Virtual spring damper method for nonholonomic robotic swarm self-organization and leader following

In this paper, we demonstrate a method for self-organization and leader following of nonholonomic robotic swarm based on spring damper mesh. By self-organization of swarm robots we mean the emergence of order in a swarm as the result of interactions among the single robots. In other words the self-organization of swarm robots mimics some natural behavior of social animals like ants among others. The dynamics of two-wheel robot is derived, and a relation between virtual forces and robot control inputs is defined in order to establish stable swarm formation. Two cases of swarm control are analyzed. In the first case the swarm cohesion is achieved by virtual spring damper mesh connecting nearest neighboring robots without designated leader. In the second case we introduce a swarm leader interacting with nearest and second neighbors allowing the swarm to follow the leader. The paper ends with numeric simulation for performance evaluation of the proposed control method

Evaluation of the quality of life of men undergoing stationary cardiac rehabilitation

The aim of the study is to assess the quality of life of patients undergoing cardiac rehabilitation. Evaluation were subjected to 27 men in the Division of Cardiac Rehabilitation Wieżyca in 2014. Stay patients lasted from two to five weeks. The test using the questionnaire evaluating the quality of life of SF-36 was performed twice - at the beginning and end of the cycle rehabilitation.By analyzing and comparing the results between patients we concluded that comprehensive cardiac rehabilitation can significantly raise the performance quality of life in all its aspects. The largest increase in the value of quality of life was reported in the area of physical health. Obesity and smoking was accompanied by a significant part of the study group. On this basis, it can be said that these two risk factors for heart disease also reduce the quality of life of patients. Cardiac rehabilitation can reduce the risk of developing depression due to poor health. The effects of rehabilitation are greatest in patients after heart attacks. It can be presumed that the cause of this phenomenon is the minimally invasive treatment of the acute phase of the disease as compared with other cardiovascular diseases, for example. CABG, the heart valve prosthesis implantation. It has been observed relationship in which younger patients achieved better results in the area of physical health, but older people more has improved mental health. Based on the research it can be stated that a comprehensive cardiac rehabilitation is needed after the improvement of the quality of life of people with heart disease

Zróżnicowane programy aktywizujące a sprawność funkcjonalna kobiet w wieku 60+ = Diverse activation programs and the efficiency of functional women aged 60+

Prusik Katarzyna, Ossowski Zbigniew, Bielawa Łukasz, Wiech Monika, Kortas Jakub, Konieczna Seweryna, Prusik Krzysztof. Zróżnicowane programy aktywizujące a sprawność funkcjonalna kobiet w wieku 60+ = Diverse activation programs and the efficiency of functional women aged 60+. Journal of Education, Health and Sport. 2016;6(3):113-124. eISSN 2391-8306. DOI http://dx.doi.org/10.5281/zenodo.47896 http://ojs.ukw.edu.pl/index.php/johs/article/view/3425 https://pbn.nauka.gov.pl/works/721276 The journal has had 7 points in Ministry of Science and Higher Education parametric evaluation. Part B item 755 (23.12.2015). 755 Journal of Education, Health and Sport eISSN 2391-8306 7 © The Author (s) 2016; This article is published with open access at Licensee Open Journal Systems of Kazimierz Wielki University in Bydgoszcz, Poland Open Access. This article is distributed under the terms of the Creative Commons Attribution Noncommercial License which permits any noncommercial use, distribution, and reproduction in any medium, provided the original author(s) and source are credited. This is an open access article licensed under the terms of the Creative Commons Attribution Non Commercial License (http://creativecommons.org/licenses/by-nc/4.0/) which permits unrestricted, non commercial use, distribution and reproduction in any medium, provided the work is properly cited. This is an open access article licensed under the terms of the Creative Commons Attribution Non Commercial License (http://creativecommons.org/licenses/by-nc/4.0/) which permits unrestricted, non commercial use, distribution and reproduction in any medium, provided the work is properly cited. The authors declare that there is no conflict of interests regarding the publication of this paper. Received: 05.01.2016. Revised 12.02.2016. Accepted: 27.02.2016. Zróżnicowane programy aktywizujące a sprawność funkcjonalna kobiet w wieku 60+ Diverse activation programs and the efficiency of functional women aged 60+ Katarzyna Prusik1, Zbigniew Ossowski1, Łukasz Bielawa1, Monika Wiech1, Jakub Kortas1, Seweryna Konieczna2, Krzysztof Prusik1 1Academy of Physical Education and Sport in Gdansk 2Medical University of Gdansk Keywords: Nordic Walking, health training, occupational therapy. Słowa kluczowe: Nordic Walking, trening zdrowotny, terapia zajęciowa. Abstract One of the many forms of activity may be physical activity dressed in costume popular in Poland and in the world of Nordic Walking. Another way to stimulate the occupational therapy, which involves the realm of the physical, mental and social man usually less active in general. The objectives of occupational therapy are similar to the general objectives underlying any form of physical activity, and that is the behavior of self-reliance, independence and efficiency. The aim of the study is to analyze different activation programs in relation to the functional capacity of women aged 60+. We analyzed two fundamentally different activation programs seniors: occupational therapy program implemented in the Daily Nursing Home for the Elderly in Gdansk and health training program in the form of Nordic Walking realized within statutory research. The material tested is 48 women over the age of 60, after 24 people training Nordic Walking 3 times a week for 60 minutes, and 24 people participating in occupational therapy. Physical activity is an effective means to maintain physical for a long time, it can also be an effective means of shaping it during aging. Physical activity should begin early. Then you can expect spectacular effects of training, and thus a high physical translates directly to high levels of positive physical health. You can expect to achieve in this area, the leader among his peers. You can go ahead and prepare for old age, efficient, independent and self

Trajectory Tracking of a Wheeled Robotic Group Connected with Virtual Spring-Damper Mesh

W artykule przedstawiono rozwiązanie problemu śledzenia trajektorii przez grupę robotów kołowych w środowisku bez przeszkód. Śledzenie trajektorii rozumiane jest jako podążanie za punktem odniesienia przez geometryczny środek grupy, wraz z jednoczesnym utrzymaniem zadanej odległości między sąsiadującymi robotami. Zaproponowana metoda opiera się na wirtualnych siłach z wirtualnych połączeń sprężysto-tłumiących między robotami, co pozwala na śledzenie trajektorii grupy po samoorganizacji z zachowaniem jej pożądanego kształtu. Przedstawiona metoda sterowania została szczegółowo opisana wraz z opisem dynamiki i-tego robota oraz została przetestowana numerycznie i eksperymentalnie. W pracy przedstawiono wyniki badań numerycznych i eksperymentalnych oraz dyskusję i wnioski z nich wynikające. Wyniki pracy można rozszerzyć o praktyczne aplikacje związane ze śledzeniem trajektorii grupy robotów.The article presents the solution to the problem of trajectory tracking of a self-organized group of wheeled robots in the environment without obstacles. The group of robots is tracking a trajectory realized as following a reference point by the geometric center of the group, as well as simultaneously, reaching and maintaining a given distance between neighboring robots. The proposed method is based on virtual forces from virtual spring-damper connections between robots, which allows for the trajectory tracking of the previously self-organized group while maintaining its desired shape. The presented method of control is described in detail with the description of i-th robot dynamics and was tested numerically and experimentally. The paper presents the results of numerical tests and experimental research and ends with discussion and conclusions. The paper’s results could be expanded for applications related to robotic group trajectory tracking

Robotic Swarm Self-Organisation Control

This article proposes a new swarm control method using distributed proportional-derivative (PD) control for self-organisation of swarm of nonholonomic robots. Kinematics control with distributed proportional-derivative (DPD) controller enables generation of desired robot trajectory achieving collective behaviour of a robotic swarm such as aggregation and pattern formation. Proposed method is a generalisation of virtual spring-damper control used in swarm self-organisation. The article includes the control algorithm synthesis using the Lyapunov control theory and numeric simulations results

Robotic swarm self-organisation control

This article proposes a new swarm control method using distributed proportional-derivative (PD) control for self-organisation of swarm of nonholonomic robots. Kinematics control with distributed proportional-derivative (DPD) controller enables generation of desired robot trajectory achieving collective behaviour of a robotic swarm such as aggregation and pattern formation. Proposed method is a generalisation of virtual spring-damper control used in swarm self-organisation. The article includes the control algorithm synthesis using the Lyapunov control theory and numeric simulations results

Overhead Vision System for Testing Swarms and Groups of Wheeled Robots

The paper describes how to use ArUco markers to determine the position and orientation of wheeled robots in 3D space. it is preceded by a general description on the testbed and a detailed description on the marker detection algorithm along with the camera calibration using the ChaArUco markers. The camera has been described and calibrated using the pinhole camera model, taking into account distortion on the lens. The second part oo the article describes the wheeled robots with their mechanical construction

HORIZONTAL AUTOMATED STORAGE AND RETRIEVAL SYSTEM

This article describes an innovative automatic storage system based on the Raspberry Pi. It substantiates the grounds of the undertaken subject and presents an overview of existing solutions of the automatic storage. Moreover, the type and structure of the machine were selected and the analysis of the kinematics and dynamics was made in the project. The article presents the mechanical construction of the machine, describes the choice of structural elements and actuators, and develops the control system with an algorithm using the Raspberry Pi. Furthermore, an interface based on a touch-screen display cooperating with a single board computer was designed. One of the most important features of the device is its modularity and the possibility of individual configuration of the module responsible for storage, depending on the available storage space in which it is possible to install an automatic storage system: • vertically with the selection of a certain number of containers in the width and height, • horizontally with the selection of a certain number of containers in the width and depth, • horizontally and vertically with a choice of a certain number of containers in the width and depth, and defining the number of modules responsible for the storage in height. The final stage of the project was to verify the activities of the designed solutions based on tests on a prototype of the storage device. More precisely, it was tested on a machine prepared for a particular customer and a chosen configuration system, which is a combination of the triune manipulator of vertical storage controlled in an open loop

Evaluation of exercise tolerance patients in cardiac rehabilitation D model based on 6 Minute Walk Test

Evaluation of the results of 6-minute walk test depending on gender, age, left ventricular ejection fraction, the primary disease and BMI. Patients underwent assessment of Cardiac Rehabilitation Department in Szymbark in 2012 (80 people). Duration of rehabilitation for all patients was 21 days. The test was performed at the beginning and end of the cycle. Following the 3-week cardiac rehabilitation in the model D in a group of 80 patients with a mean age of 72 years achieved a statistically significant improvement in exercise capacity, expressed in the increase in test 6MWT distance by an average of 52 meters. In the study, men received final results statistically superior to women. The largest increase in the distance gained to patients after aortic valve prosthesis. People who are obese with a body mass index BMI over 30 have an average trip distance underperform both at baseline, final, and in the resulting increase of the distance than those with a BMI under 30. Prevention of obesity, one of the modifiable risk factors for cardiovascular disease should be the goal of training during cardiac rehabilitation patient education