The development of a mobile robot to assist people in their home is a long term goal of Fraunhofer IPA. In order to meet this goal, three generations of a robotic home assistant "Care-O-bot ®" have been developed so far. As a vision of a future household product, Care-O-bot ® 3 is equipped with the latest industrial state-of-the art hardware components. It offers all modern multimedia and interaction equipment as well as most advanced sensors and control. It is able to navigate among humans, detect and grasp objects and pass them safely to human users using its tray. Care-O-bot ® 3 has been presented to the public on several occasions where it distributed drinks to the visitors of trade fairs and events.
Abstract-We present a practical strategy for real-time path planning for articulated robot arms in changing environments by integrating PRM for Changing Environments with 3D sensor data. Our implementation on Care-O-Bot 3 identifies bottlenecks in the algorithm and introduces new methods that solve the overall task of detecting obstacles and planning a path around them in under 100 ms.A fast planner is necessary to enable the robot to react to quickly changing human environments. We have tested our implementation in real-world experiments where a human subject enters the manipulation area, is detected and safely avoided by the robot. This capability is critical for future applications in automation and service robotics where humans will work closely with robots to jointly perform tasks.
To investigate associations among methods for noninvasive measurement of skeletal bone mass, we studied 40 healthy early postmenopausal women and 68 older postmenopausal women with osteoporosis. Methods included single- and dual-energy quantitative computed tomography (QCT) and dual-photon absorptiometry (DPA) of the lumbar spine, single-photon absorptiometry (SPA) of the distal third of the radius, and combined cortical thickness (CCT) of the second metacarpal shaft. Lateral thoracolumbar radiography was performed, and a spinal fracture index was calculated. There was good correlation between QCT and DPA methods in early postmenopausal women and modest correlation in postmenopausal osteoporotic women. Correlations between spinal measurements (QCT or DPA) and appendicular cortical measurements (SPA or CCT) were modest in healthy women and poor in osteoporotic women. Measurements resulting from one method are not predictive of those by another method for the individual patient. The strongest correlation with severity of vertebral fracture is provided by QCT; the weakest, by SPA. There was a high correlation between single- and dual-energy QCT results, indicating that errors due to vertebral fat are not substantial in these postmenopausal women. Single-energy QCT may be adequate and perhaps preferable for assessing postmenopausal women. The measurement of spinal trabecular bone density by QCT discriminates between osteoporotic women and younger healthy women with more sensitivity than measurements of spinal integral bone by DPA or of appendicular cortical bone by SPA or CCT.
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