Evaluating Bacterial Nanocellulose Interfaces for Recording Surface Biopotentials from Plants

The study of plant electrophysiology offers promising techniques to track plant health and stress in vivo for both agricultural and environmental monitoring applications. Use of superficial electrodes on the plant body to record surface potentials may provide new phenotyping insights. Bacterial nanocellulose (BNC) is a flexible, optically translucent, and water-vapor-permeable material with low manufacturing costs, making it an ideal substrate for non-invasive and non-destructive plant electrodes. This work presents BNC electrodes with screen-printed carbon (graphite) ink-based conductive traces and pads. It investigates the potential of these electrodes for plant surface electrophysiology measurements in comparison to commercially available standard wet gel and needle electrodes. The electrochemically active surface area and impedance of the BNC electrodes varied based on the annealing temperature and time over the ranges of 50 °C to 90 °C and 5 to 60 min, respectively. The water vapor transfer rate and optical transmittance of the BNC substrate were measured to estimate the level of occlusion caused by these surface electrodes on the plant tissue. The total reduction in chlorophyll content under the electrodes was measured after the electrodes were placed on maize leaves for up to 300 h, showing that the BNC caused only a 16% reduction. Maize leaf transpiration was reduced by only 20% under the BNC electrodes after 72 h compared to a 60% reduction under wet gel electrodes in 48 h. On three different model plants, BNC-carbon ink surface electrodes and standard invasive needle electrodes were shown to have a comparable signal quality, with a correlation coefficient of >0.9, when measuring surface biopotentials induced by acute environmental stressors. These are strong indications of the superior performance of the BNC substrate with screen-printed graphite ink as an electrode material for plant surface biopotential recordings.

A Wearable System for Continuous Monitoring and Assessment of Speech, Gait, and Cognitive Decline for Early Diagnosis of ADRD

Early detection of cognitive decline is essential to study mild cognitive impairment and Alzheimer's Disease in order to develop targeted interventions and prevent or stop the progression of dementia. This requires continuous and longitudinal assessment and tracking of the related physiological and behavioral changes during daily life. In this paper, we present a low cost and low power wearable system custom designed to track the trends in speech, gait, and cognitive stress while also considering the important human factor needs such as privacy and compliance. In the form factors of a wristband and waist-patch, this multimodal, multi-sensor system measures inertial signals, sound, heart rate, electrodermal activity and pulse transit time. A total power consumption of 2.6 mW without any duty cycling allows for more than 3 weeks of run time between charges when 1500 mAh batteries are used.Clinical Relevance- Much earlier detection of Alzheimer's disease and related dementias may be possible by continuous monitoring of physiological and behavioral state using application specific wearable sensors during the activities of daily life.

Robust Cough Detection with Out-of-Distribution Detection

Cough is an important defense mechanism of the respiratory system and is also a symptom of lung diseases, such as asthma. Acoustic cough detection collected by portable recording devices is a convenient way to track potential condition worsening for patients who have asthma. However, the data used in building current cough detection models are often clean, containing a limited set of sound categories, and thus perform poorly when they are exposed to a variety of real-world sounds which could be picked up by portable recording devices. The sounds that are not learned by the model are referred to as Out-of-Distribution (OOD) data. In this work, we propose two robust cough detection methods combined with an OOD detection module, that removes OOD data without sacrificing the cough detection performance of the original system. These methods include adding a learning confidence parameter and maximizing entropy loss. Our experiments show that 1) the OOD system can produce dependable In-Distribution (ID) and OOD results at a sampling rate above 750 Hz; 2) the OOD sample detection tends to perform better for larger audio window sizes; 3) the model's overall accuracy and precision get better as the proportion of OOD samples increase in the acoustic signals; 4) a higher percentage of OOD data is needed to realize performance gains at lower sampling rates. The incorporation of OOD detection techniques improves cough detection performance by a significant margin and provides a valuable solution to real-world acoustic cough detection problems.

Efficient imaging and computer vision detection of two cell shapes in young cotton fibers

PREMISE

The shape of young cotton (Gossypium) fibers varies within and between commercial cotton species, as revealed by previous detailed analyses of one cultivar of G. hirsutum and one of G. barbadense. Both narrow and wide fibers exist in G. hirsutum cv. Deltapine 90, which may impact the quality of our most abundant renewable textile material. More efficient cellular phenotyping methods are needed to empower future research efforts.

METHODS

We developed semi-automated imaging methods for young cotton fibers and a novel machine learning algorithm for the rapid detection of tapered (narrow) or hemisphere (wide) fibers in homogeneous or mixed populations.

RESULTS

The new methods were accurate for diverse accessions of G. hirsutum and G. barbadense and at least eight times more efficient than manual methods. Narrow fibers dominated in the three G. barbadense accessions analyzed, whereas the three G. hirsutum accessions showed a mixture of tapered and hemisphere fibers in varying proportions.

DISCUSSION

The use or adaptation of these improved methods will facilitate experiments with higher throughput to understand the biological factors controlling the variable shapes of young cotton fibers or other elongating single cells. This research also enables the exploration of links between early cell shape and mature cotton fiber quality in diverse field-grown cotton accessions.

Static posturography as a novel measure of the effects of aging on postural control in dogs

Aging is associated with impairment in postural control in humans. While dogs are a powerful model for the study of aging, the associations between age and postural control in this species have not yet been elucidated. The aims of this work were to establish a reliable protocol to measure center of pressure excursions in standing dogs and to determine age-related changes in postural sway. Data were obtained from 40 healthy adult dogs (Group A) and 28 senior dogs (Group B) during seven trials (within one session of data collection) of quiet standing on a pressure sensitive walkway system. Velocity, acceleration, root mean square, 95% ellipse area, range and frequency revolve were recorded as measures of postural sway. In Group A, reliability was assessed with intraclass correlation, and the effect of morphometric variables was evaluated using linear regression. By means of stepwise linear regression we determined that root mean square overall and acceleration in the craniocaudal direction were the best variables able to discriminate between Group A and Group B. The relationship between these two center-of-pressure (COP) measures and the dogs’ fractional lifespan was examined in both groups and the role of pain and proprioceptive deficits was evaluated in Group B. All measures except for frequency revolve showed good to excellent reliability. Weight, height and length were correlated with most of the measures. Fractional lifespan impacted postural control in Group B but not Group A. Joint pain and its interaction with proprioceptive deficits influence postural sway especially in the acceleration in the craniocaudal direction, while fractional lifespan was most important in the overall COP displacement. In conclusion, our study found that pressure sensitive walkway systems are a reliable tool to evaluate postural sway in dogs; and that postural sway is affected by morphometric parameters and increases with age and joint pain.

Fusion of Human Gaze and Machine Vision for Predicting Intended Locomotion Mode

Predicting the user's intended locomotion mode is critical for wearable robot control to assist the user's seamless transitions when walking on changing terrains. Although machine vision has recently proven to be a promising tool in identifying upcoming terrains in the travel path, existing approaches are limited to environment perception rather than human intent recognition that is essential for coordinated wearable robot operation. Hence, in this study, we aim to develop a novel system that fuses the human gaze (representing user intent) and machine vision (capturing environmental information) for accurate prediction of the user's locomotion mode. The system possesses multimodal visual information and recognizes user's locomotion intent in a complex scene, where multiple terrains are present. Additionally, based on the dynamic time warping algorithm, a fusion strategy was developed to align temporal predictions from individual modalities while producing flexible decisions on the timing of locomotion mode transition for wearable robot control. System performance was validated using experimental data collected from five participants, showing high accuracy (over 96% in average) of intent recognition and reliable decision-making on locomotion transition with adjustable lead time. The promising results demonstrate the potential of fusing human gaze and machine vision for locomotion intent recognition of lower limb wearable robots.

Reliable Vision-Based Grasping Target Recognition for Upper Limb Prostheses

Computer vision has shown promising potential in wearable robotics applications (e.g., human grasping target prediction and context understanding). However, in practice, the performance of computer vision algorithms is challenged by insufficient or biased training, observation noise, cluttered background, etc. By leveraging Bayesian deep learning (BDL), we have developed a novel, reliable vision-based framework to assist upper limb prosthesis grasping during arm reaching. This framework can measure different types of uncertainties from the model and data for grasping target recognition in realistic and challenging scenarios. A probability calibration network was developed to fuse the uncertainty measures into one calibrated probability for online decision making. We formulated the problem as the prediction of grasping target while arm reaching. Specifically, we developed a 3-D simulation platform to simulate and analyze the performance of vision algorithms under several common challenging scenarios in practice. In addition, we integrated our approach into a shared control framework of a prosthetic arm and demonstrated its potential at assisting human participants with fluent target reaching and grasping tasks.

Age-Related Changes in Posture Steadiness in the Companion Dog

Aging is associated with changes in the sensory-motor system that could lead to dynamic instability. In fact, postural control deficits have been proposed as an early indicator of frailty. Measurements of the displacement of the center of pressure (COP) using pressure mat data are useful tools to determine postural steadiness. Companion dogs represent a powerful model to study aging in people because they share our environment and experience similar age-related diseases. To date, the effect of aging on postural control in dogs has not yet been evaluated. The aim of this study was to determine the correlation between age and the displacement of the COP in dogs during quiet standing. Due to the diversity of life expectancy in dogs according to their body size, age was normalized as a fraction of the predicted life expectancy. Dogs older than 75% of their life expectancy (n=18) were asked to stand on a pressure mat for 8 seconds per trial during at least five trials. Only the frames where the dogs were standing still and facing forward were analyzed. Age as a fraction of life expectancy was significantly correlated (p<0.05) with the Medio-lateral Range, Root-Mean-Square Distance, 95% Confidence Ellipse, and Total Sway Area of the COP. These results show that, as in humans, aging in dogs is associated with postural control deficits and therefore reinforce the dog as a suitable model for translational studies of aging and postural steadiness.

Simultaneous Localization of Biobotic Insects using Inertial Data and Encounter Information

Several recent research efforts have shown that the bioelectrical stimulation of their neuro-mechanical system can control the locomotion of Madagascar hissing cockroaches (Gromphadorhina portentosa). This has opened the possibility of using these insects to explore centimeter-scale environments, such as rubble piles in urban disaster areas. We present an inertial navigation system based on machine learning modules that is capable of localizing groups of G. portentosa carrying thorax-mounted inertial measurement units. The proposed navigation system uses the agents' encounters with one another as signals of opportunity to increase tracking accuracy. Results are shown for five agents that are operating on a planar (2D) surface in controlled laboratory conditions. Trajectory reconstruction accuracy is improved by 16% when we use encounter information for the agents, and up to 27% when we add a heuristic that corrects speed estimates via a search for an optimal speed-scaling factor.

Toward Automated Analysis of Fetal Phonocardiograms: Comparing Heartbeat Detection from Fetal Doppler and Digital Stethoscope Signals

Longitudinal fetal health monitoring is essential for high-risk pregnancies. Heart rate and heart rate variability are prime indicators of fetal health. In this work, we implemented two neural network architectures for heartbeat detection on a set of fetal phonocardiogram signals captured using fetal Doppler and a digital stethoscope. We test the efficacy of these networks using the raw signals and the hand-crafted energy from the signal. The results show a Convolutional Neural Network is the most efficient at identifying the S1 waveforms in a heartbeat, and its performance is improved when using the energy of the Doppler signals. We further discuss issues, such as low Signal-to-Noise Ratios (SNR), present in the training of a model based on the stethoscope signals. Finally, we show that we can improve the SNR, and subsequently the performance of the stethoscope, by matching the energy from the stethoscope to that of the Doppler signal.

Investigating the Relationship between Cough Detection and Sampling Frequency for Wearable Devices

Cough detection can provide an important marker to monitor chronic respiratory conditions. However, manual techniques which require human expertise to count coughs are both expensive and time-consuming. Recent Automatic Cough Detection Algorithms (ACDAs) have shown promise to meet clinical monitoring requirements, but only in recent years they have made their way to non-clinical settings due to the required portability of sensing technologies and the extended duration of data recording. More precisely, these ACDAs operate at high sampling frequencies, which leads to high power consumption and computing requirements, making these difficult to implement on a wearable device. Additionally, reproducibility of their performance is essential. Unfortunately, as the majority of ACDAs were developed using private clinical data, it is difficult to reproduce their results. We, hereby, present an ACDA that meets clinical monitoring requirements and reliably operates at a low sampling frequency. This ACDA is implemented using a convolutional neural network (CNN), and publicly available data. It achieves a sensitivity of 92.7%, a specificity of 92.3%, and an accuracy of 92.5% using a sampling frequency of just 750 Hz. We also show that a low sampling frequency allows us to preserve patients' privacy by obfuscating their speech, and we analyze the trade-off between speech obfuscation for privacy and cough detection accuracy.Clinical relevance-This paper presents a new cough detection technique and preliminary analysis on the trade-off between detection accuracy and obfuscation of speech for privacy. These findings indicate that, using a publicly available dataset, we can sample signals at 750 Hz while still maintaining a sensitivity above 90%, suggested to be sufficient for clinical monitoring [1].

Localization of Biobotic Insects Using Low-Cost Inertial Measurement Units

Disaster robotics is a growing field that is concerned with the design and development of robots for disaster response and disaster recovery. These robots assist first responders by performing tasks that are impractical or impossible for humans. Unfortunately, current disaster robots usually lack the maneuverability to efficiently traverse these areas, which often necessitate extreme navigational capabilities, such as centimeter-scale clearance. Recent work has shown that it is possible to control the locomotion of insects such as the Madagascar hissing cockroach (Gromphadorhina portentosa) through bioelectrical stimulation of their neuro-mechanical system. This provides access to a novel agent that can traverse areas that are inaccessible to traditional robots. In this paper, we present a data-driven inertial navigation system that is capable of localizing cockroaches in areas where GPS is not available. We pose the navigation problem as a two-point boundary-value problem where the goal is to reconstruct a cockroach’s trajectory between the starting and ending states, which are assumed to be known. We validated our technique using nine trials that were conducted in a circular arena using a biobotic agent equipped with a thorax-mounted, low-cost inertial measurement unit. Results show that we can achieve centimeter-level accuracy. This is accomplished by estimating the cockroach’s velocity—using regression models that have been trained to estimate the speed and heading from the inertial signals themselves—and solving an optimization problem so that the boundary-value constraints are satisfied.

A Feasibility Study of a Wearable Real-Time Notification System for Self-Awareness of Body-Rocking Behavior

Wearable sensors have been shown to be effective for promoting self-awareness, wellness and re-education. In this work, we perform a preliminary study analyzing the real-time detection and annotation of body-rocking behavior in individuals, which is a type of Stereotypical Motor Movement (SMM). We develop a platform for real-time annotation and detection using wireless inertial sensors and an embedded device. The annotations are analyzed in order to study the duration and frequency of the behavior, and they are corrected offline in order to better understand any offsets in the real-time annotation procedure. Finally, we show the feasibility of a real-time feedback system based on a proof of concept algorithm and the necessary computation resources to execute it.

Gaze Fixation Comparisons Between Amputees and Able-bodied Individuals in Approaching Stairs and Level-ground Transitions: A Pilot Study

This paper aims to investigate the visual strategy of transtibial amputees while they are approaching the transition between level-ground and stairs and compare it with that of able-bodied individuals. To this end, we conducted a pilot study where two transtibial amputee subjects and two able-bodied subjects transitioned from level-ground to stairs and vice versa while wearing eye tracking glasses to record gaze fixations. To investigate how vision functioned to both populations for preparing locomotion on new terrains, gaze fixation behavior before the new terrains were analyzed and compared between two populations across all transition cases in the study. Our results presented that, unlike the able-bodied population, amputees had most of their fixations directed on the transition region prior to new terrains. Furthermore, amputees showed an increased need for visual information during transition regions before navigation on stairs than that before navigation onto level-ground. The insights about amputees' visual behavior gained by the study may lead the future development of technologies related to the intention prediction and the locomotion recognition for amputees.

Signal Quality for RR Interval Prediction on Wearable Sensors

Physiological responses are essential for health monitoring. Wearable devices are providing greater populations of people with the ability to monitor physiological signals during their day to day activities. However, wearable devices are particularly susceptible to degradation of signal quality due to noise from motion artifacts, environment, and user error. In this paper, we compare the impact of including signal quality on predictive models for RR intervals in a real world setting.

Activity-Aware Wearable System for Power-Efficient Prediction of Physiological Responses

Wearable health monitoring has emerged as a promising solution to the growing need for remote health assessment and growing demand for personalized preventative care and wellness management. Vital signs can be monitored and alerts can be made when anomalies are detected, potentially improving patient outcomes. One major challenge for the use of wearable health devices is their energy efficiency and battery-lifetime, which motivates the recent efforts towards the development of self-powered wearable devices. This article proposes a method for context aware dynamic sensor selection for power optimized physiological prediction using multi-modal wearable data streams. We first cluster the data by physical activity using the accelerometer data, and then fit a group lasso model to each activity cluster. We find the optimal reduced set of groups of sensor features, in turn reducing power usage by duty cycling these and optimizing prediction accuracy. We show that using activity state-based contextual information increases accuracy while decreasing power usage. We also show that the reduced feature set can be used in other regression models increasing accuracy and decreasing energy burden. We demonstrate the potential reduction in power usage using a custom-designed multi-modal wearable system prototype.

Visual Terrain Identification and Surface Inclination Estimation for Improving Human Locomotion with a Lower-Limb Prosthetic

Lower-limb robotic prosthetics can benefit from context awareness to provide comfort and safety to the amputee. In this work, we developed a terrain identification and surface inclination estimation system for a prosthetic leg using visual and inertial sensors. We built a dataset from which images with high sharpness are selected using the IMU signal. The images are used for terrain identification and inclination is also computed simultaneously. With such information, the control of a robotized prosthetic leg can be adapted to changes in its surrounding.

A Framework for Physiological Response Prediction with Joint Activity State optimization

Physiological responses are essential for health monitoring. However, modeling the complex interactions be- tween them across activity and environmental factors can be challenging. In this paper, we introduce a framework that identifies the state of an individual based on their activity, trains predictive models for their physiological response within these states, and jointly optimizes for the states and the models. We apply this framework to respiratory rate prediction based on heart rate and physical activity, and test it on a dataset of 9 individuals performing various activities of daily life.

Prediction of Physiological Response over Varying Forecast Lengths with a Wearable Health Monitoring Platform

The goal of this study is to characterize the accuracy of prediction of physiological responses for varying forecast lengths using multi-modal data streams from wearable health monitoring platforms. We specifically focus on predicting breathing rate due to its significance in medical and exercise physiology research. We implement a nonlinear support vector machine regression model for accurate prediction of future values of these physiological signals with forecast windows of up to one minute long. We explore the effects of heart rate and various other sensing modalities in prediction of breathing rate. Results reveal that including other physiological responses and activity information captured by inertial measurements in the regression model improves the breathing rate prediction accuracy. We carried out experiments by collecting and analyzing physiological and activity data outside the lab using a wearable platform composed of various off-the-shelf sensors.

Preliminary statistical assessment towards characterization of biobotic control

Biobotic research involving neurostimulation of instrumented insects to control their locomotion is finding potential as an alternative solution towards development of centimeter-scale distributed swarm robotics. To improve the reliability of biobotic agents, their control mechanism needs to be precisely characterized. To achieve this goal, this paper presents our initial efforts for statistical assessment of the angular response of roach biobots to the applied bioelectrical stimulus. Subsequent findings can help to understand the effect of each stimulation parameter individually or collectively and eventually reach reliable and consistent biobotic control suitable for real life scenarios.

Comparing wearable devices with wet and textile electrodes for activity recognition

This paper explores the idea of identifying activities from muscle activation which is captured by wearable ECG recording devices that use wet and textile electrodes. Most of the devices available today filter out the high frequency components to retain only the signal related to an ECG. We explain how the high frequency components that correspond to muscle activation can be extracted from the recorded signal and can be used to identify activities. We notice that is possible to obtain good performance for both the wet and dry electrodes. However, we observed that signals from the dry textile electrodes introduce less artifacts associated with muscle activation.

Planning Curvature-Constrained Paths to Multiple Goals Using Circle Sampling

We present a new sampling-based method for planning optimal, collision-free, curvature-constrained paths for nonholonomic robots to visit multiple goals in any order. Rather than sampling configurations as in standard sampling-based planners, we construct a roadmap by sampling circles of constant curvature and then generating feasible transitions between the sampled circles. We provide a closed-form formula for connecting the sampled circles in 2D and generalize the approach to 3D workspaces. We then formulate the multi-goal planning problem as finding a minimum directed Steiner tree over the roadmap. Since optimally solving the multi-goal planning problem requires exponential time, we propose greedy heuristics to efficiently compute a path that visits multiple goals. We apply the planner in the context of medical needle steering where the needle tip must reach multiple goals in soft tissue, a common requirement for clinical procedures such as biopsies, drug delivery, and brachytherapy cancer treatment. We demonstrate that our multi-goal planner significantly decreases tissue that must be cut when compared to sequential execution of single-goal plans.

A distributed topological camera network representation for tracking applications

Sensor networks have been widely used for surveillance, monitoring, and tracking. Camera networks, in particular, provide a large amount of information that has traditionally been processed in a centralized manner employing a priori knowledge of camera location and of the physical layout of the environment. Unfortunately, these conventional requirements are far too demanding for ad-hoc distributed networks. In this article, we present a simplicial representation of a camera network called the camera network complex ( CN-complex), that accurately captures topological information about the visual coverage of the network. This representation provides a coordinate-free calibration of the sensor network and demands no localization of the cameras or objects in the environment. A distributed, robust algorithm, validated via two experimental setups, is presented for the construction of the representation using only binary detection information. We demonstrate the utility of this representation in capturing holes in the coverage, performing tracking of agents, and identifying homotopic paths.

A study of bacterial flagellar bundling

Certain bacteria, such as Escherichia coli (E. coli) and Salmonella typhimurium (S. typhimurium), use multiple flagella often concentrated at one end of their bodies to induce locomotion. Each flagellum is formed in a left-handed helix and has a motor at the base that rotates the flagellum in a corkscrew motion. We present a computational model of the flagellar motion and their hydrodynamic interaction. The model is based on the equations of Stokes flow to describe the fluid motion. The elasticity of the flagella is modeled with a network of elastic springs while the motor is represented by a torque at the base of each flagellum. The fluid velocity due to the forces is described by regularized Stokeslets and the velocity due to the torques by the associated regularized rotlets. Their expressions are derived. The model is used to analyze the swimming motion of a single flagellum and of a group of three flagella in close proximity to one another. When all flagellar motors rotate counterclockwise, the hydrodynamic interaction can lead to bundling. We present an analysis of the flow surrounding the flagella. When at least one of the motors changes its direction of rotation, the same initial conditions lead to a tumbling behavior characterized by the separation of the flagella, changes in their orientation, and no net swimming motion. The analysis of the flow provides some intuition for these processes.