Identification of Hysteresis Functions Using a Multiple Model Approach

This paper considers the identification of static hysteresis functions which describe phenomena in mechanical systems, piezoelectric actuators and materials. A solution based on a model with a parallel structure of elementary models (with switching) and the Interacting Multiple Model (IMM) approach is proposed. For each elementary model a separate IMM estimator is implemented. The estimated parameters represent a fusion of values from preset grids, weighted by the IMM mode probabilities. The estimated state of each elementary model is a fusion of the estimated states (from the separate Kalman filters) weighted by the IMM probabilities. The nonlinear identification problem is reduced to a linear one. Results from simulation experiments are presented

Local-To-Global Hypotheses for Robust Robot Localization

Many robust state-of-the-art localization methods rely on pose-space sample sets that are evaluated against individual sensor measurements. While these methods can work effectively, they often provide limited mechanisms to control the amount of hypotheses based on their similarity. Furthermore, they do not explicitly use associations to create or remove these hypotheses. We propose a global localization strategy that allows a mobile robot to localize using explicit symbolic associations with annotated geometric features. The feature measurements are first combined locally to form a consistent local feature map that is accurate in the vicinity of the robot. Based on this local map, an association tree is maintained that pairs local map features with global map features. The leaves of the tree represent distinct hypotheses on the data associations that allow for globally unmapped features appearing in the local map. We propose a registration step to check if an association hypothesis is supported. Our implementation considers a robot equipped with a 2D LiDAR and we compare the proposed method to a particle filter. We show that maintaining a smaller set of data association hypotheses results in better performance and explainability of the robot’s assumptions, as well as allowing more control over hypothesis bookkeeping. We provide experimental evaluations with a physical robot in a real environment using an annotated geometric building model that contains only the static part of the indoor scene. The result shows that our method outperforms a particle filter implementation in most cases by using fewer hypotheses with more descriptive power.</p

Automatic Configuration of Multi-Agent Model Predictive Controllers based on Semantic Graph World Models

We propose a shared semantic map architecture to construct and configure Model Predictive Controllers (MPC) dynamically, that solve navigation problems for multiple robotic agents sharing parts of the same environment. The navigation task is represented as a sequence of semantically labeled areas in the map, that must be traversed sequentially, i.e. a route. Each semantic label represents one or more constraints on the robots' motion behaviour in that area. The advantages of this approach are: (i) an MPC-based motion controller in each individual robot can be (re-)configured, at runtime, with the locally and temporally relevant parameters; (ii) the application can influence, also at runtime, the navigation behaviour of the robots, just by adapting the semantic labels; and (iii) the robots can reason about their need for coordination, through analyzing over which horizon in time and space their routes overlap. The paper provides simulations of various representative situations, showing that the approach of runtime configuration of the MPC drastically decreases computation time, while retaining task execution performance similar to an approach in which each robot always includes all other robots in its MPC computations

ESROCOS: a robotic operating system for space and terrestrial applications

ESROCOS (http://www.h2020-esrocos.eu) is a European Project in the frame of the PERASPERA SRC, (http://www.h2020-peraspera.eu/), targeting the design of a Robot Control Operating Software (RCOS) for space robotics applications. The goal of the ESROCOS project is to provide an open-source framework to assist in the development of flight software for space robots, providing adequate features and performance with space-grade Reliability, Availability, Maintainability and Safety (RAMS) properties. This paper presents the ESROCOS project and summarizes the approach and the current status

GPs' reasons for referral of patients with chest pain: a qualitative study

<p>Abstract</p> <p>Background</p> <p>Prompt diagnosis of an acute coronary syndrome is very important and urgent referral to a hospital is imperative because fast treatment can be life-saving and increase the patient's life expectancy and quality of life. The aim of our study was to identify GPs' reasons for referring or not referring patients presenting with chest pain.</p> <p>Methods</p> <p>In a semi-structured interview, 21 GPs were asked to describe why they do or do not refer a patient presenting with chest pain. Interviews were taped, transcribed and qualitatively analysed.</p> <p>Results</p> <p>Histories of 21 patients were studied. Six were not referred, seven were referred to a cardiologist and eight to the emergency department. GPs' reasons for referral were background knowledge about the patient, patient's age and cost-benefit estimation, the perception of a negative attitude from the medical rescue team, recent patient contact with a cardiologist without detection of a coronary disease and the actual presentation of signs and symptoms, gut feeling, clinical examination and ECG results.</p> <p>Conclusion</p> <p>This study suggests that GPs believe they do not exclusively use the 'classical' signs and symptoms in their decision-making process for patients presenting with chest pain. Background knowledge about the patient, GPs' personal ideas and gut feeling are also important.</p

Tolerability of breast ductal lavage in women from families at high genetic risk of breast cancer

<p>Abstract</p> <p>Background</p> <p>Ductal lavage (DL) has been proposed as a minimally-invasive, well-tolerated tool for obtaining breast epithelial cells for cytological evaluation of breast cancer risk. We report DL tolerability in <it>BRCA1/2 </it>mutation-positive and -negative women from an IRB-approved research study.</p> <p>Methods</p> <p>165 <it>BRCA1/2 </it>mutation-positive, 26 mutation-negative and 3 mutation unknown women underwent mammography, breast MRI and DL. Psychological well-being and perceptions of pain were obtained before and after DL, and compared with pain experienced during other screening procedures.</p> <p>Results</p> <p>The average <b><it>anticipated </it></b>and <b><it>experienced </it></b>discomfort rating for DL, 47 and 48 (0–100), were significantly higher (<it>p </it>< 0.01) than the <b><it>anticipated </it></b>and <b><it>experienced </it></b>discomfort of mammogram (38 and 34), MRI (36 and 25) or nipple aspiration (42 and 27). Women with greater pre-existing emotional distress experienced more DL-related discomfort than they anticipated. Women reporting DL-related pain as worse than expected were nearly three times more likely to refuse subsequent DL than those reporting it as the same or better than expected. Twenty-five percent of participants refused repeat DL at first annual follow-up.</p> <p>Conclusion</p> <p>DL was anticipated to be and experienced as <b>more </b>uncomfortable than other procedures used in breast cancer screening. Higher underlying psychological distress was associated with decreased DL tolerability.</p

Gender differences in presentation and diagnosis of chest pain in primary care

<p>Abstract</p> <p>Background</p> <p>Chest pain is a common complaint and reason for consultation in primary care. Research related to gender differences in regard to Coronary Heart Disease (CHD) has been mainly conducted in hospital but not in primary care settings. We aimed to analyse gender differences in aetiology and clinical characteristics of chest pain and to provide gender related symptoms and signs associated with CHD.</p> <p>Methods</p> <p>We included 1212 consecutive patients with chest pain aged 35 years and older attending 74 general practitioners (GPs). GPs recorded symptoms and findings of each patient and provided follow up information. An independent interdisciplinary reference panel reviewed clinical data of every patient and decided about the aetiology of chest pain at the time of patient recruitment. Multivariable regression analysis was performed to identify clinical predictors that help to rule in or out CHD in women and men.</p> <p>Results</p> <p>Women showed more psychogenic disorders (women 11,2%, men 7.3%, p = 0.02), men suffered more from CHD (women 13.0%, men 17.2%, p = 0.04), trauma (women 1.8%, men 5.1%, p < 0.001) and pneumonia/pleurisy (women 1.3%, men 3.0%, p = 0.04) Men showed significantly more often chest pain localised on the right side of the chest (women 9.1%, men 25.0%, p = 0.01). For both genders known clinical vascular disease, pain worse with exercise and age were associated positively with CHD. In women pain duration above one hour was associated positively with CHD, while shorter pain durations showed an association with CHD in men. In women negative associations were found for stinging pain and in men for pain depending on inspiration and localised muscle tension.</p> <p>Conclusions</p> <p>We found gender differences in regard to aetiology, selected clinical characteristics and association of symptoms and signs with CHD in patients presenting with chest pain in a primary care setting. Further research is necessary to elucidate whether these differences would support recommendations for different diagnostic approaches for CHD according to a patient's gender.</p