Supervised Control of a Flying Performing Robot using its Intrinsic Sound

We present the current results of our ongoing research in achieving efficient control of a flying robot for a wide variety of possible applications. A lightweight small indoor helicopter has been equipped with an embedded system and relatively simple sensors to achieve autonomous stable flight. The controllers have been tuned using genetic algorithms to further enhance flight stability. A number of additional sensors would need to be attached to the helicopter to enable it to sense more of its environment such as its current location or the location of obstacles like the walls of the room it is flying in. The lightweight nature of the helicopter very much restricts the amount of sensors that can be attached to it. We propose utilising the intrinsic sound signatures of the helicopter to locate it and to extract features about its current state, using another supervising robot. The analysis of this information is then sent back to the helicopter using an uplink to enable the helicopter to further stabilise its flight and correct its position and flight path without the need for additional sensors

Managing uncertainty in sound based control for an autonomous helicopter

In this paper we present our ongoing research using a multi-purpose, small and low cost autonomous helicopter platform (Flyper ). We are building on previously achieved stable control using evolutionary tuning. We propose a sound based supervised method to localise the indoor helicopter and extract meaningful information to enable the helicopter to further stabilise its flight and correct its flightpath. Due to the high amount of uncertainty in the data, we propose the use of fuzzy logic in the signal processing of the sound signature. We discuss the benefits and difficulties using type-1 and type-2 fuzzy logic in this real-time systems and give an overview of our proposed system

A novel optical sensor system for the automatic classification of mosquitoes by genus and sex with high levels of accuracy

Background: Every year, more than 700,000 people die from vector-borne diseases, mainly transmitted by mosqui‑ toes. Vector surveillance plays a major role in the control of these diseases and requires accurate and rapid taxo‑ nomical identifcation. New approaches to mosquito surveillance include the use of acoustic and optical sensors in combination with machine learning techniques to provide an automatic classifcation of mosquitoes based on their fight characteristics, including wingbeat frequency. The development and application of these methods could enable the remote monitoring of mosquito populations in the feld, which could lead to signifcant improvements in vector surveillance. Methods: A novel optical sensor prototype coupled to a commercial mosquito trap was tested in laboratory conditions for the automatic classifcation of mosquitoes by genus and sex. Recordings of > 4300 laboratory-reared mosquitoes of Aedes and Culex genera were made using the sensor. The chosen genera include mosquito species that have a major impact on public health in many parts of the world. Five features were extracted from each recording to form balanced datasets and used for the training and evaluation of fve diferent machine learning algorithms to achieve the best model for mosquito classifcation. Results: The best accuracy results achieved using machine learning were: 94.2% for genus classifcation, 99.4% for sex classifcation of Aedes, and 100% for sex classifcation of Culex. The best algorithms and features were deep neural network with spectrogram for genus classifcation and gradient boosting with Mel Frequency Cepstrum Coefcients among others for sex classifcation of either genus. Conclusions: To our knowledge, this is the frst time that a sensor coupled to a standard mosquito suction trap has provided automatic classifcation of mosquito genus and sex with high accuracy using a large number of unique samples with class balance. This system represents an improvement of the state of the art in mosquito surveillance and encourages future use of the sensor for remote, real-time characterization of mosquito populations.info:eu-repo/semantics/publishedVersio

Mitigating the effect of background noise in sound based helicopter control.

Our research focuses on the use of sound to enhance the control of an autonomous indoor helicopter - Flyper. One of the many challenging problems in this project is managing the uncertainty which is present in input data and the control actions; this paper focuses on managing the uncertainty in the input data. We present a fuzzy logic system which infers how much confidence should be placed on a control decision based on the data which was used to make that decision. The input data is a supervised and sound based position estimate of the flying robot. The output of the fuzzy inference system provides us with a confidence parameter used to attenuate the position control of the autonomous helicopter. We performed test flights with and without the fuzzy confidence parameter and with and without artificial disturbance in form of concurrent speech. We employed a motion tracker to capture the helicopter’s movement during all test flights. The analysis of the data collected shows encouraging results

Aerospace medicine and biology: A continuing bibliography with indexes (supplement 370)

This bibliography lists 219 reports, articles and other documents introduced into the NASA Scientific and Technical Information System during Dec. 1992. Subject coverage includes: aerospace medicine and physiology, life support systems and man/system technology, protective clothing, exobiology and extraterrestrial life, planetary biology, and flight crew behavior and performance

Autocalibrating vision guided navigation of unmanned air vehicles via tactical monocular cameras in GPS denied environments

This thesis presents a novel robotic navigation strategy by using a conventional tactical monocular camera, proving the feasibility of using a monocular camera as the sole proximity sensing, object avoidance, mapping, and path-planning mechanism to fly and navigate small to medium scale unmanned rotary-wing aircraft in an autonomous manner. The range measurement strategy is scalable, self-calibrating, indoor-outdoor capable, and has been biologically inspired by the key adaptive mechanisms for depth perception and pattern recognition found in humans and intelligent animals (particularly bats), designed to assume operations in previously unknown, GPS-denied environments. It proposes novel electronics, aircraft, aircraft systems, systems, and procedures and algorithms that come together to form airborne systems which measure absolute ranges from a monocular camera via passive photometry, mimicking that of a human-pilot like judgement. The research is intended to bridge the gap between practical GPS coverage and precision localization and mapping problem in a small aircraft. In the context of this study, several robotic platforms, airborne and ground alike, have been developed, some of which have been integrated in real-life field trials, for experimental validation. Albeit the emphasis on miniature robotic aircraft this research has been tested and found compatible with tactical vests and helmets, and it can be used to augment the reliability of many other types of proximity sensors

Towards Intelligent Playful Environments for Animals based on Natural User Interfaces

Tesis por compendioEl estudio de la interacción de los animales con la tecnología y el desarrollo de sistemas tecnológicos centrados en el animal está ganando cada vez más atención desde la aparición del área de Animal Computer Interaction (ACI). ACI persigue mejorar el bienestar de los animales en diferentes entornos a través del desarrollo de tecnología adecuada para ellos siguiendo un enfoque centrado en el animal. Entre las líneas de investigación que ACI está explorando, ha habido bastante interés en la interacción de los animales con la tecnología basada en el juego. Las actividades de juego tecnológicas tienen el potencial de proveer estimulación mental y física a los animales en diferentes contextos, pudiendo ayudar a mejorar su bienestar. Mientras nos embarcamos en la era de la Internet de las Cosas, las actividades de juego tecnológicas actuales para animales todavía no han explorado el desarrollo de soluciones pervasivas que podrían proveerles de más adaptación a sus preferencias a la vez que ofrecer estímulos tecnológicos más variados. En su lugar, estas actividades están normalmente basadas en interacciones digitales en lugar de explorar dispositivos tangibles o aumentar las interacciones con otro tipo de estímulos. Además, estas actividades de juego están ya predefinidas y no cambian con el tiempo, y requieren que un humano provea el dispositivo o la tecnología al animal. Si los humanos pudiesen centrarse más en su participación como jugadores de un sistema interactivo para animales en lugar de estar pendientes de sujetar un dispositivo para el animal o de mantener el sistema ejecutándose, esto podría ayudar a crear lazos más fuertes entre especies y promover mejores relaciones con los animales. Asimismo, la estimulación mental y física de los animales son aspectos importantes que podrían fomentarse si los sistemas de juego diseñados para ellos pudieran ofrecer un variado rango de respuestas, adaptarse a los comportamientos del animal y evitar que se acostumbre al sistema y pierda el interés. Por tanto, esta tesis propone el diseño y desarrollo de entornos tecnológicos de juego basados en Interfaces Naturales de Usuario que puedan adaptarse y reaccionar a las interacciones naturales de los animales. Estos entornos pervasivos permitirían a los animales jugar por si mismos o con una persona, ofreciendo actividades de juego más dinámicas y atractivas capaces de adaptarse con el tiempo.L'estudi de la interacció dels animals amb la tecnologia i el desenvolupament de sistemes tecnològics centrats en l'animal està guanyant cada vegada més atenció des de l'aparició de l'àrea d'Animal Computer Interaction (ACI) . ACI persegueix millorar el benestar dels animals en diferents entorns a través del desenvolupament de tecnologia adequada per a ells amb un enfocament centrat en l'animal. Entre totes les línies d'investigació que ACI està explorant, hi ha hagut prou interès en la interacció dels animals amb la tecnologia basada en el joc. Les activitats de joc tecnològiques tenen el potencial de proveir estimulació mental i física als animals en diferents contextos, podent ajudar a millorar el seu benestar. Mentre ens embarquem en l'era de la Internet de les Coses, les activitats de joc tecnològiques actuals per a animals encara no han explorat el desenvolupament de solucions pervasives que podrien proveir-los de més adaptació a les seues preferències al mateix temps que oferir estímuls tecnològics més variats. En el seu lloc, estes activitats estan normalment basades en interaccions digitals en compte d'explorar dispositius tangibles o augmentar les interaccions amb estímuls de diferent tipus. A més, aquestes activitats de joc estan ja predefinides i no canvien amb el temps, mentre requereixen que un humà proveïsca el dispositiu o la tecnologia a l'animal. Si els humans pogueren centrar-se més en la seua participació com a jugadors actius d'un sistema interactiu per a animals en compte d'estar pendents de subjectar un dispositiu per a l'animal o de mantenir el sistema executant-se, açò podria ajudar a crear llaços més forts entre espècies i promoure millors relacions amb els animals. Així mateix, l'estimulació mental i física dels animals són aspectes importants que podrien fomentar-se si els sistemes de joc dissenyats per a ells pogueren oferir un rang variat de respostes, adaptar-se als comportaments de l'animal i evitar que aquest s'acostume al sistema i perda l'interès. Per tant, esta tesi proposa el disseny i desenvolupament d'entorns tecnològics de joc basats en Interfícies Naturals d'Usuari que puguen adaptar-se i reaccionar a les interaccions naturals dels animals. Aquestos escenaris pervasius podrien permetre als animals jugar per si mateixos o amb una persona, oferint activitats de joc més dinàmiques i atractives que siguen capaces d'adaptar-se amb el temps.The study of animals' interactions with technology and the development of animal-centered technological systems is gaining attention since the emergence of the research area of Animal Computer Interaction (ACI). ACI aims to improve animals' welfare and wellbeing in several scenarios by developing suitable technology for the animal following an animal-centered approach. Among all the research lines ACI is exploring, there has been significant interest in animals' playful interactions with technology. Technologically mediated playful activities have the potential to provide mental and physical stimulation for animals in different environmental contexts, which could in turn help to improve their wellbeing. As we embark in the era of the Internet of Things, current technological playful activities for animals have not yet explored the development of pervasive solutions that could provide animals with more adaptation to their preferences as well as offering varied technological stimuli. Instead, playful technology for animals is usually based on digital interactions rather than exploring tangible devices or augmenting the interactions with different stimuli. In addition, these playful activities are already predefined and do not change over time, while they require that a human has to be the one providing the device or technology to the animal. If humans could focus more on their participation as active players of an interactive system aimed for animals instead of being concerned about holding a device for the animal or keep the system running, this might help to create stronger bonds between species and foster better relationships with animals. Moreover, animals' mental and physical stimulation are important aspects that could be fostered if the playful systems designed for animals could offer a varied range of outputs, be tailored to the animal's behaviors and prevented the animal to get used to the system and lose interest. Therefore, this thesis proposes the design and development of technological playful environments based on Natural User Interfaces that could adapt and react to the animals' natural interactions. These pervasive scenarios would allow animals to play by themselves or with a human, providing more engaging and dynamic playful activities that are capable of adapting over time.Pons Tomás, P. (2018). Towards Intelligent Playful Environments for Animals based on Natural User Interfaces [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/113075TESISCompendi

An overview on structural health monitoring: From the current state-of-the-art to new bio-inspired sensing paradigms

In the last decades, the field of structural health monitoring (SHM) has grown exponentially. Yet, several technical constraints persist, which are preventing full realization of its potential. To upgrade current state-of-the-art technologies, researchers have started to look at nature’s creations giving rise to a new field called ‘biomimetics’, which operates across the border between living and non-living systems. The highly optimised and time-tested performance of biological assemblies keeps on inspiring the development of bio-inspired artificial counterparts that can potentially outperform conventional systems. After a critical appraisal on the current status of SHM, this paper presents a review of selected works related to neural, cochlea and immune-inspired algorithms implemented in the field of SHM, including a brief survey of the advancements of bio-inspired sensor technology for the purpose of SHM. In parallel to this engineering progress, a more in-depth understanding of the most suitable biological patterns to be transferred into multimodal SHM systems is fundamental to foster new scientific breakthroughs. Hence, grounded in the dissection of three selected human biological systems, a framework for new bio-inspired sensing paradigms aimed at guiding the identification of tailored attributes to transplant from nature to SHM is outlined.info:eu-repo/semantics/acceptedVersio