Search results for: autonomous sensors

Authors: Angelos Kaminis, Dakotah Stirnweis

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Advances in robotic technology have driven the development of improved robotic companions in the last couple decades. However, commercially available robotic companions lack the ability to create an emotional connection with their user. By developing a companion robot that has a symbiotic relationship with a plant, an element of co-dependency is introduced into the human companion robot dynamic. This companion robot, while theoretically capable of providing most of the plant’s needs, still requires human interaction for watering, moving obstacles, and solar panel cleaning. To facilitate the interaction between human and robot, the robot is capable of limited auditory and visual communication to help express its and the plant’s needs. This paper seeks to fully describe the Autonomous Plant Care Robot system and its symbiotic relationship with its botanical ward and the plant and robot’s dependent relationship with their owner.

Keywords: symbiotic, robotics, autonomous, plant-care, companion

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Authors: Benjamin Panreck, Manfred Hild

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Strain sensors based on a change in resistance are well established for the measurement of forces, stresses, or material fatigue. Within the scope of this paper, fully additive manufactured strain sensors were produced using an ink of silver nanoparticles. Their behavior was evaluated by periodic tensile tests. Printed strain sensors exhibit two advantages: Their measuring grid is adaptable to the use case and they do not need a carrier-foil, as the measuring structure can be printed directly onto a thin sprayed varnish layer on the aluminum specimen. In order to compare quality characteristics, the sensors have been manufactured using two different technologies, namely aerosoljet-printing and micropipette-dispensing. Both processes produce structures which exhibit continuous features (in contrast to what can be achieved with droplets during inkjet printing). Briefly summarized the results show that aerosoljet-printing is the preferable technology for specimen with non-planar surfaces whereas both technologies are suitable for flat specimen.

Keywords: aerosoljet-printing, micropipette-dispensing, printed electronics, printed sensors, strain gauge

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Authors: Wenmin Qu

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A capacitance level sensor with a segmented film electrode and a thin-film volume flow sensor with an innovative by-pass sleeve is presented as industrial products for the application in a harsh environment. The working principle of such sensors is well known; however, the traditional sensors show some limitations for certain industrial measurements. The two sensors presented in this paper overcome this limitation and enlarge the application spectrum. The problem is analyzed, and the solution is given. The emphasis of the paper is on developing the problem-solving concepts and the realization of the corresponding measuring circuits. These should give advice and encouragement, how we can still develop electronic measuring products in an almost saturated market.

Keywords: by-pass sleeve, charge transfer circuit, fixed ΔT circuit, harsh environment, industrial application, segmented electrode

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Authors: Ippei Kamihira, Takashi Nakajima, Taiyo Matsumura, Hikaru Miura, Takashi Ono

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In this research, the goal was construction of a system by which multiple sensors were used to observe the daily life behavior of persons living alone (while respecting their privacy). Using this information to judge such conditions as a bad physical condition or falling in the home, etc., so that these abnormal conditions can be made known to relatives and third parties. The daily life patterns of persons living alone are expressed by the number of responses of sensors each time that a set time period has elapsed. By comparing data for the prior two weeks, it was possible to judge a situation as 'normal' when the person was in a good physical condition or as 'abnormal' when the person was in a bad physical condition.

Keywords: sensors, elderly living alone, abnormality detection, iifestyle habit

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Authors: Papakonstantinou Apostolos, Argyrios Moustakas, Panagiotis Zervos, Dimitrios Stefanakis, Manolis Tsapakis, Nektarios Spyridakis, Mary Paspaliari, Christos Kontos, Antonis Legakis, Sarantis Houzouris, Konstantinos Topouzelis

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For years unmanned and remotely operated robots have been used as tools in industry research and education. The rapid development and miniaturization of sensors that can be attached to remotely operated vehicles in recent years allowed industry leaders and researchers to utilize them as an affordable means for data acquisition in air, land, and sea. Despite the recent developments in the ground and unmanned airborne vehicles, a small number of Unmanned Surface Vehicle (USV) platforms are targeted for mapping and monitoring environmental parameters for research and industry purposes. The ARGO project is developed an open-design USV equipped with multi-level control hardware architecture and state-of-the-art sensors and payloads for the autonomous monitoring of environmental parameters in large sea areas. The proposed USV is a catamaran-type USV controlled over a wireless radio link (5G) for long-range mapping capabilities and control for a ground-based control station. The ARGO USV has a propulsion control using 2x fully redundant electric trolling motors with active vector thrust for omnidirectional movement, navigation with opensource autopilot system with high accuracy GNSS device, and communication with the 2.4Ghz digital link able to provide 20km of Line of Sight (Los) range distance. The 3-meter dual hull design and composite structure offer well above 80kg of usable payload capacity. Furthermore, sun and friction energy harvesting methods provide clean energy to the propulsion system. The design is highly modular, where each component or payload can be replaced or modified according to the desired task (industrial or research). The system can be equipped with Multiparameter Sonde, measuring up to 20 water parameters simultaneously, such as conductivity, salinity, turbidity, dissolved oxygen, etc. Furthermore, a high-end multibeam echo sounder can be installed in a specific boat datum for shallow water high-resolution seabed mapping. The system is designed to operate in the Aegean Sea. The developed USV is planned to be utilized as a system for autonomous data acquisition, mapping, and monitoring bathymetry and various environmental parameters. ARGO USV can operate in small or large ports with high maneuverability and endurance to map large geographical extends at sea. The system presents state of the art solutions in the following areas i) the on-board/real-time data processing/analysis capabilities, ii) the energy-independent and environmentally friendly platform entirely made using the latest aeronautical and marine materials, iii) the integration of advanced technology sensors, all in one system (photogrammetric and radiometric footprint, as well as its connection with various environmental and inertial sensors) and iv) the information management application. The ARGO web-based application enables the system to depict the results of the data acquisition process in near real-time. All the recorded environmental variables and indices are presented, allowing users to remotely access all the raw and processed information using the implemented web-based GIS application.

Keywords: monitor marine environment, unmanned surface vehicle, mapping bythometry, sea environmental monitoring

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Authors: Mortez Alijani, Anas Osman

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Recently, the popularity of Unmanned aerial vehicles (UAVs) has skyrocketed amidst the unprecedented events and the global pandemic, as they play a key role in both the security and health sectors, through surveillance, taking test samples, transportation of crucial goods and spreading awareness among civilians. However, the process of designing and producing such aerial robots is suppressed by the internal and external constraints that pose serious challenges. Landing is one of the key operations during flight, especially, the autonomous landing of UAVs on a moving platform is a scientifically complex engineering problem. Typically having a successful automatic landing of UAV on a moving platform requires accurate localization of landing, fast trajectory planning, and robust control planning. To achieve these goals, the information about the autonomous landing process such as the intersection point, the position of platform/UAV and inclination angle are more necessary. In this study, the mathematical approach to this problem in the X-Y axis based on the inclination angle and position of UAV in the landing process have been presented. The experimental results depict the accurate position of the UAV, intersection between UAV and moving platform and inclination angle in the landing process, allowing prediction of the intersection point.

Keywords: autonomous landing, inclination angle, unmanned aerial vehicles, moving platform, X-Y axis, intersection point

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Authors: Arwa Khannoussi, Alexandru-Liviu Olteanu, Pritesh Narayan, Catherine Dezan, Jean-Philippe Diguet, Patrick Meyer, Jacques Petit-Frere

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Due to the nature of autonomous Unmanned Aerial Vehicles (UAV) missions, it is important that the decisions of a UAV stay consistent with the priorities of an operator, while at the same time allowing them to be easily audited and explained. We propose a multi-layer decision engine that integrates the operator (human) preferences by using the Multi-Criteria Decision Aiding (MCDA) methods. A software implementation of a UAV simulator and of the decision engine is presented to highlight the advantage of using such techniques on high-level decisions. We demonstrate that, with such a preference-based decision engine, the decisions of the UAV are compatible with the priorities of the operator, which in turn increases her/his confidence in its autonomous behavior.

Keywords: autonomous UAV, multi-criteria decision aiding, multi-layers decision engine, operator's preferences, traceable decisions, UAV simulation

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Authors: Mattias Bergstrom

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Significance of the Study: This research will provide new insights into the risks with digital embedded infrastructure. Through this research, we will analyze each risk and its potential negation strategies, especially for AI and autonomous automation. Moreover, the analysis that is presented in this paper will convey valuable information for future research that can create more stable, secure, and efficient autonomous systems. To learn and understand the risks, a large IoT system was envisioned, and risks with hardware, tampering, and cyberattacks were collected, researched, and evaluated to create a comprehensive understanding of the potential risks. Potential solutions have then been evaluated on an open source IoT hardware setup. This list shows the identified passive and active risks evaluated in the research. Passive Risks: (1) Hardware failures- Critical Systems relying on high rate data and data quality are growing; SCADA systems for infrastructure are good examples of such systems. (2) Hardware delivers erroneous data- Sensors break, and when they do so, they don’t always go silent; they can keep going, just that the data they deliver is garbage, and if that data is not filtered out, it becomes disruptive noise in the system. (3) Bad Hardware injection- Erroneous generated sensor data can be pumped into a system by malicious actors with the intent to create disruptive noise in critical systems. (4) Data gravity- The weight of the data collected will affect Data-Mobility. (5) Cost inhibitors- Running services that need huge centralized computing is cost inhibiting. Large complex AI can be extremely expensive to run. Active Risks: Denial of Service- It is one of the most simple attacks, where an attacker just overloads the system with bogus requests so that valid requests disappear in the noise. Malware- Malware can be anything from simple viruses to complex botnets created with specific goals, where the creator is stealing computer power and bandwidth from you to attack someone else. Ransomware- It is a kind of malware, but it is so different in its implementation that it is worth its own mention. The goal with these pieces of software is to encrypt your system so that it can only be unlocked with a key that is held for ransom. DNS spoofing- By spoofing DNS calls, valid requests and data dumps can be sent to bad destinations, where the data can be extracted for extortion or to corrupt and re-inject into a running system creating a data echo noise loop. After testing multiple potential solutions. We found that the most prominent solution to these risks was to use a Peer 2 Peer consensus algorithm over a blockchain to validate the data and behavior of the devices (sensors, storage, and computing) in the system. By the devices autonomously policing themselves for deviant behavior, all risks listed above can be negated. In conclusion, an Internet middleware that provides these features would be an easy and secure solution to any future autonomous IoT deployments. As it provides separation from the open Internet, at the same time, it is accessible over the blockchain keys.

Keywords: IoT, security, infrastructure, SCADA, blockchain, AI

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Authors: Yingxu Wang, Jianhua Lu, Jun Peng, Jiawei Zhang

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The fundamental demand in contemporary intelligent science towards Autonomous AI (AI*) is the creation of unprecedented formal means of Intelligent Mathematics (IM). It is discovered that natural intelligence is inductively created rather than exhaustively trained. Therefore, IM is a family of algebraic and denotational mathematics encompassing Inference Algebra, Real-Time Process Algebra, Concept Algebra, Semantic Algebra, Visual Frame Algebra, etc., developed in our labs. IM plays indispensable roles in training-free AI* theories and systems beyond traditional empirical data-driven technologies. A set of applications of IM-driven AI* systems will be demonstrated in contemporary intelligence science, AI*, and cognitive computers.

Keywords: intelligence mathematics, foundations of intelligent science, autonomous AI, cognitive computers, inference algebra, real-time process algebra, concept algebra, semantic algebra, applications

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Authors: Changchun Liang, Xiaodong Zhang, Xin Liu, Pengfei Sun

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Space intelligent robotic systems are expected to play an increasingly important role in the future. The robotic on-orbital service, whose key is the tracking and capturing technology, becomes research hot in recent years. In this paper, the authors propose a vision servo control system for target capturing. Robotic manipulator will be an intelligent robotic system with large-scale movement, functional agility, and autonomous ability, and it can be operated by astronauts in the space station or be controlled by the ground operator in the remote operation mode. To realize the autonomous movement and capture mission of SRM, a kind of autonomous programming strategy based on multi-camera vision fusion is designed and the selection principle of object visual position and orientation measurement information is defined for the better precision. Distributed control system hierarchy is designed and reliability is considering to guarantee the abilities of control system. At last, a ground experiment system is set up based on the concept of robotic control system. With that, the autonomous target capturing experiments are conducted. The experiment results validate the proposed algorithm, and demonstrates that the control system can fulfill the needs of function, real-time and reliability.

Keywords: control system, on-orbital service, space robot, vision servo

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Authors: Tesfaye Mengistu

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This thesis aims to investigate the effectiveness of Reinforcement Learning (RL) for Autonomous Energy Management solutions. The study explores the potential of Model Free RL approaches, such as Monte Carlo RL and Q-learning, to improve energy management by autonomously adjusting energy management strategies to maximize efficiency. The research investigates the implementation of RL algorithms for optimizing energy consumption in a single-agent environment. The focus is on developing a framework for the implementation of RL algorithms, highlighting the importance of RL for enabling autonomous systems to adapt quickly to changing conditions and make decisions based on previous experiences. Moreover, the paper proposes RL as a novel energy management solution to address nations' CO2 emission goals. Reinforcement learning algorithms are well-suited to solving problems with sequential decision-making patterns and can provide accurate and immediate outputs to ease the planning and decision-making process. This research provides insights into the challenges and opportunities of using RL for energy management solutions and recommends further studies to explore its full potential. In conclusion, this study provides valuable insights into how RL can be used to improve the efficiency of energy management systems and supports the use of RL as a promising approach for developing autonomous energy management solutions in residential buildings.

Keywords: artificial intelligence, reinforcement learning, monte carlo, energy management, CO2 emission

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Authors: Qing Dai, Zhengkui Lin, Jiajia Zhang, Yi Qu

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Based on activity method, this paper focuses on morning commuting behavior when commuters travel with autonomous vehicles (AVs). Firstly, a net utility function of commuters is constructed by the activity utility of commuters at home, in car and at workplace, and the disutility of travel time cost and that of schedule delay cost. Then, this net utility function is applied to build an equilibrium model. Finally, under the assumption of constant marginal activity utility, the properties of equilibrium are analyzed. The results show that, in autonomous driving, the starting and ending time of morning peak and the number of commuters who arrive early and late at workplace are the same as those in manual driving. In automatic driving, however, the departure rate of arriving early at workplace is higher than that of manual driving, while the departure rate of arriving late is just the opposite. In addition, compared with manual driving, the departure time of arriving at workplace on time is earlier and the number of people queuing at the bottleneck is larger in automatic driving. However, the net utility of commuters and the total net utility of system in automatic driving are greater than those in manual driving.

Keywords: autonomous cars, bottleneck model, activity utility, user equilibrium

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Authors: Ibrahim Watad, Ibrahim Abdulhalim

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Conventional spectroscopic surface plasmon resonance (SPR) sensors are widely used, both in fundamental research and environmental monitoring as well as healthcare diagnostics. However, they still lack the low limit of detection (LOD) and there still a place for improvement. SPR conventional sensors are based on the detection of a dip in the reflectivity spectrum which is relatively wide. To improve the performance of these sensors, many techniques and methods proposed either to reduce the width of the dip or to increase the sensitivity. Together with that, profiting from the sharp jump in the phase spectrum under SPR, several works suggested the extraction of the phase of the reflected wave. However, existing phase measurement setups are in general more complicated compared to the conventional setups, require more stability and are very sensitive to external vibrations and noises. In this study, a simple polarimetric technique for phase extraction under SPR is presented, followed by a theoretical error analysis and an experimental verification. The advantages of the proposed technique upon existing techniques will be elaborated, together with conclusions regarding the best polarimetric function, and its corresponding optimal metal layer range of thicknesses to use under the conventional Kretschmann-Raether configuration.

Keywords: plasmonics, polarimetry, thin films, optical sensors

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Authors: Mostafa Vahdani, Mohsen Asadnia, Shuying Wu

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Huge amounts of e-waste are being produced by the rapidly expanding use of electronics; the majority of this material is either burned or dumped directly in landfills since recycling would either be impracticable or too expensive. Degradable and environmentally friendly materials are therefore seen as the answer to this urgent problem. Here, we create strain sensors that are biodegradable, robust, and incredibly flexible using thin films of sodium carboxymethyl cellulose (NaCMC), glycerol, and polyvinyl alcohol (PVA). Due to the creation of many inter- or intramolecular hydrogen bonds, the polymer blends (NaCMC/PVA/glycerol) exhibit a failure strain of up to 330% and negligible hysteresis when exposed to cyclic stretching-releasing. What's more intriguing is that the sensors can degrade completely in deionized water at a temperature of 95 °C in about 25 minutes. This project illustrates a novel method for developing wearable electronics that are environmentally beneficial.

Keywords: degradable, stretchable, strain sensors, wearable electronics.

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Authors: A. A. Hussen, I. N. Jleta

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Micro-electromechanical system (MEMS) accelerometers and gyroscopes are suitable for the inertial navigation system (INS) of many applications due to the low price, small dimensions and light weight. The main disadvantage in a comparison with classic sensors is a worse long term stability. The estimation accuracy is mostly affected by the time-dependent growth of inertial sensor errors, especially the stochastic errors. In order to eliminate negative effect of these random errors, they must be accurately modeled. Where the key is the successful implementation that depends on how well the noise statistics of the inertial sensors is selected. In this paper, the Allan variance technique will be used in modeling the stochastic errors of the inertial sensors. By performing a simple operation on the entire length of data, a characteristic curve is obtained whose inspection provides a systematic characterization of various random errors contained in the inertial-sensor output data.

Keywords: Allan variance, accelerometer, gyroscope, stochastic errors

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Authors: Artur Siqueira Nóbrega de Freitas

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The Autonomous Underwater Vehicles (AUV), as well the Remotely Operated Vehicles (ROV), are unmanned technologies used in oceanographic investigations, offshore oil extraction, military applications, among others. Differently from AUVs, ROVs uses a physical connection with the surface for energy supply e data traffic. The AUVs use batteries and embedded data acquisition systems. These technologies have progressed, supported by studies in the areas of robotics, embedded systems, naval engineering, etc. This work presents a methodology for external pressure vessel design, responsible for contain and keep the internal components of the vehicle, such as on-board electronics and sensors, isolated from contact with water, creating a pressure differential between the inner and external regions.

Keywords: vessel, external pressure, AUV, buckling

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Authors: Ons Slimene, Aroua Taamallah, Maha Khemaja

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In recent years, human activity recognition (HAR) has been a key area of research due to its diverse applications. It has garnered increasing attention in the field of computer vision. HAR plays an important role in people’s daily lives as it has the ability to learn advanced knowledge about human activities from data. In HAR, activities are usually represented by exploiting different types of sensors, such as embedded sensors or visual sensors. However, these sensors have limitations, such as local obstacles, image-related obstacles, sensor unreliability, and consumer concerns. Recently, several deep learning-based approaches have been proposed for HAR and these approaches are classified into two categories based on the type of data used: vision-based approaches and sensor-based approaches. This research paper highlights the importance of multimodal data fusion from skeleton data obtained from videos and data generated by embedded sensors using deep neural networks for achieving HAR. We propose a deep multimodal fusion network based on a twostream architecture. These two streams use the Convolutional Neural Network combined with the Bidirectional LSTM (CNN BILSTM) to process skeleton data and data generated by embedded sensors and the fusion at the feature level is considered. The proposed model was evaluated on a public OPPORTUNITY++ dataset and produced a accuracy of 96.77%.

Keywords: human activity recognition, action recognition, sensors, vision, human-centric sensing, deep learning, context-awareness

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Authors: Marek Gancarz, Agnieszka Nawrocka, Robert Rusinek, Marcin Tadla

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Volatile organic compounds (VOCs) are the fungi metabolites in the gaseous form produced during improper storage of agricultural commodities (e.g. grain, food). The spoilt commodities produce a wide range of VOCs including alcohols, esters, aldehydes, ketones, alkanes, alkenes, furans, phenols etc. The characteristic VOCs and odours can be determined by using electronic nose (e-Nose) which contains a matrix of different kinds of sensors e.g. resistive sensors. The aim of the present studies was to determine relationship between response of the resistive sensors on the chosen volatiles and their concentration. According to the literature, it was chosen volatiles characteristic for the cereals: ethanol, 3-methyl-1-butanol and hexanal. Analysis of the sensor signals shows that a signal shape is different for the different substances. Moreover, each VOC signal gives information about a maximum of the normalized sensor response (R/Rmax), an impregnation time (tIM) and a cleaning time at half maximum of R/Rmax (tCL). These three parameters can be regarded as a ‘VOC fingerprint’. Seven resistive sensors (TGS2600-B00, TGS2602-B00, TGS2610-C00, TGS2611-C00, TGS2611-E00, TGS2612-D00, TGS2620-C00) produced by Figaro USA Inc., and one (AS-MLV-P2) produced by AMS AG, Austria were used. Two out of seven sensors (TGS2611-E00, TGS2612-D00) did not react to the chosen VOCs. The most responsive sensor was AS-MLV-P2. The research was supported by the National Centre for Research and Development (NCBR), Grant No. PBS2/A8/22/2013.

Keywords: agricultural commodities, organic compounds, resistive sensors, volatile

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Authors: Sayed Obeidullah Abrar

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Nanosensor is the combination of two terms nanoparticles and sensors. These are chemical or physical sensor constructed using nanoscale components, usually microscopic or submicroscopic in size. These sensors are very sensitive and can detect single virus particle or even very low concentrations of substances that could be potentially harmful. Nanosensors have a large scope of research especially in the field of medical sciences, military applications, pharmaceuticals etc.

Keywords: HIV/AIDS, nanosensors, DNA, RNA

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Authors: Rashi Jain

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The Wireless Body Area Networks (WBANs) is an emerging interdisciplinary area where small sensors are placed on/within the human body. These sensors monitor the physiological activities and vital statistics of the body. The data from these sensors is aggregated and communicated to a remote doctor for immediate attention or to a database for records. On 6 Feb 2012, the IEEE 802.15.6 task group approved the standard for Body Area Network (BAN) technologies. The standard proposes the physical and MAC layer for the WBANs. The work provides an introduction to WBANs and overview of the physical and MAC layers of the standard. The physical layer specifications have been covered. A comparison of different protocols used at MAC layer is drawn. An introduction to the network layer and security aspects of the WBANs is made. The WBANs suffer certain limitations such as regulation of frequency bands, minimizing the effect of transmission and reception of electromagnetic signals on the human body, maintaining the energy efficiency among others. This has slowed down their implementation.

Keywords: vehicular networks, sensors, MicroController 8085, LTE

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Authors: Pooria Norouzi, Nicholas Tsang, Adam van der Goes, Joseph Yu, Douglas Zheng, Sirine Maleej

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In this study, virtual meters will be designed and used for energy balance measurements of an air handling unit (AHU). The method aims to replace traditional physical sensors in heating, ventilation, and air conditioning (HVAC) systems with simulated virtual meters. Due to the inability to manage and monitor these systems, many HVAC systems have a high level of inefficiency and energy wastage. Virtual meters are implemented and applied in an actual HVAC system, and the result confirms the practicality of mathematical sensors for alternative energy measurement. While most residential buildings and offices are commonly not equipped with advanced sensors, adding, exploiting, and monitoring sensors and measurement devices in the existing systems can cost thousands of dollars. The first purpose of this study is to provide an energy consumption rate based on available sensors and without any physical energy meters. It proves the performance of virtual meters in HVAC systems as reliable measurement devices. To demonstrate this concept, mathematical models are created for AHU-07, located in building NE01 of the British Columbia Institute of Technology (BCIT) Burnaby campus. The models will be created and integrated with the system’s historical data and physical spot measurements. The actual measurements will be investigated to prove the models' accuracy. Based on preliminary analysis, the resulting mathematical models are successful in plotting energy consumption patterns, and it is concluded confidently that the results of the virtual meter will be close to the results that physical meters could achieve. In the second part of this study, the use of virtual meters is further assisted by artificial intelligence (AI) in the HVAC systems of building to improve energy management and efficiency. By the data mining approach, virtual meters’ data is recorded as historical data, and HVAC system energy consumption prediction is also implemented in order to harness great energy savings and manage the demand and supply chain effectively. Energy prediction can lead to energy-saving strategies and considerations that can open a window in predictive control in order to reach lower energy consumption. To solve these challenges, the energy prediction could optimize the HVAC system and automates energy consumption to capture savings. This study also investigates AI solutions possibility for autonomous HVAC efficiency that will allow quick and efficient response to energy consumption and cost spikes in the energy market.

Keywords: virtual meters, HVAC, artificial intelligence, energy consumption prediction

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Authors: Zeenat Parveen, Ashiq Hussain

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This review paper consists of applications of PDMS (polydimethylsiloxane) materials for enhanced performance, optical fiber sensors in acousto-ultrasonic, mechanical measurements, current applications, sensing, measurements and interferometric optical fiber sensors. We will discuss the basic working principle of fiber optic sensing technology, various types of fiber optic and the PDMS as a coating material to increase the performance. Optical fiber sensing methods for detecting dynamic strain signals, including general sound and acoustic signals, high frequency signals i.e. ultrasonic/ultrasound, and other signals such as acoustic emission and impact induced dynamic strain. Optical fiber sensors have Industrial and civil engineering applications in mechanical measurements. Sometimes it requires different configurations and parameters of sensors. Optical fiber current sensors are based on Faraday Effect due to which we obtain better performance as compared to the conventional current transformer. Recent advancement and cost reduction has simulated interest in optical fiber sensing. Optical techniques are also implemented in material measurement. Fiber optic interferometers are used to sense various physical parameters including temperature, pressure and refractive index. There are four types of interferometers i.e. Fabry–perot, Mach-Zehnder, Michelson, and Sagnac. This paper also describes the future work of fiber optic sensors.

Keywords: fiber optic sensing, PDMS materials, acoustic, ultrasound, current sensor, mechanical measurements

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Authors: Ionut Vintu, Stefan Laible, Ruth Schulz

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Agricultural robotics has been developing steadily over recent years, with the goal of reducing and even eliminating pesticides used in crops and to increase productivity by taking over human labor. The majority of crops are arranged in rows. The first step towards autonomous robots, capable of driving in fields and performing crop-handling tasks, is for robots to robustly detect the rows of plants. Recent work done towards autonomous driving between plant rows offers big robotic platforms equipped with various expensive sensors as a solution to this problem. These platforms need to be driven over the rows of plants. This approach lacks flexibility and scalability when it comes to the height of plants or distance between rows. This paper proposes instead an algorithm that makes use of cheaper sensors and has a higher variability. The main application is in tree nurseries. Here, plant height can range from a few centimeters to a few meters. Moreover, trees are often removed, leading to gaps within the plant rows. The core idea is to combine row detection algorithms with graph-based localization methods as they are used in SLAM. Nodes in the graph represent the estimated pose of the robot, and the edges embed constraints between these poses or between the robot and certain landmarks. This setup aims to improve individual plant detection and deal with exception handling, like row gaps, which are falsely detected as an end of rows. Four methods were developed for detecting row structures in the fields, all using a point cloud acquired with a 3D LiDAR as an input. Comparing the field coverage and number of damaged plants, the method that uses a local map around the robot proved to perform the best, with 68% covered rows and 25% damaged plants. This method is further used and combined with a graph-based localization algorithm, which uses the local map features to estimate the robot’s position inside the greater field. Testing the upgraded algorithm in a variety of simulated fields shows that the additional information obtained from localization provides a boost in performance over methods that rely purely on perception to navigate. The final algorithm achieved a row coverage of 80% and an accuracy of 27% damaged plants. Future work would focus on achieving a perfect score of 100% covered rows and 0% damaged plants. The main challenges that the algorithm needs to overcome are fields where the height of the plants is too small for the plants to be detected and fields where it is hard to distinguish between individual plants when they are overlapping. The method was also tested on a real robot in a small field with artificial plants. The tests were performed using a small robot platform equipped with wheel encoders, an IMU and an FX10 3D LiDAR. Over ten runs, the system achieved 100% coverage and 0% damaged plants. The framework built within the scope of this work can be further used to integrate data from additional sensors, with the goal of achieving even better results.

Keywords: 3D LiDAR, agricultural robots, graph-based localization, row detection

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Authors: Lutful Karim, Mohammed S. Al-kahtani

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Sensors are being used in various applications such as agriculture, health monitoring, air and water pollution monitoring, traffic monitoring and control and hence, play the vital role in the growth of big data. However, sensors collect redundant data. Thus, aggregating and filtering sensors data are significantly important to design an efficient big data framework. Current researches do not focus on aggregating and filtering data at multiple layers of sensor-based big data framework. Thus, this paper introduces (i) three layers data aggregation and framework for big data and (ii) a priority-based, dynamic data aggregation scheme (PDDA) for the lowest layer at sensors. Simulation results show that the PDDA outperforms existing tree and cluster-based data aggregation scheme in terms of overall network energy consumptions and end-to-end data transmission delay.

Keywords: big data, clustering, tree topology, data aggregation, sensor networks

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Authors: Martin Doran, Roy Sterritt, George Wilkie

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NASA, ESA, and NSSC space agencies have plans to put planetary rovers on Mars in 2020. For these future planetary rovers to succeed, they will heavily depend on sensors to detect obstacles. This will also become of vital importance in the future, if rovers become less dependent on commands received from earth-based control and more dependent on self-configuration and self-decision making. These planetary rovers will face harsh environments and the possibility of hardware failure is high, as seen in missions from the past. In this paper, we focus on using Autonomic principles where self-healing, self-optimization, and self-adaption are explored using the MAPE-K model and expanding this model to encapsulate the attributes such as Awareness, Analysis, and Adjustment (AAA-3). In the experimentation, a Pioneer P3-DX research robot is used to simulate a planetary rover. The sonar sensors on the P3-DX robot are used to simulate the sensors on a planetary rover (even though in reality, sonar sensors cannot operate in a vacuum). Experiments using the P3-DX robot focus on how our software system can be adapted with the loss of sonar sensor functionality. The autonomic manager system is responsible for the decision making on how to make use of remaining ‘enabled’ sonars sensors to compensate for those sonar sensors that are ‘disabled’. The key to this research is that the robot can still detect objects even with reduced sonar sensor capability.

Keywords: autonomic, self-adaption, self-healing, self-optimization

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Authors: M. Naresh, Pratik Chaturvedi, Srishti Yadav, Varun Dutt, K. V. Uday

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Changes in the Earth’s climate are likely to increase natural hazards such as drought, floods, earthquakes, landslides, etc. The present study focusing on to early warning systems (EWS) of landslides, major issues in Himalayan region without prominence to deforestation, encroachments and un-engineered cutting of slopes and reforming for infrastructural purposes. EWS can be depicted by conducting a series of flume tests using micro-electro mechanical systems sensors data after reaching threshold values under controlled laboratory conditions. Based on the threshold value database, an alert will be sent via SMS.

Keywords: slope-instability, flume test, sensors, early warning system

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Authors: Claire Biasco, Thaier Hayajneh

Abstract:

A smart city is the integration of digital technologies in urban environments to enhance the quality of life. Smart cities capture real-time information from devices, sensors, and network data to analyze and improve city functions such as traffic analysis, public safety, and environmental impacts. Current smart cities face controversy due to their reliance on real-time data tracking and surveillance. Internet of Things (IoT) devices and blockchain technology are converging to reshape smart city infrastructure away from its centralized model. Connecting IoT data to blockchain applications would create a peer-to-peer, decentralized model. Furthermore, blockchain technology powers the ability for IoT device data to shift from the ownership and control of centralized entities to individuals or communities with Decentralized Autonomous Organizations (DAOs). In the context of smart cities, DAOs can govern cyber-physical systems to have a greater influence over how urban services are being provided. This paper will explore how the core components of a smart city now apply to DAOs. We will also analyze different definitions of DAOs to determine their most important aspects in relation to smart cities. Both categorizations will provide a solid foundation to conduct a cybersecurity assessment of DAOs in smart cities. It will identify the benefits and risks of adopting DAOs as they currently operate. The paper will then provide several mitigation methods to combat cybersecurity risks of DAO integrations. Finally, we will give several insights into what challenges will be faced by DAO and blockchain spaces in the coming years before achieving a higher level of maturity.

Keywords: blockchain, IoT, smart city, DAO

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Authors: Gilberto Goracci, Fabio Curti

Abstract:

This work presents a robust, light, and inexpensive algorithm to perform autonomous orbit determination using onboard magnetometer data in real-time. Magnetometers are low-cost and reliable sensors typically available on a spacecraft for attitude determination purposes, thus representing an interesting choice to perform real-time orbit determination without the need to add additional sensors to the spacecraft itself. Magnetic field measurements can be exploited by Extended/Unscented Kalman Filters (EKF/UKF) for orbit determination purposes to make up for GPS outages, yielding errors of a few kilometers and tens of meters per second in the position and velocity of a spacecraft, respectively. While this level of accuracy shows that Kalman filtering represents a solid baseline for autonomous orbit determination, it is not enough to provide a reliable state estimation in the absence of GPS signals. This work combines the solidity and reliability of the EKF with the versatility of a Recurrent Neural Network (RNN) architecture to further increase the precision of the state estimation. Deep learning models, in fact, can grasp nonlinear relations between the inputs, in this case, the magnetometer data and the EKF state estimations, and the targets, namely the true position, and velocity of the spacecraft. The model has been pre-trained on Sun-Synchronous orbits (SSO) up to 2126 kilometers of altitude with different initial conditions and levels of noise to cover a wide range of possible real-case scenarios. The orbits have been propagated considering J2-level dynamics, and the geomagnetic field has been modeled using the International Geomagnetic Reference Field (IGRF) coefficients up to the 13th order. The training of the module can be completed offline using the expected orbit of the spacecraft to heavily reduce the onboard computational burden. Once the spacecraft is launched, the model can use the GPS signal, if available, to fine-tune the parameters on the actual orbit onboard in real-time and work autonomously during GPS outages. In this way, the provided module shows versatility, as it can be applied to any mission operating in SSO, but at the same time, the training is completed and eventually fine-tuned, on the specific orbit, increasing performances and reliability. The results provided by this study show an increase of one order of magnitude in the precision of state estimate with respect to the use of the EKF alone. Tests on simulated and real data will be shown.

Keywords: artificial intelligence, extended Kalman filter, orbit determination, magnetic field

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Authors: Emily J. Morey, Kevin Galvin, Thomas Riley, R. Eddie Wilson

Abstract:

The key challenges faced by integrating autonomous rail operations into the existing mainline railway environment have been identified through the understanding and framing of the problem space and stakeholder analysis. This was achieved through the completion of the first four steps of Soft Systems Methodology, where the problem space has been expressed via conceptual models. Having identified these challenges, we investigated one of them, namely capacity, via the use of models and simulation. This paper examines the approach used to move from the conceptual models to a simulation which can determine whether the integration of autonomous trains can plausibly increase capacity. Within this approach, we developed an architecture and converted logical models into physical resource models and associated design features which were used to build a simulator. From this simulator, we are able to analyse mixtures of legacy-autonomous operations and produce fundamental diagrams and trajectory plots to describe the dynamic behaviour of mixed mainline railway operations.

Keywords: autonomy, executable architecture, modelling and simulation, railway capacity

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Authors: Ruvaitha Banu, Amaladhithyan Krishnamoorthy

Abstract:

IoT networks today solve various consumer problems, from home automation systems to aiding in driving autonomous vehicles with the exploration of multiple devices. For example, in an autonomous vehicle environment, multiple sensors are available on roads to monitor weather and road conditions and interact with each other to aid the vehicle in reaching its destination safely and timely. IoT systems are predominantly dependent on the cloud environment for data storage, and computing needs that result in latency problems. With the advent of Fog networks, some of this storage and computing is pushed to the edge/fog nodes, saving the network bandwidth and reducing the latency proportionally. Managing the data stored in these fog nodes becomes crucial as it might also store sensitive information required for a certain application. Data management in fog nodes is strenuous because Fog networks are dynamic in terms of their availability and hardware capability. It becomes more challenging when the nodes in the network also live a short span, detaching and joining frequently. When an end-user or Fog Node wants to access, read, or write data stored in another Fog Node, then a new protocol becomes necessary to access/manage the data stored in the fog devices as a conventional static way of managing the data doesn’t work in Fog Networks. The proposed solution discusses a protocol that acts by defining sensitivity levels for the data being written and read. Additionally, a distinct data distribution and replication model among the Fog nodes is established to decentralize the access mechanism. In this paper, the proposed model implements stewardship towards the data stored in the Fog node using the application of Reinforcement Learning so that access to the data is determined dynamically based on the requests.

Keywords: IoT, fog networks, data stewardship, dynamic access policy

Procedia PDF Downloads 36