From teleoperation to the cognitive human-robot interface

Robots are slowly moving from factories to mines, construction sites, public places and homes. This new type of robot or robotized working machine – field and service robots (FSR) – should be capable of performing different kinds of tasks in unstructured changing environments, not only among humans but through continuous interaction with humans. The main requirements for an FSR are mobility, advanced perception capabilities, high "intelligence" and easy interaction with humans. Although mobility and perception capabilities are no longer bottlenecks, they can nevertheless still be greatly improved. The main bottlenecks are intelligence and the human - robot interface (HRI). Despite huge efforts in "artificial intelligence" research, the robots and computers are still very "stupid" and there are no major advancements on the horizon. This emphasizes the importance of the HRI. In the subtasks, where high-level cognition or intelligence is needed, the robot has to ask for help from the operator. In addition to task commands and supervision, the HRI has to provide the possibility of exchanging information about the task and environment through continuous dialogue and even methods for direct teleoperation. The thesis describes the development from teleoperation to service robot interfaces and analyses the usability aspects of both teleoperation/telepresence systems and robot interfaces based on high-level cognitive interaction. The analogue in the development of teleoperation interfaces and HRIs is also pointed out. The teleoperation and telepresence interfaces are studied on the basis of a set of experiments in which the different enhancement-level telepresence systems were tested in different tasks of a driving type. The study is concluded by comparing the usability aspects and the feeling of presence in a telepresence system. HRIs are studied with an experimental service robot WorkPartner. Different kinds of direct teleoperation, dialogue and spatial information interfaces are presented and tested. The concepts of cognitive interface and common presence are presented. Finally, the usability aspects of a human service robot interface are discussed and evaluated.reviewe

Functional simulations of power electronics components in series-hybrid machinery for the needs of OEM

This paper proposes method for rapid control prototyping of the series-hybrid transmission system. The rapid control prototyping needs simulation submodels from all system components in order to develop supervisory control software. The same simulation models can also be used to optimize the drive train. The target framework for the rapid control prototyping method is the original equipment manufacturer (OEM), where the objective is to build devices from subcontractor's components. The machinery industry, as a target group, uses high power ratings for the creation of motion, which leads to high voltage and current values used in the system. Therefore, prototyping is started with careful simulations. This paper also seeks to create a general idea about the structure of the series-hybrid power transmission and assists the start of the process for designing the supervisory control.reviewe

Treatment of sleep apnoea with tonsillectomy : a retrospective analysis using long-term follow-up data

Purpose This single-group, retrospective, pre-test-post-test study was performed to examine clinical outcomes in treating obstructive sleep apnoea (OSA) with tonsillectomy alone and had the longest follow-up periods to date. Methods We analysed 151 tonsillectomies in our district between the years 2004 and 2018 that had either sleep apnoea or snoring listed as a diagnosis. Twenty-one patients met our criteria and were included. Patient records were analysed for home sleep apnoea test and Epworth Sleepiness Scale (ESS) scores. Results We defined success as a > 50% reduction of the Apnoea-Hypopnea Index (AHI) and a total AHI of < 20 post-surgery. The averages before surgery were an AHI of 22.3 and an ESS of 7.22. The success rate was 47.6% after tonsillectomy as the sole treatment for obstructive sleep apnoea in our adult population. Eleven patients were non-responders. The average ESS score reduction was 0.69 and did not reach statistical significance. With follow-up times ranging from 1.8 to 171 months, this study had the longest follow-up period compared to other existing studies. No patient with a follow-up longer than one year was a responder. Conclusion Our results support that tonsillectomy is an effective treatment for obstructive sleep apnoea in adults with tonsillar hypertrophy. With less severe OSA than those reported on previously, our patients also had less severe daytime sleepiness before surgery, and daytime sleepiness score reductions did not reach statistical significance. In the future, long-term results should be further analysed.Peer reviewe

Treatment of sleep apnoea with tonsillectomy: a retrospective analysis using long-term follow-up data

Purpose: This single-group, retrospective, pre-test-post-test study was performed to examine clinical outcomes in treating obstructive sleep apnoea (OSA) with tonsillectomy alone and had the longest follow-up periods to date.Methods: We analysed 151 tonsillectomies in our district between the years 2004 and 2018 that had either sleep apnoea or snoring listed as a diagnosis. Twenty-one patients met our criteria and were included. Patient records were analysed for home sleep apnoea test and Epworth Sleepiness Scale (ESS) scores.Results: We defined success as a > 50% reduction of the Apnoea-Hypopnea Index (AHI) and a total AHI of Conclusion: Our results support that tonsillectomy is an effective treatment for obstructive sleep apnoea in adults with tonsillar hypertrophy. With less severe OSA than those reported on previously, our patients also had less severe daytime sleepiness before surgery, and daytime sleepiness score reductions did not reach statistical significance. In the future, long-term results should be further analysed.</p