Coordination of Multi-Robot Systems using Supervisory Control and Optimization

In this work the problem of the coordination in industrial multi-robot systems is analyzed, that is to say the coordination of several robots that have to perform different tasks in the same workspace. A methodology is presented, for off-line coordination of several robots interacting in a 3D environment. In particular, parts of the 3D space in which the robots could collide are found out (mutex zones) and automata models for the robots tasks and for the zones created are built. Then, the tasks for each robot are scheduled in order to minimize the time of execution of all the tasks, preventing collisions and blocking situations. Since the complexity of the problem is very large, automatic procedures are needed. This is done with the help of a software named RobotStudio, provided by ABB Robotics, for three dimensional simulations, and with Supremica, a software program developed at the Department of Signals and Systems at Chalmers University of Technology in Gothenburg, for the analysis of automata and Petri nets. The main result of the work is the automatic synthesis of a discrete event controller that optimizes the total time of work and guarantees that the multi-robot system is collision free and non-blocking. Future work can regard optimal choice of zones of mutual exclusions and simulations in a parallel environment for the robots

The relationship between difficulties in emotion regulation and dysfunctional technology use among adolescents

Objectives Since two decades scientific research is studying excessive and dysfunctional new technologies use and its influences on people’s lives, in terms of personal, relational, scholastic and work functioning impairment. The objectives of the present study are to investigate gender differences in problematic new technologies use as well as to examine the relationship between problematic new technologies use, emotional regulation and its specific dimensions. Methods 280 italian adolescents (51.1% males) aged 11 to 18 years (mean age = 13.31; SD = 2.33) were recruited from two italian secondary public schools and involved in this study. Data were collected using the Internet Addiction Test, the Video Game Dependency Scale, the Brief Multicultural Version of the Test of Mobile-Phone Dependence and the Difficulties in Emotion Regulation Scale. Results Results indicate significant association between emotion dysregulation and problematic internet (r = .504; p < .001), videogame (r = .372; p < .001), mobile-phone (r = .424; p < .001) use. These results support hypothesis that adolescents with greater emotion dysregulation are more likely to experience problematic new technologies use. Additionally, stepwise multiple regression analysis pointed out that the lack of effective emotion regulation strategies is a common risk factors between the problematic new technologies use, but regression analysis highlighted specific risk factors for some of the investigated dependent behaviors. Conclusions Findings of this study highlight a link between problematic new technologies use, emotion dysregulation and its specific dimensions. The results are discussed considering scientific advances and the role of emotional dysregulation in determining problematic new technologies use in adolescence. Further research with larger sample sizes is needed to confirm our data

Collision-free path coordination and cycle time optimization of industrial robot cells

In industry, short ramp-up times, product quality, product customization and high production rates are among the main drivers of technological progress. This is especially true for automotive manufacturers whose market is very competitive, constantly pushing for new solutions. In this industry, many of the processes are carried out by robots: for example, operations such as stud/spot welding, sealing, painting and inspection. Besides higher production rates, the improvement of these processes is important from a sustainability perspective, since an optimized equipment utilization may be achieved, in terms of resources used, including such things as robots, energy, and physical prototyping. The achievements of such goals may, nowadays, be reached also thanks to virtual methods, which make modeling, simulation and optimization of industrial processes possible. The work in this thesis may be positioned in this area and focuses on virtual product and production development for throughput improvement of robotics processes in the automotive industry. Specifically, the thesis presents methods, algorithms and tools to avoid collisions and minimize cycle time in multi-robot stations. It starts with an overview of the problem, providing insights into the relationship between the volumes shared by the robots\u27 workspaces and more abstract modeling spaces. It then describes a computational method for minimizing cycle time when robot paths are geometrically fixed and only velocity tuning is allowed to avoid collisions. Additional requirements are considered for running these solutions in industrial setups, specifically the time delays introduced when stopping robots to exchange information with a programmable logic controller (PLC). A post-processing step is suggested, with algorithms taking into account these practical constraints. When no communication at all with the PLC is highly desirable, a method of providing such programs is described to give completely separated robot workspaces. Finally, when this is not possible (in very cluttered environments and with densely distributed tasks, for example), robot routes are modified by changing the order of operations to avoid collisions between robots.In summary, by requiring fewer iterations between different planning stages, using automatic tools to optimize the process and by reducing physical prototyping, the research presented in this thesis (and the corresponding implementation in software platforms) will improve virtual product and production realization for robotic applications

The role of difficulty in identifying and describing feelings in non-suicidal self-injury behaviour (NSSI): Associations with perceived attachment quality, stressful life events, and suicidal ideation

Objective: Core alexithymic features, such as the difficulty in identifying and describing feelings, are associated with poor attachment styles and emotional trauma, which influence the capacity to regulate affect. Additionally, emotional regulation has been found to be the most commonly identified function associated with non-suicidal self-injury behavior (NSSI)in adolescents as they attempt to modulate strong emotions. However, few studies have examined the link between difficulty in identifying and describing feelings (core components of alexithymia), NSSI behaviors, quality of attachment, life stressors and suicidal ideation in healthy early adolescents. Consequently, this study aims to investigate these constructs and the relationship among them in a large non-clinical sample of adolescents. Methods: Seven hundred and nine middle school students (50.4% males), aged 10-15 years (M = 12.6; SD = 1.06) were involved in this study. In order to investigate the variables considered in the study, the following measures were administered: the Deliberate Self-Harm Inventory exploring non-suicidal self-injurious behaviors; the Alexithymia Questionnaire for Children examining difficulty in identifying and describing feelings; the Inventory of Parent and Peer Attachment assessing the quality of parental and peer attachment; the Life Stressor Checklist-Revised outlining stressful/traumatic events and the Children's Depression Inventory evaluating suicidal ideation. Results: We found significantly positive relationships among difficulty in identifying and describing feelings, NSSI behaviors, stressful events, and suicidal ideation. Data indicated a significant negative association of difficulty in identifying and describing feelings with quality of attachment to parents and peers. Further findings highlighted that difficulty in identifying and describing feelings significantly mediated the effect of quality of attachment (parent and peer) on NSSI and suicidal ideation. Conclusion: The ability to identify and describing feelings is important to managing emotional expression and understanding the feelings of others, both crucial in attaining successful interpersonal relationships. Our data revealed that, while controlling for stressful life events, low levels of attachment may increase adolescents’ difficulty in identifying and describing their own feelings, which in turn may increase the risk of both NSSI and suicidal ideation

The potential impact of internet and mobile use on headache and other somatic symptoms in adolescence. a population-based cross-sectional study

Objective.—The purpose of this cross-sectional study was to determine whether migraine or tension-type headaches are associated with abuse of the internet and/or mobile phones and to explore whether headache and the abuse of the two technologies are associated with sleep disturbances and other self-reported somatic symptoms. Background.—In the last several years, estimates indicate the increasing pervasiveness of the internet and other technologies in the lives of young people, highlighting the impact on well-being. Design.—A population-based cross-sectional study was conducted between February 2013 and June 2014. Method.—The initial sample was composed of 1004 Italian students (aged 10–16 years) recruited within public middle schools not randomly selected in central Italy. The final convenience sample consisted of 841 students (Males551.1%; Females548.9%) who were included in the analysis. Data were collected using self-reported measures. Results.—Headache was reported by 28.0% of the total sample. A significant relationship was determined with gender (v2(1)57.78, P < .01), with female students being overrepresented in the headache group. Approximately 39.6% of subjects were non-abusers of both technologies, internet and mobile. Mobile only abusers were approximately 26.0% of the study population; internet only abusers were approximately 14.9%; and abusers of both media were 19.5%. No significant relationship was found between students with and without headache with respect to the abuse of internet and mobile phone categories (headache was, respectively, the 26% in no abusers, the 30% in internet abusers, the 29% in mobile abusers, and the 29% in internet and mobile abusers, P5.86). Additionally, also by excluding the no headache group, the relationship between the two groups of headache (migraine and tension type headache) and the abuse of media (tension type headache was the 31% in no abusers, the 43% in internet abusers, the 49% in mobile abusers, and the 29% in internet and mobile abusers) is not statistically significant (P5.06). No significant relationship emerged between headache and the internet and mobile phone addiction groups (headache was the 28% in no addiction group, the 35% in mobile addiction group, the 25% of internet addiction group, and the 28% in mobile and internet addiction group, P5.57) as well as no significant relationship was found when only the different headache types were considered (tension type headache was the 39% in no addiction group, the 40% in mobile addiction group, the 32% in internet addiction group, and the 31% in mobile and internet addiction group,P5.71). Daily internet users reported higher median scores for somatic symptoms than the occasional internet users in the no-headache group (Kruskal-Wallis v2 (1)55.44, P5.02) and in the migraine group (Kruskal-Wallis v2 (1)56.54, P5.01

An exploratory study on internet addiction, somatic symptoms and emotional and behavioral functioning in school-aged adolescents

Objective: In the last two decades there has been a significant transformation regarding the use of new technologies. Despite growing acknowledgement concerning the different activities and functions of digital technologies, there remains a lack of understanding on how technology overuse may negatively impact both physical and psychosocial well-being. Although researchers have begun to explore the meaning and implications of excessive Internet use in non-clinical populations of children and adolescents, there is still little consistent knowledge on the topic. This study aimed to extend existing knowledge on the excessive use of the Internet among school-aged adolescents, focusing on its association with recurrent somatic symptoms, depressive risk and behavioral and emotional problems. Method: Two hundred and forty adolescents (51.9% females) aged between 10 and 15, participated in this study. Data was collected using the Children’s Somatization Inventory, the Internet Addiction Test, the Children’s Depression Inventory, the Youth Self Report and the Emotion Regulation Questionnaire. Structural Equation Model analysis was used to analyse the data. Results: Approximately 21.8% of participants reported excessive Internet use based on Young’s criteria. Higher levels of Internet use were associated with somatic and depressive symptoms as well as emotional and behavioral problems. Depressive Symptoms predicted both Internet Addiction (b = 0.304, p < 0.001) and Internalizing (b = 0.542, p <0.001) and Externalizing problems (b = 0.484, p < 0.001). Internet Addiction also significantly predicted both Internalizing (b = 0.162, p = 0.02) and Externalizing problems (b = 0.183, p = 0.02). Finally, Structural Equation Modeling showed that the indirect effect of Depressive Symptoms (via Internet Addiction) on Internalizing or Externalizing problems were significant. Conclusions: Longitudinal studies are needed to confirm these findings and to identify the mechanisms linking Internet use, somatic symptoms and adaptive functioning

Implicazioni della timidezza e dei sintomi somatici nel bullismo

La letteratura sulla vittimizzazione tra pari evidenzia come il fenomeno delle prepotenze sia in crescente aumento nei bambini e negli adolescenti. Diversi studi hanno esplorato le caratteristiche distintive di coloro che agiscono e subiscono azioni aggressive. L’obiettivo del presente studio è stato quello di verificare se i sintomi somatici mediano la relazione tra la timidezza e i comportamenti aggressivi. In questo studio sono stati coinvolti centottanta bambini (età media = 9,11; DS = 0,86) frequentanti la scuola primaria e secondaria di I grado nel centro d'Italia. Tutti i partecipanti sono stati invitati a completare i seguenti strumenti di misura: Olweus Bullying Questionnaire; Children’s Shyness Questionnaire (CSQ); Children’s Somatization Inventory (CSI-24). I risultati confermano la presenza di una relazione significativa tra timidezza e vittimizzazione in presenza di sintomatologia somatica. Dal modello di mediazione si evince che l’effetto diretto della timidezza sulla frequenza delle prepotenze subite non è significativo, tuttavia, l’effetto indiretto tramite la sintomatologia somatica, fa sì che la timidezza diventi un fattore di rischio importante nel predire la vittimizzazion

Alexithymia and psychopathological symptoms in adolescent outpatients and mothers suffering from migraines. A case control study

Background: Headache is a common disorder affecting a growing number of children and adolescents. In recent years, there has been an increase in scientific interest in exploring the relationship between migraine and emotional regulation, and in particular, the impact of emotional dysregulation on mental and physical health. The present study aims to explore the relationship between migraine and alexithymia among adolescents and their mothers as well as the impact of this association on mental health. An additional aim is to verify whether alexithymia may be a predictor of psychopathological symptoms in adolescents and mothers with migraines. Methods: A total of 212 subjects were involved in this study. The sample was divided into (a) Experimental Group (EG) consisting of 106 subjects (53 adolescents and 53 mothers) with a diagnosis of migraine according to International Classification of Headache Disorders (ICHD-3) and (b) Control Group (CG) including 106 subjects (53 adolescents and 53 mothers) without a diagnosis of migraine. All participants completed the Toronto Alexithymia Scale to assess alexithymia and the Symptom Checklist-90-R to assess psychopathological symptoms. Results: Higher rates of alexithymia were found in the adolescents and mothers of the EG in comparison to the adolescents and mothers of the CG. Furthermore, adolescents and mothers experiencing both migraine and alexithymia, demonstrated a higher risk of psychopathology. Conclusions: Findings from this study provide evidence that the co-occurrence of migraine and alexithymia increases the risk of psychopathology for both adolescents and their mother

Investigating the Potential Effectiveness of Two Therapeutic Targets, Utrophin and HSP70, in the Treatment of Duchenne Muscular Dystrophy

Duchenne muscular dystrophy is an incurable, genetic neuromuscular disorder that causes progressive, severe muscle wasting in young men and eventually leads to early death. The disease is caused by a mutation in the gene encoding the cytoskeletal protein dystrophin, which leads to stress induced sarcolemmal tearing. Abnormally high levels of intracellular Ca2+ in muscle cells is a main feature of the disorder as it triggers many secondary effects that are detrimental to the proper functioning of skeletal muscle. Both utrophin and HSP70 have been suggested to have potential therapeutic potential as a result of their preferential expression in the relatively damage-resistant slow, oxidative fibres. In my studies, I found that by forcing transgenic expression of the Ca2+ chelator parvalbumin in slow fibres, utrophin expression in slow fibres was blunted without altering HSP70 expression. In this case, the slow fibres showed increased signs of stress and damage therefore suggesting that endogenous HSP70 alone may not spare dystrophin deficient muscle fibres. These results indicate that utrophin (but not HSP70) is a potential therapeutic target that will prevent muscle degeneration in patients with DMD

Régimen de Promoción de la Economía del Conocimiento: Antecedentes y situación actual en Argentina

En el presente trabajo se abordará el Régimen de Promoción de la Economía del Conocimiento introducido por la Ley N° 27.506, sancionada por el Congreso de la Nación y publicada en el Boletín Oficial el 10 de junio de 2019; y su posterior modificación introducida por la Ley N° 27.570 (B.O. 26/10/2020). Sucintamente, este Régimen tiene por objetivo promover aquellas actividades que apliquen el uso del conocimiento y la digitalización de la información apoyado en los avances de la ciencia y de las tecnologías, a la obtención de bienes, prestación de servicios y/o mejoras de procesos; a través del otorgamiento de incentivos fiscales y previsionales. Como veremos seguidamente, los rubros promovidos se refieren a actividades dinámicas e innovadoras con potencialidad de incrementar las exportaciones, generar empleo de calidad y contribuir al desarrollo regional; constituyéndose en un sector clave para el desarrollo estratégico del país a largo plazo. Previo a la descripción y estudio del tema planteado, realizaremos un resumen de los antecedentes normativos vinculados a este nuevo Régimen; en particular traeremos a colación los aspectos destacados de la Ley de Promoción de la Industria del Software, Ley N° 25.922 (B.O. 09/09/2004). Asimismo, nos referiremos a los cambios introducidos por la Ley N° 27.570, publicada en el Boletín Oficial el 26 de octubre de 2020, finalizando con una sucinta comparación de la situación actual respecto del régimen originalmente aprobado en 2019. En función de lo expuesto, el presente trabajo procura acercar a sus lectores los fundamentos y lineamientos generales de este Régimen de Promoción, profundizando en los incentivos fiscales y previsionales que regula la ley, y otros aspectos salientes para estas actividades pertenecientes a la Economía del Conocimiento.Facultad de Ciencias Económica