Editor’s Choice Articles

Robot localization is a crucial task in robotic systems and is a pre-requisite for navigation. In outdoor environments, Global Navigation Satellite Systems (GNSS) have aided towards this direction, alongside laser and visual sensing. Despite their application in the field, GNSS suffers from limited availability in dense urban and rural environments. Light Detection and Ranging (LiDAR), inertial and visual methods are also prone to drift and can be susceptible to outliers due to environmental changes and illumination conditions. In this work, we propose a cellular Simultaneous Localization and Mapping (SLAM) framework based on 5G New Radio (NR) signals and inertial measurements for mobile robot localization with several gNodeB stations. The method outputs the pose of the robot along with a radio signal map based on the Received Signal Strength Indicator (RSSI) measurements for correction purposes. We then perform benchmarking against LiDAR-Inertial Odometry Smoothing and Mapping (LIO-SAM), a state-of-the-art LiDAR SLAM method, comparing performance via a simulator ground truth reference. Two experimental setups are presented and discussed using the sub-6 GHz and mmWave frequency bands for communication, while the transmission is based on down-link (DL) signals. Our results show that 5G positioning can be utilized for radio SLAM, providing increased robustness in outdoor environments and demonstrating its potential to assist in robot localization, as an additional absolute source of information when LiDAR methods fail and GNSS data is unreliable. Full article

In recent years, numerous studies have been conducted to analyze how humans subconsciously optimize various performance criteria while performing a particular task, which has led to the development of robots that are capable of performing tasks with a similar level of efficiency as humans. The complexity of the human body has led researchers to create a framework for robot motion planning to recreate those motions in robotic systems using various redundancy resolution methods. This study conducts a thorough analysis of the relevant literature to provide a detailed exploration of the different redundancy resolution methodologies used in motion generation for mimicking human motion. The studies are investigated and categorized according to the study methodology and various redundancy resolution methods. An examination of the literature revealed a strong trend toward formulating intrinsic strategies that govern human movement through machine learning and artificial intelligence. Subsequently, the paper critically evaluates the existing approaches and highlights their limitations. It also identifies the potential research areas that hold promise for future investigations. Full article

Manipulating cloth-like deformable objects (CDOs) is a long-standing problem in the robotics community. CDOs are flexible (non-rigid) objects that do not show a detectable level of compression strength while two points on the article are pushed towards each other and include objects such as ropes (1D), fabrics (2D) and bags (3D). In general, CDOs’ many degrees of freedom (DoF) introduce severe self-occlusion and complex state–action dynamics as significant obstacles to perception and manipulation systems. These challenges exacerbate existing issues of modern robotic control methods such as imitation learning (IL) and reinforcement learning (RL). This review focuses on the application details of data-driven control methods on four major task families in this domain: cloth shaping, knot tying/untying, dressing and bag manipulation. Furthermore, we identify specific inductive biases in these four domains that present challenges for more general IL and RL algorithms. Full article

This paper considers the problem of minimum-time smooth trajectory planning for wheeled mobile robots. The smooth path is defined by several Bézier curves and the calculated velocity profiles on individual segments are minimum-time with continuous velocity and acceleration in the joints. We describe a novel solution for the construction of a 5th order Bézier curve that enables a simple and intuitive parameterization. The proposed trajectory optimization considers environment space constraints and constraints on the velocity, acceleration, and jerk. The operation of the trajectory planning algorithm has been demonstrated in two simulations: on a racetrack and in a warehouse environment. Therefore, we have shown that the proposed path construction and trajectory generation algorithm can be applied to a constrained environment and can also be used in real-world driving scenarios. Full article

Received signal strength indicator (RSSI)-based fingerprinting is a widely used technique for indoor localization, but these methods suffer from high error rates due to various reflections, interferences, and noises. The use of disturbances in the magnetic field in indoor localization methods has gained increasing attention in recent years, since this technology provides stable measurements with low random fluctuations. In this paper, a novel fingerprinting-based indoor 2D positioning method, which utilizes the fusion of RSSI and magnetometer measurements, is proposed for mobile robots. The method applies multilayer perceptron (MLP) feedforward neural networks to determine the 2D position, based on both the magnetometer data and the RSSI values measured between the mobile unit and anchor nodes. The magnetic field strength is measured on the mobile node, and it provides information about the disturbance levels in the given position. The proposed method is validated using data collected in two realistic indoor scenarios with multiple static objects. The magnetic field measurements are examined in three different combinations, i.e., the measurements of the three sensor axes are tested together, the magnetic field magnitude is used alone, and the Z-axis-based measurements are used together with the magnitude in the X-Y plane. The obtained results show that significant improvement can be achieved by fusing the two data types in scenarios where the magnetic field has high variance. The achieved results show that the improvement can be above 35% compared to results obtained by utilizing only RSSI or magnetic sensor data. Full article

In this study, we develop a framework for an intelligent and self-supervised industrial pick-and-place operation for cluttered environments. Our target is to have the agent learn to perform prehensile and non-prehensile robotic manipulations to improve the efficiency and throughput of the pick-and-place task. To achieve this target, we specify the problem as a Markov decision process (MDP) and deploy a deep reinforcement learning (RL) temporal difference model-free algorithm known as the deep Q-network (DQN). We consider three actions in our MDP; one is ‘grasping’ from the prehensile manipulation category and the other two are ‘left-slide’ and ‘right-slide’ from the non-prehensile manipulation category. Our DQN is composed of three fully convolutional networks (FCN) based on the memory-efficient architecture of DenseNet-121 which are trained together without causing any bottleneck situations. Each FCN corresponds to each discrete action and outputs a pixel-wise map of affordances for the relevant action. Rewards are allocated after every forward pass and backpropagation is carried out for weight tuning in the corresponding FCN. In this manner, non-prehensile manipulations are learnt which can, in turn, lead to possible successful prehensile manipulations in the near future and vice versa, thus increasing the efficiency and throughput of the pick-and-place task. The Results section shows performance comparisons of our approach to a baseline deep learning approach and a ResNet architecture-based approach, along with very promising test results at varying clutter densities across a range of complex scenario test cases. Full article

Recent developments in robotic technologies in the field of orthopaedic surgery have largely been focused on higher volume arthroplasty procedures, with a paucity of attention paid to robotic potential for foot and ankle surgery. The aim of this paper is to summarize past and present developments foot and ankle robotics and describe outcomes associated with these interventions, with specific emphasis on the following topics: translational and preclinical utilization of robotics, deep learning and artificial intelligence modeling in foot and ankle, current applications for robotics in foot and ankle surgery, and therapeutic and orthotic-related utilizations of robotics related to the foot and ankle. Herein, we describe numerous recent robotic advancements across foot and ankle surgery, geared towards optimizing intra-operative performance, improving detection of foot and ankle pathology, understanding ankle kinematics, and rehabilitating post-surgically. Future research should work to incorporate robotics specifically into surgical procedures as other specialties within orthopaedics have done, and to further individualize machinery to patients, with the ultimate goal to improve perioperative and post-operative outcomes. Full article

Grass cutting is necessary to prevent grass from diverting essential nutrients and water from crops. Usually, in hilly and mountainous areas, grass cutting is performed on steep slopes with an inclination angle of up to 60° (inclination gradient of 173%). However, such grass cutting tasks are dangerous owing to the unstable positioning of workers. For robots to perform these grass cutting tasks, slipping and falling must be prevented on inclined surfaces. In this study, a robot based on stable propeller control and four-wheel steering was developed to provide stable locomotion during grass cutting tasks. The robot was evaluated in terms of locomotion for different steering methods, straight motion on steep slopes, climbing ability, and coverage area. The results revealed that the robot was capable of navigating uneven terrains with steep slope angles. Moreover, no slipping actions that could have affected the grass cutting operations were observed. We confirmed that the proposed robot is able to cover 99.95% and 98.45% of an area on a rubber and grass slope, respectively. Finally, the robot was tested on different slopes with different angles in hilly and mountainous areas. The developed robot was able to perform the grass cutting task as expected. Full article

The human–robot collaboration (HRC) solutions presented so far have the disadvantage that the interaction between humans and robots is based on the human’s state or on specific gestures purposely performed by the human, thus increasing the time required to perform a task and slowing down the pace of human labor, making such solutions uninteresting. In this study, a different concept of the HRC system is introduced, consisting of an HRC framework for managing assembly processes that are executed simultaneously or individually by humans and robots. This HRC framework based on deep learning models uses only one type of data, RGB camera data, to make predictions about the collaborative workspace and human action, and consequently manage the assembly process. To validate the HRC framework, an industrial HRC demonstrator was built to assemble a mechanical component. Four different HRC frameworks were created based on the convolutional neural network (CNN) model structures: Faster R-CNN ResNet-50 and ResNet-101, YOLOv2 and YOLOv3. The HRC framework with YOLOv3 structure showed the best performance, showing a mean average performance of 72.26% and allowed the HRC industrial demonstrator to successfully complete all assembly tasks within a desired time window. The HRC framework has proven effective for industrial assembly applications. Full article

Unmanned aerial vehicle (UAV) navigation has recently been the focus of many studies. The most challenging aspect of UAV navigation is maintaining accurate and reliable pose estimation. In outdoor environments, global navigation satellite systems (GNSS) are typically used for UAV localization. However, relying solely on GNSS might pose safety risks in the event of receiver malfunction or antenna installation error. In this research, an unmanned aerial system (UAS) employing the Applanix APX15 GNSS/IMU board, a Velodyne Puck LiDAR sensor, and a Sony a7R II high-resolution camera was used to collect data for the purpose of developing a multi-sensor integration system. Unfortunately, due to a malfunctioning GNSS antenna, there were numerous prolonged GNSS signal outages. As a result, the GNSS/INS processing failed after obtaining an error that exceeded 25 km. To resolve this issue and to recover the precise trajectory of the UAV, a GNSS/INS/LiDAR integrated navigation system was developed. The LiDAR data were first processed using the optimized LOAM SLAM algorithm, which yielded the position and orientation estimates. Pix4D Mapper software was then used to process the camera images in the presence of ground control points (GCPs), which resulted in the precise camera positions and orientations that served as ground truth. All sensor data were timestamped by GPS, and all datasets were sampled at 10 Hz to match those of the LiDAR scans. Two case studies were considered, namely complete GNSS outage and assistance from GNSS PPP solution. In comparison to the complete GNSS outage, the results for the second case study were significantly improved. The improvement is described in terms of RMSE reductions of approximately 51% and 78% for the horizontal and vertical directions, respectively. Additionally, the RMSE of the roll and yaw angles was reduced by 13% and 30%, respectively. However, the RMSE of the pitch angle was increased by about 13%. Full article

Wildfire is one of the most significant dangers and the most serious natural catastrophe, endangering forest resources, animal life, and the human economy. Recent years have witnessed a rise in wildfire incidents. The two main factors are persistent human interference with the natural environment and global warming. Early detection of fire ignition from initial smoke can help firefighters react to such blazes before they become difficult to handle. Previous deep-learning approaches for wildfire smoke detection have been hampered by small or untrustworthy datasets, making it challenging to extrapolate the performances to real-world scenarios. In this study, we propose an early wildfire smoke detection system using unmanned aerial vehicle (UAV) images based on an improved YOLOv5. First, we curated a 6000-wildfire image dataset using existing UAV images. Second, we optimized the anchor box clustering using the K-mean++ technique to reduce classification errors. Then, we improved the network’s backbone using a spatial pyramid pooling fast-plus layer to concentrate small-sized wildfire smoke regions. Third, a bidirectional feature pyramid network was applied to obtain a more accessible and faster multi-scale feature fusion. Finally, network pruning and transfer learning approaches were implemented to refine the network architecture and detection speed, and correctly identify small-scale wildfire smoke areas. The experimental results proved that the proposed method achieved an average precision of 73.6% and outperformed other one- and two-stage object detectors on a custom image dataset. Full article

In recent years, Simultaneous Localization and Mapping (SLAM) systems have shown significant performance, accuracy, and efficiency gain. In this regard, Visual Simultaneous Localization and Mapping (VSLAM) methods refer to the SLAM approaches that employ cameras for pose estimation and map reconstruction and are preferred over Light Detection And Ranging (LiDAR)-based methods due to their lighter weight, lower acquisition costs, and richer environment representation. Hence, several VSLAM approaches have evolved using different camera types (e.g., monocular or stereo), and have been tested on various datasets (e.g., Technische Universität München (TUM) RGB-D or European Robotics Challenge (EuRoC)) and in different conditions (i.e., indoors and outdoors), and employ multiple methodologies to have a better understanding of their surroundings. The mentioned variations have made this topic popular for researchers and have resulted in various methods. In this regard, the primary intent of this paper is to assimilate the wide range of works in VSLAM and present their recent advances, along with discussing the existing challenges and trends. This survey is worthwhile to give a big picture of the current focuses in robotics and VSLAM fields based on the concentrated resolutions and objectives of the state-of-the-art. This paper provides an in-depth literature survey of fifty impactful articles published in the VSLAMs domain. The mentioned manuscripts have been classified by different characteristics, including the novelty domain, objectives, employed algorithms, and semantic level. The paper also discusses the current trends and contemporary directions of VSLAM techniques that may help researchers investigate them. Full article

With robotic-assisted minimally invasive surgery (RAMIS), patients and surgeons benefit from a reduced incision size and dexterous instruments. However, current robotic surgery platforms lack haptic feedback, which is an essential element of safe operation. Moreover, teleportation control challenges make complex surgical tasks like suturing more time-consuming than those that use manual tools. This paper presents a new force-sensing instrument that semi-automates the suturing task and facilitates teleoperated robotic manipulation. In order to generate the ideal needle insertion trajectory and pass the needle through its curvature, the end-effector mechanism has a rotating degree of freedom. Impedance control was used to provide sensory information about needle–tissue interaction forces to the operator using an indirect force estimation approach based on data-based models. The operator’s motion commands were then regulated using a hyperplanar virtual fixture (VF) designed to maintain the desired distance between the end-effector and tissue surface while avoiding unwanted contact. To construct the geometry of the VF, an optoelectronic sensor-based approach was developed. Based on the experimental investigation of the hyperplane VF methodology, improved needle–tissue interaction force, manipulation accuracy, and task completion times were demonstrated. Finally, experimental validation of the trained force estimation models and the perceived interaction forces by the user was conducted using online data, demonstrating the potential of the developed approach in improving task performance. Full article

Wearable technologies and digital phenotyping foster unique opportunities for designing novel intelligent electronic services that can address various well-being issues in patients with mental disorders (i.e., schizophrenia and bipolar disorder), thus having the potential to revolutionize psychiatry and its clinical practice. In this paper, we present e-Prevention, an innovative integrated system for medical support that facilitates effective monitoring and relapse prevention in patients with mental disorders. The technologies offered through e-Prevention include: (i) long-term continuous recording of biometric and behavioral indices through a smartwatch; (ii) video recordings of patients while being interviewed by a clinician, using a tablet; (iii) automatic and systematic storage of these data in a dedicated Cloud server and; (iv) the ability of relapse detection and prediction. This paper focuses on the description of the e-Prevention system and the methodologies developed for the identification of feature representations that correlate with and can predict psychopathology and relapses in patients with mental disorders. Specifically, we tackle the problem of relapse detection and prediction using Machine and Deep Learning techniques on all collected data. The results are promising, indicating that such predictions could be made and leading eventually to the prediction of psychopathology and the prevention of relapses. Full article

Optical fiber sensors present several advantages in relation to other types of sensors. These advantages are essentially related to the optical fiber properties, i.e., small, lightweight, resistant to high temperatures and pressure, electromagnetically passive, among others. Sensing is achieved by exploring the properties of light to obtain measurements of parameters, such as temperature, strain, or angular velocity. In addition, optical fiber sensors can be used to form an Optical Fiber Sensing Network (OFSN) allowing manufacturers to create versatile monitoring solutions with several applications, e.g., periodic monitoring along extensive distances (kilometers), in extreme or hazardous environments, inside structures and engines, in clothes, and for health monitoring and assistance. Most of the literature available on this subject focuses on a specific field of optical sensing applications and details their principles of operation. This paper presents a more broad overview, providing the reader with a literature review that describes the main principles of optical sensing and highlights the versatility, advantages, and different real-world applications of optical sensing. Moreover, it includes an overview and discussion of a less common architecture, where optical sensing and Wireless Sensor Networks (WSNs) are integrated to harness the benefits of both worlds. Full article

RFID (radio frequency identification) technology appeared nearly 70 years ago. Deployed more widely only from the early 2000s, it is now booming and its development is still accelerating. As its name indicates, its original function was the identification (of objects, animals, people) and its applications were then essentially aimed at traceability, access control and logistics. If this type of use is still relevant today with more and more new application contexts and more and more efficient RFID tags, RFID has also evolved by integrating new capabilities. These new tags, known as augmented tags, include an information capture function. With the explosion of connected objects and the emergence of the Internet of Things (IoT), this old technology that is RFID still has a promising future and will probably be more and more present in our private and professional environments in all fields: logistics, industry, agriculture, building, health and even space. Full article

This paper presents some of the results and experiences in monitoring the hydraulic response of downscaled slope models under simulated rainfall in 1 g. The downscaled slope model platform was developed as part of a four-year research project, “Physical modeling of landslide remediation constructions’ behavior under static and seismic actions”, and its main components are briefly described with the particular focus on the sensor network that allows monitoring changes in soil moisture and pore-water pressure (pwp). The technical characteristics of the sensors and the measurement methods used to provide the metrics are described in detail. Some data on the hydraulic and mechanical responses obtained from the conducted tests on slope models built from different soil types under different test conditions are presented and interpreted in the context of rainfall-induced landslides. The results show that the sensor network used is suitable for monitoring changes in the soil moisture and pwp in the model, both in terms of the transient rainfall infiltration through partially saturated soil and in terms of the rise in the water table and pwp build-up under fully saturated conditions. It is shown how simultaneous monitoring of soil moisture and pwp can be used to reconstruct stress paths that the monitored points undergo during different test phases. Finally, some peculiarities related to hydraulic hysteresis and surface erosion that were observed in some of tests are discussed, as well as possible difficulties in achieving and maintaining the targeted initial moisture distribution in slope models. Full article

A digital twin is a digital representation of a physical entity that is updated in real-time by transfer of data between physical and digital (virtual) entities. In this manuscript we aim to introduce a digital twin framework for robotic drilling. Initially, a generic reference model is proposed to highlight elements of the digital twin relevant to robotic drilling. Then, a precise reference digital twin architecture model is developed, based on available standards and technologies. Finally, real-time visualisation of drilling process parameters is demonstrated as an initial step towards implementing a digital twin of a robotic drilling process. Full article

Femtosecond laser filamentation is a unique nonlinear optical phenomenon when high-power ultrafast laser propagation in all transparent optical media. During filamentation in the atmosphere, the ultrastrong field of 10¹³–10¹⁴ W/cm² with a large distance ranging from meter to kilometers can effectively ionize, break, and excite the molecules and fragments, resulting in characteristic fingerprint emissions, which provide a great opportunity for investigating strong-field molecules interaction in complicated environments, especially remote sensing. Additionally, the ultrastrong intensity inside the filament can damage almost all the detectors and ignite various intricate higher order nonlinear optical effects. These extreme physical conditions and complicated phenomena make the sensing and controlling of filamentation challenging. This paper mainly focuses on recent research advances in sensing with femtosecond laser filamentation, including fundamental physics, sensing and manipulating methods, typical filament-based sensing techniques and application scenarios, opportunities, and challenges toward the filament-based remote sensing under different complicated conditions. Full article

Smart farms, as a part of high-tech agriculture, collect a huge amount of data from IoT devices about the conditions of animals, plants, and the environment. These data are most often stored locally and are not used in intelligent monitoring systems to provide opportunities for extracting meaningful knowledge for the farmers. This often leads to a sense of missed transparency, fairness, and accountability, and a lack of motivation for the majority of farmers to invest in sensor-based intelligent systems to support and improve the technological development of their farm and the decision-making process. In this paper, a data-driven intelligent monitoring system in a cloud environment is proposed. The designed architecture enables a comprehensive solution for interaction between data extraction from IoT devices, preprocessing, storage, feature engineering, modelling, and visualization. Streaming data from IoT devices to interactive live reports along with built machine learning (ML) models are included. As a result of the proposed intelligent monitoring system, the collected data and ML modelling outcomes are visualized using a powerful dynamic dashboard. The dashboard allows users to monitor various parameters across the farm and provides an accessible way to view trends, deviations, and patterns in the data. ML models are trained on the collected data and are updated periodically. The data-driven visualization enables farmers to examine, organize, and represent collected farm’s data with the goal of better serving their needs. Performance and durability tests of the system are provided. The proposed solution is a technological bridge with which farmers can easily, affordably, and understandably monitor and track the progress of their farms with easy integration into an existing IoT system. Full article

Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing controller approaches the ground vehicle using velocity commands calculated directly in image space. The control laws generate velocity commands in all three dimensions, eliminating the need for a separate height controller. The method has shown the ability to approach and land on the moving deck in simulation, indoor and outdoor environments, and compared to the other available methods, it has provided the fastest landing approach. Unlike many existing methods for landing on fast-moving platforms, this method does not rely on additional external setups, such as RTK, motion capture system, ground station, offboard processing, or communication with the vehicle, and it requires only the minimal set of hardware and localization sensors. The videos and source codes are also provided. Full article

This paper suggests a methodology (conception and principles) for building two-mode monitoring systems (SMs) for industrial facilities and their adjacent territories based on the application of unmanned aerial vehicle (UAV), Internet of Things (IoT), and digital twin (DT) technologies, and a set of SM reliability models considering the parameters of the channels and components. The concept of building a reliable and resilient SM is proposed. For this purpose, the von Neumann paradigm for the synthesis of reliable systems from unreliable components is developed. For complex SMs of industrial facilities, the concept covers the application of various types of redundancy (structural, version, time, and space) for basic components—sensors, means of communication, processing, and presentation—in the form of DTs for decision support systems. The research results include: the methodology for the building and general structures of UAV-, IoT-, and DT-based SMs in industrial facilities as multi-level systems; reliability models for SMs considering the applied technologies and operation modes (normal and emergency); and industrial cases of SMs for manufacture and nuclear power plants. The results obtained are the basis for further development of the theory and for practical applications of SMs in industrial facilities within the framework of the implementation and improvement of Industry 4.0 principles. Full article

This article introduces a novel virtual sensor for predictive maintenance called mini-term. A mini-term can be defined as the time it takes for a part of the machine to do its job. Being a technical sub-cycle time, its function has been linked to production. However, when a machine or component gets deteriorated, the mini-term also suffers deterioration, allowing it to be a multifunctional indicator for the prediction of machine failures as well as measurement of production. Currently, in Industry 4.0, one of the handicaps is Big Data and Data Analysis. However, in the case of predictive maintenance, the need to install sensors in the machines means that when the proposed scientific solutions reach the industry, they cannot be carried out massively due to the high cost this entails. The advantage introduced by the mini-term is that it can be implemented in an easy and simple way in pre-installed systems since you only need to program a timer in the PLC or PC that controls the line/machine in the production line, allowing, according to the authors’ knowledge, to build industrial Big Data on predictive maintenance for the first time, which is called Miniterm 4.0. This article shows evidence of the important improvements generated by the use of Miniterm 4.0 in a factory. At the end of the paper we show the evolution of TAV (Technical availability), Mean Time To Repair (MTTR), EM (Number of Work order (Emergency Orders/line Stop)) and OM (Labour hours in EM) showing a very important improvement as the number of mini-terms was increased and the Miniterm 4.0 system became more reliable. In particular, TAV is increased by 15%, OM is reduced in 5000 orders, MTTR is reduced in 2 h and there are produced 3000 orders less than when mini-terms did not exist. At the end of the article we discuss the benefits and limitations of the mini-terms and we show the conclusions and future works. Full article

An edge displacement sensor is one of the key technologies for building large segmented mirror astronomical optical telescopes. A digital interface is one novel approach for sensor technologies, digital transformation and the Internet of Things (IoT) in particular. Frequency output sensors and inductance-to-digital converter (LDC) demonstrated significant advantages in comparison with conventional sensors with analog-to-digital converter (ADC) interfaces. In order for the differential inductive frequency output displacement (DIFOD) sensor to meet the high-stability requirements of segmented mirror astronomical telescopes, it is important to understand the factors for time drift of the sensor. This paper focuses on the investigation of key factors of sensor structure and material, signal conditioning and interface, and fixtures for time drift to permanently installed applications. First, the measurement principle and probe structural characteristics of the sensor are analyzed. Then, two kinds of signal conditioning and digitalization methods using resonance circuits and LDC chips are implemented and compared. Finally, the time drift stability experiments are performed on the sensors with different signal conditioning methods and fixtures under controlled temperature. Experimental results show that the magnetic shield ring effectively improves the sensitivity and quality factor of the sensors, the time drift stability of the sensor using the signal conditioning based on resonance circuits is better than that of the sensors using LDC chips, and the root mean square (RMS) of the sensor time drift meets the requirement of 0.01 μm/24 h. This study will help further development of high-stability of frequency output sensors and IoT-based systems for scaled-up applications in the future. Full article

The rapidly changing and wide dynamic range of combustion temperature in scramjet engines presents a major challenge to existing test techniques. Tunable diode laser absorption spectroscopy (TDLAS) based temperature measurement has the advantages of high sensitivity, fast response, and compact structure. In this invited paper, a temperature measurement method based on the TDLAS technique with a single diode laser was demonstrated. A continuous-wave (CW), distributed feedback (DFB) diode laser with an emission wavelength near 1.4 μm was used for temperature measurement, which could cover two water vapor (H₂O) absorption lines located at 7153.749 cm⁻¹ and 7154.354 cm⁻¹ simultaneously. The output wavelength of the diode laser was calibrated according to the two absorption peaks in the time domain. Using this strategy, the TDLAS system has the advantageous of immunization to laser wavelength shift, simple system structure, reduced cost, and increased system robustness. The line intensity of the two target absorption lines under room temperature was about one-thousandth of that under high temperature, which avoided the measuring error caused by H₂O in the environment. The system was tested on a McKenna flat flame burner and a scramjet model engine, respectively. It was found that, compared to the results measured by CARS technique and theoretical calculation, this TDLAS system had less than 4% temperature error when the McKenna flat flame burner was used. When a scramjet model engine was adopted, the measured results showed that such TDLAS system had an excellent dynamic range and fast response. The TDLAS system reported here could be used in real engine in the future. Full article

The possibility of the developing a biochemical oxygen demand (BOD) biosensor based on electroactive biofilms of activated sludge grown on the surface of a graphite-paste electrode modified with carbon nanotubes was studied. A complex of microscopic methods controlled biofilm formation: optical microscopy with phase contrast, scanning electron microscopy, and laser confocal microscopy. The features of charge transfer in the obtained electroactive biofilms were studied using the methods of cyclic voltammetry and electrochemical impedance spectroscopy. The rate constant of the interaction of microorganisms with the extracellular electron carrier (0.79 ± 0.03 dm³(g s)⁻¹) and the heterogeneous rate constant of electron transfer (0.34 ± 0.02 cm s⁻¹) were determined using the cyclic voltammetry method. These results revealed that the modification of the carbon nanotubes’ (CNT) electrode surface makes it possible to create electroactive biofilms. An analysis of the metrological and analytical characteristics of the created biosensors showed that the lower limit of the biosensor based on an electroactive biofilm of activated sludge is 0.41 mgO₂/dm³, which makes it possible to analyze almost any water sample. Analysis of 12 surface water samples showed a high correlation (R² = 0.99) with the results of the standard method for determining biochemical oxygen demand. Full article

Strawberries are sensitive fruits that are afflicted by various pests and diseases. Therefore, there is an intense use of agrochemicals and pesticides during production. Due to their sensitivity, temperatures or humidity at extreme levels can cause various damages to the plantation and to the quality of the fruit. To mitigate the problem, this study developed an edge technology capable of handling the collection, analysis, prediction, and detection of heterogeneous data in strawberry farming. The proposed IoT platform integrates various monitoring services into one common platform for digital farming. The system connects and manages Internet of Things (IoT) devices to analyze environmental and crop information. In addition, a computer vision model using Yolo v5 architecture searches for seven of the most common strawberry diseases in real time. This model supports efficient disease detection with 92% accuracy. Moreover, the system supports LoRa communication for transmitting data between the nodes at long distances. In addition, the IoT platform integrates machine learning capabilities for capturing outliers in collected data, ensuring reliable information for the user. All these technologies are unified to mitigate the disease problem and the environmental damage on the plantation. The proposed system is verified through implementation and tested on a strawberry farm, where the capabilities were analyzed and assessed. Full article

With the development of artificial intelligence technology, the behavior decision-making of an intelligent smart marine autonomous surface ship (SMASS) has become particularly important. This research proposed local path planning and a behavior decision-making approach based on improved Proximal Policy Optimization (PPO), which could drive an unmanned SMASS to the target without requiring any human experiences. In addition, a generalized advantage estimation was added to the loss function of the PPO algorithm, which allowed baselines in PPO algorithms to be self-adjusted. At first, the SMASS was modeled with the Nomoto model in a simulation waterway. Then, distances, obstacles, and prohibited areas were regularized as rewards or punishments, which were used to judge the performance and manipulation decisions of the vessel Subsequently, improved PPO was introduced to learn the action–reward model, and the neural network model after training was used to manipulate the SMASS’s movement. To achieve higher reward values, the SMASS could find an appropriate path or navigation strategy by itself. After a sufficient number of rounds of training, a convincing path and manipulation strategies would likely be produced. Compared with the proposed approach of the existing methods, this approach is more effective in self-learning and continuous optimization and thus closer to human manipulation. Full article

In urban areas, pedestrians are the road users category that is the most exposed to road accident fatalities. In this context, the present article proposes a totally new architecture, which aims to increase the safety of pedestrians on the crosswalk. The first component of the design is a pedestrian detection system, which identifies the user’s presence in the region of the crosswalk and determines the future street crossing action possibility or the presence of a pedestrian engaged in street crossing. The second component of the system is the visible light communications part, which is used to transmit this information toward the approaching vehicles. The proposed architecture has been implemented at a regular scale and experimentally evaluated in outdoor conditions. The experimental results showed a 100% overall pedestrian detection rate. On the other hand, the VLC system showed a communication distance between 5 and 40 m when using a standard LED light crosswalk sign as a VLC emitter, while maintaining a bit error ratio between 10⁻⁷ and 10⁻⁵. These results demonstrate the fact that the VLC technology is now able to be used in real applications, making the transition from a high potential technology to a confirmed technology. As far as we know, this is the first article presenting such a pedestrian street crossing assistance system. Full article

In this study, different eddy-current based probe designs (absolute and commercial reflection) are used to detect artificial defects with different sizes and at different depths in parts composed of stainless-steel (316) and titanium (TI-64) made by Laser Additive Manufacturing (LAM). The measured defect signal value using the probes is in the range of (20–200) millivolts. Both probes can detect subsurface defects on stainless-steel samples with average surface roughness of 11.6 µm and titanium samples with average surface roughness of 8.7 µm. It is found the signal reading can be improved by adding a coating layer made of thin paper to the bottom of the probes. The layer will decrease the surface roughness effect and smooth out the detected defect signal from any ripples. The smallest subsurface artificial defect size detected by both probes is an artificially made notch with 0.07 mm width and 25 mm length. In addition, both probes detected subsurface artificial blind holes in the range of 0.17 mm–0.3 mm radius. Results show that the absolute probe is more suitable to detect cracks and incomplete fusion holes, whereas the reflection probe is more suitable to detect small diameter blind holes. The setup can be used for defect detection during the additive manufacturing process once the melt pool is solidified. Full article

An intelligent reflecting surface (IRS) is a programmable device that can be used to control electromagnetic waves propagation by changing the electric and magnetic properties of its surface. Therefore, IRS is considered a smart technology for the sixth generation (6G) of communication networks. In addition, machine learning (ML) techniques are now widely adopted in wireless communication as the computation power of devices has increased. As it is an emerging topic, we provide a comprehensive overview of the state-of-the-art on ML, especially on deep learning (DL)-based IRS-enhanced communication. We focus on their operating principles, channel estimation (CE), and the applications of machine learning to IRS-enhanced wireless networks. In addition, we systematically survey existing designs for IRS-enhanced wireless networks. Furthermore, we identify major issues and research opportunities associated with the integration of IRS and other emerging technologies for applications to next-generation wireless communication. Full article

In this study, we propose using a thermal imaging camera (TIC) with a deep learning model as an intelligent human detection approach during emergency evacuations in a low-visibility smoky fire scenarios. We use low-wavelength infrared (LWIR) images taken by a TIC qualified with the National Fire Protection Association (NFPA) 1801 standards as input to the YOLOv4 model for real-time object detection. The model trained with a single Nvidia GeForce 2070 can achieve >95% precision for the location of people in a low-visibility smoky scenario with 30.1 frames per second (FPS). This real-time result can be reported to control centers as useful information to help provide timely rescue and provide protection to firefighters before entering dangerous smoky fire situations. Full article

In current decades, significant advancements in robotics engineering and autonomous vehicles have improved the requirement for precise depth measurements. Depth estimation (DE) is a traditional task in computer vision that can be appropriately predicted by applying numerous procedures. This task is vital in disparate applications such as augmented reality and target tracking. Conventional monocular DE (MDE) procedures are based on depth cues for depth prediction. Various deep learning techniques have demonstrated their potential applications in managing and supporting the traditional ill-posed problem. The principal purpose of this paper is to represent a state-of-the-art review of the current developments in MDE based on deep learning techniques. For this goal, this paper tries to highlight the critical points of the state-of-the-art works on MDE from disparate aspects. These aspects include input data shapes and training manners such as supervised, semi-supervised, and unsupervised learning approaches in combination with applying different datasets and evaluation indicators. At last, limitations regarding the accuracy of the DL-based MDE models, computational time requirements, real-time inference, transferability, input images shape and domain adaptation, and generalization are discussed to open new directions for future research. Full article

The Internet of Things (IoT) technology and its applications are turning real-world things into smart objects, integrating everything under a common infrastructure to manage performance through a software application and offering upgrades with integrated web servers in a timely manner. Quality of life, the green economy, and pollution management in society require comprehensive environmental monitoring systems with easy-to-use features and maintenance. This research suggests implementing a wireless sensor network with embedded sensor nodes manufactured using the Selective Surface Activation Induced by Laser technology. Such technology allows the integration of electrical circuits with free-form plastic sensor housing. In this work, a low-cost asynchronous web server for monitoring temperature and humidity sensors connected to the ESP32 Wi-Fi module has been developed. Data from sensor nodes across the facility are collected and displayed in real-time charts on a web server. Multiple web clients on the same network can access the sensor data. The energy to the sensor nodes could be powered by harvesting energy from surrounding sources of electromagnetic radiation. This automated and self-powered system monitors environmental and climatic factors, helps with timely action, and benefits sensor design by allowing antenna and rf-circuit formation on various plastics, even on the body of the device itself. It also provides greater flexibility in hardware modification and rapid large-scale deployment. Full article

This paper outlines challenges and opportunities in operating underwater robots (so-called AUVs) on a seaweed farm. The need is driven by an emerging aquaculture industry on the Swedish west coast where large-scale seaweed farms are being developed. In this paper, the operational challenges are described and key technologies in using autonomous systems as a core part of the operation are developed and demonstrated. The paper presents a system and methods for operating an AUV in the seaweed farm, including initial localization of the farm based on a prior estimate and dead-reckoning navigation, and the subsequent scanning of the entire farm. Critical data from sidescan sonars for algorithm development are collected from real environments at a test site in the ocean, and the results are demonstrated in a simulated seaweed farm setup. Full article

Single-molecule surface-enhanced Raman spectroscopy (SM-SERS) has the potential to detect single molecules in a non-invasive, label-free manner with high-throughput. SM-SERS can detect chemical information of single molecules without statistical averaging and has wide application in chemical analysis, nanoelectronics, biochemical sensing, etc. Recently, a series of unprecedented advances have been realized in science and application by SM-SERS, which has attracted the interest of various fields. In this review, we first elucidate the key concepts of SM-SERS, including enhancement factor (EF), spectral fluctuation, and experimental evidence of single-molecule events. Next, we systematically discuss advanced implementations of SM-SERS, including substrates with ultra-high EF and reproducibility, strategies to improve the probability of molecules being localized in hotspots, and nonmetallic and hybrid substrates. Then, several examples for the application of SM-SERS are proposed, including catalysis, nanoelectronics, and sensing. Finally, we summarize the challenges and future of SM-SERS. We hope this literature review will inspire the interest of researchers in more fields. Full article

Covalent organic frameworks (COFs) are defined as crystalline organic polymers with programmable topological architectures using properly predesigned building blocks precursors. Since the development of the first COF in 2005, many works are emerging using this kind of material for different applications, such as the development of electrochemical sensors and biosensors. COF shows superb characteristics, such as tuneable pore size and structure, permanent porosity, high surface area, thermal stability, and low density. Apart from these special properties, COF’s electrochemical behaviour can be modulated using electroactive building blocks. Furthermore, the great variety of functional groups that can be inserted in their structures makes them interesting materials to be conjugated with biological recognition elements, such as antibodies, enzymes, DNA probe, aptamer, etc. Moreover, the possibility of linking them with other special nanomaterials opens a wide range of possibilities to develop new electrochemical sensors and biosensors. Full article

Laser Doppler vibrometry (LDV) is a non-contact vibration measurement technique based on the Doppler effect of the reflected laser beam. Thanks to its feature of high resolution and flexibility, LDV has been used in many different fields today. The miniaturization of the LDV systems is one important development direction for the current LDV systems that can enable many new applications. In this paper, we will review the state-of-the-art method on LDV miniaturization. Systems based on three miniaturization techniques will be discussed: photonic integrated circuit (PIC), self-mixing, and micro-electrochemical systems (MEMS). We will explain the basics of these techniques and summarize the reported miniaturized LDV systems. The advantages and disadvantages of these techniques will also be compared and discussed. Full article

Agricultural robots are one of the important means to promote agricultural modernization and improve agricultural efficiency. With the development of artificial intelligence technology and the maturity of Internet of Things (IoT) technology, people put forward higher requirements for the intelligence of robots. Agricultural robots must have intelligent control functions in agricultural scenarios and be able to autonomously decide paths to complete agricultural tasks. In response to this requirement, this paper proposes a Residual-like Soft Actor Critic (R-SAC) algorithm for agricultural scenarios to realize safe obstacle avoidance and intelligent path planning of robots. In addition, in order to alleviate the time-consuming problem of exploration process of reinforcement learning, this paper proposes an offline expert experience pre-training method, which improves the training efficiency of reinforcement learning. Moreover, this paper optimizes the reward mechanism of the algorithm by using multi-step TD-error, which solves the probable dilemma during training. Experiments verify that our proposed method has stable performance in both static and dynamic obstacle environments, and is superior to other reinforcement learning algorithms. It is a stable and efficient path planning method and has visible application potential in agricultural robots. Full article

The evolution of mobile mapping systems (MMSs) has gained more attention in the past few decades. MMSs have been widely used to provide valuable assets in different applications. This has been facilitated by the wide availability of low-cost sensors, advances in computational resources, the maturity of mapping algorithms, and the need for accurate and on-demand geographic information system (GIS) data and digital maps. Many MMSs combine hybrid sensors to provide a more informative, robust, and stable solution by complementing each other. In this paper, we presented a comprehensive review of the modern MMSs by focusing on: (1) the types of sensors and platforms, discussing their capabilities and limitations and providing a comprehensive overview of recent MMS technologies available in the market; (2) highlighting the general workflow to process MMS data; (3) identifying different use cases of mobile mapping technology by reviewing some of the common applications; and (4) presenting a discussion on the benefits and challenges and sharing our views on potential research directions. Full article

Aiming at the problems of low mapping accuracy, slow path planning efficiency, and high radar frequency requirements in the process of mobile robot mapping and navigation in an indoor environment, this paper proposes a four-wheel drive adaptive robot positioning and navigation system based on ROS. By comparing and analyzing the mapping effects of various 2D-SLAM algorithms (Gmapping, Karto SLAM, and Hector SLAM), the Karto SLAM algorithm is used for map building. By comparing the Dijkstra algorithm with the A* algorithm, the A* algorithm is used for heuristic searches, which improves the efficiency of path planning. The DWA algorithm is used for local path planning, and real-time path planning is carried out by combining sensor data, which have a good obstacle avoidance performance. The mathematical model of four-wheel adaptive robot sliding steering was established, and the URDF model of the mobile robot was established under a ROS system. The map environment was built in Gazebo, and the simulation experiment was carried out by integrating lidar and odometer data, so as to realize the functions of mobile robot scanning mapping and autonomous obstacle avoidance navigation. The communication between the ROS system and STM32 is realized, the packaging of the ROS chassis node is completed, and the ROS chassis node has the function of receiving speed commands and feeding back odometer data and TF transformation, and the slip rate of the four-wheel robot in situ steering is successfully measured, making the chassis pose more accurate. Simulation tests and experimental verification show that the system has a high precision in environment map building and can achieve accurate navigation tasks. Full article

An optical sensor employing tunable diode laser absorption spectroscopy with wavelength modulation and 2f harmonic detection was designed, prototyped, and tested for applications in quantifying methane emissions from vent sources in the oil and gas sector. The methane absorption line at 6026.23 cm^–1 (1659.41 nm) was used to measure both flow velocity and methane volume fraction, enabling direct measurement of the methane emission rate. Two configurations of the sensor were designed, tested, and compared; the first used a fully fiber-coupled cell with multimode fibers to re-collimate the laser beams, while the second used directly irradiated photodetectors protected by Zener barriers. Importantly, both configurations were designed to enable measurements within regulated Class I / Zone 0 hazardous locations, in which explosive gases are expected during normal operations. Controlled flows with methane volume fractions of 0 to 100% and a velocity range of 0 to 4 m/s were used to characterize sensor performance at a 1 Hz sampling rate. The measurement error in the methane volume fraction was less than 10,000 ppm (1%) across the studied range for both configurations. The short-term velocity measurement error with pure methane was <0.3 m/s with a standard deviation of 0.14 m/s for the fiber-coupled configuration and <0.15 m/s with a standard deviation of 0.07 m/s for the directly irradiated detector configuration. However, modal noise in the multimode fibers of the first configuration contributed to an unstable performance that was highly sensitive to mechanical disturbances. The second configuration showed good potential for an industrial sensor, successfully quantifying methane flow rates up to 11 kg/h within ±2.1 kg/h at 95% confidence over a range of methane fractions from 25–100%, and as low as ±0.85 kg/h in scenarios where the source methane fraction is initially unknown within this range and otherwise invariant. Full article

This paper presents a novel design and development of a low-cost and multi-touch sensor based on capacitive variations. This new sensor is very flexible and easy to fabricate, making it an appropriate choice for soft robot applications. Materials (conductive ink, silicone, and control boards) used in this sensor are inexpensive and easily found in the market. The proposed sensor is made of a wafer of different layers, silicone layers with electrically conductive ink, and a pressure-sensitive conductive paper sheet. Previous approaches like e-skin can measure the contact point or pressure of conductive objects like the human body or finger, while the proposed design enables the sensor to detect the object’s contact point and the applied force without considering the material conductivity of the object. The sensor can detect five multi-touch points at the same time. A neural network architecture is used to calibrate the applied force with acceptable accuracy in the presence of noise, variation in gains, and non-linearity. The force measured in real time by a commercial precise force sensor (ATI) is mapped with the produced voltage obtained by changing the layers’ capacitance between two electrode layers. Finally, the soft robot gripper embedding the suggested tactile sensor is utilized to grasp an object with position and force feedback signals. Full article

The ocean resources have been rapidly depleted in the recent decade, and the complementary role of aquaculture to food security has become more critical than ever before. Water quality is one of the key factors in determining the success of aquaculture and real-time water quality monitoring is an important process for aquaculture. This paper proposes a low-cost and easy-to-build artificial intelligence (AI) buoy system that autonomously measures the related water quality data and instantly forwards them via wireless channels to the shore server. Furthermore, the data provide aquaculture staff with real-time water quality information and also assists server-side AI programs in implementing machine learning techniques to further provide short-term water quality predictions. In particular, we aim to provide a low-cost design by combining simple electronic devices and server-side AI programs for the proposed buoy system to measure water velocity. As a result, the cost for the practical implementation is approximately USD 2015 only to facilitate the proposed AI buoy system to measure the real-time data of dissolved oxygen, salinity, water temperature, and velocity. In addition, the AI buoy system also offers short-term estimations of water temperature and velocity, with mean square errors of 0.021 °C and 0.92 cm/s, respectively. Furthermore, we replaced the use of expensive current meters with a flow sensor tube of only USD 100 to measure water velocity. Full article

Infrastructure-free magnetic fields are ubiquitous and have attracted tremendous interest in magnetic field-based indoor positioning. However, magnetic field-based indoor positioning applications face challenges such as low discernibility, heterogeneous devices, and interference from ferromagnetic materials. This paper first analyzes the statistical characteristics of magnetic field (MF) measurements from heterogeneous smartphones. It demonstrates that, in the absence of disturbances, the MF measurements in indoor environments follow a Gaussian distribution with temporal stability and spatial discernibility. It shows the fluctuations in magnetic field intensity caused by the rotation of a smartphone around the Z-axis. Secondly, it suggests that the RLOWESS method can be used to eliminate magnetic field anomalies, using magnetometer calibration to ensure consistent MF measurements in heterogeneous smartphones. Thirdly, it tests the magnetic field positioning performance of homogeneous and heterogeneous devices using different machine learning methods. Finally, it summarizes the feasibility/limitations of using only MF measurement for indoor positioning. Full article

Recently, non-Hermitian Hamiltonians have gained a lot of interest, especially in optics and electronics. In particular, the existence of real eigenvalues of non-Hermitian systems has opened a wide set of possibilities, especially, but not only, for sensing applications, exploiting the physics of exceptional points. In particular, the square root dependence of the eigenvalue splitting on different design parameters, exhibited by 2 × 2 non-Hermitian Hamiltonian matrices at the exceptional point, paved the way to the integration of high-performance sensors. The square root dependence of the eigenfrequencies on the design parameters is the reason for a theoretically infinite sensitivity in the proximity of the exceptional point. Recently, higher-order exceptional points have demonstrated the possibility of achieving the nth root dependence of the eigenfrequency splitting on perturbations. However, the exceptional sensitivity to external parameters is, at the same time, the major drawback of non-Hermitian configurations, leading to the high influence of noise. In this review, the basic principles of PT-symmetric and anti-PT-symmetric Hamiltonians will be shown, both in photonics and in electronics. The influence of noise on non-Hermitian configurations will be investigated and the newest solutions to overcome these problems will be illustrated. Finally, an overview of the newest outstanding results in sensing applications of non-Hermitian photonics and electronics will be provided. Full article

Sepsis is associated with high mortality—particularly in low–middle income countries (LMICs). Critical care management of sepsis is challenging in LMICs due to the lack of care providers and the high cost of bedside monitors. Recent advances in wearable sensor technology and machine learning (ML) models in healthcare promise to deliver new ways of digital monitoring integrated with automated decision systems to reduce the mortality risk in sepsis. In this study, firstly, we aim to assess the feasibility of using wearable sensors instead of traditional bedside monitors in the sepsis care management of hospital admitted patients, and secondly, to introduce automated prediction models for the mortality prediction of sepsis patients. To this end, we continuously monitored 50 sepsis patients for nearly 24 h after their admission to the Hospital for Tropical Diseases in Vietnam. We then compared the performance and interpretability of state-of-the-art ML models for the task of mortality prediction of sepsis using the heart rate variability (HRV) signal from wearable sensors and vital signs from bedside monitors. Our results show that all ML models trained on wearable data outperformed ML models trained on data gathered from the bedside monitors for the task of mortality prediction with the highest performance (area under the precision recall curve = 0.83) achieved using time-varying features of HRV and recurrent neural networks. Our results demonstrate that the integration of automated ML prediction models with wearable technology is well suited for helping clinicians who manage sepsis patients in LMICs to reduce the mortality risk of sepsis. Full article

Vehicles are the major source of air pollution in modern cities, emitting excessive levels of CO₂ and other noxious gases. Exploiting the OBD-II interface available on most vehicles, the continuous emission of such pollutants can be indirectly measured over time, although accuracy has been an important design issue when performing this task due the nature of the retrieved data. In this scenario, soft-sensor approaches can be adopted to process engine combustion data such as fuel injection and mass air flow, processing them to estimate pollution and transmitting the results for further analyses. Therefore, this article proposes a soft-sensor solution based on an embedded system designed to retrieve data from vehicles through their OBD-II interface, processing different inputs to provide estimated values of CO₂ emissions over time. According to the type of data provided by the vehicle, two different algorithms are defined, and each follows a comprehensive mathematical formulation. Moreover, an unsupervised TinyML approach is also derived to remove outliers data when processing the computed data stream, improving the accuracy of the soft sensor as a whole while not requiring any interaction with cloud-based servers to operate. Initial results for an embedded implementation on the Freematics ONE+ board have shown the proposal’s feasibility with an acquisition frequency equal to 1Hz and emission granularity measure of gCO₂/km. Full article

The Google Smartphone Decimeter Challenge (GSDC) was a competition held in 2021, where data from a variety of instruments useful for determining a phone’s position (signals from GPS satellites, accelerometer readings, gyroscope readings, etc.) using Android smartphones were provided to be processed/assessed in regard to the most accurate determination of the longitude and latitude of user positions. One of the tools that can be utilized to process the GNSS measurements is RTKLIB. RTKLIB is an open-source GNSS processing software tool that can be used with the GNSS measurements, including code, carrier, and doppler measurements, to provide real-time kinematic (RTK), precise point positioning (PPP), and post-processed kinematic (PPK) solutions. In the GSDC, we focused on the PPK capabilities of RTKLIB, as the challenge only required post-processing of past data. Although PPK positioning is expected to provide sub-meter level accuracies, the lower quality of the Android measurements compared to geodetic receivers makes this performance difficult to achieve consistently. Another latent issue is that the original RTKLIB created by Tomoji Takasu is aimed at commercial GNSS receivers rather than smartphones. Therefore, the performance of the original RTKLIB for the GSDC is limited. Consequently, adjustments to both the code-base and the default settings are suggested. When implemented, these changes allowed RTKLIB processing to score 5th place, based on the performance submissions of the prior GSDC competition. Detailed information on what was changed, and the steps to replicate the final results, are presented in the paper. Moreover, the updated code-base, with all the implemented changes, is provided in the public repository. This paper outlines a procedure to optimize the use of RTKLIB for Android smartphone measurements, highlighting the changes needed given the low-quality measurements from the mobile phone platform (relative to the survey grade GNSS receiver), which can be used as a basis point for further optimization for future GSDC competitions. Full article

With the extensive application of wireless sensing nodes, the demand for sustainable energy in unattended environments is increasing. Here, we report a self-powered and autonomous vibrational wake-up system (SAVWS) based on triboelectric nanogenerators and micro-electromechanical system (MEMS) switches. The energy triboelectric nanogenerator (E-TENG) harvests vibration energy to power the wireless transmitter through a MEMS switch. The signal triboelectric nanogenerator (S-TENG) controls the state of the MEMS switch as a self-powered accelerometer and shows good linearity in the acceleration range of 1–4.5 m/s² at 30 Hz with a sensitivity of about 14.6 V/(m/s²). When the acceleration increases, the S-TENG turns on the MEMS switch, and the wireless transmitter transmits an alarm signal with the energy from E-TENG, using only 0.64 mJ. Using TENGs simultaneously as an energy source and a sensor, the SAVWS provides a self-powered vibration monitoring solution for unattended environments and shows extensive applications and great promise in smart factories, autonomous driving, and the Internet of Things. Full article