Towards Improved Inertial Navigation by Reducing Errors Using Deep Learning Methodology

Autonomous vehicles make use of an Inertial Navigation System (INS) as part of vehicular sensor fusion in many situations including GPS-denied environments such as dense urban places, multi-level parking structures, and areas with thick tree-coverage. The INS unit incorporates an Inertial Measurement Unit (IMU) to process the linear acceleration and angular velocity data to obtain orientation, position, and velocity information using mechanization equations. In this work, we describe a novel deep-learning-based methodology, using Convolutional Neural Networks (CNN), to reduce errors from MEMS IMU sensors. We develop a CNN-based approach that can learn from the responses of a particular inertial sensor while subject to inherent noise errors and provide near real-time error correction. We implement a time-division method to divide the IMU output data into small step sizes to make the IMU outputs fit the input format of the CNN. We optimize the CNN approach for higher performance and lower complexity that would allow its implementation on ultra-low power hardware such as microcontrollers. Our results show that we achieved up to 32.5% error improvement in straight-path motion and up to 38.69% error improvement in oval motion compared with the ground truth. We examined the performance of our CNN approach under various situations with IMUs of various performance grades, IMUs of the same type but different manufactured batch, and controlled, fixed, and uncontrolled vehicle motion paths

Towards Improved Inertial Navigation by Reducing Errors Using Deep Learning Methodology

Autonomous vehicles make use of an Inertial Navigation System (INS) as part of vehicular sensor fusion in many situations including GPS-denied environments such as dense urban places, multi-level parking structures, and areas with thick tree-coverage. The INS unit incorporates an Inertial Measurement Unit (IMU) to process the linear acceleration and angular velocity data to obtain orientation, position, and velocity information using mechanization equations. In this work, we describe a novel deep-learning-based methodology, using Convolutional Neural Networks (CNN), to reduce errors from MEMS IMU sensors. We develop a CNN-based approach that can learn from the responses of a particular inertial sensor while subject to inherent noise errors and provide near real-time error correction. We implement a time-division method to divide the IMU output data into small step sizes to make the IMU outputs fit the input format of the CNN. We optimize the CNN approach for higher performance and lower complexity that would allow its implementation on ultra-low power hardware such as microcontrollers. Our results show that we achieved up to 32.5% error improvement in straight-path motion and up to 38.69% error improvement in oval motion compared with the ground truth. We examined the performance of our CNN approach under various situations with IMUs of various performance grades, IMUs of the same type but different manufactured batch, and controlled, fixed, and uncontrolled vehicle motion paths

Intelligent Millimeter-Wave System for Human Activity Monitoring for Telemedicine

Telemedicine has the potential to improve access and delivery of healthcare to diverse and aging populations. Recent advances in technology allow for remote monitoring of physiological measures such as heart rate, oxygen saturation, blood glucose, and blood pressure. However, the ability to accurately detect falls and monitor physical activity remotely without invading privacy or remembering to wear a costly device remains an ongoing concern. Our proposed system utilizes a millimeter-wave (mmwave) radar sensor (IWR6843ISK-ODS) connected to an NVIDIA Jetson Nano board for continuous monitoring of human activity. We developed a PointNet neural network for real-time human activity monitoring that can provide activity data reports, tracking maps, and fall alerts. Using radar helps to safeguard patients\u27 privacy by abstaining from recording camera images. We evaluated our system for real-time operation and achieved an inference accuracy of 99.5% when recognizing five types of activities: standing, walking, sitting, lying, and falling. Our system would facilitate the ability to detect falls and monitor physical activity in home and institutional settings to improve telemedicine by providing objective data for more timely and targeted interventions. This work demonstrates the potential of artificial intelligence algorithms and mmwave sensors for HAR

The Pattern of Hydatid Disease—A Retrospective Study from Himachal Pradesh, India

Hydatid disease is a common but little studied disease in Himachal Pradesh, India. This is a retrospective study from the Lady Willingdon Hospital, Manali. 115 patients presenting from April 1996 to March 2007 were included. Outcome measures were mortality and morbidity. 70 patients were female and 46 were male. (One female patient was operated on twice). 78% (n = 90) of the occurrences were hepatic. There were other varied sites. There were fourteen pulmonary hydatids. All patients underwent surgical cystectomy. An “AIR Technique” (Aspiration, Injection, Reaspiration) is described for scolicidal deactivation after March 2003 utilized in thirty two patients. There was no mortality. There were five documented recurrences in our series all of which occurred in cystectomy done without the AIR (Aspiration, Injection, Reaspiration) technique. Hydatid disease is a common disease in Himachal Pradesh warranting a high index of suspicion leading to an early diagnosis. A simple technique called the “AIR TECHNIQUE” (Aspiration, Injection, Reaspiration) is described

Abstracts of National Conference on Biological, Biochemical, Biomedical, Bioenergy, and Environmental Biotechnology

This book contains the abstracts of the papers presented at the National Conference on Biological, Biochemical, Biomedical, Bioenergy, and Environmental Biotechnology (NCB4EBT-2021) Organized by the Department of Biotechnology, National Institute of Technology Warangal, India held on 29–30 January 2021. This conference is the first of its kind organized by NIT-W which covered an array of interesting topics in biotechnology. This makes it a bit special as it brings together researchers from different disciplines of biotechnology, which in turn will also open new research and cooperation fields for them. Conference Title: National Conference on Biological, Biochemical, Biomedical, Bioenergy, and Environmental BiotechnologyConference Acronym: NCB4EBT-2021Conference Date: 29–30 January 2021Conference Location: Online (Virtual Mode)Conference Organizer: Department of Biotechnology, National Institute of Technology Warangal, Indi