The prevalence of elder abuse in institutions is high. Global action to improve surveillance and monitoring of institutional elder abuse is vital to inform policy action to prevent elder abuse.

A successful approach to reducing the burden of non-communicable disease requires action at all stages of life, argue Bente Mikkelsen and colleagues

This paper describes research towards a system for locating wireless nodes in a home environment requiring merely a single access point. The only sensor reading used for the location estimation is the received signal strength indication (RSSI) as given by an RF interface, e.g., Wi-Fi. Wireless signal strength maps for the positioning filter are obtained by a two-step parametric and measurement driven ray-tracing approach to account for absorption and reflection characteristics of various obstacles. Location estimates are then computed using Bayesian filtering on sample sets derived by Monte Carlo sampling. We outline the research leading to the system and provide location performance metrics using trace-driven simulations and real-life experiments. Our results and real-life walk-troughs indicate that RSSI readings from a single access point in an indoor environment are sufficient to derive good location estimates of users with sub-room precision.

We propose a system for improving grasping using fingertip optical proximity sensors that allows us to perform online grasp adjustments to an initial grasp point without requiring premature object contact or regrasping strategies. We present novel optical proximity sensors that fit inside the fingertips of a Barrett Hand, and demonstrate their use alongside a probabilistic model for robustly combining sensor readings and a hierarchical reactive controller for improving grasps online. This system can be used to complement existing grasp planning algorithms, or be used in more interactive settings where a human indicates the location of objects. Finally, we perform a series of experiments using a Barrett hand equipped with our sensors to grasp a variety of common objects with mixed geometries and surface textures.

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This paper addresses adaptive control architectures for systems that respond autonomously to changing tasks. Such systems often have many sensory and motor alternatives and behavior drawn from these produces varying quality solutions. The objective is then to ground behavior in control laws which, combined with resources, enumerate closed-loop behavioral alternatives. Use of such controllers leads to analyzable and predictable composite systems, permitting the construction of abstract behavioral models. Here, discrete event system and reinforcement learning techniques are employed to constrain the behavioral alternatives and to synthesize behavior on-line. To illustrate this, a quadruped robot learning a turning gait subject to safety and kinematic constraints is presented.

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