IAS-LAB PUBLICATIONS
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Authors: + HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY; eng 2-s2.0-58049087244
Journal: Italy||Japan||Japan||Italy||Italy
Published: false
DOI: University of Padua||Osaka University||Osaka University||University of Padua||University of Padua
Volume: Dalla Libera F.; Minato T.; Ishiguro H.; Pagello E.; Menegatti E. Pages: Dalla Libera||Minato||Ishiguro||Pagello||Menegatti-Touch is a very powerful but not much studied communication mean in human-robot interaction. Nonetheless many robots are not equipped with touch sensors, because it is often difficult to place such sensors over the robot surface or simply because the main task of the robot does not require them. We propose an approach that allows developing motions for a real humanoid robot by touching its 3D representation. This simulated counterpart can be equipped with touch sensors not physically available and allows the user to interact with a robot moving in slow-play, which is not possible in real world due to the changes in the dynamics. The developed interface, employing simulated touch sensors, allows inexperienced users to program robot movements in an intuitive way without any modification of the robot's hardware. Thanks to this tool we can also study how humans employ touch for communication. We then report how simulation can be used to study user dependence of touch instructions assuring all the subjects to be in exactly the same conditions. © 2008 Springer Berlin Heidelberg.
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Authors: 466 530 WALNUT STREET, STE 850, PHILADELPHIA, PA 19106 USA; eng 2-s2.0-46149119468
Journal: Italy||Italy||United Kingdom||Italy
Published: false
DOI: University of Padua||University of Padua||University of Edinburgh||Institute ISIB of CNR
Volume: Menegatti E.; Aneloni G.; Wright M.; Pagello E. Pages: Menegatti||Aneloni||Wright||Pagello-In this article, we propose a new approach to the map building task: the implementation of the Spatial Semantic Hierarchy (SSH), proposed by B. Kuipers, on a real robot fitted with an omnidirectional camera. The original Kuiper's formulation of the SSH was slightly modified, in order to manage in a more efficient way the knowledge the real robot collects while moving in the environment. The sensory data experienced by the robot are transformed by the different levels of the SSH in order to obtain a compact representation of the environment. This knowledge is stored in the form of a topological map and, eventually, of a metrical map. The aim of this article is to show that a catadioptric omnidirectional camera is a good sensor for the SSH and nicely couples with several elements of the SSH. The panoramic view and rotational invariance of our omnidirectional camera makes the identification and labelling of places a simple matter. A deeper insight is that the tracking and identification of events on an omnidirectional image such as occlusions and alignments can be used for the segmentation of continuous sensory image data into the discrete topological and metric elements of a map. The proposed combination of the SSH and omnidirectional vision provides a powerful general framework for robot maping and offers new insights into the concept of place. Some preliminary experiments performed with a real robot in an unmodified office environment are presented.
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Authors: 546 5 TOH TUCK LINK, SINGAPORE 596224, SINGAPORE; eng 2-s2.0-58049092890
Journal: Italy||Italy||Italy||Italy||Italy||Italy||Italy||Italy
Published: false
Volume: Menegatti E.; Solvestri G.; Pagello E.; Ggrggio N.; Cisternino A.; Mazzanti F.; Sorbello R.; Chella A. Pages: Menegatti||Solvestri||Pagello||Ggrggio||Cisternino||Mazzanti||Sorbello||Chella-This paper describes our experience in the simulation of humanoid soccer robots using two general purposes 3D simulators, namely USARSim and Microsoft Robotics Studio. We address the problem of the simulation of a soccer match among two teams of small humanoid robots in the RoboCup Soccer Kid-Size Humanoid competitions. The paper reports the implementation of the virtual models of the Robovie-M humanoid robot platform in the two simulators. Robovie-M was the robot used by our team "Artisti" in the RoboCup 2006 competitions. This paper focuses on the procedures needed to implement the virtual models of the robot and in the details of the models. We describe experiments assessing the feasibility and the fidelity of the two simulators. © 2008 World Scientific Publishing Company.
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Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione; Non assegn; ITA; ESP; 2015-06-05T03:01:27Z; 9788895872018
Published: MATCH_RESULT_STATUS_FAILURE_NO_MATCH
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Authors: 228 HOWARD HOUSE, WAGON LANE, BINGLEY BD16 1WA, W YORKSHIRE, ENGLAND; eng 2-s2.0-46749120275
Journal: Italy||Italy||Italy||Japan||Japan
Published: false
Volume: Menegatti E.; Gatto G.; Pagello E.; Minato T.; Ishiguro H. Pages: Menegatti||Gatto||Pagello||Minato||Ishiguro-Purpose - Image-based localisation has been widely investigated in mobile robotics. However, traditional image-based localisation approaches do not work when the environment appearance changes. The purpose of this paper is to propose a new system for image-based localisation, which enables the approach to work also in highly dynamic environments. Design/methodology/approach - The proposed technique is based on the use of a distributed vision system (DVS) composed of a set of cameras installed in the environment and of a camera mounted on a mobile robot. The localisation of the robot is achieved by comparing the current image grabbed by the robot with the images grabbed, at the same time, by the DVS. Finding the DVS's image, most similar to the robot's image, gives a topological localisation of the robot. Findings - Experiments reported in the paper proved the system to be effective, even exploiting a pre-existent DVS not designed for this application. Originality/value - Whilst, aware that DVSs, as the one used in this work, are not diffuse nowadays, this work is significant because a novel idea is proposed for dealing with dynamic environments in the image-based localisation approach and the idea is validated with experiments. Camera Sensor networks currently are an emerging technology and they may be introduced in several daily environments in the future. © Emerald Group Publishing Limited.
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Authors: AREA MIN. 05 - Scienze biologiche; 2024-02-13T11:38:22Z
Journal: Barcelona
Published: MATCH_RESULT_STATUS_FAILURE_NO_MATCH
W141977509
Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione; ITA; USA; 2015-06-05T01:56:25Z; 9788895872018
Published: title_year
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Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione; Non assegn; 2015-06-05T05:53:46Z
Published: MATCH_RESULT_STATUS_FAILURE_NO_MATCH
scopus.description.abstract||scopus.subject.keywords||scopus.identifier.pmid||scopus.description.allpeopleoriginal
Authors: 1530 233 SPRING ST, NEW YORK, NY 10013 USA; eng 2-s2.0-44749092720
Journal: Italy||Italy||Italy||Germany||Italy||Italy||Italy||Italy||Italy||Italy||Italy
Published: false
Volume: Esposito E.; Fantin M.; Marti M.; Drechsler M.; Paccamiccio L.; Mariani P.; Sivieri E.; Lain F.; Menegatti E.; Morari M.; Cortesi R. Pages: Esposito||Fantin||Marti||Drechsler||Paccamiccio||Mariani||Sivieri||Lain||Menegatti||Morari||Cortesi-Purpose. The present investigation describes a formulative study for the development of innovative drug delivery systems for bromocriptine. Methods. Solid lipid nanoparticles (SLN) based on different lipidic components have been produced and characterized. Morphology and dimensional distribution have been investigated by electron microscopy and Photon Correlation Spectroscopy. The antiparkinsonian activities of free bromocriptine and bromocriptine encapsulated in nanostructured lipid carriers were evaluated in 6-hydroxydopamine hemilesioned rats, a model of Parkinson's disease. Results. Tristearin/tricaprin mixture resulted in nanostructured lipid carriers with stable mean diameter up to 6 months from production. Bromocriptine was encapsulated with high entrapment efficiency in all of the SLN samples, particularly in the case of tristearin/tricaprin mixture. Bromocriptine encapsulation did not change nanoparticle dimensions. In vitro release kinetics based on a dialysis method demonstrated that bromocriptine was released in a prolonged fashion for 48 h. Tristearin/tricaprin nanoparticles better controlled bromocriptine release. Both free and encapsulated bromocriptine reduced the time spent on the blocks (i.e. attenuated akinesia) in the bar test, although the action of encapsulated bromocriptine was more rapid in onset and prolonged. Conclusions. It can be concluded that nanostructured lipid carriers encapsulation may represent an effective strategy to prolong the half-life of bromocriptine. © 2007 Springer Science+Business Media, LLC.
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Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione; Non assegn; ESP; ITA; 2015-06-05T03:37:17Z
Published: MATCH_RESULT_STATUS_FAILURE_NO_MATCH