W. Celeste

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Christine Hendon (Fleming)

Columbia University

David Seamon

Kansas State University

Maria Papademetriou

University College London

Audrey L H van der Meer

Norwegian University of Science and Technology

helen barrett

Makerere University

Yunbo Guo

University of Michigan

Nihal Kaplan

Northwestern University

Penny Parnes

University of Toronto

Antonio Ponce de Leon

UERJ - Universidade do Estado do Rio de Janeiro / Rio de Janeiro State University

Roland Gärtner

Ludwig-Maximilians-Universität München

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Papers by W. Celeste

Smart Wheelchairs

Maps managing interface design for a mobile robot navigation governed by a BCI

Journal of Physics: Conference Series, 2007

In this paper, a maps managing interface is proposed. This interface is governed by a Brain Compu... more In this paper, a maps managing interface is proposed. This interface is governed by a Brain Computer Interface (BCI), which also governs a mobile robot's movements. If a robot is inside a known environment, the user can load a map from the maps managing interface in order to navigate it. Otherwise, if the robot is in an unknown environment, a Simultaneous Localization and Mapping (SLAM) algorithm is released in order to obtain a probabilistic grid map of that environment. Then, that map is loaded into the map database for future navigations. While slamming, the user has a direct control of the robot's movements via the BCI. The complete system is applied to a mobile robot and can be also applied to an autonomous wheelchair, which has the same kinematics. Experimental results are also shown.

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Modelo Dinámico y Estructura de Control de una Silla de Ruedas Autónoma para Personas con Discapacidad Motora Severa

Human-machine interfaces based on EMG and EEG applied to robotic systems

Journal of NeuroEngineering and Rehabilitation, 2008

Background Two different Human-Machine Interfaces (HMIs) were developed, both based on electro-bi... more Background Two different Human-Machine Interfaces (HMIs) were developed, both based on electro-biological signals. One is based on the EMG signal and the other is based on the EEG signal. Two major features of such interfaces are their relatively simple data acquisition and processing systems, which need just a few hardware and software resources, so that they are, computationally and financially speaking, low cost solutions. Both interfaces were applied to robotic systems, and their performances are analyzed here. The EMG-based HMI was tested in a mobile robot, while the EEG-based HMI was tested in a mobile robot and a robotic manipulator as well. Results Experiments using the EMG-based HMI were carried out by eight individuals, who were asked to accomplish ten eye blinks with each eye, in order to test the eye blink detection algorithm. An average rightness rate of about 95% reached by individuals with the ability to blink both eyes allowed to conclude that the system could be use...

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PPGEN-SILVA2020

The PPGEN-SILVA2020-csv.rar compressed folder contains 20 files in CSV format. Each file contains... more The PPGEN-SILVA2020-csv.rar compressed folder contains 20 files in CSV format. Each file contains samples of voltage (column 1, leftmost) and current (column 2) generated by a photovoltaic string (PV) consisting of six solar panels in each of the following operating conditions: - Standard; - Full shading on panel 1; - Full shading on panel 2; - Full shading on panel 3; - Full shading on panel 4; - Full shading on panel 5; - Full shading on panel 6; - Partial shading of panel 1; - Partial shading of panel 2; - Partial shading of panel 3; - Partial shading of panel 4; - Partial shading of panel 5; - Partial shading of panel 6; - Short-circuit of panel 1; - Short-circuit of panel 2; - Short-circuit of panel 3; - Short-circuit of panel 4; - Short-circuit of panel 5; - Short-circuit of panel 6; - Electric arc. The files also contain solar irradiation (column 3) and ambient temperature (column 4) in the PV string's vicinity. Each file line represents a sample of the respective operati...

PPGEN-FIRMES2020

Each dataset has contained in a zipped folder with samples of electrical voltage and current dema... more Each dataset has contained in a zipped folder with samples of electrical voltage and current demanded by devices of an electrical installation. The samples were acquired using the NI 9220 module from National Instrument, at a sampling rate of 100 kilo-samples per second and a 16-bit sample resolution. The installation's devices are limited to a maximum of four, resulting in 16 distinct loads. Samples of each resulting load have acquired and arranged in the following columns: L0 (no device on), L1 (device 1 on), L2 (device 2 on), L3 (devices 1 and 2 on), L4 (device 3 on), L5 (devices 3 and 1 on), L6 (devices 3 and 2 on), L7 (devices 3, 2 and 1 on), L8 (device 4 on), L9 (devices 4 and 1 on), L10 (devices 4 and 2 on), L11 (devices 4, 2 and 1 on), L12 (devices 4 and 3 on), L13 (devices 4, 3 and 1 on), L14 (devices 4, 3 and 2 on), and L15 (all four devices on). As devices, we firstly used four technically identical fluorescent lamps - from the same manufacturer, with 15 W of power, 1...

Reflectometria Aplicada Ao Problema De Indentificação De Cargas Em Instalações Elétricas

Demand Planning in Smart Homes

IEEE Latin America Transactions, 2016

This paper deals with the application of Heuristic and Genetic Algorithms to solve the demand pla... more This paper deals with the application of Heuristic and Genetic Algorithms to solve the demand planning problem in smart homes, in order to reduce the total monetary value of consumed energy or offset the seasonality from based electric generators renewable sources such as wind and solar generators. The demand management application takes into account the presence of distributed generation, time-differentiated prices (White Tariff), priority of loads and prepaid rate. The demand planning is a combinatorial problem subjected to the load allocation restrictions. The problem is solved using a heuristic method together with a Genetic Algorithm to get a compromise between comfort and the cost of energy expended. Tests with a radial residential system are performed in order to validate the model.

Wearable Lower Limb and Full-Body Robots

by W. Celeste and Daniel Cavalieri

Wearable Robots, 2008

Assistive systems to restore gait have been proposed as an alternative to functional electrical s... more Assistive systems to restore gait have been proposed as an alternative to functional electrical stimulation (FES) for muscle activation and can be broadly classiﬁed as:(a) improved mechanisms such as orthotic hinges with braking or clutching functionalities (Gharooni, Heller and Tokhi, 2000; Irby et al., 1999);(b) exoskeletal robots for training limbs in stroke and incomplete paraplegics (Colombo et al., 2000; Colombo, Wirz and Dietz, 2001); and (c) control systems acting on a single joint to correct a speciﬁc dysfunction ( ...

Human–machine interface based on muscular and brain signals applied to a robotic wheelchair

Journal of Physics: Conference Series, 2007

This paper presents a Human-Machine Interface (HMI) based on the signals generated by eye blinks ... more This paper presents a Human-Machine Interface (HMI) based on the signals generated by eye blinks or brain activity. The system structure and the signal acquisition and processing are shown. The signals used in this work are either the signal associated to the muscular movement corresponding to an eye blink or the brain signal corresponding to visual information processing. The variance is the feature extracted from such signals in order to detect the intention of the user. The classification is performed by a variance threshold which is experimentally determined for each user during the training stage. The command options, which are going to be sent to the commanded device, are presented to the user in the screen of a PDA (Personal Digital Assistant). In the experiments here reported, a robotic wheelchair is used as the device being commanded.

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Towards a New Modality-Independent Interface for a Robotic Wheelchair

by W. Celeste and Ricardo Carelli

IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2000

This work presents the development of a robotic wheelchair that can be commanded by users in a su... more This work presents the development of a robotic wheelchair that can be commanded by users in a supervised way or by a fully automatic unsupervised navigation system. It provides flexibility to choose different modalities to command the wheelchair, in addition to be suitable for people with different levels of disabilities. Users can command the wheelchair based on their eye blinks, eye movements, head movements, by sip-and-puff and through brain signals. The wheelchair can also operate like an auto-guided vehicle, following metallic tapes, or in an autonomous way. The system is provided with an easy to use and flexible graphical user interface onboard a personal digital assistant, which is used to allow users to choose commands to be sent to the robotic wheelchair. Several experiments were carried out with people with disabilities, and the results validate the developed system as an assistive tool for people with distinct levels of disability.

Development of interfaces for impaired people based on EMG and EEG

… -Assistance for All, …, 2007

Two different electro-biological signal based Interfaces for impaired people were developed: EMG ... more

Smart Wheelchairs

by A. Benevides and W. Celeste

Smart Wheelchairs

Maps managing interface design for a mobile robot navigation governed by a BCI

Journal of Physics: Conference Series, 2007

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Modelo Dinámico y Estructura de Control de una Silla de Ruedas Autónoma para Personas con Discapacidad Motora Severa

Human-machine interfaces based on EMG and EEG applied to robotic systems

Journal of NeuroEngineering and Rehabilitation, 2008