Fully automated urban traffic system

The replacement of the driver with an automatic system which could perform the functions of guiding and routing a vehicle with a human's capability of responding to changing traffic demands was discussed. The problem was divided into four technological areas; guidance, routing, computing, and communications. It was determined that the latter three areas being developed independent of any need for fully automated urban traffic. A guidance system that would meet system requirements was not being developed but was technically feasible

Fully Integrated Biochip Platforms for Advanced Healthcare

Recent advances in microelectronics and biosensors are enabling developments of innovative biochips for advanced healthcare by providing fully integrated platforms for continuous monitoring of a large set of human disease biomarkers. Continuous monitoring of several human metabolites can be addressed by using fully integrated and minimally invasive devices located in the sub-cutis, typically in the peritoneal region. This extends the techniques of continuous monitoring of glucose currently being pursued with diabetic patients. However, several issues have to be considered in order to succeed in developing fully integrated and minimally invasive implantable devices. These innovative devices require a high-degree of integration, minimal invasive surgery, long-term biocompatibility, security and privacy in data transmission, high reliability, high reproducibility, high specificity, low detection limit and high sensitivity. Recent advances in the field have already proposed possible solutions for several of these issues. The aim of the present paper is to present a broad spectrum of recent results and to propose future directions of development in order to obtain fully implantable systems for the continuous monitoring of the human metabolism in advanced healthcare applications

Autonomous Vehicle Coordination with Wireless Sensor and Actuator Networks

A coordinated team of mobile wireless sensor and actuator nodes can bring numerous benefits for various applications in the field of cooperative surveillance, mapping unknown areas, disaster management, automated highway and space exploration. This article explores the idea of mobile nodes using vehicles on wheels, augmented with wireless, sensing, and control capabilities. One of the vehicles acts as a leader, being remotely driven by the user, the others represent the followers. Each vehicle has a low-power wireless sensor node attached, featuring a 3D accelerometer and a magnetic compass. Speed and orientation are computed in real time using inertial navigation techniques. The leader periodically transmits these measures to the followers, which implement a lightweight fuzzy logic controller for imitating the leader's movement pattern. We report in detail on all development phases, covering design, simulation, controller tuning, inertial sensor evaluation, calibration, scheduling, fixed-point computation, debugging, benchmarking, field experiments, and lessons learned

Design and Development of Sensor Integrated Robotic Hand

Most of the automated systems using robots as agents do use few sensors according to the need. However, there are situations where the tasks carried out by the end-effector, or for that matter by the robot hand needs multiple sensors. The hand, to make the best use of these sensors, and behave autonomously, requires a set of appropriate types of sensors which could be integrated in proper manners. The present research work aims at developing a sensor integrated robot hand that can collect information related to the assigned tasks, assimilate there correctly and then do task action as appropriate. The process of development involves selection of sensors of right types and of right specification, locating then at proper places in the hand, checking their functionality individually and calibrating them for the envisaged process. Since the sensors need to be integrated so that they perform in the desired manner collectively, an integration platform is created using NI PXIe-1082. A set of algorithm is developed for achieving the integrated model. The entire process is first modelled and simulated off line for possible modification in order to ensure that all the sensors do contribute towards the autonomy of the hand for desired activity. This work also involves design of a two-fingered gripper. The design is made in such a way that it is capable of carrying out the desired tasks and can accommodate all the sensors within its fold. The developed sensor integrated hand has been put to work and its performance test has been carried out. This hand can be very useful for part assembly work in industries for any shape of part with a limit on the size of the part in mind. The broad aim is to design, model simulate and develop an advanced robotic hand. Sensors for pick up contacts pressure, force, torque, position, surface profile shape using suitable sensing elements in a robot hand are to be introduced. The hand is a complex structure with large number of degrees of freedom and has multiple sensing capabilities apart from the associated sensing assistance from other organs. The present work is envisaged to add multiple sensors to a two-fingered robotic hand having motion capabilities and constraints similar to the human hand. There has been a good amount of research and development in this field during the last two decades a lot remains to be explored and achieved. The objective of the proposed work is to design, simulate and develop a sensor integrated robotic hand. Its potential applications can be proposed for industrial environments and in healthcare field. The industrial applications include electronic assembly tasks, lighter inspection tasks, etc. Application in healthcare could be in the areas of rehabilitation and assistive techniques. The work also aims to establish the requirement of the robotic hand for the target application areas, to identify the suitable kinds and model of sensors that can be integrated on hand control system. Functioning of motors in the robotic hand and integration of appropriate sensors for the desired motion is explained for the control of the various elements of the hand. Additional sensors, capable of collecting external information and information about the object for manipulation is explored. Processes are designed using various software and hardware tools such as mathematical computation MATLAB, OpenCV library and LabVIEW 2013 DAQ system as applicable, validated theoretically and finally implemented to develop an intelligent robotic hand. The multiple smart sensors are installed on a standard six degree-of-freedom industrial robot KAWASAKI RS06L articulated manipulator, with the two-finger pneumatic SHUNK robotic hand or designed prototype and robot control programs are integrated in such a manner that allows easy application of grasping in an industrial pick-and-place operation where the characteristics of the object can vary or are unknown. The effectiveness of the actual recommended structure is usually proven simply by experiments using calibration involving sensors and manipulator. The dissertation concludes with a summary of the contribution and the scope of further work

Performance characterisation of a new photo-microsensor based sensing head for displacement measurement

This paper presents a robust displacement sensor with nanometre-scale resolution over a micrometre range. It is composed of low cost commercially available slotted photo-microsensors (SPMs). The displacement sensor is designed with a particular arrangement of a compact array of SPMs with specially designed shutter assembly and signal processing to significantly reduce sensitivity to ambient light, input voltage variation, circuit electronics drift, etc. The sensor principle and the characterisation results are described in this paper. The proposed prototype sensor has a linear measurement range of 20 μm and resolution of 21 nm. This kind of sensor has several potential applications, including mechanical structural deformation monitoring system

A Novel Power-Efficient Wireless Multi-channel Recording System for the Telemonitoring of Electroencephalography (EEG)

This research introduces the development of a novel EEG recording system that is modular, batteryless, and wireless (untethered) with the supporting theoretical foundation in wireless communications and related design elements and circuitry. Its modular construct overcomes the EEG scaling problem and makes it easier for reconfiguring the hardware design in terms of the number and placement of electrodes and type of standard EEG system contemplated for use. In this development, portability, lightweight, and applicability to other clinical applications that rely on EEG data are sought. Due to printer tolerance, the 3D printed cap consists of 61 electrode placements. This recording capacity can however extend from 21 (as in the international 10-20 systems) up to 61 EEG channels at sample rates ranging from 250 to 1000 Hz and the transfer of the raw EEG signal using a standard allocated frequency as a data carrier. The main objectives of this dissertation are to (1) eliminate the need for heavy mounted batteries, (2) overcome the requirement for bulky power systems, and (3) avoid the use of data cables to untether the EEG system from the subject for a more practical and less restrictive setting. Unpredictability and temporal variations of the EEG input make developing a battery-free and cable-free EEG reading device challenging. Professional high-quality and high-resolution analog front ends are required to capture non-stationary EEG signals at microvolt levels. The primary components of the proposed setup are the wireless power transmission unit, which consists of a power amplifier, highly efficient resonant-inductive link, rectification, regulation, and power management units, as well as the analog front end, which consists of an analog to digital converter, pre-amplification unit, filtering unit, host microprocessor, and the wireless communication unit. These must all be compatible with the rest of the system and must use the least amount of power possible while minimizing the presence of noise and the attenuation of the recorded signal A highly efficient resonant-inductive coupling link is developed to decrease power transmission dissipation. Magnetized materials were utilized to steer electromagnetic flux and decrease route and medium loss while transmitting the required energy with low dissipation. Signal pre-amplification is handled by the front-end active electrodes. Standard bio-amplifier design approaches are combined to accomplish this purpose, and a thorough investigation of the optimum ADC, microcontroller, and transceiver units has been carried out. We can minimize overall system weight and power consumption by employing battery-less and cable-free EEG readout system designs, consequently giving patients more comfort and freedom of movement. Similarly, the solutions are designed to match the performance of medical-grade equipment. The captured electrical impulses using the proposed setup can be stored for various uses, including classification, prediction, 3D source localization, and for monitoring and diagnosing different brain disorders. All the proposed designs and supporting mathematical derivations were validated through empirical and software-simulated experiments. Many of the proposed designs, including the 3D head cap, the wireless power transmission unit, and the pre-amplification unit, are already fabricated, and the schematic circuits and simulation results were based on Spice, Altium, and high-frequency structure simulator (HFSS) software. The fully integrated head cap to be fabricated would require embedding the active electrodes into the 3D headset and applying current technological advances to miniaturize some of the design elements developed in this dissertation

Doctor of Philosophy

dissertationSince the late 1950s, scientists have been working toward realizing implantable devices that would directly monitor or even control the human body's internal activities. Sophisticated microsystems are used to improve our understanding of internal biological processes in animals and humans. The diversity of biomedical research dictates that microsystems must be developed and customized specifically for each new application. For advanced long-term experiments, a custom designed system-on-chip (SoC) is usually necessary to meet desired specifications. Custom SoCs, however, are often prohibitively expensive, preventing many new ideas from being explored. In this work, we have identified a set of sensors that are frequently used in biomedical research and developed a single-chip integrated microsystem that offers the most commonly used sensor interfaces, high computational power, and which requires minimum external components to operate. Included peripherals can also drive chemical reactions by setting the appropriate voltages or currents across electrodes. The SoC is highly modular and well suited for prototyping in and ex vivo experimental devices. The system runs from a primary or secondary battery that can be recharged via two inductively coupled coils. The SoC includes a 16-bit microprocessor with 32 kB of on chip SRAM. The digital core consumes 350 μW at 10 MHz and is capable of running at frequencies up to 200 MHz. The integrated microsystem has been fabricated in a 65 nm CMOS technology and the silicon has been fully tested. Integrated peripherals include two sigma-delta analog-to-digital converters, two 10-bit digital-to-analog converters, and a sleep mode timer. The system also includes a wireless ultra-wideband (UWB) transmitter. The fullydigital transmitter implementation occupies 68 x 68 μm2 of silicon area, consumes 0.72 μW static power, and achieves an energy efficiency of 19 pJ/pulse at 200 MHz pulse repetition frequency. An investigation of the suitability of the UWB technology for neural recording systems is also presented. Experimental data capturing the UWB signal transmission through an animal head are presented and a statistical model for large-scale signal fading is developed