Switched Polytopic Controller Applied on a Positive Reconfigurable Power Electronic Converter

The reconfigurable power electronic converters (RPECs) are a new generation of systems, which modify their physical configuration in terms of a desired input or output operation characteristic. This kind of converters is very attractive in terms of versatility, compactness, and robustness. They have been proposed in areas such as illumination, transport electrification (TE), eenewable energy (RE), smart grids and the internet of things (IoT). However, the resulting converters operate in switched variable operation-regions, rather than over single operation points. As a result, there is a complexity increment on the modeling and control stage such that traditional techniques are no longer valid. In order to overcome these challenges, this paper proposes a kind of switched polytopic controller (SPC) suitable to stabilize an RPEC. Modeling, control, numerical and practical results are reported. To this end, a 400 W positive synchronous bi-directional buck/boost converter is used as a testbed. It is also shown, that the proposed converter and robust controller accomplish a compact, modular and reliable design during different working configuration, operation points and load changes

Local Path Planning for Autonomous Vehicles Based on the Natural Behavior of the Biological Action-Perception Motion

Local path planning is a key task for the motion planners of autonomous vehicles since it commands the vehicle across its environment while avoiding any obstacles. To perform this task, the local path planner generates a trajectory and a velocity profile, which are then sent to the vehicle’s actuators. This paper proposes a new local path planner for autonomous vehicles based on the Attractor Dynamic Approach (ADA), which was inspired by the behavior of movement of living beings, along with an algorithm that takes into account four acceleration policies, the ST dynamic vehicle model, and several constraints regarding the comfort and security. The original functions that define the ADA were modified in order to adapt it to the non-holonomic vehicle’s constraints and to improve its response when an impact scenario is detected. The present approach is validated in a well-known simulator for autonomous vehicles under three representative cases of study where the vehicle was capable of generating local paths that ensure the security of the vehicle in such cases. The results show that the approach proposed in this paper is a promising tool for the local path planning of autonomous vehicles since it is able to generate trajectories that are both safe and efficient

Local Path Planning for Autonomous Vehicles Based on the Natural Behavior of the Biological Action-Perception Motion

Local path planning is a key task for the motion planners of autonomous vehicles since it commands the vehicle across its environment while avoiding any obstacles. To perform this task, the local path planner generates a trajectory and a velocity profile, which are then sent to the vehicle’s actuators. This paper proposes a new local path planner for autonomous vehicles based on the Attractor Dynamic Approach (ADA), which was inspired by the behavior of movement of living beings, along with an algorithm that takes into account four acceleration policies, the ST dynamic vehicle model, and several constraints regarding the comfort and security. The original functions that define the ADA were modified in order to adapt it to the non-holonomic vehicle’s constraints and to improve its response when an impact scenario is detected. The present approach is validated in a well-known simulator for autonomous vehicles under three representative cases of study where the vehicle was capable of generating local paths that ensure the security of the vehicle in such cases. The results show that the approach proposed in this paper is a promising tool for the local path planning of autonomous vehicles since it is able to generate trajectories that are both safe and efficient

Kinect v2-Assisted Semi-Automated Method to Assess Upper Limb Motor Performance in Children

The interruption of rehabilitation activities caused by the COVID-19 lockdown has significant health negative consequences for the population with physical disabilities. Thus, measuring the range of motion (ROM) using remotely taken photographs, which are then sent to specialists for formal assessment, has been recommended. Currently, low-cost Kinect motion capture sensors with a natural user interface are the most feasible implementations for upper limb motion analysis. An active range of motion (AROM) measuring system based on a Kinect v2 sensor for upper limb motion analysis using Fugl-Meyer Assessment (FMA) scoring is described in this paper. Two test groups of children, each having eighteen participants, were analyzed in the experimental stage, where upper limbs’ AROM and motor performance were assessed using FMA. Participants in the control group (mean age of 7.83 ± 2.54 years) had no cognitive impairment or upper limb musculoskeletal problems. The study test group comprised children aged 8.28 ± 2.32 years with spastic hemiparesis. A total of 30 samples of elbow flexion and 30 samples of shoulder abduction of both limbs for each participant were analyzed using the Kinect v2 sensor at 30 Hz. In both upper limbs, no significant differences (p < 0.05) in the measured angles and FMA assessments were observed between those obtained using the described Kinect v2-based system and those obtained directly using a universal goniometer. The measurement error achieved by the proposed system was less than ±1° compared to the specialist’s measurements. According to the obtained results, the developed measuring system is a good alternative and an effective tool for FMA assessment of AROM and motor performance of upper limbs, while avoiding direct contact in both healthy children and children with spastic hemiparesis

Non-Invasive Monitoring of the Thermal and Morphometric Characteristics of Lettuce Grown in an Aeroponic System through Multispectral Image System

Aeroponics is a soilless cultivation technology integrating plant nutrition, physiology, ecological environment, agricultural automation and horticulture. One of the soilless advantages is that a non-invasive observation of the root system growth development is possible. This paper presents a vegetative growth evaluation of lettuce plants in an aeroponic chamber, where root and leaf development parameters were measured in three lettuce crops through plant images captured in the visible (VIS), near infrared (NIR) and far infrared (IR) spectra. A total of ninety lettuce plants was transplanted for this research, thirty for each experimental crop. The three lettuce crops were grown for thirty days in an aeroponic growth plant chamber inside a greenhouse under favorable conditions. The morphometric and thermal parameters of the lettuce roots (perimeter, area, length and average temperature) and leaves (perimeter, area and average temperature) were evaluated for each crop along ten image-capturing sessions through an implemented multispectral vision system. The average values of the root and leaf morphometric parameters obtained with the implemented imaging system along the lettuce growing period were statistically analyzed with Tukey testing. The obtained analysis results show no significant difference for a value of p ≤ 0.05 in 86.67%. Hence, the morphometric parameters can be used to characterize the vegetative lettuce growth in aeroponic crops. On the other hand, a correlation analysis was conducted between the thermal parameters computed with the root and leaf thermal image processing and the measured ambient temperature. The results were: R = 0.945 for correlation between ambient and leaf temperature, R = 0.963 for correlation between ambient and root temperature and R = 0.977 for leaf and root temperature. According to these results, the plant temperature is highly correlated with the ambient temperature in an aeroponic crop. The obtained study results suggest that multispectral image processing is a useful non-invasive tool to estimate the vegetative root and leaf growth parameters of aeroponic lettuce plants in a greenhouse

GPS Data Correction Based on Fuzzy Logic for Tracking Land Vehicles

GPS sensors are widely used to know a vehicle’s location and to track its route. Although GPS sensor technology is advancing, they present systematic failures depending on the environmental conditions to which they are subjected. To tackle this problem, we propose an intelligent system based on fuzzy logic, which takes the information from the sensors and correct the vehicle’s absolute position according to its latitude and longitude. This correction is performed by two fuzzy systems, one to correct the latitude and the other to correct the longitude, which are trained using the MATLAB ANFIS tool. The positioning correction system is trained and tested with two different datasets. One of them collected with a Pmod GPS sensor and the other a public dataset, which was taken from routes in Brazil. To compare our proposal, an unscented Kalman filter (UKF) was implemented. The main finding is that the proposed fuzzy systems achieve a performance of 69.2% higher than the UKF. Furthermore, fuzzy systems are suitable to implement in an embedded system such as the Raspberry Pi 4. Another finding is that the logical operations facilitate the creation of non-linear functions because of the ‘if else’ structure. Finally, the existence justification of each fuzzy system section is easy to understand

Upper Limb Movement Measurement Systems for Cerebral Palsy: A Systematic Literature Review

Quantifying the quality of upper limb movements is fundamental to the therapeutic process of patients with cerebral palsy (CP). Several clinical methods are currently available to assess the upper limb range of motion (ROM) in children with CP. This paper focuses on identifying and describing available techniques for the quantitative assessment of the upper limb active range of motion (AROM) and kinematics in children with CP. Following the screening and exclusion of articles that did not meet the selection criteria, we analyzed 14 studies involving objective upper extremity assessments of the AROM and kinematics using optoelectronic devices, wearable sensors, and low-cost Kinect sensors in children with CP aged 4–18 years. An increase in the motor function of the upper extremity and an improvement in most of the daily tasks reviewed were reported. In the population of this study, the potential of wearable sensors and the Kinect sensor natural user interface as complementary devices for the quantitative evaluation of the upper extremity was evident. The Kinect sensor is a clinical assessment tool with a unique markerless motion capture system. Few authors had described the kinematic models and algorithms used to estimate their kinematic analysis in detail. However, the kinematic models in these studies varied from 4 to 10 segments. In addition, few authors had followed the joint assessment recommendations proposed by the International Society of Biomechanics (ISB). This review showed that three-dimensional analysis systems were used primarily for monitoring and evaluating spatiotemporal variables and kinematic parameters of upper limb movements. The results indicated that optoelectronic devices were the most commonly used systems. The joint assessment recommendations proposed by the ISB should be used because they are approved standards for human kinematic assessments. This review was registered in the PROSPERO database (CRD42021257211)

IoT-Based Monitoring System Applied to Aeroponics Greenhouse

The inclusion of the Internet of Things (IoT) in greenhouses has become a fundamental tool for improving cultivation systems, offering information relevant to the greenhouse manager for decision making in search of optimum yield. This article presents a monitoring system applied to an aeroponic greenhouse based on an IoT architecture that provides user information on the status of the climatic variables and the appearance of the crop in addition to managing the irrigation timing and the frequency of visual inspection using an application developed for Android mobile devices called Aeroponics Monitor. The proposed IoT architecture consists of four layers: a device layer, fog layer, cloud layer and application layer. Once the information about the monitored variables is obtained by the sensors of the device layer, the fog layer processes it and transfers it to the Thingspeak and Firebase servers. In the cloud layer, Thingspeak analyzes the information from the variables monitored in the greenhouse through its IoT analytic tools to generate historical data and visualizations of their behavior, as well as an analysis of the system’s operating status. Firebase, on the other hand, is used as a database to store the results of the processing of the images taken in the fog layer for the supervision of the leaves and roots. The results of the analysis of the information of the monitored variables and of the processing of the images are presented in the developed app, with the objective of visualizing the state of the crop and to know the function of the monitoring system in the event of a possible lack of electricity or a service line failure in the fog layer and to avoid the loss of information. With the information about the temperature of the plant leaf and the relative humidity inside the greenhouse, the vapor pressure deficit (VPD) in the cloud layer is calculated; the VPD values are available on the Thingspeak server and in the developed app. Additionally, an analysis of the VPD is presented that demonstrates a water deficiency from the transplanting of the seedling to the cultivation chamber. The IoT architecture presented in this paper represents a potential tool for the study of aeroponic farming systems through IoT-assisted monitoring

Fuzzy Fusion of Stereo Vision, Odometer, and GPS for Tracking Land Vehicles

The incorporation of high precision vehicle positioning systems has been demanded by the autonomous electric vehicle (AEV) industry. For this reason, research on visual odometry (VO) and Artificial Intelligence (AI) to reduce positioning errors automatically has become essential in this field. In this work, a new method to reduce the error in the absolute location of AEV using fuzzy logic (FL) is presented. The cooperative data fusion of GPS, odometer, and stereo camera signals is then performed to improve the estimation of AEV localization. Although the most important challenge of this work focuses on the reduction in the odometry error in the vehicle, the defiance of synchrony and the information fusion of sources of different nature is solved. This research is integrated by three phases: data acquisition, data fusion, and statistical evaluation. The first one is data acquisition by using an odometer, a GPS, and a ZED camera in AVE’s trajectories. The second one is the data analysis and fuzzy fusion design using the MatLab 2019® fuzzy logic toolbox. The last is the statistical evaluation of the positioning error of the different sensors. According to the obtained results, the proposed model with the lowest error is that which uses all sensors as input (stereo camera, odometer, and GPS). It can be highlighted that the best proposed model manages to reduce the positioning mean absolute error (MAE) up to 25% with respect to the state of the art