Search results for "Heel"
showing 10 items of 210 documents
An embedded diagnostic system for wheelchairs brushless drives monitoring
2006
The implementation of a microcontroller based monitoring system for the diagnosis of a brushless synchronous motor drives is presented. It finds its primarily interest on motorized wheelchair for disabled people. The embedded system mainly controls all the principal parameters of the electrical drives together with the power supply system. Pre-failure and failure conditions are routinely logged and, depending on the malfunction severity, alarm messages are created and sent to a remote base station by using the GSM wireless network.
Test Bench Realization and Application of Specific Working Cycles for the Characterization of Wheelchair Electrical Drives
2006
The life quality of motion disabled people is increased by the use of more and more sophisticated electrical wheelchairs. Despite the diffusion of such aid tools, specific technical standards for the determination of characteristic parameters of their electric drives are not so developed as the ones available for urban electric vehicles. In this paper, in order to define new technical standards for wheelchairs electrical drives, a wheelchair test bench has been purposely carried out. Moreover two specific working cycles, previously conceived and defined by some of the Authors to characterize the performances of the propulsion systems suitable for electrical wheelchair applications, have bee…
Test cycles for the characterization of electrical drives devoted to wheelchair applications
2003
Today electrical wheelchairs are giving valuable increase of the quality of life of disabled people in developed countries. Despite the increasing diffusion of such an aid tool, specific standards for the characterization of their electric drives are not so developed as those available for urban electric vehicles. This paper presents a proposal for the test characterization of a wheelchair drive by means of test cycles with fixed speed trajectories. To this aim, the method, which is well known in the field of automobiles, has been purposely adapted and the obtained simulation results are satisfactory.
Local path planning in a complex environment for self-driving car
2014
This paper introduces an local path planning algorithm for the self-driving car in a complex environment. The proposed algorithm is composed of three parts: the novel path representation, the collision detection and the path modification using a voronoi cell. The novel path representation provides convenience for checking the collision and modifying the path and continuous control input for steering wheel rather than way point navigation. The proposed algorithm were applied to the self-driving car, EureCar(KAIST) and its applicability and feasibility of real time use were validated.
Logarithmic Equal-Letter Runs for BWT of Purely Morphic Words
2022
In this paper we study the number r(bwt) of equal-letter runs produced by the Burrows-Wheeler transform (BWT) when it is applied to purely morphic finite words, which are words generated by iterating prolongable morphisms. Such a parameter r(bwt) is very significant since it provides a measure of the performances of the BWT, in terms of both compressibility and indexing. In particular, we prove that, when BWT is applied to whichever purely morphic finite word on a binary alphabet, r(bwt) is O(log n), where n is the length of the word. Moreover, we prove that r(bwt) is Theta(log n) for the binary words generated by a large class of prolongable binary morphisms. These bounds are proved by pro…
Influence of Training Load on Mood Disturbance at Sea Level and 3900 m Altitude: A Case Study of a Wheelchair Athlete
2018
The purpose of this case study was to investigate the influence of a training load (TL), oxygen saturation (SO2) and blood pressure (BP) on mood states in a wheelchair marathoner during (7 weeks at sea level (SL), 5 weeks at 3860 m altitude, 1 week returning to SL). TL was obtained with Foster’s equation while mood states were obtained with the Profile of Mood States Questionnaire (POMS). Furthermore, SO2 and BP were assessed upon wakening. SO2 (%) decreased at altitude, compared to SL (88.31 ± 2.46 vs. 98.52 ± 0.11) and increased until the last week at altitude (92.64 ± 1.12). Systolic pressure (SP) increased at altitude compared to pre-altitude (126.0 ± 5…
Assistive robotic walker parameter identification for estimation of human thrust without force sensors
2017
In this paper we propose a parameter identification procedure for the wheel-motor dynamic of a robotic walker, i.e. a commercial trolley for elderly people endowed with cognitive, sensing and guidance capabilities. The objective of the wheel-motor dynamic model is to generate a suitable time reference to be used in an estimation algorithm. The ultimate goal of the estimation algorithm is to retrieve the thrust, i.e. torque and force, that the older adult user of the robotic walker applies to the platform. These quantities are of paramount importance in order to adopt intelligent and comfortable walker guidance algorithms. The novelty of this approach is the avoidance of additional costly se…
Novel Results on the Number of Runs of the Burrows-Wheeler-Transform
2021
The Burrows-Wheeler-Transform (BWT), a reversible string transformation, is one of the fundamental components of many current data structures in string processing. It is central in data compression, as well as in efficient query algorithms for sequence data, such as webpages, genomic and other biological sequences, or indeed any textual data. The BWT lends itself well to compression because its number of equal-letter-runs (usually referred to as $r$) is often considerably lower than that of the original string; in particular, it is well suited for strings with many repeated factors. In fact, much attention has been paid to the $r$ parameter as measure of repetitiveness, especially to evalua…
Lightweight LCP construction for very large collections of strings
2016
The longest common prefix array is a very advantageous data structure that, combined with the suffix array and the Burrows-Wheeler transform, allows to efficiently compute some combinatorial properties of a string useful in several applications, especially in biological contexts. Nowadays, the input data for many problems are big collections of strings, for instance the data coming from "next-generation" DNA sequencing (NGS) technologies. In this paper we present the first lightweight algorithm (called extLCP) for the simultaneous computation of the longest common prefix array and the Burrows-Wheeler transform of a very large collection of strings having any length. The computation is reali…
String attractors and combinatorics on words
2019
The notion of \emph{string attractor} has recently been introduced in [Prezza, 2017] and studied in [Kempa and Prezza, 2018] to provide a unifying framework for known dictionary-based compressors. A string attractor for a word $w=w[1]w[2]\cdots w[n]$ is a subset $\Gamma$ of the positions $\{1,\ldots,n\}$, such that all distinct factors of $w$ have an occurrence crossing at least one of the elements of $\Gamma$. While finding the smallest string attractor for a word is a NP-complete problem, it has been proved in [Kempa and Prezza, 2018] that dictionary compressors can be interpreted as algorithms approximating the smallest string attractor for a given word. In this paper we explore the noti…