Body sensor network for in-home personal healthcare

A body sensor network solution for personal healthcare under an indoor environment is developed. The system is capable of logging the physiological signals of human beings, tracking the orientations of human body, and monitoring the environmental attributes, which covers all necessary information for the personal healthcare in an indoor environment. The major three chapters of this dissertation contain three subsystems in this work, each corresponding to one subsystem: BioLogger, PAMS and CosNet. Each chapter covers the background and motivation of the subsystem, the related theory, the hardware/software design, and the evaluation of the prototype’s performance

NeBula: TEAM CoSTAR’s robotic autonomy solution that won phase II of DARPA subterranean challenge

This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the techniques utilized within the Tunnel (2019) and Urban (2020) competitions, where CoSTAR achieved second and first place, respectively. We also discuss CoSTAR’s demonstrations in Martian-analog surface and subsurface (lava tubes) exploration. The paper introduces our autonomy solution, referred to as NeBula (Networked Belief-aware Perceptual Autonomy). NeBula is an uncertainty-aware framework that aims at enabling resilient and modular autonomy solutions by performing reasoning and decision making in the belief space (space of probability distributions over the robot and world states). We discuss various components of the NeBula framework, including (i) geometric and semantic environment mapping, (ii) a multi-modal positioning system, (iii) traversability analysis and local planning, (iv) global motion planning and exploration behavior, (v) risk-aware mission planning, (vi) networking and decentralized reasoning, and (vii) learning-enabled adaptation. We discuss the performance of NeBula on several robot types (e.g., wheeled, legged, flying), in various environments. We discuss the specific results and lessons learned from fielding this solution in the challenging courses of the DARPA Subterranean Challenge competition.Peer ReviewedAgha, A., Otsu, K., Morrell, B., Fan, D. D., Thakker, R., Santamaria-Navarro, A., Kim, S.-K., Bouman, A., Lei, X., Edlund, J., Ginting, M. F., Ebadi, K., Anderson, M., Pailevanian, T., Terry, E., Wolf, M., Tagliabue, A., Vaquero, T. S., Palieri, M., Tepsuporn, S., Chang, Y., Kalantari, A., Chavez, F., Lopez, B., Funabiki, N., Miles, G., Touma, T., Buscicchio, A., Tordesillas, J., Alatur, N., Nash, J., Walsh, W., Jung, S., Lee, H., Kanellakis, C., Mayo, J., Harper, S., Kaufmann, M., Dixit, A., Correa, G. J., Lee, C., Gao, J., Merewether, G., Maldonado-Contreras, J., Salhotra, G., Da Silva, M. S., Ramtoula, B., Fakoorian, S., Hatteland, A., Kim, T., Bartlett, T., Stephens, A., Kim, L., Bergh, C., Heiden, E., Lew, T., Cauligi, A., Heywood, T., Kramer, A., Leopold, H. A., Melikyan, H., Choi, H. C., Daftry, S., Toupet, O., Wee, I., Thakur, A., Feras, M., Beltrame, G., Nikolakopoulos, G., Shim, D., Carlone, L., & Burdick, JPostprint (published version

Combining Action Observation Treatment with a Brain–Computer Interface System: Perspectives on Neurorehabilitation

Action observation treatment (AOT) exploits a neurophysiological mechanism, matching an observed action on the neural substrates where that action is motorically represented. This mechanism is also known as mirror mechanism. In a typical AOT session, one can distinguish an observation phase and an execution phase. During the observation phase, the patient observes a daily action and soon after, during the execution phase, he/she is asked to perform the observed action at the best of his/her ability. Indeed, the execution phase may sometimes be difficult for those patients where motor impairment is severe. Although, in the current practice, the physiotherapist does not intervene on the quality of the execution phase, here, we propose a stimulation system based on neurophysiological parameters. This perspective article focuses on the possibility to combine AOT with a brain–computer interface system (BCI) that stimulates upper limb muscles, thus facilitating the execution of actions during a rehabilitation session. Combining a rehabilitation tool that is well-grounded in neurophysiology with a stimulation system, such as the one proposed, may improve the efficacy of AOT in the treatment of severe neurological patients, including stroke patients, Parkinson’s disease patients, and children with cerebral palsy

NeBula: Team CoSTAR's robotic autonomy solution that won phase II of DARPA Subterranean Challenge

This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the techniques utilized within the Tunnel (2019) and Urban (2020) competitions, where CoSTAR achieved second and first place, respectively. We also discuss CoSTAR¿s demonstrations in Martian-analog surface and subsurface (lava tubes) exploration. The paper introduces our autonomy solution, referred to as NeBula (Networked Belief-aware Perceptual Autonomy). NeBula is an uncertainty-aware framework that aims at enabling resilient and modular autonomy solutions by performing reasoning and decision making in the belief space (space of probability distributions over the robot and world states). We discuss various components of the NeBula framework, including (i) geometric and semantic environment mapping, (ii) a multi-modal positioning system, (iii) traversability analysis and local planning, (iv) global motion planning and exploration behavior, (v) risk-aware mission planning, (vi) networking and decentralized reasoning, and (vii) learning-enabled adaptation. We discuss the performance of NeBula on several robot types (e.g., wheeled, legged, flying), in various environments. We discuss the specific results and lessons learned from fielding this solution in the challenging courses of the DARPA Subterranean Challenge competition.The work is partially supported by the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration (80NM0018D0004), and Defense Advanced Research Projects Agency (DARPA)

Continuous Estimation of Smoking Lapse Risk from Noisy Wrist Sensor Data Using Sparse and Positive-Only Labels

Estimating the imminent risk of adverse health behaviors provides opportunities for developing effective behavioral intervention mechanisms to prevent the occurrence of the target behavior. One of the key goals is to find opportune moments for intervention by passively detecting the rising risk of an imminent adverse behavior. Significant progress in mobile health research and the ability to continuously sense internal and external states of individual health and behavior has paved the way for detecting diverse risk factors from mobile sensor data. The next frontier in this research is to account for the combined effects of these risk factors to produce a composite risk score of adverse behaviors using wearable sensors convenient for daily use. Developing a machine learning-based model for assessing the risk of smoking lapse in the natural environment faces significant outstanding challenges requiring the development of novel and unique methodologies for each of them. The first challenge is coming up with an accurate representation of noisy and incomplete sensor data to encode the present and historical influence of behavioral cues, mental states, and the interactions of individuals with their ever-changing environment. The next noteworthy challenge is the absence of confirmed negative labels of low-risk states and adequate precise annotations of high-risk states. Finally, the model should work on convenient wearable devices to facilitate widespread adoption in research and practice. In this dissertation, we develop methods that account for the multi-faceted nature of smoking lapse behavior to train and evaluate a machine learning model capable of estimating composite risk scores in the natural environment. We first develop mRisk, which combines the effects of various mHealth biomarkers such as stress, physical activity, and location history in producing the risk of smoking lapse using sequential deep neural networks. We propose an event-based encoding of sensor data to reduce the effect of noises and then present an approach to efficiently model the historical influence of recent and past sensor-derived contexts on the likelihood of smoking lapse. To circumvent the lack of confirmed negative labels (i.e., annotated low-risk moments) and only a few positive labels (i.e., sensor-based detection of smoking lapse corroborated by self-reports), we propose a new loss function to accurately optimize the models. We build the mRisk models using biomarker (stress, physical activity) streams derived from chest-worn sensors. Adapting the models to work with less invasive and more convenient wrist-based sensors requires adapting the biomarker detection models to work with wrist-worn sensor data. To that end, we develop robust stress and activity inference methodologies from noisy wrist-sensor data. We first propose CQP, which quantifies wrist-sensor collected PPG data quality. Next, we show that integrating CQP within the inference pipeline improves accuracy-yield trade-offs associated with stress detection from wrist-worn PPG sensors in the natural environment. mRisk also requires sensor-based precise detection of smoking events and confirmation through self-reports to extract positive labels. Hence, we develop rSmoke, an orientation-invariant smoking detection model that is robust to the variations in sensor data resulting from orientation switches in the field. We train the proposed mRisk risk estimation models using the wrist-based inferences of lapse risk factors. To evaluate the utility of the risk models, we simulate the delivery of intelligent smoking interventions to at-risk participants as informed by the composite risk scores. Our results demonstrate the envisaged impact of machine learning-based models operating on wrist-worn wearable sensor data to output continuous smoking lapse risk scores. The novel methodologies we propose throughout this dissertation help instigate a new frontier in smoking research that can potentially improve the smoking abstinence rate in participants willing to quit

Gait monitoring system for patients with Parkinson’s disease

Background: Wearable monitoring devices based on inertial sensors have the potential to be used as a quantitative method in clinical practice for continuous assessment of gait disabilities in Parkinson’s disease (PD). Methods: This manuscript introduces a new gait monitoring system adapted to patients with PD, based on a wearable monitoring device. To eliminate inter- and intra-subject variability, the computational method was based on heuristic rules with adaptive thresholds and ranges and a motion compensation strategy. The experimental trials involved repeated measurements of walking trials from two cross-sectional studies: the first study was performed in order to validate the effectiveness of the system against a robust 3D motion analysis with 10 healthy subjects; and the second-one aimed to validate our approach against a well-studied wearable IMU-based system on a hospital environment with 20 patients with PD. Results: The proposed system proved to be efficient (Experiment I: sensitivity = 95,09% and accuracy = 93,64%; Experiment II: sensitivity = 99,53% and accuracy = 97,42%), time-effective (Experiment I: earlies = 13,71 ms and delays = 12,91 ms; Experiment II: earlies = 12,94 ms and delays = 12,71 ms), user and user-motion adaptable and a low computational-load strategy for real-time gait events detection. Further, it was measured the percentage of absolute error classified with a good acceptability (Experiment I: 3,02 ≤ ε%≤12,94; Experiment II: 2,81 ≤ ε%≤13,45). Lastly, regarding the measured gait parameters, it was observed a reflection of the typical levels of motor impairment for the different disease stages. Conclusion: The achieved outcomes enabled to verify that the proposed system can be suitable for gait analysis in the assistance and rehabilitation fields.This work was supported by FCT national funds, under the national support to R&D units grant, through the reference project UIDB/04436/2020 and UIDP/04436/2020, and under the Reference Scholarship under grant SFRH/BD/136569/2018