A Performance Comparison between Different Industrial Real-Time Indoor Localization Systems for Mobile Platforms.

The flexibility and versatility associated with autonomous mobile robots (AMR) have facilitated their integration into different types of industries and tasks. However, as the main objective of their implementation on the factory floor is to optimize processes and, consequently, the time associated with them, it is necessary to take into account the environment and congestion to which they are subjected. Localization, on the shop floor and in real time, is an important requirement to optimize the AMRs' trajectory management, thus avoiding livelocks and deadlocks during their movements in partnership with manual forklift operators and logistic trains. Threeof the most commonly used localization techniques in indoor environments (time of flight, angle of arrival, and time difference of arrival), as well as two of the most commonly used indoor localization methods in the industry (ultra-wideband, and ultrasound), are presented and compared in this paper. Furthermore, it identifies and compares three industrial indoor localization solutions: Qorvo, Eliko Kio, and Marvelmind, implemented in an industrial mobile platform, which is the main contribution of this paper. These solutions can be applied to both AMRs and other mobile platforms, such as forklifts and logistic trains. In terms of results, the Marvelmind system, which uses an ultrasound method, was the best solution.

Human-Aware Collaborative Robots in the Wild: Coping with Uncertainty in Activity Recognition.

This study presents a novel approach to cope with the human behaviour uncertainty during Human-Robot Collaboration (HRC) in dynamic and unstructured environments, such as agriculture, forestry, and construction. These challenging tasks, which often require excessive time, labour and are hazardous for humans, provide ample room for improvement through collaboration with robots. However, the integration of humans in-the-loop raises open challenges due to the uncertainty that comes with the ambiguous nature of human behaviour. Such uncertainty makes it difficult to represent high-level human behaviour based on low-level sensory input data. The proposed Fuzzy State-Long Short-Term Memory (FS-LSTM) approach addresses this challenge by fuzzifying ambiguous sensory data and developing a combined activity recognition and sequence modelling system using state machines and the LSTM deep learning method. The evaluation process compares the traditional LSTM approach with raw sensory data inputs, a Fuzzy-LSTM approach with fuzzified inputs, and the proposed FS-LSTM approach. The results show that the use of fuzzified inputs significantly improves accuracy compared to traditional LSTM, and, while the fuzzy state machine approach provides similar results than the fuzzy one, it offers the added benefits of ensuring feasible transitions between activities with improved computational efficiency.

A Narrative Review of Speech and EEG Features for Schizophrenia Detection: Progress and Challenges.

Schizophrenia is a mental illness that affects an estimated 21 million people worldwide. The literature establishes that electroencephalography (EEG) is a well-implemented means of studying and diagnosing mental disorders. However, it is known that speech and language provide unique and essential information about human thought. Semantic and emotional content, semantic coherence, syntactic structure, and complexity can thus be combined in a machine learning process to detect schizophrenia. Several studies show that early identification is crucial to prevent the onset of illness or mitigate possible complications. Therefore, it is necessary to identify disease-specific biomarkers for an early diagnosis support system. This work contributes to improving our knowledge about schizophrenia and the features that can identify this mental illness via speech and EEG. The emotional state is a specific characteristic of schizophrenia that can be identified with speech emotion analysis. The most used features of speech found in the literature review are fundamental frequency (F0), intensity/loudness (I), frequency formants (F1, F2, and F3), Mel-frequency cepstral coefficients (MFCC's), the duration of pauses and sentences (SD), and the duration of silence between words. Combining at least two feature categories achieved high accuracy in the schizophrenia classification. Prosodic and spectral or temporal features achieved the highest accuracy. The work with higher accuracy used the prosodic and spectral features QEVA, SDVV, and SSDL, which were derived from the F0 and spectrogram. The emotional state can be identified with most of the features previously mentioned (F0, I, F1, F2, F3, MFCCs, and SD), linear prediction cepstral coefficients (LPCC), linear spectral features (LSF), and the pause rate. Using the event-related potentials (ERP), the most promissory features found in the literature are mismatch negativity (MMN), P2, P3, P50, N1, and N2. The EEG features with higher accuracy in schizophrenia classification subjects are the nonlinear features, such as Cx, HFD, and Lya.