Tong, Fung Ling. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2007. / Includes bibliographical references (leaves 94-96). / Abstracts in English and Chinese. / Abstract --- p.i / 摘要 --- p.iii / Acknowledgement --- p.iii / Table of Contents --- p.iv / List of Figures --- p.vii / List of Tables --- p.x / Chapter Chapter 1 - --- Introduction --- p.1 / Chapter Chapter 2 - --- State of the art in Vision-based Localization --- p.6 / Chapter 2.1 --- Extended Kalman Filter-based Localization --- p.6 / Chapter 2.1.1 --- Overview of the EKF algorithm --- p.6 / Chapter 2.1.2 --- Process of the EKF-based localization algorithm --- p.8 / Chapter 2.1.3 --- Recent EKF-based vision-based localization algorithms --- p.10 / Chapter 2.1.4 --- Advantages of the EKF-based localization algorithms --- p.11 / Chapter 2.1.5 --- Disadvantages of the EKF-based localization algorithm --- p.11 / Chapter 2.2 --- Monte Carlo Localization --- p.12 / Chapter 2.2.1 --- Overview of MCL --- p.12 / Chapter 2.2.2 --- Recent MCL-based localization algorithms --- p.14 / Chapter 2.2.3 --- Advantages of the MCL-based algorithm --- p.15 / Chapter 2.2.4 --- Disadvantages of the MCL-based algorithm --- p.16 / Chapter 2.3 --- Summary --- p.16 / Chapter Chapter 3 - --- Vision-based Localization as an Optimization Problem --- p.18 / Chapter 3.1 --- "Relationship between the World, Camera and Robot Body Coordinate System" --- p.18 / Chapter 3.2 --- Formulation of the Vision-based Localization as an Optimization Problem --- p.21 / Chapter 3.3 --- Summary --- p.26 / Chapter Chapter 4 - --- Existing Search Algorithms --- p.27 / Chapter 4.1 --- Overview of the Existing Search Algorithms --- p.27 / Chapter 4.2 --- Search Algorithm for the Proposed Objective Function --- p.28 / Chapter 4.3 --- Summary --- p.30 / Chapter Chapter 5 - --- Proposed Vision-based Localization using Genetic Algorithm --- p.32 / Chapter 5.1 --- Mechanism of Genetic Algorithm --- p.32 / Chapter 5.2 --- Formation of Chromosome --- p.35 / Chapter 5.3 --- Fitness Function --- p.39 / Chapter 5.4 --- Mutation and Crossover --- p.40 / Chapter 5.5 --- Selection and Stopping Criteria --- p.42 / Chapter 5.6 --- Adaptive Search Space --- p.44 / Chapter 5.7 --- Overall Flow of the Proposed Algorithm --- p.46 / Chapter 5.8 --- Summary --- p.47 / Chapter Chapter 6 - --- Experimental Results --- p.48 / Chapter 6.1 --- Test Robot --- p.48 / Chapter 6.2 --- Simulator --- p.49 / Chapter 6.2.1 --- Camera states simulation --- p.49 / Chapter 6.2.2 --- Oscillated walking motion simulation --- p.50 / Chapter 6.2.3 --- Input images simulation --- p.50 / Chapter 6.3 --- Computer for simulations --- p.51 / Chapter 6.4 --- Position and Orientation errors --- p.51 / Chapter 6.5 --- Experiment 1 一 Feature points with quantized noise --- p.53 / Chapter 6.5.1 --- Setup --- p.53 / Chapter 6.5.2 --- Results --- p.56 / Chapter 6.6 --- Experiment 2 一 Feature points added with Gaussian noise --- p.62 / Chapter 6.6.1 --- Setup --- p.62 / Chapter 6.6.2 --- Results --- p.62 / Chapter 6.7 --- Experiment 3 一 Noise reduction performance of the adaptive search space strategy --- p.77 / Chapter 6.7.1 --- Setup --- p.77 / Chapter 6.7.2 --- Results --- p.79 / Chapter 6.8 --- Experiment 4 一 Comparison with benchmark algorithms --- p.83 / Chapter 6.8.1 --- Setup --- p.83 / Chapter 6.8.2 --- Results --- p.85 / Chapter 6.9 --- Discussions --- p.88 / Chapter 6.10 --- Summary --- p.90 / Chapter Chapter 7- --- Conclusion --- p.91 / References --- p.94

Bakgrund   Kognitiv sjukdom är ett samlingsbegrepp för neurologiska sjukdomstillstånd och är en av de tio vanligaste dödsorsakerna globalt. Antalet drabbade beräknas öka då jordens befolkning blir allt äldre och det finns inte någon farmakologisk behandling som kan bota eller bromsa förloppet. Nästan alla som har en kognitiv sjukdom drabbas av beteendemässiga och psykiska symtom vid demens (BPSD). Några av symtomen som ingår i BPSD är agitation, depression och ångest som tillsammans utgör undergruppen emotionella funktioner. Ny teknik är på frammarsch bland annat i formen av mekaniska sällskapsdjur. Ett led för att öka komforten hos patienter med påverkade emotionella funktioner är att öka kunskapen om mekaniska sällskapsdjur i omvårdnaden. Syfte Syftet var att belysa den påverkan som mekaniska sällskapsdjur har på emotionell funktion hos patienter med kognitiv sjukdom på särskilda boenden. Metod En icke-systematisk litteraturöversikt där 12 vetenskapliga originalartiklar från databaserna PubMed och CINAHL inkluderades. Artiklarnas ansatser var både kvalitativa och kvantitativa. Artiklarna granskades relaterat till deras kvalitet utifrån Sophiahemmet Högskolas bedömningsunderlag för vetenskaplig klassificering och kvalitet. Resultatet sammanställdes med integrerad dataanalys för att besvara syftet. Resultat Resultatet visade att interventioner med mekaniska sällskapsdjur signifikant minskade depression hos patienter med kognitiva sjukdomar. Gällande agitation och ångest sågs en viss positiv påverkan av interventionen. Om patienten redan innan hade hög agitation steg agitationen ännu mer i samband med interventionen med mekaniskt sällskapsdjur. Därtill sågs en ökning av emotionellt engagemang. Slutsats Resultatet är inte helt entydigt men det finns stöd för att mekaniska sällskapsdjur kan ha varierande påverkan på den emotionella funktionen hos patienter med kognitiv sjukdom och BPSD. Mekaniska sällskapsdjur utgör inte en intervention som passar alla men med individuell avvägning kan den ha eftersträvansvärda effekter. / Background Major Neurocognitive Disorder is an umbrella term for neurological conditions and is globally one of the ten most common causes of death. The number of people affected is expected to increase as the world's population ages and there is no pharmacological treatment to cure or slow the progression. Almost everyone who has a cognitive disorder experience behavioral and psychological symptom of dementia (BPSD). Some of the symptoms included in BPSD are agitation, depression and anxiety, which together form the subset of emotional functions. New technology is on the rise, with one example being the emergence of mechanical pets. One way to increase the comfort of patients with affected emotional functions is to increase knowledge about robotic pets in the field of nursing care. Aim The aim was to highlight the impact of robotic pets as a nursing intervention on the emotional function in people with neurocognitive disorders in residential care homes. Method A non-systematic literature review in which 12 original scientific articles from the databases PubMed and CINAHL were included. The articles’ approaches were both qualitative and quantitative. The articles were reviewed in relation to their quality in accordance with Sophiahemmet University’s assessment basis for scientific classification and quality. The results were synthesized using integrated data analysis to answer the purpose. Results The results showed that interventions with robotic pets significantly reduced depression in patients with cognitive disorders. Regarding agitation and anxiety, some positive impact of the intervention was seen. If the patient already had high agitation, agitation increased even more with the robotic pet intervention. There was also an increase in emotional engagement.  Conclusions The results are not entirely unambiguous, but there is support that robotic pets can have varying effects on the emotional function of patients with neurocognitive disorder and BPSD. Mechanical pets are not a one-size-fits-all intervention, but with individual consideration, they can have desirable effects.

Thesis (doctoral)--Universität, Frankfurt am Main, 2006. / Includes bibliographical references and register.