Search Results (7,107)

Metamaterials enable the modulation of elastic waves or acoustic waves in unprecedented ways and have a wide range of potential applications. This paper achieves the simultaneous manipulation of surface elastic waves (SEWs) and surface acoustic waves (SAWs) using two-dimensional acousto-elastic metamaterials (AEMMs). The proposed AEMMs are composed of periodic hollow cylinders on the surface of a semi-infinite substrate. The band diagrams and the frequency responses of the AEMMs are numerically calculated through the finite element approach. The band diagrams exhibit simultaneous bandgaps for the SEWs and SAWs, which can also be effectively tuned by the modification of AEMM geometry. Furthermore, we construct the AEMM waveguide by the introduction of a line defect and hence demonstrate its ability to guide the SEWs and SAWs simultaneously. We expect that the proposed AEMMs will contribute to the development of multi-functional wave devices, such as filters for dual waves in microelectronics or liquid sensors that detect more than one physical property. Full article

The colorimetric method, due to its rapid and low-cost characteristics, demonstrates a wide range of application prospects in on-site water quality testing. Current research on colorimetric detection using deep learning algorithms predominantly focuses on single-target classification. To address this limitation, we propose a multi-task water quality colorimetric detection method based on YOLOv8n, leveraging deep learning techniques to achieve a fully automated process of “image input and result output”. Initially, we constructed a dataset that encompasses colorimetric sensor data under varying lighting conditions to enhance model generalization. Subsequently, to effectively improve detection accuracy while reducing model parameters and computational load, we implemented several improvements to the deep learning algorithm, including the MGFF (Multi-Scale Grouped Feature Fusion) module, the LSKA-SPPF (Large Separable Kernel Attention-Spatial Pyramid Pooling-Fast) module, and the GNDCDH (Group Norm Detail Convolution Detection Head). Experimental results demonstrate that the optimized deep learning algorithm excels in precision (96.4%), recall (96.2%), and mAP50 (98.3), significantly outperforming other mainstream models. Furthermore, compared to YOLOv8n, the parameter count and computational load were reduced by 25.8% and 25.6%, respectively. Additionally, precision improved by 2.8%, recall increased by 3.5%, mAP50 enhanced by 2%, and mAP95 rose by 1.9%. These results affirm the substantial potential of our proposed method for rapid on-site water quality detection, offering new technological insights for future water quality monitoring. Full article

Screw pumps’ faulty working conditions affect the stability of oil production. At project sites, different sensors are used simultaneously to collect multi-dimensional signals; the data fault labels and location are not clear, and how to comprehensively use multi-source information in effective fault feature extraction has become an urgent issue. Existing diagnostic methods use a single signal or part of a signal and do not fully utilize the acquired signal, which makes it difficult to achieve the required accuracy of diagnostic results. This paper focuses on the model-driven approach to extract multi-source fault features of screw pumps. Firstly, it constructs a fault data model (FDM) by analyzing the fault mechanism of the screw pump. Secondly, it uses the FDM to select an effective data set. Thirdly, it constructs a multi-dimensional fault feature extraction model (MDFEM) to extract featured signal features and data features, for which we also comprehensively used multi-source signals in effective fault feature extraction, while other traditional methods only use one or two signals. Finally, after feature selection, unsupervised fault diagnosis was achieved by using the k-means method. After experimental verification, the method can comprehensively use multi-source information to construct an effective data set and extract multi-dimensional, effective fault features for screw pump fault diagnosis. Full article

The agri-food sector is undergoing a comprehensive transformation as it transitions towards net zero. To achieve this, fundamental changes and innovations are required, including changes in how food is produced and delivered to customers, new technologies, data and physical infrastructures, and algorithmic advancements. In this paper, we explore the opportunities and challenges of deploying AI-based data infrastructures for sustainability in the agri-food sector by focusing on two case studies: soft-fruit production and brewery operations. We investigate the potential benefits of incorporating Internet of Things (IoT) sensors and AI technologies for improving the use of resources, reducing carbon footprints, and enhancing decision-making. We identify user engagement with new technologies as a key challenge, together with issues in data quality arising from environmental volatility, difficulties in generalising models, including those designed for carbon calculators, and socio-technical barriers to adoption. We highlight and advocate for user engagement, more granular availability of sensor, production, and emissions data, and more transparent carbon footprint calculations. Our proposed future directions include semantic data integration to enhance interoperability, the generation of synthetic data to overcome the lack of real-world farm data, and multi-objective optimisation systems to model the competing interests between yield and sustainability goals. In general, we argue that AI is not a silver bullet for net zero challenges in the agri-food industry, but at the same time, AI solutions, when appropriately designed and deployed, can be a useful tool when operating in synergy with other approaches. Full article

Structural health monitoring (SHM) plays a crucial role in ensuring the safety of infrastructure in general, especially critical infrastructure such as bridges. SHM systems allow the real-time monitoring of structural conditions and early detection of abnormalities. This enables managers to make accurate decisions during the operation of the infrastructure. However, for various reasons, data from SHM systems may be interrupted or faulty, leading to serious consequences. This study proposes using a Convolutional Neural Network (CNN) combined with Gated Recurrent Units (GRUs) to recover lost data from accelerometer sensors in SHM systems. CNNs are adept at capturing spatial patterns in data, making them highly effective for recognizing localized features in sensor signals. At the same time, GRUs are designed to model sequential dependencies over time, making the combined architecture particularly suited for time-series data. A dataset collected from a real bridge structure will be used to validate the proposed method. Different cases of data loss are considered to demonstrate the feasibility and potential of the CNN-GRU approach. The results show that the CNN-GRU hybrid network effectively recovers data in both single-channel and multi-channel data loss scenarios. Full article

IoT devices with limited resources, and in the absence of gateways, become vulnerable to various attacks, such as denial of service (DoS) and man-in-the-middle (MITM) attacks. Intrusion detection systems (IDS) are designed to detect and respond to these threats in IoT environments. While machine learning-based IDS have typically been deployed at the edge (gateways) or in the cloud, in the absence of gateways, the IDS must be embedded within the sensor nodes themselves. Available datasets mainly contain features extracted from network traffic at the edge (e.g., Raspberry Pi/computer) or cloud servers. We developed a unique dataset, named as Intrusion Detection in the Smart Homes (IDSH) dataset, which is based on features retrievable from microcontroller-based IoT devices. In this work, a Tree-based IDS is embedded into a smart thermostat for real-time intrusion detection. The results demonstrated that the IDS achieved an accuracy of 98.71% for binary classification with an inference time of 276 microseconds, and an accuracy of 97.51% for multi-classification with an inference time of 273 microseconds. Real-time testing showed that the smart thermostat is capable of detecting DoS and MITM attacks without relying on a gateway or cloud. Full article

The sea surface skin temperature (SST_skin) is of critical importance with regard to air–sea interactions and marine carbon circulation. At present, no single remote sensor is capable of providing a gap-free SST_skin. The use of data fusion techniques is therefore essential for the purpose of filling these gaps. The extant fusion methodologies frequently fail to account for the influence of depth disparities and the diurnal variability of sea surface temperatures (SSTs) retrieved from multi-sensors. We have developed a novel approach that integrates depth and diurnal corrections and employs advanced data fusion techniques to generate hourly gap-free SST datasets. The General Ocean Turbulence Model (GOTM) is employed to model the diurnal variability of the SST profile, incorporating depth and diurnal corrections. Subsequently, the corrected SSTs at the same observed time and depth are blended using the Markov method and the remaining data gaps are filled with optimal interpolation. The overall precision of the hourly gap-free SST_skin generated demonstrates a mean bias of −0.14 °C and a root mean square error of 0.57 °C, which is comparable to the precision of satellite observations. The hourly gap-free SST_skin is vital for improving our comprehension of air–sea interactions and monitoring critical oceanographic processes with high-frequency variability. Full article

With the advancement of technology, unmanned ground vehicles (UGVs) have shown increasing application value in various tasks, such as food delivery and cleaning. A key capability of UGVs is obstacle detection, which is essential for avoiding collisions during movement. Current mainstream methods use point cloud information from onboard sensors, such as light detection and ranging (LiDAR) and depth cameras, for obstacle perception. However, the substantial volume of point clouds generated by these sensors, coupled with the presence of noise, poses significant challenges for efficient obstacle detection. Therefore, this paper presents a fast obstacle detection algorithm designed to ensure the safe operation of UGVs. Building on multi-sensor point cloud fusion, an efficient ground segmentation algorithm based on multi-plane fitting and plane combination is proposed in order to prevent them from being considered as obstacles. Additionally, instead of point cloud clustering, a vertical projection method is used to count the distribution of the potential obstacle points through converting the point cloud to a 2D polar coordinate system. Points in the fan-shaped area with a density lower than a certain threshold will be considered as noise. To verify the effectiveness of the proposed algorithm, a cleaning UGV equipped with one LiDAR sensor and four depth cameras is used to test the performance of obstacle detection in various environments. Several experiments have demonstrated the effectiveness and real-time capability of the proposed algorithm. The experimental results show that the proposed algorithm achieves an over 90% detection rate within a 20 m sensing area and has an average processing time of just 14.1 ms per frame. Full article

This paper introduces a preprocessing and feature selection technique for maritime target estimation. Given the distinct challenges of the maritime environment and the use of multiple sensors, we propose a target estimation model designed to achieve high accuracy while minimizing computational costs through suitable data preprocessing and feature selection. The experimental results demonstrate excellent performance, with the mean square error (MSE) reduced by about 99%. This approach is expected to enhance vessel tracking in situations where vessel estimation sensors, such as the automatic identification system (AIS), are disabled. By enabling reliable vessel tracking, this technique can aid in the detection of illegal vessels. Full article

This article delineates the enhancement of an autonomous navigation and obstacle avoidance system for a quadruped robot dog. Part one of this paper presents the integration of a sophisticated multi-level dynamic control framework, utilizing Model Predictive Control (MPC) and Whole-Body Control (WBC) from MIT Cheetah. The system employs an Intel RealSense D435i depth camera for depth vision-based navigation, which enables high-fidelity 3D environmental mapping and real-time path planning. A significant innovation is the customization of the EGO-Planner to optimize trajectory planning in dynamically changing terrains, coupled with the implementation of a multi-body dynamics model that significantly improves the robot’s stability and maneuverability across various surfaces. The experimental results show that the RGB-D system exhibits superior velocity stability and trajectory accuracy to the SLAM system, with a 20% reduction in the cumulative velocity error and a 10% improvement in path tracking precision. The experimental results also show that the RGB-D system achieves smoother navigation, requiring 15% fewer iterations for path planning, and a 30% faster success rate recovery in challenging environments. The successful application of these technologies in simulated urban disaster scenarios suggests promising future applications in emergency response and complex urban environments. Part two of this paper presents the development of a robust path planning algorithm for a robot dog on a rough terrain based on attached binocular vision navigation. We use a commercial-of-the-shelf (COTS) robot dog. An optical CCD binocular vision dynamic tracking system is used to provide environment information. Likewise, the pose and posture of the robot dog are obtained from the robot’s own sensors, and a kinematics model is established. Then, a binocular vision tracking method is developed to determine the optimal path, provide a proposal (commands to actuators) of the position and posture of the bionic robot, and achieve stable motion on tough terrains. The terrain is assumed to be a gentle uneven terrain to begin with and subsequently proceeds to a more rough surface. This work consists of four steps: (1) pose and position data are acquired from the robot dog’s own inertial sensors, (2) terrain and environment information is input from onboard cameras, (3) information is fused (integrated), and (4) path planning and motion control proposals are made. Ultimately, this work provides a robust framework for future developments in the vision-based navigation and control of quadruped robots, offering potential solutions for navigating complex and dynamic terrains. Full article

To enhance lychee quality assessment and address inconsistencies in post-harvest pest detection, this study presents a multi-source fusion approach combining hyperspectral imaging, X-ray imaging, and visible/near-infrared (Vis/NIR) spectroscopy. Traditional single-sensor methods are limited in detecting pest damage, particularly in lychees with complex skins, as they often fail to capture both external and internal fruit characteristics. By integrating multiple sensors, our approach overcomes these limitations, offering a more accurate and robust detection system. Significant differences were observed between pest-free and infested lychees. Pest-free lychees exhibited higher hardness, soluble sugars (11% higher in flesh, 7% higher in peel), vitamin C (50% higher in flesh, 2% higher in peel), polyphenols, anthocyanins, and ORAC values (26%, 9%, and 14% higher, respectively). The Vis/NIR data processed with SG+SNV+CARS yielded a partial least squares regression (PLSR) model with an R² of 0.82, an RMSE of 0.18, and accuracy of 89.22%. The hyperspectral model, using SG+MSC+SPA, achieved an R² of 0.69, an RMSE of 0.23, and 81.74% accuracy, while the X-ray method with support vector regression (SVR) reached an R² of 0.69, an RMSE of 0.22, and 76.25% accuracy. Through feature-level fusion, Recursive Feature Elimination with Cross-Validation (RFECV), and dimensionality reduction using PCA, we optimized hyperparameters and developed a Random Forest model. This model achieved 92.39% accuracy in pest detection, outperforming the individual methods by 3.17%, 10.25%, and 16.14%, respectively. The multi-source fusion approach also improved the overall accuracy by 4.79%, highlighting the critical role of sensor fusion in enhancing pest detection and supporting the development of automated non-destructive systems for lychee stem borer detection. Full article

Reliable environmental perception capabilities are a prerequisite for achieving autonomous driving. Cameras and LiDAR are sensitive to illumination and weather conditions, while millimeter-wave radar avoids these issues. Existing models rely heavily on image-based approaches, which may not be able to fully characterize radar sensor data or efficiently further utilize them for perception tasks. This paper rethinks the approach to modeling radar signals and proposes a novel U-shaped multilayer perceptron network (U-MLPNet) that aims to enhance the learning of omni-dimensional spatio-temporal dependencies. Our method involves innovative signal processing techniques, including a 3D CNN for spatio-temporal feature extraction and an encoder–decoder framework with cross-shaped receptive fields specifically designed to capture the sparse and non-uniform characteristics of radar signals. We conducted extensive experiments using a diverse dataset of urban driving scenarios to characterize the sensor’s performance in multi-view semantic segmentation and object detection tasks. Experiments showed that U-MLPNet achieves competitive performance against state-of-the-art (SOTA) methods, improving the mAP by 3.0% and mDice by 2.7% in RD segmentation and AR and AP by 1.77% and 2.03%, respectively, in object detection. These improvements signify an advancement in radar-based perception for autonomous vehicles, potentially enhancing their reliability and safety across diverse driving conditions. Full article

A sub-micron two-dimensional displacement sensor based on a segment of multi-core fiber is presented in this paper. Light at the wavelengths of 1520 nm, 1530 nm, and 1540 nm was introduced separately into three cores of a seven-core fiber (SCF). They were independently transmitted in their respective cores, and after being emitted from the other end of the SCF, they were irradiated onto the end-face of a single-mode fiber (SMF). The SMF received light at three different wavelengths, the power of which was related to the relative position between the SCF and the SMF. When the SMF moved within a two-dimensional plane, the direction of displacement could be determined based on the changes in power at different wavelengths. As a benefit of the high sensitivity of the spectrometer, the sensor could detect displacements at the sub-micron level. When the SMF was translated in 200 nm steps over a range from 5.2 μm to 6.2 μm, the sensitivities at the wavelengths of 1520 nm, 1530 nm, and 1540 nm were 0.34 dB/μm, 0.40 dB/μm, and 0.36 dB/μm, respectively. The two-dimensional displacement sensor proposed in this paper offers the advantages of high detection precision, simple structure, and ease of implementation. Full article

Quadruped robots possess significant mobility in complex and uneven terrains due to their outstanding stability and flexibility, making them highly suitable in rescue missions, environmental monitoring, and smart agriculture. With the increasing use of quadruped robots in more demanding scenarios, ensuring accurate and stable state estimation in complex environments has become particularly important. Existing state estimation algorithms relying on multi-sensor fusion, such as those using IMU, LiDAR, and visual data, often face challenges on non-stationary terrains due to issues like foot-end slippage or unstable contact, leading to significant state drift. To tackle this problem, this paper introduces a state estimation algorithm that integrates an invariant extended Kalman filter (InEKF) with a disturbance observer, aiming to estimate the motion state of quadruped robots on non-stationary terrains. Firstly, foot-end slippage is modeled as a deviation in body velocity and explicitly included in the state equations, allowing for a more precise representation of how slippage affects the state. Secondly, the state update process integrates both foot-end velocity and position observations to improve the overall accuracy and comprehensiveness of the estimation. Lastly, a foot-end contact probability model, coupled with an adaptive covariance adjustment strategy, is employed to dynamically modulate the influence of the observations. These enhancements significantly improve the filter’s robustness and the accuracy of state estimation in non-stationary terrain scenarios. Experiments conducted with the Jueying Mini quadruped robot on various non-stationary terrains show that the enhanced InEKF method offers notable advantages over traditional filters in compensating for foot-end slippage and adapting to different terrains. Full article

Background: The generation and perfusion of complex vascularized tissues in vitro requires sophisticated perfusion techniques. For multiscale arteriovenous networks, not only the arterial, but also the venous, biomechanical and biochemical conditions that physiologically exist in the human body must be accurately emulated. For this, we here present a modular arteriovenous perfusion system for the in vitro culture of a multi-scale bioartificial vascular network. Methods: The custom-built perfusion system consisted of two circuits: in the arterial circuit, physiological arterial biomechanical and biochemical conditions were simulated using a modular set-up with a pulsatile peristaltic pump, compliance chambers, and resistors. In the venous circuit, venous conditions were emulated accordingly. In the center of the system, a bioartificial multi-scale vascularized fibrin-based tissue was perfused by both circuits simultaneously under biomimetic arteriovenous conditions. Culture conditions were monitored continuously using a multi-sensor monitoring system. Results: The physiological arterial and venous pressure- and flow-curves, as well as the microvascular arteriovenous oxygen partial pressure gradient, were accurately emulated in the perfusion system. The multi-sensor monitoring system facilitated live monitoring of the respective parameters and data-logging. In a proof-of-concept experiment, vascularized three-dimensional fibrin tissues showed sustained cell viability and homogenous microvessel formation after culture in the perfusion system. Conclusions: The arteriovenous perfusion system facilitated the in vitro culture of a multiscale vascularized tissue under physiological pressure-, flow-, and oxygen-gradient conditions. With that, it presents a promising technique for the in vitro generation and culture of complex large-scale vascularized tissues. Full article