ALBERT

Description: A modified expression of the electron entropy production in a plasma is deduced by means of the Kelly equations of state instead of the ideal gas equations of state. From the Debye–Hückel model which considers the interaction between the charges, such equations of state are derived for a plasma and the entropy is deduced. The technique to obtain the modified entropy production is based on usual developments but including the modified equations of state giving the regular result plus some extra terms. We derive an expression of the modified entropy production in terms of the tensorial Hermitian moments hr1…rm(m) by means of the irreducible tensorial Hermite polynomials.

Description: As acidic deposition has decreased across Eastern North America, forest soils at some sites are beginning to show reversal of soil acidification. However, the degree of recovery appears to vary and is not fully explained by deposition declines alone. To assess if other site and soil factors can help to explain degree of recovery from acid deposition, soil resampling chemistry data (8- to 24-year time interval) from 23 sites in the United States and Canada, located across 25° longitude from Eastern Maine to Western Ontario, were explored. Site and soil factors included recovery years, sulfate (SO42−) deposition history, SO42− reduction rate, C horizon pH and exchangeable calcium (Ca), O and B horizon pH, base saturation, and exchangeable Ca and aluminum (Al) at the time of the initial sampling. We found that O and B horizons that were initially acidified to a greater degree showed greater recovery and B horizon recovery was further associated with an increase in recovery years and lower initial SO42− deposition. Forest soils that seemingly have low buffering capacity and a reduced potential for recovery have the resilience to recover from the effects of previous high levels of acidic deposition. This suggests, that predictions of where forest soils acidification reversal will occur across the landscape should be refined to acknowledge the importance of upper soil profile horizon chemistry rather than the more traditional approach using only parent material characteristics.

Description: The lack of a universal simulation method for triboelectric nanogenerator (TENG) makes the device design and optimization difficult before experiment, which protracts the research and development process and hinders the landing of practical TENG applications. The existing electrostatic induction models for TENGs have limitations in simulating TENGs with complex geometries and their dynamic behaviors under practical movements due to the topology change issues. Here, a dynamic finite element method (FEM) model is proposed. The introduction of air buffer layers and the moving mesh method eliminates the topology change issues during practical movement and allows simulation of dynamic and time-varying behaviors of TENGs with complex 2D/3D geometries. Systematic investigations are carried out to optimize the air buffer thickness and mesh densities, and the optimized results show excellent consistency with the experimental data and results based on other existing methods. It also shows that a 3D disk-type rotating TENG can be simulated using the model, clearly demonstrating the capability and superiority of the dynamic FEM model. Moreover, the dynamic FEM model is used to optimize the shape of the tribo-material, which is used as a preliminary example to demonstrate the possibility of designing a TENG-based sensor.

Description: In this paper, 3D-printed electromagnetic (or microwave) encoders with synchronous reading based on permittivity contrast, and devoted to the measurement of displacements and velocities, are reported for the first time. The considered encoders are based on two chains of linearly shaped apertures made on a 3D-printed high-permittivity dielectric material. One such aperture chain contains the identification (ID) code, whereas the other chain provides the clock signal. Synchronous reading is necessary in order to determine the absolute position if the velocity between the encoder and the sensitive part of the reader is not constant. Such absolute position can be determined as long as the whole encoder is encoded with the so-called de Bruijn sequence. For encoder reading, a splitter/combiner structure with each branch loaded with a series gap and a slot resonator (each one tuned to a different frequency) is considered. Such a structure is able to detect the presence of the apertures when the encoder is displaced, at short distance, over the slots. Thus, by injecting two harmonic signals, conveniently tuned, at the input port of the splitter/combiner structure, two amplitude modulated (AM) signals are generated by tag motion at the output port of the sensitive part of the reader. One of the AM envelope functions provides the absolute position, whereas the other one provides the clock signal and the velocity of the encoder. These synchronous 3D-printed all-dielectric encoders based on permittivity contrast are a good alternative to microwave encoders based on metallic inclusions in those applications where low cost as well as major robustness against mechanical wearing and aging effects are the main concerns.

Description: This paper presents a vulnerable road user (VRU) tracking algorithm capable of handling noisy and missing detections from heterogeneous sensors. We propose a cooperative fusion algorithm for matching and reinforcing of radar and camera detections using their proximity and positional uncertainty. The belief in the existence and position of objects is then maximized by temporal integration of fused detections by a multi-object tracker. By switching between observation models, the tracker adapts to the detection noise characteristics making it robust to individual sensor failures. The main novelty of this paper is an improved imputation sampling function for updating the state when detections are missing. The proposed function uses a likelihood without association that is conditioned on the sensor information instead of the sensor model. The benefits of the proposed solution are two-fold: firstly, particle updates become computationally tractable and secondly, the problem of imputing samples from a state which is predicted without an associated detection is bypassed. Experimental evaluation shows a significant improvement in both detection and tracking performance over multiple control algorithms. In low light situations, the cooperative fusion outperforms intermediate fusion by as much as 30%, while increases in tracking performance are most significant in complex traffic scenes.

Description: Flat surfaces captured by 3D point clouds are often used for localization, mapping, and modeling. Dense point cloud processing has high computation and memory costs making low-dimensional representations of flat surfaces such as polygons desirable. We present Polylidar3D, a non-convex polygon extraction algorithm which takes as input unorganized 3D point clouds (e.g., LiDAR data), organized point clouds (e.g., range images), or user-provided meshes. Non-convex polygons represent flat surfaces in an environment with interior cutouts representing obstacles or holes. The Polylidar3D front-end transforms input data into a half-edge triangular mesh. This representation provides a common level of abstraction for subsequent back-end processing. The Polylidar3D back-end is composed of four core algorithms: mesh smoothing, dominant plane normal estimation, planar segment extraction, and finally polygon extraction. Polylidar3D is shown to be quite fast, making use of CPU multi-threading and GPU acceleration when available. We demonstrate Polylidar3D’s versatility and speed with real-world datasets including aerial LiDAR point clouds for rooftop mapping, autonomous driving LiDAR point clouds for road surface detection, and RGBD cameras for indoor floor/wall detection. We also evaluate Polylidar3D on a challenging planar segmentation benchmark dataset. Results consistently show excellent speed and accuracy.

Description: In this study, we proposed a semi-automated and interactive scheme for organ contouring in radiotherapy planning for patients with non-small cell lung cancers. Several organs were contoured, including the lungs, airway, heart, spinal cord, body, and gross tumor volume (GTV). We proposed some schemes to automatically generate and vanish the seeds of the random walks (RW) algorithm. We considered 25 lung cancer patients, whose computed tomography (CT) images were obtained from the China Medical University Hospital (CMUH) in Taichung, Taiwan. The manual contours made by clinical oncologists were taken as the gold standard for comparison to evaluate the performance of our proposed method. The Dice coefficient between two contours of the same organ was computed to evaluate the similarity. The average Dice coefficients for the lungs, airway, heart, spinal cord, and body and GTV segmentation were 0.92, 0.84, 0.83, 0.73, 0.85 and 0.66, respectively. The computation time was between 2 to 4 min for a whole CT sequence segmentation. The results showed that our method has the potential to assist oncologists in the process of radiotherapy treatment in the CMUH, and hopefully in other hospitals as well, by saving a tremendous amount of time in contouring.

Description: An essential aspect in the interaction between people and computers is the recognition of facial expressions. A key issue in this process is to select relevant features to classify facial expressions accurately. This study examines the selection of optimal geometric features to classify six basic facial expressions: happiness, sadness, surprise, fear, anger, and disgust. Inspired by the Facial Action Coding System (FACS) and the Moving Picture Experts Group 4th standard (MPEG-4), an initial set of 89 features was proposed. These features are normalized distances and angles in 2D and 3D computed from 22 facial landmarks. To select a minimum set of features with the maximum classification accuracy, two selection methods and four classifiers were tested. The first selection method, principal component analysis (PCA), obtained 39 features. The second selection method, a genetic algorithm (GA), obtained 47 features. The experiments ran on the Bosphorus and UIVBFED data sets with 86.62% and 93.92% median accuracy, respectively. Our main finding is that the reduced feature set obtained by the GA is the smallest in comparison with other methods of comparable accuracy. This has implications in reducing the time of recognition.

Description: Automated tracking of physical fitness has sparked a health revolution by allowing individuals to track their own physical activity and health in real time. This concept is beginning to be applied to tracking of cognitive load. It is well known that activity in the brain can be measured through changes in the body’s physiology, but current real-time measures tend to be unimodal and invasive. We therefore propose the concept of a wearable educational fitness (EduFit) tracker. We use machine learning with physiological data to understand how to develop a wearable device that tracks cognitive load accurately in real time. In an initial study, we found that body temperature, skin conductance, and heart rate were able to distinguish between (i) a problem solving activity (high cognitive load), (ii) a leisure activity (moderate cognitive load), and (iii) daydreaming (low cognitive load) with high accuracy in the test dataset. In a second study, we found that these physiological features can be used to predict accurately user-reported mental focus in the test dataset, even when relatively small numbers of training data were used. We explain how these findings inform the development and implementation of a wearable device for temporal tracking and logging a user’s learning activities and cognitive load.

Description: : The main purpose of this work is to study the effectiveness of using FeCeOx nanocomposites doped with Nb2O5 for the purification of aqueous solutions from manganese. X-ray diffraction, energy–dispersive analysis, scanning electron microscopy, vibrational magnetic spectroscopy, and mössbauer spectroscopy were used as research methods. It is shown that an increase in the dopant concentration leads to the transformation of the shape of nanoparticles from spherical to cubic and rhombic, followed by an increase in the size of the nanoparticles. The spherical shape of the nanoparticles is characteristic of a structure consisting of a mixture of two phases of hematite (Fe2O3) and cerium oxide CeO2. The cubic shape of nanoparticles is typical for spinel-type FeNbO4 structures, the phase contribution of which increases with increasing dopant concentration. It is shown that doping leads not only to a decrease in the concentration of manganese in model solutions, but also to an increase in the efficiency of adsorption from 11% to 75%.

Description: A common design concept of the piezoelectric force sensor, which is to assemble a bump structure from a flat or fine columnar piezoelectric structure or to use a specific type of electrode, is quite limited. In this paper, we propose a new design of cylindrical piezoelectric sensors that can detect multidirectional forces. The proposed sensor consists of four row and four column sensors. The design of the sensor was investigated by the finite element method. The response of the sensor to various force directions was observed, and it was demonstrated that the direction of the force applied to the sensor could be derived from the signals of one row sensor and three column sensors. As a result, this sensor proved to be able to detect forces in the area of 225° about the central axis of the sensor. In addition, a cylindrical sensor was fabricated to verify the proposed sensor and a series of experiments were performed. The simulation and experimental results were compared, and the actual sensor response tended to be similar to the simulation.

Description: Subcooled water is the primordial matrix for ice embryo formation by homogeneous and heterogeneous nucleation. The knowledge of the specific Gibbs free energy and other thermodynamic quantities of subcooled water is one of the basic prerequisites of the theoretical analysis of ice crystallization in terms of classical nucleation theory. The most advanced equation of state of subcooled water is the IAPWS G12-15 formulation. The determination of the thermodynamic quantities of subcooled water on the basis of this equation of state requires the iterative determination of the fraction of low-density water in the two-state mixture of low-density and high-density subcooled water from a transcendental equation. For applications such as microscopic nucleation simulation models requiring highly frequent calls of the IAPWS G12-15 calculus, a new two-step predictor-corrector method for the approximative determination of the low-density water fraction has been developed. The new solution method allows a sufficiently accurate determination of the specific Gibbs energy and of all other thermodynamic quantities of subcooled water at given pressure and temperature, such as specific volume and mass density, specific entropy, isothermal compressibility, thermal expansion coefficient, specific isobaric and isochoric heat capacities, and speed of sound. The misfit of this new approximate analytical solution against the exact numerical solution was demonstrated to be smaller than or equal to the misprediction of the original IAPWS G12-15 formulation with respect to experimental values.

Description: Many human activities are tactile. Recognizing how a person touches an object or a surface surrounding them is an active area of research and it has generated keen interest within the interactive surface community. In this paper, we compare two machine learning techniques, namely Artificial Neural Network (ANN) and Hidden Markov Models (HMM), as they are some of the most common techniques with low computational cost used to classify an acoustic-based input. We employ a small and low-cost hardware design composed of a microphone, a stethoscope, a conditioning circuit, and a microcontroller. Together with an appropriate surface, we integrated these components into a passive gesture recognition input system for experimental evaluation. To perform the evaluation, we acquire the signals using a small microphone and send it through the microcontroller to MATLAB’s toolboxes to implement and evaluate the ANN and HMM models. We also present the hardware and software implementation and discuss the advantages and limitations of these techniques in gesture recognition while using a simple alphabet of three geometrical figures: circle, square, and triangle. The results validate the robustness of the HMM technique that achieved a success rate of 90%, with a shorter training time than the ANN.

Description: In recent years, field-effect transistors (FETs) have been very promising for biosensor applications due to their high sensitivity, real-time applicability, scalability, and prospect of integrating measurement system on a chip. Non-carbon 2D materials, such as transition metal dichalcogenides (TMDCs), hexagonal boron nitride (h-BN), black phosphorus (BP), and metal oxides, are a group of new materials that have a huge potential in FET biosensor applications. In this work, we review the recent advances and remarkable studies of non-carbon 2D materials, in terms of their structures, preparations, properties and FET biosensor applications. We will also discuss the challenges facing non-carbon 2D materials-FET biosensors and their future perspectives.

Description: Siamese network-based trackers consider tracking as features cross-correlation between the target template and the search region. Therefore, feature representation plays an important role for constructing a high-performance tracker. However, all existing Siamese networks extract the deep but low-resolution features of the entire patch, which is not robust enough to estimate the target bounding box accurately. In this work, to address this issue, we propose a novel high-resolution Siamese network, which connects the high-to-low resolution convolution streams in parallel as well as repeatedly exchanges the information across resolutions to maintain high-resolution representations. The resulting representation is semantically richer and spatially more precise by a simple yet effective multi-scale feature fusion strategy. Moreover, we exploit attention mechanisms to learn object-aware masks for adaptive feature refinement, and use deformable convolution to handle complex geometric transformations. This makes the target more discriminative against distractors and background. Without bells and whistles, extensive experiments on popular tracking benchmarks containing OTB100, UAV123, VOT2018 and LaSOT demonstrate that the proposed tracker achieves state-of-the-art performance and runs in real time, confirming its efficiency and effectiveness.

Description: The Internet of Medical Things (IoMT) couples IoT technologies with healthcare services in order to support real-time, remote patient monitoring and treatment. However, the interconnectivity of critical medical devices with other systems in various network layers creates new opportunities for remote adversaries. Since most of the communication protocols have not been specifically designed for the needs of connected medical devices, there is a need to classify the available IoT communication technologies in terms of security. In this paper we classify IoT communication protocols, with respect to their application in IoMT. Then we describe the main characteristics of IoT communication protocols used at the perception, network and application layer of medical devices. We examine the inherent security characteristics and limitations of IoMT-specific communication protocols. Based on realistic attacks we identify available mitigation controls that may be applied to secure IoMT communications, as well as existing research and implementation gaps.

Description: Monitoring biomass of forages in experimental plots and livestock farms is a time-consuming, expensive, and biased task. Thus, non-destructive, accurate, precise, and quick phenotyping strategies for biomass yield are needed. To promote high-throughput phenotyping in forages, we propose and evaluate the use of deep learning-based methods and UAV (Unmanned Aerial Vehicle)-based RGB images to estimate the value of biomass yield by different genotypes of the forage grass species Panicum maximum Jacq. Experiments were conducted in the Brazilian Cerrado with 110 genotypes with three replications, totaling 330 plots. Two regression models based on Convolutional Neural Networks (CNNs) named AlexNet and ResNet18 were evaluated, and compared to VGGNet—adopted in previous work in the same thematic for other grass species. The predictions returned by the models reached a correlation of 0.88 and a mean absolute error of 12.98% using AlexNet considering pre-training and data augmentation. This proposal may contribute to forage biomass estimation in breeding populations and livestock areas, as well as to reduce the labor in the field.

Description: Bioelectrocatalysis provides the intrinsic catalytic functions of redox enzymes to nonspecific electrode reactions and is the most important and basic concept for electrochemical biosensors. This review starts by describing fundamental characteristics of bioelectrocatalytic reactions in mediated and direct electron transfer types from a theoretical viewpoint and summarizes amperometric biosensors based on multi-enzymatic cascades and for multianalyte detection. The review also introduces prospective aspects of two new concepts of biosensors: mass-transfer-controlled (pseudo)steady-state amperometry at microelectrodes with enhanced enzymatic activity without calibration curves and potentiometric coulometry at enzyme/mediator-immobilized biosensors for absolute determination.

Description: Physical rehabilitation therapies for children present a challenge, and its success—the improvement of the patient’s condition—depends on many factors, such as the patient’s attitude and motivation, the correct execution of the exercises prescribed by the specialist or his progressive recovery during the therapy. With the aim to increase the benefits of these therapies, social humanoid robots with a friendly aspect represent a promising tool not only to boost the interaction with the pediatric patient, but also to assist physicians in their work. To achieve both goals, it is essential to monitor in detail the patient’s condition, trying to generate user profile models which enhance the feedback with both the system and the specialist. This paper describes how the project NAOTherapist—a robotic architecture for rehabilitation with social robots—has been upgraded in order to include a monitoring system able to generate user profile models through the interaction with the patient, performing user-adapted therapies. Furthermore, the system has been improved by integrating a machine learning algorithm which recognizes the pose adopted by the patient and by adding a clinical reports generation system based on the QUEST metric.

Description: Despite many studies reporting hemispheric asymmetry in the representation and processing of emotions, the essence of the asymmetry remains controversial. Brain network analysis based on electroencephalography (EEG) is a useful biological method to study brain function. Here, EEG data were recorded while participants watched different emotional videos. According to the videos’ emotional categories, the data were divided into four categories: high arousal high valence (HAHV), low arousal high valence (LAHV), low arousal low valence (LALV) and high arousal low valence (HALV). The phase lag index as a connectivity index was calculated in theta (4–7 Hz), alpha (8–13 Hz), beta (14–30 Hz) and gamma (31–45 Hz) bands. Hemispheric networks were constructed for each trial, and graph theory was applied to quantify the hemispheric networks’ topological properties. Statistical analyses showed significant topological differences in the gamma band. The left hemispheric network showed significantly higher clustering coefficient (Cp), global efficiency (Eg) and local efficiency (Eloc) and lower characteristic path length (Lp) under HAHV emotion. The right hemispheric network showed significantly higher Cp and Eloc and lower Lp under HALV emotion. The results showed that the left hemisphere was dominant for HAHV emotion, while the right hemisphere was dominant for HALV emotion. The research revealed the relationship between emotion and hemispheric asymmetry from the perspective of brain networks.

Description: The Karlsruhe Tritium Neutrino (KATRIN) experiment aims at measuring the effective electron neutrino mass with a sensitivity of 0.2 eV/c2, i.e., improving on previous measurements by an order of magnitude. Neutrino mass data taking with KATRIN commenced in early 2019, and after only a few weeks of data recording, analysis of these data showed the success of KATRIN, improving on the known neutrino mass limit by a factor of about two. This success very much could be ascribed to the fact that most of the system components met, or even surpassed, the required specifications during long-term operation. Here, we report on the performance of the laser Raman (LARA) monitoring system which provides continuous high-precision information on the gas composition injected into the experiment’s windowless gaseous tritium source (WGTS), specifically on its isotopic purity of tritium—one of the key parameters required in the derivation of the electron neutrino mass. The concentrations cx for all six hydrogen isotopologues were monitored simultaneously, with a measurement precision for individual components of the order 10−3 or better throughout the complete KATRIN data taking campaigns to date. From these, the tritium purity, εT, is derived with precision of

Description: In this paper, we present a navigation strategy exclusively designed for social robots with limited sensors for applications in homes. The overall system integrates a reactive design based on subsumption architecture and a knowledge system with learning capabilities. The component of the system includes several modules, such as doorway detection and room localization via convolutional neural network (CNN), avoiding obstacles via reinforcement learning, passing the doorway via Canny edge’s detection, building an abstract map called a Directional Semantic Topological Map (DST-Map) within the knowledge system, and other predefined layers within the subsumption architecture. The individual modules and the overall system are evaluated in a virtual environment using Webots simulator.

Description: In multi-target tracking scenarios with dense and heterogeneous clutter, there is a substantial increase in the false measurements that originated from the clutter within the validation gate, and consequently, the number of measurement-to-track association hypothesis grows rapidly in traditional multiple hypothesis tracker (MHT), leading to a sharp decrease in data association accuracy and tracking performance. A new multiple hypothesis tracker using validation gate with motion direction constraint (MHT-MDC) is proposed to solve these problems. In the MHT-MDC, a motion direction constraint (MDC) gate is designed by considering the prior target maneuvering information, which effectively reduces the volume of validation gate and, thus, diminishes the number of false measurements in the gate when the innovation covariance is large. Subsequently, the clutter density in the MDC gate is adaptively estimated by the conditional mean estimator of clutter density (CMECD), based on which the score functions in the MDC gate can be calculated. The MHT-MDC is compared with the MHT algorithm in simulations, and the experimental results demonstrate its superior tracking performance for weakly maneuvering targets in high clutter density scenarios.

Description: Over the last decade, video surveillance systems have become a part of the Internet of Things (IoT). These IP-based surveillance systems now protect industrial facilities, railways, gas stations, and even one’s own home. Unfortunately, like other IoT systems, there are inherent security risks which can lead to significant violations of a user’s privacy. In this review, we explore the attack surface of modern surveillance systems and enumerate the various ways they can be compromised with real examples. We also identify the threat agents, their attack goals, attack vectors, and the resulting consequences of successful attacks. Finally, we present current countermeasures and best practices and discuss the threat horizon. The purpose of this review is to provide researchers and engineers with a better understanding of a modern surveillance systems’ security, to harden existing systems and develop improved security solutions.

Description: The work investigates the application of artificial neural networks and logistic regression for the recognition of activities performed by room occupants. KNX (Konnex) standard-based devices were selected for smart home automation and data collection. The obtained data from these devices (Humidity, CO2, temperature) were used in combination with two wearable gadgets to classify specific activities performed by the room occupant. The obtained classifications can benefit the occupant by monitoring the wellbeing of elderly residents and providing optimal air quality and temperature by utilizing heating, ventilation, and air conditioning control. The obtained results yield accurate classification.

Description: In recent years, there has been increasing interest in the development of micron-scale devices utilizing thermal gradients to manipulate molecules and colloids, and to measure their thermophoretic properties quantitatively. Various devices have been realized, such as on-chip implements, micro-thermogravitational columns and other micron-scale thermophoretic cells. The advantage of the miniaturized devices lies in the reduced sample volume. Often, a direct observation of particles using various microscopic techniques is possible. On the other hand, the small dimensions lead to some technical problems, such as a precise temperature measurement on small length scale with high spatial resolution. In this review, we will focus on the “state of the art” thermophoretic micron-scale devices, covering various aspects such as generating temperature gradients, temperature measurement, and the analysis of the current micron-scale devices. We want to give researchers an orientation for their development of thermophoretic micron-scale devices for biological, chemical, analytical, and medical applications.

Description: In order to maximize energy efficiency in heterogeneous networks (HetNets), a turbo Q-Learning (TQL) combined with multistage decision process and tabular Q-Learning is proposed to optimize the resource configuration. For the large dimensions of action space, the problem of energy efficiency optimization is designed as a multistage decision process in this paper, according to the resource allocation of optimization objectives, the initial problem is divided into several subproblems which are solved by tabular Q-Learning, and the traditional exponential increasing size of action space is decomposed into linear increase. By iterating the solutions of subproblems, the initial problem is solved. The simple stability analysis of the algorithm is given in this paper. As to the large dimension of state space, we use a deep neural network (DNN) to classify states where the optimization policy of novel Q-Learning is set to label samples. Thus far, the dimensions of action and state space have been solved. The simulation results show that our approach is convergent, improves the convergence speed by 60% while maintaining almost the same energy efficiency and having the characteristics of system adjustment.

Description: The intrinsic heterogeneity property of concrete causes strong multiple scatterings during wave propagation, forming coda wave that follows very complex trajectories. As a superposition of multiply scattered waves, coda wave shows great sensitivity to subtle changes, but meanwhile lose spatial resolution. To make use of its sensitivity and turn the limitation into advantage, this paper presents an experimental study of three-dimensionally imaging local changes in concrete by application of inverse algorithms to coda wave measurements. Load tests are performed on a large reinforced concrete beam that contains multiple pre-existing millimeter-scale cracks in order to match real life situation. The joint effects of cracks and stresses on coda waves have been monitored using a network of fixed transducers placed at the surface. The global waveform decorrelations and velocity variations are firstly quantified through coda wave interferometry technique. Subsequently, two inverse algorithms are independently applied to map the densities of changes at each localized position. Using this methodology, the stress changes and subtle cracks in the concrete beam are detected and imaged for both temporal and spatial domains.

Description: The heat-exchanger/reactor (HEX reactor) is a kind of plug-flow chemical reactor which combines high heat transfer ability with good chemical performances. It was designed under the popular trend of process intensification in chemical engineering. Previous studies have investigated its characteristics and developed its nominal model. This paper is concerned with its fault tolerant control (FTC) applications. To avoid the difficulties and nonlinearities of this HEX reactor under chemical reactions, a two-layer, multiple-model structure is proposed for designing the FTC scheme. The first layer focuses on representing the nonlinear system with a bank of local linear models while the second layer uses model banks for approaching faulty situations. Model banks are achieved by system identification, and the corresponding controller banks are designed using model predictive control (MPC). The unscented Kalman filter (UKF) is introduced to estimate the states and form the fault detection and isolation (FDI) section. Finally, the FTC simulation and validation results are presented. The idea of a two-layer, multiple-model structure presents a general framework for FTC design of complex and highly nonlinear systems, such as the HEX reactor, whose mathematical model has been created. It implements the design process in an unusual way and is also worth trying on other cases.

Description: The range of applications of electromyography-based gesture recognition has increased over the last years. A common problem regularly encountered in literature is the inadequate data availability. Data augmentation, which aims at generating new synthetic data from the existing ones, is the most common approach to deal with this data shortage in other research domains. In the case of surface electromyography (sEMG) signals, there is limited research in augmentation methods and quite regularly the results differ between available studies. In this work, we provide a detailed evaluation of existing (i.e., additive noise, overlapping windows) and novel (i.e., magnitude warping, wavelet decomposition, synthetic sEMG models) strategies of data augmentation for electromyography signals. A set of metrics (i.e., classification accuracy, silhouette score, and Davies–Bouldin index) and visualizations help with the assessment and provides insights about their performance. Methods like signal magnitude warping and wavelet decomposition yield considerable increase (up to 16%) in classification accuracy across two benchmark datasets. Particularly, a significant improvement of 1% in the classification accuracy of the state-of-the-art model in hand gesture recognition is achieved.

Description: Emotion recognition has been gaining attention in recent years due to its applications on artificial agents. To achieve a good performance with this task, much research has been conducted on the multi-modality emotion recognition model for leveraging the different strengths of each modality. However, a research question remains: what exactly is the most appropriate way to fuse the information from different modalities? In this paper, we proposed audio sample augmentation and an emotion-oriented encoder-decoder to improve the performance of emotion recognition and discussed an inter-modality, decision-level fusion method based on a graph attention network (GAT). Compared to the baseline, our model improved the weighted average F1-scores from 64.18 to 68.31% and the weighted average accuracy from 65.25 to 69.88%.

Description: Based on the conceptual basis of information theory, we propose a novel mutual information measure—‘path-based mutual information’. This information measure results from the representation of a set of random variables as a probabilistic graphical model. The edges in this graph are modeled as discrete memoryless communication channels, that is, the underlying data is ergodic, stationary, and the Markov condition is assumed to be applicable. The associated multilinear stochastic maps, tensors, transform source probability mass functions into destination probability mass functions. This allows for an exact expression of the resulting tensor of a cascade of discrete memoryless communication channels in terms of the tensors of the constituting communication channels in the paths. The resulting path-based information measure gives rise to intuitive, non-negative, and additive path-based information components—redundant, unique, and synergistic information—as proposed by Williams and Beer. The path-based redundancy satisfies the axioms postulated by Williams and Beer, the identity axiom postulated by Harder, and the left monotonicity axiom postulated Bertschinger. The ordering relations between redundancies of different joint collections of sources, as captured in the redundancy lattices of Williams and Beer, follow from the data processing inequality. Although negative information components can arise, we speculate that these either result from unobserved variables, or from adding additional sources that are statistically independent from all other sources to a system containing only non-negative information components. This path-based approach illustrates that information theory provides the concepts and measures for a partial information decomposition.

Description: In recent years, a series of matching pursuit and hard thresholding algorithms have been proposed to solve the sparse representation problem with ℓ0-norm constraint. In addition, some stochastic hard thresholding methods were also proposed, such as stochastic gradient hard thresholding (SG-HT) and stochastic variance reduced gradient hard thresholding (SVRGHT). However, each iteration of all the algorithms requires one hard thresholding operation, which leads to a high per-iteration complexity and slow convergence, especially for high-dimensional problems. To address this issue, we propose a new stochastic recursive gradient support pursuit (SRGSP) algorithm, in which only one hard thresholding operation is required in each outer-iteration. Thus, SRGSP has a significantly lower computational complexity than existing methods such as SG-HT and SVRGHT. Moreover, we also provide the convergence analysis of SRGSP, which shows that SRGSP attains a linear convergence rate. Our experimental results on large-scale synthetic and real-world datasets verify that SRGSP outperforms state-of-the-art related methods for tackling various sparse representation problems. Moreover, we conduct many experiments on two real-world sparse representation applications such as image denoising and face recognition, and all the results also validate that our SRGSP algorithm obtains much better performance than other sparse representation learning optimization methods in terms of PSNR and recognition rates.

Description: In this paper, we propose an adaptive entropy model (AEM), which incorporates the entropy measurement and the adaptability into the conventional Markowitz’s mean-variance model (MVM). We evaluate the performance of AEM, based on several portfolio performance indicators using the five-year Shanghai Stock Exchange 50 (SSE50) index constituent stocks data set. Our outcomes show, compared with the traditional portfolio selection model, that AEM tends to make our investments more decentralized and hence helps to neutralize unsystematic risks. Due to the existence of self-adaptation, AEM turns out to be more adaptable to market fluctuations and helps to maintain the balance between the decentralized and concentrated investments in order to meet investors’ expectations. Our model applies equally well to portfolio optimizations for other financial markets.

Description: Quantum turbulence deals with the phenomenon of turbulence in quantum fluids, such as superfluid helium and trapped Bose-Einstein condensates (BECs). Although much progress has been made in understanding quantum turbulence, several fundamental questions remain to be answered. In this work, we investigated the entropy of a trapped BEC in several regimes, including equilibrium, small excitations, the onset of turbulence, and a turbulent state. We considered the time evolution when the system is perturbed and let to evolve after the external excitation is turned off. We derived an expression for the entropy consistent with the accessible experimental data, which is, using the assumption that the momentum distribution is well-known. We related the excitation amplitude to different stages of the perturbed system, and we found distinct features of the entropy in each of them. In particular, we observed a sudden increase in the entropy following the establishment of a particle cascade. We argue that entropy and related quantities can be used to investigate and characterize quantum turbulence.

Description: At present, the state-of-the-art approaches of Visual Question Answering (VQA) mainly use the co-attention model to relate each visual object with text objects, which can achieve the coarse interactions between multimodalities. However, they ignore the dense self-attention within question modality. In order to solve this problem and improve the accuracy of VQA tasks, in the present paper, an effective Dense Co-Attention Networks (DCAN) is proposed. First, to better capture the relationship between words that are relatively far apart and make the extracted semantics more robust, the Bidirectional Long Short-Term Memory (Bi-LSTM) neural network is introduced to encode questions and answers; second, to realize the fine-grained interactions between the question words and image regions, a dense multimodal co-attention model is proposed. The model’s basic components include the self-attention unit and the guided-attention unit, which are cascaded in depth to form a hierarchical structure. The experimental results on the VQA-v2 dataset show that DCAN has obvious performance advantages, which makes VQA applicable to a wider range of AI scenarios.

Description: Present-day science indicates that developing sensors with excellent sensitivity and selectivity for detecting early signs of diseases is highly desirable. Electrochemical sensors offer a method for detecting diseases that are simpler, faster, and more accurate than conventional laboratory analysis methods. Primarily, exploiting non-noble-metal nanomaterials with excellent conductivity and large surface area is still an area of active research due to its highly sensitive and selective catalysts for electrochemical detection in enzyme-free sensors. In this research, we successfully fabricate Metal-Organic Framework (MOF) FeBDC-derived Fe3O4 for non-enzymatic electrochemical detection of glucose. FeBDC synthesis was carried out using the solvothermal method. FeCl2.4H2O and Benzene-1,4-dicarboxylic acid (H2BDC) are used as precursors to form FeBDC. The materials were further characterized utilizing X-ray Powder Diffraction (XRD), Scanning Electron Microscopy (SEM), and Fourier-Transform Infrared Spectroscopy (FTIR). The resulting MOF yields good crystallinity and micro-rod like morphology. Electrochemical properties were tested using Cyclic Voltammetry (CV) and Differential Pulse Voltammetry (DPV) with a 0.1 M of Phosphate Buffer Saline (PBS pH 7.4) solution as the supporting electrolyte. The measurement results show the reduction and oxidation peaks in the CV curve of FeBDC, as well as Fe3O4. Pyrolysis of FeBDC to Fe3O4 increases the peak of oxidation and reduction currents. The Fe3O4 sample obtained has a sensitivity of 4.67 µA mM−1.cm−2, a linear range between 0.0 to 9.0 mM, and a glucose detection limit of 15.70 µM.

Description: In this work, we present a network architecture with parallel convolutional neural networks (CNN) for removing perspective distortion in images. While other works generate corrected images through the use of generative adversarial networks or encoder-decoder networks, we propose a method wherein three CNNs are trained in parallel, to predict a certain element pair in the 3×3 transformation matrix, M^. The corrected image is produced by transforming the distorted input image using M^−1. The networks are trained from our generated distorted image dataset using KITTI images. Experimental results show promise in this approach, as our method is capable of correcting perspective distortions on images and outperforms other state-of-the-art methods. Our method also recovers the intended scale and proportion of the image, which is not observed in other works.

Description: In a general Markov decision progress system, only one agent’s learning evolution is considered. However, considering the learning evolution of a single agent in many problems has some limitations, more and more applications involve multi-agent. There are two types of cooperation, game environment among multi-agent. Therefore, this paper introduces a Cooperation Markov Decision Process (CMDP) system with two agents, which is suitable for the learning evolution of cooperative decision between two agents. It is further found that the value function in the CMDP system also converges in the end, and the convergence value is independent of the choice of the value of the initial value function. This paper presents an algorithm for finding the optimal strategy pair (πk0,πk1) in the CMDP system, whose fundamental task is to find an optimal strategy pair and form an evolutionary system CMDP(πk0,πk1). Finally, an example is given to support the theoretical results.

Description: Children with autistic spectrum disorder (ASD) often exhibit uncontrollable disruptive behaviour during transfer to the operating room and operating table and at the induction of anaesthesia (sleep). This process often involves the physical restraining of children. These children are then lifted onto the operating table by healthcare staff after being anaesthetized. This predisposes children to fall risk and hospital staff to musculoskeletal injuries. We developed two concept mobility devices, IMOVE-I and -II, based on robotics systems comprising of restraint modules and multi-positional modality (sitting, supine, Trendelenburg). The aim was to intuitively secure children to facilitate the safe induction of sleep and ease of transfer onto operating tables upon sleep. IMOVE-I loads the child in standing position using a dual arm restraint module that is activated by trained healthcare staff. IMOVE-II loads the child in the sitting position by motivating the self-application of restraints. Opinions were obtained from 21 operating theatre healthcare staff with experience in the care of ASD children and parents with ASD children. The mean satisfaction rating of IMOVE-I was 5.62 (95% CI 5.00, 6.27) versus 8.10 (95% CI 7.64, 8.55) in IMOVE-II, p 〈 0.001. IMOVE-II is favoured over IMOVE-I in system operation and safety, ease of use and module functionality.

Description: Surface electromyogram (EMG) is a noninvasive measure of muscle electrical activity and has been widely used in a variety of applications. When recorded from the trunk, surface EMG can be contaminated by the cardiac electrical activity, i.e., the electrocardiogram (ECG). ECG may distort the desired EMG signal, complicating the extraction of reliable information from the trunk EMG. Several methods are available for ECG removal from the trunk EMG, but a comparative assessment of the performance of these methods is lacking, limiting the possibility of selecting a suitable method for specific applications. The aim of the present study is therefore to review and compare the performance of different ECG removal methods from the trunk EMG. To this end, a synthetic dataset was generated by combining in vivo EMG signals recorded on the biceps brachii and healthy or dysrhythmia ECG data from the Physionet database with a predefined signal-to-noise ratio. Gating, high-pass filtering, template subtraction, wavelet transform, adaptive filtering, and blind source separation were implemented for ECG removal. A robust measure of Kurtosis, i.e., KR2 and two EMG features, the average rectified value (ARV), and mean frequency (MF), were then calculated from the processed EMG signals and compared with the EMG before mixing. Our results indicate template subtraction to produce the lowest root mean square error in both ARV and MF, providing useful insight for the selection of a suitable ECG removal method.

Description: In recent years, industrial production has become more and more automated. Machine cutting tool as an important part of industrial production have a large impact on the production efficiency and costs of products. In a real manufacturing process, tool breakage often occurs in an instant without warning, which results a extremely unbalanced ratio of the tool breakage samples to the normal ones. In this case, the traditional supervised learning model can not fit the sample of tool breakage well, which results to inaccurate prediction of tool breakage. In this paper, we use the high precision Hall sensor to collect spindle current data of computer numerical control (CNC). Combining the anomaly detection and deep learning methods, we propose a simple and novel method called CNN-AD to solve the class-imbalance problem in tool breakage prediction. Compared with other prediction algorithms, the proposed method can converge faster and has better accuracy.

Description: In this article, we present a new method of dehazing based on the Koschmieder model, which aims to restore an image that has been affected by haze. The difficulty is to improve the estimation of the transmission and the atmospheric light that generally suffer from the nonhomogeneity and the random variability of the environment. The keypoint is to enhance the dehazing of very bright regions of the image in order to improve the treatment of the sky that is often overestimated or underestimated compared to the rest of the scene. The approach proposed in this paper is based on two main contributions: 1. an L0 gradient optimization function weighted by a set of Gaussian filters and based on an iterative algorithm for optimization convergence. Unlike the existing methods using a single value of the atmospheric light for the whole image, our method uses a set of values neighboring an initial estimated value. The fusion is then applied based on Laplacian and Gaussian pyramids to combine all the relevant information from the set of images constructed from atmospheric lights and improves the contrast to recover the colors of the sky without any artifacts. Finally, the results are validated by three criteria: an autocorrelation score (ZNCC), a similarity measure (SSIM) and a visual criterion. The experiments carried out on two datasets show that our approach allows a better dehazing of the images with higher SSIM and ZNCC measurements but also with better visual quality.

Description: One of the main contributions of the Capital Assets Pricing Model (CAPM) to portfolio theory was to explain the correlation between assets through its relationship with the market index. According to this approach, the market index is expected to explain the co-movement between two different stocks to a great extent. In this paper, we try to verify this hypothesis using a sample of 3.000 stocks of the USA market (attending to liquidity, capitalization, and free float criteria) by using some functions inspired by cooperative dynamics in physical particle systems. We will show that all of the co-movement among the stocks is completely explained by the market, even without considering the market beta of the stocks.

Description: As aging populations continue to grow, primarily in developed countries, there are increasing demands for the system that monitors the activities of elderly people while continuing to allow them to pursue their individual, healthy, and independent lifestyles. Therefore, it is required to develop the activity of daily living (ADL) sensing systems that are based on high-performance sensors and information technologies. However, most of the systems that have been proposed to date have only been investigated and/or evaluated in experimental environments. When considering the spread of such systems to typical homes inhabited by elderly people, it is clear that such sensing systems will need to meet the following five requirements: (1) be inexpensive; (2) provide robustness; (3) protect privacy; (4) be maintenance-free; and, (5) work with a simple user interface. In this paper, we propose a novel senior-friendly ADL sensing system that can fulfill these requirements. More specifically, we achieve an easy collection of ADL data from elderly people while using a proposed system that consists of a small number of inexpensive energy harvesting sensors and simple annotation buttons, without the need for privacy-invasive cameras or microphones. In order to evaluate the practicality of our proposed system, we installed it in ten typical homes with elderly residents and collected the ADL data over a two-month period. We then visualized the collected data and performed activity recognition using a long short-term memory (LSTM) model. From the collected results, we confirmed that our proposed system, which is inexpensive and non-invasive, can correctly collect resident ADL data and could recognize activities from the collected data with a high recall rate of 72.3% on average. This result shows a high potential of our proposed system for application to services for elderly people.

Description: The Internet of Things (IoT) is an industry-recognized next intelligent life solution that increases the level of comfort, efficiency, and automation for citizens through numerous sensors, smart devices, and cloud stations connected physically. As an important application scenario of IoT, the Internet of Vehicles (IoV) plays an extremely critical role in the intelligent transportation field. In fact, the In-Vehicle Network of smart vehicles that are recognized as the core roles in intelligent transportation is currently the Controller Area Network (CAN). However, the In-Vehicle CAN bus protocol has several vulnerabilities without any encryption, authentication, or integrity checking, which severely threatens the safety of drivers and passengers. Once malicious attackers hack the vehicular gateway and obtain the access right of the CAN, they may control the vehicle based on the vulnerabilities of the CAN bus protocol. Given the severe security risk of CAN, we proposed the CANsec, a practical In-Vehicle CAN security evaluation tool that simulates malicious attacks according to major attack models to evaluate the security risk of the In-Vehicle CAN. We also show a usage case of the CANsec without knowing any information from the vehicle manufacturer.

Description: An evergreen scientific feature is the ability for scientific works to be reproduced. Since chaotic systems are so hard to understand analytically, numerical simulations assume a key role in their investigation. Such simulations have been considered as reproducible in many works. However, few studies have focused on the effects of the finite precision of computers on the simulation reproducibility of chaotic systems; moreover, code sharing and details on how to reproduce simulation results are not present in many investigations. In this work, a case study of reproducibility is presented in the simulation of a chaotic jerk circuit, using the software LTspice. We also employ the OSF platform to share the project associated with this paper. Tests performed with LTspice XVII on four different computers show the difficulties of simulation reproducibility by this software. We compare these results with experimental data using a normalised root mean square error in order to identify the computer with the highest prediction horizon. We also calculate the entropy of the signals to check differences among computer simulations and the practical experiment. The methodology developed is efficient in identifying the computer with better performance, which allows applying it to other cases in the literature. This investigation is fully described and available on the OSF platform.

Description: The instrument transformers scenario is moving towards the adoption of a new generation of low-power instrument transformers. This disruptive change also requires that the modeling, characterization, and testing of those devices must be improved. Therefore, this study focuses on a smart approach developed by the authors in a previous study to estimate the output of low-power voltage transformers (LPVT). The approach—which is based on a sort of modeling in the frequency domain (the so-called sinc-response)—allows obtaining the behavior of the LPVT at rated and distorted conditions. Experimental tests performed on off-the-shelf devices confirm the applicability and effectiveness of the proposed approach when estimating the output response of LPVTs.

Description: The main factors influencing the shape of the beach, shoreline and seabed include undulation, wind and coastal currents. These phenomena cause continuous and multidimensional changes in the shape of the seabed and the Earth’s surface, and when they occur in an area of intense human activity, they should be constantly monitored. In 2018 and 2019, several measurement campaigns took place in the littoral zone in Sopot, related to the intensive uplift of the seabed and beach caused by the tombolo phenomenon. In this research, a unique combination of bathymetric data obtained from an unmanned surface vessel, photogrammetric data obtained from unmanned aerial vehicles and ground laser scanning were used, along with geodetic data from precision measurements with receivers of global satellite navigation systems. This paper comprehensively presents photogrammetric measurements made from unmanned aerial vehicles during these campaigns. It describes in detail the problems in reconstruction within the water areas, analyses the accuracy of various photogrammetric measurement techniques, proposes a statistical method of data filtration and presents the changes that occurred within the studies area. The work ends with an interpretation of the causes of changes in the land part of the littoral zone and a summary of the obtained results.

Description: With the development of flexible electronic materials, as well as the wide development and application of smartphones, the cloud, and wireless systems, flexible wearable sensor technology has a significant and far-reaching impact on the realization of personalized medical care and the reform of the consumer market in the future. However, due to the high requirements for accuracy, reliability, low power consumption, and less data error, the development of these potential areas is full of challenges. In order to solve these problems, this review mainly searches the literature from 2008 to May 2020, based on the PRISMA process. Based on them, this paper reviews the latest research progress of new flexible materials and different types of sensors for monitoring vital signs (including electrophysiological signals, body temperature, and respiratory frequency) in recent years. These materials and sensors can help realize accurate signal detection based on comfortable and sustainable observation, and may likely be applied to future daily clothing.

Description: The advances of the Internet of Things, robotics, and Artificial Intelligence, to give just a few examples, allow us to imagine promising results in the development of smart buildings in the near future. In the particular case of elderly care, there are new solutions that integrate systems that monitor variables associated with the health of each user or systems that facilitate physical or cognitive rehabilitation. In all these solutions, it is clear that these new environments, usually called Ambient Assisted Living (AAL), configure a Cyber-Physical System (CPS) that connects information from the physical world to the cyber-world with the primary objective of adding more intelligence to these environments. This article presents a CPS-AAL for caregiving centers, with the main novelty that includes a Socially Assistive Robot (SAR). The CPS-AAL presented in this work uses a digital twin world with the information acquired by all devices. The basis of this digital twin world is the CORTEX cognitive architecture, a set of software agents interacting through a Deep State Representation (DSR) that stored the shared information between them. The proposal is evaluated in a simulated environment with two use cases requiring interaction between the sensors and the SAR in a simulated caregiving center.

Description: Gait is a characteristic that has been utilized for identifying individuals. As human gait information is now able to be captured by several types of devices, many studies have proposed biometric identification methods using gait information. As research continues, the performance of this technology in terms of identification accuracy has been improved by gathering information from multi-modal sensors. However, in past studies, gait information was collected using ancillary devices while the identification accuracy was not high enough for biometric identification. In this study, we propose a deep learning-based biometric model to identify people by their gait information collected through a wearable device, namely an insole. The identification accuracy of the proposed model when utilizing multi-modal sensing is over 99%.

Description: With the Internet of Things (IoT), the number of monitoring applications deployed is considerably increasing, whatever the field considered: smart city, smart agriculture, environment monitoring, air pollution monitoring, to name a few. The LoRaWAN (Long Range Wide Area Network)architecture with its long range communication, its robustness to interference and its reduced energy consumption is an excellent candidate to support such applications. However, if the number of end devices is high, the reliability of LoRaWAN, measured by the Packet Delivery Ratio (PDR), becomes unacceptable due to an excessive number of collisions. In this paper, we propose two different families of solutions ensuring collision-free transmissions. The first family is TDMA (Time-Division Multiple Access)-based. All clusters transmit in sequence and up to six end devices with different spreading factors belonging to the same cluster are allowed to transmit in parallel. The second family is FDMA (Frequency Divsion Multiple Access)-based. All clusters transmit in parallel, each cluster on its own frequency. Within each cluster, all end devices transmit in sequence. Their performance are compared in terms of PDR, energy consumption by end device and maximum number of end devices supported. Simulation results corroborate the theoretical results and show the high efficiency of the solutions proposed.

Description: Federated learning (FL) is a privacy-preserving technique for training a vast amount of decentralized data and making inferences on mobile devices. As a typical language modeling problem, mobile keyboard prediction aims at suggesting a probable next word or phrase and facilitating the human-machine interaction in a virtual keyboard of the smartphone or laptop. Mobile keyboard prediction with FL hopes to satisfy the growing demand that high-level data privacy be preserved in artificial intelligence applications even with the distributed models training. However, there are two major problems in the federated optimization for the prediction: (1) aggregating model parameters on the server-side and (2) reducing communication costs caused by model weights collection. To address the above issues, traditional FL methods simply use averaging aggregation or ignore communication costs. We propose a novel Federated Mediation (FedMed) framework with the adaptive aggregation, mediation incentive scheme, and topK strategy to address the model aggregation and communication costs. The performance is evaluated in terms of perplexity and communication rounds. Experiments are conducted on three datasets (i.e., Penn Treebank, WikiText-2, and Yelp) and the results demonstrate that our FedMed framework achieves robust performance and outperforms baseline approaches.

Description: We present analyses of Global Navigation Satellite System (GNSS) carrier phase observations in multiple kinematic scenarios for different receiver types. Multi-GNSS observations are recorded on high sensitivity and geodetic-grade receivers operating on a moving zero-baseline by conducting terrestrial urban and aerial flight experiments. The captured data is post-processed; carrier phase residuals are computed using the double difference (DD) concept. The estimated noise levels of carrier phases are analysed with respect to different parameters. We find DD noise levels for L1 carrier phase observations in the range of 1.4–2 mm (GPS, Global Positioning System), 2.8–4.6 mm (GLONASS, Global Navigation Satellite System), and 1.5–1.7 mm (Galileo) for geodetic receiver pairs. The noise level for high sensitivity receivers is at least higher by a factor of 2. For satellites elevating above 30 ∘ , the dominant noise process is white phase noise. For the flight experiment, the elevation dependency of the noise is well described by the exponential model, while for the terrestrial urban experiment, multipath and diffraction effects overlay; hence no elevation dependency is found. For both experiments, a carrier-to-noise density ratio (C/N 0 ) dependency for carrier phase DDs of GPS and Galileo is clearly visible with geodetic-grade receivers. In addition, C/N 0 dependency is also visible for carrier phase DDs of GLONASS with geodetic-grade receivers for the terrestrial urban experiment.

Description: Hemoglobinopathies represent the most common single-gene defects in the world and pose a major public health problem, particularly in tropical countries, where they occur with high frequency. Diagnosing hemoglobinopathies can sometimes be difficult due to the coexistence of different causes of anemia, such as thalassemia and iron deficiency, and blood transfusions, among other factors, and requires expensive and complex molecular tests. This work explores the possibility of using spectral confocal microscopy as a diagnostic tool for thalassemia in pediatric patients, a disease caused by mutations in the globin genes that result in changes of the globin chains that form hemoglobin—in pediatric patients. Red blood cells (RBCs) from patients with different syndromes of alpha-thalassemia and iron deficiency (including anemia) as well as healthy (control) subjects were analyzed under a Leica TCS SP8 confocal microscope following different image acquisition protocols. We found that diseased RBCs exhibited autofluorescence when excited at 405 nm and their emission was collected in the spectral range from 425 nm to 790 nm. Three experimental descriptors calculated from the mean emission intensities at 502 nm, 579 nm, 628 nm, and 649 nm allowed us to discriminate between diseased and healthy cells. According to the results obtained, spectral confocal microscopy could serve as a tool in the diagnosis of thalassemia.

Description: Collaborative representation (CR)-based classification has been successfully applied to plant disease recognition in cases with sufficient training samples of each disease. However, collecting enough training samples is usually time consuming and labor-intensive. Moreover, influenced by the non-ideal measurement environment, samples may be corrupted by variables introduced by bad illumination and occlusions of adjacent leaves. Consequently, an extended collaborative representation (ECR)-based classification model is presented in this paper. Then, it is applied to cucumber leaf disease recognition, which constructs a pure spectral library consisting of several representative samples for each disease and designs a universal variation spectral library that deals with linear variables superimposed on samples. Thus, each query sample is encoded as a linear combination of atoms from these two spectral libraries and disease identity is determined by the disease of minimal reconstruction residuals. Experiments are conducted on spectral curves extracted from normal leaves and the disease lesions of leaves infected with cucumber anthracnose and brown spot. The diagnostic accuracy is higher than 94.7% and the average online diagnosis time is short, about 1 to 1.3 ms. The results indicate that the ECR-based classification model is feasible in the fast and accurate diagnosis of cucumber leaf diseases.

Description: Photoacoustic imaging (PAI) combines optical contrast with ultrasound spatial resolution and can be obtained up to a depth of a few centimeters. Hand-held PAI systems using linear array usually operate in reflection mode using a dark-field illumination scheme, where the optical fiber output is attached to both sides of the elevation plane (short-axis) of the transducer. More recently, bright-field strategies where the optical illumination is coaxial with acoustic detection have been proposed to overcome some limitations of the standard dark-field approach. In this paper, a novel multiangle long-axis lateral illumination is proposed. Monte Carlo simulations were conducted to evaluate light delivery for three different illumination schemes: bright-field, standard dark-field, and long-axis lateral illumination. Long-axis lateral illumination showed remarkable improvement in light delivery for targets with a width smaller than the transducer lateral dimension. A prototype was developed to experimentally demonstrate the feasibility of the proposed approach. In this device, the fiber bundle terminal ends are attached to both sides of the transducer’s long-axis and the illumination angle of each fiber bundle can be independently controlled. The final PA image is obtained by the coherent sum of subframes acquired using different angles. The prototype was experimentally evaluated by taking images from a phantom, a mouse abdomen, forearm, and index finger of a volunteer. The system provided light delivery enhancement taking advantage of the geometry of the target, achieving sufficient signal-to-noise ratio at clinically relevant depths.

Description: Longitudinal and perpendicular changes in the vocal fold’s blood vessels are associated with the development of benign and malignant laryngeal lesions. The combination of Contact Endoscopy (CE) and Narrow Band Imaging (NBI) can provide intraoperative real-time visualization of the vascular changes in the laryngeal mucosa. However, the visual evaluation of vascular patterns in CE-NBI images is challenging and highly depends on the clinicians’ experience. The current study aims to evaluate and compare the performance of a manual and an automatic approach for laryngeal lesion’s classification based on vascular patterns in CE-NBI images. In the manual approach, six observers visually evaluated a series of CE+NBI images that belong to a patient and then classified the patient as benign or malignant. For the automatic classification, an algorithm based on characterizing the level of the vessel’s disorder in combination with four supervised classifiers was used to classify CE-NBI images. The results showed that the manual approach’s subjective evaluation could be reduced by using a computer-based approach. Moreover, the automatic approach showed the potential to work as an assistant system in case of disagreements among clinicians and to reduce the manual approach’s misclassification issue.

Description: Twenty-eight quartz crystal microbalance (QCM) sensors coated with different sensing films were tested and analyzed in this work; twenty-three sensors were coated in different room temperature ionic liquids (RTILs) and five additional QCM sensors were coated with conventional films commonly used as stationary phases in gas chromatography. Four volatile organic compounds (VOCs), in gaseous phase—hexanol, butyl acetate, 2-hexanone, and hexanoic acid—were measured. Two transducer mechanisms were used; resonant frequency shift and resistance shift of a QCM Mason equivalent circuit. The sensors were characterized by their sensitivity to the VOCs and their discrimination power of the four VOCs. The highest separation among VOCs was obtained when frequency and resistance information of both RTIL and conventional films was used, a sensor array composed by two RTILs (1-butyl-1-methylpyrrolidinium bis(trifluoromethanesulfonyl)imide and 1-hexyl-3-methylimidazolium hexafluorophosphate) and two conventional films (tricresyl phosphate and apiezon-L) was found to improve the Wilks lambda separation for the tested gases two orders of magnitude compared to the Wilks lambda using only a conventional films array.

Description: Emotion recognition has increased the potential of affective computing by getting an instant feedback from users and thereby, have a better understanding of their behavior. Physiological sensors have been used to recognize human emotions in response to audio and video content that engages single (auditory) and multiple (two: auditory and vision) human senses, respectively. In this study, human emotions were recognized using physiological signals observed in response to tactile enhanced multimedia content that engages three (tactile, vision, and auditory) human senses. The aim was to give users an enhanced real-world sensation while engaging with multimedia content. To this end, four videos were selected and synchronized with an electric fan and a heater, based on timestamps within the scenes, to generate tactile enhanced content with cold and hot air effect respectively. Physiological signals, i.e., electroencephalography (EEG), photoplethysmography (PPG), and galvanic skin response (GSR) were recorded using commercially available sensors, while experiencing these tactile enhanced videos. The precision of the acquired physiological signals (including EEG, PPG, and GSR) is enhanced using pre-processing with a Savitzky-Golay smoothing filter. Frequency domain features (rational asymmetry, differential asymmetry, and correlation) from EEG, time domain features (variance, entropy, kurtosis, and skewness) from GSR, heart rate and heart rate variability from PPG data are extracted. The K nearest neighbor classifier is applied to the extracted features to classify four (happy, relaxed, angry, and sad) emotions. Our experimental results show that among individual modalities, PPG-based features gives the highest accuracy of 78.57 % as compared to EEG- and GSR-based features. The fusion of EEG, GSR, and PPG features further improved the classification accuracy to 79.76 % (for four emotions) when interacting with tactile enhanced multimedia.

Description: Individual spacecraft manual navigation by human operators from ground station is expected to be an emerging problem as the number of spacecraft for space exploration increases. Hence, as an attempt to reduce the burden to control multiple spacecraft, future missions will employ smart spacecraft able to navigate and operate autonomously. Recently, image-based optical navigation systems have proved to be promising solutions for inexpensive autonomous navigation. In this paper, we propose a robust image processing pipeline for estimating the center and radius of planets and moons in an image taken by an on-board camera. Our custom image pre-processing pipeline is tailored for resource-constrained applications, as it features a computationally simple processing flow with a limited memory footprint. The core of the proposed pipeline is a best-fitting model based on the RANSAC algorithm that is able to handle images corrupted with Gaussian noise, image distortions, and frame drops. We report processing time, pixel-level error of estimated body center and radius and the effect of noise on estimated body parameters for a dataset of synthetic images.

Description: An alternative to the Carnot-Clausius approach for introducing entropy and the second law of thermodynamics is outlined that establishes entropy as a nonequilibrium property from the onset. Five simple observations lead to entropy for nonequilibrium and equilibrium states, and its balance. Thermodynamic temperature is identified, its positivity follows from the stability of the rest state. It is shown that the equations of engineering thermodynamics are valid for the case of local thermodynamic equilibrium, with inhomogeneous states. The main findings are accompanied by examples and additional discussion to firmly imbed classical and engineering thermodynamics into nonequilibrium thermodynamics.

Description: Region of interest (ROI) localization is one of the key preprocessing technologies for a finger-vein identification system, so an effective ROI definition can improve the matching accuracy. However, due to the impact of uneven illumination, equipment noise, as well as the distortion of finger position, etc., these make accurate ROI localization a very difficult task. To address these issues, in this paper, we propose a robust finger-vein ROI localization method, which is based on the 3 σ criterion dynamic threshold strategy. The proposed method includes three main steps: First, the Kirsch edge detector is introduced to detect the horizontal-like edges in the acquired finger-vein image. Then, the obtained edge gradient image is divided into four parts: upper-left, upper-right, lower-left, and lower-right. For each part of the image, the three-level dynamic threshold, which is based on the 3 σ criterion of the normal distribution, is imposed to obtain more distinct and complete edge information. Finally, through labeling the longest connected component at the same horizontal line, two reliable finger boundaries, which represent the upper and lower boundaries, respectively, are defined, and the ROI is localized in the region between these two boundaries. Extensive experiments are carried out on four different finger-vein image datasets, including three publicly available datasets and one of our newly developed finger-vein datasets with 37,080 finger-vein samples and 1030 individuals. The experimental results indicate that our proposed method has very competitive ROI localization performance, as well as satisfactory matching results on different datasets.

Description: Thermal inspection is a powerful tool that enables the diagnosis of several components at its early stages. One critical aspect that influences thermal inspection outputs is the infrared reflection from external sources. This situation may change the readings, demanding that an expert correctly define the camera position, which is a time consuming and expensive operation. To mitigate this problem, this work proposes an autonomous system capable of identifying infrared reflections by filtering and fusing data obtained from both stereo and thermal cameras. The process starts by acquiring readings from multiples Observation Points (OPs) where, at each OP, the system processes the 3D point cloud and thermal image by fusing them together. The result is a dense point cloud where each point has its spatial position and temperature. Considering that each point’s information is acquired from multiple poses, it is possible to generate a temperature profile of each spatial point and filter undesirable readings caused by interference and other phenomena. To deploy and test this approach, a Directional Robotic System (DRS) is mounted over a traditional human-operated service vehicle. In that way, the DRS autonomously tracks and inspects any desirable equipment as the service vehicle passes them by. To demonstrate the results, this work presents the algorithm workflow, a proof of concept, and a real application result, showing improved performance in real-life conditions.

Description: Surface electromyographic signal (sEMG) is a kind of bioelectrical signal, which records the data of muscle activity intensity. Most sEMG-based hand gesture recognition, which uses machine learning as the classifier, depends on feature extraction of sEMG data. Recently, a deep leaning-based approach such as recurrent neural network (RNN) has provided a choice to automatically learn features from raw data. This paper presents a novel hand gesture prediction method by using an RNN model to learn from raw sEMG data and predict gestures. The sEMG signals of 21 short-term hand gestures of 13 subjects were recorded with a Myo armband, which is a non-intrusive, low cost, commercial portable device. At the start of the gesture, the trained model outputs an instantaneous prediction for the sEMG data. Experimental results showed that the more time steps of data that were known, the higher instantaneous prediction accuracy the proposed model gave. The predicted accuracy reached about 89.6% when the data of 40-time steps (200 ms) were used to predict hand gesture. This means that the gesture could be predicted with a delay of 200 ms after the hand starts to perform the gesture, instead of waiting for the end of the gesture.

Description: The reporting of U wave abnormalities is clinically important, but the measurement of this small electrocardiographic (ECG) feature is extremely difficult, especially in challenging recording conditions, such as stress exercise, due to contaminating noise. Furthermore, it is widely stated that ECG U waves are rarely observable at heart rates greater than 90 bpm. The aims of the study were (i) to assess the ability of multi-beat averaging to reveal the presence of U waves in ECGs contaminated by noise following exercise and (ii) to quantify the effect of exercise on U wave amplitude. The multi-beat averaging algorithm was applied to recover U waves in 20 healthy subjects in pre- and post-exercise recordings. Average beats were generated from 30 beat epochs. The prevalence of U waves and their amplitudes were measured in pre- and post-exercise recordings and changes in amplitude due to exercise were quantified. U waves were present in all subjects in pre-exercise recordings. Following exercise, U waves could not be seen in standard ECG but were observable in all 20 subjects by multi-beat averaging and despite significantly increased mean (±SD) heart rate (63 ± 8 bpm vs. 100 ± 9 bpm, p 〈 0.0001). Furthermore, U waves were observable in all subjects with heart rates greater than 90 bpm. U waves significantly increased in amplitude following exercise (38 ± 15 μV vs. 80 ± 48 μV, p = 0.0005). Multi-beat averaging is effective at recovering U waves contaminated by noise due to exercise. U waves were measurable in all subjects, dispelling the myth that U waves are rarely seen at elevated heart rates. U waves exhibit increased amplitudes at elevated heart rates following exercise.

Description: Real-time monitoring of fruit ripeness in storage and during logistics allows traders to minimize the chances of financial losses and maximize the quality of the fruit during storage through accurate prediction of the present condition of fruits. In Pakistan, banana production faces different difficulties from production, post-harvest management, and trade marketing due to atmosphere and mismanagement in storage containers. In recent research development, Wireless Sensor Networks (WSNs) are progressively under investigation in the field of fruit ripening due to their remote monitoring capability. Focused on fruit ripening monitoring, this paper demonstrates an Xbee-based wireless sensor nodes network. The role of the network architecture of the Xbee sensor node and sink end-node is discussed in detail regarding their ability to monitor the condition of all the required diagnosis parameters and stages of banana ripening. Furthermore, different features are extracted using the gas sensor, which is based on diverse values. These features are utilized for training in the Artificial Neural Network (ANN) through the Back Propagation (BP) algorithm for further data validation. The experimental results demonstrate that the projected WSN architecture can identify the banana condition in the storage area. The proposed Neural Network (NN) architectural design works well with selecting the feature data sets. It seems that the experimental and simulation outcomes and accuracy in banana ripening condition monitoring in the given feature vectors is attained and acceptable, through the classification performance, to make a better decision for effective monitoring of current fruit condition.

Description: The visual fidelity of a virtual environment lacks the exceedingly complex layers from the physical world, but the continuous improvements of image rendering technology and computation powers have led to greater demands for virtual simulations. Our study employs Crime Prevention through Environmental Design (CPTED) as a risk control measure and utilizes two principles: Access Control and Natural Surveillance. We conducted an experiment with (n-sample: 100) graduate students. For the experiment, we utilized the Factor Analysis of Information Risk (FAIR) to quantitatively analyze the risk. Furthermore, we adopted the lme4 package for R to estimate the mixed effect of the 6,242,880 observations retrieved from Kaggle. Based on the two experiments, we were able to critically evaluate the contributions of CPTED through a multi-component analysis. Our study investigates how spatial syntax and territorial demarcation may translate in the cyberspace realm. We found that the corollaries of the mophology in the virtual environment effects the distribution of crime. The results of our study discusses how to determine the criminogenic designs and capacity in the cyberspace realm.

Description: The framework of information dynamics allows the dissection of the information processed in a network of multiple interacting dynamical systems into meaningful elements of computation that quantify the information generated in a target system, stored in it, transferred to it from one or more source systems, and modified in a synergistic or redundant way. The concepts of information transfer and modification have been recently formulated in the context of linear parametric modeling of vector stochastic processes, linking them to the notion of Granger causality and providing efficient tools for their computation based on the state–space (SS) representation of vector autoregressive (VAR) models. Despite their high computational reliability these tools still suffer from estimation problems which emerge, in the case of low ratio between data points available and the number of time series, when VAR identification is performed via the standard ordinary least squares (OLS). In this work we propose to replace the OLS with penalized regression performed through the Least Absolute Shrinkage and Selection Operator (LASSO), prior to computation of the measures of information transfer and information modification. First, simulating networks of several coupled Gaussian systems with complex interactions, we show that the LASSO regression allows, also in conditions of data paucity, to accurately reconstruct both the underlying network topology and the expected patterns of information transfer. Then we apply the proposed VAR-SS-LASSO approach to a challenging application context, i.e., the study of the physiological network of brain and peripheral interactions probed in humans under different conditions of rest and mental stress. Our results, which document the possibility to extract physiologically plausible patterns of interaction between the cardiovascular, respiratory and brain wave amplitudes, open the way to the use of our new analysis tools to explore the emerging field of Network Physiology in several practical applications.

Description: This research aims to improve dietetic-nutritional treatment using state-of-the-art RGB-D sensors and virtual reality (VR) technology. Recent studies show that adherence to treatment can be improved using multimedia technologies. However, there are few studies using 3D data and VR technologies for this purpose. On the other hand, obtaining 3D measurements of the human body and analyzing them over time (4D) in patients undergoing dietary treatment is a challenging field. The main contribution of the work is to provide a framework to study the effect of 4D body model visualization on adherence to obesity treatment. The system can obtain a complete 3D model of a body using low-cost technology, allowing future straightforward transference with sufficient accuracy and realistic visualization, enabling the analysis of the evolution (4D) of the shape during the treatment of obesity. The 3D body models will be used for studying the effect of visualization on adherence to obesity treatment using 2D and VR devices. Moreover, we will use the acquired 3D models to obtain measurements of the body. An analysis of the accuracy of the proposed methods for obtaining measurements with both synthetic and real objects has been carried out.

Description: The validity of a local positioning system (LPS) to measure inter-unit distance was investigated during a team sport movement circuit. Eight recreationally active, female indoor team-sport players completed a circuit, comprising seven types of movements (walk, jog, jump, sprint, 45° change of direction and shuffle), on an indoor court. Participants wore a receiver tag (ClearSky T6, Catapult Sports) and seven reflective markers, to allow for a comparison with the reference system (©Vicon Motion Systems, Oxford Metrics, UK). Inter-unit distance was collected for each combination of participants. Validity was assessed via root mean square error, mean bias and percentage of variance accounted for, both as an overall dataset and split into distance bands. The results presented a mean root mean square error of 0.20 ± 0.05 m, and mean bias detected an overestimation for all distance bands. The LPS shows acceptable accuracy for measuring inter-unit distance, opening up opportunities to utilise player tracking for tactical variables indoors.

Description: Traditional monitoring methods cannot obtain the overall thermal information for power transformers. To solve this problem, a distributed fiber optic sensor (DFOS) was creatively applied inside an operating 35 kV power transformer by highly integrating with the electromagnetic wires. Then, the transformer prototype with totally global sensing capability was successfully developed and it was qualified for power grid application through the strict ex-factory tests. The as designed optical fiber sensor works stably all the time with a temperature accuracy of ±0.2 °C and spatial positioning accuracy of 0.8 m. Based on the obtained internal temperature distribution, Gaussian convolution was further applied for the signal processing and hereby, the hotspots for all the windings and iron cores could be accurately traced. The hottest points were located at 89.1% (55 °C) of the high voltage winding height and 89.7% (77.5 °C) of the low voltage winding height. The actual precise hotspot location corrected the traditional cognition on the transformer windings and it would serve as an essential reference for the manufactures. This new nondestructive internal sensing and condition monitoring method also exhibits a promising future for the DFOS applying in the high-voltage electrical apparatus industry.

Description: Predictive models play a central role in decision making. Penalized regression approaches, such as least absolute shrinkage and selection operator (LASSO), have been widely used to construct predictive models and explain the impacts of the selected predictors, but the estimates are typically biased. Moreover, when data are ultrahigh-dimensional, penalized regression is usable only after applying variable screening methods to downsize variables. We propose a stepwise procedure for fitting generalized linear models with ultrahigh dimensional predictors. Our procedure can provide a final model; control both false negatives and false positives; and yield consistent estimates, which are useful to gauge the actual effect size of risk factors. Simulations and applications to two clinical studies verify the utility of the method.

Description: The properties of binary colloidal systems have gained the interest of researchers because they have much richer structures than their one-component counterpart. Continuing efforts are being made on the theoretical side on binary colloidal systems, while many issues remained unsolved for the lack of solid experimental supports, especially for study in the field of two-dimensional (2D) binary colloids system. Oil–water interfaces can serve as a good stringent 2D confinement for colloidal particles and can avoid anomalous problems caused by the quasi-two-dimensional environment in previous experimental reports. In this work, we conduct experimental research of binary colloids system in an oil–water interface to revisit theoretical predication. We measure an ultra-long-range attraction and discuss the possible mechanism of this attraction by comparing the experimental result with existing model and theory. This study could contribute more understanding of the binary colloidal system in both experimental aspects and theoretical aspects.

Description: The Position and Orientation System (POS) is the core device of high-resolution aerial remote sensing systems, which can obtain the real-time object position and collect target attitude information. The goal of exceeding 0.015°/0.003° of its real-time heading/attitude measurement accuracy is unlikely to be achieved without gravity disturbance compensation. In this paper, a high-precision gravity data architecture for gravity disturbance compensation technology is proposed, and a gravity database with accuracy better than 1 mGal is constructed in the test area. Based on the “Block-Time Variation” Markov Model (B-TV-MM), a gravity disturbance compensation device is developed. The gravity disturbance compensation technology is applied to POS products for the first time, and is applied in the field of aerial remote sensing. Flight test results show that the heading accuracy and attitude accuracy of POS products are improved by at least 6% and 16%, respectively. The device can be used for the gravity disturbance compensation of various inertial technology products.

Description: In this paper, an actuator fault estimation technique is proposed for quadcopters under uncertainties. In previous studies, matching conditions were required for the observer design, but they were found to be complex for solving linear matrix inequalities (LMIs). To overcome these limitations, in this study, an improved intermediate estimator algorithm was applied to the quadcopter model, which can be used to estimate actuator faults and system states. The system stability was validated using Lyapunov theory. It was shown that system errors are uniformly ultimately bounded. To increase the accuracy of the proposed fault estimation algorithm, a magnitude order balance method was applied. Experiments were verified with four scenarios to show the effectiveness of the proposed algorithm. Two first scenarios were compared to show the effectiveness of the magnitude order balance method. The remaining scenarios were described to test the reliability of the presented method in the presence of multiple actuator faults. Different from previous studies on observer-based fault estimation, this proposal not only can estimate the fault magnitude of the roll, pitch, yaw, and thrust channel, but also can estimate the loss of control effectiveness of each actuator under uncertainties.

Description: The benefits of automatic identification technologies in healthcare have been largely recognized. Nevertheless, unlocking their potential to support the most knowledge-intensive medical tasks requires to go beyond mere item identification. This paper presents an innovative Decision Support System (DSS), based on a semantic enhancement of Near Field Communication (NFC) standard. Annotated descriptions of medications and patient’s case history are stored in NFC transponders and used to help caregivers providing the right therapy. The proposed framework includes a lightweight reasoning engine to infer possible incompatibilities in treatment, suggesting substitute therapies. A working prototype is presented in a rheumatology case study and preliminary performance tests are reported. The approach is independent from back-end infrastructures. The proposed DSS framework is validated in a limited but realistic case study, and performance evaluation of the prototype supports its practical feasibility. Automated reasoning on knowledge fragments extracted via NFC enables effective decision support not only in hospital centers, but also in pervasive IoT-based healthcare contexts such as first aid, ambulance transport, rehabilitation facilities and home care.

Description: Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.

Description: Many human activities and states are related to the facial muscles’ actions: from the expression of emotions, stress, and non-verbal communication through health-related actions, such as coughing and sneezing to nutrition and drinking. In this work, we describe, in detail, the design and evaluation of a wearable system for facial muscle activity monitoring based on a re-configurable differential array of stethoscope-microphones. In our system, six stethoscopes are placed at locations that could easily be integrated into the frame of smart glasses. The paper describes the detailed hardware design and selection and adaptation of appropriate signal processing and machine learning methods. For the evaluation, we asked eight participants to imitate a set of facial actions, such as expressions of happiness, anger, surprise, sadness, upset, and disgust, and gestures, like kissing, winkling, sticking the tongue out, and taking a pill. An evaluation of a complete data set of 2640 events with 66% training and a 33% testing rate has been performed. Although we encountered high variability of the volunteers’ expressions, our approach shows a recall = 55%, precision = 56%, and f1-score of 54% for the user-independent scenario(9% chance-level). On a user-dependent basis, our worst result has an f1-score = 60% and best result with f1-score = 89%. Having a recall ≥60% for expressions like happiness, anger, kissing, sticking the tongue out, and neutral(Null-class).

Description: This paper presents a two-layer controller for accurate and robust lateral path tracking control of highly automated vehicles. The upper-layer controller, which produces the front wheel steering angle, is implemented with a Linear Time-Varying MPC (LTV-MPC) whose prediction and control horizon are both optimized offline with particle swarm optimization (PSO) under varying working conditions. A constraint on the slip angle is imposed to prevent lateral forces from saturation to guarantee vehicle stability. The lower layer is a radial basis function neural network proportion-integral-derivative (RBFNN-PID) controller that generates electric current control signals executable by the steering motor to rapidly track the target steering angle. The nonlinear characteristics of the steering system are modeled and are identified on-line with the RBFNN so that the PID controller’s control parameters can be adjusted adaptively. The results of CarSim-Matlab/Simulink joint simulations show that the proposed hierarchical controller achieves a good level of path tracking accuracy while maintaining vehicle stability throughout the path tracking process, and is robust to dynamic changes in vehicle velocities and road adhesion coefficients.

Description: Iron deficiency (ID) is the most prevalent and severe nutritional disorder globally and is the leading cause of iron deficiency anemia (IDA). IDA often progresses subtly symptomatic in children, whereas prolonged deficiency may permanently impair development. Early detection and frequent screening are, therefore, essential to avoid the consequences of IDA. In order to reduce the production cost and complexities involved in building advanced ID sensors, the devices were fabricated using a home-built patterning procedure that was developed and used for this work instead of lithography, which allows for fast prototyping of dimensions. In this article, we report the development of graphene-based field-effect transistors (GFETs) functionalized with anti-ferritin antibodies through a linker molecule (1-pyrenebutanoic acid, succinimidyl ester), to facilitate specific conjugation with ferritin antigen. The resulting biosensors feature an unprecedented ferritin detection limit of 10 fM, indicating a tremendous potential for non-invasive (e.g., saliva) ferritin detection.

Description: Industrial nitrogen liquefaction cycles are based on the Collins topology but integrate variations. Several pressure levels with liquefaction to medium pressure and compressor–expander sets are common. The cycle must be designed aiming to minimise specific power consumption rather than to maximise liquid yield. For these reasons, conclusions of general studies cannot be extrapolated directly. This article calculates the optimal share of total compressed flow to be expanded in an industrial Collins-based cycle for nitrogen liquefaction. Simulations in Unisim Design R451 using Peng Robinson EOS for nitrogen resulted in 88% expanded flow, which is greater than the 75–80% for conventional Collins cycles with helium or other substances. Optimum specific compression work resulted 430.7 kWh/ton of liquid nitrogen. For some operating conditions, the relation between liquid yield and specific power consumption was counterintuitive: larger yield entailed larger consumption. Exergy analysis showed 40.3% exergy efficiency of the optimised process. The exergy destruction distribution and exergy flow across the cycle is provided. Approximately 40% of the 59.7% exergy destruction takes place in the cooling after compression. This exergy could be used for secondary applications such as industrial heating, energy storage or for lower temperature applications as heat conditioning.

Description: This paper develops a non-equilibrium thermodynamic approach to life, with particular regards to the membrane role. The Onsager phenomenological coefficients are introduced in order to point out the thermophysical properties of the cell systems. The fundamental role of the cell membrane electric potential is highlighted, in relation to ions and heat fluxes, pointing out the strictly relation between heat exchange and the membrane electric potential. A Seebeck-like and Peltier-like effects emerge in order to simplify the description of the heat and the ions fluxes. Life is described as a continuos transition between the Peltier-like effect to the Seebeck-like one, and viceversa.

Description: The paper is focused on the idea of multi-fuel combustion in a large-scale circulating fluidized bed (CFB) boiler. The article discusses the concept of simultaneous coal and syngas combustion. A comprehensive three-dimensional computational fluid dynamics (CFD) model is developed, which allows us to describe complex phenomena that occur in the combustion chamber of the CFB boiler burning coal and syngas produced from coal sludge.

Description: Emotional and physical stress can cause various health problems. In this paper, we used tissue blood oxygen saturation (StO2), a newly proposed physiological signal, to classify the human stress. We firstly constructed a public StO2 database including 42 volunteers subjected to two types of stress. During the physical stress experiment, we observed that the facial StO2 right after the stress can be either increased or decreased comparing to the baseline. We investigated the StO2 feature combinations for the classification and found that the average StO2 values from left cheek, chin, and the middle of the eyebrow can provide the highest classification rate of 95.56%. Comparison with other stress classification method shows that StO2 based method can provide best classification performance with lowest feature dimension. These results suggest that facial StO2 can be used as a promising features to identify stress states, including emotional and physical stress.

Description: Noise appears in images captured by real cameras. This paper studies the influence of noise on monocular feature-based visual Simultaneous Localization and Mapping (SLAM). First, an open-source synthetic dataset with different noise levels is introduced in this paper. Then the images in the dataset are denoised using the Fast and Flexible Denoising convolutional neural Network (FFDNet); the matching performances of Scale Invariant Feature Transform (SIFT), Speeded Up Robust Features (SURF) and Oriented FAST and Rotated BRIEF (ORB) which are commonly used in feature-based SLAM are analyzed in comparison and the results show that ORB has a higher correct matching rate than that of SIFT and SURF, the denoised images have a higher correct matching rate than noisy images. Next, the Absolute Trajectory Error (ATE) of noisy and denoised sequences are evaluated on ORB-SLAM2 and the results show that the denoised sequences perform better than the noisy sequences at any noise level. Finally, the completely clean sequence in the dataset and the sequences in the KITTI dataset are denoised and compared with the original sequence through comprehensive experiments. For the clean sequence, the Root-Mean-Square Error (RMSE) of ATE after denoising has decreased by 16.75%; for KITTI sequences, 7 out of 10 sequences have lower RMSE than the original sequences. The results show that the denoised image can achieve higher accuracy in the monocular feature-based visual SLAM under certain conditions.

Description: Multi-enzyme immobilization onto a capacitive field-effect biosensor by nano-spotting technique is presented. The nano-spotting technique allows to immobilize different enzymes simultaneously on the sensor surface with high spatial resolution without additional photolithographical patterning. The amount of applied enzymatic cocktail on the sensor surface can be tailored. Capacitive electrolyte-insulator-semiconductor (EIS) field-effect sensors with Ta2O5 as pH-sensitive transducer layer have been chosen to immobilize the three different (pL droplets) enzymes penicillinase, urease, and glucose oxidase. Nano-spotting immobilization is compared to conventional drop-coating method by defining different geometrical layouts on the sensor surface (fully, half-, and quarter-spotted). The drop diameter is varying between 84 µm and 102 µm, depending on the number of applied drops (1 to 4) per spot. For multi-analyte detection, penicillinase and urease are simultaneously nano-spotted on the EIS sensor. Sensor characterization was performed by C/V (capacitance/voltage) and ConCap (constant capacitance) measurements. Average penicillin, glucose, and urea sensitivities for the spotted enzymes were 81.7 mV/dec, 40.5 mV/dec, and 68.9 mV/dec, respectively.

Description: The paper describes and presents a new calculation strategy for the determination of the aircraft’s resultant position using the GPS (Global Positioning System) SPP (Single Point Positioning) code method. The paper developed a concept of using the weighted average model with the use of measuring weights to improve the quality of determination of the coordinates and accuracy of GPS SPP positioning. In this research, measurement weights were used as a function of the number of GPS satellites being tracked, and geometric PDOP (Position Dilution of Precision) coefficient. The calculations were made using navigation data recorded by two independent GPS receivers: Thales Mobile Mapper and Topcon HiPerPro. On the basis of the obtained results, it was found that the RMS (Root Mean Square) accuracy of positioning for XYZ geocentric coordinates was better than 1.2% to 33.7% for the weighted average method compared to a single GPS SPP solution. The proposed approach is therefore of practical application in air navigation to improve the quality of aircraft positioning.

Description: Clean hydrocarbon technologies have a key role to play in achieving the circular carbon economy while meeting climate targets in many countries around the world. The aim of this work is to assess which technology, or combination of technologies, is the most cost-effective in achieving climate targets by 2030 leading to a quick and smooth transition to a low carbon energy system in Saudi Arabia and similar oil-based economies. We find that low carbon policy support by banning crude oil in power generation, leads to accelerated underground oil gasification, in the absence of carbon prices. We also find that setting a policy for carbon reduction targets leads to a more flexible energy system transition enabling more technologies in the mix with an increasing transition period. Our results also show that clean hydrocarbon technologies may be sufficient to achieve new climate targets, as shown by the stabilised emissions in scenario 3 by 2025, without the implementation of renewable sources of energy which most studies do not include. We propose that by investing in clean hydrocarbon technologies over the short term, the transition towards a low carbon economy will be accelerated while developing renewable sources of energy over the long term.

Description: Currently, many intelligent building energy management systems (BEMSs) are emerging for saving energy in new and existing buildings and realizing a sustainable society worldwide. However, installing an intelligent BEMS in existing buildings does not realize an innovative and advanced society because it only involves simple equipment replacement (i.e., replacement of old equipment or LED (Light Emitting Diode) lamps) and energy savings based on a stand-alone system. Therefore, artificial intelligence (AI) is applied to a BEMS to implement intelligent energy optimization based on the latest ICT (Information and Communications Technologies) technology. AI can analyze energy usage data, predict future energy requirements, and establish an appropriate energy saving policy. In this paper, we present a dynamic heating, ventilation, and air conditioning (HVAC) scheduling method that collects, analyzes, and infers energy usage data to intelligently save energy in buildings based on reinforcement learning (RL). In this regard, a hotel is used as the testbed in this study. The proposed method collects, analyzes, and infers IoT data from a building to provide an energy saving policy to realize a futuristic HVAC (heating system) system based on RL. Through this process, a purpose-oriented energy saving methodology to achieve energy saving goals is proposed.

Description: With the development of commodity economy, the emergence of fake and shoddy products has seriously harmed the interests of consumers and enterprises. To tackle this challenge, customized 2D barcode is proposed to satisfy the requirements of the enterprise anti-counterfeiting certification. Based on information hiding technology, the proposed approach can solve these challenging problems and provide a low-cost, difficult to forge, and easy to identify solution, while achieving the function of conventional 2D barcodes. By weighting between the perceptual quality and decoding robustness in sensing recognition, the customized 2D barcode can maintain a better aesthetic appearance for anti-counterfeiting and achieve fast encoding. A new picture-embedding scheme was designed to consider 2D barcode, within a unit image block as a basic encoding unit, where the 2D barcode finder patterns were embedded after encoding. Experimental results demonstrated that the proposed customized barcode could provide better encoding characteristics, while maintaining better decoding robustness than several state-of-the-art methods. Additionally, as a closed source 2D barcode that could be visually anti-counterfeit, the customized 2D barcode could effectively prevent counterfeiting that replicate physical labels. Benefitting from the high-security, high information capacity, and low-cost, the proposed customized 2D barcode with sensing recognition scheme provide a highly practical, valuable in terms of marketing, and anti-counterfeiting traceable solution for future smart IoT applications.

Description: In the last decades, the applications of structural monitoring are moving toward the field of civil engineering and infrastructures. Nevertheless, if the structures have damages, it does not mean that they have a complete loss of functionality, but rather that the system is no longer in an optimal condition so that, if the damage increases, the structure can collapse. Structural Health Monitoring (SHM), a process for the identification of damage, periodically collects data from suitable sensors that allow to characterize the damage and establishes the health status of the structure. Therefore, this monitoring will provide information on the structure condition, mostly about its integrity, in a short time, and, for infrastructures and civil structures, it is necessary to assess performance and health status. The aim of this work is to design an Internet of Things (IoT) system for Structural Health Monitoring to find possible damages and to see how the structure behaves over time. For this purpose, a customized datalogger and nodes have been designed. The datalogger is able to acquire the data coming from the nodes through RS485 communication and synchronize acquisitions. Furthermore, it has an internal memory to allow for the post-processing of the collected data. The nodes are composed of a digital triaxial accelerometer, a general-purpose microcontroller, and an external memory for storage measures. The microcontroller communicates with an accelerometer, acquires values, and then saves them in the memory. The system has been characterized and the damage indicator has been evaluated on a testing structure. Experimental results show that the estimated damage indicator increases when the structure is perturbed. In the present work, the damage indicator increased by a maximum value of 24.65 when the structure is perturbed by a 2.5 mm engraving.

Description: This paper describes the design and the performance of simultaneous, multifrequency impedance measurement system for four inductive-loop (IL) sensors which have been developed for vehicle parameters measurement based on vehicle magnetic profile (VMP) analysis. Simultaneous impedance measurement on several excitation frequencies increases the VMP measurement reliability because typical electromagnetic interferences (EMI) are narrowband, and should not simultaneously affect, in the same way, all measurement bands that are spread in the frequency, i.e., it is expected that at least one measurement band is disturbance-free. The system consists of two standard and two slim IL sensors, specially designed and installed, the analogue front-end, and an industrial computer with digital-to-analogue and analogue-to-digital converters accessed via field-programmable gate array (FPGA). The impedance of the IL sensors is obtained by vector measurement of voltages from auto-balancing bridge (ABB) front-end. Complex voltages are demodulated from excitation frequencies with FIR filters designed with the flat-top windows. The system is capable of delivering VMPs in real-time mode, and also storing voltages for off-line postprocessing and analysis. Field distributions and sensitivities of slim and standard IL sensors are also discussed. Field test confirmed assumed increased reliability of VMP measurement for proposed simultaneous multifrequency operational mode.

Description: This article shows the development of a computer-controlled lab-on-a-chip device with three magnetohydrodynamic (MHD) pumps and a pneumatic valve. The chip was made of a stack of layers of polymethylmethacrylate (PMMA), cut using a laser engraver and thermally bonded. The MHD pumps were built using permanent magnets (neodymium) and platinum electrodes, all of them controlled by an Arduino board and a set of relays. The implemented pumps were able to drive solutions in the open channels with a flow rate that increased proportionally with the channel width and applied voltage. To address the characteristic low pressures generated by this kind of pump, all channels were interconnected. Because the electrodes were immersed in the electrolyte, causing electrolysis and pH variations, the composition and ionic strength of the electrolyte solution were controlled. Additionally, side structures for releasing bubbles were integrated. With this multi-pump and valve solution, the device was used to demonstrate the possibility of performing an injection sequence in a system that resembles a traditional flow injection analysis system. Ultimately, the results demonstrate the possibility of performing injection sequences using an array of MHD pumps that can perform fluid handling in the 0–5 µL s−1 range.

Description: Distributed sensor networks are at the heart of smart buildings, providing greater detail and valuable insights into their energy consumption patterns. The problem is particularly complex for older buildings retrofitted with Building Energy Management Systems (BEMS) where extracting useful knowledge from large sensor data streams without full understanding of the underlying system variables is challenging. This paper presents an application of Q-Analysis, a computationally simple topological approach for summarizing large sensor data sets and revealing useful relationships between different variables. Q-Analysis can be used to extract novel structural features called Q-vectors. The Q-vector magnitude visualizations are shown to be very effective in providing insights on macro behaviors, i.e., building floor behaviors in the present case, which are not evident from the use of unsupervised learning algorithms applied on individual terminal units. It has been shown that the building floors exhibited distinct behaviors that are dependent on the set-point distribution, but independent of the time and season of the year.

Description: Optical fiber based immunosensors are very attractive for biomarker detection. In order to improve the sensor response, we propose a promising strategy which combines porous-layer modification of the fiber surface and streptavidin-biotin-peroxidase nano-complex signal amplification in chemiluminescent detection. Two hepatitis B antigens, hepatitis B surface antigen (HBsAg) and hepatitis B e antigen (HBeAg), are used as the targets for analysis using the proposed sensor. Comparing to immunoassays using normal optical fiber sensors, the response of the present sensor is enhanced by a factor of 4.8 and 6.7 for detection of HBsAg and HBeAg, respectively. The limit-of-quantitation of the proposed method is as low as 0.3 fg/mL (0.01 fg/mL) with a wide linear response range of 3 fg/mL–150 ng/mL (0.1 fg/mL–160 ng/mL) for sensing HBsAg (HBeAg). Quantitative determination of HBsAg and HBeAg in human serum samples is performed, showing the applicability of the proposed method for biomarker detection.