Indoor navigation for the visually impaired : enhancements through utilisation of the Internet of Things and deep learning

Wayfinding and navigation are essential aspects of independent living that heavily rely on the sense of vision. Walking in a complex building requires knowing exact location to find a suitable path to the desired destination, avoiding obstacles and monitoring orientation and movement along the route. People who do not have access to sight-dependent information, such as that provided by signage, maps and environmental cues, can encounter challenges in achieving these tasks independently. They can rely on assistance from others or maintain their independence by using assistive technologies and the resources provided by smart environments. Several solutions have adapted technological innovations to combat navigation in an indoor environment over the last few years. However, there remains a significant lack of a complete solution to aid the navigation requirements of visually impaired (VI) people. The use of a single technology cannot provide a solution to fulfil all the navigation difficulties faced. A hybrid solution using Internet of Things (IoT) devices and deep learning techniques to discern the patterns of an indoor environment may help VI people gain confidence to travel independently. This thesis aims to improve the independence and enhance the journey of VI people in an indoor setting with the proposed framework, using a smartphone. The thesis proposes a novel framework, Indoor-Nav, to provide a VI-friendly path to avoid obstacles and predict the user s position. The components include Ortho-PATH, Blue Dot for VI People (BVIP), and a deep learning-based indoor positioning model. The work establishes a novel collision-free pathfinding algorithm, Orth-PATH, to generate a VI-friendly path via sensing a grid-based indoor space. Further, to ensure correct movement, with the use of beacons and a smartphone, BVIP monitors the movements and relative position of the moving user. In dark areas without external devices, the research tests the feasibility of using sensory information from a smartphone with a pre-trained regression-based deep learning model to predict the user s absolute position. The work accomplishes a diverse range of simulations and experiments to confirm the performance and effectiveness of the proposed framework and its components. The results show that Indoor-Nav is the first type of pathfinding algorithm to provide a novel path to reflect the needs of VI people. The approach designs a path alongside walls, avoiding obstacles, and this research benchmarks the approach with other popular pathfinding algorithms. Further, this research develops a smartphone-based application to test the trajectories of a moving user in an indoor environment

Performance assessment for mountain bike based on WSN and Cloud Technologies

The mountain bike is one of the most used equipment’s in outdoor sports activities. The thesis describes the design and all development and implementation of Performance Assessment for Mountain Bike based on Wireless Sensor Network (WSN) and Cloud Technologies. The work presents a distributed sensing system for cycling assessment-providing data for objective evaluation of the athlete performance during training. Thus a wireless sensor network attached to the sport equipment provides to the athlete and the coach with performance values during practice. The sensors placed in biker equipment’s behave as nodes of a WSN. This is possible with the developing of IoT-based systems in sports, the tracking and monitoring of athletes in their activities has an important role on his formation as bikers and helps to increase performance, through the analyze of each session. The implemented system performs acquisition, processing and transmission, of data using a ZigBee wireless networks that provide also machine-to-machine communication and data storage in a server located in the cloud. As in many cycling applications use the phone as a module to get the values, this work will be a little different making use of phone/tablet to consult information. The information stored on the cloud server is accessed through a mobile application that analyses and correlates all metrics calculated using the training data obtained during practice. Additional information regarding the health status may be also considered. Therefore, the system permits that athletes perform an unlimited number of trainings that can be accessed at any time through the mobile application by the bikers and coach. Based on capability of the system to save a history of the evolution of each athlete during training the system permits to perform appropriate comparisons between different training sessions and different athlete’s performances.A bicicleta de montanha é um dos equipamentos para desportos no exterior mais usada. A tese descreve todo o desenho, desenvolvimento e implementação de Performance Assessment for Mountain Bike based on WSN and Cloud Technologies. Este apresenta um sistema de deteção distribuída para o aumento do desempenho, melhorar a metodologia da prática do ciclismo e para formação de atletas. Para tal foi desenvolvida e anexada uma rede de sensores que está embutida no equipamento do ciclista, através desta rede de sensores sem fios são obtidos os valores respetivos à interação do utilizador e a sua bicicleta, sendo estes apresentados ao treinador e ao próprio ciclista. Os sensores colocados comportam-se como nós de uma rede de sensores sem fios. Isso é possível com o desenvolvimento de sistemas baseados na Internet das coisas no desporto, a observação da movimentação e monitoramento de atletas nas suas atividades tem um papel importante na sua formação como ciclistas e ajuda a aumentar o desempenho. O sistema é baseado numa rede ZigBee sem fios, que permite a comunicação máquina-para-máquina e o armazenamento de dados num servidor localizado na nuvem. Toda a informação na nuvem pode ser acedida através de uma aplicação mobile que analisa e correlaciona todos os valores calculados usando os dados recolhidos durante o treino efetuado por cada ciclista. Como em muitas aplicações de ciclismo estas usam o telefone como um módulo para obter os valores, neste trabalho o caso é diferente fazendo o uso do telefone/tablet para apenas consultar as informações. Alguma informação sobre o ciclista é fornecida para poder efetuar alguns cálculos, relativos à saúde do ciclista, neste caso toda a energia gasta na prática de um determinado treino. Toda esta informação pode ser acedida através de uma aplicação Android e por consequência num dispositivo Android. Com a aplicação desenvolvida é possível observar e processar toda a informação recolhida através dos sensores implementados, a observação dos dados recolhidos pode ser efetuada pelo treinador responsável, como pelo próprio atleta. Portanto, o sistema permite a realização de um ilimitado número de sessões de treino, estes podem ser consultados a qualquer momento através da aplicação móvel. Fazendo com que seja possível manter um histórico da evolução de cada atleta, podendo assim observar e comparar cada sessão de treino, realizada por cada atleta

IoT Platform for COVID-19 Prevention and Control: A Survey

As a result of the worldwide transmission of severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2), coronavirus disease 2019 (COVID-19) has evolved into an unprecedented pandemic. Currently, with unavailable pharmaceutical treatments and vaccines, this novel coronavirus results in a great impact on public health, human society, and global economy, which is likely to last for many years. One of the lessons learned from the COVID-19 pandemic is that a long-term system with non-pharmaceutical interventions for preventing and controlling new infectious diseases is desirable to be implemented. Internet of things (IoT) platform is preferred to be utilized to achieve this goal, due to its ubiquitous sensing ability and seamless connectivity. IoT technology is changing our lives through smart healthcare, smart home, and smart city, which aims to build a more convenient and intelligent community. This paper presents how the IoT could be incorporated into the epidemic prevention and control system. Specifically, we demonstrate a potential fog-cloud combined IoT platform that can be used in the systematic and intelligent COVID-19 prevention and control, which involves five interventions including COVID-19 Symptom Diagnosis, Quarantine Monitoring, Contact Tracing & Social Distancing, COVID-19 Outbreak Forecasting, and SARS-CoV-2 Mutation Tracking. We investigate and review the state-of-the-art literatures of these five interventions to present the capabilities of IoT in countering against the current COVID-19 pandemic or future infectious disease epidemics.Comment: 12 pages; Submitted to IEEE Internet of Things Journa

Detecting head movement using gyroscope data collected via in-ear wearables

Abstract. Head movement is considered as an effective, natural, and simple method to determine the pointing towards an object. Head movement detection technology has significant potentiality in diverse field of applications and studies in this field verify such claim. The application includes fields like users interaction with computers, controlling many devices externally, power wheelchair operation, detecting drivers’ drowsiness while they drive, video surveillance system, and many more. Due to the diversity in application, the method of detecting head movement is also wide-ranging. A number of approaches such as acoustic-based, video-based, computer-vision based, inertial sensor data based head movement detection methods have been introduced by researchers over the years. In order to generate inertial sensor data, various types of wearables are available for example wrist band, smart watch, head-mounted device, and so on. For this thesis, eSense — a representative earable device — that has built-in inertial sensor to generate gyroscope data is employed. This eSense device is a True Wireless Stereo (TWS) earbud. It is augmented with some key equipment such as a 6-axis inertial motion unit, a microphone, and dual mode Bluetooth (Bluetooth Classic and Bluetooth Low Energy). Features are extracted from gyroscope data collected via eSense device. Subsequently, four machine learning models — Random Forest (RF), Support Vector Machine (SVM), Naïve Bayes, and Perceptron — are applied aiming to detect head movement. The performance of these models is evaluated by four different evaluation metrics such as Accuracy, Precision, Recall, and F1 score. Result shows that machine learning models that have been applied in this thesis are able to detect head movement. Comparing the performance of all these machine learning models, Random Forest performs better than others, it is able to detect head movement with approximately 77% accuracy. The accuracy rate of other three models such as Support Vector Machine, Naïve Bayes, and Perceptron is close to each other, where these models detect head movement with about 42%, 40%, and 39% accuracy, respectively. Besides, the result of other evaluation metrics like Precision, Recall, and F1 score verifies that using these machine learning models, different head direction such as left, right, or straight can be detected

Collaborative autonomy in heterogeneous multi-robot systems

As autonomous mobile robots become increasingly connected and widely deployed in different domains, managing multiple robots and their interaction is key to the future of ubiquitous autonomous systems. Indeed, robots are not individual entities anymore. Instead, many robots today are deployed as part of larger fleets or in teams. The benefits of multirobot collaboration, specially in heterogeneous groups, are multiple. Significantly higher degrees of situational awareness and understanding of their environment can be achieved when robots with different operational capabilities are deployed together. Examples of this include the Perseverance rover and the Ingenuity helicopter that NASA has deployed in Mars, or the highly heterogeneous robot teams that explored caves and other complex environments during the last DARPA Sub-T competition. This thesis delves into the wide topic of collaborative autonomy in multi-robot systems, encompassing some of the key elements required for achieving robust collaboration: solving collaborative decision-making problems; securing their operation, management and interaction; providing means for autonomous coordination in space and accurate global or relative state estimation; and achieving collaborative situational awareness through distributed perception and cooperative planning. The thesis covers novel formation control algorithms, and new ways to achieve accurate absolute or relative localization within multi-robot systems. It also explores the potential of distributed ledger technologies as an underlying framework to achieve collaborative decision-making in distributed robotic systems. Throughout the thesis, I introduce novel approaches to utilizing cryptographic elements and blockchain technology for securing the operation of autonomous robots, showing that sensor data and mission instructions can be validated in an end-to-end manner. I then shift the focus to localization and coordination, studying ultra-wideband (UWB) radios and their potential. I show how UWB-based ranging and localization can enable aerial robots to operate in GNSS-denied environments, with a study of the constraints and limitations. I also study the potential of UWB-based relative localization between aerial and ground robots for more accurate positioning in areas where GNSS signals degrade. In terms of coordination, I introduce two new algorithms for formation control that require zero to minimal communication, if enough degree of awareness of neighbor robots is available. These algorithms are validated in simulation and real-world experiments. The thesis concludes with the integration of a new approach to cooperative path planning algorithms and UWB-based relative localization for dense scene reconstruction using lidar and vision sensors in ground and aerial robots

PARbot: Personal Assistive Robot

The aging population of the United States is creating a growing need to provide assistive care for elderly and people with disabilities. As the Baby Boomer generation enters retirement, the ratio of caregivers to those that require assistance is projected to decrease. There are currently no commercially available modular assistive robots that can fill this need. Our project aims to provide an alternative to current assisted living options through the development, construction, and testing of a Personal Assistive Robot (PARbot) that allows individuals with general or age related disabilities to maintain some aspects of their independence, such as the ability to shop

Design of autonomous sustainable unmanned aerial vehicle - A novel approach to its dynamic wireless power transfer

A thesis submitted in partial fulfilment of the requirements of the University of Wolverhampton for the degree of Doctor of Philosophy.Electric UAVs are presently being used widely in civilian duties such as security, surveillance, and disaster relief. The use of Unmanned Aerial Vehicle (UAV) has increased dramatically over the past years in different areas/fields such as marines, mountains, wild environments. Nowadays, there are many electric UAVs development with fast computational speed and autonomous flying has been a reality by fusing many sensors such as camera tracking sensor, obstacle avoiding sensor, radar sensor, etc. But there is one main problem still not able to overcome which is power requirement for continuous autonomous operation. When the operation needs more power, but batteries can only give for 20 to 30 mins of flight time. These types of system are not reliable for long term civilian operation because we need to recharge or replace batteries by landing the craft every time when we want to continue the operation. The large batteries also take more loads on the UAV which is also not a reliable system. To eliminate these obstacles, there should a recharging wireless power station in ground which can transmit power to these small UAVs wirelessly for long term operation. There will be camera attached in the drone to detect and hover above the Wireless Power Transfer device which got receiving and transmitting station can be use with deep learning and sensor fusion techniques for more reliable flight operations. This thesis explores the use of dynamic wireless power to transfer energy using novel rotating WPT charging technique to the UAV with improved range, endurance, and average speed by giving extra hours in the air. The hypothesis that was created has a broad application beyond UAVs. The drone autonomous charging was mostly done by detecting a rotating WPT receiver connected to main power outlet that served as a recharging platform using deep neural vision capabilities. It was the purpose of the thesis to provide an alternative to traditional self-charging systems that relies purely on static WPT method and requires little distance between the vehicle and receiver. When the UAV camera detect the WPT receiving station, it will try to align and hover using onboard sensors for best power transfer efficiency. Since this strategy relied on traditional automatic drone landing technique, but the target is rotating all the time which needs smart approaches like deep learning and sensor fusion. The simulation environment was created and tested using robot operating system on a Linux operating system using a model of the custom-made drone. Experiments on the charging of the drone confirmed that the intelligent dynamic wireless power transfer (DWPT) method worked successfully while flying on air

The Penetration of Internet of Things in Robotics: Towards a Web of Robotic Things

As the Internet of Things (IoT) penetrates different domains and application areas, it has recently entered also the world of robotics. Robotics constitutes a modern and fast-evolving technology, increasingly being used in industrial, commercial and domestic settings. IoT, together with the Web of Things (WoT) could provide many benefits to robotic systems. Some of the benefits of IoT in robotics have been discussed in related work. This paper moves one step further, studying the actual current use of IoT in robotics, through various real-world examples encountered through a bibliographic research. The paper also examines the potential ofWoT, together with robotic systems, investigating which concepts, characteristics, architectures, hardware, software and communication methods of IoT are used in existing robotic systems, which sensors and actions are incorporated in IoT-based robots, as well as in which application areas. Finally, the current application of WoT in robotics is examined and discussed