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Vibration sensors are widely used in many fields like industry, agriculture, military, medicine, environment, etc. However, due to the speedy upgrading, most sensors composed of rigid or even toxic materials cause pollution to the environment and give rise to an increased amount of electronic waste. To meet the requirement of green electronics, biodegradable materials are advocated to be used to develop vibration sensors. Herein, a vibration sensor is reported based on a strategy of pencil-drawing graphite on paper. Specifically, a repeated pencil-drawing process is carried out on paper with a zigzag-shaped framework and parallel microgrooves, to form a graphite coating, thus serving as a functional conductive layer for electromechanical signal conversion. To enhance the sensor's sensitivity to vibration, a mass is loaded in the center of the paper, so that higher oscillation amplitude could happen under vibrational excitation. In so doing, the paper-based sensor can respond to vibrations with a wide frequency range from 5 Hz to 1 kHz, and vibrations with a maximum acceleration of 10 g. The results demonstrate that the sensor can not only be utilized for monitoring vibrations generated by the knuckle-knocking of plastic plates or objects falling down but also can be used to detect vibration in areas such as the shield cut head to assess the working conditions of machinery. The paper-based MEMS vibration sensor exhibits merits like easy fabrication, low cost, and being environmentally friendly, which indicates its great application potential in vibration monitoring fields. [ABSTRACT FROM AUTHOR]

Adolescent idiopathic scoliosis (AIS) is a common disease that, in many cases, can be conservatively treated through bracing. High adherence to brace prescription is fundamental to gaining the maximum benefit from this treatment approach. Wearable sensors are available that objectively monitor the brace-wearing time, but their use, combined with other interventions, is poorly investigated. The aims of the current review are as follows: (i) to summarize the real compliance with bracing reported by studies using sensors; (ii) to find out the real brace wearing rate through objective electronic monitoring; (iii) to verify if interventions made to increase adherence to bracing can be effective according to the published literature. We conducted a systematic review of the literature published on Medline, EMBASE, CINAHL, Scopus, CENTRAL, and Web of Science. We identified 466 articles and included examples articles, which had a low to good methodological quality. We found that compliance a greatly varied between 21.8 and 93.9% (weighted average: 58.8%), real brace wearing time varied between 5.7 and 21 h per day (weighted average 13.3), and specific interventions seemed to improve both outcomes, with compliance increasing from 58.5 to 66% and brace wearing increasing from 11.9 to 15.1 h per day. Two comparative studies showed positive effects of stand-alone counseling and information on the sensors' presence when added to counseling. Sensors proved to be useful tools for objectively and continuously monitoring adherence to therapy in everyday clinical practice. Specific interventions, like the use of sensors, counseling, education, and exercises, could increase compliance. However, further studies using high-quality designs should be conducted in this field. [ABSTRACT FROM AUTHOR]

Cancer is a major cause of mortality and morbidity worldwide. Detection and quantification of cancer biomarkers plays a critical role in cancer early diagnosis, screening, and treatment. Clinicians, particularly in developing countries, deal with high costs and limited resources for diagnostic systems. Using low-cost substrates to develop sensor devices could be very helpful. The interest in paper-based sensors with colorimetric detection increased exponentially in the last decade as they meet the criteria for point-of-care (PoC) devices. Cellulose and different nanomaterials have been used as substrate and colorimetric probes, respectively, for these types of devices in their different designs as spot tests, lateral-flow assays, dipsticks, and microfluidic paper-based devices (μPADs), offering low-cost and disposable devices. However, the main challenge with these devices is their low sensitivity and lack of efficiency in performing quantitative measurements. This review includes an overview of the use of paper for the development of sensing devices focusing on colorimetric detection and their application to cancer biomarkers. We highlight recent works reporting the use of paper in the development of colorimetric sensors for cancer biomarkers, such as proteins, nucleic acids, and others. Finally, we discuss the main advantages of these types of devices and highlight their major pitfalls. [ABSTRACT FROM AUTHOR]

An inkjet-printed relative humidity sensor based on capacitive changes which responds to different humidity levels in the environment is presented in this work. The inkjet-printed silver interdigitated electrodes configuration on the paper substrate allowed for the fabrication of a functional proof-of-concept of the relative humidity sensor, by using the paper itself as a sensing material. The sensor sensitivity in terms of relative humidity changes was calculated to be around 2 pF/RH %. The response time against different temperature steps from 3 to 85°C was fairly constant (about 4-5 min), and it was considered fast for the aimed application, a smart label. [ABSTRACT FROM AUTHOR]

In this work, the authors explored the interaction of a suite of fluorescent zinc complexes with H2S. The authors provide evidence that HS− binds the zinc center of all the complexes under investigation, allowing them to possibly function as sensors by a 'coordinative-based' approach. Naked-eye color changes occur when treating the systems with HS−, so the fluorescence responses are modulated by the presence of HS−, which has been related to a change in the energy level and coupling of excited states through a computational study. The results show the potential of the systems to function as HS−/H2S colorimetric and fluorescent sensors. Paper-strip-based sensing experiments foresee the potential of using this family of complexes as chemosensors of HS− in more complex biological fluids. [ABSTRACT FROM AUTHOR]

Sensor data fusion analysis is a crucial process that integrates data from multiple sensors to provide more accurate and comprehensive information. This analysis has various applications in fields such as industry, medicine, robotics, transportation, and information systems. The article highlights sixteen high-quality papers that explore different aspects of sensor data fusion, including facial detection, object detection, odometry systems, geospatial data evaluation, and fault detection. The papers demonstrate the potential of sensor data fusion in improving decision-making, efficiency, and productivity in various industries. Future research in this area will focus on miniaturization, multi-sensor systems, and addressing challenges related to data quality in mobile sensors. [Extracted from the article]

Shortage of labor and increased work of young people are causing problems in terms of care and welfare of a growing proportion of elderly people. This is a looming social problem because people of advanced ages are increasing. Necessary in the fields of care and welfare, pneumatic artificial muscles in actuators of robots are being examined. Pneumatic artificial muscles have a high output per unit of weight, and they are soft, similarly to human muscles. However, in previous research of robots using pneumatic artificial muscles, rigid sensors were often installed at joints and other locations due to the robots' structures. Therefore, we developed a smart actuator that integrates a bending sensor that functions as a human muscle spindle; it can be externally attached to the pneumatic artificial muscle. This paper reports a smart artificial muscle actuator that can sense contraction, which can be applied to developed self-monitoring and robot posture control. [ABSTRACT FROM AUTHOR]

To achieve Level 4 and above autonomous driving, a robust and stable autonomous driving system is essential to adapt to various environmental changes. This paper aims to perform vehicle pose estimation, a crucial element in forming autonomous driving systems, more universally and robustly. The prevalent method for vehicle pose estimation in autonomous driving systems relies on Real-Time Kinematic (RTK) sensor data, ensuring accurate location acquisition. However, due to the characteristics of RTK sensors, precise positioning is challenging or impossible in indoor spaces or areas with signal interference, leading to inaccurate pose estimation and hindering autonomous driving in such scenarios. This paper proposes a method to overcome these challenges by leveraging objects registered in a high-precision map. The proposed approach involves creating a semantic high-definition (HD) map with added objects, forming object-centric features, recognizing locations using these features, and accurately estimating the vehicle's pose from the recognized location. This proposed method enhances the precision of vehicle pose estimation in environments where acquiring RTK sensor data is challenging, enabling more robust and stable autonomous driving. The paper demonstrates the proposed method's effectiveness through simulation and real-world experiments, showcasing its capability for more precise pose estimation. [ABSTRACT FROM AUTHOR]

In complex environments a single visible image is not good enough to perceive the environment, this paper proposes a novel dual-stream real-time detector designed for target detection in extreme environments such as nighttime and fog, which is able to efficiently utilise both visible and infrared images to achieve Fast All-Weatherenvironment sensing (FAWDet). Firstly, in order to allow the network to process information from different modalities simultaneously, this paper expands the state-of-the-art end-to-end detector YOLOv8, the backbone is expanded in parallel as a dual stream. Then, for purpose of avoid information loss in the process of network deepening, a cross-modal feature enhancement module is designed in this study, which enhances each modal feature by cross-modal attention mechanisms, thus effectively avoiding information loss and improving the detection capability of small targets. In addition, for the significant differences between modal features, this paper proposes a three-stage fusion strategy to optimise the feature integration through the fusion of spatial, channel and overall dimensions. It is worth mentioning that the cross-modal feature fusion module adopts an end-to-end training approach. Extensive experiments on two datasets validate that the proposed method achieves state-of-the-art performance in detecting small targets. The cross-modal real-time detector in this study not only demonstrates excellent stability and robust detection performance, but also provides a new solution for target detection techniques in extreme environments. [ABSTRACT FROM AUTHOR]

Humidity sensors are indispensable for various electronic systems and instrumentations. To develop a new humidity sensing mechanism is the key for the next generation of sensor technology. In this work, a novel flexible paper-based current humidity sensor is proposed. The developed alternating current electroluminescent devices (ACEL) consist of the electroless plating Ni on filter paper and silver nanowires (AgNWs) as the bottom and upper electrodes, and ZnS:Cu as the phosphor layer, respectively. The proposed humidity sensor is based on ACEL with the paper substrate and the ZnS:Cu phosphor layer as the humidity sensing element. The moisture effect on the optical properties of ACELs has been studied firstly. Then, the processing parameters of the paper-based ACELs such as electroless plated bottom electrode and spin-coated phosphor layer as a function of the humidity-sensitive characteristics are investigated. The sensing mechanism of the proposed sensor has been elucidated based on the Q ~ V analysis. The sensor exhibits an excellent linearity ( R 2 = 0.99965 ) within the humidity range from 20% to 90% relative humidity (RH) and shows excellent flexibility. We also demonstrate its potential application in postharvest preservation where the EL light is used for preservation and the humidity can be monitored simultaneously through the current. [ABSTRACT FROM AUTHOR]

With characters of low cost, portability, easy disposal, and high accuracy, as well as bulky reduced laboratory equipment, paper-based sensors are getting increasing attention for reliable indoor/outdoor onsite detection with nonexpert operation. They have become powerful analysis tools in trace detection with ultra-low detection limits and extremely high accuracy, resulting in their great popularity in medical detection, environmental inspection, and other applications. Herein, we summarize and generalize the recently reported paper-based sensors based on their application for mechanics, biomolecules, food safety, and environmental inspection. Based on the biological, physical, and chemical analytes-sensitive electrical or optical signals, extensive detections of a large number of factors such as humidity, pressure, nucleic acid, protein, sugar, biomarkers, metal ions, and organic/inorganic chemical substances have been reported via paper-based sensors. Challenges faced by the current paper-based sensors from the fundamental problems and practical applications are subsequently analyzed; thus, the future directions of paper-based sensors are specified for their rapid handheld testing. [ABSTRACT FROM AUTHOR]

Toxic and nontoxic volatile organic compound (VOC) gases are emitted into the atmosphere from certain solids and liquids as a consequence of wastage and some common daily activities. Inhalation of toxic VOCs has an adverse effect on human health, so it is necessary to monitor their concentration in the atmosphere. In this work, we report on the fabrication of inorganic nanotube (INT)-tungsten disulfide, paper-based graphene–PEDOT:PSS sheet and WS2 nanotube-modified conductive paper-based chemiresistors for VOC gas sensing. The WS2 nanotubes were fabricated by a two-step reaction, that is oxide reduction and sulfurization, carried out at 900 °C. The synthesized nanotubes were characterized by FE-SEM, EDS, XRD, Raman spectroscopy, and TEM. The synthesized nanotubes were 206–267 nm in diameter. The FE-SEM results show the length of the nanotubes to be 4.5–8 µm. The graphene–PEDOT:PSS hybrid conductive paper sheet was fabricated by a continuous coating process. Then, WS2 nanotubes were drop-cast onto conductive paper for fabrication of the chemiresistors. The feasibility and sensitivity of the WS2 nanotube-modified paper-based chemiresistor were tested in four VOC gases at different concentrations at room temperature (RT). Experimental results show the proposed sensor to be more sensitive to butanol gas when the concentration ranges from 50 to 1000 ppm. The limit of detection (LOD) of this chemiresistor for butanol gas was 44.92 ppm. The WS2 nanotube-modified paper-based chemiresistor exhibits good potential as a VOC sensor with the advantages of flexibility, easy fabrication, and low fabrication cost. [ABSTRACT FROM AUTHOR]

Human access to safe water has become a major problem in many parts of the world as increasing human activities continue to spill contaminants into our water systems. To guarantee the protection of the public as well as the environment, a rapid and sensitive way to detect contaminants is required. In this work, a paper-based microbial fuel cell was developed to act as a portable, single-use, on-site water quality sensor. The sensor was fabricated by combining two layers of paper for a simple, low-cost, and disposable design. To facilitate the use of the sensor for on-site applications, the bacterial cells were pre-inoculated onto the device by air-drying. To eliminate any variations, the voltage generated by the microorganism before and after the air-drying process was measured and calculated as an inhibition ratio. Upon the addition of different formaldehyde concentrations (0%, 0.001%, 0.005%, and 0.02%), the inhibition ratios obtained were 5.9 ± 0.7%, 6.9 ± 0.7%, 8.2 ± 0.6%, and 10.6 ± 0.2%, respectively. The inhibition ratio showed a good linearity with the formaldehyde concentrations at R2 = 0.931. Our new sensor holds great promise in monitoring water quality as a portable, low-cost, and on-site sensor. [ABSTRACT FROM AUTHOR]

This study comprehensively investigates how rain and drizzle affect the object-detection performance of non-contact safety sensors, which are essential for the operation of unmanned aerial vehicles and ground vehicles in adverse weather conditions. In contrast to conventional sensor-performance evaluation based on the amount of precipitation, this paper proposes spatial transmittance and particle density as more appropriate metrics for rain environments. Through detailed experiments conducted under a variety of precipitation conditions, it is shown that sensor performance is significantly affected by the density of small raindrops rather than the total amount of precipitation. This finding challenges traditional sensor-evaluation metrics in rainfall environments and suggests a paradigm shift toward the use of spatial transmittance as a universal metric for evaluating sensor performance in rain, drizzle, and potentially other adverse weather scenarios. [ABSTRACT FROM AUTHOR]

Identifying the structural state without baseline data is an important engineering problem in the field of structural health monitoring, which is crucial for assessing the safety condition of structures. In the context of limited accelerometers available, this paper proposes a correlation-based damage identification method using Variational Autoencoder neural networks. The approach involves initially constructing a Variational Autoencoder network model for bridge damage detection, optimizing parameters such as loss functions and learning rates for the model, and ultimately utilizing response data from limited sensors for model training analysis to determine the structural state. The contribution of this paper lies in the ability to identify structural damage without baseline data using response data from a small number of sensors, reducing sensor costs and enhancing practical applications in engineering. The effectiveness of the proposed method is demonstrated through numerical simulations and experimental structures. The results show that the method can identify the location of damage under different damage conditions, exhibits strong robustness in detecting multiple damages, and further enhances the accuracy of identifying bridge structures. [ABSTRACT FROM AUTHOR]

Paper-based sensors fabricated using the pencil-on-paper method are expected to find wide usage in many fields owing to their low cost and high reproducibility. Here, hydrogen (H2) detection was realized by applying palladium (Pd) nanoparticles (NPs) to electronic circuits printed on paper using a metal mask and a pencil. We confirmed that multilayered graphene was produced by the pencil, and then characterized Pd NPs were added to the pencil marks. To evaluate the gas-sensing ability of the sensor, its sensitivities and reaction rates in the presence and absence of H2 were measured. In addition, sensing tests performed over a wide range of H2 concentrations confirmed that the sensor had a detection limit as low as 1 ppm. Furthermore, the sensor reacted within approximately 50 s at all H2 concentrations tested. The recovery time of the sensor was 32 s at 1 ppm and 78 s at 1000 ppm. Sensing tests were also performed using Pd NPs of different sizes to elucidate the relationship between the sensing rate and catalyst size. The experimental results confirmed the possibility of fabricating paper-based gas sensors with a superior sensing capability and response rate. [ABSTRACT FROM AUTHOR]

Partial discharge (PD) is one of the major causes of insulation accidents in oil-immersed transformers, generating a large number of signals that represent the health status of the transformer. In particular, acoustic signals can be detected by sensors to locate the source of the partial discharge. However, the array, type, and quantity of sensors play a crucial role in the research on the localization of partial discharge sources within transformers. Hence, this paper proposes a novel sensor array for the specific localization of PD sources using COMSOL Multiphysics software 6.1 to establish a three-dimensional model of the oil-immersed transformer and the different defect types of two-dimensional models. "Electric-force-acoustic" multiphysics field simulations were conducted to model ultrasonic signals of different types of PD by setting up detection points to collect acoustic signals at different types and temperatures instead of physical sensors. Subsequently, simulated waveforms and acoustic spatial distribution maps were acquired in the software. These simulation results were then combined with the time difference of arrival (TDOA) algorithm to solve a system of equations, ultimately yielding the position of the discharge source. Calculated positions were compared with the actual positions using an error iterative algorithm method, with an average spatial error about 1.3 cm, which falls within an acceptable range for fault diagnosis in transformers, validating the accuracy of the proposed method. Therefore, the presented sensor array and computational localization method offer a reliable theoretical basis for fault diagnosis techniques in transformers. [ABSTRACT FROM AUTHOR]

This paper is dedicated to the research of phenomena noticed during tests of biodegradable carrageenan-based force and pressure sensors. Peculiar voltage characteristics were noticed during the impact tests. Therefore, the sensors' responses to impact were researched more thoroughly, defining time-dependent sensor output signals from calibrated energy impact. The research was performed using experimental methods when a free-falling steel ball impacted the sensor material to create relatively definable impact energy. The sensor's output signal, which is analogue voltage, was registered using an oscilloscope and transmitted to the PC for further analysis. The obtained results showed a very interesting outcome, where the sensor, which was intended to be piezoresistive, demonstrated a combination of behaviour typical for galvanic cells and piezoelectric material. It provides a stable DC output that is sensitive to the applied statical pressure, and in case of a sudden impact, like a hit, it demonstrates piezoelectric behaviour with some particular effects, which are described in the paper as proton transfer in the sensor-sensitive material. Such phenomena and sensor design are a matter of further development and research. [ABSTRACT FROM AUTHOR]

Climbing gyms aim to continuously improve their offerings and make the best use of their infrastructure to provide a unique experience for their clients, the climbers. One approach to achieve this goal is to track and analyze climbing sessions from the beginning of the ascent until the climber's descent. Detecting the climber's descent is crucial because it indicates when the ascent has ended. This paper discusses an approach that preserves climber privacy (e.g., not using cameras) while considering the convenience of climbers and the costs to the gyms. To this aim, a hardware prototype has been developed to collect data using accelerometer sensors attached to a piece of climbing equipment mounted on the wall, called a quickdraw, which connects the climbing rope to the bolt anchors. The sensors are configured to be energy-efficient, making them practical in terms of expenses and time required for replacement when used in large quantities in a climbing gym. This paper describes the hardware specifications, studies data measured by the sensors in ultra-low power mode, detects sensors' orientation patterns during descent on different routes, and develops a supervised approach to identify lowering. Additionally, the study emphasizes the benefits of multidisciplinary feature engineering, combining domain-specific knowledge with machine learning to enhance performance and simplify implementation. [ABSTRACT FROM AUTHOR]

Traditionally, monitoring insect populations involved the use of externally placed sticky paper traps, which were periodically inspected by a human operator. To automate this process, a specialized sensing device and an accurate model for detecting and counting insect pests are essential. Despite considerable progress in insect pest detector models, their practical application is hindered by the shortage of insect trap images. To attenuate the "lack of data" issue, the literature proposes data augmentation. However, our knowledge about data augmentation is still quite limited, especially in the field of insect pest detection. The aim of this experimental study was to investigate the effect of several widely used augmentation techniques and their combinations on remote-sensed trap images with the YOLOv5 (small) object detector model. This study was carried out systematically on two different datasets starting from the single geometric and photometric transformation toward their combinations. Our results show that the model's mean average precision value (mAP50) could be increased from 0.844 to 0.992 and from 0.421 to 0.727 on the two datasets using the appropriate augmentation methods combination. In addition, this study also points out that the integration of photometric image transformations into the mosaic augmentation can be more efficient than the native combination of augmentation techniques because this approach further improved the model's mAP50 values to 0.999 and 0.756 on the two test sets, respectively. [ABSTRACT FROM AUTHOR]

The zero-velocity update (ZUPT) algorithm is a pivotal advancement in pedestrian navigation accuracy, utilizing foot-mounted inertial sensors. Its key issue hinges on accurately identifying periods of zero-velocity during human movement. This paper introduces an innovative adaptive sliding window technique, leveraging the Fourier Transform to precisely isolate the pedestrian's gait frequency from spectral data. Building on this, the algorithm adaptively adjusts the zero-velocity detection threshold in accordance with the identified gait frequency. This adaptation significantly refines the accuracy in detecting zero-velocity intervals. Experimental evaluations reveal that this method outperforms traditional fixed-threshold approaches by enhancing precision and minimizing false positives. Experiments on single-step estimation show the adaptability of the algorithm to motion states such as slow, fast, and running. Additionally, the paper demonstrates pedestrian trajectory localization experiments under a variety of walking conditions. These tests confirm that the proposed method substantially improves the performance of the ZUPT algorithm, highlighting its potential for pedestrian navigation systems. [ABSTRACT FROM AUTHOR]

This paper concerns the extension of the Heritage Digital Twin Ontology introduced in previous research to describe the reactivity of digital twins used for cultural heritage documentation by including the semantic description of sensors and activators and all of the process of interacting with the real world. After analysing previous work on the use of digital twins in cultural heritage, a summary description of the Heritage Digital Twin Ontology is provided, and the existing applications of digital twins to cultural heritage are overviewed, with references to reviews summarising the large production of scientific contributions on the topic. Then, a novel ontology named the Reactive Digital Twin Ontology is described, in which sensors, activators, and the decision processes are also semantically described, turning the previous synchronic approach to cultural heritage documentation into a diachronic one. Some case studies exemplify this theory. [ABSTRACT FROM AUTHOR]

This paper presents a fully automated experimental setup tailored for evaluating the effectiveness of augmented and virtual reality technologies in healthcare settings for regulatory purposes, with a focus on the characterization of depth sensors. The setup is constructed as a modular benchtop platform that enables quantitative analysis of depth cameras essential for extended reality technologies in a controlled environment. We detail a design concept and considerations for an experimental configuration aimed at simulating realistic scenarios for head-mounted displays. The system includes an observation platform equipped with a three-degree-of-freedom motorized system and a test object stage. To accurately replicate real-world scenarios, we utilized an array of sensors, including commonly available range-sensing cameras and commercial augmented reality headsets, notably the Intel RealSense L515 LiDAR camera, integrated into the motion control system. The paper elaborates on the system architecture and the automated data collection process. We discuss several evaluation studies performed with this setup, examining factors such as spatial resolution, Z-accuracy, and pixel-to-pixel correlation. These studies provide valuable insights into the precision and reliability of these technologies in simulated healthcare environments. [ABSTRACT FROM AUTHOR]

In the face of rising population, erratic climate, resource depletion, and increased exposure to natural hazards, environmental monitoring is increasingly important. Satellite data form most of our observations of Earth. On-the-ground observations based on in situ sensor systems are crucial for these remote measurements to be dependable. Providing open-source options to rapidly prototype environmental datalogging systems allows quick advancement of research and monitoring programs. This paper introduces Loom, a development environment for low-power Arduino-programmable microcontrollers. Loom accommodates a range of integrated components including sensors, various datalogging formats, internet connectivity (including Wi-Fi and 4G Long Term Evolution (LTE)), radio telemetry, timing mechanisms, debugging information, and power conservation functions. Additionally, Loom includes unique applications for science, technology, engineering, and mathematics (STEM) education. By establishing modular, reconfigurable, and extensible functionality across components, Loom reduces development time for prototyping new systems. Bug fixes and optimizations achieved in one project benefit all projects that use Loom, enhancing efficiency. Although not a one-size-fits-all solution, this approach has empowered a small group of developers to support larger multidisciplinary teams designing diverse environmental sensing applications for water, soil, atmosphere, agriculture, environmental hazards, scientific monitoring, and education. This paper not only outlines the system design but also discusses alternative approaches explored and key decision points in Loom's development. [ABSTRACT FROM AUTHOR]

Ambient light sensors are becoming increasingly popular due to their effectiveness in extending the battery life of portable electronic devices. However, conventional ambient light sensors are large in area and small in dynamic range, and they do not take into account the effects caused due to a dark current. To address the above problems, a programmable ambient light sensor with dark current compensation and a wide dynamic range is proposed in this paper. The proposed ambient light sensor exhibits a low current power consumption of only 7.7 µA in dark environments, and it operates across a wide voltage range (2–5 V) and temperature range (−40–80 °C). It senses ambient light and provides an output current proportional to the ambient light intensity, with built-in dark current compensation to effectively suppress the effects of a dark current. It provides a wide dynamic range over the entire operating temperature range with three selectable output-current gain modes. The proposed ambient light sensor was designed and fabricated using a 0.18 µm standard CMOS process, and the effective area of the chip is 663 µm × 652 µm. The effectiveness of the circuit was verified through testing, making it highly suitable for portable electronic products and fluorescent fiber-optic temperature sensors. [ABSTRACT FROM AUTHOR]

With the increasing number of households owning pets, the importance of sensor data for recognizing pet behavior has grown significantly. However, challenges arise due to the costs and reliability issues associated with data collection. This paper proposes a method for classifying pet behavior using cleaned meta pseudo labels to overcome these issues. The data for this study were collected using wearable devices equipped with accelerometers, gyroscopes, and magnetometers, and pet behaviors were classified into five categories. Utilizing this data, we analyzed the impact of the quantity of labeled data on accuracy and further enhanced the learning process by integrating an additional Distance Loss. This method effectively improves the learning process by removing noise from unlabeled data. Experimental results demonstrated that while the conventional supervised learning method achieved an accuracy of 82.9%, the existing meta pseudo labels method showed an accuracy of 86.2%, and the cleaned meta pseudo labels method proposed in this study surpassed these with an accuracy of 88.3%. These results hold significant implications for the development of pet monitoring systems, and the approach of this paper provides an effective solution for recognizing and classifying pet behavior in environments with insufficient labels. [ABSTRACT FROM AUTHOR]

The measurement of electrical conductivity (EC) has long been a tool for understanding soil properties. Previous studies concluded that EC measurement is not an ion-selective method, but these papers did not address the measurement frequency. An experimental tool and method were developed for semi-factory conditions in a large-scale soil trough at the Institute of Technology of the Hungarian University of Agricultural and Life Sciences. A specially designed and built test apparatus mounted on the tractor's three-point hitch was used as a measuring device. The wear-resistant steel elements of the measuring device were also the sensors for measuring EC. This paper describes the conditions of the measurement series, the measurement results, and our conclusions from the experiments with the soil sensor. Different characteristics were measured in soil moistened with K and Ca solutions at different concentrations. The EC values show an increasing tendency with increasing salt concentration, and we also found that the rate of change of EC is different for different solution ratios. Based on our measurements, we found that the best method to isolate concentration differences is to use the test frequency range 20 Hz–250 kHz. [ABSTRACT FROM AUTHOR]

This survey paper explores advanced nonlinear control strategies for Unmanned Aerial Vehicles (UAVs), including systems such as the Twin Rotor MIMO system (TRMS) and quadrotors. UAVs, with their high nonlinearity and significant coupling effects, serve as crucial benchmarks for testing control algorithms. Integration of sophisticated sensors enhances UAV versatility, making traditional linear control techniques less effective. Advanced nonlinear strategies, including sensor-based adaptive controls and AI, are increasingly essential. Recent years have seen the development of diverse sliding surface-based, sensor-driven, and hybrid control strategies for UAVs, offering superior performance over linear methods. This paper reviews the significance of these strategies, emphasizing their role in addressing UAV complexities and outlining future research directions. [ABSTRACT FROM AUTHOR]

This document discusses the intersection of artificial intelligence (AI) and deep learning with sensor technologies. It highlights the applications of AI and deep learning in various fields such as healthcare, manufacturing, agriculture, transportation, and environmental monitoring. The document also provides a summary of twelve research articles and reviews that explore the integration of AI and deep learning with sensor data for different purposes, including lung cancer screening, reinforcement learning, point cloud sampling, anomaly detection, human activity recognition, semantic segmentation, face recognition, audio super-resolution, industrial control systems, traffic flow prediction, weed detection, and medical diagnostics. These contributions demonstrate the potential of AI and deep learning in optimizing sensor data utilization and solving complex real-world problems. [Extracted from the article]

With the application of robotics in security monitoring, medical care, image analysis, and other high-privacy fields, vision sensor data in robotic operating systems (ROS) faces the challenge of enhancing secure storage and transmission. Recently, it has been proposed that the distributed advantages of blockchain be taken advantage of to improve the security of data in ROS. Still, it has limitations such as high latency and large resource consumption. To address these issues, this paper introduces PrivShieldROS, an extended robotic operating system developed by InterPlanetary File System (IPFS), blockchain, and HybridABEnc to enhance the confidentiality and security of vision sensor data in ROS. The system takes advantage of the decentralized nature of IPFS to enhance data availability and robustness while combining HybridABEnc for fine-grained access control. In addition, it ensures the security and confidentiality of the data distribution mechanism by using blockchain technology to store data content identifiers (CID) persistently. Finally, the effectiveness of this system is verified by three experiments. Compared with the state-of-the-art blockchain-extended ROS, PrivShieldROS shows improvements in key metrics. This paper has been partly submitted to IROS 2024. [ABSTRACT FROM AUTHOR]

In many areas of engineering, the design of a new system usually involves estimating performance-related parameters from early stages of the project to determine whether a given solution will be compliant with the defined requirements. This aspect is particularly relevant during the design of satellite payloads, where the target environment is not easily accessible in most cases. In the context of Earth observation sensors, this problem has been typically solved with the help of a set of complex pseudo-empirical models and/or expensive laboratory equipment. This paper describes a more practical approach: the illumination conditions measured by an in-orbit payload are recreated on ground with the help of a replica of the same payload so the performance of another Earth observation sensor in development can be evaluated. The proposed method is specially relevant in the context of small satellites, as the possibility of having extra units devoted to these tasks becomes greater as costs are reduced. The results obtained using this method in an actual space mission are presented in this paper, giving valuable information that will help in further stages of the project. [ABSTRACT FROM AUTHOR]

Underwater long-endurance platforms are crucial for continuous oceanic observation, allowing for sustained data collection from a multitude of sensors deployed across diverse underwater environments. They extend mission durations, reduce maintenance needs, and significantly improve the efficiency and cost-effectiveness of oceanographic research endeavors. This paper investigates the closed-loop depth control of actuation systems employed in underwater vehicles, focusing on the energy consumption of two different mechanisms: variable buoyancy and propeller actuated devices. Using a prototype previously developed by the authors, this paper presents a detailed model of the vehicle using both actuation solutions. The proposed model, although being a linear-based one, accounts for several nonlinearities that are present such as saturations, sensor quantization, and the actuator brake model. Also, it allows a simple estimation of the energy consumption of both actuation solutions. Based on the developed models, this study then explores the intricate interplay between energy consumption and control accuracy. To this end, several PID-based controllers are developed and tested in simulation. These controllers are used to evaluate the dynamic response and power requirements of variable buoyancy systems and propeller actuated devices under various operational conditions. Our findings contribute to the optimization of closed-loop depth control strategies, offering insights into the trade-offs between energy efficiency and system effectiveness in diverse underwater applications. [ABSTRACT FROM AUTHOR]

This paper proposes a novel soft sensor modeling approach, MIC-TCA-INGO-LSSVM, to address the decline in performance of soft sensor models during the fermentation process of Pichia pastoris, caused by changes in working conditions. Initially, the transfer component analysis (TCA) method is utilized to minimize the differences in data distribution across various working conditions. Subsequently, a least squares support vector machine (LSSVM) model is constructed using the dataset adapted by TCA, and strategies for improving the northern goshawk optimization (INGO) algorithm are proposed to optimize the parameters of the LSSVM model. Finally, to further enhance the model's generalization ability and prediction accuracy, considering the transfer of knowledge from multiple-source working conditions, a sub-model weighted ensemble scheme is proposed based on the maximum information coefficient (MIC) algorithm. The proposed soft sensor model is employed to predict cell and product concentrations during the fermentation process of Pichia pastoris. Simulation results indicate that the RMSE of the INGO-LSSVM model in predicting cell and product concentrations is reduced by 47.3% and 42.1%, respectively, compared to the NGO-LSSVM model. Additionally, TCA significantly enhances the model's adaptability when working conditions change. Moreover, the soft sensor model based on TCA and the MIC-weighted ensemble method achieves a reduction of 41.6% and 31.3% in the RMSE for predicting cell and product concentrations, respectively, compared to the single-source condition transfer model TCA-INGO-LSSVM. These results demonstrate the high reliability and predictive performance of the proposed soft sensor method under varying working conditions. [ABSTRACT FROM AUTHOR]

This research paper presents a case study on the application of Metal Oxide Semiconductor (MOX)-based VOC/TVOC sensors for indoor air quality (IAQ) monitoring. This study focuses on the ease of use and the practical benefits of these sensors, drawing insights from measurements conducted in a university laboratory setting. The investigation showcases the straightforward integration of MOX-based sensors into existing IAQ monitoring systems, highlighting their user-friendly features and the ability to provide precise and real-time information on volatile organic compound concentrations. Emphasizing ease of installation, minimal maintenance, and immediate data accessibility, this paper demonstrates the practicality of incorporating MOX-based sensors for efficient IAQ management. The findings contribute to the broader understanding of MOX sensor capabilities, providing valuable insights for those seeking straightforward and effective solutions for indoor air quality monitoring. This case study outlines the feasibility and benefits of utilizing MOX-based sensors in various environments, offering a promising avenue for the widespread adoption of user-friendly technologies in IAQ management. [ABSTRACT FROM AUTHOR]

This paper proposes a novel short-term photovoltaic voltage (PV) prediction scheme using IoT sensor data with the two-stage neural network model. It is efficient to use environmental data provided by the meteorological agency to predict future PV generation. However, such environmental data represent the average value of the wide area, and there is a limitation in detecting environmental changes in the specific area where the solar panel is installed. In order to solve such issues, it is essential to establish IoT sensor data to detect environmental changes in the specific area. However, most conventional research focuses only on the efficiency of IoT sensor data without taking into account the timing of data acquisition from the sensors. In real-world scenarios, IoT sensor data is not available precisely when needed for predictions. Therefore, it is necessary to predict the IoT data first and then use it to forecast PV generation. In this paper, we propose a two-stage model to achieve high-accuracy prediction results. In the first stage, we use predicted environmental data to access IoT sensor data in the desired future time point. In the second stage, the predicted IoT sensors and environmental data are used to predict PV generation. Here, we determine the appropriate prediction scheme at each stage by analyzing the model characteristics to increase prediction accuracy. In addition, we show that the proposed prediction scheme could increase prediction accuracy by more than 12% compared to the baseline scheme that only uses a meteorological agency to predict PV generation. [ABSTRACT FROM AUTHOR]

Immunoassay has the advantages of high sensitivity, high specificity, and simple operation, and has been widely used in the detection of mycotoxins. For several years, time-resolved fluorescence immunochromatography (TRFIA) paper-based sensors have attracted much attention as a simple and low-cost field detection technology. However, a traditional TRFIA paper-based sensor is based on antibody labeling, which cannot easily meet the current detection requirements. A second antibody labeling method was used to amplify the fluorescence signal and improve the detection sensitivity. Polystyrene fluorescent microspheres were combined with sheep anti-mouse IgG to prepare fluorescent probes (Eu-IgGs). After the probe fully reacted with the antibody (Eu-IgGs-Abs) in the sample cell, it was deployed on the paper-based sensor using chromatography. Eu-IgGs-Abs that were not bound to the target were captured on the T-line, while those that were bound were captured on the C-line. The paper-based sensor reflected the corresponding fluorescence intensity change. Because a single molecule of the deoxynivalenol antibody could bind to multiple Eu-IgGs, this method could amplify the fluorescence signal intensity on the unit antibody and improve the detection sensitivity. The working standard curve of the sensor was established under the optimum working conditions. It showed the lower limit of detection and higher recovery rate when it was applied to actual samples and compared with other methods. This sensor has the advantages of high sensitivity, good accuracy, and good specificity, saving the amount of antibody consumed and being suitable for rapid field detection of deoxynivalenol. [ABSTRACT FROM AUTHOR]

Technological advancements are enabling new applications within biomedical engineering. As a connection point between the outer environment and the human system, the oral cavity offers unique opportunities for sensing technologies. This paper systematically reviews the performance of measurement systems tested in the human oral cavity. Performance was defined by metrics related to accuracy and agreement estimation. A comprehensive search identifying human studies that reported on the accuracy or agreement of intraoral sensors found 85 research papers. Most of the literature (62%) was in dentistry, followed by neurology (21%), and physical medicine and rehabilitation (12%). The remaining papers were on internal medicine, obstetrics, and aerospace medicine. Most of the studies applied force or pressure sensors (32%), while optical and image sensors were applied most widely across fields. The main challenges for future adoption include the lack of large human trials, the maturity of emerging technologies (e.g., biochemical sensors), and the absence of standardization of evaluation in specific fields. New research should aim to employ robust performance metrics to evaluate their systems and incorporate real-world evidence as part of the evaluation process. Oral cavity sensors offer the potential for applications in healthcare and wellbeing, but for many technologies, more research is needed. [ABSTRACT FROM AUTHOR]

The continuously increasing number of mobile devices actively being used in the world amounted to approximately 6.8 billion by 2022. Consequently, this implies a substantial increase in the amount of personal data collected, transported, processed, and stored. The authors of this paper designed and implemented an integrated personal health data management system, which considers data-driven software and hardware sensors, comprehensive data privacy techniques, and machine-learning-based algorithmic models. It was determined that there are very few relevant and complete surveys concerning this specific problem. Therefore, the current scientific research was considered, and this paper comprehensively analyzes the importance of deep learning techniques that are applied to the overall management of data collected by data-driven soft sensors. This survey considers aspects that are related to demographics, health and body parameters, and human activity and behaviour pattern detection. Additionally, the relatively complex problem of designing and implementing data privacy mechanisms, while ensuring efficient data access, is also discussed, and the relevant metrics are presented. The paper concludes by presenting the most important open research questions and challenges. The paper provides a comprehensive and thorough scientific literature survey, which is useful for any researcher or practitioner in the scope of data-driven soft sensors and privacy techniques, in relation to the relevant machine-learning-based models. [ABSTRACT FROM AUTHOR]

Rice is a staple food that feeds nearly half of the world's population. With the population of our planet expected to keep growing, it is crucial to carry out accurate mapping, monitoring, and assessments since these could significantly impact food security, climate change, spatial planning, and land management. Using the PRISMA systematic review protocol, this article identified and selected 122 scientific articles (journals papers and conference proceedings) addressing different remote sensing-based methodologies to map paddy croplands, published between 2010 and October 2022. This analysis includes full coverage of the mapping of rice paddies and their various stages of crop maturity. This review paper classifies the methods based on the data source: (a) multispectral (62%), (b) multisource (20%), and (c) radar (18%). Furthermore, it analyses the impact of machine learning on those methodologies and the most common algorithms used. We found that MODIS (28%), Sentinel-2 (18%), Sentinel-1 (15%), and Landsat-8 (11%) were the most used sensors. The impact of Sentinel-1 on multisource solutions is also increasing due to the potential of backscatter information to determine textures in different stages and decrease cloud cover constraints. The preferred solutions include phenology algorithms via the use of vegetation indices, setting thresholds, or applying machine learning algorithms to classify images. In terms of machine learning algorithms, random forest is the most used (17 times), followed by support vector machine (12 times) and isodata (7 times). With the continuous development of technology and computing, it is expected that solutions such as multisource solutions will emerge more frequently and cover larger areas in different locations and at a higher resolution. In addition, the continuous improvement of cloud detection algorithms will positively impact multispectral solutions. [ABSTRACT FROM AUTHOR]

To meet the real demand for broadband full-band high-gain antenna sensors in the process of partial discharge (PD) Ultra-High frequency (UHF) detection test and online monitoring of power equipment, this paper builds a resonant cavity monopole UHF antenna sensor based on Fabry–Perot resonant cavity antenna technology, conducts the sensor Voltage Standing Wave Ratio (VSWR) optimization study using curved flow technology, conducts the sensor gain optimization study using slot dual resonant structure, and, finally, tests the sensor performance using the built PD detection test platform. The resonant cavity monopole antenna exhibits outstanding VSWR performance in the frequency range of 0.37 GHz–3 GHz, according to simulation and test data: the average gain in the frequency range of 0.3 GHz–3 GHz is 4.92 dBi, and the highest gain at the primary resonant frequency of 1.0 GHz is 7.16 dBi, with good radiation performance over the whole frequency spectrum. The electromagnetic pulse signal sensed by the UHF sensor developed in this paper can demonstrate the energy spectrum distribution characteristics of PD radiation electromagnetic wave signal more comprehensively, laying a firm technical foundation for thoroughly understanding the electromagnetic wave radiation characteristics of various types of PD insulation defects of various power equipment and the selection of a specific direction for its supporting optimization. [ABSTRACT FROM AUTHOR]

Algorithms for QRS detection are fundamental in the ECG interpretive processing chain. They must meet several challenges, such as high reliability, high temporal accuracy, high immunity to noise, and low computational complexity. Unfortunately, the accuracy expressed by missed or redundant events statistics is often the only parameter used to evaluate the detector's performance. In this paper, we first notice that statistics of true positive detections rely on researchers' arbitrary selection of time tolerance between QRS detector output and the database reference. Next, we propose a multidimensional algorithm evaluation method and present its use on four example QRS detectors. The dimensions are (a) influence of detection temporal tolerance, tested for values between 8.33 and 164 ms; (b) noise immunity, tested with an ECG signal with an added muscular noise pattern and signal-to-noise ratio to the effect of "no added noise", 15, 7, 3 dB; and (c) influence of QRS morphology, tested on the six most frequently represented morphology types in the MIT-BIH Arrhythmia Database. The multidimensional evaluation, as proposed in this paper, allows an in-depth comparison of QRS detection algorithms removing the limitations of existing one-dimensional methods. The method enables the assessment of the QRS detection algorithms according to the medical device application area and corresponding requirements of temporal accuracy, immunity to noise, and QRS morphology types. The analysis shows also that, for some algorithms, adding muscular noise to the ECG signal improves algorithm accuracy results. [ABSTRACT FROM AUTHOR]

This document discusses the use of machine learning and deep learning in data processing for various sensors. It includes research papers on topics such as toxicity detection in online discussions, evaluation of infrastructure for connected and automated vehicles, an IoT-based system for managing classroom activities during COVID-19, text classification in different languages, multi-delay identification methods, attention heat maps in benchmarks, video quality assessment with packet loss, optimization of 3DCNN models for human activity recognition, an IoT-based connected university system, usability evaluation of Apple MacBook Pro laptops for machine learning research, data augmentation for student behavior identification, defect image classification in ductile cast iron pipe images, supervised classification models for image classification, and sample selection methods for training classification models. The authors provide detailed explanations of each research topic and present their findings and conclusions. [Extracted from the article]

Magnetoelectric (ME) sensors cannot effectively detect broadband magnetic field signals due to their narrow bandwidth, and existing readout circuits are unable to vary the bandwidth of the sensors. To expand the bandwidth, this paper introduces a negative-feedback readout circuit, fabricated by introducing a negative-feedback compensation circuit based on the direct readout circuit of the ME sensor. The negative-feedback compensation circuit contains a current amplifier, a feedback resistor, and a feedback coil. For this purpose, a Metglas/PVDF/Metglas ME sensor was prepared. Experimental measurements show that there is a six-fold difference between the maximum and minimum values of the ME voltage coefficients in the 6–39 kHz frequency band for the ME sensor without the negative-feedback compensation circuit when the sensor operates at the optimal bias magnetic field. However, the ME voltage coefficient in this band remains stable, at 900 V/T, after the charge amplification of the direct-reading circuit and the negative-feedback circuit. In addition, experimental results show that this negative-feedback readout circuit does not increase the equivalent magnetic noise of the sensor, with a noise level of 240 pT/√Hz in the frequency band lower than 25 kHz, 63 pT/√Hz around the resonance frequency of 30 kHz, and 620 pT/√Hz at 39 kHz. This paper proposes a negative-feedback readout circuit based on the direct readout circuit, which greatly increases the bandwidth of ME sensors and promotes the widespread application of ME sensors in the fields of broadband weak magnetic signal detection and DBS electrode positioning. [ABSTRACT FROM AUTHOR]

Hand gesture recognition, which is one of the fields of human–computer interaction (HCI) research, extracts the user's pattern using sensors. Radio detection and ranging (RADAR) sensors are robust under severe environments and convenient to use for hand gestures. The existing studies mostly adopted continuous-wave (CW) radar, which only shows a good performance at a fixed distance, which is due to its limitation of not seeing the distance. This paper proposes a hand gesture recognition system that utilizes frequency-shift keying (FSK) radar, allowing for a recognition method that can work at the various distances between a radar sensor and a user. The proposed system adopts a convolutional neural network (CNN) model for the recognition. From the experimental results, the proposed recognition system covers the range from 30 cm to 180 cm and shows an accuracy of 93.67% over the entire range. [ABSTRACT FROM AUTHOR]

Laser dazzling on complementary metal oxide semiconductor (CMOS) image sensors is an effective method in optoelectronic countermeasures. However, previous research mainly focused on the laser dazzling under far fields, with limited studies on situations that the far-field conditions were not satisfied. In this paper, we established a Fresnel diffraction model of laser dazzling on a CMOS by combining experiments and simulations. We calculated that the laser power density and the area of saturated pixels on the detector exhibit a linear relationship with a slope of 0.64 in a log-log plot. In the experiment, we found that the back side illumination (BSI-CMOS) matched the simulations, with an error margin of 3%, while the front side illumination (FSI-CMOS) slightly mismatched the simulations, with an error margin of 14%. We also found that the full-screen saturation threshold for the BSI-CMOS was 25% higher than the FSI-CMOS. Our work demonstrates the applicability of the Fresnel diffraction model for BSI-CMOS, which provides a valuable reference for studying laser dazzling. [ABSTRACT FROM AUTHOR]

Simultaneous localization and mapping (SLAM) is an essential component for smart robot operations in unknown confined spaces such as indoors, tunnels and underground. This paper proposes a novel tightly-coupled ranging-LiDAR-inertial simultaneous localization and mapping framework, namely RLI-SLAM, which is designed to be high-accuracy, fast and robust in the long-term fast-motion scenario, and features two key innovations. The first one is tightly fusing the ultra-wideband (UWB) ranging and the inertial sensor to prevent the initial bias and long-term drift of the inertial sensor so that the point cloud distortion of the fast-moving LiDAR can be effectively compensated in real-time. This enables high-accuracy and robust state estimation in the long-term fast-motion scenario, even with a single ranging measurement. The second one is deploying an efficient loop closure detection module by using an incremental smoothing factor graph approach, which seamlessly integrates into the RLI-SLAM system, and enables high-precision mapping in a challenging environment. Extensive benchmark comparisons validate the superior accuracy of the proposed new state estimation and mapping framework over other state-of-the-art systems at a low computational complexity, even with a single ranging measurement and/or in a challenging environment. [ABSTRACT FROM AUTHOR]

The paper introduces a new FireAndSmoke open dataset comprising over 22,000 images and 93,000 distinct instances compiled from 1200 YouTube videos and public Internet resources. The scenes include separate and combined fire and smoke scenarios and a curated set of difficult cases representing real-life circumstances when specific image patches may be erroneously detected as fire/smoke presence. The dataset has been constructed using both static pictures and video sequences, covering day/night, indoor/outdoor, urban/industrial/forest, low/high resolution, and single/multiple instance cases. A rigorous selection, preprocessing, and labeling procedure has been applied, adhering to the findability, accessibility, interoperability, and reusability specifications described in the literature. The performances of the YOLO-type family of object detectors have been compared in terms of class-wise Precision, Recall, Mean Average Precision (mAP), and speed. Experimental results indicate the recently introduced YOLO10 model as the top performer, with 89% accuracy and a mAP@50 larger than 91%. [ABSTRACT FROM AUTHOR]

The detection of electric fields in the environment has great importance for understanding various natural phenomena, environmental monitoring, and ensuring human safety. This review paper provides an overview of the current state-of-the-art technologies utilized for sensing electric fields in the environment, the challenges encountered, and the diverse applications of this sensing technology. The technology is divided into three categories according to the differences in the physical mechanism: the electro-optic effect-based measurement system, the MEMS-based sensor, and the newly reported quantum effect-based sensors. The principles of the underlying methods are comprehensively introduced, and the tentative applications for each type are discussed. Detailed comparisons of the three different techniques are identified and discussed with regard to the instrument, its sensitivity, and bandwidth. Additionally, the challenges faced in environmental electric field sensing, the potential solutions, and future development directions are addressed. [ABSTRACT FROM AUTHOR]

Three-dimensional point cloud registration is a critical task in 3D perception for sensors that aims to determine the optimal alignment between two point clouds by finding the best transformation. Existing methods like RANSAC and its variants often face challenges, such as sensitivity to low overlap rates, high computational costs, and susceptibility to outliers, leading to inaccurate results, especially in complex or noisy environments. In this paper, we introduce a novel 3D registration method, CL-PCR, inspired by the concept of maximal cliques and built upon the SC2-PCR framework. Our approach allows for the flexible use of smaller sampling subsets to extract more local consensus information, thereby generating accurate pose hypotheses even in scenarios with low overlap between point clouds. This method enhances robustness against low overlap and reduces the influence of outliers, addressing the limitations of traditional techniques. First, we construct a graph matrix to represent the compatibility relationships among the initial correspondences. Next, we build clique-likes subsets of various sizes within the graph matrix, each representing a consensus set. Then, we compute the transformation hypotheses for the subsets using the SVD algorithm and select the best hypothesis for registration based on evaluation metrics. Extensive experiments demonstrate the effectiveness of CL-PCR. In comparison experiments on the 3DMatch/3DLoMatch datasets using both FPFH and FCGF descriptors, our Fast-CL-PCRv1 outperforms state-of-the-art algorithms, achieving superior registration performance. Additionally, we validate the practicality and robustness of our method with real-world data. [ABSTRACT FROM AUTHOR]