IAS-LAB PUBLICATIONS
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Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione; Non assegn; ITA; 2015-06-05T03:44:34Z; 9788889422090
Published: MATCH_RESULT_STATUS_FAILURE_NO_MATCH
scopus.subject.keywords||scopus.description.allpeopleoriginal||scopus.description.abstract
Authors: 30 RADARWEG 29, 1043 NX AMSTERDAM, NETHERLANDS; eng 2-s2.0-3342937744
Journal: Italy||Italy||Italy||Japan
Published: false
DOI: University of Padua||University of Padua||CNR||Osaka University
Volume: Menegatti E.; Zoccarato M.; Pagello E.; Ishiguro H. Pages: Menegatti||Zoccarato||Pagello||Ishiguro-Monte Carlo localisation generally requires a metrical map of the environment to calculate a robots position from the posterior probability density of a set of weighted samples. Image-based localisation, which matches a robots current view of the environment with reference views, fails in environments with perceptual aliasing. The method we present in this paper is experimentally demonstrated to overcome these disadvantages in a large indoor environment by combining Monte Carlo and image-based localisation. It exploits the properties of the Fourier transform of omnidirectional images, while weighting the samples according to the similarity among images. We also introduce a novel strategy for solving the "kidnapped robot problem". © 2004 Elsevier B.V. All rights reserved.
scopus.subject.keywords||scopus.relation.article||scopus.relation.conferencedate||scopus.description.allpeopleoriginal||scopus.description.abstract||scopus.relation.conferencename||scopus.relation.conferenceplace||scopus.relation.volume
Authors: 441 345 E 47TH ST, NEW YORK, NY 10017 USA; eng 2-s2.0-33846615002
Journal: Italy||Italy||Italy
Published: doi
DOI: University of Trieste||University of Trieste||University of Padova
1573606
Volume: Mumolo E.; Nolich M.; Menegatti E. Pages: Mumolo||Nolich||Menegatti-In human heads there is a strong structural linkage between vocal tract and facial behavior during speech. For a robotic talking head to have a human-like behavior, this linkage should be emulated. One way to do that is to compute an estimate of the articulatory features which produce a given utterance and then to transform them into facial animation. We present a computational model of human vocalization which is aimed at describing the articulatory mechanisms which produce spoken phonemes. It uses a set of fuzzy rules and genetic optimization. The former represents the relationships between places of articulations and speech acoustic parameters, while the latter estimates the degrees of membership of the places of articulation. That is, the places of articulation are considered as fuzzy sets whose degrees of membership are the articulatory features. The trajectories of articulatory parameters can be used to control a graphical or mechanical talking head. We verify the model presented here by generating and listening to artificial sentences. Subjective listening tests of artificially generated sentences from the articulatory description resulted in an average phonetic accuracy of about 79 %. Through the analysis of a large amount of natural speech, the algorithm can be used to learn the places of articulation of all phonemes of a given speaker. ©2005 IEEE.
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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.
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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.