Mobile robot transportation in laboratory automation

In this dissertation a new mobile robot transportation system is developed for the modern laboratory automation to connect the distributed automated systems and workbenches. In the system, a series of scientific and technical robot indoor issues are presented and solved, including the multiple robot control strategy, the indoor transportation path planning, the hybrid robot indoor localization, the recharging optimization, the robot-automated door interface, the robot blind arm grasping & placing, etc. The experiments show the proposed system and methods are effective and efficient

Design and Development of Smart Brain-Machine-Brain Interface (SBMIBI) for Deep Brain Stimulation and Other Biomedical Applications

Machine collaboration with the biological body/brain by sending electrical information back and forth is one of the leading research areas in neuro-engineering during the twenty-first century. Hence, Brain-Machine-Brain Interface (BMBI) is a powerful tool for achieving such machine-brain/body collaboration. BMBI generally is a smart device (usually invasive) that can record, store, and analyze neural activities, and generate corresponding responses in the form of electrical pulses to stimulate specific brain regions. The Smart Brain-Machine-Brain-Interface (SBMBI) is a step forward with compared to the traditional BMBI by including smart functions, such as in-electrode local computing capabilities, and availability of cloud connectivity in the system to take the advantage of powerful cloud computation in decision making. In this dissertation work, we designed and developed an innovative form of Smart Brain-Machine-Brain Interface (SBMBI) and studied its feasibility in different biomedical applications. With respect to power management, the SBMBI is a semi-passive platform. The communication module is fully passive—powered by RF harvested energy; whereas, the signal processing core is battery-assisted. The efficiency of the implemented RF energy harvester was measured to be 0.005%. One of potential applications of SBMBI is to configure a Smart Deep-Brain-Stimulator (SDBS) based on the general SBMBI platform. The SDBS consists of brain-implantable smart electrodes and a wireless-connected external controller. The SDBS electrodes operate as completely autonomous electronic implants that are capable of sensing and recording neural activities in real time, performing local processing, and generating arbitrary waveforms for neuro-stimulation. A bidirectional, secure, fully-passive wireless communication backbone was designed and integrated into this smart electrode to maintain contact between the smart electrodes and the controller. The standard EPC-Global protocol has been modified and adopted as the communication protocol in this design. The proposed SDBS, by using a SBMBI platform, was demonstrated and tested through a hardware prototype. Additionally the SBMBI was employed to develop a low-power wireless ECG data acquisition device. This device captures cardiac pulses through a non-invasive magnetic resonance electrode, processes the signal and sends it to the backend computer through the SBMBI interface. Analysis was performed to verify the integrity of received ECG data

A Survey Study of the Current Challenges and Opportunities of Deploying the ECG Biometric Authentication Method in IoT and 5G Environments

The environment prototype of the Internet of Things (IoT) has opened the horizon for researchers to utilize such environments in deploying useful new techniques and methods in different fields and areas. The deployment process takes place when numerous IoT devices are utilized in the implementation phase for new techniques and methods. With the wide use of IoT devices in our daily lives in many fields, personal identification is becoming increasingly important for our society. This survey aims to demonstrate various aspects related to the implementation of biometric authentication in healthcare monitoring systems based on acquiring vital ECG signals via designated wearable devices that are compatible with 5G technology. The nature of ECG signals and current ongoing research related to ECG authentication are investigated in this survey along with the factors that may affect the signal acquisition process. In addition, the survey addresses the psycho-physiological factors that pose a challenge to the usage of ECG signals as a biometric trait in biometric authentication systems along with other challenges that must be addressed and resolved in any future related research.

Digital Cognitive Companions for Marine Vessels : On the Path Towards Autonomous Ships

As for the automotive industry, industry and academia are making extensive efforts to create autonomous ships. The solutions for this are very technology-intense. Many building blocks, often relying on AI technology, need to work together to create a complete system that is safe and reliable to use. Even when the ships are fully unmanned, humans are still foreseen to guide the ships when unknown situations arise. This will be done through teleoperation systems.In this thesis, methods are presented to enhance the capability of two building blocks that are important for autonomous ships; a positioning system, and a system for teleoperation.The positioning system has been constructed to not rely on the Global Positioning System (GPS), as this system can be jammed or spoofed. Instead, it uses Bayesian calculations to compare the bottom depth and magnetic field measurements with known sea charts and magnetic field maps, in order to estimate the position. State-of-the-art techniques for this method typically use high-resolution maps. The problem is that there are hardly any high-resolution terrain maps available in the world. Hence we present a method using standard sea-charts. We compensate for the lower accuracy by using other domains, such as magnetic field intensity and bearings to landmarks. Using data from a field trial, we showed that the fusion method using multiple domains was more robust than using only one domain. In the second building block, we first investigated how 3D and VR approaches could support the remote operation of unmanned ships with a data connection with low throughput, by comparing respective graphical user interfaces (GUI) with a Baseline GUI following the currently applied interfaces in such contexts. Our findings show that both the 3D and VR approaches outperform the traditional approach significantly. We found the 3D GUI and VR GUI users to be better at reacting to potentially dangerous situations than the Baseline GUI users, and they could keep track of the surroundings more accurately. Building from this, we conducted a teleoperation user study using real-world data from a field-trial in the archipelago, where the users should assist the positioning system with bearings to landmarks. The users experienced the tool to give a good overview, and despite the connection with the low throughput, they managed through the GUI to significantly improve the positioning accuracy

Software for malicious macro detection

The objective of this work is to give a detailed study of the development process of a software tool for the detection of the Emotet virus in Microsoft Office files, Emotet is a virus that has been wreaking havoc mainly in the business environment, from its beginnings as a banking Trojan to nowadays. In fact, this polymorphic family has managed to generate evident, incalculable and global inconveniences in the business activity without discriminating by corporate typology, affecting any company regardless of its size or sector, even entering into government agencies, as well as the citizens themselves as a whole. The existence of two main obstacles for the detection of this virus, constitute an intrinsic reality to it, on the one hand, the obfuscation in its macros and on the other, its polymorphism, are essential pieces of the analysis, focusing our tool in facing precisely two obstacles, descending to the analysis of the macros features and the creation of a neuron network that uses machine learning to recognize the detection patterns and deliberate its malicious nature. With Emotet's in-depth nature analysis, our goal is to draw out a set of features from the malicious macros and build a machine learning model for their detection. After the feasibility study of this project, its design and implementation, the results that emerge endorse the intention to detect Emotet starting only from the static analysis and with the application of machine learning techniques. The detection ratios shown by the tests performed on the final model, present a accuracy of 84% and only 3% of false positives during this detection process.Grado en Ingeniería Informátic