Search Results (7,074)

Indoor localization in GNSS-denied environments remains a significant challenge due to the low sampling frequency and high variability of wireless signal measurements. This~paper presents a wireless communication-based indoor localization method that integrates Wi-Fi received signal strength indication (RSSI) measurements with optical initialization and inertial sensor fusion. The proposed approach eliminates the need for labor-intensive fingerprinting and specialized infrastructure by leveraging existing Wi-Fi networks. Optical pose estimation using ArUco markers provides accurate initial position and orientation, enabling alignment between sensor coordinate systems and reducing inertial drift. During tracking, inertial measurements compensate for motion between sparse Wi-Fi observations by virtually translating historical RSSI samples, allowing statistically consistent averaging and improved distance estimation. A simplified factor graph framework is employed to fuse heterogeneous measurements while maintaining computational efficiency suitable for real-time operation on mobile devices. Experimental validation using a robot-based ground-truth reference system demonstrates sub-meter localization accuracy with an average positioning error of approximately 0.40~m. The proposed method provides a low-cost and scalable solution for indoor positioning and navigation applications such as access-controlled environments, exhibitions, and large public venues. Full article

Monitoring air quality is crucial for understanding and improving public health. There is interest in developing ultra-sensitive, low-power, cost-effective sensors. This work demonstrates that structural modulation of Sn nanoparticles through controlled deposition and oxidation enables a transition from metallic to semiconducting percolative networks, significantly enhancing NO₂ sensing performance at room temperature. The proposed percolation-driven sensing mechanism provides a new framework for understanding charge transport and gas interaction in nanostructured metal oxide systems. The nanoparticles are deposited near the percolation threshold for electrical conduction and, upon exposure to air, consist of a tin core and an amorphous Sn₃O₄ surface. Post-deposition heating in air at 320 °C for two hours forms SnO and Sn₃O₄ on top of the gold electrodes and polycrystalline SnO in the tetragonal litharge phase, known as Romarchite, on the glass between the electrodes. Both as-deposited and heat-treated sensors were capable of detecting NO₂ at room temperature, with a limit of detection in the parts-per-billion range. A percolation model is used to explain their operating currents, in which NO₂ reacts at nanoparticle gaps and intra-grain boundaries to form charge-depletion regions that primarily determine their resistance. Heat treatment has also been found to cause disproportionation of SnO, resulting in tin-rich precipitates and increasing the operating current to the milliampere range. These precipitates, although oxidized on their surfaces when exposed to air, may serve as bridges that reduce the total resistance of the percolating paths. Full article

Printed biosensors have attracted increasing attention as platforms for rapid, low-cost, and portable diagnostics because they can be fabricated on flexible or rigid substrates using scalable printing techniques. Their performance is strongly influenced by both the printing process and the materials employed, since factors such as ink rheology, particle dispersion, interfacial behavior, and post-processing conditions directly affect device architecture, sensing performance, and manufacturing reliability. This review summarizes recent advances in printed biosensors from the combined perspectives of printing technologies and functional materials. Commonly employed printing techniques, including inkjet, screen, aerosol jet, and roll-to-roll gravure printing, are discussed with emphasis on their processing characteristics and material requirements. The review also examines key material platforms used in printed biosensors, including carbon-based nanomaterials, metal oxides, metal nanoparticles, conductive polymers, dielectric materials, and hybrid composites, highlighting their roles in electrical conductivity, catalytic activity, biomolecule immobilization, mechanical flexibility, and overall analytical performance. Finally, current challenges and emerging research directions are outlined with respect to ink stability, post-processing strategies, sensor reliability, manufacturability, and practical translation. Overall, this review emphasizes that the development of high-performance printed biosensors depends on the synergistic integration of rational material design with optimized printing strategies. Full article

Autonomous navigation technologies have been widely adopted in the automotive and aviation sectors, significantly reducing human-error-induced accidents and operational costs. However, their application to maritime systems remains limited due to the complexity of conventional propulsion systems. Electric propulsion ships, with well-defined system boundaries and accessible operational data, offer a promising platform for autonomous navigation. In this study, we propose an FMEA-guided selective multi-fidelity digital twin framework for fault detection, where model fidelity is adaptively selected between low- and high-fidelity models based on risk priority numbers derived from failure mode and effects analysis. This approach enables selective execution of computationally expensive models only under high-risk conditions, thereby improving computational efficiency. In addition, a sliding window-based algebraic aggregation method is employed to achieve lightweight and real-time fault diagnosis. The proposed framework is validated using operational sensor data from a 100 kW electric propulsion ship under multiple fault scenarios, including power supply faults and signal anomalies. Experimental results show that the proposed method reduces computational cost while maintaining stable real-time performance, compared to conventional data-driven AI-based approaches. These results demonstrate that the proposed framework provides an effective and efficient solution for enhancing the reliability and safety of autonomous ship systems. Full article

Many place recognition approaches, which identify previously visited places or locations by matching current sensory data, such as 2D RGB images and 3D point clouds, have been proposed to achieve accurate and robust localization and loop closure detection in global positioning system (GPS)-denied environments. Since visual place recognition (VPR) methods that rely on images captured by camera sensors are highly sensitive to variations in appearance, including changes in lighting, surface color, and shadows, they can lead to poor place recognition accuracy. In contrast, light detection and ranging (LiDAR)-based place recognition (LPR) approaches based on 3D point cloud data that captures the shape and geometric structure of the environment are robust to changes in place appearance and can therefore provide more reliable place recognition results than VPR methods. This work presents an indoor LPR method called PointNetVLAD-based indoor pedestrian localization (PIPL). PIPL is a deep network model that uses PointNetVLAD to learn to extract global descriptors from 3D LiDAR point cloud data. PIPL can recognize places previously visited by a pedestrian using point clouds captured by a low-cost LiDAR sensor on a smartphone in small-scale indoor environments, while PointNetVLAD performs place recognition for vehicles using high-cost LiDAR, GPS, and inertial measurement unit (IMU) sensors in large-scale outdoor areas. For place recognition on 3D point cloud reference maps generated from LiDAR scans, PointNetVLAD exploits the universal transverse mercator (UTM) coordinate system based on GPS and IMU measurements, whereas PIPL uses a virtual coordinate system designed in this study due to the unavailability of GPS indoors. In experiments conducted in campus buildings, PIPL shows significant advantages over NetVLAD (known as a convolutional neural network (CNN)-based VPR method). Particularly in indoor environments with repetitive scenes where geometric structures are preserved and image-based appearance features are sparse or unclear, PIPL achieved $39\%$ higher top-1 accuracy and $10\%$ higher top-3 accuracy compared to NetVLAD. Furthermore, PIPL achieved place recognition accuracy comparable to NetVLAD even with a small number of points in a 3D point cloud and outperformed NetVLAD even with a smaller model training dataset. The experimental results also indicate that PIPL requires over $76\%$ less place retrieval time than NetVLAD while maintaining robust place classification performance. Full article

Unlike reactive systems, mechanical ventilation controlled by CO₂ concentration operates at a target efficiency that dynamically increases whenever the target CO₂ level is exceeded. This approach eliminates the typical ‘dead-time’ and prevents air quality degradation by ensuring the system adjusts its performance immediately in response to concentration changes. In this work, the study focuses on the development and evaluation of data-driven predictive models for near-term indoor CO₂ forecasting that can be integrated into pre-occupancy ventilation strategies, rather than designing a complete control scheme. Experimental data were collected over four months in a 48 m² smart laboratory configured as an open-plan office, where a heterogeneous IoT sensing architecture logged synchronized time-series measurements of CO₂ and microclimate variables (temperature, relative humidity, PM_2.5, TVOCs), together with acoustic noise levels and appliance-level energy consumption used as indirect occupancy-related signals. Raw telemetry was transformed into a 22-feature state vector using a structured feature engineering method incorporating z-score standardization, cyclic time encodings, multi-horizon CO₂ lags, rolling statistics, momentum features, and non-linear interactions to represent temporal autocorrelation and daily periodicity. The study benchmarks multiple regression paradigms, including simple baselines and ensemble methods, and found that an automated multi-level stacked ensemble achieved the highest predictive fidelity for short-term forecasting, with an Mean Absolute Error (MAE) of 32.97 ppm across an observed CO₂ range of 403–2305 ppm, representing improvements of approximately 24% and 43% over Linear Regression and K-Nearest Neighbors (KNN), respectively. Temporal diagnostics showed strong phase alignment with observed CO₂ rises during occupancy transitions and statistically reliable prediction intervals. Five-fold walk-forward cross-validation confirmed the temporal stability of these results, with top models achieving consistent R² values of 0.93–0.95 across Folds 2–5. These results demonstrate that, within a single-room university laboratory setting, historical sensor data from low-cost IoT devices can support accurate short-term CO₂ forecasting, providing a predictive layer that could support future proactive ventilation scheduling aimed at reducing CO₂ lag at the start of occupancy while avoiding unnecessary ventilation runtime. Generalization to other building types and occupancy profiles requires further validation. Full article

It is well known that gas sensor responses are affected by the presence of humidity in the analyzed gas. This is particularly true when dealing with biological fluid samples, whose high moisture content interferes with the adsorption of the trace volatile organic compounds (VOCs) on the sensors’ active layer. To address this challenge, this study focuses on designing and testing a novel sampling system for the dehumidification of biological fluid headspace to be characterized by an electronic nose (e-Nose). Such a system, based on the use of disposable polymeric sampling bags purged with dry air, exploits the polymers’ permeability to water vapor to reduce sample humidity. Tested materials included Nalophan^TM (20 μm), high-density polyethylene (HDPE, 8, 9, 10 and 11 μm), low-density polyethylene (LDPE, 12 and 50 μm), and biodegradable polyester (Bio-PS, 15 μm). First, dehumidification performance was characterized as a function of dry air flow rate and film type. A purge of 1 L/min accelerated the sample humidity removal compared to passive storage of bags from >2 h to <1 h (from 80% to 20% RH). Second, a mass-balance model was applied to dedicated experiments to decouple water losses due to diffusion and adsorption, showing that diffusion through the polymer wall dominates, while adsorption occurs in the early stages of conditioning. Third, because these materials are not selectively permeable to water, potential loss of water-soluble VOCs during dehumidification was investigated. Pooled urine headspace samples—both raw and spiked with a metabolite mix of VOCs—were dried using each material and analyzed using a photo-ionization detector (PID) and an e-Nose. Results were compared against a Nafion^TM dryer. Comparison was based on the e-Nose’s ability to discriminate between pooled vs. spiked samples and reveal real-life metabolomic changes. Nalophan^TM bags and Nafion^TM dryer provided the highest VOC fingerprint to support discrimination by the e-Nose, while Bio-PS provided the fastest sample dehumidification. The proposed bag-based system offers a cost-effective, disposable, and contamination-free solution to humidity interference in e-Noses. Full article

As smart eyewear becomes increasingly widespread, the need for hands-free input interfaces is growing. Although eye-based input is a promising approach, many everyday interactions do not necessarily require the high-precision gaze-point estimation used in mainstream camera-based systems; instead, what is often needed is the recognition of coarse eyeball direction. In this study, we propose a method for recognizing coarse eyeball direction using infrared distance sensors mounted on eyewear. The proposed method leverages deformation patterns in the eyelid and surrounding skin associated with changes in eyeball direction. The evaluation results show that the proposed method achieved macro-F1 scores of 0.9 or higher in the best-performing conditions for the five- and nine-direction settings. These results demonstrate the feasibility of recognizing coarse eyeball direction from eyelid-skin deformation using infrared distance sensors on eyewear. Rather than replacing high-precision gaze-point estimation, the proposed method can be positioned as a low-cost, non-contact, and low-dimensional sensing approach for command-type eye-based input on eyewear devices. Full article

We applied the Lucas–Kanade optical flow method combined with a coarse-to-fine approach for robot navigation. While Lucas–Kanade is widely used for flow estimation and tracking, its utilization in robot navigation remains limited. Using a Raspberry Pi 5 (8 gigabytes) and a Logitech webcam, a mobile robot was developed that processes optical flow vectors to guide navigation decisions aimed at exiting a maze. While most maze navigation research relies on sensor fusion, we adopted computer vision to achieve collision-free navigation. The coarse-to-fine method effectively addresses the challenge of processing large motions inherent in Lucas–Kanade, resulting in an 80% success rate and 67% recovery rate. Simple linear regression analysis results revealed a negative correlation between optical flow magnitude and the robot’s distance to the nearest obstacle, indicating that closer obstacles correspond to higher flow magnitudes. The results highlight the potential of low-cost, vision-based autonomous navigation systems that eliminate the need for complex sensor arrays, making them suitable for cost-sensitive applications. The demonstrated effectiveness of the coarse-to-fine Lucas–Kanade method in handling large motion suggests its broader applicability in real-time robotic navigation, including autonomous vehicles and service robots operating in challenging or resource-limited environments. Full article

The increasing use of antibiotics around the globe has contributed to an increase in antimicrobial resistance and become a major risk to both public health and sustainable development. Reliable and fast detection of antibiotic residues in clinical, agricultural, and environmental matrices is required to monitor antimicrobial resistance effectively. The conventional analytical techniques are sensitive, but they are also expensive, complex and lacking in portability. Voltammetry is a recently emerging electrochemical detection technique that is low-cost and rapid. To the best of our knowledge, for the first time, a meta-analysis was conducted on graphene-based electrochemical sensors and biosensors for antibiotic detection over the last decade. This systematic review critically examines the analytical properties of sensors and biosensors, the physicochemical properties of antibiotics, adsorption characteristics, and the use of nanoparticles to improve the selectivity and sensitivity of devices. This review critically examines the cost-effectiveness, scalability, and practicality of point-of-use devices using graphene-based sensors and biosensors. This systematic review also discusses the potential risks to human health from antibiotic contamination and the role of monitoring in contributing to achieving the UN’s Sustainable Development Goals. This systematic review identifies a gap between developing sensors in laboratories versus their deployment as field-deployable devices; it highlights challenges associated with stability, matrix effects and the complexity of manufacturing devices. Finally, it provides recommendations for future research that may help to address this gap to promote the transition of innovative devices from academic to practical applications. Full article

South African irrigation schemes face critical challenges of water scarcity, infrastructure deterioration, and limited monitoring capacity, threatening agricultural productivity and food security. This scoping review systematically analyses 59 peer-reviewed publications (2000–2025) on sensor-based and acoustic irrigation monitoring technologies in South Africa, using transformer-based natural language processing (Sentence-BERT embeddings), unsupervised Machine Learning (UMAP dimensionality reduction, HDBSCAN clustering), and geospatial mapping applied to literature retrieved from Web of Science and Scopus. Results show that water quality monitoring (42.4% of studies) and remote sensing (25.4%) dominate the national research landscape, while soil moisture sensing and modelling remain comparatively limited. Notably, no peer-reviewed studies applying acoustic monitoring technologies to irrigation were identified, representing a critical gap despite proven international applications for leak detection (95–98% accuracy), widespread infrastructure aging (over 50% of schemes exceeding 30 years), and reported water losses of 30–60% in poorly managed systems. Reported experimental water savings range from 15% to 30%, yet applications remain largely confined to pilot-scale implementations concentrated within a limited number of Water Management Areas. Persistent adoption barriers include infrastructure unreliability, financial inaccessibility, limited digital literacy, and weak institutional coordination. The review recommends: (i) expanding research coverage across underrepresented regions and Water Management Areas; (ii) strengthening extension support and technical training to enable broader adoption; and (iii) integrating low-cost sensor networks with predictive, data-driven irrigation advisory systems. These priorities aim to support scalable, context-sensitive irrigation modernisation under increasing water scarcity pressures. Full article

Non-invasive, real-time biomass estimation is critical for smart aquaculture, yet high computational latency and the cost of specialized optical sensors remain significant bottlenecks. This study proposes an ultra-low-cost, edge-deployable stereo-vision framework utilizing a dual-webcam architecture synchronized with a lightweight YOLOv11n-pose model. To address the spatial uncertainties in non-rigid fish locomotion, we integrated advanced spatial loss functions to achieve precise anatomical keypoint extraction. These coordinates are processed through a three-point Bézier curve interpolation and a mathematically derived Dynamic Shape Factor (K) to correct for optical refraction and morphological variations. As a proof-of-concept, the proposed system was validated on a live multi-species cohort (N = 10), achieving a Mean Absolute Percentage Error (MAPE) of 8.64% and an R² of 0.92 under strict Leave-One-Out Cross-Validation (LOOCV), drastically outperforming traditional naive volumetric baselines (MAPE > 54%). Requiring only 6.7 GFLOPs and 5.5 MB of memory, the model achieves 111.6 FPS. These results demonstrate the feasibility of highly efficient, cost-effective AI solutions for precision aquaculture while clearly defining the validity boundaries and statistical constraints for future large-scale deployment. Full article

Accurate measurement of streamflow is fundamental for water resources management, ecological conservation, flash flood early warning, and climate change impact studies. This study presents a proof of concept on the usage of Internet of Things (IoT) for automatic streamflow measurements using commercial off-the-shelf (COTS) hardware. The system is designed, implemented, and experimentally evaluated as a low-cost, solar-powered IoT device tailored to small-order streams and headwater tributaries. At its core is the Hall-effect YF-S201 flow sensor. Although primarily designed for closed-conduit applications, the sensor was tested in a controlled setup where stream water was diverted into a short pipe section, enabling continuous monitoring and calibration. This paper provides details on the design and validation of a low-cost (approximately 24 Euros), solar-powered streamflow measurement system based on a water flow sensor, using wireless communications, and cloud storage based on an ESP32 board, PostgreSQL, and a web interface. The device was tested in a simulated environment. Results indicate the proposed device reliably tracks flow variability, while offering portability, energy autonomy, and cost efficiency, and may serve as a feasible alternative for low-infrastructure, temporary deployments. Full article

Aiming at the technical pain points of traditional manhole covers with low intelligence high cost and excessive power consumption, this study designs a TENG-based alarm device to enhance the safety and maintenance efficiency of urban infrastructure. The device integrates a water immersion sensor and a displacement sensor enabling real-time status monitoring through a unique TENG mechanism. The solid–liquid mode water immersion sensor detects seepage through the triboelectrification effect. Water droplets contact electrodes on the surface of FEP film and generate electric energy to trigger the detection circuit. The displacement sensor adopts the independent layer mode of TENG and combines with a mechanical tumbler mechanism to realize displacement detection. External force-induced manhole cover displacement drives internal balls to roll and rub against electrodes. Electric energy is then generated to activate the detection circuit. On the basis of the two sensors, an efficient and reliable intelligent alarm system is constructed. The system receives and analyzes displacement and water immersion-sensing signals in real time. It rapidly identifies potential safety hazards including displacement offset water accumulation and leakage. Signal analysis and early warning prompts are completed synchronously. This system provides accurate and real-time data support for public facility monitoring, pipe network operation and maintenance, and regional security in smart cities. It helps achieve early detection and early disposal of hidden dangers and improves the intelligent and refined level of smart city monitoring. Full article

Single-chip integration technology for multifunctional sensors has become an important development direction due to its low power consumption and versatile functionality. However, the fabrication compatibility between different sensing components remains a key challenge for high-performance integrated sensors, often leading to complex processes and increased costs. This work presents a microfabrication-compatible photo-magnetic integrated sensor chip based on micro–nano processing methods. The integrated sensor chip includes giant magnetoresistance (GMR) and a light-dependent resistor (LDR). The fabrication process was based on standard MEMS fabrication with compatibility and cost-effectiveness. The experimental results demonstrated that the chip can simultaneously realize both optical and magnetic detection with magnetic field sensitivity of 3.74 mV/Oe and photodetection sensitivity of 0.79 $\mathsf{\mu }$A/($\mathsf{\mu }$W/cm²) at a 5 V bias. The integrated sensor features high-sensitivity magnetic performance and weak-light detection capability, with promising application in robotics and advanced manufacturing fields. Full article