44,954 research outputs found
Modeling a Sensor to Improve its Efficacy
Robots rely on sensors to provide them with information about their
surroundings. However, high-quality sensors can be extremely expensive and
cost-prohibitive. Thus many robotic systems must make due with lower-quality
sensors. Here we demonstrate via a case study how modeling a sensor can improve
its efficacy when employed within a Bayesian inferential framework. As a test
bed we employ a robotic arm that is designed to autonomously take its own
measurements using an inexpensive LEGO light sensor to estimate the position
and radius of a white circle on a black field. The light sensor integrates the
light arriving from a spatially distributed region within its field of view
weighted by its Spatial Sensitivity Function (SSF). We demonstrate that by
incorporating an accurate model of the light sensor SSF into the likelihood
function of a Bayesian inference engine, an autonomous system can make improved
inferences about its surroundings. The method presented here is data-based,
fairly general, and made with plug-and play in mind so that it could be
implemented in similar problems.Comment: 18 pages, 8 figures, submitted to the special issue of "Sensors for
Robotics
ECG Signal Reconstruction on the IoT-Gateway and Efficacy of Compressive Sensing Under Real-time Constraints
Remote health monitoring is becoming indispensable, though, Internet of Things (IoTs)-based solutions have many implementation challenges, including energy consumption at the sensing node, and delay and instability due to cloud computing. Compressive sensing (CS) has been explored as a method to extend the battery lifetime of medical wearable devices. However, it is usually associated with computational complexity at the decoding end, increasing the latency of the system. Meanwhile, mobile processors are becoming computationally stronger and more efficient. Heterogeneous multicore platforms (HMPs) offer a local processing solution that can alleviate the limitations of remote signal processing. This paper demonstrates the real-time performance of compressed ECG reconstruction on ARM's big.LITTLE HMP and the advantages they provide as the primary processing unit of the IoT architecture. It also investigates the efficacy of CS in minimizing power consumption of a wearable device under real-time and hardware constraints. Results show that both the orthogonal matching pursuit and subspace pursuit reconstruction algorithms can be executed on the platform in real time and yield optimum performance on a single A15 core at minimum frequency. The CS extends the battery life of wearable medical devices up to 15.4% considering ECGs suitable for wellness applications and up to 6.6% for clinical grade ECGs. Energy consumption at the gateway is largely due to an active internet connection; hence, processing the signals locally both mitigates system's latency and improves gateway's battery life. Many remote health solutions can benefit from an architecture centered around the use of HMPs, a step toward better remote health monitoring systems.Peer reviewedFinal Published versio
Continuous glucose monitoring sensors: Past, present and future algorithmic challenges
Continuous glucose monitoring (CGM) sensors are portable devices that allow measuring and visualizing the glucose concentration in real time almost continuously for several days and are provided with hypo/hyperglycemic alerts and glucose trend information. CGM sensors have revolutionized Type 1 diabetes (T1D) management, improving glucose control when used adjunctively to self-monitoring blood glucose systems. Furthermore, CGM devices have stimulated the development of applications that were impossible to create without a continuous-time glucose signal, e.g., real-time predictive alerts of hypo/hyperglycemic episodes based on the prediction of future glucose concentration, automatic basal insulin attenuation methods for hypoglycemia prevention, and the artificial pancreas. However, CGM sensors’ lack of accuracy and reliability limited their usability in the clinical practice, calling upon the academic community for the development of suitable signal processing methods to improve CGM performance. The aim of this paper is to review the past and present algorithmic challenges of CGM sensors, to show how they have been tackled by our research group, and to identify the possible future ones
A surgical system for automatic registration, stiffness mapping and dynamic image overlay
In this paper we develop a surgical system using the da Vinci research kit
(dVRK) that is capable of autonomously searching for tumors and dynamically
displaying the tumor location using augmented reality. Such a system has the
potential to quickly reveal the location and shape of tumors and visually
overlay that information to reduce the cognitive overload of the surgeon. We
believe that our approach is one of the first to incorporate state-of-the-art
methods in registration, force sensing and tumor localization into a unified
surgical system. First, the preoperative model is registered to the
intra-operative scene using a Bingham distribution-based filtering approach. An
active level set estimation is then used to find the location and the shape of
the tumors. We use a recently developed miniature force sensor to perform the
palpation. The estimated stiffness map is then dynamically overlaid onto the
registered preoperative model of the organ. We demonstrate the efficacy of our
system by performing experiments on phantom prostate models with embedded stiff
inclusions.Comment: International Symposium on Medical Robotics (ISMR 2018
Towards a cloud‑based automated surveillance system using wireless technologies
Cloud Computing can bring multiple benefits for Smart Cities. It permits the easy creation of centralized knowledge bases, thus straightforwardly enabling that multiple embedded systems (such as sensor or control devices) can have a collaborative, shared intelligence. In addition to this, thanks to its vast computing power, complex tasks can be done over low-spec devices just by offloading computation to the cloud, with the additional advantage of saving energy. In this work, cloud’s capabilities are exploited to implement and test a cloud-based surveillance system. Using a shared, 3D symbolic world model, different devices have a complete knowledge of all the elements, people and intruders in a certain open area or inside a building. The implementation of a volumetric, 3D, object-oriented, cloud-based world model (including semantic information) is novel as far as we know. Very simple devices (orange Pi) can send RGBD streams (using kinect cameras) to the cloud, where all the processing is distributed and done thanks to its inherent scalability. A proof-of-concept experiment is done in this paper in a testing lab with multiple cameras connected to the cloud with 802.11ac wireless technology. Our results show that this kind of surveillance system is possible currently, and that trends indicate that it can be improved at a short term to produce high performance vigilance system using low-speed devices. In addition, this proof-of-concept claims that many interesting opportunities and challenges arise, for example, when mobile watch robots and fixed cameras would act as a team for carrying out complex collaborative surveillance strategies.Ministerio de EconomĂa y Competitividad TEC2016-77785-PJunta de AndalucĂa P12-TIC-130
A Mathematical model for Astrocytes mediated LTP at Single Hippocampal Synapses
Many contemporary studies have shown that astrocytes play a significant role
in modulating both short and long form of synaptic plasticity. There are very
few experimental models which elucidate the role of astrocyte over Long-term
Potentiation (LTP). Recently, Perea & Araque (2007) demonstrated a role of
astrocytes in induction of LTP at single hippocampal synapses. They suggested a
purely pre-synaptic basis for induction of this N-methyl-D- Aspartate (NMDA)
Receptor-independent LTP. Also, the mechanisms underlying this pre-synaptic
induction were not investigated. Here, in this article, we propose a
mathematical model for astrocyte modulated LTP which successfully emulates the
experimental findings of Perea & Araque (2007). Our study suggests the role of
retrograde messengers, possibly Nitric Oxide (NO), for this pre-synaptically
modulated LTP.Comment: 51 pages, 15 figures, Journal of Computational Neuroscience (to
appear
A LiDAR Point Cloud Generator: from a Virtual World to Autonomous Driving
3D LiDAR scanners are playing an increasingly important role in autonomous
driving as they can generate depth information of the environment. However,
creating large 3D LiDAR point cloud datasets with point-level labels requires a
significant amount of manual annotation. This jeopardizes the efficient
development of supervised deep learning algorithms which are often data-hungry.
We present a framework to rapidly create point clouds with accurate point-level
labels from a computer game. The framework supports data collection from both
auto-driving scenes and user-configured scenes. Point clouds from auto-driving
scenes can be used as training data for deep learning algorithms, while point
clouds from user-configured scenes can be used to systematically test the
vulnerability of a neural network, and use the falsifying examples to make the
neural network more robust through retraining. In addition, the scene images
can be captured simultaneously in order for sensor fusion tasks, with a method
proposed to do automatic calibration between the point clouds and captured
scene images. We show a significant improvement in accuracy (+9%) in point
cloud segmentation by augmenting the training dataset with the generated
synthesized data. Our experiments also show by testing and retraining the
network using point clouds from user-configured scenes, the weakness/blind
spots of the neural network can be fixed
Information and communication technology solutions for outdoor navigation in dementia
INTRODUCTION:
Information and communication technology (ICT) is potentially mature enough to empower outdoor and social activities in dementia. However, actual ICT-based devices have limited functionality and impact, mainly limited to safety. What is an ideal operational framework to enhance this field to support outdoor and social activities?
METHODS:
Review of literature and cross-disciplinary expert discussion.
RESULTS:
A situation-aware ICT requires a flexible fine-tuning by stakeholders of system usability and complexity of function, and of user safety and autonomy. It should operate by artificial intelligence/machine learning and should reflect harmonized stakeholder values, social context, and user residual cognitive functions. ICT services should be proposed at the prodromal stage of dementia and should be carefully validated within the life space of users in terms of quality of life, social activities, and costs.
DISCUSSION:
The operational framework has the potential to produce ICT and services with high clinical impact but requires substantial investment
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