Search Results (2,910)

The agri-food sector is undergoing a comprehensive transformation as it transitions towards net zero. To achieve this, fundamental changes and innovations are required, including changes in how food is produced and delivered to customers, new technologies, data and physical infrastructures, and algorithmic advancements. In this paper, we explore the opportunities and challenges of deploying AI-based data infrastructures for sustainability in the agri-food sector by focusing on two case studies: soft-fruit production and brewery operations. We investigate the potential benefits of incorporating Internet of Things (IoT) sensors and AI technologies for improving the use of resources, reducing carbon footprints, and enhancing decision-making. We identify user engagement with new technologies as a key challenge, together with issues in data quality arising from environmental volatility, difficulties in generalising models, including those designed for carbon calculators, and socio-technical barriers to adoption. We highlight and advocate for user engagement, more granular availability of sensor, production, and emissions data, and more transparent carbon footprint calculations. Our proposed future directions include semantic data integration to enhance interoperability, the generation of synthetic data to overcome the lack of real-world farm data, and multi-objective optimisation systems to model the competing interests between yield and sustainability goals. In general, we argue that AI is not a silver bullet for net zero challenges in the agri-food industry, but at the same time, AI solutions, when appropriately designed and deployed, can be a useful tool when operating in synergy with other approaches. Full article

Structural health monitoring (SHM) plays a crucial role in ensuring the safety of infrastructure in general, especially critical infrastructure such as bridges. SHM systems allow the real-time monitoring of structural conditions and early detection of abnormalities. This enables managers to make accurate decisions during the operation of the infrastructure. However, for various reasons, data from SHM systems may be interrupted or faulty, leading to serious consequences. This study proposes using a Convolutional Neural Network (CNN) combined with Gated Recurrent Units (GRUs) to recover lost data from accelerometer sensors in SHM systems. CNNs are adept at capturing spatial patterns in data, making them highly effective for recognizing localized features in sensor signals. At the same time, GRUs are designed to model sequential dependencies over time, making the combined architecture particularly suited for time-series data. A dataset collected from a real bridge structure will be used to validate the proposed method. Different cases of data loss are considered to demonstrate the feasibility and potential of the CNN-GRU approach. The results show that the CNN-GRU hybrid network effectively recovers data in both single-channel and multi-channel data loss scenarios. Full article

IoT devices with limited resources, and in the absence of gateways, become vulnerable to various attacks, such as denial of service (DoS) and man-in-the-middle (MITM) attacks. Intrusion detection systems (IDS) are designed to detect and respond to these threats in IoT environments. While machine learning-based IDS have typically been deployed at the edge (gateways) or in the cloud, in the absence of gateways, the IDS must be embedded within the sensor nodes themselves. Available datasets mainly contain features extracted from network traffic at the edge (e.g., Raspberry Pi/computer) or cloud servers. We developed a unique dataset, named as Intrusion Detection in the Smart Homes (IDSH) dataset, which is based on features retrievable from microcontroller-based IoT devices. In this work, a Tree-based IDS is embedded into a smart thermostat for real-time intrusion detection. The results demonstrated that the IDS achieved an accuracy of 98.71% for binary classification with an inference time of 276 microseconds, and an accuracy of 97.51% for multi-classification with an inference time of 273 microseconds. Real-time testing showed that the smart thermostat is capable of detecting DoS and MITM attacks without relying on a gateway or cloud. Full article

With the advancement of technology, unmanned ground vehicles (UGVs) have shown increasing application value in various tasks, such as food delivery and cleaning. A key capability of UGVs is obstacle detection, which is essential for avoiding collisions during movement. Current mainstream methods use point cloud information from onboard sensors, such as light detection and ranging (LiDAR) and depth cameras, for obstacle perception. However, the substantial volume of point clouds generated by these sensors, coupled with the presence of noise, poses significant challenges for efficient obstacle detection. Therefore, this paper presents a fast obstacle detection algorithm designed to ensure the safe operation of UGVs. Building on multi-sensor point cloud fusion, an efficient ground segmentation algorithm based on multi-plane fitting and plane combination is proposed in order to prevent them from being considered as obstacles. Additionally, instead of point cloud clustering, a vertical projection method is used to count the distribution of the potential obstacle points through converting the point cloud to a 2D polar coordinate system. Points in the fan-shaped area with a density lower than a certain threshold will be considered as noise. To verify the effectiveness of the proposed algorithm, a cleaning UGV equipped with one LiDAR sensor and four depth cameras is used to test the performance of obstacle detection in various environments. Several experiments have demonstrated the effectiveness and real-time capability of the proposed algorithm. The experimental results show that the proposed algorithm achieves an over 90% detection rate within a 20 m sensing area and has an average processing time of just 14.1 ms per frame. Full article

This article delineates the enhancement of an autonomous navigation and obstacle avoidance system for a quadruped robot dog. Part one of this paper presents the integration of a sophisticated multi-level dynamic control framework, utilizing Model Predictive Control (MPC) and Whole-Body Control (WBC) from MIT Cheetah. The system employs an Intel RealSense D435i depth camera for depth vision-based navigation, which enables high-fidelity 3D environmental mapping and real-time path planning. A significant innovation is the customization of the EGO-Planner to optimize trajectory planning in dynamically changing terrains, coupled with the implementation of a multi-body dynamics model that significantly improves the robot’s stability and maneuverability across various surfaces. The experimental results show that the RGB-D system exhibits superior velocity stability and trajectory accuracy to the SLAM system, with a 20% reduction in the cumulative velocity error and a 10% improvement in path tracking precision. The experimental results also show that the RGB-D system achieves smoother navigation, requiring 15% fewer iterations for path planning, and a 30% faster success rate recovery in challenging environments. The successful application of these technologies in simulated urban disaster scenarios suggests promising future applications in emergency response and complex urban environments. Part two of this paper presents the development of a robust path planning algorithm for a robot dog on a rough terrain based on attached binocular vision navigation. We use a commercial-of-the-shelf (COTS) robot dog. An optical CCD binocular vision dynamic tracking system is used to provide environment information. Likewise, the pose and posture of the robot dog are obtained from the robot’s own sensors, and a kinematics model is established. Then, a binocular vision tracking method is developed to determine the optimal path, provide a proposal (commands to actuators) of the position and posture of the bionic robot, and achieve stable motion on tough terrains. The terrain is assumed to be a gentle uneven terrain to begin with and subsequently proceeds to a more rough surface. This work consists of four steps: (1) pose and position data are acquired from the robot dog’s own inertial sensors, (2) terrain and environment information is input from onboard cameras, (3) information is fused (integrated), and (4) path planning and motion control proposals are made. Ultimately, this work provides a robust framework for future developments in the vision-based navigation and control of quadruped robots, offering potential solutions for navigating complex and dynamic terrains. Full article

To enhance lychee quality assessment and address inconsistencies in post-harvest pest detection, this study presents a multi-source fusion approach combining hyperspectral imaging, X-ray imaging, and visible/near-infrared (Vis/NIR) spectroscopy. Traditional single-sensor methods are limited in detecting pest damage, particularly in lychees with complex skins, as they often fail to capture both external and internal fruit characteristics. By integrating multiple sensors, our approach overcomes these limitations, offering a more accurate and robust detection system. Significant differences were observed between pest-free and infested lychees. Pest-free lychees exhibited higher hardness, soluble sugars (11% higher in flesh, 7% higher in peel), vitamin C (50% higher in flesh, 2% higher in peel), polyphenols, anthocyanins, and ORAC values (26%, 9%, and 14% higher, respectively). The Vis/NIR data processed with SG+SNV+CARS yielded a partial least squares regression (PLSR) model with an R² of 0.82, an RMSE of 0.18, and accuracy of 89.22%. The hyperspectral model, using SG+MSC+SPA, achieved an R² of 0.69, an RMSE of 0.23, and 81.74% accuracy, while the X-ray method with support vector regression (SVR) reached an R² of 0.69, an RMSE of 0.22, and 76.25% accuracy. Through feature-level fusion, Recursive Feature Elimination with Cross-Validation (RFECV), and dimensionality reduction using PCA, we optimized hyperparameters and developed a Random Forest model. This model achieved 92.39% accuracy in pest detection, outperforming the individual methods by 3.17%, 10.25%, and 16.14%, respectively. The multi-source fusion approach also improved the overall accuracy by 4.79%, highlighting the critical role of sensor fusion in enhancing pest detection and supporting the development of automated non-destructive systems for lychee stem borer detection. Full article

Background: The generation and perfusion of complex vascularized tissues in vitro requires sophisticated perfusion techniques. For multiscale arteriovenous networks, not only the arterial, but also the venous, biomechanical and biochemical conditions that physiologically exist in the human body must be accurately emulated. For this, we here present a modular arteriovenous perfusion system for the in vitro culture of a multi-scale bioartificial vascular network. Methods: The custom-built perfusion system consisted of two circuits: in the arterial circuit, physiological arterial biomechanical and biochemical conditions were simulated using a modular set-up with a pulsatile peristaltic pump, compliance chambers, and resistors. In the venous circuit, venous conditions were emulated accordingly. In the center of the system, a bioartificial multi-scale vascularized fibrin-based tissue was perfused by both circuits simultaneously under biomimetic arteriovenous conditions. Culture conditions were monitored continuously using a multi-sensor monitoring system. Results: The physiological arterial and venous pressure- and flow-curves, as well as the microvascular arteriovenous oxygen partial pressure gradient, were accurately emulated in the perfusion system. The multi-sensor monitoring system facilitated live monitoring of the respective parameters and data-logging. In a proof-of-concept experiment, vascularized three-dimensional fibrin tissues showed sustained cell viability and homogenous microvessel formation after culture in the perfusion system. Conclusions: The arteriovenous perfusion system facilitated the in vitro culture of a multiscale vascularized tissue under physiological pressure-, flow-, and oxygen-gradient conditions. With that, it presents a promising technique for the in vitro generation and culture of complex large-scale vascularized tissues. Full article

This study explores Human Activity Recognition (HAR) using smartphone sensors to address the challenges posed by position-dependent datasets. We propose a position-independent system that leverages data from accelerometers, gyroscopes, linear accelerometers, and gravity sensors collected from smartphones placed either on the chest or in the left/right leg pocket. The performance of traditional machine learning algorithms (Decision Trees (DT), K-Nearest Neighbors (KNN), Random Forest (RF), Support Vector Classifier (SVC), and XGBoost) is compared against deep learning models (Gated Recurrent Unit (GRU), Long Short-Term Memory (LSTM), Temporal Convolutional Networks (TCN), and Transformer models) under two sensor configurations. Our findings highlight that the Temporal Convolutional Network (TCN) model consistently outperforms other models, particularly in the four-sensor non-overlapping configuration, achieving the highest accuracy of 97.70%. Deep learning models such as LSTM, GRU, and Transformer also demonstrate strong performance, showcasing their effectiveness in capturing temporal dependencies in HAR tasks. Traditional machine learning models, including RF and XGBoost, provide reasonable performance but do not match the accuracy of deep learning models. Additionally, incorporating data from linear accelerometers and gravity sensors led to slight improvements over using accelerometer and gyroscope data alone. This research enhances the recognition of passenger behaviors for intelligent transportation systems, contributing to more efficient congestion management and emergency response strategies. Full article

The increasing presence of autonomous vehicles (AVs) in transportation, driven by advances in AI and robotics, requires a strong focus on safety in mixed-traffic environments to promote sustainable transportation systems. This study analyzes AV crashes in California using advanced machine learning to identify patterns among various crash factors. The main objective is to explore AV crash mechanisms by extracting association rules and developing a decision tree model to understand interactions between pre-crash conditions, driving states, crash types, severity, locations, and other variables. A multi-faceted approach, including statistical analysis, data mining, and machine learning, was used to model crash types. The SMOTE method addressed data imbalance, with models like CART, Apriori, RF, XGB, SHAP, and Pearson’s test applied for analysis. Findings reveal that rear-end crashes are the most common, making up over 50% of incidents. Side crashes at night are also frequent, while angular and head-on crashes tend to be more severe. The study identifies high-risk locations, such as complex unsignalized intersections, and highlights the need for improved AV sensor technology, AV–infrastructure coordination, and driver training. Technological advancements like V2V and V2I communication are suggested to significantly reduce the number and severity of specific types of crashes, thereby enhancing the overall safety and sustainability of transportation systems. Full article

The accurate measurement of pulverized coal concentration (PCC) is crucial for optimizing the production efficiency and safety of coal-fired power plants. Traditional microwave attenuation methods typically rely on a single frequency for analysis while neglecting valuable information in the frequency domain, making them susceptible to the varying sensitivity of the signal at different frequencies. To address this issue, we proposed an innovative frequency selection method based on principal component analysis (PCA) and orthogonal matching pursuit (OMP) algorithms and implemented a multi-frequency microwave sensing system for PCC measurement. This method transcended the constraints of single-frequency analysis by employing a developed hardware system to control multiple working frequencies and signal paths. It measured insertion loss data across the sensor cross-section at various frequencies and utilized PCA to reduce the dimensionality of high-dimensional full-path insertion loss data. Subsequently, the OMP algorithm was applied to select the optimal frequency signal combination based on the contribution rates of the eigenvectors, enhancing the measurement accuracy through multi-dimensional fusion. The experimental results demonstrated that the multi-frequency microwave sensing system effectively extracted features from the high-dimensional PCC samples and selected the optimal frequency combination. Filed experiments conducted on five coal mills showed that, within a common PCC range of 0–0.5 kg/kg, the system achieved a minimum mean absolute error (MAE) of 1.41% and a correlation coefficient of 0.85. These results indicate that the system could quantitatively predict PCC and promptly detect PCC fluctuations, highlighting its immediacy and reliability. Full article

Immersive human–machine interaction relies on comprehensive sensing and feedback systems, which enable transmission of multiple pieces of information. However, the integration of increasing numbers of feedback actuators and sensors causes a severe issue in terms of system complexity. In this work, we propose a pressure-sensing and feedback glove that enables multi-dimensional pressure sensing and feedback with a minimalist design of the functional units. The proposed glove consists of modular strain and pressure sensors based on films of liquid metal microchannels and coin vibrators. Strain sensors located at the finger joints can simultaneously project the bending motion of the individual joint into the virtual space or robotic hand. For subsequent tactile interactions, the design of two symmetrically distributed pressure sensors and vibrators at the fingertips possesses capabilities for multi-directional pressure sensing and feedback by evaluating the relationship of the signal variations between two sensors and tuning the feedback intensities of two vibrators. Consequently, both dynamic and static multi-dimensional pressure communication can be realized, and the vibrational actuation can be monitored by a liquid-metal-based sensor via a triboelectric sensing mechanism. A demonstration of object interaction indicates that the proposed glove can effectively detect dynamic force in varied directions at the fingertip while offering the reconstruction of a similar perception via the haptic feedback function. This device introduces an approach that adopts a minimalist design to achieve a multi-functional system, and it can benefit commercial applications in a more cost-effective way. Full article

In the past few years, one of the largest industries in the world, the agriculture sector, has faced many challenges, such as climate change and the depletion of limited natural resources. Smart Agriculture, based on IoT, is considered a transformative force that will play a crucial role in the further advancement of the agri-food sector. Furthermore, in IoT-based Smart Agriculture systems, radio wave propagation faces unique challenges (such as attenuation in vegetation and soil and multiple reflections) because of sensor nodes deployed in agriculture fields at or slightly above the ground level. In our study, we present, for the first time, several models (Multi-slope, Weissberger, and COST-235) suitable for planning radio coverage in a cornfield for Smart Agriculture applications. We received signal level measurements as a function of distance in a corn field (R3 corn stage) at 0.9 GHz and 2.4 GHz using two transmitting and two receiving antenna heights, with both horizontal and vertical polarization. The results indicate that radio wave propagation in a corn field is influenced not only by the surrounding environment (i.e., corn), but also by the antenna polarization and the positions of the transmitting and receiving antennas relative to the ground. Full article

The foundation of robot autonomous movement is to quickly grasp the position and surroundings of the robot, which SLAM technology provides important support for. Due to the complex and dynamic environments, single-sensor SLAM methods often have the problem of degeneracy. In this paper, a multi-sensor fusion SLAM method based on the LVI-SAM framework was proposed. First of all, the state-of-the-art feature detection algorithm SuperPoint is used to extract the feature points from a visual-inertial system, enhancing the detection ability of feature points in complex scenarios. In addition, to improve the performance of loop-closure detection in complex scenarios, scan context is used to optimize the loop-closure detection. Ultimately, the experiment results show that the RMSE of the trajectory under the 05 sequence from the KITTI dataset and the Street07 sequence from the M2DGR dataset are reduced by 12% and 11%, respectively, compared to LVI-SAM. In simulated complex environments of animal farms, the error of this method at the starting and ending points of the trajectory is less than that of LVI-SAM, as well. All these experimental comparison results prove that the method proposed in this paper can achieve higher precision and robustness performance in localization and mapping within complex environments of animal farms. Full article

This paper presents the mission analysis of ³Cat-8, a 6-Unit CubeSat mission being developed by the UPC NanoSat Lab for ionospheric research. The primary objective of the mission is to monitor the ionospheric scintillation of the aurora, and to perform several technological demonstrations. The satellite incorporates several novel systems, including a deployable Fresnel Zone Plate Antenna (FZPA), an integrated PocketQube deployer, a dual-receiver GNSS board for radio occultation and reflectometry experiments, and a polarimetric multi-spectral imager for auroral emission observations. The mission design, the suite of payloads, and the concept of operations are described in detail. This paper discusses the current development status of ³Cat-8, with several subsystems already developed and others in the final design phase. It is expected that the data gathered by ³Cat-8 will contribute to a better understanding of ionospheric effects on radio wave propagation and demonstrate the feasibility of compact remote sensors in a CubeSat platform. Full article

The last decade has seen a significant growth in the adoption of low-cost air quality monitoring systems (LCAQMSs), mostly driven by the need to overcome the spatial density limitations of traditional regulatory grade networks. However, urban air quality monitoring scenarios have proved extremely challenging for their operative deployment. In fact, these scenarios need pervasive, accurate, personalized monitoring solutions along with powerful data management technologies and targeted communications tools; otherwise, these scenarios can lead to a lack of stakeholder trust, awareness, and, consequently, environmental inequalities. The AirHeritage project, funded by the EU’s Urban Innovative Action (UIA) program, addressed these issues by integrating intelligent LCAQMSs with conventional monitoring systems and engaging the local community in multi-year measurement strategies. Its implementation allowed us to explore the benefits and limitations of citizen science approaches, the logistic and functional impacts of IoT infrastructures and calibration methodologies, and the integration of AI and geostatistical sensor fusion algorithms for mobile and opportunistic air quality measurements and reporting. Similar research or operative projects have been implemented in the recent past, often focusing on a limited set of the involved challenges. Unfortunately, detailed reports as well as recorded and/or cured data are often not publicly available, thus limiting the development of the field. This work openly reports on the lessons learned and experiences from the AirHeritage project, including device accuracy variance, field recording assessments, and high-resolution mapping outcomes, aiming to guide future implementations in similar contexts and support repeatability as well as further research by delivering an open datalake. By sharing these insights along with the gathered datalake, we aim to inform stakeholders, including researchers, citizens, public authorities, and agencies, about effective strategies for deploying and utilizing LCAQMSs to enhance air quality monitoring and public awareness on this challenging urban environment issue. Full article