Simultaneously learning actions and goals from demonstration

Our research aim is to develop interactions and algorithms for learning from naïve human teachers through demonstration. We introduce a novel approach to leverage the goal-oriented nature of human teachers by learning an action model and a goal model simultaneously from the same set of demonstrations. We use robot motion data to learn an action model for executing the skill. We use a generic set of perceptual features to learn a goal model and use it to monitor the executed action model. We evaluate our approach with data from 8 naïve teachers demonstrating two skills to the robot. We show that the goal models in the perceptual feature space are consistent across users and correctly recognize demonstrations in cross-validation tests. We additionally observe that a subset of users were not able to teach a successful action model whereas all of them were able to teach a mostly successful goal model. When the learned action models are executed on the robot, the success was on average 66.25 %. Whereas the goal models were on average 90 % correct at deciding on success/failure of the executed action, which we call monitoring.     

Survey on using constraints in data mining

This paper provides an overview of the current state-of-the-art on using constraints in knowledge discovery and data mining. The use of constraints in a data mining task requires specific definition and satisfaction tools during knowledge extraction. This survey proposes three groups of studies based on classification, clustering and pattern mining, whether the constraints are on the data, the models or the measures, respectively. We consider the distinctions between hard and soft constraint satisfaction, and between the knowledge extraction phases where constraints are considered. In addition to discussing how constraints can be used in data mining, we show how constraint-based languages can be used throughout the data mining process.     

An Acoustic Network Navigation System

This work describes a system for acoustic‐based navigation that relies on the addition of localization services to underwater networks. The localization capability has been added on top of an existing network, without imposing constraints on its structure/operation. The approach is based on the inclusion of timing information within acoustic messages through which it is possible to know the time of an acoustic transmission in relation to its reception. Exploiting such information at the network application level makes it possible to create an interrogation scheme similar to that of a long baseline. The advantage is that the nodes/autonomous underwater vehicles (AUVs) themselves become the transponders of a network baseline, and hence there is no need for dedicated instrumentation. The paper reports at sea results obtained from the COLLAB–NGAS14 experimental campaign. During the sea trial, the approach was implemented within an operational network in different configurations to support the navigation of the two Centre for Maritime Research and Experimentation Ocean Explorer (CMRE OEX) vehicles. The obtained results demonstrate that it is possible to support AUV navigation without constraining the network design and with a minimum communication overhead. Alternative solutions (e.g., synchronized clocks or two‐way‐travel‐time interrogations) might provide higher precision or accuracy, but they come at the cost of impacting on the network design and/or on the interrogation strategies. Results are discussed, and the performance achieved at sea demonstrates the viability to use the system in real, large‐scale operations involving multiple AUVs. These results represent a step toward location‐aware underwater networks that are able to provide node localization as a service.     

Active fault tolerant control of discrete event systems using online diagnostics

The aim of this paper is to deal with the problem of fault tolerant control in the framework of discrete event systems modeled as automata. A fault tolerant controller is a controller able to satisfy control specifications both in nominal operation and after the occurrence of a fault. This task is solved by means of a parameterized controller that is suitably updated on the basis of the information provided by online diagnostics: the supervisor actively reacts to the detection of a malfunctioning component in order to eventually meet degraded control specifications. Starting from an appropriate model of the system, we recall the notion of safe diagnosability as a necessary step in order to achieve fault tolerant control. We then introduce two new notions: (i) “safe controllability”, which represents the capability, after the occurrence of a fault, of steering the system away from forbidden zones and (ii) “active fault tolerant system”, which is the property of safely continuing operation after faults. Finally, we show how the problem can be solved using a general control architecture based on the use of special kind of diagnoser, called “diagnosing controller”, which is used to safely detect faults and to switch between the nominal control policy and a bank of reconfigured control policies. A simple example is used to illustrate the new notions and the control architecture introduced in the paper.     

Schema-based Web wrapping

An effective solution to automate information extraction from Web pages is represented by wrappers. A wrapper associates a Web page with an XML document that represents part of the information in that page in a machine-readable format. Most existing wrapping approaches have traditionally focused on how to generate extraction rules, while they have ignored potential benefits deriving from the use of the schema of the information being extracted in the wrapper evaluation. In this paper, we investigate how the schema of extracted information can be effectively used in both the design and evaluation of a Web wrapper. We define a clean declarative semantics for schema-based wrappers by introducing the notion of (preferred) extraction model, which is essential to compute a valid XML document containing the information extracted from a Web page. We developed the SCRAP (SChema-based wRAPper for web data) system for the proposed schema-based wrapping approach, which also provides visual support tools to the wrapper designer. Moreover, we present a wrapper generalization framework to profitably speed up the design of schema-based wrappers. Experimental evaluation has shown that SCRAP wrappers are not only able to successfully extract the required data, but also they are robust to changes that may occur in the source Web pages.     

PIN OLEDs — Improved structures and materials to enhance device lifetime

Abstract— Currently, three issues are identified that decide upon the commercial success of organic light‐emitting diodes (OLEDs), both in display and lighting applications: power efficiency, lifetime, and price competitiveness. PIN OLEDs are widely seen as the preferred way to maximize power efficiency. Here, it is reported that this concept also delivers the world longest lifetimes. For a highly efficient deep‐red PIN OLED, a half‐lifetime of 25,000 hours for a starting brightness of 10,000 cd/m² and a minimal voltage increase over lifetime is reported. This value corresponds to more than 1 × 10⁶ hours at 1000 cd/m² using an exponent of n = 1.7, which was measured by driving the OLEDs at different starting luminances. Because there is no initial luminance drop, these PIN OLEDs also exhibit a very high 80% lifetime (>300,000 hours at 1000 cd/m²). New record lifetime values for blue and green will be reported as well. Additionally, further topics that have impact on the production yield and cost such as the newly developed air‐stable organic n‐doping material NDN‐26 and top‐emitting structures will be discussed.     

Interfacing human and computer with wireless body area sensor networks: the WiMoCA solution

Wireless Body Area Sensor Networks (WBASN) are an emerging technology enabling the design of natural human–computer interfaces (HCI). Automatic recognition of human motion, gestures, and activities is studied in several contexts. For example, mobile computing technology is being considered as a replacement of traditional input systems. Moreover, body posture and activity monitoring can be used for entertainment and health-care applications. However, until now, little work has been done to develop flexible and efficient WBASN solutions suitable for a wide range of applications. Their requirements pose new challenges for sensor network designs, such as optimizing traditional solutions for use as environmental monitoring-like applications and developing on-the-field stress tests. In this paper, we demonstrate the flexibility of a custom-designed WBASN called WiMoCA with respect to a wide range of posture and activity recognition applications by means of practical implementation and on-the-field testing. Nodes of the network mounted on different parts of the human body exploit tri-axial accelerometers to detect its movements. The advanced digital Micro-electro-mechanical system (MEMS) based inertial sensor has been chosen for WiMoCA because it demonstrated high flexibility of use in many different situations, providing the chance to exploit both static and dynamic acceleration components for different purposes. Furthermore, the sensibility and accuracy of the sensing element is perfectly adequate for monitoring human movement, while keeping cost low and size compact, thus meeting our requirements. We implemented three types of applications, stressing the WBASN in many aspects. In fact, they are characterized by different requirements in terms of accuracy, timeliness, and computation distributed on sensing nodes. For each application, we describe its implementation, and we discuss results about performance and power consumption.

Store-and-Forward Multicast Routing on the Mesh

We study the complexity of routing a set of messages with multiple destinations (multicast routing) on an n-node square mesh under the store-and-forward model. A standard argument proves that time is required to route n messages, where each message is generated by a distinct node and at most c messages are to be delivered to any individual node. The obvious approach of simply replicating each message into the appropriate number of unicast (single-destination) messages and routing these independently does not yield an optimal algorithm. We provide both randomized and deterministic algorithms for multicast routing, which use constant-size buffers at each node. The randomized algorithm attains optimal performance, while the deterministic algorithm is slower by a factor of O( log ² n). We also describe an optimal deterministic algorithm that, however, requires large buffers of size O(c). A preliminary version of this paper appeared in Proceedings of the 13th Annual ACM Symposium on Parallel Algorithms and Architectures, Crete, Greece, 2001. This work was supported, in part, by MIUR under project ALGO-NEXT.     

P2P multicast for pervasive ad hoc networks

During the last few years, the proliferation of miniaturised devices with networking capabilities has provided the technological grounds for pervasive networking environments. It is not visionary to foresee a world of pervasive devices embedded in the environment interacting between them, and with those carried by users, via wireless communications. In addition, fostered by the diffusion of small-size, computational-rich mobile devices, the way content is generated, and accessed is changing with respect to the legacy-Internet paradigm. An ever-increasing share of the Internet content is generated directly by the users, and shared on the network (following the User-Generated Content model). While today the legacy Internet is still used to share user-generated content, it is reasonable to envision that pervasive networking technologies will represent the natural platform to support this new model. This will result in content being distributed on users’ devices rather than on centralised servers on the Internet, and in users creating ad hoc networks to share content. The p2p paradigm is particularly suitable for this scenario, because communications will occur directly among users, instead of being necessarily mediated by centralised servers. Motivated by these remarks, in this work we focus on p2p multicast services over ad hoc networks aimed at sharing content among groups of users interested in the same topics. Specifically, starting from a reference solution in legacy wired networks (Scribe), we design a cross-layer optimised protocol (XScribe) that addresses most of the Scribe problems on ad hoc networks. XScribe exploits cross-layer interactions with a proactive routing protocol to manage group membership. Furthermore, it uses a lightweight, structureless approach to deliver data to group members. By jointly using experimental results and analytical models, we show that, with respect to Scribe, XScribe significantly reduces the packet loss and the delay experienced by multicast receivers, and increases the maximum throughput that can be delivered to multicast groups.     

Molecular dynamics at the receptor level of immunodominant myelin basic protein epitope 87-99 implicated in multiple sclerosis and its antagonists altered peptide ligands: triggering of immune response

This work reports molecular dynamics studies at the receptor level of the immunodominant myelin basic protein (MBP) epitope 87-99 implicated in multiple sclerosis, and its antagonists altered peptide ligands (APLs), namely [Arg91, Ala96] MBP87-99 and [Ala91,96] MBP87-99. The interaction of each peptide ligand with the receptor human leukocyte antigen HLA-DR2b was studied, starting from X-ray structure with pdb code: 1ymm. This is the first such study of APL-HLA-DR2b complexes, and hence the first attempt to gain a better understanding of the molecular recognition mechanisms that underlie TCR antagonism by these APLs. The amino acids His88 and Phe89 serve as T-cell receptor (TCR) anchors in the formation of the trimolecular complex TCR-peptide-HLA-DR2b, where the TCR binds in a diagonal, off-centered mode to the peptide-HLA complex. The present findings indicate that these two amino acids have a different orientation in the APLs [Arg91, Ala96] MBP87-99 and [Ala91,96] MBP87-99: His88 and Phe89 remain buried in HLA grooves and are not available for interaction with the TCR. We propose that this different topology could provide a possible mechanism of action for TCR antagonism.