Internet of robotic things : converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms

The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent “devices”, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew “cognitive devices” are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications

Performance of ePix10K, a high dynamic range, gain auto-ranging pixel detector for FELs

ePix10K is a hybrid pixel detector developed at SLAC for demanding free-electron laser (FEL) applications, providing an ultrahigh dynamic range (245 eV to 88 MeV) through gain auto-ranging. It has three gain modes (high, medium and low) and two auto-ranging modes (high-to-low and medium-to-low). The first ePix10K cameras are built around modules consisting of a sensor flip-chip bonded to 4 ASICs, resulting in 352x384 pixels of 100 $\mu$m x 100 $\mu$m each. We present results from extensive testing of three ePix10K cameras with FEL beams at LCLS, resulting in a measured noise floor of 245 eV rms, or 67 e$^-$ equivalent noise charge (ENC), and a range of 11000 photons at 8 keV. We demonstrate the linearity of the response in various gain combinations: fixed high, fixed medium, fixed low, auto-ranging high to low, and auto-ranging medium-to-low, while maintaining a low noise (well within the counting statistics), a very low cross-talk, perfect saturation response at fluxes up to 900 times the maximum range, and acquisition rates of up to 480 Hz. Finally, we present examples of high dynamic range x-ray imaging spanning more than 4 orders of magnitude dynamic range (from a single photon to 11000 photons/pixel/pulse at 8 keV). Achieving this high performance with only one auto-ranging switch leads to relatively simple calibration and reconstruction procedures. The low noise levels allow usage with long integration times at non-FEL sources. ePix10K cameras leverage the advantages of hybrid pixel detectors with high production yield and good availability, minimize development complexity through sharing the hardware, software and DAQ development with all other versions of ePix cameras, while providing an upgrade path to 5 kHz, 25 kHz and 100 kHz in three steps over the next few years, matching the LCLS-II requirements.Comment: 9 pages, 5 figure

Field Scanner Design for MUSTANG of the Green Bank Telescope

MUSTANG is a bolometer camera for the Green Bank Telescope (GBT) working at a frequency of 90 GHz. The detector has a field of view of 40 arcseconds. To cancel out random emission change from atmosphere and other sources, requires a fast scanning reflecting system with a few arcminute ranges. In this paper, the aberrations of an off-axis system are reviewed. The condition for an optimized system is provided. In an optimized system, as additional image transfer mirrors are introduced, new aberrations of the off-axis system may be reintroduced, resulting in a limited field of view. In this paper, different scanning mirror arrangements for the GBT system are analyzed through the ray tracing analysis. These include using the subreflector as the scanning mirror, chopping a flat mirror and transferring image with an ellipse mirror, and chopping a flat mirror and transferring image with a pair of face-to-face paraboloid mirrors. The system analysis shows that chopping a flat mirror and using a well aligned pair of paraboloids can generate the required field of view for the MUSTUNG detector system, while other systems all suffer from larger off-axis aberrations added by the system modification. The spot diagrams of the well aligned pair of paraboloids produced is only about one Airy disk size within a scanning angle of about 3 arcmin.Comment: 7 pages, 9 figure

An Instrument For Investigation of the Cosmic Microwave Background Radiation at Intermediate Angular Scales

We describe an off-axis microwave telescope for observations of the anisotropy in the cosmic microwave background (CMB) radiation on angular scales between 0.5 deg and 3 deg. The receiver utilizes cryogenic high-electron-mobility transistor (HEMT) amplifiers and detects the total power in multiple 3 GHz wide channels. Both frequency and polarization information are recorded allowing discrimination between CMB radiation and potential foreground sources and allowing checks for systematic effects. The instrumental radiometric offset is small (~1 mK). Data are taken by rapidly sampling while sweeping the beam many beamwidths across the sky. After detection, a spatio-temporal filter is formed in software which optimizes the sensitivity in a multipole band in the presence of atmospheric fluctuations. Observations were made from Saskatoon, Saskatchewan (SK), Canada during the winter of 1993 with six channels between 27.6 and 34.0 GHz, in 1994 with twelve channels between 27.6 and 44.1 GHz, and in 1995 with six channels between 38.2 and 44.1 GHz. The performance of the instrument and assessment of the atmospheric noise at this site are discussed.Comment: latex file is called inst.tex. 30 pages with 14 Postscript figures. Uses aas2pp4.sty (included). Submitted to Ap

Design, Computational Modelling and Experimental Characterization of Bistable Hybrid Soft Actuators for a Controllable-Compliance Joint of an Exoskeleton Rehabilitation Robot

This paper presents the mechatronic design of a biorobotic joint with controllable compliance, for innovative applications of “assist-as-needed” robotic rehabilitation mediated by a wearable and soft exoskeleton. The soft actuation of robotic exoskeletons can provide some relevant advantages in terms of controllable compliance, adaptivity and intrinsic safety of the control performance of the robot during the interaction with the patient. Pneumatic Artificial Muscles (PAMs), which belong to the class of soft actuators, can be arranged in antagonistic configuration in order to exploit the variability of their mechanical compliance for the optimal adaptation of the robot performance during therapy. The coupling of an antagonistic configuration of PAMs with a regulation mechanism can achieve, under a customized control strategy, the optimal tuning of the mechanical compliance of the exoskeleton joint over full ranges of actuation pressure and joint rotation. This work presents a novel mechanism, for the optimal regulation of the compliance of the biorobotic joint, which is characterized by a soft and hybrid actuation exploiting the storage/release of the elastic energy by bistable Von Mises elastic trusses. The contribution from elastic Von Mises structure can improve both the mechanical response of the soft pneumatic bellows actuating the regulation mechanism and the intrinsic safety of the whole mechanism. A comprehensive set of design steps is presented here, including the optimization of the geometry of the pneumatic bellows, the fabrication process through 3D printing of the mechanism and some experimental tests devoted to the characterization of the hybrid soft actuation. The experimental tests replicated the main operating conditions of the regulation mechanism; the advantages arising from the bistable hybrid soft actuation were evaluated in terms of static and dynamic performance, e.g., pressure and force transition thresholds of the bistable mechanism, linearity and hysteresis of the actuator response

A cognitive robotic ecology approach to self-configuring and evolving AAL systems

Robotic ecologies are systems made out of several robotic devices, including mobile robots, wireless sensors and effectors embedded in everyday environments, where they cooperate to achieve complex tasks. This paper demonstrates how endowing robotic ecologies with information processing algorithms such as perception, learning, planning, and novelty detection can make these systems able to deliver modular, flexible, manageable and dependable Ambient Assisted Living (AAL) solutions. Specifically, we show how the integrated and self-organising cognitive solutions implemented within the EU project RUBICON (Robotic UBIquitous Cognitive Network) can reduce the need of costly pre-programming and maintenance of robotic ecologies. We illustrate how these solutions can be harnessed to (i) deliver a range of assistive services by coordinating the sensing & acting capabilities of heterogeneous devices, (ii) adapt and tune the overall behaviour of the ecology to the preferences and behaviour of its inhabitants, and also (iii) deal with novel events, due to the occurrence of new user's activities and changing user's habits

CMB Telescopes and Optical Systems

The cosmic microwave background radiation (CMB) is now firmly established as a fundamental and essential probe of the geometry, constituents, and birth of the Universe. The CMB is a potent observable because it can be measured with precision and accuracy. Just as importantly, theoretical models of the Universe can predict the characteristics of the CMB to high accuracy, and those predictions can be directly compared to observations. There are multiple aspects associated with making a precise measurement. In this review, we focus on optical components for the instrumentation used to measure the CMB polarization and temperature anisotropy. We begin with an overview of general considerations for CMB observations and discuss common concepts used in the community. We next consider a variety of alternatives available for a designer of a CMB telescope. Our discussion is guided by the ground and balloon-based instruments that have been implemented over the years. In the same vein, we compare the arc-minute resolution Atacama Cosmology Telescope (ACT) and the South Pole Telescope (SPT). CMB interferometers are presented briefly. We conclude with a comparison of the four CMB satellites, Relikt, COBE, WMAP, and Planck, to demonstrate a remarkable evolution in design, sensitivity, resolution, and complexity over the past thirty years.Comment: To appear in: Planets, Stars and Stellar Systems (PSSS), Volume 1: Telescopes and Instrumentatio

A segmented Hybrid Photon Detector with integrated auto-triggering front-end electronics for a PET scanner

We describe the design, fabrication and test results of a segmented Hybrid Photon Detector with integrated auto-triggering front-end electronics. Both the photodetector and its VLSI readout electronics are custom designed and have been tailored to the requirements of a recently proposed novel geometrical concept of a Positron Emission Tomograph. Emphasis is put on the PET specific features of the device. The detector has been fabricated in the photocathode facility at CERN