Master of Science

thesisComputing and data acquisition have become an integral part of everyday life. From reading emails on cell phones to kids playing with motion sensing game consoles, we are surrounded with sensors and mobile computing devices. As the availability of powerful computing devices increases, applications in previously limited environments become possible. Training devices in rehabilitation are becoming increasingly common and more mobile. Community based rehabilitative devices are emerging that embrace these mobile advances. To further the flexibility of devices used in rehabilitation, research has explored the use of smartphones as a means to process data and provide feedback to the user. In combination with sensor embedded insoles, smartphones provide a powerful tool for the clinician in gathering data and as a standalone training tool in rehabilitation. This thesis presents the continuing research of sensor based insoles, feedback systems and increasing the capabilities of the Adaptive Real-Time Instrumentation System for Tread Imbalance Correction, or ARTISTIC, with the introduction of ARTISTIC 2.0. To increase the capabilities of the ARTISTIC an Inertial Measurement Unit (IMU) was added, which gave the system the ability to quantify the motion of the gait cycle and, more specifically, determine stride length. The number of sensors in the insole was increased from two to ten, as well as placing the microprocessor and a vibratory motor in the insole. The transmission box weight was reduced by over 50 percent and the volume by over 60 percent. Stride length was validated against a motion capture system and found the average stride length to be within 2.7 ± 6.9 percent. To continue the improvement of the ARTISTIC 2.0, future work will include implementing real-time stride length feedback

Master of Science

thesisComputing and data acquisition have become an integral part of everyday life. From reading emails on a cell phone, to kids playing with motion sensing game consoles, we are surrounded with sensors and mobile devices. As the availability of powerful mobile computing devices expands, the road is paved for applications in previously limited environments. Rehabilitative devices are emerging that embrace these mobile advances. Research has explored the use of smartphones in rehabilitation as a means to process data and provide feedback in conjunction with established rehabilitative methods. Smartphones, combined with sensor embedded insoles, provide a powerful tool for the clinician in gathering data and may act as a standalone training technique. This thesis presents continuing research of a sensor integrated insole system that provides real-time feedback through a mobile platform, the Adaptive Real-Time Instrumentation System for Tread Imbalance Correction (ARTISTIC). The system interfaces a wireless instrumented insole with an Android smartphone application to receive gait data and provide sensory feedback to modify gait patterns. Revisions to the system hardware, software, and feedback modes brought about the introduction of the ARTISTIC 2.0. The number of sensors in the insole was increased from two to 10. The microprocessor and a vibrotactile motor were embedded in the insole and the communications box was reduced in size and weight by more than 50%. Stance time iv measurements were validated against force plate equipment and found to be within 13.5 ± 3.3% error of force plate time measurements. Human subjects were tested using each of the feedback modes to alter gait symmetry. Results from the testing showed that more than one mode of feedback caused a statistically significant change in gait symmetry ratios (p < 0.05). Preference of feedback modes varied among subjects, with the majority agreeing that several feedback modes made a difference in their gait. Further improvements will prepare the ARTISTIC 2.0 for testing in a home environment for extended periods of time and improve data capture techniques, such as including a database in the smartphone application

Implementation of the ATmega 328 microcontroller in the Room Light Control System

This research is an effort to save on the use of electrical energy at home, by designing and building an automatic room light control system using a PC and an ATmega 328 microcontroller which is used as a module on the Arduino uno. The research method used is a quasi-experimental method by calculating the average time consumption required when using a control system. From the results of the analysis carried out, it was concluded that for each procedure used in the test it produced a very good average response time because it was not more than 1 second and did not cause a long delay in the execution of control commands

Smart Grasping using Laser and Tactile Array Sensors for UCF-MANUS- An Intelligent Assistive Robotic Manipulator

This thesis presents three improvements in the UCF MANUS Assistive Robotic Manipulator\u27s grasping abilities. Firstly, the robot can now grasp objects that are deformable, heavy and have uneven contact surfaces without undergoing slippage during robotic operations, e.g. paper cup, filled water bottle. This is achieved by installing a high precision non-contacting Laser sensor1 that runs with an algorithm that processes raw-input data from the sensor, registers smallest variation in the relative position of the object with respect to the gripper. Secondly, the robot can grasp objects that are as light and small as single cereal grain without deforming it. To achieve this a MEMS Barometer based tactile sensor array device that can measure force that are as small as 1 gram equivalent is embedded into the gripper to enhance pressure sensing capabilities. Thirdly, the robot gripper gloves are designed aesthetically and conveniently to accommodate existing and newly added sensors using a 3D printing technology that uses light weight ABS plastic as a fabrication material. The newly designed system was experimented and found that a high degree of adaptability for different kinds of objects can be attained with a better performance than the previous system

Development of an IoT solution for detergent supervision in industrial washing machines

Dupla diplomação dom a UTFPR - Universidade Tecnológica Federal do ParanáAutomation of industrial activities aim to improve the efficiency of the productive processes while reducing costs and increasing safety. In industrial laundries, the detergent level measurement is a key element for asset management, mainly due to the necessity of maintaining a continuous flow of washing processes. Therefore, this work presents a solution implemented in the industrial laundry reservoirs of Santa Casa da Misericórdia de Bragança, in Portugal, using an Internet of Things (IoT) approach, which integrates a Wi-Fi based measurement system, capable of monitoring and recording the detergent liquid level from reservoirs in real-time. Thereby, a microcontrolled system was developed to perform level measurements using an ultrasonic sensor, in which data is sent to a database and, through a web based platform, the client can remotely access the measurement results. In order to facilitate the physical installation of the developed hardware in the existent setup, a custom-made enclosure was designed and 3D printed.A automação das atividades industriais tem como objetivo melhorar a eficiência de processos produtivos, reduzindo custos e aumentando a segurança. Em lavanderias industriais, a medição de nível de detergente líquido é um elemento fundamental para o gerenciamento de ativos, principalmente devido à necessidade de manter um fluxo contínuo dos processos de lavagem. Dessa forma, o trabalho apresenta uma solução implementada nos reservatórios da lavanderia industrial da Santa Casa da Misericórdia de Bragança, em Portugal, usando uma abordagem de internet das coisas, na qual integra um sistema de medição com conexão Wi-Fi, capaz de monitorar e registrar o nível de detergente líquido dos reservatórios em tempo real. Com isso, foi desenvolvido um sistema microcontrolado responsável por realizar as medições de nível ulilizando sensor ultrasônico, na qual os dados são enviados para um banco de dados e, através de uma plataforma web, o cliente consiga acessar de forma remota o resultado das medições. Para facilitar a instalação do sistema nos reservatórios, um bujão foi desenhado sob medida e impresso em 3D

A low power IoT sensor node architecture for waste management within smart cities context

This paper focuses on the realization of an Internet of Things (IoT) architecture to optimize waste management in the context of Smart Cities. In particular, a novel typology of sensor node based on the use of low cost and low power components is described. This node is provided with a single-chip microcontroller, a sensor able to measure the filling level of trash bins using ultrasounds and a data transmission module based on the LoRa LPWAN (Low Power Wide Area Network) technology. Together with the node, a minimal network architecture was designed, based on a LoRa gateway, with the purpose of testing the IoT node performances. Especially, the paper analyzes in detail the node architecture, focusing on the energy saving technologies and policies, with the purpose of extending the batteries lifetime by reducing power consumption, through hardware and software optimization. Tests on sensor and radio module effectiveness are also presented

A Self-Powered Wireless Water Quality Sensing Network Enabling Smart Monitoring of Biological and Chemical Stability in Supply Systems

A smart, safe, and efficient management of water is fundamental for both developed and developing countries. Several wireless sensor networks have been proposed for real-time monitoring of drinking water quantity and quality, both in the environment and in pipelines. However, surface fouling significantly affects the long-term reliability of pipes and sensors installed in-line. To address this relevant issue, we presented a multi-parameter sensing node embedding a miniaturized slime monitor able to estimate the micrometric thickness and type of slime. The measurement of thin deposits in pipes is descriptive of water biological and chemical stability and enables early warning functions, predictive maintenance, and more efficient management processes. After the description of the sensing node, the related electronics, and the data processing strategies, we presented the results of a two-month validation in the field of a three-node pilot network. Furthermore, self-powering by means of direct energy harvesting from the water flowing through the sensing node was also demonstrated. The robustness and low cost of this solution enable its upscaling to larger monitoring networks, paving the way to water monitoring with unprecedented spatio-temporal resolution. Document type: Articl

Experimental Analysis of Smart Tires

A novel smart tire monitoring system was designed and implemented on a fully functional car tire. Polyvinylidene fluoride (PVDF) based piezo-electric sensors were embedded inside rubber tire to measure strain related data. System electronics were implemented inside a robust IP-68 (Ingress Protection) rated enclosure. This enclosure was mounted on a car wheel and successfully recorded sensory data onto an SD card during driving. Data collected from the PVDF sensors were then post-processed in Matlab. An artificial neural network (ANN) was built to correlate the sensor data to the readings given by an industry grade load wheel. Although the correlations are very crude, this study shows a promising way to analyze the strain related information from car tires by using PVDF sensors in conjunction with ANNs. This strain related information can then be used to estimate six different values concerning the tire, namely lateral force (Fy), longitudinal force (Fx), normal force (Fz), aligning moment (Mz), inflation pressure and friction coefficient. All of which are very important parameters for vehicle dynamics. However the estimation of these values is not presented within the context of this work. Two low cost data acquisition systems were designed in-house with two different Arduino platforms. However these fell short of data acquisition performance requirements required for realistic driving applications. It was seen that the Arduino family, low-end microprocessors, were not the best choice for applications of this nature. Finally electronic improvements such as the usage of field programmable gate arrays (FPGA) is discussed and suggested for future works

A Reconfigurable and wearable wireless sensor system and its case study in the training of hammer throwers

Wearable sensors have been popularly used in many applications with the development of computer science and engineering. However, wearables for biomechanical feedback in motor learning and training are still rare. Therefore, this thesis focuses on developing an efficient and cost-effective wireless sensor system through a case study on the hammer throw. The results have shown that the proposed reconfigurable and wearable system can implement real-time biomechanical feedback in the hammer-throw training. Furthermore, the experimental results suggest that various throw-control patterns could be identified by using one tension-sensor and two inertial measurement units (i.e., more superior practicality than 3D motion capture), indicating that the low-cost wearable system has potential to substitute the expensive 3D motion capture technology. The proposed system can be easily modified and applied to many other applications, including but not limited to healthcare, rehabilitation, and smart homes, etc.National Science and Engineering Research Council of Canada (NSERC

Smart electrostatic crop spraying using remote sensing technology

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University LondonFor this thesis, smart spraying robot was designed, constructed and tested to validate the concept of smart pest control. Electrostatic charging of sprayed pesticide was realized in a spray nozzle design that improved plant coverage and reduced wasted pesticide as well as soil pollution. A thorough investigation into electrostatic spraying was conducted, which was accompanied by extensive simulations and experimentation. The results obtained from the simulation experimentation on industry standard electrostatic spray system (ESS) nozzles along with laboratory testing of these nozzles, detecting spray coverage using water sensitive paper and additional optical spray visualization methods gave the necessary insight and experience required to develop a new spray nozzle. Additional COMSOL simulation and experimentation were carried out on a Fan Hydraulic Spray Nozzle (FHSN), the results of which allowed for the effective addition of electrostatic induction capabilities, thereby transforming the (FHSN) into Electrostatic Induction Spray Nozzle (EISN) which is one of the prime parts of the smart spraying system. SOLIDWORKS software was used in the designing parts of this nozzle which were then manufactured using a 3D printer. An AL05D robotic manipulator and a TTRK tracked platform from Lynxmotion ™ were the mini mobile robot components selected for the feasibility study of the smart electrostatic crop spraying system. This mobile robot was equipped with a CCD digital camera, a range detector, and path mark detector to provide the necessary sensors required by the smart electrostatic spray system. A Windows™ based mobile computer in addition to an ARDUINO™ based orksmicrocontroller system were chosen to provide the computational power required by the system. These were arranged in a master – slave configuration, with the main processing for images and motion being conducted inside the master computer using programs created by Matlab smart ™ software. The execution of motion commands and the operation of the range and path mark detection along with operating the spray nozzle were performed on the slave computer using C as the programming language. The manufactured smart electrostatic spray system moves along cotton crop rows with a camera that scans the selected plant for pest infestation on the upper and lower surfaces of plant leaves. When a pest is detected, the spray nozzle is targeted on it at the appropriate distance, and a burst of pesticide destroys it. The results of experiments have shown that using the electrostatic induction system improves coverage 3 to 4 fold and reduces soil contamination by 2 to 4 fold. The system has plenty of room for performance improvement, and future development will make it adaptable for application to other crops and applications.The Iraqi government, the Ministry of Higher Education and Scientific Research and Kerbala Universit