Control of a Robotic Wheelchair Using Recurrent Networks

This paper describes an adaptive neural control system for governing the movements of a robotic wheelchair. It presents a new model of recurrent neural network based on a RBF architecture and combining in its architecture local recurrence and synaptic connections with FIR filters. This model is used in two different control architectures to command the movements of a robotic wheelchair. The training equations and the stability conditions of the control system are obtained. Practical tests show that the results achieved using the proposed method are better than those obtained using PID controllers or other recurrent neural networks models     

Consciousness, Agents and the Knowledge Game

This paper has three goals. The first is to introduce the “knowledge game”, a new, simple and yet powerful tool for analysing some intriguing philosophical questions. The second is to apply the knowledge game as an informative test to discriminate between conscious (human) and conscious-less agents (zombies and robots), depending on which version of the game they can win. And the third is to use a version of the knowledge game to provide an answer to Dretske’s question “how do you know you are not a zombie?”.     

A unified signal transition graph model for asynchronous control circuit synthesis

Characterization of the behavior of an asynchronous system depending on the delay of components and wires is a major task facing designers. Some of these delays are outside the designer's control, and in practice may have to be assumed unbounded. The existing literature offers a number of analysis and specification models, but lacks a unified framework to verify directly if the circuit specification admits a correct implementation under these hypotheses.Our aim is to fill exactly this gap, offering both low-level (analysis-oriented) and high-level (specification-oriented) models for asynchronous circuits and the environment where they operate, together with strong equivalence results between the properties at the two levels. One interesting side result is the precise characterization of classical static and dynamic hazards in terms of our model. Consequently the designer can check the specification and directly decide if the behavior of any implementation will depend, e.g., on the delays of the signals described by such specification.We also outline a design methodology based on our models, pointing out how they can be used to select appropriate high and low-level models depending on the desired characteristics of the system.     

Seismic noise in Lipari and Vulcano Islands,Southern Thyrrenian Sea,Italy

The results of a study of frequency and amplitude distribution of ground noise at Lipari and Vulcano (Aeolian Island) are here reported.Low frequency noise distribution suggests the presence of a geothermal system while high frequency seems to be linked to fumaroles and hot springs activity.     

Supply Estimation Using Coevolutionary Genetic Algorithms in the Spanish Electrical Market

The price of electrical energy in Spain has not been regulated by the government since 1998, but determined by the supply from the generators in a competitive market, the so-called electrical pool. A genetic method for analyzing data from this new market is presented in this paper. The eventual objective is to determine the individual supply curves of the competitive agents. Adopting the point of view of the game theory, different genetic algorithm configurations using coevolutionary and non-coevolutionary strategies combined with scalar and multi-objective fitness are compared. The results obtained are the first step toward solving the induction of the optimal individual strategies into the Spanish electrical market from data in terms of perfect oligopolistic behavior.     

The “presence of others” in a virtual environment: different collaborative modalities with hybrid resources

The purpose of this study is to see in which forms and under which conditions social presence turns into collaboration. Eight couples were asked to find some objects in a virtual environment in which collaboration was allowed but not mandatory. The qualitative analysis of the video recordings shows that all participants resorted to collaboration in forms that were justified by the requirements of the task, the environmental affordances and the different expertise.

A Comparative Study of the In Vitro and In Vivo Release of Dexamethasone from a Spray-On Bandage and Timed Release Aerosol

The formulation of several dexamethasone topical delayed release aerosol preparations was studied. Ethylcellulose and tributyl citrate were the film-forming agent and plasticizer, respectively, for the spray-on bandage formulation. The aerosol timed release preparation contained dexamethasone microcapsules suspended in a fluorocarbon aerosol propellant by isopropyl myristate and fumed silica. Both preparations were evaluated using an in vitro method which measured the release of dexamethasone hourly for eight hours. In vitro studies showed that each of the formulations delayed the release of dexamethasone. In the in vivo tests aerosols were sprayed on the unabraded back area of rabbits and the increased 17 - hydroxycorticosteriod urine levels at 24, 48, and 72 hours indicated dexamethasone absorption. In vivo studies indicated that absorption did not occur with the timed release preparation containing dexamethasone microcapsules. However, dexamethasone from the spray-on bandage preparation was absorbed over 72 hours. A commercially marketed topical dexamethasone cream was used for comparison in evaluating the two experimental formulations; however, in vivo studies showed that no absorption occurred with this preparation.

In recent years, a great deal of work has been directed towards the application of medicated polymeric films or tissue adhesives onto the skin to treat minor dermatological problems or serious skin wounds. Among the factors to be considered are: incorporation of a specific active ingredient, the mode of application and the dosage form. Lange and Fang (1,2) developed spray-on bandages using water soluble resins and water as the solvent. Fischl (3) evaluated the effectiveness of a cyanoacrylate monomer in closing skin incisions without affecting wound healing. Bhaskar and Cutright (4) showed that butyl cyanoacrylate could be successfully used as a surface dressing while reducing the degree of inflammation. Sciarra and Gidwani (5,6) reported on the release of gentian violet from selected polymer and plasticizer combinations and established various polymer-plasticizer combinations which could be applied as an aerosol spray. Other studies (7,8) have shown that ethylcellulose and a thermoplastic polyamide resin have potential use in spray-on bandage formulations.

The results indicated that the anti-infectives were released from the films and the spray-on bandages reduced the degree of infection about the wound.

The process of microencapsulation has been applied to various industrial and medical uses. Microcapsules can be prepared so that the encapsulated material will be released slowly. There are various methods of microencapsulation including coacervation, phase separation, interfacial polymerization, an electrostatic method, and vacuum metalization and they have been successfully used with selected drugs (9-13).

The purpose of this study was to develop and evaluate different aerosol formulations containing a therapeutic agent which can be slowly released. In vitro and in Vivo systems were used to evaluate the release and absorption of the drug in the test animals.     

Synthesis and characterization of poly(L-lactic acid) membranes: Studies in vivo and in vitro

The use of biodegradable polyesters as temporary structural supports in the recuperation of damaged live tissue is a promising area of research. Poly(L-lactic acid) (PLLA) membranes can act as a support for cell fixation and growth or as a barrier against soft tissues invasion in recuperating bone tissues. In this work, five different types of PLLA membranes, which varied in their polymer–solvent ratio and their content of plasticizer were studied. For the study in vivo, 6 mm diameter disks were inserted subcutaneously in the dorsal region of 15 Wistar rats, and the reactions on rats were studied 15 days later. In another series of experiments the samples were immersed in phosphate buffer, pH 7.4 at 37 °C, for 30 days. Membranes without plasticizer were morphologically dense and did not allow cell invasion nor tissue adherence, in contrast to membranes with plasticizer. While porosity enhanced cell fixation and growth, it made the membrane more fragile mechanically when compared to membranes without pores.     

Use of triethylcitrate plasticizer in the production of poly-L-lactic acid implants with different degradation times

Bioabsorbable materials have been widely used in the repair of damaged tissue as well as in the controlled release of drugs and as a supports for cultured cells. The degradation time of poly-L-(lactic acid) (PLLA) may be controlled by altering the polymer porosity through the addition of the plasticizer triethylcitrate. This in turn influences the extent cellular infiltration. In this study, we examined the degradation of PLLA membranes containing different concentrations of plasticizer. PLLA discs were implanted subcutaneouly in rats and withdrawn 2, 14 and 60 days after implantation. The samples were processed for light microscopy and scanning electron microscopy (SEM). Polymer degradation was proportional to the concentration of plasticizer, indicating that triethylcitrate could affect the degradation time of the implants, without damaging the polymer biocompatibility.