We present design and implementation of CyPhyS+, a comprehensive, low-cost and standards compliant Cyber-Physical System (CPS) using 6LoWPAN based Internet of Things for remote health monitoring of elderly staying in old-age homes. It is a closed-loop system that incorporates an end-toend reliable message transfer scheme for the resource constrained environment, data security, real-time medical signal processing and data analytics, and FHIR/HL7 compliant web services. The low power operation of CyPhyS+ allows the CPS an extended uptime, ensuring connectivity to the medical sensors, via the Internet, anytime/anywhere. The end-to-end reliable and secure messaging mechanism of CyPhyS+ does not necessitate intermediate application end-points at the old-age homes. This enables easy deployment with low operational overheads, scalability as well as easy introduction of newer applications or application upgrades. The paper describes system architecture, design and implementation details of software and hardware sub-systems. HealthMote, a power efficient Bluetooth-6LoWPAN mote was designed and deployed as a sub-system. We describe the novel low power end-to-end multi-stage message reliability scheme for UDP based sensor applications that does not require intermediate application-aware devices within the network. The experimental results presented show the efficacy of the approach. CyPhyS+ employs an application performance aware SNMP based network monitoring for robust operations of the 6LoWPAN multihop network. It incorporates a 128-bit AES, CBC-MAC based encryption and authentication mechanism for security and privacy. CyPhyS+ is compliant with FHIR/HL7 standards framework, with support for RESTful FHIR, and medical data analytics of ECG. We report on the extensive field trials carried out across a city.

In this paper we present the design of "e-SURAKSHAK," a novel cyber-physical health care management system of Wireless Embedded Internet Devices (WEIDs) that sense vital health parameters. The system is capable of sensing body temperature, heart rate, oxygen saturation level and also allows noninvasive blood pressure (NIBP) measurement. End to end internet connectivity is provided by using 6LoWPAN based wireless network that uses the 802.15.4 radio. A service oriented architecture (SOA) [1] is implemented to extract meaningful information and present it in an easy-to-understand form to the end-user instead of raw data made available by sensors. A central electronic database and health care management software are developed. Vital health parameters are measured and stored periodically in the database. Further, support for real-time measurement of health parameters is provided through a web based GUI. The system has been implemented completely and demonstrated with multiple users and multiple WEIDs.

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Abstract-In this paper we present the design and development of the IONS (Indoor Outdoor Navigation and Surveillance), a versatile, low-cost, power autonomous, statically stable quadruped robot. The robot has unique compliant wheeled-leg limb design that enables it to climb up and descend stairs of various riser heights. It is designed for statically stable walking, turning, climbing and descending gaits using minimal terrain sensing and simple clock driven open-loop control mechanism. It is equally effective in indoor as well as outdoor settings. Its salient features include auto-alignment of the body while climbing stairs, distinction between stairs and obstacles, collision avoidance etc. The robot is controlled using a web based user interface under ubiquitous Wi-Fi network. The operator use live video feed streamed from on-board camera mounted on the robot platform for gait regulation. On-board system keeps track of signal strength, detects communication failure and sends health status report of the robot to the operator console at regular intervals.