Design and Characterization of a Powered Wheelchair Autonomous Guidance System.

The current technological revolution driven by advances in machine learning has motivated a wide range of applications aiming to improve our quality of life. Representative of such applications are autonomous and semiautonomous Powered Wheelchairs (PWs), where the focus is on providing a degree of autonomy to the wheelchair user as a matter of guidance and interaction with the environment. Based on these perspectives, the focus of the current research has been on the design of lightweight systems that provide the necessary accuracy in the navigation system while enabling an embedded implementation. This motivated us to develop a real-time measurement methodology that relies on a monocular RGB camera to detect the caregiver's feet based on a deep learning method, followed by the distance measurement of the caregiver from the PW. An important contribution of this article is the metrological characterization of the proposed methodology in comparison with measurements made with dedicated depth cameras. Our results show that despite shifting from 3D imaging to 2D imaging, we can still obtain comparable metrological performances in distance estimation as compared with Light Detection and Ranging (LiDAR) or even improved compared with stereo cameras. In particular, we obtained comparable instrument classes with LiDAR and stereo cameras, with measurement uncertainties within a magnitude of 10 cm. This is further complemented by the significant reduction in data volume and object detection complexity, thus facilitating its deployment, primarily due to the reduced complexity of initial calibration, positioning, and deployment compared with three-dimensional segmentation algorithms.

Fusion Filters between the No Motion No Integration Technique and Kalman Filter in Noise Optimization on a 6DoF Drone for Orientation Tracking.

The paper works on the new combination between the No Motion No Integration filter (NMNI) and the Kalman Filter (KF) to optimize the conducted vibration for orientation angles during drone operation. The drone's roll, pitch, and yaw with just accelerometer and gyroscope were analyzed under the noise impact. A 6 Degree of Freedom (DoF) Parrot Mambo drone with Matlab/Simulink package was used to validate the advancements before and after fusing NMNI with KF. The drone propeller motors were controlled at a suitable speed level to keep the drone on the zero-inclination ground for angle error validation. The experiments show that KF alone successfully minimizes the variation for the inclination, but it still needs the NMNI support to enhance the performance in noise deduction, with the error only about 0.02°. In addition, the NMNI algorithm successfully prevents the yaw/heading from gyroscope drifting due to the zero-value integration during no rotation with the maximum error of 0.03°.

Image Processing Technique for Improving the Sensitivity of Mechanical Register Water Meters to Very Small Leaks.

Discovering very small water leaks at the household level is one of the most challenging goals of smart metering. While many solutions for sudden leakage detection have been proposed to date, the small leaks are still giving researchers a hard time. Even if some devices can be found on the market, their capability to detect a water leakage barely reaches the sensitivity of the employed mechanical water meter, which was not designed for detecting small water leakages. This paper proposes a technique for improving the sensitivity of the mechanical register water meters. By implementing this technique in a suitable electronic add-on device, the improved sensitivity could detect very small leaks. This add-on device continuously acquires the mechanical register's digital images and, thanks to suitable image processing techniques and metrics, allows very small flows to be detected even if lower than the meter starting flow rate. Experimental tests were performed on two types of mechanical water meters, multijet and piston, whose starting flow rates are 8 L/h and 1 L/h, respectively. Results were very interesting in the leakage range of [1.0, 10.0] L/h for the multijet and even in the range [0.25, 1.00] L/h for the piston meter.

Body Temperature-Indoor Condition Monitor and Activity Recognition by MEMS Accelerometer Based on IoT-Alert System for People in Quarantine Due to COVID-19.

Coronavirus disease 19 (COVID-19) is a virus that spreads through contact with the respiratory droplets of infected persons, so quarantine is mandatory to break the infection chain. This paper proposes a wearable device with the Internet of Things (IoT) integration for real-time monitoring of body temperature the indoor condition via an alert system to the person in quarantine. The alert is transferred when the body thermal exceeds the allowed threshold temperature. Moreover, an algorithm Repetition Spikes Counter (RSC) based on an accelerometer is employed in the role of human activity recognition to realize whether the quarantined person is doing physical exercise or not, for auto-adjustment of threshold temperature. The real-time warning and stored data analysis support the family members/doctors in following and updating the quarantined people's body temperature behavior in the tele-distance. The experiment includes an M5stickC wearable device, a Microelectromechanical system (MEMS) accelerometer, an infrared thermometer, and a digital temperature sensor equipped with the user's wrist. The indoor temperature and humidity are measured to restrict the virus spread and supervise the room condition of the person in quarantine. The information is transferred to the cloud via Wi-Fi with Message Queue Telemetry Transport (MQTT) broker. The Bluetooth is integrated as an option for the data transfer from the self-isolated person to the electronic device of a family member in the case of Wi-Fi failed connection. The tested result was obtained from a student in quarantine for 14 days. The designed system successfully monitored the body temperature, exercise activity, and indoor condition of the quarantined person that handy during the Covid-19 pandemic.

A Deep CNN Transformer Hybrid Model for Skin Lesion Classification of Dermoscopic Images Using Focal Loss.

Skin cancers are the most cancers diagnosed worldwide, with an estimated > 1.5 million new cases in 2020. Use of computer-aided diagnosis (CAD) systems for early detection and classification of skin lesions helps reduce skin cancer mortality rates. Inspired by the success of the transformer network in natural language processing (NLP) and the deep convolutional neural network (DCNN) in computer vision, we propose an end-to-end CNN transformer hybrid model with a focal loss (FL) function to classify skin lesion images. First, the CNN extracts low-level, local feature maps from the dermoscopic images. In the second stage, the vision transformer (ViT) globally models these features, then extracts abstract and high-level semantic information, and finally sends this to the multi-layer perceptron (MLP) head for classification. Based on an evaluation of three different loss functions, the FL-based algorithm is aimed to improve the extreme class imbalance that exists in the International Skin Imaging Collaboration (ISIC) 2018 dataset. The experimental analysis demonstrates that impressive results of skin lesion classification are achieved by employing the hybrid model and FL strategy, which shows significantly high performance and outperforms the existing work.