Assistive trajectories for human-in-the-loop mobile robotic platforms

Autonomous and semi-autonomous smoothly interruptible trajectories are developed which are highly suitable for application in tele-operated mobile robots, operator on-board military mobile ground platforms, and other mobility assistance platforms. These trajectories will allow a navigational system to provide assistance to the operator in the loop, for purpose built robots or remotely operated platforms. This will allow the platform to function well beyond the line-of-sight of the operator, enabling remote operation inside a building, surveillance, or advanced observations whilst keeping the operator in a safe location. In addition, on-board operators can be assisted to navigate without collision when distracted, or under-fire, or when physically disabled by injury

Non-overlapping dual camera fall detection using the NAO humanoid robot

With an aging population and a greater desire for independence, the dangers of falling incidents in the elderly have become particularly pronounced. In light of this, several technologies have been developed with the aim of preventing or monitoring falls. Failing to strike the balance between several factors including reliability, complexity and invasion of privacy has seen prohibitive in the uptake of these systems. Some systems rely on cameras being mounted in all rooms of a user's home while others require being worn 24 hours a day. This paper explores a system using a humanoid NAO robot with dual vertically mounted cameras to perform the task of fall detection

Highly efficient Localisation utilising Weightless neural systems

Efficient localisation is a highly desirable property for an autonomous navigation system. Weightless neural networks offer a real-time approach to robotics applications by reducing hardware and software requirements for pattern recognition techniques. Such networks offer the potential for objects, structures, routes and locations to be easily identified and maps constructed from fused limited sensor data as information becomes available. We show that in the absence of concise and complex information, localisation can be obtained using simple algorithms from data with inherent uncertainties using a combination of Genetic Algorithm techniques applied to a Weightless Neural Architecture

Developing Effective Intelligent Assistance for the Powered Wheelchair User

This research is working towards developing a pre-production prototype system which can provide a low-cost real-time adjustable and adaptable driving assistance system for powered wheelchair users. Currently we are seeking to obtain information from user joystick input and their driving quality to identify symptoms and make adjustments to the driving assistance system

Feature determination from powered wheelchair user joystick input characteristics for adapting driving assistance

Background: Many powered wheelchair users find their medical condition and their ability to drive the wheelchair will change over time. In order to maintain their independent mobility, the powered chair will require adjustment over time to suit the user's needs, thus regular input from healthcare professionals is required. These limited resources can result in the user having to wait weeks for appointments, resulting in the user losing independent mobility, consequently affecting their quality of life and that of their family and carers. In order to provide an adaptive assistive driving system, a range of features need to be identified which are suitable for initial system setup and can automatically provide data for re-calibration over the long term. Methods: A questionnaire was designed to collect information from powered wheelchair users with regard to their symptoms and how they changed over time. Another group of volunteer participants were asked to drive a test platform and complete a course which represented manoeuvring in a very confined space as quickly as possible. Two of those participants were also monitored over a longer period in their normal home daily environment. Features, thought to be suitable, were examined using pattern recognition classifiers to determine their suitability for identifying the changing user input over time. Results: The results are not designed to provide absolute insight into the individual user behaviour, as no ground truth of their ability has been determined, they do nevertheless demonstrate the utility of the measured features to provide evidence of the users’ changing ability over time whilst driving a powered wheelchair. Conclusions: Determining the driving features and adjustable elements provides the initial step towards developing an adaptable assistive technology for the user when the ground truths of the individual and their machine have been learned by a smart pattern recognition syste

More than a Metric:How Training Load is Used in Elite Sport for Athlete Management

Training load monitoring is a core aspect of modern-day sport science practice. Collecting, cleaning, analysing, interpreting, and disseminating load data is usually undertaken with a view to improve player performance and/or manage injury risk. To target these outcomes, practitioners attempt to optimise load at different stages throughout the training process, like adjusting individual sessions, planning day-to-day, periodising the season, and managing athletes with a long-term view. With greater investment in training load monitoring comes greater expectations, as stakeholders count on practitioners to transform data into informed, meaningful decisions. In this editorial we highlight how training load monitoring has many potential applications and cannot be simply reduced to one metric and/or calculation. With experience across a variety of sporting backgrounds, this editorial details the challenges and contextual factors that must be considered when interpreting such data. It further demonstrates the need for those working with athletes to develop strong communication channels with all stakeholders in the decision-making process. Importantly, this editorial highlights the complexity associated with using training load for managing injury risk and explores the potential for framing training load with a performance and training progression mindset.</p

Manacled to Identity: Cosmopolitanism, Class, and ‘The Culture Concept’ in Stephen Crane

This article begins with a close reading of Stephen Crane’s short story ‘Manacled’ from 1900, which situates this rarely considered short work within the context of contemporary debates about realism. I then proceed to argue that many of the debates raised by the tale have an afterlife in our own era of American literary studies, which has frequently focused on questions of ‘identity’ and ‘culture’ in its reading of realism and naturalism to the exclusion of the importance of cosmopolitan discourses of diffusion and exchange across national borders. I then offer a brief reading of Crane’s novel George’s Mother, which follows Walter Benn Michaels in suggesting that the recent critical attention paid to particularities of cultural difference in American studies have come to conflate ideas of class and social position with ideas of culture in ways that have ultimately obscured the presence of genuine historical inequalities in US society. In order to challenge this critical commonplace, I situate Crane’s work within a history of transatlantic cosmopolitanism associated with the ideas of Franz Boas and Matthew Arnold to demonstrate the ways in which Crane’s narratives sought out an experience of the universal within their treatments of the particular

Modelling the HRV response to training loads in elite rugby Sevens players

A systems modelling approach can be used to describe and optimise responses to training stimuli within individuals. However, the requirement for regular maximal performance testing has precluded the widespread implementation of such modelling approaches in team-sport settings. Heart rate variability (HRV) can be used to measure an athlete’s adaptation to training load, without disrupting the training process. As such, the aim of the current study was to assess whether chronic HRV responses, as a representative marker of training adaptation, could be predicted from the training loads undertaken by elite Rugby Sevens players. Eight international male players were followed prospectively throughout an eight-week pre-season period, with HRV and training loads (session-RPE [sRPE] and high-speed distance [HSD]) recorded daily. The Banister model was used to estimate vagally-mediated chronic HRV responses to training loads over the first four weeks (tuning dataset); these estimates were then used to predict chronic HRV responses in the subsequent four-week period (validation dataset). Across the tuning dataset, high correlations were observed between modelled and recorded HRV for both sRPE (r = 0.66 ± 0.32) and HSD measures (r = 0.69 ± 0.12). Across the sRPE validation dataset, seven of the eight athletes met the criterion for validity (typical error r\u3e0.30), compared to one athlete in the HSD validation dataset. The sRPE validation data produced likely lower mean bias values, and most likely higher Pearson correlations, compared to the HSD validation dataset. These data suggest that a systems theory approach can be used to accurately model chronic HRV responses to internal training loads within elite Rugby Sevens players, which may be useful for optimising the training process on an individual basis