ALBERT

Description: Locomotion mode identification is essential for the control of a robotic rehabilitation exoskeletons. This paper proposes an online support vector machine (SVM) optimized by particle swarm optimization (PSO) to identify different locomotion modes to realize a smooth and automatic locomotion transition. A PSO algorithm is used to obtain the optimal parameters of SVM for a better overall performance. Signals measured by the foot pressure sensors integrated in the insoles of wearable shoes and the MEMS-based attitude and heading reference systems (AHRS) attached on the shoes and shanks of leg segments are fused together as the input information of SVM. Based on the chosen window whose size is 200 ms (with sampling frequency of 40 Hz), a three-layer wavelet packet analysis (WPA) is used for feature extraction, after which, the kernel principal component analysis (kPCA) is utilized to reduce the dimension of the feature set to reduce computation cost of the SVM. Since the signals are from two types of different sensors, the normalization is conducted to scale the input into the interval of [0, 1]. Five-fold cross validation is adapted to train the classifier, which prevents the classifier over-fitting. Based on the SVM model obtained offline in MATLAB, an online SVM algorithm is constructed for locomotion mode identification. Experiments are performed for different locomotion modes and experimental results show the effectiveness of the proposed algorithm with an accuracy of 96.00% ± 2.45%. To improve its accuracy, majority vote algorithm (MVA) is used for post-processing, with which the identification accuracy is better than 98.35% ± 1.65%. The proposed algorithm can be extended and employed in the field of robotic rehabilitation and assistance.

Description: Sulfadimidine (SM2) is a highly toxic and ubiquitous pollutant which requires rapid, sensitive and portable detection method for environmental and food monitoring. Herein, the use for the detection of SM2 of a portable optofluidics-based biosensing platform, which was used for the accurate detection of bisphenol A, atrazine and melamine, is reported for the first time. The proposed compact biosensing system combines the advantages of an evanescent wave immunosensor and microfluidic technology. Through the indirect competitive immunoassay, the detection limit of the proposed optofluidics-based biosensing platform for SM2 reaches 0.05 μg·L−1 at the concentration of Cy5.5-labeled antibody of 0.1 μg·mL−1. Linearity is obtained over a dynamic range from 0.17 μg·L−1 to 10.73 μg·L−1. The surface of the fiber probe can be regenerated more than 300 times by means of 0.5% sodium dodecyl sulfate solution (pH = 1.9) washes without losing sensitivity. This method, featuring high sensitivity, portability and acceptable reproducibility shows potential in the detection of SM2 in real milk and other dairy products.

Description: Security is a pivotal issue for wireless sensor networks (WSNs), which are emerging as a promising platform that enables a wide range of military, scientific, industrial and commercial applications. Traceback, a key cyber-forensics technology, can play an important role in tracing and locating a malicious source to guarantee cybersecurity. In this work a trust-based adaptive probability marking and storage (TAPMS) traceback scheme is proposed to enhance security for WSNs. In a TAPMS scheme, the marking probability is adaptively adjusted according to the security requirements of the network and can substantially reduce the number of marking tuples and improve network lifetime. More importantly, a high trust node is selected to store marking tuples, which can avoid the problem of marking information being lost. Experimental results show that the total number of marking tuples can be reduced in a TAPMS scheme, thus improving network lifetime. At the same time, since the marking tuples are stored in high trust nodes, storage reliability can be guaranteed, and the traceback time can be reduced by more than 80%.

Description: For vehicle positioning with Global Navigation Satellite System (GNSS) in urban areas, open-loop tracking shows better performance because of its high sensitivity and superior robustness against multipath. However, no previous study has focused on the effects of the code search grid size on the code phase measurement accuracy of open-loop tracking. Traditional open-loop tracking methods are performed by the batch correlators with fixed correlation space. The code search grid size, which is the correlation space, is a constant empirical value and the code phase measuring accuracy will be largely degraded due to the improper grid size, especially when the signal carrier-to-noise density ratio (C=N0) varies. In this study, the Adaptive Correlation Space Adjusted Open-Loop Tracking Approach (ACSA-OLTA) is proposed to improve the code phase measurement dependent pseudo range accuracy. In ACSA-OLTA, the correlation space is adjusted according to the signal C=N0. The novel Equivalent Weighted Pseudo Range Error (EWPRE) is raised to obtain the optimal code search grid sizes for different C=N0. The code phase measuring errors of different measurement calculation methods are analyzed for the first time. The measurement calculation strategy of ACSA-OLTA is derived from the analysis to further improve the accuracy but reduce the correlator consumption. Performance simulation and real tests confirm that the pseudo range and positioning accuracy of ASCA-OLTA are better than the traditional open-loop tracking methods in the usual scenarios of urban area.

Description: With the development of wireless technology, the widespread use of 5G is already an irreversible trend, and millimeter-wave sensor networks are becoming more and more common. However, due to the high degree of complexity and bandwidth bottlenecks, the millimeter-wave sensor network still faces numerous problems. In this paper, we propose a novel content-based multi-channel network coding algorithm, which uses the functions of data fusion, multi-channel and network coding to improve the data transmission; the algorithm is referred to as content-based multi-channel network coding (CMNC). The CMNC algorithm provides a fusion-driven model based on the Dempster-Shafer (D-S) evidence theory to classify the sensor nodes into different classes according to the data content. By using the result of the classification, the CMNC algorithm also provides the channel assignment strategy and uses network coding to further improve the quality of data transmission in the millimeter-wave sensor network. Extensive simulations are carried out and compared to other methods. Our simulation results show that the proposed CMNC algorithm can effectively improve the quality of data transmission and has better performance than the compared methods.

Description: Many applications, such as marine navigation, land vehicles location, etc., require real time precise positioning under medium or long baseline conditions. In this contribution, we develop a model of real-time kinematic decimeter-level positioning with BeiDou Navigation Satellite System (BDS) triple-frequency signals over medium distances. The ambiguities of two extra-wide-lane (EWL) combinations are fixed first, and then a wide lane (WL) combination is reformed based on the two EWL combinations for positioning. Theoretical analysis and empirical analysis is given of the ambiguity fixing rate and the positioning accuracy of the presented method. The results indicate that the ambiguity fixing rate can be up to more than 98% when using BDS medium baseline observations, which is much higher than that of dual-frequency Hatch-Melbourne-Wübbena (HMW) method. As for positioning accuracy, decimeter level accuracy can be achieved with this method, which is comparable to that of carrier-smoothed code differential positioning method. Signal interruption simulation experiment indicates that the proposed method can realize fast high-precision positioning whereas the carrier-smoothed code differential positioning method needs several hundreds of seconds for obtaining high precision results. We can conclude that a relatively high accuracy and high fixing rate can be achieved for triple-frequency WL method with single-epoch observations, displaying significant advantage comparing to traditional carrier-smoothed code differential positioning method.

Description: To realize ground moving target indication (GMTI) for a forward-looking array, we propose a novel synthetic aperture radar (SAR) system, called rotatable cross-track interferometry SAR (Ro-XTI-SAR), for squint-looking application in this paper. By changing the angle of the cross-track baseline, the interferometry phase component of squint-looking Ro-XTI-SAR caused by the terrain height can be approximately adjusted to zero, and then the interferometry phase of Ro-XTI-SAR is only sensitive to targets’ motion and can be equivalent to the along track interferometry SAR (ATI-SAR). Furthermore, the conventional displaced phase center array (DPCA) method and constant false alarm (CFAR) processing can be used to accomplish the successive clutter suppression, moving targets detection and relocation. Furthermore, the clutter suppressing performance is discussed with respect to different system parameters. Finally, some results of numerical experiments are provided to demonstrate the effectiveness of the proposed system.

Description: The aim of this paper is to improve the position accuracy of a six degree of freedom medical robot. The improvement in accuracy is achieved without the use of any external measurement device. Instead, this work presents a novel calibration approach based on using an embedded force-torque sensor to identify the robot’s kinematic parameters and thereby enhance the positioning accuracy. A simulation study demonstrated that our calibration approach is effective, whether or not any measurement noise is present: the position error is improved, inside the robot target workspace, from 12 mm to 0.320 mm, for the maximum values, and from 9 mm to 0.2771 mm, for the mean errors.

Description: This paper presents a systematic pioneering study on the use of agricultural-purpose frequency domain reflectometry (FDR) sensors to monitor temperature and moisture of a subgrade in highway extension and reconstruction engineering. The principle of agricultural-purpose FDR sensors and the process for embedding this kind of sensors for subgrade engineering purposes are introduced. Based on field measured weather data, a numerical analysis model for temperature and moisture content in the subgrade’s soil is built. Comparisons of the temperature and moisture data obtained from numerical simulation and FDR-based measurements are conducted. The results show that: (1) the embedding method and process, data acquisition, and remote transmission presented are reasonable; (2) the temperature and moisture changes are coordinated with the atmospheric environment and they are also in close agreement with numerical calculations; (3) the change laws of both are consistent at positions where the subgrade is compacted uniformly. These results suggest that the data measured by the agricultural-purpose FDR sensors are reliable. The findings of this paper enable a new and effective real-time monitoring method for a subgrade’s temperature and moisture changes, and thus broaden the application of agricultural-purpose FDR sensors.

Description: The geosynchronous synthetic aperture radar (GEO SAR) is susceptible to orbit perturbations, leading to orbit drifts and variations. The influences behave very differently from those in low Earth orbit (LEO) SAR. In this paper, the impacts of perturbations on GEO SAR orbital elements are modelled based on the perturbed dynamic equations, and then, the focusing is analyzed theoretically and numerically by using the Systems Tool Kit (STK) software. The accurate GEO SAR slant range histories can be calculated according to the perturbed orbit positions in STK. The perturbed slant range errors are mainly the first and second derivatives, leading to image drifts and defocusing. Simulations of the point target imaging are performed to validate the aforementioned analysis. In the GEO SAR with an inclination of 53° and an argument of perigee of 90°, the Doppler parameters and the integration time are different and dependent on the geometry configurations. Thus, the influences are varying at different orbit positions: at the equator, the first-order phase errors should be mainly considered; at the perigee and apogee, the second-order phase errors should be mainly considered; at other positions, first-order and second-order exist simultaneously.