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22nd International Conference on Solid-State Sensors, Actuators and Microsystems, Transducers 2023

作者： Stine, Justin M. Ruland, Katie L. Levy, Joshua A. Beardslee, Luke A. Ghodssi, Reza University Of Maryland Department Of Electrical And Computer Engineering College ParkMD United States University Of Maryland Institute For Systems Research College ParkMD United States University Of Maryland Robert E. Fischell Institute For Biomedical Devices College ParkMD United States University Of Maryland Department Of Materials Science And Engineering College ParkMD United States

ISBN: (纸本)9784886864352

We present the fabrication and validation of a thin, flexible electrochemical sensor module for real-time capsule-based detection of hydrogen sulfide (H2S) in the gastrointestinal (GI) tract. This work advances ingestible gas sensor design using a nafion solid-state electrolyte and Au electrode to selectively monitor trace physiological H2S concentrations within a linear range of 0.9-9 ppm. Pretreatment parameters to optimize nafion conductivity and hydration retention were investigated. Selectivity from known interference gases and operation in humid conditions was compared to a commercial SPEC-H2S sensor. The sensor was integrated with a previously reported ingestible capsule to perform amperometric measurements, providing the framework for non-invasive, in-vivo monitoring of gaseous biomarkers in the GI tract. © 2023 IEEJ.

关键词： Amperometry Hydrogen Sulfide Ingestible Capsule

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A Joint Tracking System: Robot is Online to Access Surveillance Views

A Joint Tracking System: Robot is Online to Access Surveilla...

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IEEE International Conference on robotics and Biomimetics

作者： Zheyuan Lin Shanshan Ji Wen Wang Mengjie Qin Rong Yang Minhong Wan Jason Gu Te Li Chunlong Zhang Research Center for Intelligent Robotics Zhejiang Laboratory Research Institute of Interdisciplinary Innovation Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax Canada

The application of robots in social life, equipped with sensors and actuators and embedded with AI, assists people in all aspects. However, the first perspective of the robot horizon is heavily constrained, which weakens its performance. A joint tracking system is designed and built to deal with this, by integrating a surveillance system with the robot visual, providing a third perspective. This system takes one horizontal view and two top views from various directions as inputs and matches a person among the frames and in time sequence. In order to deal with the identity match with a huge visual feature gap, a special dataset is collected, simultaneously labeling identities from a mobile robot perspective and multiple indoor static surveillance monitors. The experiment shows that such match is a task worth exploring that can be better handled by training on our dataset than existing open source Re-identification (Re-id) datasets. Moreover, in the real scenario, this system improves the performance on issues like in and out of the robot’s field of vision and heavy occlusion by people or objects.

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Scarce Resource Allocations That Rely On Machine Learning Should Be Randomized

arXiv

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arXiv 2024年

作者： Jain, Shomik Creel, Kathleen Wilson, Ashia Institute for Data Systems and Society MIT United States Department of Philosophy & Religion Khoury College of Computer Sciences Northeastern University United States Department of Electrical Engineering and Computer Science MIT United States

Contrary to traditional deterministic notions of algorithmic fairness, this paper argues that fairly allocating scarce resources using machine learning often requires randomness. We address why, when, and how to randomize by proposing stochastic procedures that more adequately account for all of the claims that individuals have to allocations of social goods or opportunities. © 2024, CC BY.

关键词： Machine learning

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Design of Microcontroller Based Automated Diesel Level and Pump Control System for Efficient Pit Dewatering in Botswana Mines

Design of Microcontroller Based Automated Diesel Level and P...

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Ubiquitous Computing and Intelligent Information systems (ICUIS), International Conference on

作者： Abotle Tito Kokoro Abid Yahya Ravi Samikannu K.Maruliya Begam T. Meeradevi Vishnu Kumar Kaliappan Department of Electrical and Communications Systems Engineering Botswana International University of Science and Technology Palapye Botswana Department of Electrical and Electronics Engineering Periyar Maniammai Institute of Science and Technology Thanjavur India Department of Electronics and Communications Engineering Kongu Engineering College Perundurai Tamil Nadu India Department of Computer Science and Engineering KPR Institute of Engineering and Technology Coimbatore India

ISBN: (数字)9798331529635

ISBN: (纸本)9798331529642

This paper proposes a novel strategy to address the difficulties encountered in Botswana's open-pit mine dewatering procedures. The conventional approach, which relies on labor-intensive manual labor and mechanical switching, is expensive, time-consuming, and present significant safety hazards. To overcome these limitations, this project proposes a multi-sensor network system that automates and optimizes the dewatering process and improve operational efficiency. The system integrates real-time sensor data to monitor fuel consumption and water levels in mining pits, enabling precise pump operation control. The system has two sets of sensors for data collection on fuel levels in the reserve and dewatering pump tank. Water level sensors are also used to monitor the water levels in the tank and turn the pump on or off based on predetermined thresholds. After receiving the sensor data, a microcontroller controls the entire process and shows the fuel levels and consumption on an LCD screen. The system's circuitry was designed and simulated using Proteus software, and the LCD successfully displayed measurements obtained from the sensors. When the sump level surpassed the predetermined threshold, a relay was energized to initiate the motor, thereby pumping out the water. Similarly, the tank level sensor (LV800) detected water levels exceeding 80% capacity, sending a signal to the microcontroller, which, in turn, energized the relay to activate the stage motor. The LCD also displayed readings from the temperature and current sensors. Simulation results indicate that the proposed sensor-based approach effectively monitors the condition of the pumps. At the same time, the microcontroller, in conjunction with the sensors, can adequately control the pump's operation during the dewatering process in the mining pit. This research demonstrates the feasibility and effectiveness of employing sensors and a microcontroller in managing and controlling dewatering pumps. By automating the

关键词： Temperature sensors Temperature measurement Microcontrollers Motors Control systems Liquid crystal displays Real-time systems Fuels Relays Monitoring

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Robust STL Control Synthesis under Maximal Disturbance Sets

arXiv

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arXiv 2024年

作者： Verhagen, Joris Lindemann, Lars Tumova, Jana The Division of Robotics Perception and Learning School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden The Thomas Lord Department of Computer Science University of Southern California Los AngelesCA United States

This work addresses maximally robust control synthesis under unknown disturbances. We consider a general nonlinear system, subject to a Signal Temporal Logic (STL) specification, and wish to jointly synthesize the maximal possible disturbance bounds and the corresponding controllers that ensure the STL specification is satisfied under these bounds. Many works have considered STL satisfaction under given bounded disturbances. Yet, to the authors' best knowledge, this is the first work that aims to maximize the permissible disturbance set and find the corresponding controllers that ensure satisfying the STL specification with maximum disturbance robustness. We extend the notion of disturbance-robust semantics for STL, which is a property of a specification, dynamical system, and controller, and provide an algorithm to get the maximal disturbance robust controllers satisfying an STL specification using Hamilton-Jacobi reachability. We show its soundness and provide a simulation example with an Autonomous Underwater Vehicle (AUV). Copyright © 2024, The Authors. All rights reserved.

关键词： Controllers

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PWA-CTM: An Extended Cell-Transmission Model based on Piecewise Affine Approximation of the Fundamental Diagram

PWA-CTM: An Extended Cell-Transmission Model based on Piecew...

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Mediterranean Conference on Control and Automation (MED)

作者： Fatemeh Alimardani John S. Baras Electrical and Computer Engineering Department and the Institute for Systems Research University of Maryland USA

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

Throughout the past decades, many different versions of the widely used first-order Cell-Transmission Model (CTM) have been proposed for optimal traffic control. Highway traffic management techniques such as Ramp Metering (RM) are typically designed based on an optimization problem with nonlinear constraints originating in the flow-density relation of the Fundamental Diagram (FD). Most of the extended CTM versions are based on the trapezoidal approximation of the flow-density relation of the Fundamental Diagram (FD) in an attempt to simplify the optimization problem. However, this relation is naturally nonlinear, and crude approximations can greatly impact the efficiency of the optimization solution. In this study, we propose a class of extended CTMs that are based on piecewise affine approximations of the flow-density relation such that (a) the integrated squared error with respect to the true relation is greatly reduced in comparison to the trapezoidal approximation, and (b) the optimization problem remains tractable for real-time application of ramp metering optimal controllers. A two-step identification method is used to approximate the FD with piecewise affine functions resulting in what we refer to as PWA-CTMs. The proposed models are evaluated by the performance of the optimal ramp metering controllers, e.g. using the widely used PI-ALINEA approach, in complex highway traffic networks. Simulation results show that the optimization problems based on the PWA-CTMs require less computation time compared to other CTM extensions while achieving higher accuracy of the flow and density evolution. Hence, the proposed PWA-CTMs constitute one of the best approximation approaches for first-order traffic flow models that can be used in more general and challenging modeling and control applications.

关键词： Road transportation Automation Computational modeling Simulation Traffic control Real-time systems Optimization

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Outdoor Localization and Path Planning for Repositioning an Autonomous Electric Scooter

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年

作者： Poojari, Srijal Shekhar Lee, Jaxon Paley, Derek A. Department of Electrical and Computer Engineering University of Maryland College ParkMD20742 United States Department of Computer Science University of Maryland College ParkMD20742 United States Department of Aerospace Engineering The Institute for Systems Research University of Maryland College ParkMD20742 United States

This paper describes the development of a self-driving e-scooter with the ability to safely travel without a rider along a pre-planned route using automated onboard control. Ride-share electric scooters are an alternative to walking or driving, but they are often ineffective or a nuisance due to their placement after usage. An autonomous driving framework specific to an e-scooter, including path planning and state estimation, enables short-distance repositioning and parking. This paper describes the framework’s hardware and software components along with design choices and pitfalls. We also present results of real-world autonomous navigation, including the effectiveness of our localization methods. © 2024 IEEE.

关键词： Motion planning

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A Modified Dempster Shafer Approach to Classification in Surgical Skill Assessment

A Modified Dempster Shafer Approach to Classification in Sur...

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Iranian Conference on electrical engineering (ICEE)

作者： Arash Iranfar Mohammad Soleymannejad Behzad Moshiri Hamid D. Taghirad School of Electrical and Computer Engineering University College of Engineering University of Tehran Tehran Iran Department of Electrical and Computer Engineering University of Waterloo Waterloo Canada Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran

Artificial intelligence systems are usually implemented either using machine learning or expert systems. Machine learning methods are usually more accurate and applicable to a broader range of applications. Expert systems, on the other hand, require much less data for training and generate more comprehensible results. These characteristics are typically desired in the fields of surgery and medicine because there isn't much data available. In order to give a machine's decisions a deeper level of semantics, it is also advantageous to incorporate a doctor's expertise into it. Furthermore, it is safer to understand the reasoning behind a machine's choices. In this paper, a Dempster-Shafer Theory (DST) based expert system is suggested for the task of surgical training skill assessment. An interval-based probabilistic feature analysis was applied to the data to assign values to the mass functions. Zhang's rule of combination was applied to handle the conflicting evidence in the prediction phase. The performance of the proposed method was compared to another DST classifier, SVM, and XGBoost. Our method outperforms SVM and other DST classifiers, but it is not as precise as XGBoost. By reducing the size of the dataset, the added benefit of using an expert system as opposed to a machine learning method was explored further. The performance of the suggested method is not adversely affected by the size of the dataset, whereas the XGBoost classifier is.

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Manipulation-Oriented Object Perception in Clutter through Affordance Coordinate Frames

Manipulation-Oriented Object Perception in Clutter through A...

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IEEE-RAS International Conference on Humanoid Robots

作者： Xiaotong Chen Kaizhi Zheng Zhen Zeng Cameron Kisailus Shreshtha Basu James Cooney Jana Pavlasek Odest Chadwicke Jenkins Department of Electrical Engineering and Computer Science Robotics Institute at the University of Michigan Ann Arbor MI USA

ISBN: (纸本)9798350309805

In order to enable robust operation in unstructured environments, robots should be able to generalize ma-nipulation actions to novel object instances. For example, to pour and serve a drink, a robot should be able to recognize novel containers which afford the task. Most importantly, robots should be able to manipulate these novel containers to fulfill the task. To achieve this, we aim to provide robust and generalized perception of object affordances and their associated manipulation poses for reliable manipulation. In this work, we combine the notions of affordance and category-level pose, and introduce the Affordance Coordinate Frame (ACF). With ACF, we represent each object class in terms of individual affordance parts and the compatibility between them, where each part is associated with a part category-level pose for robot manipulation. In our experiments, we demonstrate that ACF outperforms state-of-the-art methods for object detection, as well as category-level pose estimation for object parts. We further demonstrate the applicability of ACF to robot manipulation tasks through experiments in both simulation and real world environment.

关键词： Deep learning Affordances Robot kinematics Pose estimation Humanoid robots Object detection Containers

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KinGloves: Rapid Prototyping of Usability Enhanced Sensing Gloves for Parkinson's Disease

KinGloves: Rapid Prototyping of Usability Enhanced Sensing G...

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2024 International Conference on the Challenges, Opportunities, Innovations and Applications in Electronic Textiles, E-Textiles 2024

作者： Ravichandran, Vignesh Chomal, Shubham Arruda, Rachel Al Rumon, Md Abdullah Dupre, Anne-Marie Fapohunda, Kofoworola Tandon, Puneet Owens, Jim Macht, Gretchen Kosiba-Quiterio, Carolyn Solanki, Dhaval Mankodiya, Kunal University of Rhode Island Department of Electrical Computer and Biomedical Engineering KingstonRI United States Indian Institute of Information Technology Design and Manufacturing Department of Mechanical Industrial and Systems Engineering KingstonRI United States University of Rhode Island Department of Mechanical Industrial and Systems Engineering KingstonRI United States University of Rhode Island Department of Textiles Fashion Merchandising and Design KingstonRI United States University of Rhode Island Department of Physical Therapy KingstonRI United States Nautilus Defense PawtucketRI United States Rock Steady Boxing East GreenwichRI United States

ISBN: (纸本)9783000804298

Parkinson's Disease (PD) is a progressive neurological movement disorder causing motor (movement) impairments, leading to difficulty in performing activities of daily living such as eating, writing, cutting vegetables, buttoning a shirt, tying shoelaces, brushing teeth, etc. Although sensing clothes has gained popularity in monitoring disease progression in home settings, they pose usability challenges arising from movement/cognitive symptoms that hamper their adoption and adherence. In this study, we employ a user-centered design process with an aim to improve the wearability of gloves through a multi-phase study involving 23 people with PD (PwPD). The goal was to design gloves with suitable wrist closure and finger insertion mechanisms to enable independent upper-body movement assessments. The first phase conducted with 4 PwPD helped identify preferred and undesired glove-wearing mechanics through 12 daily living tasks. Next, a rapid prototyping process for textiles, using a laser cutter, produced three design concepts for evaluation by 9 PwPD. The best-performing prototype design was chosen for capacitive sensing thread integration and design revision. The capacitive sensing threads play a crucial role in accurately measuring finger flexion and extension, providing high-resolution data on hand movements that are critical for assessing finger movements associated with Parkinson's Disease symptoms. After incorporating participant feedback, the improved design had an average reduction of 23% in time to wear and 250% in time to take off when tested with 18 PwPD. In particular, features such as a view window for fingers and use of zippers had been reported by participants to improve glove usability. © 2024 Fraunhofer IZM.

关键词： User centered design

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