Three Realizations and Comparison of Hardware for Piezoresistive Tactile Sensors

Tactile sensors are basically arrays of force sensors that are intended to emulate the skin in applications such as assistive robotics. Local electronics are usually implemented to reduce errors and interference caused by long wires. Realizations based on standard microcontrollers, Programmable Systems on Chip (PSoCs) and Field Programmable Gate Arrays (FPGAs) have been proposed by the authors for the case of piezoresistive tactile sensors. The solution employing FPGAs is especially relevant since their performance is closer to that of Application Specific Integrated Circuits (ASICs) than that of the other devices. This paper presents an implementation of such an idea for a specific sensor. For the purpose of comparison, the circuitry based on the other devices is also made for the same sensor. This paper discusses the implementation issues, provides details regarding the design of the hardware based on the three devices and compares them.This work has been partially funded by the Spanish Government under contracts TEC2006-12376 and TEC2009-14446

Remote Cell Growth Sensing Using Self-Sustained Bio-Oscillations

A smart sensor system for cell culture real-time supervision is proposed, allowing for a significant reduction in human effort applied to this type of assay. The approach converts the cell culture under test into a suitable “biological” oscillator. The system enables the remote acquisition and management of the “biological” oscillation signals through a secure web interface. The indirectly observed biological properties are cell growth and cell number, which are straightforwardly related to the measured bio-oscillation signal parameters, i.e., frequency and amplitude. The sensor extracts the information without complex circuitry for acquisition and measurement, taking advantage of the microcontroller features. A discrete prototype for sensing and remote monitoring is presented along with the experimental results obtained from the performed measurements, achieving the expected performance and outcomes

Computer Architectures to Close the Loop in Real-time Optimization

© 2015 IEEE.Many modern control, automation, signal processing and machine learning applications rely on solving a sequence of optimization problems, which are updated with measurements of a real system that evolves in time. The solutions of each of these optimization problems are then used to make decisions, which may be followed by changing some parameters of the physical system, thereby resulting in a feedback loop between the computing and the physical system. Real-time optimization is not the same as fast optimization, due to the fact that the computation is affected by an uncertain system that evolves in time. The suitability of a design should therefore not be judged from the optimality of a single optimization problem, but based on the evolution of the entire cyber-physical system. The algorithms and hardware used for solving a single optimization problem in the office might therefore be far from ideal when solving a sequence of real-time optimization problems. Instead of there being a single, optimal design, one has to trade-off a number of objectives, including performance, robustness, energy usage, size and cost. We therefore provide here a tutorial introduction to some of the questions and implementation issues that arise in real-time optimization applications. We will concentrate on some of the decisions that have to be made when designing the computing architecture and algorithm and argue that the choice of one informs the other

Energy and Accuracy Trade-Offs in Accelerometry-Based Activity Recognition

Driven by real-world applications such as fitness, wellbeing and healthcare, accelerometry-based activity recognition has been widely studied to provide context-awareness to future pervasive technologies. Accurate recognition and energy efficiency are key issues in enabling long-term and unobtrusive monitoring. While the majority of accelerometry-based activity recognition systems stream data to a central point for processing, some solutions process data locally on the sensor node to save energy. In this paper, we investigate the trade-offs between classification accuracy and energy efficiency by comparing on- and off-node schemes. An empirical energy model is presented and used to evaluate the energy efficiency of both systems, and a practical case study (monitoring the physical activities of office workers) is developed to evaluate the effect on classification accuracy. The results show a 40% energy saving can be obtained with a 13% reduction in classification accuracy, but this performance depends heavily on the wearer’s activity

Compact personal distributed wearable exposimeter

A compact wearable personal distributed exposimeter (PDE) is proposed, sensing the power density of incident radio frequency (RF) fields on the body of a human. In contrast to current commercial exposimeters, our PDE, being composed of multiple compact personal wearable RF exposimeter sensor modules, minimizes uncertainties caused by the proximity of the body, the specific antenna used, and the exact position of the exposimeter. For unobtrusive deployment inside a jacket, each individual exposimeter sensor module is specifically implemented on the feedplane of a textile patch antenna. The new wearable sensor module's high-resolution logarithmic detector logs RF signal levels. Next, on-board flash memory records minimum, maximum, and average exposure data over a time span of more than two weeks, at a one-second sample period. Sample-level synchronization of each individual exposimeter sensor module enables combining of measurements collected by different nodes. The system is first calibrated in an anechoic chamber, and then compared with a commercially available single-unit exposimeter. Next, the PDE is validated in realistic conditions, by measuring the average RF power density on a human during a walk in an urban environment and comparing the results to spectrum analyzer measurements with a calibrated antenna

Wireless body sensor networks for health-monitoring applications

This is an author-created, un-copyedited version of an article accepted for publication in Physiological Measurement. The publisher is not responsible for any errors or omissions in this version of the manuscript or any version derived from it. The Version of Record is available online at http://dx.doi.org/10.1088/0967-3334/29/11/R01

Static and dynamic accuracy of an innovative miniaturized wearable platform for short range distance measurements for human movement applications

Magneto-inertial measurement units (MIMU) are a suitable solution to assess human motor performance both indoors and outdoors. However, relevant quantities such as step width and base of support, which play an important role in gait stability, cannot be directly measured using MIMU alone. To overcome this limitation, we developed a wearable platform specifically designed for human movement analysis applications, which integrates a MIMU and an Infrared Time-of-Flight proximity sensor (IR-ToF), allowing for the estimate of inter-object distance. We proposed a thorough testing protocol for evaluating the IR-ToF sensor performances under experimental conditions resembling those encountered during gait. In particular, we tested the sensor performance for different (i) target colors; (ii) sensor-target distances (up to 200 mm) and (iii) sensor-target angles of incidence (AoI) (up to 60°). Both static and dynamic conditions were analyzed. A pendulum, simulating the oscillation of a human leg, was used to generate highly repeatable oscillations with a maximum angular velocity of 6 rad/s. Results showed that the IR-ToF proximity sensor was not sensitive to variations of both distance and target color (except for black). Conversely, a relationship between error magnitude and AoI values was found. For AoI equal to 0°, the IR-ToF sensor performed equally well both in static and dynamic acquisitions with a distance mean absolute error <1.5 mm. Errors increased up to 3.6 mm (static) and 11.9 mm (dynamic) for AoI equal to ±30°, and up to 7.8 mm (static) and 25.6 mm (dynamic) for AoI equal to ±60°. In addition, the wearable platform was used during a preliminary experiment for the estimation of the inter-foot distance on a single healthy subject while walking. In conclusion, the combination of magneto-inertial unit and IR-ToF technology represents a valuable alternative solution in terms of accuracy, sampling frequency, dimension and power consumption, compared to existing technologies

Use of motion sensors for autonomous monitoring of hydraulic environments

Low cost, miniaturized, commercial-off-the-shelf (COTS) motion sensors, collectively with processors, an energy source and other electronic circuitry can be packaged into very small volumes for autonomous operation. If such a system operates over short periods of time, or data acquisitions occur at a very low frequency, processor resources should be sufficient to manage offsets and errors. The paper analyzes a typical set of COTS accelerometers and gyroscopes, to indicate how best these can be used in hydraulic environments. Application examples such as river bed sediment monitoring, milk vat monitoring etc. are briefly discussed, with application oriented design approaches. Minimizing the power consumption to introduce a novel, rechargeable power supply design is briefly outlined