Brain-computer interfaces (BCI) can detect specific EEG patterns and translate them into control signals for external devices by providing people suffering from severe motor disabilities with an alternative/additional channel to communicate and interact with the outer world. Many EEG-based BCIs rely on the P300 event-related potentials, mainly because they require training times for the user relatively short and provide higher selection speed. This paper proposes a P300-based portable embedded BCI system realized through an embedded hardware platform based on FPGA (field-programmable gate array), ensuring flexibility, reliability, and high-performance features. The system acquires EEG data during user visual stimulation and processes them in a real-time way to correctly detect and recognize the EEG features. The BCI system is designed to allow to user to perform communication and domotic controls. Full article

The problem of fault identification in electric servo actuators of robot manipulators described by nonstationary nonlinear dynamic models under disturbances is considered. To solve the problem, sliding mode observers are used. The suggested approach is based on the reduced order model of the original system having different sensitivity to faults and disturbances. This model is realized in canonical form that enables relaxing the limitation imposed on the original system. Theoretical results are illustrated by practical example. Full article

This paper describes the development and application of an autonomous register and measurement system (ARMS), and the application of microelectromechanical systems (MEMS) accelerometers to the assessment of blast threat to armored vehicle crews. Taking measurements with reference to an explosion is one of the principal issues in the protection of crews of special vehicles. The proposed ARMS reduces research costs and contributes to the development of an autonomous, wireless test stand, applicable in various research areas and industry. The ARMS performs data acquisition with simultaneous measurement in multiple channels. The maximum sampling rate is 100 kHz and the sensor range is ±500 g. This solution is an alternative to cable systems, which have a high energy demand. The functionality of the developed autonomous measuring system is demonstrated experimentally. The paper concludes with a field study of the proposed system and the application of MEMS accelerometers via a mine blast test of a military vehicle at level 4 of STANAG 4569. Full article

In this paper, we propose a new free space detection algorithm for autonomous vehicle driving. Previous free space detection algorithms often use only the location information of every frame, without information on the speed of the obstacle. In this case, there is a possibility of creating an inefficient path because the behavior of the obstacle cannot be predicted. In order to compensate for the shortcomings of the previous algorithm, the proposed algorithm uses the speed information of the obstacle. Through object tracking, the dynamic behavior of obstacles around the vehicle is identified and predicted, and free space is detected based on this. In the free space, it is possible to classify an area in which driving is possible and an area in which it is not possible, and a route is created according to the classification result. By comparing and evaluating the path generated by the previous algorithm and the path generated by the proposed algorithm, it is confirmed that the proposed algorithm is more efficient in generating the vehicle driving path. Full article

State of the art three-dimensional atomic force microscopes (3D-AFM) cannot measure three spatial dimensions separately from each other. A 3D-AFM-head with true 3D-probing capabilities is presented in this paper. It detects the so-called 3D-Nanoprobes CD-tip displacement with a differential interferometer and an optical lever. The 3D-Nanoprobe was specifically developed for tactile 3D-probing and is applied for critical dimension (CD) measurements. A calibrated 3D-Nanoprobe shows a selectivity ratio of 50:1 on average for each of the spatial directions x, y, and z. Typical stiffness values are $k_x = 1.722 \pm 0.083$ N/m, $k_y = 1.511 \pm 0.034$ N/m, and $k_z = 1.64 \pm 0.16$ N/m resulting in a quasi-isotropic ratio of the stiffness of 1.1:0.9:1.0 in x:y:z, respectively. The probing repeatability of the developed true 3D-AFM shows a standard deviation of 0.18 nm, 0.31 nm, and 0.83 nm for x, y, and z, respectively. Two CD-line samples type IVPS100-PTB, which were perpendicularly mounted to each other, were used to test the performance of the developed true 3D-AFM: repeatability, long-term stability, pitch, and line edge roughness and linewidth roughness (LER/LWR), showing promising results. Full article

In this paper, a low-power underwater acoustic (UWA) image transceiver based on generalized frequency division multiplexing (GFDM) modulation for underwater communication is proposed. The proposed transceiver integrates a low-density parity-check code error protection scheme, adaptive 4-quadrature amplitude modulation (QAM) and 16-QAM strategies, GFDM modulation, and a power assignment mechanism in an UWA image communication environment. The transmission bit error rates (BERs), the peak signal-to-noise ratios (PSNRs) of the received underwater images, and the power-saving ratio (PSR) of the proposed transceiver obtained using 4-QAM and 16-QAM, with perfect channel estimation, and channel estimation errors (CEEs) of 5%, 10%, and 20% were simulated. The PSNR of the received underwater image is 44.46 dB when using 4-QAM with a CEE of 10%. In contrast, PSNR is 48.79 dB when using 16-QAM with a CEE of 10%. When BER is 10⁻⁴, the received UW images have high PSNR values and high resolutions, indicating that the proposed transceiver is suitable for underwater image sensor signal transmission. Full article

The Internet of Things (IoT) is a new paradigm that connects objects to provide seamless communication and contextual information to anyone, anywhere, at any time (AAA). These Internet-of-Things-enabled automated objects interact with visitors to present a variety of information during museum navigation and exploration. In this article, a smart navigation and information system (SNIS) prototype for museum navigation and exploration is developed, which delivers an interactive and more exciting museum exploration experience based on the visitor’s personal presence. The objects inside a museum share the information that assist and navigate the visitors about the different sections and objects of the museum. The system was deployed inside Chakdara Museum and experimented with 381 users to achieve the results. For results, different users marked the proposed system in terms of parameters such as interesting, reality, ease of use, satisfaction, usefulness, and user friendly. Of these 381 users, 201 marked the system as most interesting, 138 marked most realistic, 121 marked it as easy-in-use, 219 marked it useful, and 210 marked it as user friendly. These statistics prove the efficiency of SNIS and its usefulness in smart cultural heritage, including smart museums, exhibitions and cultural sites. Full article

Gold nanoparticles are widely used in electrosensing. The current trend is to phytosynthesize gold nanoparticles (phyto-AuNPs) on the basis of the “green” chemistry approach. Phyto-AuNPs are biologically and catalytically active, stable and biocompatible, which opens up broad perspectives in a variety of applications, including tactile, wearable (bio)sensors. However, the electrochemistry of phytosynthesized nanoparticles is not sufficiently studied. This work offers a comprehensive study of the electrochemical activity of phyto-AuNPs depending on the synthesis conditions. It was found that with an increase in the aliquot of the plant extract, its antioxidant activity (AOA) and pH, the electrochemical activity of phyto-AuNPs grows, which is reflected in the peak potential decrease and an increase in the peak current of phyto-AuNPs electrooxidation. It has been shown that AOA is an important parameter for obtaining phyto-AuNPs with desired properties. Electrodes modified with phyto-AuNPs have demonstrated better analytical characteristics than electrodes with citrate AuNPs in detecting uric and ascorbic acids under model conditions. The data about the phyto-AuNPs’ electrochemistry may be useful for creating highly effective epidermal sensors with good biocompatibility. Full article

To address the data storage, management, analysis, and mining of ship targets, the object-oriented method was employed to design the overall structure and functional modules of a ship trajectory data management and analysis system (STDMAS). This paper elaborates the detailed design and technical information of the system’s logical structure, module composition, physical deployment, and main functional modules such as database management, trajectory analysis, trajectory mining, and situation analysis. A ship identification method based on the motion features was put forward. With the method, ship trajectory was first partitioned into sub-trajectories in various behavioral patterns, and effective motion features were then extracted. Machine learning algorithms were utilized for training and testing to identify many types of ships. STDMAS implements such functions as database management, trajectory analysis, historical situation review, and ship identification and outlier detection based on trajectory classification. STDMAS can satisfy the practical needs for the data management, analysis, and mining of maritime targets because it is easy to apply, maintain, and expand. Full article

The current wireless communication infrastructure has to face exponential development in mobile traffic size, which demands high data rate, reliability, and low latency. MIMO systems and their variants (i.e., Multi-User MIMO and Massive MIMO) are the most promising 5G wireless communication systems technology due to their high system throughput and data rate. However, the most significant challenges in MIMO communication are substantial problems in exploiting the multiple-antenna and computational complexity. The recent success of RL and DL introduces novel and powerful tools that mitigate issues in MIMO communication systems. This article focuses on RL and DL techniques for MIMO systems by presenting a comprehensive review on the integration between the two areas. We first briefly provide the necessary background to RL, DL, and MIMO. Second, potential RL and DL applications for different MIMO issues, such as detection, classification, and compression; channel estimation; positioning, sensing, and localization; CSI acquisition and feedback, security, and robustness; mmWave communication and resource allocation, are presented. Full article

The use of gamification elements has extended from being a complement for a product to being integrated into multiple public services to motivate the user. The first drawback for service designers is choosing which gamification elements are appropriate for the intended audience, in addition to the possible incompatibilities between gamification elements. This work proposes a clustering technique that enables mapping different user profiles in relation to their preferred gamification elements. Additionally, by mapping the best cluster for each gamification element, it is possible to determine the preferred game genre. The article answered the following research questions: What is the relationship between the genre of the game and the element of gamification? Different user groups (profiles) for each gamification element? Results indicate that there are cases where the users are divided between those who agree or disagree. However, other elements present a great heterogeneity in the number of groups and the levels of agreement. Full article

On-line fatigue crack evaluation is crucial for ensuring the structural safety and reducing the maintenance costs of safety-critical systems. Among structural health monitoring (SHM), guided wave (GW)-based SHM has been deemed as one of the most promising techniques. However, the traditional damage index-based method and machine learning methods require manual processing and selection of GW features, which depend highly on expert knowledge and are easily affected by complicated uncertainties. Therefore, this paper proposes a fatigue crack evaluation framework with the GW–convolutional neural network (CNN) ensemble and differential wavelet spectrogram. The differential time–frequency spectrogram between the baseline signal and the monitoring signal is processed as the CNN input with the complex Gaussian wavelet transform. Then, an ensemble of CNNs is trained to jointly determine the crack length. Real fatigue tests on complex lap joint structures were carried out to validate the proposed method, in which several structures were tested preliminarily for collecting the training dataset and a new structure was adopted for testing. The root mean square error of the training dataset is 1.4 mm. Besides, the root mean square error of the evaluated crack length in the testing lap joint structure was 1.7 mm, showing the effectiveness of the proposed method. Full article

Structural health monitoring (SHM) with a dense sensor network and repeated vibration measurements produces lots of data that have to be stored. If the sensor network is redundant, data compression is possible by storing the signals of selected Bayesian virtual sensors only, from which the omitted signals can be reconstructed with higher accuracy than the actual measurement. The selection of the virtual sensors for storage is done individually for each measurement based on the reconstruction accuracy. Data compression and reconstruction for SHM is the main novelty of this paper. The stored and reconstructed signals are used for damage detection and localization in the time domain using spatial or spatiotemporal correlation. Whitening transformation is applied to the training data to take the environmental or operational influences into account. The first principal component of the residuals is used to localize damage and also to design the extreme value statistics control chart for damage detection. The proposed method was studied with a numerical model of a frame structure with a dense accelerometer or strain sensor network. Only five acceleration or three strain signals out of the total 59 signals were stored. The stored and reconstructed data outperformed the raw measurement data in damage detection and localization. Full article

Mobile robots must be capable to obtain an accurate map of their surroundings to move within it. To detect different materials that might be undetectable to one sensor but not others it is necessary to construct at least a two-sensor fusion scheme. With this, it is possible to generate a 2D occupancy map in which glass obstacles are identified. An artificial neural network is used to fuse data from a tri-sensor (RealSense Stereo camera, 2D $360{}^{°}$ LiDAR, and Ultrasonic Sensors) setup capable of detecting glass and other materials typically found in indoor environments that may or may not be visible to traditional 2D LiDAR sensors, hence the expression improved LiDAR. A preprocessing scheme is implemented to filter all the outliers, project a 3D pointcloud to a 2D plane and adjust distance data. With a Neural Network as a data fusion algorithm, we integrate all the information into a single, more accurate distance-to-obstacle reading to finally generate a 2D Occupancy Grid Map (OGM) that considers all sensors information. The Robotis Turtlebot3 Waffle Pi robot is used as the experimental platform to conduct experiments given the different fusion strategies. Test results show that with such a fusion algorithm, it is possible to detect glass and other obstacles with an estimated root-mean-square error (RMSE) of 3 cm with multiple fusion strategies. Full article

The presence of fake pictures affects the reliability of visible face images under specific circumstances. This paper presents a novel adversarial neural network designed named as the FTSGAN for infrared and visible image fusion and we utilize FTSGAN model to fuse the face image features of infrared and visible image to improve the effect of face recognition. In FTSGAN model design, the Frobenius norm (F), total variation norm (TV), and structural similarity index measure (SSIM) are employed. The F and TV are used to limit the gray level and the gradient of the image, while the SSIM is used to limit the image structure. The FTSGAN fuses infrared and visible face images that contains bio-information for heterogeneous face recognition tasks. Experiments based on the FTSGAN using hundreds of face images demonstrate its excellent performance. The principal component analysis (PCA) and linear discrimination analysis (LDA) are involved in face recognition. The face recognition performance after fusion improved by 1.9% compared to that before fusion, and the final face recognition rate was 94.4%. This proposed method has better quality, faster rate, and is more robust than the methods that only use visible images for face recognition. Full article