Sensors — Open Access Journal

Inter-satellite links are an important component of the new generation of satellite navigation systems, characterized by low signal-to-noise ratio (SNR), complex electromagnetic interference and the short time slot of each satellite, which brings difficulties to the acquisition stage. The inter-satellite link in both Global Positioning System (GPS) and BeiDou Navigation Satellite System (BDS) adopt the long code spread spectrum system. However, long code acquisition is a difficult and time-consuming task due to the long code period. Traditional folding methods such as extended replica folding acquisition search technique (XFAST) and direct average are largely restricted because of code Doppler and additional SNR loss caused by replica folding. The dual folding method (DF-XFAST) and dual-channel method have been proposed to achieve long code acquisition in low SNR and high dynamic situations, respectively, but the former is easily affected by code Doppler and the latter is not fast enough. Considering the environment of inter-satellite links and the problems of existing algorithms, this paper proposes a new long code acquisition algorithm named dual-channel acquisition method based on the extended replica folding algorithm (DC-XFAST). This method employs dual channels for verification. Each channel contains an incoming signal block. Local code samples are folded and zero-padded to the length of the incoming signal block. After a circular FFT operation, the correlation results contain two peaks of the same magnitude and specified relative position. The detection process is eased through finding the two largest values. The verification takes all the full and partial peaks into account. Numerical results reveal that the DC-XFAST method can improve acquisition performance while acquisition speed is guaranteed. The method has a significantly higher acquisition probability than folding methods XFAST and DF-XFAST. Moreover, with the advantage of higher detection probability and lower false alarm probability, it has a lower mean acquisition time than traditional XFAST, DF-XFAST and zero-padding. Full article

In Long Range Wide Area Network (LoRaWAN), the data rate of the devices can be adjusted to optimize the throughput by changing the spreading factor. However, the adaptive data rate has to be carefully utilized because the collision probability, which directly affects the throughput, is changed according to the use of spreading factors. Namely, the greater the number of devices using the same spreading factor, the greater the probability of collision, resulting in a decrease of total throughput. Nevertheless, in the current system, the only criteria to determine the data rate to be adjusted is a link quality. Therefore, contention-aware adaptive data rate should be designed for the throughput optimization. Here, the number of devices which can use a specific data rate is restricted, and accordingly the optimization problem can be regarded as constrained optimization. To find an optimal solution, we adopt the gradient projection method. By adjusting the data rate based on the retrieved set of optimal data rate, the system performance can be significantly improved. The numerical results demonstrate that the proposed method outperforms the comparisons regardless of the number of devices and is close to the theoretical upper bound of throughput. Full article

Foodborne illness is correlated with the existence of infectious pathogens such as bacteria in food and drinking water. Probe-modified graphene field effect transistors (G-FETs) have been shown to be suitable for Escherichia coli (E. coli) detection. Here, the G-FETs for bacterial detection are modeled and simulated with COMSOL Multiphysics to understand the operation of the biosensors. The motion of E. coli cells in electrolyte and the surface charge of graphene induced by E. coli are systematically investigated. The comparison between the simulation and experimental data proves the sensing probe size to be a key parameter affecting the surface charge of graphene induced by bacteria. Finally, the relationship among the change in source-drain current (∆I_ds), graphene-bacteria distance and bacterial concentration is established. The shorter graphene-bacteria distance and higher bacterial concentration give rise to better sensing performance (larger ∆I_ds) of the G-FETs biosensors. The simulation here could serve as a guideline for the design and optimization of G-FET biosensors for various applications. Full article

Wearable devices have recently received considerable interest due to their great promise for a plethora of applications. Increased research efforts are oriented towards a non-invasive monitoring of human health as well as activity parameters. A wide range of wearable sensors are being developed for real-time non-invasive monitoring. This paper provides a comprehensive review of sensors used in wrist-wearable devices, methods used for the visualization of parameters measured as well as methods used for intelligent analysis of data obtained from wrist-wearable devices. In line with this, the main features of commercial wrist-wearable devices are presented. As a result of this review, a taxonomy of sensors, functionalities, and methods used in non-invasive wrist-wearable devices was assembled. Full article

The triboelectric nanogenerator (TENG) and its application as a sensor is a popular research subject. There is demand for self-powered, flexible sensors with high sensitivity and high power-output for the next generation of consumer electronics. In this study, a 300 mm × 300 mm carbon nanotube (CNT)-doped porous PDMS film was successfully fabricated wherein the CNT influenced the micropore structure. A self-powered TENG tactile sensor was established according to triboelectric theory. The CNT-doped porous TENG showed a voltage output seven times higher than undoped porous TENG and 16 times higher than TENG with pure PDMS, respectively. The TENG successfully acquired human motion signals, breath signals, and heartbeat signals during a sleep monitoring experiment. The results presented here may provide an effective approach for fabricating large-scale and low-cost flexible TENG sensors. Full article

The altitude of a moving user is important context information for mobile technologies and applications. However, with the increasing pervasiveness of smartphones and abundant mobile applications, developers and users have gradually discovered that the height is more useful than altitude in many situations. The height is often a relative value, which is the vertical distance to the ground rather than the vertical distance to sea level, and we believe that it is useful in many applications, such as localization/navigation, sport/health and tourism/travel. In this paper, we first carried out a nation-wide online survey to confirm the desirability for the height information in mobile applications, and the result is positive. Then, we proposed HiMeter, an effective and accurate approach to calculating the height of the smartphone. HiMeter makes use of a low-power barometer on the smartphone and does not require GPS or back-server support. We concentrate on the vertical moving pattern of the user and designed several novel techniques, resulting in HiMeter not needing any reference points, and the complex process of calculating the absolute altitude can be avoided. The field studies show that HiMeter can achieve an accuracy of within 5 m in 90% of cases indoors and an accuracy of 10 m in 83% of cases outdoors. Compared to the existing works, HiMeter is more accurate and practical and is more suitable for usage in many mobile applications. Full article

IoT devices frequently generate large volumes of streaming data and in order to take advantage of this data, their temporal patterns must be learned and identified. Streaming data analysis has become popular after being successfully used in many applications including forecasting electricity load, stock market prices, weather conditions, etc. Artificial Neural Networks (ANNs) have been successfully utilized in understanding the embedded interesting patterns/behaviors in the data and forecasting the future values based on it. One such pattern is modelled and learned in the present study to identify the occurrence of a specific pattern in a Water Management System (WMS). This prediction aids in making an automatic decision support system, to switch OFF a hydraulic suction pump at the appropriate time. Three types of ANN, namely Multi-Input Multi-Output (MIMO), Multi-Input Single-Output (MISO), and Recurrent Neural Network (RNN) have been compared, for multi-step-ahead forecasting, on a sensor’s streaming data. Experiments have shown that RNN has the best performance among three models and based on its prediction, a system can be implemented to make the best decision with 86% accuracy. Full article

Time synchronization is the foundation of cooperative work among nodes of underwater sensor networks; it takes a critical role in the research and application of underwater sensor networks. Although numerous time synchronization protocols have been proposed for terrestrial wireless sensor networks, they cannot be directly applied to underwater sensor networks. This is because most of them typically assume that the propagation delay among sensor nodes is negligible, which is not the case in underwater sensor networks. Time synchronization is mainly affected by a long propagation delay among sensor nodes due to the low propagation speed of acoustic signals. Furthermore, sensor nodes in underwater tend to experience some degree of mobility due to wind or ocean current, or some other nodes are on self-propelled vehicles, such as autonomous underwater vehicles (AUVs). In this paper, we propose a Doppler-enhanced time synchronization scheme for mobile underwater sensor networks, called DE-Sync. Our new scheme considers the effect of the clock skew during the process of estimating the Doppler scale factor and directly substitutes the Doppler scale factor into linear regression to achieve the estimation of the clock skew and offset. Simulation results show that DE-Sync outperforms existing time synchronization protocols in both accuracy and energy efficiency. Full article

Environmental conditions and air quality monitoring have become crucial today due to the undeniable changes of the climate and accelerated urbanization. To efficiently monitor environmental parameters such as temperature, humidity, and the levels of pollutants, such as fine particulate matter (PM2.5) and volatile organic compounds (VOCs) in the air, and to collect data covering vast geographical areas, the development of cheap energy-autonomous sensors for large scale deployment and fine-grained data acquisition is required. Rapid advances in electronics and communication technologies along with the emergence of paradigms such as Cyber-Physical Systems (CPSs) and the Internet of Things (IoT) have led to the development of low-cost sensor devices that can operate unattended for long periods of time and communicate using wired or wireless connections through the Internet. We investigate the energy efficiency of an environmental monitoring system based on Bluetooth Low Energy (BLE) beacons that operate in the IoT environment. The beacons developed measure the temperature, the relative humidity, the light intensity, and the CO₂ and VOC levels in the air. Based on our analysis we have developed efficient sleep scheduling algorithms that allow the sensor nodes developed to operate autonomously without requiring the replacement of the power supply. The experimental results show that low-power sensors communicating using BLE technology can operate autonomously (from the energy perspective) in applications that monitor the environment or the air quality in indoor or outdoor settings. Full article

Food fraud, the sale of goods that have in some way been mislabelled or tampered with, is an increasing concern, with a number of high profile documented incidents in recent years. These recent incidents and their scope show that there are gaps in the food chain where food authentication methods are not applied or otherwise not sufficient and more accessible detection methods would be beneficial. This paper investigates the utility of affordable and portable visible range spectroscopy hardware with partial least squares discriminant analysis (PLS-DA) when applied to the differentiation of apple types and organic status. This method has the advantage that it is accessible throughout the supply chain, including at the consumer level. Scans were acquired of 132 apples of three types, half of which are organic and the remaining non-organic. The scans were preprocessed with zero correction, normalisation and smoothing. Two tests were used to determine accuracy, the first using 10-fold cross-validation and the second using a test set collected in different ambient conditions. Overall, the system achieved an accuracy of 94% when predicting the type of apple and 66% when predicting the organic status. Additionally, the resulting models were analysed to find the regions of the spectrum that had the most significance. Then, the accuracy when using three-channel information (RGB) is presented and shows the improvement provided by spectroscopic data. Full article

This paper discusses the physical nature and the numerical modeling of a novel approach of periodic structures for applications as photonic sensors. The sensing is based on the high sensitivity to the cover index change of the notch wavelength. This sensitivity is due to the effect of abnormal blocking of the guided wave propagating along the silicon wire with periodic strips overhead it through the silica buffer. The structure sensing is numerically modeled by 2D and 3D finite difference time domain (FDTD) method, taking into account the waveguide dispersion. The modeling of the long structures (more than 1000 strips) is accomplished by the 2D method of lines (MoL) with a maximal implementation of the analytical feature of the method. It is proved that the effect of abnormal blocking could be used for the construction of novel types of optical sensors. Full article

A novel multi-sensor fusion indoor localization algorithm based on ArUco marker is designed in this paper. The proposed ArUco mapping algorithm can build and correct the map of markers online with Grubbs criterion and K-mean clustering, which avoids the map distortion due to lack of correction. Based on the conception of multi-sensor information fusion, the federated Kalman filter is utilized to synthesize the multi-source information from markers, optical flow, ultrasonic and the inertial sensor, which can obtain a continuous localization result and effectively reduce the position drift due to the long-term loss of markers in pure marker localization. The proposed algorithm can be easily implemented in a hardware of one Raspberry Pi Zero and two STM32 micro controllers produced by STMicroelectronics (Geneva, Switzerland). Thus, a small-size and low-cost marker-based localization system is presented. The experimental results show that the speed estimation result of the proposed system is better than Px4flow, and it has the centimeter accuracy of mapping and positioning. The presented system not only gives satisfying localization precision, but also has the potential to expand other sensors (such as visual odometry, ultra wideband (UWB) beacon and lidar) to further improve the localization performance. The proposed system can be reliably employed in Micro Aerial Vehicle (MAV) visual localization and robotics control. Full article

Bogies are crucial for the safe operation of rail transit systems and usually work under uncertain and variable operating conditions. However, the diagnosis of bogie faults under variable conditions has barely been discussed until now. Thus, it is valuable to develop effective methods to deal with variable conditions. Besides, considering that the normal data for training are much more than the faulty data in practice, there is another problem in that only a small amount of data is available that includes faults. Concerning these issues, this paper proposes two new algorithms: (1) A novel feature parameter named spectral kurtosis entropy (SKE) is proposed based on the protrugram. The SKE not only avoids the manual post-processing of the protrugram but also has strong robustness to the operating conditions and parameter configurations, which have been validated by a simulation experiment in this paper. In this paper, the SKE, in conjunction with variational mode decomposition (VMD), is employed for feature extraction under variable conditions. (2) A new learning algorithm named weighted self-adaptive evolutionary extreme learning machine (WSaE-ELM) is proposed. WSaE-ELM gives each sample an extra sample weight to rebalance the training data and optimizes these weights along with the parameters of hidden neurons by means of the self-adaptive differential evolution algorithm. Finally, the hybrid method based on VMD, SKE, and WSaE-ELM is verified by using the vibration signals gathered from real bogies with speed variations. It is demonstrated that the proposed method of bogie fault diagnosis outperforms the conventional methods by up to 4.42% and 6.22%, respectively, in percentages of accuracy under variable conditions. Full article

Electrical resistance tomography (ERT) has been considered as a data collection and image reconstruction method in many multi-phase flow application areas due to its advantages of high speed, low cost and being non-invasive. In order to improve the quality of the reconstructed images, the Total Variation algorithm attracts abundant attention due to its ability to solve large piecewise and discontinuous conductivity distributions. In industrial processing tomography (IPT), techniques such as ERT have been used to extract important flow measurement information. For a moving object inside a pipe, a velocity profile can be calculated from the cross correlation between signals generated from ERT sensors. Many previous studies have used two sets of 2D ERT measurements based on pixel-pixel cross correlation, which requires two ERT systems. In this paper, a method for carrying out flow velocity measurement using a single ERT system is proposed. A novel spatiotemporal total variation regularization approach is utilised to exploit sparsity both in space and time in 4D, and a voxel-voxel cross correlation method is adopted for measurement of flow profile. Result shows that the velocity profile can be calculated with a single ERT system and that the volume fraction and movement can be monitored using the proposed method. Both semi-dynamic experimental and static simulation studies verify the suitability of the proposed method. For in plane velocity profile, a 3D image based on temporal 2D images produces velocity profile with accuracy of less than 1% error and a 4D image for 3D velocity profiling shows an error of 4%. Full article

Autonomous landing of an unmanned aerial vehicle or a drone is a challenging problem for the robotics research community. Previous researchers have attempted to solve this problem by combining multiple sensors such as global positioning system (GPS) receivers, inertial measurement unit, and multiple camera systems. Although these approaches successfully estimate an unmanned aerial vehicle location during landing, many calibration processes are required to achieve good detection accuracy. In addition, cases where drones operate in heterogeneous areas with no GPS signal should be considered. To overcome these problems, we determined how to safely land a drone in a GPS-denied environment using our remote-marker-based tracking algorithm based on a single visible-light-camera sensor. Instead of using hand-crafted features, our algorithm includes a convolutional neural network named lightDenseYOLO to extract trained features from an input image to predict a marker’s location by visible light camera sensor on drone. Experimental results show that our method significantly outperforms state-of-the-art object trackers both using and not using convolutional neural network in terms of both accuracy and processing time. Full article

The aim of structural identification is to provide accurate knowledge of the behaviour of existing structures. In most situations, finite-element models are updated using behaviour measurements and field observations. Error-domain model falsification (EDMF) is a multi-model approach that compares finite-element model predictions with sensor measurements while taking into account epistemic and stochastic uncertainties—including the systematic bias that is inherent in the assumptions behind structural models. Compared with alternative model-updating strategies such as residual minimization and traditional Bayesian methodologies, EDMF is easy-to-use for practising engineers and does not require precise knowledge of values for uncertainty correlations. However, wrong parameter identification and flawed extrapolation may result when undetected outliers occur in the dataset. Moreover, when datasets consist of a limited number of static measurements rather than continuous monitoring data, the existing signal-processing and statistics-based algorithms provide little support for outlier detection. This paper introduces a new model-population methodology for outlier detection that is based on the expected performance of the as-designed sensor network. Thus, suspicious measurements are identified even when few measurements, collected with a range of sensors, are available. The structural identification of a full-scale bridge in Exeter (UK) is used to demonstrate the applicability of the proposed methodology and to compare its performance with existing algorithms. The results show that outliers, capable of compromising EDMF accuracy, are detected. Moreover, a metric that separates the impact of powerful sensors from the effects of measurement outliers have been included in the framework. Finally, the impact of outlier occurrence on parameter identification and model extrapolation (for example, reserve capacity assessment) is evaluated. Full article

With the increasing demand for high-resolution remote sensing images for mapping and monitoring the Earth’s environment, geometric positioning accuracy improvement plays a significant role in the image preprocessing step. Based on the statistical learning theory, we propose a new method to improve the geometric positioning accuracy without ground control points (GCPs). Multi-temporal images from the ZY-3 satellite are tested and the bias-compensated rational function model (RFM) is applied as the block adjustment model in our experiment. An easy and stable weight strategy and the fast iterative shrinkage-thresholding (FIST) algorithm which is widely used in the field of compressive sensing are improved and utilized to define the normal equation matrix and solve it. Then, the residual errors after traditional block adjustment are acquired and tested with the newly proposed inherent error compensation model based on statistical learning theory. The final results indicate that the geometric positioning accuracy of ZY-3 satellite imagery can be improved greatly with our proposed method. Full article

To improve the throughput of underwater acoustic (UWA) networking, the In-band full-duplex (IBFD) communication is one of the most vital pieces of research. The major drawback of IBFD-UWA communication is Self-Interference (SI). This paper presents a digital SI cancellation algorithm for asynchronous IBFD-UWA communication system. We focus on two issues: one is asynchronous communication dissimilar to IBFD radio communication, the other is nonlinear distortion caused by power amplifier (PA). First, we discuss asynchronous IBFD-UWA signal model with the nonlinear distortion of PA. Then, we design a scheme for asynchronous IBFD-UWA communication utilizing the non-overlapping region between SI and intended signal to estimate the nonlinear SI channel. To cancel the nonlinear distortion caused by PA, we propose an Over-Parameterization based Recursive Least Squares (RLS) algorithm (OPRLS) to estimate the nonlinear SI channel. Furthermore, we present the OPRLS with a sparse constraint to estimate the SI channel, which reduces the requirement of the length of the non-overlapping region. Finally, we verify our concept through simulation and the pool experiment. Results demonstrate that the proposed digital SI cancellation scheme can cancel SI efficiently. Full article

Many previous works only focused on the cascading failure of global coupling of one-to-one structures in interdependent networks, but the local coupling of dual coupling structures has rarely been studied due to its complex structure. This will result in a serious consequence that many conclusions of the one-to-one structure may be incorrect in the dual coupling network and do not apply to the smart grid. Therefore, it is very necessary to subdivide the dual coupling link into a top-down coupling link and a bottom-up coupling link in order to study their influence on network robustness by combining with different coupling modes. Additionally, the power flow of the power grid can cause the load of a failed node to be allocated to its neighboring nodes and trigger a new round of load distribution when the load of these nodes exceeds their capacity. This means that the robustness of smart grids may be affected by four factors, i.e., load redistribution, local coupling, dual coupling link and coupling mode; however, the research on the influence of those factors on the network robustness is missing. In this paper, firstly, we construct the smart grid as a two-layer network with a dual coupling link and divide the power grid and communication network into many subnets based on the geographical location of their nodes. Secondly, we define node importance ( $NI$ ) as an evaluation index to access the impact of nodes on the cyber or physical network and propose three types of coupling modes based on $NI$ of nodes in the cyber and physical subnets, i.e., Assortative Coupling in Subnets (ACIS), Disassortative Coupling in Subnets (DCIS), and Random Coupling in Subnets (RCIS). Thirdly, a cascading failure model is proposed for studying the effect of local coupling of dual coupling link in combination with ACIS, DCIS, and RCIS on the robustness of the smart grid against a targeted attack, and the survival rate of functional nodes is used to assess the robustness of the smart grid. Finally, we use the IEEE 118-Bus System and the Italian High-Voltage Electrical Transmission Network to verify our model and obtain the same conclusions: (I) DCIS applied to the top-down coupling link is better able to enhance the robustness of the smart grid against a targeted attack than RCIS or ACIS, (II) ACIS applied to a bottom-up coupling link is better able to enhance the robustness of the smart grid against a targeted attack than RCIS or DCIS, and (III) the robustness of the smart grid can be improved by increasing the tolerance $\alpha$ . This paper provides some guidelines for slowing down the speed of the cascading failures in the design of architecture and optimization of interdependent networks, such as a top-down link with DCIS, a bottom-up link with ACIS, and an increased tolerance $\alpha$ . Full article

In the last decade, seizure prediction systems have gained a lot of attention because of their enormous potential to largely improve the quality-of-life of the epileptic patients. The accuracy of the prediction algorithms to detect seizure in real-world applications is largely limited because the brain signals are inherently uncertain and affected by various factors, such as environment, age, drug intake, etc., in addition to the internal artefacts that occur during the process of recording the brain signals. To deal with such ambiguity, researchers transitionally use active learning, which selects the ambiguous data to be annotated by an expert and updates the classification model dynamically. However, selecting the particular data from a pool of large ambiguous datasets to be labelled by an expert is still a challenging problem. In this paper, we propose an active learning-based prediction framework that aims to improve the accuracy of the prediction with a minimum number of labelled data. The core technique of our framework is employing the Bernoulli-Gaussian Mixture model (BGMM) to determine the feature samples that have the most ambiguity to be annotated by an expert. By doing so, our approach facilitates expert intervention as well as increasing medical reliability. We evaluate seven different classifiers in terms of the classification time and memory required. An active learning framework built on top of the best performing classifier is evaluated in terms of required annotation effort to achieve a high level of prediction accuracy. The results show that our approach can achieve the same accuracy as a Support Vector Machine (SVM) classifier using only $20\%$ of the labelled data and also improve the prediction accuracy even under the noisy condition. Full article