Cross-compensation of FET sensor drift and matrix effects in the industrial continuous monitoring of ion concentrations

Field-effect transistor (FET) sensors are attractive potentiometric (bio)chemical measurement devices because of their fast response, low output impedance, and potential for miniaturization in standard integrated circuit manufacturing technologies. Yet the wide adoption of these sensors for real-world applications is still limited, mainly due to temporal drift and cross-sensitivities that introduce considerable error in the measurements. In this paper, we demonstrate that such non-idealities can be corrected by joint use of an array of FET sensors – selective to target and major interfering ions – with machine learning (ML) methods in order to accurately predict ion concentrations continuously and in the field. We studied the predictive performance of linear regression (LR), support vector regression (SVR), and state-of-art deep neural networks (DNNs) when monitoring pH from combinatorial H+, Na+, and K+ ion-sensitive FET (ISFET) sequences of readings collected over a period of 90 consecutive days in real water quality assessment conditions. The proposed ML algorithms were trained against reference online measurements obtained from a commercial pH sensor. Results show a greater capability of DNNs to provide precise pH monitoring for longer than a week, achieving a relative root-mean-square error reduction of 73% over standard two-point sensor calibration methods

Approximation of the inverse kinematics of a robotic manipulator using a neural network

A fundamental property of a robotic manipulator system is that it is capable of accurately following complex position trajectories in three-dimensional space. An essential component of the robotic control system is the solution of the inverse kinematics problem which allows determination of the joint angle trajectories from the desired trajectory in the Cartesian space. There are several traditional methods based on the known geometry of robotic manipulators to solve the inverse kinematics problem. These methods can become impractical in a robot-vision control system where the environmental parameters can alter. Artificial neural networks with their inherent learning ability can approximate the inverse kinematics function and do not require any knowledge of the manipulator geometry. This thesis concentrates on developing a practical solution using a radial basis function network to approximate the inverse kinematics of a robot manipulator. This approach is distinct from existing approaches as the centres of the hidden-layer units are regularly distributed in the workspace, constrained training data is used and the training phase is performed using either the strict interpolation or the least mean square algorithms. An online retraining approach is also proposed to modify the network function approximation to cope with the situation where the initial training and application environments are different. Simulation results for two and three-link manipulators verify the approach. A novel real-time visual measurement system, based on a video camera and image processing software, has been developed to measure the position of the robotic manipulator in the three-dimensional workspace. Practical experiments have been performed with a Mitsubishi PA10-6CE manipulator and this visual measurement system. The performance of the radial basis function network is analysed for the manipulator operating in two and three-dimensional space and the practical results are compared to the simulation results. Advantages and disadvantages of the proposed approach are discussed

Neurology

Contains reports on eleven research projects.U.S. Air Force (AF49(638)-1130)Army Chemical Corps (DA-18-108-405-Cml-942)U.S. Public Health Service (B-3055)National Science Foundation (Grant G-16526)U.S. Public Health Service (B-3090)U.S. Air Force (AF33(616)-7588)Office of Naval Research (Nonr-1841(70)

A multi-objective evolutionary approach to simulation-based optimisation of real-world problems.

This thesis presents a novel evolutionary optimisation algorithm that can improve the quality of solutions in simulation-based optimisation. Simulation-based optimisation is the process of finding optimal parameter settings without explicitly examining each possible configuration of settings. An optimisation algorithm generates potential configurations and sends these to the simulation, which acts as an evaluation function. The evaluation results are used to refine the optimisation such that it eventually returns a high-quality solution. The algorithm described in this thesis integrates multi-objective optimisation, parallelism, surrogate usage, and noise handling in a unique way for dealing with simulation-based optimisation problems incurred by these characteristics. In order to handle multiple, conflicting optimisation objectives, the algorithm uses a Pareto approach in which the set of best trade-off solutions is searched for and presented to the user. The algorithm supports a high degree of parallelism by adopting an asynchronous master-slave parallelisation model in combination with an incremental population refinement strategy. A surrogate evaluation function is adopted in the algorithm to quickly identify promising candidate solutions and filter out poor ones. A novel technique based on inheritance is used to compensate for the uncertainties associated with the approximative surrogate evaluations. Furthermore, a novel technique for multi-objective problems that effectively reduces noise by adopting a dynamic procedure in resampling solutions is used to tackle the problem of real-world unpredictability (noise). The proposed algorithm is evaluated on benchmark problems and two complex real-world problems of manufacturing optimisation. The first real-world problem concerns the optimisation of a production cell at Volvo Aero, while the second one concerns the optimisation of a camshaft machining line at Volvo Cars Engine. The results from the optimisations show that the algorithm finds better solutions for all the problems considered than existing, similar algorithms. The new techniques for dealing with surrogate imprecision and noise used in the algorithm are identified as key reasons for the good performance.University of Skövde Knowledge Foundation Swede

Measurements, Models, Systems and Design

531 s.