Alexander Abad

De La Salle University, Electronics and Communications Engineering, Faculty Member

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Address: Makati, Manila, Philippines

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Eyal Ofek

Microsoft Research

Rosa Daniela Grembiale

University "Magna Graecia" of Catanzaro

Fort Hays State University

J-B Chossat

Shanghai Jiao Tong University

Manuel Caeiro Rodríguez

Universidade Paranaense

lauren sharpe

Anjula De Silva

University of Moratuwa, Sri Lanka

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Papers by Alexander Abad

A Novel Untethered Hand Wearable with Fine-Grained Cutaneous Haptic Feedback

Sensors, 2022

During open surgery, a surgeon relies not only on the detailed view of the organ being operated u... more During open surgery, a surgeon relies not only on the detailed view of the organ being operated upon and on being able to feel the fine details of this organ but also heavily relies on the combination of these two senses. In laparoscopic surgery, haptic feedback provides surgeons information on interaction forces between instrument and tissue. There have been many studies to mimic the haptic feedback in laparoscopic-related telerobotics studies to date. However, cutaneous feedback is mostly restricted or limited in haptic feedback-based minimally invasive studies. We argue that fine-grained information is needed in laparoscopic surgeries to study the details of the instrument’s end and can convey via cutaneous feedback. We propose an exoskeleton haptic hand wearable which consists of five 4 × 4 miniaturized fingertip actuators, 80 in total, to convey cutaneous feedback. The wearable is described as modular, lightweight, Bluetooth, and WiFi-enabled, and has a maximum power consumptio...

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Pilot Study: A Visuotactile Haptic Primary Colors Sensor

2021 IEEE Sensors, 2021

In this paper, we present our preliminary studies on how to make a unified skin-like visuotactile... more In this paper, we present our preliminary studies on how to make a unified skin-like visuotactile sensor capable of sensing haptic primary colors, namely: force, vibration, and temperature. Our sensor is based on GelSight technology that has proven its worth in the field of haptics, robotics, and computer vision. In our previous studies, we proposed switchable UltraViolet (UV) markers that can be turned on using UV light. These markers can be tracked using an optical flow algorithm to visualize forces related to gel deformation. In this study, we introduced layers of thermochromic pigments on the reflective layer, making our visuotactile sensor capable of sensing not only force and vibration inferred from gel deformation but can also sense the temperature of the contacted object by analyzing the change of hue in the reflective coating.

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Localization of license plates using optimized edge and contour detection technique

TENCON 2017 - 2017 IEEE Region 10 Conference, 2017

There are a lot of existing studies in the field of plate detection. However, most of them focuse... more There are a lot of existing studies in the field of plate detection. However, most of them focused on using still images and only a few have applied the process on video streams. This research proposes to automate the plate detection process by the use of intelligent transport system through image processing techniques such as edge detection and contour matching. The region of interest of the vehicle image was reduced to the lower half since statistically, license plates were located on the bottom half of a vehicle to improve the computational complexity of the system. The edges of the vehicle image were computed, from which contours were calculated. The detected contours were filtered based on three parameters — area, aspect ratio and diagonal. The results show that the system achieved 96.67% accuracy.

Motion Planning of a Robotic Arm using an Adaptive Linear Interpolation Crossover and Variable-Length Move Sequence Genome

2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management ( HNICEM ), 2019

The ability to perform robotic arm motion planning is a necessity in the design of autonomous and... more The ability to perform robotic arm motion planning is a necessity in the design of autonomous and intelligent robotic systems. Motion planning allows the autonomous robotic arm to maneuver its end-effector in an unstructured environment whilst avoiding obstacles on the workspace. This ability is particularly important in processes with pick-and-place operations and varying object positions. In this study, a genetic algorithm-based motion planning for a 4-DOF robotic arm was developed. The developed genetic algorithm operates on a variable-length genome that consists of changes in joint angles. These changes in joint angles represent the end-effector’s move sequence. The results show that adaptive linear interpolation crossover (ALIX) improves the convergence of the motion path towards minimization of end-effector error and path length. On average, the end-effector error is 1.4 mm with a maximum path length deviation from a straight line of about 50.4 mm tested on extreme target poin...

A kNN-based approach for the machine vision of character recognition of license plate numbers

TENCON 2017 - 2017 IEEE Region 10 Conference, 2017

This research proposes to automate the plate recognition process by installing an IP camera on a ... more This research proposes to automate the plate recognition process by installing an IP camera on a road and analyzing the video-feed to capture the vehicles along that road. The contours of the characters in a given plate image are detected, violated and isolated from the parent image. This results to segmented characters. Each of the characters are identified using a k nearest neighbors (kNN) algorithm. The kNN algorithm was trained using different sets of training data containing 36 characters each. The algorithm was tested on the previously segmented characters. The simulations show that an accuracy of 87.43% was achieved for the plate recognition algorithm using kNN at k = 1. Compared against existing character recognition techniques such as artificial neural networks (ANN), the difference in the accuracy is minimal. Moreover, the average processing time was 0.034 s.

Design and Evaluation of a Human-controlled Haptic-based Robotic Hand for Object Grasping and Lifting

2020 11th IEEE Annual Information Technology, Electronics and Mobile Communication Conference (IEMCON), 2020

Nowadays, machines are used almost anywhere to perform tasks more efficiently compared to humans,... more Nowadays, machines are used almost anywhere to perform tasks more efficiently compared to humans, but they cannot successfully finish a task if they are not controlled by a human user. Humans would be able to control machines more accurately, reducing risks and errors, if haptic feedback is simultaneously present during operation. This work presents the design and evaluation of a human-controlled robotic hand with haptic feedback. The haptic design makes it capable for the robotic hand to generate vibrations to the user's fingers through a glove when pressure is applied to the object. Moreover, it aims to produce a robotic arm capable of mimicking the hand movements of the user for grasping and lifting objects. Results show that the system is able to grasp and lift water bottles as the object of varying types and amount of water content.

RFID Tag Data Encryption Using Triple DES and RSA Algorithms

Journal of Physics: Conference Series, 2021

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Data Forwarding System with Error Detection and Leader Selection Features

Journal of Physics: Conference Series, 2021

The concept of vehicular networks utilizes vehicular nodes and roadside units to exchange data to... more The concept of vehicular networks utilizes vehicular nodes and roadside units to exchange data to achieve travel comfort and convenience. However, as the number of vehicles on the road increases exponentially, the data dissemination becomes inefficient and lossy due to communication factors, one of which is the availability of too much sources of information. In this paper, a data forwarding system (DFS) is proposed to address communication failure due to bit error during data transmission and in the presence of data collision. The proposed system enables the receiver to detect errors in the received data using Hamming codes and utilizes a retransmission scheme to correct bit errors. DFS also selects a limited number of vehicles, called leaders, that can communicate with the infrastructure to minimize data collision and flooding. DFS, under various number of vehicles, is tested in additive white gaussian noise (AWGN) and Rayleigh channels. Simulation results show that DFS reduces bit error rate (BER) to approximately 54% in the AWGN and 62% in the Rayleigh channel for the maximum number of retransmissions simulated, respectively. Also, with DFS, data upload to infrastructures is reduced by at most 99.5% depending on the maximum allowable number of clusters and vehicles inside the RSU coverage.

Visuotactile Sensors with Emphasis on GelSight Sensor: A Review

IEEE Sensors Journal, 2020

This review paper focuses on vision and touch-based sensors known as visuotactile. The study of v... more This review paper focuses on vision and touch-based sensors known as visuotactile. The study of visuotactile sensation and perception became a multidisciplinary field of study by philosophers, psychologists, biologists, engineers, technologists, and roboticists in the fields of haptics, machine vision, and artificial intelligence and it dates back centuries. To the best of our knowledge, the earliest records of visuotactile sensor was not applied to robotics and was not even for hand or finger imprint analysis yet for recording the foot pressure distribution of a walking or standing human known as pedobarograph. Our review paper presents the different literature related to visuotactile sensors that lead to a high-resolution miniature pedobarographlike sensor known as the GelSight sensor. Moreover, this review paper focuses on architecture, different techniques, hardware, and software development of GelSight sensor since 2009 with its applications in haptics, robotics, and computer vision.

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Audio multicast by Visible Light Communication for location information for the visually impaired

2015 International Conference on Humanoid, Nanotechnology, Information Technology,Communication and Control, Environment and Management (HNICEM), 2015

Visible Light Communication (VLC) is a new technology that may become an alternative choice for w... more Visible Light Communication (VLC) is a new technology that may become an alternative choice for wireless communication in the future. The technology may be used in many indoor applications. The specific presentation of VLC in this study is with the use of light emitting diodes (LEDs) as the medium for transmission. Digital information will be sent through the LEDs as light pulses, and then a receiver will be able to collect the light pulses as a code and translate it to a corresponding audio data. In this study, the visible light communication system uses modulation schemes, such as on-off keying, so that the digital HIGHs and LOWs are representations of the binary code to be transmitted. Acknowledgement lights incorporated in the receiver are also utilized to make multicasting possible, and to signal that transmission is successful.

Object locator and collector robotic arm using artificial neural networks

2015 International Conference on Humanoid, Nanotechnology, Information Technology,Communication and Control, Environment and Management (HNICEM), 2015

This paper suggests an artificial neural network approach to an object locator and picker. A robo... more This paper suggests an artificial neural network approach to an object locator and picker. A robotic arm with two joints and a rotating base will function as a pick-and-place machine. The system follows the following constraints: (1) the base of the robotic arm will be situated at a predetermined and fixed position, hence limiting the area at which it can locate and pick an object and; (2) the object will be placed on a flat surface. The span of the robotic arm will determine this area. Also, it should be noted that the arm's base and joints can move for limited angles only. The area of interest by the arm will be mapped into grids with coordinates. The inputs to the artificial neural network system will be the coordinates at which the object was positioned. Its outputs will be the angles of each joint of the robotic arm such that it can pick the object at its corresponding position.

$Research paper thumbnail of Analog realization of a low-voltage two-order selectable fractional-order differentiator in a 0.35um CMOS technology$

Analog realization of a low-voltage two-order selectable fractional-order differentiator in a 0.35um CMOS technology

2015 International Conference on Humanoid, Nanotechnology, Information Technology,Communication and Control, Environment and Management (HNICEM), 2015

The analog realization of a selectable fractional-order differentiator (FOD) in a microelectronic... more The analog realization of a selectable fractional-order differentiator (FOD) in a microelectronics scale is mainly the focus of this study. From this design, the order of differentiation can be selected between FOD(0.25) and FOD(0.50). While the aim is to make the hardware implementation as compact and small as possible, the authors employed reusability of resistors and capacitors when switching from one order to the other. The top-level schematic was generated using S-Edit while the physical layout implementation was outlined using L-Edit. The resulting integrated circuit (IC) design has a total chip area of 4.05mm × 3.10mm or equivalent to a final area of 12.56mm2. The whole chip is powered using dual supply voltage of only +0.75V Vdd and -0.75V Vss. Each order of differentiation was characterized in its magnitude and phase response in the working bandwidth from 10Hz to 1kHz.

Low Power Wireless Monitoring System Dual Powered by Piezoelectric Transducers and Solar Cells

In weather analysis, it is important to monitor certain parameters such as temperature and relati... more In weather analysis, it is important to monitor certain parameters such as temperature and relative humidity. It is also ideal to make use of autonomous-power automatic weather stations. The available technology in the country regarding long distance weather monitoring systems can be improved in its ability to transmit information between the monitoring devices and the base station and in synthesizing a cost-efficient method for regulating the power consumption of each device. One vital issue to be considered is the power source because batteries of wireless network systems require maintenance which is not convenient for monitoring stations located in remote areas such as mountains and other rural areas. This paper addresses these concerns by using a low-cost and low-power consuming wireless communication system for a better means of sending data from the node to the station and by creating a systematic method for sending and receiving data using self-harvesting energy sources that specifically provide low-power consuming sensors in order to save space, energy, and costs. The group designed a Wireless Sensor Network (WSN) in weather monitoring. It is powered-up by two energy-scavenging sourcespiezoelectric transducers and solar cells. Each sensor node is composed of energy scavengers, microcontroller, temperature and relative humidity sensors and Zigbee. After the conducted study, the designed energy harvesting system using piezoelectric transducers and solar panel was able to power up the wireless sensor node. A scheduled sleep, read, and transmit/ receive modes was successfully designed to minimize the current consumption of the node. The base station is the interface between the hardware and the software. The data received is logged by a program developed using LabVIEW. Then, the data would be sent through a GSM Module and will be published in the Web.

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Posicast Pulse Generation and Simulation Using LTSpice

Posicast was further examined in the early 1960's to minimize vibration in various types of l... more Posicast was further examined in the early 1960's to minimize vibration in various types of lightly damped systems, including flexible structures, and vibration control. Application of Posicast to nonlinear dynamics has also been proven effective when the nonlinearity is slowly time varying. In this paper, a fully CMOS pulse-shaper is proposed. Our design is based on the delay approach for the incoming pulses coming from the inverters. The delay is done via a modified CMOs inverter circuit and a capacitor. Our proposed design has flexibility in configuration of width and length as amplitude of the desired pulse-like shapes. The delay is controlled via a capacitor and the pre -shaped amplitudes are controlled by a combination of a PMOS and NMOS transistors or inverter circuits.

Temperature Sensor with an 8-bit Low Voltage Incremental Delta-Sigma ADC Implemented using 0.18um Technology

This study focused on the design and characterization of a Temperature Sensor with an 8-bit Low-V... more This study focused on the design and characterization of a Temperature Sensor with an 8-bit Low-Voltage Incremental Delta-Sigma Analog-to-Digital Converter (ADC). The Proportional to Absolute Temperature (PTAT) part of an All-MOS bandgap voltage reference was utilized as the Temperature Sensor. The design was implemented using 0.18um CMOS Technology. The temperature sensor and voltage reference operates at 2.5-V supply voltage while the ADC part operates on a low voltage 1-Volt supply. The circuit design can operate from 0ºC to 85ºC with a temperature coefficient of 0.933mV/˚C or 2.5LSB/˚C and was implemented and simulated using Synopsys Tools.

Soccer Robot Shooter Strategy

This paper presents a shooter control strategy for the FIRA robot soccer game. The strategy is di... more This paper presents a shooter control strategy for the FIRA robot soccer game. The strategy is divided into three (3) categories namely: 1) Robot is at the back of the ball towards the opponent’s goal (robot_x < ball_x); 2) robot is beside the ball (robot x = ball_x); and 3) robot is in between the ball and the opponent’s goal (robot_x > ball_x). Category one is the ready for shooting the ball while categories two and three need some adjustments to be in category one. This paper describes the three categories in shooting the ball.

Low cost smart security camera with night vision capability using Raspberry Pi and OpenCV

2014 International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment and Management (HNICEM), 2014

ABSTRACT In order to further maintain peace and provide security to people now a day, Closed-circ... more ABSTRACT In order to further maintain peace and provide security to people now a day, Closed-circuit television (CCTV) surveillance system is being utilized. This study focused on the design and implementation of a low cost smart security camera with night vision capability using Raspberry Pi (RPI) and OpenCV. The system was designed to be used inside a warehouse facility. It has human detection and smoke detection capability that can provide precaution to potential crimes and potential fire. The credit card size Raspberry Pi (RPI) with Open Source Computer Vision (OpenCV) software handles the image processing, control algorithms for the alarms and sends captured pictures to user&#39;s email via Wi-Fi. As part of its alarm system, it will play the recorded sounds: “intruder” or “smoke detected” when there is a detection. The system uses ordinary webcam but its IR filter was removed in order to have night vision capability.

Security Systems for Remote Farm

Journal of Automation and Control Engineering, 2014

This paper presents a security system for a remote farm. This research is ideal for locations whe... more This paper presents a security system for a remote farm. This research is ideal for locations where real time monitoring and notifications are paramount to your security wherein the image(s) detected through a surveillance system is processed by the newly advanced technology such as Open-source Computer Vision programming, Matlab programming and Artificial Intelligence Network. The research is all about detection process through Open-Source Computer Vision programming wherein multiple object detection can be applied. Future recommendations for image processing and recognition can be used through Matlab programming technology and Artifical Intelligence Network Technology.

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Full-custom design and characterization of a phase locked loop — DLS565 using 0.5um CMOS technology

2014 International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment and Management (HNICEM), 2014

ABSTRACT The DLS565 is a Phase-locked loop (PLL) Integrated Circuit (IC) design project simulated... more ABSTRACT The DLS565 is a Phase-locked loop (PLL) Integrated Circuit (IC) design project simulated on all process corner libraries (TT, FF, SS, FS, SF) using 0.5um CMOS technology. The final IC design layout of the PLL without bonding pads covers approximately 0.46mm × 0.5mm. The parameters of the DLS565 were measured and compared to the commercially available LM565C and NE565. It operates with a supply voltage of ±2.5 V with a maximum power dissipation of approximately 22 mW. DLS565 was able to capture frequencies as low as 15Hz and as high as 1.12MHz.

Genetic algorithm and artificial neural network for engine optimisation of efficiency and NOx emission

Fuel, 2004

... However, setting up the problem in the form of an optimisation analysis, the search space can... more

A Novel Untethered Hand Wearable with Fine-Grained Cutaneous Haptic Feedback

Sensors, 2022

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Pilot Study: A Visuotactile Haptic Primary Colors Sensor

2021 IEEE Sensors, 2021

Download

Localization of license plates using optimized edge and contour detection technique

TENCON 2017 - 2017 IEEE Region 10 Conference, 2017

Motion Planning of a Robotic Arm using an Adaptive Linear Interpolation Crossover and Variable-Length Move Sequence Genome

2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management ( HNICEM ), 2019

A kNN-based approach for the machine vision of character recognition of license plate numbers

TENCON 2017 - 2017 IEEE Region 10 Conference, 2017

Design and Evaluation of a Human-controlled Haptic-based Robotic Hand for Object Grasping and Lifting

2020 11th IEEE Annual Information Technology, Electronics and Mobile Communication Conference (IEMCON), 2020

RFID Tag Data Encryption Using Triple DES and RSA Algorithms

Journal of Physics: Conference Series, 2021

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Data Forwarding System with Error Detection and Leader Selection Features

Journal of Physics: Conference Series, 2021

Visuotactile Sensors with Emphasis on GelSight Sensor: A Review

IEEE Sensors Journal, 2020

Download

Audio multicast by Visible Light Communication for location information for the visually impaired

2015 International Conference on Humanoid, Nanotechnology, Information Technology,Communication and Control, Environment and Management (HNICEM), 2015

Object locator and collector robotic arm using artificial neural networks

2015 International Conference on Humanoid, Nanotechnology, Information Technology,Communication and Control, Environment and Management (HNICEM), 2015

$Research paper thumbnail of Analog realization of a low-voltage two-order selectable fractional-order differentiator in a 0.35um CMOS technology$

Analog realization of a low-voltage two-order selectable fractional-order differentiator in a 0.35um CMOS technology

2015 International Conference on Humanoid, Nanotechnology, Information Technology,Communication and Control, Environment and Management (HNICEM), 2015

Low Power Wireless Monitoring System Dual Powered by Piezoelectric Transducers and Solar Cells

Download

Posicast Pulse Generation and Simulation Using LTSpice

Temperature Sensor with an 8-bit Low Voltage Incremental Delta-Sigma ADC Implemented using 0.18um Technology

Soccer Robot Shooter Strategy

Low cost smart security camera with night vision capability using Raspberry Pi and OpenCV

2014 International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment and Management (HNICEM), 2014

Security Systems for Remote Farm

Journal of Automation and Control Engineering, 2014

Download

Full-custom design and characterization of a phase locked loop — DLS565 using 0.5um CMOS technology

2014 International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment and Management (HNICEM), 2014

Genetic algorithm and artificial neural network for engine optimisation of efficiency and NOx emission

Fuel, 2004

... However, setting up the problem in the form of an optimisation analysis, the search space can... more

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