Sensors

Our epoch is continuously disrupted by the rapid technological advances in various scientific domains that aim to drive forward the Fourth Industrial Revolution. This disruption resulted in the introduction of fields that present advanced ways to train students as well as ways to secure the exchange of data and guarantee the integrity of those data. In this paper, a decentralized application (dApp), namely skillsChain, is introduced that utilizes Blockchain in educational robotics to securely track the development of students’ skills so as to be transferable beyond the confines of the academic world. This work outlines a state-of-the-art architecture in which educational robotics can directly execute transactions on a public ledger when certain requirements are met without the need of educators. In addition, it allows students to safely exchange their skills’ records with third parties. The proposed application was designed and deployed on a public distributed ledger and the final results present its efficacy. Full article

Landing an unmanned aerial vehicle (UAV) autonomously and safely is a challenging task. Although the existing approaches have resolved the problem of precise landing by identifying a specific landing marker using the UAV’s onboard vision system, the vast majority of these works are conducted in either daytime or well-illuminated laboratory environments. In contrast, very few researchers have investigated the possibility of landing in low-illumination conditions by employing various active light sources to lighten the markers. In this paper, a novel vision system design is proposed to tackle UAV landing in outdoor extreme low-illumination environments without the need to apply an active light source to the marker. We use a model-based enhancement scheme to improve the quality and brightness of the onboard captured images, then present a hierarchical-based method consisting of a decision tree with an associated light-weight convolutional neural network (CNN) for coarse-to-fine landing marker localization, where the key information of the marker is extracted and reserved for post-processing, such as pose estimation and landing control. Extensive evaluations have been conducted to demonstrate the robustness, accuracy, and real-time performance of the proposed vision system. Field experiments across a variety of outdoor nighttime scenarios with an average luminance of 5 lx at the marker locations have proven the feasibility and practicability of the system. Full article

Increasing volatilities within power transmission and distribution force power grid operators to amplify their use of communication infrastructure to monitor and control their grid. The resulting increase in communication creates a larger attack surface for malicious actors. Indeed, cyber attacks on power grids have already succeeded in causing temporary, large-scale blackouts in the recent past. In this paper, we analyze the communication infrastructure of power grids to derive resulting fundamental challenges of power grids with respect to cybersecurity. Based on these challenges, we identify a broad set of resulting attack vectors and attack scenarios that threaten the security of power grids. To address these challenges, we propose to rely on a defense-in-depth strategy, which encompasses measures for (i) device and application security, (ii) network security, and (iii) physical security, as well as (iv) policies, procedures, and awareness. For each of these categories, we distill and discuss a comprehensive set of state-of-the art approaches, as well as identify further opportunities to strengthen cybersecurity in interconnected power grids. Full article

This paper contains two main areas of research: First, this work outlines a novel, highly sensitive strain sensor design that should support various levels of deformation, depending on the substrate type used. Physical implementations in this work have focused on proving its large deformation capabilities, and simulations have been used to assess its more general electromagnetic response. The other part of this paper focusses on exploring other effects that will impact the sensing of strain of resolutions below 10 με, which is a capability achieved by other aerospace-grade strain sensor technologies. These effects are limited to mechanical swelling and sensor orientation in the azimuth and elevation planes, as these appear to be unexplored and highly relevant issues to the topic of chipless RFID-based strain sensing. From this exploration, it is apparent that the effects of mechanical swelling and sensor orientation (amongst others) will need to be addressed in any real-life implementation of the sensor, requiring a strain resolution below 10 με. Full article

Unmanned Aerial Vehicles have undergone rapid developments in recent decades. This has made them very popular for various military and civilian applications allowing us to reach places that were previously hard to reach in addition to saving time and lives. A highly desirable direction when developing unmanned aerial vehicles is towards achieving fully autonomous missions and performing their dedicated tasks with minimum human interaction. Thus, this paper provides a survey of some of the recent developments in the field of unmanned aerial vehicles related to safe autonomous navigation, which is a very critical component in the whole system. A great part of this paper focus on advanced methods capable of producing three-dimensional avoidance maneuvers and safe trajectories. Research challenges related to unmanned aerial vehicle development are also highlighted. Full article

In this paper, we use satellite-assisted and multi-group multicast mechanisms to relieve ground traffic pressure and improve data transmission efficiency of cell-free massive MIMO systems. We propose to estimate channel state information (CSI) by common pilot scheme. Given the estimated CSI, we derive the closed-form expressions of achievable rate with maximum ratio transmission (MRT) and zero-forcing (ZF) precoding. The correctness of the closed-form expressions is verified through simulations. The results show that with the help of satellite and multicast, the average system spectrum efficiency (SE) can be significantly improved. Full article

Regular inspection of railway track health is crucial for maintaining safe and reliable train operations. Factors, such as cracks, ballast issues, rail discontinuity, loose nuts and bolts, burnt wheels, superelevation, and misalignment developed on the rails due to non-maintenance, pre-emptive investigations and delayed detection, pose a grave danger and threats to the safe operation of rail transport. The traditional procedure of manually inspecting the rail track using a railway cart is both inefficient and prone to human error and biases. In a country like Pakistan where train accidents have taken many lives, it is not unusual to automate such approaches to avoid such accidents and save countless lives. This study aims at enhancing the traditional railway cart system to address these issues by introducing an automatic railway track fault detection system using acoustic analysis. In this regard, this study makes two important contributions: data collection on Pakistan railway tracks using acoustic signals and the application of various classification techniques to the collected data. Initially, three types of tracks are considered, including normal track, wheel burnt and superelevation, due to their common occurrence. Several well-known machine learning algorithms are applied such as support vector machines, logistic regression, random forest and decision tree classifier, in addition to deep learning models like multilayer perceptron and convolutional neural networks. Results suggest that acoustic data can help determine the track faults successfully. Results indicate that the best results are obtained by RF and DT with an accuracy of 97%. Full article

Through the latest technological and conceptual developments, the centralized cloud-computing approach has moved to structures such as edge, fog, and the Internet of Things (IoT), approaching end users. As mobile network operators (MNOs) implement the new 5G standards, enterprise computing function shifts to the edge. In parallel to interconnection topics, there is the issue of global impact over the environment. The idea is to develop IoT devices to eliminate the greenhouse effect of current applications. Radio-frequency identification (RFID) is the technology that has this potential, and it can be used in applications ranging from identifying a person to granting access in a building. Past studies have focused on how to improve RFID communication or to achieve maximal throughput. However, for many applications, system latency and availability are critical aspects. This paper examines, through stochastic Petri nets (SPNs), the availability, dependability, and latency of an object-identification system that uses RFID tags. Through the performed analysis, the optimal balance between latency and throughput was identified. Analyzing multiple communication scenarios revealed the availability of such a system when deployed at the edge layer. Full article

Video stabilization is essential for long-range electro-optical systems, especially in situations when the field of view is narrow, since the system shake may produce highly deteriorating effects. It is important that the stabilization works for different camera types, i.e., different parts of the electromagnetic spectrum independently of the weather conditions and any form of image distortion. In this paper, we propose a method for real-time video stabilization that uses only gyroscope measurements, analyze its performance, and implement and validate it on a real-world professional electro-optical system developed at Vlatacom Institute. Camera movements are modeled with 3D rotations obtained by integration of MEMS gyroscope measurements. The 3D orientation estimation quality depends on the gyroscope characteristics; we provide a detailed discussion on the criteria for gyroscope selection in terms of the sensitivity, measurement noise, and drift stability. Furthermore, we propose a method for improving the unwanted motion estimation quality using interpolation in the quaternion domain. We also propose practical solutions for eliminating disturbances originating from gyro bias instability and noise. In order to evaluate the quality of our solution, we compared the performance of our implementation with two feature-based digital stabilization methods. The general advantage of the proposed methods is its drastically lower computational complexity; hence, it can be implemented for a low price independent of the used electro-optical sensor system. Full article

Ice accretion or icing is a well-known phenomenon that entails a risk for the correct functioning of an aircraft. One of the areas more vulnerable to icing is the air data measuring system. This paper studies the icing protection offered by a heating system installed inside a multi-hole probe. The problem is initially solved analytically, creating a tool that can be used in order to predict the heating performance depending on the flying conditions. Later, the performance of the real system is investigated with a heated five-hole probe prototype in a wind tunnel experiment. The measured results are compared with the predictions made by the analytical model. Last, the icing protection provided by the system is estimated with respect to flying altitude and speed. As a result, a prediction tool that can be used in order to make quick icing risk predictions for straight cylindrical probes is delivered. Furthermore, the study provides some understanding about how parameters like altitude and air speed affect the occurrence of ice accretion. Full article

Measuring the underwater light field is a key mission of the international Biogeochemical-Argo program. Since 2012, 0–250 dbar profiles of downwelling irradiance at 380, 412 and 490 nm besides photosynthetically available radiation (PAR) have been acquired across the globe every 1 to 10 days. The resulting unprecedented amount of radiometric data has been previously quality-controlled for real-time distribution and ocean optics applications, yet some issues affecting the accuracy of measurements at depth have been identified such as changes in sensor dark responsiveness to ambient temperature, with time and according to the material used to build the instrument components. Here, we propose a quality-control procedure to solve these sensor issues to make Argo radiometry data available for delayed-mode distribution, with associated error estimation. The presented protocol requires the acquisition of ancillary radiometric measurements at the 1000 dbar parking depth and night-time profiles. A test on >10000 profiles from across the world revealed a quality-control success rate >90% for each band. The procedure shows similar performance in re-qualifying low radiometry values across diverse oceanic regions. We finally recommend, for future deployments, acquiring daily 1000 dbar measurements and one night profile per year, preferably during moonless nights and when the temperature range between the surface and 1000 dbar is the largest. Full article

Pinching motions are important for holding and retaining objects with precision. Therefore, training exercises for the thumb and index finger are extremely important in the field of hand rehabilitation. Considering the need for training convenience, we developed a device and a driving system to assist pinching motions actively via a lightweight, simple, and wireless mechanism driven by the magnetic forces and torques generated by magnets attached to the tip of these two fingers. This device provides accurate pinching motions through the linking structures connecting the two magnets. The fabricated device has minimal mechanical elements with an ultralightweight of 57.2 g. The magnetic field, the intensity of which is based on the time variant, generates a pinching motion between the thumb and index finger, thus rendering it possible to achieve repetitive training. To verify the generation of an active pinching motion, we fabricated a finger model using a 3D printer and a rubber sheet and observed the active motions generated by the newly developed device. We also verified the performance of the proposed mechanism and driving method via various experiments and magnetic simulations. The proposed mechanism represents an important breakthrough for patients requiring hand rehabilitation and wearable assistive motion devices. Full article

It is difficult to optimize the fault model parameters when Extreme Random Forest is used to detect the electric pitch system fault model of the double-fed wind turbine generator set. Therefore, Extreme Random Forest which was optimized by improved grey wolf algorithm (IGWO-ERF) was proposed to solve the problems mentioned above. First, IGWO-ERF imports the Cosine model to nonlinearize the linearly changing convergence factor α to balance the global exploration and local exploitation capabilities of the algorithm. Then, in the later stage of the algorithm iteration, α wolf generates its mirror wolf based on the lens imaging learning strategy to increase the diversity of the population and prevent local optimum of the population. The electric pitch system fault detection method of the wind turbine generator set sets the generator power of the variable pitch system as the main state parameter. First, it uses the Pearson correlation coefficient method to eliminate the features with low correlation with the electric pitch system generator power. Then, the remaining features are ranked by the importance of the RF features. Finally, the top N features are selected to construct the electric pitch system fault data set. The data set is divided into a training set and a test set. The training set is used to train the proposed fault detection model, and the test set is used for testing. Compared with other parameter optimization algorithms, the proposed method has lower FNR and FPR in the electric pitch system fault detection of the wind turbine generator set. Full article

In this manuscript, an optically passive fiber Bragg grating (FBG) interrogation system able to perform high-frequency measurement is proposed. The idea is mainly based on the use of an arrayed waveguide grating (AWG) device which is used to discriminate the fiber optic sensor (FOS) wavelength encoded response under test in function of its output channels. As made clear by the theoretical model studied in the proposed manuscript, the Bragg wavelength shift can be detected as in linear dependence with the proposed interrogation function which changes with the voltage produced by two (or more) adjacent AWG output channels. To prove the feasibility of the system, some experimental analyses are conducted with a custom electrical module characterized by high-speed and low-noise operational amplifiers. As static measurements, three FBGs with different full width at half maximum (FWHM) have been monitored under wide-range wavelength variation; while, as dynamic measurement, one FBG, glued onto a metal plate, in order to sense the vibration at low and high frequency, was detected. The output signals have been processed by a digital acquisition (DAQ) board and a graphical user interface (GUI). The presented work highlights the characteristics of the proposed idea as competitor among the entire class of interrogation systems currently used. This is because here, the main device, that is the AWG, is passive and reliable, without the need to use modulation signals, or moving parts, that affect the speed of the system. In addition, the innovative multi-channel detection algorithm allows the use of any type of FOS without the need to have a perfectly match of spectra. Moreover, it is also characterized by a high dynamic range without loss of sensitivity. Full article

This paper presents the technological status of robot-assisted gait self-training under real clinical environment conditions. A successful rehabilitation after surgery in hip endoprosthetics comprises self-training of the lessons taught by physiotherapists. While doing this, immediate feedback to the patient about deviations from the expected physiological gait pattern during training is important. Hence, the Socially Assistive Robot (SAR) developed for this type of training employs task-specific, user-centered navigation and autonomous, real-time gait feature classification techniques to enrich the self-training through companionship and timely corrective feedback. The evaluation of the system took place during user tests in a hospital from the point of view of technical benchmarking, considering the therapists’ and patients’ point of view with regard to training motivation and from the point of view of initial findings on medical efficacy as a prerequisite from an economic perspective. In this paper, the following research questions were primarily considered: Does the level of technology achieved enable autonomous use in everyday clinical practice? Has the gait pattern of patients who used additional robot-assisted gait self-training for several days been changed or improved compared to patients without this training? How does the use of a SAR-based self-training robot affect the motivation of the patients? Full article

An application based on a microservice architecture with a set of independent, fine-grained modular services is desirable, due to its low management cost, simple deployment, and high portability. This type of container technology has been widely used in cloud computing. Several methods have been applied to container-based microservice scheduling, but they come with significant disadvantages, such as high network transmission overhead, ineffective load balancing, and low service reliability. In order to overcome these disadvantages, in this study, we present a multi-objective optimization problem for container-based microservice scheduling. Our approach is based on the particle swarm optimization algorithm, combined parallel computing, and Pareto-optimal theory. The particle swarm optimization algorithm has fast convergence speed, fewer parameters, and many other advantages. First, we detail the various resources of the physical nodes, cluster, local load balancing, failure rate, and other aspects. Then, we discuss our improvement with respect to the relevant parameters. Second, we create a multi-objective optimization model and use a multi-objective optimization parallel particle swarm optimization algorithm for container-based microservice scheduling (MOPPSO-CMS). This algorithm is based on user needs and can effectively balance the performance of the cluster. After comparative experiments, we found that the algorithm can achieve good results, in terms of load balancing, network transmission overhead, and optimization speed. Full article

Uncertainty in dense heterogeneous IoT sensor networks can be decreased by applying reputation-inspired algorithms, such as the EWMA (Exponentially Weighted Moving Average) algorithm, which is widely used in social networks. Despite its popularity, the eventual convergence of this algorithm for the purpose of IoT networks has not been widely studied, and results of simulations are often taken in lieu of the more rigorous proof. Therefore the question remains, whether under stable conditions, in realistic situations found in IoT networks, this algorithm indeed converges. This paper demonstrates proof of the eventual convergence of the EWMA algorithm. The proof consists of two steps: it models the sensor network as the UOG (Uniform Opinion Graph) that enables the analytical approach to the problem, and then offers the mathematical proof of eventual convergence, using formalizations identified in the previous step. The paper demonstrates that the EWMA algorithm converges under all realistic conditions. Full article

Studies on developing effective neuromarkers based on magnetoencephalographic (MEG) signals have been drawing increasing attention in the neuroscience community. This study explores the idea of using source-based magnitude-squared spectral coherence as a spatial indicator for effective regions of interest (ROIs) localization, subsequently discriminating the participants with mild cognitive impairment (MCI) from a group of age-matched healthy control (HC) elderly participants. We found that the cortical regions could be divided into two distinctive groups based on their coherence indices. Compared to HC, some ROIs showed increased connectivity (hyper-connected ROIs) for MCI participants, whereas the remaining ROIs demonstrated reduced connectivity (hypo-connected ROIs). Based on these findings, a series of wavelet-based source-level neuromarkers for MCI detection are proposed and explored, with respect to the two distinctive ROI groups. It was found that the neuromarkers extracted from the hyper-connected ROIs performed significantly better for MCI detection than those from the hypo-connected ROIs. The neuromarkers were classified using support vector machine (SVM) and k-NN classifiers and evaluated through Monte Carlo cross-validation. An average recognition rate of 93.83% was obtained using source-reconstructed signals from the hyper-connected ROI group. To better conform to clinical practice settings, a leave-one-out cross-validation (LOOCV) approach was also employed to ensure that the data for testing was from a participant that the classifier has never seen. Using LOOCV, we found the best average classification accuracy was reduced to 83.80% using the same set of neuromarkers obtained from the ROI group with functional hyper-connections. This performance surpassed the results reported using wavelet-based features by approximately 15%. Overall, our work suggests that (1) certain ROIs are particularly effective for MCI detection, especially when multi-resolution wavelet biomarkers are employed for such diagnosis; (2) there exists a significant performance difference in system evaluation between research-based experimental design and clinically accepted evaluation standards. Full article

Edge computing is a fast-growing and much needed technology in healthcare. The problem of implementing artificial intelligence on edge devices is the complexity and high resource intensity of the most known neural network data analysis methods and algorithms. The difficulty of implementing these methods on low-power microcontrollers with small memory size calls for the development of new effective algorithms for neural networks. This study presents a new method for analyzing medical data based on the LogNNet neural network, which uses chaotic mappings to transform input information. The method effectively solves classification problems and calculates risk factors for the presence of a disease in a patient according to a set of medical health indicators. The efficiency of LogNNet in assessing perinatal risk is illustrated on cardiotocogram data obtained from the UC Irvine machine learning repository. The classification accuracy reaches ~91% with the~3–10 kB of RAM used on the Arduino microcontroller. Using the LogNNet network trained on a publicly available database of the Israeli Ministry of Health, a service concept for COVID-19 express testing is provided. A classification accuracy of ~95% is achieved, and~0.6 kB of RAM is used. In all examples, the model is tested using standard classification quality metrics: precision, recall, and F1-measure. The LogNNet architecture allows the implementation of artificial intelligence on medical peripherals of the Internet of Things with low RAM resources and can be used in clinical decision support systems. Full article