Multimodal attention system for an interactive robot

[EN]Social robots are receiving much interest in the robotics community. The most important goal for such robots lies in their interaction capabilities. An attention system is crucial, both as a filter to center the robot’s perceptual resources and as a mean of letting the observer know that the robot has intentionality. In this paper a simple but flexible and functional attentional model is described. The model, which has been implemented in an interactive robot currently under development, fuses both visual and auditive information extracted from the robot’s environment, and can incorporate knowledge-based influences on attention.

Real-Time Visual SLAM Using Pre - Existing Floor Lines as Landmarks and a Single Camera

SANTANA, André M.; SANTIAGO, Gutemberg S.; MEDEIROS, Adelardo A. D. Real-Time Visual SLAM Using Pre-Existing Floor Lines as Landmarks and a Single Camera. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA, 2008, Juiz de Fora, MG. Anais... Juiz de Fora: CBA, 2008.

Localization of a mobile robot based on odometry and natural landmarks using extended kalman filter

SANTANA, André M.; SOUZA, Anderson A. S.; BRITTO, Ricardo S.; ALSINA, Pablo J.; MEDEIROS, Adelardo A. D. Localization of a mobile robot based on odometry and natural landmarks using extended Kalman Filter. In: INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 5., 2008, Funchal, Portugal. Proceedings... Funchal, Portugal: ICINCO, 2008.

Quantitative evaluation of visual function 12 months after bilateral implantation of a diffractive trifocal IOL

PURPOSE: To quantitatively evaluate visual function 12 months after bilateral implantation of the Physiol FineVision® trifocal intraocular lens (IOL) and to compare these results with those obtained in the first postoperative month. METHODS: In this prospective case series, 20 eyes of 10 consecutive patients were included. Monocular and binocular, uncorrected and corrected visual acuities (distance, near, and intermediate) were measured. Metrovision® was used to test contrast sensitivity under static and dynamic conditions, both in photopic and low-mesopic settings. The same software was used for pupillometry and glare evaluation. Motion, achromatic, and chromatic contrast discrimination were tested using 2 innovative psychophysical tests. A complete ophthalmologic examination was performed preoperatively and at 1, 3, 6, and 12 months postoperatively. Psychophysical tests were performed 1 month after surgery and repeated 12 months postoperatively. RESULTS: Final distance uncorrected visual acuity (VA) was 0.00 ± 0.08 and distance corrected VA was 0.00 ± 0.05 logMAR. Distance corrected near VA was 0.00 ± 0.09 and distance corrected intermediate VA was 0.00 ± 0.06 logMAR. Glare testing, pupillometry, contrast sensitivity, motion, and chromatic and achromatic contrast discrimination did not differ significantly between the first and last visit (p>0.05) or when compared to an age-matched control group (p>0.05). CONCLUSIONS: The Physiol FineVision® trifocal IOL provided satisfactory full range of vision and quality of vision parameters 12 months after surgery. Visual acuity and psychophysical tests did not vary significantly between the first and last visit.

Assessing Potential Laser Strike Protection Engineering Control for United States Coast Guard Aircraft

Thesis (Master's)--University of Washington, 2016-06

Shape-based compliance control for snake robots

I serpenti robot sono una classe di meccanismi iper-ridondanti che appartiene alla robotica modulare. Grazie alla loro forma snella ed allungata e all'alto grado di ridondanza possono muoversi in ambienti complessi con elevata agilità. L'abilità di spostarsi, manipolare e adattarsi efficientemente ad una grande varietà di terreni li rende ideali per diverse applicazioni, come ad esempio attività di ricerca e soccorso, ispezione o ricognizione. I robot serpenti si muovono nello spazio modificando la propria forma, senza necessità di ulteriori dispositivi quali ruote od arti. Tali deformazioni, che consistono in movimenti ondulatori ciclici che generano uno spostamento dell'intero meccanismo, vengono definiti andature. La maggior parte di esse sono ispirate al mondo naturale, come lo strisciamento, il movimento laterale o il movimento a concertina, mentre altre sono create per applicazioni specifiche, come il rotolamento o l'arrampicamento. Un serpente robot con molti gradi di libertà deve essere capace di coordinare i propri giunti e reagire ad ostacoli in tempo reale per riuscire a muoversi efficacemente in ambienti complessi o non strutturati. Inoltre, aumentare la semplicità e ridurre il numero di controllori necessari alla locomozione alleggerise una struttura di controllo che potrebbe richiedere complessità per ulteriori attività specifiche. L'obiettivo di questa tesi è ottenere un comportamento autonomo cedevole che si adatti alla conformazione dell'ambiente in cui il robot si sta spostando, accrescendo le capacità di locomozione del serpente robot. Sfruttando la cedevolezza intrinseca del serpente robot utilizzato in questo lavoro, il SEA Snake, e utilizzando un controllo che combina cedevolezza attiva ad una struttura di coordinazione che ammette una decentralizzazione variabile del robot, si dimostra come tre andature possano essere modificate per ottenere una locomozione efficiente in ambienti complessi non noti a priori o non modellabili.

Développement et expérimentation d'algorithmes de réorientation pour un robot sériel en chute libre

Ce mémoire présente 2 types de méthodes pour effectuer la réorientation d’un robot sériel en chute libre en utilisant les mouvements internes de celui-ci. Ces mouvements sont prescrits à partir d’algorithmes de planification de trajectoire basés sur le modèle dynamique du robot. La première méthode tente de réorienter le robot en appliquant une technique d’optimisation locale fonctionnant avec une fonction potentielle décrivant l’orientation du système, et la deuxième méthode applique des fonctions sinusoïdales aux articulations pour réorienter le robot. Pour tester les performances des méthodes en simulation, on tente de réorienter le robot pour une configuration initiale et finale identiques où toutes les membrures sont alignées mais avec le robot ayant complété une rotation de 180 degrés sur lui-même. Afin de comparer les résultats obtenus avec la réalité, un prototype de robot sériel plan flottant possédant trois membrures et deux liaisons rotoïdes est construit. Les expérimentations effectuées montrent que le prototype est capable d’atteindre les réorientations prescrites si peu de perturbations extérieures sont présentes et ce, même si le contrôle de l’orientation est effectué en boucle ouverte.

Rendimiento escolar e tipos de errores en la lectura en los niños con alteraciones de la función visual

Se desarrolló un estudio descriptivo con el objetivo de evaluar el rendimiento escolar así como tipos de errores en la lectura en niños con alteraciones de la función visual. En el estudio participaron 672 niños del Municipio de Lisboa (7.69±1.19 años): grupo de control (función visual normal=562) y grupo experimental (alteraciones da función visual=110). Se cuestionaron 34 profesores acerca del rendimiento escolar y lectura a través de un cuestionario validado. Para la evaluación en la lectura se empleó la prueba de lectura de 34 palabras sueltas. Los niños con la función visual alterada mostraron niveles más bajos de rendimiento escolar. Estaban en el nivel "negativo" del 10,9% de los niños con la función visual alterada y sólo del 5,3% de los niños con la función visual normal. Estos niños comenten más errores en la lectura (p<0,001) con un mayor número de no palabras (3,09±5,20) en comparación con los niños con la función visual normal (1,44±3,09). Comenten también más omisiones y adiciones de letras y confusiones de grafema, teniendo dificultades en el análisis global de la palabra. Se propone un modelo de orientación para los profesores.

Multirobot Tethering for Localization and Control

Particle filtering has proven to be an effective localization method for wheeled autonomous vehicles. For a given map, a sensor model, and observations, occasions arise where the vehicle could equally likely be in many locations of the map. Because particle filtering algorithms may generate low confidence pose estimates under these conditions, more robust localization strategies are required to produce reliable pose estimates. This becomes more critical if the state estimate is an integral part of system control. We investigate the use of particle filter estimation techniques on a hovercraft vehicle. The marginally stable dynamics of a hovercraft require reliable state estimates for proper stability and control. We use the Monte Carlo localization method, which implements a particle filter in a recursive state estimate algorithm. An H-infinity controller, designed to accommodate the latency inherent in our state estimation, provides stability and controllability to the hovercraft. In order to eliminate the low confidence estimates produced in certain environments, a multirobot system is designed to introduce mobile environment features. By tracking and controlling the secondary robot, we can position the mobile feature throughout the environment to ensure a high confidence estimate, thus maintaining stability in the system. A laser rangefinder is the sensor the hovercraft uses to track the secondary robot, observe the environment, and facilitate successful localization and stability in motion.

Real-Time Visual SLAM Using Pre - Existing Floor Lines as Landmarks and a Single Camera

SANTANA, André M.; SANTIAGO, Gutemberg S.; MEDEIROS, Adelardo A. D. Real-Time Visual SLAM Using Pre-Existing Floor Lines as Landmarks and a Single Camera. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA, 2008, Juiz de Fora, MG. Anais... Juiz de Fora: CBA, 2008.

Localization of a mobile robot based on odometry and natural landmarks using extended kalman filter

SANTANA, André M.; SOUZA, Anderson A. S.; BRITTO, Ricardo S.; ALSINA, Pablo J.; MEDEIROS, Adelardo A. D. Localization of a mobile robot based on odometry and natural landmarks using extended Kalman Filter. In: INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 5., 2008, Funchal, Portugal. Proceedings... Funchal, Portugal: ICINCO, 2008.

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.

Comparación de analgesia y efectos secundarios entre morfina y morfina más diclofenac sódico, como alternativa para control del dolor posoperatorio agudo en pacientes que han sido sometidos a cirugía (protatectomía, histerectomía) bajo anestesia conductiva, Cuenca 2004

Con el objetivo de comparar la analgesia y efectos secundarios entre morfina y morfina + diclofenac sódico, como alternativa para el control del dolor portoperatorio agudo en pacientes sometidos a prostatectomía e histerectomía, bajo anestesia raquídea, administramos estos dos esquemas analgésicos a 100 pacientes en el hospital José Carrasco y en la Clínica Santa Ana. No hubieron diferencias estadísticamente significativas entre las variables, edad, sexo, ocupación, intervención, tiempo quirúrgico y hemodinamia. Los requerimientos analgésicos en las primeras ocho horas de postoperatorio, medidos con el uso de una Escala Análoga Visual, fueron más morfina (p=0.0007). La incidencia de náusea fue mayor para el grupo que recibió morfina únicamente (p=0.026) y aunque la incidencia de vomito también fue mayor para el mismo grupo la diferencia no fue significativa (p=0.277). La asociación morfina + diclofenaro sódigo debe ser considerada de utilidad para el tratamiento del dolor postoperatorio agudo najo la consideración de que disminuye los requerimientos analgésicos y la incidencia de náusea y v omito, proporcionando a la vez un mejor control del dolor

Quantitative evaluation of visual function 12 months after bilateral implantation of a diffractive trifocal IOL

PURPOSE: To quantitatively evaluate visual function 12 months after bilateral implantation of the Physiol FineVision® trifocal intraocular lens (IOL) and to compare these results with those obtained in the first postoperative month. METHODS: In this prospective case series, 20 eyes of 10 consecutive patients were included. Monocular and binocular, uncorrected and corrected visual acuities (distance, near, and intermediate) were measured. Metrovision® was used to test contrast sensitivity under static and dynamic conditions, both in photopic and low-mesopic settings. The same software was used for pupillometry and glare evaluation. Motion, achromatic, and chromatic contrast discrimination were tested using 2 innovative psychophysical tests. A complete ophthalmologic examination was performed preoperatively and at 1, 3, 6, and 12 months postoperatively. Psychophysical tests were performed 1 month after surgery and repeated 12 months postoperatively. RESULTS: Final distance uncorrected visual acuity (VA) was 0.00 ± 0.08 and distance corrected VA was 0.00 ± 0.05 logMAR. Distance corrected near VA was 0.00 ± 0.09 and distance corrected intermediate VA was 0.00 ± 0.06 logMAR. Glare testing, pupillometry, contrast sensitivity, motion, and chromatic and achromatic contrast discrimination did not differ significantly between the first and last visit (p>0.05) or when compared to an age-matched control group (p>0.05). CONCLUSIONS: The Physiol FineVision® trifocal IOL provided satisfactory full range of vision and quality of vision parameters 12 months after surgery. Visual acuity and psychophysical tests did not vary significantly between the first and last visit.