Authority-Sharing Control of Assistive Robotic Walkers

A recognized consequence of population aging is a reduced level of mobility, which undermines the life quality of several senior citizens. A promising solution is represented by assisitive robotic walkers, combining the benefits of standard walkers (improved stability and physical support) with sensing and computing ability to guarantee cognitive support. In this context, classical robot control strategies designed for fully autonomous systems (such as fully autonomous vehicles, where the user is excluded from the loop) are clearly not suitable, since the user’s residual abilities must be exploited and practiced. Conversely, to guarantee safety even in the presence of user’s cognitive deficits, the responsibility of controlling the vehicle motion cannot be entirely left to the assisted person. The authority-sharing paradigm, where the control authority, i.e., the capability of controlling the vehicle motion, is shared between the human user and the control system, is a promising solution to this problem. This research develops control strategies for assistive robotic walkers based on authority-sharing: this way, we ensure that the walker provides the user only the help he/she needs for safe navigation. For instance, if the user requires just physical support to reach the restrooms, the robot acts as a standard rollator; however, if the user’s cognitive abilities are limited (e.g., the user does not remember where the restrooms are, or he/she does not recognize obstacles on the path), the robot also drives the user towards the proper corridors, by planning and following a safe path to the restrooms. The authority is allocated on the basis of an error metric, quantifying the distance between the current vehicle heading and the desired movement direction to perform the task. If the user is safely performing the task, he/she is endowed with control authority, so that his/her residual abilities are exploited. Conversely, if the user is not capable of safely solving the task (for instance, he/is going to collide with an obstacle), the robot intervenes by partially or totally taking the control authority to help the user and ensure his/her safety (for instance, avoiding the collision). We provide detailed control design and theoretical and simulative analyses of the proposed strategies. Moreover, extensive experimental validation shows that authority-sharing is a successful approach to guide a senior citizen, providing both comfort and safety. The most promising solutions include the use of haptic systems to suggest the user a proper behavior, and the modification of the perceived physical interaction of the user with the robot to gradually share the control authority using a variable stiffness vehicle handling

Non-Parametric Probabilistic Image Segmentation

We propose a simple probabilistic generative model for image segmentation. Like other probabilistic algorithms (such as EM on a Mixture of Gaussians) the proposed model is principled, provides both hard and probabilistic cluster assignments, as well as the ability to naturally incorporate prior knowledge. While previous probabilistic approaches are restricted to parametric models of clusters (e.g., Gaussians) we eliminate this limitation. The suggested approach does not make heavy assumptions on the shape of the clusters and can thus handle complex structures. Our experiments show that the suggested approach outperforms previous work on a variety of image segmentation tasks

Unsupervised Learning of Categorical Segments in Image Collections

Which one comes first: segmentation or recognition? We propose a unified framework for carrying out the two simultaneously and without supervision. The framework combines a flexible probabilistic model for representing the shape and appearance of each segment, with the popular "bag of visual words" model for recognition. If applied to a collection of images, our framework can simultaneously discover the segments of each image, and the correspondence between such segments, without supervision. Such recurring segments may be thought of as the "parts" of corresponding objects that appear multiple times in the image collection. Thus, the model may be used for learning new categories, detecting/classifying objects, and segmenting images, without using expensive human annotation

The CloudVeneto initiative: 10 years of operations to support interdisciplinary open science

CloudVeneto is a private cloud targeted to scientific communities based on OpenStack software. It was designed in 2013 and put in operation one year later, to support INFN projects, mainly HEP ones. Its resources are physically distributed among two sites: the Physics Department of University of Padova-INFN Padova Unit and the INFN Legnaro National Laboratories. During these 10 years CloudVeneto evolved to integrate also resources funded by ten Departments of the University of Padova, and to support several scientific disciplines of different domains. The use cases the communities have to face up often show a common pattern. This was an opportunity for us to develop and improve the services on our infrastructure to provide common solutions to different use cases. It happened for example with the Container as a Service (CaaS) that makes the management of Kubernetes clusters easier from a user point of view. Moreover, CloudVeneto joined the INFN national cloud infrastructure (INFN Cloud), making available some resources to this federated infrastructure. CloudVeneto is also involved in an R&D project to realize a distributed analysis facility for the CMS experiment based on the HTCondor batch system. In this paper we describe some use-cases of different projects pointing out the common patterns and the new implementations and configurations done in the infrastructure

Implementation and use of a highly available and innovative IaaS solution: the Cloud Area Padovana

While in the business world the cloud paradigm is typically implemented purchasing resources and services from third party providers (e.g. Amazon), in the scientific environment there's usually the need of on-premises IaaS infrastructures which allow efficient usage of the hardware distributed among (and owned by) different scientific administrative domains. In addition, the requirement of open source adoption has led to the choice of products like OpenStack by many organizations. We describe a use case of the Italian National Institute for Nuclear Physics (INFN) which resulted in the implementation of a unique cloud service, called ’Cloud Area Padovana’, which encompasses resources spread over two different sites: the INFN Legnaro National Laboratories and the INFN Padova division. We describe how this IaaS has been implemented, which technologies have been adopted and how services have been configured in high-availability (HA) mode. We also discuss how identity and authorization management were implemented, adopting a widely accepted standard architecture based on SAML2 and OpenID: by leveraging the versatility of those standards the integration with authentication federations like IDEM was implemented. We also discuss some other innovative developments, such as a pluggable scheduler, implemented as an extension of the native OpenStack scheduler, which allows the allocation of resources according to a fair-share based model and which provides a persistent queuing mechanism for handling user requests that can not be immediately served. Tools, technologies, procedures used to install, configure, monitor, operate this cloud service are also discussed. Finally we present some examples that show how this IaaS infrastructure is being used

West-Life: A Virtual Research Environment for structural biology

The West-Life project (https://about.west-life.eu/)is a Horizon 2020 project funded by the European Commission to provide data processing and data management services for the international community of structural biologists, and in particular to support integrative experimental approaches within the field of structural biology. It has developed enhancements to existing web services for structure solution and analysis, created new pipelines to link these services into more complex higher-level workflows, and added new data management facilities. Through this work it has striven to make the benefits of European e-Infrastructures more accessible to life-science researchers in general and structural biologists in particular

Towards a Muon Collider

A muon collider would enable the big jump ahead in energy reach that is needed for a fruitful exploration of fundamental interactions. The challenges of producing muon collisions at high luminosity and 10 TeV centre of mass energy are being investigated by the recently-formed International Muon Collider Collaboration. This Review summarises the status and the recent advances on muon colliders design, physics and detector studies. The aim is to provide a global perspective of the field and to outline directions for future work.Comment: 118 pages, 103 figure

Towards a muon collider

A muon collider would enable the big jump ahead in energy reach that is needed for a fruitful exploration of fundamental interactions. The challenges of producing muon collisions at high luminosity and 10 TeV centre of mass energy are being investigated by the recently-formed International Muon Collider Collaboration. This Review summarises the status and the recent advances on muon colliders design, physics and detector studies. The aim is to provide a global perspective of the field and to outline directions for future work