Software patterns and data structures for the runtime coordination of robots, with a focus on real-time execution performance.

This paper introduces software patterns (registration, acquire-release, and cache awareness) and data structures (Petri net, finite state machine, and protocol flag array) to support the coordinated execution of software activities (also called "components" or "agents"). Moreover, it presents and tests an implementation for Petri nets that supports real-time execution in shared memory for deployment inside one individual robot and separates event firing and handling, enabling distributed deployment between multiple robots. Experimental validation of the introduced patterns and data structures is performed within the context of activities for task execution, control and perception, and decision making for an application on coordinated navigation.

RoBétArmé Project: Human-robot collaborative construction system for shotcrete digitization and automation through advanced perception, cognition, mobility and additive manufacturing skills.

The importance of construction automation has grown worldwide, aiming to deliver new machineries for the automation of roads, tunnels, bridges, buildings and earth-work construction. This need is mainly driven by (i) the shortage and rising costs of skilled workers, (ii) the tremendous increased needs for new infrastructures to serve the daily activities and (iii) the immense demand for maintenance of ageing infrastructure. Shotcrete (sprayed concrete) is increasingly becoming popular technology among contractors and builders, as its application is extremely economical and flexible as the growth in construction repairs in developed countries demand excessive automation of concrete placement.

Behavior adaptation for mobile robots via semantic map compositions of constraint-based controllers.

Specifying and solving Constraint-based Optimization Problems (COP) has become a mainstream technology for advanced motion control of mobile robots. COP programming still requires expert knowledge to transform specific application context into the right configuration of the COP parameters (i.e.

Local-To-Global Hypotheses for Robust Robot Localization.

Many robust state-of-the-art localization methods rely on pose-space sample sets that are evaluated against individual sensor measurements. While these methods can work effectively, they often provide limited mechanisms to control the amount of hypotheses based on their similarity. Furthermore, they do not explicitly use associations to create or remove these hypotheses.

Dynamic Semantic World Models and Increased Situational Awareness for Highly Automated Inland Waterway Transport.

Automated surface vessels must integrate many tasks and motions at the same time. Moreover, vessels as well as monitoring and control services need to react to physical disturbances, to dynamically allocate software resources available within a particular environment, and to communicate with various other actors in particular navigation and traffic situations. In this work, the responsibility for the situational awareness is given to a mediator that decides : 1) to assess the impact of the actual physical environment on the quality and performance of the ongoing task executions; 2) to make sure these tasks satisfy the system requirements; and 3) to be robust against disturbances.

Semi-automatic methods for tracking the medial gastrocnemius muscle-tendon junction using ultrasound: a validation study.

New Findings: What is the central question of this study? Is the proposed semi-automatic algorithm suitable for tracking the medial gastrocnemius muscle-tendon junction in ultrasound images collected during passive and active conditions? What is the main finding and its importance? The validation of a method allowing efficient tracking of the muscle-tendon junction in both passive and active conditions, in healthy as well as in pathological conditions. This method was tested in common acquisition conditions and the developed software made freely available.

Abstract: Clinically relevant information can be extracted from ultrasound (US) images by tracking the displacement of the junction between muscle and tendon.

Efficient image based method using water-filled balloons for improving probe spatial calibration in 3D freehand ultrasonography.

The ultrasound (US) probe spatial calibration is a key prerequisite for enabling the use of the 3D freehand US technique. Several methods have been proposed for achieving an accurate and precise calibration, although these methods still require specialised equipment. This equipment is often not available in research or clinical facilities.

Medial Gastrocnemius Muscle-Tendon Junction and Fascicle Lengthening across the Range of Motion Analyzed in 2-D and 3-D Ultrasound Images.

Ultrasound imaging modalities offer a clinically viable method to visualize musculoskeletal structures. However, proper data comparison between investigations is compromised because of a lack of measurement error documentation and method standardization. This investigation analyzes the reliability and validity of extracting medial gastrocnemius belly and fascicle lengths and pennation angles in different ankle joint positions, across the full range of motion, in a cohort of 11 children with spastic cerebral palsy and 11 typically developed children.

An innovative solution to reduce muscle deformation during ultrasonography data collection.

Background: 3D freehand ultrasound enables the creation of volumetric data. The acquisition of morphological features, such as muscle volume, is influenced by the variations in force applied to the skin with the ultrasound probe. To minimise the deformations, a concave-shaped plastic mount combined with a custom-shaped gel pad was developed for the ultrasound head, named Portico.

Reliability of a clinical 3D freehand ultrasound technique: Analyses on healthy and pathological muscles.

Background And Objective: 3D freehand Ultrasonography is a medical imaging technique that can be used to measure muscle and tendon morphological and structural properties, including volume, lengths and echo-intensity. These properties are clinically relevant in neurological disorders such as spastic cerebral palsy to monitor disease progression and evaluate the effect of treatment. This study presents a methodology for extracting these parameters along with a clinical reliability analysis for the data acquisition and processing.

Can in Vivo Medial Gastrocnemius Muscle-Tendon Unit Lengths be Reliably Estimated by Two Ultrasonography Methods? A Within-Session Analysis.

A clinically feasible method to reliably estimate muscle-tendon unit (MTU) lengths could provide essential diagnostic and treatment planning information. A 3-D freehand ultrasound (3-DfUS) method was previously validated for extracting in vivo medial gastrocnemius (MG) lengths, although the processing time can be considered substantial for the clinical environment. This investigation analyzed a quicker and simpler method using the US transducer as a spatial pointer (US-PaP), where the within-session reliability of extracting the muscle-tendon unit (MTU) and tendon lengths are estimated.

Children with Spastic Cerebral Palsy Experience Difficulties Adjusting Their Gait Pattern to Weight Added to the Waist, While Typically Developing Children Do Not.

The prevalence of childhood overweight and obesity is increasing in the last decades, also in children with Cerebral Palsy (CP). Even though it has been established that an increase in weight can have important negative effects on gait in healthy adults and children, it has not been investigated what the effect is of an increase in body weight on the characteristics of gait in children with CP. In CP, pre and post three-dimensional gait analyses are performed to assess the effectiveness of an intervention.

The reliability and validity of a clinical 3D freehand ultrasound system.

Background And Objective: Acquiring large anatomical volumes in a feasible manner is useful for clinical decision-making. A relatively new technique called 3D freehand ultrasonography is capable of this by combining a conventional 2D ultrasonography system. Currently, a thorough analysis of this technique is lacking, as the analyses are dependent on the software implementation details and the choice of measurement systems.

A Novel Method of Quantifying Gait Deviations Using Plantar Pressure Patterns.

Background: Comparing the dynamic pedobarographic patterns of individuals is common practice in basic and applied research. However, this process is often time-consuming and complex, and commercially available software often lacks powerful visualization and interpretation tools.

Methods: We propose a simple method for displaying pixel-level pedobarographic deviations over time relative to a so-called reference pedobarographic pattern.

Efficacy measures associated to a plantar pressure based classification system in diabetic foot medicine.

Aims: The concept of 'classification' has, similar to many other diseases, been found to be fundamental in the field of diabetic medicine. In the current study, we aimed at determining efficacy measures of a recently published plantar pressure based classification system.

Methods: Technical efficacy of the classification system was investigated by applying a high resolution, pixel-level analysis on the normalized plantar pressure pedobarographic fields of the original experimental dataset consisting of 97 patients with diabetes and 33 persons without diabetes.

A color-code based method for the interpretation of plantar pressure measurements in clinical gait analysis.

Comparing plantar pressure measurements (PPM) of a patient following an intervention or between a reference group and a patient-group is common practice in clinical gait analysis. However, this process is often time consuming and complex, and commercially available software often lacks powerful visualization and interpretation tools. In this paper, we propose a simple method for displaying pixel-level PPM deviations relative to a so-called reference PPM pattern.

Review of clinical approaches and diagnostic quantities used in pedobarographic measurements.

The non-invasive nature of pedobarographic measurements is particularly attractive to researchers for analyzing and characterizing the impact of specific pathological foot conditions. However, adequate clinical use of pedobarographic technology requires a profound technical and methodological knowledge. Several papers summarized the technical capacities of pedobarographic technology.

Augmented switching linear dynamical system model for gas concentration estimation with MOX sensors in an open sampling system.

In this paper, we introduce a Bayesian time series model approach for gas concentration estimation using Metal Oxide (MOX) sensors in Open Sampling System (OSS). Our approach focuses on the compensation of the slow response of MOX sensors, while concurrently solving the problem of estimating the gas concentration in OSS. The proposed Augmented Switching Linear System model allows to include all the sources of uncertainty arising at each step of the problem in a single coherent probabilistic formulation.

A novel device for standardizing marker placement at the calcaneus.

Background: The determination of anatomical reference frames in the rearfoot during three-dimensional multisegment foot modeling has been hindered by a variety of factors. One of these factors is related to the difficulty in palpating, or the absence of, anatomical landmarks. A novel device (the Calcaneal Marker Device) aimed at standardizing marker placement at the calcaneus was, therefore, developed and evaluated for its reliability.

Classification of forefoot plantar pressure distribution in persons with diabetes: a novel perspective for the mechanical management of diabetic foot?

Background: The aim of this study was to identify groups of subjects with similar patterns of forefoot loading and verify if specific groups of patients with diabetes could be isolated from non-diabetics.

Methodology/principal Findings: Ninety-seven patients with diabetes and 33 control participants between 45 and 70 years were prospectively recruited in two Belgian Diabetic Foot Clinics. Barefoot plantar pressure measurements were recorded and subsequently analysed using a semi-automatic total mapping technique.

Comparison of foot segmental mobility and coupling during gait between patients with diabetes mellitus with and without neuropathy and adults without diabetes.

Background: Reduction in foot mobility has been identified as a key factor of altered foot biomechanics in individuals with diabetes mellitus. This study aimed at comparing in vivo segmental foot kinematics and coupling in patients with diabetes with and without neuropathy to control adults.

Methods: Foot mobility of 13 diabetic patients with neuropathy, 13 diabetic patients without neuropathy and 13 non-diabetic persons was measured using an integrated measurement set-up including a plantar pressure platform and 3D motion analysis system.

Pattern description and reliability parameters of six force-time related indices measured with plantar pressure measurements.

Background: Functional interpretation of plantar pressure measurements is commonly done through the use of ratios and indices which are preceded by the strategic combination of a subsampling method and selection of physical quantities. However, errors which may arise throughout the determination of these temporal indices/ratio calculations (T-IRC) have not been quantified. The purpose of the current study was therefore to estimate the reliability of T-IRC following semi-automatic total mapping (SATM).

A clinical measurement to quantify spasticity in children with cerebral palsy by integration of multidimensional signals.

Most clinical tools for measuring spasticity, such as the Modified Ashworth Scale (MAS) and the Modified Tardieu Scale (MTS), are not sufficiently accurate or reliable. This study investigated the clinimetric properties of an instrumented spasticity assessment. Twenty-eight children with spastic cerebral palsy (CP) and 10 typically developing (TD) children were included.

Repeatability of a 3D multi-segment foot model protocol in presence of foot deformities.

Repeatability studies on 3D multi-segment foot models (3DMFMs) have mainly considered healthy participants which contrasts with the widespread application of these models to evaluate foot pathologies. The current study aimed at establishing the repeatability of the 3DMFM described by Leardini et al. in presence of foot deformities.