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This paper describes a robotic walker, Johnnie, that provides assistance to mobility-challenged people, especially elderly people. Our walker is modified from a conventional unpowered four-wheel walker by equipping motors, sensors and some safety devices, providing mobility and stability to it. In our software system, we provide two modes: (1) autonomous(More)
Healthcare electronics count on the effectiveness of the on-patient signal preprocessing unit to moderate the wireless data transfer for better power efficiency. In order to reduce the system power in long-time ECG acquisition, this work describes an on-patient QRS detection processor for arrhythmia monitoring. It extracts the concerned ECG part, i.e., the(More)
Existing commercial driver assistance systems, including automatic braking systems and lane-keeping systems, may monitor the state of the vehicle or the environment to determine whether the systems should intervene. However, the state of the human driver is not typically included in the decision making process. In this paper, we propose to use hidden mode(More)
Motivated by the theory of low-rank matrix representation, a new type of invariant image feature, called transform-invariant low-rank texture (TILT), has been recently proposed. However, the application of TILT features in computer vision has been severely limited by two major problems. First, TILT feature representation is based on the assumption that the(More)
— In this paper, we propose an efficient algorithm to find an optimal control policy in a discrete-time hidden mode stochastic hybrid system, which is a special case of partially observable discrete-time stochastic hybrid systems in which only discrete states are hidden. Many human-centered systems can be modeled as such systems, in which the intent of the(More)
This paper proposes a navigation algorithm that considers the states of humans and other robots in order to achieve harmonious coexistence between robots and humans. When navigating through humans and robots with different functions, a robot should not only pay attention to obstacle avoidance and goal seeking, it should also take care of whether it(More)
This paper proposes a navigation algorithm that considers the states of humans and robots in order to achieve harmonious coexistence between them. A robot navigation in the presence of humans and other robots is rarely considered in the field of robotics. When navigating through a space filled with humans and robots with different functions, a robot should(More)