Search

Fabrication of a test strip for detection of benzoic acid was successfully implemented by immobilizing tyrosinase, phenol and 3-methyl-2-benzothiazolinone hydrazone (MBTH) onto filter paper using polystyrene as polymeric support. The sensing scheme was based on the decreasing intensity of the maroon colour of the test strip when introduced into benzoic acid solution. The test strip was characterized using optical fiber reflectance and has maximum reflectance at 375 nm. It has shown a highly reproducible measurement of benzoic acid with a calculated RSD of 0.47% (n = 10). The detection was optimized at pH 7. A linear response of the biosensor was obtained in 100 to 700 ppm of benzoic acid with a detection limit (LOD) of 73.6 ppm. At 1:1 ratio of benzoic acid to interfering substances, the main interfering substance is boric acid. The kinetic analyses show that, the inhibition of benzoic is competitive inhibitor and the inhibition constant (K(i)) is 52.9 ppm. The activity of immobilized tyrosinase, phenol, and MBTH in the test strip was fairly sustained during 20 days when stored at 3 °C. The developed test strip was used for detection of benzoic acid in food samples and was observed to have comparable results to the HPLC method, hence the developed test strip can be used as an alternative to HPLC in detecting benzoic acid in food products.

In order to extend the availability of the wireless sensor network and to extract maximum possible information from the surveillance area, proper usage of the power capacity of the sensor nodes is important. Our work describes a dynamic relocation algorithm called MaxNetLife, which is mainly based on utilizing the remaining power of individual sensor nodes as well as properly relocating sensor nodes so that all sensor nodes can transmit the data they sense to the sink. Hence, the algorithm maximizes total collected information from the surveillance area before the possible death of the sensor network by increasing cumulative connected coverage parameter of the network. A deterministic approach is used to deploy sensor nodes into the sensor field where Hexagonal Grid positioning is used to address and locate each sensor node. Sensor nodes those are not planned to be actively used in the close future in a specific cell are preemptively relocated to the cells those will be in need of additional sensor nodes to improve cumulative connected coverage of the network. MaxNetLife algorithm also includes the details of the relocation activities, which include preemptive migration of the redundant nodes to the cells before any coverage hole occurs because of death of a sensor node. Relocation Model, Data Aggregation Model, and Energy model of the algorithm are studied in detail. MaxNetLife algorithm is proved to be effective, scalable, and applicable through simulations. Publisher's Version Q2 WOS:000256642400041 PubMed ID: 27879850

Road and sidewalk detection in urban scenarios is a challenging task because of the road imperfections and high sensor data bandwidth. Traditional free space and ground filter algorithms are not sensitive enough for small height differences. Camera-based or sensor-fusion solutions are widely used to classify drivable road from sidewalk or pavement. A LIDAR sensor contains all the necessary information from which the feature extraction can be done. Therefore, this paper focuses on LIDAR-based feature extraction. For road and sidewalk detection, the current paper presents a real-time (20 Hz+) solution. This solution can also be used for local path planning. Sidewalk edge detection is the combination of three algorithms working parallelly. To validate the result, the de facto standard benchmark dataset, KITTI, was used alongside our measurements. The data and the source code to reproduce the results are shared publicly on our GitHub repository.

This paper explores the problem of severe multipath propagation of underwater acoustic signals in a swimming pool. The problem appeared in a study that examined a system used to signal emergency situations (i.e., pre-drowning symptoms detected by a wearable device on a pool user’s wrist) and locate the signal source. A swimming pool acoustic environment is characterized by the presence of large flat reflecting planes surrounding a small volume of water. The reflections are numerous and much stronger than in typical hydroacoustic applications. In this paper, we attempted to create a model of the swimming pool response, one that is suitable for simulation experiments with detection and localization of emergency signals. Then, we explore the possible remedies for the localization system, applied on the transmit side (waveform design) and on the receive side (receiver placement and signal processing). Finally, we present an algorithm for object localization, considering the possible reflections with a multi-hypothesis approach.

Nowadays, electric vehicles have gained great popularity due to their performance and efficiency. Investment in the development of this new technology is justified by increased consciousness of the environmental impacts caused by combustion vehicles such as greenhouse gas emissions, which have contributed to global warming as well as the depletion of non-oil renewable energy source. The lithium-ion battery is an appropriate choice for electric vehicles (EVs) due to its promising features of high voltage, high energy density, low self-discharge, and long life cycles. In this context, State of Charge (SoC) is one of the vital parameters of the battery management system (BMS). Nevertheless, because the discharge and charging of battery cells requires complicated chemical operations, it is therefore hard to determine the state of charge of the battery cell. This paper analyses the application of Artificial Neural Networks (ANNs) in the estimation of the SoC of lithium batteries using the NASA’s research center dataset. Normally, the learning of these networks is performed by some method based on a gradient, having the mean squared error as a cost function. This paper evaluates the substitution of this traditional function by a measure of similarity of the Information Theory, called the Maximum Correntropy Criterion (MCC). This measure of similarity allows statistical moments of a higher order to be considered during the training process. For this reason, it becomes more appropriate for non-Gaussian error distributions and makes training less sensitive to the presence of outliers. However, this can only be achieved by properly adjusting the width of the Gaussian kernel of the correntropy. The proper tuning of this parameter is done using adaptive strategies and genetic algorithms. The proposed identification model was developed using information for training and validation, using a dataset made available in a online repository maintained by NASA’s research center. The obtained results demonstrate that the use of correntropy, as a cost function in the error backpropagation algorithm, makes the identification procedure using ANN networks more robust when compared to the traditional Mean Squared Error.

Studies have shown that ordinary color cameras can detect the subtle color changes of the skin caused by the heartbeat cycle. Therefore, cameras can be used to remotely monitor the pulse in a non-contact manner. The technology for non-contact physiological measurement in this way is called remote photoplethysmography (rPPG). Heart rate variability (HRV) analysis, as a very important physiological feature, requires us to be able to accurately recover the peak time locations of the rPPG signal. This paper proposes an efficient spatiotemporal attention network (ESA-rPPGNet) to recover high-quality rPPG signal for heart rate variability analysis. First, 3D depth-wise separable convolution and a structure based on mobilenet v3 are used to greatly reduce the time complexity of the network. Next, a lightweight attention block called 3D shuffle attention (3D-SA), which integrates spatial attention and channel attention, is designed to enable the network to effectively capture inter-channel dependencies and pixel-level dependencies. Moreover, ConvGRU is introduced to further improve the network’s ability to learn long-term spatiotemporal feature information. Compared with existing methods, the experimental results show that the method proposed in this paper has better performance and robustness on the remote HRV analysis.

Hypovolemia is a physiological state of reduced blood volume that can exist as either (1) absolute hypovolemia because of a lower circulating blood (plasma) volume for a given vascular space (dehydration, hemorrhage) or (2) relative hypovolemia resulting from an expanded vascular space (vasodilation) for a given circulating blood volume (e.g., heat stress, hypoxia, sepsis). This paper examines the physiology of hypovolemia and its association with health and performance problems common to occupational, military and sports medicine. We discuss the maturation of individual-specific compensatory reserve or decompensation measures for future wearable sensor systems to effectively manage these hypovolemia problems. The paper then presents areas of future work to allow such technologies to translate from lab settings to use as decision aids for managing hypovolemia. We envision a future that incorporates elements of the compensatory reserve measure with advances in sensing technology and multiple modalities of cardiovascular sensing, additional contextual measures, and advanced noise reduction algorithms into a fully wearable system, creating a robust and physiologically sound approach to manage physical work, fatigue, safety and health issues associated with hypovolemia for workers, warfighters and athletes in austere conditions.

This paper proposes a new technique for performing 3D static-point cloud registration after calibrating a multi-view RGB-D camera using a 3D (dimensional) joint set. Consistent feature points are required to calibrate a multi-view camera, and accurate feature points are necessary to obtain high-accuracy calibration results. In general, a special tool, such as a chessboard, is used to calibrate a multi-view camera. However, this paper uses joints on a human skeleton as feature points for calibrating a multi-view camera to perform calibration efficiently without special tools. We propose an RGB-D-based calibration algorithm that uses the joint coordinates of the 3D joint set obtained through pose estimation as feature points. Since human body information captured by the multi-view camera may be incomplete, a joint set predicted based on image information obtained through this may be incomplete. After efficiently integrating a plurality of incomplete joint sets into one joint set, multi-view cameras can be calibrated by using the combined joint set to obtain extrinsic matrices. To increase the accuracy of calibration, multiple joint sets are used for optimization through temporal iteration. We prove through experiments that it is possible to calibrate a multi-view camera using a large number of incomplete joint sets.

The bearing is an essential component of a rotating machine. Sudden failure of the bearing may cause an unwanted breakdown of the manufacturing plant. In this paper, an intelligent fault diagnosis technique was developed to diagnose various faults that occur in a deep groove ball bearing. An experimental setup was designed and developed to generate faulty data in various conditions, such as inner race fault, outer race fault, and cage fault, along with the healthy condition. The time waveform of raw vibration data generated from the system was transformed into a frequency spectrum using the fast Fourier transform (FFT) method. These FFT signals were analyzed to detect the defective bearing. Another significant contribution of this paper is the application of a machine learning (ML) algorithm to diagnose bearing faults. The support vector machine (SVM) was used as the primary algorithm. As the efficiency of SVM heavily depends on hyperparameter tuning and optimum feature selection, the particle swarm optimization (PSO) technique was used to improve the model performance. The classification accuracy obtained using SVM with a traditional grid search cross-validation (CV) optimizer was 92%, whereas the improved accuracy using the PSO-based SVM was found to be 93.9%. The developed model was also compared with other traditional ML techniques such as k-nearest neighbor (KNN), decision tree (DT), and linear discriminant analysis (LDA). In every case, the proposed model outperformed the existing algorithms.

This paper considers the use of a machine learning system for the reconstruction and recognition of distorted or damaged patterns, in particular, images of faces partially covered with masks. The most up-to-date image reconstruction structures are based on constrained optimization algorithms and suitable regularizers. In contrast with the above-mentioned image processing methods, the machine learning system presented in this paper employs the superposition of system vectors setting up asymptotic centers of attraction. The structure of the system is implemented using Hopfield-type neural network-based biorthogonal transformations. The reconstruction property gives rise to a superposition processor and reversible computations. Moreover, this paper’s distorted image reconstruction sets up associative memories where images stored in memory are retrieved by distorted/inpainted key images.

The frequency estimation of complex exponential carrier signals in noise is a critical problem in signal processing. To solve this problem, a new iterative frequency estimator is presented in this paper. By iteratively computing the interpolation of DTFT samples, the proposed algorithm obtains a fine frequency estimate. In addition, its mean square error (MSE) analysis is presented in this paper. By analyzing influences of the selectable parameters on the estimation accuracy of the model, a method for choosing appropriate parameters is discussed, helping to reduce the estimation error of the proposed estimator. Simulation results show that compared with other algorithms with a comparable estimation accuracy, the proposed iterative estimator can obtain a root mean square error (RMSE) that is closer to Cramér–Rao lower bound (CRLB).

Neural networks are popular and useful in many fields, but they have the problem of giving high confidence responses for examples that are away from the training data. This makes the neural networks very confident in their prediction while making gross mistakes, thus limiting their reliability for safety-critical applications such as autonomous driving, space exploration, etc. This paper introduces a novel neuron generalization that has the standard dot-product-based neuron and the {\color{black} radial basis function (RBF)} neuron as two extreme cases of a shape parameter. Using a rectified linear unit (ReLU) as the activation function results in a novel neuron that has compact support, which means its output is zero outside a bounded domain. To address the difficulties in training the proposed neural network, it introduces a novel training method that takes a pretrained standard neural network that is fine-tuned while gradually increasing the shape parameter to the desired value. The theoretical findings of the paper are a bound on the gradient of the proposed neuron and a proof that a neural network with such neurons has the universal approximation property. This means that the network can approximate any continuous and integrable function with an arbitrary degree of accuracy. The experimental findings on standard benchmark datasets show that the proposed approach has smaller test errors than state-of-the-art competing methods and outperforms the competing methods in detecting out-of-distribution samples on two out of three datasets., Comment: 13 pages, 6 figures

Existing wearable systems that use G-sensors to identify daily activities have been widely applied for medical, sports and military applications, while body temperature as an obvious physical characteristic that has rarely been considered in the system design and relative applications of HAR. In the context of the normalization of COVID-19, the prevention and control of the epidemic has become a top priority. Temperature monitoring plays an important role in the preliminary screening of the population for fever. Therefore, this paper proposes a wearable device embedded with inertial and temperature sensors that is used to apply human behavior recognition (HAR) to body surface temperature detection for body temperature monitoring and adjustment by evaluating recognition algorithms. The sensing system consists of an STM 32-based microcontroller, a 6-axis (accelerometer and gyroscope) sensor, and a temperature sensor to capture the original data from 10 individual participants under 4 different daily activity scenarios. Then, the collected raw data are pre-processed by signal standardization, data stacking and resampling. For HAR, several machine learning (ML) and deep learning (DL) algorithms are implemented to classify the activities. To compare the performance of different classifiers on the seven-dimensional dataset with temperature sensing signals, evaluation metrics and the algorithm running time are considered, and random forest (RF) is found to be the best-performing classifier with 88.78% recognition accuracy, which is higher than the case of the absence of temperature data (&lt, 78%). In addition, the experimental results show that participants’ body surface temperature in dynamic activities was lower compared to sitting, which can be associated with the possible missing fever population due to temperature deviations in COVID-19 prevention. According to different individual activities, epidemic prevention workers are supposed to infer the corresponding standard normal body temperature of a patient by referring to the specific values of the mean expectation and variance in the normal distribution curve provided in this paper.

The safety and reliability of the power grid are related to national power security, economic development and people’s daily life. The occurrence of extreme weather changes the external environment greatly. Including generators and transmission lines, many power grid units cannot resist such a huge attack and get damaged easily, which forces units to quit from the power grid running system for a while. Furthermore, if the number of influenced units is high enough, the whole power system will be destroyed by cascading failure caused by extreme weather. Aiming at dealing with the cascading failure emergencies, this paper is trying to improve the traditional power structural vulnerability model so that it can be used to discuss extreme weather and propose a theoretical topological model to help scholars measure the damage caused by extreme cases. Based on previous research in this field, this paper utilizes complex network knowledge to build the power grid topology model. Then, considering extreme cases and the three attack modes simulation process, this paper makes use of the characteristic parameters of the power grid topology model and designs an algorithm, according to the realistic situation of the propagation mechanism of cascading failure of the power grid model as well as extreme weather research. Finally, taking IEEE-30 and IEEE-118 node bus system as examples, which shows that the structural vulnerability method proposed in this paper can properly address the mechanism of unbalanced load of cascading failure of power grid units under extreme conditions and can provide theoretical reference for preventing and reducing the impact of extreme cases on power grid which improves the reliability of the power grid.

As is well-known, defects precisely affect the lives and functions of the machines in which they occur, and even cause potentially catastrophic casualties. Therefore, quality assessment before mounting is an indispensable requirement for factories. Apart from the recognition accuracy, current networks suffer from excessive computing complexity, making it of great difficulty to deploy in the manufacturing process. To address these issues, this paper introduces binary networks into the area of surface defect detection for the first time, for the reason that binary networks prohibitively constrain weight and activation to +1 and −1. The proposed Bi-ShuffleNet and U-BiNet utilize binary convolution layers and activations in low bitwidth, in order to reach comparable performances while incurring much less computational cost. Extensive experiments are conducted on real-life NEU and Magnetic Tile datasets, revealing the least OPs required and little accuracy decline. When classifying the defects, Bi-ShuffleNet yields comparable results to counterpart networks, with at least 2× inference complexity reduction. Defect segmentation results indicate similar observations. Some network design rules in defect detection and binary networks are also summarized in this paper.

As a typical application of sensor networks, there exist many information security problems in smart parks, such as confusion of personnel access, lack of security management, disorderly data flow, insufficient collection of audit evidence, and so on. Aiming at the scenario of personnel and equipment moving in different areas of smart parks, the paper proposes a joint authorization and dynamic access control mechanism, which can provide unified identity management services, access control services, and policy management services, and effectively solve the problem of multi-authorization in user identity and authority management. The license negotiation interaction protocol is designed to prevent common network attack threats in the process of identity authentication and authority management. In order to realize the tamper-proof storage of personnel and equipment movement trajectory, the paper also designs a movement trajectory traceability protocol based on a Merkle tree, which solves the problems of internal personnel malicious attack, trusted third-party dependency bottleneck, high overheads of tracking algorithms, and so on. The experimental results show that compared with the current security control mechanisms for sensor networks, the joint authorization, and dynamic access control mechanism can support multi-party authorization and traceability, while the overhead it generates in initialization, encryption, decryption, and key generation steps are basically the same as other mechanisms do.

Autonomous Vehicles (AVs) have the potential to solve many traffic problems, such as accidents, congestion and pollution. However, there are still challenges to overcome, for instance, AVs need to accurately perceive their environment to safely navigate in busy urban scenarios. The aim of this paper is to review recent articles on computer vision techniques that can be used to build an AV perception system. AV perception systems need to accurately detect non-static objects and predict their behaviour, as well as to detect static objects and recognise the information they are providing. This paper, in particular, focuses on the computer vision techniques used to detect pedestrians and vehicles. There have been many papers and reviews on pedestrians and vehicles detection so far. However, most of the past papers only reviewed pedestrian or vehicle detection separately. This review aims to present an overview of the AV systems in general, and then review and investigate several detection computer vision techniques for pedestrians and vehicles. The review concludes that both traditional and Deep Learning (DL) techniques have been used for pedestrian and vehicle detection; however, DL techniques have shown the best results. Although good detection results have been achieved for pedestrians and vehicles, the current algorithms still struggle to detect small, occluded, and truncated objects. In addition, there is limited research on how to improve detection performance in difficult light and weather conditions. Most of the algorithms have been tested on well-recognised datasets such as Caltech and KITTI; however, these datasets have their own limitations. Therefore, this paper recommends that future works should be implemented on more new challenging datasets, such as PIE and BDD100K. EPSRC DTP PhD studentship

In this paper a modified wavelet synthesis algorithm for continuous wavelet transform is proposed, allowing one to obtain a guaranteed approximation of the maternal wavelet to the sample of the analyzed signal (overlap match) and, at the same time, a formalized representation of the wavelet. What distinguishes this method from similar ones? During the procedure of wavelets’ synthesis for continuous wavelet transform it is proposed to use splines and artificial neural networks. The paper also suggests a comparative analysis of polynomial, neural network, and wavelet spline models. It also deals with feasibility of using these models in the synthesis of wavelets during such studies like fine structure of signals, as well as in analysis of large parts of signals whose shape is variable. A number of studies have shown that during the wavelets’ synthesis, the use of artificial neural networks (based on radial basis functions) and cubic splines enables the possibility of obtaining guaranteed accuracy in approaching the maternal wavelet to the signal’s sample (with no approximation error). It also allows for its formalized representation, which is especially important during software implementation of the algorithm for calculating the continuous conversions at digital signal processors and microcontrollers. This paper demonstrates the possibility of using synthesized wavelet, obtained based on polynomial, neural network, and spline models, during the performance of an inverse continuous wavelet transform.

The proposed StegoFrameOrder (SFO) method enables the transmission of covert data in wireless computer networks exploiting non-deterministic algorithms of medium access (such as the distributed coordination function), especially in IEEE 802.11 networks. Such a covert channel enables the possibility of leaking crucial information outside secured network in a manner that is difficult to detect. The SFO method embeds hidden bits of information in the relative order of frames transmitted by wireless terminals operating on the same radio channel. The paper presents an idea of this covert channel, its implementation, and possible variants. The paper also discusses implementing the SFO method in a real environment and the experiments performed in the real-world scenario.

In this paper, comprehensive mPoint, a method for generating 3D (range, azimuth, and elevation) point cloud of human targets using a Frequency-Modulated Continuous Wave (FMCW) signal and Multi-Input Multi-Output (MIMO) millimeter wave radar is proposed. Distinct from the TI-mPoint method proposed by TI technology, a comprehensive mPoint method considering both the static and dynamic characteristics of radar reflected signals is utilized to generate a high precision point cloud, resulting in more comprehensive information of the target being detected. The radar possessing 60&ndash, 64 GHz FMCW signal with two sets of different dimensional antennas is utilized in order to experimentally verify the results of the methodology. By using the proposed process, the point cloud data of human targets can be obtained based on six different postures of the underlying human body. The human posture cube and point cloud accuracy rates are defined in the paper in order to quantitively and qualitatively evaluate the quality of the generated point cloud. Benefitting from the proposed comprehensive mPoint, evidence shows that the point number and the accuracy rate of the generated point cloud compared with those from the popular TI-mPoint can be largely increased by 86% and 42%, respectively. In addition, the noise level of multipath reflection can be effectively reduced. Moreover, the length of the algorithm running time is only 1.6% longer than that of the previous method as a slight tradeoff.

The increasing number of Android malware forced antivirus (AV) companies to rely on automated classification techniques to determine the family and class of suspicious samples. The research community relies heavily on such labels to carry out prevalence studies of the threat ecosystem and to build datasets that are used to validate and benchmark novel detection and classification methods. In this work, we carry out an extensive study of the Android malware ecosystem by surveying white papers and reports from 6 key players in the industry, as well as 81 papers from 8 top security conferences, to understand how malware datasets are used by both. We, then, explore the limitations associated with the use of available malware classification services, namely VirusTotal (VT) engines, for determining the family of an Android sample. Using a dataset of 2.47 M Android malware samples, we find that the detection coverage of VT's AVs is generally very low, that the percentage of samples flagged by any 2 AV engines does not go beyond 52%, and that common families between any pair of AV engines is at best 29%. We rely on clustering to determine the extent to which different AV engine pairs agree upon which samples belong to the same family (regardless of the actual family name) and find that there are discrepancies that can introduce noise in automatic label unification schemes. We also observe the usage of generic labels and inconsistencies within the labels of top AV engines, suggesting that their efforts are directed towards accurate detection rather than classification. Our results contribute to a better understanding of the limitations of using Android malware family labels as supplied by common AV engines. This work has been supported by the “Ramon y Cajal” Fellowship RYC-2020-029401.

This paper introduces an ambient light rejection (ALR) circuit for the autonomous adaptation of a subretinal implant system. The sub-retinal implants, located beneath a bipolar cell layer, are known to have a significant advantage in spatial resolution by integrating more than a thousand pixels, compared to epi-retinal implants. However, challenges remain regarding current dispersion in high-density retinal implants, and ambient light induces pixel saturation. Thus, the technical issues of ambient light associated with a conventional image processing technique, which lead to high power consumption and area occupation, are still unresolved. Thus, it is necessary to develop a novel image-processing unit to handle ambient light, considering constraints related to power and area. In this paper, we present an ALR circuit as an image-processing unit for sub-retinal implants. We first introduced an ALR algorithm to reduce the ambient light in conventional retinal implants, next, we implemented the ALR algorithm as an application-specific integrated chip (ASIC). The ALR circuit was fabricated using a standard 0.35-μm CMOS process along with an image-sensor-based stimulator, a sensor pixel, and digital blocks. As experimental results, the ALR circuit occupies an area of 190 µm2, consumes a power of 3.2 mW and shows a maximum response time of 1.6 s at a light intensity of 20,000 lux. The proposed ALR circuit also has a pixel loss rate of 0.3%. The experimental results show that the ALR circuit leads to a sensor pixel (SP) being autonomously adjusted, depending on the light intensity.

This paper presents a new approach for the optimization of a dictionary used in ECG signal compression and reconstruction systems, based on Compressed Sensing (CS). Alternatively to fully data driven methods, which learn the dictionary from the training data, the proposed approach uses an over complete wavelet dictionary, which is then reduced by means of a training phase. Moreover, the alignment of the frames according to the position of the R-peak is proposed, such that the dictionary optimization can exploit the different scaling features of the ECG waves. Therefore, at first, a training phase is performed in order to optimize the overcomplete dictionary matrix by reducing its number of columns. Then, the optimized matrix is used in combination with a dynamic sensing matrix to compress and reconstruct the ECG waveform. In this paper, the mathematical formulation of the patient-specific optimization is presented and three optimization algorithms have been evaluated. For each of them, an experimental tuning of the convergence parameter is carried out, in order to ensure that the algorithm can work in its most suitable conditions. The performance of each considered algorithm is evaluated by assessing the Percentage of Root-mean-squared Difference (PRD) and compared with the state of the art techniques. The obtained experimental results demonstrate that: (i) the utilization of an optimized dictionary matrix allows a better performance to be reached in the reconstruction quality of the ECG signals when compared with other methods, (ii) the regularization parameters of the optimization algorithms should be properly tuned to achieve the best reconstruction results, and (iii) the Multiple Orthogonal Matching Pursuit (M-OMP) algorithm is the better suited algorithm among those examined.

Technology advances have made possible improvements such as Continuous Glucose Monitors, giving the patient a glucose reading every few minutes, or insulin pumps, allowing more personalized therapies. With the increasing number of available closed-loop systems, new challenges appear regarding algorithms and functionalities. Several of the analysed systems in this paper try to adapt to changes in some patients’ conditions and, in several of these systems, other variables such as basal needs are considered fixed from day to day to simplify the control problem. Therefore, these systems require a correct adjustment of the basal needs profile which becomes crucial to obtain good results. In this paper a novel approach tries to dynamically determine the insulin basal needs of the patient and use this information within a closed-loop algorithm, allowing the system to dynamically adjust in situations of illness, exercise, high-fat-content meals or even partially blocked infusion sites and avoiding the need for setting a basal profile that approximately matches the basal needs of the patient. The insulin sensitivity factor and the glycemic target are also dynamically modified according to the situation of the patient. Basal insulin needs are dynamically determined through linear regression via the decomposition of previously dosed insulin and its effect on the patient’s glycemia. Using the obtained value as basal insulin needs and other mechanisms such as basal needs modification through its trend, ISF and glycemic targets modification and low-glucose-suspend threshold, the safety of the algorithm is improved. The dynamic basal insulin needs determination was successfully included in a closed-loop control algorithm and was simulated on 30 virtual patients (10 adults, 10 adolescent and 10 children) using an open-source python implementation of the FDA-approved (Food and Drug Administration) UVa (University of Virginia)/Padova Simulator. Simulations showed that the proposed system dynamically determines the basal needs and can adapt to a partial blockage of the insulin infusion, obtaining similar results in terms of time in range to the case in which no blockage was simulated. The proposed algorithm can be incorporated to other current closed-loop control algorithms to directly estimate the patient’s basal insulin needs or as a monitoring channel to detect situations in which basal needs may differ from the expected ones.

In an autonomous vehicle, the lane following algorithm is an important component, which is a basic function of autonomous driving. However, the existing lane following system has a few shortcomings: first, the control method it adopts requires an accurate system model, and different vehicles have different parameters, which needs a lot of parameter calibration work. The second is that it may fail on road sections where the lateral acceleration requirements of vehicles are large, such as large curves. Third, its decision-making system is defined based on rules, which has disadvantages: it is difficult to formulate, human subjective factors cannot guarantee objectivity, coverage is difficult to guarantee. In recent years, the deep deterministic policy gradient (DDPG) algorithm has been widely used in the field of autonomous driving due to its strong nonlinear fitting ability and generalization performance. However, the DDPG algorithm has overestimated state action values and large cumulative errors, low training efficiency and other issues. Therefore, this paper improves the DDPG algorithm based on the double critic networks and priority experience replay mechanism. Then this paper proposes a lane following method based on this algorithm. Experiment shows that the algorithm can achieve excellent following results under various road conditions.

This paper addresses the problem of unsupervised video summarization. Video summarization helps people browse large-scale videos easily with a summary from the selected frames of the video. In this paper, we propose an unsupervised video summarization method with piecewise linear interpolation (Interp-SUM). Our method aims to improve summarization performance and generate a natural sequence of keyframes with predicting importance scores of each frame utilizing the interpolation method. To train the video summarization network, we exploit a reinforcement learning-based framework with an explicit reward function. We employ the objective function of the exploring under-appreciated reward method for training efficiently. In addition, we present a modified reconstruction loss to promote the representativeness of the summary. We evaluate the proposed method on two datasets, SumMe and TVSum. The experimental result showed that Interp-SUM generates the most natural sequence of summary frames than any other the state-of-the-art methods. In addition, Interp-SUM still showed comparable performance with the state-of-art research on unsupervised video summarization methods, which is shown and analyzed in the experiments of this paper.

Recent progress in deep learning has led to accurate and efficient generic object detection networks. Training of highly reliable models depends on large datasets with highly textured and rich images. However, in real-world scenarios, the performance of the generic object detection system decreases when (i) occlusions hide the objects, (ii) objects are present in low-light images, or (iii) they are merged with background information. In this paper, we refer to all these situations as challenging environments. With the recent rapid development in generic object detection algorithms, notable progress has been observed in the field of deep learning-based object detection in challenging environments. However, there is no consolidated reference to cover the state of the art in this domain. To the best of our knowledge, this paper presents the first comprehensive overview, covering recent approaches that have tackled the problem of object detection in challenging environments. Furthermore, we present a quantitative and qualitative performance analysis of these approaches and discuss the currently available challenging datasets. Moreover, this paper investigates the performance of current state-of-the-art generic object detection algorithms by benchmarking results on the three well-known challenging datasets. Finally, we highlight several current shortcomings and outline future directions.

This paper presents an automatic classification of plastic material’s inorganic pigment using terahertz spectroscopy and convolutional neural networks (CNN). The plastic materials were placed between the THz transmitter and receiver, and the acquired THz signals were classified using a supervised learning approach. A THz frequency band between 0.1–1.2 THz produced a one-dimensional (1D) vector that is almost impossible to classify directly using supervised learning. This paper proposes a novel pre-processing of 1D THz data that transforms 1D data into 2D data, which are processed efficiently using a convolutional neural network. The proposed pre-processing algorithm consists of four steps: peak detection, envelope extraction, and a down-sampling procedure. The last main step introduces the windowing with spectrum dilatation that reorders 1D data into 2D data that can be considered as an image. The spectrum dilation techniques ensure the classifier’s robustness by suppressing measurement bias, reducing the complexity of the THz dataset with negligible loss of accuracy, and speeding up the network classification. The experimental results showed that the proposed approach achieved high accuracy using a CNN classifier, and outperforms 1D classification of THz data using support vector machine, naive Bayes, and other popular classification algorithms.

The forecast of electricity demand has been a recurrent research topic for decades, due to its economical and strategic relevance. Several Machine Learning (ML) techniques have evolved in parallel with the complexity of the electric grid. This paper reviews a wide selection of approaches that have used Artificial Neural Networks (ANN) to forecast electricity demand, aiming to help newcomers and experienced researchers to appraise the common practices and to detect areas where there is room for improvement in the face of the current widespread deployment of smart meters and sensors, which yields an unprecedented amount of data to work with. The review looks at the specific problems tackled by each one of the selected papers, the results attained by their algorithms, and the strategies followed to validate and compare the results. This way, it is possible to highlight some peculiarities and algorithm configurations that seem to consistently outperform others in specific settings. Xunta de Galicia | Ref. ED431B 2020/34 Ministerio de Educación y Ciencia | Ref. TIN2017-87604-R

This paper deals with bistatic track association and deghosting in the classical frequency modulation (FM)-based multi-static primary surveillance radar (MSPSR). The main contribution of this paper is a novel algorithm for bistatic track association and deghosting. The proposed algorithm is based on a hierarchical model which uses the Indian buffet process (IBP) as the prior probability distribution for the association matrix. The inference of the association matrix is then performed using the classical reversible jump Markov chain Monte Carlo (RJMCMC) algorithm with the usage of a custom set of the moves proposed by the sampler. A detailed description of the moves together with the underlying theory and the whole model is provided. Using the simulated data, the algorithm is compared with the two alternative ones and the results show the significantly better performance of the proposed algorithm in such a simulated setup. The simulated data are also used for the analysis of the properties of Markov chains produced by the sampler, such as the convergence or the posterior distribution. At the end of the paper, further research on the proposed method is outlined.

Loop Closure Detection (LCD) is an important technique to improve the accuracy of Simultaneous Localization and Mapping (SLAM). In this paper, we propose an LCD algorithm based on binary classification for feature matching between similar images with deep learning, which greatly improves the accuracy of LCD algorithm. Meanwhile, a novel lightweight convolutional neural network (CNN) is proposed and applied to the target detection task of key frames. On this basis, the key frames are binary classified according to their labels. Finally, similar frames are input into the improved lightweight feature matching network based on Transformer to judge whether the current position is loop closure. The experimental results show that, compared with the traditional method, LFM-LCD has higher accuracy and recall rate in the LCD task of indoor SLAM while ensuring the number of parameters and calculation amount. The research in this paper provides a new direction for LCD of robotic SLAM, which will be further improved with the development of deep learning.

The health status of an elderly person can be identified by examining the additive effects of aging along with disease linked to it and can lead to ‘unstable incapacity’. This health status is determined by the apparent decline of independence in activities of daily living (ADLs). Detecting ADLs provides possibilities of improving the home life of elderly people as it can be applied to fall detection systems. This paper presents fall detection in elderly people based on radar image classification by examining their daily routine activities, using radar data that were previously collected for 99 volunteers. Machine learning techniques are used classify six human activities, namely walking, sitting, standing, picking up objects, drinking water and fall events. Different machine learning algorithms, such as random forest, K-nearest neighbours, support vector machine, long short-term memory, bi-directional long short-term memory and convolutional neural networks, were used for data classification. To obtain optimum results, we applied data processing techniques, such as principal component analysis and data augmentation, to the available radar images. The aim of this paper is to improve upon the results achieved using a publicly available dataset to further improve upon research of fall detection systems. It was found out that the best results were obtained using the CNN algorithm with principal component analysis and data augmentation together to obtain a result of 95.30% accuracy. The results also demonstrated that principal component analysis was most beneficial when the training data were expanded by augmentation of the available data. The results of our proposed approach, in comparison to the state of the art, have shown the highest accuracy.

The acidity of green plum has an important influence on the fruit’s deep processing. Traditional physical and chemical analysis methods for green plum acidity detection are destructive, time-consuming, and unable to achieve online detection. In response, a rapid and non-destructive detection method based on hyperspectral imaging technology was studied in this paper. Research on prediction performance comparisons between supervised learning methods and unsupervised learning methods is currently popular. To further improve the accuracy of component prediction, a new hyperspectral imaging system was developed, and the kernel principle component analysis—linear discriminant analysis—extreme gradient boosting algorithm (KPCA-LDA-XGB) model was proposed to predict the acidity of green plum. The KPCA-LDA-XGB model is a supervised learning model combined with the extreme gradient boosting algorithm (XGBoost), kernel principal component analysis (KPCA), and linear discriminant analysis (LDA). The experimental results proved that the KPCA-LDA-XGB model offers good acidity predictions for green plum, with a correlation coefficient (R) of 0.829 and a root mean squared error (RMSE) of 0.107 for the prediction set. Compared with the basic XGBoost model, the KPCA-LDA-XGB model showed a 79.4% increase in R and a 31.2% decrease in RMSE. The use of linear, radial basis function (RBF), and polynomial (Poly) kernel functions were also compared and analyzed in this paper to further optimize the KPCA-LDA-XGB model.

During the processing and planting of soybeans, it is greatly significant that a reliable, rapid, and accurate technique is used to detect soybean varieties. Traditional chemical analysis methods of soybean variety sampling (e.g., mass spectrometry and high-performance liquid chromatography) are destructive and time-consuming. In this paper, a robust and accurate method for nondestructive soybean classification is developed through hyperspectral imaging and ensemble machine learning algorithms. Image acquisition, preprocessing, and feature selection are used to obtain different types of soybean hyperspectral features. Based on these features, one of ensemble classifiers-random subspace linear discriminant (RSLD) algorithm is used to classify soybean seeds. Compared with the linear discrimination (LD) and linear support vector machine (LSVM) methods, the results show that the RSLD algorithm in this paper is more stable and reliable. In classifying soybeans in 10, 15, 20, and 25 categories, the RSLD method achieves the highest classification accuracy. When 155 features are used to classify 15 types of soybeans, the classification accuracy of the RSLD method reaches 99.2%, while the classification accuracies of the LD and LSVM methods are only 98.6% and 69.7%, respectively. Therefore, the ensemble classification algorithm RSLD can maintain high classification accuracy when different types and different classification features are used.

A Brain-Computer Interface (BCI) acts as a communication mechanism using brain signals to control external devices. The generation of such signals is sometimes independent of the nervous system, such as in Passive BCI. This is majorly beneficial for those who have severe motor disabilities. Traditional BCI systems have been dependent only on brain signals recorded using Electroencephalography (EEG) and have used a rule-based translation algorithm to generate control commands. However, the recent use of multi-sensor data fusion and machine learning-based translation algorithms has improved the accuracy of such systems. This paper discusses various BCI applications such as tele-presence, grasping of objects, navigation, etc. that use multi-sensor fusion and machine learning to control a humanoid robot to perform a desired task. The paper also includes a review of the methods and system design used in the discussed applications.

This paper presents a study on the optimization of the tracking system designed for patients with Parkinson&rsquo, s disease tested at a day hospital center. The work performed significantly improves the efficiency of the computer vision based system in terms of energy consumption and hardware requirements. More specifically, it optimizes the performances of the background subtraction by segmenting every frame previously characterized by a Gaussian mixture model (GMM). This module is the most demanding part in terms of computation resources, and therefore, this paper proposes a method for its implementation by means of a low-cost development board based on Zynq XC7Z020 SoC (system on chip). The platform used is the ZedBoard, which combines an ARM Processor unit and a FPGA. It achieves real-time performance and low power consumption while performing the target request accurately. The results and achievements of this study, validated in real medical settings, are discussed and analyzed within.

This paper proposes a method based on a planar array of electrostatic induction electrodes, which uses human body electrostatics to measure the height of hand movements. The human body is electrostatically charged for a variety of reasons. In the process of a hand movement, the change of a human body&rsquo, s electric field is captured through the electrostatic sensors connected to the electrode array. A measurement algorithm for the height of hand movements is used to measure the height of hand movements after the direction of it has been obtained. Compared with the tridimensional array, the planar array has the advantages of less space and easy deployment, therefore, it is more widely used. In this paper, a human hand movement sensing system based on human body electrostatics was established to perform verification experiments. The results show that this method can measure the height of hand movements with good accuracy to meet the requirements of non-contact human-computer interactions.

Grey wolf optimizer (GWO) is a meta-heuristic algorithm inspired by the hierarchy of grey wolves (Canis lupus). Fireworks algorithm (FWA) is a nature-inspired optimization method mimicking the explosion process of fireworks for optimization problems. Both of them have a strong optimal search capability. However, in some cases, GWO converges to the local optimum and FWA converges slowly. In this paper, a new hybrid algorithm (named as FWGWO) is proposed, which fuses the advantages of these two algorithms to achieve global optima effectively. The proposed algorithm combines the exploration ability of the fireworks algorithm with the exploitation ability of the grey wolf optimizer (GWO) by setting a balance coefficient. In order to test the competence of the proposed hybrid FWGWO, 16 well-known benchmark functions having a wide range of dimensions and varied complexities are used in this paper. The results of the proposed FWGWO are compared to nine other algorithms, including the standard FWA, the native GWO, enhanced grey wolf optimizer (EGWO), and augmented grey wolf optimizer (AGWO). The experimental results show that the FWGWO effectively improves the global optimal search capability and convergence speed of the GWO and FWA.

This paper deals with the classification of stenches, which can stimulate olfactory organs to discomfort people and pollute the environment. In China, the triangle odor bag method, which only depends on the state of the panelist, is widely used in determining odor concentration. In this paper, we propose a stenches detection system composed of an electronic nose and machine learning algorithms to discriminate five typical stenches. These five chemicals producing stenches are 2-phenylethyl alcohol, isovaleric acid, methylcyclopentanone, &gamma, undecalactone, and 2-methylindole. We will use random forest, support vector machines, backpropagation neural network, principal components analysis (PCA), and linear discriminant analysis (LDA) in this paper. The result shows that LDA (support vector machine (SVM)) has better performance in detecting the stenches considered in this paper.

Motion analysis is an important topic in the monitoring of physical activities and recognition of neurological disorders. The present paper is devoted to motion assessment using accelerometers inside mobile phones located at selected body positions and the records of changes in the heart rate during cycling, under different body loads. Acquired data include 1293 signal segments recorded by the mobile phone and the Garmin device for uphill and downhill cycling. The proposed method is based upon digital processing of the heart rate and the mean power in different frequency bands of accelerometric data. The classification of the resulting features was performed by the support vector machine, Bayesian methods, k-nearest neighbor method, and neural networks. The proposed criterion is then used to find the best positions for the sensors with the highest discrimination abilities. The results suggest the sensors be positioned on the spine for the classification of uphill and downhill cycling, yielding an accuracy of 96.5% and a cross-validation error of 0.04 evaluated by a two-layer neural network system for features based on the mean power in the frequency bands &lang, 3 , 8 &rang, and &lang, 8 , 15 &rang, Hz. This paper shows the possibility of increasing this accuracy to 98.3% by the use of more features and the influence of appropriate sensor positioning for motion monitoring and classification.

Pedestrian tracking in dense crowds is a challenging task, even when using a multi-camera system. In this paper, a new Markov random field (MRF) model is proposed for the association of tracklet couplings. Equipped with a new potential function improvement method, this model can associate the small tracklet coupling segments caused by dense pedestrian crowds. The tracklet couplings in this paper are obtained through a data fusion method based on image mutual information. This method calculates the spatial relationships of tracklet pairs by integrating position and motion information, and adopts the human key point detection method for correction of the position data of incomplete and deviated detections in dense crowds. The MRF potential function improvement method for dense pedestrian scenes includes assimilation and extension processing, as well as a message selective belief propagation algorithm. The former enhances the information of the fragmented tracklets by means of a soft link with longer tracklets and expands through sharing to improve the potentials of the adjacent nodes, whereas the latter uses a message selection rule to prevent unreliable messages of fragmented tracklet couplings from being spread throughout the MRF network. With the help of the iterative belief propagation algorithm, the potentials of the model are improved to achieve valid association of the tracklet coupling fragments, such that dense pedestrians can be tracked more robustly. Modular experiments and system-level experiments are conducted using the PETS2009 experimental data set, where the experimental results reveal that the proposed method has superior tracking performance.

Diabetes is a high-prevalence disease that leads to an alteration in the patient&rsquo, s blood glucose (BG) values. Several factors influence the subject&rsquo, s BG profile over the day, including meals, physical activity, and sleep. Wearable devices are available for monitoring the patient&rsquo, s BG value around the clock, while activity trackers can be used to record his/her sleep and physical activity. However, few tools are available to jointly analyze the collected data, and only a minority of them provide functionalities for performing advanced and personalized analyses. In this paper, we present AID-GM, a web application that enables the patient to share with his/her diabetologist both the raw BG data collected by a flash glucose monitoring device, and the information collected by activity trackers, including physical activity, heart rate, and sleep. AID-GM provides several data views for summarizing the subject&rsquo, s metabolic control over time, and for complementing the BG profile with the information given by the activity tracker. AID-GM also allows the identification of complex temporal patterns in the collected heterogeneous data. In this paper, we also present the results of a real-world pilot study aimed to assess the usability of the proposed system. The study involved 30 pediatric patients receiving care at the Fondazione IRCCS Policlinico San Matteo Hospital in Pavia, Italy.

Robots have begun to populate the everyday environments of human beings. These social robots must perform their tasks without disturbing the people with whom they share their environment. This paper proposes a navigation algorithm for robots that is acceptable to people. Robots will detect the personal areas of humans, to carry out their tasks, generating navigation routes that have less impact on human activities. The main novelty of this work is that the robot will perceive the moods of people to adjust the size of proxemic areas. This work will contribute to making the presence of robots in human-populated environments more acceptable. As a result, we have integrated this approach into a cognitive architecture designed to perform tasks in human-populated environments. The paper provides quantitative experimental results in two scenarios: controlled, including social navigation metrics in comparison with a traditional navigation method, and non-controlled, in robotic competitions where different studies of social robotics are measured.

Hospitals need to invest a lot of manpower to manually input the contents of medical invoices (nearly 300,000,000 medical invoices a year) into the medical system. In order to help the hospital save money and stabilize work efficiency, this paper designed a system to complete the complicated work using a Gaussian blur and smoothing&ndash, convolutional neural network combined with a recurrent neural network (GBS-CR) method. Gaussian blur and smoothing (GBS) is a novel preprocessing method that can fix the breakpoint font in medical invoices. The combination of convolutional neural network (CNN) and recurrent neural network (RNN) was used to raise the recognition rate of the breakpoint font in medical invoices. RNN was designed to be the semantic revision module. In the aspect of image preprocessing, Gaussian blur and smoothing were used to fix the breakpoint font. In the period of making the self-built dataset, a certain proportion of the breakpoint font (the font of breakpoint is 3, the original font is 7) was added, in this paper, so as to optimize the Alexnet&ndash, Adam&ndash, CNN (AA-CNN) model, which is more suitable for the recognition of the breakpoint font than the traditional CNN model. In terms of the identification methods, we not only adopted the optimized AA-CNN for identification, but also combined RNN to carry out the semantic revisions of the identified results of CNN, meanwhile further improving the recognition rate of the medical invoices. The experimental results show that compared with the state-of-art invoice recognition method, the method presented in this paper has an average increase of 10 to 15 percentage points in recognition rate.

This paper undertakes a systematic review (SR) on distributed estimation techniques applied to cyber-physical systems (CPS). Even though SRs are not the common way to survey a theme in the control community, they provide a rigorous, robust and objective formula that should not be always ignored. The presented SR incorporates and adapts the guidelines recommended in other fields (mainly biosciences and computer sciences) to the field of automation and control and presents a brief description of the different phases that constitute an SR. As a result, this review compares the different techniques found in the literature in terms of: The proposed estimator (Kalman filter, Luenberger observer, Bayesian filter, etc.), the particular application within CPS, the design of the estimators (decentralized vs centralized), the amount of data required for implementation or the inclusion of experiments/simulations in the studies. Particular attention is paid to those papers that present some results in applications that include humans, animals or biological systems.

This paper presents an automatic parameter tuning procedure specially developed for a dynamic adaptive thresholding algorithm for fruit detection. One of the major algorithm strengths is its high detection performances using a small set of training images. The algorithm enables robust detection in highly-variable lighting conditions. The image is dynamically split into variably-sized regions, where each region has approximately homogeneous lighting conditions. Nine thresholds were selected to accommodate three different illumination levels for three different dimensions in four color spaces: RGB, HSI, LAB, and NDI. Each color space uses a different method to represent a pixel in an image: RGB (Red, Green, Blue), HSI (Hue, Saturation, Intensity), LAB (Lightness, Green to Red and Blue to Yellow) and NDI (Normalized Difference Index, which represents the normal difference between the RGB color dimensions). The thresholds were selected by quantifying the required relation between the true positive rate and false positive rate. A tuning process was developed to determine the best fit values of the algorithm parameters to enable easy adaption to different kinds of fruits (shapes, colors) and environments (illumination conditions). Extensive analyses were conducted on three different databases acquired in natural growing conditions: red apples (nine images with 113 apples), green grape clusters (129 images with 1078 grape clusters), and yellow peppers (30 images with 73 peppers). These databases are provided as part of this paper for future developments. The algorithm was evaluated using cross-validation with 70% images for training and 30% images for testing. The algorithm successfully detected apples and peppers in variable lighting conditions resulting with an F-score of 93.17% and 99.31% respectively. Results show the importance of the tuning process for the generalization of the algorithm to different kinds of fruits and environments. In addition, this research revealed the importance of evaluating different color spaces since for each kind of fruit, a different color space might be superior over the others. The LAB color space is most robust to noise. The algorithm is robust to changes in the threshold learned by the training process and to noise effects in images. This research was partially supported by the European Commission (SWEEPER GA No. 664313) and by Ben-Gurion University of the Negev through the Helmsley Charitable Trust, the Agricultural, Biological and Cognitive Robotics Initiative, the Marcus Endowment Fund, and the Rabbi W. Gunther Plaut Chair in Manufacturing Engineering.

Hard exudates are one of the most characteristic and dangerous signs of diabetic retinopathy. They can be marked during the routine ophthalmological examination and seen in color fundus photographs (i.e., using a fundus camera). The purpose of this paper is to introduce an algorithm that can extract pathological changes (i.e., hard exudates) in diabetic retinopathy. This was a retrospective, nonrandomized study. A total of 100 photos were included in the analysis&mdash, 50 sick and 50 normal eyes. Small lesions in diabetic retinopathy could be automatically diagnosed by the system with an accuracy of 98%. During the experiments, the authors used classical image processing methods such as binarization or median filtration, and data was read from the d-Eye sensor. Sixty-seven patients (39 females and 28 males with ages ranging between 50 and 64) were examined. The results have shown that the proposed solution accuracy level equals 98%. Moreover, the algorithm returns correct classification decisions for high quality images and low quality samples. Furthermore, we consider taking retina photos using mobile phones rather than fundus cameras, which is more practical. The paper presents an innovative approach. The results are introduced and the algorithm is described.

Lung cancer is one of the most deadly diseases around the world representing about 26% of all cancers in 2017. The five-year cure rate is only 18% despite great progress in recent diagnosis and treatment. Before diagnosis, lung nodule classification is a key step, especially since automatic classification can help clinicians by providing a valuable opinion. Modern computer vision and machine learning technologies allow very fast and reliable CT image classification. This research area has become very hot for its high efficiency and labor saving. The paper aims to draw a systematic review of the state of the art of automatic classification of lung nodules. This research paper covers published works selected from the Web of Science, IEEEXplore, and DBLP databases up to June 2018. Each paper is critically reviewed based on objective, methodology, research dataset, and performance evaluation. Mainstream algorithms are conveyed and generic structures are summarized. Our work reveals that lung nodule classification based on deep learning becomes dominant for its excellent performance. It is concluded that the consistency of the research objective and integration of data deserves more attention. Moreover, collaborative works among developers, clinicians, and other parties should be strengthened.