IAS-LAB PUBLICATIONS
scopus.description.abstract||scopus.authority.anceserie||scopus.publisher.name||scopus.description.allpeopleoriginal||scopus.identifier.doi||scopus.relation.volume
Authors: 109 HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY; eng 2-s2.0-26444591507
Journal: Italy||Italy||Italy
Published: false
DOI: University of Padua||University of Padua||CNR Padua
Volume: Menegatti E.; Pretto A.; Pagello E. Pages: Menegatti||Pretto||Pagello-In this paper, we present a new approach for omnidirectional vision-based self-localization in the RoboCup Middle-Size League. The omnidirectional vision sensor is used as a range finder (like a laser or a sonar) sensitive to colors transitions instead of nearest obstacles. This makes it possible to have a more reach information about the environment, because it is possible to discriminate between different objects painted in different colors. We implemented a Monte-Carlo localization system slightly adapted to this new type of range sensor. The system runs in real time on a low-cost pc. Experiments demonstrated the robustness of the approach. Event if the system was implemented and tested in the RoboCup Middle-Size field, the system could be used in other environments. © Springer-Verlag Berlin Heidelberg 2005.
scopus.description.abstract||scopus.relation.conferencename||scopus.publisher.name||scopus.description.allpeopleoriginal||scopus.relation.conferenceplace
Authors: 109 HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY; eng 2-s2.0-26444591507
Journal: Italy||Italy||Italy
Published: false
DOI: University of Padua||University of Padua||CNR Padua
Volume: Menegatti E.; Pretto A.; Pagello E. Pages: Menegatti||Pretto||Pagello-In this paper, we present a new approach for omnidirectional vision-based self-localization in the RoboCup Middle-Size League. The omnidirectional vision sensor is used as a range finder (like a laser or a sonar) sensitive to colors transitions instead of nearest obstacles. This makes it possible to have a more reach information about the environment, because it is possible to discriminate between different objects painted in different colors. We implemented a Monte-Carlo localization system slightly adapted to this new type of range sensor. The system runs in real time on a low-cost pc. Experiments demonstrated the robustness of the approach. Event if the system was implemented and tested in the RoboCup Middle-Size field, the system could be used in other environments. © Springer-Verlag Berlin Heidelberg 2005.
scopus.description.abstract||scopus.subject.keywords||scopus.identifier.pmid||scopus.title||scopus.language.iso
Authors: 98 ALLSCHWILERSTRASSE 10, CH-4009 BASEL, SWITZERLAND; eng 2-s2.0-19944428634
Journal: Italy||Italy||United States||Italy||Italy||Italy||Italy||Italy||Italy||Italy||Italy||Italy||Italy
Published: false
Volume: Menegatti E.; Ronco C.; Winchester J.F.; Dragonetti A.; Di Simone D.; Davit A.; Mengozzi G.; Marietti G.; Loduca G.; Mansouri M.; Sancipriano G.P.; Sena L.M.; Roccatello D. Pages: Menegatti||Ronco||Winchester||Dragonetti||Di Simone||Davit||Mengozzi||Marietti||Loduca||Mansouri||Sancipriano||Sena||Roccatello-Aim: The aim of the study was to evaluate biocompatibility of a new polystyrene-type adsorbent (BetaSorb™) designed for hemoperfusion, using second-level biomolecular analyses. The device has recently been developed to enhance β 2-microglobulin removal during hemodialysis. Molecular structure and chemical modifications of the surface beads of this cartridge should prevent exposure of dense hydrophobic surface sites to proteins, and avoid the major drawbacks of previous polystyrene-type adsorbent materials. Methods: Whole blood of healthy donors was incubated in sterile minicolumns packed with BetaSorb Cuprophan, Hemophan, polysulfone and cellulose acetate. In parallel experiments, whole blood was recirculated for 180 min in a sham dialysis circuit equipped with the study sorbent or Hemophan or polysulfone. Biocompatibility was assessed by means of new biomolecular approaches focused on nuclear factor κB (NF-κB) activation (assessed by electrophoretic mobility shift assay), TNF-α and IL-1β gene expression (evaluated by real-time PCR), TNF-α and IL-1β production (measured by Western blot assay and ELISA), nitric oxide (NO) generation (detected by electron paramagnetic resonance), free oxygen radical production (by chemiluminescence in a biological assay) and the generation of the complement breakdown product C3d. Results: In coincubation experiments, 5-min contact with any dialysis device, but BetaSorb, was enough to induce activation of NF-κB. The amount of TNF-α precursor form was found to increase after 5 min of exposure to each tested polymer, but no traces of mature forms of TNF-α or IL-1β were detected in in vitro experimental conditions using healthy blood. NO and free oxygen radical generation were significantly lower in blood samples exposed to BetaSorb than in control dialysis devices. C3d levels were found to be increased with Hemophan, unaffected by polysulfone, and remarkably decreased with the BetaSorb device. In the sham hemodialysis experiments, NF-κB activation and C3d and NO profiles were similar to direct incubation experiments. Compared to basal levels, quantitation of TNF-α and IL-1β mRNA revealed a 15- and 9-fold increase, respectively, in samples exposed to Hemophan for 180 min. Conclusions: The new BetaSorb device not only appears to be highly biocompatible, but shares properties that make it probably able to interfere with the activation of the inflammatory state. Copyright © 2005 S. Karger AG, Basel.
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Authors: Non assegn; AREA MIN. 09 - Ingegneria industriale e dell'informazione; ITA; 2015-06-05T05:51:28Z; 9784990271701
Published: MATCH_RESULT_STATUS_FAILURE_NO_MATCH
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Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione; Non assegn; JPN; ITA; 2015-06-05T04:50:40Z; 9788889177181
Published: MATCH_RESULT_STATUS_FAILURE_NO_MATCH
http://hdl.handle.net/1853/38196
Authors: 107 445 HOES LANE, PISCATAWAY, NJ 08855-4141 USA; eng 2-s2.0-32644444569
Journal: United States||Italy||United States
Published: false
DOI: Georgia Institute of Technology||University of Padua||Georgia Institute of Technology
Volume: Ranganathan A.; Menegatti E.; Dellaert F. Pages: Ranganathan||Menegatti||Dellaert-While probabilistic techniques have previously been investigated extensively for performing inference over the space of metric maps, no corresponding general-purpose methods exist for topological maps. We present the concept of probabilistic topological maps (PTMs), a sample-based representation that approximates the posterior distribution over topologies, given available sensor measurements. We show that the space of topologies is equivalent to the intractably large space of set partitions on the set of available measurements. The combinatorial nature of the problem is overcome by computing an approximate, sample-based representation of the posterior. The PTM is obtained by performing Bayesian inference over the space of all possible topologies, and provides a systematic solution to the problem of perceptual aliasing in the domain of topological mapping. In this paper, we describe a general framework for modeling measurements, and the use of a Markov-chain Monte Carlo algorithm that uses specific instances of these models for odometry and appearance measurements to estimate the posterior distribution. We present experimental results that validate our technique and generate good maps when using odometry and appearance, derived from panoramic images, as sensor measurements. © 2006 IEEE.
scopus.description.abstract||scopus.publisher.name||scopus.relation.lastpage||scopus.subject.keywords||scopus.description.allpeopleoriginal
Authors: 1383 445 HOES LANE, PISCATAWAY, NJ 08855-4141 USA; eng 2-s2.0-33947211747
Journal: Italy||Italy||Italy
Published: false
DOI: University of Padua||Udine University||University of Padua
Volume: Pagello E.; D'Angelo A.; Menegatti E. Pages: Pagello||D'Angelo||Menegatti-This paper considers the properties a multirobot system should exhibit to perform an assigned task cooperatively. Our experiments regard specifically the domain of RoboCup middle-size league (MSL) competitions. But the illustrated techniques can be usefully applied also to other service robotics fields like, for example, videosurveillance. Two issues are addressed in the paper. The former refers to the problem of dynamic role assignment in a team of robots. The latter concerns the problem of sharing the sensory information to cooperatively track moving objects. Both these problems have been extensively investigated over the past years by the MSL robot teams. In our paper, each individual robot has been designed to become reactively aware of the environment configuration. In addition, a dynamic role assignment policy among teammates is activated, based on the knowledge about the best behavior that the team is able to acquire through the shared sensorial information. We present the successful performance of the Artisti Veneti robot team at the MSL Challenge competitions of RoboCup-2003 to show the effectiveness of our proposed hybrid architecture, as well as some tests run in laboratory to validate the omnidirectional distributed vision system which allows us to share the information gathered by the omnidirectional cameras of our robots. © 2006 IEEE.
scopus.description.abstract||scopus.subject.keywords||scopus.description.allpeopleoriginal
Authors: 535 445 HOES LANE, PISCATAWAY, NJ 08855-4141 USA; eng 2-s2.0-33745177290
Journal: Italy||Italy||Italy||Italy
Published: false
DOI: University of Padua||University of Padua||University of Padua||CNR Padua
Volume: Menegatti E.; Pretto A.; Scarpa A.; Pagello E. Pages: Menegatti||Pretto||Scarpa||Pagello-The localization problem for an autonomous robot moving in a known environment is a well-studied problem which has seen many elegant solutions. Robot localization in a dynamic environment populated by several moving obstacles, however, is still a challenge for research. In this paper, we use an omnidirectional camera mounted on a mobile robot to perform a sort of scan matching. The omnidirectional vision system finds the distances of the closest color transitions in the environment, mimicking the way laser rangefinders detect the closest obstacles. The similarity of our sensor with classical rangefinders allows the use of practically unmodified Monte Carlo algorithms, with the additional advantage of being able to easily detect occlusions caused by moving obstacles. The proposed system was initially implemented in the RoboCup Middle-Size domain, but the experiments we present in this paper prove it to be valid in a general indoor environment with natural color transitions. We present localization experiments both in the RoboCup environment and in an unmodified office environment. In addition, we assessed the robustness of the system to sensor occlusions caused by other moving robots. The localization system runs in real-time on low-cost hardware. © 2006 IEEE.
scopus.description.abstract||scopus.subject.keywords||scopus.description.allpeopleoriginal
Authors: 535 445 HOES LANE, PISCATAWAY, NJ 08855-4141 USA; eng 2-s2.0-33745177290
Journal: Italy||Italy||Italy||Italy
Published: false
DOI: University of Padua||University of Padua||University of Padua||CNR Padua
Volume: Menegatti E.; Pretto A.; Scarpa A.; Pagello E. Pages: Menegatti||Pretto||Scarpa||Pagello-The localization problem for an autonomous robot moving in a known environment is a well-studied problem which has seen many elegant solutions. Robot localization in a dynamic environment populated by several moving obstacles, however, is still a challenge for research. In this paper, we use an omnidirectional camera mounted on a mobile robot to perform a sort of scan matching. The omnidirectional vision system finds the distances of the closest color transitions in the environment, mimicking the way laser rangefinders detect the closest obstacles. The similarity of our sensor with classical rangefinders allows the use of practically unmodified Monte Carlo algorithms, with the additional advantage of being able to easily detect occlusions caused by moving obstacles. The proposed system was initially implemented in the RoboCup Middle-Size domain, but the experiments we present in this paper prove it to be valid in a general indoor environment with natural color transitions. We present localization experiments both in the RoboCup environment and in an unmodified office environment. In addition, we assessed the robustness of the system to sensor occlusions caused by other moving robots. The localization system runs in real-time on low-cost hardware. © 2006 IEEE.
W3009560954
Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione; 2015-06-05T01:02:04Z
Published: title_year