Sensors

Abnormal behavioral changes in the regular daily mobility routine of a pregnant dairy cow can be an indicator or early sign to recognize when a calving event is imminent. Image processing technology and statistical approaches can be effectively used to achieve a more accurate result in predicting the time of calving. We hypothesize that data collected using a 360-degree camera to monitor cows before and during calving can be used to establish the daily activities of individual pregnant cows and to detect changes in their routine. In this study, we develop an augmented Markov chain model to predict calving time and better understand associated behavior. The objective of this study is to determine the feasibility of this calving time prediction system by adapting a simple Markov model for use on a typical dairy cow dataset. This augmented absorbing Markov chain model is based on a behavior embedded transient Markov chain model for characterizing cow behavior patterns during the 48 h before calving and to predict the expected time of calving. In developing the model, we started with an embedded four-state Markov chain model, and then augmented that model by adding calving as both a transient state, and an absorbing state. Then, using this model, we derive (1) the probability of calving at 2 h intervals after a reference point, and (2) the expected time of calving, using their motions between the different transient states. Finally, we present some experimental results for the performance of this model on the dairy farm compared with other machine learning techniques, showing that the proposed method is promising. Full article

Many environmental monitoring applications that are based on the Internet of Things (IoT) require robust and available systems. These systems must be able to tolerate the hardware or software failure of nodes and communication failure between nodes. However, node failure is inevitable due to environmental and human factors, and battery depletion in particular is a major contributor to node failure. The existing failure detection algorithms seldom consider the problem of node battery consumption. In order to rectify this, we propose a low-power failure detector (LP-FD) that can provide an acceptable failure detection service and can save on the battery consumption of nodes. From simulation experiments, results show that the LP-FD can provide better detection speed, accuracy, overhead and battery consumption than other failure detection algorithms. Full article

The remarkable evolution of the IoT raised the need for an efficient way to update the device’s firmware. Recently, a new process was released summarizing the steps for firmware updates over the air (FUOTA) on top of the LoRaWAN protocol. The FUOTA process needs to be completed quickly to reduce the systems’ interruption and, at the same time, to update the maximum number of devices with the lowest power consumption. However, as the literature showed, a single gateway cannot optimize the FUOTA procedure and offer the above mentioned goals since various trade-offs arise. In this paper, we conducted extensive experiments via simulation to investigate the impact of multiple gateways during the firmware update process. To achieve that, we extended the FUOTAsim simulation tool to support multiple gateways. The results revealed that several gateways could eliminate the trade-offs that appeared using a single gateway. Full article

In synthetic aperture radar (SAR) imaging, geometric resolution, sidelobe level (SLL) and signal-to-noise ratio (SNR) are the most important parameters for measuring the SAR image quality. The staring spotlight mode continuously transmits signals to a fixed area by steering the azimuth beam to acquire azimuth high geometric resolution, and its two-dimensional (2D) impulse response with the low SLL is usually obtained from the 2D weighted power spectral density (PSD) by the selected weighting window function. However, this results in the SNR reduction due to 2D amplitude window weighting. In this paper, the staring spotlight SAR with nonlinear frequency modulation (NLFM) signal and azimuth non-uniform sampling (ANUS) is proposed to obtain high geometric resolution SAR images with the low SLL and almost without any SNR reduction. The NLFM signal obtains non-equal interval frequency sampling points under uniform time sampling by adjusting the instantaneous chirp rate. Its corresponding PSD is similar to the weighting window function, and its pulse compression result without amplitude window weighting has low sidelobes. To obtain a similar Doppler frequency distribution for low sidelobe imaging in azimuth, the received SAR echoes are designed to be non-uniformly sampled in azimuth, in which the sampling sequence is dense in middle and sparse in both ends, and azimuth compression result with window weighting would also have low sidelobes. According to the echo model of the proposed imaging mode, both the back projection algorithm (BPA) and range migration algorithm (RMA) are modified and presented to handle the raw data of the proposed imaging mode. Both imaging results on simulated targets and experimental real SAR data processing results of a ground-based radar validate the proposed low sidelobe imaging mode. Full article

The use of renewable energies sources is taking great importance due to the high demand for electricity and the decrease in the use of fossil fuels worldwide. In this context, electricity generation through photovoltaic panels is gaining a lot of interest due to the reduction in installation costs and the rapid advance of the development of new technologies. To minimize or reduce the negative impact of partial shading or mismatches of photovoltaic panels, many researchers have proposed four configurations that depend on the power ranges and the application. The microinverter is a promising solution in photovoltaic systems, due to its high efficiency of Maximum Power Point Tracking and high flexibility. However, there are several challenges to improve microinverter’s reliability and conversion efficiency that depend on the proper control design and the power converter design. This paper presents a review of different control strategies in microinverters for different applications. The control strategies are described and compared based on stability, dynamic response, topologies, and control objectives. One of the most important results showed that there is little research regarding the stability and robustness analysis of the reviewed control strategies. Full article

In recent years, there has been an immense amount of research into fall event detection. Generally, a fall event is defined as a situation in which a person unintentionally drops down onto a lower surface. It is crucial to detect the occurrence of fall events as early as possible so that any severe fall consequences can be minimized. Nonetheless, a fall event is a sporadic incidence that occurs seldomly that is falsely detected due to a wide range of fall conditions and situations. Therefore, an automated fall frame detection system, which is referred to as the SmartConvFall is proposed to detect the exact fall frame in a video sequence. It is crucial to know the exact fall frame as it dictates the response time of the system to administer an early treatment to reduce the fall’s negative consequences and related injuries. Henceforth, searching for the optimal training configurations is imperative to ensure the main goal of the SmartConvFall is achieved. The proposed SmartConvFall consists of two parts, which are object tracking and instantaneous fall frame detection modules that rely on deep learning representations. The first stage will track the object of interest using a fully convolutional neural network (CNN) tracker. Various training configurations such as optimizer, learning rate, mini-batch size, number of training samples, and region of interest are individually evaluated to determine the best configuration to produce the best tracker model. Meanwhile, the second module goal is to determine the exact instantaneous fall frame by modeling the continuous object trajectories using the Long Short-Term Memory (LSTM) network. Similarly, the LSTM model will undergo various training configurations that cover different types of features selection and the number of stacked layers. The exact instantaneous fall frame is determined using an assumption that a large movement difference with respect to the ground level along the vertical axis can be observed if a fall incident happened. The proposed SmartConvFall is a novel technique as most of the existing methods still relying on detection rather than the tracking module. The SmartConvFall outperforms the state-of-the-art trackers, namely TCNN and MDNET-N trackers, with the highest expected average overlap, robustness, and reliability metrics of 0.1619, 0.6323, and 0.7958, respectively. The SmartConvFall also managed to produce the lowest number of tracking failures with only 43 occasions. Moreover, a three-stack LSTM delivers the lowest mean error with approximately one second delay time in locating the exact instantaneous fall frame. Therefore, the proposed SmartConvFall has demonstrated its potential and suitability to be implemented for a real-time application that could help to avoid any crucial fall consequences such as death and internal bleeding if the early treatment can be administered. Full article

Due to the high mortality of many cancers and their related diseases, the prediction and prognosis techniques of cancers are being extensively studied to assist doctors in making diagnoses. Many machine-learning-based cancer predictors have been put forward, but many of them have failed to become widely utilised due to some crucial problems. For example, most methods require too much training data, which is not always applicable to institutes, and the complicated genetic mutual effects of cancers are generally ignored in many proposed methods. Moreover, a majority of these assist models are actually not safe to use, as they are generally built on black-box machine learners that lack references from related field knowledge. We observe that few machine-learning-based cancer predictors are capable of employing prior knowledge (PrK) to mitigate these issues. Therefore, in this paper, we propose a generalisable informed machine learning architecture named the Informed Attentive Predictor (IAP) to make PrK available to the predictor’s decision-making phases and apply it to the field of cancer prediction. Specifically, we make several implementations of the IAP and evaluate its performance on six TCGA datasets to demonstrate the effectiveness of our architecture as an assist system framework for actual clinical usage. The experimental results show a noticeable improvement in IAP models on accuracies, f1-scores and recall rates compared to their non-IAP counterparts (i.e., basic predictors). Full article

Concrete properties and damage conditions are widely evaluated by ultrasonics. When access is limited, the evaluation takes place from a single surface. In this case, the sensor size plays a crucial role due to the “aperture effect”. While this effect is well documented regarding the amplitude or the frequency content of the surface (or Rayleigh) wave pulses, it has not been studied in terms of the wave velocity, although the velocity value is connected to concrete stiffness, porosity, damage degree, and is even empirically used to evaluate compressive strength. In this study, numerical simulations take place where sensors of different sizes are used to measure the surface wave velocity as well as its dependence on frequency (dispersion) and sensor size, showing the strong aperture effect and suggesting rules for reliable measurements on a concrete surface. The numerical trends are also validated by experimental measurements on a cementitious material by sensors of different sizes. Full article

The technique of active ionospheric sounding by ionosondes requires sophisticated methods for the recovery of experimental data on ionograms. In this work, we applied an advanced algorithm of deep learning for the identification and classification of signals from different ionospheric layers. We collected a dataset of 6131 manually labeled ionograms acquired from low-latitude ionosondes in Taiwan. In the ionograms, we distinguished 11 different classes of the signals according to their ionospheric layers. We developed an artificial neural network, FC-DenseNet24, based on the FC-DenseNet convolutional neural network. We also developed a double-filtering algorithm to reduce incorrectly classified signals. That made it possible to successfully recover the sporadic E layer and the F2 layer from highly noise-contaminated ionograms whose mean signal-to-noise ratio was low, SNR = 1.43. The Intersection over Union (IoU) of the recovery of these two signal classes was greater than 0.6, which was higher than the previous models reported. We also identified three factors that can lower the recovery accuracy: (1) smaller statistics of samples; (2) mixing and overlapping of different signals; (3) the compact shape of signals. Full article

We developed a new mobile ultrasound device for long-term and automated bladder monitoring without user interaction consisting of 32 transmit and receive electronics as well as a 32-element phased array 3 MHz transducer. The device architecture is based on data digitization and rapid transfer to a consumer electronics device (e.g., a tablet) for signal reconstruction (e.g., by means of plane wave compounding algorithms) and further image processing. All reconstruction algorithms are implemented in the GPU, allowing real-time reconstruction and imaging. The system and the beamforming algorithms were evaluated with respect to the imaging performance on standard sonographical phantoms (CIRS multipurpose ultrasound phantom) by analyzing the resolution, the SNR and the CNR. Furthermore, ML-based segmentation algorithms were developed and assessed with respect to their ability to reliably segment human bladders with different filling levels. A corresponding CNN was trained with 253 B-mode data sets and 20 B-mode images were evaluated. The quantitative and qualitative results of the bladder segmentation are presented and compared to the ground truth obtained by manual segmentation. Full article

In this paper we propose an efficient closed form solution to the absolute orientation problem for cameras with an unknown focal length, from two 2D–3D point correspondences and the camera position. The problem can be decomposed into two simple sub-problems and can be solved with angle constraints. A polynomial equation of one variable is solved to determine the focal length, and then a geometric approach is used to determine the absolute orientation. The geometric derivations are easy to understand and significantly improve performance. Rewriting the camera model with the known camera position leads to a simpler and more efficient closed form solution, and this gives a single solution, without the multi-solution phenomena of perspective-three-point (P3P) solvers. Experimental results demonstrated that our proposed method has a better performance in terms of numerical stability, noise sensitivity, and computational speed, with synthetic data and real images. Full article

Monitoring process parameters in the manufacture of composite structures is key to ensuring product quality and safety. Ideally, this can be done by sensors that are embedded during production and can remain as devices to monitor structural health. Extremely thin foil-based sensors weaken the finished workpiece very little. Under ideal conditions, the foil substrate bonds with the resin in the autoclaving process, as is the case when polyetherimide is used. Here, we present a temperature sensor as part of an 8 µm thick multi-sensor node foil for monitoring processing conditions during the production and structural health during the lifetime of a construction. A metallic thin film conductor was shaped in the form of a space-filling curve to suppress the influences of resistance changes due to strain, which could otherwise interfere with the measurement of the temperature. FEM simulations as well as experiments confirm that this type of sensor is completely insensitive to the direction of strain and sufficiently insensitive to the amount of strain, so that mechanical strains that can occur in the composite curing process practically do not interfere with the temperature measurement. The temperature sensor is combined with a capacitive sensor for curing monitoring based on impedance measurement and a half-bridge strain gauge sensor element. All three types are made of the same materials and are manufactured together in one process flow. This is the key to cost-effective distributed sensor arrays that can be embedded during production and remain in the workpiece, thus ensuring not only the quality of the initial product but also the operational reliability during the service life of light-weight composite constructions. Full article

LoRaWAN has become a popular technology for the Internet of Things (IoT) device connectivity. One of the expected properties of LoRaWAN is high network scalability. However, LoRaWAN network performance may be compromised when even a relatively small number of devices use link-layer reliability. After failed frame delivery, such devices typically tend to reduce their physical layer bit rate by increasing their spreading factor (SF). This reaction increases channel utilization, which may further degrade network performance, even into congestion collapse. When this problem arises, all the devices performing reliable frame transmission end up using SF12 (i.e., the highest SF in LoRaWAN). In this paper, we identify and characterize the described network condition, which we call the SF12 Well, in a range of scenarios and by means of extensive simulations. The results show that by using alternative SF-management techniques it is possible to avoid the problem, while achieving a packet delivery ratio increase of up to a factor of 4.7. Full article

The use of inertial measurement units (IMUs) is a low-cost alternative for measuring joint angles. This study aims to present a low-cost open-source measurement system for joint angle estimation. The system is modular and has hardware and software. The hardware was developed using a low-cost IMU and microcontroller. The IMU data analysis software was developed in Python and has three fusion filters: Complementary Filter, Kalman Filter, and Madgwick Filter. Three experiments were performed for the proof of concept of the system. First, we evaluated the knee joint of Lokomat, with a predefined average range of motion (ROM) of 60${}^{\circ }$. In the second, we evaluated our system in a real scenario, evaluating the knee of a healthy adult individual during gait. In the third experiment, we evaluated the software using data from gold standard devices, comparing the results of our software with Ground Truth. In the evaluation of the Lokomat, our system achieved an average ROM of 58.28${}^{\circ }$, and during evaluation in a real scenario it achieved an average ROM of 44.62${}^{\circ }$. In comparing our software with Ground Truth, we achieved a root-mean-square error of 0.04 and a mean average percentage error of 2.95%. These results encourage the use of this system in other scenarios. Full article

Wearable inertial measurement units (IMUs) are used in gait analysis due to their discrete wearable attachment and long data recording possibilities within indoor and outdoor environments. Previously, lower back and shin/shank-based IMU algorithms detecting initial and final contact events (ICs-FCs) were developed and validated on a limited number of healthy young adults (YA), reporting that both IMU wear locations are suitable to use during indoor and outdoor gait analysis. However, the impact of age (e.g., older adults, OA), pathology (e.g., Parkinson′s Disease, PD) and/or environment (e.g., indoor vs. outdoor) on algorithm accuracy have not been fully investigated. Here, we examined IMU gait data from 128 participants (72-YA, 20-OA, and 36-PD) to thoroughly investigate the suitability of ICs-FCs detection algorithms (1 × lower back and 1 × shin/shank-based) for quantifying temporal gait characteristics depending on IMU wear location and walking environment. The level of agreement between algorithms was investigated for different cohorts and walking environments. Although mean temporal characteristics from both algorithms were significantly correlated for all groups and environments, subtle but characteristically nuanced differences were observed between cohorts and environments. The lowest absolute agreement level was observed in PD (ICC_2,1 = 0.979, 0.806, 0.730, 0.980) whereas highest in YA (ICC_2,1 = 0.987, 0.936, 0.909, 0.989) for mean stride, stance, swing, and step times, respectively. Absolute agreement during treadmill walking (ICC_2,1 = 0.975, 0.914, 0.684, 0.945), indoor walking (ICC_2,1 = 0.987, 0.936, 0.909, 0.989) and outdoor walking (ICC_2,1 = 0.998, 0.940, 0.856, 0.998) was found for mean stride, stance, swing, and step times, respectively. Findings of this study suggest that agreements between algorithms are sensitive to the target cohort and environment. Therefore, researchers/clinicians should be cautious while interpreting temporal parameters that are extracted from inertial sensors-based algorithms especially for those with a neurological condition. Full article

Crossed-grating phase-shifting profilometry (CGPSP) has great utility in three-dimensional shape measurement due to its ability to acquire horizontal and vertical phase maps in a single measurement. However, CGPSP is extremely sensitive to the non-linearity effect of a digital fringe projection system, which is not studied in depth yet. In this paper, a mathematical model is established to analyze the phase error caused by the non-linearity effect. Subsequently, two methods used to eliminate the non-linearity error are discussed in detail. To be specific, a double five-step algorithm based on the mathematical model is proposed to passively suppress the second non-linearity. Furthermore, a precoding gamma correction method based on probability distribution function is introduced to actively attenuate the non-linearity of the captured crossed fringe. The comparison results show that the active gamma correction method requires less fringe patterns and can more effectively reduce the non-linearity error compared with the passive method. Finally, employing CGPSP with gamma correction, a faster and reliable inverse pattern projection is realized with less fringe patterns. Full article

The advancements in Industry 4.0 have opened up new ways for the structural deployment of Smart Grids (SGs) to face the endlessly rising challenges of the 21st century. SGs for Industry 4.0 can be better managed by optimized routing techniques. In Mobile Ad hoc Networks (MANETs), the topology is not fixed and can be encountered by interference, mobility of nodes, propagation of multi-paths, and path loss. To extenuate these concerns for SGs, in this paper, we have presented a new version of the standard Optimized Link State Routing (OLSR) protocol for SGs to improve the management of control intervals that enhance the efficiency of the standard OLSR protocol without affecting its reliability. The adapted fault tolerant approach makes the proposed protocol more reliable for industrial applications. The process of grouping of nodes supports managing the total network cost by reducing severe flooding and evaluating an optimized head of clusters. The head of the unit is nominated according to the first defined expectation factor. With a sequence of rigorous performance evaluations under simulation parameters, the simulation results show that the proposed version of OLSR has proliferated Quality of Service (QoS) metrics when it is compared against the state-of-the-art-based conventional protocols, namely, standard OLSR, DSDV, AOMDV and hybrid routing technique. Full article

The capability to estimate the pose of known geometry from point cloud data is a frequently arising requirement in robotics and automation applications. This problem is directly addressed by Iterative Closest Point (ICP), however, this method has several limitations and lacks robustness. This paper makes the case for an alternative method that seeks to find the most likely solution based on available evidence. Specifically, an evidence-based metric is described that seeks to find the pose of the object that would maximise the conditional likelihood of reproducing the observed range measurements. A seedless search heuristic is also provided to find the most likely pose estimate in light of these measurements. The method is demonstrated to provide for pose estimation (2D and 3D shape poses as well as joint-space searches), object identification/classification, and platform localisation. Furthermore, the method is shown to be robust in cluttered or non-segmented point cloud data as well as being robust to measurement uncertainty and extrinsic sensor calibration. Full article

Background: Clinically valid and reliable simulated inspiratory sounds were required for the development and evaluation of a new therapeutic respiratory exergame application (i.e., QUT Inspire). This smartphone application virtualises incentive spirometry, a longstanding respiratory therapy technique. Objectives: Inspiratory flows were simulated using a 3 litre calibration syringe and validated using clinical reference devices. Syringe flow nozzles of decreasing diameter were applied to model the influence of mouth shape on audible sound levels generated. Methods: A library of calibrated audio inspiratory sounds was created to determine the reliability and range of inspiratory sound detection at increasing distances separating the sound source and smartphones running the app. Results: Simulated inspiratory sounds were reliably detected by the new application at higher air inflows (high, medium), using smaller mouth diameters (<25 mm) and where smartphones were held proximal (< = 5 cm) to the mouth (or at distances up to 50 cm for higher airflows). Performance was comparable for popular smartphone types and using different phone orientations (i.e., held horizontally, at 45° or 90°). Conclusions: These observations inform future application refinements, including prompts to reduce mouth diameter, increase inspiratory flow and maintain proximity to the phone to optimise sound detection. This library of calibrated inspiratory sounds offers reproducible non-human reference data suitable for development, evaluation and regression testing of a therapeutic respiratory exergame application for smartphones. Full article