ALBERT

Description: One of the main issues within the field of social robotics is to endow robots with the ability to direct attention to people with whom they are interacting. Different approaches follow bio-inspired mechanisms, merging audio and visual cues to localize a person using multiple sensors. However, most of these fusion mechanisms have been used in fixed systems, such as those used in video-conference rooms, and thus, they may incur difficulties when constrained to the sensors with which a robot can be equipped. Besides, within the scope of interactive autonomous robots, there is a lack in terms of evaluating the benefits of audio-visual attention mechanisms, compared to only audio or visual approaches, in real scenarios. Most of the tests conducted have been within controlled environments, at short distances and/or with off-line performance measurements. With the goal of demonstrating the benefit of fusing sensory information with a Bayes inference for interactive robotics, this paper presents a system for localizing a person by processing visual and audio data. Moreover, the performance of this system is evaluated and compared via considering the technical limitations of unimodal systems. The experiments show the promise of the proposed approach for the proactive detection and tracking of speakers in a human-robot interactive framework.

Description: This work presents a formalism to calculate the configurational entropy of mixing based on the identification of non-interacting atomic complexes in the mixture and the calculation of their respective probabilities, instead of computing the number of atomic configurations in a lattice. The methodology is applied in order to develop a general analytical expression for the configurational entropy of mixing of interstitial solutions. The expression is valid for any interstitial concentration, is suitable for the treatment of interstitial short-range order (SRO) and can be applied to tetrahedral or octahedral interstitial solutions in any crystal lattice. The effect of the SRO of H on the structural properties of the Nb-H and bcc Zr-H solid solutions is studied using an accurate description of the configurational entropy. The methodology can also be applied to systems with no translational symmetry, such as liquids and amorphous materials. An expression for the configurational entropy of a granular system composed by equal sized hard spheres is deduced.

Description: Sensors, Vol. 18, Pages 1514: Analysis of Soot Propensity in Combustion Processes Using Optical Sensors and Video Magnification Sensors doi: 10.3390/s18051514 Authors: Hugo O. Garcés Andrés Fuentes Pedro Reszka Gonzalo Carvajal Industrial combustion processes are an important source of particulate matter, causing significant pollution problems that affect human health, and are a major contributor to global warming. The most common method for analyzing the soot emission propensity in flames is the Smoke Point Height (SPH) analysis, which relates the fuel flow rate to a critical flame height at which soot particles begin to leave the reactive zone through the tip of the flame. The SPH and is marked by morphological changes on the flame tip. SPH analysis is normally done through flame observations with the naked eye, leading to high bias. Other techniques are more accurate, but are not practical to implement in industrial settings, such as the Line Of Sight Attenuation (LOSA), which obtains soot volume fractions within the flame from the attenuation of a laser beam. We propose the use of Video Magnification techniques to detect the flame morphological changes and thus determine the SPH minimizing observation bias. We have applied for the first time Eulerian Video Magnification (EVM) and Phase-based Video Magnification (PVM) on an ethylene laminar diffusion flame. The results were compared with LOSA measurements, and indicate that EVM is the most accurate method for SPH determination.

Description: Sensors, Vol. 17, Pages 2926: Choice of Magnetometers and Gradiometers after Signal Space Separation Sensors doi: 10.3390/s17122926 Authors: Pilar Garcés David López-Sanz Fernando Maestú Ernesto Pereda Background: Modern Elekta Neuromag MEG devices include 102 sensor triplets containing one magnetometer and two planar gradiometers. The first processing step is often a signal space separation (SSS), which provides a powerful noise reduction. A question commonly raised by researchers and reviewers relates to which data should be employed in analyses: (1) magnetometers only, (2) gradiometers only, (3) magnetometers and gradiometers together. The MEG community is currently divided with regard to the proper answer. Methods: First, we provide theoretical evidence that both gradiometers and magnetometers result from the backprojection of the same SSS components. Then, we compare resting state and task-related sensor and source estimations from magnetometers and gradiometers in real MEG recordings before and after SSS. Results: SSS introduced a strong increase in the similarity between source time series derived from magnetometers and gradiometers (r2 = 0.3–0.8 before SSS and r2 > 0.80 after SSS). After SSS, resting state power spectrum and functional connectivity, as well as visual evoked responses, derived from both magnetometers and gradiometers were highly similar (Intraclass Correlation Coefficient > 0.8, r2 > 0.8). Conclusions: After SSS, magnetometer and gradiometer data are estimated from a single set of SSS components (usually ≤ 80). Equivalent results can be obtained with both sensor types in typical MEG experiments.

Description: The high concentration of macromolecules (i.e., macromolecular crowding) in cellular environments leads to large quantitative effects on the dynamic and equilibrium biological properties. These effects have been experimentally studied using inert macromolecules to mimic a realistic cellular medium. In this paper, two different experimental in vitro systems of diffusing proteins which use dextran macromolecules as obstacles are computationally analyzed. A new model for dextran macromolecules based on effective radii accounting for macromolecular compression induced by crowding is proposed. The obtained results for the diffusion coefficient and the anomalous diffusion exponent exhibit good qualitative and generally good quantitative agreement with experiments. Volume fraction and hydrodynamic interactions are found to be crucial to describe the diffusion coefficient decrease in crowded media. However, no significant influence of the hydrodynamic interactions in the anomalous diffusion exponent is found.

Description: This work discusses the development of analytical expressions for the configurational entropy of different states of matter using a method based on the identification of the energy-independent complexes (clustering of atoms) in the system and the calculation of their corresponding probabilities. The example of short-range order (SRO) in Nb-H interstitial solid solution is used to illustrate the choice of the atomic complexes and their structural changes with H concentration, providing an alternative methodology to describe critical properties. The calculated critical composition of the miscibility gap is xc = 0.307, in remarkable agreement with the experimental value of xc ~ 0.31. The same methodology is applied to deduce the equation of state (EOS) of a hard sphere system. The EOS is suitable to describe the percolation thresholds and fulfills both the low and random close packing limits. The model, based on the partition of the space into Voronoi cells, can be applied to any off-lattice system, thus introducing the possibility of computing the configurational entropy of gases, liquids and glasses with the same level of accuracy.

Description: Increased data acquisition by uncalibrated, heterogeneous digital sensor systems such as smartphones present new challenges. Binary metrics are proposed for the quantification of cyber-physical signal characteristics and features, and a standardized constant-Q variation of the Gabor atom is developed for use with wavelet transforms. Two different continuous wavelet transform (CWT) reconstruction formulas are presented and tested under different signal to noise ratio (SNR) conditions. A sparse superposition of Nth order Gabor atoms worked well against a synthetic blast transient using the wavelet entropy and an entropy-like parametrization of the SNR as the CWT coefficient-weighting functions. The proposed methods should be well suited for sparse feature extraction and dictionary-based machine learning across multiple sensor modalities.

Description: We report on the observation of the detachment in situ and in vivo of Dunaliella tertiolecta microalgae cells from a glass surface using a 1064 nm wavelength trapping laser beam. The principal bends of both flagella of Dunaliella were seen self-adhered to either the top or bottom coverslip surfaces of a 50 μm thick chamber. When a selected attached Dunaliella was placed in the trapping site, it photoresponded to the laser beam by moving its body and flagellar tips, which eventually resulted in its detachment. The dependence of the time required for detachment on the trapping power was measured. No significant difference was found in the detachment time for cells detached from the top or bottom coverslip, indicating that the induced detachment was not due solely to the optical forces applied to the cells. After detachment, the cells remained within the optical trap. Dunaliella detached from the bottom were seen rotating about their long axis in a counterclockwise direction, while those detached from the top did not rotate. The rotation frequency and the minimal force required to escape from the trap were also measured. The average rotation frequency was found to be independent of the trapping power, and the swimming force of a cell escaping the laser trap ranged from 4 to 10 picoNewtons. Our observations provide insight into the photostimulus produced when a near-infrared trapping beam encounters a Dunaliella. The microalgae frequently absorb more light than they can actually use in photosynthesis, which could cause genetic and molecular changes. Our findings may open new research directions into the study of photomovement in species of Dunaliella and other swimming microorganisms that could eventually help to solve technological problems currently confronting biomass production. In future work, studies of the response to excess light may uncover unrecognized mechanisms of photoprotection and photoacclimation.