Development of an active orthosis prototype for lower limbs

ARAUJO, Márcio V. ; ALSINA, Pablo J. ; MEDEIROS, Adelardo A. D. ; PEREIRA, Jonathan P.P. ; DOMINGOS, Elber C. ; ARAÚJO, Fábio M.U. ; SILVA, Jáder S. . Development of an Active Orthosis Prototype for Lower Limbs. In: INTERNATIONAL CONGRESS OF MECHANICAL ENGINEERING, 20., 2009, Gramado, RS. Proceedings… Gramado, RS: [s. n.], 2009

Optimización del software empotrado de los equipos HMI y sDIAG del TCMS COSMOS

Trabajo realizado en la empresa CAF Power&Automation

Commande prédictive non linéaire d’un séchoir à lit fluidisé pour granules pharmaceutiques

Avec la disponibilité de capteurs fiables de teneur en eau exploitant la spectroscopie proche infrarouge (NIR pour near-infrared) et les outils chimiométriques, il est maintenant possible d’appliquer des stratégies de commande en ligne sur plusieurs procédés de séchage dans l’industrie pharmaceutique. Dans cet ouvrage, le séchage de granules pharmaceutiques avec un séchoir à lit fluidisé discontinu (FBD pour fluidized bed dryer) de taille pilote est étudié à l’aide d’un capteur d’humidité spectroscopique. Des modifications électriques sont d’abord effectuées sur le séchoir instrumenté afin d’acheminer les signaux mesurés et manipulés à un périphérique d’acquisition. La conception d’une interface homme-machine permet ensuite de contrôler directement le séchoir à l’aide d’un ordinateur portable. Par la suite, un algorithme de commande prédictive (NMPC pour nonlinear model predictive control), basée sur un modèle phénoménologique consolidé du FBD, est exécuté en boucle sur ce même ordinateur. L’objectif est d’atteindre une consigne précise de teneur en eau en fin de séchage tout en contraignant la température des particules ainsi qu’en diminuant le temps de lot. De plus, la consommation énergétique du FBD est explicitement incluse dans la fonction objectif du NMPC. En comparant à une technique d’opération typique en industrie (principalement en boucle ouverte), il est démontré que le temps de séchage et la consommation énergétique peuvent être efficacement gérés sur le procédé pilote tout en limitant plusieurs problèmes d’opération comme le sous-séchage, le surséchage ou le surchauffage des granules.

Robot control of a 3,500 tonne mining machine

The mining industry is highly suitable for the application of robotics and automation technology since the work is arduous, dangerous and often repetitive. This paper describes the development of an automation system for a physically large and complex field robotic system - a 3,500 tonne mining machine (a dragline). The major components of the system are discussed with a particular emphasis on the machine/operator interface. A very important aspect of this system is that it must work cooperatively with a human operator, seamlessly passing the control back and forth in order to achieve the main aim - increased productivity.

The ghost in the machine: Legal challenges of neural interface devices

Neural interface devices and the melding of mind and machine, challenge the law in determining where civil liability for injury, damage or loss should lie. The ability of the human mind to instruct and control these devices means that in a negligence action against a person with a neural interface device, determining the standard of care owed by him or her will be of paramount importance. This article considers some of the factors that may influence the court’s determination of the appropriate standard of care to be applied in this situation, leading to the conclusion that a new standard of care might evolve.

Vision by Man and Machine

The development of increasingly sophisticated and powerful computers in the last few decades has frequently stimulated comparisons between them and the human brain. Such comparisons will become more earnest as computers are applied more and more to tasks formerly associated with essentially human activities and capabilities. The expectation of a coming generation of "intelligent" computers and robots with sensory, motor and even "intellectual" skills comparable in quality to (and quantitatively surpassing) our own is becoming more widespread and is, I believe, leading to a new and potentially productive analytical science of "information processing". In no field has this new approach been so precisely formulated and so thoroughly exemplified as in the field of vision. As the dominant sensory modality of man, vision is one of the major keys to our mastery of the environment, to our understanding and control of the objects which surround us. If we wish to created robots capable of performing complex manipulative tasks in a changing environment, we must surely endow them with (among other things) adequate visual powers. How can we set about designing such flexible and adaptive robots? In designing them, can we make use of our rapidly growing knowledge of the human brain, and if so, how at the same time, can our experiences in designing artificial vision systems help us to understand how the brain analyzes visual information?

Recurso de interface captcha: segurança e usabilidade na distinção entre humano e máquina

Com o intuito de impedir que computadores enviem mensagens automáticas se passando por usuários reais, desenvolvedores tem utilizado o recurso de interface CAPTCHA para distinguir o preenchimento de dados e submissões realizadas por humanos e por máquinas. Este trabalho apresenta as principais modalidades de CAPTCHAs e discute as implicações na usabilidade. Para tanto, foram aplicados questionários e realizados testes de usabilidade em três modalidades de CAPTCHA. Verificou-se que, embora os usuários tenham consciência da importância do uso do CAPTCHA como ferramenta de segurança, percebeu-se que tal recurso compromete a usabilidade, gerando insatisfação e em alguns casos, a desistência da realização da tarefa

Willy Loman and the "Soul of a New Machine": Technology and the Common Man

As Death of a Salesman opens, Willy Loman returns home “tired to the death” (p. 13). Lost in reveries about the beautiful countryside and the past, he's been driving off the road; and now he wants a cheese sandwich. But Linda's suggestion that he try a new American-type cheese — “It's whipped” (p. 16) — irritates Willy: “Why do you get American when I like Swiss?” (p. 17). His anger at being contradicted unleashes an indictment of modern industrialized America: The street is lined with cars. There's not a breath of fresh air in the neighborhood. The grass don't grow any more, you can't raise a carrot in the back yard. (p. 17). In the old days, “This time of year it was lilac and wisteria.” Now: “Smell the stink from that apartment house! And another one on the other side…” (pp. 17–18). But just as Willy defines the conflict between nature and industry, he pauses and simply wonders: “How can they whip cheese?” (p. 18). The clash between the old agrarian ideal and capitalistic enterprise is well documented in the literature on Death of a Salesman, as is the spiritual shift from Thomas Jefferson to Andrew Carnegie to Dale Carnegie that the play reflects. The son of a pioneer inventor and the slave to broken machines, Willy Loman seems to epitomize the victim of modern technology.

Multi-modal glioblastoma segmentation: man versus machine

BACKGROUND AND PURPOSE Reproducible segmentation of brain tumors on magnetic resonance images is an important clinical need. This study was designed to evaluate the reliability of a novel fully automated segmentation tool for brain tumor image analysis in comparison to manually defined tumor segmentations. METHODS We prospectively evaluated preoperative MR Images from 25 glioblastoma patients. Two independent expert raters performed manual segmentations. Automatic segmentations were performed using the Brain Tumor Image Analysis software (BraTumIA). In order to study the different tumor compartments, the complete tumor volume TV (enhancing part plus non-enhancing part plus necrotic core of the tumor), the TV+ (TV plus edema) and the contrast enhancing tumor volume CETV were identified. We quantified the overlap between manual and automated segmentation by calculation of diameter measurements as well as the Dice coefficients, the positive predictive values, sensitivity, relative volume error and absolute volume error. RESULTS Comparison of automated versus manual extraction of 2-dimensional diameter measurements showed no significant difference (p = 0.29). Comparison of automated versus manual segmentation of volumetric segmentations showed significant differences for TV+ and TV (p<0.05) but no significant differences for CETV (p>0.05) with regard to the Dice overlap coefficients. Spearman's rank correlation coefficients (ρ) of TV+, TV and CETV showed highly significant correlations between automatic and manual segmentations. Tumor localization did not influence the accuracy of segmentation. CONCLUSIONS In summary, we demonstrated that BraTumIA supports radiologists and clinicians by providing accurate measures of cross-sectional diameter-based tumor extensions. The automated volume measurements were comparable to manual tumor delineation for CETV tumor volumes, and outperformed inter-rater variability for overlap and sensitivity.

Uma interface para o controle de robôs móveis por intermédio de gestos

The main objective of this work was to enable the recognition of human gestures through the development of a computer program. The program created captures the gestures executed by the user through a camera attached to the computer and sends it to the robot command referring to the gesture. They were interpreted in total ve gestures made by human hand. The software (developed in C ++) widely used the computer vision concepts and open source library OpenCV that directly impact the overall e ciency of the control of mobile robots. The computer vision concepts take into account the use of lters to smooth/blur the image noise reduction, color space to better suit the developer's desktop as well as useful information for manipulating digital images. The OpenCV library was essential in creating the project because it was possible to use various functions/procedures for complete control lters, image borders, image area, the geometric center of borders, exchange of color spaces, convex hull and convexity defect, plus all the necessary means for the characterization of imaged features. During the development of the software was the appearance of several problems, as false positives (noise), underperforming the insertion of various lters with sizes oversized masks, as well as problems arising from the choice of color space for processing human skin tones. However, after the development of seven versions of the control software, it was possible to minimize the occurrence of false positives due to a better use of lters combined with a well-dimensioned mask size (tested at run time) all associated with a programming logic that has been perfected over the construction of the seven versions. After all the development is managed software that met the established requirements. After the completion of the control software, it was observed that the overall e ectiveness of the various programs, highlighting in particular the V programs: 84.75 %, with VI: 93.00 % and VII with: 94.67 % showed that the nal program performed well in interpreting gestures, proving that it was possible the mobile robot control through human gestures without the need for external accessories to give it a better mobility and cost savings for maintain such a system. The great merit of the program was to assist capacity in demystifying the man set/machine therefore uses an easy and intuitive interface for control of mobile robots. Another important feature observed is that to control the mobile robot is not necessary to be close to the same, as to control the equipment is necessary to receive only the address that the Robotino passes to the program via network or Wi-Fi.

Opérationnalisation des actes de langage en interface Homme-Machine tangible et avancée pour un assistant culinaire destiné à des personnes ayant un traumatisme crânien cérébral

Les activités de la vie quotidienne sont indispensables pour le bien-être physique et moral. Pour que celle-ci soit réussie par les personnes ayant un traumatisme crânien cérébral (TCC), une aide technologique s’avère souvent nécessaire. Les troubles cognitifs empêchent les personnes ayant un TCC de rester chez elles. L’assistant culinaire est un outil composé de trois sous-systèmes: assistance, supervision et communication. L’assistant permet aux personnes ayant un TCC de cuisiner un repas chaud en proposant à celles-ci des stratégies d’assistance cognitive. Ce mémoire présente le sous-système de communication, qui établit la communication entre la personne ayant un TCC et l’assistant culinaire. Nous avons utilisé la méthode LUCID pour concevoir le sous-système de communication. Tout d’abord, nous avons commencé par l’étape prospective et d’exploration pour définir les membres de l’équipe et leurs rôles, afin de comprendre le comportement des personnes ayant un TCC. Pour la compréhension des comportements, nous avons utilisé les persona et des scénarios. Nous avons conçu trois persona principaux (TCC sévère, modéré et léger) et deux secondaires (proche aidant et ergothérapeute). Après la validation des persona, nous avons construit deux scénarios, un sans assistance qui permet de comprendre la gradation d’assistance donnée par l’ergothérapeute durant l’évaluation, un avec assistance pour concevoir les fonctionnalités de l’assistant culinaire et d’établir la communication entre les trois sous-systèmes et l’utilisateur. Ensuite, nous avons conçu les interfaces de l’assistant culinaire selon chaque profil des AVQ. Finalement nous avons développé le sous-système de communication en utilisant des actes de langage pour définir la communication entre les trois sous-systèmes de communication et la gradation de l’assistance, des web service REST comme une technologie qui rend chaque sous-système indépendant. L’assistant culinaire est en cours de développement. Enfin, ultérieurement les différentes fonctionnalités de l’assistant seront testées dans l’appartement de laboratoire DOMUS, et ensuite il sera implémenté auprès de personnes ayant un TCC pour une utilisation régulière chez elles.