Bio-signal based control in assistive robots: a survey

Recently, bio-signal based control has been gradually deployed in biomedical devices and assistive robots for improving the quality of life of disabled and elderly people, among which electromyography (EMG) and electroencephalography (EEG) bio-signals are being used widely. This paper reviews the deployment of these bio-signals in the state of art of control systems. The main aim of this paper is to describe the techniques used for (i) collecting EMG and EEG signals and diving these signals into segments (data acquisition and data segmentation stage), (ii) dividing the important data and removing redundant data from the EMG and EEG segments (feature extraction stage), and (iii) identifying categories from the relevant data obtained in the previous stage (classification stage). Furthermore, this paper presents a summary of applications controlled through these two bio-signals and some research challenges in the creation of these control systems. Finally, a brief conclusion is summarized

Increasing the robustness of autonomous systems to hardware degradation using machine learning

Autonomous systems perform predetermined tasks (missions) with minimum supervision. In most applications, the state of the world changes with time. Sensors are employed to measure part or whole of the world’s state. However, sensors often fail amidst operation; feeding as such decision-making with wrong information about the world. Moreover, hardware degradation may alter dynamic behaviour, and subsequently the capabilities, of an autonomous system; rendering the original mission infeasible. This thesis applies machine learning to yield powerful and robust tools that can facilitate autonomy in modern systems. Incremental kernel regression is used for dynamic modelling. Algorithms of this sort are easy to train and are highly adaptive. Adaptivity allows for model adjustments, whenever the environment of operation changes. Bayesian reasoning provides a rigorous framework for addressing uncertainty. Moreover, using Bayesian Networks, complex inference regarding hardware degradation can be answered. Specifically, adaptive modelling is combined with Bayesian reasoning to yield recursive estimation algorithms that are robust to sensor failures. Two solutions are presented by extending existing recursive estimation algorithms from the robotics literature. The algorithms are deployed on an underwater vehicle and the performance is assessed in real-world experiments. A comparison against standard filters is also provided. Next, the previous algorithms are extended to consider sensor and actuator failures jointly. An algorithm that can detect thruster failures in an Autonomous Underwater Vehicle has been developed. Moreover, the algorithm adapts the dynamic model online to compensate for the detected fault. The performance of this algorithm was also tested in a real-world application. One step further than hardware fault detection, prognostics predict how much longer can a particular hardware component operate normally. Ubiquitous sensors in modern systems render data-driven prognostics a viable solution. However, training is based on skewed datasets; datasets where the samples from the faulty region of operation are much fewer than the ones from the healthy region of operation. This thesis presents a prognostic algorithm that tackles the problem of imbalanced (skewed) datasets

Model-free non-invasive health assessment for battery energy storage assets

Increasing penetration of renewable energy generation in the modern power network introduces uncertainty about the energy available to maintain a balance between generation and demand due to its time-fluctuating output that is strongly dependent on the weather. With the development of energy storage technology, there is the potential for this technology to become a key element to help overcome this intermittency in a generation. However, the increasing penetration of battery energy storage within the power network introduces an additional challenge to asset owners on how to monitor and manage battery health. The accurate estimation of the health of this device is crucial in determining its reliability, power-delivering capability and ability to contribute to the operation of the whole power system. Generally, doing this requires invasive measurements or computationally expensive physics-based models, which do not scale up cost-effectively to a fleet of assets. As storage aggregation becomes more commonplace, there is a need for a health metric that will be able to predict battery health based only on the limited information available, eliminating the necessity of installation of extensive telemetry in the system. This work develops a solution to battery health prognostics by providing an alternative, a non-invasive approach to the estimation of battery health that estimates the extent to which a battery asset has been maloperated based only on the battery-operating regime imposed on the device. The model introduced in this work is based on the Hidden Markov Model, which stochastically models the battery limitations imposed by its chemistry as a combination of present and previous sequential charging actions, and articulates the preferred operating regime as a measure of health consequence. The resulting methodology is demonstrated on distribution network level electrical demand and generation data, accurately predicting maloperation under a number of battery technology scenarios. The effectiveness of the proposed battery maloperation model as a proxy for actual battery degradation for lithium-ion technology was also tested against lab tested battery degradation data, showing that the proposed health measure in terms of maloperation level reflected that measured in terms of capacity fade. The developed model can support condition monitoring and remaining useful life estimates, but in the wider context could also be used as the policy function in an automated scheduler to utilise assets while optimising their health.Increasing penetration of renewable energy generation in the modern power network introduces uncertainty about the energy available to maintain a balance between generation and demand due to its time-fluctuating output that is strongly dependent on the weather. With the development of energy storage technology, there is the potential for this technology to become a key element to help overcome this intermittency in a generation. However, the increasing penetration of battery energy storage within the power network introduces an additional challenge to asset owners on how to monitor and manage battery health. The accurate estimation of the health of this device is crucial in determining its reliability, power-delivering capability and ability to contribute to the operation of the whole power system. Generally, doing this requires invasive measurements or computationally expensive physics-based models, which do not scale up cost-effectively to a fleet of assets. As storage aggregation becomes more commonplace, there is a need for a health metric that will be able to predict battery health based only on the limited information available, eliminating the necessity of installation of extensive telemetry in the system. This work develops a solution to battery health prognostics by providing an alternative, a non-invasive approach to the estimation of battery health that estimates the extent to which a battery asset has been maloperated based only on the battery-operating regime imposed on the device. The model introduced in this work is based on the Hidden Markov Model, which stochastically models the battery limitations imposed by its chemistry as a combination of present and previous sequential charging actions, and articulates the preferred operating regime as a measure of health consequence. The resulting methodology is demonstrated on distribution network level electrical demand and generation data, accurately predicting maloperation under a number of battery technology scenarios. The effectiveness of the proposed battery maloperation model as a proxy for actual battery degradation for lithium-ion technology was also tested against lab tested battery degradation data, showing that the proposed health measure in terms of maloperation level reflected that measured in terms of capacity fade. The developed model can support condition monitoring and remaining useful life estimates, but in the wider context could also be used as the policy function in an automated scheduler to utilise assets while optimising their health

Big Data in Smart-Cities: Current Research and Challenges

Smart-cities are an emerging paradigm containing heterogeneous network infrastructure, ubiquitous sensing devices, big-data processing and intelligent control systems. Their primary aim is to improve the quality of life of the citizens by providing intelligent services in a wide variety of aspects like transportation, healthcare, entertainment, environment, and energy. In order to provide such services, the role of big-data and its analysis is extremely important as it enables to obtain valuable insights into the large data generated by the smart-cities.  In this article, we investigate the state-of-art research efforts directed towards big-data analytics in a smart-city context. Specifically, first we present a big-data centric taxonomy for the smart-cities to bring forth a generic overview of the importance of big-data paradigm in a smart-city environment. This is followed by the presentation of a top-level snapshot of the commonly used big-data analytical platforms. Due to the heterogeneity of data being collected by the smart-cities, often with conflicting processing requirements, suitable analytical techniques depending upon the data type are also suggested. In addition to this, a generic four-tier big-data framework comprising of the sensing hub, storage hub, processing hub and application hub is also proposed that can be applied in any smart-city context. This is complemented by providing the common big-data applications in a smart-city and presentation of ten selected case studies of smart-cities across the globe. Finally, the open challenges are highlighted in order to give future research directions

Security, trust and cooperation in wireless sensor networks

Wireless sensor networks are a promising technology for many real-world applications such as critical infrastructure monitoring, scientific data gathering, smart buildings, etc.. However, given the typically unattended and potentially unsecured operation environment, there has been an increased number of security threats to sensor networks. In addition, sensor networks have very constrained resources, such as limited energy, memory, computational power, and communication bandwidth. These unique challenges call for new security mechanisms and algorithms. In this dissertation, we propose novel algorithms and models to address some important and challenging security problems in wireless sensor networks. The first part of the dissertation focuses on data trust in sensor networks. Since sensor networks are mainly deployed to monitor events and report data, the quality of received data must be ensured in order to make meaningful inferences from sensor data. We first study a false data injection attack in the distributed state estimation problem and propose a distributed Bayesian detection algorithm, which could maintain correct estimation results when less than one half of the sensors are compromised. To deal with the situation where more than one half of the sensors may be compromised, we introduce a special class of sensor nodes called \textit{trusted cores}. We then design a secure distributed trust aggregation algorithm that can utilize the trusted cores to improve network robustness. We show that as long as there exist some paths that can connect each regular node to one of these trusted cores, the network can not be subverted by attackers. The second part of the dissertation focuses on sensor network monitoring and anomaly detection. A sensor network may suffer from system failures due to loss of links and nodes, or malicious intrusions. Therefore, it is critical to continuously monitor the overall state of the network and locate performance anomalies. The network monitoring and probe selection problem is formulated as a budgeted coverage problem and a Markov decision process. Efficient probing strategies are designed to achieve a flexible tradeoff between inference accuracy and probing overhead. Based on the probing results on traffic measurements, anomaly detection can be conducted. To capture the highly dynamic network traffic, we develop a detection scheme based on multi-scale analysis of the traffic using wavelet transforms and hidden Markov models. The performance of the probing strategy and of the detection scheme are extensively evaluated in malicious scenarios using the NS-2 network simulator. Lastly, to better understand the role of trust in sensor networks, a game theoretic model is formulated to mathematically analyze the relation between trust and cooperation. Given the trust relations, the interactions among nodes are modeled as a network game on a trust-weighted graph. We then propose an efficient heuristic method that explores network heterogeneity to improve Nash equilibrium efficiency

A Survey of Anticipatory Mobile Networking: Context-Based Classification, Prediction Methodologies, and Optimization Techniques

A growing trend for information technology is to not just react to changes, but anticipate them as much as possible. This paradigm made modern solutions, such as recommendation systems, a ubiquitous presence in today's digital transactions. Anticipatory networking extends the idea to communication technologies by studying patterns and periodicity in human behavior and network dynamics to optimize network performance. This survey collects and analyzes recent papers leveraging context information to forecast the evolution of network conditions and, in turn, to improve network performance. In particular, we identify the main prediction and optimization tools adopted in this body of work and link them with objectives and constraints of the typical applications and scenarios. Finally, we consider open challenges and research directions to make anticipatory networking part of next generation networks

Identification and Optimal Linear Tracking Control of ODU Autonomous Surface Vehicle

Autonomous surface vehicles (ASVs) are being used for diverse applications of civilian and military importance such as: military reconnaissance, sea patrol, bathymetry, environmental monitoring, and oceanographic research. Currently, these unmanned tasks can accurately be accomplished by ASVs due to recent advancements in computing, sensing, and actuating systems. For this reason, researchers around the world have been taking interest in ASVs for the last decade. Due to the ever-changing surface of water and stochastic disturbances such as wind and tidal currents that greatly affect the path-following ability of ASVs, identification of an accurate model of inherently nonlinear and stochastic ASV system and then designing a viable control using that model for its planar motion is a challenging task. For planar motion control of ASV, the work done by researchers is mainly based on the theoretical modeling in which the nonlinear hydrodynamic terms are determined, while some work suggested the nonlinear control techniques and adhered to simulation results. Also, the majority of work is related to the mono- or twin-hull ASVs with a single rudder. The ODU-ASV used in present research is a twin-hull design having two DC trolling motors for path-following motion. A novel approach of time-domain open-loop observer Kalman filter identifications (OKID) and state-feedback optimal linear tracking control of ODU-ASV is presented, in which a linear state-space model of ODU-ASV is obtained from the measured input and output data. The accuracy of the identified model for ODU-ASV is confirmed by validation results of model output data reconstruction and benchmark residual analysis. Then, the OKID-identified model of the ODU-ASV is utilized to design the proposed controller for its planar motion such that a predefined cost function is minimized using state and control weighting matrices, which are determined by a multi-objective optimization genetic algorithm technique. The validation results of proposed controller using step inputs as well as sinusoidal and arc-like trajectories are presented to confirm the controller performance. Moreover, real-time water-trials were performed and their results confirm the validity of proposed controller in path-following motion of ODU-ASV

Prognostic and health management of critical aircraft systems and components: an overview

This article belongs to the Special Issue Feature Papers in Fault Diagnosis & Sensors 2023Prognostic and health management (PHM) plays a vital role in ensuring the safety and reliability of aircraft systems. The process entails the proactive surveillance and evaluation of the state and functional effectiveness of crucial subsystems. The principal aim of PHM is to predict the remaining useful life (RUL) of subsystems and proactively mitigate future breakdowns in order to minimize consequences. The achievement of this objective is helped by employing predictive modeling techniques and doing real-time data analysis. The incorporation of prognostic methodologies is of utmost importance in the execution of condition-based maintenance (CBM), a strategic approach that emphasizes the prioritization of repairing components that have experienced quantifiable damage. Multiple methodologies are employed to support the advancement of prognostics for aviation systems, encompassing physics-based modeling, data-driven techniques, and hybrid prognosis. These methodologies enable the prediction and mitigation of failures by identifying relevant health indicators. Despite the promising outcomes in the aviation sector pertaining to the implementation of PHM, there exists a deficiency in the research concerning the efficient integration of hybrid PHM applications. The primary aim of this paper is to provide a thorough analysis of the current state of research advancements in prognostics for aircraft systems, with a specific focus on prominent algorithms and their practical applications and challenges. The paper concludes by providing a detailed analysis of prospective directions for future research within the field.European Union funding: 95568

Multibiometric security in wireless communication systems

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University, 05/08/2010.This thesis has aimed to explore an application of Multibiometrics to secured wireless communications. The medium of study for this purpose included Wi-Fi, 3G, and WiMAX, over which simulations and experimental studies were carried out to assess the performance. In specific, restriction of access to authorized users only is provided by a technique referred to hereafter as multibiometric cryptosystem. In brief, the system is built upon a complete challenge/response methodology in order to obtain a high level of security on the basis of user identification by fingerprint and further confirmation by verification of the user through text-dependent speaker recognition. First is the enrolment phase by which the database of watermarked fingerprints with memorable texts along with the voice features, based on the same texts, is created by sending them to the server through wireless channel. Later is the verification stage at which claimed users, ones who claim are genuine, are verified against the database, and it consists of five steps. Initially faced by the identification level, one is asked to first present one’s fingerprint and a memorable word, former is watermarked into latter, in order for system to authenticate the fingerprint and verify the validity of it by retrieving the challenge for accepted user. The following three steps then involve speaker recognition including the user responding to the challenge by text-dependent voice, server authenticating the response, and finally server accepting/rejecting the user. In order to implement fingerprint watermarking, i.e. incorporating the memorable word as a watermark message into the fingerprint image, an algorithm of five steps has been developed. The first three novel steps having to do with the fingerprint image enhancement (CLAHE with 'Clip Limit', standard deviation analysis and sliding neighborhood) have been followed with further two steps for embedding, and extracting the watermark into the enhanced fingerprint image utilising Discrete Wavelet Transform (DWT). In the speaker recognition stage, the limitations of this technique in wireless communication have been addressed by sending voice feature (cepstral coefficients) instead of raw sample. This scheme is to reap the advantages of reducing the transmission time and dependency of the data on communication channel, together with no loss of packet. Finally, the obtained results have verified the claims