Comparative Analysis of Integrated Filtering Methods Using UWB Localization in Indoor Environment.

This research delves into advancing an ultra-wideband (UWB) localization system through the integration of filtering technologies (moving average (MVG), Kalman filter (KF), extended Kalman filter (EKF)) with a low-pass filter (LPF). We investigated new approaches to enhance the precision and reduce noise of the current filtering methods-MVG, KF, and EKF. Using a TurtleBot robotic platform with a camera, our research thoroughly examines the UWB system in various trajectory situations (square, circular, and free paths with 2 m, 2.2 m, and 5 m distances). Particularly in the square path trajectory with the lowest root mean square error (RMSE) values (40.22 mm on the X axis, and 78.71 mm on the Y axis), the extended Kalman filter with low-pass filter (EKF + LPF) shows notable accuracy. This filter stands out among the others. Furthermore, we find that integrated method using LPF outperforms MVG, KF, and EKF consistently, reducing the mean absolute error (MAE) to 3.39% for square paths, 4.21% for circular paths, and 6.16% for free paths. This study highlights the effectiveness of EKF + LPF for accurate indoor localization for UWB systems.

Multi-Type Missing Imputation of Time-Series Power Equipment Monitoring Data Based on Moving Average Filter-Asymmetric Denoising Autoencoder.

Supervisory control and data acquisition (SCADA) systems are widely utilized in power equipment for condition monitoring. For the collected data, there generally exists a problem-missing data of different types and patterns. This leads to the poor quality and utilization difficulties of the collected data. To address this problem, this paper customizes methodology that combines an asymmetric denoising autoencoder (ADAE) and moving average filter (MAF) to perform accurate missing data imputation. First, convolution and gated recurrent unit (GRU) are applied to the encoder of the ADAE, while the decoder still utilizes the fully connected layers to form an asymmetric network structure. The ADAE extracts the local periodic and temporal features from monitoring data and then decodes the features to realize the imputation of the multi-type missing. On this basis, according to the continuity of power data in the time domain, the MAF is utilized to fuse the prior knowledge of the neighborhood of missing data to secondarily optimize the imputed data. Case studies reveal that the developed method achieves greater accuracy compared to existing models. This paper adopts experiments under different scenarios to justify that the MAF-ADAE method applies to actual power equipment monitoring data imputation.

Development of Joint Activity Angle Measurement and Cloud Data Storage System.

In this study, we developed a range of motion sensing system (ROMSS) to simulate the function of the elbow joint, with errors less than 0.76 degrees and 0.87 degrees in static and dynamic verification by the swinging and angle recognition modules, respectively. In the simulation process, the É£ correlation coefficient of the Pearson difference between the ROMSS and the universal goniometer was 0.90, the standard deviations of the general goniometer measurements were between ±2 degrees and ±2.6 degrees, and the standard deviations between the ROMSS measurements were between ±0.5 degrees and ±1.6 degrees. With the ROMSS, a cloud database was also established; the data measured by the sensor could be uploaded to the cloud database in real-time to provide timely patient information for healthcare professionals. We also developed a mobile app for smartphones to enable patients and healthcare providers to easily trace the data in real-time. Historical data sets with joint activity angles could be retrieved to observe the progress or effectiveness of disease recovery so the quality of care could be properly assessed and maintained.

Low Resource Complexity R-peak Detection Based on Triangle Template Matching and Moving Average Filter.

A novel R-peak detection algorithm suitable for wearable electrocardiogram (ECG) devices is proposed with four objectives: robustness to noise, low latency processing, low resource complexity, and automatic tuning of parameters. The approach is a two-pronged algorithm comprising (1) triangle template matching to accentuate the slope information of the R-peaks and (2) a single moving average filter to define a dynamic threshold for peak detection. The proposed algorithm was validated on eight ECG public databases. The obtained results not only presented good accuracy, but also low resource complexity, all of which show great potential for detection R-peaks in ECG signals collected from wearable devices.

Reconstruction of 3D Pavement Texture on Handling Dropouts and Spikes Using Multiple Data Processing Methods.

Tire⁻pavement interactions, like friction and rolling resistance, are significantly influenced by pavement macro-texture and micro-texture. Accurate texture measurement at the micro-texture level is vital to achieve the desired level of safety, comfort, and sustainability of the pavement. However, the existence of dropouts and spikes in the collected data is still inevitable based on current laser devices, which leads to erroneous texture characterization. This study utilized an advanced laser sensor to measure three-dimensional (3D) pavement texture at the micro-level at a given speed. Using a proposed interpolation method, the dropout areas in the raw measurements were filled up. Butterworth's high-pass and low-pass filters were applied to separate two texture components from the profile. Based on a statistical analysis for the micro-texture amplitude, an appropriate threshold was determined in order to identify the spikes. A three-step-spike-removal method was proposed and found to be effective in clearing the spikes. The 3D pavement profiles were finally reconstructed without dropouts and spikes. Mean profile depth (MPD) was calculated with different baselines. It was found that the presence of spikes leads to a greater MPD value and the MPD is sensitive to the baseline length. A shorter baseline is recommended to mitigate the impact of spikes on the accuracy of the MPD.

A new algorithm for fetal heart rate detection: Fractional order calculus approach.

OBJECTIVES: A new modified Pan-Tompkins' (mPT) method for fetal heart rate detection is presented. The mPT method is based on the hypothesis that optimal fractional order derivative and optimal window width of the moving average filter would enable efficient estimation of fetal heart rate from surface abdominal electrophysiological recordings with relatively low signal-to-noise ratios. METHODS: The algorithm is tested on signals recorded from the abdomen of pregnant women available from the PhysioNet Computing in Cardiology Challenge database. Fetal heart rate detection is performed on 10-s long segments selected by the estimation of signal-to-noise ratios (the extravagance of the fetal QRS peak to its surroundings and to the whole signal; and the mean ratio of fetal and maternal QRS peaks) and on the manually selected segments. RESULTS: The best results are obtained via criteria based on the extravagance of the fetal QRS peak to its surroundings that reached average sensitivity of 97%, positive predictive value of 97%, error rate of ∼3.5%, and F1 score of 97%. The obtained averaged optimal parameters for mPT are 0.51 for fractional order and 24.5 ms for the window width of the moving average filter. CONCLUSION: Proposed mPT algorithm showed satisfactory performance for fetal heart rate detection. Further adaptations of the presented mPT method could be used for peak detection in noisy environments in biomedical signal analysis in general.

QRS complex detection using stationary wavelet transform and adaptive thresholding.

Purpose. Electrocardiogram (ECG) signal is a record of the electrical activity of the heart and contains important clinical data about cardiovascular-related misfunctioning. The goal of the present work is to develop an improved QRS detection algorithm for the detection of heart abnormalities.Methods. In this present work stationary wavelet transforms (SWT) based method has been proposed for precise detection of QRS complex with 'sym2' mother wavelet. The stationary wavelet transform is a systematic mathematical tool to decompose the signal without downsampling using scale analysis and provides high detection of QRS complex and accurate localization of signal components. In the proposed method four level of decomposition is applied and the initial thresholding value is computed by the maximum amplitude of scale one at level four in SWT coefficients without the zero-crossing amplitude detection method. The multi-layered dynamic thresholding method has been applied to detect the true R-peak values and locate the QRS complex in the ECG signal.Results. For evaluation of results, the presented methodology is assessed on MIT-BIH, QTDB, and Noise stress test databases. In MIT-BIH, the sensitivity = 99.88%, positive predictivity = 99.93%, accuracy = 99.80% and detection error rate = 0.18% is achieved. In NSTD database, sensitivity = 97.46%, positive predictivity = 94.20%, accuracy = 91.95% and detection error rate = 8.47% and in QTDB, sensitivity = 99.95%, positive predictivity = 99.90%, accuracy = 99.71% and detection error rate = 0.16% is executed.Conclusion. In the presented proposed methodology, the computation complexity is low and exhibits a simple technique rather than an empirical approach. The proposed technique corroborates the performance for the detection of QRS complex with improved accuracy.

Rapid and Accurate Data Processing for Silver Nanoparticle Oxidation in Nano-Impact Electrochemistry.

In recent years, nano-impact electrochemistry (NIE) has attracted widespread attention as a new electroanalytical approach for the analysis and characterization of single nanoparticles in solution. The accurate analysis of the large volume of the experimental data is of great significance in improving the reliability of this method. Unfortunately, the commonly used data analysis approaches, mainly based on manual processing, are often time-consuming and subjective. Herein, we propose a spike detection algorithm for automatically processing the data from the direct oxidation of sliver nanoparticles (AgNPs) in NIE experiments, including baseline extraction, spike identification and spike area integration. The resulting size distribution of AgNPs is found to agree very well with that from transmission electron microscopy (TEM), showing that the current algorithm is promising for automated analysis of NIE data with high efficiency and accuracy.

Heterogeneity in patterns of pain development after nerve injury in rats and the influence of sex.

The genesis of neuropathic pain is complex, as sensory abnormalities may differ between patients with different or similar etiologies, suggesting mechanistic heterogeneity, a concept that is largely unexplored. Yet, data are usually grouped for analysis based on the assumption that they share the same underlying pathogenesis. Sex is a factor that may contribute to differences in pain responses. Neuropathic pain is more prevalent in female patients, but pre-clinical studies that can examine pain development in a controlled environment have typically failed to include female subjects. This study explored patterns of development of hyperalgesia-like behavior (HLB) induced by noxious mechanical stimulation in a neuropathic pain model (spared nerve injury, SNI) in both male and female rats, and autonomic dysfunction that is associated with chronic pain. HLB was analyzed across time, using both discrete mixture modeling and rules-based longitudinal clustering. Both methods identified similar groupings of hyperalgesia trajectories after SNI that were not evident when data were combined into groups by sex only. Within the same hyperalgesia development group, mixed models showed that development of HLB in females was delayed relative to males and reached a magnitude similar to or higher than males. The data also indicate that sympathetic tone (as indicated by heart rate variability) drops below pre-SNI level before or at the onset of development of HLB. This study classifies heterogeneity in individual development of HLB and identifies sexual dimorphism in the time course of development of neuropathic pain after nerve injury. Future studies addressing mechanisms underlying these differences could facilitate appropriate pain treatments.

Exploratory data analysis based efficient QRS-complex detection technique with minimal computational load.

Detection of QRS-complex in the electrocardiogram (ECG) plays a decisive role in cardiac disorder detection. We face many challenges in terms of powerline interference, baseline drift, and abnormal varying peaks. In this work, we propose an exploratory data analysis (EDA) based efficient QRS-complex detection technique with minimal computational load. This paper includes median and moving average filter for pre-processing of the ECG. The peak of filtered ECG is enhanced to third power of the signal. The root mean square (rms) of the signal is estimated for the decision making rule. This technique adapted the new concept for isoelectric line identification and EDA based QRS-complex detection. In this paper, total 10,70,981 beats were used for validation from MIT BIH-Arrhythmia Database (MIT-BIH), Fantasia Database (FDB), European ST-T database (ESTD), a self recorded dataset (SDB), and fetal ECG database (FTDB). Overall sensitivity of 99.65 % and positive predictivity rate of 99.84 % have been achieved. The proposed technique doesn't require selection, setting, and training for QRS-complex detection. Thus, this paper presents a QRS-complex detection technique based on simple decision rules.

ECG artifact cancellation in surface EMG signals by fractional order calculus application.

BACKGROUND AND OBJECTIVE: New aspects for automatic electrocardiography artifact removal from surface electromyography signals by application of fractional order calculus in combination with linear and nonlinear moving window filters are explored. Surface electromyography recordings of skeletal trunk muscles are commonly contaminated with spike shaped artifacts. This artifact originates from electrical heart activity, recorded by electrocardiography, commonly present in the surface electromyography signals recorded in heart proximity. For appropriate assessment of neuromuscular changes by means of surface electromyography, application of a proper filtering technique of electrocardiography artifact is crucial. METHODS: A novel method for automatic artifact cancellation in surface electromyography signals by applying fractional order calculus and nonlinear median filter is introduced. The proposed method is compared with the linear moving average filter, with and without prior application of fractional order calculus. 3D graphs for assessment of window lengths of the filters, crest factors, root mean square differences, and fractional calculus orders (called WFC and WRC graphs) have been introduced. For an appropriate quantitative filtering evaluation, the synthetic electrocardiography signal and analogous semi-synthetic dataset have been generated. The examples of noise removal in 10 able-bodied subjects and in one patient with muscle dystrophy are presented for qualitative analysis. RESULTS: The crest factors, correlation coefficients, and root mean square differences of the recorded and semi-synthetic electromyography datasets showed that the most successful method was the median filter in combination with fractional order calculus of the order 0.9. Statistically more significant (p < 0.001) ECG peak reduction was obtained by the median filter application compared to the moving average filter in the cases of low level amplitude of muscle contraction compared to ECG spikes. CONCLUSIONS: The presented results suggest that the novel method combining a median filter and fractional order calculus can be used for automatic filtering of electrocardiography artifacts in the surface electromyography signal envelopes recorded in trunk muscles.

Noise-aware dictionary-learning-based sparse representation framework for detection and removal of single and combined noises from ECG signal.

Automatic electrocardiogram (ECG) signal enhancement has become a crucial pre-processing step in most ECG signal analysis applications. In this Letter, the authors propose an automated noise-aware dictionary learning-based generalised ECG signal enhancement framework which can automatically learn the dictionaries based on the ECG noise type for effective representation of ECG signal and noises, and can reduce the computational load of sparse representation-based ECG enhancement system. The proposed framework consists of noise detection and identification, noise-aware dictionary learning, sparse signal decomposition and reconstruction. The noise detection and identification is performed based on the moving average filter, first-order difference, and temporal features such as number of turning points, maximum absolute amplitude, zerocrossings, and autocorrelation features. The representation dictionary is learned based on the type of noise identified in the previous stage. The proposed framework is evaluated using noise-free and noisy ECG signals. Results demonstrate that the proposed method can significantly reduce computational load as compared with conventional dictionary learning-based ECG denoising approaches. Further, comparative results show that the method outperforms existing methods in automatically removing noises such as baseline wanders, power-line interference, muscle artefacts and their combinations without distorting the morphological content of local waves of ECG signal.

Motion artifacts reduction from PPG using cyclic moving average filter.

The photoplethysmogram (PPG) is an extremely useful medical diagnostic tool. However, PPG signals are highly susceptible to motion artifacts. In this paper, we propose a cyclic moving average filter that use similarity of Photoplethysmogram. This filtering method has the average value of each samples through separating the cycle of PPG signal. If there are some motion artifacts in continuous PPG signal, disjoin the signal based on cycle. And then, we made these signals to have same cycle by coordinating the number of sample. After arrange these cycles in 2 dimension, we put the average value of each samples from starting till now. So, we can eliminate the motion artifacts without damaged PPG signal.