New publication: “Is the Discrimination of Subjective Cognitive Decline from Cognitively Healthy Adulthood and Mild Cognitive Impairment Possible? A Pilot Study Utilizing the R4Alz Battery”

A new publication named “Is the Discrimination of Subjective Cognitive Decline from Cognitively Healthy Adulthood and Mild Cognitive Impairment Possible? A Pilot Study Utilizing the R4Alz Battery” has been published in the Journal of Alzheimer’s Disease. The abstract of the publication follows:

Background:The early diagnosis of neurocognitive disorders before the symptoms’ onset is the ultimate goal of the scientific community. REMEDES for Alzheimer (R4Alz) is a battery, designed for assessing cognitive control abilities in people with minor and major neurocognitive disorders. Objective:To investigate whether the R4Alz battery’s tasks differentiate subjective cognitive decline (SCD) from cognitively healthy adults (CHA) and mild cognitive impairment (MCI). Methods:The R4Alz battery was administered to 175 Greek adults, categorized in five groups a) healthy young adults (n = 42), b) healthy middle-aged adults (n = 33), c) healthy older adults (HOA; n = 14), d) community-dwelling older adults with SCD (n = 34), and e) people with MCI (n = 52). Results:Between the seven R4Alz subtasks, four showcased the best results for differentiating HOA from SCD: the working memory updating (WMCUT-S3), the inhibition and switching subtask (ICT/RST-S1&S2), the failure sets (FS) of the ICT/RST-S1&S2, and the cognitive flexibility subtask (ICT/RST-S3). The total score of the four R4Alz subtasks (R4AlzTot4) leads to an excellent discrimination among SCD and healthy adulthood, and to fare discrimination among SCD and MCI. Conclusion:The R4Alz battery is a novel approach regarding the neuropsychological assessment of people with SCD, since it can very well assist toward discriminating SCD from HOA. The R4Alz is able to measure decline of specific cognitive control abilities—namely of working memory updating, and complex executive functions—which seem to be the neuropsychological substrate of cognitive complaints in community dwelling adults of advancing age.

You can read the full text in the link below.

https://content.iospress.com/articles/journal-of-alzheimers-disease/jad200562

New publication: “Trajectory Planning of a Moving Robot Empowers 3D Localization of RFID Tags with a Single Antenna.“

A new publication named “Trajectory Planning of a Moving Robot Empowers 3D Localization of RFID Tags with a Single Antenna.“ has been published in the IEEE Journal of Radio Frequency Identification.

In this work, we present a method for 3D localization of RFID tags by a reader-equipped robot with a single antenna. The robot carries a set of sensors, which enable it to create a map of the environment and locate itself in it (Simultaneous Localization and Mapping -SLAM). Then we exploit the collected phase measurements to localize large tag populations in real-time. We show that by forcing the robot to move along non-straight trajectories, thus creating non-linear synthetic apertures, the circular ambiguity of the possible tag’s locations is eliminated and 3D localization is accomplished. A reliability metric is introduced, suitable for real-time assessment of the localization error. We investigate how the curvature of the robot’s trajectory affects the accuracy under varying multipath conditions. It is found that increasing the trajectory’s slope and number of turns improves the accuracy of the method. We introduce a phase model that accounts for the effects of multipath and derive the closed form expression of the resultant’s phase probability density function. Finally, the proposed method is extended when multiple antennas are available. Experimental results in a “multipath-rich” indoor environment demonstrate a mean 3D error of 35cm, achieved in a few seconds.

Related projects: RELIEF

Link: https://doi.org/10.1109/JRFID.2020.3000332

New book chapter: “Robotics Meets RFID for Simultaneous Localization (of Robots and Objects) and Mapping(SLAM) – A Joined Problem”

A new book chapter named “Robotics Meets RFID for Simultaneous Localization (of Robots and Objects) and Mapping(SLAM) – A Joined Problem” has been published in the Wireless Power Transmission for Sustainable Electronics from Wiley, from Antonis G. Dimitriou, Stavroula Siachalou, Emmanouil Tsardoulias, and Loukas Petrou. This publication is focused on deploying a moving robotic platform, i.e. a robot, which hosts radio frequency identification (RFID) equipment and aims to locate passive RFID tags attached to objects in the surrounding area. The robot hosts additional sensors, namely lidar and depth cameras, enabling it to perform SLAM – simultaneous localization (of its own location) and mapping of any (including previously unknown) area. This work has been performed in the context of the Relief project. Read more in the link below!

https://onlinelibrary.wiley.com/doi/abs/10.1002/9781119578598.ch7

New publication: “SLAM for autonomous planetary rovers with global localization”

A new publication named “SLAM for autonomous planetary rovers with global localization” has been published in the Journal of Field Robotics, This publication describes the thesis performed from Dimitrios Geromichalos, with the collaboration of ESA (European Space Agency) and our team. This paper describes a novel approach to simultaneous localization and mapping (SLAM) techniques applied to the autonomous planetary rover exploration scenario to reduce both the relative and absolute localization errors, using two well‐proven techniques: particle filters and scan matching. You can read the full text in the link below.

https://onlinelibrary.wiley.com/doi/full/10.1002/rob.21943

New publication: “REMEDES for Alzheimer-R4Alz Battery: Design and Development of a New Tool of Cognitive Control Assessment for the Diagnosis of Minor and Major Neurocognitive Disorders”

A new publication named “REMEDES for Alzheimer-R4Alz Battery: Design and Development of a New Tool of Cognitive Control Assessment for the Diagnosis of Minor and Major Neurocognitive Disorders” has been published in the Journal of Alzheimer’s Disease, with the collaboration with researchers from Αλτσχάιμερ Ελλάς, Robotics 4 All Group, Department of Psychology and School of Medicine, AUTH. This paper concerns the design of a novel psychometric battery for the cognitive control and attention assessment, free of demographic effects, capable to discriminate cognitively healthy aging, SCD, MCI, and mild Dementia (mD). Composed by Selena Poptsi, Manos Tsardoulias, Despoina Moraitou, Andreas Symeonidis and Μάγδα Τσολάκη

https://content.iospress.com/articles/journal-of-alzheimers-disease/jad190798

New publication: “Quantitative and Qualitative Evaluation of ROS-Enabled Local and Global Planners in 2D Static Environments” 21/10/2019

Apart from perception, one of the most fundamental aspects of an autonomous mobile robot is the ability to adequately and safely traverse the environment it operates in. This ability is called Navigation and is performed in a two- or three-dimensional fashion, except for cases where the robot is neither a ground vehicle nor articulated (e.g. robotics arms). The planning part of navigation comprises a global planner, suitable for generating a path from an initial to a target pose, and a local planner tasked with traversing the aforementioned path while dealing with environmental, sensorial and motion uncertainties. However, the task of selecting the optimal global and/or local planner combination is quite hard since no research provides insight on which is best regarding the domain and planner limitations. In this context, current work performs a comparative analysis on qualitative and quantitative aspects of the most common ROS-enabled global and local planners for robots operating in two-dimensional static environments, on the basis of mission-centered and planner-related metrics, optimality and traversability aspects, as well as non-measurable aspects, such as documentation quality, parameterisability, ease of use, etc.

https://link.springer.com/article/10.1007/s10846-019-01086-y