From learning to new goal generation in a bioinspired robotic setup

In the field of cognitive bioinspired robotics, we focus on autonomous development, and propose a possible model to explain how humans generate and pursue new goals that are not strictly dictated by survival. Autonomous lifelong learning is an important ability for robots to make them able to acquire new skills, and autonomous goal generation is a basic mechanism for that. The Intentional Distributed Robotic Architecture (IDRA) here presented intends to allow the autonomous development of new goals in situated agents starting from some simple hard-coded instincts. It addresses this capability through an imitation of the neural plasticity, the property of the cerebral cortex supporting learning. Three main brain areas are involved in goal generation, cerebral cortex, thalamus, and amygdala; these are mimicked at a functional level by the modules of our computational model, namely Deliberative, Working-Memory, Goal-Generator, and Instincts Modules, all connected in a network. IDRA has been designed to be robot independent; we have used it in simulation and on the real Aldebaran NAO humanoid robot. The reported experiments explore how basic capabilities, as active sensing, are obtained by the architecture.     

Defects in nanostructures with ripened InAs/GaAs quantum dots

InAs/GaAs quantum dot (QD) structures were grown by molecular beam epitaxy (MBE) with InAs coverages θ continuously graded from 1.5 ML to 2.9 ML. A critical coverage of 2.23 ML is found, above which the islands undergo ripening, which causes a fraction of quantum dots to increase in size and to eventually relax through the formation of pure, edge-type misfit dislocations which propagate towards the surface in the form of V-shaped defects. Concomitant with ripening, extended-defect related traps with activation energies of 0.52 and 0.84 eV were observed, and regarded as the cause of the significant worsening of the optical and electrical properties in high coverage structures. Their relationship with the observed dislocations is discussed.     

High‐pressure homogenization: a non‐thermal process applied for inactivation of spoilage microorganisms in beer

The inactivation of spoilage microorganisms in beer using high‐pressure homogenization (HPH) was studied with the aim of evaluating the possibility of changing the conventional pasteurization process using this particular process. The homogenization pressure required for the inactivation of lactic acid bacteria, acetic bacteria and yeasts was investigated. For the most resistant microorganisms, the pressure inactivation kinetics and the effects of multiple process passes, initial temperature of the beer and the CO₂ concentration were studied. The results indicated that Lactobacillus delbrueckii was the most resistant microorganism tested, requiring 250 MPa to reach a six decimal reduction. Additionally, results showed that L. delbrueckii inactivation followed a second‐order kinetic process. A multi‐pass process and the use of a high initial beer temperature increased inactivation by HPH with L. delbrueckii, allowing the use of 150 MPa to achieve a five log cycle of inactivation. In contrast, a high CO₂ concentration reduced the efficacy of the HPH process. The results that were obtained are useful for high‐pressure homogenization applications in breweries and help to elucidate the effect of this new technology in a beverage that is both alcoholic and carbonated. Copyright © 2013 The Institute of Brewing & Distilling     

Low-power DSP system for real-time correction of fish-eye cameras in automotive driver assistance applications

The development of an embedded system for real-time correction of fish-eye effect is presented. The fish-eye lens is applied to driver assistance video systems because of its wide-angled view. A large field of view can reduce the number of cameras needed for video system and their cost, installation, maintenance and wiring issues. On the other hand, this lens causes inherent radial distortion to image that has to be corrected in real-time with a low-cost and low-power processing platform. This paper proposes a solution that can be easily adapted to different types of lens and camera, and meets real-time constraints with a power budget within 100 mW and a board size of few cm². Starting from mathematical equations, given by the geometrical optics, a state-of-the-art correction method is presented, then optimizations are introduced at different levels: algorithmic level, where a real-time correction parameter calculation avoids extra non-volatile off-chip memory cards; data transfer level, where a new pixel pair management reduces memory access and storage burden; HW-SW implementation level, where a low-power board has been developed and tested in real automotive scenarios. Other applications of the developed system, such as multi-camera and multi-dimensional video systems, are finally presented.     

A 0.83-2.5-GHz continuously tunable quadrature VCO

A quadrature VCO with /spl plusmn/50% continuous 0.83-2.5-GHz tuning range is presented. It is based on a core LC-QVCO with /spl plusmn/20% tuning range, a single sideband mixer (SSBM), two frequency dividers and a multiplexer. The circuit has been implemented in a 0.13-/spl mu/m 1.2-V CMOS technology. The additional area with respect to the core LC-QVCO is 100 /spl mu/m/spl times/100 /spl mu/m. Quadrature error is less than 2/spl deg/; the phase noise is less than -120 dBc/Hz @ 1 MHz over the whole tuning range and is mainly due to the LC-QVCO. Spurs are more than 34 dB below the fundamental in the worst case.     

Antioxidant potential of aroma compounds obtained by limonene biotransformation of orange essential oil

The antioxidant activities of a limonene biotransformation extract and of some standard monoterpenes present in the extract were assessed using four antioxidant assays: total antioxidant capacity, based on the 2,2-diphenyl-1-picrylhydrazyl (DPPH) radical-scavenging assay, lipid peroxidation by the thiobarbituric acid (TBA) assay, superoxide anion release by cultured leukemic cells and glutathione S-transferase (GSTs) activity. The limonene biotransformation extract had free radical-scavenging activity (EC₅₀ = 2.09%, v/v) and inhibited lipid peroxidation (IC₅₀ = 0.13%, v/v). The extract, perillyl alcohol and α-terpineol inhibited lipid peroxidation by ∼80% at a concentration of 0.02% (v/v). Perillyl alcohol and α-terpineol also reduced the release of superoxide anions by cultured leukemic cells, by 3- and 10-fold, respectively, at concentrations of <0.02% (v/v). The biotransformation extract inhibited the conversion of nitrophenyl acetate to p-nitrophenol in the glutathione assay by ∼50%. These results indicate that, in addition to monoterpenes, other non-volatile compounds may contribute to the antioxidant activity of the biotransformation extract.     

RF I/Q Downconverter With Gain/Phase Calibration

We propose an RF I/Q downconverter including a calibration procedure to compensate for gain and phase mismatch errors. The indirect compensation technique is based on the use of the local oscillator (LO) signal as reference for error measurements. A number of mismatch parameters are first estimated by an algorithm running in the digital signal processing processor following the analog-to-digital converter and then used to correct the downconverted I/Q signals digitally during normal operation. The downconverter has been designed in 0.13-mum CMOS technology. The analog part of the system for calibration adds a negligible area and power consumption with respect to the front-end building blocks. Test results exhibit an image-rejection ratio IRRges48.8 dB for I/Q phase errors up to 15deg and for LO I/Q amplitude and mixer gain mismatch errors up to 10%     

Effects of clonidine on power spectral analysis of heart rate variability in mild essential hypertension

Patients with essential hypertension often show alterations of the autonomic nervous system. We evaluated the sympathetic and parasympathetic drive to the heart in 12 mildly hypertensive patients and 9 healthy subjects by power spectral analysis of heart rate variability. All subjects underwent measurements of RR interval, low (LF) and high frequency (HF) components of heart rate variability, LF/HF ratio and blood pressure in the resting and sitting positions, both before and after oral clonidine (300 microg), a central sympatholytic agent. In the supine position before clonidine, hypertensive patients had higher blood pressure and lower HF values than healthy subjects. Clonidine induced increases in RR interval and HF in both groups, while LF and LF/HF ratio decreased in healthy subjects, but not in hypertensive patients. On assuming the sitting position, both groups showed reductions in RR and HF and increments in LF and LF/HF. In healthy subjects, the response to the postural challenge was unaffected by clonidine. In contrast, hypertensive patients showed no changes in LF and LF/HF ratio, and a significantly lower decrease in HF. These differences were probably due to the existence of two subsets of patients, one exhibiting similar responses to clonidine as healthy subjects, and the other showing no appreciable response to the drug. These results suggest that hypertensive patients have an altered sympatho-vagal balance to the heart, which can be unmasked by clonidine. This phenomenon should be taken into account to achieve a better control of the overall cardiovascular risk of hypertensive patients.     

Effects of in vivo administration of epidermal growth factor (EGF) on uterine contractility, prostaglandin production and timing of parturition in rats

Prostaglandins synthesized by cyclooxygenases elicit uterine contractions during labour. Nitric oxide synthases (NOS) produce nitric oxide (NO), which maintains uterine quiescence during pregnancy. Epidermal growth factor (EGF) interacts with prostaglandins and NO in many biological systems. The aim of this work was to study the effect of the in vivo administration of EGF on uterine contractility, prostaglandin production and timing of parturition in rats. EGF was injected into the uterine lumen of pregnant rats on day 20, 21 or 22 of gestation. Intra-uterine administration of 500 ng EGF on day 21 of gestation delayed parturition for 18 h compared with control rats. Administration of EGF was able to: (i) reduce cyclooxygenase expression in the uterus (determined by western blot analysis) and production of prostaglandins by the uterus (evaluated by conversion of [(14)C]arachidonate to labelled prostaglandins); (ii) decrease prostaglandin concentrations in amniotic fluid (radioimmunoassay); (iii) increase NO production (evaluated by conversion of [(14)C]arginine into [(14)C]citrulline); (iv) increase serum progesterone concentrations to more than control concentrations (P<0.05; radioimmunoassay); and (v) reduce the amplitude of the uterine contractions. The overall effect was a delay in the onset of delivery. This in vivo effect raises the question of whether exogenous EGF plays a role in the initiation of parturition.