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In this paper we describe an experience report and field deployment of real-time filtering algorithms used with a robotic vehicle to smooth emergent traffic waves. When smoothing these waves in simulation, a common approach is to... more
In this paper we describe an experience report and field deployment of real-time filtering algorithms used with a robotic vehicle to smooth emergent traffic waves. When smoothing these waves in simulation, a common approach is to implement controllers that utilize space gap, relative velocity and even acceleration from smooth ground truth information, rather than from realistic data. As a result, many results may be limited in their impact when considering the dynamics of the vehicle under control and the discretized nature of the laser data as well as its periodic arrival. Our approach discusses trade-offs in estimation accuracy to provide both distance and velocity estimates, with ground-truth hardware-in-the-loop tests with a robotic car. The contribution of the work enabled an experiment with 21 vehicles, including the robotic car closing the loop at up to 8.0 m/s with the filtered estimates, stressing the importance of an algorithm that can deliver real-time results with acceptable accuracy for the safety of the drivers in the experiment.
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Motorized mobility scooters (MMS) have become the most acceptable powered assistive device for those with impaired mobility, who have sufficient upper body strength and dexterity, and postural stability. Although several benefits have... more
Motorized mobility scooters (MMS) have become the most acceptable powered assistive device for those with impaired mobility, who have sufficient upper body strength and dexterity, and postural stability. Although several benefits have been attributed to MMS usage, there are likewise risks of use, including injuries and even deaths. The aim of the current review was to summarize results from clinical studies regarding the enhancement of MMS driver safety with a primary focus on improving driving skills/performance using clinical approaches. We addressed three main objectives: (1) to identify and summarize any available evidence (strong, moderate, or weak evidence based on the quality of studies) regarding improved driving skills/performance following training/intervention; (2) to identify types of driving skills/performance that might be improved by training/intervention, and (3) to identify the use of technology in improving MMS performance or training procedure. Articles were searc...
Research Interests: Psychology, Nursing, Ergonomics, Gerontology, Human Factors, and 15 moreAging, Injury Prevention, Medicine, Teaching, Safety, Humans, Virtual Environment, Intervention, Aged, Occupational Safety, Motor Skills, Self-help devices, Automobile driving, Mobility limitation, and Outcome assessment (Health care)
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Dmitri is a hexapod robot designed to explore biologically influenced behaviors, manufactured using 3D printing. The use of 3D printing results in not only rapid turnaround time of the physical components, but helps to evaluate software... more
Dmitri is a hexapod robot designed to explore biologically influenced behaviors, manufactured using 3D printing. The use of 3D printing results in not only rapid turnaround time of the physical components, but helps to evaluate software or simulation. Biologically inspired robots may involve complex shapes to correctly mimic biology, and such designs are only economically feasible through the use of 3D printing. Rapid prototyping of software also works in a symbiotic relationship with the mechanical design, so an iterative process may change based on the evaluation of the complete electromechanical system. Presented is the rapid prototyping methods used to develop Dmitri in both hardware and software. Artifacts and considerations using 3D printing in robotics is also discussed.