A 64mW DNN-based Visual Navigation Engine for Autonomous Nano-Drones

Fully-autonomous miniaturized robots (e.g., drones), with artificial intelligence (AI) based visual navigation capabilities are extremely challenging drivers of Internet-of-Things edge intelligence capabilities. Visual navigation based on AI approaches, such as deep neural networks (DNNs) are becoming pervasive for standard-size drones, but are considered out of reach for nanodrones with size of a few cm${}^\mathrm{2}$. In this work, we present the first (to the best of our knowledge) demonstration of a navigation engine for autonomous nano-drones capable of closed-loop end-to-end DNN-based visual navigation. To achieve this goal we developed a complete methodology for parallel execution of complex DNNs directly on-bard of resource-constrained milliwatt-scale nodes. Our system is based on GAP8, a novel parallel ultra-low-power computing platform, and a 27 g commercial, open-source CrazyFlie 2.0 nano-quadrotor. As part of our general methodology we discuss the software mapping techniques that enable the state-of-the-art deep convolutional neural network presented in [1] to be fully executed on-board within a strict 6 fps real-time constraint with no compromise in terms of flight results, while all processing is done with only 64 mW on average. Our navigation engine is flexible and can be used to span a wide performance range: at its peak performance corner it achieves 18 fps while still consuming on average just 3.5% of the power envelope of the deployed nano-aircraft.Comment: 15 pages, 13 figures, 5 tables, 2 listings, accepted for publication in the IEEE Internet of Things Journal (IEEE IOTJ

Parametric optimization of the femoropopliteal artery stent design based on numerical analysis

High-failure rates of Peripheral Arterial Disease (PAD) stenting were reported due to the inability of certain stent strut configuration to accommodate severe biomechanical environment of the Femoro-Popliteal Artery (FPA) such as bends, twists, and axially compresses during limb flexion. The unique of mechanical deformation environment in FPA has been considered one of main factors affecting the durability of the FPA stent and reducing the stent life. Consequently, various optimization techniques have been developed to improve the mechanical performance of the FPA stent. The present work shown that, the first-two of twelve FPA resemble stent models stent models have been selected with a net score of 3.65 Model I and, with a net score of 3.55 Model II via applying Pictorial Selection Method. Finite Element Method (FEM) of optimization study based-parameterization has been conducted for stent strut dimensions, stents were compared in terms of force-stress behavior. Multi Criteria Decision Making (MCDM) method has been utilized to identify the best combination of strut dimensions. The strut thickness parameterization results were in relation T α 1/σ (T is strut thickness) for both models with all mechanical loading modes. Moreover, the strut width parameterization results were in relation W α 1/σ (W is strut width) for both models with all mechanical loading modes. Whereas, the strut length parameterization results were in relation L α σ in case of Model I and, L α 1/σ (L is strut length) in case of Model II, under axial loads, while under three-point bending and torsion loading modes L α σ for both models, under radial compression the relations were L α 1/σ in case of Model I and, L α σ in case of Model II. The best combination of strut dimension in the thickness case was t4 = 230 µm for both models, in strut width were w3=0.180, and w4= 0.250 mm for Model I and Model II, respectively, and in strut length were l2= 1.40, and l2= 1.75 mm for Model I and Model II, respectively. In conclusions, the mathematical selection approach and the consistent mathematical approach of MCDM has been proposed, also the mechanical performance has been improved for parameterized stent models

Data-driven Soft Sensors in the Process Industry

In the last two decades Soft Sensors established themselves as a valuable alternative to the traditional means for the acquisition of critical process variables, process monitoring and other tasks which are related to process control. This paper discusses characteristics of the process industry data which are critical for the development of data-driven Soft Sensors. These characteristics are common to a large number of process industry fields, like the chemical industry, bioprocess industry, steel industry, etc. The focus of this work is put on the data-driven Soft Sensors because of their growing popularity, already demonstrated usefulness and huge, though yet not completely realised, potential. A comprehensive selection of case studies covering the three most important Soft Sensor application fields, a general introduction to the most popular Soft Sensor modelling techniques as well as a discussion of some open issues in the Soft Sensor development and maintenance and their possible solutions are the main contributions of this work

Application of Computational Intelligence Techniques to Process Industry Problems

In the last two decades there has been a large progress in the computational intelligence research field. The fruits of the effort spent on the research in the discussed field are powerful techniques for pattern recognition, data mining, data modelling, etc. These techniques achieve high performance on traditional data sets like the UCI machine learning database. Unfortunately, this kind of data sources usually represent clean data without any problems like data outliers, missing values, feature co-linearity, etc. common to real-life industrial data. The presence of faulty data samples can have very harmful effects on the models, for example if presented during the training of the models, it can either cause sub-optimal performance of the trained model or in the worst case destroy the so far learnt knowledge of the model. For these reasons the application of present modelling techniques to industrial problems has developed into a research field on its own. Based on the discussion of the properties and issues of the data and the state-of-the-art modelling techniques in the process industry, in this paper a novel unified approach to the development of predictive models in the process industry is presented

ADAPTS: An Intelligent Sustainable Conceptual Framework for Engineering Projects

This paper presents a conceptual framework for the optimization of environmental sustainability in engineering projects, both for products and industrial facilities or processes. The main objective of this work is to propose a conceptual framework to help researchers to approach optimization under the criteria of sustainability of engineering projects, making use of current Machine Learning techniques. For the development of this conceptual framework, a bibliographic search has been carried out on the Web of Science. From the selected documents and through a hermeneutic procedure the texts have been analyzed and the conceptual framework has been carried out. A graphic representation pyramid shape is shown to clearly define the variables of the proposed conceptual framework and their relationships. The conceptual framework consists of 5 dimensions; its acronym is ADAPTS. In the base are: (1) the Application to which it is intended, (2) the available DAta, (3) the APproach under which it is operated, and (4) the machine learning Tool used. At the top of the pyramid, (5) the necessary Sensing. A study case is proposed to show its applicability. This work is part of a broader line of research, in terms of optimization under sustainability criteria.Telefónica Chair “Intelligence in Networks” of the University of Seville (Spain

Nature-Inspired Adaptive Architecture for Soft Sensor Modelling

This paper gives a general overview of the challenges present in the research field of Soft Sensor building and proposes a novel architecture for building of Soft Sensors, which copes with the identified challenges. The architecture is inspired and making use of nature-related techniques for computational intelligence. Another aspect, which is addressed by the proposed architecture, are the identified characteristics of the process industry data. The data recorded in the process industry consist usually of certain amount of missing values or sample exceeding meaningful values of the measurements, called data outliers. Other process industry data properties causing problems for the modelling are the collinearity of the data, drifting data and the different sampling rates of the particular hardware sensors. It is these characteristics which are the source of the need for an adaptive behaviour of Soft Sensors. The architecture reflects this need and provides mechanisms for the adaptation and evolution of the Soft Sensor at different levels. The adaptation capabilities are provided by maintaining a variety of rather simple models. These particular models, called paths in terms of the architecture, can for example focus on different partition of the input data space, or provide different adaptation speeds to changes in the data. The actual modelling techniques involved into the architecture are data-driven computational learning approaches like artificial neural networks, principal component regression, etc

Production Optimization Indexed to the Market Demand Through Neural Networks

Connectivity, mobility and real-time data analytics are the prerequisites for a new model of intelligent production management that facilitates communication between machines, people and processes and uses technology as the main driver. Many works in the literature treat maintenance and production management in separate approaches, but there is a link between these areas, with maintenance and its actions aimed at ensuring the smooth operation of equipment to avoid unnecessary downtime in production. With the advent of technology, companies are rushing to solve their problems by resorting to technologies in order to fit into the most advanced technological concepts, such as industries 4.0 and 5.0, which are based on the principle of process automation. This approach brings together database technologies, making it possible to monitor the operation of equipment and have the opportunity to study patterns of data behavior that can alert us to possible failures. The present thesis intends to forecast the pulp production indexed to the stock market value.The forecast will be made by means of the pulp production variables of the presses and the stock exchange variables supported by artificial intelligence (AI) technologies, aiming to achieve an effective planning. To support the decision of efficient production management, in this thesis algorithms were developed and validated with from five pulp presses, as well as data from other sources, such as steel production and stock exchange, which were relevant to validate the robustness of the model. This thesis demonstrated the importance of data processing methods and that they have great relevance in the model input since they facilitate the process of training and testing the models. The chosen technologies demonstrated good efficiency and versatility in performing the prediction of the values of the variables of the equipment, also demonstrating robustness and optimization in computational processing. The thesis also presents proposals for future developments, namely in further exploration of these technologies, so that there are market variables that can calibrate production through forecasts supported on these same variables.Conectividade, mobilidade e análise de dados em tempo real são pré-requisitos para um novo modelo de gestão inteligente da produção que facilita a comunicação entre máquinas, pessoas e processos, e usa a tecnologia como motor principal. Muitos trabalhos na literatura tratam a manutenção e a gestão da produção em abordagens separadas, mas existe uma correlação entre estas áreas, sendo que a manutenção e as suas políticas têm como premissa garantir o bom funcionamento dos equipamentos de modo a evitar paragens desnecessárias na linha de produção. Com o advento da tecnologia há uma corrida das empresas para solucionar os seus problemas recorrendo às tecnologias, visando a sua inserção nos conceitos tecnológicos, mais avançados, tais como as indústrias 4.0 e 5.0, as quais têm como princípio a automatização dos processos. Esta abordagem junta as tecnologias de sistema de informação, sendo possível fazer o acompanhamento do funcionamento dos equipamentos e ter a possibilidade de realizar o estudo de padrões de comportamento dos dados que nos possam alertar para possíveis falhas. A presente tese pretende prever a produção da pasta de papel indexada às bolsas de valores. A previsão será feita por via das variáveis da produção da pasta de papel das prensas e das variáveis da bolsa de valores suportadas em tecnologias de artificial intelligence (IA), tendo como objectivo conseguir um planeamento eficaz. Para suportar a decisão de uma gestão da produção eficiente, na presente tese foram desenvolvidos algoritmos, validados em dados de cinco prensas de pasta de papel, bem como dados de outras fontes, tais como, de Produção de Aço e de Bolsas de Valores, os quais se mostraram relevantes para a validação da robustez dos modelos. A presente tese demonstrou a importância dos métodos de tratamento de dados e que os mesmos têm uma grande relevância na entrada do modelo, visto que facilita o processo de treino e testes dos modelos. As tecnologias escolhidas demonstraram uma boa eficiência e versatilidade na realização da previsão dos valores das variáveis dos equipamentos, demonstrando ainda robustez e otimização no processamento computacional. A tese apresenta ainda propostas para futuros desenvolvimentos, designadamente na exploração mais aprofundada destas tecnologias, de modo a que haja variáveis de mercado que possam calibrar a produção através de previsões suportadas nestas mesmas variáveis

Simulation of an industrial wastewater treatment plant using artificial neural networks and principal components analysis

This work presents a way to predict the biochemical oxygen demand (BOD) of the output stream of the biological wastewater treatment plant at RIPASA S/A Celulose e Papel, one of the major pulp and paper plants in Brazil. The best prediction performance is achieved when the data are preprocessed using principal components analysis (PCA) before they are fed to a backpropagated neural network. The influence of input variables is analyzed and satisfactory prediction results are obtained for an optimized situation.365370Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq

Image-based system and artificial neural network to automate a quality control system for cherries pitting process

Abstract This work proposes a non-destructive quality control for a pitting process of cherries. A system composed of a video camera and a light source records pictures of backlit cherries. The images processing in MATLAB environment provides the dynamic histograms of the pictures, which are analysed to state the presence of the pit. A feedforward artificial neural network was implemented and trained with the histograms obtained. The network developed allows a fast detection of stone fractions not visible by human inspection and the reduction of the accidental reject of properly manufactured products