Information acquisition using eye-gaze tracking for person-following with mobile robots

In the effort of developing natural means for human-robot interaction (HRI), signifcant amount of research has been focusing on Person-Following (PF) for mobile robots. PF, which generally consists of detecting, recognizing and following people, is believed to be one of the required functionalities for most future robots that share their environments with their human companions. Research in this field is mostly directed towards fully automating this functionality, which makes the challenge even more tedious. Focusing on this challenge leads research to divert from other challenges that coexist in any PF system. A natural PF functionality consists of a number of tasks that are required to be implemented in the system. However, in more realistic life scenarios, not all the tasks required for PF need to be automated. Instead, some of these tasks can be operated by human operators and therefore require natural means of interaction and information acquisition. In order to highlight all the tasks that are believed to exist in any PF system, this paper introduces a novel taxonomy for PF. Also, in order to provide a natural means for HRI, TeleGaze is used for information acquisition in the implementation of the taxonomy. TeleGaze was previously developed by the authors as a means of natural HRI for teleoperation through eye-gaze tracking. Using TeleGaze in the aid of developing PF systems is believed to show the feasibility of achieving a realistic information acquisition in a natural way

Performance Analysis of Hierarchical Routing Protocols in Wireless Sensor Networks

This work focusses on analyzing the optimization strategies of routing protocols with respect to energy utilization of sensor nodes in Wireless Sensor Network (WSNs). Different routing mechanisms have been proposed to address energy optimization problem in sensor nodes. Clustering mechanism is one of the popular WSNs routing mechanisms. In this paper, we first address energy limitation constraints with respect to maximizing network life time using linear programming formulation technique. To check the efficiency of different clustering scheme against modeled constraints, we select four cluster based routing protocols; Low Energy Adaptive Clustering Hierarchy (LEACH), Threshold Sensitive Energy Efficient sensor Network (TEEN), Stable Election Protocol (SEP), and Distributed Energy Efficient Clustering (DEEC). To validate our mathematical framework, we perform analytical simulations in MATLAB by choosing number of alive nodes, number of dead nodes, number of packets and number of CHs, as performance metrics.Comment: NGWMN with 7th IEEE International Conference on Broadband and Wireless Computing, Communication and Applications (BWCCA 2012), Victoria, Canada, 201

Density Controlled Divide-and-Rule Scheme for Energy Efficient Routing in Wireless Sensor Networks

Cluster based routing technique is most popular routing technique in Wireless Sensor Networks (WSNs). Due to varying need of WSN applications efficient energy utilization in routing protocols is still a potential area of research. In this research work we introduced a new energy efficient cluster based routing technique. In this technique we tried to overcome the problem of coverage hole and energy hole. In our technique we controlled these problems by introducing density controlled uniform distribution of nodes and fixing optimum number of Cluster Heads (CHs) in each round. Finally we verified our technique by experimental results of MATLAB simulations.Comment: 26th IEEE Canadian Conference on Electrical and Computer Engineering (CCECE2013), Regina, Saskatchewan, Canada, 201

HEER: Hybrid Energy Efficient Reactive Protocol for Wireless Sensor Networks

Wireless Sensor Networks (WSNs) consist of numerous sensors which send sensed data to base station. Energy conservation is an important issue for sensor nodes as they have limited power.Many routing protocols have been proposed earlier for energy efficiency of both homogeneous and heterogeneous environments. We can prolong our stability and network lifetime by reducing our energy consumption. In this research paper, we propose a protocol designed for the characteristics of a reactive homogeneous WSNs, HEER (Hybrid Energy Efficient Reactive) protocol. In HEER, Cluster Head(CH) selection is based on the ratio of residual energy of node and average energy of network. Moreover, to conserve more energy, we introduce Hard Threshold (HT) and Soft Threshold (ST). Finally, simulations show that our protocol has not only prolonged the network lifetime but also significantly increased stability period.Comment: 2nd IEEE Saudi International Electronics, Communications and Photonics Conference (SIECPC 13), 2013, Riyadh, Saudi Arabi

The living aortic valve: From molecules to function.

The aortic valve lies in a unique hemodynamic environment, one characterized by a range of stresses (shear stress, bending forces, loading forces and strain) that vary in intensity and direction throughout the cardiac cycle. Yet, despite its changing environment, the aortic valve opens and closes over 100,000 times a day and, in the majority of human beings, will function normally over a lifespan of 70-90 years. Until relatively recently heart valves were considered passive structures that play no active role in the functioning of a valve, or in the maintenance of its integrity and durability. However, through clinical experience and basic research the aortic valve can now be characterized as a living, dynamic organ with the capacity to adapt to its complex mechanical and biomechanical environment through active and passive communication between its constituent parts. The clinical relevance of a living valve substitute in patients requiring aortic valve replacement has been confirmed. This highlights the importance of using tissue engineering to develop heart valve substitutes containing living cells which have the ability to assume the complex functioning of the native valve

On Energy Efficiency and Delay Minimization in Reactive Protocols in Wireless Multi-hop Networks

In Wireless Multi-hop Networks (WMhNs), routing protocols with energy efficient and delay reduction techniques are needed to fulfill users demands. In this paper, we present Linear Programming models (LP_models) to assess and enhance reactive routing protocols. To practically examine constraints of respective LP_models over reactive protocols, we select AODV, DSR and DYMO. It is deduced from analytical simulations of LP_models in MATLAB that quick route repair reduces routing latency and optimizations of retransmission attempts results efficient energy utilization. To provide quick repair, we enhance AODV and DSR. To practically examine the efficiency of enhanced protocols in different scenarios of WMhNs, we conduct simulations using NS- 2. From simulation results, enhanced DSR and AODV achieve efficient output by optimizing routing latencies and routing load in terms of retransmission attempts