This paper presents a multi-layer scheme to control a formation of three mobile robots. Each layer works as an independent module, dealing with a specific part of the problem of formation control, thus giving to the system more flexibility. In order to reduce formation errors, the proposed architecture includes a layer which performs an adaptive dynamic compensation, using a robust updating law, which compensates for each robot dynamics. The controller is able to guide the robots to the desired formation, including the possibility of time-varying position and/or shape. Stability analysis is performed for the closed-loop system, and the result is that the formation errors are ultimately bounded. Finally, simulation results for a group of three unicycle-like mobile robots are presented, which show that system performance is improved when the adaptive dynamic compensation layer is included in the formation control scheme. © 2009 IEEE.
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Abstract Long-haul travel does not constitute an obstacle for tourists to travel and is fast gaining the attention of tourists in new and unique experiences. This study was conducted to identify the long-haul travel motivation by international tourists to Penang. A total of 400 respondents participated in this survey, conducted around the tourist attractions in Penang, using cluster random sampling. However, only 370 questionnaires were only used for this research. Data were analysed using SPSS software 22 version. The findings, ‘knowledge and novelty seeking’ were the main push factors that drove long-haul travel by international tourists to Penang. Meanwhile, the main pull factor that attracts long- haul travel by international tourists to Penang was its ‘culture and history’. Additionally, there were partly direct and significant relationships between socio-demographic, trip characteristics and travel motivation (push factors and pull factors). Overall, this study identified the long-haul travel motivations by international tourists to Penang based on socio-demographic, trip characteristics and travel motivation and has indirectly helped in understanding the long-haul travel market particularly for Penang and Southeast Asia. This research also suggested for an effective marketing and promotion strategy in pro- viding useful information that is the key to attract international tourists to travel long distances. Keywords:
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Long-term care facilities are currently installing dynamic lighting systems with the aim to improve the well-being and behaviour of residents with dementia. The aim of this study was to investigate the implementation of dynamic lighting systems from the perspective of stakeholders and the performance of the technology. Therefore, a questionnaire survey was conducted with the management and care professionals of six care facilities. Moreover, light measurements were conducted in order to describe the exposure of residents to lighting. The results showed that the main reason for purchasing dynamic lighting systems lied in the assumption that the well-being and day/night rhythmicity of residents could be improved. The majority of care professionals were not aware of the reasons why dynamic lighting systems were installed. Despite positive subjective ratings of the dynamic lighting systems, no data were collected by the organizations to evaluate the effectiveness of the lighting. Although the care professionals stated that they did not see any large positive effects of the dynamic lighting systems on the residents and their own work situation, the majority appreciated the dynamic lighting systems more than the old situation. The light values measured in the care facilities did not exceed the minimum threshold values reported in the literature. Therefore, it seems illogical that the dynamic lighting systems installed in the researched care facilities will have any positive health effects.
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Background: Impaired upper extremity function due to muscle paresis or paralysis has a major impact on independent living and quality of life (QoL). Assistive technology (AT) for upper extremity function (i.e. dynamic arm supports and robotic arms) can increase a client’s independence. Previous studies revealed that clients often use AT not to their full potential, due to suboptimal provision of these devices in usual care. Objective: To optimize the process of providing AT for impaired upper extremity function and to evaluate its (cost-)effectiveness compared with care as usual. Methods: Development of a protocol to guide the AT provision process in an optimized way according to generic Dutch guidelines; a quasi-experimental study with non-randomized, consecutive inclusion of a control group (n = 48) receiving care as usual and of an intervention group (optimized provision process) (n = 48); and a cost-effectiveness and cost-utility analysis from societal perspective will be performed. The primary outcome is clients’ satisfaction with the AT and related services, measured with the Quebec User Evaluation of Satisfaction with AT (Dutch version; D-QUEST). Secondary outcomes comprise complaints of the upper extremity, restrictions in activities, QoL, medical consumption and societal cost. Measurements are taken at baseline and at 3, 6 and 9 months follow-up.
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In: Frank Gadinger, Martina Kopf, Ayşem Mert, and Christopher Smith (eds.). Political Storytelling: From Fact to Fiction (Global Dialogues 12) This essay presents a summary of important perspectives concerning the distinction between what counts as truth or fiction. As a source of inspiration, it starts with two examples found in literature – the first a classical Spanish novel and the second a collection of stories written by the leader of a social movement in Mexico. These two examples of the conflictive relations between truth and fiction, authenticity and imagination serve as a source of inspiration for the rest of this article, which shows that this issue has been a subject of intense debate in philosophy and in the philosophy of science and still presents a challenge in the 21st century. The essay states that absolute, objective truth is a myth. It describes that what counts as ‘truth’ in a particular era, is, among other things, the result of power relations. It suggests productive ways to deal with this problem in modern society, through deliberative, emancipatory processes of reflexivity (Weick 1999), participatory research and dialogue, facilitating innovation and generation of new solutions.
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A commentary on: Older adults can improve compensatory stepping with repeated postural perturbations by Dijkstra,B.W., Horak,F.B., Kamsma,Y.P.T., and Peterson,D.S.(2015).Front.AgingNeurosci. 7:201. doi:10.3389/fnagi.2015.00201. In sum, the results of Dijkstra etal. (2015) are of importance and significance for the field of falls prevention and stability control in aging. In particular, the work highlights the importance of multidirectional step or perturbation training, due to a lack of transfer across tasks. Whether this would hold for multidirectional gait perturbations is unclear, due to the influence of forward velocity during walking. Future work should explore different types, intensities and frequencies of perturbations in order to determine the most effective strategy for improving dynamic stability control in healthy older adults and inpatients with declined locomotor performance and increased falls risk. Finally, as Dijkstra etal. (2015) and previous studies found floor effects in the adaptation of young participants, further attempts should be made to appropriately scale perturbations to participant or groupability, in order to reliably compare adaptation across different groups.
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Het project PreciSIAlandbouw heeft precisielandbouwtechnieken ontwikkeld en gevalideerd op vijf thema's: sensortechnologie, kennis en advies, robotisering, digitalisering, en verdienmodellen. Dit rapport bevat de resultaten van robotisering. Er zijn modules ontwikkeld om gewas en onkruid te onderscheiden en locaties van plantdetails nauwkeurig te bepalen.Hogeschool Saxion, lectoraat Lectoraat Smart Mechatronics and Robotics
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Author supplied: Abstract—The growing importance and impact of new technologies are changing many industries. This effect is especially noticeable in the manufacturing industry. This paper explores a practical implementation of a hybrid architecture for the newest generation of manufacturing systems. The papers starts with a proposition that envisions reconfigurable systems that work together autonomously to create Manufacturing as a Service (MaaS). It introduces a number of problems in this area and shows the requirements for an architecture that can be the main research platform to solve a number of these problems, including the need for safe and flexible system behaviour and the ability to reconfigure with limited interference to other systems within the manufacturing environment. The paper highlights the infrastructure and architecture itself that can support the requirements to solve the mentioned problems in the future. A concept system named Grid Manufacturing is then introduced that shows both the hardware and software systems to handle the challenges. The paper then moves towards the design of the architecture and introduces all systems involved, including the specific hardware platforms that will be controlled by the software platform called REXOS (Reconfigurable EQuipletS Operating System). The design choices are provided that show why it has become a hybrid platform that uses Java Agent Development Framework (JADE) and Robot Operating System (ROS). Finally, to validate REXOS, the performance is measured and discussed, which shows that REXOS can be used as a practical basis for more specific research for robust autonomous reconfigurable systems and application in industry 4.0. This paper shows practical examples of how to successfully combine several technologies that are meant to lead to a faster adoption and a better business case for autonomous and reconfigurable systems in industry.
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The percentage of sports and leisure shoes sold worldwide is gradually increasing. However, consumers have little or no objective information on the mechanical properties of the shoes. A justified selection protocol of sports and leisure shoes based on static and dynamic shoe properties considering the intended use is essential. Today, commonly accepted dynamic test protocols for (sports) shoes do not exist. The development of an artificial parametric foot as part of an innovative robot gait simulator is a tool to objectify shoe properties independently from possible compensations encountered during assessment of test persons. This contribution discusses the development of an artificial foot enabling objective testing of the mechanical and functional properties of sports and leisure shoes.
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