A List of Household Objects for Robotic Retrieval Prioritized by People with ALS (Version 092008)

This technical report is designed to serve as a citable reference for the original prioritized object list that the Healthcare Robotics Lab at Georgia Tech released on its website in September of 2008. It is also expected to serve as the primary citable reference for the research associated with this list until the publication of a detailed, peer-reviewed paper. The original prioritized list of object classes resulted from a needs assessment involving 8 motor-impaired patients with amyotrophic lateral sclerosis (ALS) and targeted, in-person interviews of 15 motor-impaired ALS patients. All of these participants were drawn from the Emory ALS Center. The prioritized object list consists of 43 object classes ranked by how important the participants considered each class to be for retrieval by an assistive robot. We intend for this list to be used by researchers to inform the design and benchmarking of robotic systems, especially research related to autonomous mobile manipulation

Ultra high frequency (UHF) radio-frequency identification (RFID) for robot perception and mobile manipulation

Personal robots with autonomy, mobility, and manipulation capabilities have the potential to dramatically improve quality of life for various user populations, such as older adults and individuals with motor impairments. Unfortunately, unstructured environments present many challenges that hinder robot deployment in ordinary homes. This thesis seeks to address some of these challenges through a new robotic sensing modality that leverages a small amount of environmental augmentation in the form of Ultra High Frequency (UHF) Radio-Frequency Identification (RFID) tags. Previous research has demonstrated the utility of infrastructure tags (affixed to walls) for robot localization; in this thesis, we specifically focus on tagging objects. Owing to their low-cost and passive (battery-free) operation, users can apply UHF RFID tags to hundreds of objects throughout their homes. The tags provide two valuable properties for robots: a unique identifier and receive signal strength indicator (RSSI, the strength of a tag's response). This thesis explores robot behaviors and radio frequency perception techniques using robot-mounted UHF RFID readers that enable a robot to efficiently discover, locate, and interact with UHF RFID tags applied to objects and people of interest. The behaviors and algorithms explicitly rely on the robot's mobility and manipulation capabilities to provide multiple opportunistic views of the complex electromagnetic landscape inside a home environment. The electromagnetic properties of RFID tags change when applied to common household objects. Objects can have varied material properties, can be placed in diverse orientations, and be relocated to completely new environments. We present a new class of optimization-based techniques for RFID sensing that are robust to the variation in tag performance caused by these complexities. We discuss a hybrid global-local search algorithm where a robot employing long-range directional antennas searches for tagged objects by maximizing expected RSSI measurements; that is, the robot attempts to position itself (1) near a desired tagged object and (2) oriented towards it. The robot first performs a sparse, global RFID search to locate a pose in the neighborhood of the tagged object, followed by a series of local search behaviors (bearing estimation and RFID servoing) to refine the robot's state within the local basin of attraction. We report on RFID search experiments performed in Georgia Tech's Aware Home (a real home). Our optimization-based approach yields superior performance compared to state of the art tag localization algorithms, does not require RF sensor models, is easy to implement, and generalizes to other short-range RFID sensor systems embedded in a robot's end effector. We demonstrate proof of concept applications, such as medication delivery and multi-sensor fusion, using these techniques. Through our experimental results, we show that UHF RFID is a complementary sensing modality that can assist robots in unstructured human environments.PhDCommittee Chair: Kemp, Charles C.; Committee Member: Abowd, Gregory; Committee Member: Howard, Ayanna; Committee Member: Ingram, Mary Ann; Committee Member: Reynolds, Matt; Committee Member: Tentzeris, Emmanoui

Revenue Options for a Risk-Based Assessment of Developed Property in Hurricane Hazard Zones

This article focuses on minimizing the risk of developing land in hurricane-prone areas. First, the author discusses major local emergency management services associated with hurricanes and methods for estimating the costs of those services. Second, the author summarizes a method for apportioning those costs based on alternative revenue options. Third, the author assesses the potential for financing local emergency management services associated with hurricanes. Finally, the author examines the feasibility of local emergency financing in the context of state constitutional and legislative authorities in Florida

Zystische Adventitiadegeneration (CAD) als Ursache einer invalidisierenden Claudicatio intermittens

Zusammenfassung: Bei einem 45-jährigen Patienten mit wechselhaften Ischämiebeschwerden und initial limitierter Gehstrecke rechts von höchstens 50m führten die duplexsonographischen und angiographischen Abklärungen zur Verdachtsdiagnose einer zystischen Adventitiadegeneration. Intraoperativ zeigte sich ein zystisch aufgetriebenes Poplitealsegment mit Entleerung von gallertiger Flüssigkeit. Aufgrund der langstreckigen Veränderung erfolgte die Segmentresektion der A.poplitea und Rekonstruktion mittels eines autologen Veneninterponats. Die CAD ist ein seltenes Krankheitsbild, an das gerade bei jungen Patienten ohne systemische Arteriosklerose gedacht werden sollte. Die Therapie ist je nach Fall chirurgisch erhaltend durch Zystenresektion mittels "Exarterektomie" oder gefäßresezierend, insbesondere bei langstreckigen Veränderungen bzw. vollständiger Okklusion mittels Ersatz durch ein Veneninterpona

Personal experience with whole-body, low-dosage, digital X-ray scanning (LODOX-Statscan) in trauma

<p>Abstract</p> <p>Background</p> <p>Lodox-Statscan is a whole-body, skeletal and soft-tissue, low-dose X-ray scanner Anterior-posterior and lateral thoraco-abdominal studies are obtained in 3-5 minutes with only about one-third of the radiation required for conventional radiography. Since its approval by the Food and Drug Administration (FDA) in the USA, several trauma centers have incorporated this technology into their Advanced Trauma Life Support protocols. This review provides a brief overview of the system, and describes the authors' own experience with the system.</p> <p>Methods</p> <p>We performed a PubMed search to retrieve all references with 'Lodox' and 'Stat-scan' used as search terms. We furthermore used the google search engine to identify existing alternatives. To the best of our knowledge, this is the only FDA-approved device of its kind currently used in trauma.</p> <p>Results and Conclusion</p> <p>The intention of our review has been to sensitize the readership that such alternative devices exist. The key message is that low dosage full body radiography may be an alternative to conventional resuscitation room radiography which is usually a prelude to CT scanning (ATLS algorithm). The combination of both is radiation intensive and therefore we consider any reduction of radiation a success. But only the future will show whether LS will survive in the face of low-dose radiation CT scanners and magnetic resonance imaging devices that may eventually completely replace conventional radiography.</p

Low-cost inertial measurement unit.

Sandia National Laboratories performs many expensive tests using inertial measurement units (IMUs)--systems that use accelerometers, gyroscopes, and other sensors to measure flight dynamics in three dimensions. For the purpose of this report, the metrics used to evaluate an IMU are cost, size, performance, resolution, upgradeability and testing. The cost of a precision IMU is very high and can cost hundreds of thousands of dollars. Thus the goals and results of this project are as follows: (1) Examine the data flow in an IMU and determine a generic IMU design. (2) Discuss a high cost IMU implementation and its theoretically achievable results. (3) Discuss design modifications that would save money for suited applications. (4) Design and implement a low cost IMU and discuss its theoretically achievable results. (5) Test the low cost IMU and compare theoretical results with empirical results. (6) Construct a more streamlined printed circuit board design reducing noise, increasing capabilities, and constructing a self-contained unit. Using these results, we can compare a high cost IMU versus a low cost IMU using the metrics from above. Further, we can examine and suggest situations where a low cost IMU could be used instead of a high cost IMU for saving cost, size, or both

A Quantitative Method for Estimating Probable Public Costs of Hurricanes

A method is presented for estimating probable public costs resulting from damage caused by hurricanes, measured as local government expenditures approved for reimbursement under the Stafford Act Section 406 Public Assistance Program. The method employs a multivariate model developed through multiple regression analysis of an array of independent variables that measure meteorological, socioeconomic, and physical conditions related to the landfall of hurricanes within a local government jurisdiction. From the regression analysis we chose a log–log (base 10) model that explains 74% of the variance in the expenditure data using population and wind speed as predictors. We illustrate application of the method for a local jurisdiction—Lee County, Florida, USA. The results show that potential public costs range from $4.7 million for a category 1 hurricane with winds of 137 kilometers per hour (85 miles per hour) to$130 million for a category 5 hurricane with winds of 265 kilometers per hour (165 miles per hour). Based on these figures, we estimate expected annual public costs of $2.3 million. These cost estimates: (1) provide useful guidance for anticipating the magnitude of the federal, state, and local expenditures that would be required for the array of possible hurricanes that could affect that jurisdiction; (2) allow policy makers to assess the implications of alternative federal and state policies for providing public assistance to jurisdictions that experience hurricane damage; and (3) provide information needed to develop a contingency fund or other financial mechanism for assuring that the community has sufficient funds available to meet its obligations