Macrobend optical sensing for pose measurement in soft robot arms

This paper introduces a pose-sensing system for soft robot arms integrating a set of macrobend stretch sensors. The macrobend sensory design in this study consists of optical fibres and is based on the notion that bending an optical fibre modulates the intensity of the light transmitted through the fibre. This sensing method is capable of measuring bending, elongation and compression in soft continuum robots and is also applicable to wearable sensing technologies, e.g. pose sensing in the wrist joint of a human hand. In our arrangement, applied to a cylindrical soft robot arm, the optical fibres for macrobend sensing originate from the base, extend to the tip of the arm, and then loop back to the base. The connectors that link the fibres to the necessary opto-electronics are all placed at the base of the arm, resulting in a simplified overall design. The ability of this custom macrobend stretch sensor to flexibly adapt its configuration allows preserving the inherent softness and compliance of the robot which it is installed on. The macrobend sensing system is immune to electrical noise and magnetic fields, is safe (because no electricity is needed at the sensing site), and is suitable for modular implementation in multi-link soft continuum robotic arms. The measurable light outputs of the proposed stretch sensor vary due to bend-induced light attenuation (macrobend loss), which is a function of the fibre bend radius as well as the number of repeated turns. The experimental study conducted as part of this research revealed that the chosen bend radius has a far greater impact on the measured light intensity values than the number of turns (if greater than five). Taking into account that the bend radius is the only significantly influencing design parameter, the macrobend stretch sensors were developed to create a practical solution to the pose sensing in soft continuum robot arms. Henceforward, the proposed sensing design was benchmarked against an electromagnetic tracking system (NDI Aurora) for validation

TMSA: participatory sensing based on mobile phones in urban space

A design for a novel mobile sensing system, called Temperature Measurement System Architecture (TMSA), that uses people as mobile sensing nodes in a network to capture spatiotemporal properties of pedestrians in urban environments is presented in this paper. In this dynamic, microservices approach, real-time data and an open-source IoT platform are combined to provide weather conditions based on information generated by a fleet of mobile sensing platforms. TMSA also offers several advantages over traditional methods using participatory sensing or more recently crowd-sourced data from mobile devices, as it provides a framework in which citizens can bring to light data relevant to urban planning services or learn human behaviour patterns, aiming to change users’ attitudes or behaviors through social influence. In this paper, we motivate the need for and demonstrate the potential of such a sensing paradigm, which supports a host of new research and application developments, and illustrate this with a practical urban sensing example.This work has been supported by FCT - Fundacao para a Ciencia e Tecnologia within the R&D Units Project Scope: UIDB/00319/2020. It has also been supported by na tional funds through FCT – Fundação para a Ciência e Tecnologia through project ˆ UIDB/04728/2020

Wearable flexible lightweight modular RFID tag with integrated energy harvester

A novel wearable radio frequency identification (RFID) tag with sensing, processing, and decision-taking capability is presented for operation in the 2.45-GHz RFID superhigh frequency (SHF) band. The tag is powered by an integrated light harvester, with a flexible battery serving as an energy buffer. The proposed active tag features excellent wearability, very high read range, enhanced functionality, flexible interfacing with diverse low-power sensors, and extended system autonomy through an innovative holistic microwave system design paradigm that takes antenna design into consideration from the very early stages. Specifically, a dedicated textile shorted circular patch antenna with monopolar radiation pattern is designed and optimized for highly efficient and stable operation within the frequency band of operation. In this process, the textile antenna's functionality is augmented by reusing its surface as an integration platform for light-energy-harvesting, sensing, processing, and transceiver hardware, without sacrificing antenna performance or the wearer's comfort. The RFID tag is validated by measuring its stand-alone and on-body characteristics in free-space conditions. Moreover, measurements in a real-world scenario demonstrate an indoor read range up to 23 m in nonline-of-sight indoor propagation conditions, enabling interrogation by a reader situated in another room. In addition, the RFID platform only consumes 168.3 mu W, when sensing and processing are performed every 60 s

Wide-Range Optical CMOS-Based Diagnostics

Colorimetric, chemiluminescence and refractive index based diagnostics are some of the most important sensing techniques in biomedical science and clinical medicine. Conventionally laboratories and medical clinics rely on bulky and dedicated equipment for each diagnostic technique independently. In this paper, we present CMOS sensor based solutions, comprising a single photon avalanche detector array and photodiode array. The CMOS platform offers low cost integration and wide range of light-based diagnostic techniques, leading to development of point-of-care devices

Movers and Shakers: Kinetic Energy Harvesting for the Internet of Things

Numerous energy harvesting wireless devices that will serve as building blocks for the Internet of Things (IoT) are currently under development. However, there is still only limited understanding of the properties of various energy sources and their impact on energy harvesting adaptive algorithms. Hence, we focus on characterizing the kinetic (motion) energy that can be harvested by a wireless node with an IoT form factor and on developing energy allocation algorithms for such nodes. In this paper, we describe methods for estimating harvested energy from acceleration traces. To characterize the energy availability associated with specific human activities (e.g., relaxing, walking, cycling), we analyze a motion dataset with over 40 participants. Based on acceleration measurements that we collected for over 200 hours, we study energy generation processes associated with day-long human routines. We also briefly summarize our experiments with moving objects. We develop energy allocation algorithms that take into account practical IoT node design considerations, and evaluate the algorithms using the collected measurements. Our observations provide insights into the design of motion energy harvesters, IoT nodes, and energy harvesting adaptive algorithms.Comment: 15 pages, 11 figure

Compressive Sensing-Based Grant-Free Massive Access for 6G Massive Communication

The advent of the sixth-generation (6G) of wireless communications has given rise to the necessity to connect vast quantities of heterogeneous wireless devices, which requires advanced system capabilities far beyond existing network architectures. In particular, such massive communication has been recognized as a prime driver that can empower the 6G vision of future ubiquitous connectivity, supporting Internet of Human-Machine-Things for which massive access is critical. This paper surveys the most recent advances toward massive access in both academic and industry communities, focusing primarily on the promising compressive sensing-based grant-free massive access paradigm. We first specify the limitations of existing random access schemes and reveal that the practical implementation of massive communication relies on a dramatically different random access paradigm from the current ones mainly designed for human-centric communications. Then, a compressive sensing-based grant-free massive access roadmap is presented, where the evolutions from single-antenna to large-scale antenna array-based base stations, from single-station to cooperative massive multiple-input multiple-output systems, and from unsourced to sourced random access scenarios are detailed. Finally, we discuss the key challenges and open issues to shed light on the potential future research directions of grant-free massive access.Comment: Accepted by IEEE IoT Journa

Psychological type and the pulpit : an empirical enquiry concerning preachers and the SIFT method of biblical hermeneutics

A sample of 389 experienced preachers completed a measure of psychological type. They then read Mark 1:29-39 and recorded their evaluations of the four reflections on this passage proposed by Francis (1997) and which were derived from the SIFT method of biblical hermeneutics and liturgical preaching. Three main conclusions are drawn from these data. First, compared with the United Kingdom population norms, preachers within this sample were significantly more likely to prefer introversion, intuition, feeling and judging. Second, preachers were four times more likely to prefer a sensing interpretation of the text rather than a thinking interpretation, emphasising the richness of the narrative rather than facing the theological questions posed by it. Third, there was little evidence to suggest that preachers were less likely to appreciate interpretations consonant with their less preferred or inferior function than those consonant with their most preferred or dominant function. In this sense, the richness of the SIFT method should be accessible to preachers of all psychological types