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Industrial motion control systems, e.g. pick-andplace tasks in semiconductor manufacturing equipment, require precise positioning for achieving high machine throughput. Linear encoders are the standard industrial sensors used for position feedback due to their relatively low cost, high resolution, and high operating frequency. The challenge is that the linear encoders measure the positions at the points-ofcontrol of the equipment, e.g. motors, and not at the points-ofinterest, e.g. pick-and-place positions. The coupling between a point-of-control and the point-of-interest is affected by external disturbances such as mechanical misalignment of the product, friction, and warping of the material, and linear encoders fail to sense these disturbances. Vision-based sensing is a potential alternative to achieve robust sensing and high-precision control. However, vision processing has a long computational delay and affects the machine throughput. In this paper, we propose a multi-rate multi-sensor fusion approach to improve the positioning accuracy of industrial motion control systems with different points-of-control and points-of-interest. We present a multi-rate Kalman filter with bias correction to fuse accurate but slow and delayed vision sensor data with fast but less accurate linear encoder data for highprecision position control. We validate the proposed method in an evaluation framework by considering an industrial case study of a semiconductor die-bonding machine. A design-space exploration is done to evaluate the performance of the proposed solution with respect to various relevant design parameters. The effectiveness of the proposed solution depends on the type of disturbances and vision processing delay. For the parameter range under consideration, we achieve a positioning accuracy of 1μm.

The deliverable D2.3 describes the overall requirements of the IMOCO4.E reference framework. First, D2.3 defines an initial version of the IMOCO4.E reference framework with the help of an architecture viewpoint, an AI dataflow viewpoint, a digital twin functional viewpoint, and a digital twin lifecycle viewpoint. Second, D2.3 proposes an abstraction of the building blocks based on component and interface modelling. Finally, D2.3 enumerates system-level, architecture layer-specific and overall building block specific requirements based on the combined expertise of all IMOCO4.E beneficiaries. The deliverable provides requirements not only on the hardware and software components but also on digital twinning, the application of AI, and ultimately, the interfacing between all the IMOCO4.E framework components. The proposed initial version of the IMOCO4.E reference framework and the overall requirements go beyond the current state-of-the-art intelligent motion control systems. The final version of the IMOCO4.E reference framework shall be reported in the deliverable D2.4.

Matlab provides an environment to analyse and visualise data and develop algorithms. However, there is limited support for visualising and analysing system activities executing concurrently, for instance, on a multiprocessor platform. Trace (https://esi.nl/research/output/tools/trace) is software that specialises in visualising and analysing concurrent system activities and execution traces. We present a Matlab to Trace translator that directly generates a trace-input file from the Matlab environment. Concurrent system activities and execution traces of the algorithms developed inside the Matlab environment can be visualised and analysed in Trace using the generated trace-input file. The translator takes as input the logical or absolute starting and ending time of the algorithmic execution, and the number (and labels) of processing cores. TRACE visualizes concurrent activities in a Gantt-chart-like view which provides colouring, grouping and filtering options. TRACE also provides several analysis methods, which sets it apart from the many other Gantt-chart visualization tools: i) Critical-path analysis can be used to detect tasks and resources that are bottlenecks for performance; ii) Distance analysis can be used to compare execution traces with respect to structure, e.g. to check a model trace against an implementation trace; iii) MTL checking provides a means to formally specify and verify properties of execution traces using Metric Temporal Logic. It is useful to express and check, for instance, performance properties such as the “processing latency is at most 50 ms”; iv) The streaming performance DSL is a domain-specific language that captures often-used performance properties for stream-processing systems (e.g., image or video processing), and which eases the use of the MTL checker; and v) The resource usage feature can quickly give insight in the details of the resource usage. The Matlab2Trace can be downloaded from https://github.com/TUE-EE-ES/Matlab2Trace.

Image-based control (IBC) systems use camera sensor(s) to perceive the environment. The inherent compute-heavy nature of image processing causes long processing delay that negatively influences the performance of the IBC systems. Our idea is to reduce the long delay using coarse-grained approximation of the image signal processing pipeline without affecting the functionality and performance of the IBC system. The question is: how is the degree of approximation related to the closed-loop quality-of-control (QoC), memory utilization and energy consumption? We present a software-in-the-loop (SiL) evaluation framework for the above approximation-in-the-loop system. We identify the error resilient stages and the corresponding coarse-grained approximation settings for the IBC system. We perform trade off analysis between the QoC, memory utilisation and energy consumption for varying degrees of coarse-grained approximation. We demonstrate the effectiveness of our approach using a concrete case study of a lane keeping assist system (LKAS). We obtain energy and memory reduction of upto 84% and 29% respectively, for 28% QoC improvements.

Image Processing (IP) applications have become popular with the advent of efficient algorithms and low-cost CMOS cameras with high resolution. However, IP applications are compute-intensive, consume a lot of energy and have long processing times. Image approximation has been proposed by recent works for an energy-efficient design of these applications. It also reduces the impact of long processing times. The challenge here is that the IP applications often work as a part of bigger closed-loop control systems, e.g. advanced driver assistance system (ADAS). The impact of image approximations that tolerate certain error on these image-based control (IBC) systems is very important. However, there is a lack of tool support to evaluate the performance of such closed-loop IBC systems when the IP is approximated. We propose a framework - for both software-in-the-loop (SiL) and hardware-in-the-loop (HiL) simulation - for performance evaluation of image approximation on a closed-loop automotive IBC system (IMACS). Both simulation setups model the 3D environment in 3ds Max, and simulate the system dynamics, camera position and environment in V-REP. Our SiL setup simulates the system software in C++ or Matlab. Here, V-REP runs as a server and the software as a client in synchronous mode. Our HiL simulation setup runs the system software in the NVIDIA Drive PX2 platform and communicates to V-REP using application programming interfaces (APIs) for synchronous execution. We show the effectiveness of our framework using a vision-based lateral control example.

Skin illnesses are tumors that due to the improvement of uncommon cells which could assault or spread to other parts of the body. There are three essential composes basal-cell tumor, squamous-cell tumor, and cancer. Among the three melanoma spreads through metastasis, and along these lines, it has been becoming out to be extraordinarily lethal. Melanomas, for the most part, happen inside the pores and skin what is additional, unmistakable proof of skin tumor ought to be practical in perspective on the Melanoma pix. The factor of this test paper is to recollect and discuss the distinctive portrayal of estimations connected to different types of therapeutic datasets and thinks around its execution. The association calculations with the greatest exactness are on exceptional varieties of medicinal datasets are taken for execution investigation. In our proposed work, modified Kohonen neural community is used for recreation plan reason, which bunches the given informational series into carcinogenic and non-threatening. The Kohonen self – organizing map is one of the neural machine unsupervised studying algorithms. This calculation is utilized as a part of looking after the issue in extraordinary areas. This proposed technique includes preprocessing, postprocessing, segmentation curvelet domain Feature Extraction, and classifiers. Intype several methods including Support vector system, Three layers neural Network, Back Propagation Neural Network, Modified Kohonen networkself-organizing map) are employed to separate the skin cancer types and their Accuracy performance equated using the various parameters.

Image-Based Control (IBC) systems are a class of data-intensive feedback control systems whose feedback is provided by image-based sensing using a camera. IBC has become popular with the advent of efficient image processing systems and low-cost CMOS cameras with high resolution. The combination of the camera and image processing (sensing) gives necessary information on parameters such as relative position, geometry, relative distance, depth perception and tracking of the object-of-interest. This enables the effective use of low-cost camera sensors to enable new functionality or replace expensive sensors in cost-sensitive industries like automotive. The state-of-the-art design, analysis, and simulation of IBC assumes that the sensing algorithm is executing correctly with an assumed or estimated worst-case delay. The sensing algorithm is simulated and validated using static pre-captured image streams and is normally decoupled from the control algorithm. However, in reality, the camera is fixed to the vehicle body and any steering change would affect the region captured by the image. This dynamism cannot be captured in a static image stream and a dynamic image stream that considers the change in vehicle dynamics due to IBC actuation is needed. We present an open-source design, analysis, and simulation framework for automotive IBC systems that can consider the change in vehicle dynamics in real-time and produces real-time dynamic image stream as per the control algorithm. Our framework models the 3D environment in 3ds Max, simulates the vehicle dynamics, camera position, environment and traffic in V-REP and computes the control output in Matlab. Our framework runs Matlab as a server and V-REP as a client in synchronous mode. We show the effectiveness of our framework using a vision-based lateral control system.

Image-Based Control (IBC) systems have a long sample period. Sensing in these systems consists of compute-intensive image processing algorithms whose response times are dependent on image workload. IBC systems are typically designed for the worst-case workload that results in a long sample period and hence suboptimal quality-of-control (QoC). This worst-case based design is further considered for mapping of controller tasks and allocating platform resources, resulting in significant resource over-provisioning. Our design philosophy is to sample as fast as possible to optimise QoC for a given platform allocation, and for this, we present a structured design flow. Workload variations determine how fast we can sample and we model this dynamic behaviour using the concept of workload scenarios. Our choice of scenario-aware dataflow as the formal model for our application enables us to: i) model dynamic behaviour, analyse timing, and optimally map application tasks to the platform for maximising the effective utilisation of allocated resources, ii) relate throughput of the dataflow graph to the sample period, and thus combine dataflow analysis and mapping with control design parameters and QoC to identify system scenarios, and iii) to efficiently implement a run-time mechanism that manages necessary dynamic reconfiguration between system scenarios. Our results show that our design approach outperforms the worst-case based design with respect to optimising QoC and maximising effective resource utilisation. © 2018 IEEE.

This paper is based on the subjective perception of the residents about the neighbourhood environment and their quality of urban life. The neighbourhood satisfaction provides a generalized view into the well-being of the residents, and it has been viewed as a significant aspect of the quality of urban life (QOUL). As a contributor to life satisfaction, neighbourhood satisfaction is influenced by individual and household socio-economic variables, along with the neighbourhood characteristics. However, there is limited understanding of how neighbourhood environments influence neighbourhood satisfaction and the quality of urban life. This paper intends to examine the relationship between residents’ neighbourhood satisfaction and their quality of urban life in a middle-income housing area in Kuala Lumpur City, Malaysia, by using 100 sample respondents that fulfilled a confidence level of 90% of the population. The findings of the study indicate that the residents are satisfied with their existing QOUL, but if no actions are taken it will deteriorate. Therefore, several recommendations are made for improving the residents’ QOUL.

Aims The aim of this first large-scale long-term study was to investigate whether obstructive sleep apnoea (OSA) and/or central sleep apnoea (CSA) are associated with an increased risk of malignant cardiac arrhythmias in patients with congestive heart failure (CHF). Methods and results Of 472 CHF patients who were screened for sleep disordered breathing (SDB) 6 months after implantation of a cardiac resynchronization device with cardioverter-defibrillator, 283 remained untreated [170 with mild or no sleep disordered breathing (mnSDB) and 113 patients declined ventilation therapy] and were included into this study. During follow-up (48 months), data on appropriately monitored ventricular arrhythmias as well as appropriate cardioverter-defibrillator therapies were obtained from 255 of these patients (90.1%). Time period to first monitored ventricular arrhythmias and to first appropriate cardioverter-defibrillator therapy were significantly shorter in patients with either CSA or OSA. Forward stepwise Cox models revealed an independent correlation for CSA and OSA regarding monitored ventricular arrhythmias [apnoea-hypopnoea index (AHI) >= 5 h(-1): CSA HR 2.15, 95% CI 1.40-3.30, P < 0.001; OSA HR 1.69, 95% CI 1.64-1.75, P = 0.001; AHI >= 15 h(-1): CSA HR 2.06, 95% CI 1.40-3.05, P < 0.001; OSA HR 1.69, 95% CI 1.14-2.51, P = 0.02] and appropriate cardioverter-defibrillator therapies (AHI >= 5 h(-1): CSA HR 3.24, 95% CI 1.86-5.64, P < 0.001; OSA HR 2.07, 95% CI 1.14-3.77, P = 0.02; AHI >= 15 h(-1): CSA HR 3.41, 95% CI 2.10-5.54, P < 0.001; OSA HR 2.10, 95% CI 1.17-3.78, P = 0.01). Conclusion In patients with CHF, CSA and OSA are independently associated with an increased risk for ventricular arrhythmias and appropriate cardioverter-defibrillator therapies.

We investigated the roles played by the cysteine proteases cathepsin B and cathepsin L (brucipain) in the pathogenesis of Trypansoma brucei brucei in both an in vivo mouse model and an in vitro model of the blood–brain barrier. Doxycycline induction of RNAi targeting cathepsin B led to parasite clearance from the bloodstream and prevent a lethal infection in the mice. In contrast, all mice infected with T. brucei containing the uninduced Trypanosoma brucei cathepsin B (TbCatB) RNA construct died by day 13. Induction of RNAi against brucipain did not cure mice from infection; however, 50% of these mice survived 60 days longer than uninduced controls. The ability of T. b. brucei to cross an in vitro model of the human blood–brain barrier was also reduced by brucipain RNAi induction. Taken together, the data suggest that while TbCatB is the more likely target for the development of new chemotherapy, a possible role for brucipain is in facilitating parasite entry into the brain., Author Summary African trypanosomiasis, or sleeping sickness, is caused by the single-cell parasite Trypanosoma brucei (T. brucei). Two parasite-derived enzyme proteins have been hypothesized to play an important role in the viability of the parasite or its ability to produce disease in the human host. Utilizing RNA interference that blocks the production of these proteins in the parasite, we show that elimination of parasite cathepsin B cures infection in mice. RNAi of the second enzyme protein, brucipain, results in the prolongation of life of half the infected mice, but does not cure. Further experiments carried out in a culture system show that brucipain facilitates the migration of parasites across a model of the blood–brain barrier. This suggests that while brucipain is not necessary for the viability of the organisms, it may play a role in infection by allowing parasites to reach the central nervous system and produce the severe second stage of sleeping sickness.