On the role of gestures in human-robot interaction

This thesis investigates the gestural interaction problem and in particular the usage of gestures for human-robot interaction. The lack of a clear definition of the problem statement and a common terminology resulted in a fragmented field of research where building upon prior work is rare. The scope of the research presented in this thesis, therefore, consists in laying the foundation to help the community to build a more homogeneous research field. The main contributions of this thesis are twofold: (i) a taxonomy to define gestures; and (ii) an ingegneristic definition of the gestural interaction problem. The contributions resulted is a schema to represent the existing literature in a more organic way, helping future researchers to identify existing technologies and applications, also thanks to an extensive literature review. Furthermore, the defined problem has been studied in two of its specialization: (i) direct control and (ii) teaching of a robotic manipulator, which leads to the development of technological solutions for gesture sensing, detection and classification, which can possibly be applied to other contexts

A multi-sensor dataset for human-human handover

The article describes a multi-sensor dataset of human-humanhandovers composed of over 1000 recordings collected from18 volunteers. The recordings refer to 76 test configurations, whichconsider different volunteer's starting positions and roles, objectsto pass and motion strategies. In all experiments, we acquire 6-axisinertial data from two smartwatches, the 15-joint skeleton modelof one volunteer with an RGB-D camera and the upper-body modelof both persons using a total of 20 motion capture markers. Therecordings are annotated with videos and questionnaires about theperceived characteristics of the handover

In-hand manipulation planning using human motion dictionary

Dexterous in-hand manipulation is a peculiar and useful human skill. This ability requires the coordination of many senses and hand motion to adhere to many constraints. These constraints vary and can be influenced by the object characteristics or the specific application. One of the key elements for a robotic platform to implement reliable inhand manipulation skills is to be able to integrate those constraints in their motion generations. These constraints can be implicitly modelled, learned through experience or human demonstrations. We propose a method based on motion primitives dictionaries to learn and reproduce in-hand manipulation skills. In particular, we focused on fingertip motions during the manipulation, and we defined an optimization process to combine motion primitives to reach specific fingertip configurations. The results of this work show that the proposed approach can generate manipulation motion coherent with the human one and that manipulation constraints are inherited even without an explicit formalization

Neurophysiological Findings in Neuronal Ceroid Lipofuscinoses

Neuronal ceroid lipofuscinoses (NCLs) are a heterogeneous group of neurodegenerative diseases, characterized by progressive cerebral atrophy due to lysosomal storage disorder. Common clinical features include epileptic seizures, progressive cognitive and motor decline, and visual failure, which occur over different time courses according to subtypes. During the latest years, many advances have been done in the field of targeted treatments, and in the next future, gene therapies and enzyme replacement treatments may be available for several NCL variants. Considering that there is rapid disease progression in NCLs, an early diagnosis is crucial, and neurophysiological features might have a key role for this purpose. Across the different subtypes of NCLs, electroencephalogram (EEG) is characterized by a progressive deterioration of cerebral activity with slowing of background activity and disappearance of spindles during sleep. Some types of heterogeneous abnormalities, diffuse or focal, prevalent over temporal and occipital regions, are described in many NCL variants. Photoparoxysmal response to low-frequency intermittent photic stimulation (IPS) is a typical EEG finding, mostly described in CLN2, CLN5, and CLN6 diseases. Visual evoked potentials (VEPs) allow to monitor the visual functions, and the lack of response at electroretinogram (ERG) reflects retinal neurodegeneration. Taken together, EEG, VEPs, and ERG may represent essential tools toward an early diagnosis of NCLs

Galvanic Deposition of Calcium Phosphate/Bioglass Composite Coating on AISI 316L

Calcium phosphate/Bioglass composite coatings on AISI 316L were investigated with regard to their potential role as a beneficial coating for orthopedic implants. These coatings were realized by the galvanic co-deposition of calcium phosphate compounds and Bioglass particles. A different amount of Bioglass 45S5 was used to study its effect on the performance of the composite coatings. The morphology and chemical composition of the coatings were investigated before and after their aging in simulated body fluid. The coatings uniformly covered the AISI 316L substrate and consisted of a brushite and hydroxyapatite mixture. Both phases were detected using X-ray diffraction and Raman spectroscopy. Additionally, both analyses revealed that brushite is the primary phase. The presence of Bioglass was verified through energy-dispersive X-ray spectroscopy, which showed the presence of a silicon peak. During aging in simulated body fluid, the coating was subject to a dynamic equilibrium of dissolution/reprecipitation with total conversion in only the hydroxyapatite phase. Corrosion tests performed in simulated body fluid at different aging times revealed that the coatings made with 1 g/L of Bioglass performed best. These samples have a corrosion potential of −0.068V vs. Ag/AgCl and a corrosion current density of 8.87 × 10−7 A/cm2. These values are better than those measured for bare AISI 316L (−0.187 V vs. Ag/AgCl and 2.52 × 10−6 A/cm2, respectively) and remained superior to pure steel for all 21 days of aging. This behavior indicated the good protection of the coating against corrosion phenomena, which was further confirmed by the very low concentration of Ni ions (0.076 ppm) released in the aging solution after 21 days of immersion. Furthermore, the absence of cytotoxicity, verified through cell viability assays with MC3T3-E1 osteoblastic cells, proves the biocompatibility of the coatings

Online Human Gesture Recognition using Recurrent Neural Networks and Wearable Sensors

Gestures are a natural communication modality for humans. The ability to interpret gestures is fundamental for robots aiming to naturally interact with humans. Wearable sensors are promising to monitor human activity, in particular the usage of triaxial accelerometers for gesture recognition have been explored. Despite this, the state of the art presents lack of systems for reliable online gesture recognition using accelerometer data. The article proposes SLOTH, an architecture for online gesture recognition, based on a wearable triaxial accelerometer, a Recurrent Neural Network (RNN) probabilistic classifier and a procedure for continuous gesture detection, relying on modelling gesture probabilities, that guarantees (i) good recognition results in terms of precision and recall, (ii) immediate system reactivity

La tutela della concorrenza nei mercati regolati : le decisioni dell'Agcm in materia di servizi di interesse economico generale

Nel 2011 l\u2019Agcm ha individuato in materia di servizi di interesse economico generale 4 abusi di posizione dominante, 2 intese restrittive della concorrenza e 2 operazioni di concentrazione. Con riguardo all\u2019abuso di posizione dominante, nel settore delle comunicazioni elettroniche l\u2019Autorit\ue0 ha sanzionato la societ\ue0 Auditel per comportamenti anticompetitivi nell\u2019erogazione del servizio di rilevazione degli ascolti televisivi (Sky Italia/Auditel \u2013 A422); un ulteriore caso, concernente i servizi di rilevazione dei dati per la stampa quotidiana e periodica, \ue8 stato chiuso mediante accettazione di impegni (Epolis-Audipress \u2013 A424). L\u2019Agcm nel mercato postale ha punito la condotta anticoncorrenziale di Poste italiane (TNT Poste Italia/Poste italiane \u2013 A413), mentre nel settore dell\u2019energia elettrica e del gas ha emesso un provvedimento di non luogo a provvedere (Eni-Trans Tunisian Pipeline company \u2013 A358) e ha irrogato a Italgas S.p.a. una sanzione per omissione di informazioni che potevano favorire alcuni potenziali concorrenti (Comuni vari \u2013 Espletamento gare affidamento servizio distribuzione gas \u2013 A432). Considerando le intese restrittive della concorrenza, nel mercato dei trasporti l\u2019Autorit\ue0 ha sanzionato l\u2019attivit\ue0 di concertazione svolta da numerose imprese italiane, finalizzata a realizzare rilevanti incrementi delle tariffe nel trasporto merci (Logistica internazionale \u2013 I722). Nel settore delle comunicazioni elettroniche l\u2019Agcm ha accertato un\u2019intesa restrittiva della concorrenza nei servizi di marketing e intermediazione pubblicitaria (Guida remunerazione e tariffe 2009/2010 per operatori pubblicitari \u2013 I734). Infine, sono state individuate due operazioni di concentrazione nel mercato dell\u2019energia elettrica, sanzionando l\u2019inottemperanza all\u2019obbligo di comunicazione di cui all\u2019art. 16, co. 1, legge n. 287/1990 (Compagnia Italiana Energia/Agenzia per l\u2019energia della provincia di Cuneo \u2013 C10998) e vietando, ai sensi dell\u2019art. 18, co. 1, della medesima legge, una concentrazione di imprese (CVA \u2013 Compagnia valdostana delle acque/Deval Vallenergie \u2013 C11082).In 2011, the Italian Antitrust Authority has identified, in relation to general economic interest services, four abuse of dominant position, two agreements restricting competition and two concentrations. With regard to the abuse of dominant position in the electronic communications sector, the Authority has sanctioned the Auditel company for anticompetitive behavior in the delivery of the reporting service of the television audience data (Sky Italia/Auditel); another case, concerning the services collection of data for daily newspapers and magazine, was closed by acceptance of commitments (Epolis-Audipress). The Authority, in the postal market, has punished the anticompetitive behavior of the Poste Italiane (TNT Poste Italia/Poste italiane), while, in electricity and gas sector, has made a decision not to proceed to judgment (Eni-Trans Tunisian Pipeline company) and has imposed a penalty to Italgas Spa for omission of informations that could favor some potential competitors (Comuni vari \u2014 Espletamento gare affidamento servizio distribuzione gas). With regard to the restrictive agreements in the transport market, the Authority has sanctioned the activities of consultation carried out by many Italian companies, aimed at achieving significant increases in freight rates of goods (Logistica Internazionale\u2014I722). In the electronic communications sector, the Authority has ascertained an anticompetitive agreement in services of marketing and advertising agency (Guida remunerazione e tariffe 2009/2010 per operatori pubblicitari). Finally, the Authority identifies two mergers in the electricity market, penalizing non-compliance to the obligation of communication under Article 16, co. 1, l. No. 287/1990 (Compagnia Italiana Energia/Agenzia per l\u2019energia della provincia di Cuneo) and prohibiting, pursuant to Article 18, co. 1, of the same law, a merger of companies (CVA \u2014 Compagnia valdostana delle acque/Deval Vallenergie)

LA TUTELA DELLA CONCORRENZA NEI MERCATI REGOLATI: LE DECISIONI DELL’AGCM IN MATERIA DI SERVIZI DI INTERESSE ECONOMICO GENERALE (ANNO 2012)

Nel 2012 le decisioni dell’Agcm con riferimento alle attività economiche sui mercati regolati hanno riguardato 6 casi di abuso di posizione dominante, 4 intese e 4 concentrazioni. Considerando, invece, i diversi mercati l’Agcm ha chiuso 4 procedimenti sui mercati energetici adottando tre provvedimenti sanzionatori e uno di accettazione degli impegni. Sotto il profilo merceologico l’attività istruttoria ha riguardato i mercati della distribuzione e dell’approvvigionamento all’ingrosso del gas naturale e il mercato dei servizi di dispacciamento dell’energia elettrica. Inoltre l’Agcm non ha avviato istruttorie in materia di concentrazioni ai sensi dell’art. 16, co. 4 della l. n. 287/1990, ritenendo che nessuna delle 38 operazioni comunicate determinasse la costituzione o il rafforzamento di una posizione dominante sui mercati interessati tale da eliminare o ridurre in modo sostanziale o durevole la concorrenza. Nel mercato delle comunicazioni elettroniche si riscontra la riapertura di un caso relativo ai diritti sportivi a seguito di una decisione del Consiglio di Stato che ha rigettato gli impegni accettati da Agcm. Inoltre una decisione per abuso di posizione dominante di natura escludente dove il procedimento si è chiuso con l’accettazione di impegni. Nel settore postale un ulteriore caso di abuso di posizione dominante si è chiuso con l’accettazione di impegni da parte dell’Agcm. Nel settore dei trasporti, si segnala un importante caso di abuso di posizione dominante (Ferrovie dello Stato, Trenitalia e RFI c. Arenaways) riguardo il tema dell’accesso all’infrastruttura ferroviaria. Nello stesso periodo si segnalano due intese ritenute dall’Agcm restrittive della concorrenza: l’una, concernente il mercato delle barriere stradali, l’altra, inerente i servizi di agenzia marittima.In 2012, the decisions taken by the Italian Antitrust Authority with regard to the regulated markets have concerned 6 abuses of dominant position, 4 agreements and 4 merger cases. However regarding the different markets the Authority has closed 4 proceedings in the energy markets: 3 with infringement measures and only one with acceptance of commitments. Considering the commodity sectors the investigations referred to the markets of gas distribution and wholesale supply of natural gas as well as the market of electric energy dispatching. Moreover Agcm did not open investigations in the case of mergers since none of the 38 notified resulted in either establishing or enhancing a dominant position in the energy markets which abolishes or reduces competition in a significant and long-lasting way. In the electronic communication market a proceeding concerning sport media rights has been reopened after the decision of the administrative court (Consiglio di Stato)which had overruled commitments accepted by Agcm. Futher the Authority accepted commitments in a case of dominant position of exclusionary nature. In the postal sector a further abuse of dominant position has been closed with acceptance of commitments. With regard to the transport sector an abuse of dominant position (Ferrovie dello Stato, Trenitalia e RFI vs. Arenaways) concerning access to railway infrastructure is noteworthy. At the same time two agreements were ascertained as anticompetitive by Agcm: the first, concerning the road safety barrier market; the second one the maritime services agencies

La tutela della concorrenza nei mercati regolati : le decisioni dell'Agcm in materia di servizi di interesse economico generale (2013)

L’Agcm ha concluso 4 procedimenti nel mercato delle comunicazioni elettroniche. In tre di questi non è stata rilevata alcuna intesa restrittiva della concorrenza mentre in un quarto caso relativo a condotte scorrette da parte di Telecom Italia (in relazione alla garanzia di accesso alle infrastrutture di rete), l’Agcm ha ritenuto che sussistessero le condizioni per comminare una sanzione pecuniaria. Nel 2013 il controllo delle concentrazioni ha costituito l’oggetto principale dell’attività dell’Agcm a tutela della concorrenza dei mercati energetici. In particolare, il controllo delle operazioni comunicate ai sensi dell’art. 16, comma 1, della legge n. 287/90 ha dato luogo a 10 provvedimenti di non avvio dell’istruttoria ex art. 16, comma 4, della legge n. 287/90 e a 5 provvedimenti di non luogo a provvedere e al divieto dell’operazione Italgas - Acegas-Aps/Isontina reti gas (Irg) che avrebbe altrimenti determinato una riduzione della concorrenza nelle future gare per l’assegnazione in esclusiva delle concessioni del servizio della distribuzione del gas naturale. Nel settore postale l’Agcm ha esaminato un possibile abuso di posizione dominante attraverso condotte escludenti da parte di Poste italiane. Il caso riguardava la mancata applicazione dell’Iva nell’offerta di prestazioni del servizio universale. L’Agcm ha ritenuto che sussistessero le condizioni di un comportamento abusivo ma non ha applicato sanzioni perché il comportamento, ritenuto anticompetitivo in base alla normativa europea, risultava invece coperto da quella nazionale. Analizzando i provvedimenti adottati nel settore dei trasporti, l’Agcm ha individuato un’intesa restrittiva della concorrenza inerente l’attività di trasporto passeggeri, tramite traghetti, da e per la Sardegna (I743). Sempre nel 2013 l’Autorità ha chiuso una sola istruttoria in materia di concentrazioni nel mercato dei servizi di trasporto marittimo, di passeggeri e veicoli, sulle rotte Civitavecchia-Olbia, Genova-Olbia e Genova-Porto Torres (C11613B).In 2013 in the electronic communication and media field decisions taken by the National Competition Authority (Agcm) concern cases of abuse of dominant position in two markets. These are: 1) broadcasting exclusive rights (especially for football) and 2) the market of services concerning network access especially for Olo. All proceedings concerning media rights resulted in absence of infringement and the Agcm adopted dismissal decisions. The other case resulted in a fine for an abuse of dominant position of exclusionary nature for Telecom. In the postal sector there was a decision in order to prevent the incumbent from exploiting its market power in case of some services included in the universal service exempted from VAT; also this case resulted in a fine for Poste Italiane. Regarding the decisions in the transport field, Agcm qualified as anticompetitive an agreement concerning the passenger transport services by ferry-boat from and to Sardinia (I743). Moreover Antitrust closed only one preliminary investigation concerning mergers in passenger and vehicle maritime transport field on the routes Civitavecchia-Olbia, Genova-Olbia e Genova-Porto Torres (C11613B)