A heterogeneous modular robotic design for fast response to a diversity of tasks

This paper describes a heterogeneous modular robot system design which attempts to give a quick solution to a diversity of tasks. The approach is based on the use of an inventory of three types of modules i.e., power and control module, joint module and specialized module. Each module type aims to balance versatility and functionality. Their design permits rapid and cost effective design and fabrication. They are interchangeable in different ways to form different robot or system configurations. Depending on the task, the operator decides what type of robot can provide the best performance within the mission. A spherical joint module is described and used to build different robots, hence, forward and inverse kinematics models are obtained. Finally, from the modules described in this work, several robot configurations such as robotic arms, leg-based robots and wheel-based robots are assembled to demonstrate the execution of manipulation and locomotion tasks.     

Integration of collaboration and interaction analysis mechanisms in a concern-based architecture for groupware systems

Collaboration and interaction analysis allows for the characterization and study of the collaborative work performed by the users of a groupware system. The results of the analyzed processes allow problems in users’ collaborative work and shortcomings in the functionalities of the groupware system to be identified. Therefore, automating collaboration and interaction analysis enables users’ work to be assessed and groupware system support and behavior to be improved. This article proposes a concern-based architecture to be used by groupware developers as a guide to the integration of analysis subsystems into groupware systems. This architecture was followed to design the COLLECE groupware system, which supports collaborative programming practices and integrates an analysis subsystem that assesses different aspects of the work carried out by the programmers and adapts the functionality of the system under specific conditions.     

Model checking agent programming languages

In this paper we describe a verification system for multi-agent programs. This is the first comprehensive approach to the verification of programs developed using programming languages based on the BDI (belief-desire-intention) model of agency. In particular, we have developed a specific layer of abstraction, sitting between the underlying verification system and the agent programming language, that maps the semantics of agent programs into the relevant model-checking framework. Crucially, this abstraction layer is both flexible and extensible; not only can a variety of different agent programming languages be implemented and verified, but even heterogeneous multi-agent programs can be captured semantically. In addition to describing this layer, and the semantic mapping inherent within it, we describe how the underlying model-checker is driven and how agent properties are checked. We also present several examples showing how the system can be used. As this is the first system of its kind, it is relatively slow, so we also indicate further work that needs to be tackled to improve performance.     

A general architecture in support of interactive, multimedia, location-based mobile applications

The widespread use of cellular telephones and the availability of user-location information are facilitating the development of new personalized, location-based applications. However, as of today, most of these applications are unidirectional and text-based where the user subscribes and the system sends a text message when appropriate. This article describes a modular and general architecture that supports the development of interactive, multimedia, location-based applications, providing an extra level of service to the users. The flexibility of the architecture is demonstrated by presenting the wireless safety security system (Wi-Via) and other potential applications     

Parameter estimation in Bayesian reconstruction of SPECT images: An aid in nuclear medicine diagnosis

Despite the adequacy of Bayesian methods to reconstruct nuclear medicine SPECT (single‐photon emission computed tomography) images, they are rarely used in everyday medical practice. This is primarily because of their computational cost and the need to appropriately select the prior model hyperparameters. We propose a simple procedure for the estimation of these hyperparameters and the reconstruction of the original image and test the procedure on both synthetic and real SPECT images. The experimental results demonstrate that the proposed hyperparameter estimation method produces satisfactory reconstructions. Although we have used generalized Gaussian Markov random fields (GGMRF) as prior models, the proposed estimation method can be applied to any priors with convex potential and tractable partition function with respect to the scale hyperparameter. © 2004 Wiley Periodicals, Inc. Int J Imaging Syst Technol 14, 21–27, 2004; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/ima.20003     

Distributed machining control and monitoring using smart sensors/actuators

The study of smart sensors and actuators led, during the past few years, to the development of facilities which improve traditional sensors and actuators in a necessary way to automate production systems. In another context, many studies have been carried out aimed at defining a decisional structure for production activity control and the increasing need of reactivity leads to the autonomization of decisional levels close to the operational system. We study in this paper the natural convergence between these two approaches and we propose an integration architecture, dealing with machine tool and machining control, that enables the exploitation of distributed smart sensors and actuators in the decisional system.     

Are electronic white canes better than traditional canes? A comparative study with blind and blindfolded participants

Visually impaired individuals often rely on assistive technologies such as white canes for independent navigation. Many electronic enhancements to the traditional white cane have been proposed. However, only a few of these proof-of-concept technologies have been tested with authentic users, as most studies rely on blindfolded non-visually impaired participants or no testing with participants at all. Experiments involving blind users are usually not contrasted with the traditional white cane. This study set out to compare an ultrasound-based electronic cane with a traditional white cane. Moreover, we also compared the performance of a group of visually impaired participants (N = 10) with a group of blindfolded participants without visual impairments (N = 31). The results show that walking speed with the electronic cane is significantly slower compared to the traditional white cane. Moreover, the results show that the performance of the participants without visual impairments is significantly slower than for the visually impaired participants. No significant differences in obstacle detection rates were observed across participant groups and device types for obstacles on the ground, while 79% of the hanging obstacles were detected by the electronic cane. The results of this study thus suggest that electronic canes present only one advantage over the traditional cane, namely in its ability to detect hanging obstacles, at least without prolonged practice. Next, blindfolded participants are insufficient substitutes for blind participants who are expert cane users. The implication of this study is that research into digital white cane enhancements should include blind participants. These participants should be followed over time in longitudinal experiments to document if practice will lead to improvements that surpass the performance achieved with traditional canes.

     

Poly(L‐lactic acid) with added α‐tocopherol and resveratrol: optical,physical, thermal and mechanical properties

Poly(L ‐lactic acid) (PLLA) films containing various concentrations of two natural antioxidants, α‐tocopherol and resveratrol, were fabricated by a melt compounding and compression molding process. The influence of the antioxidants on the optical properties such as color and UV‐visible light transmission was analyzed. The thermal, mechanical, rheological and physical properties of PLLA films with added antioxidants were assessed. PLLA films with added α‐tocopherol and resveratrol showed a yellowish brown color and the lightness was influenced by the presence of the antioxidants. The glass transition and melting temperatures were significantly reduced with the addition of antioxidants while enhanced thermal stability was observed, which could be a benefit and important for processing and production. PLLA films with added antioxidants were slightly more hydrophobic than neat PLLA. The combination effect of plasticizing and enhancement of the elastic modulus with differing concentrations of two antioxidants played a critical role in the mechanical and thermomechanical properties of PLLA films. The melt viscosity of the PLLA films with added antioxidants was substantially higher than that of neat PLLA. The higher melt viscosity and G′(ω) could be an indication of formation of entanglement between PLLA and the two antioxidants. Copyright © 2012 Society of Chemical Industry