Mobile robot teleoperation through eye-gaze (telegaze)

In most teleoperation applications the human operator is required to monitor the status of the robot, as well as, issue controlling commands for the whole duration of the operation. Using a vision based feedback system, monitoring the robot requires the operator to look at a continuous stream of images displayed on an interaction screen. The eyes of the operator therefore, are fully engaged in monitoring and the hands in controlling. Since the eyes of the operator are engaged in monitoring anyway, inputs from their gaze can be used to aid in controlling. This frees the hands of the operator, either partially or fully, from controlling which can then be used to perform any other necessary tasks. However, the challenge here lies in distinguishing between the inputs that can be used for controlling and the inputs that can be used for monitoring. In mobile robot teleoperation, controlling is mainly composed of issuing locomotion commands to drive the robot. Monitoring on the other hand, is looking where the robot goes and looking for any obstacles in the route. Interestingly, there exist a strong correlation between human's gazing behaviours and their moving intentions. This correlation has been exploited in this thesis to investigate novel means for mobile robot teleoperation through eye-gaze, which has been named TeleGaze for short

FACT -- the First Cherenkov Telescope using a G-APD Camera for TeV Gamma-ray Astronomy (HEAD 2010)

Geiger-mode Avalanche Photodiodes (G-APD) bear the potential to significantly improve the sensitivity of Imaging Air Cherenkov Telescopes (IACT). We are currently building the First G-APD Cherenkov Telescope (FACT) by refurbishing an old IACT with a mirror area of 9.5 square meters and construct a new, fine pixelized camera using novel G-APDs. The main goal is to evaluate the performance of a complete system by observing very high energy gamma-rays from the Crab Nebula. This is an important field test to check the feasibility of G-APD-based cameras to replace at some time the PMT-based cameras of planned future IACTs like AGIS and CTA. In this article, we present the basic design of such a camera as well as some important details to be taken into account.Comment: Poster shown at HEAD 2010, Big Island, Hawaii, March 1-4, 201

Design of a five-axis ultra-precision micro-milling machine—UltraMill. Part 1: Holistic design approach, design considerations and specifications

High-accuracy three-dimensional miniature components and microstructures are increasingly in demand in the sector of electro-optics, automotive, biotechnology, aerospace and information-technology industries. A rational approach to mechanical micro machining is to develop ultra-precision machines with small footprints. In part 1 of this two-part paper, the-state-of-the-art of ultra-precision machines with micro-machining capability is critically reviewed. The design considerations and specifications of a five-axis ultra-precision micro-milling machine—UltraMill—are discussed. Three prioritised design issues: motion accuracy, dynamic stiffness and thermal stability, formulate the holistic design approach for UltraMill. This approach has been applied to the development of key machine components and their integration so as to achieve high accuracy and nanometer surface finish

Current, emerging and future technologies for sensing the environment

This paper reviews current technologies that are used for environmental monitoring, and presents emerging technologies that will dramatically improve our ability to obtain spatially distributed, real-time data about key indicators of environmental quality at specific locations. Futuristic approaches to environmental monitoring that employ fundamental breakthroughs in materials science to revolutionise the way we monitor our environment will also be considered. In particular, approaches employing biomimetic and 'adaptive'/'stimuli-responsive' materials will be highlighted, as these could play an important role in the realization of small, low power, low cost, autonomous sensing and communications platforms that could form the building blocks of the much vaunted environmental 'sensor web'

Design methodology for smart actuator services for machine tool and machining control and monitoring

This paper presents a methodology to design the services of smart actuators for machine tools. The smart actuators aim at replacing the traditional drives (spindles and feed-drives) and enable to add data processing abilities to implement monitoring and control tasks. Their data processing abilities are also exploited in order to create a new decision level at the machine level. The aim of this decision level is to react to disturbances that the monitoring tasks detect. The cooperation between the computational objects (the smart spindle, the smart feed-drives and the CNC unit) enables to carry out functions for accommodating or adapting to the disturbances. This leads to the extension of the notion of smart actuator with the notion of agent. In order to implement the services of the smart drives, a general design is presented describing the services as well as the behavior of the smart drive according to the object oriented approach. Requirements about the CNC unit are detailed. Eventually, an implementation of the smart drive services that involves a virtual lathe and a virtual turning operation is described. This description is part of the design methodology. Experimental results obtained thanks to the virtual machine are then presented

e-SAFE: Secure, Efficient and Forensics-Enabled Access to Implantable Medical Devices

To facilitate monitoring and management, modern Implantable Medical Devices (IMDs) are often equipped with wireless capabilities, which raise the risk of malicious access to IMDs. Although schemes are proposed to secure the IMD access, some issues are still open. First, pre-sharing a long-term key between a patient's IMD and a doctor's programmer is vulnerable since once the doctor's programmer is compromised, all of her patients suffer; establishing a temporary key by leveraging proximity gets rid of pre-shared keys, but as the approach lacks real authentication, it can be exploited by nearby adversaries or through man-in-the-middle attacks. Second, while prolonging the lifetime of IMDs is one of the most important design goals, few schemes explore to lower the communication and computation overhead all at once. Finally, how to safely record the commands issued by doctors for the purpose of forensics, which can be the last measure to protect the patients' rights, is commonly omitted in the existing literature. Motivated by these important yet open problems, we propose an innovative scheme e-SAFE, which significantly improves security and safety, reduces the communication overhead and enables IMD-access forensics. We present a novel lightweight compressive sensing based encryption algorithm to encrypt and compress the IMD data simultaneously, reducing the data transmission overhead by over 50% while ensuring high data confidentiality and usability. Furthermore, we provide a suite of protocols regarding device pairing, dual-factor authentication, and accountability-enabled access. The security analysis and performance evaluation show the validity and efficiency of the proposed scheme

Use of nonintrusive sensor-based information and communication technology for real-world evidence for clinical trials in dementia

Cognitive function is an important end point of treatments in dementia clinical trials. Measuring cognitive function by standardized tests, however, is biased toward highly constrained environments (such as hospitals) in selected samples. Patient-powered real-world evidence using information and communication technology devices, including environmental and wearable sensors, may help to overcome these limitations. This position paper describes current and novel information and communication technology devices and algorithms to monitor behavior and function in people with prodromal and manifest stages of dementia continuously, and discusses clinical, technological, ethical, regulatory, and user-centered requirements for collecting real-world evidence in future randomized controlled trials. Challenges of data safety, quality, and privacy and regulatory requirements need to be addressed by future smart sensor technologies. When these requirements are satisfied, these technologies will provide access to truly user relevant outcomes and broader cohorts of participants than currently sampled in clinical trials