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.     

Towards a unified framework for opinion retrieval, mining and summarization

The exponential increase of subjective, user-generated content since the birth of the Social Web, has led to the necessity of developing automatic text processing systems able to extract, process and present relevant knowledge. In this paper, we tackle the Opinion Retrieval, Mining and Summarization task, by proposing a unified framework, composed of three crucial components (information retrieval, opinion mining and text summarization) that allow the retrieval, classification and summarization of subjective information. An extensive analysis is conducted, where different configurations of the framework are suggested and analyzed, in order to determine which is the best one, and under which conditions. The evaluation carried out and the results obtained show the appropriateness of the individual components, as well as the framework as a whole. By achieving an improvement over 10% compared to the state-of-the-art approaches in the context of blogs, we can conclude that subjective text can be efficiently dealt with by means of our proposed framework.     

QoS and energy management with Petri nets: A self-adaptive framework

Energy use is becoming a key design consideration in computing infrastructures and services. In this paper we focus on service-based applications and we propose an adaptation framework that can be used to reduce power consumption according to the observed workload. The adaptation guarantees a trade-off between energy consumption and system performance. The approach is based on the principle of proportional energy consumption obtained by scaling down energy for unused resources, considering both the number of servers switched on and their operating frequencies. Stochastic Petri nets are proposed for the modeling of the framework concerns, their analyses give results about the trade-offs. The application of the approach to a simple case study shows its usefulness and practical applicability. Finally, different types of workloads are analyzed with validation purposes.     

SAT Solving for Termination Proofs with Recursive Path Orders and Dependency Pairs

This paper introduces a propositional encoding for recursive path orders (RPO), in connection with dependency pairs. Hence, we capture in a uniform setting all common instances of RPO, i.e., lexicographic path orders (LPO), multiset path orders (MPO), and lexicographic path orders with status (LPOS). This facilitates the application of SAT solvers for termination analysis of term rewrite systems (TRSs). We address four main inter-related issues and show how to encode them as satisfiability problems of propositional formulas that can be efficiently handled by SAT solving: (A) the lexicographic comparison w.r.t. a permutation of the arguments; (B) the multiset extension of a base order; (C) the combined search for a path order together with an argument filter to orient a set of inequalities; and (D) how the choice of the argument filter influences the set of inequalities that have to be oriented (so-called usable rules). We have implemented our contributions in the termination prover AProVE. Extensive experiments show that by our encoding and the application of SAT solvers one obtains speedups in orders of magnitude as well as increased termination proving power.     

Segmentation of cervical cell nuclei in high-resolution microscopic images: A new algorithm and a web-based software framework

In order to automate cervical cancer screening tests, one of the most important and longstanding challenges is the segmentation of cell nuclei in the stained specimens. Though nuclei of isolated cells in high-quality acquisitions often are easy to segment, the problem lies in the segmentation of large numbers of nuclei with various characteristics under differing acquisition conditions in high-resolution scans of the complete microscope slides. We implemented a system that enables processing of full resolution images, and proposes a new algorithm for segmenting the nuclei under adequate control of the expert user. The system can work automatically or interactively guided, to allow for segmentation within the whole range of slide and image characteristics. It facilitates data storage and interaction of technical and medical experts, especially with its web-based architecture. The proposed algorithm localizes cell nuclei using a voting scheme and prior knowledge, before it determines the exact shape of the nuclei by means of an elastic segmentation algorithm. After noise removal with a mean-shift and a median filtering takes place, edges are extracted with a Canny edge detection algorithm. Motivated by the observation that cell nuclei are surrounded by cytoplasm and their shape is roughly elliptical, edges adjacent to the background are removed. A randomized Hough transform for ellipses finds candidate nuclei, which are then processed by a level set algorithm. The algorithm is tested and compared to other algorithms on a database containing 207 images acquired from two different microscope slides, with promising results.     

Estimation of spatial-temporal gait parameters in level walking based on a single accelerometer: Validation on normal subjects by standard gait analysis

This paper investigates the ability of a single wireless inertial sensing device stuck on the lower trunk to provide spatial-temporal parameters during level walking. The 3-axial acceleration signals were filtered and the timing of the main gait events identified. Twenty-two healthy subjects were analyzed with this system for validation, and the estimated parameters were compared with those obtained with state-of-the-art gait analysis, i.e. stereophotogrammetry and dynamometry. For each side, from four to six gait cycles were measured with the device, of which two were validated by gait analysis. The new acquisition system is easy to use and does not interfere with regular walking. No statistically significant differences were found between the acceleration-based measurements and the corresponding ones from gait analysis for most of the spatial-temporal parameters, i.e. stride length, stride duration, cadence and speed, etc.; significant differences were found for the gait cycle phases, i.e. single and double support duration, etc. The system therefore shows promise also for a future routine clinical use.     

The implications of cross-regional differences for the design of In-vehicle Information Systems: a comparison of Australian and Chinese drivers

The increasing global distribution of automobiles necessitates that the design of In-vehicle Information Systems (IVIS) is appropriate for the regions to which they are being exported. Differences between regions such as culture, environment and traffic context can influence the needs, usability and acceptance of IVIS. This paper describes two studies aimed at identifying regional differences in IVIS design needs and preferences across drivers from Australia and China to determine the impact of any differences on IVIS design. Using a questionnaire and interaction clinics, the influence of cultural values and driving patterns on drivers' preferences for, and comprehension of, surface- and interaction-level aspects of IVIS interfaces was explored. Similarities and differences were found between the two regional groups in terms of preferences for IVIS input control types and labels and in the comprehension of IVIS functions. Specifically, Chinese drivers preferred symbols and Chinese characters over English words and were less successful (compared to Australians) at comprehending English abbreviations, particularly for complex IVIS functions. Implications in terms of the current trend to introduce Western-styled interfaces into other regions with little or no adaptation are discussed.     

A critical review on physical factors and functional characteristics that may explain a sex/gender difference in work-related neck/shoulder disorders

The objective of this paper is to critically review recent literature on physical and functional sex/gender (s/g) differences, with focus on physical determinants associated with neck/shoulder musculoskeletal injuries. It is well known that there are s/g differences in anthropometrical and functional body characteristics (e.g. size and strength). However, s/g differences may be wrongly attributed if data analysis does not include appropriate corrections (e.g. by strength for endurance). Recent literature on motor control shows that there may indeed be s/g differences in muscle coordination and movement strategies during upper limb tasks that are not currently explained by methodological inadequacies. Moreover, recent studies have shown differences between men and women in sensory hypersensitivity characteristics associated with neck/shoulder injuries. Taken together, the literature points to the importance of accounting for possible s/g differences at all levels of the biopsychosocial system in order to better understand sex- and gender-specific issues relevant to workplace health. PRACTITIONER SUMMARY: This article critically reviews recent literature and a conceptual model highlighting s/g differences in physical and functional characteristics related to neck/shoulder musculoskeletal disorders (NSMSD). Findings have implications on understanding how personal factors may affect NSMSD risk. With better understanding, practitioners can make more appropriate decisions to prevent work-related NSMSD.     

Methodological design and comparative evaluation of a MAS providing AmI

Researches on Ambient Intelligent and Ubiquitous Computing using wireless technologies have increased in the last years. In this work, we review several scenarios to define a multi-agent architecture that support the information needs of these new technologies, for heterogeneous domain. Our contribution consists of designing in a methodological way a Context Aware System (involving location services) using agents that can be used in very different domains. We describe all the steps followed in the design of the agent system. We apply a hybridizing methodology between GAIA and AUML. Additionally we propose a way to compare different agent architectures for Context Aware System using agent interactions. So, in this paper, we describe the assignment of weight values to agents interaction in two different MAS architectures for Context Aware problems solving different scenarios inspired in FIPA standard negotiation protocols.     

Self-Organising Maps: A new way to screen the level of satisfaction of dialysis patients

Evaluation of patient satisfaction has become an important indicator for assessing health care quality. Fresenius Medical Care (FME) as a global provider of dialysis services through its NephroCare network has a strong interest in monitoring patient satisfaction.The aim of the paper is to test and validate a methodology for detecting a residual area of low satisfaction in dialysis patients.The FME Patient Satisfaction Programme questionnaire was distributed to haemodialysis (HD) patients treated in 335 centers of its network. It contained 79 questions covering various satisfaction aspects regarding Dialysis Unit, Dialysis Arrangement, Nurses, Doctors, etc.To analyse the data provided by the questionnaire, the Self-Organising Map (SOM) method was used. SOM is a neural network model for clustering and projecting high-dimensional data into a low-dimensional space, preserving topological relationships of original high-dimensional data spaces.10,632 HD patients completed the questionnaire. Mean age was 63.05 ± 14.93 years with 56.69% males. Response rate was 66%. Overall level of satisfaction was 1.99 (range from ?3 to +3). On average patients were very satisfied with all issues. Nevertheless, a group of patients, around 60 years old, balanced gender ratio, whose level of satisfaction was lower than 1, were highlighted.In the NephroCare clinics patient satisfaction with service is rather high. While traditional analysis usually stops here, the SOM method allows identification of areas of potential improvement for specific patient groups.