In order to reduce the cost of indoor localization system for autonomous mobile robots( AMRs) and to enhance the localization efficiency,this paper presents a localization approach using sequential time of flight( STO...In order to reduce the cost of indoor localization system for autonomous mobile robots( AMRs) and to enhance the localization efficiency,this paper presents a localization approach using sequential time of flight( STOF) measurements from a single receiver to localize AMRs in indoor environments. The STOF is a series of TOF measurements that are acquired by the mobile source in sequence. Combined with the pose estimation obtained from the Dead Reckoning( DR) method,the STOF measurements from a single receiver can be adapted and applied to the trilateration localization model to determine the indoor position of the AMRs. Based on the error analysis of the STOF localization,a double-layer Kalman filter( DLKF) is proposed to fuse multiple STOF localization results and further improve the localization accuracy. In the computer simulation experiments,an average ±20 mm positioning accuracy is attained with the presence of simulated noise that is similar to the realistic sensor noise in magnitude. The simulation results indicate the effectiveness and the potential value of the proposed localization scheme in the practical indoor localization application.展开更多
The heavy biofouling on electrochemical sensor surface poses a formidable challenge for biosensing in human blood.Herein,we designed a multilayer filtering-sensing sandwich patch that served as a versatile platform to...The heavy biofouling on electrochemical sensor surface poses a formidable challenge for biosensing in human blood.Herein,we designed a multilayer filtering-sensing sandwich patch that served as a versatile platform to surmount the substantial fouling constraints for detection in human blood.The patch integrated two functional layers:(i) Inspired by dialysis phenomenon,a filtering-mass transfer hydrophilic membrane with heterogeneous nanostructure was used to filter large-size substances(like cells,bacteria and microorganisms,etc.) and continuously pass through the rest of the biological fluid(like proteins,metabolites and inorganic salts,etc.).(ii) the polypeptide composite hydrogel(r GO/PEPG) on the screenprinted electrode(SPE) surface,with the modulation of-COOH and-NH_2 groups,endowed a strong hydrophilic layer with electric neutrality to further facilitate the antifouling ability.Notably,the integration of the filtering porous membrane with the antifouling hydrogel ensures the strong antifouling ability of the electrochemical sensor in complex human blood.Furthermore,the self-healing property of the r GO/PEPG,relying on the physical π-π stacking forces,aligns the electrochemical sensor with practical needs.The constructed antifouling biosensor based on the filtering-sensing sandwich patch was successfully applied for the sensitive detection of cortisol in human blood,with an acceptable accuracy comparable to the enzyme-linked immunosorbent assay(ELISA) method.The strategy presented herein represent a promising advance along the road to construct effective antifouling biosensing devices with robust operation in diverse complex body fluids.展开更多
基金Sponsored by the National Science and Technology Support Program(Grant No.012BAI33B04)
文摘In order to reduce the cost of indoor localization system for autonomous mobile robots( AMRs) and to enhance the localization efficiency,this paper presents a localization approach using sequential time of flight( STOF) measurements from a single receiver to localize AMRs in indoor environments. The STOF is a series of TOF measurements that are acquired by the mobile source in sequence. Combined with the pose estimation obtained from the Dead Reckoning( DR) method,the STOF measurements from a single receiver can be adapted and applied to the trilateration localization model to determine the indoor position of the AMRs. Based on the error analysis of the STOF localization,a double-layer Kalman filter( DLKF) is proposed to fuse multiple STOF localization results and further improve the localization accuracy. In the computer simulation experiments,an average ±20 mm positioning accuracy is attained with the presence of simulated noise that is similar to the realistic sensor noise in magnitude. The simulation results indicate the effectiveness and the potential value of the proposed localization scheme in the practical indoor localization application.
基金supported by the National Natural Science Foundation of China (Nos.22174082,22374085)the Key Research and Development Program of Shandong Province (No.2021ZDSYS30)Natural Science Foundation of Shandong Province,China (No.ZR2024QB059)。
文摘The heavy biofouling on electrochemical sensor surface poses a formidable challenge for biosensing in human blood.Herein,we designed a multilayer filtering-sensing sandwich patch that served as a versatile platform to surmount the substantial fouling constraints for detection in human blood.The patch integrated two functional layers:(i) Inspired by dialysis phenomenon,a filtering-mass transfer hydrophilic membrane with heterogeneous nanostructure was used to filter large-size substances(like cells,bacteria and microorganisms,etc.) and continuously pass through the rest of the biological fluid(like proteins,metabolites and inorganic salts,etc.).(ii) the polypeptide composite hydrogel(r GO/PEPG) on the screenprinted electrode(SPE) surface,with the modulation of-COOH and-NH_2 groups,endowed a strong hydrophilic layer with electric neutrality to further facilitate the antifouling ability.Notably,the integration of the filtering porous membrane with the antifouling hydrogel ensures the strong antifouling ability of the electrochemical sensor in complex human blood.Furthermore,the self-healing property of the r GO/PEPG,relying on the physical π-π stacking forces,aligns the electrochemical sensor with practical needs.The constructed antifouling biosensor based on the filtering-sensing sandwich patch was successfully applied for the sensitive detection of cortisol in human blood,with an acceptable accuracy comparable to the enzyme-linked immunosorbent assay(ELISA) method.The strategy presented herein represent a promising advance along the road to construct effective antifouling biosensing devices with robust operation in diverse complex body fluids.
