Portable Robotic Navigation Aid for the Visually Impaired

This dissertation aims to address the limitations of existing visual-inertial (VI) SLAM methods - lack of needed robustness and accuracy - for assistive navigation in a large indoor space. Several improvements are made to existing SLAM technology, and the improved methods are used to enable two robotic assistive devices, a robot cane, and a robotic object manipulation aid, for the visually impaired for assistive wayfinding and object detection/grasping. First, depth measurements are incorporated into the optimization process for device pose estimation to improve the success rate of VI SLAM\u27s initialization and reduce scale drift. The improved method, called depth-enhanced visual-inertial odometry (DVIO), initializes itself immediately as the environment\u27s metric scale can be derived from the depth data. Second, a hybrid PnP (perspective n-point) method is introduced for a more accurate estimation of the pose change between two camera frames by using the 3D data from both frames. Third, to implement DVIO on a smartphone with variable camera intrinsic parameters (CIP), a method called CIP-VMobile is devised to simultaneously estimate the intrinsic parameters and motion states of the camera. CIP-VMobile estimates in real time the CIP, which varies with the smartphone\u27s pose due to the camera\u27s optical image stabilization mechanism, resulting in more accurate device pose estimates. Various experiments are performed to validate the VI-SLAM methods with the two robotic assistive devices. Beyond these primary objectives, SM-SLAM is proposed as a potential extension for the existing SLAM methods in dynamic environments. This forward-looking exploration is premised on the potential that incorporating dynamic object detection capabilities in the front-end could improve SLAM\u27s overall accuracy and robustness. Various experiments have been conducted to validate the efficacy of this newly proposed method, using both public and self-collected datasets. The results obtained substantiate the viability of this innovation, leaving a deeper investigation for future work

Tahap penguasaan, sikap dan minat pelajar Kolej Kemahiran Tinggi MARA terhadap mata pelajaran Bahasa Inggeris

Kajian ini dilakukan untuk mengenal pasti tahap penguasaan, sikap dan minat pelajar Kolej Kemahiran Tinggi Mara Sri Gading terhadap Bahasa Inggeris. Kajian yang dijalankan ini berbentuk deskriptif atau lebih dikenali sebagai kaedah tinjauan. Seramai 325 orang pelajar Diploma in Construction Technology dari Kolej Kemahiran Tinggi Mara di daerah Batu Pahat telah dipilih sebagai sampel dalam kajian ini. Data yang diperoleh melalui instrument soal selidik telah dianalisis untuk mendapatkan pengukuran min, sisihan piawai, dan Pekali Korelasi Pearson untuk melihat hubungan hasil dapatan data. Manakala, frekuensi dan peratusan digunakan bagi mengukur penguasaan pelajar. Hasil dapatan kajian menunjukkan bahawa tahap penguasaan Bahasa Inggeris pelajar adalah berada pada tahap sederhana manakala faktor utama yang mempengaruhi penguasaan Bahasa Inggeris tersebut adalah minat diikuti oleh sikap. Hasil dapatan menggunakan pekali Korelasi Pearson juga menunjukkan bahawa terdapat hubungan yang signifikan antara sikap dengan penguasaan Bahasa Inggeris dan antara minat dengan penguasaan Bahasa Inggeris. Kajian menunjukkan bahawa semakin positif sikap dan minat pelajar terhadap pengajaran dan pembelajaran Bahasa Inggeris semakin tinggi pencapaian mereka. Hasil daripada kajian ini diharapkan dapat membantu pelajar dalam meningkatkan penguasaan Bahasa Inggeris dengan memupuk sikap positif dalam diri serta meningkatkan minat mereka terhadap Bahasa Inggeris dengan lebih baik. Oleh itu, diharap kajian ini dapat memberi panduan kepada pihak-pihak yang terlibat dalam membuat kajian yang akan datang

Technology and dementia: the future is now

Background: Technology has multiple potential applications to dementia from diagnosis and assessment to care delivery and supporting ageing in place. Objectives: To summarise key areas of technology development in dementia and identify future directions and implications. Method: Members of the US Alzheimer’s Association Technology Professional Interest Area involved in delivering the annual pre-conference summarised existing knowledge on current and future technology developments in dementia. Results: The main domains of technology development are as follows: (i) diagnosis, assessment and monitoring, (ii) maintenance of functioning, (iii) leisure and activity, (iv) caregiving and management. Conclusions: The pace of technology development requires urgent policy, funding and practice change, away from a narrow medical approach, to a holistic model that facilitates future risk reduction and pre- vention strategies, enables earlier detection and supports implementation at scale for a meaningful and fulfilling life with dementia

Proceedings of the 2021 DigitalFUTURES

This open access book is a compilation of selected papers from 2021 DigitalFUTURES—The 3rd International Conference on Computational Design and Robotic Fabrication (CDRF 2021). The work focuses on novel techniques for computational design and robotic fabrication. The contents make valuable contributions to academic researchers, designers, and engineers in the industry. As well, readers encounter new ideas about understanding material intelligence in architecture

An infrastructure-free magnetic-based indoor positioning system with deep learning

POCI-01-0247-FEDER-033479Infrastructure-free Indoor Positioning Systems (IPS) are becoming popular due to their scalability and a wide range of applications. Such systems often rely on deployed Wi-Fi networks. However, their usability may be compromised, either due to scanning restrictions from recent Android versions or the proliferation of 5G technology. This raises the need for new infrastructure-free IPS independent of Wi-Fi networks. In this paper, we propose the use of magnetic field data for IPS, through Deep Neural Networks (DNN). Firstly, a dataset of human indoor trajectories was collected with different smartphones. Afterwards, a magnetic fingerprint was constructed and relevant features were extracted to train a DNN that returns a probability map of a user’s location. Finally, two postprocessing methods were applied to obtain the most probable location regions. We asserted the performance of our solution against a test dataset, which produced a Success Rate of around 80%. We believe that these results are competitive for an IPS based on a single sensing source. Moreover, the magnetic field can be used as an additional information layer to increase the robustness and redundancy of current multi-source IPS.publishersversionpublishe

Moving ahead with computational movement analysis

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The Aha! Experience of Spatial Reorientation

The experience of spatial re-orientation is investigated as an instance of the wellknown phenomenon of the Aha! moment. The research question is: What are the visuospatial conditions that are most likely to trigger the spatial Aha! experience? The literature suggests that spatial re-orientation relies mainly on the geometry of the environment and a visibility graph analysis is used to quantify the visuospatial information. Theories from environmental psychology point towards two hypotheses. The Aha! experience may be triggered by a change in the amount of visual information, described by the isovist properties of area and revelation, or by a change in the complexity of the visual information associated with the isovist properties of clustering coefficient and visual control. Data from participants’ exploratory behaviour and EEG recordings are collected during wayfinding in virtual reality urban environments. Two types of events are of interest here: (a) sudden changes of the visuospatial information preceding subjects' response to investigate changes in EEG power; and (b) participants brain dynamics (Aha! effect) just before the response to examine differences in isovist values at this location. Research on insights, time-frequency analysis of the P3 component and findings from navigation and orientation studies suggest that the spatial Aha! experience may be reflected by: a parietal alpha power decrease associated with the switch of the representation and a frontocentral theta increase indexing spatial processing during decision-making. Single-trial time-frequency analysis is used to classify trials into two conditions based on the alpha/theta power differences between a 3s time-period before participants’ response and a time-period of equal duration before that. Behavioural results show that participants are more likely to respond at locations with low values of clustering coefficient and high values of visual control. The EEG analysis suggests that the alpha decrease/theta increase condition occurs at locations with significantly lower values of clustering coefficient and higher values of visual control. Small and large decreases in clustering coefficient, just before the response, are associated with significant differences in delta/theta power. The values of area and revelation do not show significant differences. Both behavioural and EEG results suggest that the Aha! experience of re-orientation is more likely to be triggered by a change in the complexity of the visual-spatial environment rather than a change in the amount, as measured by the relevant isovist properties