Sensors

Optical methods such as ultraviolet/visible (UV/Vis) and fluorescence spectroscopy are well-established analytical techniques for in situ water quality monitoring. A broad range of bio-logical and chemical contaminants in different concentration ranges can be detected using these methods. The availability of results in real time allows a quick response to water quality changes. The measuring devices are configured as portable multi-parameter probes. However, their specification and data processing typically cannot be changed by users, or only with difficulties. Therefore, we developed a submersible sensor probe, which combines UV/Vis and fluorescence spectroscopy together with a flexible data processing platform. Due to its modular design in the hardware and software, the sensing system can be modified to the specific application. The dimension of the waterproof enclosure with a diameter of 100 mm permits also its application in groundwater monitoring wells. As a light source for fluorescence spectroscopy, we constructed an LED array that can be equipped with four different LEDs. A miniaturized deuterium–tungsten light source (200–1100 nm) was used for UV/Vis spectroscopy. A miniaturized spectrometer with a spectral range between 225 and 1000 nm permits the detection of complete spectra for both methods. Full article

This research paper introduces an innovative technique for measuring displacement using auxetic tubular structure (ATS). The proposed displacement measurement method is based on tubular structures with a negative Poisson’s ratio. It capitalizes on the underlying principle that the elastic deformation-induced change in transmittance of the ATS can be translated into a corresponding modification in the output current of the solar cell. This method allows for the conversion of the variation in light transmission into a corresponding variation in output voltage. The construction of the ATS can be achieved through 3D-printing technology, enhancing the accessibility of displacement measurement and design flexibility. The experimental results demonstrate that the proposed measurement method exhibits a linear error of less than 8% without any subsequent signal processing and achieves a sensitivity of 0.011 V/mm without signal amplification. Furthermore, experimental results also show that the proposed method has good repeatability and can maintain a high level of reliability and sensitivity when using different measurement devices. This confirms the effectiveness and feasibility of the proposed method, showing a favorable linear relationship between the input and output of the measurement system with an acceptable sensitivity, repeatability, and reliability. Full article

Berry production is increasing worldwide each year; however, high production leads to labor shortages and an increase in wasted fruit during harvest seasons. This problem opened new research opportunities in computer vision as one main challenge to address is the uncontrolled light conditions in greenhouses and open fields. The high light variations between zones can lead to underexposure of the regions of interest, making it difficult to classify between vegetation, ripe, and unripe blackberries due to their black color. Therefore, the aim of this work is to automate the process of classifying the ripeness stages of blackberries in normal and low-light conditions by exploring the use of image fusion methods to improve the quality of the input image before the inference process. The proposed algorithm adds information from three sources: visible, an improved version of the visible, and a sensor that captures images in the near-infrared spectra, obtaining a mean F1 score of $0.909\pm 0.074$ and $0.962\pm 0.028$ in underexposed images, without and with model fine-tuning, respectively, which in some cases is an increase of up to 12% in the classification rates. Furthermore, the analysis of the fusion metrics showed that the method could be used in outdoor images to enhance their quality; the weighted fusion helps to improve only underexposed vegetation, improving the contrast of objects in the image without significant changes in saturation and colorfulness. Full article

This paper investigates the properties of a mass−attached piezoelectric stack actuator and analyzes its sensitivity, which is defined as the spectrum of the driving force (the output) caused by a single−frequency voltage (the input). The force spectrum is utilized because of the nonlinear hysteresis effect of the piezoelectric stack. The sensitivity analysis shows that the nonlinear dynamics of the actuator can be interpreted as a cascade of two subsystems: a nonlinear hysteresis subsystem and a linear mechanical subsystem. Analytical solutions of the nonlinear differential equations are proposed, which show that the nonlinear transformation can be described by a steady−state mapping of a single−frequency voltage input to a multiple−frequency driving force at the driving frequency and its odd harmonics. The steady−state sensitivity is then determined by the response of the mechanical subsystem to the line spectrum of the driving force. The maximum sensitivity can be achieved by setting the frequency of the input voltage close to the natural frequency of the mechanical subsystem. The analytical model is also validated by a numerical model and experimental results and it may be used for the analysis and design of piezoelectric actuators with different structural configurations. Full article

With the advantages of real-time data processing and flexible deployment, unmanned aerial vehicle (UAV)-assisted mobile edge computing systems are widely used in both civil and military fields. However, due to limited energy, it is usually difficult for UAVs to stay in the air for long periods and to perform computational tasks. In this paper, we propose a full-duplex air-to-air communication system (A2ACS) model combining mobile edge computing and wireless power transfer technologies, aiming to effectively reduce the computational latency and energy consumption of UAVs, while ensuring that the UAVs do not interrupt the mission or leave the work area due to insufficient energy. In this system, UAVs collect energy from external air-edge energy servers (AEESs) to power onboard batteries and offload computational tasks to AEESs to reduce latency. To optimize the system’s performance and balance the four objectives, including the system throughput, the number of low-power alarms of UAVs, the total energy received by UAVs and the energy consumption of AEESs, we develop a multi-objective optimization framework. Considering that AEESs require rapid decision-making in a dynamic environment, an algorithm based on multi-agent deep deterministic policy gradient (MADDPG) is proposed, to optimize the AEESs’ service location and to control the power of energy transfer. While training, the agents learn the optimal policy given the optimization weight conditions. Furthermore, we adopt the K-means algorithm to determine the association between AEESs and UAVs to ensure fairness. Simulated experiment results show that the proposed MODDPG (multi-objective DDPG) algorithm has better performance than the baseline algorithms, such as the genetic algorithm and other deep reinforcement learning algorithms. Full article

This study presents the Drone Swarms Routing Problem (DSRP), which consists of identifying the maximum number of victims in post-disaster areas. The post-disaster area is modeled in a complete graph, where each search location is represented by a vertex, and the edges are the shortest paths between destinations, with an associated weight, corresponding to the battery consumption to fly to a location. In addition, in the DSRP addressed here, a set of drones are deployed in a cooperative drone swarms approach to boost the search. In this context, a V-shaped formation is applied with leader replacements, which allows energy saving. We propose a computation model for the DSRP that considers each drone as an agent that selects the next search location to visit through a simple and efficient method, the Drone Swarm Heuristic. In order to evaluate the proposed model, scenarios based on the Beirut port explosion in 2020 are used. Numerical experiments are presented in the offline and online versions of the proposed method. The results from such scenarios showed the efficiency of the proposed approach, attesting not only the coverage capacity of the computational model but also the advantage of adopting the V-shaped formation flight with leader replacements. Full article

The Wiener model, composed of a linear dynamical block and a nonlinear static one connected in series, is frequently used for prediction in Model Predictive Control (MPC) algorithms. The parallel structure is an extension of the classical Wiener model; it is expected to offer better modeling accuracy and increase the MPC control quality. This work discusses the benefits of using the parallel Wiener model in MPC. It has three objectives. Firstly, it describes a fast MPC algorithm in which parallel Wiener models are used for online prediction. In the presented approach, sophisticated trajectory linearization is performed online, which leads to computationally fast quadratic optimization. The second objective of this work is to study the influence of the model structure on modeling accuracy. The well-known neutralization benchmark process is considered. It is shown that the parallel Wiener models in the open-loop mode generate significantly fewer errors than the classical structure. This work’s third objective is to validate the efficiency of parallel Wiener models in closed-loop MPC. For the neutralization process, it is demonstrated that parallel models demonstrate better control quality using various indicators, but the difference between the classical and parallel models is not significant. Full article

This paper presents the thermal behavior of non-resonant (quasi-static) piezoelectric biaxial MEMS scanners with Bragg reflectors. These scanners were developed for LIDAR (LIght Detection And Ranging) applications using a pulsed 1550 nm laser with an average power of 2 W. At this power, a standard metal (gold) reflector can overheat and be damaged. The Bragg reflector developed here has up to 24 times lower absorption than gold, which limits heating of the mirror. However, the use of such a reflector involves a technological process completely different from that used for gold and induces, for example, different final stresses on the mirror. In view of the high requirements for optical power, the behavior of this reflector in the event of an increase in temperature needs to be studied and compared with the results of previous studies using gold reflectors. This paper shows that the Bragg reflector remains functional as the temperature rises and undergoes no detrimental deformation even when heated to 200 °C. In addition, the 2D-projection model revealed a 5% variation in optical angle at temperatures up to 150 °C and stability of 2D scanning during one hour of continuous use at 150 °C. The results of this study demonstrate that a biaxial piezoelectric MEMS scanner equipped with Bragg reflector technology can reach a maximum temperature of 150 °C, which is of the same order of magnitude as can be reached by scanners with gold reflectors. Full article

To address the fuzzy reconstruction effect on distant objects in unbounded scenes and the difficulty in feature matching caused by the thin structure of power lines in images, this paper proposes a novel image-based method for the reconstruction of power transmission lines (PTLs). The dataset used in this paper comprises PTL progressive motion sequence datasets, constructed by a visual acquisition system carried by a developed Flying–walking Power Line Inspection Robot (FPLIR). This system captures close-distance and continuous images of power lines. The study introduces PL-NeRF, that is, an enhanced method based on the Neural Radiance Fields (NeRF) method for reconstructing PTLs. The highlights of PL-NeRF include (1) compressing the unbounded scene of PTLs by exploiting the spatial compression of normal ; (2) encoding the direction and position of the sample points through Integrated Position Encoding (IPE) and Hash Encoding (HE), respectively. Compared to existing methods, the proposed method demonstrates good performance in 3D reconstruction, with fidelity indicators of PSNR = 29, SSIM = 0.871, and LPIPS = 0.087. Experimental results highlight that the combination of PL-NeRF with progressive motion sequence images ensures the integrity and continuity of PTLs, improving the efficiency and accuracy of image-based reconstructions. In the future, this method could be widely applied for efficient and accurate 3D reconstruction and inspection of PTLs, providing a strong foundation for automated monitoring of transmission corridors and digital power engineering. Full article

In the pursuit of enhancing the wine production process through the utilization of new technologies in viticulture, this study presents a novel approach for the rapid assessment of wine grape maturity levels using non-destructive, in situ infrared spectroscopy and artificial intelligence techniques. Building upon our previous work focused on estimating sugar content (${}^{\circ }$Brix) from the visible and near-infrared (VNIR) and short-wave infrared (SWIR) regions, this research expands its scope to encompass pH and titratable acidity, critical parameters determining the grape maturity degree, and in turn, wine quality, offering a more representative estimation pathway. Data were collected from four grape varieties—Chardonnay, Malagouzia, Sauvignon Blanc, and Syrah—during the 2023 harvest and pre-harvest phenological stages in the vineyards of Ktima Gerovassiliou, northern Greece. A comprehensive spectral library was developed, covering the VNIR–SWIR spectrum (350–2500 nm), with measurements performed in situ. Ground truth data for pH, titratable acidity, and sugar content were obtained using conventional laboratory methods: total soluble solids (TSS) (${}^{\circ }$Brix) by refractometry, titratable acidity by titration (expressed as mg tartaric acid per liter of must) and pH by a pH meter, analyzed at different maturation stages in the must samples. The maturity indicators were predicted from the point hyperspectral data by employing machine learning algorithms, including Partial Least Squares regression (PLS), Random Forest regression (RF), Support Vector Regression (SVR), and Convolutional Neural Networks (CNN), in conjunction with various pre-processing techniques. Multi-output models were also considered to simultaneously predict all three indicators to exploit their intercorrelations. A novel multi-input–multi-output CNN model was also proposed, incorporating a multi-head attention mechanism and enabling the identification of the spectral regions it focuses on, and thus having a higher interpretability degree. Our results indicate high accuracy in the estimation of sugar content, pH, and titratable acidity, with the best models yielding mean $R^2$ values of 0.84, 0.76, and 0.79, respectively, across all properties. The multi-output models did not improve the prediction results compared to the best single-output models, and the proposed CNN model was on par with the next best model. The interpretability analysis highlighted that the CNN model focused on spectral regions associated with the presence of sugars (i.e., glucose and fructose) and of the carboxylic acid group. This study underscores the potential of portable spectrometry for real-time, non-destructive assessments of wine grape maturity, thereby providing valuable tools for informed decision making in the wine production industry. By integrating pH and titratable acidity into the analysis, our approach offers a holistic view of grape quality, facilitating more comprehensive and efficient viticultural practices. Full article

Measuring the similarity between two trajectories is fundamental and essential for the similarity-based remaining useful life (RUL) prediction. Most previous methods do not adequately account for the epistemic uncertainty caused by asynchronous sampling, while others have strong assumption constraints, such as limiting the positional deviation of sampling points to a fixed threshold, which biases the results considerably. To address the issue, an uncertain ellipse model based on the uncertain theory is proposed to model the location of sampling points as an observation drawn from an uncertain distribution. Based on this, we propose a novel and effective similarity measure metric for any two degradation trajectories. Then, the Stacked Denoising Autoencoder (SDA) model is proposed for RUL prediction, in which the models can be first trained on the most similar degradation data and then fine-tuned by the target dataset. Experimental results show that the predictive performance of the new method is superior to prior methods based on edit distance on real sequence (EDR), longest common subsequence (LCSS), or dynamic time warping (DTW) and is more robust at different sampling rates. Full article

Unobtrusive sensing (device-free sensing) aims to embed sensing into our daily lives. This is achievable by re-purposing communication technologies already used in our environments. Wireless Fidelity (Wi-Fi) sensing, using Channel State Information (CSI) measurement data, seems to be a perfect fit for this purpose since Wi-Fi networks are already omnipresent. However, a big challenge in this regard is CSI data being sensitive to ‘domain factors’ such as the position and orientation of a subject performing an activity or gesture. Due to these factors, CSI signal disturbances vary, causing domain shifts. Shifts lead to the lack of inference generalization, i.e., the model does not always perform well on unseen data during testing. We present a domain factor-independent feature-extraction pipeline called ‘mini-batch alignment’. Mini-batch alignment steers a feature-extraction model’s training process such that it is unable to separate intermediate feature-probability density functions of input data batches seen previously from the current input data batch. By means of this steering technique, we hypothesize that mini-batch alignment (i) absolves the need for providing a domain label, (ii) reduces pipeline re-building and re-training likelihood when encountering latent domain factors, and (iii) absolves the need for extra model storage and training time. We test this hypothesis via a vast number of performance-evaluation experiments. The experiments involve both one- and two-domain-factor leave-out cross-validation, two open-source gesture-recognition datasets called SignFi and Widar3, two pre-processed input types called Doppler Frequency Spectrum (DFS) and Gramian Angular Difference Field (GADF), and several existing domain-shift mitigation techniques. We show that mini-batch alignment performs on a par with other domain-shift mitigation techniques in both position and orientation one-domain leave-out cross-validation using the Widar3 dataset and DFS as input type. When considering a memory-complexity-reduced version of the GADF as input type, mini-batch alignment shows hints of recuperating performance regarding a standard baseline model to the extent that no additional performance due to weight steering is lost in both one-domain-factor leave-out and two-orientation-domain-factor leave-out cross-validation scenarios. However, this is not enough evidence that the mini-batch alignment hypothesis is valid. We identified pitfalls leading up to the hypothesis invalidation: (i) lack of good-quality benchmark datasets, (ii) invalid probability distribution assumptions, and (iii) non-linear distribution scaling issues. Full article

Vortex beams carrying orbital angular momentum (OAM) have gained much interest in optical communications because they can be used to expand the number of multiplexing channels and greatly improve the transmission capacity. However, the number of states used for OAM-based communication is generally limited by the imperfect OAM generation, transmission, and demultiplexing methods. In this work, we proposed a dense space-division multiplexing (DSDM) scheme to further increase the transmission capacity and transmission capacity density of free space optical communications with a small range of OAM modes exploiting a multi-ring perfect vortex (MRPV). The proposed MRPV is generated using a pixel checkerboard complex amplitude modulation method that simultaneously encodes amplitude and phase information in a phase-only hologram. The four rings of the MRPV are mutually independent channels that transmit OAM beams under the condition of occupying only one spatial position, and the OAM mode transmitted in these spatial channels can be efficiently demodulated using a multilayer annular aperture. The effect of atmospheric turbulence on the MRPV was also analyzed, and the results showed that the four channels of the MRPV can be effectively separated under weak turbulence conditions. Under the condition of limited available space and OAM states, the proposed DSDM strategy exploiting MRPV might inspire wide optical communication applications exploiting the space dimension of light beams. Full article

This paper presents a spatiotemporal deep learning approach for mouse behavioral classification in the home-cage. Using a series of dual-stream architectures with assorted modifications for optimal performance, we introduce a novel feature sharing approach that jointly processes the streams at regular intervals throughout the network. The dataset in focus is an annotated, publicly available dataset of a singly-housed mouse. We achieved even better classification accuracy by ensembling the best performing models; an Inception-based network and an attention-based network, both of which utilize this feature sharing attribute. Furthermore, we demonstrate through ablation studies that for all models, the feature sharing architectures consistently outperform the conventional dual-stream having standalone streams. In particular, the inception-based architectures showed higher feature sharing gains with their increase in accuracy anywhere between 6.59% and 15.19%. The best-performing models were also further evaluated on other mouse behavioral datasets. Full article

DEXTER (detection of explosives and firearms to counter terrorism) is a project funded by NATO’s Science for Peace and Security (SPS) program with the goal of developing an integrated system capable of remotely and accurately detecting explosives and firearms in public places without impeding the flow of pedestrians. While body scanner systems in secure areas of public places are becoming more and more efficient, the attack at Brussels airport on 22 March 2016, upstream of these systems, in the middle of the crowd of passengers, demonstrated the lack of discreet and real-time security against threats of mass terrorism. The NATO-SPS international and multi-year DEXTER project aims to provide new technical and strategic solutions to fill this gap. This project is based on multi-sensor coordination and fusion, from hyperspectral remote laser to smart glasses, artificial algorithms, and suspect identification and tracking. One of these sensors is dedicated to threat detection (large weapon or explosive belt) using the clothing of pedestrians by means of an active microwave component. This project is referred to as MIC (Microwave Imaging Curtain), also supported by the French SGDSN (General Secretariat of Defense and National Security), and utilizes a radar system capable of generating 3D images in real-time to address non-checkpoint detection of explosives and firearms. The project, led by ONERA (France), is based on a radar imaging system developed by the Fraunhofer FHR institute, using a MIMO architecture with an Ultra-Wide Band waveform. Although high-resolution 3D microwave imaging is already being used in expensive body scanners to detect firearms concealed under clothing, MIC’s innovative approach lies in utilizing a high-resolution 3D imaging device that can detect larger dangerous objects carried by moving individuals at a longer range, in addition to providing discrete detection in pedestrian flow. Automatic detection and classification of these dangerous objects is carried out on 3D radar images using a deep-learning network. This paper will outline the project’s objectives and constraints, as well as the design, architecture, and performance of the final system. Additionally, it will present real-time imaging results obtained during a live demonstration in a relevant environment. Full article

Multiple Gateways (GWs) provide network connectivity to Internet of Things (IoT) sensors in a Wide Area Network (WAN). The End Nodes (ENs) can connect to any GW by discovering and acquiring its periodic beacons. This provides GW diversity, improving coverage area. However, simultaneous periodic beacon transmissions among nearby GWs lead to interference and collisions. In this study, the impact of such intra-network interference is analyzed to determine the maximum number of GWs that can coexist. The paper presents a new collision model that considers the combined effects of the Medium Access Control (MAC) and Physical (PHY) layers. The model takes into account the partial overlap durations and relative power of all colliding events. It also illustrates the relationship between the collisions and the resulting packet loss rates. A performance evaluation is presented using a combination of analytical and simulation methods, with the former validating the simulation results. The system models are developed from experimental data obtained from field measurements. Numerical results are provided with Gaussian Frequency Shift Keying (GFSK) modulation. This paper provides guidance on selecting GFSK modulation parameters for low bit-rate and narrow-bandwidth IoT applications. The analysis and simulation results show that larger beacon intervals and frequency hopping help in reducing beacon loss rates, at the cost of larger beacon acquisition latency. On the flip side, the gateway discovery latency reduces with increasing GW density, thanks to an abundance of beacons. Full article

Human Activity Recognition (HAR) systems have made significant progress in recognizing and classifying human activities using sensor data from a variety of sensors. Nevertheless, they have struggled to automatically discover novel activity classes within massive amounts of unlabeled sensor data without external supervision. This restricts their ability to classify new activities of unlabeled sensor data in real-world deployments where fully supervised settings are not applicable. To address this limitation, this paper presents the Novel Class Discovery (NCD) problem, which aims to classify new class activities of unlabeled sensor data by fully utilizing existing activities of labeled data. To address this problem, we propose a new end-to-end framework called More Reliable Neighborhood Contrastive Learning (MRNCL), which is a variant of the Neighborhood Contrastive Learning (NCL) framework commonly used in visual domain. Compared to NCL, our proposed MRNCL framework is more lightweight and introduces an effective similarity measure that can find more reliable k-nearest neighbors of an unlabeled query sample in the embedding space. These neighbors contribute to contrastive learning to facilitate the model. Extensive experiments on three public sensor datasets demonstrate that the proposed model outperforms existing methods in the NCD task in sensor-based HAR, as indicated by the fact that our model performs better in clustering performance of new activity class instances. Full article

Currently, various applications of ultra-wideband signal–code constructions are among the most vibrant technologies, being implemented in very different fields. The purpose of this research consists of analyzing Barker codes and searching for the optimal nested representations of them. We also aim to synthesize signal–code constructions based on the tenets of nesting of alternative modified Barker codes, which employ an asymmetric alphabet. The scientific merit of the paper is as follows: on the basis of new analytic expressions, modified nested codes and signal–code constructions were obtained, applicable for the establishment of the unambiguous association of the component values of the nested codes with any lobes of the normalized autocorrelation function. With these analytical expressions, we are, hence, able to determine the values of the binary asymmetrical components of the nested codes related to the side lobes of the normalized autocorrelation function. In this way, we clearly obtain better (low) levels for these lobes than by using the autocorrelation function, as established by the equivalent conventional Barker codes, including the nested constructions. Practical application of these modulated ultra-wideband signals ensures improved correlational features, high-fidelity probabilistic detection, and more precise positional detection of physical bodies depending on the range coordinate. Full article

Previous camera self-calibration methods have exhibited certain notable shortcomings. On the one hand, they either exclusively emphasized scene cues or solely focused on vehicle-related cues, resulting in a lack of adaptability to diverse scenarios and a limited number of effective features. Furthermore, these methods either solely utilized geometric features within traffic scenes or exclusively extracted semantic information, failing to comprehensively consider both aspects. This limited the comprehensive feature extraction from scenes, ultimately leading to a decrease in calibration accuracy. Additionally, conventional vanishing point-based self-calibration methods often required the design of additional edge-background models and manual parameter tuning, thereby increasing operational complexity and the potential for errors. Given these observed limitations, and in order to address these challenges, we propose an innovative roadside camera self-calibration model based on the Transformer architecture. This model possesses a unique capability to simultaneously learn scene features and vehicle features within traffic scenarios while considering both geometric and semantic information. Through this approach, our model can overcome the constraints of prior methods, enhancing calibration accuracy and robustness while reducing operational complexity and the potential for errors. Our method outperforms existing approaches on both real-world dataset scenarios and publicly available datasets, demonstrating the effectiveness of our approach. Full article