Motion assistance for elderly people is a field of application for service robotic systems that can be characterized by requirements and constraints of human–machine interaction and by the specificity of the user’s conditions. The main aspects of characterization and constraints are examined for the application of service systems that can be specifically conceived or adapted for elderly motion assistance by having to consider conditions of motion deficiency and muscular strength weakness as well as psychological aptitudes of users. The analysis is discussed in general terms with reference to elderly people who may not even suffer from specific pathologies. Therefore, the discussion focuses on the need for motion exercise in proper environments, including domestic ones and frame familiar to a user. The challenges of such applications oriented toward elderly users are discussed as requiring research and design of solutions in terms of specific portability, user-oriented operation, low costs, and clinical-physiotherapeutic functionality. Results of the author’s team experiences are presented as an example of problems and attempted solutions to meet the new challenges of service systems for motion assistance applications for elderly people.

This paper focuses on the design, analysis, and multi-objective optimization of a novel 5-degrees of freedom (DOF) double-driven parallel mechanism. A novel 5-DOF parallel mechanism with two double-driven branch chains is proposed, which can serve as a machine tool. By installing two actuators on one branch chain, the proposed parallel mechanism can achieve 5-DOF of the moving platform with only three branch chains. Afterwards, analytical solution for inverse kinematics is derived. The 5$\times$5 homogeneous Jacobian matrix is obtained by transforming actuator velocities into linear velocities at three points on the moving platform. Meanwhile, the workspace, dexterity, and volume are analyzed based on the kinematic model. Ultimately, a stage-by-stage Pareto optimization method is proposed to solve the multi-objective optimization problem of this parallel mechanism. The optimization results show that the workspace, compactness, and dexterity of this mechanism can be improved efficiently.

Against the backdrop of accelerated ageing around the globe, an increasing number of individuals suffer from hip motion disability and gait disorders. In this paper, the performance analysis of a novel parallel assistive mechanism with 2 DOF for hip adduction/abduction (AB/AD) and flexion/extension (FL/EX) assistance is completed and evaluated, particularly the velocity and force transfer features. The analysis shows that the assistive mechanism has advantages of fine motion assistive isotropy, high force transfer ratio and large force isotropic radius, which indicates that the parallel assistive mechanism is suitable for hip AB/AD and FL/EX assistance.

Various types of systems across a broad range of disciplines contain tandem queues with nested sessions. Strong dependence between the servers has proved to make such networks complicated and difficult to study. Exact analysis is in most of the cases intractable. Moreover, even when performance metrics such as the saturation throughput and the utilization rates of the servers are known, determining the limiting factor of such a network can be far from trivial. In our work, we present a simple, tractable and nevertheless relatively accurate method for approximating the above mentioned performance measurements for any server in a given network. In addition, we propose an extension to the intuitive “slowest server rule” for identification of the bottleneck, and show through extensive numerical experiments that this method works very well.

Odometry errors, which occur during wheeled mobile robot movement, are inevitable as they originate from hard-to-avoid imperfections such as unequal wheels diameters, joints misalignment, backlash, slippage in encoder pulses, and much more. This paper extends the method, developed previously by the authors for calibration of differential mobile robots, to reduce positioning errors for the class of mobile robots having omnidirectional wheels. The method is built upon the easy to construct kinematic formulation of omnidirectional wheels, and is capable of compensating both systematic and non-systematic errors. The effectiveness of the method is experimentally investigated on a prototype three-wheeled omnidirectional mobile robot. The validations include tracking unseen trajectories, self-rotation, as well as travelling over surface irregularities. Results show that the method is very effective in improving position errors by at least 68%. Since the method is simple to implement and has no assumption on the sources of errors, it should be considered seriously as a tool for calibrating omnidirectional mobile having any number of wheels.

Exact knowledge of the position and proper calibration of robots that move by wheels form an important foundation in mobile robot applications. In this context, a variety of sensory systems and techniques have been developed for accurate positioning of differential drive mobile robots. This paper, first, provides a brief overview of mobile robots positioning techniques and then, presents a new benchmark method capable of calibrating mobile robots with differential drive mechanisms to correct systematic errors. The proposed method is compared with the commonly used University of Michigan Benchmark (UMBmark) odometry method. Two sets of comparisons are conducted on six prototyped robots with differential drives. The first set of tests establishes the workability and accuracy that can be achieved with the new method and compares them with the ones obtained from the UMBmark technique. The second experiment compares the performance of a mobile robot, calibrated with either the UMBmark or the new method, for an unseen path. It is demonstrated that the proposed method of calibration is simple to implement, and leads to accuracy comparable to the UMBmark method. Specifically, while the error corrections in both methods are within ±5% of each other, the proposed method requires single straight line motion for calibration, which is believed to be simpler and less timely to implement than the square path motion required by the UMBmark technique. The method should therefore be considered seriously as a new tool when calibrating differential drive mobile robots.

This paper presents a comprehensive analysis of time and action operational costs on an objective function developed by Bechar et al. (A. Bechar, J. Meyer and Y. Edan, “An objective function to evaluate performance of human–robot collaboration in target recognition tasks,” IEEE Trans. Syst. Man Cybern. Part C39(6), 611–620 (2009)) for collaborative target recognition systems. Different task types, system reaction types, and environments were evaluated. Results reveal two types of task and system reactions – one focused on minimizing false alarms, and the second on detecting a target when one is presented. In addition, the analysis reveals a new property of the objective function based on a specific ratio between the weight differences that generalizes the model's objective function and facilitates its analysis. Results indicate that human decision time strongly influences system performance.

We consider a stochastic fluid queue served by a constant rate server and driven by a process which is the local time of a reflected Lévy process. Such a stochastic system can be used as a model in a priority service system, especially when the time scales involved are fast. The input (local time) in our model is typically (but not necessarily) singular with respect to the Lebesgue measure, a situation which, in view of the nonsmooth or bursty nature of several types of Internet traffic, is nowadays quite realistic. We first discuss how to rigorously construct the (necessarily) unique stationary version of the system under some natural stability conditions. We then consider the distribution of performance steady-state characteristics, namely, the buffer content, the idle period, and the busy period. These derivations are much based on the fact that the inverse of the local time of a Markov process is a Lévy process (a subordinator), hence making the theory of Lévy processes applicable. Another important ingredient in our approach is the use of Palm calculus for stationary random point processes and measures.

In this paper we present counter-intuitive examples for the multiclass queueing network, where each station may serve more than one job class with differentiated service priority and each job may require service sequentially by more than one service station. In our examples, the network performance is improved even when more jobs are admitted for service.

This study examined how horse age and gender, rider gender and individual event affected the performance of horses competing at six selected pre-novice events. Dressage accounted for 63% of penalties accumulated whilst 27.9% of penalties were from the cross-country phase and 9.1% from the show jumping phase. The data highlighted differences in the distribution of penalties between events. Male riders scored 4.5 penalties (P<0.001) less than female riders for cross-country jumping. Mares and geldings showed a very small variation (0.8 penalties) in final mean score for competition; however, stallions' mean score was 12.2 points (P<0.01) lower than mares' and 11.4 points (P<0.001) lower than geldings'. Seven-year-olds scored the fewest mean final penalty points when compared with all other age groups (P<0.001). The strongest correlations were between dressage penalty score and final placing at event, r=0.911 (P<0.01), whilst the weakest was observed between cross-country penalties and final penalty score, r=0.091 (P<0.01). It can be concluded that environmental factors exert a significant influence upon scoring at the pre-novice eventing level, both within phases of competition and over the whole competition.

In this paper, we study Markov fluid queues where the net fluid rate to a single-buffer system varies with respect to the state of an underlying continuous-time Markov chain. We present a novel algorithmic approach to solve numerically for the steady-state solution of such queues. Using this approach, both infinite- and finite-buffer cases are studied. We show that the solution of the infinite-buffer case is reduced to the solution of a generalized spectral divide-and-conquer (SDC) problem applied on a certain matrix pencil. Moreover, this SDC problem does not require the individual computation of any eigenvalues and eigenvectors. Via the solution for the SDC problem, a matrix-exponential representation for the steady-state queue-length distribution is obtained. The finite-buffer case, on the other hand, requires a similar but different decomposition, the so-called additive decomposition (AD). Using the AD, we obtain a modified matrix-exponential representation for the steady-state queue-length distribution. The proposed approach for the finite-buffer case is shown not to have the numerical stability problems reported in the literature.

In this paper we demonstrate that the distributional laws that relate the number of customers in the system (queue), L(Q) and the time a customer spends in the system (queue), S(W) under the first-in-first-out (FIFO) discipline are special cases of the H = λG law and lead to a complete solution for the distributions of L, Q, S, W for queueing systems which satisfy distributional laws for both L and Q (overtake free systems). Moreover, in such systems the derivation of the distributions of L, Q, S, W can be done in a unified way. Consequences of the distributional laws include a generalization of PASTA to queueing systems with arbitrary renewal arrivals under heavy traffic conditions, a generalization of the Pollaczek–Khinchine formula to the G//G/1 queue, an extension of the Fuhrmann and Cooper decomposition for queues with generalized vacations under mixed generalized Erlang renewal arrivals, approximate results for the distributions of L, S in a GI/G/∞ queue, and exact results for the distributions of L, Q, S, W in priority queues with mixed generalized Erlang renewal arrivals.