Autonomous mobile vehicles need advanced systems to determine their exact position in a certain coordinate system. For this purpose, the GPS and the vision system are the most often used. These ...systems have some disadvantages, for example, the GPS signal is unavailable in rooms and may be inaccurate, while the vision system is strongly dependent on the intensity of the recorded light. This paper assumes that the primary system for determining the position of the vehicle is wheel odometry joined with an IMU (Internal Measurement Unit) sensor, which task is to calculate all changes in the robot orientations, such as yaw rate. However, using only the results coming from the wheels system provides additive measurement error, which is most often the result of the wheels slippage and the IMU sensor drift. In the presented work, this error is reduced by using a vision system that constantly measures vehicle distances to markers located in its space. Additionally, the paper describes the fusion of signals from the vision system and the wheels odometry. Studies related to the positioning accuracy of the vehicle with both the vision system turned on and off are presented. The laboratory averaged positioning accuracy result was reduced from 0.32 m to 0.13 m, with ensuring that the vehicle wheels did not experience slippage. The paper also describes the performance of the system during a real track driven, where the assumption was not to use the GPS geolocation system. In this case, the vision system assisted in the vehicle positioning and an accuracy of 0.2 m was achieved at the control points.
The article presents the concept of detecting subjects with balance disorders by the use of machine learning techniques. The proposed solution has been developed and tested based on a group of 40 ...subjects, the group included both patients with uncompensated dysfunction in the vestibular system and healthy volunteers. Presence of dysfunction was verified prior to the study by detailed clinical examination. The data for the study were collected with the use of miniature micromachine sensors, mounted on the body at selected locations. The task performed by the subjects consisted of free gait over a distance of three meters; the task was selected to make it easy to perform in any surroundings and not requiring additional equipment. The collected data was used as an input to an artificial neural network based on a one-dimensional convolution kernel. The proposed solution allows to classify subjects into healthy and non-healthy with an accuracy of 87.5%.
This paper presents a fall risk assessment approach based on a fast mobility test, automatically evaluated using a low-cost, scalable system for the recording and analysis of body movement. This ...mobility test has never before been investigated as a sole source of data for fall risk assessment. It can be performed in a very limited space and needs only minimal additional equipment, yet provides large amounts of information, as the presented system can obtain much more data than traditional observation by capturing minute details regarding body movement. The readings are provided wirelessly by one to seven low-cost micro-electro-mechanical inertial measurement units attached to the subject's body segments. Combined with a body model, these allow segment rotations and translations to be computed and for body movements to be recreated in software. The subject can then be automatically classified by an artificial neural network based on selected values in the test, and those with an elevated risk of falls can be identified. Results obtained from a group of 40 subjects of various ages, both healthy volunteers and patients with vestibular system impairment, are presented to demonstrate the combined capabilities of the test and system. Labelling of subjects as fallers and non-fallers was performed using an objective and precise sensory organization test; it is an important novelty as this approach to subject labelling has never before been used in the design and evaluation of fall risk assessment systems. The findings show a true-positive ratio of 85% and true-negative ratio of 63% for classifying subjects as fallers or non-fallers using the introduced fast mobility test, which are noticeably better than those obtained for the long-established Timed Up and Go test.
Autonomous mobile vehicles need advanced systems to determine their exact position in a certain coordinate system. For this purpose, the GPS and the vision system are the most often used. These ...systems have some disadvantages, and so the GPS signal is unavailable in rooms and may be inaccurate, while the vision system is strongly dependent on the intensity of the recorded light. This work presents a system for determining the position of the robot base on information about the distance travelled coming from each vehicle wheel and the IMU sensor. However, wheels odometry introduces an additive measurement error (rise in every measure cycle). In this work there has been a vision correction system applied, where corrections are calculated by measuring the distance to artificial markers. This system precisely determines such correction. Each of these systems is described in the paper, in particular the vision system. There is also a description of a fusion algorithm of wheels odometry and vision correction system. The presented system was tested on an artificially built test track.
Multi-sensor Data Fusion for Object Rotation Estimation Napieralski, Jan Andrzej; Tylman, Wojciech
2018 25th International Conference "Mixed Design of Integrated Circuits and System" (MIXDES),
2018-June
Conference Proceeding
The main goal of the work presented in this article was to develop a set of algorithms in order to fuse data from sensors equipped with 3-axis gyroscope and 3-axis accelerometer. Gathered data was ...used to obtain information about the rotation of the given object. The rotation of an object was calculated using the rotation matrix.
Statistical methods for data prediction Napieralski, Jan Andrzej
2016 XII International Conference on Perspective Technologies and Methods in MEMS Design (MEMSTECH),
04/2016
Conference Proceeding
The main goal of the work presented in this paper was to develop a set of algorithms which allows to predict what will be the probability ratio of acquisition of the items form the given database. To ...fulfill this goal, the appropriate statistical methods were developed, mainly using R programming language. In order to apply the specific statistical methods, the appropriate database preprocessing was implemented.
3D face geometry analysis for biometric identification Napieralski, Jan Andrzej; Pastuszka, Michal Miroslaw; Sankowski, Wojciech
2014 Proceedings of the 21st International Conference Mixed Design of Integrated Circuits and Systems (MIXDES),
2014-June
Conference Proceeding
The aim of the work presented in this paper was to develop a set of algorithms for face biometric identification based on the three dimensional face model. To fulfill this goal, the face segmentation ...and extraction of face features were performed. The result of the segmentation was a set of landmarks used then by the extraction process to produce the individual face features for each studied face. Those values have been obtained by the developed algorithms, calculating vector distances and triangle areas. Next, those individual features were compared among the entire database to produce the Detection Error Tradeoff (DET) curves. Based on these results, the appropriate conclusions were formulated.
Background:
Arthroscopic rotator cuff repair (ARCR) is among the most commonly performed orthopaedic procedures. Several factors—including age, sex, and tear severity—have been identified as ...predictors for outcome after repair. The influence of the tear etiology on functional and structural outcome remains controversial.
Purpose:
To investigate the influence of tear etiology (degenerative vs traumatic) on functional and structural outcomes in patients with supraspinatus tendon tears.
Study Design:
Cohort study; Level of evidence, 2.
Methods:
Patients undergoing ARCR from 19 centers were prospectively enrolled between June 2020 and November 2021. Full-thickness, nonmassive tears involving the supraspinatus tendon were included. Tears were classified as degenerative (chronic shoulder pain, no history of trauma) or traumatic (acute, traumatic onset, no previous shoulder pain). Range of motion, strength, the Subjective Shoulder Value, the Oxford Shoulder Score (OSS), and the Constant-Murley Score (CMS) were assessed before (baseline) and 6 and 12 months after ARCR. The Subjective Shoulder Value and the OSS were also determined at the 24-month follow-up. Repair integrity after 12 months was documented, as well as additional surgeries up to the 24-month follow-up. Tear groups were compared using mixed models adjusted for potential confounding effects.
Results:
From a cohort of 973 consecutive patients, 421 patients (degenerative tear, n = 230; traumatic tear, n = 191) met the inclusion criteria. The traumatic tear group had lower mean baseline OSS and CMS scores but significantly greater score changes 12 months after ARCR (OSS, 18 SD, 8; CMS, 34 SD,18 vs degenerative: OSS, 15 SD, 8; CMS, 22 SD, 15) (P < .001) and significantly higher 12-month overall scores (OSS, 44 SD, 5; CMS, 79 SD, 9 vs degenerative: OSS, 42 SD, 7; CMS, 76 SD, 12) (P≤ .006). At the 24-month follow-up, neither the OSS (degenerative, 44 SD, 6; traumatic, 45 SD, 6; P = .346) nor the rates of repair failure (degenerative, 14 6.1%; traumatic 12 6.3%; P = .934) and additional surgeries (7 3%; 7 3.7%; P = .723) differed between groups.
Conclusion:
Patients with degenerative and traumatic full-thickness supraspinatus tendon tears who had ARCR show satisfactory short-term functional results. Although patients with traumatic tears have lower baseline functional scores, they rehabilitate over time and show comparable clinical results 1 year after ARCR. Similarly, degenerative and traumatic rotator cuff tears show comparable structural outcomes, which suggests that degenerated tendons retain healing potential.
Taking care of one’s body by exercising or by use of a body care is nothing new, but an increasingly important place is given to it nowadays, as it is shown by the enormous growth of sport centres ...and numerous advertisements for cosmetic products. Another form of this interest in oneself has recently developed with the increase in selfies (egoportraits in Quebec French) all over the world or almost. Nonetheless, the selfies have rapidly become varied and these innovations and their neological denominations, essentially Anglo-American ones, are exactly what we propose to study in comparison with the French, the Polish and the Czech. The common press articles allowed us to discover these new forms and the following research of these on the Internet have facilitated the way to find others. However, not all of them are used and we take into account their occurence in the general press of the three languages as well as on sites listed by search engines. // S’occuper de son corps, par l’exercice ou par des soins, n’est pas nouveau, mais une place de plus en plus importante y est accordee de nos jours, comme le montrent la multiplication des centres de musculation et les multiples publicites pour les produits cosmetiques. Une autre forme de cet interet pour soi-meme s’est developpee recemment avec l’essor des selfies (egoportraits en francais quebecois), et cela sur toute la planete ou peu s’en faut. Mais les selfies se sont vite diversifies et ce sont precisement ces innovations et leurs denominations neologiques, essentiellement anglo-americaines, que nous nous proposons d’etudier en comparant le francais, le polonais et le tcheque. Il semble qu’on ait d’abord photographie et diffuse sur les reseaux sociaux certaines parties de son anatomie, puis qu’on se soit pris en photo dans certaines attitudes ou dans certaines occupations. Des denominations ont aussi ete inventees pour le nombre de personnes figurant sur le cliche en plus de soi-meme. Parallelement, des evolutions se sont manifestees dans la denomination du selfie, qui, outre cette forme complete, est representee par les fractolexemes -elfie, -lfie, -fie, et meme seulement -ie. Ce qui peut donner lieu a l’apparition de denominations opaques sans contexte et sans photo (helfie) et aussi de synonymes (legsie, lelfie). On constate aussi la creation d’homonymes (relfie). Des articles de la presse generaliste nous ont fait decouvrir ces nouvelles formes, puis des recherches de celles-ci sur l’internet ont permis d’en trouver d’autres. Toutes ne sont neanmoins pas aussi utilisees les unes que les autres et nous prenons en compte leur circulation dans la presse generaliste de nos trois langues ainsi que sur les sites repertories par des moteurs de recherche.
The Advanced Telecommunications Computing Architecture (ATCA) standard describes an efficient and powerful platform, implementation of which was adopted to be used as a base for control systems in ...high energy physics. The ATCA platform is considered to be applied for the X-ray Free Electron Laser (X-FEL), being built at Deutsches Electronen-Synchrotron (DESY) in Hamburg, Germany. The Low Level Radio Frequency (LLRF) control system is composed of a few ATCA Carrier Boards. Carrier Board hosts Intelligent Platform Management Controller (IPMC), which is developed in compliance with the PICMG specifications. IPMC is responsible for management and monitoring of sub-modules installed on Carrier Boards and pluggable Advanced Mezzanine Card (AMC) modules. The ATCA Shelf Manager is the main control unit of a single ATCA crate, responsible for all power and fan modules and Carrier Boards installed in ATCA shelf. The device provides a system administrator with a set of control and diagnostic capabilities regarding the crate and its sub-modules. These capabilities offered by Shelf Management are available for operators and can be further processed by higher layer applications. This paper presents a software component, the purpose of which is to support the management and supervision processes of the ATCA crate and its sub-modules, including ATCA Carrier Board devices with AMC modules. The application allows to acquire detailed information regarding status and parameters of crucial devices (e.g. power supply voltages, temperatures, presence of reference clocks). The combination of information supplied from Shelf Manager with graphical environment and user interface of the application provides visual representation of selected system components and contributes towards efficient control and supervision activities over Carrier Board and entire ATCA-based platform.
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