Low-Cost Objective Measurement of Prehension Skills

This thesis aims to explore the feasibility of using low-cost, portable motion capture tools for the quantitative assessment of sequential 'reach-to-grasp' and repetitive 'finger-tapping' movements in neurologically intact and deficit populations, both in clinical and non-clinical settings. The research extends the capabilities of an existing optoelectronic postural sway assessment tool (PSAT) into a more general Boxed Infrared Gross Kinematic Assessment Tool (BIGKAT) to evaluate prehensile control of hand movements outside the laboratory environment. The contributions of this work include the validation of BIGKAT against a high-end motion capture system (Optotrak) for accuracy and precision in tracking kinematic data. BIGKAT was subsequently applied to kinematically resolve prehensile movements, where concurrent recordings with Optotrak demonstrate similar statistically significant results for five kinematic measures, two spatial measures (Maximum Grip Aperture – MGA, Peak Velocity – PV) and three temporal measures (Movement Time – MT, Time to MGA – TMGA, Time to PV – TPV). Regression analysis further establishes a strong relationship between BIGKAT and Optotrak, with nearly unity slope and low y-intercept values. Results showed reliable performance of BIGKAT and its ability to produce similar statistically significant results as Optotrak. BIGKAT was also applied to quantitatively assess bradykinesia in Parkinson's patients during finger-tapping movements. The system demonstrated significant differences between PD patients and healthy controls in key kinematic measures, paving the way for potential clinical applications. The study characterized kinematic differences in prehensile control in different sensory environments using a Virtual Reality head mounted display and finger tracking system (the Leap Motion), emphasizing the importance of sensory information during hand movements. This highlighted the role of hand vision and haptic feedback during initial and final phases of prehensile movement trajectory. The research also explored marker-less pose estimation using deep learning tools, specifically DeepLabCut (DLC), for reach-to-grasp tracking. Despite challenges posed by COVID-19 limitations on data collection, the study showed promise in scaling reaching and grasping components but highlighted the need for diverse datasets to resolve kinematic differences accurately. To facilitate the assessment of prehension activities, an Event Detection Tool (EDT) was developed, providing temporal measures for reaction time, reaching time, transport time, and movement time during object grasping and manipulation. Though initial pilot data was limited, the EDT holds potential for insights into disease progression and movement disorder severity. Overall, this work contributes to the advancement of low-cost, portable solutions for quantitatively assessing upper-limb movements, demonstrating the potential for wider clinical use and guiding future research in the field of human movement analysis

Rotten-fruit-sorting robotic arm: (Design of low complexity cnn for embedded system)

Industrial Automation has revolutionized the processing industry due to its high accuracy, the time it saves, and its ability to work without tiring. Being the most fundamental part of automation machines, robotic arms are being used as a fundamental component in many types of domestic as well as commercial automation units. In this paper, we proposed a low-complexity convolutional neural network (CNN) model and successfully deployed it on a locally generated robotic arm with the help of a Raspberry Pi 4 module. The designed robotic arm can detect, locate, and classify (based on fresh or rotten) between three species of Mangos (Ataulfo, Alphonso, and Keitt), on a conveyor belt. We generated a dataset of about 6000 images and trained a three-convolutional-layer-based CNN. Training and testing of the network were carried out with MatLab, and the weighted network was deployed to an embedded environment (Raspberry Pi 4 module) for real-time classification. We reported a classification accuracy of 98.08% in the detection of fresh mangos and 95.75% in the detection of rotten mangos. For the designed robotic art, the achieved angle accuracy was 93.94% with a minor error of only 2°. The proposed model can be deployed in many food- or object-sorting industries as an edge computing application of deep learning

Combined searches for the production of supersymmetric top quark partners in proton-proton collisions at root s=13 TeV

A combination of searches for top squark pair production using proton-proton collision data at a center-of-mass energy of 13 TeV at the CERN LHC, corresponding to an integrated luminosity of 137 fb(-1) collected by the CMS experiment, is presented. Signatures with at least 2 jets and large missing transverse momentum are categorized into events with 0, 1, or 2 leptons. New results for regions of parameter space where the kinematical properties of top squark pair production and top quark pair production are very similar are presented. Depending on themodel, the combined result excludes a top squarkmass up to 1325 GeV for amassless neutralino, and a neutralinomass up to 700 GeV for a top squarkmass of 1150 GeV. Top squarks with masses from 145 to 295 GeV, for neutralino masses from 0 to 100 GeV, with a mass difference between the top squark and the neutralino in a window of 30 GeV around the mass of the top quark, are excluded for the first time with CMS data. The results of theses searches are also interpreted in an alternative signal model of dark matter production via a spin-0 mediator in association with a top quark pair. Upper limits are set on the cross section for mediator particle masses of up to 420 GeV

Search for new particles in events with energetic jets and large missing transverse momentum in proton-proton collisions at root s=13 TeV

A search is presented for new particles produced at the LHC in proton-proton collisions at root s = 13 TeV, using events with energetic jets and large missing transverse momentum. The analysis is based on a data sample corresponding to an integrated luminosity of 101 fb(-1), collected in 2017-2018 with the CMS detector. Machine learning techniques are used to define separate categories for events with narrow jets from initial-state radiation and events with large-radius jets consistent with a hadronic decay of a W or Z boson. A statistical combination is made with an earlier search based on a data sample of 36 fb(-1), collected in 2016. No significant excess of events is observed with respect to the standard model background expectation determined from control samples in data. The results are interpreted in terms of limits on the branching fraction of an invisible decay of the Higgs boson, as well as constraints on simplified models of dark matter, on first-generation scalar leptoquarks decaying to quarks and neutrinos, and on models with large extra dimensions. Several of the new limits, specifically for spin-1 dark matter mediators, pseudoscalar mediators, colored mediators, and leptoquarks, are the most restrictive to date.Peer reviewe

Measurements of Higgs boson production cross sections and couplings in the diphoton decay channel at root s=13 TeV

Measurements of Higgs boson production cross sections and couplings in events where the Higgs boson decays into a pair of photons are reported. Events are selected from a sample of proton-proton collisions at root s = 13TeV collected by the CMS detector at the LHC from 2016 to 2018, corresponding to an integrated luminosity of 137 fb(-1). Analysis categories enriched in Higgs boson events produced via gluon fusion, vector boson fusion, vector boson associated production, and production associated with top quarks are constructed. The total Higgs boson signal strength, relative to the standard model (SM) prediction, is measured to be 1.12 +/- 0.09. Other properties of the Higgs boson are measured, including SM signal strength modifiers, production cross sections, and its couplings to other particles. These include the most precise measurements of gluon fusion and vector boson fusion Higgs boson production in several different kinematic regions, the first measurement of Higgs boson production in association with a top quark pair in five regions of the Higgs boson transverse momentum, and an upper limit on the rate of Higgs boson production in association with a single top quark. All results are found to be in agreement with the SM expectations.Peer reviewe

Probing effective field theory operators in the associated production of top quarks with a Z boson in multilepton final states at root s=13 TeV

Peer reviewe

Search for dark photons in Higgs boson production via vector boson fusion in proton-proton collisions at √s = 13 TeV

A search is presented for a Higgs boson that is produced via vector boson fusion and that decays to an undetected particle and an isolated photon. The search is performed by the CMS collaboration at the LHC, using a data set corresponding to an integrated luminosity of 130 fb−1, recorded at a center-of-mass energy of 13 TeV in 2016–2018. No significant excess of events above the expectation from the standard model background is found. The results are interpreted in the context of a theoretical model in which the undetected particle is a massless dark photon. An upper limit is set on the product of the cross section for production via vector boson fusion and the branching fraction for such a Higgs boson decay, as a function of the Higgs boson mass. For a Higgs boson mass of 125 GeV, assuming the standard model production rates, the observed (expected) 95% confidence level upper limit on the branching fraction is 3.5 (2.8)%. This is the first search for such decays in the vector boson fusion channel. Combination with a previous search for Higgs bosons produced in association with a Z boson results in an observed (expected) upper limit on the branching fraction of 2.9 (2.1)% at 95% confidence level