Evaluation of distinct input methods of an intelligent wheelchair in simulated and real environments: a performance and usability study

This paper focuses on evaluating the usability of an Intelligent Wheelchair (IW) in both real and simulated environments. The wheelchair is controlled at a high-level by a flexible multimodal interface, using voice commands, facial expressions, head movements and joystick as its main inputs. A Quasi-experimental design was applied including a deterministic sample with a questionnaire that enabled to apply the System Usability Scale. The subjects were divided in two independent samples: 46 individuals performing the experiment with an Intelligent Wheelchair in a simulated environment (28 using different commands in a sequential way and 18 with the liberty to choose the command); 12 individuals performing the experiment with a real IW. The main conclusion achieved by this study is that the usability of the Intelligent Wheelchair in a real environment is higher than in the simulated environment. However there were not statistical evidences to affirm that there are differences between the real and simulated wheelchairs in terms of safety and control. Also, most of users considered the multimodal way of driving the wheelchair very practical and satisfactory. Thus, it may be concluded that the multimodal interfaces enables very easy and safe control of the IW both in simulated and real environments.

The dark side of DEMMON: what is behind the scene in engineering large-scale wireless sensor networks

Most research work on WSNs has focused on protocols or on specific applications. There is a clear lack of easy/ready-to-use WSN technologies and tools for planning, implementing, testing and commissioning WSN systems in an integrated fashion. While there exists a plethora of papers about network planning and deployment methodologies, to the best of our knowledge none of them helps the designer to match coverage requirements with network performance evaluation. In this paper we aim at filling this gap by presenting an unified toolset, i.e., a framework able to provide a global picture of the system, from the network deployment planning to system test and validation. This toolset has been designed to back up the EMMON WSN system architecture for large-scale, dense, real-time embedded monitoring. It includes network deployment planning, worst-case analysis and dimensioning, protocol simulation and automatic remote programming and hardware testing tools. This toolset has been paramount to validate the system architecture through DEMMON1, the first EMMON demonstrator, i.e., a 300+ node test-bed, which is, to the best of our knowledge, the largest single-site WSN test-bed in Europe to date.

Adaptação para a população Portuguesa da escala de avaliação Trunk Impairment Scale (TIS)

Para uma melhor avaliação e definição do plano de intervenção do indivíduo, é cada vez mais importante a existência instrumentos de avaliação válidos e fiáveis para a população portuguesa. Objetivo: Traduzir e adaptar para a população Portuguesa a escala Trunk Impairment Scale (TIS) em pacientes pós-AVE, e avaliar as propriedades psicométricas da mesma. Metodologia: A TIS foi traduzida para o Português e adaptada culturalmente para a população portuguesa. As propriedades psicométricas da mesma, incluindo validade, fiabilidade, concordância inter-observadores, consistência interna, sensibilidade, especificidade, poder de resposta, foram avaliadas numa população diagnosticada com AVE e num grupo de controlo de participantes saudáveis. Participaram neste estudo 80 indivíduos, divididos em dois grupos, nomeadamente indivíduos pós-AVE (40) e um grupo sem patologia (40). Os participantes foram submetidos à aplicação das escalas de Berg, Medida de Independência Funcional e Escala de Desempenho Físico Fugl Meyer e a TIS de modo a avaliar as propriedades psicométricas desta. As avaliações foram realizadas por duas fisioterapeutas experientes e o re-teste foi realizado após 48 horas. Os dados foram registados e trabalhados com o programa informático SPSS 21.0. Resultados: Relativamente aos valores obtidos, verificou-se que, quanto à consistência interna da TIS estes apresentam-se de forma moderada a elevada (alfa Cronbach = 0,909). Quanto à fiabilidade inter-observadores, os itens com menor valor são os itens 1 e 4 (0,759 e 0,527, respetivamente) e os itens com valor de Kappa mais alto são os itens 5 e 6 (0,830 e 0,893, respetivamente). Relativamente à validade de critério, verificou-se que não houve correlação entre a escala de Desempenho Físico Fugl-Meyer, a escala de Equilibrio de Berg e a Medida de Independência Funcional, ou seja, os valores obtidos r=0,166; r=0,017; r= -0,002, respetivamente. Quanto à validade de construção, constatou-se que o valor da mediana é mais elevado nos itens 1 a 5, logo sugere que haja diferenças entre o grupo de indivíduos pós-AVE e o grupo de indivíduos saudáveis (p<0,001). Entre os outros dois itens (6 e 7) não foram encontradas diferenças nas respostas nos dois grupos, sendo o valor de p > 0,001. Conclusão: Os resultados obtidos neste estudo sugerem que a versão portuguesa da TIS apresenta bons níveis de fiabilidade, consistência interna e também apresenta bons resultados no que refere à concordância inter-observadores.

Kinematic parameters of throwing performance in patients with schizophrenia using a markerless motion capture system

Motor dysfunction is consistently reported but understudied in schizophrenia. It has been hypothesized that this abnormality may reflect a neuro-developmental disorder underlying this illness. The main goal of this study was to analyze movement patterns used by participants with schizophrenia and healthy controls during overarm throwing performance, using a markerless motion capture system. Thirteen schizophrenia patients and 16 healthy control patients performed the overarm throwing task in a markerless motion capture system. Participants were also examined for the presence of motor neurological soft signs (mNSS) using the Brief Motor Scale. Schizophrenia patients demonstrated a less developed movement pattern with low individualization of components compared to healthy controls. The schizophrenia group also displayed a higher incidence of mNSS. The presence of a less mature movement pattern can be an indicator of neuro-immaturity and a marker for atypical neurological development in schizophrenia. Our findings support the understanding of motor dysfunction as an intrinsic part of the disorder of schizophrenia.

A simplified four-branch model for the analytical study of the out-of-plane performance of regular stone URM walls

During the last years, several studies have been made aiming to assess the out-of-plane seismic response of unreinforced stone masonry structures. This fact led to the development of a wide variety of models and approaches, ranging from simple kinematic based analytical models up to complex numerical simulations. Nevertheless, for the sake of simplicity, the out-of-plane seismic response of a masonry wall pier may be obtained by means of a simple single-degree-of-freedom system while still providing good results. In fact, despite the assumptions associated with such a simple formulation, it is also true that the epistemic uncertainty inherent with the selection of appropriate input parameters in more complex models may render them truly ineffective. In this framework, this paper focuses on the study of the out-of-plane bending of unreinforced stone masonry walls (cantilevers) by proposing a simplified analytical approach based on the construction of a linearized four-branch model, which is used to characterize the linear and nonlinear response of such structural elements through an overturning moment-rotation relationship. The formulation of the four-branch model is presented and described in detail and the meaningful parameters used for its construction are obtained from a set of experimental laboratory tests performed on six full-scale unreinforced regular sacco stone masonry specimens. Moreover, a parametric analysis aiming to evaluate the effect of these parameters’ variation on the final configuration of the model is presented and critically discussed. Finally, the results obtained from the application of the developed four-branch model on real unreinforced regular sacco stone masonry walls are thoroughly analysed and the main conclusions obtained from its application are summarized.

Experimental characterization of the out-of-plane performance of regular stone masonry walls, including test setups and axial load influence

Stone masonry is one of the oldest and most worldwide used building techniques. Nevertheless, the structural response of masonry structures is complex and the effective knowledge about their mechanical behaviour is still limited. This fact is particularly notorious when dealing with the description of their out-of-plane behaviour under horizontal loadings, as is the case of the earthquake action. In this context, this paper describes an experimental program, conducted in laboratory environment, aiming at characterizing the out-of-plane behaviour of traditional unreinforced stone masonry walls. In the scope of this campaign, six full-scale sacco stone masonry specimens were fully characterised regarding their most important mechanic, geometric and dynamic features and were tested resorting to two different loading techniques under three distinct vertical pre-compression states; three of the specimens were subjected to an out-of-plane surface load by means of a system of airbags and the remaining were subjected to an out-of-plane horizontal line-load at the top. From the experiments it was possible to observe that both test setups were able to globally mobilize the out-of-plane response of the walls, which presented substantial displacement capacity, with ratios of ultimate displacement to the wall thickness ranging between 26 and 45 %, as well as good energy dissipation capacity. Finally, very interesting results were also obtained from a simple analytical model used herein to compute a set of experimental-based ratios, namely between the maximum stability displacement and the wall thickness for which a mean value of about 60 % was found.