Classificação de pacientes para adaptação de cadeira de rodas inteligente

Doutoramento em Engenharia InformáticaA importância e preocupação dedicadas à autonomia e independência das pessoas idosas e dos pacientes que sofrem de algum tipo de deficiência tem vindo a aumentar significativamente ao longo das últimas décadas. As cadeiras de rodas inteligentes (CRI) são tecnologias que podem ajudar este tipo de população a aumentar a sua autonomia, sendo atualmente uma área de investigação bastante ativa. Contudo, a adaptação das CRIs a pacientes específicos e a realização de experiências com utilizadores reais são assuntos de estudo ainda muito pouco aprofundados. A cadeira de rodas inteligente, desenvolvida no âmbito do Projeto IntellWheels, é controlada a alto nível utilizando uma interface multimodal flexível, recorrendo a comandos de voz, expressões faciais, movimentos de cabeça e através de joystick. Este trabalho teve como finalidade a adaptação automática da CRI atendendo às características dos potenciais utilizadores. Foi desenvolvida uma metodologia capaz de criar um modelo do utilizador. A investigação foi baseada num sistema de recolha de dados que permite obter e armazenar dados de voz, expressões faciais, movimentos de cabeça e do corpo dos pacientes. A utilização da CRI pode ser efetuada em diferentes situações em ambiente real e simulado e um jogo sério foi desenvolvido permitindo especificar um conjunto de tarefas a ser realizado pelos utilizadores. Os dados foram analisados recorrendo a métodos de extração de conhecimento, de modo a obter o modelo dos utilizadores. Usando os resultados obtidos pelo sistema de classificação, foi criada uma metodologia que permite selecionar a melhor interface e linguagem de comando da cadeira para cada utilizador. A avaliação para validação da abordagem foi realizada no âmbito do Projeto FCT/RIPD/ADA/109636/2009 - "IntellWheels - Intelligent Wheelchair with Flexible Multimodal Interface". As experiências envolveram um vasto conjunto de indivíduos que sofrem de diversos níveis de deficiência, em estreita colaboração com a Escola Superior de Tecnologia de Saúde do Porto e a Associação do Porto de Paralisia Cerebral. Os dados recolhidos através das experiências de navegação na CRI foram acompanhados por questionários preenchidos pelos utilizadores. Estes dados foram analisados estatisticamente, a fim de provar a eficácia e usabilidade na adequação da interface da CRI ao utilizador. Os resultados mostraram, em ambiente simulado, um valor de usabilidade do sistema de 67, baseado na opinião de uma amostra de pacientes que apresentam os graus IV e V (os mais severos) de Paralisia Cerebral. Foi também demonstrado estatisticamente que a interface atribuída automaticamente pela ferramenta tem uma avaliação superior à sugerida pelos técnicos de Terapia Ocupacional, mostrando a possibilidade de atribuir automaticamente uma linguagem de comando adaptada a cada utilizador. Experiências realizadas com distintos modos de controlo revelaram a preferência dos utilizadores por um controlo compartilhado com um nível de ajuda associado ao nível de constrangimento do paciente. Em conclusão, este trabalho demonstra que é possível adaptar automaticamente uma CRI ao utilizador com claros benefícios a nível de usabilidade e segurança.The importance and concern given to the autonomy and independence of elderly people and patients suffering from some kind of disability has been growing significantly in the last few decades. Intelligent wheelchairs (IW) are technologies that can increase the autonomy and independence of this kind of population and are nowadays a very active research area. However, the adaptations to users’ specificities and experiments with real users are topics that lack deeper studies. The intelligent wheelchair, developed in the context of the IntellWheels project, is controlled at a high-level through a flexible multimodal interface, using voice commands, facial expressions, head movements and joystick as its main input modalities. This work intended to develop a system enabling the automatic adaptation, to the user characteristics, of the previously developed intelligent wheelchair. A methodology was created enabling the creation of a user model. The research was based on the development of a data gathering system, enabling the collection and storage of data from voice commands, facial expressions, head and body movements from several patients with distinct disabilities such as Cerebral Palsy. The wheelchair can be used in different situations in real and simulated environments and a serious game was developed where different tasks may be performed by users. Data was analysed using knowledge discovery methods in order to create an automatic patient classification system. Based on the classification system, a methodology was developed enabling to select the best wheelchair interface and command language for each patient. Evaluation was performed in the context of Project FCT/RIPD/ADA/109636/ 2009 – “IntellWheels – Intelligent Wheelchair with Flexible Multimodal Interface”. Experiments were conducted, using a large set of patients suffering from severe physical constraints in close collaboration with Escola Superior de Tecnologia de Saúde do Porto and Associação do Porto de Paralisia Cerebral. The experiments using the intelligent wheelchair were followed by user questionnaires. The results were statistically analysed in order to prove the effectiveness and usability of the adaptation of the Intelligent Wheelchair multimodal interface to the user characteristics. The results obtained in a simulated environment showed a 67 score on the system usability scale based in the opinion of a sample of cerebral palsy patients with the most severe cases IV and V of the Gross Motor Function Scale. It was also statistically demonstrated that the data analysis system advised the use of an adapted interface with higher evaluation than the one suggested by the occupational therapists, showing the usefulness of defining a command language adapted to each user. Experiments conducted with distinct control modes revealed the users' preference for a shared control with an aid level taking into account the level of constraint of the patient. In conclusion, this work demonstrates that it is possible to adapt an intelligent wheelchair to the user with clear usability and safety benefits

Special Issue Robótica 2014

This special issue presents extended and revised versions of a selection of papers presented on the IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC-2014), that took place 14-15 May 2014 in the city of Espinho, Portugal.info:eu-repo/semantics/publishedVersio

Síntese de imagem baseada em light fields : concepção e desenvolvimento de uma aplicação didáctica

Tese de mestrado. Tecnologia Multimédia. Faculdade de Engenharia. Universidade do Porto. 200

Brazilian Flora 2020: Leveraging the power of a collaborative scientific network

International audienceThe shortage of reliable primary taxonomic data limits the description of biological taxa and the understanding of biodiversity patterns and processes, complicating biogeographical, ecological, and evolutionary studies. This deficit creates a significant taxonomic impediment to biodiversity research and conservation planning. The taxonomic impediment and the biodiversity crisis are widely recognized, highlighting the urgent need for reliable taxonomic data. Over the past decade, numerous countries worldwide have devoted considerable effort to Target 1 of the Global Strategy for Plant Conservation (GSPC), which called for the preparation of a working list of all known plant species by 2010 and an online world Flora by 2020. Brazil is a megadiverse country, home to more of the world's known plant species than any other country. Despite that, Flora Brasiliensis, concluded in 1906, was the last comprehensive treatment of the Brazilian flora. The lack of accurate estimates of the number of species of algae, fungi, and plants occurring in Brazil contributes to the prevailing taxonomic impediment and delays progress towards the GSPC targets. Over the past 12 years, a legion of taxonomists motivated to meet Target 1 of the GSPC, worked together to gather and integrate knowledge on the algal, plant, and fungal diversity of Brazil. Overall, a team of about 980 taxonomists joined efforts in a highly collaborative project that used cybertaxonomy to prepare an updated Flora of Brazil, showing the power of scientific collaboration to reach ambitious goals. This paper presents an overview of the Brazilian Flora 2020 and provides taxonomic and spatial updates on the algae, fungi, and plants found in one of the world's most biodiverse countries. We further identify collection gaps and summarize future goals that extend beyond 2020. Our results show that Brazil is home to 46,975 native species of algae, fungi, and plants, of which 19,669 are endemic to the country. The data compiled to date suggests that the Atlantic Rainforest might be the most diverse Brazilian domain for all plant groups except gymnosperms, which are most diverse in the Amazon. However, scientific knowledge of Brazilian diversity is still unequally distributed, with the Atlantic Rainforest and the Cerrado being the most intensively sampled and studied biomes in the country. In times of “scientific reductionism”, with botanical and mycological sciences suffering pervasive depreciation in recent decades, the first online Flora of Brazil 2020 significantly enhanced the quality and quantity of taxonomic data available for algae, fungi, and plants from Brazil. This project also made all the information freely available online, providing a firm foundation for future research and for the management, conservation, and sustainable use of the Brazilian funga and flora