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Learning-Based Geographic Routing for Delay-Limited Multihop Wireless Networks
IF 4.3 2区 综合性期刊
IEEE Sensors Journal Pub Date : 2024-11-04 DOI: 10.1109/JSEN.2024.3487919
Jusung Seo;Yeongjun Choi;Sang-Eun Jeon;Seong Ho Chae;Jun-Pyo Hong
{"title":"Learning-Based Geographic Routing for Delay-Limited Multihop Wireless Networks","authors":"Jusung Seo;Yeongjun Choi;Sang-Eun Jeon;Seong Ho Chae;Jun-Pyo Hong","doi":"10.1109/JSEN.2024.3487919","DOIUrl":"https://doi.org/10.1109/JSEN.2024.3487919","url":null,"abstract":"In this article, we propose a deep reinforcement learning (DRL)-based geographic routing method designed to reduce retransmission delay in mobile wireless sensor networks (MWSNs) under disaster communication scenarios. Unstable wireless channels, which are common in these challenging environments, significantly contribute to communication delays. Unlike conventional approaches that assume error-free transmissions, our method accounts for wireless channel instability and node mobility. By incorporating key factors such as topological information and transmission stability, our approach optimizes routing decisions to minimize delays while maintaining packet delivery reliability. Simulation results demonstrate that our method outperforms conventional geographic routing algorithms, achieving lower retransmission delays and higher packet delivery ratios (PDRs) across various environments.","PeriodicalId":447,"journal":{"name":"IEEE Sensors Journal","volume":"24 24","pages":"42163-42171"},"PeriodicalIF":4.3,"publicationDate":"2024-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142844583","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Maximum Likelihood Identification of Stochastic Models of Inertial Sensor Noises
IF 4.3 2区 综合性期刊
IEEE Sensors Journal Pub Date : 2024-11-04 DOI: 10.1109/JSEN.2024.3487542
Shida Ye;Yaakov Bar-Shalom;Peter Willett;Ahmed S. Zaki
{"title":"Maximum Likelihood Identification of Stochastic Models of Inertial Sensor Noises","authors":"Shida Ye;Yaakov Bar-Shalom;Peter Willett;Ahmed S. Zaki","doi":"10.1109/JSEN.2024.3487542","DOIUrl":"https://doi.org/10.1109/JSEN.2024.3487542","url":null,"abstract":"This article applies maximum likelihood estimation (MLE) to the identification of a state-space model for inertial sensor drift. The discrete-time scalar state considered is either a first-order Gauss-Markov process or a Wiener process (WP), both of which are common noise terms in inertial sensor noise models. The measurement model includes an additive white measurement noise. In setting up the MLE, the likelihood function (LF) is derived within the steady-state Kalman filter (KF) framework. The resulting log-likelihood function (LLF) can be expressed as a quadratic function of the measurements. This allows for an explicit expression of the LLF, facilitating the evaluation of the Cramér-Rao lower bound (CRLB) and thence testing and ultimately confirming the statistical efficiency, i.e., the optimality, of the ML estimators. Simulations demonstrate the optimal performance of the estimators, and applications to real sensor data indicate advantages over the Allan variance (AV) method for noise modeling.","PeriodicalId":447,"journal":{"name":"IEEE Sensors Journal","volume":"24 24","pages":"41021-41028"},"PeriodicalIF":4.3,"publicationDate":"2024-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142859144","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Development of an Image-Based Borehole Flowmeter for Real-Time Monitoring of Groundwater Flow Velocity and Direction in Landslide Boreholes
IF 4.3 2区 综合性期刊
IEEE Sensors Journal Pub Date : 2024-11-04 DOI: 10.1109/JSEN.2024.3487634
Junrong Zhang;Chi Chen;Chuan Wu;Yongquan Zhang
{"title":"Development of an Image-Based Borehole Flowmeter for Real-Time Monitoring of Groundwater Flow Velocity and Direction in Landslide Boreholes","authors":"Junrong Zhang;Chi Chen;Chuan Wu;Yongquan Zhang","doi":"10.1109/JSEN.2024.3487634","DOIUrl":"https://doi.org/10.1109/JSEN.2024.3487634","url":null,"abstract":"The velocity and direction of groundwater flow characterize the magnitude and direction of hydrodynamic pressure in landslides, which is critical for landslide stability analysis. However, there is no high-stability, high-precision, and easy-to-operate borehole flowmeter for in situ real-time monitoring of groundwater flow. As such, an image-based borehole flowmeter was developed for this purpose in this study. By integrating hardware such as a high-resolution camera, a cable winch, and a tracer ball, and combining them with feature detection algorithms like the circle Hough transform (CHT), it can realize real-time, high-precision monitoring of groundwater flow velocity and direction. Calibration experiments were conducted to assess the accuracy of flow velocity and direction under various object distances and tracer ball sizes, enabling the determination of their optimal combination. Experimental results indicate that the developed borehole flowmeter demonstrates high accuracy in both flow velocity and direction measurements, with the measured flow velocity and direction exhibiting a high linear correlation with the actual flow velocity and direction. The measurement accuracy of the developed borehole flowmeter is optimal when the object distance is set to 12 cm and the tracer ball diameter is 8 mm. Beyond monitoring groundwater in landslide boreholes, this sensor can precisely measure flow velocity and direction in microflow surface waters, such as rivers and lakes, thus demonstrating the broad potential for diverse applications.","PeriodicalId":447,"journal":{"name":"IEEE Sensors Journal","volume":"24 24","pages":"42079-42087"},"PeriodicalIF":4.3,"publicationDate":"2024-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142844289","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
AviEar: An IoT-Based Low-Power Solution for Acoustic Monitoring of Avian Species
IF 4.3 2区 综合性期刊
IEEE Sensors Journal Pub Date : 2024-11-04 DOI: 10.1109/JSEN.2024.3487638
Ridhima Verma;Suman Kumar
{"title":"AviEar: An IoT-Based Low-Power Solution for Acoustic Monitoring of Avian Species","authors":"Ridhima Verma;Suman Kumar","doi":"10.1109/JSEN.2024.3487638","DOIUrl":"https://doi.org/10.1109/JSEN.2024.3487638","url":null,"abstract":"Birds play a pivotal role in maintaining global biodiversity by serving as vital agents in the key ecosystem functions, such as seed dispersal, insect regulation, and pollination. However, escalating anthropogenic pressures such as deforestation, poaching, and climate change have increasingly imperiled the avian populations worldwide. Consequently, effective monitoring strategies are essential for conservation efforts. However, traditional monitoring methods often fall short due to limitations in power efficiency and data storage. This article presents the design and development of AviEar, a novel wireless sensor node tailored for monitoring of avian species. The developed node is the Internet of Things (IoT) device that hosts a MEMS microphone, an ultralow-power advanced RISC machine (ARM) Cortex microcontroller unit (MCU), and a storage unit. The proposed system seamlessly integrates acoustic data recording, on-board signal processing, storage, and cloud-based uploads to facilitate remote monitoring. A standout feature is its rapid target species detection algorithm (DA), approximately executing within a mere 1.443 s. Without real-time onboard processing, the system would generate redundant data and experience increased battery drain. Its real-time selective logging and transmission framework yields an impressive operational span of up to two months at an 8-kHz sampling rate. The field experiments demonstrate AviEar’s ability to provide avian acoustic data with 99.6% precision, 95% recall, 97.2% \u0000<inline-formula> <tex-math>${F}1$ </tex-math></inline-formula>\u0000-score, a mean 0.77 confidence score, and remarkable power efficiency, showcasing its suitability for sustainable monitoring solutions. Moreover, the outcomes of these deployments furnish conservation decision-makers and researchers with invaluable datasets, empowering them to conduct comprehensive and large-scale monitoring initiatives.","PeriodicalId":447,"journal":{"name":"IEEE Sensors Journal","volume":"24 24","pages":"42088-42102"},"PeriodicalIF":4.3,"publicationDate":"2024-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142844491","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
FBG Accelerometer With High Figure of Merit Based on Double Short Gratings
IF 4.3 2区 综合性期刊
IEEE Sensors Journal Pub Date : 2024-11-04 DOI: 10.1109/JSEN.2024.3487540
Feng Li;Shupeng Wang;Faxiang Zhang;Shaodong Jiang
{"title":"FBG Accelerometer With High Figure of Merit Based on Double Short Gratings","authors":"Feng Li;Shupeng Wang;Faxiang Zhang;Shaodong Jiang","doi":"10.1109/JSEN.2024.3487540","DOIUrl":"https://doi.org/10.1109/JSEN.2024.3487540","url":null,"abstract":"The tradeoff between sensitivity and frequency band is problematic for fiber Bragg grating (FBG) accelerometer, and synchronous enhancement is an urgent technical problem. We report a novel fiber-optic accelerometer with high figure of merit (FOM) based on double short gratings, which are inscribed by a femtosecond laser and symmetrically fixed to an M-shaped hinge to increase the sensitivity and reduce the temperature interference. Experiments show that the sensor possesses a resonant frequency of 400 Hz, a high acceleration sensitivity of 729.24 pm/g (1.5 dB), and a high FOM of 116 678 400 pm\u0000<inline-formula> <tex-math>$cdot $ </tex-math></inline-formula>\u0000g\u0000<inline-formula> <tex-math>$^{-{1}} cdot $ </tex-math></inline-formula>\u0000Hz2, which is higher than the level (5 000 000 pm\u0000<inline-formula> <tex-math>$cdot $ </tex-math></inline-formula>\u0000g\u0000<inline-formula> <tex-math>$^{-{1}} cdot $ </tex-math></inline-formula>\u0000Hz2) of conventional FBG sensors. The sensor has great potential in low-frequency (as low as 0.1 Hz) microvibration measurement.","PeriodicalId":447,"journal":{"name":"IEEE Sensors Journal","volume":"24 24","pages":"40958-40963"},"PeriodicalIF":4.3,"publicationDate":"2024-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142844467","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Transfer Learning Soft Sensor Modeling Based on 2-D Domain-Adaption Stochastic Configuration Network
IF 4.3 2区 综合性期刊
IEEE Sensors Journal Pub Date : 2024-11-04 DOI: 10.1109/JSEN.2024.3487840
Xiaogang Deng;Jing Zhang;Lumeng Huang;Yue Zhao;Ping Wang
{"title":"Transfer Learning Soft Sensor Modeling Based on 2-D Domain-Adaption Stochastic Configuration Network","authors":"Xiaogang Deng;Jing Zhang;Lumeng Huang;Yue Zhao;Ping Wang","doi":"10.1109/JSEN.2024.3487840","DOIUrl":"https://doi.org/10.1109/JSEN.2024.3487840","url":null,"abstract":"Stochastic configuration networks (SCNs) are widely used in the field of soft sensor modeling due to their advantages of good generalization performance and automatic model structure determination. The classical SCN-based soft sensors are usually effective when industrial processes only involve a single operation mode. In practical applications, however, operation mode variations are often seen because of many factors, including market demands, raw material changes, ambient temperatures, etc. In the historical modes, abundant labeled samples are collected. In the new operation mode, the labeled samples are, however, very scarce and cannot sufficiently support the effective training of soft sensor models. How to make full use of the historical modes to assist the soft sensor modeling of the new mode is, therefore, a meaningful and challenging problem. To handle this problem, this article proposes a transfer learning soft sensor modeling method based on 2-D domain-adaption SCN (TD-DASCN). In this method, a domain adaption SCN modeling framework is designed for transfer learning soft sensor development by fusing the abundant labeled samples from historical modes (source domain) and a few labeled samples from new modes (target domain). The feature alignment procedure is performed by using geodesic flow kernel method to reduce data distribution difference between source and target domains. For the sake of avoiding the possible negative transfer phenomenon, the source domain loss function is constrained according to the degree of contribution of the source domain samples in the transfer. Last, the effectiveness of the proposed method is verified by two industrial cases. Compared with the basic DASCN soft sensor method, the proposed method can reduce the average prediction RMSE value by 30.0% and 9.1% in the two tested cases, respectively.","PeriodicalId":447,"journal":{"name":"IEEE Sensors Journal","volume":"24 24","pages":"42511-42522"},"PeriodicalIF":4.3,"publicationDate":"2024-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142844263","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Development of a Flexible Capacitive Tactile-Proximity Sensor Array With CMOS Integration for Enhanced Sensitivity
IF 4.3 2区 综合性期刊
IEEE Sensors Journal Pub Date : 2024-11-01 DOI: 10.1109/JSEN.2024.3486106
Chi-Tang Tsao;Michael S.-C. Lu
{"title":"Development of a Flexible Capacitive Tactile-Proximity Sensor Array With CMOS Integration for Enhanced Sensitivity","authors":"Chi-Tang Tsao;Michael S.-C. Lu","doi":"10.1109/JSEN.2024.3486106","DOIUrl":"https://doi.org/10.1109/JSEN.2024.3486106","url":null,"abstract":"The integration of tactile and proximity sensors enhances our ability to perceive and interact with both touchable and touch-free objects within our environment. Flexible electronics technology, particularly in capacitive sensing, provides an ideal foundation for developing advanced tactile-proximity sensors. In this study, we present an integrated capacitive tactile-proximity sensor that combines with complementary metal-oxide-semiconductor (CMOS) readout circuitry to achieve enhanced sensitivity and system miniaturization. By utilizing four metal layers from two flexible substrates available through commercial technology, we efficiently fabricate an \u0000<inline-formula> <tex-math>$8 times 8$ </tex-math></inline-formula>\u0000 tactile sensor array integrated with proximity sensing capabilities. Finite-element simulations are conducted to validate the measured data. Experiment results demonstrate that the tactile sensors achieve an average sensitivity of 2.2 MPa\u0000<inline-formula> <tex-math>$^{-{1}}$ </tex-math></inline-formula>\u0000 with a resolution of 255 Pa, while the proximity sensing exhibits a detection range of approximately 15 mm with a resolution better than \u0000<inline-formula> <tex-math>$1.9 ; mu $ </tex-math></inline-formula>\u0000m. These findings demonstrate the significant potential of flexible tactile-proximity sensors for applications requiring high sensitivity and precision in detection.","PeriodicalId":447,"journal":{"name":"IEEE Sensors Journal","volume":"24 24","pages":"40541-40548"},"PeriodicalIF":4.3,"publicationDate":"2024-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142844530","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Self-Monitoring Temperature Distribution of Single-Photon Avalanche Diode Array
IF 4.3 2区 综合性期刊
IEEE Sensors Journal Pub Date : 2024-11-01 DOI: 10.1109/JSEN.2024.3487086
Yu-Wei Lu;Yao-Lun Liu;Chih-Yun Liao;Chun-Hsien Liu;Chia-Yi Chu;Meng-Hsuan Lu;Tien-Ning Chang;Jenq-Shinn Wu;Jau Yang Wu;Chia-Ming Tsai;Sheng-Di Lin
{"title":"Self-Monitoring Temperature Distribution of Single-Photon Avalanche Diode Array","authors":"Yu-Wei Lu;Yao-Lun Liu;Chih-Yun Liao;Chun-Hsien Liu;Chia-Yi Chu;Meng-Hsuan Lu;Tien-Ning Chang;Jenq-Shinn Wu;Jau Yang Wu;Chia-Ming Tsai;Sheng-Di Lin","doi":"10.1109/JSEN.2024.3487086","DOIUrl":"https://doi.org/10.1109/JSEN.2024.3487086","url":null,"abstract":"We propose and verify on-chip temperature-sensing using single-photon avalanche diodes (SPADs) in complementary metal-oxide–semiconductor (CMOS) process. The dark count rate of SPAD is sensitive to device temperature and of use for temperature monitoring. The best measured noise-equivalent temperature difference is less than \u0000<inline-formula> <tex-math>$0.17~^{circ }$ </tex-math></inline-formula>\u0000C over the range of 10 °C–60 °C. A \u0000<inline-formula> <tex-math>$32times 32$ </tex-math></inline-formula>\u0000 SPAD array with an on-chip heat source has been deployed to demonstrate its capability of 2-D temperature mapping. The good consistence between the measured temperature distributions and the simulated ones has been observed.","PeriodicalId":447,"journal":{"name":"IEEE Sensors Journal","volume":"24 24","pages":"40439-40445"},"PeriodicalIF":4.3,"publicationDate":"2024-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142844288","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Flexible Capacitive Pressure Sensor With Optimized Interdigital AgNWs Electrodes for Wide-Range Pressure Monitoring
IF 4.3 2区 综合性期刊
IEEE Sensors Journal Pub Date : 2024-11-01 DOI: 10.1109/JSEN.2024.3486089
Chuner Ni;Siyan Shang;Jiahui Xu;Minyi Jin;Hao Jiang;Ruiyu Bai;Minghao Wang;Bowen Ji;Tiling Hu;Wenwei Yang;Yue Hu;Yuhua Cheng;Hui Hong;Linxi Dong
{"title":"Flexible Capacitive Pressure Sensor With Optimized Interdigital AgNWs Electrodes for Wide-Range Pressure Monitoring","authors":"Chuner Ni;Siyan Shang;Jiahui Xu;Minyi Jin;Hao Jiang;Ruiyu Bai;Minghao Wang;Bowen Ji;Tiling Hu;Wenwei Yang;Yue Hu;Yuhua Cheng;Hui Hong;Linxi Dong","doi":"10.1109/JSEN.2024.3486089","DOIUrl":"https://doi.org/10.1109/JSEN.2024.3486089","url":null,"abstract":"Flexible capacitive pressure sensors are widely used in many applications due to their simple structure and low cost. However, high sensitivity and wide linear range are often incompatible. To solve this problem, five kinds of capacitance structures based on interdigital microneedle array electrode (IMAE) with different needle spacing and needle height are simulated and fabricated in this work. The two face-to-face bonded microneedle arrays (MNAs) in the IMAE are fabricated by template casting with PDMS as substrate. Silver nanowires (AgNWs) dispersion liquids with different concentrations are spin-coated on the MNA to serve as conductive electrodes. PDMS doped with AgNWs is used as a dielectric adhesive layer to increase the dielectric constant. The AgNWs-coated IMAE can increase the effective electrode area and deformation capacity dramatically when compared to the flat metal electrode. The optimized IMAE sensor with a needle height of \u0000<inline-formula> <tex-math>$600~mu $ </tex-math></inline-formula>\u0000 m and needle spacing of \u0000<inline-formula> <tex-math>$800~mu $ </tex-math></inline-formula>\u0000 m makes a maximal sensitivity of 0.059 kPa\u0000<inline-formula> <tex-math>$^{-{1}}$ </tex-math></inline-formula>\u0000 from 0 to 60 kPa (linearity of 6.57%). The linear measuring range of the IMAE sensor is much wider than that of the sensor based on the flat electrode. By introducing NaHCO3-induced air gap into the dielectric layer, the maximum sensitivity can be improved to 0.203 kPa\u0000<inline-formula> <tex-math>$^{-{1}}$ </tex-math></inline-formula>\u0000 from 0 to 3 kPa. The IMAE sensor has a fast response time (125/250 ms) and can maintain performance without degradation through 2500 test cycles. It shows good performance in wide-range pressure monitoring such as micromass (160 mg) detection, pulse monitoring, twist, and gesture measurement.","PeriodicalId":447,"journal":{"name":"IEEE Sensors Journal","volume":"24 24","pages":"40532-40540"},"PeriodicalIF":4.3,"publicationDate":"2024-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142844363","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Grasping Force Estimation for Markerless Visuotactile Sensors
IF 4.3 2区 综合性期刊
IEEE Sensors Journal Pub Date : 2024-11-01 DOI: 10.1109/JSEN.2024.3489052
Julio Castaño-Amoros;Pablo Gil
{"title":"Grasping Force Estimation for Markerless Visuotactile Sensors","authors":"Julio Castaño-Amoros;Pablo Gil","doi":"10.1109/JSEN.2024.3489052","DOIUrl":"https://doi.org/10.1109/JSEN.2024.3489052","url":null,"abstract":"Tactile sensors have been used for force estimation in the past, especially vision-based tactile sensors (VBTSs) have recently become a new trend due to their high spatial resolution and low cost. In this work, we have designed and implemented several approaches to estimate the normal grasping force using different types of markerless visuotactile representations obtained from VBTS. Our main goal is to determine the most appropriate visuotactile representation, based on a performance analysis during robotic grasping tasks. Our proposal has been tested on the dataset generated with our DIGIT sensors and another one obtained using GelSight Mini sensors from another state-of-the-art work. We have also tested the generalization capabilities of our best approach, called RGBmod. The results led to two main conclusions. First, the RGB visuotactile representation is a better input option than the depth image or a combination of the two for estimating normal grasping forces. Second, RGBmod achieved a good performance when tested on ten unseen everyday objects in real-world scenarios, achieving an average relative error (RE) of \u0000<inline-formula> <tex-math>$0.125~pm ~0.153$ </tex-math></inline-formula>\u0000. Furthermore, we show that our proposal outperforms other works in the literature that use RGB and depth information for the same task.","PeriodicalId":447,"journal":{"name":"IEEE Sensors Journal","volume":"24 24","pages":"42538-42548"},"PeriodicalIF":4.3,"publicationDate":"2024-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10740944","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142844410","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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