Hand Gesture Recognition Using a Radar Echo I–Q Plot and a Convolutional Neural Network

We propose a hand gesture recognition technique using a convolutional neural network applied to radar echo inphase/quadrature (I/Q) plot trajectories. The proposed technique is demonstrated to accurately recognize six types of hand gestures for ten participants. The system consists of a low-cost 2.4-GHz continuous-wave monostatic radar with a single antenna. The radar echo trajectories are converted to low-resolution images and are used for the training and evaluation of the proposed technique. Results indicate that the proposed technique can recognize hand gestures with average accuracy exceeding 90%

New generation of interactive platforms based on novel printed smart materials

Programa doutoral em Engenharia Eletrónica e de Computadores (área de Instrumentação e Microssistemas Eletrónicos)The last decade was marked by the computer-paradigm changing with other digital devices suddenly becoming available to the general public, such as tablets and smartphones. A shift in perspective from computer to materials as the centerpiece of digital interaction is leading to a diversification of interaction contexts, objects and applications, recurring to intuitive commands and dynamic content that can proportionate more interesting and satisfying experiences. In parallel, polymer-based sensors and actuators, and their integration in different substrates or devices is an area of increasing scientific and technological interest, which current state of the art starts to permit the use of smart sensors and actuators embodied within the objects seamlessly. Electronics is no longer a rigid board with plenty of chips. New technological advances and perspectives now turned into printed electronics in polymers, textiles or paper. We are assisting to the actual scaling down of computational power into everyday use objects, a fusion of the computer with the material. Interactivity is being transposed to objects erstwhile inanimate. In this work, strain and deformation sensors and actuators were developed recurring to functional polymer composites with metallic and carbonaceous nanoparticles (NPs) inks, leading to capacitive, piezoresistive and piezoelectric effects, envisioning the creation of tangible user interfaces (TUIs). Based on smart polymer substrates such as polyvinylidene fluoride (PVDF) or polyethylene terephthalate (PET), among others, prototypes were prepared using piezoelectric and dielectric technologies. Piezoresistive prototypes were prepared with resistive inks and restive functional polymers. Materials were printed by screen printing, inkjet printing and doctor blade coating. Finally, a case study of the integration of the different materials and technologies developed is presented in a book-form factor.A última década foi marcada por uma alteração do paradigma de computador pelo súbito aparecimento dos tablets e smartphones para o público geral. A alteração de perspetiva do computador para os materiais como parte central de interação digital levou a uma diversificação dos contextos de interação, objetos e aplicações, recorrendo a comandos intuitivos e conteúdos dinâmicos capazes de tornarem a experiência mais interessante e satisfatória. Em simultâneo, sensores e atuadores de base polimérica, e a sua integração em diferentes substratos ou dispositivos é uma área de crescente interesse científico e tecnológico, e o atual estado da arte começa a permitir o uso de sensores e atuadores inteligentes perfeitamente integrados nos objetos. Eletrónica já não é sinónimo de placas rígidas cheias de componentes. Novas perspetivas e avanços tecnológicos transformaram-se em eletrónica impressa em polímeros, têxteis ou papel. Neste momento estamos a assistir à redução da computação a objetos do dia a dia, uma fusão do computador com a matéria. A interatividade está a ser transposta para objetos outrora inanimados. Neste trabalho foram desenvolvidos atuadores e sensores e de pressão e de deformação com recurso a compostos poliméricos funcionais com tintas com nanopartículas (NPs) metálicas ou de base carbónica, recorrendo aos efeitos capacitivo, piezoresistivo e piezoelétrico, com vista à criação de interfaces de usuário tangíveis (TUIs). Usando substratos poliméricos inteligentes tais como fluoreto de polivinilideno (PVDF) ou politereftalato de etileno (PET), entre outos, foi possível a preparação de protótipos de tecnologia piezoelétrica ou dielétrica. Os protótipos de tecnologia piezoresistiva foram feitos com tintas resistivas e polímeros funcionais resistivos. Os materiais foram impressos por serigrafia, jato de tinta, impressão por aerossol e revestimento de lâmina doctor blade. Para terminar, é apresentado um caso de estudo da integração dos diferentes materiais e tecnologias desenvolvidos sob o formato de um livro.This project was supported by FCT – Fundação para a Ciência e a Tecnologia, within the doctorate grant with reference SFRH/BD/110622/2015, by POCH – Programa Operacional Capital Humano, and by EU – European Union

The development of a process for the production of textiles with fully embedded electronics

Many attempts to combine Electronics and Textiles have been realised for many years now. At the beginning with the introduction of conductive wires, then with the introduction of sensors and more complex circuits onto an everyday garment. The next step of evolution of combining these seemingly different fields is to integrate the electronics inside a textile structure, so that it will provide a seamless implementation of both worlds into everyday life. The microelectronics, mechanical, electrical, computing and chemical engineering advances of the last years, can ensure that, nowadays, this is feasible. Because of the minuscule dimensions of the electronic components, so that can be integrated inside the thin-by-nature yarn, and the necessity of a flexible and bendable structure overall, the task required is not of a small scale and has no prerequisite. This Thesis provides the backbone of an innovative technique to achieve the above goal in an automated or semi-automated, accurate, repeatable, reliable and time-cost effective way, combining all the required procedures, outlining the issues and proposing solutions on a plethora of them. This research's outcome, after both manual and automated implementation of the microelectronic component encapsulation concept, proves that automation of the process is feasible with more research and funding in the future. Because this is an innovative and challenging in its implementation, as far as the tiny dimensions of the electronic components are concerned, more testing and physical implementation must be conducted with the contribution of a team of people from different disciplines, in order to finalise it and produce the first linear and continuous version of the machine that can automatically produce electronic yarns, i.e. yarn with electronic components inside its core. The importance of this Thesis is that it sets the foundations, guidelines and requirements for the development of an all-new manufacturing procedure and the creation of a new machine, i.e. the Electronic Yarn Machine -EYM- in the future

Advanced Materials and Technologies in Nanogenerators

This reprint discusses the various applications, new materials, and evolution in the field of nanogenerators. This lays the foundation for the popularization of their broad applications in energy science, environmental protection, wearable electronics, self-powered sensors, medical science, robotics, and artificial intelligence

Design of optical fiber sensors and interrogation schemes

[ES] Las fibras ópticas son dispositivos muy utilizados en el campo de las telecomunicaciones desde su descubrimiento. En las últimas décadas, las fibras ópticas comenzaron a utilizarse como sensores fotónicos. Los primeros trabajos se centraron en la medición de unas dimensiones físicas en un punto específico. Posteriormente, surgió la posibilidad de medir las propiedades de la fibra óptica en diferentes puntos a lo largo de la fibra. Este tipo de sensores se definen como sensores distribuidos. Los componentes optoelectrónicos fueron desarrollados e investigados para telecomunicaciones. Los avances en las telecomunicaciones hicieron posible el desarrollo de sistemas de interrogación para sensores de fibra óptica, creciendo en paralelo con los avances de las telecomunicaciones. Se desarrollaron sistemas de interrogación de fibra óptica que permiten el uso de una única fibra óptica monomodo estándar como sensor que puede monitorear decenas de miles de puntos de detección al mismo tiempo. Los métodos que extraen la información de detección de la señal reflejada en la fibra óptica son los más empleados debido a la facilidad de acceso al sensor y la flexibilidad de estos sistemas. Los más estudiados son la reflectometría en dominios de tiempo y frecuencia. La reflectometría óptica en el dominio del tiempo (OTDR) fue la primera técnica utilizada para detectar la posición de los fallos en las redes de comunica-ción de fibra óptica. El OTDR sensible a la fase hizo posible detectar la elongación y la temperatura en una posición específica. Paralelamente, los gratings de Bragg (FBG) se convirtieron en los dispositivos más utilizados para implementar sensores en fibra óptica discretos. Se desarrollaron técnicas de multiplexación para realizar la detección en múltiples puntos utilizando FGBs. La reflectometría realizada interrogando arrays de FBG débiles demuestra que mejora el rendimiento del sistema en comparación al uso de una fibra monomodo. Los sistemas de interrogatorio actuales tienen algunos inconvenientes. Algunos de ellos son velocidad de interrogatorio limitada, grandes dimensiones y alto costo. En esta tesis doctoral se desarrollaron nuevos sistemas de interrogación y sensores de fibra óptica para superar algunos de estos inconvenientes. Los sensores de fibra óptica de plástico demuestran ser una plataforma innovadora para desarrollar nuevos sensores y sistemas de interrogación de bajo costo y fáciles de implementar para fibras de plástico comerciales. Se investigó la reflectometría en el dominio del tiempo y las técnicas fotónicas de microondas para la interrogación de una matriz de rejillas débiles que permitieron simplificar el sistema de interrogación para la detección de temperatura y vibración.[CA] Les fibres òptiques són dispositius molt utilitzats en el camp de les telecomunica-cions des del seu descobriment. En les últimes dècades, les fibres òptiques van començar a utilitzar-se com a sensors fotònics. Els primers treballs es van centrar en el mesurament d'unes dimensions físiques en un punt específic. Posteriorment, va sorgir la possibilitat de mesurar les propietats de la fibra òptica en diferents punts al llarg de la fibra. Aquest tipus de sensors es defineixen com a sensors distribüits. Els components optoelectrònics van ser desenvolupats i investigats per a telecomunicacions. Els avanços en les telecomunicacions van fer possi-ble el desenvolupament de sistemes d'interrogació per a sensors de fibra òptica, creixent en paral·lel amb els avanços de les telecomunicacions. Es van desenvolupar sistemes d'interrogació de fibra òptica que permeten l'ús d'una única fibra òptica monomodo estàndard com a sensor que pot monitorar desenes de milers de punts de detecció al mateix temps. Els mètodes que extreuen la informació de detecció del senyal reflectit en la fibra òptica són els més utilitzats a causa de la facilitat d'accés al sensor i la flexibilitat d'aquests sistemes. Els més estudiats són la reflectometría en dominis de temps i freqüència. La reflectometría òptica en el domini del temps (OTDR) va ser la primera tècnica utilitzada per a detectar la posició de les fallades en les xarxes de comunicació de fibra òptica. El OTDR sensible a la fase va fer possible detectar l'elongació i la temperatura en una posició específica. Paral·lelament, els gratings de Bragg (FBG) es van convertir en els dispositius més utilitzats per a implementar sensors en fibra òptica discrets. Es van desenvolupar tècniques de multiplexació per a realitzar la detecció en múltiples punts utilitzant FGBs. La reflectometría realitzada interrogant arrays de FBG febles demostra que millora el rendiment del sistema en comparació a l'ús d'una fibra monomodo. Els sistemes d'interrogatori actuals tenen alguns inconvenients. Alguns d'ells són velocitat d'interrogatori limitada, voluminositat i alt cost. En aquesta tesi doctoral es van desenvolupar nous sistemes d'interrogació i sensors de fibra òptica per a superar alguns d'aquests inconvenients. Els sensors de fibra òptica de plàstic demostren ser una plataforma innovadora per a desenvolupar nous sensors i siste-mes d'interrogació de baix cost i fàcils d'implementar per a fibres de plàstic comercials. Es va investigar la reflectometría en el domini del temps i les tècniques fotòniques de microones per a la interrogació d'una matriu de reixetes febles que van permetre simplificar el sistema d'interrogació per a la detecció de temperatura i vibració.[EN] Optical fibers are devices largely used in telecommunication field since their discovery. In the last decades, optical fibers started to be used as photonic sensors. The first works were focused on the measurement of physical dimensions to a specific point. Afterward, emerged the possibility to measure the optical fiber properties at different locations along the fiber. These kinds of sensors are defined as distributed sensors. The optoelectronic components were developed and investigated for telecommunications. The progress in telecommunication made possible the development of optical fiber sensors interrogation systems, growing in parallel with the advances of telecommunications. Optical fiber interrogation systems were developed to use a single standard monomode optical fiber as a sensor that can monitor tens of thousands of sensing points at the same time. The methods that extract the sensing information from the backscattered signal in the optical fiber are widely employed because of the easiness of access to the sensor element and the flexibility of these systems. The most studied are the reflectometry in time and frequency domains. The optical time domain reflectometry (OTDR) was the first technique used to detect the position of the failures in the optical fiber communication networks. Using phase sensitive OTDR it is possible to sense strain and temperature at a specific position. In parallel, fiber Bragg gratings (FBGs) became the most widely used devices to implement discrete optical fiber sensors. Multiplexing techniques were developed to perform multi points sensing using these gratings. The reflectometry performed interrogating weak FBGs arrays demonstrate to improve the performance of the system employing a single mode fiber. The interrogation systems nowadays have some drawbacks. Some of them are limited speed of interrogation, bulkiness, and high cost. New interrogation systems and optical fiber sensors were developed in this doctoral thesis to overcome some of these drawbacks. Plastic optical fiber sensors demonstrate to be an innovative platform to develop both new sensors and low cost, easy to implement interrogation systems for commercial plastic fibers. Reflectometry in time domain and microwave photonic techniques were investigated for the interrogation of weak gratings array allowed to simplify the interrogation system for the sensing of temperature and vibration.I would like to greatly thank the European Union’s Horizon 2020 Research and Innovation Program that funded the research described in this thesis under the Marie Sklodowska-Curie Action Grant Agreement 722509.Sartiano, D. (2021). Design of optical fiber sensors and interrogation schemes [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/161357TESI

Piezoelectric energy harvesting for self-powered wearable upper limb applications

Wearable devices can be used for monitoring vital physical and physiological signs remotely, as well as for interacting with computers. Widespread adoption of wearables is somewhat hindered by the duration time they can be used without re‐recharging. To ensure uninterrupted operation, these devices need a constant and battery‐less energy supply. Scavenging energy from the wearable's surroundings is, therefore, an essential step towards achieving genuinely autonomous and self‐powered devices. While energy harvesting technologies may not completely eliminate the battery storage unit, they can ensure a maximum duration of use. Piezoelectric energy harvesting is a promising and efficient technique to generate electricity for powering wearable devices in response to body movements. Consequently, we systematically survey the range of technologies used for scavenging energy from the human body, with a particular focus on the upper‐limb area. According to our review and in comparison to other upper limb locations, highest power densities can be achieved from piezoelectric transducers located on the wrist. For short and fast battery charging needs, we therefore review the range of materials, architectures and devices used to scavenge energy from these upper‐limb areas. We provide comparisons as well as recommendations and possible future directions for harvesting energy using this promising technique

Human-Machine Interfaces using Distributed Sensing and Stimulation Systems

As the technology moves towards more natural human-machine interfaces (e.g. bionic limbs, teleoperation, virtual reality), it is necessary to develop a sensory feedback system in order to foster embodiment and achieve better immersion in the control system. Contemporary feedback interfaces presented in research use few sensors and stimulation units to feedback at most two discrete feedback variables (e.g. grasping force and aperture), whereas the human sense of touch relies on a distributed network of mechanoreceptors providing a wide bandwidth of information. To provide this type of feedback, it is necessary to develop a distributed sensing system that could extract a wide range of information during the interaction between the robot and the environment. In addition, a distributed feedback interface is needed to deliver such information to the user. This thesis proposes the development of a distributed sensing system (e-skin) to acquire tactile sensation, a first integration of distributed sensing system on a robotic hand, the development of a sensory feedback system that compromises the distributed sensing system and a distributed stimulation system, and finally the implementation of deep learning methods for the classification of tactile data. It\u2019s core focus addresses the development and testing of a sensory feedback system, based on the latest distributed sensing and stimulation techniques. To this end, the thesis is comprised of two introductory chapters that describe the state of art in the field, the objectives, and the used methodology and contributions; as well as six studies that tackled the development of human-machine interfaces

Remote-controlled ambidextrous robot hand actuated by pneumatic muscles: from feasibility study to design and control algorithms

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University LondonThis thesis relates to the development of the Ambidextrous Robot Hand engineered in Brunel University. Assigned to a robotic hand, the ambidextrous feature means that two different behaviours are accessible from a single robot hand, because of its fingers architecture which permits them to bend in both ways. On one hand, the robotic device can therefore behave as a right hand whereas, on another hand, it can behave as a left hand. The main contribution of this project is its ambidextrous feature, totally unique in robotics area. Moreover, the Ambidextrous Robot Hand is actuated by pneumatic artificial muscles (PAMs), which are not commonly used to drive robot hands. The type of the actuators consequently adds more originality to the project. The primary challenge is to reach an ambidextrous behaviour using PAMs designed to actuate non-ambidextrous robot hands. Thus, a feasibility study is carried out for this purpose. Investigating a number of mechanical possibilities, an ambidextrous design is reached with features almost identical for its right and left sides. A testbench is thereafter designed to investigate this possibility even further to design ambidextrous fingers using 3D printing and an asymmetrical tendons routing engineered to reduce the number of actuators. The Ambidextrous Robot Hand is connected to a remote control interface accessible from its website, which provides video streaming as feedback, to be eventually used as an online rehabilitation device. The secondary main challenge is to implement control algorithms on a robot hand with a range twice larger than others, with an asymmetrical tendons routing and actuated by nonlinear actuators. A number of control algorithms are therefore investigated to interact with the angular displacement of the fingers and the grasping abilities of the hand. Several solutions are found out, notably the implementations of a phasing plane switch control and a sliding-mode control, both specific to the architecture of the Ambidextrous Robot Hand. The implementation of these two algorithms on a robotic hand actuated by PAMs is almost as innovative as the ambidextrous design of the mechanical structure itself