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In this letter we present a current mode gate based on differential pair as an application of carbon nanotube field effect transistors (CNTFETs). The proposed circuit has two output logic gates: one is NAND, and the other is AND. To simplify the circuit realization we use all CNTFETs of the same type, all with the same lengths and carbon nanotube symmetry indices (n,m). Complex circuits could be obtained in current mode replicating the differential pair CNTFET along the current path. The proposed procedure allows simulation of transfer characteristics from voltage input to current output but also from voltage input to voltage output. Moreover, we can measure simulated power dissipation and delay times. [ABSTRACT FROM AUTHOR]

This paper proposes a procedure to analyze digital circuits in both Carbon Nanotube Field-Effect Transistors (CNTFET) and Complementary Metal-Oxide-Semiconductor (CMOS) technology for the purpose of comparison. The procedure is applied to study a NAND gate, with an emphasis on its applicability to analyze other digital circuits. To demonstrate this versatility, the procedure is also used to analyze a NOT gate in both CNTFET and CMOS technology. The paper presents the improvements achieved with CNTFET technology compared to CMOS. All simulations are conducted using the Advanced Design System (ADS) software, compatible with the Verilog-A programming language. Results from the analysis reveal that CNTFET technology exhibits superior performance, particularly at lower supply voltages. The paper also quantifies the differences in propagation delay, with CNTFET technology outperforming CMOS technology by a significant margin. [ABSTRACT FROM AUTHOR]

This paper introduces the Human Action Multi-Modal Monitoring in Manufacturing (HA4M) dataset, a collection of multi-modal data relative to actions performed by different subjects building an Epicyclic Gear Train (EGT). In particular, 41 subjects executed several trials of the assembly task, which consists of 12 actions. Data were collected in a laboratory scenario using a Microsoft® Azure Kinect which integrates a depth camera, an RGB camera, and InfraRed (IR) emitters. To the best of authors' knowledge, the HA4M dataset is the first multi-modal dataset about an assembly task containing six types of data: RGB images, Depth maps, IR images, RGB-to-Depth-Aligned images, Point Clouds and Skeleton data. These data represent a good foundation to develop and test advanced action recognition systems in several fields, including Computer Vision and Machine Learning, and application domains such as smart manufacturing and human-robot collaboration. Measurement(s) human actions in manufacturing context Technology Type(s) Microsoft Azure Kinect Camera [ABSTRACT FROM AUTHOR]

Ground vehicles equipped with vision-based perception systems can provide a rich source of information for precision agriculture tasks in orchards, including fruit detection and counting, phenotyping, plant growth and health monitoring. This paper presents a semi-supervised deep learning framework for automatic pomegranate detection using a farmer robot equipped with a consumer-grade camera. In contrast to standard deep-learning methods that require time-consuming and labor-intensive image labeling, the proposed system relies on a novel multi-stage transfer learning approach, whereby a pre-trained network is fine-tuned for the target task using images of fruits in controlled conditions, and then it is progressively extended to more complex scenarios towards accurate and efficient segmentation of field images. Results of experimental tests, performed in a commercial pomegranate orchard in southern Italy, are presented using the DeepLabv3+ (Resnet18) architecture, and they are compared with those that were obtained based on conventional manual image annotation. The proposed framework allows for accurate segmentation results, achieving an F1-score of 86.42% and IoU of 97.94%, while relieving the burden of manual labeling. [ABSTRACT FROM AUTHOR]

Nowadays, the need for reliable and low-cost multi-camera systems is increasing for many potential applications, such as localization and mapping, human activity recognition, hand and gesture analysis, and object detection and localization. However, a precise camera calibration approach is mandatory for enabling further applications that require high precision. This paper analyzes the available two-camera calibration approaches to propose a guideline for calibrating multiple Azure Kinect RGB-D sensors to achieve the best alignment of point clouds in both color and infrared resolutions, and skeletal joints returned by the Microsoft Azure Body Tracking library. Different calibration methodologies using 2D and 3D approaches, all exploiting the functionalities within the Azure Kinect devices, are presented. Experiments demonstrate that the best results are returned by applying 3D calibration procedures, which give an average distance between all couples of corresponding points of point clouds in color or an infrared resolution of 21.426 mm and 9.872 mm for a static experiment and of 20.868 mm and 7.429 mm while framing a dynamic scene. At the same time, the best results in body joint alignment are achieved by three-dimensional procedures on images captured by the infrared sensors, resulting in an average error of 35.410 mm. [ABSTRACT FROM AUTHOR]

This paper reviews the recent literature on technologies and methodologies for quantitative human gait analysis in the context of neurodegenerative diseases. The use of technological instruments can be of great support in both clinical diagnosis and severity assessment of these pathologies. In this paper, sensors, features and processing methodologies have been reviewed in order to provide a highly consistent work that explores the issues related to gait analysis. First, the phases of the human gait cycle are briefly explained, along with some non-normal gait patterns (gait abnormalities) typical of some neurodegenerative diseases. Then the paper reports the most common processing techniques for both feature selection and extraction and for classification and clustering. Finally, a conclusive discussion on current open problems and future directions is outlined. [ABSTRACT FROM AUTHOR]

In this paper we present a procedure to study the effects of parasitic elements (capacitances, inductances and resistances) of interconnection lines in integrated circuits where Carbon Nanotubes are embedded. In particular the Drain/Source pads dimensions of CNT are analysed, as well as the interconnection lines between a CNT and an appropriate load are sized. In order to estimate parasitic elements in CNTs embedded integrated circuits, we analyse 50 nm technology. Moreover it is also possible for predictions analysis on 10 nm and 3 nm technology. We apply the proposed procedure to the design of a Common-Source amplifier, using a CNTFET model already proposed by us. The frequency domain simulations, obtained using the ADS simulator, show how the parasitic elements limit the performances of CNTs. In particular we obtain that the -3 dB cutting frequency of the examined amplifier full of parasitic elements increases as technology decreases. Moreover we repeat the proposed simulations using SPICE, obtaining results practically coincident but with the Verilog-A implementation we have mainly a simulation run time much shorter and a software much more concise and clear than schemes using ABM blocks in SPICE. [ABSTRACT FROM AUTHOR]

This article proposes an automatic approach for segmenting inclusion defects in composite materials inspected by lock-in thermography (LT) in a heat source invariant way. In the proposed pipeline, temperature maps are preliminarily processed to enhance the contrast between sound and defective areas, reduce the acquisition noise, and mitigate the effect of nonuniform heat excitation. Then, the enhanced sequences are grouped in highly local sets, the input of a convolution residual neural network, which segments the defects focusing on the temporal evolution of the temperature. Experiments have been run on a dataset acquired from a CFRP specimen tested under five different heat source configurations. Here, a brief study of signal variations associated with the heat source configuration is presented. Then, an ablation study has been presented to compare different architectures of increasing complexity. The best results are achieved by using the proposed preliminary processing, the residual layers, and an input set of temperature signals of size $3 \times 3$. This network can reach a global intersection over union (IOU) of 0.78, while defects are segmented with an IOU value of 0.58. In addition, the balanced segmentation accuracy of the test reaches 94.78%, with a maximum recall of the defective class of 91.41%. Further cross validation changing the source configurations of the training and test sets produces comparable results of IOU and balanced accuracy, which are on average equal to 0.71 and 84.02%, respectively. A final evaluation of the trained network is performed on a new dataset augmented through a vertical stretch. Results are still comparable with an average IOU and balanced accuracy of 0.74 and 87.15%, respectively. These results prove the capability of the method to segment inclusion defects of any shape without being affected by the configuration of the heating sources used in the LT inspections. [ABSTRACT FROM AUTHOR]

The discovery of Carbon Nanotube (CNT) had attracted many researchers to study their applications in the nanotechnology field including those in the biomedical field, due to the remarkable physical, chemical, electrical and optical characteristic proprieties of CNTs, which make them one of the best suited for biosensors. The CNTs based electrochemical biosensors are used for diagnostic as well as therapeutic applications, especially in the field of oncology. In this paper, the authors present a review on electrochemical sensors based on CNTs, with particular reference to their applications in biomedical field, highlighting the state of the art and the necessary developments to solve the current issues related to this technology. [ABSTRACT FROM AUTHOR]

In this paper, the authors present a simulation study in order to carry out static and dynamic analysis of CNTFET-based digital circuits, in the semi-empirical compact model for CNTFETs, which was already proposed with, both the quantum capacitance effects and the sub-threshold currents. To verify the validity of the obtained results, they are compared with those of the Stanford-Source Virtual Carbon Nanotube Field-Effect Transistor (VS-CNFET) model. This comparison is made through some simulations of digital circuits. In particular they have considered XOR gate, but emphasizing that the proposed procedure can be applied to any logic gate based on CNTFET. As regards the static conditions, the two models behave in a manner virtually identical, while, as regards the dynamic analysis, there is a remarkable differences between two models in terms of propagation delays and rise and fall times. [ABSTRACT FROM AUTHOR]

In this paper, the authors present a comparison through a simulation study, among different hetero structure devices, like Metal Semiconductor Field Effect Transistor (MESFET), High Electron Mobility Transistor (HEMT), and Tunnel Field Effect Transistor (TFET), with reference to their applications in electronic field. In particular, MESFET and HEMT present good performance in power amplifiers and they are characterized by high mobility of the charge carriers that allows to consume less at high frequency. TFET is the newest experimental device, which has a very powerful application in logic circuits, ultra low-power specific analog ICs with better temperature strength and low-power SRAM. [ABSTRACT FROM AUTHOR]

In this paper, we present the effect of process parameters variations on - characteristics of LDD MOSFETs through a simulation study, applying also to any submicron device. In particular, we examine the effect of variation of ionic implantation for different channel doping involved in MOSFET production. At last, we examine a linear - model to simulate more adequately the effects of variation of the process parameters as correction to the base model. [ABSTRACT FROM AUTHOR]

In this paper, the authors present a comparison through a simulation study, among different hetero structure devices, like Metal Semiconductor Field Effect Transistor (MESFET), High Electron Mobility Transistor (HEMT), and Tunnel Field Effect Transistor (TFET), with reference to their applications in electronic field. In particular, MESFET and HEMT present good performance in power amplifiers and they are characterized by high mobility of the charge carriers that allows to consume less at high frequency. TFET is the newest experimental device, which has a very powerful application in logic circuits, ultra low-power specific analog ICs with better temperature strength and low-power SRAM. [ABSTRACT FROM AUTHOR]

Camera triggering represents an essential step for synchronizing artificial vision systems (AVSs) and can affect the quality of acquired images. In fact, a proper trigger signal is mandatory to synchronize in time both stand alone or multiple cameras covering large environments. In addition, indoor environments with artificial light sources can induce flickering noise in captured frames, affecting the performance of the algorithms that are usually executed to interpret a scene or perform various tasks. In this letter, we describe the design of an embedded system for camera triggering that can be employed to deal with such issues and remove flickering noise while capturing an image with the highest possible dynamic range. Experiments on real data show how the proposed trigger can be effectively employed in AVSs. [ABSTRACT FROM PUBLISHER]

The aim of this review paper is to define the role of SiGe HBTs within the Technology Revolution that will lead to a globally interconnected smart world. At first, the authors have presented the recent developments of SiGe BiCMOS technologies and their applications to unit circuit blocks and integrated solutions. Then modern HBT device structures, technological aspects, scaling strategies, design issues, and future directions are also discussed. TCAD-based simulations predict that SiGe HBTs with cut-off and maximum oscillation frequencies of 780 GHz and 2 THz, respectively will become feasible by the year 2030. [ABSTRACT FROM AUTHOR]

In this paper, the authors have illustrated a new kind of devices (molecular devices), able to work better at nanometer scale, with particular attention to molecular diodes. In particular, the I-V characteristics of a gated molecular diode were simulated, showing how an increase of the gate voltage involves an increase of the drain current. Then they proposed a simulation study which is obtained by SPICE simulator, in order to analyze and design some basic digital circuits (AND & OR) employing molecular diodes. In the light of obtained results, the molecular diodes are demonstrated as logic ports cannot be used because, although they follow input pulses, the logic levels in output and the noise margin obtained are not appropriate for electronic applications. [ABSTRACT FROM AUTHOR]

In this article, an accurate method for the registration of point clouds returned by a 3D rangefinder is presented. The method modifies the well-known iterative closest point (ICP) algorithm by introducing the concept of deletion mask. This term is defined starting from virtual scans of the reconstructed surfaces and using inconsistencies between measurements. In this way, spatial regions of implicit ambiguities, due to edge effects or systematical errors of the rangefinder, are automatically found. Several experiments are performed to compare the proposed method with three ICP variants. Results prove the capability of deletion masks to aid the point cloud registration, lowering the errors of the other ICP variants, regardless the presence of artifacts caused by small changes of the sensor view-point and changes of the environment. [ABSTRACT FROM AUTHOR]

In this paper some of the possible applications in the biomedical field of the RFID technology are presented, giving an idea of the wide range of advantages that RFID devices are able to provide. In particular, those aspects of RFID technology were examined, which make possible the realization of miniaturized devices, implantable in the human body and powered from the outside, and can monitor the biological functions of individuals or even enable the therapy of diseases. Moreover, some aspects that need to be improved in the future research works are discussed such as the biocompatibility of the material for the implantable devices, the long-term exposure of the human body to electromagnetic fields, the interference caused by surrounding metallic parts, the attenuation of RF signals at particularly high frequency values and the implementation of a safe communication channel in order to guarantee the privacy of the individual. [ABSTRACT FROM AUTHOR]

In this paper, we propose an embedded vision system based on laser profilometry able to get the pose of a vehicle and its relative displacements with reference to the constitutive media of a structured environment. Fundamental equations for laser triangulation are developed and encoded for their actual implementation on an embedded system. It is made of a laser source that projects a line-shaped beam onto the environment and an on-chip camera able to frame the laser light. Images are then sent to the inexpensive Raspberry Pi onboard computer, which is responsible for processing tasks. For the first time, laser profilometry is coupled with the correlation of laser signatures on a low-cost and low-resource processing board for vehicle localization purposes. Several validation tests of the proposed sensor have proven the effectiveness of the system with respect to commercially available sensors such as inductive sensors and standard odometers, which fail when the vehicle crosses path interceptions or its wheels undergo unavoidable slippages. Moreover, further comparisons with other vision-based techniques have also proven the good performances of this embedded system for real-time localization of vehicles. [ABSTRACT FROM PUBLISHER]

This paper presents a light DC thermal model of recessed gate P-HEMT devices, based on the Chaibi model, where the authors have identified the transistor parameters having greater influence on the device behaviour for temperature variations. The main aims are to improve the accuracy of modelled I-V curves, in particular in the knee and saturation regions and above all to give the device source-drain current as a function of external voltages, as seen at the device gates, by-passing the very difficult measurement of parasitic resistances for the I-V characterisation. To verify the accuracy of the proposed model, the results are compared with those of Chaibi model, obtaining a negligible relative error, with however a compilation time and a run time much more low. [ABSTRACT FROM AUTHOR]

This paper considers the problem of detecting archaeological traces in digital aerial images by analyzing the pixel variance over regions around selected points. In order to decide if a point belongs to an archaeological trace or not, its surrounding regions are considered. The one-way ANalysis Of VAriance (ANOVA) is applied several times to detect the differences among these regions; in particular the expected shape of the mark to be detected is used in each region. Furthermore, an effect size parameter is defined by comparing the statistics of these regions with the statistics of the entire population in order to measure how strongly the trace is appreciable. Experiments on synthetic and real images demonstrate the effectiveness of the proposed approach with respect to some state-of-the-art methodologies. [ABSTRACT FROM AUTHOR]

In this paper, an accurate range sensor for the three-dimensional reconstruction of environments is designed and developed. Following the principles of laser profilometry, the device exploits a set of optical transmitters able to project a laser line on the environment. A high-resolution and high-frame-rate camera assisted by a telecentric lens collects the laser light reflected by a parabolic mirror, whose shape is designed ad hoc to achieve a maximum measurement error of 10 mm when the target is placed 3 m away from the laser source. Measurements are derived by means of an analytical model, whose parameters are estimated during a preliminary calibration phase. Geometrical parameters, analytical modeling and image processing steps are validated through several experiments, which indicate the capability of the proposed device to recover the shape of a target with high accuracy. Experimental measurements show Gaussian statistics, having standard deviation of 1.74 mm within the measurable range. Results prove that the presented range sensor is a good candidate for environmental inspections and measurements. [ABSTRACT FROM AUTHOR]

In this paper a method based on the well-known frame theory is presented for the identification and classification of objects inside a scene. Three-dimensional (3D) point clouds have been firstly acquired using a laser triangulation system exploiting a high resolution camera, in order to derive accurate datasets for the method validation. The method performs a quadratic fit on the acquired samples and then extracts local curvatures from the analytical reconstructed surfaces. Such information is referred to a vocabulary of curvatures, created making use of the frame basis. Meaningful signatures can be finally analyzed to derive the recurrences of objects in the investigated scene. Specifically, by fixing a threshold value, similarities can be estimated and thus objects can be recognized. Results prove the capability of the method to distinguish surface properties among several objects, validating this algorithm against the contributions of the measurement noise. [ABSTRACT FROM AUTHOR]

In this paper a fast method based on laser triangulation for the estimation of the pose of a mobile robot is presented. The system is made of a camera and a laser source, placed on the front side of a robot, the Smoov ASRV, which is an autonomous vehicle able to carry, store and retrieve pallets in a smart warehouse constituted by metallic shelves. Therefore, the movements of the robot are constrained into allowed paths made of rails, arranged with several apertures that allow the robot change of direction. The processing of the acquired images is directly done on board by means of a low-cost single-board computer, namely the Raspberry Pi. This last is able to extract the information about the distance and the heading of the robot with respect to the rail boundary by analyzing the laser line lying in the camera plane; then, the extracted information expressed in the 3D reference system are sent via User Datagram Protocol to the control system of the vehicle. Results show how the information given by the proposed vision system are provided in a more efficient way with respect to the inductive sensors and the classic odometry, which fail when the robot crosses the structural rail apertures or its wheels suffer from unavoidable slippage. [ABSTRACT FROM AUTHOR]

In this paper, a novel doubly resonant three-dimensional (3D) nanodisk Yagi-Uda antenna, conceived for realizing wireless optical links within electronic circuits, is proposed. The prominent emitting properties of this nanoantenna have been deeply investigated both in the near and far field through a useful comparison with a more traditional 3D nanorod Yagi-Uda antenna. The behavior of the nanodisk antenna, both configured as a single nanoantenna and arranged in planar arrays, have been illustrated, emphasizing its improved performances with relation to crucial aspects as directional features, wavelength bands of operation, frequency tuning, and polarization influence on radiation. In particular, the single nanodisk antenna has been accurately designed to enhance the transmission feature in the near field at the wavelengths λ = 1.3 and λ = 1.55 μm. Also, the emission pattern of the array of nanodisk antennas has been properly tailored to ensure high peaks of directivity and narrow beam width in those ranges. Hence, efficient unidirectional angle patterns have been shaped for any operation wavelength and dimensions of the array, reaching extremely effective outcomes for a 3 × 3 array, which exhibits a maximum of directivity of 19 and 17.6 and −3 dB points at 18° and 21° for λ = 1.3 and λ = 1.55 μm, respectively. [ABSTRACT FROM AUTHOR]

A direct current model of carbon nanotube field effect transistors for computer-aided design applications is proposed. The main objective is to obtain a very good agreement between measured and simulated I–V curves through a best-fitting procedure, particularly in the knee and saturation regions. To verify the accuracy of the model, the results have been compared with those of experimental data and of a numerical model available online, obtaining a negligible relative error in both the cases. The proposed model can be easily implemented in an electrical simulator, and the computational time is very short. [ABSTRACT FROM PUBLISHER]

We analyze the effective opening of finite bands of inhibited transmission in realistic systems excited by actual out-of-plane sources. We first observe how the excitation of surface plasmon polaritons in one-dimensional arrays of metal slits depends on the angle of incidence of the source field. Then, the well-known grating-coupling equation is revised in order to find an asymmetric structure with equivalent parameters which, under perfectly normal excitation, is able to exhibit surface plasmon polariton modes at the same wavelengths of the original structure which undergoes a nonorthogonal incidence of the light. In this way we demonstrate through finite-element simulations that a realistic system, probed by a source beam in a finite light-cone, can be effectively decomposed in several equivalent systems with different physical and geometrical parameters, with results in the enlargement of the theoretically expected punctual minimum of transmission. [ABSTRACT FROM AUTHOR]

In this paper, a novel plasmonic bandgap cavity inducing the enhancement of extraordinary optical transmission is presented. Numerical simulations have been performed to model a free-standing structure made of a one-dimensional periodic arrangement of gold strips. Two different values of the lattice constant have been properly chosen to realize a double heterostructure-like cavity to accomplish extraordinary optical transmission assisted by the formation of a plasmonic bandgap in the adjacent regions. Numerical results prove the capability of this optical device to efficiently transmit input light beams with far-field transmission values close to 100% due to the excitation of surface plasmon polariton resonant modes. [ABSTRACT FROM AUTHOR]

We present a compact, semiempirical model of carbon nanotube field effect transistor easily implementable in simulation SPICE software to design analog and digital circuits. The model is based on analytical approximations and parameters extracted from quantum mechanical simulations, having compared the results with those of the numerical model online available and of experimental data. [ABSTRACT FROM PUBLISHER]

In this paper, a 3-D model based on the Green's function for analyzing wave propagation in 2-D guided-wave photonic crystals (PhCs) is proposed. The model allows analysis all the physical effects occurring when a source field propagates in a multilayered structure with a periodic arrangement of scatterers, by taking into account both physical and geometrical parameters. Numerical results for PhC waveguides are compared with those obtained using the well-known finite-difference time-domain algorithm and the 3-D multiple-scattering technique already proposed in the literature, showing a very good agreement and some remarkable advantages, in terms of faster determination of electromagnetic field distributions and band diagrams and capability to analyze both in-plane and out-of-plane scattering losses. [ABSTRACT FROM PUBLISHER]

We present a new system for acquiring simultaneously breathing rate and kinetic activity over a period of twenty-four hours. The system is based on a couple of sensors, which are very light, absolutely noninvasive, and compatible with everyday life. The proposed breathing sensor is cheap and uses a conductive rubber as active material. An analog signal representing the breathing rate is obtained fromthe sensor's signal, breath by breath, without any averaging or filtering. The kinetic activity sensor is based on a tiny accelerometer whose signal is averaged and filtered, so that both sensors have voltage compatible with a slow data logging. [ABSTRACT FROM AUTHOR]

Over the last decade, there has been considerable and increasing interest in the development of Active and Assisted Living (AAL) systems to support independent living. The demographic change towards an aging population has introduced new challenges to today's society from both an economic and societal standpoint. AAL can provide an arrary of solutions for improving the quality of life of individuals, for allowing people to live healthier and independently for longer, for helping people with disabilities, and for supporting caregivers and medical staff. A vast amount of literature exists on this topic, so this paper aims to provide a survey of the research and skills related to AAL systems. A comprehensive analysis is presented that addresses the main trends towards the development of AAL systems both from technological and methodological points of view and highlights the main issues that are worthy of further investigation. [ABSTRACT FROM AUTHOR]

Delamination is one of the most common types of defects for carbon fiber reinforced plastic (CFRP) composites. The application of laser techniques to detect delamination faces difficulties with ultrasonic wave excitation because of its low thermal conductivity. Much of the research that can be found in the literature has only focused on the detection of a single delamination. In this study, aluminum foil was pasted onto the surface of the composite so that it was vulnerable to ablation and could acquire a usable signal. Using a fully noncontact system with laser excitation at a fixed point and a scanning laser sensor, the effects of different aluminum foil sizes and shapes on the wavefield were studied for the composites; we decided to use a rectangle with 3 mm length and 5 mm width for laser excitation experiments. Wavefield characteristics of the composite plates were analyzed with single- and multi-layered Teflon inserts. Taking the time window for standard ultrasonic testing as a reference, the algorithms for localized wave energy with appropriate time windows are presented for the detection of single and multiple defects. The appropriate time window is meaningful for identifying each delamination defect. The algorithm performs well in delamination detection of the composites with one or multiple Teflon inserts. [ABSTRACT FROM AUTHOR]

The control of large greenhouse installations, especially those with hydroponics crops, is based on the analysis and use of data recorded by many sensors. At the same time, the size of such installations does not allow for their effective terrestrial surveillance, to detect problems promptly. In recent years, there has been an interest in the development of autonomous agbots equipped with agricultural sensors. Several ground-based AGV (automated guided vehicles) and UAV (unmanned aerial vehicles) systems have been developed for use in open-air plots. A key feature of all these innovative systems is spectroscopy, the development of which has been assisted by the surveillance capabilities and speed of modern-day UAVs (drones). However, there is a lag in the use of spectroscopy inside greenhouses since UAVs do not move freely indoors. In this paper, we propose as a solution a three-device (3DS) system. [ABSTRACT FROM AUTHOR]

Autonomous driving is greatly impacting intensive and precise agriculture. Matter-of-factly, the first commercial applications of autonomous driving were in autonomous navigation of agricultural tractors in open fields. As the technology improves, the possibility of using autonomous or semi-autonomous tractors in orchards and vineyards is becoming commercially profitable. These scenarios offer more challenges as the vehicle needs to position itself with respect to a more cluttered environment. This paper presents an adaptive localization system for (semi-) autonomous navigation of agricultural tractors in vineyards that is based on ultrasonic automotive sensors. The system estimates the distance from the left vineyard row and the incidence angle. The paper shows that a single tuning of the localization algorithm does not provide robust performance in all vegetation scenarios. We solve this issue by implementing an Extended Kalman Filter (EKF) and by introducing an adaptive data selection stage that automatically adapts to the vegetation conditions and discards invalid measurements. An extensive experimental campaign validates the main features of the localization algorithm. In particular, we show that the Root Mean Square Error (RMSE) of the distance is 16 cm, while the angular RMSE is 2.6 degrees. [ABSTRACT FROM AUTHOR]

With the advent of the Fourth Industrial Revolution, Internet of Things (IoT) and robotic systems are closely cooperating, reshaping their relations and managing to develop new-generation devices. Such disruptive technology corresponds to the backbone of the so-called Industry 4.0. The integration of robotic agents and IoT leads to the concept of the Internet of Robotic Things, in which innovation in digital systems is drawing new possibilities in both industrial and research fields, covering several domains such as manufacturing, agriculture, health, surveillance, and education, to name but a few. In this manuscript, the state-of-the-art of IoRT applications is outlined, aiming to mark their impact on several research fields, and focusing on the main open challenges of the integration of robotic technologies into smart spaces. IoRT technologies and applications are also discussed to underline their influence in everyday life, inducing the need for more research into remote and automated applications. [ABSTRACT FROM AUTHOR]