Systematic and Realistic Testing in Simulation of Control Code for Robots in Collaborative Human-Robot Interactions

© Springer International Publishing Switzerland 2016. Industries such as flexible manufacturing and home care will be transformed by the presence of robotic assistants. Assurance of safety and functional soundness for these robotic systems will require rigorous verification and validation. We propose testing in simulation using Coverage-Driven Verification (CDV) to guide the testing process in an automatic and systematic way. We use a two-tiered test generation approach, where abstract test sequences are computed first and then concretized (e.g., data and variables are instantiated), to reduce the complexity of the test generation problem. To demonstrate the effectiveness of our approach, we developed a testbench for robotic code, running in ROS-Gazebo, that implements an object handover as part of a humanrobot interaction (HRI) task. Tests are generated to stimulate the robot’s code in a realistic manner, through stimulating the human, environment, sensors, and actuators in simulation. We compare the merits of unconstrained, constrained and model-based test generation in achieving thorough exploration of the code under test, and interesting combinations of human-robot interactions. Our results show that CDV combined with systematic test generation achieves a very high degree of automation in simulation-based verification of control code for robots in HRI

Habitat specificity of a threatened and endemic cliff-dwelling halophyte

Research ArticleCoastal areas and other saline environments are major contributors to regional and global biodiversity patterns. In these environments, rapidly changing gradients require highly specialized plants like halophytes. In European coastal cliff-tops, rocky and sandy seashores, and saltmarshes, typical halophytes from the genus Limonium are commonly found. Among them, the aneuploid tetraploid (2n ¼ 4x ¼ 35, 36, 37) Limonium multiflorum, endemic to the west coast of Portugal, is an interesting case study for investigating the ecology and conservation of a halophyte agamospermic species. Although it is listed in the IUCN red list of threatened species, information on its population size or rarity, as well as its ecology, in some respects is still unknown. Field surveys in the largest known population were performed (Raso cape, Portugal) in order to determine habitat requirements and conservation status. A total of 88 quadrats were monitored, 43 of which contained at least one L. multiflorum individual. For each sampled quadrat, four abiotic and four biotic variables as well as two spatially derived variables were recorded. Principal component analysis and cluster analysis showed narrow habitat specificity for this species which appeared to be intolerant to competition with invasive alien plants. We conclude that in situ conservation in a local ‘hotspot’ of this rare and vulnerable species emerges as a priority in order to ensure that biodiversity is not los

Toward a taxonomy of entrepreneurship education research literature: A bibliometric mapping and visualization

The retrospective amount of research literature dedicated to entrepreneurship education (EE) is overwhelming, which makes producing an overview difficult. However, advanced bibliometric mapping and clustering techniques can help visualize and structure complex research literature. Thus, the objective of this mapping study is to systematically explore and cluster the EE research literature to deliver a taxonomic scheme that can serve as a basis for future research. The analyzed data, which were drawn from the Web of Science and Scopus, consist of 1773 peer-reviewed documents published between 1975 and 2014. On the one hand, this taxonomy should create stronger ties to educational research; on the other, it can foster international research collaboration to boost both interdisciplinary EE and its impact on a global basis. This work reinforces our understanding of current EE research by identifying and distilling the most powerful intellectual relationships among its contributions and contributors. Consequently, this study addresses not only the academic community but also entrepreneurship educators and policymakers in an effort to boost entrepreneurial spirit, design effective policy instruments, and, ultimately, improve societal welfare.ISSN:1747-938

Conducting Polymer Nanomaterials and Their Applications

A paradigm shift takes place in the fabrication of conducting polymers from bulky features with microsize to ultrafine features with nanometer range. Novel conducting polymer nanomaterials require the potential to control synthetic approaches of conducting polymer on molecular and atomic levels. In this article, the synthetic methodology of conducting polymer has been briefly considered with chemical oxidation polymerization and electrochemical polymerization. The recent achievements in the fabrication of conducting polymer nanomaterials have been extensively reviewed with respect to soft template method, hard template method and template-free method. It also details the morphological spectrum of conducting polymer nanomaterials such as nanoparticle, core-shell nanomaterial, hollow nanosphere, nanofiber/nanorod, nanotube, thin film and nanopattern and nanocomposite. In addition, their applications are discussed under nanometer-sized dimension.This work has been financially supported by the Brain Korea 21 program of the Korean Ministry of Education and the Hyperstructured Organic Materials Research Center supported by Korea Science and Engineering Foundation

Mortality after surgery in Europe: a 7 day cohort study

Background: Clinical outcomes after major surgery are poorly described at the national level. Evidence of heterogeneity between hospitals and health-care systems suggests potential to improve care for patients but this potential remains unconfirmed. The European Surgical Outcomes Study was an international study designed to assess outcomes after non-cardiac surgery in Europe.Methods: We did this 7 day cohort study between April 4 and April 11, 2011. We collected data describing consecutive patients aged 16 years and older undergoing inpatient non-cardiac surgery in 498 hospitals across 28 European nations. Patients were followed up for a maximum of 60 days. The primary endpoint was in-hospital mortality. Secondary outcome measures were duration of hospital stay and admission to critical care. We used χ² and Fisher’s exact tests to compare categorical variables and the t test or the Mann-Whitney U test to compare continuous variables. Significance was set at p<0·05. We constructed multilevel logistic regression models to adjust for the differences in mortality rates between countries.Findings: We included 46 539 patients, of whom 1855 (4%) died before hospital discharge. 3599 (8%) patients were admitted to critical care after surgery with a median length of stay of 1·2 days (IQR 0·9–3·6). 1358 (73%) patients who died were not admitted to critical care at any stage after surgery. Crude mortality rates varied widely between countries (from 1·2% [95% CI 0·0–3·0] for Iceland to 21·5% [16·9–26·2] for Latvia). After adjustment for confounding variables, important differences remained between countries when compared with the UK, the country with the largest dataset (OR range from 0·44 [95% CI 0·19 1·05; p=0·06] for Finland to 6·92 [2·37–20·27; p=0·0004] for Poland).Interpretation: The mortality rate for patients undergoing inpatient non-cardiac surgery was higher than anticipated. Variations in mortality between countries suggest the need for national and international strategies to improve care for this group of patients.Funding: European Society of Intensive Care Medicine, European Society of Anaesthesiology