Showing papers by "Istituto Italiano di Tecnologia published in 2010"
TL;DR: It is concluded that, although there are several mechanisms through which one can understand the behaviour of other individuals, the parieto-frontal mechanism is the only one that allows an individual to understand the action of others 'from the inside' and gives the observer a first-person grasp of the motor goals and intentions of other Individuals.
Abstract: The parieto-frontal cortical circuit that is active during action observation is the circuit with mirror properties that has been most extensively studied. Yet, there remains controversy on its role in social cognition and its contribution to understanding the actions and intentions of other individuals. Recent studies in monkeys and humans have shed light on what the parieto-frontal cortical circuit encodes and its possible functional relevance for cognition. We conclude that, although there are several mechanisms through which one can understand the behaviour of other individuals, the parieto-frontal mechanism is the only one that allows an individual to understand the action of others 'from the inside' and gives the observer a first-person grasp of the motor goals and intentions of other individuals.
1,423 citations
TL;DR: Tactile sensing, focused to fingertips and hands until past decade or so, has now been extended to whole body, even though many issues remain open, and various system issues that keep tactile sensing away from widespread utility are discussed.
Abstract: Starting from human ?sense of touch,? this paper reviews the state of tactile sensing in robotics. The physiology, coding, and transferring tactile data and perceptual importance of the ?sense of touch? in humans are discussed. Following this, a number of design hints derived for robotic tactile sensing are presented. Various technologies and transduction methods used to improve the touch sense capability of robots are presented. Tactile sensing, focused to fingertips and hands until past decade or so, has now been extended to whole body, even though many issues remain open. Trend and methods to develop tactile sensing arrays for various body sites are presented. Finally, various system issues that keep tactile sensing away from widespread utility are discussed.
1,414 citations
TL;DR: An overview of the physiology of CO is provided, the effects of CO gas and CO-releasing molecules in preclinical animal models of cardiovascular disease, inflammatory disorders and organ transplantation are summarized, and the development and therapeutic options for the exploitation of this simple gaseous molecule are discussed.
Abstract: Carbon monoxide (CO) is increasingly being accepted as a cytoprotective and homeostatic molecule with important signalling capabilities in physiological and pathophysiological situations. The endogenous production of CO occurs through the activity of constitutive (haem oxygenase 2) and inducible (haem oxygenase 1) haem oxygenases, enzymes that are responsible for the catabolism of haem. Through the generation of its products, which in addition to CO includes the bile pigments biliverdin, bilirubin and ferrous iron, the haem oxygenase 1 system also has an obligatory role in the regulation of the stress response and in cell adaptation to injury. This Review provides an overview of the physiology of CO, summarizes the effects of CO gas and CO-releasing molecules in preclinical animal models of cardiovascular disease, inflammatory disorders and organ transplantation, and discusses the development and therapeutic options for the exploitation of this simple gaseous molecule.
1,279 citations
TL;DR: Data show that language comprehension benefits from frontocentral action systems, indicating that action and perception circuits are interdependent.
Abstract: Action and perception are functionally linked in the brain, but a hotly debated question is whether perception and comprehension of stimuli depend on motor circuits. Brain language mechanisms are ideal for addressing this question. Neuroimaging investigations have found specific motor activations when subjects understand speech sounds, word meanings and sentence structures. Moreover, studies involving transcranial magnetic stimulation and patients with lesions affecting inferior frontal regions of the brain have shown contributions of motor circuits to the comprehension of phonemes, semantic categories and grammar. These data show that language comprehension benefits from frontocentral action systems, indicating that action and perception circuits are interdependent.
840 citations
TL;DR: The results show that, beyond an in-depth NPs characterization before cellular experiments, a detailed understanding of the effects elicited by cell culture media on NPs is crucial for standardized nanotoxicology tests.
Abstract: The development of appropriate in vitro protocols to assess the potential toxicity of the ever expanding range of nanoparticles represents a challenging issue, because of the rapid changes of their intrinsic physicochemical properties (size, shape, reactivity, surface area, etc.) upon dispersion in biological fluids. Dynamic formation of protein coating around nanoparticles is a key molecular event, which may strongly impact the biological response in nanotoxicological tests. In this work, by using citrate-capped gold nanoparticles (AuNPs) of different sizes as a model, we show, by several spectroscopic techniques (dynamic light scattering, UV−visible, plasmon resonance light scattering), that proteins−NP interactions are differently mediated by two widely used cellular media (i.e., Dulbecco Modified Eagle’s medium (DMEM) and Roswell Park Memorial Institute medium (RPMI), supplemented with fetal bovine serum). We found that, while DMEM elicits the formation of a large time-dependent protein corona, RPMI s...
569 citations
TL;DR: Quantitative Trypan blue and MTT measurements performed with two neoplastic cell lines model systems as a function of the nanotubes concentration and incubation time indicate that halloysite exhibits a high level of biocompatibility and very low cytotoxicity, rendering it a good candidate for household materials and medicine.
559 citations
TL;DR: The iCub is described, which was designed to support collaborative research in cognitive development through autonomous exploration and social interaction and which has attracted a growing community of users and developers.
549 citations
TL;DR: A comprehensive description of the molecular basis ofsynapsin function is given, as well as an overview of the more recent evidence linking mutations in the synapsin proteins to the onset of severe central nervous system diseases such as epilepsy and schizophrenia.
526 citations
TL;DR: Temporal multiplexing could be a key strategy used by the brain to form an information-rich and stable representation of the environment.
488 citations
TL;DR: An approach based on HMM, GMR, and dynamical systems to allow robots to acquire new skills by imitation was presented and evaluated and applications on different kinds of robots were presented to highlight the flexibility of the proposed approach.
Abstract: We presented and evaluated an approach based on HMM, GMR, and dynamical systems to allow robots to acquire new skills by imitation. Using HMM allowed us to get rid of the explicit time dependency that was considered in our previous work [12], by encapsulating precedence information within the statistical representation. In the context of separated learning and reproduction processes, this novel formulation was systematically evaluated with respect to our previous approach, LWR [20], LWPR [21], and DMPs [13]. We finally presented applications on different kinds of robots to highlight the flexibility of the proposed approach in three different learning by imitation scenarios.
448 citations
TL;DR: The ECM has a dual role as a promoter of structural and functional plasticity and as a degradable stabilizer of neural microcircuits, likely to be important for mental health.
Abstract: Recent studies have deepened our understanding of multiple mechanisms by which extracellular matrix (ECM) molecules regulate various aspects of synaptic plasticity and have strengthened a link between the ECM and learning and memory. New findings also support the view that the ECM is important for homeostatic processes, such as scaling of synaptic responses, metaplasticity and stabilization of synaptic connectivity. Activity-dependent modification of the ECM affects the formation of dendritic filopodia and the growth of dendritic spines. Thus, the ECM has a dual role as a promoter of structural and functional plasticity and as a degradable stabilizer of neural microcircuits. Both of these aspects are likely to be important for mental health.
TL;DR: To the Editor: Although conventional microscopes have a reso-lution limited by diffraction to about half the wavelength of light, several recent advances have led to microscopy methods that achieve roughly tenfold improvements in resolution.
Abstract: To the Editor: Although conventional microscopes have a reso-lution limited by diffraction to about half the wavelength of light, several recent advances have led to microscopy methods that achieve roughly tenfold improvements in resolution. Among them, photoactivated light microscopy (PALM) and stochastic optical resolution microscopy (STORM) have become particularly popular, as they only require relatively simple and affordable modifications to a standard total internal reflection fluorescence (TIRF) microscope and have been extended to three-dimensional (3D) super-resolution and multicolor imaging.
TL;DR: An overview of the iron-based inorganic nanostructured materials that have been developed and tested in various fields, including biology and medicine, and the new generation of inorganic hybrid nanostructure, which are structures that integrate in each nano-object multiple in organic nanocrystals of different materials.
TL;DR: The design, fabrication and application of a photonic-plasmonic device that is fully compatible with atomic force microscopy and Raman spectroscopy, and topographic, chemical and structural information about silicon nanocrystals may be obtained with a spatial resolution of 7 nm.
Abstract: The fields of plasmonics, Raman spectroscopy and atomic force microscopy have recently undergone considerable development, but independently of one another. By combining these techniques, a range of complementary information could be simultaneously obtained at a single molecule level. Here, we report the design, fabrication and application of a photonic–plasmonic device that is fully compatible with atomic force microscopy and Raman spectroscopy. Our approach relies on the generation and localization of surface plasmon polaritons by means of adiabatic compression through a metallic tapered waveguide to create strongly enhanced Raman excitation in a region just a few nanometres across. The tapered waveguide can also be used as an atomic force microscope tip. Using the device, topographic, chemical and structural information about silicon nanocrystals may be obtained with a spatial resolution of 7 nm.
TL;DR: The results suggest that anandamide-mediated signaling at peripheral CB1 receptors controls the access of pain-related inputs to the CNS, and brain-impenetrant FAAH inhibitors, which strengthen this gating mechanism, might offer a new approach to pain therapy.
Abstract: Peripheral cannabinoid receptors exert a powerful inhibitory control over pain initiation, but the endocannabinoid signal that normally engages this intrinsic analgesic mechanism is unknown. To address this question, we developed a peripherally restricted inhibitor (URB937) of fatty acid amide hydrolase (FAAH), the enzyme responsible for the degradation of the endocannabinoid anandamide. URB937 suppressed FAAH activity and increased anandamide levels outside the rodent CNS. Despite its inability to access brain and spinal cord, URB937 attenuated behavioral responses indicative of persistent pain in rodent models of peripheral nerve injury and inflammation and prevented noxious stimulus-evoked neuronal activation in spinal cord regions implicated in nociceptive processing. CB₁ cannabinoid receptor blockade prevented these effects. These results suggest that anandamide-mediated signaling at peripheral CB₁ receptors controls the access of pain-related inputs to the CNS. Brain-impenetrant FAAH inhibitors, which strengthen this gating mechanism, might offer a new approach to pain therapy.
TL;DR: A subnanometre-resolution cryo-electron microscopy reconstruction of the human Ndc80 complex bound to microtubules is presented, sufficient for precise docking of crystal structures of the component proteins.
Abstract: The Ndc80 complex is a key site of regulated kinetochore-microtubule attachment (a process required for cell division), but the molecular mechanism underlying its function remains unknown. Here we present a subnanometre-resolution cryo-electron microscopy reconstruction of the human Ndc80 complex bound to microtubules, sufficient for precise docking of crystal structures of the component proteins. We find that the Ndc80 complex binds the microtubule with a tubulin monomer repeat, recognizing α- and β-tubulin at both intra- and inter-tubulin dimer interfaces in a manner that is sensitive to tubulin conformation. Furthermore, Ndc80 complexes self-associate along protofilaments through interactions mediated by the amino-terminal tail of the NDC80 protein, which is the site of phospho-regulation by Aurora B kinase. The complex's mode of interaction with the microtubule and its oligomerization suggest a mechanism by which Aurora B could regulate the stability of load-bearing kinetochore-microtubule attachments.
TL;DR: Patch-clamp recordings of pyramidal neurons in the prefrontal cortex revealed that stress increased glutamatergic transmission through both pre- and postsynaptic mechanisms, and that antidepressants may normalize it by reducing release probability.
Abstract: Background
Behavioral stress is recognized as a main risk factor for neuropsychiatric diseases. Converging evidence suggested that acute stress is associated with increase of excitatory transmission in certain forebrain areas. Aim of this work was to investigate the mechanism whereby acute stress increases glutamate release, and if therapeutic drugs prevent the effect of stress on glutamate release.
Methodology/Findings
Rats were chronically treated with vehicle or drugs employed for therapy of mood/anxiety disorders (fluoxetine, desipramine, venlafaxine, agomelatine) and then subjected to unpredictable footshock stress. Acute stress induced marked increase in depolarization-evoked release of glutamate from synaptosomes of prefrontal/frontal cortex in superfusion, and the chronic drug treatments prevented the increase of glutamate release. Stress induced rapid increase in the circulating levels of corticosterone in all rats (both vehicle- and drug-treated), and glutamate release increase was blocked by previous administration of selective antagonist of glucocorticoid receptor (RU 486). On the molecular level, stress induced accumulation of presynaptic SNARE complexes in synaptic membranes (both in vehicle- and drug-treated rats). Patch-clamp recordings of pyramidal neurons in the prefrontal cortex revealed that stress increased glutamatergic transmission through both pre- and postsynaptic mechanisms, and that antidepressants may normalize it by reducing release probability.
Conclusions/Significance
Acute footshock stress up-regulated depolarization-evoked release of glutamate from synaptosomes of prefrontal/frontal cortex. Stress-induced increase of glutamate release was dependent on stimulation of glucocorticoid receptor by corticosterone. Because all drugs employed did not block either elevation of corticosterone or accumulation of SNARE complexes, the dampening action of the drugs on glutamate release must be downstream of these processes. This novel effect of antidepressants on the response to stress, shown here for the first time, could be related to the therapeutic action of these drugs.
03 Dec 2010
TL;DR: An approach allowing a robot to acquire new motor skills by learning the couplings across motor control variables through Expectation-Maximization based Reinforcement Learning is presented.
Abstract: We present an approach allowing a robot to acquire new motor skills by learning the couplings across motor control variables. The demonstrated skill is first encoded in a compact form through a modified version of Dynamic Movement Primitives (DMP) which encapsulates correlation information. Expectation-Maximization based Reinforcement Learning is then used to modulate the mixture of dynamical systems initialized from the user's demonstration. The approach is evaluated on a torque-controlled 7 DOFs Barrett WAM robotic arm. Two skill learning experiments are conducted: a reaching task where the robot needs to adapt the learned movement to avoid an obstacle, and a dynamic pancake-flipping task.
TL;DR: Depletion attraction forces were effective in the shape-selective separation of nanorods from binary mixtures of rods and spheres, and have the potential to enable powerful and cost-effective fabrication approaches to materials and devices based on self-organized anisotropic nanoparticles.
Abstract: Arranging anisotropic nanoparticles into ordered assemblies remains a challenging quest requiring innovative and ingenuous approaches. The variety of interactions present in colloidal solutions of nonspherical inorganic nanocrystals can be exploited for this purpose. By tuning depletion attraction forces between hydrophobic colloidal nanorods of semiconductors, dispersed in an organic solvent, these could be assembled into 2D monolayers of close-packed hexagonally ordered arrays directly in solution. Once formed, these layers could be fished onto a substrate, and sheets of vertically standing rods were fabricated, with no additional external bias applied. Alternatively, the assemblies could be isolated and redispersed in polar solvents, yielding suspensions of micrometer-sized sheets which could be chemically treated directly in solution. Depletion attraction forces were also effective in the shape-selective separation of nanorods from binary mixtures of rods and spheres. The reported procedures have the potential to enable powerful and cost-effective fabrication approaches to materials and devices based on self-organized anisotropic nanoparticles.
TL;DR: An asurprising set of neurons that were found in the ventral premotor cortex of the monkey are now known as mirror neurons, which discharged both when the monkey performed a certain motor act and when it observed another individual performing that or asimilar motor act.
Abstract: a report on asurprising set of neurons that we (Giuseppe Di Pellegrino,Luciano Fadiga, Leonardo Fogassi, Vittorio Gallese) hadfound in the ventral premotor cortex of the monkey. Thefundamental characteristic of these neurons was that theydischarged both when the monkey performed a certainmotor act (e.g., grasping an object) and when it observedanother individual (monkey or human) performing that or asimilar motor act (Di Pellegrino et al. 1992). These neuronsare now known as mirror neurons (Fig. 1).
TL;DR: A novel approach to capsular endoscopy is described that takes advantage of active magnetic locomotion in the gastrointestinal tract guided by an anthropomorphic robotic arm to efficiently perform diagnostic and surgical medical procedures.
Abstract: This paper describes a novel approach to capsular endoscopy that takes advantage of active magnetic locomotion in the gastrointestinal tract guided by an anthropomorphic robotic arm. Simulations were performed to select the design parameters allowing an effective and reliable magnetic link between the robot end-effector (endowed with a permanent magnet) and the capsular device (endowed with small permanent magnets). In order to actively monitor the robotic endoluminal system and to efficiently perform diagnostic and surgical medical procedures, a feedback control based on inertial sensing was also implemented. The proposed platform demonstrated to be a reliable solution to move and steer a capsular device in a slightly insufflated gastrointestinal lumen.
TL;DR: Findings demonstrated the importance of nanogeometry in cell stable adhesion and growth, suggesting that moderately rough substrates with large fractal dimension could selectively boost cell proliferation.
TL;DR: It is found that localized cAMP and cGMP activities in undifferentiated neurites of cultured hippocampal neurons promote and suppress axon formation, respectively, and exert opposite effects on dendrite formation.
Abstract: Cytosolic cyclic adenosine monophosphate (cAMP) and cyclic guanosine monophosphate (cGMP) often mediate antagonistic cellular actions of extracellular factors, from the regulation of ion channels to cell volume control and axon guidance. We found that localized cAMP and cGMP activities in undifferentiated neurites of cultured hippocampal neurons promote and suppress axon formation, respectively, and exert opposite effects on dendrite formation. Fluorescence resonance energy transfer imaging showed that alterations of the amount of cAMP resulted in opposite changes in the amount of cGMP, and vice versa, through the activation of specific phosphodiesterases and protein kinases. Local elevation of cAMP in one neurite resulted in cAMP reduction in all other neurites of the same neuron. Thus, local and long-range reciprocal regulation of cAMP and cGMP together ensures coordinated development of one axon and multiple dendrites.
TL;DR: A photonic metamaterial is demonstrated that shows extraordinary sensitivity to the presence of a single atomic layer of graphene on its surface at the resonance frequency linked to the Fano-type plasmonic mode supported by the periodic metallic nanostructure.
Abstract: We demonstrate a photonic metamaterial that shows extraordinary sensitivity to the presence of a single atomic layer of graphene on its surface. Metamaterial's optical transmission increases multi-fold at the resonance frequency linked to the Fano-type plasmonic mode supported by the periodic metallic nanostructure. The experiments were performed with chemical vapor deposited (CVD) graphene covering a number of size-scaled metamaterial samples with plasmonic modes at different frequencies ranging from 167 to 187 Thz.
TL;DR: In this article, a unified ab initio study of electronic and optical properties of TiO rutile and anatase phases with a combination of density-functional theory and many-body perturbation-theory techniques is presented.
Abstract: We present a unified ab initio study of electronic and optical properties of ${\text{TiO}}_{2}$ rutile and anatase phases with a combination of density-functional theory and many-body perturbation-theory techniques. The consistent treatment of exchange and correlation, with the inclusion of many-body one-particle and two-particles effects in self-energy and electron-hole interaction, produces a high-quality description of electronic and optical properties, giving, for some quantities, the first available estimation for this compound. In particular, we give a quantitative estimate of the electronic and direct optical gaps, clarifying their role with respect to previous measurements obtained by various experimental techniques. We obtain a description for both electronic gap and optical spectra that is consistent with experiments by analyzing the role of different contributions to the experimental optical gap and relating them to the level of theory used in our calculations. We also show the spatial properties of excitons in the two crystalline phases, highlighting the localization character of different optical transitions. This paper aims at understanding and firmly establishing electro-optical bulk properties, yet to be clarified, of this material of fundamental and technological interest for green energy applications.
TL;DR: It is demonstrated that neurons sense and actively respond to the surface nanotopography, with a surprising sensitivity to variations of few nanometers, delivering a simple and elegant approach for the design and development of biomaterials with precise nanostructure-triggered biological responses.
Abstract: The interaction between cells and nanostructured materials is attracting increasing interest, because of the possibility to open up novel concepts for the design of smart nanobiomaterials with active biological functionalities. In this frame we investigated the response of human neuroblastoma cell line (SH-SY5Y) to gold surfaces with different levels of nanoroughness. To achieve a precise control of the nanoroughness with nanometer resolution, we exploited a wet chemistry approach based on spontaneous galvanic displacement reaction. We demonstrated that neurons sense and actively respond to the surface nanotopography, with a surprising sensitivity to variations of few nanometers. We showed that focal adhesion complexes, which allow cellular sensing, are strongly affected by nanostructured surfaces, leading to a marked decrease in cell adhesion. Moreover, cells adherent on nanorough surfaces exhibit loss of neuron polarity, Golgi apparatus fragmentation, nuclear condensation, and actin cytoskeleton that is not functionally organized. Apoptosis/necrosis assays established that nanoscale features induce cell death by necrosis, with a trend directly related to roughness values. Finally, by seeding SH-SY5Y cells onto micropatterned flat and nanorough gold surfaces, we demonstrated the possibility to realize substrates with cytophilic or cytophobic behavior, simply by fine-tuning their surface topography at nanometer scale. Specific and functional adhesion of cells occurred only onto flat gold stripes, with a clear self-alignment of neurons, delivering a simple and elegant approach for the design and development of biomaterials with precise nanostructure-triggered biological responses.
TL;DR: Films of these nonstoichiometric copper-deficient Cu(2-x)Se nanocrystals were highly conductive and showed high absorption coefficient in the near-infrared region and could be used as hole-injection layers in optoelectronic devices.
Abstract: We report a phosphine-free synthesis of p-type copper(I) selenide nanocrystals by a colloidal approach in a mixture of oleylamine and 1-octadecene. The nanocrystals had a cuboctahedral shape and cubic berzelianite phase. Films of these nonstoichiometric copper-deficient Cu2−xSe nanocrystals were highly conductive and showed high absorption coefficient in the near-infrared region. These nanocrystals could be used as hole-injection layers in optoelectronic devices.
TL;DR: In this article, a novel robot gripper that utilizes the effects of a magnetorheological (MR) fluid is described and evaluated, and data regarding the forces exerted on products during gripping as well as data on maximum payloads and graspable product shapes.
03 Dec 2010
TL;DR: The design of a Cartesian Controller for a generic robot manipulator that deals with a large number of degrees of freedom, produce smooth, human-like motion and is able to compute the trajectory on-line is described.
Abstract: In this paper we describe the design of a Cartesian Controller for a generic robot manipulator. We address some of the challenges that are typically encountered in the field of humanoid robotics. The solution we propose deals with a large number of degrees of freedom, produce smooth, human-like motion and is able to compute the trajectory on-line. In this paper we support the idea that to produce significant advancements in the field of robotics it is important to compare different approaches not only at the theoretical level but also at the implementation level. For this reason we test our software on the iCub platform and compare its performance against other available solutions.
03 Dec 2010
TL;DR: A new actuator with adjustable stiffness (AwAS) which can be used in robots which are necessary to work close to or physically interact with humans, e.g. humanoids and exoskeletons is described.
Abstract: This paper describes the design and development of a new actuator with adjustable stiffness (AwAS) which can be used in robots which are necessary to work close to or physically interact with humans, e.g. humanoids and exoskeletons. The actuator presented in this work can independently control equilibrium position and stiffness by two motors. The first motor controls the equilibrium position while the second motor regulates the compliance. The novelty of the proposed design with respect to the existing systems is on the principle used to regulate the compliance. This is done not through the tuning of the pretension of the elastic element as in the majority of existing system but by controlling the fixation of the elastic elements (springs) using a linear drive. An important consequence of this approach is that the displacement needed to change the stiffness is perpendicular to the forces generated by the springs, thus this helps to minimize the energy/power required to change the stiffness. This permits the use of a small motor for the stiffness adjustment resulting in a lighter setup. Experimental results are presented to show the ability of AwAS to control position and regulate the stiffness independently.