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42. Hierarchical learning of robotic contact policiesMihael Simonič, Aleš Ude, Bojan Nemec, 2023, original scientific article Abstract: The paper addresses the issue of learning tasks where a robot maintains permanent contact with the environment. We propose a new methodology based on a hierarchical learning scheme coupled with task representation through directed graphs. These graphs are constituted of nodes and branches that correspond to the states and robotic actions, respectively. The upper level of the hierarchy essentially operates as a decision-making algorithm. It leverages reinforcement learning (RL) techniques to facilitate optimal decision-making. The actions are generated by a constraint-space following (CSF) controller that autonomously identifies feasible directions for motion. The controller generates robot motion by adjusting its stiffness in the direction defined by the Frenet–Serret frame, which is aligned with the robot path. The proposed framework was experimentally verified through a series of challenging robotic tasks such as maze learning, door opening, learning to shift the manual car gear, and learning car license plate light assembly by disassembly.
Keywords: autonomous robot learning, learning, experience, compliance and impedance contro
Published in DiRROS: 21.09.2023; Views: 402; Downloads: 202
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43. Neuromuscular assessment of force development, postural, and gait performance under cognitive-motor dual-tasking in healthy older adults and early Parkinson's disease patients : study protocol for a cross-sectional Mobile Brain/Body Imaging (MoBI) studyUroš Marušič, Manca Peskar, Maja Maša Šömen, Miloš Kalc, Aleš Holobar, Klaus Gramann, Bettina Wollesen, Anna Wunderlich, Christoph M. Michel, Aleksandar Miladinović, Mauro Catalan, Alex B. Stella, Miloš Ajčević, Paolo Manganotti, 2023, original scientific article Abstract: Background: Neuromuscular dysfunction is common in older adults and more pronounced in neurodegenerative diseases. In Parkinson's disease (PD), a complex set of factors often prevents the effective performance of activities of daily living that require intact and simultaneous performance of the motor and cognitive tasks. Methods: The cross-sectional study includes a multifactorial mixed-measure design. Between-subject factor grouping the sample will be Parkinson’s Disease (early PD vs. healthy). The within-subject factors will be the task complexity (single- vs. dual-task) in each motor activity, i.e., overground walking, semi-tandem stance, and isometric knee extension, and a walking condition (wide vs. narrow lane) will be implemented for the overground walking activity only. To study dual-task (DT) effects, in each motor activity participants will be given a secondary cognitive task, i.e., a visual discrimination task for the overground walking, an attention task for the semi-tandem, and mental arithmetic for the isometric extension. Analyses of DT effects and underlying neuronal correlates will focus on both gait and cognitive performance where applicable. Based on an a priori sample size calculation, a total N = 42 older adults (55-75 years) will be recruited. Disease-specific changes such as laterality in motor unit behavior and cortical control of movement will be studied with high-density surface electromyography and electroencephalography during static and dynamic motor activities, together with whole-body kinematics. Discussion: This study will be one of the first to holistically address early PD neurophysiological and neuromuscular patterns in an ecologically valid environment under cognitive-motor DT conditions of different complexities. The outcomes of the study aim to identify the biomarker for early PD either at the electrophysiological, muscular or kinematic level or in the communication between these systems.
Keywords: Parkinson's disease, mobile brain imaging, body brain imaging, MoBi, dual tasking, neuromuscular function, older adults
Published in DiRROS: 15.09.2023; Views: 350; Downloads: 155
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44. Investigations of 6-pane glazing : properties and possibilitiesAleš Kralj, Marija Drev, Matjaž Žnidaršič, Boštjan Černe, Jože Hafner, Bjørn Petter Jelle, 2019, original scientific article Abstract: Today there is increasing interest and demand for energy savings in the building sector. Windows still represent a weak point in the building envelope with respect to thermal performance due to thermal losses from the interior to the exterior as well as overheating of the interior due to excessive solar radiation from the exterior environment into the interior. However, windows and glazing structures enable the utilisation of daylight and heat from incident solar radiation, while at the same time providing comfort and a view to the outdoor surroundings. Multipane glazing and windows may represent a possible way to lower energy consumption related to heating and cooling. In this study, a multipane glazing structure, more specifically a 6-pane glazing, has been constructed and investigated with regard to various properties and possibilities. The general configuration of the 6-pane glazing is described. Furthermore, properties such as U-value, solar energy transmittance, visible transmittance, solar heat gain coefficient, glass pane temperatures, vapour permeability, economical aspects, and comfort of living, among others, are analysed. Finally, a case study is presented that demonstrates a 50% reduction in the annual energy consumption after renovation with this 6-pane glazing.
Keywords: window, multipane glazing, building, U-value, solar transmittance, temperature
Published in DiRROS: 14.09.2023; Views: 299; Downloads: 132
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45. Using statistical analysis of an acceleration-based bridge weigh-in-motion system for damage detectionEugene J. O'Brien, Muhammad Arslan Khan, Daniel Patrick McCrum, Aleš Žnidarič, 2020, original scientific article Abstract: This paper develops a novel method of bridge damage detection using statistical analysis of data from an acceleration-based bridge weigh-in-motion (BWIM) system. Bridge dynamic analysis using a vehicle-bridge interaction model is carried out to obtain bridge accelerations, and the BWIM concept is applied to infer the vehicle axle weights. A large volume of traffic data tends to remain consistent (e.g., most frequent gross vehicle weight (GVW) of 3-axle trucks); therefore, the statistical properties of inferred vehicle weights are used to develop a bridge damage detection technique. Global change of bridge stiffness due to a change in the elastic modulus of concrete is used as a proxy of bridge damage. This approach has the advantage of overcoming the variability in acceleration signals due to the wide variety of source excitations/vehicles–data from a large number of different vehicles can be easily combined in the form of inferred vehicle weight. One year of experimental data from a short-span reinforced concrete bridge in Slovenia is used to assess the effectiveness of the new approach. Although the acceleration-based BWIM system is inaccurate for finding vehicle axle-weights, it is found to be effective in detecting damage using statistical analysis. It is shown through simulation as well as by experimental analysis that a significant change in the statistical properties of the inferred BWIM data results from changes in the bridge condition.
Keywords: bridge health monitoring, bridge WIM, structural dynamics, damage detection, vehicle-bridge interaction
Published in DiRROS: 12.09.2023; Views: 279; Downloads: 140
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46. Using bridge weigh-in-motion systems to monitor single-span bridge influence linesAleš Žnidarič, Jan Kalin, 2020, original scientific article Abstract: Bridge weigh-in-motion systems use instrumented bridges or culverts to weigh vehicles as they pass over the structures. They also provide data to allow the calculation of several bridge performance indicators. The article starts with the basics of a bridge weigh-in-motion system and briefly describes two key bridge performance indicators, girder distribution factor and dynamic amplification factor, which are also derived from B-WIM measurements. The central part of the article focuses on monitoring of influence lines, the third key parameter that characterises the bridge performance under traffic loads. First, the method of calculating the bending moment influence lines from random heavy traffic is described. A coefficient of rotational stiffness is introduced, which defines the shape of influence lines around the supports as a linear combination of the ideal simply supported and fixed supported influence lines, to allow quantifying the influence line changes. Then the long-term monitoring of influence lines is investigated on four different single-span test bridges. The initial focus is given on the examination of the effect of temperature on the shape of influence lines. Finally, two sets of influence lines are compared on one test bridge, one from before and the other from after replacing the expansion joints and bearings. The work done so far confirms that calculating of influence lines from random vehicles with a B-WIM system is entirely feasible and that differences in their shape can be detected on single-span bridges. What remains to be investigated is the comparison of these differences to the actual damages and under which circumstances the proposed procedure can compete with or better the routine bridge inspection and the conventional monitoring techniques.
Keywords: bridge loading, bridge response, temperature dependency, influence line, monitoring
Published in DiRROS: 12.09.2023; Views: 352; Downloads: 135
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47. Candidate pathogenicity factor/effector proteins of ‘Candidatus Phytoplasma solani’ modulate plant carbohydrate metabolism, accelerate the ascorbate–glutathione cycle, and induce autophagosomesMarina Dermastia, Špela Tomaž, Rebeka Strah, Tjaša Lukan, Anna Coll Rius, Barbara Dušak, Timotej Čepin, Aleš Kladnik, Maja Zagorščak, Kristina Gruden, Maruša Pompe Novak, 2023, original scientific article Abstract: The pathogenicity of intracellular plant pathogenic bacteria is associated with the action of pathogenicity factors/effectors, but their physiological roles for most phytoplasma species, including ‘Candidiatus Phytoplasma solani’ are unknown. Six putative pathogenicity factors/effectors from six different strains of ‘Ca. P. solani’ were selected by bioinformatic analysis. The way in which they manipulate the host cellular machinery was elucidated by analyzing Nicotiana benthamiana leaves after Agrobacterium-mediated transient transformation with the pathogenicity factor/effector constructs using confocal microscopy, pull-down, and co-immunoprecipitation, and enzyme assays. Candidate pathogenicity factors/effectors were shown to modulate plant carbohydrate metabolism and the ascorbate–glutathione cycle and to induce autophagosomes. PoStoSP06, PoStoSP13, and PoStoSP28 were localized in the nucleus and cytosol. The most active effector in the processes studied was PoStoSP06. PoStoSP18 was associated with an increase in phosphoglucomutase activity, whereas PoStoSP28, previously annotated as an antigenic membrane protein StAMP, specifically interacted with phosphoglucomutase. PoStoSP04 induced only the ascorbate–glutathione cycle along with other pathogenicity factors/effectors. Candidate pathogenicity factors/effectors were involved in reprogramming host carbohydrate metabolism in favor of phytoplasma own growth and infection. They were specifically associated with three distinct metabolic pathways leading to fructose-6-phosphate as an input substrate for glycolysis. The possible significance of autophagosome induction by PoStoSP28 is discussed.
Keywords: autophagosome, effector, glycolysis, pathogenicity factor, StAMP
Published in DiRROS: 24.08.2023; Views: 445; Downloads: 209
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48. Priporočila za obravnavo bolnikov s pljučnim rakomMartina Vrankar, Nina Boc, Izidor Kern, Aleš Rozman, Karmen Stanič, Tomaž Štupnik, Mojca Unk, Maja Ebert Moltara, Vesna Zadnik, Katja Adamič, Jernej Benedik, Marko Bitenc, Jasna But-Hadžić, Anton Crnjac, Marina Čakš, Dominik Časar, Eva Ćirić, Tanja Čufer, Ana Demšar, Rok Devjak, Goran Gačevski, Marta Globočnik Kukovica, Kristina Gornik-Kramberger, Maja Ivanetič Pantar, Marija Ivanović, Urška Janžič, Staša Jelerčič, Veronika Kloboves-Prevodnik, Mile Kovačević, Luka Ležaič, Mateja Marc-Malovrh, Katja Mohorčič, Loredana Mrak, Igor Požek, Nina Turnšek, Bogdan Vidmar, Dušanka Vidovič, Gregor Vlačić, Ana Lina Vodušek, Rok Zbačnik, Ivana Žagar, 2023, professional article Abstract: Leta 2019 so bila objavljena Priporočila za obravnavo bolnikov s pljučnim rakom, ki so v slovenski prostor vnesla prepotrebno poenotenje diagnostike in zdravljenja z namenom izboljšanja preživetja bolnikov s pljučnim rakom. Posodobitev Priporočil tri leta po izidu izvirnika prinaša največ novosti v poglavju o sistemskem zdravljenju bolnikov s pljučnim rakom. To kaže na izjemen napredek na področju razumevanja onkogeneze in biologije pljučnega raka ter s tem razvoja novih zdravil. Breme pljučnega raka ostaja veliko, saj je pljučni rak pri nas in v svetu še vedno najpogostejši vzrok smrti zaradi raka. Za vsako peto smrt zaradi raka je odgovoren pljučni rak. Skoraj tretjina bolnikov s pljučnim rakom ne prejme specifičnega onkološkega zdravljenja, bodisi zaradi slabega stanja zmogljivosti, spremljajočih bolezni ali obsega bolezni. Polovica bolnikov ima ob diagnozi razsejano bolezen, zaradi česar izboljšanje preživetja z malimi koraki sledi napredku v zdravljenju bolnikov s pljučnim rakom. Ti podatki nas opominjajo, da se bomo morali za velike premike v obravnavi bolnikov s pljučnim rakom lotiti drugačnih pristopov. Kot najbolj obetavno se ponuja zgodnje odkrivanje bolezni, ko so možnosti ozdravitve pljučnega raka najboljše. Zapisana Priporočila so usmeritev za obravnavo bolnikov s pljučnim rakom. Le s sodobnim multidisciplinarnim pristopom obravnave lahko bolniku ponudimo zdravljenje, ki mu omogoča najboljši izhod prognostično neugodne bolezni.
Keywords: pljučni rak, priporočila
Published in DiRROS: 27.07.2023; Views: 402; Downloads: 144
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49. Measurements of bridge dynamic amplification factor using bridge weigh-in-motion dataJan Kalin, Aleš Žnidarič, Andrej Anžlin, Maja Kreslin, 2022, original scientific article Abstract: The dynamic component of bridge traffic loading is commonly taken into account with a Dynamic Amplification Factor (DAF)—the ratio between the dynamic and static load effects on a bridge. In the design codes, this factor is generally more conservative than in reality. Recently a new method of cal- culation of this factor had been developed. Data from 15 different bridges have been analysed since then and this paper presents the results of the analyses. The background for Bridge Weigh-in-Motion is given, and the most recent method for DAF calculation is described. The sites from which the data originated are presented, and the selection of data discussed. The results of the analyses are presented and discussed and some examples of DAF calculations are shown. Data from the considered sites have invariably demonstrated a DAF decrease with increasing axle load. This is a significant result, especially for assessment of existing structures, since it is beneficial to use measured structural param- eters to optimise structural analysis.
Keywords: bridge loads, bridge weigh-in-motion, dynamic amplication factor, dynamic analysis, measurement, traffic loading
Published in DiRROS: 14.07.2023; Views: 294; Downloads: 156
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50. Model updating concept using bridge Weigh-in-Motion dataDoron Hekič, Andrej Anžlin, Maja Kreslin, Aleš Žnidarič, Peter Češarek, 2023, original scientific article Abstract: Finite element (FE) model updating of bridges is based on the measured modal parameters and less frequently on the measured structural response under a known load. Until recently, the FE model updating did not consider strain measurements from sensors installed for weighing vehicles with bridge weigh-in-motion (B-WIM) systems. A 50-year-old multi-span concrete highway viaduct, renovated between 2017 and 2019, was equipped with continuous monitoring system with over 200 sensors, and a B-WIM system. In the most heavily instrumented span, the maximum measured longitudinal strains induced by the full-speed calibration vehicle passages were compared with the modelled strains. Based on the sensitivity study results, three variables that affected its overall stiffness were updated: Young’s modulus adjustment factor of all structural elements, and two anchorage reduction factors that considered the interaction between the superstructure and non-structural elements. The analysis confirmed the importance of the initial manual FE model updating to correctly reflect the non-structural elements during the automatic nonlinear optimisation. It also demonstrated a successful use of pseudo-static B-WIM loading data during the model updating process and the potential to extend the proposed approach to using random B-WIM-weighed vehicles for FE model updating and long-term monitoring of structural parameters and load-dependent phenomena.
Keywords: monitoring, bridge, viaduct, bridge weigh-in-motion (B-WIM), structural health monitoring (SHM), finite element (FE), calibration, model updating
Published in DiRROS: 29.05.2023; Views: 402; Downloads: 222
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