Multi-robot task allocation system to improve assistance in domestic scenarios

The AURORA project aims at developing new strategies to take assistive robotics a step further. In order to provide extended services to potential users, engaging a team of simpler robots is often preferable to using a unique, super-capable robot. In such multi-robot systems, the coordination for task execution is one of the major challenges to overcome. The present thesis proposes a solution to the specific issue of multi-robot task allocation within an heterogeneous team of robots, with additional inter-task precedence constraints. The main elements of the state of the art that support this project are reported, including useful taxonomies and existing methods. From the analyzed solutions, the one that better fits with the constraints of the project is an iterated auction-based algorithm able to manage precedence constraints, which has been modified to handle heterogeneity and partial scheduling. The selected solution has been designed and implemented with the particular purpose of being applied to the robotized kitchen setup of the AURORA project; it is however flexible and scalable and can therefore be applied to other use-cases, for instance vehicle-routing problems. Several evaluation scenarios have been tested, that demonstrate the good functioning and characteristics of the system, as well as the possibility to integrate humans into the task assignation process

Multi-robot task allocation system to improve assistance in domestic scenarios

The AURORA project aims at developing new strategies to take assistive robotics a step further. In order to provide extended services to potential users, engaging a team of simpler robots is often preferable to using a unique, super-capable robot. In such multi-robot systems, the coordination for task execution is one of the major challenges to overcome. The present thesis proposes a solution to the specific issue of multi-robot task allocation within an heterogeneous team of robots, with additional inter-task precedence constraints. The main elements of the state of the art that support this project are reported, including useful taxonomies and existing methods. From the analyzed solutions, the one that better fits with the constraints of the project is an iterated auction-based algorithm able to manage precedence constraints, which has been modified to handle heterogeneity and partial scheduling. The selected solution has been designed and implemented with the particular purpose of being applied to the robotized kitchen setup of the AURORA project; it is however flexible and scalable and can therefore be applied to other use-cases, for instance vehicle-routing problems. Several evaluation scenarios have been tested, that demonstrate the good functioning and characteristics of the system, as well as the possibility to integrate humans into the task assignation process

Multi-robot task allocation system to improve assistance in domestic scenarios

The AURORA project aims at developing new strategies to take assistive robotics a step further. In order to provide extended services to potential users, engaging a team of simpler robots is often preferable to using a unique, super-capable robot. In such multi-robot systems, the coordination for task execution is one of the major challenges to overcome. The present thesis proposes a solution to the specific issue of multi-robot task allocation within an heterogeneous team of robots, with additional inter-task precedence constraints. The main elements of the state of the art that support this project are reported, including useful taxonomies and existing methods. From the analyzed solutions, the one that better fits with the constraints of the project is an iterated auction-based algorithm able to manage precedence constraints, which has been modified to handle heterogeneity and partial scheduling. The selected solution has been designed and implemented with the particular purpose of being applied to the robotized kitchen setup of the AURORA project; it is however flexible and scalable and can therefore be applied to other use-cases, for instance vehicle-routing problems. Several evaluation scenarios have been tested, that demonstrate the good functioning and characteristics of the system, as well as the possibility to integrate humans into the task assignation process

What can we learn from the relationship between gait deviations and clinical impairments when comparing two databases?

Background: Several previous studies have tried to determine the relationship between gait and clinical impairments in children with Cerebral Palsy (CP). The heterogeneity of the population and the methodology used could explain the discrepancy within the results. Recently, Papageorgiou et al. (2019) used a Statistical Parametric Mapping (SPM) analysis to investigate this relationship, allowing to test across the kinematic waveforms parameters. Research question: Are we able to replicate the results of Papageorgiou et al. (2019) on a population of children with CP from another center? Methods: Retrospectively, youth with spastic unilateral (uCP) or bilateral (bCP) CP (3-18 years of age) who underwent a clinical gait analysis at the Geneva University Hospitals (HUG) were screened. Following Papageorgiou et al. 2019, the same inclusion and exclusion criteria as well as the same methodology were applied. Mann-Whitney-U test was used to compare the impairments score between the two centers. A Student T-Test using SPM was applied to compare the kinematic waveforms from the two centers. A canonical correlation analysis using SPM was realized to assess the relationship between clinical impairments and the combined sagittal motion of the pelvis, hip, knee and ankle. Results and significance: A total of 211 patients were included with 131 uCP (10 [8-14] years old) and 80 bCP (11 [7-14] years old). The distribution of the Gross Motor Function Classification System levels and the proportion of previous treatment differs between centers. In both CP groups, significant differences were observed in the composite score and lower limb kinematics, reflecting less impaired patients with CP at HUG compared to Papagergiou et al. (2019). While similar associations between spasticity and kinematic were observed in both centers, the association with muscle weakness, selectivity, and range of motion differed.</p

An Observational Study of Dyspnea in Emergency Departments: The Asia, Australia, and New Zealand Dyspnea in Emergency Departments Study ( AANZDEM )

International audienceObjectives: The objective was to describe the epidemiology of dyspnea presenting to emergency departments (EDs) in the Asia-Pacific region, to understand how it is investigated and treated and its outcome.Methods: Prospective interrupted time series cohort study conducted at three time points in EDs in Australia, New Zealand, Singapore, Hong Kong, and Malaysia of adult patients presenting to the ED with dyspnea as a main symptom. Data were collected over three 72-hour periods and included demographics, comorbidities, mode of arrival, usual medications, prehospital treatment, initial assessment, ED investigations, treatment in the ED, ED diagnosis, disposition from ED, in-hospital outcome, and final hospital diagnosis. The primary outcomes of interest are the epidemiology, investigation, treatment, and outcome of patients presenting to ED with dyspnea.Results: A total of 3,044 patients were studied. Patients with dyspnea made up 5.2% (3,105/60,059, 95% confidence interval [CI] = 5.0% to 5.4%) of ED presentations, 11.4% of ward admissions (1,956/17,184, 95% CI = 10.9% to 11.9%), and 19.9% of intensive care unit (ICU) admissions (104/523, 95% CI = 16.7% to 23.5%). The most common diagnoses were lower respiratory tract infection (20.2%), heart failure (14.9%), chronic obstructive pulmonary disease (13.6%), and asthma (12.7%). Hospital ward admission was required for 64% of patients (95% CI = 62% to 66%) with 3.3% (95% CI = 2.8% to 4.1%) requiring ICU admission. In-hospital mortality was 6% (95% CI = 5.0% to 7.2%).Conclusion: Dyspnea is a common symptom in ED patients contributing substantially to ED, hospital, and ICU workload. It is also associated with significant mortality. There are a wide variety of causes however chronic disease accounts for a large proportion