An Ecological Approach to Smart Homes for Health Care Services: Conceptual Framework of a Smart Servicescape Wheel

Background: Smart homes are considered effective solutions for home health care for the elderly, as smart home technologies can reduce care costs and improve elderly residents' independence. To develop a greater understanding of smart homes for health care services (SHHSs), this study accentuated the necessity of ecological approaches with an emphasis on environmental constraints. This study was based on 2 rationales: (1) users are inclined to perceive the service quality and service experience from environments (ie, servicescape) owing to the intangibility of health care and the pervasiveness of smart home technologies, and (2) both service domains are complex adaptive systems in which diversified and undefined service experiences-not only a few intended service flows-can be generated by complex combinations of servicescape elements. Objective: This study proposed the conceptual framework of a Smart Servicescape Wheel (SSW) as an ecological approach delineating the extensive spectrum of environmental constraints in SHHSs. Methods: The SSW framework was established based on a literature review. Results: Generally divided by perceptible and imperceptible servicescapes, the SSW consists of the perceptible Physical scape (ie, hardware components, environmental cues, and human states) and Social scape (ie, service relationships and social relationships) as well as the imperceptible Datascape (ie, computing intelligence, databases, and communication networks). Following the ecological approach, each category of the SSW is subdivided and defined at the level of components or functions. Conclusions: The SSW's strengths lie in the various application opportunities for SHHSs. In terms of service planning and development, the SSW can be utilized to (1) establish the requirements for SHHS development, (2) associate with work domain analysis by defining component layers, and (3) understand the real contexts of SHHSs for the enhanced prediction of diverse service experiences. Regarding service management, it can be applied to develop measurement items for the operation and evaluation of SHHSs.This work was supported by the Ministry of Education of the Republic of Korea and the National Research Foundation of Korea under grant NRF-2017S1A5A8019275. This fund has no specific role or influence in the research process

Real-Time Scheduling Method for Middleware of Industrial Automation Devices

In this study, a real-time scheduling algorithm, which supports periodic and sporadic executions with event handling, is proposed for the middleware of industrial automation devices or controllers, such as industrial robots and programmable logic controllers. When sensors and embedded controllers are included in control loops having different control periods, they should transmit their data periodically to the controllers and actuators; otherwise, fatal failure of the system including the devices could occur. The proposed scheduling algorithm manages modules, namely, the thread type (or .so type) and process type (or .exe type), for periodic execution, sporadic execution, and non-real-time execution. The program structures for the thread-type and process-type modules that can make the proposed algorithm manage the modules efficiently are suggested; then, they are applied in periodic and sporadic executions. For sporadic executions, the occurrences of events are first examined to invoke the execution modules corresponding to the events. The proposed scheduling algorithm is implemented using the Xenomai real-time operating system (OS) and Linux, and it is validated through several examples

Textile based electrodes for ECG and EMG measurements

Biopotential signals are an important tool for monitoring our health and thanks to the evolution of technology, they are being increasingly used in several areas. There are however some problems with conventional electrodes such as irritation that need to be surpassed and textile electrodes may represent a good alternative. This paper proposes a design approach for textile based electrodes developed by our research group, in which the construction of the electrodes is based on 3D surface design of weft knitted structures, which increases thickness and allows to improve the permanent contact between electrode and skin, thus contributing for the solution of one of the problems identified by the research community.This work is financed by FEDER funds through the Competitivity Factors Operational Programme - COMPETE and by national funds through FCT – Foundation for Science and Technology within the scope of the project POCI-01-0145-FEDER-007136.info:eu-repo/semantics/acceptedVersio

Modeling of Inverse Kinematic Analysis of Open-Source Medical Assist Robot Arm by Python

Today, the epidemic diseases such as COVID-19 spreads very fast in the globalizing world and lethal effects on human health have had a noticeable effect on the health sector. For this situations, various disciplines have had different studies to minimize the effects of the epidemic. In such cases, it is a separate requirement that the use of the opportunities brought by technology. In this study, the kinematic analysis of the open-source robot arm was especially examined in terms of reducing the workload of individuals working in the healthcare sector. The open-source robot arm is articulated and has 5 degrees of freedom. The kinematic analysis is very important for determination of the working space of the robotic systems. The inverse kinematic analysis was done with Python programming language and the control module was developed to check the analysis. The control module shows the angle values depending on the joints of the robot arm. It is also shown the Px, Py, and Pz positions obtained depending on the position of the end effector in 3D space. On the other hand, Euler angle values are also specified, which are based on the position of the last position taken by the joints of the robot arm in the 3D space. In the study, the geometric approach method was used that is still popular in the inverse kinematic analysis. It is hoped that this study will inspire the development and use of professional and industrial kinds of the open-source robot arm

Control strategies for cleaning robots in domestic applications: A comprehensive review:

Service robots are built and developed for various applications to support humans as companion, caretaker, or domestic support. As the number of elderly people grows, service robots will be in increasing demand. Particularly, one of the main tasks performed by elderly people, and others, is the complex task of cleaning. Therefore, cleaning tasks, such as sweeping floors, washing dishes, and wiping windows, have been developed for the domestic environment using service robots or robot manipulators with several control approaches. This article is primarily focused on control methodology used for cleaning tasks. Specifically, this work mainly discusses classical control and learning-based controlled methods. The classical control approaches, which consist of position control, force control, and impedance control , are commonly used for cleaning purposes in a highly controlled environment. However, classical control methods cannot be generalized for cluttered environment so that learning-based control methods could be an alternative solution. Learning-based control methods for cleaning tasks can encompass three approaches: learning from demonstration (LfD), supervised learning (SL), and reinforcement learning (RL). These control approaches have their own capabilities to generalize the cleaning tasks in the new environment. For example, LfD, which many research groups have used for cleaning tasks, can generate complex cleaning trajectories based on human demonstration. Also, SL can support the prediction of dirt areas and cleaning motion using large number of data set. Finally, RL can learn cleaning actions and interact with the new environment by the robot itself. In this context, this article aims to provide a general overview of robotic cleaning tasks based on different types of control methods using manipulator. It also suggest a description of the future directions of cleaning tasks based on the evaluation of the control approaches

The Effects of Robot Voices and Appearances on Users\u27 Emotion Recognition and Subjective Perception

As the influence of social robots in people\u27s daily lives grows, research on understanding people\u27s perception of robots including sociability, trust, acceptance, and preference becomes more pervasive. Research has considered visual, vocal, or tactile cues to express robots\u27 emotions, whereas little research has provided a holistic view in examining the interactions among different factors influencing emotion perception. We investigated multiple facets of user perception on robots during a conversational task by varying the robots\u27 voice types, appearances, and emotions. In our experiment, 20 participants interacted with two robots having four different voice types. While participants were reading fairy tales to the robot, the robot gave vocal feedback with seven emotions and the participants evaluated the robot\u27s profiles through post surveys. The results indicate that (1) the accuracy of emotion perception differed depending on presented emotions, (2) a regular human voice showed higher user preferences and naturalness, (3) but a characterized voice was more appropriate for expressing emotions with significantly higher accuracy in emotion perception, and (4) participants showed significantly higher emotion recognition accuracy with the animal robot than the humanoid robot. A follow-up study (N=10) with voice-only conditions confirmed that the importance of embodiment. The results from this study could provide the guidelines needed to design social robots that consider emotional aspects in conversations between robots and users

INTEGRATION OF ROBOTIC AND ELECTRO-PNEUMATIC SYSTEMS USING ADVANCED CONTROL AND COMMUNICATION SCHEMES

Modern industrial automation systems are designed by interconnecting various subsystems which work together to perform a process. The thesis project aims to integrate fragmented subsystems into a flexible and reconfigurable system through advanced communication protocols and perform a process to demonstrate the effectiveness of interconnected systems. The system consists of three six-axis robots, one electro-pneumatic robot, and two conveyors connected using EthernetIP communication and hardwired connections. The interconnected system works together to perform machining of a workpiece using advanced control methods of CAD to robot path generation, central control through a PLC, and process control through HMI. Standardized programming blocks and HMI interfaces were developed to make the system highly reconfigurable and flexible for any future projects. The knowledge gained from the project is used to create lab manuals to educate students about communication and control methods for systems integration

The Internet of Robotic Things:A review of concept, added value and applications

The Internet of Robotic Things is an emerging vision that brings together pervasive sensors and objects with robotic and autonomous systems. This survey examines how the merger of robotic and Internet of Things technologies will advance the abilities of both the current Internet of Things and the current robotic systems, thus enabling the creation of new, potentially disruptive services. We discuss some of the new technological challenges created by this merger and conclude that a truly holistic view is needed but currently lacking.Funding Agency:imec ACTHINGS High Impact initiative</p

Technological measures of forefront road identification for vehicle comfort and safety improvement

This paper presents the technological measures currently being developed at institutes and vehicle research centres dealing with forefront road identification. In this case, road identification corresponds with the surface irregularities and road surface type, which are evaluated by laser scanning and image analysis. Real-time adaptation, adaptation in advance and system external informing are stated as sequential generations of vehicle suspension and active braking systems where road identification is significantly important. Active and semi-active suspensions with their adaptation technologies for comfort and road holding characteristics are analysed. Also, an active braking system such as Anti-lock Braking System (ABS) and Autonomous Emergency Braking (AEB) have been considered as very sensitive to the road friction state. Artificial intelligence methods of deep learning have been presented as a promising image analysis method for classification of 12 different road surface types. Concluding the achieved benefit of road identification for traffic safety improvement is presented with reference to analysed research reports and assumptions made after the initial evaluation