BackgroundThe combination of robotic tools with assistance technology determines a slightly explored area of applications and advantages for disability or elder people in their daily tasks. Autonomous motorized wheelchair navigation inside an environment, behaviour based control of orthopaedic arms or user's preference learning from a friendly interface are some examples of this new field. In this paper, a Simultaneous Localization and Mapping (SLAM) algorithm is implemented to allow the environmental learning by a mobile robot while its navigation is governed by electromyographic signals. The entire system is part autonomous and part user-decision dependent (semi-autonomous). The environmental learning executed by the SLAM algorithm and the low level behaviour-based reactions of the mobile robot are robotic autonomous tasks, whereas the mobile robot navigation inside an environment is commanded by a Muscle-Computer Interface (MCI).MethodsIn this paper, a sequential Extended Kalman Filter (EKF) feature-based SLAM algorithm is implemented. The features correspond to lines and corners -concave and convex- of the environment. From the SLAM architecture, a global metric map of the environment is derived. The electromyographic signals that command the robot's movements can be adapted to the patient's disabilities. For mobile robot navigation purposes, five commands were obtained from the MCI: turn to the left, turn to the right, stop, start and exit. A kinematic controller to control the mobile robot was implemented. A low level behavior strategy was also implemented to avoid robot's collisions with the environment and moving agents.ResultsThe entire system was tested in a population of seven volunteers: three elder, two below-elbow amputees and two young normally limbed patients. The experiments were performed within a closed low dynamic environment. Subjects took an average time of 35 minutes to navigate the environment and to learn how to use the MCI. The SLAM results have shown a consistent reconstruction of the environment. The obtained map was stored inside the Muscle-Computer Interface.ConclusionsThe integration of a highly demanding processing algorithm (SLAM) with a MCI and the communication between both in real time have shown to be consistent and successful. The metric map generated by the mobile robot would allow possible future autonomous navigation without direct control of the user, whose function could be relegated to choose robot destinations. Also, the mobile robot shares the same kinematic model of a motorized wheelchair. This advantage can be exploited for wheelchair autonomous navigation.

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This work proposes a substrate feeding strategy for a bioprocess integrated with a biomass estimator based in nonlinear filtering techniques. The performance of the proposed estimator and the substrate strategy are illustrated for the δ-endotoxin production of Bacillus thuringiensis (Bt) in batch and fed batch cultures. Nonlinear filtering techniques constitutes an adequate option as estimation tool because of the strongly nonlinear dynamics of this bioprocess and also due to nature of the uncertainties and perturbations that cannot be supposed Gaussians distributed. Biomass estimation is performed from substrate and dissolved oxygen. Substrate feeding strategy is intended to obtain high product concentration. Simulations results along with their experimental verifications demonstrate the acceptable performance of the proposed biomass estimator and the substrate feeding strategy.

On‐line estimation of biomass concentration in batch biotechnological processes is an active area of research because normally, the biomass is the desired process product output, and also because it is necessary for control purposes to replace the unavailable biomass concentration measurements with reliable and robust on‐line estimations. This work presents five different alternatives to face the problem of biomass estimation in a particular batch bioprocess (δ‐endotoxins production of Bacillus thuringiensis), namely: a phenomenological estimator based on dissolved oxygen balance, an extended Kalman filter estimator, a Gaussian process regression‐based estimator, an artificial neural networks‐based estimator, and finally, an estimator based on information fusion by a decentralized Kalman filter. Each proposed biomass estimation method has its own advantages and drawbacks according to their ability to take into account the model uncertainties and the measurement errors. First, the design techniques of these five biomass estimators are exposed, and finally, the behavior of each estimation method is compared. The availability of efficient biomass estimators is of great importance for engineers because, on the one hand, it allows developing new control strategies for other bioprocess variables such as for instance: the growth rate of the microorganism, the dissolved oxygen concentration, and so on. On the other hand, it is also important to improve the performance of the bioprocess optimization procedure. This work also aims to show the evolution on biomass estimation techniques from classical to more contemporary approaches, such as the design based on neural networks and Gaussian processes regression. © 2013 Curtin University of Technology and John Wiley & Sons, Ltd.

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