TORP: The Open Robot Project A Framework for Module-Based Robots

The development of robots has shown itself as a very complex interdisciplinary research field. The predominant procedure for these developments in the last decades is based on the assumption that each robot is a fully personalized project, with the direct embedding of hardware and software technologies in robot parts with no level of abstraction. Although this methodology has brought countless benefits to the robotics research, on the other hand, it has imposed major drawbacks: (i) the difficulty to reuse hardware and software parts in new robots or new versions; (ii) the difficulty to compare performance of different robots parts; and (iii) the difficulty to adapt development needs-in hardware and software levels-to local groups expertise. Large advances might be reached, for example, if physical parts of a robot could be reused in a different robot constructed with other technologies by other researcher or group. This paper proposes a framework for robots, TORP (The Open Robot Project), that aims to put forward a standardization in all dimensions (electrical, mechanical and computational) of a robot shared development model. This architecture is based on the dissociation between the robot and its parts, and between the robot parts and their technologies. In this paper, the first specification for a TORP family and the first humanoid robot constructed following the TORP specification set are presented, as well as the advances proposed for their improvement.

Autonomy Markers in Brazilian Adults With Intellectual Disabilities

The objective of the study was to investigate the relationship between autonomy markers in adult people with intellectual disabilities (ID) and variables such as intelligence quotient (IQ), early aging, and literacy. Participants were 47 adults with ID (33 men; aged 28-58 years with nonspecific etiology, 34 literate). All participants were trainees at the Center for Training of Capacity and Orientation for Employment at Associação de Pais e Amigos dos Excepcionais de São Paulo, São Paulo State, Brazil. They were divided into two age groups: younger (n = 27, mean age 31.85; +/- 2.23), and older (n = 38, mean age 41.84; +/- 5.54). They were administered intelligence scales twice, and answered questions related to social participation, community integration, and choice-making; the percentage of item responses leaning toward self-determination and freedom in choice-making was considered in defining the autonomy score. For both groups, IQ declined from the first to the second assessment. Autonomy scores were more determined by IQ classification than by literacy. Authors concluded that autonomy in people with ID is a multifactorial phenomenon associated with cognitive decline.

Using network connectance and autonomy analyses to uncover patterns of photosynthetic responses in tropical woody species

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Classification and characterization of places for mapping of environment using hierarchical neural network and omnivision

Mobile robots need autonomy to fulfill their tasks. Such autonomy is related whith their capacity to explorer and to recognize their navigation environments. In this context, the present work considers techniques for the classification and extraction of features from images, using artificial neural networks. This images are used in the mapping and localization system of LACE (Automation and Evolutive Computing Laboratory) mobile robot. In this direction, the robot uses a sensorial system composed by ultrasound sensors and a catadioptric vision system equipped with a camera and a conical mirror. The mapping system is composed of three modules; two of them will be presented in this paper: the classifier and the characterizer modules. Results of these modules simulations are presented in this paper.

Multivalued adaptive neuro-fuzzy controller for robot vehicle - art. no. 1406

Robotic vehicle navigation in unstructured and uncertain environments is still a challenge. This paper presents the implementation of a multivalued neurofuzzy controller for autonomous ground vehicle (AGVs) in indoor environments. The control system consists of a hierarchy of mobile robot using multivalued adaptive neuro-fuzzy inference system behaviors.

Paraconsistent Autonomous Mobile Robot Emmy III

This work presents some improvements regarding to the autonomous mobile robot Emmy based on Paraconsistent Annotated Evidential Logic ET. A discussion on navigation system is presented.

Communication that values patient autonomy is associated with satisfaction with care: a systematic review

Question: Which communication factors used by clinicians during patient-clinician interactions are associated with satisfaction with care? Design: Systematic review with meta-analysis of studies investigating the association of verbal or nonverbal factors or interaction styles used by clinicians with patient satisfaction during an encounter between clinician and patient. Participants: Clinicians interacting with patients in primary care or rehabilitation settings. Results: Twenty-seven studies investigated 129 verbal, nonverbal, and interaction style factors. of these, 38 factors were consistently associated with satisfaction. Verbal factors concerning clinicians involving, facilitating, and supporting patients were associated with satisfaction with care. Most communication factors presented a fair correlation (r >= 0.21 but < 0.41) with satisfaction with care. Nonverbal factors such as time spent discussing prevention and time spent reading patient charts had a fair association with satisfaction with care (correlations range from 0.21 to 0.40). A moderate association was found between interaction styles such as caring (pooled r = 0.51, 95% CI 0.42 to 0.60) and satisfaction with care. Over half (58%) of the 129 identified factors never associated with satisfaction with care and the remainder associated inconsistently. Conclusion: The number of potential modifiable communication factors associated with satisfaction with care and the magnitude of their association partially support interventions to train clinicians in communication skills that value patient autonomy. [Oliveira VC, Refshauge KM, Ferreira ML, Pinto RZ, Beckenkamp PR, Negrao Filho RF, Ferreira PH (2012) Communication that values patient autonomy is associated with satisfaction with care: a systematic review. Journal of Physiotherapy 58: 215-229]

Brazilian foreign policy in the Cardoso era: The search for autonomy through integration

The Fernando Henrique Cardoso administration attempted to replace a reactive foreign policy agenda dominated by a logic of autonomy through distance with a proactive international agenda guided by a logic of autonomy through integration. In adopting this agenda, the administration maintained that Brazil would be able to confront its problems and secure more control over its future if it actively contributed to elaborating the norms and guidelines of the administration of the global order. Because of structural weaknesses, however, this policy of integration, adherence, and participation was not adequately accompanied by positions entailing practical responsibilities - responsibilities that would have prepared both government and civil society for a higher profile in the post - cold-war era. In the end, the gains achieved during Cardoso's tenure failed to alter Brazil's international standing in any significant way. © 2007 Latin American Perspectives.

JSEG-based image segmentation in computer vision for agricultural mobile robot navigation

This project aims to apply image processing techniques in computer vision featuring an omnidirectional vision system to agricultural mobile robots (AMR) used for trajectory navigation problems, as well as localization matters. To carry through this task, computational methods based on the JSEG algorithm were used to provide the classification and the characterization of such problems, together with Artificial Neural Networks (ANN) for pattern recognition. Therefore, it was possible to run simulations and carry out analyses of the performance of JSEG image segmentation technique through Matlab/Octave platforms, along with the application of customized Back-propagation algorithm and statistical methods in a Simulink environment. Having the aforementioned procedures been done, it was practicable to classify and also characterize the HSV space color segments, not to mention allow the recognition of patterns in which reasonably accurate results were obtained.

ANN statistical image recognition method for computer vision in agricultural mobile robot navigation

The main application area in this project, is to deploy image processing and segmentation techniques in computer vision through an omnidirectional vision system to agricultural mobile robots (AMR) used for trajectory navigation problems, as well as localization matters. Thereby, computational methods based on the JSEG algorithm were used to provide the classification and the characterization of such problems, together with Artificial Neural Networks (ANN) for image recognition. Hence, it was possible to run simulations and carry out analyses of the performance of JSEG image segmentation technique through Matlab/Octave computational platforms, along with the application of customized Back-propagation Multilayer Perceptron (MLP) algorithm and statistical methods as structured heuristics methods in a Simulink environment. Having the aforementioned procedures been done, it was practicable to classify and also characterize the HSV space color segments, not to mention allow the recognition of segmented images in which reasonably accurate results were obtained. © 2010 IEEE.

Environment for teaching and development of mobile robot systems

Using robots for teaching is one approach that has gathered good results on Middle-School, High-School and Universities. Robotics gives chance to experiment concepts of a broad range of disciplines, principally those from Engineering courses and Computer Science. However, there are not many kits that enables the use of robotics in classroom. This article describes the methodologies to implement tools which serves as test beds for the use of robotics to teach Computer Science and Engineering. Therefore, it proposes the development of a flexible, low cost hardware to integrate sensors and control actuators commonly found on mobile robots, the development of a mobile robot device whose sensors and actuators allows the experimentation of different concepts, and an environment for the implementation of control algorithms through a computer network. This paper describes each one of these tools and discusses the implementation issues and future works. © 2010 IEEE.

Pattern recognition structured heuristics methods for image processing in mobile robot navigation

In this project, the main focus is to apply image processing techniques in computer vision through an omnidirectional vision system to agricultural mobile robots (AMR) used for trajectory navigation problems, as well as localization matters. To carry through this task, computational methods based on the JSEG algorithm were used to provide the classification and the characterization of such problems, together with Artificial Neural Networks (ANN) for pattern recognition. Therefore, it was possible to run simulations and carry out analyses of the performance of JSEG image segmentation technique through Matlab/Octave platforms, along with the application of customized Back-propagation algorithm and statistical methods as structured heuristics methods in a Simulink environment. Having the aforementioned procedures been done, it was practicable to classify and also characterize the HSV space color segments, not to mention allow the recognition of patterns in which reasonably accurate results were obtained. ©2010 IEEE.

Use of myoelectric signals to command mobile entertainment robot by disabled children: Design and control architecture

Severely disabled children have little chance of environmental and social exploration and discovery. This lack of interaction and independency may lead to an idea that they are unable to do anything by themselves. In an attempt to help children in this situation, educational robotics can offer and aid, once it can provide them a certain degree of independency in the exploration of environment. The system developed in this work allows the child to transmit the commands to a robot through myoelectric and movement sensors. The sensors are placed on the child's body so they can obtain information from the body inclination and muscle contraction, thus allowing commanding, through a wireless communication, the mobile entertainment robot to carry out tasks such as play with objects and draw. In this paper, the details of the robot design and control architecture are presented and discussed. With this system, disabled children get a better cognitive development and social interaction, balancing in a certain way, the negative effects of their disabilities. © 2012 IEEE.