Sensors, Volume 18, Issue 7 (July 2018) – 422 articles

Surface Acoustic Wave (SAW) sensors with several types of polymer sensing films, containing embedded Fe₃O₄ nanoparticles (NPs) with various dimensions and concentrations, were studied. A sensor with a sensing film consisting of the polymer alone was used for comparison. NPs with a mean diameter of 7 nm were produced by laser ablation with 5 ns pulse durations, and NPs with 13 nm diameters were obtained with a laser having 10 ps pulse durations. The properties of the Surface Acoustic Wave sensors with such sensing films were analyzed. Their response (frequency shift, sensitivity, noise and response time) to three different volatile organic components (VOCs) at various concentrations were compared with one another. The frequency shift and sensitivity increased with increasing NP concentration in the polymer for a given NP dimension and with decreasing NP diameter for a given concentration. The best results were obtained for the smallest NPs used. The SAW sensor containing 7 nm NPs had a limit of detection (LOD) of 65 ppm (almost five times better than the sensor with polymer alone), and a response time of about 9 s for ethanol. Full article

Global Navigation Satellite Systems (GNSS) deliver absolute position and velocity, as well as time information (P, V, T). However, in urban areas, the GNSS navigation performance is restricted due to signal obstructions and multipath. This is especially true for applications dealing with highly automatic or even autonomous driving. Subsequently, multi-sensor platforms including laser scanners and cameras, as well as map data are used to enhance the navigation performance, namely in accuracy, integrity, continuity and availability. Although well-established procedures for integrity monitoring exist for aircraft navigation, for sensors and fusion algorithms used in automotive navigation, these concepts are still lacking. The research training group i.c.sens, integrity and collaboration in dynamic sensor networks, aims to fill this gap and to contribute to relevant topics. This includes the definition of alternative integrity concepts for space and time based on set theory and interval mathematics, establishing new types of maps that report on the trustworthiness of the represented information, as well as taking advantage of collaboration by improved filters incorporating person and object tracking. In this paper, we describe our approach and summarize the preliminary results. Full article

The convolutional neural network (CNN) has made great strides in the area of voiceprint recognition; but it needs a huge number of data samples to train a deep neural network. In practice, it is too difficult to get a large number of training samples, and it cannot achieve a better convergence state due to the limited dataset. In order to solve this question, a new method using a deep migration hybrid model is put forward, which makes it easier to realize voiceprint recognition for small samples. Firstly, it uses Transfer Learning to transfer the trained network from the big sample voiceprint dataset to our limited voiceprint dataset for the further training. Fully-connected layers of a pre-training model are replaced by restricted Boltzmann machine layers. Secondly, the approach of Data Augmentation is adopted to increase the number of voiceprint datasets. Finally, we introduce fast batch normalization algorithms to improve the speed of the network convergence and shorten the training time. Our new voiceprint recognition approach uses the TLCNN-RBM (convolutional neural network mixed restricted Boltzmann machine based on transfer learning) model, which is the deep migration hybrid model that is used to achieve an average accuracy of over 97%, which is higher than that when using either CNN or the TL-CNN network (convolutional neural network based on transfer learning). Thus, an effective method for a small sample of voiceprint recognition has been provided. Full article

Wireless power transfer (WPT) is a promising technology to realize the vision of Internet-of-Things (IoT) by powering energy-hungry IoT nodes by electromagnetic waves, overcoming the difficulty in battery recharging for massive numbers of nodes. Specifically, wireless charging stations (WCS) are deployed to transfer energy wirelessly to IoT nodes in the charging coverage. However, the coverage is restricted due to the limited hardware capability and safety issue, making mobile nodes have different battery charging patterns depending on their moving speeds. For example, slow moving nodes outside the coverage resort to waiting for energy charging from WCSs for a long time while those inside the coverage consistently recharge their batteries. On the other hand, fast moving nodes are able to receive energy within a relatively short waiting time. This paper investigates the above impact of node speed on energy provision and the resultant throughput of energy-constrained opportunistic IoT networks when data exchange between nodes are constrained by their intermittent connections as well as the levels of remaining energy. To this end, we design a two-dimensional Markov chain of which the state dimensions represent remaining energy and distance to the nearest WCS normalized by node speed, respectively. Solving this enables providing the following three insights. First, faster node speed makes the inter-meeting time between a node and a WCS shorter, leading to more frequent energy supply and higher throughput. Second, the above effect of node speed becomes marginal as the battery capacity increases. Finally, as nodes are more densely deployed, the throughput becomes scaling with the density ratio between mobiles and WCSs but independent of node speed, meaning that the throughput improvement from node speed disappears in dense networks. The results provide useful guidelines for IoT network provisioning and planning to achieve the maximum throughput performance given mobile environments. Full article

Transmission lines are affected by Aeolian vibration, which causes strands to break and eventually causes an entire line to break. In this paper, a method for monitoring strand breaking based on modal identification is proposed. First, the natural frequency variation of a conductor caused by strand breakage is analyzed, and a modal experiment of the LGJ-95/15 conductor is conducted. The measurement results show that the natural frequencies of the conductor decrease with an increasing number of broken strands. Next, a monitoring system incorporating a fiber Bragg grating (FBG)-based accelerometer is designed in detail. The FBG sensor is mounted on the conductor to measure the vibration signal. A wind speed sensor is used to measure the wind speed signal and is installed on the tower. An analyzer is also installed on the tower to calculate the natural frequencies, and the data are sent to the monitoring center via 3G. Finally, a monitoring system is tested on a 110 kV experimental transmission line, and the short-time Fourier transform (STFT) method and stochastic subspace identification (SSI) method are used to identify the natural frequencies of the conductor vibration. The experimental results show that SSI analysis provides a higher precision than does STFT and can extract the natural frequency under various wind speeds as an effective basis for discriminating between broken strands. Full article

A novel intensity demodulated refractive index (RI) sensor is theoretically and experimentally demonstrated based on the front-tapered single-mode-multimode-single-mode (FT-SMS) fiber structure. The front taper is fabricated in a section of multimode fiber by flame-heated drawing technique. The intensity feature in the taper area is analyzed through the beam propagation method and the comprehensive tests are then conducted in terms of RI and temperature. The experimental results show that, in FT-SMS, the relative sensitivity is −342.815 dB/RIU in the range of 1.33~1.37. The corresponding resolution reaches 2.92 × 10⁻⁵ RIU, which is more than four times higher than that in wavelength demodulation. The temperature sensitivity is 0.307 dB/°C and the measurement error from cross-sensitivity is less than 2 × 10⁻⁴. In addition, fabricated RI sensor presents high stability in terms of wavelength (±0.045 nm) and intensity (±0.386 dB) within 2 h of continuous operation. Full article

A flexible microfluidic super-capacitive pressure sensor is developed to measure the surface pressure of a complex structure. The innovative sensor contains a filter paper filled with ionic liquid, and coated with two indium tin oxide polyethylene terephthalate (ITO-PET) films on the top and bottom, respectively. When external pressure is applied on the top ITO-PET film of the sensor mounted on the surface of an aircraft, the capacitance between the two ITO-PET films will change because of the deformation of the top ITO-PET film. The external pressure will be determined based on the change of the capacitance. Compared to the traditional pressure sensor, the developed sensor provides a high sensitivity of up to 178.5 nF/KPa and rapid dynamic responses for pressure measurement. Meanwhile, experiments are also conducted to study the influence of the thickness of the sensing film, sensing area, temperature, and humidity. Full article

To provide secure communication, the authentication-and-key-agreement scheme plays a vital role in multi-server environments, Internet of Things (IoT), wireless sensor networks (WSNs), etc. This scheme enables users and servers to negotiate for a common session initiation key. Our proposal first analyzes Amin et al.’s authentication scheme based on RSA and proves that it cannot provide perfect forward secrecy and user un-traceability, and is susceptible to offline password guessing attack and key-compromise user impersonation attack. Secondly, we provide that Srinivas et al.’s multi-server authentication scheme is not secured against offline password guessing attack and key-compromise user impersonation attack, and is unable to ensure user un-traceability. To remedy such limitations and improve computational efficiency, we present a multi-server two-factor authentication scheme using elliptic curve cryptography (ECC). Subsequently, employing heuristic analysis and Burrows–Abadi–Needham logic (BAN-Logic) proof, it is proven that the presented scheme provides security against all known attacks, and in particular provides user un-traceability and perfect forward security. Finally, appropriate comparisons with prevalent works demonstrate the robustness and feasibility of the presented solution in multi-server environments. Full article

This paper focuses on optimal power control in wireless sensor networks powered by RF energy, under the simultaneous wireless information and power transfer (SWIFT) protocol, where the information and power can be transmitted at the same time. We aim to maximize the utility for each sensor through the optimal power control, considering the influences of both the SINR and the harvested energy. The utility maximization problem is formulated as a cooperative dynamic game of a given time duration. All the sensors cooperate together to control their transmission power to maximize the utility and agree to act cooperatively so that a team optimum can be achieved. As a result, a feedback Nash equilibrium solution for each sensor is given based on the dynamic programming theory. Simulation results verify the effectiveness of the proposed approach, by comparing the grand coalition solutions with the non-cooperative solutions. Full article

A cable-driven parallel robot has benefits of wide workspace, high payload, and high dynamic response owing to its light cable actuator utilization. For wide workspace applications, in particular, the body frame becomes large to cover the wide workspace that causes robot kinematic errors resulting from geometric uncertainty. However, appropriate sensors as well as inexpensive and easy calibration methods to measure the actual robot kinematic parameters are not currently available. Hence, we present a calibration sensor device and an auto-calibration methodology for the over-constrained cable-driven parallel robots using one-dimension laser distance sensors attached to the robot end-effector, to overcome the robot geometric uncertainty and to implement precise robot control. A novel calibration workflow with five phases—preparation, modeling, measuring, identification, and adjustment—is proposed. The proposed calibration algorithms cover the cable-driven parallel robot kinematics, as well as uncertainty modeling such as cable elongation and pulley kinematics. We performed extensive simulations and experiments to verify the performance of the suggested method using the MINI cable robot. The experimental results show that the kinematic parameters can be identified correctly with 0.92 mm accuracy, and the robot position control accuracy is increased by 58%. Finally, we verified that the developed calibration sensor devices and the calibration methodology are applicable to the massive-size cable-driven parallel robot system. Full article

Having an incentive mechanism is crucial for the recruitment of mobile users to participate in a sensing task and to ensure that participants provide high-quality sensing data. In this paper, we investigate a staged incentive and punishment mechanism for mobile crowd sensing. We first divide the incentive process into two stages: the recruiting stage and the sensing stage. In the recruiting stage, we introduce the payment incentive coefficient and design a Stackelberg-based game method. The participants can be recruited via game interaction. In the sensing stage, we propose a sensing data utility algorithm in the interaction. After the sensing task, the winners can be filtered out using data utility, which is affected by time–space correlation. In particular, the participants’ reputation accumulation can be carried out based on data utility, and a punishment mechanism is presented to reduce the waste of payment costs caused by malicious participants. Finally, we conduct an extensive study of our solution based on realistic data. Extensive experiments show that compared to the existing positive auction incentive mechanism (PAIM) and reverse auction incentive mechanism (RAIM), our proposed staged incentive mechanism (SIM) can effectively extend the incentive behavior from the recruiting stage to the sensing stage. It not only achieves being a real-time incentive in both the recruiting and sensing stages but also improves the utility of sensing data. Full article

In this paper, a novel imperceptible, fragile and blind watermark scheme is proposed for speech tampering detection and self-recovery. The embedded watermark data for content recovery is calculated from the original discrete cosine transform (DCT) coefficients of host speech. The watermark information is shared in a frames-group instead of stored in one frame. The scheme trades off between the data waste problem and the tampering coincidence problem. When a part of a watermarked speech signal is tampered with, one can accurately localize the tampered area, the watermark data in the area without any modification still can be extracted. Then, a compressive sensing technique is employed to retrieve the coefficients by exploiting the sparseness in the DCT domain. The smaller the tampered the area, the better quality of the recovered signal is. Experimental results show that the watermarked signal is imperceptible, and the recovered signal is intelligible for high tampering rates of up to 47.6%. A deep learning-based enhancement method is also proposed and implemented to increase the SNR of recovered speech signal. Full article

Throughout the last decade, a whole new generation of powered transtibial prostheses and exoskeletons has been developed. However, these technologies are limited by a gait phase detection which controls the wearable device as a function of the activities of the wearer. Consequently, gait phase detection is considered to be of great importance, as achieving high detection accuracy will produce a more precise, stable, and safe rehabilitation device. In this paper, we propose a novel gait percent detection algorithm that can predict a full gait cycle discretised within a 1% interval. We called this algorithm an exponentially delayed fully connected neural network (ED-FNN). A dataset was obtained from seven healthy subjects that performed daily walking activities on the flat ground and a 15-degree slope. The signals were taken from only one inertial measurement unit (IMU) attached to the lower shank. The dataset was divided into training and validation datasets for every subject, and the mean square error (MSE) error between the model prediction and the real percentage of the gait was computed. An average MSE of 0.00522 was obtained for every subject in both training and validation sets, and an average MSE of 0.006 for the training set and 0.0116 for the validation set was obtained when combining all subjects’ signals together. Although our experiments were conducted in an offline setting, due to the forecasting capabilities of the ED-FNN, our system provides an opportunity to eliminate detection delays for real-time applications. Full article

Diffusion tensor imaging (DTI) is known to suffer from long acquisition time, which greatly limits its practical and clinical use. Undersampling of k-space data provides an effective way to reduce the amount of data to acquire while maintaining image quality. Radial undersampling is one of the most popular non-Cartesian k-space sampling schemes, since it has relatively lower sensitivity to motion than Cartesian trajectories, and artifacts from linear reconstruction are more noise-like. Therefore, radial imaging is a promising strategy of undersampling to accelerate acquisitions. The purpose of this study is to investigate various radial sampling schemes as well as reconstructions using compressed sensing (CS). In particular, we propose two randomly perturbed radial undersampling schemes: golden-angle and random angle. The proposed methods are compared with existing radial undersampling methods, including uniformity-angle, randomly perturbed uniformity-angle, golden-angle, and random angle. The results on both simulated and real human cardiac diffusion weighted (DW) images show that, for the same amount of k-space data, randomly sampling around a random radial line results in better reconstruction quality for DTI indices, such as fractional anisotropy (FA), mean diffusivities (MD), and that the randomly perturbed golden-angle undersampling yields the best results for cardiac CS-DTI image reconstruction. Full article

Routine stress monitoring in daily life can predict potentially serious health impacts. Effective stress monitoring in medical and healthcare fields is dependent upon accurate determination of stress-related features. In this study, we determined the optimal stress-related features for effective monitoring of cumulative stress. We first investigated the effects of short- and long-term stress on various heart rate variability (HRV) features using a rodent model. Subsequently, we determined an optimal HRV feature set using support vector machine-recursive feature elimination (SVM-RFE). Experimental results indicate that the HRV time domain features generally decrease under long-term stress, and the HRV frequency domain features have substantially significant differences under short-term stress. Further, an SVM classifier with a radial basis function kernel proved most accurate (93.11%) when using an optimal HRV feature set comprising the mean of R-R intervals (mRR), the standard deviation of R-R intervals (SDRR), and the coefficient of variance of R-R intervals (CVRR) as time domain features, and the normalized low frequency (nLF) and the normalized high frequency (nHF) as frequency domain features. Our findings indicate that the optimal HRV features identified in this study can effectively and efficiently detect stress. This knowledge facilitates development of in-facility and mobile healthcare system designs to support stress monitoring in daily life. Full article

With rapid calculation speed and relatively high accuracy, the AdaBoost-based detection framework has been successfully applied in some real applications of machine vision-based intelligent systems. The main shortcoming of the AdaBoost-based detection framework is that the off-line trained detector cannot be transfer retrained to adapt to unknown application scenes. In this paper, a new transfer learning structure based on two novel methods of supplemental boosting and cascaded ConvNet is proposed to address this shortcoming. The supplemental boosting method is proposed to supplementally retrain an AdaBoost-based detector for the purpose of transferring a detector to adapt to unknown application scenes. The cascaded ConvNet is designed and attached to the end of the AdaBoost-based detector for improving the detection rate and collecting supplemental training samples. With the added supplemental training samples provided by the cascaded ConvNet, the AdaBoost-based detector can be retrained with the supplemental boosting method. The detector combined with the retrained boosted detector and cascaded ConvNet detector can achieve high accuracy and a short detection time. As a representative object detection problem in intelligent transportation systems, the traffic sign detection problem is chosen to show our method. Through experiments with the public datasets from different countries, we show that the proposed framework can quickly detect objects in unknown application scenes. Full article

This paper presents a system with location functionalities for the inventory of traffic signs based on passive RFID technology. The proposed system simplifies the current video-based techniques, whose requirements regarding visibility are difficult to meet in some scenarios, such as dense urban areas. In addition, the system can be easily extended to consider any other street facilities, such as dumpsters or traffic lights. Furthermore, the system can perform the inventory process at night and at a vehicle’s usual speed, thus avoiding interfering with the normal traffic flow of the road. Moreover, the proposed system exploits the benefits of the passive RFID technologies over active RFID, which are typically employed on inventory and vehicular routing applications. Since the performance of passive RFID is not obvious for the required distance ranges on these in-motion scenarios, this paper, as its main contribution, addresses the problem in two different ways, on the one hand theoretically, presenting a radio wave propagation model at theoretical and simulation level for these scenarios; and on the other hand experimentally, comparing passive and active RFID alternatives regarding costs, power consumption, distance ranges, collision problems, and ease of reconfiguration. Finally, the performance of the proposed on-board system is experimentally validated, testing its capabilities for inventory purposes. Full article

With the great development of the Internet of Things (IoT), the use of sensors have increased rapidly because of the importance in the connection between machines and people. A huge number of IoT sensors consume vast amounts of electrical power for stable operation and they are also used for a wide range of applications. Therefore, sensors need to operate independently, sustainably, and wirelessly to improve their capabilities. In this paper, we propose an orientation and the tilt triboelectric sensor (OT-TES) as a self-powered active sensor, which can simultaneously sense the tilting direction and angle by using the two classical principles of triboelectrification and electrostatic induction. The OT-TES device consists of a rectangular acrylic box containing polytetrafluoroethylene (PTFE) balls moved by gravity. The output voltage and current were 2 V and 20 nA, respectively, with a PTFE ball and Al electrode. The multi-channel system was adopted for measuring the degree and direction of tilt by integrating the results of measured electrical signals from the eight electrodes. This OT-TES can be attached on the equipment for drones or divers to measure their stability. As a result, this proposed device is expected to expand the field of TES, as a sensor for sky and the underwater. Full article

Whispering gallery mode (WGM) resonators are versatile high sensitivity sensors, but applications regularly suffer from elaborate and expensive manufacturing and read-out. We have realized a simple and inexpensive concept for an all-polymer WGM sensor. Here, we evaluate its performance for relative humidity measurements demonstrating a sensitivity of 47 pm/% RH. Our results show the sensor concepts’ promising potential for use in real-life applications and environments. Full article

In this work, a new and low-cost Arduino-Based Data Acquisition System (ABDAS) for use in an aerodynamics lab is developed. Its design is simple and reliable. The accuracy of the system has been checked by being directly compared with a commercial and high accuracy level hardware from National Instruments. Furthermore, ABDAS has been compared to the accredited calibration system in the IDR/UPM Institute, its measurements during this testing campaign being used to analyzed two different cup anemometer frequency determination procedures: counting pulses and the Fourier transform. The results indicate a more accurate transfer function of the cup anemometers when counting pulses procedure is used. Full article

Cough peak flow (CPF) is a measurement for evaluating the risk of cough dysfunction and can be measured using various devices, such as spirometers. However, complex device setup and the face mask required to be firmly attached to the mouth impose burdens on both patients and their caregivers. Therefore, this study develops a novel cough strength evaluation method using cough sounds. This paper presents an exponential model to estimate CPF from the cough peak sound pressure level (CPSL). We investigated the relationship between cough sounds and cough flows and the effects of a measurement condition of cough sound, microphone type and participant’s height and gender on CPF estimation accuracy. The results confirmed that the proposed model estimated CPF with a high accuracy. The absolute error between CPFs and estimated CPFs were significantly lower when the microphone distance from the participant’s mouth was within 30 cm than when the distance exceeded 30 cm. Analysis of the model parameters showed that the estimation accuracy was not affected by participant’s height or gender. These results indicate that the proposed model has the potential to improve the feasibility of measuring and assessing CPF. Full article

Trace gas concentration measurements in the stratosphere and troposphere are critically required as inputs to constrain climate models. For this purpose, measurement campaigns on stratospheric aircraft and balloons are being carried out all over the world, each one involving sensors which are tailored for the specific gas and environmental conditions. This paper describes an automated, portable, mid-infrared quantum cascade laser spectrometer, for in situ carbon monoxide mixing ratio measurements in the stratosphere and troposphere. The instrument was designed to be versatile, suitable for easy installation on different platforms and capable of operating completely unattended, without the presence of an operator, not only during one flight but for the whole period of a campaign. The spectrometer features a small size (80 × 25 × 41 cm${}^3$), light weight (23 kg) and low power consumption (85 W typical), without being pressurized and without the need of calibration on the ground or during in-flight operation. The device was tested in the laboratory and in-field during a research campaign carried out in Nepal in summer 2017, onboard the stratospheric aircraft M55 Geophysica. The instrument worked extremely well, without external maintenance during all flights, proving an in-flight sensitivity of 1–2 ppbV with a time resolution of 1 s. Full article

We present a geometric framework for surface denoising using graph signal processing, which is an emerging field that aims to develop new tools for processing and analyzing graph-structured data. The proposed approach is formulated as a constrained optimization problem whose objective function consists of a fidelity term specified by a noise model and a regularization term associated with prior data. Both terms are weighted by a normalized mesh Laplacian, which is defined in terms of a data-adaptive kernel similarity matrix in conjunction with matrix balancing. Minimizing the objective function reduces it to iteratively solve a sparse system of linear equations via the conjugate gradient method. Extensive experiments on noisy carpal bone surfaces demonstrate the effectiveness of our approach in comparison with existing methods. We perform both qualitative and quantitative comparisons using various evaluation metrics. Full article

As the number of mobile users and video traffics grow explosively, the data rate demands increase tremendously. To improve the spectral efficiency, the spectrum are reused inter cell or intra cell, such as the ultra dense network with multi-cell or the cellular network with Device-to-Device communications, where the co-channel interferences are brought and needs to be suppressed. According to the time-frequency energy sensing to the communication signals, the desired signal and the interference signal have different energy concentration areas on the time frequency plane, which provide opportunities to suppress the co-channel interference with time varying filter. This paper analyzes the time-frequency distributions of the Gaussian pulse shaping signals, discusses the effect of the analyzing window length on the time-frequency resolution, exploits the equivalence between the time frequency analysis at the baseband and at the radio front end, and finally reveals the advantages of the proposed masking threshold constrained time varying filter based co-channel interference mitigation method. The pass region for the linear time varying filter is generated according to the time-varying energy characteristics of the I/Q separated 4-QAM pulse shaping signals, where the optimum masking threshold is obtained by the optimum-BER criterion. The proposed co-channel interference suppression method is evaluated in aspect of BER performance, and simulation results show that the proposed method outperforms existing methods with low-pass or band-pass filters. Full article

The dual-channel synthetic aperture radar (SAR) system is widely applied in the field of ground moving-target indication (GMTI). With the increase of the imaging resolution, the resulting substantial raw data samples increase the transmission and storage burden. We tackle the problem by adopting the joint sparsity model 1 (JSM-1) in distributed compressed sensing (DCS) to exploit the correlation between the two channels of the dual-channel SAR system. We propose a novel algorithm, namely the hierarchical variational Bayesian based distributed compressed sensing (HVB-DCS) algorithm for the JSM-1 model, which decouples the common component from the innovation components by applying variational Bayesian approximation. Using the proposed HVB-DCS algorithm in the dual-channel SAR based GMTI (SAR-GMTI) system, we can jointly reconstruct the dual-channel signals, and simultaneously detect the moving targets and stationary clutter, which enables sampling at a further lower rate in azimuth as well as improves the reconstruction accuracy. The simulation and experimental results show that the proposed HVB-DCS algorithm is capable of detecting multiple moving targets while suppressing the clutter at a much lower data rate in azimuth compared with the compressed sensing (CS) and range-Doppler (RD) algorithms. Full article

The article presents a measurement system that captures two components of a motor vehicle’s magnetic profile, which are associated with the real and imaginary part of the impedance of a narrow inductive loop sensor. The proposed algorithm utilizes both components of the impedance magnetic profile to detect vehicle axles, including lifted axles. Accuracies of no less than 71.8% were achieved for vehicles travelling with a lifted axle, and no less than 98.8% for other vehicles. The axle detection accuracy was determined during a series of experiments carried out under normal traffic conditions, using profile analysis, video footage and reference signals from an axle load detector on a total of 4000 vehicles. Full article

A rigid surface–volume registration scheme is presented in this study to register computed tomography (CT) and free-hand tracked ultrasound (US) images of the talocrural joint. Prior to registration, bone surfaces expected to be visible in US are extracted from the CT volume and bone contours in 2D US data are enhanced based on monogenic signal representation of 2D US images. A 3D monogenic signal data is reconstructed from the 2D data using the position of the US probe recorded with an optical tracking system. When registering the surface extracted from the CT scan to the monogenic signal feature volume, six transformation parameters are estimated so as to optimize the sum of monogenic signal features over the transformed surface. The robustness of the registration algorithm was tested on a dataset collected from 12 cadaveric ankles. The proposed method was used in a clinical case study to investigate the potential of US imaging for pre-operative planning of arthroscopic access to talar (osteo)chondral defects (OCDs). The results suggest that registrations with a registration error of 2 mm and less is achievable, and US has the potential to be used in assessment of an OCD’ arthroscopic accessibility, given the fact that 51% of the talar surface could be visualized. Full article

Covering a whole surface of a robot with tiny sensors which can measure local pressure and transmit the data through a network is an ideal solution to give an artificial skin to robots to improve a capability of action and safety. The crucial technological barrier is to package force sensor and communication function in a small volume. In this paper, we propose the novel device structure based on a wafer bonding technology to integrate and package capacitive force sensor using silicon diaphragm and an integrated circuit separately manufactured. Unique fabrication processes are developed, such as the feed-through forming using a dicing process, a planarization of the Benzocyclobutene (BCB) polymer filled in the feed-through and a wafer bonding to stack silicon diaphragm onto ASIC (application specific integrated circuit) wafer. The ASIC used in this paper has a capacitance measurement circuit and a digital communication interface mimicking a tactile receptor of a human. We successfully integrated the force sensor and the ASIC into a $2.5\times 2.5\times 0.3$ mm die and confirmed autonomously transmitted packets which contain digital sensing data with the linear force sensitivity of 57,640 Hz/N and 10 mN of data fluctuation. A small stray capacitance of 1.33 pF is achieved by use of 10 $\mathsf{\mu }$m thick BCB isolation layer and this minimum package structure. Full article

As magneto-acoustic-electrical tomography (MAET) combines the merits of high contrast and high imaging resolution, and is extremely useful for electrical conductivity measurement, so it is expected to be a promising medical imaging modalities for diagnosis of early-stage cancer. Based on the Verasonics system and the MC600 displacement platform, we designed and implemented a MAET system with a chirp pulse stimulation (MAET-CPS) method and a focal probe was utilized for stepscan focus excitation to enhance the imaging resolution. The relevant experiments were conducted to explore the influence of excitation positions of the single-focus point, and the effect of the excitation position on the amplitudes of the conductivity variation was clearly demonstrated. In order to take advantage of the merits of multifocus imaging, we firstly proposed a single focus MAET system with a chirp pulse stimulation (sfMAET-CPS) method and a multifocus MAET system with a chirp pulse stimulation (mfMAET-CPS) method for high-resolution conductivity imaging, and a homogenous gelatin phantom with a cuboid-shaped hole was used to investigate the accuracy of mfMAET-CPS. Comparative experiments were carried out on the same uniform phantom by the sfMAET-CPS and the mfMAET-CPS, respectively. The results showed that: (1) the electrical conductivity distributions of the homogenous phantom with a cuboid-shaped hole were detected by the sfMAET-CPS but were easily affected by the focal point, which demonstrated that the sfMAET-CPS had a low imaging resolution. (2) Compared with the sfMAET-CPS, the imaging effect of the mfMAET-CPS was much better than that of the sfMAET-CPS. (3) A linear interpolation algorithm was used to process the 2D conductivity distribution; it increased the smoothness of the conductivity distribution and improved the imaging effect. The stepscan focus excitation and the linearly frequency-modulated theory provide an alternative scheme for the clinical application of MAET. Full article

A colorimetric probe for determination of As(III) ions in aqueous solutions on basis of localized surface plasmon resonance (LSPR) was synthesized. The dithiothreitol molecules with two end thiols covalently combined with Au Nanorods (AuNRs) with an aspect ratio of 2.9 by Au-S bond to form dithiothreitol coated Au Nanorods (DTT-AuNRs), acting as colorimetric probe for the determination of As(III) ions. With the adding of As(III) ions, the AuNRs will be aggregated and leading the longitudinal SPR absorption band of DTT-AuNRs decrease due to the As(III) ions can bind with three DTT molecules through an As-S linkage. The potential factors affect the response of DTT-AuNRs to As(III) ions including the concentration of DTT, pH values of DTT-AuNRs, reaction time and NaCl concentration were optimized. Under optimum assay conditions, the DTT-AuNRs colorimetric probe has high sensitivity towards As(III) ions with low detection limit of 38 nM by rules of 3σ/k and excellent linear range of 0.13–10.01 μM. The developed colorimetric probe shows high selectivity for As(III) ions sensing and has applied to determine of As(III) in environmental water samples with quantitative spike-recoveries range from 95.2% to 100.4% with low relative standard deviation of less than 4.4% (n = 3). Full article