Search Results (3,651)

Monitoring thermal effluent is critical for assessing aquatic ecosystem health, yet traditional satellite remote sensing and in situ point measurements often fail to capture fine-scale thermal dynamics in narrow streams and complex coastal areas due to spatiotemporal resolution limitations. This study establishes a high-precision surface water temperature mapping protocol using a low-cost Unmanned Aerial Vehicle (UAV) equipped with an uncooled thermal infrared sensor (FLIR Vue Pro R) to overcome these observational gaps. We investigated two distinct hydrological environments—an inland stream and a coastal sea—to provide initial evidence for the applicability of an in situ-based linear regression calibration model across contrasting aquatic settings. The initial uncalibrated radiometric temperatures exhibited significant bias errors reaching up to 9.2 °C in the stream and 9.4 °C in the coastal area, primarily driven by atmospheric attenuation and environmental factors. However, the proposed calibration method dramatically reduced these discrepancies, achieving Root Mean Square Errors (RMSE) of 0.43 °C and 0.42 °C, respectively, with high determination coefficients (R² > 0.87). The derived high-resolution thermal maps successfully visualized the detailed diffusion patterns of thermal plumes, revealing a steep temperature gradient of approximately 13 °C in the stream discharge zone and a distinct 5 °C elevation in the coastal effluent area relative to the ambient water. These findings demonstrate that UAV-based thermal remote sensing, when coupled with a rigorous radiometric calibration strategy, can serve as a cost-effective and reliable tool for environmental monitoring, bridging the critical scale gap between local point measurements and regional satellite observations. Full article

Noise disturbances can cause conflicts in several areas, such as residences, civil constructions, highways, subways, and airports, measured by different scales of acoustic comfort for community well-being evaluation. These disturbances also have signatures such as frequency, amplitude, and temporal patterns to compare acoustic comfort with real-time parameters. In addition, acoustic sensors should be chosen based on accuracy, price, and calibration method, and acoustic insulation should be applied with the aim of achieving reliable measurements in indoor and outdoor environments for sustainable urban living. In some situations, the lack of noise control can lead to several human disorders, from hearing loss to cardiovascular complications. Therefore, legislation and regulation should be carefully studied and applied to achieve an equilibrium between energy-efficient and healthy building designs in entertainment, work, and rest activities with measured parameters visualized through the design of interface tools that should enable the collection and organization of sound data, with proper presentation for the final user. Finally, intellectual property registrations bring recent industrial applications with aspects of noise mitigation. All these features constitute noise disturbance mitigation in a multi-dimensional integration framework of technology, health, and law to improve the quality of life in human-centric environments. Full article

This study proposes a unified multimodal temporal motion state perception framework for optical imaging-oriented biomedical applications, integrating visual skeleton sequences, inertial measurement unit (IMU) signals, and surface electromyography (EMG) signals. The framework utilizes modality-specific encoders and a cross-modal temporal alignment attention mechanism to explicitly model temporal offsets from heterogeneous sensing streams. A multimodal temporal Transformer backbone is introduced to capture long-range motion dependencies and cross-modal interactions, while an uncertainty-aware fusion module dynamically allocates weights based on modality confidence. Experimental results demonstrate that the proposed approach achieves an accuracy of 94.37%, an F1-score of 93.95%, and a mean average precision of 96.02%, outperforming mainstream baseline models. Robustness evaluations further confirm stable performance under visual occlusion and sensor noise. These results indicate that the framework provides a highly accurate and robust solution for rehabilitation assessment, sports training monitoring, and wearable intelligent interaction systems. Full article

This paper presents an onboard, markerless perching system for a quadrotor UAV, validated in outdoor flight experiments, to reduce hovering energy during long-endurance unmanned missions. Existing autonomous landing research predominantly focuses on planar surfaces, cooperative environments with visual markers, or specialized hardware, limiting scalability to scenarios requiring detection and perching on thin rod-like targets in uncooperative outdoor settings. This study proposes a markerless perching system for autonomously perching a drone on a hurdle’s horizontal bar. The system employs a single-axis gimbal camera, altitude LiDAR, and ToF sensor, integrating perception, post-processing, and control. On the perception side, we augment a YOLOv12n-based segmentation model with a high-resolution P2 pathway for small-object detection and apply module compression for real-time inference on edge devices. Robustness is improved by jointly utilizing the full hurdle and horizontal bar while constructing negative samples to suppress false positives. On the control side, a state machine controller leverages centroid coordinates, orientation, and distance measurements to achieve a stable long-range approach and precise close-range alignment. Experiments on a Jetson Orin NX-based system demonstrate successful perching in all six outdoor flight tests. Ablation studies quantitatively analyze each component’s contribution to perching success rate and completion time. This research validates perching technology’s practical applicability through outdoor markerless perching on thin 3D structures. Full article

Mold infection by Aspergillus and Penicillium spp. in Sithong sweet tamarind (Tamarindus indica L.) during commercial postharvest storage poses quality and food safety risks. However, the current visual detection method, which involves randomly cracking open the pods, is both destructive and laborious. The integration of near-infrared spectroscopy (NIRS) with artificial neural networks (ANN) enables rapid and non-destructive detection while capturing non-linear biochemical–spectral relationships, offering advantages over conventional destructive and linear analytical methods. It was tested as a mold classifier in sweet tamarind pods preserved in commercial ambient conditions (25 °C, 60% relative humidity) for five weeks. Six hundred pods were examined weekly using interactance spectroscopy (800–2500 nm) with six measurement points per pod and four spectral preprocessing methods. The ANN outperformed partial least squares discriminant analysis (PLS-DA) across all storage weeks, peaking at Week 2 with standard normal variate (SNV) preprocessing (prediction accuracy: 85.00%; sensitivity: 0.84; specificity: 0.86; F1-score: 0.85). Advanced tissue degeneration caused spectral heterogeneity, which decreased performance at Week 4 (prediction accuracy: 71.82–76.36%). Principal component loadings identified mold-induced water redistribution and carbohydrate depletion wavelengths at 938, 975–980, and 1035 nm. Week-adaptive calibration is essential for implementation because of the large difference between week-specific model accuracy (up to 85%) and overall storage model accuracy (63.53%). These findings provide a mechanistic underpinning for smaller wavelength-selective sensors and temporally adaptive mold screening systems in commercial tamarind storage. Full article

In order to investigate the application potential of lightweight agricultural robots utilizing carbon fiber-reinforced polymer (CFRP) as the primary structural material, this study developed a dedicated rubber-tracked chassis tailored for peanut pest and disease monitoring robots. The chassis design is anchored to the widely applied “single ridge with double rows” cultivation pattern in peanut production and incorporates a real-time track tension monitoring mechanism integrated with pressure sensors. The overall structural configuration of the chassis fully conforms to the standard ridge parameters of mechanized peanut planting while fully considering the intrinsic material properties of CFRP. Additionally, a sprocketless drive wheel structure is specifically adopted to realize higher-precision motion control performance. A mathematical model was constructed to quantitatively characterize the tension correlation between the tight side and slack side of the rubber track, as well as the variation law of initial tension influenced by multiple factors including the total mass of the robot platform. With the curb weight of the robot platform set at 45 kg, the theoretical initial tension is calculated to be 24.5 N (equivalent to approximately 2.5 kg, taking the gravitational acceleration g = 9.8 m/s²). The prototype shows potential for maintaining consistent tension, though a mechanical weakness was identified and will be addressed in future work. Performance validation tests show that the chassis maintains stable operation with no sprocket slippage during field visual inspection. Full article

While deep learning-based visual SLAM (VSLAM) has achieved remarkable localization accuracy, its high computational cost and latency remain critical bottlenecks for real-time deployment. To address these limitations, this paper presents NeuroFusion-SLAM, a novel multi-sensor fusion framework tailored for both efficiency and robustness. By incorporating depthwise separable convolution, the framework cuts down model parameters by approximately 40% and training time by 49% while preserving localization accuracy, thus boosting real-time inference performance and computational efficiency in large-scale environments. Furthermore, a global edge optimization strategy is proposed by integrating sliding window optimization with a factor graph framework, which effectively improves the global consistency of the system. Extensive experiments on the TUM-VI and KITTI-360 datasets demonstrate that our system achieves real-time performance with an average latency of 30.4 ms per frame. It runs 3× faster than ORB-SLAM2 and 4× faster than VINS-Mono, while maintaining good localization accuracy. Full article

Digital signal processing (DSP) methods and artificial intelligence (AI) serve as a unifying platform across diverse research areas and educational courses based on analysis of signals acquired by appropriate sensors and their time-synchronized systems. Autonomous sensor systems having their own batteries, memories, and possibilities of wireless communication form the core of modern technological systems. The interconnection of sensors for data acquisition, methods for advanced analysis of signal features, and collaborative evaluation promotes both theoretical learning and practical problem solving in professional practice. This paper emphasizes a common mathematical foundation for the processing of data acquired by different sensor systems, and it presents the integration of DSP and AI, enabling the use of similar theoretical methods in different applications, including robotics, digital twins, neurology, augmented reality, and energy optimization. Through selected case studies, it shows how a combination of sensor technology for data acquisition and the use of similar computational methods, visualization, and real-world case studies strengthens interdisciplinary collaboration. Findings of this paper demonstrate how integrating AI with DSP supports innovative research and teaching strategies, redefines the field’s educational role in the digital era, and points to the development of new digital technologies. Full article

Current smart packaging systems exhibit uneven release of active ingredients (rapid in the early stage and slow in the later stage), resulting in insufficient antibacterial and antioxidant properties. This study developed a pH-autonomous controlled-release sensor using Eudragit L100 and citrate as the matrix, with eugenol as the active component, and constructed a sandwich structure via electrospinning. The sensor can automatically release eugenol as needed in response to pH changes during shrimp storage, while simultaneously enabling visual monitoring of spoilage status. This innovation effectively extends the shelf life of fresh shrimp and provides a novel solution for the on-demand release of active ingredients in food preservation. Full article

Seamless localization across indoor and outdoor environments remains a fundamental challenge for wearable navigation systems, particularly those intended to assist visually impaired individuals. This challenge arises from the unreliability of GNSS signals in indoor and transitional spaces and the cumulative drift inherent to IMU–based dead reckoning. To address these limitations, this paper proposes a physics-informed GNSS–IMU sensor fusion framework that enables robust, real-time wearable navigation across heterogeneous environments. The proposed system dynamically adapts to environmental context, employing GNSS dominant localization in outdoor settings and PINN enhanced IMU-based dead reckoning during GNSS denied indoor operation. At the core of the framework is a tightly coupled Physics-Informed Neural Network (PINN) and Extended Kalman Filter (EKF), where the PINN embeds kinematic motion constraints to correct inertial drift and suppress sensor noise, while the EKF performs probabilistic state estimation and sensor fusion. The framework is implemented on a compact, energy-efficient wearable platform and evaluated using real-world indoor–outdoor pedestrian trajectories. Experimental results demonstrate improved localization accuracy, significantly reduced drift during indoor navigation, and stable indoor–outdoor transitions compared to conventional GNSS–IMU fusion methods. The proposed approach offers a practical and reliable solution for wearable assistive navigation and has broader applicability in smart mobility and autonomous wearable systems. Full article

Dragon fruit (Hylocereus spp.) is an emerging crop in the tropics and subtropics, but its production is increasingly threatened by diseases that reduce yield and profitability. Early diagnosis of these diseases is crucial for timely intervention, yet visual symptoms often appear only after significant infection has occurred. The study aims to evaluate how optical spectral reflectance can detect dragon fruit diseases and identify the most responsive spectral regions. In this study, six major dragon fruit stem diseases: Neoscytalidium stem canker, stem sunburn, anthracnose, Botryosphaeria stem canker, Bipolaris stem rot, and bacterial soft rot were characterized by the goal of identifying unique spectral signatures for early detection and differentiation of each disease. Seventy-two potted dragon fruit plants of three distinct species were grown under four organic vermicompost treatments (0, 5, 10, 20 tons/acre) in both open-field and high-tunnel conditions together, in a randomized complete block design. A handheld spectroradiometer (350–2500 nm) was used to collect reflectance from the diseased and healthy cladodes (stem segment). Various spectral vegetative indices were computed to identify disease-specific features. The results revealed distinct spectral features for each disease. Infected cladodes consistently exhibited higher reflectance especially in the visible region (400–700 nm) and the near-infrared region (900–2500 nm) of the spectrum than healthy cladodes. The Normalized Difference Vegetative Index (NDVI), Green Normalized Difference Vegetative Index (GNDVI), and Spectral Ratio (SR) spectral indices were significantly higher in healthy plants than in diseased ones, reflecting higher chlorophyll concentration and plant biomass. Conversely, the 1110/810 ratio was lower in healthy plants than in diseased plants, suggesting a more compact internal plant structure. Statistical analysis revealed highly significant differences (p < 0.00001) between healthy and diseased spectra in the Red, Green and NIR regions. Linear Discriminant Analysis(LDA) achieved the highest classification accuracy (OA = 0.642, κ = 0.488), though performance was limited for minority classes. These findings demonstrate that targeted spectral sensing can identify dragon fruit diseases before obvious symptoms emerge. By pinpointing disease-specific spectral indices, our study paves the way for early-warning tools such as targeted multispectral sensors or drone-based imaging that would enable growers to intervene sooner and limit losses. These results highlight the potential for development of UAV-based or portable spectral sensors for large-scale, near real-time disease monitoring in dragon fruit production. Full article

Metallic Shear Plate Dampers (MSPDs) are essential components in passive vibration control systems and require rapid post-earthquake inspection to assess damage and determine replacement needs. Traditional visual inspection methods suffer from low efficiency and limited ability to detect concealed damage. This study proposes a novel MSPD damage detection method based on active sensing and the k-nearest neighbor (KNN) algorithm, featuring high accuracy, efficiency, and low cost. Quasi-static tests were conducted to simulate various damage states. Sweep-frequency excitation was applied using a charge amplifier, and piezoelectric sensors were employed to generate and receive stress wave signals corresponding to different damage conditions. The acquired signals were processed using wavelet packet transform (WPT) and energy spectrum analysis to extract discriminative time–frequency features, which were used to train and validate the KNN model. Results show that the model achieved a validation accuracy of 98.9% using all valid data and 98.1% using a single excitation-sensing channel. When tested on an MSPD with a similar overall structure but lacking stiffeners, the model achieved an accuracy of 92.6% in distinguishing between healthy and damaged states. This indicates that the proposed method has good robustness and practical potential for MSPDs with similar damage evolution and failure modes despite certain structural variations. Full article

Bio-inspired quadrupedal robots exhibit superior adaptability and mobility in unstructured environments, making them suitable for complex task scenarios such as navigation, obstacle avoidance, and tracking in a variety of environments. Visual perception plays a critical role in enabling autonomous behavior, offering a cost-effective alternative to multi-sensor systems. This paper proposes an image segmentation-guided visual tracking framework to enhance both perception and motion control in quadruped robots. On the perception side, a cascaded convolutional neural network is introduced, integrating a global information guidance module to fuse low-level textures and high-level semantic features. This architecture effectively addresses limitations in single-scale feature extraction and improves segmentation accuracy under visually degraded conditions. On the control side, segmentation outputs are embedded into a biologically inspired central pattern generator (CPG), enabling coordinated generation of limb and spinal trajectories. This integration facilitates a closed-loop visual-motor system that adapts dynamically to environmental changes. Experimental evaluations on benchmark image segmentation datasets and robotic locomotion tasks demonstrate that the proposed framework achieves enhanced segmentation precision and motion flexibility, outperforming existing methods. The results highlight the effectiveness of vision-guided control strategies and their potential for deployment in real-time robotic navigation. Full article

Industrial pouring processes operate under highly dynamic conditions where small deviations can lead to defects, scrap, and production losses. Although modern foundries are equipped with multiple sensors and visual inspection systems, most monitoring approaches remain fragmented, unimodal, and difficult to interpret. Furthermore, annotated anomalous samples in industrial settings are scarce, hindering the development of traditional methods. As a result, many critical pouring anomalies are detected too late or lack sufficient contextual information for effective decision making. In this work, we propose a multimodal framework for industrial scene characterisation that combines visual information and process signals through an explainable Mixture-of-Experts (MoE)-style expert-fusion strategy. First, we deploy an ensemble of specialised modules that collaborate to identify regions of interest, assess pouring quality, and contextualise events within the production process, thereby generating an interpretable description of pouring events. Second, we introduce a novel anomaly detection method for multimodal video data, combining a self-supervised transformer with an outlier-aware clustering algorithm. Our approach effectively identifies rare anomalies without requiring extensive manual labelling. The resulting information is structured into a digital twin-ready representation, supporting synchronisation between the physical system and its virtual counterpart. This solution provides a scalable, deployable pathway to transform heterogeneous industrial data into actionable knowledge, supporting advanced monitoring, anomaly detection, and quality control in real foundry environments. Full article

This study presents a structured methodology for optimizing the placement and selection of accelerometer sensors for structural health monitoring in civil infrastructures. The approach integrates both ambient and forced vibration testing data, followed by a unified analysis of sensor energy distribution through singular value decomposition of the cross power spectral density. The energy associated with each sensor is normalized and decomposed into its vertical, longitudinal, and transversal components, allowing for detailed ranking and visualization across different structural elements such as the deck and supporting piers. A comparative analysis between the energy distributions obtained from ambient and forced vibrations is conducted to identify consistent sensor locations. The sensor configuration is then iteratively refined using a combination of global dynamic criteria and local spatial constraints to ensure both stability and optimal spatial distribution. The resulting framework enables the systematic design of sensor layouts that combine energy-based robustness with optimal spatial distribution across all three spatial components, while significantly reducing the number of required sensors, ensuring the preservation of damage detection capability and long-term structural health monitoring. Full article