User Commands Research Articles

Hearing Aid Programming Interface With Configuration On Demand

In accordance with the present invention the hearing aid programmer includes a program memory for receiving firmware programming instructions and a parameter memory for receiving patient-specific hearing aid parameters to be programmed into a coupled programmable hearing aid. A software hearing aid fitting system executed on a computer such as a PC provides the parameters. In response to a user command, the computer causes a firmware program (selected from one or more firmware programs stored on the computer) appropriate to the hearing aid to be programmed to be downloaded to the programmer.

PaDEL‐descriptor: An open source software to calculate molecular descriptors and fingerprints

PaDEL-Descriptor is a software for calculating molecular descriptors and fingerprints. The software currently calculates 797 descriptors (663 1D, 2D descriptors, and 134 3D descriptors) and 10 types of fingerprints. These descriptors and fingerprints are calculated mainly using The Chemistry Development Kit. Some additional descriptors and fingerprints were added, which include atom type electrotopological state descriptors, McGowan volume, molecular linear free energy relation descriptors, ring counts, count of chemical substructures identified by Laggner, and binary fingerprints and count of chemical substructures identified by Klekota and Roth. PaDEL-Descriptor was developed using the Java language and consists of a library component and an interface component. The library component allows it to be easily integrated into quantitative structure activity relationship software to provide the descriptor calculation feature while the interface component allows it to be used as a standalone software. The software uses a Master/Worker pattern to take advantage of the multiple CPU cores that are present in most modern computers to speed up calculations of molecular descriptors. The software has several advantages over existing standalone molecular descriptor calculation software. It is free and open source, has both graphical user interface and command line interfaces, can work on all major platforms (Windows, Linux, MacOS), supports more than 90 different molecular file formats, and is multithreaded. PaDEL-Descriptor is a useful addition to the currently available molecular descriptor calculation software. The software can be downloaded at http://padel.nus.edu.sg/software/padeldescriptor.

보행 재활을 위한 신체 자중 보상용 모바일 로봇에 관한 연구

최근 고령화 사회로의 진입 및 장애 인구의 증가로 인해, 인간의 복지를 위한 자동화 시스템에 대한 수요가 늘고 있다. 특히 재활 자동화와 관련한 로봇 시스템은 환자 본인 및 치료 보조자에 대한 수고를 덜어주면서도 기존의 전통적인 재활효과에 상응하는 성과를 얻을 수 있을 것으로 기대되고 있다. 본 연구는 하지 근력이 약화된 사용자들의 신체 자중을 보상해줌과 동시에 정상인과 같은 패턴의 보행 훈련을 수행할 수 있는 모바일형 보행 재활 시스템을 제안하고자 한다. 특히, 자중보상 시스템은 신체의 자세 변화 특징을 반영하여, 기구학적인 분석을 통해 구현하였으며 보행 가이드를 위한 제어 알고리즘과 더불어 메인 컨트롤 시스템이 내장된 모바일 플랫폼에 통합 적용되었다. 이러한 모바일 플랫폼은 사용자의 보행 속도의지를 반영하는 UCS(User Command System)와 플랫폼 자체에 내장된 자율주행 알고리즘의 병합되어 운용되도록 고안되었으며, 본 논문에서는 보행 훈련시의 BWS(Body Weight Support)의 효과에 대한 검증에 집중하고자 한다. 이를 위해 인체의 근전도 신호를 측정할 수 있는 EMG(Electromyography) 센서를 활용하여, BWS 및 모바일로봇을 활용한 자중 보상 시의 피험자의 하지 근력 패턴을 측정 및 분석하여, 정상 보행자와의 차이점을 비교함으로서 본 연구의 타당성을 검증하였다. As the population of elderly people and disabled people are increased, various demands for human welfare using robot system are raised. Especially autonomous rehabilitation system using robot could reduce the human effort while maintaining the its intrinsic efficacy. This study deals with mobile gait rehabilitation system which combined with BWS (Body Weight Support) for training of elderly and handicapped people who suffer the muscle force weakness of lower extremity. BWS which is designed by kinematic analysis of body lifting characteristics and walking guide system are integrated with main control system and wheeled platform. This mobile platform is operated by UCS (User Command System) and autonomous trajectory planning algorithm. Finally, through the EMG (Electromyography) signal measuring and its analysis for subject, performance and feasibility of developed system is verified.

물리적 인간 기계 상호작용을 위한 근육의 기하학적 형상 변화를 이용한 상지부 움직임 예측

Estimation methods of motion intention from bio-signal present challenges in man machine interaction(MMI) to offer user's command to machine without control of any devices. Measurements of meaningful bio-signals that contain the motion intention and motion estimation methods from bio-signal are important issues for accurate and safe interaction. This paper proposes a novel motion estimation sensor based on a geometrical muscle changes, and a motion estimation method using the sensor. For estimation of the motion, we measure the circumference change of the muscle which is proportional to muscle activation level using a flexible piezoelectric cable (pMAS, piezo muscle activation sensor), designed in band type. The pMAS measures variations of the cable band that originate from circumference changes of muscle bundles. Moreover, we estimate the elbow motion by applying the sensor to upper limb with least square method. The proposed sensor and prediction method are simple to use so that they can be used to motion prediction device and methods in rehabilitation and sports fields.

MiroSurge—Advanced User Interaction Modalities in Minimally Invasive Robotic Surgery

This paper presents MiroSurge, a telepresence system for minimally invasive surgery developed at the German Aerospace Center (DLR), and introduces MiroSurge's new user interaction modalities: (1) haptic feedback with software-based preservation of the fulcrum point, (2) an ultrasound-based approach to the quasi-tactile detection of pulsating vessels, and (3) a contact-free interface between surgeon and telesurgery system, where stereo vision is augmented with force vectors at the tool tip. All interaction modalities aim to increase the user's perception beyond stereo imaging by either augmenting the images or by using haptic interfaces. MiroSurge currently provides surgeons with two different interfaces. The first option, bimanual haptic interaction with force and partial tactile feedback, allows for direct perception of the remote environment. Alternatively, users can choose to control the surgical instruments by optically tracked forceps held in their hands. Force feedback is then provided in augmented stereo images by constantly updated force vectors displayed at the centers of the teleoperated instruments, regardless of the instruments' position within the video image. To determine the centerpoints of the instruments, artificial markers are attached and optically tracked. A new approach to detecting pulsating vessels beneath covering tissue with an omnidirectional ultrasound Doppler sensor is presented. The measurement results are computed and can be provided acoustically (by displaying the typical Doppler sound), optically (by augmenting the endoscopic video stream), or kinesthetically (by a gentle twitching of the haptic input devices). The control structure preserves the fulcrum point in minimally invasive surgery and user commands are followed by the surgical instrument. Haptic feedback allows the user to distinguish between interaction with soft and hard environments. The paper includes technical evaluations of the features presented, as well as an overview of the system integration of MiroSurge.

Case-Based Subgoaling in Real-Time Heuristic Search for Video Game Pathfinding

Real-time heuristic search algorithms satisfy a constant bound on the amount of planning per action, independent of problem size. As a result, they scale up well as problems become larger. This property would make them well suited for video games where Artificial Intelligence controlled agents must react quickly to user commands and to other agents' actions. On the downside, real-time search algorithms employ learning methods that frequently lead to poor solution quality and cause the agent to appear irrational by re-visiting the same problem states repeatedly. The situation changed recently with a new algorithm, D LRTA*, which attempted to eliminate learning by automatically selecting subgoals. D LRTA* is well poised for video games, except it has a complex and memory-demanding pre-computation phase during which it builds a database of subgoals. In this paper, we propose a simpler and more memory-efficient way of pre-computing subgoals thereby eliminating the main obstacle to applying state-of-the-art real-time search methods in video games. The new algorithm solves a number of randomly chosen problems off-line, compresses the solutions into a series of subgoals and stores them in a database. When presented with a novel problem on-line, it queries the database for the most similar previously solved case and uses its subgoals to solve the problem. In the domain of pathfinding on four large video game maps, the new algorithm delivers solutions eight times better while using 57 times less memory and requiring 14% less pre-computation time.

Extraction of user's navigation commands from upper body force interaction in walker assisted gait

BackgroundThe advances in technology make possible the incorporation of sensors and actuators in rollators, building safer robots and extending the use of walkers to a more diverse population. This paper presents a new method for the extraction of navigation related components from upper-body force interaction data in walker assisted gait. A filtering architecture is designed to cancel: (i) the high-frequency noise caused by vibrations on the walker's structure due to irregularities on the terrain or walker's wheels and (ii) the cadence related force components caused by user's trunk oscillations during gait. As a result, a third component related to user's navigation commands is distinguished.ResultsFor the cancelation of high-frequency noise, a Benedict-Bordner g-h filter was designed presenting very low values for Kinematic Tracking Error ((2.035 ± 0.358)·10-2 kgf) and delay ((1.897 ± 0.3697)·101ms). A Fourier Linear Combiner filtering architecture was implemented for the adaptive attenuation of about 80% of the cadence related components' energy from force data. This was done without compromising the information contained in the frequencies close to such notch filters.ConclusionsThe presented methodology offers an effective cancelation of the undesired components from force data, allowing the system to extract in real-time voluntary user's navigation commands. Based on this real-time identification of voluntary user's commands, a classical approach to the control architecture of the robotic walker is being developed, in order to obtain stable and safe user assisted locomotion.

Biometrically Modulated Collaborative Control for an Assistive Wheelchair

To operate a wheelchair, people with severe physical disabilities may require assistance, which can be provided by robotization. However, medical experts report that an excess of assistance may lead to loss of residual skills, so that it is important to provide just the right amount of assistance. This work proposes a collaborative control system based on weighting the robot's and the user's commands by their respective efficiency to reactively obtain an emergent controller. Thus, the better the person operates, the more control he/she gains. Tests with volunteers have proven, though, that some users may require extra assistance when they become stressed. Hence, we propose a controller that can change the amount of support taking into account supplementary biometric data. In this work, we use an off-the-shelf wearable pulse oximeter. Experiments have demonstrated that volunteers could use our wheelchair in a more efficient way due to the proposed biometric modulated collaborative control.

Robust physics-based locomotion using low-dimensional planning

This paper presents a physics-based locomotion controller based on online planning. At each time-step, a planner optimizes locomotion over multiple phases of gait. Stance dynamics are modeled using a simplified Spring-Load Inverted (SLIP) model, while flight dynamics are modeled using projectile motion equations. Full-body control at each instant is optimized to match the instantaneous plan values, while also maintaining balance. Different types of gaits, including walking, running, and jumping, emerge automatically, as do transitions between different gaits. The controllers can traverse challenging terrain and withstand large external disturbances, while following high-level user commands at interactive rates.

Robust physics-based locomotion using low-dimensional planning

This paper presents a physics-based locomotion controller based on online planning. At each time-step, a planner optimizes locomotion over multiple phases of gait. Stance dynamics are modeled using a simplified Spring-Load Inverted (SLIP) model, while flight dynamics are modeled using projectile motion equations. Full-body control at each instant is optimized to match the instantaneous plan values, while also maintaining balance. Different types of gaits, including walking, running, and jumping, emerge automatically, as do transitions between different gaits. The controllers can traverse challenging terrain and withstand large external disturbances, while following high-level user commands at interactive rates.

KNN LRTA*: Simple Subgoaling for Real-Time Search

Real-time heuristic search algorithms satisfy a constant bound on the amount of planning per action, independent of problem size. As a result, they scale up well as problems become larger. This property would make them well suited for video games where Artificial Intelligence controlled agents must react quickly to user commands and to other agents' actions. On the downside, real-time search algorithms employ learning methods that frequently lead to poor solution quality and cause the agent to appear irrational by revisiting the same problem states repeatedly. The situation changed recently with a new algorithm, D LRTA*, which attempts to eliminate learning by automatically selecting subgoals. D LRTA* is well poised for video games except it has a complex and memory-demanding pre-computation phase during which it builds a database of subgoals. In this paper, we propose a simpler and more memory-efficient way of pre-computing subgoals thereby eliminating the main obstacle of applying state-of-the-art real-time search methods in video games. In the domain of pathfinding on eight video game maps, the new algorithm used approximately nine times less memory than D LRTA* while finding solutions 9% worse.

Innovative Stopping Mechanism for Esophageal Wireless Capsular Endoscopy

Since 2001 wireless capsular endoscopy plays an important role in the endoscopic field. However, commercially endoscopic capsules move passively relying on natural peristalsis, therefore they cannot be controlled, steered or stopped by the endoscopist. This paper presents a new concept of innovative active endoscopic device, being 11 mm in diameter and 31 mm in length, with a force controlled stopping mechanism for esophageal inspection. Since the capsular esophageal transit time is in the order of few seconds, this stopping mechanism will be suddenly released under user command as the capsule passes by interesting locations, enabling an effective inspections of the esophagus.

Understanding user commands by evaluating fuzzy linguistic information based on visual attention

This article proposes a method for understanding user commands based on visual attention. Normally, fuzzy linguistic terms such as “very little” are commonly included in voice commands. Therefore, a robot’s capacity to understand such information is vital for effective human-robot interaction. However, the quantitative meaning of such information strongly depends on the spatial arrangement of the surrounding environment. Therefore, a visual attention system (VAS) is introduced to evaluate fuzzy linguistic information based on the environmental conditions. It is assumed that the corresponding distance value for a particular fuzzy linguistic command depends on the spatial arrangement of the surrounding objects. Therefore, a fuzzy-logic-based voice command evaluation system (VCES) is proposed to assess the uncertain information in user commands based on the average distance to the surrounding objects. A situation of object manipulation to rearrange the user’s working space is simulated to illustrate the system. This is demonstrated with a PA-10 robot manipulator.

Programming‐by‐demonstration in the coworker scenario for SMEs

PurposeThe purpose of this paper is to report a collection of developments that enable users to program industrial robots using speech, several device interfaces, force control and code generation techniques.Design/methodology/approachThe reported system is explained in detail and a few practical examples are given that demonstrate its usefulness for small to medium‐sized enterprises (SMEs), where robots and humans need to cooperate to achieve a common goal (coworker scenario). The paper also explores the user interface software adapted for use by non‐experts.FindingsThe programming‐by‐demonstration (PbD) system presented proved to be very efficient with the task of programming entirely new features to an industrial robotic system. The system uses a speech interface for user command, and a force‐controlled guiding system for teaching the robot the details about the task being programmed. With only a small set of implemented robot instructions it was fairly easy to teach the robot system a new task, generate the robot code and execute it immediately.Research limitations/implicationsAlthough a particular robot controller was used, the system is in many aspects general, since the options adopted are mainly based on standards. It can obviously be implemented with other robot controllers without significant changes. In fact, most of the features were ported to run with Motoman robots with success.Practical implicationsIt is important to stress that the robot program built in this section was obtained without writing a single line of code, but instead just by moving the robot to the desired positions and adding the required robot instructions using speech. Even the upload task of the obtained module to the robot controller is commanded by speech, along with its execution/termination. Consequently, teaching the robotic system a new feature is accessible for any type of user with only minor training.Originality/valueThis type of PbD systems will constitute a major advantage for SMEs, since most of those companies do not have the necessary engineering resources to make changes or add new functionalities to their robotic manufacturing systems. Even at the system integrator level these systems are very useful for avoiding the need for specific knowledge about all the controllers with which they work: complexity is hidden beyond the speech interfaces and portable interface devices, with specific and user‐friendly APIs making the connection between the programmer and the system.

Introduction and preliminary evaluation of the Tongue Drive System: Wireless tongue-operated assistive technology for people with little or no upper-limb function

We have developed a wireless, noncontact, unobtrusive, tongue-operated assistive technology called the Tongue Drive System (TDS). The TDS provides people with minimal or no movement ability in their upper limbs with an efficacious tool for computer access and environmental control. A small permanent magnet secured on the tongue by implantation, piercing, or tissue adhesives is used as a tracer, the movement of which is detected by an array of magnetic field sensors mounted on a headset outside the mouth or on an orthodontic brace inside. The sensor output signals are wirelessly transmitted to an ultraportable computer carried on the user's clothing or wheelchair and are processed to extract the user's commands. The user can then use these commands to access a desktop computer, control a power wheelchair, or interact with his or her environment. To conduct human experiments, we developed on a face shield a prototype TDS with six direct commands and tested it on six nondisabled male subjects. Laboratory-based experimental results show that the TDS response time for >90% correctly completed commands is about 1 s, yielding an information transfer rate of approximately 120 bits/min.

Theoretical foundation for browser-based management information system development

The theoretical foundation of the model theory approach to management information systems (MIS) development is presented. To supplement previous reports on the new approach, which focused on the development procedure and implementation for applications (Takahara et al. 2005), the theoretical foundation for the approach is presented here in the context of general systems theory. A formalization of a browser-based MIS is presented as a causal stationary time system. And the formalized model is shown to have a canonical representation to which every reduced, initial-state-reachable model is isomorphic. An implementation model is derived from the canonical model, which consists of a state transition function and a memory of state. The state transition function is decomposed into a family of atomic processes. The atomic process consists of an interface component and an implementation component, the latter of which is the engine that carries out the activity required by a user command. This activity is categorized as either transaction processing or problem solving. The problem-solving component is constructed by embedding a solver into the implementation component, combining the goal-seeking model of general systems theory with the problem solving process. This construction provides a scheme that seamlessly connects transaction processing and problem solving activities.

Emulation of computer mouse control with a noninvasive brain–computer interface

Brain–computer interface (BCI) technology can provide nonmuscular communication and control to people who are severely paralyzed. BCIs can use noninvasive or invasive techniques for recording the brain signals that convey the user's commands. Although noninvasive BCIs are used for simple applications, it has frequently been assumed that only invasive BCIs, which use electrodes implanted in the brain, will be able to provide multidimensional sequential control of a robotic arm or a neuroprosthesis. The present study shows that a noninvasive BCI using scalp-recorded electroencephalographic (EEG) activity and an adaptive algorithm can provide people, including people with spinal cord injuries, with two-dimensional cursor movement and target selection. Multiple targets were presented around the periphery of a computer screen, with one designated as the correct target. The user's task was to use EEG to move a cursor from the center of the screen to the correct target and then to use an additional EEG feature to select the target. If the cursor reached an incorrect target, the user was instructed not to select it. Thus, this task emulated the key features of mouse operation. The results indicate that people with severe motor disabilities could use brain signals for sequential multidimensional movement and selection.

이중 곡률을 가지는 선박용 외판 성형을 위한 점진적 롤 성형 공정의 적용에 관한 실험적 연구

In order to manufacture a doubly curved sheet metal, the incremental roll forming process which adopts advantages such as the flexibility of the incremental forming process and continuous bending deformation of the roll forming process has been experimentally investigated. An experimental equipment was developed which was named as unit roll set (URS) consisting of two pairs of support rolls and an upper center roll. The upper roll equipped with the servo control unit is motor-driven and can be positioned in the vertical direction according to the user's commands. Four support rolls are idle, and they freely rotate only along the axis so as to transfer the plate more stably in the tangential direction of the rotation of the driving roll. In the process, the plate is deformed incrementally as deformation proceeds simultaneously in longitudinal and transverse directions. Through the experiments using URS, information regarding to forming schedules is found out to fabricate curved hull plates. This study demonstrates the further application of the incremental roll forming process in shipbuilding industries.

A Classification of Flash Evoked Potentials based on Artificial Neural Network

This paper presents how the certain sequences of the light impulses (or narrows squares) can be used to increase the number of commands for a brain-computer interface which is based on visually evoked potentials. The observation of the certain components in the power spectrum of the measured EEG will not give needed results, because the blink of the stimulators is not periodic. Therefore, different methods must be used to recognize a user commands. In this paper, a classification of flash visual evoked potentials (FVEP) of visual cortex which is induced by OFF-to-ON flash of light source based on artificial neural network is presented. The presented below results shows that is possible two classify EEG signals, which were recorded when person was visually stimulated with two type’s stimuli. Ill. 6, bibl. 11 (in Lithuanian; summaries in English, Russian, Lithuanian).

상황 정보 기반 사용자 요구 서비스 추론 모델

It was already realized at a current technological level of home network systems that the systems recognizes a user's simple order and carry out the order in the ubiquitous computing environment. However home is not a simple environment consisting into a large number of family members, so various order and situation would be needed accordingly. From now on we need to reach the technological level to infer that how is the user's behavior patterns and what kinds of service is the fittest to user who belong to the ubiquitous computing environment by using the result of the context interpreter. In this regards, active inferred-model needs to be suggested upgrading user's command into one step more higher level than the simple one adapting diversified feature. This study would like to suggest this active model recognizing context, which is user's environmental information applying basic network and inferring Context-based Service that user wants through the recognized result This study proposes a new method that can infer the user's desire in ubiquitous computing environment. First of all, we define a context as user's information of ubiquitous computing environment situation that user belongs to and we classify the context into 4W1H(Where, Who, When, What) formats. We construct Bayesian network and put the factor of context use as Bayesian network nodes. As a result, we can infer the user's behavior pattern and most proper service for user in the intelligent space from the probabilistic result of Bayesian network.