PICTOAPRENDE: Design and evaluation of a tool that contributes to the personal autonomy of children and youth diagnosed with autism spectrum disorder in Ecuador

This paper presents the development and evaluation of PICTOAPRENDE, which is an interactive software designed to improve oral communication. Additionally, it contributes to the development of children and youth who are diagnosed with autism spectrum disorder (ASD) in Ecuador. To fulfill this purpose initially analyzes the intervention area where the general characteristics of people with ASD and their status in Ecuador is described. Statistical techniques used for this evaluation constitutes the basis of this study. A section that presents the development of research-based cognitive and social parameters of the area of intervention is also shown. Finally, the algorithms to obtain the measurements and experimental results along with the analysis of them are presented.

ENABLING HARDWARE TECHNOLOGIES FOR AUTONOMY IN TINY ROBOTS: CONTROL, INTEGRATION, ACTUATION

The last two decades have seen many exciting examples of tiny robots from a few cm3 to less than one cm3. Although individually limited, a large group of these robots has the potential to work cooperatively and accomplish complex tasks. Two examples from nature that exhibit this type of cooperation are ant and bee colonies. They have the potential to assist in applications like search and rescue, military scouting, infrastructure and equipment monitoring, nano-manufacture, and possibly medicine. Most of these applications require the high level of autonomy that has been demonstrated by large robotic platforms, such as the iRobot and Honda ASIMO. However, when robot size shrinks down, current approaches to achieve the necessary functions are no longer valid. This work focused on challenges associated with the electronics and fabrication. We addressed three major technical hurdles inherent to current approaches: 1) difficulty of compact integration; 2) need for real-time and power-efficient computations; 3) unavailability of commercial tiny actuators and motion mechanisms. The aim of this work was to provide enabling hardware technologies to achieve autonomy in tiny robots. We proposed a decentralized application-specific integrated circuit (ASIC) where each component is responsible for its own operation and autonomy to the greatest extent possible. The ASIC consists of electronics modules for the fundamental functions required to fulfill the desired autonomy: actuation, control, power supply, and sensing. The actuators and mechanisms could potentially be post-fabricated on the ASIC directly. This design makes for a modular architecture. The following components were shown to work in physical implementations or simulations: 1) a tunable motion controller for ultralow frequency actuation; 2) a nonvolatile memory and programming circuit to achieve automatic and one-time programming; 3) a high-voltage circuit with the highest reported breakdown voltage in standard 0.5 μm CMOS; 4) thermal actuators fabricated using CMOS compatible process; 5) a low-power mixed-signal computational architecture for robotic dynamics simulator; 6) a frequency-boost technique to achieve low jitter in ring oscillators. These contributions will be generally enabling for other systems with strict size and power constraints such as wireless sensor nodes.

Robust CDM and pole placement PID based thrust controllers for multirotor motor-rotor simplified model

Positioning and orientation precision of a multirotor aerial robot can be increased by using additional control loops for each of the driving units. As a result, one can eliminate lack of balance between true thrust forces. A control performance comparison of two proposed thrust controllers, namely robust controller designed with coefficient diagram method (CDM) and proportional, integral and derivative (PID) controller tuned with pole-placement law, is presented in the paper. The research has been conducted with respect to model/plant matching uncertainty and with the use of antiwindup compensators for a simple motor-rotor model approximated by first-order inertia plus delay. From the obtained simulation results one concludes that appropriate choice of AWC compensator improves tracking performance and increases robustness against parametric uncertainty.

Essays on robust mechanism design

Chapter 1: Under the average common value function, we select almost uniquely the mechanism that gives the seller the largest portion of the true value in the worst situation among all the direct mechanisms that are feasible, ex-post implementable and individually rational. Chapter 2: Strategy-proof, budget balanced, anonymous, envy-free linear mechanisms assign p identical objects to n agents. The efficiency loss is the largest ratio of surplus loss to efficient surplus, over all profiles of non-negative valuations. The smallest efficiency loss is uniquely achieved by the following simple allocation rule: assigns one object to each of the p−1 agents with the highest valuation, a large probability to the agent with the pth highest valuation, and the remaining probability to the agent with the (p+1)th highest valuation. When “envy freeness” is replaced by the weaker condition “voluntary participation”, the optimal mechanism differs only when p is much less than n. Chapter 3: One group is to be selected among a set of agents. Agents have preferences over the size of the group if they are selected; and preferences over size as well as the “stand-outside” option are single-peaked. We take a mechanism design approach and search for group selection mechanisms that are efficient, strategy-proof and individually rational. Two classes of such mechanisms are presented. The proposing mechanism allows agents to either maintain or shrink the group size following a fixed priority, and is characterized by group strategy-proofness. The voting mechanism enlarges the group size in each voting round, and achieves at least half of the maximum group size compatible with individual rationality.

Pflegerische Versorgungskonzepte für Personen mit Demenzerkrankungen

Einleitung: In Deutschland leiden derzeit etwa eine Million Menschen an einer Demenzerkrankung. Aufgrund der demografischen Entwicklung ist mit einem deutlichen Anstieg der Häufigkeit solcher Erkrankungen in den kommenden Jahren zu rechnen. Demenz ist in höherem Alter die häufigste Ursache von Pflegebedürftigkeit. Da diese Krankheiten in der Regel nicht heilbar sind, liegt der Fokus der Pflege auf der Verzögerung des Voranschreitens der Erkrankung sowie der Aufrechterhaltung von Funktionsfähigkeit und Lebensqualität der Betroffenen. Fragestellung: Wie ist die Evidenz für pflegerische Konzepte für Patienten mit Demenz hinsichtlich gebräuchlicher Endpunkte wie kognitive Funktionsfähigkeit, Fähigkeit zur Durchführung von Aktivitäten des täglichen Lebens, Lebensqualität, Sozialverhalten? Wie ist die Kosten-Effektivität der betrachteten Pflegekonzepte zu bewerten? Welche ethischen, sozialen oder juristischen Aspekte werden in diesem Kontext diskutiert? Methoden: Auf Basis einer systematischen Literaturrecherche werden randomisierte kontrollierte Studien (RCT) mit mindestens 30 Teilnehmern zu folgenden Pflegekonzepten eingeschlossen: Validation/emotionsorientierte Pflege, Ergotherapie, sensorische Stimulation, Entspannungsverfahren, Realitätsorientierung und Reminiszenz. Die Studien müssen ab 1997 (für den ökonomischen Teil ab 1990) in deutscher oder englischer Sprache publiziert worden sein. Ergebnisse: Insgesamt 20 Studien erfüllen die Einschlusskriterien. Davon befassen sich drei Studien mit der Validation/emotionsorientierte Pflege, fünf Studien mit der Ergotherapie, sieben Studien mit verschiedenen Varianten sensorischer Stimulation, je zwei Studien mit der Realitätsorientierung und der Reminiszenz und eine Studie mit einem Entspannungsverfahren. Keine signifikanten Unterschiede zwischen Interventions- und Kontrollgruppe berichten zwei von drei Studien zur Validation/emotionsorientierten Pflege, zwei von fünf Studien zur Ergotherapie, drei von sieben Studien zur sensorischen Stimulation, beide Studien zur Reminiszenz, und die Studie zur Entspannung. Von den verbleibenden zehn Studien berichten sieben teilweise positive Ergebnisse zugunsten der Intervention und drei Studien (Ergotherapie, Aromatherapie, Musik/Massage) berichten positive Effekte der Intervention hinsichtlich aller erhobenen Zielkriterien. Sechs Publikationen berichten ökonomische Ergebnisse von Pflegemaßnahmen. Eine Studie berichtet Zusatzkosten von 16 GBP (24,03 Euro (2006)) pro Patient pro Woche für Beschäftigungstherapie. Zwei weitere Veröffentlichungen geben inkrementelle Kosten von 24,30 USD (25,62 Euro (2006)) pro gewonnenen Mini-mental-state-examination-(MMSE)-Punkt pro Monat bzw. 1.380.000 ITL (506,21 Euro (2006)) pro gewonnenen MMSE-Punkt an. Zwei Publikationen berichten über Mischinterventionen, wobei einmal die Zusatzkosten für ein Aktivitätsprogramm (1,13 USD (1,39 Euro (2006)) pro Tag pro Pflegebedürftigem) und einmal der zeitliche Mehraufwand für die Betreuung mobiler Demenzpatienten (durchschnittlich 45 Minuten zusätzliche Pflegezeit pro Tag) berichtet wird. Hinsichtlich ethisch-sozialer Aspekte wird vor allem die Selbstbestimmung von Demenzpatienten diskutiert. Aus einer Demenzdiagnose lässt sich danach nicht zwingend schließen, dass die Betroffenen nicht eigenständig über eine Studienteilnahme entscheiden können. Im juristischen Bereich versucht die Regierung mit dem Pflege-Weiterentwicklungsgesetz (PfWG) die finanzielle Lage und die Betreuung der Pflegenden und Gepflegten zu verbessern. Weitere Fragestellungen rechtlicher Natur betreffen die Geschäftsfähigkeit bzw. die rechtliche Vertretung sowie die Deliktfähigkeit von an Demenz erkrankten Personen. Diskussion: Es gibt nur wenige methodisch angemessene Studien zu den in diesem Bericht berücksichtigten pflegerischen Konzepten für Demenzkranke. Die Studien haben überwiegend kleine Fallzahlen, und weisen erhebliche methodische Unterschiede hinsichtlich der Einschlusskriterien, der Durchführung, und der erfassten Zielkriterien auf. Diese Heterogenität zeigt sich auch in den Ergebnissen: in der Hälfte der eingeschlossen Studien gibt es keine positiven Effekte der Intervention im Vergleich zur Kontrollgruppe. Die andere Hälfte der Studien berichtet zum Teil positive Effekte bezüglicher unterschiedlicher Zielkriterien. Die ökonomischen Studien sind methodisch und thematisch nicht dazu geeignet die aufgeworfenen Fragestellungen zu beantworten. Ethische, soziale und juristische Aspekte werden diskutiert, aber nicht systematisch im Rahmen von Studien erfasst. Schlussfolgerung: Basierend auf der derzeitigen Studienlage liegt für keines der untersuchten Pflegekonzepte ausreichende Evidenz vor. Fehlende Evdienz bedeutet in diesem Kontext jedoch nicht zwingend fehlende Wirksamkeit. Vielmehr sind weitere Studien zu diesem Thema notwendig. Wünschenswert wären insbesondere Studien, die in Deutschland unter den Rahmenbedingungen des hiesigen Ausbildungs- und Pflegesystems durchgeführt werden. Dies gilt auch für die gesundheitsökonomische Bewertung der Pflege

Identifying Robust Proxies of Gonad Maturation for the Protandrous Hermaphrodite Tridacna maxima (Röding, 1798, Bivalvia) from Individual to Population Scale

Monitoring gonadmaturation for protandrous and functional hermaphrodite species such as the giant clamTridacna maxima is difficult due to the juxtaposition and relative proportion ofmale and female tissues in the gonad [gonadal sex ratio (GSR)]. Here, the relevance of the widely used gonadosomatic index (GSI) as proxy of giant clam gonad maturation is tested with a large dataset (n = 265). Gonadosomatic index is compared with other indices, namely the proportion of the male part harboring spermatozoids, the proportion of empty oocyte follicles, the mean oocyte diameter, and the oocyte elongation. At gonad scale, high index variability highlighted partial spawning. At individual scale, male and female maturation proxies were contrasted, showing either asynchronous emissions of male and female gametes or contrasted spermatogenesis and oogenesis duration. The GSI was mostly driven by the number and diameter of oocytes and therefore it is recommended here as primary proxy for female maturity. Except for the oocyte elongation, all indices were affected by the GSR, which ruled out drawing conclusions at population scale. These results highlight the need for maturation stage proxies that are optimized for functional hermaphrodite species.

Human resource management change: a respond to institutional autonomy

Mestrado em Ensino Superior (Erasmus Mundus)

Robust Stereo Visual Odometry through a Probabilistic Combination of Points and Line Segments

Most approaches to stereo visual odometry reconstruct the motion based on the tracking of point features along a sequence of images. However, in low-textured scenes it is often difficult to encounter a large set of point features, or it may happen that they are not well distributed over the image, so that the behavior of these algorithms deteriorates. This paper proposes a probabilistic approach to stereo visual odometry based on the combination of both point and line segment that works robustly in a wide variety of scenarios. The camera motion is recovered through non-linear minimization of the projection errors of both point and line segment features. In order to effectively combine both types of features, their associated errors are weighted according to their covariance matrices, computed from the propagation of Gaussian distribution errors in the sensor measurements. The method, of course, is computationally more expensive that using only one type of feature, but still can run in real-time on a standard computer and provides interesting advantages, including a straightforward integration into any probabilistic framework commonly employed in mobile robotics.

Socializing toddlers : autonomy-supportive parenting practices and potential risk factors

Selon la théorie de l’auto-détermination, l’autonomie est un besoin universel de base qui, lorsque soutenu, permet aux individus de mieux fonctionner et de vivre plus de bien-être psychologique (p. ex., Deci & Ryan, 2008). Le style parental des parents qui soutiennent l’autonomie de leur enfant est caractérisé par le soutien du fonctionnement autodéterminé de ce dernier. Sa définition traditionnelle inclut des pratiques telles qu’offrir des explications et des choix lors des requêtes, communiquer de l’empathie, et encourager les prises d’initiatives tout en minimisant l’utilisation d’un langage contrôlant (p. ex., Soenens et al., 2007). Les bénéfices d’un style parental qui soutient l’autonomie d’un enfant ont été bien documentés (p. ex., Grolnick, Deci, & Ryan, 1997), toutefois, peu d’études ont été effectuées auprès des bambins. Or, cette thèse visait à enrichir la littérature sur le « parentage » en explorant les pratiques soutenantes qui sont utilisées par des parents de bambins dans un contexte de socialisation (étude 1), ainsi qu’en examinant les facteurs qui peuvent brimer leur mise en pratique (étude 2). La première étude a examiné un grand nombre de pratiques de socialisation que les parents qui favorisent davantage le soutien à l’autonomie (SA) pourraient utiliser plus fréquemment lorsqu’ils font des demandes à leurs bambins. Cette étude nous a permis d’explorer comment les parents manifestent leur SA et si le SA dans ce type de contexte est associé à un plus grand niveau d’internalisation des règles. Des parents (N = 182) de bambins (M âge = 27.08 mois) ont donc été invités à rapporter la fréquence avec laquelle ils utilisent 26 pratiques potentiellement soutenantes lorsqu’ils demandent à leurs bambins de compléter des tâches importantes mais non intéressantes et de rapporter à quel point ils valorisent le SA. Huit pratiques ont été identifiées comme étant soutenantes: quatre façons de communiquer de l’empathie, donner des explications courtes, expliquer pourquoi la tâche est importante, décrire le problème de façon informative et neutre, et mettre en pratique le comportement désiré soi-même. De plus, l’ensemble des huit pratiques corrélait positivement avec le niveau d’internalisation des bambins, suggérant aussi que celles-ci représentent bien le concept du SA. Des études futures pourraient tenter de répliquer ces résultats dans des contextes potentiellement plus chargés ou ébranlants (p. ex., réagir face à des méfaits, avec des enfants souffrant de retard de développement). La deuxième étude a poursuivi l’exploration du concept du SA parental en examinant les facteurs qui influencent la fréquence d’utilisation des stratégies soutenantes dans des contextes de socialisation. Puisque la littérature suggère que le stress parental et le tempérament difficile des bambins (c.-à-d., plus haut niveau d’affectivité négative, plus faible niveau de contrôle volontaire/autorégulation, plus faible niveau de surgency) comme étant des facteurs de risque potentiels, nous avons exploré de quelle façon ces variables étaient associées à la fréquence d’utilisation des stratégies soutenantes. Les buts de l’étude étaient: (1) d’examiner comment le tempérament des bambins et le stress parental influençaient le SA parental, et (2) de vérifier si le stress parental médiait la relation possible entre le tempérament des bambins et le SA parental. Le même échantillon de parents a été utilisé. Les parents ont été invités à répondre à des questions portant sur le tempérament de leur enfant ainsi que sur leur niveau de stress. Les résultats ont démontré qu’un plus grand niveau d’affectivité négative était associé à un plus grand niveau de stress parental, qui à son tour prédisait moins de SA parental. De plus, le stress parental médiait la relation positive entre l’autorégulation du bambin et le SA parental. Des recherches futures pourraient évaluer des interventions ayant pour but d’aider les parents à préserver leur attitude soutenante durant des contextes de socialisation plus difficiles malgré certaines caractéristiques tempéramentales exigeantes des bambins, en plus du stress qu’ils pourraient vivre au quotidien.

`A Reporter's Paper': The National Thrift News, Journalistic Autonomy and the Savings and Loan Crisis

Business journalism comes under persistent criticism for serving its historic readership of brokers and business people while lacking sufficient autonomy and failing to sufficiently question or challenge powerful corporate and economic interests. This is a dominant theme in media criticism of the savings and loan crisis⁠ and 2008 financial crisis.⁠ Against this backdrop, this dissertation asks: Is this critique valid, and if so, how can business journalism improve? To engage these questions, this dissertation examines the question of autonomy in business journalism in an unlikely place: the trade press. The central case study is coverage of the savings and loan crisis by the National Thrift News, a small financial services newspaper that won a George Polk award for its reporting in 1988. How could a small trade newspaper succeed in some instances when larger news organizations failed to connect the dots? The National Thrift News created a newsroom environment that celebrated reporter autonomy and independence. In some cases, it used its insider knowledge and consistent beat reporting to serve both its core readers and the broader society by uncovering savings and loan corruption. This study will highlight a long-running debate among theorists of journalistic professionalism by arguing that the commercial and advertising model in journalism does not inevitably compromise journalistic independence⁠ but rather can help pave a way forward for a more independent press. It therefore challenges the political economy critique of journalism, which holds that external forces such as capitalism harm press independence. This case suggests journalistic independence and individual agency remain powerful forces in newsrooms. Lastly, the dissertation argues that in an era of media downsizing, the trade press can perform an even more useful watchdog role over industry if the mainstream news media acknowledges and pursues some of the innovative trade reporting.

Robust infraestructure design in rapid transit rail systems

Incidents and rolling stock breakdowns are commonplace in rapid transit rail systems and may disrupt the system performance imposing deviations from planned operations. A network design model is proposed for reducing the effect of disruptions less likely to occur. Failure probabilities are considered functions of the amount of services and the rolling stock’s routing on the designed network so that they cannot be calculated a priori but result from the design process itself. A two recourse stochastic programming model is formulated where the failure probabilities are an implicit function of the number of services and routing of the transit lines.

Robust solutions of bi-blend recipe optimization with quadratic constraints

Production companies use raw materials to compose end-products. They often make different products with the same raw materials. In this research, the focus lies on the production of two end-products consisting of (partly) the same raw materials as cheap as possible. Each of the products has its own demand and quality requirements consisting of quadratic constraints. The minimization of the costs, given the quadratic constraints is a global optimization problem, which can be difficult because of possible local optima. Therefore, the multi modal character of the (bi-) blend problem is investigated. Standard optimization packages (solvers) in Matlab and GAMS were tested on their ability to solve the problem. In total 20 test cases were generated and taken from literature to test solvers on their effectiveness and efficiency to solve the problem. The research also gives insight in adjusting the quadratic constraints of the problem in order to make a robust problem formulation of the bi-blend problem.