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Significant advances have been achieved in mobile robot localization and mapping in dynamic environments, however these are mostly incapable of dealing with the physical properties of automotive radar sensors. In this paper we present an accurate and robust solution to this problem, by introducing a memory efficient cluster map representation. Our approach is validated by experiments that took place on a public parking space with pedestrians, moving cars, as well as different parking configurations to provide a challenging dynamic environment. The results prove its ability to reproducibly localize our vehicle within an error margin of below 1% with respect to ground truth using only point based radar targets. A decay process enables our map representation to support local updates.
In any autonomous driving system, the map for localization plays a vital part that is often underestimated. The map describes the world around the vehicle outside of the sensor view and is a main input into the decision making process in highly complicated scenarios. Thus there are strict requirements towards the accuracy and timeliness of the map. We present a robust and reliable approach towards crowd based mapping using a GraphSLAM framework based on radar sensors. We show on a parking lot that even in dynamically changing environments, the localization results are very accurate and reliable even in unexplored terrain without any map data. This can be achieved by collaborative map updates from multiple vehicles. To show these claims experimentally, the Joint Graph Optimization is compared to the ground truth on an industrial parking space. Mapping performance is evaluated using a dense map from a total station as reference and localization results are compared with a deeply coupled DGPS/INS system.
Die Entwicklung eines Medizinproduktes benötigt in der Regel mehrere Jahre. Gesetzliche Vorgaben, wie zum Beispiel das Medizinprodukte Durchführungsgesetz, bestimmen, welche Schritte während der Entwicklung durchgeführt werden müssen. Deren Einhaltung muss in der technischen Dokumentation nachgewiesen werden. Die darin enthaltenen technischen Dokumente entstehen im Verlauf der Entwicklung. Diese bauen aufeinander auf und verweisen sich gegenseitig. Dadurch entstehen heterogene und unübersichtliche Strukturen. Eine Lösung für dieses Problem bietet Traceability. Traceability sorgt dafür, dass die Anforderungen an das Medizinprodukt mit Dokumenten, wie dem Anforderungskatalog, Lastenheft oder der Spezifikation verknüpft werden können. Somit ist jederzeit nachvollziehbar, welche Anforderungen mit welchem Test, welchen Änderungen oder welchen Ergebnissen zusammenhängen. Ein wichtiger Prozess bei der Entwicklung von Medizinprodukten ist zudem das Usability Engineering, wodurch die Sicherheit eines Medizinprodukts sichergestellt und Risiken bei der Anwendung minimiert werden sollen. In diesem Prozess entstehen viele Artefakte, wie zum Beispiel Usability-Berichte. Um den Überblick über alle Usability-Daten behalten zu können, können diese mithilfe von Traceability verknüpft werden. In diesem Artikel wird herausgestellt, welche Voraussetzungen für das Usability Engineering in der Medizintechnik an Traceability gestellt
werden.
Bausparverträge sind kombinierte Spar- und Finanzierungsinstrumente, die für die breite Bevölkerung ausgelegt sind. Im Jahr 2020 umfasste der Bestand an Bausparverträgen in Deutschland ca. 25 Mio. Verträge. Ein wesentlicher Teil der Attraktivität des Bausparvertrags für Kunden liegt in der hohen Flexibilität dieser Finanzprodukte, die im Vertragsablauf eine flexible Anpassung an individuelle Finanzierungsbedingungen ermöglicht. In der Sparphase sind das insbesondere Möglichkeiten zur Erhöhung, Ermäßigung und Teilung der Verträge sowie zur relativ flexiblen Anpassung der Sparrate. Bei einem zuteilungsreifen Vertrag kann die Sparphase innerhalb bestimmter zeitlicher Grenzen fortgesetzt werden. In der Darlehensphase sind flexible Sondertilgungen jederzeit und ohne Vorfälligkeitsentschädigung möglich.
Die Vielzahl eingebetteter Optionen beeinflussen sich wechselseitig und müssen in ihrer Wirkungsweise immer gesamthaft betrachtet und gesteuert werden. Die empirische Erfahrung der letzten Jahrzehnte zeigt bezüglich der Optionsausübung ein Kundenverhalten, das sich zwar an finanzmathematischen Überlegungen orientiert, aber nicht vollständig finanzrational abläuft.
Digital Enterprise Architecture allows multiple viewpoints on a company’s IT landscape. To gain valuable information out of huge amounts of operational data, it is indispensable to have both an understanding of the operations architecture and an engine capable of managing Big Data. The mechanism of understanding huge amounts of data is based on three main steps: collect, process and use. The main idea is focused on extracting valuable information out of Big Data to make better design decisions. The Elastic Stack is an open-source solution to comfortably and quickly handle Big Data scenarios.
Measuring cardiorespiratory parameters in sleep, using non-contact sensors and the Ballistocardiography technique has received much attention due to the low-cost, unobtrusive, and non-invasive method. Designing a user-friendly, simple-to-use, and easy-to-deployment preserving less error-prone remains open and challenging due to the complex morphology of the signal. In this work, using four forcesensitive resistor sensors, we conducted a study by designing four distributions of sensors, in order to simplify the complexity of the system by identifying the region of interest for heartbeat and respiration measurement. The sensors are deployed under the mattress and attached to the bed frame without any interference with the subjects. The four distributions are combined in two linear horizontal, one linear vertical, and one square, covering the influencing region in cardiorespiratory activities. We recruited 4 subjects and acquired data in four regular sleeping positions, each for a duration of 80 seconds. The signal processing was performed using discrete wavelet transform bior 3.9 and smooth level of 4 as well as bandpass filtering. The results indicate that we have achieved the mean absolute error of 2.35 and 4.34 for respiration and heartbeat, respectively. The results recommend the efficiency of a triangleshaped structure of three sensors for measuring heartbeat and respiration parameters in all four regular sleeping positions.
Assistive environments are entering our homes faster than ever. However, there are still various barriers to be broken. One of the crucial points is a personalization of offered services and integration of assistive technologies in common objects and therefore in a regular daily routine. Recognition of sleep patterns for the preliminary sleep study is one of the Health services that could be performed in an undisturbing way. This article proposes the hardware system for the measurement of bio-vital signals necessary for initial sleep study in a nonobtrusive way. The first results confirm the potential of measurement of breathing and movement signals with the proposed system.
The goal of the presented project is to develop the concept of home e-health centers for barrier-free and cross-border telemedicine. AAL technologies are already present on the market but there is still a gap to close until they can be used for ordinary patient needs. The general idea needs to be accompanied by new services, which should be brought together in order to provide a full coverage of service for the users. Sleep and stress were chosen as predominant influence in the population. The executed scientific study of available home devices analyzing sleep has provided the necessary to select appropriate devices. The first choice for the project implementation is the device EMFIT QS+. This equipment provides a part of a complete system that a home telemedical hospital can provide at a level of precision and communication with internal and/or external health services.
Autism spectrum disorders (ASD) affect a large number of children both in the Russian Federation and in Germany. Early diagnosis is key for these children, because the sooner parents notice such disorders in a child and the rehabilitation and treatment program starts, the higher the likelihood of his social adaptation. The difficulties in raising such a child lie in the complexity of his learning outside of children's groups and the complexity of his medical care. In this regard, the development of digital applications that facilitate medical care and education of such children at home is important and relevant. The purpose of the project is to improve the availability and quality of healthcare and social adaptation at home of children with ASD through the use of digital technologies.
An ongoing challenge in our days is to lower the impact on the quality of life caused by dysfunctionality through individual support. With the background of an aging society and continuous increases in costs for care, a holistic solution is needed. This solution must integrate individual needs and preferences, locally available possibilities, regional conditions, professional and informal caregivers and provide the flexibility to implement future requirements. The proposed model is a result of a common initiative to overcome the major obstacles and to center a solution on individual needs caused by dysfunctionality.
The citizen-centered health platform project is intended to provide a platform that can be used in EU cross-border regions, where social and economic exchange occurs across national borders. The overriding challenges are: (a) social: improving citizen-centered health and care provision; (b) technical: providing a digital platform for networking citizens, service providers, and municipal actors; (c) economic: developing long-term successful (sustainable) business models/value chains. The platform should strengthen and expand existing networks and establish new regional networks. Each network addresses particular challenges and apply them in a region-specific manner. Here, the national boundary conditions and the interregional needs play an essential role. These objectives require sufficient participation of civil society representatives. Furthermore, the platform will establish an overarching, sustainable, and knowledge-based network of health experts. The platform is to be jointly developed and implemented in the regions and follow an open-access approach. Therefore, synergies will be shared more quickly, strengthening competencies and competitiveness. In addition to practice partners, scientific and municipal institutions and SMEs are involved. The actors thus contribute to scientific performance, innovative strength, and resilience.
The development of automatic solutions for the detection of physiological events of interest is booming. Improvements in the collection and storage of large amounts of healthcare data allow access to these data faster and more efficiently. This fact means that the development of artificial intelligence models for the detection and monitoring of a large number of pathologies is becoming increasingly common in the medical field. In particular, developing deep learning models for detecting obstructive apnea (OSA) events is at the forefront. Numerous scientific studies focus on the architecture of the models and the results that these models can provide in terms of OSA classification and Apnea-Hypopnea-Index (AHI) calculation. However, little focus is put on other aspects of great relevance that are crucial for the training and performance of the models. Among these aspects can be found the set of physiological signals used and the preprocessing tasks prior to model training. This paper covers the essential requirements that must be considered before training the deep learning model for obstructive sleep apnea detection, in addition to covering solutions that currently exist in the scientific literature by analyzing the preprocessing tasks prior to training.
Introduction
Despite its high accuracy, polysomnography (PSG) has several drawbacks for diagnosing obstructive sleep apnea (OSA). Consequently, multiple portable monitors (PMs) have been proposed.
Objective
This systematic review aims to investigate the current literature to analyze the sets of physiological parameters captured by a PM to select the minimum number of such physiological signals while maintaining accurate results in OSA detection.
Methods
Inclusion and exclusion criteria for the selection of publications were established prior to the search. The evaluation of the publications was made based on one central question and several specific questions.
Results
The abilities to detect hypopneas, sleep time, or awakenings were some of the features studied to investigate the full functionality of the PMs to select the most relevant set of physiological signals. Based on the physiological parameters collected (one to six), the PMs were classified into sets according to the level of evidence. The advantages and the disadvantages of each possible set of signals were explained by answering the research questions proposed in the methods.
Conclusions
The minimum number of physiological signals detected by PMs for the detection of OSA depends mainly on the purpose and context of the sleep study. The set of three physiological signals showed the best results in the detection of OSA.
The massive use of patient data for the training of artificial intelligence algorithms is common nowadays in medicine. In this scientific work, a statistical analysis of one of the most used datasets for the training of artificial intelligence models for the detection of sleep disorders is performed: sleep health heart study 2. This study focuses on determining whether the gender and age of the patients have a relevant influence to consider working with differentiated datasets based on these variables for the training of artificial intelligence models.
The digital twin concept has been widely known for asset monitoring in the industry for a long time. A clear example is the automotive industry. Recently, there has also been significant interest in the application of digital twins in healthcare, especially in genomics in what is known as precision medicine. This work focuses on another medical speciality where digital twins can be applied, sleep medicine. However, there is still great controversy about the fundamentals that constitute digital twins, such as what this concept is based on and how it can be included in healthcare effectively and sustainably. This article reviews digital twins and their role so far in what is known as personalized medicine. In addition, a series of steps will be exposed for a possible implementation of a digital twin for a patient suffering from sleep disorders. For this, artificial intelligence techniques, clinical data management, and possible solutions for explaining the results derived from artificial intelligence models will be addressed.
Today many scientific works are using deep learning algorithms and time series, which can detect physiological events of interest. In sleep medicine, this is particularly relevant in detecting sleep apnea, specifically in detecting obstructive sleep apnea events. Deep learning algorithms with different architectures are used to achieve decent results in accuracy, sensitivity, etc. Although there are models that can reliably determine apnea and hypopnea events, another essential aspect to consider is the explainability of these models, i.e., why a model makes a particular decision. Another critical factor is how these deep learning models determine how severe obstructive sleep apnea is in patients based on the apnea-hypopnea index (AHI). Deep learning models trained by two approaches for AHI determination are exposed in this work. Approaches vary depending on the data format the models are fed: full-time series and window-based time series.
The use of deep learning models with medical data is becoming more widespread. However, although numerous models have shown high accuracy in medical-related tasks, such as medical image recognition (e.g. radiographs), there are still many problems with seeing these models operating in a real healthcare environment. This article presents a series of basic requirements that must be taken into account when developing deep learning models for biomedical time series classification tasks, with the aim of facilitating the subsequent production of the models in healthcare. These requirements range from the correct collection of data, to the existing techniques for a correct explanation of the results obtained by the models. This is due to the fact that one of the main reasons why the use of deep learning models is not more widespread in healthcare settings is their lack of clarity when it comes to explaining decision making.
Background: Polysomnography (PSG) is the gold standard for detecting obstructive sleep apnea (OSA). However, this technique has many disadvantages when using it outside the hospital or for daily use. Portable monitors (PMs) aim to streamline the OSA detection process through deep learning (DL).
Materials and methods: We studied how to detect OSA events and calculate the apnea-hypopnea index (AHI) by using deep learning models that aim to be implemented on PMs. Several deep learning models are presented after being trained on polysomnography data from the National Sleep Research Resource (NSRR) repository. The best hyperparameters for the DL architecture are presented. In addition, emphasis is focused on model explainability techniques, concretely on Gradient-weighted Class Activation Mapping (Grad-CAM).
Results: The results for the best DL model are presented and analyzed. The interpretability of the DL model is also analyzed by studying the regions of the signals that are most relevant for the model to make the decision. The model that yields the best result is a one-dimensional convolutional neural network (1D-CNN) with 84.3% accuracy.
Conclusion: The use of PMs using machine learning techniques for detecting OSA events still has a long way to go. However, our method for developing explainable DL models demonstrates that PMs appear to be a promising alternative to PSG in the future for the detection of obstructive apnea events and the automatic calculation of AHI.
This work is a study about a comparison of survey tools and it should help developers in selecting a suited tool for application in an AAL environment. The first step was to identify the basic required functionality of the survey tools used for AAL technologies and to compare these tools by their functionality and assignments. The comparative study was derived from the data obtained, previous literature studies and further technical data. A list of requirements was stated and ordered in terms of relevance to the target application domain. With the help of an integrated assessment method, the calculation of a generalized estimate value was performed and the result is explained. Finally, the planned application of this tool in a running project is explained.
Modern component-based architectural styles, e.g., microservices, enable developing the components independently from each other. However, this independence can result in problems when it comes to managing issues, such as bugs, as developer teams can freely choose their technology stacks, such as issue management systems (IMSs), e.g., Jira, GitHub, or Redmine. In the case of a microservice architecture, if an issue of a downstream microservice depends on an issue of an upstream microservice, this must be both identified and communicated, and the downstream service’s issues should link to its causing issue. However, agile project management today requires efficient communication, which is why more and more teams are communicating through comments in the issues themselves. Unfortunately, IMSs are not integrated with each other, thus, semantically linking these issues is not supported, and identifying such issue dependencies from different IMSs is time-consuming and requires manual searching in multiple IMS technologies. This results in many context switches and prevents developers from being focused and getting things done. Therefore, in this paper, we present a concept for seamlessly integrating different IMS technologies into each other and providing a better architectural context. The concept is based on augmenting the websites of issue management systems through a browser extension. We validate the approach with a prototypical implementation for the Chrome browser. For evaluation, we conducted expert interviews, which approved that the presented approach provides significant advantages for managing issues of agile microservice architectures.