Search Results (1,266)

The increasing deployment of humanoid robots in indoor environments such as smart factories, laboratories, offices, and hospitals poses new challenges to millimeter-wave wireless communication systems. Existing human body obstruction models, while effective at characterizing pedestrian-induced signal attenuation, are not designed to directly capture the structural geometry, material composition, and controlled mobility of humanoid robotic platforms. In this work, we first reproduce a well-established human-body-based propagation model under comparable indoor conditions and subsequently extend this hybrid framework to controlled humanoid-based scenarios by combining double knife-edge diffraction (DKED) with a modified street-canyon reflection model operating at 28 GHz. Compared to existing human-based studies, the proposed approach explicitly incorporates the material properties of the humanoid robot’s envelope through a calibrated correction factor and accounts for its controlled lateral movements. An indoor measurement campaign using three programmable humanoid robots was conducted to evaluate the model. Experimental results show that humanoid robots can reproduce attenuation trends and obstruction dynamics consistent with those reported in prior human-body blockage studies, while offering improved repeatability and greater experimental control. The proposed framework provides a practical and reproducible tool for modeling indoor millimeter-wave channels under controlled humanoid-based experimental conditions, in environments involving mobile robotic agents. Full article

At present, pedestrian navigation systems using smartphones have become common in daily activities. For their ubiquitous, accurate, and reliable services, map information collection is essential for constructing comprehensive spatial databases. Previously, we have developed a map information collection tool to extract building information using Google Maps, optical character recognition (OCR), geolocation, and web scraping with smartphones. However, indoor navigation often suffers from inaccurate localization due to degraded GPS signals inside buildings and Simultaneous Localization and Mapping (SLAM) estimation errors, causing position errors and confusing augmented reality (AR) guidance. In this paper, we present an improved map information collection tool to address this problem. It captures 360° panoramic images to build 3D models, apply photogrammetry-based mesh reconstruction to correct geometry, and georeference point clouds to refine latitude–longitude coordinates. For evaluations, experiments in various indoor scenarios were conducted. The results demonstrate that the proposed method effectively mitigates positional errors with an average drift correction of 3.15 m, calculated via the Haversine formula. Geometric validation using point cloud analysis showed high registration accuracy, which translated to a 100% task completion rate and an average navigation time of 124.5 s among participants. Furthermore, usability testing using the System Usability Scale (SUS) yielded an average score of 96.5, categorizing the user interface as ’Best Imaginable’. These quantitative findings substantiate that the integration of 360° imaging and photogrammetric correction significantly enhances navigation reliability and user satisfaction compared with previous sensor fusion approaches. Full article

Indoor localization finds wide-ranging applications in user navigation and intelligent building systems. Nevertheless, signal interference within complex indoor environments and challenges regarding localization generalization in multi-building and multi-floor scenarios have restricted the performance of traditional localization methods based on Wi-Fi fingerprinting. To tackle these issues, this paper presents the SE-MTCAELoc model, a multi-task convolutional autoencoder approach that integrates a squeeze-excitation (SE) attention mechanism for indoor positioning. Firstly, the method preprocesses Wi-Fi Received Signal Strength (RSSI) data. In the UJIIndoorLoc dataset, the 520-dimensional RSSI features are extended to 576 dimensions and reshaped into a 24 × 24 matrix. Meanwhile, Gaussian noise is introduced to enhance the robustness of the data. Subsequently, an integrated SE module combined with a convolutional autoencoder (CAE) is constructed. This module aggregates channel spatial information through squeezing operations and learns channel weights via excitation operations. It dynamically enhances key positioning features and suppresses noise. Finally, a multi-task learning architecture based on the SE-CAE encoder is established to jointly optimize building classification, floor classification, and coordinate regression tasks. Priority balancing is achieved using weighted losses (0.1 for building classification, 0.2 for floor classification, and 0.7 for coordinate regression). Experimental results on the UJIIndoorLoc dataset indicate that the accuracy of building classification reaches 99.57%, the accuracy of floor classification is 98.57%, and the mean absolute error (MAE) for coordinate regression is 5.23 m. Furthermore, the model demonstrates exceptional time efficiency. The cumulative training duration (including SE-CAE pre-training) is merely 9.83 min, with single-sample inference taking only 0.347 milliseconds, fully meeting the requirements of real-time indoor localization applications. On the TUT2018 dataset, the floor classification accuracy attains 98.13%, with an MAE of 6.16 m. These results suggest that the SE-MTCAELoc model can effectively enhance the localization accuracy and generalization ability in complex indoor scenarios and meet the localization requirements of multiple scenarios. Full article

Household airborne transmission can be promoted when infectious and susceptible occupants share indoor air for long periods, yet practical infection-risk models often require pathogen-specific parameters that are uncertain. This study proposes a measurement-informed multizone/HVAC-network workflow that identifies inter-room airflow rates (q) from CO₂ tracer time series and estimates an effective first-order non-ventilation aerosol loss rate (λ) by fitting PM_2.5 concentration decay dynamics; the identified parameters are then reused within the same whole-house recirculating network model (vtsim) to compute a steady-state exhaled-air tracer concentration index for scenario comparison. The workflow is demonstrated in a high-insulation, airtight detached house equipped with a duct-type whole-house air-conditioning system with return-air recirculation. The results indicate measurable cross-room dispersion under baseline operation and show that a return-side filtration scenario reduces the steady-state index in non-source rooms relative to baseline under the tested operating assumptions. These findings illustrate how measurement-informed identification can support rapid, threshold-free relative comparison of ventilation/HVAC operation or mitigation scenarios within a specific house, rather than estimating absolute infection probability. Limitations include potential non-uniqueness in inverse identification, simplified treatment of leakage and pressure-drop-induced airflow changes, and the use of a steady-state index for inherently transient residential exposures; further validation across additional houses and HVAC topologies is warranted. Full article

Virtual acoustics enables the creation and simulation of realistic and ecologically valid indoor environments vital for hearing research and audiology. For real-time applications, room acoustics simulation requires simplifications. However, the acoustic level of detail (ALOD) necessary to capture all perceptually relevant effects remains unclear. This study examines the impact of varying ALOD in simulations of three real environments: a living room with a coupled kitchen, a pub, and an underground station. ALOD was varied by generating different numbers of image sources for early reflections, or by excluding geometrical room details specific for each environment. Simulations were perceptually evaluated using headphones in comparison to measured, real binaural room impulse responses, or by using loudspeakers. The perceived overall difference, spatial audio quality differences, plausibility, speech intelligibility, and externalization were assessed. A transient pulse, an electric bass, and a speech token were used as stimuli. The results demonstrate that considerable reductions in acoustic level of detail are perceptually acceptable for communication-oriented scenarios. Speech intelligibility was robust across ALOD levels, whereas broadband transient stimuli revealed increased sensitivity to simplifications. High-ALOD simulations yielded plausibility and externalization ratings comparable to real-room recordings under both headphone and loudspeaker reproduction. Full article

In this study, an improved particle swarm optimization (PSO) algorithm is designed to construct a weighting model for line-of-sight (LOS) and non-line-of-sight (NLOS) channels in an ultra-wideband (UWB) indoor positioning system. In the proposed algorithm, the particle position represents candidate weight vectors, and the fitness function is defined by the 3D positioning error over multiple test points. An optimized weight modeling framework is proposed for a multi-anchor, three-dimensional UWB indoor positioning system under LOS and NLOS channels. First, the three-dimensional positioning problem is formulated as a multilateration model, and the tag coordinates are estimated via a linearized matrix equation solved by the least-squares method, which explicitly links anchor geometry and ranging errors to the positioning accuracy. To evaluate the proposed method, extensive ranging and positioning experiments are conducted in a realistic indoor environment using up to eight anchors with different LOS/NLOS configurations, including dynamic scenarios with varying numbers of NLOS anchors. The results show that, compared with the conventional unweighted multi-anchor scheme, the PSO-based weighting model can reduce the average 3D positioning error by more than 30% in typical LOS-dominant settings and significantly suppress error bursts in severe NLOS conditions. These findings demonstrate that the combination of mathematical modeling, least-squares estimation, and swarm intelligence optimization provides an effective tool for designing intelligent engineering positioning systems in complex indoor environments, which aligns with the development of smart factories and industrial Internet-of-Things (IIoT) applications. Full article

Identifying floating residual feed is a critical technology in recirculating aquaculture systems, aiding water-quality control and the development of intelligent feeding models. However, existing research is largely based on ideal indoor environments and lacks adaptability to complex outdoor scenarios. Moreover, current methods for this task often suffer from high computational costs, poor real-time performance, and limited recognition accuracy. To address these issues, this study first validates in outdoor aquaculture tanks that instance segmentation is more suitable than individual detection for handling clustered and adhesive feed residues. We therefore propose LMFF–YOLO, a lightweight multi-scale fusion feed segmentation model based on YOLOv8n-seg. This model achieves the first collaborative optimization of lightweight architecture and segmentation accuracy specifically tailored for outdoor residual feed segmentation tasks. To enhance recognition capability, we construct a network using a Context-Fusion Diffusion Pyramid Network (CFDPN) and a novel Multi-scale Feature Fusion Module (MFFM) to improve multi-scale and contextual feature capture, supplemented by an efficient local attention mechanism at the backbone’s end for refined local feature extraction. To reduce computational costs and improve real-time performance, the original C2f module is replaced with a C2f-Reparameterization vision block, and a shared-convolution local-focus lightweight segmentation head is designed. Experimental results show that LMFF–YOLO achieves an mAP50 of 87.1% (2.6% higher than YOLOv8n-seg), enabling more precise estimation of residual feed quantity. Coupled with a 19.1% and 20.0% reduction in parameters and FLOPs, this model provides a practical solution for real-time monitoring, supporting feed waste reduction and intelligent feeding strategies. Full article

Step detection based on measurements of inertial measurement units (IMUs) is fundamental for human activity recognition, indoor navigation, and health monitoring applications. This study validates and compares five fundamentally different step detection algorithms for potential implementation on edge devices. A dedicated measurement system based on the Raspberry Pi Pico 2W microcontroller with two IMU sensors (Waveshare Pico-10DOF-IMU and Adafruit ST-9-DOF-Combo) was designed. The implemented algorithms include Peak Detection, Zero-Crossing, Spectral Analysis, Adaptive Threshold, and SHOE (Step Heading Offset Estimator). Validation was performed across 84 measurement sessions covering seven test scenarios (Timed Up and Go test, natural and fast walking, jogging, and stair climbing) and four sensor mounting locations (thigh pocket, ankle, wrist, and upper arm). Results demonstrate that Peak Detection achieved the best overall performance, with an average F1-score of 0.82, while Spectral Analysis excelled in stair scenarios (F1 = 0.86–0.92). Surprisingly, upper arm mounting yielded the highest accuracy (F1 = 0.84), outperforming ankle placement. The TUG clinical test proved most challenging (average F1 = 0.68), while fast walking was easiest (F1 = 0.87). Additionally, a preliminary application to 668 clinical TUG recordings from the open-access FRAILPOL database revealed algorithm-specific failure modes when continuous gait assumptions are violated. These findings provide practical guidelines for algorithm selection in edge computing applications and activity monitoring systems. Full article

It is a common phenomenon that the stairs of modern historical brick–timber buildings cannot meet existing fire protection specifications, something which has become a difficulty in their renovation. In response, this study proposes two different renovation strategies for the Hui-shaped Chinese Baroque brick–timber building in Harbin and constructs multiple fire scenarios. Using a coupled PyroSim–Pathfinder (version 2023.2.0816) simulation approach, a finite element model of the building under fire and a corresponding evacuation model are established. The aim is to investigate how variations in stair width, number, position, and overall building scale under the two renovation strategies influence evacuation movement time and the number of evacuation failures, and to compare the effectiveness of common fire protection measures. The results show that, for the same stair configuration and building mass, the fire development patterns of the two renovation strategies are similar. Increasing the stair width from the original 0.9 m to 1.1 m produces no significant improvement in evacuation performance. When the number of indoor existing stairways increases from one to two, the proportion of occupants evacuated safely rises from 68% to 91%. External corridor staircases provide the best evacuation performance, and a single such stair can satisfy the safe evacuation of all occupants. When the same additional floor area is provided, increasing the number of storeys extends the evacuation movement time by approximately twice that caused by increasing the building footprint. Automatic sprinkler systems and mechanical smoke exhaust systems exhibit more pronounced fire protection effects. Full article

Accurate indoor localization in 5G remains challenging due to multipath propagation, signal blockage, and limited bandwidth in frequency range 1 (FR1). This study evaluates attention-based recurrent neural networks for two-dimensional user equipment (UE) localization using only positioning reference signal (PRS) magnitude data. We compare five models on the xG-Loc dataset (InF-DH scenario at 3.5 GHz, 5 MHz bandwidth): a simple GRU (M1), a deeper GRU with dropout (M2), a GRU optimized via Optuna (M3), a stacked GRU with multi-head attention (M4), and a bidirectional GRU with attention (M5). Model performance is quantified using the area above the cumulative distribution function (CDF) curve (AAC) metric, where lower values indicate better localization accuracy. Attention-based models significantly outperform baselines, and M4 achieves the lowest AAC of 6.71 (17% reduction versus M1’s 8.09), while M5 attains an AAC of 6.90. Statistical analysis confirms that M4 and M5 significantly outperform M3 (ANOVA, p < 0.000001). Optimal performance emerges with moderate numbers of time steps (TS ≈ 500 to 2500), with performance plateauing and degrading at higher values. These findings demonstrate that attention mechanisms substantially enhance 5G indoor localization accuracy using only PRS magnitudes, and that automated hyperparameter optimization improves model robustness. Full article

With the increasingly prominent demand for building energy efficiency and occupant-centric design, accurate and reliable personal thermal comfort models (PTCMs) are playing an important role in various residential and energy applications (e.g., building energy-saving design, indoor environmental regulation, and health and well-being improvement). In recent years, data-driven and artificial intelligence (AI) technologies have attracted considerable attention in the field of personal thermal comfort modeling. This study systematically reviews recent progress in data-driven personal thermal comfort modeling, emphasizing contact-based and non-contact data collection ways, correlation analysis of feature data, modeling methods based on machine learning and deep learning. Considering the high cost and limited scale of collection experiments, as well as noise, ambiguity, and individual differences in subjective feedback, special attention is put on the data-efficient thermal comfort modeling in data scarcity scenarios using a transfer learning (TL) strategy. Characteristics and suitable occasions of four transfer methods (model-based, instance-based, feature-based, and ensemble methods) are summarized to provide a deep perspective for practical applications. Furthermore, integration of PTCM into building environment control is summarized from aspects of the integration framework, modeling method, control strategy, actuator, and control effect. Performance of the integrated systems is analyzed in terms of improving personal thermal comfort and promoting building energy efficiency. Finally, several challenges faced by PTCMs and future directions are discussed. Full article

Building energy renovation planning should be based on a multi-criteria evaluation that targets both reduced energy consumption and a high-quality indoor thermal environment. The present study investigates the building energy retrofit technologies of thermal insulation, highly insulative windows, mechanical ventilation for cooling purposes, and shading, aiming to identify the optimum energy retrofit strategy for different building typologies. Indoor thermal comfort is evaluated with the thermal comfort indexes of the predicted mean vote (PMV) and the Predicted Percentage of Dissatisfied (PPD). Each renovation scenario is evaluated in terms of thermal performance and thermal comfort, while an optimum retrofit scenario is defined as the one that simultaneously achieves the maximum decrease in the yearly energy demand and the greatest decrease in the building’s indoor thermal discomfort. The multi-objective analysis is performed using the EnergyPlus simulation engine, which is used to perform yearly dynamic simulations and provide accurate results. This study considers a typical one-story apartment building located in the city of Athens, Greece. According to the calculations, the retrofit strategy that combines all four examined interventions results in an 11.8% and 56.1% decrease in the building’s heating and cooling energy demand, respectively, while an annual enhancement of 16.6% in the building’s thermal comfort PPD index is calculated. Full article

A device-free human detection system based on a received signal strength indicator (RSSI) monitors and analyzes the change of RSSI signals to detect human movements in a wireless network. This study proposes and implements a real-time, device-free human detection system based on an RSSI distribution-based detection method with an autonomous threshold. The novelty and contribution of our solution is that the RSSI distribution concept is considered and used to calculate the optimal threshold setting for human detection, while thresholds can be automatically determined from RSSI data streams gathered from test environments. The proposed system can efficiently work without requiring an offline phase, as introduced in many existing works in the research literature. Experiments using 2.4 GHz IEEE 802.15.4 technology have been carried out in indoor environments in two laboratory rooms with different numbers of wireless links, human movement patterns, and movement speeds. Experimental results show that, in all test scenarios, the proposed method can monitor and detect human movement in a wireless network in real time. It outperforms a comparative method and achieves high accuracy (i.e., 100% detection accuracy) with a low computational complexity requirement. Full article

Understanding human movement in industrial environments requires more than simple step counts—it demands contextual information to interpret activities and enhance workflows. Key factors such as location and process context are essential. However, research on context-sensitive human activity recognition is limited by the lack of publicly available datasets that include both human movement and contextual labels. Our work introduces the DaRA dataset to address this research gap. DaRA comprises over 109 h of video footage, including 32 h from wearable first-person cameras and 77 h from fixed third-person cameras. In a laboratory environment replicating a realistic warehouse, scenarios such as order picking, packaging, unpacking, and storage were captured. The movements of 18 subjects were captured using inertial measurement units, Bluetooth devices for indoor localization, wearable first-person cameras, and fixed third-person cameras. DaRA offers detailed annotations with 12 class categories and 207 class labels covering human movements and contextual information such as process steps and locations. A total of 15 annotators and 8 revisers contributed over 1572 h in annotation and 361 h in revision. High label quality is reflected in Light’s Kappa values ranging from $78.27$% to $99.88$%. Therefore, DaRA provides a robust, multimodal foundation for human activity and context recognition in industrial settings. Full article

In the face of increasing global temperatures, this study aims to explore ventilation strategies that could provide passive cooling to mitigate overheating in studied low-energy school buildings, in particular those that use ventilative cooling. This study utilises building modelling calibrated with field data to tackle the challenge of maintaining indoor thermal comfort and cognitive performance levels during increasingly warm seasons. The calibrated building model is used to evaluate the vulnerability of classrooms, identifying and addressing risks based on standardised overheating and resilience criteria. Two primary school classrooms were simulated in three main cities across Ireland to assess the possibility of natural ventilative cooling for maintaining indoor thermal conditions without sacrificing energy efficiency. The study highlights the critical need to enhance natural ventilation strategies to protect against projected future overheating, with peak indoor temperatures reaching 29 °C to 31 °C during May, June, and September. Implementing a maximum natural ventilation strategy during occupied times, with a 9.6% opening-to-floor area ratio, can reduce peak indoor temperatures by up to 2.5 °C. Findings show Irish classrooms in low-energy buildings equipped with hybrid ventilative cooling can act as potential climate shelters during July and August under extreme weather conditions, underlining their capacity to provide a comfortable environment for vulnerable people during heatwaves and reduce overheating risk by 42–48% compared to natural ventilation. Additionally, projections show that cognitive performance loss in students may rise to 23% by 2071 due to raised indoor temperatures; however, this can be reduced to below 10% in 2021 and 2041 with maximum natural ventilation. The novelty of this work lies in its systematic evaluation of ventilative cooling resilience under future climate scenarios across multiple Irish city contexts, providing a robust evidence base for designing climate-resilient, energy-efficient learning environments. Full article