Search Results (970)

This work presents an innovative approach for tuning the Kalman filter in INS/GNSS integration, combining states from the inertial navigation system (INS) and data from the Global Navigation Satellite System (GNSS) to enhance navigation accuracy. The INS uses measurements from accelerometers and gyroscopes, which are subject to uncertainties in scale factor, misalignment, non-orthogonality, and bias, as well as temporal, thermal, and vibration variations. The GNSS receiver faces challenges such as multipath, temporary signal loss, and susceptibility to high-frequency noise. The novel approach for Kalman filter tuning involves previously performing Monte Carlo simulations using ideal data from a predetermined trajectory, applying the inertial sensor error model. For the indirect filter, errors from inertial sensors are used, while, for the direct filter, navigation errors in position, velocity, and attitude are also considered to obtain the process noise covariance matrix Q. This methodology is tested and validated with real data from Castro Leite Consultoria’s commercial platforms, PINA-F and PINA-M. The results demonstrate the efficiency and consistency of the estimation technique, highlighting its applicability in real scenarios. Full article

The accuracy of data perception in Internet of Things (IoT) systems is fundamental to achieving scientific decision-making and intelligent control. Given the frequent occurrence of sensor failures in complex environments, a rapid and accurate fault diagnosis and handling mechanism is crucial for ensuring the stable operation of the system. Addressing the challenges of insufficient feature extraction and sparse sample data that lead to low fault diagnosis accuracy, this study explores the construction of a fault diagnosis model tailored for agricultural sensors, with the aim of accurately identifying and analyzing various sensor fault modes, including but not limited to bias, drift, accuracy degradation, and complete failure. This study proposes an improved dung beetle optimization–support vector machine (IDBO-SVM) diagnostic model, leveraging the optimization capabilities of the former to finely tune the parameters of the Support Vector Machine (SVM) to enhance fault recognition under conditions of limited sample data. Case analyses were conducted using temperature and humidity sensors in air and soil, with comprehensive performance comparisons made against mainstream algorithms such as the Backpropagation (BP) neural network, Sparrow Search Algorithm–Support Vector Machine (SSA-SVM), and Elman neural network. The results demonstrate that the proposed model achieved an average diagnostic accuracy of 94.91%, significantly outperforming other comparative models. This finding fully validates the model’s potential in enhancing the stability and reliability of control systems. The research results not only provide new ideas and methods for fault diagnosis in IoT systems but also lay a foundation for achieving more precise, efficient intelligent control and scientific decision-making. Full article

The sea surface skin temperature (SST_skin) is of critical importance with regard to air–sea interactions and marine carbon circulation. At present, no single remote sensor is capable of providing a gap-free SST_skin. The use of data fusion techniques is therefore essential for the purpose of filling these gaps. The extant fusion methodologies frequently fail to account for the influence of depth disparities and the diurnal variability of sea surface temperatures (SSTs) retrieved from multi-sensors. We have developed a novel approach that integrates depth and diurnal corrections and employs advanced data fusion techniques to generate hourly gap-free SST datasets. The General Ocean Turbulence Model (GOTM) is employed to model the diurnal variability of the SST profile, incorporating depth and diurnal corrections. Subsequently, the corrected SSTs at the same observed time and depth are blended using the Markov method and the remaining data gaps are filled with optimal interpolation. The overall precision of the hourly gap-free SST_skin generated demonstrates a mean bias of −0.14 °C and a root mean square error of 0.57 °C, which is comparable to the precision of satellite observations. The hourly gap-free SST_skin is vital for improving our comprehension of air–sea interactions and monitoring critical oceanographic processes with high-frequency variability. Full article

Balance deficits are present in a variety of clinical populations and can negatively impact quality of life. The integration of wearable sensors and machine learning technology (ML) provides unique opportunities to quantify biomechanical characteristics related to balance outside of a laboratory setting. This article provides a general overview of recent developments in using wearable sensors and ML to estimate or predict biomechanical characteristics such as center of pressure (CoP) and center of mass (CoM) motion. This systematic review was conducted according to PRISMA guidelines. Databases including Scopus, PubMed, CINHAL, Trip PRO, Cochrane, and Otseeker databases were searched for publications on the use of wearable sensors combined with ML to predict biomechanical characteristics. Fourteen publications met the inclusion criteria and were included in this review. From each publication, information on study characteristics, testing conditions, ML models applied, estimated biomechanical characteristics, and sensor positions were extracted. Additionally, the study type, level of evidence, and Downs and Black scale score were reported to evaluate methodological quality and bias. Most studies tested subjects during walking and utilized some type of neural network (NN) ML model to estimate biomechanical characteristics. Many of the studies focused on minimizing the necessary number of sensors and placed them on areas near or below the waist. Nearly all studies reporting RMSE and correlation coefficients had values <15% and >0.85, respectively, indicating strong ML model estimation accuracy. Overall, this review can help guide the future development of ML algorithms and wearable sensor technologies to estimate postural mechanics. Full article

The high-performance vector control technology of permanent magnet synchronous machines (PMSMs) relies on high-precision rotor position. The Hall-effect sensor has the advantages of low cost, simple installation, and strong anti-interference ability. However, it can only provide six discrete rotor angles in an electrical cycle, which makes high-precision vector control of PMSMs difficult. Hence, to obtain the necessary rotor position of PMSMs, a rotor position fitting method combining the Hall signal and machine flux information is proposed. Firstly, the rotor position signal output by the Hall-effect sensors is used to calibrate and update the stator flux obtained under pure integration. Then, based on the corrected stator flux and its relationship with current and angle, the rotor position and speed are obtained. Experimental verification shows that the rotor position observer combining Hall signal and flux information can reduce the initial value bias and integral drift caused by traditional average speed method hysteresis and pure integration method calculation of flux and can quickly and accurately track and estimate the rotor position, achieving high-performance vector control of PMSMs. Full article

Given the recent proliferation of Unmanned Aerial Systems (UASs) and the consequent importance of counter-UASs, this project aims to perform the detection and tracking of small non-cooperative UASs using Electro-optical (EO) and Infrared (IR) sensors. Two data integration techniques, at the decision and pixel levels, are compared with the use of each sensor independently to evaluate the system robustness in different operational conditions. The data are submitted to a YOLOv7 detector merged with a ByteTrack tracker. For training and validation, additional efforts are made towards creating datasets of spatially and temporally aligned EO and IR annotated Unmanned Aerial Vehicle (UAV) frames and videos. These consist of the acquisition of real data captured from a workstation on the ground, followed by image calibration, image alignment, the application of bias-removal techniques, and data augmentation methods to artificially create images. The performance of the detector across datasets shows an average precision of 88.4%, recall of 85.4%, and [email protected] of 88.5%. Tests conducted on the decision-level fusion architecture demonstrate notable gains in recall and precision, although at the expense of lower frame rates. Precision, recall, and frame rate are not improved by the pixel-level fusion design. Full article

When robots perform localization in indoor low-light environments, factors such as weak and uneven lighting can degrade image quality. This degradation results in a reduced number of feature extractions by the visual odometry front end and may even cause tracking loss, thereby impacting the algorithm’s positioning accuracy. To enhance the localization accuracy of mobile robots in indoor low-light environments, this paper proposes a visual inertial odometry method (L-MSCKF) based on the multi-state constraint Kalman filter. Addressing the challenges of low-light conditions, we integrated Inertial Measurement Unit (IMU) data with stereo vision odometry. The algorithm includes an image enhancement module and a gyroscope zero-bias correction mechanism to facilitate feature matching in stereo vision odometry. We conducted tests on the EuRoC dataset and compared our method with other similar algorithms, thereby validating the effectiveness and accuracy of L-MSCKF. Full article

BiFeO₃ (BFO) films with ferroelectricity are the most promising candidates regarding the next generation of storage devices and sensors. The comprehensive understanding of ferroelectric switchable properties is challenging and critical to robust domain wall nanoelectronics. Herein, the domain dynamic was explored in detail under external bias conditions using scanning probe microscopy, which is meaningful for the understanding of domain dynamics and the foundation of ferroelectric devices. The results show that domain reversal occurred under external electric fields with sufficient energy excitation, combined with the existence of a charged domain wall. These findings extend the domain dynamic and current paths in ferroelectric films and shed light on the potential applications for ferroelectric devices. Full article

Air pollution monitoring in industrial regions like Moravia-Silesia faces challenges due to complex environmental conditions. Low-cost sensors offer a promising, cost-effective alternative for supplementing data from regulatory-grade air quality monitoring stations. This study evaluates the accuracy and reliability of a prototype node containing low-cost sensors for carbon monoxide (CO) and particulate matter (PM), specifically tailored for the local conditions of the Moravian-Silesian Region during winter and spring periods. An analysis of the reference data observed during the winter evaluation period showed a strong positive correlation between PM, CO, and ${\mathrm{NO}}_2$ concentrations, attributable to common pollution sources under low ambient temperature conditions and increased local heating activity. The Sensirion SPS30 sensor exhibited high linearity during the winter period but showed a systematic positive bias in ${\mathrm{PM}}_{10}$ readings during Polish smog episodes, likely due to fine particles from domestic heating. Conversely, during Saharan dust storm episodes, the sensor showed a negative bias, underestimating ${\mathrm{PM}}_{10}$ levels due to the prevalence of coarse particles. Calibration adjustments, based on the ${\mathrm{PM}}_1{\mathrm{/PM}}_{10}$ ratio derived from Alphasense OPC-N3 data, were initially explored to reduce these biases. For the first time, this study quantifies the influence of particle size distribution on the SPS30 sensor’s response during smog episodes of varying origin, under the given local and seasonal conditions. In addition to sensor evaluation, we analyzed the potential use of data from the Copernicus Atmospheric Monitoring Service (CAMS) as an alternative to increasing sensor complexity. Our findings suggest that, with appropriate calibration, selected low-cost sensors can provide reliable data for monitoring air pollution episodes in the Moravian-Silesian Region and may also be used for future adjustments of CAMS model predictions. Full article

Sentinel-2/MSI and Landsat-8/OLI sensors enable the mapping of ocean color-related bio-optical parameters of surface coastal and inland waters. While many algorithms have been developed to estimate the Chlorophyll-a concentration, Chl-a, and the suspended particulate matter, SPM, from OLI and MSI data, the absorption by colored dissolved organic matter, a_cdom, a key parameter to monitor the concentration of dissolved organic matter, has received less attention. Herein we present an inverse model (hereafter referred to as AquaCDOM) for estimating a_cdom at the wavelength 412 nm (a_cdom (412)), within the surface layer of coastal waters, from measurements of ocean remote sensing reflectance, R_rs (λ), for these two high spatial resolution (around 20 m) sensors. Combined with a water class-based approach, several empirical algorithms were tested on a mixed dataset of synthetic and in situ data collected from global coastal waters. The selection of the final algorithms was performed with an independent validation dataset, using in situ, synthetic, and satellite R_rs (λ) measurements, but also by testing their respective sensitivity to typical noise introduced by atmospheric correction algorithms. It was found that the proposed algorithms could estimate a_cdom (412) with a median absolute percentage difference of ~30% and a median bias of 0.002 m⁻¹ from the in situ and synthetic datasets. While similar performances have been shown with two other algorithms based on different methodological developments, we have shown that AquaCDOM is much less sensitive to atmospheric correction uncertainties, mainly due to the use of band ratios in its formulation. After the application of the top-of-atmosphere gains and of the same atmospheric correction algorithm, excellent agreement has been found between the OLI- and MSI-derived a_cdom (412) values for various coastal areas, enabling the application of these algorithms for time series analysis. An example application of our algorithms for the time series analysis of a_cdom (412) is provided for a coastal transect in the south of Vietnam. Full article

Waste material classification is critical for efficient recycling and waste management. This study proposes a novel, low-cost material classification system based on a single, voltage-tunable Ge-on-Si photodetector operating across the visible and short-wave infrared (SWIR) spectral regions. Thanks to its tunability, the sensor is able to extract spectral information, and the system effectively distinguishes between seven different materials, including plastics, aluminum, glass, and paper. The system operates with a broadband illuminator, and material identification is obtained through the processing of the photocurrent signal at different bias voltages with classification algorithms. Here, we demonstrate the basic system functionality and near real-time classification of different waste materials. Full article

Monocular depth estimation provides low-cost environmental information for intelligent systems such as autonomous vehicles and robots, supporting sustainable development by reducing reliance on expensive, energy-intensive sensors and making technology more accessible and efficient. However, in practical applications, monocular vision is highly susceptible to adverse weather conditions, significantly reducing depth perception accuracy and limiting its ability to deliver reliable environmental information. To improve the robustness of monocular depth estimation in challenging weather, this paper first utilizes generative models to adjust image exposure and generate synthetic images of rainy, foggy, and nighttime scenes, enriching the diversity of the training data. Next, a channel interaction module and Multi-Scale Fusion Module are introduced. The former enhances information exchange between channels, while the latter effectively integrates multi-level feature information. Finally, an enhanced consistency loss is added to the loss function to prevent the depth estimation bias caused by data augmentation. Experiments on datasets such as DrivingStereo, Foggy CityScapes, and NuScenes-Night demonstrate that our method, CIT-Depth, exhibits superior generalization across various complex conditions. Full article

Molecular scattering (Rayleigh scattering) has been extensively used from the ground with lidars and from space to observe the limb, thereby deriving vertical temperature profiles between 30 and 80 km. In this study, we investigate how temperature can be measured using the new Ozone Mapping and Profiler Suite (OMPS) sensor, aboard the Suomi NPP and NOAA-21 satellites. The OMPS consists of three instruments whose main purpose is to study the composition of the stratosphere. One of these, the Limb Profiler (LP), measures the radiance of the limb of the middle atmosphere (stratosphere and mesosphere, 12 to 90 km altitude) at wavelengths from 290 to 1020 nm. This new data set has been used with a New Simplified Radiative Transfer Model (NSRTM) to derive temperature profiles with a vertical resolution of 1 km. To validate the method, the OMPS-derived temperature profiles were compared with data from four ground-based lidars and the ERA5 and MSIS models. The results show that OMPS and the lidars are in agreement within a range of about 5 K from 30 to 80 km. Comparisons with the models also show similar results, except for ERA5 beyond 50 km. We investigated various sources of bias, such as different attenuation sources, which can produce errors of up to 120 K in the UV range, instrumental errors around 0.8 K and noise problems of up to 150 K in the visible range for OMPS. This study also highlighted the interest in developing a new miniaturised instrument that could provide real-time observation of atmospheric vertical temperature profiles using a constellation of CubeSats with our NSRTM. Full article

Assessing respiratory frequency (f_R) is practical in monitoring training progress in competitive athletes, especially during exercise. This study aimed to validate a new wearable chest strap (wCS) to estimate f_R against ergospirometry as a criterion device in soccer players. A total of 26 elite professional soccer players (mean [standard deviation]: 23.6 [4.8] years; 180.6 [5.7] cm; 77.2 [5.4] kg) from three Italian Serie A League teams participated in this cross-sectional study. The sample included attackers, midfielders, and defenders. f_R was assessed during a maximal cardiopulmonary exercise test (CPET) on a treadmill using (i) a breath-by-breath gas exchange analyzer (Vyntus^® CPX, Vyaire Medical) and (ii) a novel wCS with sensors designed to assess breath frequency following chest expansions. Pearson’s correlation coefficient (r), adjusted coefficient of determination (aR²), Bland–Altman plot analysis, and Lin’s concordance correlation coefficient (ρ_c) were used for comparative analysis (correlation and concordance) among the methods. The repeated measures correlation coefficient (r_rm) was used to assess the strength of the linear association between the methods. The intraclass correlation coefficient (ICC) and the Finn coefficient (r_F) were used for inter-rater reliability. All statistical analyses were performed within the R statistical computing environment, with 95% confidence intervals (95% CIs) reported and statistical significance set at p < 0.05. A total of 16529 comparisons were performed after collecting the CPET data. The robust time series analysis with Hodges–Lehmann estimation showed no significant differences between both methods (p > 0.05). Correlation among devices was statistically significant and very large (r [95% CI]: 0.970 [0.970, 0.971], p < 0.01; aR² [95% CI]: 0.942 [0.942, 0.943], p < 0.01) with strong evidence supporting consistency of the new wCS (BF₁₀ > 100). In addition, a high concordance was found (ρ_c [95% CI]: 0.970 [0.969, 0.971], bias correction factor: 0.999). Vyntus^TM CPX, as a standard criterion, showed moderate agreement with wCS after Bland–Altman analysis (bias [95% lower to the upper limit of agreement]; % agree: 0.170 [−4.582 to 4.923] breaths·min⁻¹; 69.9%). A strong association between measurements (r_rm [95% CI]: 0.960 [0.959, 0.961]), a high absolute agreement between methods (ICC [95% CI]: 0.970 [0.970, 0.971]), and high inter-rater reliability (r_F: 0.947) were found. With an RMSE = 2.42 breaths·min⁻¹, the new wCS seems to be an valid and reliable in-field method to evaluate f_R compared to a breath-by-breath gas exchange analyzer. Notwithstanding, caution is advised if methods are used interchangeably while further external validation occurs. Full article

The motion of an object or camera platform makes the acquired image blurred. This degradation is a major reason to obtain a poor-quality image from an imaging sensor. Therefore, developing an efficient deep-learning-based image processing method to remove the blur artifact is desirable. Deep learning has recently demonstrated significant efficacy in image deblurring, primarily through convolutional neural networks (CNNs) and Transformers. However, the limited receptive fields of CNNs restrict their ability to capture long-range structural dependencies. In contrast, Transformers excel at modeling these dependencies, but they are computationally expensive for high-resolution inputs and lack the appropriate inductive bias. To overcome these challenges, we propose an Efficient Hybrid Network (EHNet) that employs CNN encoders for local feature extraction and Transformer decoders with a dual-attention module to capture spatial and channel-wise dependencies. This synergy facilitates the acquisition of rich contextual information for high-quality image deblurring. Additionally, we introduce the Simple Feature-Embedding Module (SFEM) to replace the pointwise and depthwise convolutions to generate simplified embedding features in the self-attention mechanism. This innovation substantially reduces computational complexity and memory usage while maintaining overall performance. Finally, through comprehensive experiments, our compact model yields promising quantitative and qualitative results for image deblurring on various benchmark datasets. Full article