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Keywords = spin sensing technology

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12 pages, 2232 KB  
Article
Electric Control of Photonic Spin Hall Effect in Surface Plasmon Resonance Systems for Multi-Functional Sensing
by Jiaye Ding, Ruizhao Li and Jie Cheng
Sensors 2025, 25(17), 5383; https://doi.org/10.3390/s25175383 (registering DOI) - 1 Sep 2025
Abstract
The photonic spin Hall effect (PSHE) has emerged as a powerful metrological approach for precision measurements. Dynamic manipulation of PSHE through external stimuli could substantially expand its applications. In this work, we present a simple and active modulation scheme for PSHE in a [...] Read more.
The photonic spin Hall effect (PSHE) has emerged as a powerful metrological approach for precision measurements. Dynamic manipulation of PSHE through external stimuli could substantially expand its applications. In this work, we present a simple and active modulation scheme for PSHE in a surface plasmon resonance (SPR) structure by exploiting electric-field-tunable refractive indices of electro-optic materials. By applying an electric field, the enhancement of PSHE spin shifts is observed, and the dual-field control can further amplify these spin shifts through synergistic effects in this SPR structure. Notably, various operation modes of external electric field enable the real-time switching between two high-performance sensing functionalities (refractive index detection and angle measurement). Therefore, our designed PSHE sensor based on SPR structure with a simple structure of only three layers not only makes up for the complex structure in multi-functional sensors, but more importantly, this platform establishes a new paradigm for dynamic PSHE manipulation while paving the way for advanced multi-functional optical sensing technology. Full article
(This article belongs to the Section Optical Sensors)
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10 pages, 6301 KB  
Article
Study on Diamond NV Centers Excited by Green Light Emission from OLEDs
by Yangyang Guo, Xin Li, Fuwen Shi, Wenjun Wang and Bo Li
Photonics 2025, 12(9), 833; https://doi.org/10.3390/photonics12090833 - 22 Aug 2025
Viewed by 309
Abstract
This study demonstrates the feasibility of exciting NV centers using ITO-anode OLED devices, followed by the fabrication of GO/PEDOT:PSS hybrid anodes via spin-coating. Through interfacial modification, the OLED devices exhibit significantly enhanced luminescence intensity, leading to improved NV center excitation efficiency. Experimental results [...] Read more.
This study demonstrates the feasibility of exciting NV centers using ITO-anode OLED devices, followed by the fabrication of GO/PEDOT:PSS hybrid anodes via spin-coating. Through interfacial modification, the OLED devices exhibit significantly enhanced luminescence intensity, leading to improved NV center excitation efficiency. Experimental results show that the optimized GO/PEDOT:PSS (40%) hybrid anode device achieves a lower turn-on voltage, with the NV center fluorescence peak intensity reaching 3.7 times that of the ITO-anode device, confirming the enhanced excitation effect through interfacial engineering of the light source. By integrating NV centers with OLED technology, this work establishes a new approach for efficient excitation. This integration approach provides a new pathway for applications such as quantum sensing. Full article
(This article belongs to the Special Issue Recent Progress in Single-Photon Generation and Detection)
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15 pages, 4134 KB  
Article
A Novel Open-Loop Current Sensor Based on Multiple Spin Valve Sensors and Magnetic Shunt Effect with Position Deviation Calibration
by Tianbin Xu, Tian Lan, Jiaye Yu, Yu Fu, Boyan Li, Tengda Yang and Ru Bai
Micromachines 2025, 16(8), 953; https://doi.org/10.3390/mi16080953 - 19 Aug 2025
Viewed by 300
Abstract
To address the demands for wide-range and high-precision current measurement, this paper proposes a novel current sensor design that integrates spin sensing technology, magnetic shunt effect, and a multi-sensor data fusion algorithm. The spin valve sensors accurately detect the magnetic field generated by [...] Read more.
To address the demands for wide-range and high-precision current measurement, this paper proposes a novel current sensor design that integrates spin sensing technology, magnetic shunt effect, and a multi-sensor data fusion algorithm. The spin valve sensors accurately detect the magnetic field generated by the signal current, while the soft magnetic shunt structure attenuates the magnetic field to a level suitable for the spin valve sensors. Consequently, the detection current range can be extended by 6.8 times. Using four spin valve sensors and data fusion with an averaging algorithm, the system can calibrate the errors caused by the displacement or tilt of the current-carrying wire. Experimental results demonstrate that the current sensor achieves a sensitivity of 61.6 mV/V/A, an excellent linearity of 0.55%, and robust measurement performance, as well as strong anti-interference capability. Our study offers a novel solution for high-precision, wide-range current measurement in applications such as those in new energy vehicle electronics and precision electric energy metering. Full article
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17 pages, 2842 KB  
Article
Hygrosensitive Response and Characteristics of Copolymer Coatings with Potential for Humidity Monitoring
by Katerina Lazarova, Silvia Bozhilova, Martina Docheva, Ketrin Pavlova, Gergana Alexieva, Darinka Christova and Tsvetanka Babeva
Coatings 2025, 15(8), 954; https://doi.org/10.3390/coatings15080954 - 14 Aug 2025
Viewed by 354
Abstract
Newly developed hygrosensitive poly(vinyl alcohol) derivatives comprising grafted poly(N,N-dimethylacrylamide) chains of varied length and graft density are presented. The optical, sensing, and hydration properties of these copolymer thin films prepared by spin-coating were systematically studied. Refractive indices (n), absorption coefficients ( [...] Read more.
Newly developed hygrosensitive poly(vinyl alcohol) derivatives comprising grafted poly(N,N-dimethylacrylamide) chains of varied length and graft density are presented. The optical, sensing, and hydration properties of these copolymer thin films prepared by spin-coating were systematically studied. Refractive indices (n), absorption coefficients (k), and thicknesses (d) were calculated via curve fitting of the reflection spectra. Reflectance measurements across a relative humidity range of 5% to 95% were used to evaluate the humidity sensing behavior. Coating swelling exceeding 100% was observed. Hydration levels under high humidity conditions were studied using a quartz crystal microbalance method. This revealed approximately 24% water content in the polymer with the higher grafting density and shorter PDMA chains compared to around 31% in the copolymer with longer PDMA brushes that were loosely grafted The potential application of these copolymers as responsive materials for advanced humidity sensing is discussed. A combined optical and gravimetric approach for characterizing the humidity sensing properties of thin nanosized coatings is demonstrated, providing opportunities for advanced characterization of new functional materials, thus broadly contributing to the state of the art of sensor technologies. Full article
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12 pages, 1552 KB  
Article
Quantum Sensing of Local Magnetic Phase Transitions and Fluctuations near the Curie Temperature in Tm3Fe5O12 Using NV Centers
by Yuqing Zhu, Mengyuan Cai, Qian Zhang, Peiyang Wang, Yuanjie Yang, Jiaxin Zhao, Wei Zhu and Guanzhong Wang
Micromachines 2025, 16(6), 643; https://doi.org/10.3390/mi16060643 - 28 May 2025
Viewed by 924
Abstract
Thulium iron garnet (Tm3Fe5O12, TmIG) is a promising material for next-generation spintronic and quantum technologies owing to its high Curie temperature and strong perpendicular magnetic anisotropy. However, conventional magnetometry techniques are limited by insufficient spatial resolution and [...] Read more.
Thulium iron garnet (Tm3Fe5O12, TmIG) is a promising material for next-generation spintronic and quantum technologies owing to its high Curie temperature and strong perpendicular magnetic anisotropy. However, conventional magnetometry techniques are limited by insufficient spatial resolution and sensitivity to probe local magnetic phase transitions and critical spin dynamics in thin films. In this study, we present the first quantitative investigation of local magnetic field fluctuations near the Curie temperature in TmIG thin films using nitrogen-vacancy (NV) center-based quantum sensing. By integrating optically detected magnetic resonance (ODMR) and NV spin relaxometry (T1 measurements) with macroscopic techniques such as SQUID magnetometry and Hall effect measurements, we systematically characterize both the static magnetization and dynamic spin fluctuations across the magnetic phase transition. Our results reveal a pronounced enhancement in NV spin relaxation rates near 360 K, providing direct evidence of critical spin fluctuations at the nanoscale. This work highlights the unique advantages of NV quantum sensors for investigating dynamic critical phenomena in complex magnetic systems and establishes a versatile, multimodal framework for studying local phase transition kinetics in high-temperature magnetic insulators. Full article
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20 pages, 2054 KB  
Review
Solid-State Materials for Opto-Spintronics: Focus on Ferromagnets and 2D Materials
by Ana-Maria Florea (Raduta), Stefan Caramizoiu, Ana-Maria Iordache, Stefan-Marian Iordache and Bogdan Bita
Solids 2025, 6(2), 25; https://doi.org/10.3390/solids6020025 - 20 May 2025
Viewed by 3061
Abstract
Opto-spintronics is an emerging field that focuses on harnessing light to manipulate and analyze electron spins to develop next-generation electronic devices. This paper explores recent progress and the role of solid-state materials in opto-spintronics by focusing on key classes of materials, such as [...] Read more.
Opto-spintronics is an emerging field that focuses on harnessing light to manipulate and analyze electron spins to develop next-generation electronic devices. This paper explores recent progress and the role of solid-state materials in opto-spintronics by focusing on key classes of materials, such as ferromagnetic semiconductors, two-dimensional (2D) transition metal dichalcogenides (TMDCs), and topological insulators. It examines the unique properties of ferromagnetic and antiferromagnetic materials and their ability to interact with light to affect spin dynamics, offering potential for improved sensing and quantum computing. By combining opto-spintronics with solid-state systems, spintronic devices could become faster and more efficient, leading to new technological advancements and scalable technologies. Full article
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14 pages, 2038 KB  
Article
Type II ZnO-MoS2 Heterostructure-Based Self-Powered UV-MIR Ultra-Broadband p-n Photodetectors
by Badi Zhou, Xiaoyan Peng, Jin Chu, Carlos Malca, Liz Diaz, Andrew F. Zhou and Peter X. Feng
Molecules 2025, 30(5), 1063; https://doi.org/10.3390/molecules30051063 - 26 Feb 2025
Cited by 3 | Viewed by 1369
Abstract
This study presents the fabrication and characterization of ZnO-MoS2 heterostructure-based ultra-broadband photodetectors capable of operating across the ultraviolet (UV) to mid-infrared (MIR) spectral range (365 nm–10 μm). The p-n heterojunction was synthesized via RF magnetron sputtering and spin coating, followed by annealing. [...] Read more.
This study presents the fabrication and characterization of ZnO-MoS2 heterostructure-based ultra-broadband photodetectors capable of operating across the ultraviolet (UV) to mid-infrared (MIR) spectral range (365 nm–10 μm). The p-n heterojunction was synthesized via RF magnetron sputtering and spin coating, followed by annealing. Structural and optical analyses confirmed their enhanced light absorption, efficient charge separation, and strong built-in electric field. The photodetectors exhibited light-controlled hysteresis in their I-V characteristics, attributed to charge trapping and interfacial effects, which could enable applications in optical memory and neuromorphic computing. The devices operated self-powered, with a peak responsivity at 940 nm, which increased significantly under an applied bias. The response and recovery times were measured at approximately 100 ms, demonstrating their fast operation. Density functional theory (DFT) simulations confirmed the type II band alignment, with a tunable bandgap that was reduced to 0.20 eV with Mo vacancies, extending the detection range. The ZnO-MoS2 heterostructure’s broad spectral response, fast operation, and defect-engineered bandgap tunability highlight its potential for imaging, environmental monitoring, and IoT sensing. This work provides a cost-effective strategy for developing high-performance, ultra-broadband, flexible photodetectors, paving the way for advancements in optoelectronics and sensing technologies. Full article
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31 pages, 3091 KB  
Review
Silicon-28-Tetrafluoride as an Educt of Isotope-Engineered Silicon Compounds and Bulk Materials for Quantum Systems
by Owen C. Ernst, David Uebel, Roman Brendler, Konstantin Kraushaar, Max Steudel, Jörg Acker and Edwin Kroke
Molecules 2024, 29(17), 4222; https://doi.org/10.3390/molecules29174222 - 5 Sep 2024
Cited by 2 | Viewed by 4090
Abstract
This review provides a summary of the existing literature on a crucial raw material for the production of isotopically pure semiconductors, which are essential for the development of second-generation quantum systems. Silicon-28-tetrafluoride (28SiF4) is used as an educt for [...] Read more.
This review provides a summary of the existing literature on a crucial raw material for the production of isotopically pure semiconductors, which are essential for the development of second-generation quantum systems. Silicon-28-tetrafluoride (28SiF4) is used as an educt for several isotope-engineered chemicals, such as silane-28 (28SiH4) and silicon-28-trichloride (28SiHCl3), which are needed in the pursuit of various quantum technologies. We are exploring the entire chain from the synthesis of 28SiF4 to quantum applications. This includes the chemical properties of SiF4, isotopic enrichment, conversion to silanes, conversion to bulk 28Si and thin films, the physical properties of 28Si (spin neutrality, thermal conductivity, optical properties), and the applications in quantum computing, photonics, and quantum sensing techniques. Full article
(This article belongs to the Special Issue Exclusive Feature Papers in Physical Chemistry, 2nd Edition)
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29 pages, 25261 KB  
Review
Advances in Organic Multiferroic Junctions
by Bogdana Borca
Coatings 2024, 14(6), 682; https://doi.org/10.3390/coatings14060682 - 30 May 2024
Cited by 2 | Viewed by 1534
Abstract
Typically, organic multiferroic junctions (OMFJs) are formed of an organic ferroelectric layer sandwiched between two ferromagnetic electrodes. The main scientific interest in OMFJs focuses on the magnetoresistive properties of the magnetic spin valve combined with the electroresistive properties associated with the ferroelectric junction. [...] Read more.
Typically, organic multiferroic junctions (OMFJs) are formed of an organic ferroelectric layer sandwiched between two ferromagnetic electrodes. The main scientific interest in OMFJs focuses on the magnetoresistive properties of the magnetic spin valve combined with the electroresistive properties associated with the ferroelectric junction. In consequence, memristive properties that couple magnetoelectric functionalities, which are one of the most active fields of research in material sciences, are opening a large spectrum of technological applications from nonvolatile memory to elements in logic circuits, sensing devices, energy harvesting and biological synapsis models in the emerging area of neuromorphic computing. The realization of these multifunctional electronic elements using organic materials is presenting various advantages related to their low-cost, versatile synthesis and low power consumption functioning for sustainable electronics; green disintegration for transient electronics; and flexibility, light weight and/or biocompatibility for flexible electronics. The purpose of this review is to address the advancement of all OMFJs including not only the achievements in the charge and spin transport through OMFJs together with the effects of electroresistance and magnetoresistance but also the challenges and ways to overcome them for the most used materials for OMFJs. Full article
(This article belongs to the Special Issue Advances of Nanoparticles and Thin Films)
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18 pages, 7898 KB  
Article
Chemiresistors Based on Hybrid Nanostructures Obtained from Graphene and Conducting Polymers with Potential Use in Breath Methane Detection Associated with Irritable Bowel Syndrome
by Alexandru F. Trandabat, Romeo C. Ciobanu, Oliver Daniel Schreiner, Thomas Gabriel Schreiner and Sebastian Aradoaei
Int. J. Mol. Sci. 2024, 25(10), 5552; https://doi.org/10.3390/ijms25105552 - 20 May 2024
Cited by 3 | Viewed by 1322
Abstract
This paper describes the process of producing chemiresistors based on hybrid nanostructures obtained from graphene and conducting polymers. The technology of graphene presumed the following: dispersion and support stabilization based on the chemical vapor deposition technique; transfer of the graphene to the substrate [...] Read more.
This paper describes the process of producing chemiresistors based on hybrid nanostructures obtained from graphene and conducting polymers. The technology of graphene presumed the following: dispersion and support stabilization based on the chemical vapor deposition technique; transfer of the graphene to the substrate by spin-coating of polymethyl methacrylate; and thermal treatment and electrochemical delamination. For the process at T = 950 °C, a better settlement of the grains was noticed, with the formation of layers predominantly characterized by peaks and not by depressions. The technology for obtaining hybrid nanostructures from graphene and conducting polymers was drop-casting, with solutions of Poly(3-hexylthiophene (P3HT) and Poly[(9,9-dioctylfluorenyl-2,7-diyl)-co-bithiophene] (F8T2). In the case of F8T2, compared to P3HT, a 10 times larger dimension of grain size and about 7 times larger distances between the peak clusters were noticed. To generate chemiresistors from graphene–polymer structures, an ink-jet printer was used, and the metallization was made with commercial copper ink for printed electronics, leading to a structure of a resistor with an active surface of about 1 cm2. Experimental calibration curves were plotted for both sensing structures, for a domain of CH4 of up to 1000 ppm concentration in air. A linearity of the curve for the low concentration of CH4 was noticed for the graphene structure with F8T2, presenting a sensitivity of about 6 times higher compared with the graphene structure with P3HT, which makes the sensing structure of graphene with F8T2 more feasible and reliable for the medical application of irritable bowel syndrome evaluation. Full article
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18 pages, 5018 KB  
Article
Magnetic Resonance Study of Bulky CVD Diamond Disc
by Alexander Shames, Alexander Panich, Lonia Friedlander, Haim Cohen, James Butler and Raymond Moreh
Materials 2024, 17(8), 1871; https://doi.org/10.3390/ma17081871 - 18 Apr 2024
Cited by 1 | Viewed by 1816
Abstract
Diamonds produced using chemical vapor deposition (CVD) have found many applications in various fields of science and technology. Many applications involve polycrystalline CVD diamond films of micron thicknesses. However, a variety of optical, thermal, mechanical, and radiation sensing applications require more bulky CVD [...] Read more.
Diamonds produced using chemical vapor deposition (CVD) have found many applications in various fields of science and technology. Many applications involve polycrystalline CVD diamond films of micron thicknesses. However, a variety of optical, thermal, mechanical, and radiation sensing applications require more bulky CVD diamond samples. We report the results of a magnetic resonance and structural study of a thick, sizable polycrystalline CVD diamond disc, both as-prepared and treated with e-beam irradiation/high-temperature annealing, as well as gamma irradiation. The combination of various magnetic resonance techniques reveals and enables the attribution of a plentiful collection of paramagnetic defects of doublet and triplet spin origin. Analysis of spectra, electron, and nuclear spin relaxation, as well as nuclear spin diffusion, supports the conclusion of significant macro- and micro-inhomogeneities in the distribution of nitrogen-related defects. Full article
(This article belongs to the Section Materials Physics)
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17 pages, 4906 KB  
Article
Sensing at the Nanoscale Using Nitrogen-Vacancy Centers in Diamond: A Model for a Quantum Pressure Sensor
by Hari P. Paudel, Gary R. Lander, Scott E. Crawford and Yuhua Duan
Nanomaterials 2024, 14(8), 675; https://doi.org/10.3390/nano14080675 - 12 Apr 2024
Cited by 3 | Viewed by 4319
Abstract
The sensing of stress under harsh environmental conditions with high resolution has critical importance for a range of applications including earth’s subsurface scanning, geological CO2 storage monitoring, and mineral and resource recovery. Using a first-principles density functional theory (DFT) approach combined with [...] Read more.
The sensing of stress under harsh environmental conditions with high resolution has critical importance for a range of applications including earth’s subsurface scanning, geological CO2 storage monitoring, and mineral and resource recovery. Using a first-principles density functional theory (DFT) approach combined with the theoretical modelling of the low-energy Hamiltonian, here, we investigate a novel approach to detect unprecedented levels of pressure by taking advantage of the solid-state electronic spin of nitrogen-vacancy (NV) centers in diamond. We computationally explore the effect of strain on the defect band edges and band gaps by varying the lattice parameters of a diamond supercell hosting a single NV center. A low-energy Hamiltonian is developed that includes the effect of stress on the energy level of a ±1 spin manifold at the ground state. By quantifying the energy level shift and split, we predict pressure sensing of up to 0.3 MPa/Hz using the experimentally measured spin dephasing time. We show the superiority of the quantum sensing approach over traditional optical sensing techniques by discussing our results from DFT and theoretical modelling for the frequency shift per unit pressure. Importantly, we propose a quantum manometer that could be useful to measure earth’s subsurface vibrations as well as for pressure detection and monitoring in high-temperature superconductivity studies and in material sciences. Our results open avenues for the development of a sensing technology with high sensitivity and resolution under extreme pressure limits that potentially has a wider applicability than the existing pressure sensing technologies. Full article
(This article belongs to the Special Issue First-Principle Calculation Study of Nanomaterials)
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42 pages, 2689 KB  
Review
The Second Quantum Revolution: Unexplored Facts and Latest News
by Kimberly Intonti, Loredana Viscardi, Veruska Lamberti, Amedeo Matteucci, Bruno Micciola, Michele Modestino and Canio Noce
Encyclopedia 2024, 4(2), 630-671; https://doi.org/10.3390/encyclopedia4020040 - 29 Mar 2024
Viewed by 7939
Abstract
The Second Quantum Revolution refers to a contemporary wave of advancements and breakthroughs in the field of quantum physics that extends beyond the early developments of Quantum Mechanics that occurred in the 20th century. One crucial aspect of this revolution is the deeper [...] Read more.
The Second Quantum Revolution refers to a contemporary wave of advancements and breakthroughs in the field of quantum physics that extends beyond the early developments of Quantum Mechanics that occurred in the 20th century. One crucial aspect of this revolution is the deeper exploration and practical application of quantum entanglement. Entanglement serves as a cornerstone in the ongoing revolution, contributing to quantum computing, communication, fundamental physics experiments, and advanced sensing technologies. Here, we present and discuss some of the recent applications of entanglement, exploring its philosophical implications and non-locality beyond Bell’s theorem, thereby critically examining the foundations of Quantum Mechanics. Additionally, we propose educational activities that introduce high school students to Quantum Mechanics by emphasizing entanglement as an essential concept to understand in order to become informed participants in the Second Quantum Revolution. Furthermore, we present the state-of-art developments of a largely unexplored and promising realization of real qubits, namely the molecular spin qubits. We review the available and suggested device architectures to host and use molecular spins. Moreover, we summarize the experimental findings on solid-state spin qubit devices based on magnetic molecules. Finally, we discuss how the Second Quantum Revolution might significantly transform law enforcement by offering specific examples and methodologies to address the evolving challenges in public safety and security. Full article
(This article belongs to the Section Physical Sciences)
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12 pages, 7827 KB  
Article
Understanding the Effect of Deposition Technique on the Structure–Property Relationship of Polyaniline Thin Films Applied in Potentiometric pH Sensor
by Vinicius M. Fraga, Isabela T. Lovi, Luis M. G. Abegão and Hugo J. N. P. D. Mello
Polymers 2023, 15(16), 3450; https://doi.org/10.3390/polym15163450 - 18 Aug 2023
Cited by 7 | Viewed by 1702
Abstract
The comprehension of potentiometric pH sensors with polymeric thin films for new and advanced applications is a constant technological need. The present study aimed to explore the relationship between the sensitivity and correlation coefficient of potentiometric pH sensors and the structure–property relationship of [...] Read more.
The comprehension of potentiometric pH sensors with polymeric thin films for new and advanced applications is a constant technological need. The present study aimed to explore the relationship between the sensitivity and correlation coefficient of potentiometric pH sensors and the structure–property relationship of polyaniline thin films. The effect of the deposition method on the sample’s properties was evaluated. Galvanostatically electrodeposited and spin-coated polyaniline thin films were used as the sensing stage. Samples were electrodeposited with a current density of 0.5 mA/cm2 for 300, 600, and 1200 s and were spin coated for 60 s with an angular velocity of 500, 1000, and 2000 rpm. The electrodeposited set of films presented higher average sensitivity, 73.4 ± 1.3 mV/pH, compared to the spin-coated set, 59.2 ± 2.5 mV/pH. The electrodeposited films presented higher sensitivity due to their morphology, characterized by a larger roughness and thickness compared to spin-coated ones, favoring the potentiometric response. Also, their oxidation state, evaluated with cyclic voltammetry and UV-VIS spectroscopy, corroborates their sensing performance. The understanding of the structure–property relationship of the polymeric films affecting the pH detection is discussed based on the characteristics of the deposition method used. Full article
(This article belongs to the Special Issue Polymer Sensors: Preparation, Characterization and Applications)
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15 pages, 14761 KB  
Technical Note
A Benchmark for Multi-Modal LiDAR SLAM with Ground Truth in GNSS-Denied Environments
by Ha Sier, Qingqing Li, Xianjia Yu, Jorge Peña Queralta, Zhuo Zou and Tomi Westerlund
Remote Sens. 2023, 15(13), 3314; https://doi.org/10.3390/rs15133314 - 28 Jun 2023
Cited by 20 | Viewed by 5911
Abstract
LiDAR-based simultaneous localization and mapping (SLAM) approaches have obtained considerable success in autonomous robotic systems. This is in part owing to the high accuracy of robust SLAM algorithms and the emergence of new and lower-cost LiDAR products. This study benchmarks the current state-of-the-art [...] Read more.
LiDAR-based simultaneous localization and mapping (SLAM) approaches have obtained considerable success in autonomous robotic systems. This is in part owing to the high accuracy of robust SLAM algorithms and the emergence of new and lower-cost LiDAR products. This study benchmarks the current state-of-the-art LiDAR SLAM algorithms with a multi-modal LiDAR sensor setup, showcasing diverse scanning modalities (spinning and solid state) and sensing technologies, and LiDAR cameras, mounted on a mobile sensing and computing platform. We extend our previous multi-modal multi-LiDAR dataset with additional sequences and new sources of ground truth data. Specifically, we propose a new multi-modal multi-LiDAR SLAM-assisted and ICP-based sensor fusion method for generating ground truth maps. With these maps, we then match real-time point cloud data using a normal distributions transform (NDT) method to obtain the ground truth with a full six-degrees-of-freedom (DOF) pose estimation. These novel ground truth data leverage high-resolution spinning and solid-state LiDARs. We also include new open road sequences with GNSS-RTK data and additional indoor sequences with motion capture (MOCAP) ground truth, complementing the previous forest sequences with MOCAP data. We perform an analysis of the positioning accuracy achieved, comprising ten unique configurations generated by pairing five distinct LiDAR sensors with five SLAM algorithms, to critically compare and assess their respective performance characteristics. We also report the resource utilization in four different computational platforms and a total of five settings (Intel and Jetson ARM CPUs). Our experimental results show that the current state-of-the-art LiDAR SLAM algorithms perform very differently for different types of sensors. More results, code, and the dataset can be found at GitHub. Full article
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