Exploring the Use of Wearables to Enable Indoor Navigation for Blind Users

One of the challenges that people with visual impairments (VI) have to have to confront daily, is navigating independently through foreign or unfamiliar spaces.Navigating through unfamiliar spaces without assistance is very time consuming and leads to lower mobility. Especially in the case of indoor environments where the use of GPS is impossible, this task becomes even harder.However, advancements in mobile and wearable computing pave the path to new cheap assistive technologies that can make the lives of people with VI easier.Wearable devices have great potential for assistive applications for users who are blind as they typically feature a camera and support hands and eye free interaction. Smart watches and heads up displays (HUDs), in combination with smartphones, can provide a basis for development of advanced algorithms, capable of providing inexpensive solutions for navigation in indoor spaces. New interfaces are also introduced making the interaction between users who are blind and mo-bile devices more intuitive.This work presents a set of new systems and technologies created to help users with VI navigate indoor environments. The first system presented is an indoor navigation system for people with VI that operates by using sensors found in mo-bile devices and virtual maps of the environment. The second system presented helps users navigate large open spaces with minimum veering. Next a study is conducted to determine the accuracy of pedometry based on different body placements of the accelerometer sensors. Finally, a gesture detection system is introduced that helps communication between the user and mobile devices by using sensors in wearable devices

Prospects for use of extended reality technology for ship passenger evacuation simulation

Safety of passengers on ships is usually investigated based on data available from post-accident reports, experimental research and/or numerical modelling of emergencies. As for the numerical modelling, ship passenger evacuation falls within a greater set of pedestrian evacuation research in which extended reality (XR) technology is playing important role lately. However, XR still strives to find its place in the modelling of ship passenger evacuation. This paper brings review of literature published on the topic of XR in pedestrian evacuation with special focus on the use of these technologies (e.g. virtual reality, augmented reality) in shipping industry. Findings are put in the context of IMO’s guidelines for evacuation analysis and prospect for use of XR for ship passenger evacuation simulation are presented

Measurement of Energy Expenditure During Laboratory and Field Activities

This dissertation was designed to examine the validity of heart rate (HR) and motion sensors for estimating energy expenditure (EE) during activities ranging from sedentary behaviors to vigorous exercise. A secondary purpose was to devise new ways to improve on current methods of estimating EE. Specific aims of the dissertation were: (1) to examine the use of pedometers to measure steps taken, distance traveled, and EE during treadmill walking at various speeds; (2) Examine the use of a Polar HR monitor to estimate EE during treadmill running, stationary cycling, and rowing; (3) compare the current Actigraph regression equations (relating counts·min-1 to EE) against three newer devices (Actiheart, Actical, and AMP-331) during sedentary, light, moderate, and vigorous intensity activities; and (4) development of a new 2-regression model to estimate EE using the Actigraph accelerometer. For the first aim, 10 participants performed treadmill walking for five minutes at five speeds while wearing two pedometers of different brands (10 pedometer brands were tested) on the right and left hip. Simultaneously oxygen consumption (VO2) was measured and actual steps were counted using a hand tally counter. Six of the 10 pedometers were within ± 3% of actual steps at 80 m·min-1 and faster. Most pedometers were within ± 10% of actual distance at 80 m·min-1, but they overestimate distance at slower speeds, and underestimate distance at faster speeds. Most pedometers gave estimates of gross EE within ± 30% of measured EE across all speeds. In general, pedometers are most accurate for assessing steps, less accurate for assessing distance, and even less accurate for assessing kcals. In the second aim, 10 males and 10 females performed a maximal treadmill test. On a separate day they performed treadmill, cycle, and rowing exercise for 10 minutes at three different intensities. During each trial EE was estimated using two Polar S410 HR monitors (one with predicted VO2max and HRmax (PHRM) and one with actual VO2max and HRmax (AHRM), input into the watch). Simultaneously, EE was measured by indirect calorimetry (IC). For males there were no differences among the mean values of EE for the AHRM, PHRM and IC for any exercise mode (P ≥ 0.05). In females, the AHRM significantly improved the estimate of EE compared to the PHRM (P \u3c 0.05), but it still overestimated mean EE on the treadmill and cycle (P \u3c 0.05). The Polar S410 HR monitor provides the best estimate of EE when the actual VO2max and HRmax are used. For the third aim, 48 participants performed various activities ranging from sedentary pursuits to vigorous exercise. The activities were split into three routines of six activities and each participant performed one routine. During each routine an Actigraph (right hip), Actical (left hip), Actiheart (chest), and AMP-331 (right ankle) were worn. Simultaneously, EE was measured by IC. The Actiheart HR algorithm was not significantly different from measured EE for any of the 18 activities (P ≥ 0.05). The Actiheart combined HR and activity algorithm was only significantly different from measured EE for vacuuming and ascending/descending stairs (P \u3c 0.05). All remaining prediction equations, for the devices examined, over- or underestimated EE for at least seven activities. The Actiheart HR algorithm provided the best estimate of EE over a wide range of activities. The Actical and Actigraph tended to overestimate walking and sedentary activities and underestimate most other activities. For the fourth aim, 48 participants performed various activities (sedentary, light, moderate, and vigorous intensities) that were split into three routines of six activities. Each participant performed one routine. During each test the participants wore an Actigraph accelerometer and EE was measured by IC. Forty-five tests were randomly selected for the development of the new equation, and 15 tests were used to cross-validate the new equation and compare against existing equations. For each activity the coefficient of variation (CV) of the counts per 10 seconds was calculated to determine if the activity was walking/running, or some other activity. If the CV ≤ 10 then a walking/running regression equation (relating counts·min-1 to METs) was used, while if the CV \u3e 10 a lifestyle/leisure time physical activity (LTPA) regression was used. The new 2-regression model explained 73% of the variance in EE for walking/running, and 83.8% of the variance in EE for lifestyle/LTPA and it was within ± 0.84 METs of measured METs for each of the 17 activities performed (P ≥ 0.05). The new 2-regression model is a more accurate prediction of EE then the currently published regression equations using the Actigraph accelerometer

Estrotect©’i kasutamise ja tavapärase visuaalse innaavastamise järel teostatud seemendustulemuste võrdlusanalüüs piimakarja mullikatel

Final thesis in Veterinary Medicine Curriculum in Veterinary MedicineHeat detection and the precise timing of animals in true estrus has become one of the most important challenges in modern-day dairy farming. Additionally, replacement animals are more often artificially inseminated. A well-managed replacement herd breeding program is crucial for a farm to achieve the most economical profit. In this study, we compared Estrotect heat detection devices with ordinary visual heat detection (two times per day). The aim was to compare the results of using heat detection aids with the labor concerning practice of visual heat detection. A total of 142 Holstein and 30 Estonian Red breed heifers were selected as a group inseminated according to Estrotect devices; for the second group, heat was detected visually in 92 Holstein and 14 Estonian Red breed heifers. All animals selected to this study were inseminated for the first time. When inseminated according to Estrotect device, 66.9% of Holstein heifers and 36.7% of Estonian Red heifers became pregnant. When heat was detected visually, 71.7% of Holstein heifers and 71.4% of Estonian Red heifers became pregnant. According to this study, Estrotect can be a useful aid to improve the fertility results of replacement herds in farms with problems related to visual heat detection management.Töös kasutati looma sabajuurele kleebitavat visuaalset inna- avastamise abivahendit Estrotect (Rockway, Inc., Tennessee, United States) ja analüüsiti mullikate tiinestumist, keda seemendati ainult selle abivahendi alusel avastatud innast. Võrrelduna mullikate tiinestumisega, keda seemendati tavapärase hommikusel ja õhtusel inna-avastamisel leitud innatunnuste järgi. Estrotect’i kasutamine põhineb looma sabajuurele kinnitatud kleebise värvimuutusel. Kui loomal on püsiind, siis ta talub teiste indlevate loomade hüppamist tema laudjale ja nende korduvate hüppamiste tagajärjel toimub sabajuurele kinnitatud Estrotect’i kleebise värvuse muutus. Mida intensiivsem on värvi muutus, seda tõenäolisem on see, et loomal on püsiind ja me saame teostada selle alusel seemenduse. Töös kasutatud mullikad jagati kahte katserühma. Esimesse katserühma kellele paigaldati Estrotect’i kleebis valiti 142 Holsteini tõugu ja 30 Eesti punast tõugu mullikat. Teise katserühma keda seemendati tavapärase, hommikusel ja õhtusel inna avastamisel leitud innatunnuste järgi, valiti 92 Holsteini tõugu ja 14 Eesti punast tõugu mullikat. Inna avastamine teostati hommikul kella 07:00 ka kella 09:00 vahel ja õhtul kella 17:00 ja 19:00 vahel. Samadel kellaaegadel toimus ka kontroll Estrotecth’i kleebise värvimuutusele. Innatunnused, mida jälgiti selle rühma loomadel, kellel toimus tavapärane rutiine inna avastamine olid järgmised: teise looma laudjale hüppamise talumine, aktiivsusprofiil, häälitsemine, pea toetamine teise looma laudjale, limavool häbemest. Mõlema katserühma mullikatel olid teostatavad seemendused esmakordsed. Loomade vanus jäi vahemikku 12.5 kuni 15 kuud. Tiinestumise määr esimesest seemendusest rühmas kus kasutati Estrotect’i oli madalam nii Holsteini, kui ka Eesti punast tõugu mullikatel. Holsteini mullikatel Estrotect’i rühmas tiinestus 66.9±4.0% ja rühmas, kus seemendused teostati visuaalsel jälgimiselsaadud innatunnustele põhinedes oli tiinestumine 71.7±4.7% (p=0.436). Eesti punast tõugu mullikatel oli tiinestumise määr vastavalt 36.7±8.8% Estrotect’i rühmas ja 71.4±12.1% (p=0.037) rühmas, kus seemendused teostati visuaalsel jälgimisel saadud innatunnustele põhinedes. Kokkuvõttes ei leitud statistilist erinevust inna avastamise metoodika vahel (p=0.129). Statistiline analüüs näitas samuti seda, et tõug ei mõjuta inna avastamise metoodikat (p=0.105). Samal ajal oli tiinestumise määr katses kasutatud Eesti punast tõugu mullikate statisitiliselt madalam kui kasutatud Holsteini mullikatel (p=0.012). Teostatud uuring näitas, et farmid, kes pole rahul oma noorkarja tiinestumis näitajatega ja mille võimalik põhjus võib olla probleemne inna avastamine, võiksid kasutada Estrotect’i kleebiseid inna avastamise parandamiseks. Loomade grupeerimine ja kleebiste paigaldamine on küll mõnevõrra aeganõudev, aga kokkuvõttes on võimalik hoida kokku aega, mis kulub rutiinsele kahekordsele päevasele inna avastamisele

Evaluating Dynamic Signage for Emergency Evacuation using an Immersive Video Environment

Dissertation submitted in partial fulfillment of the requirements for the Degree of Master of Science in Geospatial Technologies.There are numerous reasons to evacuate a building in case of emergency; generally evacuation runs in case of constraints as fire, earthquake, indoor air pollution incidents, terrorist attacks and so on. There was a fire tragedy reported on January 28, 2013 in a night club in Brazil that many victims confused the exit sign with that for the toilet sign, where 50 bodies were found dead in toilet. It is reported that the victims lost their sense of direction due to the smoke [1]. Consequently the traditional static emergency signs are no longer effective especially in a complex building. They are not intelligent to decide how many people are using different exit, where the fire is and how much it may spread or how the evacuee will decide and think while they are in panic. They are several attempts to simulate the evacuation area and create a better model to dynamically lead the evacuee to exit. However creating such system is difficult because the prediction of behaviors in emergency incidents, modeling and examination in the real scenario are the biggest problems. Evacuation exercise are expensive and time consuming, as a result Virtual Environment (VEs) might be the feasible solution to create the emergency scenario and to study the physical, cognitive, and perceptual capabilities of the evacuees, letting them to experience and feel the emergency incident that are impossible to apply in the real world. This project presents the use of VE, called Immersive Video Environment (IVE) [2] to investigate and evaluate the possible dynamic signage inside a building to guide the evacuees to safety and exit. IVE system contains three screens with 140 degree from each other using 3 back projected wall at the same time. In this study dynamic signs inform the evacuee by following the exit signs cause of fire emergency and move towards the exit. Generally the user of VE is disoriented or discomforted due to navigation (Travel) part. As a result, following factors are evaluated by using some pre-defined questionnaire such as Simulator Sickness Questionnaire and NASA TLX: 1. The pre-movement time or response time to the dynamic signs. 2. Panic behavior or Decision making 3. Comfort of the system due to navigation part. 4. Performance of IVE 5. Realism of the simulation 8 scenarios have been managed for this experiment in which each of them last around 30 to 40 seconds for a trip from start point to the exit door. In the entire scenario, the exit signs will be varied. The test participants were 10 people (5 Female, 5 Male) who come from different countries not specially Germany. There were great considerable results of decision making in this study for example, there were several errors for the fire sign during the experiment besides the response time for the fire sign were highly more than the other designs. From the evaluator recognition, it is said that their response has been influenced by the exit door or the design of sign. Generally the performance and the comfort of the system show interesting results in the emergency simulation and footage video for VE. There were a significant different in term of discomfort between men and women and the results of their response time had significant difference. By users rating, the realism of the simulation has been confirmed. For response time experiment, some errors and significant variation were observed during the individual test. The IVE can be used for future experiment investigation such as way finding. The proposed system shall help to yield more reliable information about human behavior and decision making in emergency egress and creating a model. Locations, timing, duration and speed, helping from dynamic signs can be considered as decision-making process subject to emergency evacuation

Novel approaches to expression and detection of oestrus in dairy cows

Detection of oestrus is a key determinant of profitability of dairy herds, but is increasingly difficult to observe in the modern dairy cow, with shorter duration and less intense oestrus. Current trends in the dairy industry also exacerbate the problem of poor oestrous detection as herd sizes are increasing, yet there is less labour on the farm. As a consequence fewer cows are seen standing to be mounted, the definite sign that a cow is in oestrus. Concurrent with the unfavourable correlation between milk yield and fertility, oestrous detection rates have declined to less than 50%. Although visual detection of oestrus is accurate, it can be time consuming and inefficient. In response to these constraints and poor oestrous detection rates automated methods of detection are currently employed although they are lacking in accuracy and efficiency. The current work investigated possible risk factors among the herd for decreased oestrous expression, measured by activity monitors (Lely-HR Tags), with emphasis on individual cow factors affecting the activity increase at oestrus (n=205 cows). A novel approach was also tested, Ultra-wide band (UWB) technology (Thales Research Technology, UK) for proof of concept that oestrus, mounting and standing to be mounted, could be detected in dairy cows (initial validation studies plus 2 week long trials, n=16 cows; 8 in each). Several parameters were investigated for their association with maximum activity increase at oestrus using generalised linear mixed models. Activity increases at oestrus between 2 and 4 fold. Various influential factors that affect the activity increase were reported in this study: parity, successive oestrous number post partum and milk yield are inversely related to the activity increase at oestrus and activity increases were affected by time of year for each oestrus event (P<0.05). In addition, larger activity increases at oestrus were not related to an increased probability of conception. The three dimensional position of 12 cows, with their oestrous cycles synchronized, and 4 pregnant control cows were monitored continuously, using UWB mobile units (MU) operating within a base unit (BU) network for a period of 7 days. Cow position was reported twice per second in real-time with this system. In the complete study 10 cows came into oestrus as confirmed by simultaneous visual observation & CCTV recording, activity monitoring (Lely-HR Tags) and by analysis of milk progesterone concentration. Raw data taken from the UWB system were then analysed post trial to determine whether oestrus could be detected; including elevations in cow height and cow interactions. Furthermore, automated software was developed and script analysis (MatLab R2012b, The MathWorks, Inc., US) was carried out to detect cows in oestrus, reporting the time of oestrus onset in real-time. UWB accurately confirmed oestrus in 9 out of 10 cows in oestrus as confirmed by real-time video recording and continuous visual observation of activity. Although due to the constraints of the script 1 cow could not be detected in oestrus by UWB as she was the only cow in oestrus at the time equipped with a MU. Further confirmation of oestrus was carried out by physiological measurements; increases in activity on the day of oestrus and low progesterone concentrations <1ng/ml. In addition, UWB accurately confirmed 6 out of 6 cows as not being in oestrus. In conclusion UWB accurately detected cows in oestrus. Furthermore, automated detection by UWB enables the identification of the onset of oestrus, mounting, and when cows are in oestrus and first stood to be mounted, in real-time. Therefore UWB is advantageous because knowledge of onset of oestrus allows for accurately timed artificial insemination (AI) coinciding with ovulation, in order to increase conception rates. In summary, variables that affect expression of oestrus have been identified by this work. This would allow for identification of cows prone to decreased oestrous expression. In addition UWB accurately detected oestrus when cows displayed mounting and standing to be mounted behaviour. This work has shown ‘proof of concept’ that with further development UWB could be used as a novel automated method of oestrous detection. Therefore the current work has provided knowledge on factors that influence oestrous expression and possible solutions to the permanent improvement of detection. The work also provides evidence of a novel technology that can be developed in order to increase oestrous detection rates