A Fuzzy Logic Architecture for Rehabilitation Robotic Systems

Robots are highly incorporated in rehabilitation in the last decade to compensate lost functions in disabled individuals. By controlling the rehabilitation robots from far, many benefits are achieved. These benefits include but not restricted to minimum hospital stays, decreasing cost, and increasing the level of care. The main goal of this work is to have an effective solution to take care of patients from far. Tackling the problem of the remote control of rehabilitation robots is undergoing and highly challenging. In this paper, a remote wrist rehabilitation system is presented. The developed system is a sophisticated robot ensuring the two wrist movements (Flexion /extension and abduction/adduction). Additionally, the proposed system provides a software interface enabling the physiotherapists to control the rehabilitation process remotely. The patient’s safety during the therapy is achieved through the integration of a fuzzy controller in the system control architecture. The fuzzy controller is employed to control the robot action according to the pain felt by the patient. By using fuzzy logic approach, the system can adapt effectively according to the patients’ conditions. The Queue Telemetry Transport Protocol (MQTT) is considered to overcome the latency during the human robot interaction. Based on a Kinect camera, the control technique is made gestural. The physiotherapist gestures are detected and transmitted to the software interface to be processed and be sent to the robot. The acquired measurements are recorded in a database that can be used later to monitor patient progress during the treatment protocol. The obtained experimental results show the effectiveness of the developed remote rehabilitation system

Advances in Robot Kinematics : Proceedings of the 15th international conference on Advances in Robot Kinematics

International audienceThe motion of mechanisms, kinematics, is one of the most fundamental aspect of robot design, analysis and control but is also relevant to other scientific domains such as biome- chanics, molecular biology, . . . . The series of books on Advances in Robot Kinematics (ARK) report the latest achievement in this field. ARK has a long history as the first book was published in 1991 and since then new issues have been published every 2 years. Each book is the follow-up of a single-track symposium in which the participants exchange their results and opinions in a meeting that bring together the best of world’s researchers and scientists together with young students. Since 1992 the ARK symposia have come under the patronage of the International Federation for the Promotion of Machine Science-IFToMM.This book is the 13th in the series and is the result of peer-review process intended to select the newest and most original achievements in this field. For the first time the articles of this symposium will be published in a green open-access archive to favor free dissemination of the results. However the book will also be o↵ered as a on-demand printed book.The papers proposed in this book show that robot kinematics is an exciting domain with an immense number of research challenges that go well beyond the field of robotics.The last symposium related with this book was organized by the French National Re- search Institute in Computer Science and Control Theory (INRIA) in Grasse, France

Feebly-interacting particles: FIPs 2022 Workshop Report

Particle physics today faces the challenge of explaining the mystery of dark matter, the origin of matter over anti-matter in the Universe, the origin of the neutrino masses, the apparent fine-tuning of the electro-weak scale, and many other aspects of fundamental physics. Perhaps the most striking frontier to emerge in the search for answers involves new physics at mass scales comparable to familiar matter, below the GeV-scale, or even radically below, down to sub-eV scales, and with very feeble interaction strength. New theoretical ideas to address dark matter and other fundamental questions predict such feebly interacting particles (FIPs) at these scales, and indeed, existing data provide numerous hints for such possibility. A vibrant experimental program to discover such physics is under way, guided by a systematic theoretical approach firmly grounded on the underlying principles of the Standard Model. This document represents the report of the FIPs 2022 workshop, held at CERN between the 17 and 21 October 2022 and aims to give an overview of these efforts, their motivations, and the decadal goals that animate the community involved in the search for FIPs

Feebly Interacting Particles: FIPs 2022 workshop report

Particle physics today faces the challenge of explaining the mystery of dark matter, the origin of matter over anti-matter in the Universe, the origin of the neutrino masses, the apparent fine-tuning of the electro-weak scale, and many other aspects of fundamental physics. Perhaps the most striking frontier to emerge in the search for answers involves new physics at mass scales comparable to familiar matter, below the GeV-scale, or even radically below, down to sub-eV scales, and with very feeble interaction strength. New theoretical ideas to address dark matter and other fundamental questions predict such feebly interacting particles (FIPs) at these scales, and indeed, existing data provide numerous hints for such possibility. A vibrant experimental program to discover such physics is under way, guided by a systematic theoretical approach firmly grounded on the underlying principles of the Standard Model. This document represents the report of the FIPs 2022 workshop, held at CERN between the 17 and 21 October 2022 and aims to give an overview of these efforts, their motivations, and the decadal goals that animate the community involved in the search for FIPs

Systems Engineering: Availability and Reliability

Current trends in Industry 4.0 are largely related to issues of reliability and availability. As a result of these trends and the complexity of engineering systems, research and development in this area needs to focus on new solutions in the integration of intelligent machines or systems, with an emphasis on changes in production processes aimed at increasing production efficiency or equipment reliability. The emergence of innovative technologies and new business models based on innovation, cooperation networks, and the enhancement of endogenous resources is assumed to be a strong contribution to the development of competitive economies all around the world. Innovation and engineering, focused on sustainability, reliability, and availability of resources, have a key role in this context. The scope of this Special Issue is closely associated to that of the ICIE’2020 conference. This conference and journal’s Special Issue is to present current innovations and engineering achievements of top world scientists and industrial practitioners in the thematic areas related to reliability and risk assessment, innovations in maintenance strategies, production process scheduling, management and maintenance or systems analysis, simulation, design and modelling

Contract-Based Programming on Modern C++

Contract-based Programming or Design By Contract (DBC) is a discipline for system construction that in recent years has postulated to be one of the most solid and reliable models for software creation. It is well known that in the software industry the number of projects not being successfully developed is huge. The main cause of the failure is that projects do not meet user expectations. In this context, Design By Contract seems to emerge as a solution to decrease this failure rate. This philosophy provides a set of mechanisms for the validation of part of the requirements specification. In recent years, several programming languages started to implement DBC, either as part of the language or an external library. The main programming languages that support contract-based programming are Ada 2012, Spark, Eiffel, D, C# CodeContracts or Microsoft Source-Code Annotation Language (Microsoft SAL). Traditionally, C++ has been a programming language focused on flexibility, performance and efficiency. This has attracted many people to carry out projects using this programming language. However, trends make programming languages change, and the interests of the industry are leaning towards solid solutions. Those solutions shall include frameworks that are reliable. With this same purpose, C++ has designed a specification for the implementation of Design By Contract in the programming language. This new specification has been accepted by the ISO C++ committee to be included in C++20. The specification includes several clauses that allow the user to write pre/postconditions on the code. This allows part of the requirement specification to be merged into the code, enabling traceability between the phases of the software project. The specification of a new feature in a programming language implies changes in how the language is understood by a compiler. For the implementation of a new specification, several changes are required at different levels. This document describes these changes. Additionally, it provides an overview of the structure of a compiler, and a brief description of all the parts of the Clang C++ compiler.La programación por contratos es una disciplina de construcción de sistemas que recientemente se ha postulado como una de las más solidas y fiables para la creación de sistemas software. Se sabe que la industria de desarrollo de software no está siendo exitosa debido en parte a la tasa de fallos que hay en éstos. En este contexto, la programación por contratos emerge como una solución para reducir esta tasa de fracaso en la industria. Esta tendencia de desarrollo provee a los usuarios con mecanismos para la validación de los requisitos. En los últimos años, varios lenguajes de programación han comenzado a implementar la programación por contratos, bien como parte del lenguaje o como una biblioteca externa. Los principales lenguajes de programación que a día de hoy soportan programación por contratos son Ada 2012, Spark, Eiffel, D, C# CodeContracts or Microsoft Source-Code Annotation Language (Microsoft SAL). Tradicionalmente, C++ ha sido un lenguage de programación centrado en proveer al usuario con flexibilidad, rendimiento y eficiencia. Estas características han atraido a muchos clientes de cara a utilizar este lenguaje de programación en proyectos. Sin embargo, las tendencías fuerzan cambios en los lenguajes de programación, y los intereses de las empresas actualmente se están inclinando hacia soluciones robustas. Estas soluciones, deben incluir marcos de trabajo que sean fiables. Con esto en mente, se ha diseñado una especificación para la programación por contratos en el lenguaje de programación. Esta nueva especificación, ha sido aceptada para por el Comite ISO C++ para ser incluida en C++20. Esta especificación provee al usuario con varios mecanismos que permiten verificar condiciones en el código. Esto permite directamente enlazar la especificación de requisitos con la implementación de los mismos. La especificación de una nueva característica dentro de un lenguaje de programación implica cambios en como el lenguaje es entendido por un compilador. Para la implementación de estos nuevos requisitos se requiere de realizar modificaciones en el compilador en distintos niveles de análisis. En este proyecto, se describe un resumen de los cambios que son necesarios dentro de un compilador. Estos cambios incluyen un resumen de la estructura del compilador, posteriormente se desglosa la estructura del compilador de C++ Clang y por último se describen las modificaciones en cada una de las partes involucradas.Ingeniería Informátic

Feebly-interacting particles: FIPs 2022 workshop report

Particle physics today faces the challenge of explaining the mystery of dark matter, the origin of matter over anti-matter in the Universe, the origin of the neutrino masses, the apparent fine-tuning of the electro-weak scale, and many other aspects of fundamental physics. Perhaps the most striking frontier to emerge in the search for answers involves new physics at mass scales comparable to familiar matter, below the GeV-scale, or even radically below, down to sub-eV scales, and with very feeble interaction strength. New theoretical ideas to address dark matter and other fundamental questions predict such feebly interacting particles (FIPs) at these scales, and indeed, existing data provide numerous hints for such possibility. A vibrant experimental program to discover such physics is under way, guided by a systematic theoretical approach firmly grounded on the underlying principles of the Standard Model. This document represents the report of the FIPs 2022 workshop, held at CERN between the 17 and 21 October 2022 and aims to give an overview of these efforts, their motivations, and the decadal goals that animate the community involved in the search for FIPs

Feebly-interacting particles: FIPs 2022 workshop report

Particle physics today faces the challenge of explaining the mystery of dark matter, the origin of matter over anti-matter in the Universe, the origin of the neutrino masses, the apparent fine-tuning of the electro-weak scale, and many other aspects of fundamental physics. Perhaps the most striking frontier to emerge in the search for answers involves new physics at mass scales comparable to familiar matter, below the GeV-scale, or even radically below, down to sub-eV scales, and with very feeble interaction strength. New theoretical ideas to address dark matter and other fundamental questions predict such feebly interacting particles (FIPs) at these scales, and indeed, existing data provide numerous hints for such possibility. A vibrant experimental program to discover such physics is under way, guided by a systematic theoretical approach firmly grounded on the underlying principles of the Standard Model. This document represents the report of the FIPs 2022 workshop, held at CERN between the 17 and 21 October 2022 and aims to give an overview of these efforts, their motivations, and the decadal goals that animate the community involved in the search for FIPs

Why you do not adore you in Hungarian

This paper provides an overview of the pronominal coding of local coreference relations in Hungarian. In Hungarian, unlike in English, personal pronouns do not normally take local antecedents even if favourable pragmatic conditions are available. The paper argues that complex forms of the reflexive anaphor are used for the coding of local coreference, and they outcompete, as it were, personal pronouns in this function