Juha Plosila

• PhD (in Electronics and Communication Technology)
• Professor at University of Turku

In recent years, the deployment of mobile robots in various industries, from manufacturing to healthcare, has seen a significant rise. This necessitates an in-depth understanding of their energy consumption patterns to optimize efficiency and sustainability. This report presents a comprehensive platform developed to measure and analyze the electric...

The paper presents a comparative study of two methods for identifying equivalent circuit models (ECM) parameters for battery modeling. In order to comprehensively compare the methods, the electrical behavior of a lithium titanate (LTO), a lithium iron phosphate (LFP), a lithium nickel manganese cobalt oxides (NMC), and a nickel cobalt aluminium (NC...

The utilization of smart meter data has opened new frontiers in the healthcare sector by enabling the detection of health status and daily life activities. A new methodology has been proposed to differentiate between normal and abnormal energy consumption, which can be leveraged to determine the health status of consumers by analyzing load profilin...

Energy management of mechanical and cyber parts in mobile robots consists of two processes operating concurrently at runtime. Both the two processes can significantly improve the robots' battery lifetime and further extend mission time. In each process, information on energy consumption of one of the two parts is captured and analyzed to manipulate...

Run-time resource management is fundamental for efficient execution of workloads on Chip Multiprocessors. Application- and system-level requirements (e.g. on performance vs. power vs. lifetime reliability) are generally conflicting each other, and any decision on resource assignment, such as core allocation or frequency tuning, may positively affec...

With booming intricacy in applications, optimizing latency is a key requirement in Network-on-Chip (NoC). Bypassing the routers in the intermediate path, the Single Cycle Multi-Hop Asynchronous Repeated Traversal (SMART) NoC is offered as a solution. However, SMART requires a bypass arrangement, contributing to additional wires and stages in the pi...

Batteries are becoming one important part to power varieties of devices including electro-mechanical robots and vehicles. Understanding the behaviour of the battery and its state of charge can help the control systems to significantly improve the decision-making and risk management at run-time, after the device starts its operation. Currently, ther...

In this paper, the reconfiguration of swarms of unmanned aerial vehicles after simultaneous failures of multiple nodes is considered. The objectives of the post-failure reconfiguration are to provide collision avoidance and smooth energy-efficient movement. To incorporate such a mechanism, three different failure recovery algorithms are proposed na...

Collaborative robots represent an evolution in the field of swarm robotics that is pervasive in modern industrial undertakings from manufacturing to exploration. Though there has been much work on path planning for autonomous robots employing floor plans, energy-efficient navigation of autonomous robots in unknown environments is gaining traction....

The focus of this work is to present a novel methodology utilizing the classical SLAM technique and integrating with the swarm agents for localizing, guiding, and retrieving the agents towards the optimal path while using only necessary tracker-based information between the agents. While navigating in an unknown environment with no-prior map inform...

Finding the optimal distribution of exerted effort by an athlete in competitive sports has been widely investigated in the fields of sport science, applied mathematics and optimal control. In this article, we propose a reinforcement learning-based solution to the optimal control problem in the running race application. Well-known mathematical model...

We propose an adaptive run-time failure recovery control system for quadcopter drones, based on remote real-time processing of measurement data streams. Particularly, the measured RPM values of the quadcopter motors are transmitted to a remote machine which hosts failure detection algorithms and performs recovery procedure. The proposed control sys...

The real-time recognition of pain level is required to perform an accurate pain assessment of patients in the intensive care unit, infants, and other subjects who may not be able to communicate verbally or even express the sensation of pain. Facial expression is a key pain-related behavior that may unlock the answer to an objective pain measurement...

The focus of this work is to present a novel methodology utilizing the classical SLAM technique and integrating with the swarm agents for localizing, guiding, and retrieving the agents towards the optimal path while using only necessary tracker-based information between the agents. While navigating in an unknown environment with no-prior map inform...

This work focuses on low-energy collision avoidance and formation maintenance in autonomous swarms of drones. Here, the two main problems are: 1) how to avoid collisions by temporarily breaking the formation, i.e., collision avoidance reformation, and 2) how do such reformation while minimizing the deviation resulting in minimization of the overall...

In this paper, an adaptable fuzzy control mechanism for an Unmanned Aerial Vehicle (UAV) to manipulate its mechanical actuators is provided. The mission (landing) for the UAV is defined to track (land on) an object that is detected by a deep learning object detection algorithm. The inputs of the controller are the location and speed of the UAV that...

We propose an adaptive run-time failure recovery control system for quadcopter drones, based on remote real-time processing of measurement data streams. Particularly, the measured RPM values of the quadcopter motors are transmitted to a remote machine which hosts failure detection algorithms and performs recovery procedure. The proposed control sys...

While the effectiveness of fog computing in Internet of Things (IoT) applications has been widely investigated in various studies, there is still a lack of techniques to efficiently utilize the computing resources in a fog platform to maximize Quality of Service (QoS) and Quality of Experience (QoE). This paper presents a resource management model...

Switch Allocation (SA) holds a critical stage in Network-on-Chip (NoC) routers, its performance gets affected adversely due to Head-of-Line (HoL) blocking. In traditionally used Input-Queued Routers (IQR), packets are arranged in a particular order in each Virtual Channel (VC). This implementation is vulnerable to HoL blocking, as the switch alloca...

We propose an energy-efficient controller to minimize the energy consumption of a mobile robot by dynamically manipulating the mechanical and computational actuators of the robot. The mobile robot performs real-time vision-based applications based on an event-based camera. The actuators of the controller are CPU voltage/frequency for the computatio...

The focus of this work is to present a novel methodology for optimal distribution of a swarm formation on either side of an obstacle, when evading the obstacle, to avoid overpopulation on the sides to reduce the agents' waiting delays, resulting in a reduced overall mission time and lower energy consumption. To handle this, the problem is divided i...

This article describes ModelConductor-eXtended (MCX), which is an open-source software architecture for digital twins. The MCX framework facilitates co-execution of, and asynchronous data communication between, physical systems and their digital simulation models. MCX supports running FMUs (simulation models packaged according to the FMI specificat...

Precision agriculture (PA) is an approach that uses information technology (IT) to ensure agricultural production and increases profitability. The Internet of Things (IoT) has important applications and the potential to be used in agriculture. For instance, it can manage soil, water, and weather information for the farmers. Moreover, it can be used...

This work focuses on the formation reshaping in an optimized manner in autonomous swarm of drones. Here, the two main problems are: 1) how to break and reshape the initial formation in an optimal manner, and 2) how to do such reformation while minimizing the overall deviation of the drones and the overall time, i.e., without slowing down. To addres...

This work focuses on the formation reshaping in an optimized manner in autonomous swarm of drones. Here, the two main problems are: 1) how to break and reshape the initial formation in an optimal manner, and 2) how to do such reformation while minimizing the overall deviation of the drones and the overall time, i.e. without slowing down. To address...

The focus of this work is to analyze the behavior of an autonomous swarm, in which only the leader or a dedicated set of agents can take intelligent decisions with other agents just reacting to the information that is received by those dedicated agents, when the swarm comes across stationary or dynamic obstacles. An energy-aware information managem...

This work focuses on low-energy collision avoidance and formation maintenance in autonomous swarms of drones. Here, the two main problems are: 1) how to avoid collisions by temporarily breaking the formation, i.e., collision avoidance reformation, and 2) how do such reformation while minimizing the deviation resulting in minimization of the overall...

The focus of this work is to analyze the behaviour of an autonomous swarm, in which only the leader or a dedicated set of agents can take intelligent decisions with other agents just reacting to the information received by those dedicated agents, when the swarm comes across stationary or dynamic obstacles. An energy-aware information management alg...

Event-based cameras are vision devices that transmit only brightness changes with low latency and ultra-low power consumption. Such characteristics make event-based cameras attractive in the field of localization and object tracking in resource-constrained systems. Since the number of generated events in such cameras is huge, the selection and filt...

Event cameras, i.e., the Dynamic and Active-pixel Vision Sensor (DAVIS) ones, capture the intensity changes in the scene and generates a stream of events in an asynchronous fashion. The output rate of such cameras can reach up to 10 million events per second in high dynamic environments. DAVIS cameras use novel vision sensors that mimic human eyes....

The focus of this work is to present a novel methodology for optimal distribution of a swarm formation on either side of an obstacle, when evading the obstacle, to avoid overpopulation on the sides to reduce the agents' waiting delays, resulting in a reduced overall mission time and lower energy consumption. To handle this, the problem is divided i...

One of the important challenges in an autonomous swarm of drones is the dependability of the swarm to continue its mission. Engine failure or propeller disintegration poses a significant risk to the operation of each node of the swarm and if it happens the system should be able to tolerate such malfunction by reconfiguring the swarm and reforming i...

Event-based cameras are vision devices that transmit only brightness changes with low latency and ultra-low power consumption. Such characteristics make event-based cameras attractive in the field of localization and object tracking in resource-constrained systems. Since the number of generated events in such cameras is huge, the selection and filt...

Event cameras, i.e., the Dynamic and Active-pixel Vision Sensor (DAVIS) ones, capture the intensity changes in the scene and generates a stream of events in an asynchronous fashion. The output rate of such cameras can reach up to 10 million events per second in high dynamic environments. DAVIS cameras use novel vision sensors that mimic human eyes....

Moving towards autonomy, unmanned vehicles rely heavily on state-of-the-art collision avoidance systems (CAS). However, the detection of obstacles especially during night-time is still a challenging task since the lighting conditions are not sufficient for traditional cameras to function properly. Therefore, we exploit the powerful attributes of ev...

This work focuses on the formation reshaping in an optimized manner in autonomous swarm of drones. Here, the two main problems are: 1) how to break and reshape the initial formation in an optimal manner, and 2) how to do such reformation while minimizing the overall deviation of the drones and the overall time, i.e., without slowing down. To addres...

Moving towards autonomy, unmanned vehicles rely heavily on state-of-the-art collision avoidance systems (CAS). However, the detection of obstacles especially during night-time is still a challenging task since the lighting conditions are not sufficient for traditional cameras to function properly. Therefore, we exploit the powerful attributes of ev...

Event cameras, i.e., the Dynamic and Active-pixel VisionSensor (DAVIS) ones, capture the intensity changes in the scene and generates a stream of events in an asynchronous fashion. The output rate of such cameras can reach up to 10 million events per second in high dynamic environments. DAVIS cameras use novel vision sensors that mimic human eyes....

Nonintrusive Appliance Load Monitoring (NIALM) is used to analyze individual’s house energy consumption by distinguishing variations in voltage and current of appliances in a household. The method identifies load consumption of each appliance from the aggregated home energy consumption. NIALM will also provide information of load consumptions of ea...

Two important aspects in dealing with autonomous navigation of a swarm of drones are collision avoidance mechanism and formation control strategy; a possible competition between these two modes of operation may have negative implications for success and efficiency of the mission. This issue is exacerbated in the case of distributed formation contro...

This work focuses on the development of an effective collision avoidance algorithm that detects and avoids obstacles autonomously in the vicinity of a potential collision by using a single ultrasonic sensor and controlling the movement of the vehicle. The objectives are to minimise the deviation from the vehicle's original path and also the develop...

Moving towards autonomy, unmanned vehicles rely heavily on state-of-the-art collision avoidance systems (CAS). However, the detection of obstacles especially during night-time is still a challenging task since the lighting conditions are not sufficient for traditional cameras to function properly. Therefore, we exploit the powerful attributes of ev...

In this paper, we propose a generalized wrapper-based feature selection, called GeFeS, which is based on a parallel new intelligent genetic algorithm (GA). The proposed GeFeS works properly under different numerical dataset dimensions and sizes, carefully tries to avoid overfitting and significantly enhances classification accuracy. To make the GA...

The development of a navigation system for the landing of a swarm of drones on a movable surface is one of the major challenges in building a fully autonomous platform. Hence, the purpose of this study is to investigate the behaviour of a swarm of ten drones under the mission of soft landing on a movable surface that has a linear speed with the eff...

This work focuses on an autonomous swarm of drones, a multi-agent system, where the leader agent has the capability of intelligent decision making while the other agents in the swarm follow the leader blindly. The proposed algorithm helps with cost cutting especially in the multi-drone systems, i.e., swarms, by reducing the power consumption and pr...

This work focuses on an autonomous swarm of drones, a multi-agent system, where the leader agent has the capability of intelligent decision making while the other agents in the swarm follow the leader blindly. The proposed algorithm helps with cost cutting especially in the multi-drone systems, i.e., swarms, by reducing the power consumption and pr...

Moving towards autonomy, unmanned vehicles rely heavily on state-of-the-art collision avoidance systems (CAS). A lot of work is being done to make the CAS as safe and reliable as possible, necessitating a comparative study of the recent work in this important area. The paper provides a comprehensive review of collision avoidance strategies used for...

A key problem in cooperative robotics is the maintenance of a geometric configuration during movement. As a solution for this, a multi-layered and distributed control system is proposed for the swarm of drones in the formation of hierarchical levels based on the leader–follower approach. The complexity of developing a large system can be reduced in...

Retinal cameras, such as dynamic vision sensors (DVF), transmit asynchronous events with ultra-low latency (\(\sim \)10 \(\upmu \)s) only at significant luminance changes, unlike traditional CMOS cameras which transmit the absolute brightness of all pixels including redundant backgrounds. Due to these significant characteristics, they offer great p...

Recent technical advancements in both fields of unmanned aerial vehicles (UAV) control and artificial intelligence (AI) have made a certain realm of applications possible. However, one of the main problems in integration of these two areas is the bottle-neck of computing AI applications on UAV’s resource limited platform. One of the main solution f...

Visual odometry (VO) and visual simultaneous localization and mapping (V-SLAM) have gained a lot of attention in the field of autonomous robots due to the high amount of information per unit cost vision sensors can provide. One main problem in VO techniques is the high amount of data that a pixelated image has, affecting negatively the overall perf...

Visual odometry (VO) is one of the most challenging techniques in computer vision for autonomous vehicle/vessels. In VO, the camera pose that also represents the robot pose in ego-motion is estimated analyzing the features and pixels extracted from the camera images. Different VO techniques mainly provide different trade-offs among the resources th...

The Particle Telescope (PATE) of FORESAIL-1 mission is described. FORESAIL-1 is a CubeSat mission to polar Low Earth Orbit. Its scientific objectives are to characterize electron precipitation from the radiation belts and to observe energetic neutral atoms (ENAs) originating from the Sun during the strongest solar flares. For that purpose, the 3-un...

The Particle Telescope (PATE) of FORESAIL-1 mission is described. FORESAIL-1 is a CubeSat mission to polar Low Earth Orbit. Its scientific objectives are to characterize electron precipitation from the radiation belts and to observe energetic neutral atoms (ENAs) originating from the Sun during the strongest solar flares. For that purpose, the 3-un...

The unmanned aerial vehicles or drones come in a great diversity depending upon the basic frameworks with their particular specifications. The purpose of this study is to analyse the core characteristics of the swarming drones and measure the public awareness levels with respect to these swarms. To achieve these goals, the functionality, problems,...

Distributed formation control and obstacle avoidance are two important challenges in autonomous navigation of a swarm of drones and can negatively affect each other due to possible competition that arises between them. In such a platform, a multi-priority control strategy is needed to be executed in each node to dynamically optimize the trade-offs...

A structural health-monitoring system needed to come out from the problem associated due to the rapidly growing population of elderly and the health care demand. The paper discussed the consumer’s electricity usage data, from the smart meter, how to support the healthcare sector by load profiling the normal or abnormal energy consumption. For this...

Today, the near‐Earth space is facing a paradigm change as the number of new spacecraft is literally skyrocketing. Increasing numbers of small satellites threaten the sustainable use of space, as without removal, space debris will eventually make certain critical orbits unusable. A central factor affecting small spacecraft health and leading to deb...

The development of a navigation system is one of the major challenges in building a fully autonomous platform. Full autonomy requires a dependable navigation capability not only in a perfect situation with clear GPS signals, but also in situations where the GPS is unreliable. Therefore, self-contained odometry systems have attracted much attention...

Protocols enable things to connect and communicate, thus making the Internet of Things possible. The performance aspect of the Internet of Things protocols, vital to its widespread utilization, have received much attention. However, one aspect of IoT protocols, essential to its adoption in the real world, is a protocols’ feature set. Comparative an...

Today, the near-Earth space is facing a paradigm change as the number of new spacecraft is literally sky-rocketing. Increasing numbers of small satellites threaten the sustainable use of space, as without removal, space debris will eventually make certain critical orbits unusable. A central factor affecting small spacecraft health and leading to de...

Robust real-time object detection and tracking are challenging problems in autonomous transportation systems due to operation of algorithms in inherently uncertain and dynamic environments and rapid movement of objects. Therefore, tracking and detection algorithms must cooperate with each other to achieve smooth tracking of detected objects that la...

Fog networks have been introduced as a new intermediate computational layer between the cloud layer and the consumer layer in a typical cloud computing model. The fog layer takes advantage of distributed computing through tiny smart devices and access points. To enhance the performance of the fog layer we propose utilization of unused computational...

Container-based virtualization offers a very feasible alternative to heavyweights like KVM or XEN. Containers are lightweight and offer near-native performance. They are also easy to deploy because of continuous integration/development tools and environments. This paper offers a brief introduction to containers, defines its properties and provides...

The task scheduling problem for Multiprocessor System-on-Chips (MPSoC), which plays a vital role in performance, is an NP-hard problem. Exploring the whole search space in order to find the optimal solution is not time efficient, thus metaheuristics are mostly used to find a near-optimal solution in a reasonable amount of time. We propose a novel m...

The importance of optimization and NP-problem solving cannot be overemphasized. The usefulness and popularity of evolutionary computing methods are also well established. There are various types of evolutionary methods; they are mostly sequential but some of them have parallel implementations as well. We propose a multi-population method to paralle...

Feature selection is a key step in data analysis. However, most of the existing feature selection techniques are serial and inefficient to be applied to massive data sets. We propose a feature selection method based on a multi-population weighted intelligent genetic algorithm to enhance the reliability of diagnoses in e-Health applications. The pro...

Increasingly sophisticated, complex, and energyefficient cyber-physical systems and wireless sensor networks are emerging, facilitated by recent advances in computing and sensor technologies. Integration of cyberphysical systems and wireless sensor networks with other contemporary technologies (e.g., unmanned aerial vehicles and fog computing) enab...

In this paper, a new approach for tackling Big Data in Internet of Things (IoT) systems is presented. We approach the problem from the data perspective rather than only focusing on the computing platform. We design and develop a concept that we call Smart Data. Taking advantage of a hierarchical fog computing system, we reshape the raw and passive...

The current decade has witnessed a wide deployment of Internet of Things (IoT) technology in various application domains, and its pervasive role will continue to strengthen in the future. For dealing with a vast number of connected devices and the big data generated by them, an efficient computing platform is required. Fog computing has been propos...

The management of Big Data is a very important issue in emerging IoT technologies. Conventional methods are not sufficient to deal with the ever-increasing amount of raw data originating from the sensors. In this paper we approach this problem from the data structure perspective. We design and develop a concept that we call " Smart Data ". Smart Da...

The Internet of Things (IoT) is widely used in advanced logistic systems. Safety and security of such systems are utmost important to guarantee the quality of their services. However, such systems are vulnerable to cyber-attacks. Development of lightweight anomaly based intrusion detection systems (IDS) is one of the key measures to tackle this pro...

Pattern discovery is one of the fundamental tasks in bioinformatics and pattern recognition is a powerful technique for searching sequence patterns in the biological sequence databases. Fast and high performance algorithms are highly demanded in many applications in bioinformatics and computational molecular biology since the significant increase i...

In IoT healthcare platform, a variety of biosignals are acquired from its sensors and appropriate feature extraction techniques are crucial in order to make use of the acquired biosignal data and help the healthcare scientist or bio-engineer to reach at optimal decisions. This work reviews the existing biosignal feature extraction and classificatio...

The widespread importance of optimization and solving NP-hard problems, like solving systems of nonlinear equations, is indisputable in a diverse range of sciences. Vast uses of non-linear equations are undeniable. Some of their applications are in economics, engineering, chemistry, mechanics, medicine, and robotics. There are different types of me...

Increasingly sophisticated, complex, and energy-efficient cyber-physical systems and wireless sensor networks are emerging, facilitated by recent advances in computing and sensor technologies. Integration of cyber-physical systems and wireless sensor networks with other contemporary technologies, such as unmanned aerial vehicles and fog or edge com...

Security is an essential factor in wireless sensor networks especially for E-health applications. One of the common mechanisms to satisfy the security requirements is cryptography. Among the cryptographic methods, elliptic curve cryptography is well-known, as by having a small key length it provides the same security level in comparison with the ot...