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8th International Conference on Health Informatics, HEALTHINF 2015

作者： Ahmed, Mobyen Uddin Espinosa, Jesica Rivero Reissner, Alenka Domingo, Àlex Banaee, Hadi Loutfi, Amy Rafael-Palou, Xavier Center for Applied Autonomous Sensor Systems Örebro University Fakultetsg. 1 Örebro701 82 Sweden Barcelona Digital Technology Centre MediaTIC Building C/RocBoronat 11 Barcelona08018 Spain Technosite Fundosa Group R and D Madrid Spain Zveza Društev Upokojencev Slovenije Ljubljana Slovenia Institut de l'Envelliment Universitat Autònoma de Barcelona Sant Antoni Maria Claret 171 BarcelonaE 08041 Spain

ISBN: (纸本)9789897580680

Today, the healthcare monitoring is not limited to take place in primary care facilities simply due to deployment of ICT. However, to support an ICT-based health monitoring, proper health parameters, sensor devices, data communications, approaches, methods and their combination are still open challenges. This paper presents a self-serve ICT-based health monitoring system to support active ageing by assisting seniors to participate in regular monitoring of elderly's health condition. Here, the main objective is to facilitate a number of healthcare services to enable good health outcomes of healthy active living. Therefore, the proposed approach is identified and constructed three different kinds of healthcare services: 1) real time feedback generation service, 2) historical summary calculation service and 3) recommendation generation service. These services are implemented considering a number of health parameters, such as, 1) blood pressure, 2) blood glucose, 3) medication compliance, 4) weight monitoring, 5) physical activity, 6) pulse monitoring etc. The services are evaluated in Spain and Slovenia through 2 prototypical systems, i.e. year2prototype (Y2P) and year3prototype (Y3P) by 46 subjects (40 for Y2P and 6 for Y3P). The evaluation results show the necessity and competence of the proposed healthcare services. In addition, the prototypical system (i.e. Y3P) is found very much accepted and useful by most of the users.

关键词： Blood pressure

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A lattice-based approach to multi-robot motion planning for non-holonomic vehicles

A lattice-based approach to multi-robot motion planning for ...

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2014 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Marcello Cirillo Tansel Uras Sven Koenig Center for Applied Autonomous Sensor Systems Örebro University Sweden Department of Computer Science University of Southern California USA

Coordinating fleets of autonomous, non-holonomic vehicles is paramount to many industrial applications. While there exists solutions to efficiently calculate trajectories for individual vehicles, an effective methodology to coordinate their motions and to avoid deadlocks is still missing. Decoupled approaches, where motions are calculated independently for each vehicle and then centrally coordinated for execution, have the means to identify deadlocks, but not to solve all of them. We present a novel approach that overcomes this limitation and that can be used to complement the deficiencies of decoupled solutions with centralized coordination. Here, we formally define an extension of the framework of lattice-based motion planning to multi-robot systems and we validate it experimentally. Our approach can jointly plan for multiple vehicles and it generates kinematically feasible and deadlock-free motions.

关键词： Planning Robot kinematics Space exploration Space vehicles System recovery

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Exploration on continuous Gaussian process frontier maps

Exploration on continuous Gaussian process frontier maps

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Maani Ghaffari Jadidi Jaime Valls Miró Rafael Valencia Juan Andrade-Cetto Faculty of Engineering and IT University of Technology Sydney (UTS) NSW Australia CSIC-UPC Institut de Robòtica i Informatica Industrial Barcelona Spain Center for Applied Autonomous Sensor Systems Orebro University Örebro Sweden

An information-driven autonomous robotic exploration method on a continuous representation of unknown environments is proposed in this paper. The approach conveniently handles sparse sensor measurements to build a continuous model of the environment that exploits structural dependencies without the need to resort to a fixed resolution grid map. A gradient field of occupancy probability distribution is regressed from sensor data as a Gaussian process providing frontier boundaries for further exploration. The resulting continuous global frontier surface completely describes unexplored regions and, inherently, provides an automatic stop criterion for a desired sensitivity. The performance of the proposed approach is evaluated through simulation results in the well-known Freiburg and Cave maps.

关键词： Entropy Simultaneous localization and mapping Gaussian processes Training Measurement by laser beam

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Towards Measuring Quality of Interaction in Mobile Robotic Telepresence using Sociometric Badges

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Paladyn 2013年第1期4卷 34-48页

作者： Kristoffersson, Annica Coradeschi, Silvia Eklundh, Kerstin Severinson Loutfi, Amy Aass Center of Applied Autonomous Sensor Systems Örebro University Fakultetsgatan 1 Örebro70182 Sweden School of Computer Science and Communication Kth Royal Institute of Technology Stockholm10044 Sweden

The field of mobile robotic telepresence for social communication is in rapid expansion and it is of interest to understand what promotes good interaction. In this paper, we present the results of an experiment where novice users working in health care were given a guided tour while maneuvering a mobile robotic telepresence system for the first time. In a previous study, it was found that subjective presence questionnaires and observations of spatial configurations based on Kendon's F-formations were useful to evaluate quality of interaction in mobile robotic telepresence. In an effort to find more automated methods to assess the quality of interaction, the study in this paper used the same measures, with the addition of objective sociometric measures. Experimental results show that the quantitative analysis of the sociometric data correlates with a number of parameters gathered via qualitative analysis, e.g. different dimensions of presence and observed problems in maneuvering the robot. © 2013 Authors. All rights reserved.

关键词： Quality control

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Fast Dual-Arm Manipulation Using Variable Admittance Control: Implementation and Experimental Results

Fast Dual-Arm Manipulation Using Variable Admittance Control...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Magnus Bjerkeng Johannes Schrimpf Torstein Myhre Kristin Y. Pettersen Applied Cybernetics SINTEF ICT Trondheim Norway Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway Department of Production and Quality Engineering Norwegian University of Science and Technology Trondheim Norway Center for Autonomous Marine Operations and Systems at the Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway

ISBN: (纸本)9781479969357

This paper presents a control system for fast cooperative dual-arm manipulation of rigid objects with experimental results. The motivation for multi-arm manipulation comes from the wide range of applications. The possible tasks that can be performed by such a system greatly exceed those of a single manipulator system. The proposed system is flexible with respect to uncertainties in object size. Moreover, it allows for physical human interaction through force/torque sensing. This is especially beneficial in industrial cases where humans and robots work on the same production line. One main goal of this paper is to bridge the gap between current research regarding dual-arm manipulation and the implementation possibilities on current industrial robots and widely available standard hardware.

关键词： impedance control systems Fasting Robot current research industrial robots

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Evolutionary computation based system decomposition with neural Networks

Evolutionary computation based system decomposition with neu...

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21st European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning, ESANN 2013

作者： Kaltenhäuser, Robert Schaffernicht, Erik Steege, Frank-Florian Gross, Horst-Michael Neuroinformatics and Cognitive Robotics Lab Ilmenau University of Technology Helmholtzplatz 5 98693 Ilmenau Germany Center of Applied Autonomous Sensor Systems Örebro University Sweden STEAG Powitec GmbH 45219 Essen-Kettwig Germany

ISBN: (纸本)9782874190810

We present an evolutionary approach to divide a complex control system into smaller sub-systems with the help of neural networks. Thereto, measured channels are partitioned into several disjunct sets, representing possible sub-problems, while the networks are used to assess the quality of the resulting decomposition. We show that this approach is well suited to calculate correct decompositions of complex control systems. Furthermore, the obtained neural networks are used to predict important process factors with considerable better approximation quality than monolithic approaches that have to deal with all input channels in parallel.

关键词： Complex networks

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Normal Distributions Transform Occupancy Maps: Application to large-scale online 3D mapping

Normal Distributions Transform Occupancy Maps: Application t...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jari Saarinen Henrik Andreasson Todor Stoyanov Juha Ala-Luhtala Achim J. Lilienthal Center of Applied Autonomous Sensor Systems (AASS) Örebro University Sweden Department of Mathematics Tampere University of Technology Finland

ISBN: (纸本)9781467356404

autonomous vehicles operating in real-world industrial environments have to overcome numerous challenges, chief among which is the creation and maintenance of consistent 3D world models. This paper proposes to address the challenges of online real-world mapping by building upon previous work on compact spatial representation and formulating a novel 3D mapping approach - the Normal Distributions Transform Occupancy Map (NDT-OM). The presented algorithm enables accurate real-time 3D mapping in large-scale dynamic environments employing a recursive update strategy. In addition, the proposed approach can seamlessly provide maps at multiple resolutions allowing for fast utilization in high-level functions such as localization or path planning. Compared to previous approaches that use the NDT representation, the proposed NDT-OM formulates an exact and efficient recursive update formulation and models the full occupancy of the map.

关键词： Three-dimensional displays Gaussian distribution sensors Erbium Real-time systems Accuracy Transforms

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A Hash Table Approach for Large Scale Perceptual Anchoring

A Hash Table Approach for Large Scale Perceptual Anchoring

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IEEE International Conference on systems, Man, and Cybernetics

作者： Andreas Persson Amy Loutfi Center for Applied Autonomous Sensor Systems (AASS) Dept. of Science and Technology ?rebro University ?rebro Sweden

ISBN: (纸本)9781479906505

Perceptual anchoring deals with the problem of creating and maintaining the connection between percepts and symbols that refer to the same physical object. When approaching long term use of an anchoring framework which must cope with large sets of data, it is challenging to both efficiently and accurately anchor objects. An approach to address this problem is through visual perception and computationally efficient binary visual features. In this paper, we present a novel hash table algorithm derived from summarized binary visual features. This algorithm is later contextualized in an anchoring framework. Advantages of the internal structure of proposed hash tables are presented, as well as improvements through the use of hierarchies structured by semantic knowledge. Through evaluation on a larger set of data, we show that our approach is appropriate for efficient bottom-up anchoring, and performance-wise comparable to recently presented search tree algorithm.

关键词： Perceptual anchoring large scale efficient matching hash table binary visual features semantic categorization Hash table cast anchor Dataset Tree searching Social Hierarchy

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Independent Markov Chain Occupancy Grid Maps for Representation of Dynamic Environments

Independent Markov Chain Occupancy Grid Maps for Representat...

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IEEE/RSJ International Conference on Intelligent Robotics and systems

作者： Jari Saarinen Henrik Andreasson Achim J. Lilienthal Aalto University Department of Automation and Systems Technology PO.Box 15500 FI-00076 Aalto. Center of Applied Autonomous Sensor Systems (AASS) ?rebro University Sweden

ISBN: (纸本)9781467317375

In this paper we propose a new grid based approach to model a dynamic environment. Each grid cell is assumed to be an independent Markov chain (iMac) with two states. The state transition parameters are learned online and modeled as two Poisson processes. As a result, our representation not only encodes the expected occupancy of the cell, but also models the expected dynamics within the cell. The paper also presents a strategy based on recency weighting to learn the model parameters from observations that is able to deal with non-stationary cell dynamics. Moreover, an interpretation of the model parameters with discussion about the convergence rates of the cells is presented. The proposed model is experimentally validated using offline data recorded with a Laser Guided Vehicle (LGV) system running in production use.

关键词： modeled validated using LGV model parameters Poisson process Markov chain Vehicle Occupancy Cells LASER-GUIDED Environments

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Current thermoelectric materials and an evaluation of thermoelectric materials contacting approaches

Current thermoelectric materials and an evaluation of thermo...

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International Spring Seminar on Electronics technology

作者： Ibrahim Atassi Ernst Bauer Johann Nicolics Bernhard Dangl Lukas Spendlhofer Dennis Knospe Florian Faistauer Department of Applied Electronic Materials Institute of Sensor and Actuator Systems Vienna University of Technolozv Vienna Austria Institute of Solid State Physics Vienna University of Technology Vienna Austria Technische Universitat Wien Wien Wien AT Engineering Center Steyr GmbH & Co KG St. Valentin Austria

In this paper a brief selection of state-of-the-art thermoelectric materials is described which are used for thermoelectric power generation. A summary of current advances in the field of thermoelectric (TE) materials which are used for TE power generation is presented. Among them, the class of filled skutterudite is very promising and extensively investigated. Skutterudites offer good power conversion efficiencies, with the high temperature side of the generators reaching up to 600 °C. Higher temperatures result in technological challenges related to thermomechanically induced stress. Additional difficulties at high temperatures can arise with respect to the reliability of the electrical contacts between the TE materials and metal connectors. Some contacting metals (e.g. silver) tend to diffuse into the active thermoelectric legs and thus are unsuitable for various high-temperature TE materials. As a first step towards a cascaded TE heat engine two Bi 2 Te 3 based TE generators have been evaluated with respect to the influence of TE-leg contacting approaches by measuring their figure-of-merit. While the elements of one TE generator were attached by means of vapor phase bonding using a tin based solder, the elements of the second generator were attached with a silver filled epoxy adhesive.

关键词： Silicon germanium Heating Iron

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