Measuring Quality of Service in a Robotized Comprehensive Geriatric Assessment Scenario.

Comprehensive Geriatric Assessment (CGA) is an integrated clinical process to evaluate frail elderly people in order to create therapy plans that improve their quality and quantity of life. The whole process includes the completion of standardized questionnaires or specific movements, which are performed by the patient and do not necessarily require the presence of a medical expert. With the aim of automatizing these parts of the CGA, we have designed and developed CLARC (smart CLinic Assistant Robot for CGA), a mobile robot able to help the physician to capture and manage data during the CGA procedures, mainly by autonomously conducting a set of predefined evaluation tests. Using CLARC to conduct geriatric tests will reduce the time medical professionals have to spend on purely mechanical tasks, giving them more time to develop individualised care plans for their patients. In fact, ideally, CLARC will perform these tests on its own. In parallel with the effort to correctly address the functional aspects, i.e., the development of the robot tasks, the design of CLARC must also deal with non-functional properties such as the degree of interaction or the performance. We argue that satisfying user preferences can be a good way to improve the acceptance of the robot by the patients. This paper describes the integration into the software architecture of the CLARC robot of the modules that allow these properties to be monitored at run-time, providing information on the quality of its service. Experimental evaluation illustrates that the defined quality of service metrics correctly capture the evolution of the aspects of the robot’s activity and its interaction with the patient covered by the non-functional properties that have been considered.This work has been partially funded by the EU ECHORD++ project (FP7-ICT-601116), the RoQME Integrated Technical Project funded, in turn, by the EU RobMoSys project (H20202-732410), and the RTI2018-099522-B-C41 and the RTI2018-094591-B-I00 projects, both funded by the Spanish Ministerio de Ciencia, Innovación y Universidades and FEDER funds

Analysis of the Mayan Glyphs : Part II, Palenque

Palenque texts have been studied extensively since the "Round Table" was held at Palenque, in 1973. We can now provide an outline of the dynastic history of Palenque. For example, the Lord Shield Pacal was born in 9.8.9.13.0 (A.D. 603), ascended the throne in 9.9.2.4.8 (A.D. 615), and died in 9.12.11. 5.18 (A.D. 683). His parents were Kan Bahlum Moo and Zac Kuk, and his children Chan Bahlum and Kan Xul Ⅱ. However many other matters which remain to be deciphered are described in the texts. In this paper I have followed the same methodology and format as used in my earlier paper on the Naranjo texts [YASUGI 1986]. That is, all readable dates were first extracted from available texts and arranged chronologically. Calendrical glyphs were then examined for variations and stylistic change. Many new glyphs were invented in Palenque but stylistic change is not clearly discernible, since the period of their utilization was short. But texts provide good examples of glyphic interchangeability, and many synonymous glyphs are used. One affix (T 679), which functions like a preposition, is attached to a glyph in a glyph block. It does not stand alone, but glyphs to which the affix is attached occur by themselves. According to the definition used here, a glyph is composed of grapheme(s) and occupies a glyph block with a squared appearance. Many graphemes have either a geometric or a human form, and are known as the "normal form" and "head variant" respectively. They are variant forms of the same value. Gencrally, there is one glyph in one glyph block. Sometimes, however, one glyph block is composed of two or more glyphs. Main signs and affixes are defined according to their size and position within glyphs. Main signs are the Iargest and central graphemes and affixes are joined to the main sign. In other words, a glyph is composed of main sign土affix(es). 　Maya writing is classified typologically as logosyllabic, because there are logograms and phonograms, as in the Pacal glyph(Fig.28). But if a glyph is defined as main sign±affixes, it can be said that Maya glyphs are not composed of a fixed set, but join grammatical affix(es) when occasion demands. For example, T 679 functions like a preposition and can be attached to a main sign. Thus, phraseograms, which express a phrase in one glyph, exist in the Mayan writing system. 　In chapter IV those clauses and phrases in which names of rulers and Gods appear are analyzed. In chapter V other glyphs not treatcd in chapter IV, such as "birth glyphs", "accession glyphs", "number four and sky glyphs", are discussed.departmental bulletin pape