Electromechanical System Integration for a Powered Upper Extremity Orthosis

Wearable robotics for assistance and rehabilitation are not yet considered commercially mainstream products, and as a result have not yet seen advanced controls systems and interfaces. Consequently, the available technology is mostly adapted from systems used in parallel technologies, rather than custom applications intended for human use. This study concerns itself with the design and development of a custom control system for a 2-degree of freedom powered upper extremity orthosis capable of driving elbow flexion/extension 135º and humeral rotation 95º . The orthosis has been evaluated for use as both a long-term assistive technology device for persons with disabilities, and as a short-term rehabilitative tool for persons recovering injury. The target demographics for such a device vary in age, cognitive ability and physical function, thus requiring several input parameters requiring consideration. This study includes a full evaluation of the potential users of the device, as well as parameter considerations that are required during the design phase. The final control system is capable of driving each DOF independently or simultaneously, for a more realistic and natural coupled-motion, with proportional control by pulse-width modulation. The dual-axis joystick interface wirelessly transmits to the 1.21 pound control pack which houses a custom microcontroller-driven PCB and 1800 milliamp-hour lithium-ion rechargeable battery capable of delivering 4 hours of running time. Upon integration with the 2 DOF orthosis device, a user may complete full range of motion with up to 5 pounds in their hand in less than 7 seconds, providing full functionality to complete acts of daily living, thus improving quality of life

Cooperative control of relay based cellular networks

PhDThe increasing popularity of wireless communications and the higher data requirements of new types of service lead to higher demands on wireless networks. Relay based cellular networks have been seen as an effective way to meet users’ increased data rate requirements while still retaining the benefits of a cellular structure. However, maximizing the probability of providing service and spectrum efficiency are still major challenges for network operators and engineers because of the heterogeneous traffic demands, hard-to-predict user movements and complex traffic models. In a mobile network, load balancing is recognised as an efficient way to increase the utilization of limited frequency spectrum at reasonable costs. Cooperative control based on geographic load balancing is employed to provide flexibility for relay based cellular networks and to respond to changes in the environment. According to the potential capability of existing antenna systems, adaptive radio frequency domain control in the physical layer is explored to provide coverage at the right place at the right time. This thesis proposes several effective and efficient approaches to improve spectrum efficiency using network wide optimization to coordinate the coverage offered by different network components according to the antenna models and relay station capability. The approaches include tilting of antenna sectors, changing the power of omni-directional antennas, and changing the assignment of relay stations to different base stations. Experiments show that the proposed approaches offer significant improvements and robustness in heterogeneous traffic scenarios and when the propagation environment changes. The issue of predicting the consequence of cooperative decisions regarding antenna configurations when applied in a realistic environment is described, and a coverage prediction model is proposed. The consequences of applying changes to the antenna configuration on handovers are analysed in detail. The performance evaluations are based on a system level simulator in the context of Mobile WiMAX technology, but the concepts apply more generally

PHALANX: Expendable Projectile Sensor Networks for Planetary Exploration

Technologies enabling long-term, wide-ranging measurement in hard-to-reach areas are a critical need for planetary science inquiry. Phenomena of interest include flows or variations in volatiles, gas composition or concentration, particulate density, or even simply temperature. Improved measurement of these processes enables understanding of exotic geologies and distributions or correlating indicators of trapped water or biological activity. However, such data is often needed in unsafe areas such as caves, lava tubes, or steep ravines not easily reached by current spacecraft and planetary robots. To address this capability gap, we have developed miniaturized, expendable sensors which can be ballistically lobbed from a robotic rover or static lander - or even dropped during a flyover. These projectiles can perform sensing during flight and after anchoring to terrain features. By augmenting exploration systems with these sensors, we can extend situational awareness, perform long-duration monitoring, and reduce utilization of primary mobility resources, all of which are crucial in surface missions. We call the integrated payload that includes a cold gas launcher, smart projectiles, planning software, network discovery, and science sensing: PHALANX. In this paper, we introduce the mission architecture for PHALANX and describe an exploration concept that pairs projectile sensors with a rover mothership. Science use cases explored include reconnaissance using ballistic cameras, volatiles detection, and building timelapse maps of temperature and illumination conditions. Strategies to autonomously coordinate constellations of deployed sensors to self-discover and localize with peer ranging (i.e. a local GPS) are summarized, thus providing communications infrastructure beyond-line-of-sight (BLOS) of the rover. Capabilities were demonstrated through both simulation and physical testing with a terrestrial prototype. The approach to developing a terrestrial prototype is discussed, including design of the launching mechanism, projectile optimization, micro-electronics fabrication, and sensor selection. Results from early testing and characterization of commercial-off-the-shelf (COTS) components are reported. Nodes were subjected to successful burn-in tests over 48 hours at full logging duty cycle. Integrated field tests were conducted in the Roverscape, a half-acre planetary analog environment at NASA Ames, where we tested up to 10 sensor nodes simultaneously coordinating with an exploration rover. Ranging accuracy has been demonstrated to be within +/-10cm over 20m using commodity radios when compared to high-resolution laser scanner ground truthing. Evolution of the design, including progressive miniaturization of the electronics and iterated modifications of the enclosure housing for streamlining and optimized radio performance are described. Finally, lessons learned to date, gaps toward eventual flight mission implementation, and continuing future development plans are discussed

Progressively communicating rich telemetry from autonomous underwater vehicles via relays

Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution June 2012As analysis of imagery and environmental data plays a greater role in mission construction and execution, there is an increasing need for autonomous marine vehicles to transmit this data to the surface. Without access to the data acquired by a vehicle, surface operators cannot fully understand the state of the mission. Communicating imagery and high-resolution sensor readings to surface observers remains a significant challenge – as a result, current telemetry from free-roaming autonomous marine vehicles remains limited to ‘heartbeat’ status messages, with minimal scientific data available until after recovery. Increasing the challenge, longdistance communication may require relaying data across multiple acoustic hops between vehicles, yet fixed infrastructure is not always appropriate or possible. In this thesis I present an analysis of the unique considerations facing telemetry systems for free-roaming Autonomous Underwater Vehicles (AUVs) used in exploration. These considerations include high-cost vehicle nodes with persistent storage and significant computation capabilities, combined with human surface operators monitoring each node. I then propose mechanisms for interactive, progressive communication of data across multiple acoustic hops. These mechanisms include wavelet-based embedded coding methods, and a novel image compression scheme based on texture classification and synthesis. The specific characteristics of underwater communication channels, including high latency, intermittent communication, the lack of instantaneous end-to-end connectivity, and a broadcast medium, inform these proposals. Human feedback is incorporated by allowing operators to identify segments of data thatwarrant higher quality refinement, ensuring efficient use of limited throughput. I then analyze the performance of these mechanisms relative to current practices. Finally, I present CAPTURE, a telemetry architecture that builds on this analysis. CAPTURE draws on advances in compression and delay tolerant networking to enable progressive transmission of scientific data, including imagery, across multiple acoustic hops. In concert with a physical layer, CAPTURE provides an endto- end networking solution for communicating science data from autonomous marine vehicles. Automatically selected imagery, sonar, and time-series sensor data are progressively transmitted across multiple hops to surface operators. Human operators can request arbitrarily high-quality refinement of any resource, up to an error-free reconstruction. The components of this system are then demonstrated through three field trials in diverse environments on SeaBED, OceanServer and Bluefin AUVs, each in different software architectures.Thanks to the National Science Foundation, and the National Oceanic and Atmospheric Administration for their funding of my education and this work

Survey of Inter-satellite Communication for Small Satellite Systems: Physical Layer to Network Layer View

Small satellite systems enable whole new class of missions for navigation, communications, remote sensing and scientific research for both civilian and military purposes. As individual spacecraft are limited by the size, mass and power constraints, mass-produced small satellites in large constellations or clusters could be useful in many science missions such as gravity mapping, tracking of forest fires, finding water resources, etc. Constellation of satellites provide improved spatial and temporal resolution of the target. Small satellite constellations contribute innovative applications by replacing a single asset with several very capable spacecraft which opens the door to new applications. With increasing levels of autonomy, there will be a need for remote communication networks to enable communication between spacecraft. These space based networks will need to configure and maintain dynamic routes, manage intermediate nodes, and reconfigure themselves to achieve mission objectives. Hence, inter-satellite communication is a key aspect when satellites fly in formation. In this paper, we present the various researches being conducted in the small satellite community for implementing inter-satellite communications based on the Open System Interconnection (OSI) model. This paper also reviews the various design parameters applicable to the first three layers of the OSI model, i.e., physical, data link and network layer. Based on the survey, we also present a comprehensive list of design parameters useful for achieving inter-satellite communications for multiple small satellite missions. Specific topics include proposed solutions for some of the challenges faced by small satellite systems, enabling operations using a network of small satellites, and some examples of small satellite missions involving formation flying aspects.Comment: 51 pages, 21 Figures, 11 Tables, accepted in IEEE Communications Surveys and Tutorial

Real-Time Cross-Layer Routing Protocol for Ad Hoc Wireless Sensor Networks

Reliable and energy efficient routing is a critical issue in Wireless Sensor Networks (WSNs) deployments. Many approaches have been proposed for WSN routing, but sensor field implementations, compared to computer simulations and fully-controlled testbeds, tend to be lacking in the literature and not fully documented. Typically, WSNs provide the ability to gather information cheaply, accurately and reliably over both small and vast physical regions. Unlike other large data network forms, where the ultimate input/output interface is a human being, WSNs are about collecting data from unattended physical environments. Although WSNs are being studied on a global scale, the major current research is still focusing on simulations experiments. In particular for sensor networks, which have to deal with very stringent resource limitations and that are exposed to severe physical conditions, real experiments with real applications are essential. In addition, the effectiveness of simulation studies is severely limited in terms of the difficulty in modeling the complexities of the radio environment, power consumption on sensor devices, and the interactions between the physical, network and application layers. The routing problem in ad hoc WSNs is nontrivial issue because of sensor node failures due to restricted recourses. Thus, the routing protocols of WSNs encounter two conflicting issue: on the one hand, in order to optimise routes, frequent topology updates are required, while on the other hand, frequent topology updates result in imbalanced energy dissipation and higher message overhead. In the literature, such as in (Rahul et al., 2002), (Woo et al., 2003), (TinyOS, 2004), (Gnawali et al., 2009) and (Burri et al., 2007) several authors have presented routing algorithms for WSNs that consider purely one or two metrics at most in attempting to optimise routes while attempting to keep small message overhead and balanced energy dissipation. Recent studies on energy efficient routing in multihop WSNs have shown a great reliance on radio link quality in the path selection process. If sensor nodes along the routing path and closer to the base station advertise a high quality link to forwarding upstream packets, these sensor nodes will experience a faster depletion rate in their residual energy. This results in a topological routing hole or network partitioning as stated and resolved in and (Daabaj 2010). This chapter presents an empirical study on how to improve energy efficiency for reliable multihop communication by developing a real-time cross-layer lifetime-oriented routing protocol and integrating useful routing information from different layers to examine their joint benefit on the lifetime of individual sensor nodes and the entire sensor network. The proposed approach aims to balance the workload and energy usage among relay nodes to achieve balanced energy dissipation, thereby maximizing the functional network lifetime. The obtained experimental results are presented from prototype real-network experiments based on Crossbow’s sensor motes (Crossbow, 2010), i.e., Mica2 low-power wireless sensor platforms (Crossbow, 2010). The distributed real-time routing protocol which is proposed In this chapter aims to face the dynamics of the real world sensor networks and also to discover multiple paths between the base station and source sensor nodes. The proposed routing protocol is compared experimentally with a reliability-oriented collection-tree protocol, i.e., the TinyOS MintRoute protocol (Woo et al., 2003). The experimental results show that our proposed protocol has a higher node energy efficiency, lower control overhead, and fair average delay

Energy Efficiency

This book is one of the most comprehensive and up-to-date books written on Energy Efficiency. The readers will learn about different technologies for energy efficiency policies and programs to reduce the amount of energy. The book provides some studies and specific sets of policies and programs that are implemented in order to maximize the potential for energy efficiency improvement. It contains unique insights from scientists with academic and industrial expertise in the field of energy efficiency collected in this multi-disciplinary forum