On interaction quality in human-robot interaction

In many complex robotics systems, interaction takes place in all directions between human, robot, and environment. Performance of such a system depends on this interaction, and a proper evaluation of a system must build on a proper modeling of interaction, a relevant set of performance metrics, and a methodology to combine metrics into a single performance value. In this paper, existing models of human-robot interaction are adapted to fit complex scenarios with one or several humans and robots. The interaction and the evaluation process is formalized, and a general method to fuse performance values over time and for several performance metrics is presented. The resulting value, denoted interaction quality, adds a dimension to ordinary performance metrics by being explicit about the interplay between performance metrics, and thereby provides a formal framework to understand, model, and address complex aspects of evaluation of human-robot interaction.Peer ReviewedPostprint (author's final draft

Autonomous Forest Vehicles: Historic, envisioned, and state-of-the-art

The feasibility of using autonomous forest vehicles (which can be regarded as logical developments in the ongoing automation of forest machines), the systems that could be applied in them, their potential advantages and limitations (in the foreseeable future) are considered in this paper. The goals were to analyze: 1) the factors influencing the degree of automation in logging; 2) the technical principles that can be applied to autonomous forest machines, and 3) the feasibility of developing an autonomous path-tracking forest vehicle. A type of vehicle that is believed to have considerable commercial potential is an autonomous forwarder. The degree of automation is influenced by increased productivity, the machine operator as a bottle-neck, cost reduction, and environmental aspects. Technical principles that can be applied to autonomous forest vehicles are satellite navigation, wheel odometry, laser scanner, and radar. A new path-tracking algorithm has been developed to reduce deviations from the desired path by utilizing the driver’s steering commands. The presented system has demonstrated both possibilities and difficulties associated with autonomous forest machines. A field study has shown that it is quite possible for them to learn and track a path previously demonstrated by an operator with an accuracy of 0.1 m on flat ground and also to detect and avoid unexpected obstacles. Although the forest machine safely avoids obstacles, the study shows that further research in the field of obstacle avoidance is needed to optimize performance and ensure safe operation in a real forest environment

Protein differences between human trapezius and vastus lateralis muscles determined with a proteomic approach

Background: The trapezius muscle is a neck muscle that is susceptible to chronic pain conditions associated with repetitive tasks, commonly referred to as chronic work-related myalgia, hence making the trapezius a muscle of clinical interest. To provide a basis for further investigations of the proteomic traits of the trapezius muscle in disease, two-dimensional difference gel electrophoresis (2D-DIGE) was performed on the healthy trapezius using vastus lateralis as a reference. To obtain as much information as possible from the vast proteomic data set, both one-way ANOVA, with and without false discovery rate (FDR) correlation, and partial least square projection to latent structures with discriminant analysis (PLS-DA) were combined to compare the outcome of the analysis. Results: The trapezius and vastus lateralis showed significant differences in metabolic, contractile and regulatory proteins, with different results depending on choice of statistical approach and pre-processing technique. Using the standard method, FDR correlated one-way ANOVA, 42 protein spots differed significantly in abundance between the two muscles. Complementary analysis using immunohistochemistry and western blot confirmed the results from the 2D-DIGE analysis. Conclusions: The proteomic approach used in the present study combining 2D-DIGE and multivariate modelling provided a more comprehensive comparison of the protein profiles of the human trapezius and vastus lateralis muscle, than previously possible to obtain with immunohistochemistry or SDS-PAGE alone. Although 2D-DIGE has inherent limitations it is particularly useful to comprehensively screen for important structural and metabolic proteins, and appears to be a promising tool for future studies of patients suffering from chronic work related myalgia or other muscle diseases

Estimating the Position of the Harvester Head – a Key Step towards the Precision Forestry of the Future?

Modern harvesters are technologically sophisticated, with many useful features such as the ability to automatically measure stem diameters and lengths. This information is processed in real time to support value optimization when cutting stems into logs. It can also be transferred from the harvesters to centralized systems and used for wood supply management. Such information management systems have been available since the 1990s in Sweden and Finland, and are constantly being upgraded. However, data on the position of the harvester head relative to the machine are generally not recorded during harvesting. The routine acquisition and analysis of such data could offer several opportunities to improve forestry operations and related processes in the future. Here, we analyze the possible benefits of having this information, as well as the steps required to collect and process it. The benefits and drawbacks of different sensing technologies are discussed in terms of potential applications, accuracy and cost. We also present the results of preliminary testing using two of the proposed methods. Our analysis indicates that an improved scope for mapping and controlling machine movement is the main benefit that is directly related to the conduct of forestry operations. In addition, there are important indirect benefits relating to ecological mapping. Our analysis suggests that both of these benefits can be realized by measuring the angles of crane joints or the locations of crane segments and using the resulting information to compute the head\u27s position. In keeping with our findings, two companies have recently introduced sensor equipped crane solutions

The second ESGAR consensus statement on CT colonography

To update quality standards for CT colonography based on consensus among opinion leaders within the European Society of Gastrointestinal and Abdominal Radiology (ESGAR). A multinational European panel of nine members of the ESGAR CT colonography Working Group (representing six EU countries) used a modified Delphi process to rate their level of agreement on a variety of statements pertaining to the acquisition, interpretation and implementation of CT colonography. Four Delphi rounds were conducted, each at 2 months interval. The panel elaborated 86 statements. In the final round the panelists achieved complete consensus in 71 of 86 statements (82 %). Categories including the highest proportion of statements with excellent Cronbach's internal reliability were colon distension, scan parameters, use of intravenous contrast agents, general guidelines on patient preparation, role of CAD and lesion measurement. Lower internal reliability was achieved for the use of a rectal tube, spasmolytics, decubitus positioning and number of CT data acquisitions, faecal tagging, 2D vs. 3D reading, and reporting. The recommendations of the consensus should be useful for both the radiologist who is starting a CTC service and for those who have already implemented the technique but whose practice may need updating

Relationships between highly skilled golfers’ clubhead velocity and vertical ground reaction force asymmetry during vertical jumps and an isometric mid-thigh pull

Clubhead velocity (CHV) is a commonly measured variable within golf due to strong associations with increased drive distance. Previous research has revealed significant relationships between CHV and vertical ground reaction force (vGRF) variables during bilateral tasks including a countermovement jump (CMJ), squat jump (SJ), drop jump (DJ) and isometric mid-thigh pull (IMTP). Asymmetries have been linked to performance outcomes in a number of sports, however few studies have assessed asymmetries within golf. The current study, therefore, examined the relationships between CHV and vGRF asymmetries for CMJ positive impulse, SJ positive impulse, DJ positive impulse and IMTP peak force (PF). Furthermore, the level of agreement for asymmetries between protocols were assessed via Kappa coefficients. Fifty highly skilled (handicap ≤5) male golfers attended laboratory and range-based testing sessions. Positive impulse and PF were measured using a dual force platform system, with CHV measured using a TrackMan 3e launch monitor. There was no significant relationship (r = -0.14 to 0.22) between CHV and each of the vGRF asymmetry measures. Of the golfers tested, 26 had a ‘real’ asymmetry in the CMJ, 18 had a ‘real’ asymmetry in the SJ, 25 had a ‘real’ asymmetry in the DJ and 27 had a ‘real’ asymmetry in the IMTP.  Kappa coefficients indicated that asymmetries rarely favoured the same limb (k = 0.06 to 0.39) with asymmetries varying for individual golfers between protocols. As such, asymmetries are nether beneficial or detrimental to CHV, but are inherently individual and dependent on the task