Enhanced PCA-based localization using depth maps with missing data

In this paper a new method for self-localization of mobile robots, based on a PCA positioning sensor to operate in unstructured environments, is proposed and experimentally validated. The proposed PCA extension is able to perform the eigenvectors computation from a set of signals corrupted by missing data. The sensor package considered in this work contains a 2D depth sensor pointed upwards to the ceiling, providing depth images with missing data. The positioning sensor obtained is then integrated in a Linear Parameter Varying mobile robot model to obtain a self-localization system, based on linear Kalman filters, with globally stable position error estimates. A study consisting in adding synthetic random corrupted data to the captured depth images revealed that this extended PCA technique is able to reconstruct the signals, with improved accuracy. The self-localization system obtained is assessed in unstructured environments and the methodologies are validated even in the case of varying illumination conditions.

Complementary filter design with three frequency bands: robot attitude estimation

This paper extents the by now classic sensor fusion complementary filter (CF) design, involving two sensors, to the case where three sensors that provide measurements in different bands are available. This paper shows that the use of classical CF techniques to tackle a generic three sensors fusion problem, based solely on their frequency domain characteristics, leads to a minimal realization, stable, sub-optimal solution, denoted as Complementary Filters3 (CF3). Then, a new approach for the estimation problem at hand is used, based on optimal linear Kalman filtering techniques. Moreover, the solution is shown to preserve the complementary property, i.e. the sum of the three transfer functions of the respective sensors add up to one, both in continuous and discrete time domains. This new class of filters are denoted as Complementary Kalman Filters3 (CKF3). The attitude estimation of a mobile robot is addressed, based on data from a rate gyroscope, a digital compass, and odometry. The experimental results obtained are reported.

Sensor de glicose polarimétrico

Esta tese tem como principal objectivo a investigação teórica e experimental do desempenho de um sensor polarimétrico baseado num cristal líquido para medição da concentração de glicose. Recentemente uma série de sensores polarimétricos baseados em cristais líquidos foram propostos na literatura e receberam considerável interesse devido as suas características únicas. De facto, em comparação com outros moduladores electro-ópticos, o cristal líquido funciona com tensões mais baixas, tem baixo consumo de energia e maior ângulo de rotação. Além disso, este tipo de polarímetro pode ter pequenas dimensões que é uma característica interessante para dispositivos portáteis e compactos. Existem por outro lado algumas desvantagens, nomeadamente o facto do desempenho do polarímetro ser fortemente dependente do tipo de cristal líquido e da tensão a ele aplicada o que coloca desafios na escolha dos parâmetros óptimos de operação. Esta tese descreve o desenvolvimento do sensor polarimétrico, incluindo a integração dos componentes de óptica e electrónica, os algoritmos de processamento de sinal e um interface gráfico que facilita a programação de diversos parâmetros de operação e a calibração do sensor. Após a optimização dos parâmetros de operação verificou-se que o dispositivo mede a concentração da glicose em amostras com uma concentração de 8 mg/ml, com uma percentagem de erro inferior a 6% e um desvio padrão de 0,008o. Os resultados foram obtidos para uma amostra com percurso óptico de apenas 1 cm.

A two terminal optical signal and image processing p-i-n/p-i-n image and colour sensor

A two terminal optically addressed image processing device based on two stacked sensing/switching p-i-n a-SiC:H diodes is presented. The charge packets are injected optically into the p-i-n sensing photodiode and confined at the illuminated regions changing locally the electrical field profile across the p-i-n switching diode. A red scanner is used for charge readout. The various design parameters and addressing architecture trade-offs are discussed. The influence on the transfer functions of an a-SiC:H sensing absorber optimized for red transmittance and blue collection or of a floating anode in between is analysed. Results show that the thin a-SiC:H sensing absorber confines the readout to the switching diode and filters the light allowing full colour detection at two appropriated voltages. When the floating anode is used the spectral response broadens, allowing B&W image recognition with improved light-to-dark sensitivity. A physical model supports the image and colour recognition process.

Enhanced short wavelength response in laser-scanned-photodiode image sensor using an a-SiC : H/a-Si : H tandem structure

We report in this paper the recent advances we obtained in optimizing a color image sensor based on the laser-scanned-photodiode (LSP) technique. A novel device structure based on a a-SiC:H/a-Si:H pin/pin tandem structure has been tested for a proper color separation process that takes advantage on the different filtering properties due to the different light penetration depth at different wavelengths a-SM and a-SiC:H. While the green and the red images give, in comparison with previous tested structures, a weak response, this structure shows a very good recognition of blue color under reverse bias, leaving a good margin for future device optimization in order to achieve a complete and satisfactory RGB image mapping. Experimental results about the spectral collection efficiency are presented and discussed from the point of view of the color sensor applications. The physics behind the device functioning is explained by recurring to a numerical simulation of the internal electrical configuration of the device.

ITO/SiOx/Si optical sensor with internal gain

A visible/near-infrared optical sensor based on an ITO/SiOx/n-Si structure with internal gain is presented. This surface-barrier structure was fabricated by a low-temperature processing technique. The interface properties and carder transport were investigated from dark current-voltage and capacitance-voltage characteristics. Examination of the multiplication properties was performed under different light excitation and reverse bias conditions. The spectral and pulse response characteristics are analysed. The current amplification mechanism is interpreted by the control of electron current by the space charge of photogenerated holes near the SiOx/Si interface. The optical sensor output characteristics and some possible device applications are presented.

Sensor element for a metal-insulator-semiconductor camera system (MISCam)

We discuss the operation of a new type of optical sensor (MISCam) based on a metal-insulator-semiconductor (MIS) structure. The operation principle relies on light-induced changes of the band bending and barrier height at the interface between semiconductor and insulator. An image is obtained from the quenching of the ac signal in analogy to the principle of the laser-scanned photodiode (LSP). Lateral resolution depends on the semiconductor material chosen. We have characterised the MIS structures by C-V, I-V, and spectral response measurements testing different types of insulators like a-Si3N4, SiO2, and AlN. The presence of slow interface charges allows for image memory. Colour sensors can be realised by controlling sign and magnitude of the electric fields in the base and the interface region.

Sensor óptico de glicose baseado em cristais líquidos

A presente dissertação tem como finalidade apresentar uma investigação teórica e experimental sobre um sensor polarimétrico, portátil e de baixo custo, baseado num cristal líquido para a medição da concentração de glicose existente numa amostra. Devido ao crescente número de pessoas que sofrem de Diabetes, existe grande interesse em desenvolver sensores portáteis que permitam medir a concentração de glicose de forma rápida, precisa e indolor. Dos vários métodos não invasivos existentes para a medição de concentração de glicose, o método utilizado tem como base a medição da rotação da polarização da luz. Recentemente os sensores polarimétricos baseados em cristais líquidos, têm adquirido grande ênfase devido às suas características únicas que, em comparação com outros moduladores electroópticos, funcionam com tensões mais baixas, apresentam menor consumo energético e maior ângulo de rotação. No entanto também existem diversas desvantagens, nomeadamente a falta de documentação sobre a realização de testes e resultados obtidos em sensores polarimétricos. Têm como desvantagem adicional o facto do comportamento do polarímetro ser fortemente dependente do tipo de cristal líquido e da tensão a este aplicado. A presente dissertação descreve o desenvolvimento de um sensor polarimétrico que inclui a componente óptica, a componente electrónica de detecção e acondicionamento do sinal, a comunicação sem fios com um PC, e, por fim, a componente de análise e interface com o utilizador. Neste sensor polarimétrico poderão ser efectuadas leituras de temperatura das amostras para efeitos de correcção do cálculo da concentração da glicose. O dispositivo permite ainda a gravação dos dados obtidos e identificação dos mesmos. Os resultados obtidos demonstram que o dispositivo é capaz de medir concentrações com 10mg/ml de glicose, com uma percentagem de erro de 15%, para uma amostra com um percurso óptico de apenas 1 cm.

Membrane selectivity versus sensor response in hydrogenated amorphous silicon CHEMFETs using a semi-empirical model

Toxic amides, such as acrylamide, are potentially harmful to Human health, so there is great interest in the fabrication of compact and economical devices to measure their concentration in food products and effluents. The CHEmically Modified Field Effect Transistor (CHEMFET) based onamorphous silicon technology is a candidate for this type of application due to its low fabrication cost. In this article we have used a semi-empirical modelof the device to predict its performance in a solution of interfering ions. The actual semiconductor unit of the sensor was fabricated by the PECVD technique in the top gate configuration. The CHEMFET simulation was performed based on the experimental current voltage curves of the semiconductor unit and on an empirical model of the polymeric membrane. Results presented here are useful for selection and design of CHEMFET membranes and provide an idea of the limitations of the amorphous CHEMFET device. In addition to the economical advantage, the small size of this prototype means it is appropriate for in situ operation and integration in a sensor array.

Estudo e desenvolvimento de um sensor de chuva piezoelétrico para automóveis

A presença de sistemas eletrónicos nos veículos automóveis tem vindo a aumentar de forma considerável nos últimos 30 anos, tornando possível o aumento dos padrões de eficiência, segurança e conforto dos mesmos. Os sistemas de acionamento automático dos limpa-para-brisas, baseados em sensores de chuva óticos, têm registado um crescimento quase exponencial nos últimos 10 a 15 anos; no ano 2000, apenas 5 % dos veículos novos produzidos na Europa estavam equipados com este sistema, hoje é um equipamento amplamente difundido na oferta automóvel existente. O presente trabalho consistiu no estudo de uma solução para deteção de chuva em veículos automóveis com a aplicação de um sensor piezoelétrico, tendo em vista a obtenção de uma solução mais versátil e aplicável em vários pontos do veículo. As reduzidas dimensões, a elevada sensibilidade do sensor e a facilidade de aplicação nas superfícies de ensaio foram fatores que motivaram a escolha deste tipo de equipamento como elemento sensorial. As hipóteses definidas para o procedimento laboratorial basearam-se nas conclusões obtidas em estudos anteriormente desenvolvidos no campo dos sensores de chuva para automóveis e nas capacidades dos materiais piezoelétricos para medição de pluviosidade. Os sensores foram instalados sob as superfícies do veículo que apresentavam, simultaneamente, uma maior exposição à pluviosidade, quando este está em movimento, e um menor risco de sofrer danos. Os resultados obtidos permitiram concluir que a utilização deste tipo de sensores permite detetar elevados níveis de pluviosidade e em superfícies com considerável capacidade de deformação elástica. A sua implementação futura em veículos automóveis exige mais algum trabalho de melhoria dos processos de fixação dos sensores e do condicionamento de sinal utilizados.

Direct Color Sensor, Optical Amplifier and Demux Device Integrated on a Single Monolithic SiC Photodetector

A pi'n/pin a-SiC:H voltage and optical bias controlled device is presented and its behavior as image and color sensor, optical amplifier and demux device is discussed. The design and the light source properties are correlated with the sensor output characteristics. Different readout techniques are used. When a low power monochromatic scanner readout the generated carriers the transducer recognizes a color pattern projected on it acting as a direct color and image sensor. Scan speeds up to 10(4) lines per second are achieved without degradation in the resolution. If the photocurrent generated by different monochromatic pulsed channels is readout directly, the information is demultiplexed. Results show that it is possible to decode the information from three simultaneous color channels without bit errors at bit rates per channel higher than 4000 bps. Finally, when triggered by light of appropriated wavelength, it can amplify or suppress the generated photocurrent working as an optical amplifier (C) 2009 Published by Elsevier Ltd.

Value of a lower limb immobilization device for SPECT/CT image fusion optimization

The foot and the ankle are small structures commonly affected by disorders, and their complex anatomy represent significant diagnostic challenges. SPECT/CT Image fusion can provide missing anatomical and bone structure information to functional imaging, which is particularly useful to increase diagnosis certainty of bone pathology. However, due to SPECT acquisition duration, patient’s involuntary movements may lead to misalignment between SPECT and CT images. Patient motion can be reduced using a dedicated patient support. We aimed at designing an ankle and foot immobilizing device and measuring its efficacy at improving image fusion. Methods: We enrolled 20 patients undergoing distal lower-limb SPECT/CT of the ankle and the foot with and without a foot holder. The misalignment between SPECT and CT images was computed by manually measuring 14 fiducial markers chosen among anatomical landmarks also visible on bone scintigraphy. Analysis of variance was performed for statistical analysis. Results: The obtained absolute average difference without and with support was 5.1±5.2 mm (mean±SD) and 3.1±2.7 mm, respectively, which is significant (p<0.001). Conclusion: The introduction of the foot holder significantly decreases misalignment between SPECT and CT images, which may have clinical influence in the precise localization of foot and ankle pathology.

ECG Biometrics: A Template Selection Approach

Electrocardiography (ECG) biometrics is emerging as a viable biometric trait. Recent developments at the sensor level have shown the feasibility of performing signal acquisition at the fingers and hand palms, using one-lead sensor technology and dry electrodes. These new locations lead to ECG signals with lower signal to noise ratio and more prone to noise artifacts; the heart rate variability is another of the major challenges of this biometric trait. In this paper we propose a novel approach to ECG biometrics, with the purpose of reducing the computational complexity and increasing the robustness of the recognition process enabling the fusion of information across sessions. Our approach is based on clustering, grouping individual heartbeats based on their morphology. We study several methods to perform automatic template selection and account for variations observed in a person's biometric data. This approach allows the identification of different template groupings, taking into account the heart rate variability, and the removal of outliers due to noise artifacts. Experimental evaluation on real world data demonstrates the advantages of our approach.

Robot visual localization through local feature fusion: an evaluation of multiple classifiers combination approaches

In the last decade, local image features have been widely used in robot visual localization. In order to assess image similarity, a strategy exploiting these features compares raw descriptors extracted from the current image with those in the models of places. This paper addresses the ensuing step in this process, where a combining function must be used to aggregate results and assign each place a score. Casting the problem in the multiple classifier systems framework, in this paper we compare several candidate combiners with respect to their performance in the visual localization task. For this evaluation, we selected the most popular methods in the class of non-trained combiners, namely the sum rule and product rule. A deeper insight into the potential of these combiners is provided through a discriminativity analysis involving the algebraic rules and two extensions of these methods: the threshold, as well as the weighted modifications. In addition, a voting method, previously used in robot visual localization, is assessed. Furthermore, we address the process of constructing a model of the environment by describing how the model granularity impacts upon performance. All combiners are tested on a visual localization task, carried out on a public dataset. It is experimentally demonstrated that the sum rule extensions globally achieve the best performance, confirming the general agreement on the robustness of this rule in other classification problems. The voting method, whilst competitive with the product rule in its standard form, is shown to be outperformed by its modified versions.