This review offers a detailed examination of the current landscape of radio frequency (RF) electromagnetic field (EMF) assessment tools, ranging from spectrum analyzers and broadband field meters to area monitors and custom-built devices. The discussion encompasses both standardized and non-standardized measurement protocols, shedding light on the various methods employed in this domain. Furthermore, the review highlights the prevalent use of mobile apps for characterizing 5G NR radio network data. A growing need for low-cost measurement devices is observed, commonly referred to as “sensors” or “sensor nodes”, that are capable of enduring diverse environmental conditions. These sensors play a crucial role in both microenvironmental surveys and individual exposures, enabling stationary, mobile, and personal exposure assessments based on body-worn sensors, across wider geographical areas. This review revealed a notable need for cost-effective and long-lasting sensors, whether for individual exposure assessments, mobile (vehicle-integrated) measurements, or incorporation into distributed sensor networks. However, there is a lack of comprehensive information on existing custom-developed RF-EMF measurement tools, especially in terms of measuring uncertainty. Additionally, there is a need for real-time, fast-sampling solutions to understand the highly irregular temporal variations EMF distribution in next-generation networks. Given the diversity of tools and methods, a comprehensive comparison is crucial to determine the necessary statistical tools for aggregating the available measurement data.
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In sports, inertial measurement units are often used to measure the orientation of human body segments. A Madgwick (MW) filter can be used to obtain accurate inertial measurement unit (IMU) orientation estimates. This filter combines two different orientation estimates by applying a correction of the (1) gyroscope-based estimate in the direction of the (2) earth frame-based estimate. However, in sports situations that are characterized by relatively large linear accelerations and/or close magnetic sources, such as wheelchair sports, obtaining accurate IMU orientation estimates is challenging. In these situations, applying the MW filter in the regular way, i.e., with the same magnitude of correction at all time frames, may lead to estimation errors. Therefore, in this study, the MW filter was extended with machine learning to distinguish instances in which a small correction magnitude is beneficial from instances in which a large correction magnitude is beneficial, to eventually arrive at accurate body segment orientations in IMU-challenging sports situations. A machine learning algorithm was trained to make this distinction based on raw IMU data. Experiments on wheelchair sports were performed to assess the validity of the extended MW filter, and to compare the extended MW filter with the original MW filter based on comparisons with a motion capture-based reference system. Results indicate that the extended MW filter performs better than the original MW filter in assessing instantaneous trunk inclination (7.6 vs. 11.7◦ root-mean-squared error, RMSE), especially during the dynamic, IMU-challenging situations with moving athlete and wheelchair. Improvements of up to 45% RMSE were obtained for the extended MW filter compared with the original MW filter. To conclude, the machine learning-based extended MW filter has an acceptable accuracy and performs better than the original MW filter for the assessment of body segment orientation in IMU-challenging sports situations.
Robots need sensors to operate properly. Using a single image sensor, various aspects of a robot operating in its environment can be measured or monitored. Over the past few years, image sensors have improved a lot: frame rate and resolution have increased, while prices have fallen. As a result, data output has increased and in a number of applications data transfer to a processing unit has become the limiting factor for performance. Local processing in the sensor is one way of reducing data transfer. A report on the Vision in Robotics and Mechatronics project
