Noise-induced hearing loss

Noise-induced hearing loss (NIHL) is a hearing impairment resulting from exposure to loud sound. People may have a loss of perception of a narrow range of frequencies or impaired perception of sound including sensitivity to sound or ringing in the ears. When exposure to hazards such as noise occur at work and is associated with hearing loss, it is referred to as occupational hearing loss. Hearing may deteriorate gradually from chronic and repeated noise exposure (such as to loud music or background noise) or suddenly from exposure to impulse noise, which is a short high intensity noise (such as a gunshot or airhorn). In both types, loud sound overstimulates delicate hearing cells, leading to the permanent injury or death of the cells. Once lost this way, hearing cannot be restored in humans. There are a variety of prevention strategies available to avoid or reduce hearing loss. Lowering the volume of sound at its source, limiting the time of exposure and phys

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Ce cours décrit le fonctionnement du système immunitaire humain et les bases immunologiques de la vaccination, de la transplantation, de l'immunothérapie, et de l'allergie. Il présente aussi le rôle des cellules souches dans la formation des tissus, notamment la lignée hématopoïétique.

Ce cours traite des principaux phénomènes physiques observables dans le bâtiment et doit permettre à l'étudiant d'acquérir des connaissances de base dans le domaine de la physique du bâtiment.

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Distributed Learning of Cooperative Robotic Behaviors using Particle Swarm Optimization

Ezequiel Leonardo Di Mario, Alcherio Martinoli, Inaki Navarro Oiza

In this paper we study the automatic synthesis of robotic controllers for the coordinated movement of multiple mobile robots. The algorithm used to learn the controllers is a noise-resistant version of Particle Swarm Optimization, which is applied in two different settings: centralized and distributed learning. In centralized learning, every robot runs the same controller and the performance is evaluated with a global metric. In the distributed learning, robots run different controllers and the performance is evaluated independently on each robot with a local metric. Our results from learning in simulation show that it is possible to learn a cooperative task in a fully distributed way employing a local metric, and we validate the simulations with real robot experiments where the best solutions from distributed and centralized learning achieve similar performances.

2014

Distributed vs. Centralized Particle Swarm Optimization for Learning Flocking Behaviors

Ezequiel Leonardo Di Mario, Alcherio Martinoli, Inaki Navarro Oiza

In this paper we address the automatic synthesis of controllers for the coordinated movement of multiple mobile robots. We use a noise-resistant version of Particle Swarm Optimization to learn in simulation a set of 50 weights of a plastic artificial neural network. Two learning strategies are applied: homogeneous centralized learning, in which every robot runs the same controller and the performance is evaluated externally with a global metric, and heterogeneous distributed learning, in which robots run different controllers and the performance is evaluated independently on each robot with a local metric. The two sets of metrics enforce Reynolds’ flocking rules, resulting in a good correspondence between the metrics and the flocking behaviors obtained. Results demonstrate that it is possible to learn the collective task using both learning approaches. The solutions from the centralized learning have higher fitness and lower standard deviation than those learned in a distributed manner. We test the learned controllers in real robot experiments and also show in simulation the performance of the controllers with increasing number of robots.

The MIT Press2015

The Role of Environmental and Controller Complexity in the Distributed Optimization of Multi-Robot Obstacle Avoidance

Ezequiel Leonardo Di Mario, Alcherio Martinoli, Inaki Navarro Oiza

The ability to move in complex environments is a fundamental requirement for robots to be a part of our daily lives. Increasing the controller complexity may be a desirable choice in order to obtain an improved performance. However, these two aspects may pose a considerable challenge on the optimization of robotic controllers. In this paper, we study the trade-offs between the complexity of reactive controllers and the complexity of the environment in the optimization of multi-robot obstacle avoidance for resource-constrained platforms. The optimization is carried out in simulation using a distributed, noise-resistant implementation of Particle Swarm Optimization, and the resulting controllers are evaluated both in simulation and with real robots. We show that in a simple environment, linear controllers with only two parameters perform similarly to more complex non-linear controllers with up to twenty parameters, even though the latter ones require more evaluation time to be learned. In a more complicated environment, we show that there is an increase in performance when the controllers can differentiate between front and backwards sensors, but increasing further the number of sensors and adding non-linear activation functions provide no further benefit. In both environments, augmenting reactive control laws with simple memory capabilities causes the highest increase in performance. We also show that in the complex environment the performance measurements are noisier, the optimal parameter region is smaller, and more iterations are required for the optimization process to converge.

2014

Hearing loss

Hearing loss is a partial or total inability to hear. Hearing loss may be present at birth or acquired at any time afterwards. Hearing loss may occur in one or both ears. In child

Tinnitus

Tinnitus is a variety of sound that is heard when no corresponding external sound is present. Nearly everyone experiences faint "normal tinnitus" in a completely quiet room; but it is of concern only

Noise pollution

Noise pollution, or sound pollution, is the propagation of noise or sound with ranging impacts on the activity of human or animal life, most of which are harmful to a degree. The source of outdoor

Ce cours traite des principaux phénomènes physiques observables dans le bâtiment et doit permettre à l'étudiant d'acquérir des connaissances de base dans le domaine de la physique du bâtiment.