian gastric cancer cell line

Gastric cancer is the fourth most frequent type of cancer and the second cause of cancer mortality worldwide. The genetic alterations described so far for gastric carcinomas include amplifications and mutations of the c-ERBB2, KRAS, MET, TP53, and c-MYC genes. Chromosomal instability described for gastric cancer includes gains and losses of whole chromosomes or parts of them and these events might lead to oncogene overexpression, showing the need for a better understanding of the cytogenetic aspects of this neoplasia. Very few gastric carcinoma cell lines have been isolated. The establishment and characterization of the biological properties of gastric cancer cell lines is a powerful tool to gather information about the evolution of this malignancy, and also to test new therapeutic approaches. The present study characterized cytogenetically PG-100, the first commercially available gastric cancer cell line derived from a Brazilian patient who had a gastric adenocarcinoma, using GTG banding and fluorescent in situ hybridization to determine MYC amplification. Twenty metaphases were karyotyped; 19 (95%) of them presented chromosome 8 trisomy, where the MYC gene is located, and 17 (85%) presented a deletion in the 17p region, where the TP53 is located. These are common findings for gastric carcinomas, validating PG100 as an experimental model for this neoplasia. Eighty-six percent of 200 cells analyzed by fluorescent in situ hybridization presented MYC overexpression. Less frequent findings, such as 5p deletions and trisomy 16, open new perspectives for the study of this tumor.Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)Universidade Federal do Pará Instituto de Ciências Biológicas Laboratório de Citogenética HumanaUniversidade Federal de São Paulo (UNIFESP) Disciplina de GenéticaUNIFESP, Disciplina de GenéticaCNPq: 20/2007CNPq: 550885/2007-2SciEL

Study of Z → llγ decays at √s = 8 TeV with the ATLAS detector

This paper presents a study of Z → llγ decays with the ATLAS detector at the Large Hadron Collider. The analysis uses a proton–proton data sample corresponding to an integrated luminosity of 20.2 fb−1 collected at a centre-ofmass energy √s = 8 TeV. Integrated fiducial cross-sections together with normalised differential fiducial cross-sections, sensitive to the kinematics of final-state QED radiation, are obtained. The results are found to be in agreement with stateof-the-art predictions for final-state QED radiation. First measurements of Z → llγ γ decays are also reported

Constraints on spin-0 dark matter mediators and invisible Higgs decays using ATLAS 13 TeV pp collision data with two top quarks and missing transverse momentum in the final state

This paper presents a statistical combination of searches targeting final states with two top quarks and invisible particles, characterised by the presence of zero, one or two leptons, at least one jet originating from a b-quark and missing transverse momentum. The analyses are searches for phenomena beyond the Standard Model consistent with the direct production of dark matter in pp collisions at the LHC, using 139 fb−1 of data collected with the ATLAS detector at a centre-of-mass energy of 13 TeV. The results are interpreted in terms of simplified dark matter models with a spin-0 scalar or pseudoscalar mediator particle. In addition, the results are interpreted in terms of upper limits on the Higgs boson invisible branching ratio, where the Higgs boson is produced according to the Standard Model in association with a pair of top quarks. For scalar (pseudoscalar) dark matter models, with all couplings set to unity, the statistical combination extends the mass range excluded by the best of the individual channels by 50 (25) GeV, excluding mediator masses up to 370 GeV. In addition, the statistical combination improves the expected coupling exclusion reach by 14% (24%), assuming a scalar (pseudoscalar) mediator mass of 10 GeV. An upper limit on the Higgs boson invisible branching ratio of 0.38 (0.30+0.13−0.09) is observed (expected) at 95% confidence level