7,681 research outputs found

    Challenges in the Design and Implementation of IoT Testbeds in Smart-Cities : A Systematic Review

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    Advancements in wireless communication and the increased accessibility to low-cost sensing and data processing IoT technologies have increased the research and development of urban monitoring systems. Most smart city research projects rely on deploying proprietary IoT testbeds for indoor and outdoor data collection. Such testbeds typically rely on a three-tier architecture composed of the Endpoint, the Edge, and the Cloud. Managing the system's operation whilst considering the security and privacy challenges that emerge, such as data privacy controls, network security, and security updates on the devices, is challenging. This work presents a systematic study of the challenges of developing, deploying and managing urban monitoring testbeds, as experienced in a series of urban monitoring research projects, followed by an analysis of the relevant literature. By identifying the challenges in the various projects and organising them under the V-model development lifecycle levels, we provide a reference guide for future projects. Understanding the challenges early on will facilitate current and future smart-cities IoT research projects to reduce implementation time and deliver secure and resilient testbeds

    Safety-Aware Human-Robot Collaborative Transportation and Manipulation with Multiple MAVs

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    Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot interaction focus on collaboration between a human and a single ground robot. In recent years, very little progress has been made in this research area when considering aerial robots, which offer increased versatility and mobility compared to their grounded counterparts. This paper proposes a novel approach for safe human-robot collaborative transportation and manipulation of a cable-suspended payload with multiple aerial robots. We leverage the proposed method to enable smooth and intuitive interaction between the transported objects and a human worker while considering safety constraints during operations by exploiting the redundancy of the internal transportation system. The key elements of our system are (a) a distributed payload external wrench estimator that does not rely on any force sensor; (b) a 6D admittance controller for human-aerial-robot collaborative transportation and manipulation; (c) a safety-aware controller that exploits the internal system redundancy to guarantee the execution of additional tasks devoted to preserving the human or robot safety without affecting the payload trajectory tracking or quality of interaction. We validate the approach through extensive simulation and real-world experiments. These include as well the robot team assisting the human in transporting and manipulating a load or the human helping the robot team navigate the environment. To the best of our knowledge, this work is the first to create an interactive and safety-aware approach for quadrotor teams that physically collaborate with a human operator during transportation and manipulation tasks.Comment: Guanrui Li and Xinyang Liu contributed equally to this pape

    Technology for Low Resolution Space Based RSO Detection and Characterisation

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    Space Situational Awareness (SSA) refers to all activities to detect, identify and track objects in Earth orbit. SSA is critical to all current and future space activities and protect space assets by providing access control, conjunction warnings, and monitoring status of active satellites. Currently SSA methods and infrastructure are not sufficient to account for the proliferations of space debris. In response to the need for better SSA there has been many different areas of research looking to improve SSA most of the requiring dedicated ground or space-based infrastructure. In this thesis, a novel approach for the characterisation of RSO’s (Resident Space Objects) from passive low-resolution space-based sensors is presented with all the background work performed to enable this novel method. Low resolution space-based sensors are common on current satellites, with many of these sensors being in space using them passively to detect RSO’s can greatly augment SSA with out expensive infrastructure or long lead times. One of the largest hurtles to overcome with research in the area has to do with the lack of publicly available labelled data to test and confirm results with. To overcome this hurtle a simulation software, ORBITALS, was created. To verify and validate the ORBITALS simulator it was compared with the Fast Auroral Imager images, which is one of the only publicly available low-resolution space-based images found with auxiliary data. During the development of the ORBITALS simulator it was found that the generation of these simulated images are computationally intensive when propagating the entire space catalog. To overcome this an upgrade of the currently used propagation method, Specialised General Perturbation Method 4th order (SGP4), was performed to allow the algorithm to run in parallel reducing the computational time required to propagate entire catalogs of RSO’s. From the results it was found that the standard facet model with a particle swarm optimisation performed the best estimating an RSO’s attitude with a 0.66 degree RMSE accuracy across a sequence, and ~1% MAPE accuracy for the optical properties. This accomplished this thesis goal of demonstrating the feasibility of low-resolution passive RSO characterisation from space-based platforms in a simulated environment

    Beam scanning by liquid-crystal biasing in a modified SIW structure

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    A fixed-frequency beam-scanning 1D antenna based on Liquid Crystals (LCs) is designed for application in 2D scanning with lateral alignment. The 2D array environment imposes full decoupling of adjacent 1D antennas, which often conflicts with the LC requirement of DC biasing: the proposed design accommodates both. The LC medium is placed inside a Substrate Integrated Waveguide (SIW) modified to work as a Groove Gap Waveguide, with radiating slots etched on the upper broad wall, that radiates as a Leaky-Wave Antenna (LWA). This allows effective application of the DC bias voltage needed for tuning the LCs. At the same time, the RF field remains laterally confined, enabling the possibility to lay several antennas in parallel and achieve 2D beam scanning. The design is validated by simulation employing the actual properties of a commercial LC medium

    Review of the applications of principles of insect hearing to microscale acoustic engineering challenges

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    When looking for novel, simple, and energy-efficient solutions to engineering problems, nature has proved to be an incredibly valuable source of inspiration. The development of acoustic sensors has been a prolific field for bioinspired solutions. With a diverse array of evolutionary approaches to the problem of hearing at small scales (some widely different to the traditional concept of "ear"), insects in particular have served as a starting point for several designs. From locusts to moths, through crickets and mosquitoes among many others, the mechanisms found in nature to deal with small-scale acoustic detection and the engineering solutions they have inspired are reviewed. The present article is comprised of three main sections corresponding to the principal problems faced by insects, namely frequency discrimination, which is addressed by tonotopy, whether performed by a specific organ or directly on the tympana; directionality, with solutions including diverse adaptations to tympanal structure; and detection of weak signals, through what is known as active hearing. The three aforementioned problems concern tiny animals as much as human-manufactured microphones and have therefore been widely investigated. Even though bioinspired systems may not always provide perfect performance, they are sure to give us solutions with clever use of resources and minimal post-processing, being serious contenders for the best alternative depending on the requisites of the problem

    Novel 129Xe Magnetic Resonance Imaging and Spectroscopy Measurements of Pulmonary Gas-Exchange

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    Gas-exchange is the primary function of the lungs and involves removing carbon dioxide from the body and exchanging it within the alveoli for inhaled oxygen. Several different pulmonary, cardiac and cardiovascular abnormalities have negative effects on pulmonary gas-exchange. Unfortunately, clinical tests do not always pinpoint the problem; sensitive and specific measurements are needed to probe the individual components participating in gas-exchange for a better understanding of pathophysiology, disease progression and response to therapy. In vivo Xenon-129 gas-exchange magnetic resonance imaging (129Xe gas-exchange MRI) has the potential to overcome these challenges. When participants inhale hyperpolarized 129Xe gas, it has different MR spectral properties as a gas, as it diffuses through the alveolar membrane and as it binds to red-blood-cells. 129Xe MR spectroscopy and imaging provides a way to tease out the different anatomic components of gas-exchange simultaneously and provides spatial information about where abnormalities may occur. In this thesis, I developed and applied 129Xe MR spectroscopy and imaging to measure gas-exchange in the lungs alongside other clinical and imaging measurements. I measured 129Xe gas-exchange in asymptomatic congenital heart disease and in prospective, controlled studies of long-COVID. I also developed mathematical tools to model 129Xe MR signals during acquisition and reconstruction. The insights gained from my work underscore the potential for 129Xe gas-exchange MRI biomarkers towards a better understanding of cardiopulmonary disease. My work also provides a way to generate a deeper imaging and physiologic understanding of gas-exchange in vivo in healthy participants and patients with chronic lung and heart disease

    Intelligent computing : the latest advances, challenges and future

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    Computing is a critical driving force in the development of human civilization. In recent years, we have witnessed the emergence of intelligent computing, a new computing paradigm that is reshaping traditional computing and promoting digital revolution in the era of big data, artificial intelligence and internet-of-things with new computing theories, architectures, methods, systems, and applications. Intelligent computing has greatly broadened the scope of computing, extending it from traditional computing on data to increasingly diverse computing paradigms such as perceptual intelligence, cognitive intelligence, autonomous intelligence, and human computer fusion intelligence. Intelligence and computing have undergone paths of different evolution and development for a long time but have become increasingly intertwined in recent years: intelligent computing is not only intelligence-oriented but also intelligence-driven. Such cross-fertilization has prompted the emergence and rapid advancement of intelligent computing

    Modelling, Monitoring, Control and Optimization for Complex Industrial Processes

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    This reprint includes 22 research papers and an editorial, collected from the Special Issue "Modelling, Monitoring, Control and Optimization for Complex Industrial Processes", highlighting recent research advances and emerging research directions in complex industrial processes. This reprint aims to promote the research field and benefit the readers from both academic communities and industrial sectors

    The development of clinical interventions for knee injury management, using a novel cooling, heating, and compression device

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    Background: Cryotherapy and compression are advised within guidelines for injury management. However, optimum methods of applying cryotherapy have not been defined and authors have advocated a ‘personalised’ intervention approach. With a novel cooling, heating, and compression device (CHCD) offering control of temperature and compression, it is possible to explore the effect of a range of interventions for knee injury management. Methods & Results: Study 1 explored four 20-minute CHCD interventions on skin surface temperature (Tsk), oxygenation, thermal sensation/comfort, muscle strength, pressure pain threshold (PPT) and joint position sense (JPS), in a randomised crossover design on 26 healthy male subjects. The four interventions were: 1) 10 °C & 50 mmHg 2) 15 °C & 50 mmHg 3) 10 °C & 32 mmHg 4) alternating 10-40 °C & 25-50 mmHg. Interventions set at 10 °C achieved Tsk within the therapeutic range. Despite no significant differences in Tsk between the two compression settings, intervention 1 was perceived to be the coldest. Study 2 investigated the effects of two 20-minute interventions, A) wetted ice and B) CHCD (10 °C & 50 mmHg), on quadriceps strength, PPT, JPS and participant-perceived pain, in 10 healthy participants with experimentally induced knee pain. Complete pain relief (≥93% reduction) was achieved immediately post-cooling in 7 participants for the CHCD and in 4 participants for ice. Significant increases in PPT were found following the CHCD, up to 20-minutes post-cooling. Ice reduced strength by 13% immediately post-cooling, however the CHCD had a negligible effect on strength post-cooling (+0.3%). Significant increases were found in range of motion in the coronal plane following ice, indicating increased instability. Study 3 investigated the effects of A) wetted ice and B) CHCD (10 °C & 50 mmHg), on participant-reported pain, swelling and stability, through a series of 11 single-case experiments, using an alternating treatment design. The CHCD intervention achieved clinically important changes more frequently than the ice intervention for patient-reported pain (by 9%), swelling (by 21%) and patient-reported stability (by 3%). Conclusion: Compressive cryotherapy using the CHCD at 10 °C with 50 mmHg, appeared more beneficial for the majority (82%) of individuals with knee injuries, for reducing swelling and pain, compared to ice. Targeted compressive cryotherapy, using the novel CHCD, may contribute to greater clinical management of knee injuries
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