Wireless steerable vision for live insects and insect-scale robots

2020 ◽  
Vol 5 (44) ◽  
pp. eabb0839 ◽  
Author(s):  
Vikram Iyer ◽  
Ali Najafi ◽  
Johannes James ◽  
Sawyer Fuller ◽  
Shyamnath Gollakota
Keyword(s):  
Sensory Input ◽  
Vision System ◽  
Insect Vision ◽  
Head Motion ◽  
Wireless Power ◽  
Vision Systems ◽  
Image Capture ◽  
Trade Offs ◽  
The Cost ◽  
Energy Computation

Vision serves as an essential sensory input for insects but consumes substantial energy resources. The cost to support sensitive photoreceptors has led many insects to develop high visual acuity in only small retinal regions and evolve to move their visual systems independent of their bodies through head motion. By understanding the trade-offs made by insect vision systems in nature, we can design better vision systems for insect-scale robotics in a way that balances energy, computation, and mass. Here, we report a fully wireless, power-autonomous, mechanically steerable vision system that imitates head motion in a form factor small enough to mount on the back of a live beetle or a similarly sized terrestrial robot. Our electronics and actuator weigh 248 milligrams and can steer the camera over 60° based on commands from a smartphone. The camera streams “first person” 160 pixels–by–120 pixels monochrome video at 1 to 5 frames per second (fps) to a Bluetooth radio from up to 120 meters away. We mounted this vision system on two species of freely walking live beetles, demonstrating that triggering image capture using an onboard accelerometer achieves operational times of up to 6 hours with a 10–milliamp hour battery. We also built a small, terrestrial robot (1.6 centimeters by 2 centimeters) that can move at up to 3.5 centimeters per second, support vision, and operate for 63 to 260 minutes. Our results demonstrate that steerable vision can enable object tracking and wide-angle views for 26 to 84 times lower energy than moving the whole robot.

scholarly journals A flexible ultrasensitive optoelectronic sensor array for neuromorphic vision systems

2021 ◽  
Vol 12 (1) ◽  
Author(s):  
Qian-Bing Zhu ◽  
Bo Li ◽  
Dan-Dan Yang ◽  
Chi Liu ◽  
Shun Feng ◽  
...  
Keyword(s):  
Sensor Array ◽  
Vision System ◽  
Vision Systems ◽  
Neuromorphic Circuits ◽  
Image Sensing ◽  
Perovskite Quantum Dots ◽  
Optoelectronic Sensor ◽  
Weak Light ◽  
Do So ◽  
Neuromorphic Vision

AbstractThe challenges of developing neuromorphic vision systems inspired by the human eye come not only from how to recreate the flexibility, sophistication, and adaptability of animal systems, but also how to do so with computational efficiency and elegance. Similar to biological systems, these neuromorphic circuits integrate functions of image sensing, memory and processing into the device, and process continuous analog brightness signal in real-time. High-integration, flexibility and ultra-sensitivity are essential for practical artificial vision systems that attempt to emulate biological processing. Here, we present a flexible optoelectronic sensor array of 1024 pixels using a combination of carbon nanotubes and perovskite quantum dots as active materials for an efficient neuromorphic vision system. The device has an extraordinary sensitivity to light with a responsivity of 5.1 × 107 A/W and a specific detectivity of 2 × 1016 Jones, and demonstrates neuromorphic reinforcement learning by training the sensor array with a weak light pulse of 1 μW/cm2.

scholarly journals A framework for reducing the overhead of the quantum oracle for use with Grover’s algorithm with applications to cryptanalysis of SIKE

2020 ◽  
Vol 15 (1) ◽  
pp. 143-156
Author(s):  
Jean-François Biasse ◽  
Benjamin Pring
Keyword(s):  
Search Algorithm ◽  
Circuit Complexity ◽  
Quantum Circuit ◽  
Grover’S Algorithm ◽  
Search Problems ◽  
Trade Offs ◽  
Single Target ◽  
Grover's Algorithm ◽  
Quantum Oracle ◽  
The Cost

AbstractIn this paper we provide a framework for applying classical search and preprocessing to quantum oracles for use with Grover’s quantum search algorithm in order to lower the quantum circuit-complexity of Grover’s algorithm for single-target search problems. This has the effect (for certain problems) of reducing a portion of the polynomial overhead contributed by the implementation cost of quantum oracles and can be used to provide either strict improvements or advantageous trade-offs in circuit-complexity. Our results indicate that it is possible for quantum oracles for certain single-target preimage search problems to reduce the quantum circuit-size from $O\left(2^{n/2}\cdot mC\right)$ (where C originates from the cost of implementing the quantum oracle) to $O(2^{n/2} \cdot m\sqrt{C})$ without the use of quantum ram, whilst also slightly reducing the number of required qubits.This framework captures a previous optimisation of Grover’s algorithm using preprocessing [21] applied to cryptanalysis, providing new asymptotic analysis. We additionally provide insights and asymptotic improvements on recent cryptanalysis [16] of SIKE [14] via Grover’s algorithm, demonstrating that the speedup applies to this attack and impacting upon quantum security estimates [16] incorporated into the SIKE specification [14].

scholarly journals Wideband Rectangular Foldable and Non-foldable Antenna for Internet of Things Applications

2019 ◽  
Vol 2019 ◽  
pp. 1-5 ◽  
Author(s):  
Steve W. Y. Mung ◽  
Cheuk Yin Cheung ◽  
Ka Ming Wu ◽  
Joseph S. M. Yuen
Keyword(s):  
Internet Of Things ◽  
Printed Circuit Board ◽  
Circuit Board ◽  
Design Parameters ◽  
Multiple Frequency ◽  
Wireless Applications ◽  
Printed Circuit ◽  
Iot Applications ◽  
Trade Offs ◽  
The Cost

This article presents a simple wideband rectangular antenna in foldable and non-foldable (printed circuit board (PCB)) structures for Internet of Things (IoT) applications. Both are simple structures with two similar rectangular metal planes which cover multiple frequency bands such as GPS, WCDMA/LTE, and 2.4 GHz industrial, scientific, and medical (ISM) bands. This wideband antenna is suitable to integrate into the short- and long-range wireless applications such as the short-range 2.4 GHz ISM band and standard cellular bands. This lowers the overall size of the product as well as the cost in the applications. In this article, the configuration and operation principle are presented as well as its trade-offs on the design parameters. Simulated and experimental results of foldable and non-foldable (PCB) structures show that the antenna is suited for IoT applications.

scholarly journals An Electro-Oculogram Based Vision System for Grasp Assistive Devices—A Proof of Concept Study

Sensors ◽  
2021 ◽  
Vol 21 (13) ◽  
pp. 4515
Author(s):  
Rinku Roy ◽  
Manjunatha Mahadevappa ◽  
Kianoush Nazarpour
Keyword(s):  
Vision System ◽  
Extraction Procedure ◽  
Orientation Angle ◽  
Object Orientation ◽  
Assistive Devices ◽  
Assistive Device ◽  
Vision Systems ◽  
Signature Extraction ◽  
Voluntary Muscle ◽  
Als Patients

Humans typically fixate on objects before moving their arm to grasp the object. Patients with ALS disorder can also select the object with their intact eye movement, but are unable to move their limb due to the loss of voluntary muscle control. Though several research works have already achieved success in generating the correct grasp type from their brain measurement, we are still searching for fine controll over an object with a grasp assistive device (orthosis/exoskeleton/robotic arm). Object orientation and object width are two important parameters for controlling the wrist angle and the grasp aperture of the assistive device to replicate a human-like stable grasp. Vision systems are already evolved to measure the geometrical attributes of the object to control the grasp with a prosthetic hand. However, most of the existing vision systems are integrated with electromyography and require some amount of voluntary muscle movement to control the vision system. Due to that reason, those systems are not beneficial for the users with brain-controlled assistive devices. Here, we implemented a vision system which can be controlled through the human gaze. We measured the vertical and horizontal electrooculogram signals and controlled the pan and tilt of a cap-mounted webcam to keep the object of interest in focus and at the centre of the picture. A simple ‘signature’ extraction procedure was also utilized to reduce the algorithmic complexity and system storage capacity. The developed device has been tested with ten healthy participants. We approximated the object orientation and the size of the object and determined an appropriate wrist orientation angle and the grasp aperture size within 22 ms. The combined accuracy exceeded 75%. The integration of the proposed system with the brain-controlled grasp assistive device and increasing the number of grasps can offer more natural manoeuvring in grasp for ALS patients.

Demographic life history traits of reproductive natterjack toads (Bufo calamita) vary between northern and southern latitudes

2006 ◽  
Vol 27 (3) ◽  
pp. 365-375 ◽  
Author(s):  
Delfi Sanuy ◽  
Christoph Leskovar ◽  
Neus Oromi ◽  
Ulrich Sinsch
Keyword(s):  
Life History ◽  
Life History Traits ◽  
Large Female ◽  
Breeding Period ◽  
Female Size ◽  
Data Set ◽  
Bufo Calamita ◽  
Trade Offs ◽  
Age Variation ◽  
The Cost

AbstractDemographic life history traits were investigated in three Bufo calamita populations in Germany (Rhineland-Palatinate: Urmitz, 50°N; 1998-2000) and Spain (Catalonia: Balaguer, Mas de Melons, 41°N; 2004). We used skeletochronology to estimate the age as number of lines of arrested growth in breeding adults collected during the spring breeding period (all localities) and during the summer breeding period (only Urmitz). A data set including the variables sex, age and size of 185 males and of 87 females was analyzed with respect to seven life history traits (age and size at maturity of the youngest first breeders, age variation in first breeders, longevity, potential reproductive lifespan, median lifespan, age-size relationship). Spring and summer cohorts at the German locality differed with respect to longevity and potential reproductive lifespan by one year in favour of the early breeders. The potential consequences on fitness and stability of cohorts are discussed. Latitudinal variation of life history traits was mainly limited to female natterjacks in which along a south-north gradient longevity and potential reproductive lifespan increased while size decreased. These results and a review of published information on natterjack demography suggest that lifetime number of offspring seem to be optimized by locally different trade-offs: large female size at the cost of longevity in southern populations and increased longevity at the cost of size in northern ones.

Sustainable Distribution Design: Contrasting Disposable, Recyclable, and Reusable Strategies for Packaging Materials Using a Total Cost Analysis With an Illustration of Milk Distribution

2010 ◽  
Author(s):  
Sri Satya Kanaka Nagendra Jayanty ◽  
William J. Sawaya ◽  
Michael D. Johnson
Keyword(s):  
Cost Benefit ◽  
Packaging Materials ◽  
Policy Makers ◽  
Specific Product ◽  
Cost Structures ◽  
Trade Offs ◽  
Technological Advances ◽  
The Cost ◽  
Total Cost Analysis ◽  
Plastic Containers

Engineers, policy makers, and managers have shown increasing interest in increasing the sustainability of products over their complete lifecycles and also from the ‘cradle to grave’ or from production to the disposal of each specific product. However, a significant amount of material is disposed of in landfills rather than being reused in some form. A sizeable proportion of the products being dumped in landfills consist of packaging materials for consumable products. Technological advances in plastics, packaging, cleaning, logistics, and new environmental awareness and understanding may have altered the cost structures surrounding the lifecycle use and disposal costs of many materials and products resulting in different cost-benefit trade-offs. An explicit and well-informed economic analysis of reusing certain containers might change current practices and results in significantly less waste disposal in landfills and in less consumption of resources for manufacturing packaging materials. This work presents a method for calculating the costs associated with a complete process of implementing a system to reuse plastic containers for food products. Specifically, the different relative costs of using a container and then either disposing of it in a landfill, recycling the material, or reconditioning the container for reuse and then reusing it are compared explicitly. Specific numbers and values are calculated for the case of plastic milk bottles to demonstrate the complicated interactions and the feasibility of such a strategy.

Biologically Inspired Components in Embedded Vision Systems

2018 ◽  
pp. 458-493
Author(s):  
Li-Minn Ang ◽  
Kah Phooi Seng ◽  
Christopher Wing Hong Ngau
Keyword(s):  
Vision System ◽  
Low Complexity ◽  
Human Vision ◽  
Primary Concern ◽  
Resource Constrained ◽  
Vision Systems ◽  
Biologically Inspired ◽  
Embedded Vision ◽  
Field Programmable ◽  
Embedded Vision Systems

Biological vision components like visual attention (VA) algorithms aim to mimic the mechanism of the human vision system. Often VA algorithms are complex and require high computational and memory requirements to be realized. In biologically-inspired vision and embedded systems, the computational capacity and memory resources are of a primary concern. This paper presents a discussion for implementing VA algorithms in embedded vision systems in a resource constrained environment. The authors survey various types of VA algorithms and identify potential techniques which can be implemented in embedded vision systems. Then, they propose a low complexity and low memory VA model based on a well-established mainstream VA model. The proposed model addresses critical factors in terms of algorithm complexity, memory requirements, computational speed, and salience prediction performance to ensure the reliability of the VA in a resource constrained environment. Finally a custom softcore microprocessor-based hardware implementation on a Field-Programmable Gate Array (FPGA) is used to verify the implementation feasibility of the presented model.

Three-Dimensional Scene Reconstruction

2011 ◽  
pp. 142-162
Author(s):  
Dimitrios Chrysostomou ◽  
Antonios Gasteratos
Keyword(s):  
Vision System ◽  
Three Dimensional ◽  
3D Models ◽  
Scene Reconstruction ◽  
Depth Information ◽  
Vision Systems ◽  
Working Space ◽  
Scene Structure ◽  
Long Time ◽  
Dimensional Surface

The production of 3D models has been a popular research topic already for a long time, and important progress has been made since the early days. During the last decades, vision systems have established to become the standard and one of the most efficient sensorial assets in industrial and everyday applications. Due to the fact that vision provides several vital attributes, many applications tend to use novel vision systems into domestic, working, industrial, and any other environments. To achieve such goals, a vision system should robustly and effectively reconstruct the 3D surface and the working space. This chapter discusses different methods for capturing the three-dimensional surface of a scene. Geometric approaches to three-dimensional scene reconstruction are generally based on the knowledge of the scene structure from the camera’s internal and external parameters. Another class of methods encompasses the photometric approaches, which evaluate the pixels’ intensity to understand the three-dimensional scene structure. The third and final category of approaches, the so-called real aperture approaches, includes methods that use the physical properties of the visual sensors for image acquisition in order to reproduce the depth information of a scene.

A 3D Vision-Based Solution for Product Picking In Industrial Applications

2010 ◽  
pp. 190-208
Author(s):  
Mirko Sgarbi ◽  
Valentina Colla ◽  
Gianluca Bioli
Keyword(s):  
Robot Manipulator ◽  
Vision System ◽  
Conveyor Belt ◽  
Industrial Applications ◽  
Vision Systems ◽  
3D Vision ◽  
Key Factor ◽  
Control Assembly ◽  
Single Marker ◽  
Bin Picking

Computer vision is nowadays a key factor in many manufacturing processes. Among all possible applications like quality control, assembly verification and component tracking, the robot guidance for pick and place operations can assume an important role in increasing the automation level of production lines. While 3D vision systems are now emerging as valid solutions in bin-picking applications, where objects are randomly placed inside a box, 2D vision systems are widely and successfully adopted when objects are placed on a conveyor belt and the robot manipulator can grasp the object by exploiting only the 2D information. On the other hand, there are many real-world applications where the 3rd dimension is required by the picking system. For example, the objects can differ in their height or they can be manually placed in front of the camera without any constraint on the distance between the object and the camera itself. Although a 3D vision system could represent a possible solution, 3D systems are more complex, more expensive and less compact than 2D vision systems. This chapter describes a monocular system useful for picking applications. It can estimate the 3D position of a single marker attached to the target object assuming that the orientation of the object is approximately known.

Conclusion

2018 ◽  
pp. 290-305
Author(s):  
Bea Cantillon ◽  
Tim Goedemé ◽  
John Hills
Keyword(s):  
Cost Effectiveness ◽  
Social Exclusion ◽  
Poverty Reduction ◽  
Minimum Income ◽  
Policy Responses ◽  
Trade Offs ◽  
Policy Objectives ◽  
Current Minimum ◽  
The Cost

This final chapter summarizes the main findings of the book and concludes with a discussion of the implications for realizing progress in terms of poverty reduction and guaranteeing a decent minimum income to all. It stresses the inadequacy of current minimum income schemes and highlights trade-offs with other policy objectives. It argues that employment increases by themselves are not enough and that policy choices can make a difference, as they have done in the past. Moreover, the cost-effectiveness of policy responses in reducing poverty varies widely between instruments and countries. However, in any case making progress does not come cheap. If policymakers want to deliver on their promise to substantially reduce poverty and social exclusion in Europe, they will have to improve the adequacy of minimum incomes while maintaining financial work incentives, implying the need to also increase low-wages, either directly through increasing minimum wages, or indirectly, by subsidizing employment or increasing in-work benefits.

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