Effects of Parkinson’s disease on optic flow perception for heading direction during navigation

Visuoperceptual disorders have been identified in individuals with Parkinson’s disease (PD) and may affect the perception of optic flow for heading direction during navigation. Studies in healthy subjects have confirmed that heading direction can be determined by equalizing the optic flow speed (OS) between visual fields. The present study investigated the effects of PD on the use of optic flow for heading direction, walking parameters, and interlimb coordination during navigation, examining the contributions of OS and spatial frequency (dot density). Twelve individuals with PD without dementia, 18 age-matched normal control adults (NC), and 23 young control adults (YC) walked through a virtual hallway at about 0.8 m/s. The hallway was created by random dots on side walls. Three levels of OS (0.8, 1.2, and 1.8 m/s) and dot density (1, 2, and 3 dots/m2) were presented on one wall while on the other wall, OS and dot density were fixed at 0.8 m/s and 3 dots/m2, respectively. Three-dimensional kinematic data were collected, and lateral drift, walking speed, stride frequency and length, and frequency, and phase relations between arms and legs were calculated. A significant linear effect was observed on lateral drift to the wall with lower OS for YC and NC, but not for PD. Compared to YC and NC, PD veered more to the left under OS and dot density conditions. The results suggest that healthy adults perceive optic flow for heading direction. Heading direction in PD may be more affected by the asymmetry of dopamine levels between the hemispheres and by motor lateralization as indexed by handedness.Published versio

Reactive direction control for a mobile robot: A locust-like control of escape direction emerges when a bilateral pair of model locust visual neurons are integrated

Locusts possess a bilateral pair of uniquely identifiable visual neurons that respond vigorously to the image of an approaching object. These neurons are called the lobula giant movement detectors (LGMDs). The locust LGMDs have been extensively studied and this has lead to the development of an LGMD model for use as an artificial collision detector in robotic applications. To date, robots have been equipped with only a single, central artificial LGMD sensor, and this triggers a non-directional stop or rotation when a potentially colliding object is detected. Clearly, for a robot to behave autonomously, it must react differently to stimuli approaching from different directions. In this study, we implement a bilateral pair of LGMD models in Khepera robots equipped with normal and panoramic cameras. We integrate the responses of these LGMD models using methodologies inspired by research on escape direction control in cockroaches. Using ‘randomised winner-take-all’ or ‘steering wheel’ algorithms for LGMD model integration, the khepera robots could escape an approaching threat in real time and with a similar distribution of escape directions as real locusts. We also found that by optimising these algorithms, we could use them to integrate the left and right DCMD responses of real jumping locusts offline and reproduce the actual escape directions that the locusts took in a particular trial. Our results significantly advance the development of an artificial collision detection and evasion system based on the locust LGMD by allowing it reactive control over robot behaviour. The success of this approach may also indicate some important areas to be pursued in future biological research

E-book readers in higher education

Ebook readers have received a mixed press, with some hailing them as the future of reading and others believing that they will never be popular. The study outlined here aims to understand the attitudes of, and issues of importance to, lecturers in UK academia, with a view to improving the design of ebook readers for education in the future. An evaluation of five portable devices is presented, in which lecturers were given the opportunity to read an ebook and provide feedback via a questionnaire. Results are compared with concerns arising from other experiments in the same field, and recommendations are made for successful ebook design

Autonomous Driving Platform Performance Analysis

Through data analysis of various plots and figures it will be possible to determine the best control parameters to get the best performance out of the autonomous driving platform. This data, presented in this thesis, will show quantitatively what the best control strategies are through comparison of different versions of the platform

Wavefront Propagation and Fuzzy Based Autonomous Navigation

Path planning and obstacle avoidance are the two major issues in any navigation system. Wavefront propagation algorithm, as a good path planner, can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility theory. Combining these two functions enable a robot to autonomously navigate to its destination. This paper presents the approach and results in implementing an autonomous navigation system for an indoor mobile robot. The system developed is based on a laser sensor used to retrieve data to update a two dimensional world model of therobot environment. Waypoints in the path are incorporated into the obstacle avoidance. Features such as ageing of objects and smooth motion planning are implemented to enhance efficiency and also to cater for dynamic environments

Social Navigation of Food Recipes

The term Social Navigation captures every-day behaviour used to find information, people, and places – namely through watching, following, and talking to people. We discuss how to design information spaces to allow for social navigation. We applied our ideas in a recipe recommendation system. In a follow-up user study, subjects state that social navigation adds value to the service: it provides for social affordance, and it helps turning a space into a social place. The study also reveals some unresolved design issues, such as the snowball effect where more and more users follow each other down the wrong path, and privacy issues

Designing the printed book as an interactive environment

Reading a book demands a certain level of interaction from the reader. The cover must be opened and pages turned to navigate the information inside. Conventions have been developed over the life of the book to assist the reader in this navigation and provide orientation. The evolution of electronic reading material has given readers greater opportunities for interacting with their reading material, but many readers still prefer reading from a printed book. This paper investigates how the interactive organizational paradigm of hypertext can be implemented in a printed book to give the reader the opportunity for greater interaction and benefit from some of the advantages that electronic reading environments provide. The investigation in this paper follows an iterative design process in consultation with a panel of four experts. Through four rounds of consultation and refinement two potential solutions were developed for the incorporation of hypertext methods in a printed book

GPS vertical axis performance enhancement for helicopter precision landing approach

Several areas were investigated for improving vertical accuracy for a rotorcraft using the differential Global Positioning System (GPS) during a landing approach. Continuous deltaranging was studied and the potential improvement achieved by estimating acceleration was studied by comparing the performance on a constant acceleration turn and a rough landing profile of several filters: a position-velocity (PV) filter, a position-velocity-constant acceleration (PVAC) filter, and a position-velocity-turning acceleration (PVAT) filter. In overall statistics, the PVAC filter was found to be most efficient with the more complex PVAT performing equally well. Vertical performance was not significantly different among the filters. Satellite selection algorithms based on vertical errors only (vertical dilution of precision or VDOP) and even-weighted cross-track and vertical errors (XVDOP) were tested. The inclusion of an altimeter was studied by modifying the PVAC filter to include a baro bias estimate. Improved vertical accuracy during degraded DOP conditions resulted. Flight test results for raw differential results excluding filter effects indicated that the differential performance significantly improved overall navigation accuracy. A landing glidepath steering algorithm was devised which exploits the flexibility of GPS in determining precise relative position. A method for propagating the steering command over the GPS update interval was implemented