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We present an approach for indoor mapping and localisation using sparse range data, acquired by a mobile robot equipped with sonar sensors.
The chapter consists of two main parts. First, a split and merge based method for dividing a given metric map into distinct regions is presented, thus creating a topological map in a metric framework. Spatial information extracted from this map is then used for self-localisation on the return home journey.
The robot computes local confidence maps for two simple localisation strategies based on distance and relative orientation of regions. These local maps are then fused to produce overall confidence maps.
Background
Joint contractures are frequent conditions in individuals in geriatric care settings and are associated with activity limitations and participation restrictions. As such, relevant intervention programs should address these aspects, and the effectiveness of such programs should be determined by assessing improvement in activities and participation. However, no patient-centred and psychometrically sound outcome measures for this purpose are available so far.
Objectives
The objectives of this study were to develop and to validate a new outcome measure, the PaArticular Scales, to quantify activities and participation in older individuals with joint contractures. Specific aims were (A) to operationalize the content of an International Classification of Functioning, Disability and Health-based standard set towards meaningful questions and to combine them to a questionnaire and (B) to assess the psychometric properties of the developed questionnaire, in detail to evaluate test–retest reliability, objectivity, internal consistency reliability and criterion validity.
Design
Operationalization was reached by an expert consensus conference and a subsequent expert Delphi survey. Psychometric properties were assessed in a cross-sectional study.
Settings
Nursing homes, geriatric rehabilitation facilities.
Participants
23 experts (nurses, physicians, physical and occupational therapists) participated in the consensus conference and the Delphi survey. A total of 191 individuals with joint contractures (as confirmed by physician, nurse or physical therapist) between 65 and 102 years, living in nursing homes or as patients in geriatric rehabilitation were enrolled in the cross-sectional study.
Methods
Rasch Partial Credit Modelling.
Results
The consensus conference and Delphi survey resulted in a questionnaire with 86 items of the International Classification of Functioning, Disability and Health. Test–retest-reliability among those was acceptable (Cohen's weighted kappa: 0.779). The Rasch analysis revealed two independent interval-scaled scales with 24 items for the Activities scale and 11 items for the Participation scale with high internal consistency reliability. Cronbach's alpha was 0.96 for the Activities scale and 0.92 for the Participation scale. Criterion validity was −0.40 and −0.30 for the Activities scale and for the Participation scale, respectively.
Conclusions
The PaArticular Scales, a new patient-centred and psychometric sound outcome measures to comprehensively assess the impact of joint contractures in geriatric care, are available now. These developed scales will serve as primary outcomes in a scheduled evaluation of a complex intervention to improve participation and quality of life in nursing home residents with joint contractures.
Introduction
Universal varicella vaccination of infants in Germany was shown to be effective and cost-saving by the EVITA-model (Economic Varicella VaccInation Tool for Analysis).[1] However, affordability proves to be a “fourth hurdle”. The objective of this study is to examine budget impacts of universal varicella vaccination from a payer’s (sickness funds’) perspective.
Methods
The validated, dynamic infections disease model EVITA was used to analyse budget impacts over 30 years. Universal vaccination of children in their second life year was compared to the currently recommended risk-group strategy. In the USA, universal varicella vaccination was implemented in 1996. Based on US-experience, three scenarios for the development of the coverage rates have been estimated. The price level of 2002 was used. Future costs were not discounted to show the full budget impact in future years. Aspects concerning the incidence of herpes zoster have not been included in the analysis.
Results
Under the current risk-group strategy, an annual average of 721,400 cases, 38,700 complications and 5,500 hospitalisations occur in Germany. Annual varicella costs for sickness funds amount to 73 million €, 50 % thereof due to sick-leave costs of parents staying at home to care for their sick child covered by sickness funds. Other costs relate to hospitalisations (24 %), physician services (12 %), medication (11 %) and vaccination (3 %). With a universal vaccination strategy, morbidity is on average reduced by 75 % to 80 % (this and the following results depend on the analysed scenario). Vaccination costs rise to a maximum of 42–43 million € p. a. within about 10–12 years and therefore account — at maximum — for about 0.03 % of the total payers’ health care budget. Other varicella costs however decrease by more than 80 % in the same time. Overall varicella costs rise by 8 % to 13 % in the first few years because of the additional investment in vaccination. In the 6th to 8th year, however, savings in treatment and work loss costs compensate vaccination costs, leading to net savings. Over 30 years, average annual varicella costs decrease by 31 % to 33 % to a level between 49 and 51 million €. Sensitivity analyses showed only marginal variations in these results with maximum coverage rate, price of vaccine, and work loss costs being the most influential variables.
Conclusions
Under the current risk-group vaccination strategy, varicella causes a high burden of disease resulting in considerable utilisation of health care resources and related costs. Universal vaccination can effectively reduce morbidity and utilisation. This strategy has a small impact on overall health care costs. For a short time, investment in varicella vaccination causes additional costs, which are low compared to current annual varicella costs, and does not influence sickness funds’ premiums. Reduced morbidity rapidly leads to savings and significant net-savings occur in 6–8 years.
Forschungsbericht 2013
(2014)
Projekt P
(2014)
Projekt »P« – Wohnen und Arbeiten in einem nachhaltig geplanten Modulsystem: Der Architekt Wolfgang Bühler wandte sich mit der Idee eines Forschungsprojektes über Inneneinrichtungen zu dem von ihm entwickelten Modulbausystem an die Fakultät für Innenarchitektur der Hochschule Rosenheim, seinen ehemaligen Studienort. »P’s« sind für den Transport zusammenfaltbare und flexibel sowie temporär aufstellbare Raumeinheiten. Wie können diese universellen Strukturen nun individuell als Wohneinheiten, Büros, Hotels, Seminarräume, Flüchtlingsunterkünfte etc. ausgestattet werden, ohne dass die schnelle Auf- und Abbaubarkeit darunter leidet? Wie können die Strukturen von einer individuellen Nutzung zu einer anderen in kurzer Zeit und mit geringem Aufwand umgerüstet werden? Dies war der Kern des Forschungsprojektes, welches mit Studierenden des 6. Semesters im Fach Interior Design durchgeführt wurde. Zuerst standen dabei unterschiedliche Nutzungsszenarien im Fokus, von denen dann die Gemeinsamkeiten herausgearbeitet wurden. Zum Projektende wurden zwei Ausstattungsszenarien von den Studierenden als Prototypen im Maßstab 1:1 umgesetzt. Das Projekt fand im Sommersemester 2014 statt.
Prof. Kilian Stauss
Forschungsbericht 2015
(2016)
Forschungsbericht 2014
(2015)