Shared control methodology based on head positioning and vector fields for people with quadriplegia

Robotica ◽  
2021 ◽  
pp. 1-17
Author(s):  
Guilherme M. Maciel ◽  
Milena F. Pinto ◽  
Ivo C. da S. Júnior ◽  
Fabricio O. Coelho ◽  
Andre L. M. Marcato ◽  
...  
Keyword(s):  
Vector Fields ◽  
Movement Pattern ◽  
The Elderly ◽  
Head Movements ◽  
Shared Control ◽  
Measurement Unit ◽  
Global Localization ◽  
Localization And Mapping ◽  
Head Positioning ◽  
Wide Range

Abstract Mobile robotic systems are used in a wide range of applications. Especially in the assistive field, they can enhance the mobility of the elderly and disable people. Modern robotic technologies have been implemented in wheelchairs to give them intelligence. Thus, by equipping wheelchairs with intelligent algorithms, controllers, and sensors, it is possible to share the wheelchair control between the user and the autonomous system. The present research proposes a methodology for intelligent wheelchairs based on head movements and vector fields. In this work, the user indicates where to go, and the system performs obstacle avoidance and planning. The focus is developing an assistive technology for people with quadriplegia that presents partial movements, such as the shoulder and neck musculature. The developed system uses shared control of velocity. It employs a depth camera to recognize obstacles in the environment and an inertial measurement unit (IMU) sensor to recognize the desired movement pattern measuring the user’s head inclination. The proposed methodology computes a repulsive vector field and works to increase maneuverability and safety. Thus, global localization and mapping are unnecessary. The results were evaluated by simulated models and practical tests using a Pioneer-P3DX differential robot to show the system’s applicability.

scholarly journals STRATEGIES TO INTEGRATE IMU AND LIDAR SLAM FOR INDOOR MAPPING

2020 ◽  
Vol V-1-2020 ◽  
pp. 223-230
Author(s):  
S. Karam ◽  
V. Lehtola ◽  
G. Vosselman
Keyword(s):  
Facility Management ◽  
Measurement Unit ◽  
Reconstruction Accuracy ◽  
Mobile Mapping ◽  
Localization And Mapping ◽  
Satellite Positioning ◽  
Wide Range ◽  
Six Degree Of Freedom ◽  
Mobile Mapping Systems ◽  
Mapping Systems

Abstract. In recent years, the importance of indoor mapping increased in a wide range of applications, such as facility management and mapping hazardous sites. The essential technique behind indoor mapping is simultaneous localization and mapping (SLAM) because SLAM offers suitable positioning estimates in environments where satellite positioning is not available. State-of-the-art indoor mobile mapping systems employ Visual-based SLAM or LiDAR-based SLAM. However, Visual-based SLAM is sensitive to textureless environments and, similarly, LiDAR-based SLAM is sensitive to a number of pose configurations where the geometry of laser observations is not strong enough to reliably estimate the six-degree-of-freedom (6DOF) pose of the system. In this paper, we present different strategies that utilize the benefits of the inertial measurement unit (IMU) in the pose estimation and support LiDAR-based SLAM in overcoming these problems. The proposed strategies have been implemented and tested using different datasets and our experimental results demonstrate that the proposed methods do indeed overcome these problems. We conclude that IMU observations increase the robustness of SLAM, which is expected, but also that the best reconstruction accuracy is obtained not with a blind use of all observations but by filtering the measurements with a proposed reliability measure. To this end, our results show promising improvements in reconstruction accuracy.

The UMA-SAR Dataset: Multimodal data collection from a ground vehicle during outdoor disaster response training exercises

2021 ◽  
pp. 027836492110049
Author(s):  
Jesús Morales ◽  
Ricardo Vázquez-Martín ◽  
Anthony Mandow ◽  
David Morilla-Cabello ◽  
Alfonso García-Cerezo
Keyword(s):  
Disaster Response ◽  
Three Dimensional ◽  
Ground Truth ◽  
Measurement Unit ◽  
Emergency Responders ◽  
Full Dataset ◽  
Total Path Length ◽  
Localization And Mapping ◽  
Wide Range ◽  
Detection And Localization

This article presents a collection of multimodal raw data captured from a manned all-terrain vehicle in the course of two realistic outdoor search and rescue (SAR) exercises for actual emergency responders conducted in Málaga (Spain) in 2018 and 2019: the UMA-SAR dataset. The sensor suite, applicable to unmanned ground vehicles (UGVs), consisted of overlapping visible light (RGB) and thermal infrared (TIR) forward-looking monocular cameras, a Velodyne HDL-32 three-dimensional (3D) lidar, as well as an inertial measurement unit (IMU) and two global positioning system (GPS) receivers as ground truth. Our mission was to collect a wide range of data from the SAR domain, including persons, vehicles, debris, and SAR activity on unstructured terrain. In particular, four data sequences were collected following closed-loop routes during the exercises, with a total path length of 5.2 km and a total time of 77 min. In addition, we provide three more sequences of the empty site for comparison purposes (an extra 4.9 km and 46 min). Furthermore, the data is offered both in human-readable format and as rosbag files, and two specific software tools are provided for extracting and adapting this dataset to the users’ preference. The review of previously published disaster robotics repositories indicates that this dataset can contribute to fill a gap regarding visual and thermal datasets and can serve as a research tool for cross-cutting areas such as multispectral image fusion, machine learning for scene understanding, person and object detection, and localization and mapping in unstructured environments. The full dataset is publicly available at: www.uma.es/robotics-and-mechatronics/sar-datasets .

scholarly journals VersaVIS—An Open Versatile Multi-Camera Visual-Inertial Sensor Suite

Sensors ◽  
2020 ◽  
Vol 20 (5) ◽  
pp. 1439
Author(s):  
Florian Tschopp ◽  
Michael Riner ◽  
Marius Fehr ◽  
Lukas Bernreiter ◽  
Fadri Furrer ◽  
...  
Keyword(s):  
Mobile Robotics ◽  
Time Synchronization ◽  
Data Transfer ◽  
Inertial Sensor ◽  
Measurement Unit ◽  
Localization And Mapping ◽  
Object Based ◽  
Wide Range ◽  
Open Source Hardware ◽  
Sensor Suite

Robust and accurate pose estimation is crucial for many applications in mobile robotics. Extending visual Simultaneous Localization and Mapping (SLAM) with other modalities such as an inertial measurement unit (IMU) can boost robustness and accuracy. However, for a tight sensor fusion, accurate time synchronization of the sensors is often crucial. Changing exposure times, internal sensor filtering, multiple clock sources and unpredictable delays from operation system scheduling and data transfer can make sensor synchronization challenging. In this paper, we present VersaVIS, an Open Versatile Multi-Camera Visual-Inertial Sensor Suite aimed to be an efficient research platform for easy deployment, integration and extension for many mobile robotic applications. VersaVIS provides a complete, open-source hardware, firmware and software bundle to perform time synchronization of multiple cameras with an IMU featuring exposure compensation, host clock translation and independent and stereo camera triggering. The sensor suite supports a wide range of cameras and IMUs to match the requirements of the application. The synchronization accuracy of the framework is evaluated on multiple experiments achieving timing accuracy of less than 1   ms . Furthermore, the applicability and versatility of the sensor suite is demonstrated in multiple applications including visual-inertial SLAM, multi-camera applications, multi-modal mapping, reconstruction and object based mapping.

DSM-5 alcohol use disorder features among treatment-seeking older adults

2018 ◽  
Vol 64 (4) ◽  
pp. 185-196 ◽  
Author(s):  
Silke Behrendt ◽  
Barbara Braun ◽  
Randi Bilberg ◽  
Gerhard Bühringer ◽  
Michael Bogenschutz ◽  
...  
Keyword(s):  
Older Adults ◽  
Alcohol Use ◽  
Alcohol Use Disorder ◽  
The Elderly ◽  
Treatment Seeking ◽  
Controlled Clinical Trial ◽  
Dsm 5 ◽  
Wide Range ◽  
And Gender ◽  
International Multicenter

Abstract. Background: The number of older adults with alcohol use disorder (AUD) is expected to rise. Adapted treatments for this group are lacking and information on AUD features in treatment seeking older adults is scarce. The international multicenter randomized-controlled clinical trial “ELDERLY-Study” with few exclusion criteria was conducted to investigate two outpatient AUD-treatments for adults aged 60+ with DSM-5 AUD. Aims: To add to 1) basic methodological information on the ELDERLY-Study by providing information on AUD features in ELDERLY-participants taking into account country and gender, and 2) knowledge on AUD features in older adults seeking outpatient treatment. Methods: baseline data from the German and Danish ELDERLY-sites (n=544) were used. AUD diagnoses were obtained with the Mini International Neuropsychiatric Interview, alcohol use information with Form 90. Results: Lost control, desired control, mental/physical problem, and craving were the most prevalent (> 70 %) AUD-symptoms. 54.9 % reported severe DSM-5 AUD (moderate: 28.2 %, mild: 16.9 %). Mean daily alcohol use was 6.3 drinks at 12 grams ethanol each. 93.9 % reported binging. More intense alcohol use was associated with greater AUD-severity and male gender. Country effects showed for alcohol use and AUD-severity. Conclusion: European ELDERLY-participants presented typical dependence symptoms, a wide range of severity, and intense alcohol use. This may underline the clinical significance of AUD in treatment-seeking seniors.

Quantitative assessment of self-treated canalith repositioning procedures using inertial measurement unit sensors

2021 ◽  
pp. 1-9
Author(s):  
Chiheon Kwon ◽  
Yunseo Ku ◽  
Shinhye Seo ◽  
Eunsook Jang ◽  
Hyoun-Joong Kong ◽  
...  
Keyword(s):  
Evaluation Criteria ◽  
Head Rotation ◽  
Large Error ◽  
Head Movements ◽  
The Self ◽  
Measurement Unit ◽  
Success Rates ◽  
Home Based ◽  
Epley Maneuver ◽  
Head Rotations

BACKGROUND: Low success and high recurrence of benign paroxysmal positional vertigo (BPPV) after home-based self-treated Epley and Barbeque (BBQ) roll maneuvers is an important issue. OBJECTIVE: To quantify the cause of low success rate of self-treated Epley and BBQ roll maneuvers and provide a clinically acceptable criterion to guide self-treatment head rotations. METHODS: Twenty-five participants without active BPPV wore a custom head-mount rotation monitoring device for objective measurements. Self-treatment and specialist-assisted maneuvers were compared for head rotation accuracy. Absolute differences between the head rotation evaluation criteria (American Academy of Otolaryngology guidelines) and measured rotation angles were considered as errors. Self-treatment and specialist-treated errors in maneuvers were compared. Between-trial variations and age effects were evaluated. RESULTS: A significantly large error and between-trial variation occurred in step 4 of the self-treated Epley maneuver, with a considerable error in the second trial. The cumulative error of all steps of self-treated BBQ roll maneuver was significantly large. Age effect occurred only in the self-treated BBQ roll maneuver. Errors in specialist-treated maneuvers ranged from 10 to 20 degrees. CONCLUSIONS: Real-time feedback of head movements during simultaneous head-body rotations could increase success rates of self-treatments. Specialist-treated maneuvers can be used as permissible rotation margin criteria.

scholarly journals An Optimized Tightly-Coupled VIO Design on the Basis of the Fused Point and Line Features for Patrol Robot Navigation

Sensors ◽  
2019 ◽  
Vol 19 (9) ◽  
pp. 2004 ◽  
Author(s):  
Linlin Xia ◽  
Qingyu Meng ◽  
Deru Chi ◽  
Bo Meng ◽  
Hanrui Yang
Keyword(s):  
Global Positioning System ◽  
Inertial Measurement Unit ◽  
Feature Matching ◽  
Robot Navigation ◽  
Measurement Unit ◽  
State Estimator ◽  
Localization And Mapping ◽  
Global Positioning ◽  
Tightly Coupled ◽  
Association State

The development and maturation of simultaneous localization and mapping (SLAM) in robotics opens the door to the application of a visual inertial odometry (VIO) to the robot navigation system. For a patrol robot with no available Global Positioning System (GPS) support, the embedded VIO components, which are generally composed of an Inertial Measurement Unit (IMU) and a camera, fuse the inertial recursion with SLAM calculation tasks, and enable the robot to estimate its location within a map. The highlights of the optimized VIO design lie in the simplified VIO initialization strategy as well as the fused point and line feature-matching based method for efficient pose estimates in the front-end. With a tightly-coupled VIO anatomy, the system state is explicitly expressed in a vector and further estimated by the state estimator. The consequent problems associated with the data association, state optimization, sliding window and timestamp alignment in the back-end are discussed in detail. The dataset tests and real substation scene tests are conducted, and the experimental results indicate that the proposed VIO can realize the accurate pose estimation with a favorable initializing efficiency and eminent map representations as expected in concerned environments. The proposed VIO design can therefore be recognized as a preferred tool reference for a class of visual and inertial SLAM application domains preceded by no external location reference support hypothesis.

scholarly journals Investigation into Hand Scraping: A Microanalysis

2018 ◽  
Vol 2 (4) ◽  
pp. 76 ◽  
Author(s):  
Kai Oßwald ◽  
Ingo Lochmahr ◽  
Yasin Bagci ◽  
Peter Saile
Keyword(s):  
Inertial Measurement Unit ◽  
Three Dimensional ◽  
Movement Pattern ◽  
Measurement Unit ◽  
Surface Finishing ◽  
Future Research ◽  
Tool Orientation ◽  
Inertial Measurement ◽  
Finishing Process ◽  
Basic Characteristics

Hand scraping is a manual surface finishing process that, despite its low productivity and high cost, is still applied in many industries because of its advantages concerning accuracy and tribology. In the presented microanalysis forces, movement patterns and tool orientation of individual hand scraping strokes were measured using a test stand, specifically designed for this purpose. It utilizes a camera, a three dimensional dynamometer, and an inertial measurement unit (IMU). The results show the basic characteristics of hand scraping. Typical courses of relevant quantities like cutting force, passive force, clearance, and directional angle are shown. In addition, the movement pattern of the tool during individual scraping strokes is analyzed. This research aims to contribute to a later implementation of automated scraping. The conducted research creates a base for future research regarding different scraping methods and achieved results.

3D simultaneous localization and mapping using IMU and its observability analysis

Robotica ◽  
2010 ◽  
Vol 29 (6) ◽  
pp. 805-814 ◽  
Author(s):  
Farhad Aghili
Keyword(s):  
Simultaneous Localization And Mapping ◽  
Measurement Unit ◽  
Adaptive Kalman Filter ◽  
Sensitivity Matrix ◽  
Process Noise ◽  
3 Dimensional ◽  
Observability Analysis ◽  
Localization And Mapping ◽  
Straight Line ◽  
Self Tuning

SUMMARYThis paper investigates 3-dimensional (3D) Simultaneous Localization and Mapping (SLAM) and the corresponding observability analysis by fusing data from landmark sensors and a strap-down Inertial Measurement Unit (IMU) in an adaptive Kalman filter (KF). In addition to the vehicle's states and landmark positions, the self-tuning filter estimates the IMU calibration parameters as well as the covariance of the measurement noise. The discrete-time covariance matrix of the process noise, the state transition matrix and the observation sensitivity matrix are derived in closed form, making it suitable for real-time implementation. Examination of the observability of the 3D SLAM system leads to the the conclusion that the system remains observable, provided that at least three known landmarks, which are not placed in a straight line, are observed.

scholarly journals The importance of anemia and health-related quality of life in the elderly

2020 ◽  
Vol 39 (2) ◽  
pp. 135
Author(s):  
Raditya Wratsangka ◽  
Rully Ayu Nirmalasari Haryadi Putri
Keyword(s):  
Quality Of Life ◽  
Hemoglobin Concentration ◽  
The Elderly ◽  
World Population ◽  
Health Related Quality ◽  
Wide Range ◽  
Related Quality ◽  
Health Related ◽  
The Impact

Anemia is a global health problem with an extremely high prevalence and occurring in nearly 25% of the world population, particularly in the elderly group. Currently Indonesia is facing a rapid growth of the elderly population, with around 21 million elderly (8.2% of the total population), that is projected to increase to 33.7 million (11.8%) in the year 2025. Anemia in the elderly is frequently neglected, although the facts show that low hemoglobin concentration is an important marker of physiological decline and functional limitations. Although the factor of intrinsic aging may cause low hemoglobin concentration, anemia in the elderly is known to have a wide range w88ith regard to etiology, underlying disorders, and  possible mechanisms, such that it should be clinically followed up. Whatever its causes or underlying pathophysiological, anemia in the elderly has been proven to play a role in their morbidity and mortality, and may decrease their quality of life, that comprises all aspects of physical, mental, and social health, known as health-related quality of life (HRQoL). The impact of anemia on HRQoL has been studied in various populations, and most studies report the presence of an association between HRQoL and anemia in elderly individuals, which on the subscale level is particularly associated with physical health. Early diagnosis of anemia is important to prevent aggravation of the condition, to retard the progress of the disease, and to improve the health-related quality of life (HRQoL) of the patient. Prior to determining the treatment plan, the primary diagnosis and the comorbidities, especially treatable disorders, had better be identified first. The available data show that the overall prognosis will improve for anemia in patients with well-managed and corrected chronic disorders.

scholarly journals The Relationship between the Acute Confusing State and the Comorbidities of the Elderly Patient

2019 ◽  
Vol 70 (7) ◽  
pp. 2415-2419 ◽  
Author(s):  
Valeria Carmen Albu ◽  
Raluca Elena Sandu ◽  
Andreea Lili Barbulescu ◽  
Elena-Anca Tartea ◽  
Emilia Burada ◽  
...  
Keyword(s):  
Diabetes Mellitus ◽  
Elderly Patient ◽  
Elderly Patients ◽  
Neurological Examination ◽  
The Elderly ◽  
Cardiovascular Pathology ◽  
Wide Range ◽  
Neurology Clinic ◽  
The Relationship ◽  
Hepatic Pathology

The aim of the study was to assess the correlations between the acute confusing syndrome and different comorbidities found in a group of 126 elderly patients with this diagnosis, who were admitted to the Neurology Clinic of the Neuropsychiatry Hospital of Craiova. The main syndromes highlighted at the neurological examination were confusing, pyramidal and vestibular syndromes. The acute confusing syndrome has a multifactorial etiology, due to the wide range of comorbidities encountered in elderly patients. In our study the most frequent comorbidities were cardiovascular pathology, diabetes mellitus, dyslipidemia, cerebrovascular renal, hepatic pathology.

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