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See detailEvaluation of the Multipath Environment Using Electromagnetic-Absorbing Materials at Continuous GNSS Stations
Hunegnaw, Addisu UL; Teferle, Felix Norman UL

in Sensors (2022), 22(9), 1-23

o date, no universal modelling technique is available to mitigate the effect of site-specific multipaths in high-precision global navigation satellite system (GNSS) data processing. Multipaths affect both ... [more ▼]

o date, no universal modelling technique is available to mitigate the effect of site-specific multipaths in high-precision global navigation satellite system (GNSS) data processing. Multipaths affect both carrier-phase and code/pseudorange measurements, and the errors can propagate and cause position biases. This paper presents the use of an Eccosorb AN-W-79 microwave-absorbing material mounted around a GNSS antenna that reflects less than −17 dB of normal incident energy above a frequency of 600 MHz. To verify the feasibility and effectiveness of the Eccosorb, we installed two close stations by continuously operating multi-GNSS (BeiDou, GLONASS, Galileo and GPS) in a challenging location. One station is equipped with the Eccosorb AN-W-79, covering a square area of 3.35 m2 around the antenna, and the second station operates without it. The standard deviation reductions from single point positioning estimates are significant for all the individual GNSS solutions for the station equipped with microwave-absorbing material. The reductions are as follows: for GPS, between 15% and 23%; for Galileo, between 22% and 45%; for GLONASS, 22%; and for BeiDou, 4%. Furthermore, we assess the influence of multipaths by analysing the linear combinations of code and carrier phase measurements for various GNSS frequencies. The Galileo code multipath shows a reduction of more than 60% for the station with microwave-absorbing material. For GLONASS, particularly for the GLOM3X and GLOM1P code multipath combinations, the reduction reaches 50%, depending on the observation code types. For BeiDou, the reduction is more than 30%, and for GPS, it reaches between 20% and 40%. The Eccosorb AN-W-79 microwave-absorbing material shows convincing results in reducing the code multipath noise level. Again, using microwave-absorbing material leads to an improvement between 15% and 60% in carrier phase cycle slips. The carrier-phase multipath contents on the post-fit residuals from the processed GNSS solutions show a relative RMS reduction of 13% for Galileo and 9% for GLONASS and GPS when using the microwave-absorbing material. This study also presents power spectral contents from residual signal-to-noise ratio time series using Morlet wavelet transformation. The power spectra from the antenna with the Eccosorb AN-W-79 have the smallest magnitude, demonstrating the capacity of microwave-absorbing materials to lessen the multipath influence while not eliminating it. [less ▲]

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See detailEarly Diagnosis of Multiple Sclerosis Using Swept-Source Optical Coherence Tomography and Convolutional Neural Networks Trained with Data Augmentation
Lopez-Dorado, Almudena; Ortiz Del Castillo, Miguel UL; Saute, Maria et al

in Sensors (2021)

Background: The aim of this paper is to implement a system to facilitate the diagnosis of multiple sclerosis (MS) in its initial stages. It does so using a convolutional neural network (CNN) to classify ... [more ▼]

Background: The aim of this paper is to implement a system to facilitate the diagnosis of multiple sclerosis (MS) in its initial stages. It does so using a convolutional neural network (CNN) to classify images captured with swept-source optical coherence tomography (SS-OCT). Methods: SS-OCT images from 48 control subjects and 48 recently diagnosed MS patients have been used. These images show the thicknesses (45 × 60 points) of the following structures: complete retina, retinal nerve fiber layer, two ganglion cell layers (GCL+, GCL++) and choroid. The Cohen distance is used to identify the structures and the regions within them with greatest discriminant capacity. The original database of OCT images is augmented by a deep convolutional generative adversarial network to expand the CNN’s training set. Results: The retinal structures with greatest discriminant capacity are the GCL++ (44.99% of image points), complete retina (26.71%) and GCL+ (22.93%). Thresholding these images and using them as inputs to a CNN comprising two convolution modules and one classification module obtains sensitivity = specificity = 1.0. Conclusions: Feature pre-selection and the use of a convolutional neural network may be a promising, nonharmful, low-cost, easy-to-perform and effective means of assisting the early diagnosis of MS based on SS-OCT thickness data [less ▲]

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See detailHybrid Active-and-Passive Relaying Model for 6G-IoT Greencom Networks with SWIPT
Gautam, Sumit UL; Solanki, Sourabh UL; Sharma, Shree Krishna UL et al

in Sensors (2021), 21

In order to support a massive number of resource-constrained Internet-of-Things (IoT) devices and machine-type devices, it is crucial to design a future beyond 5G/6G wireless networks in an energy ... [more ▼]

In order to support a massive number of resource-constrained Internet-of-Things (IoT) devices and machine-type devices, it is crucial to design a future beyond 5G/6G wireless networks in an energy-efficient manner while incorporating suitable network coverage expansion methodologies. To this end, this paper proposes a novel two-hop hybrid active-and-passive relaying scheme to facilitate simultaneous wireless information and power transfer (SWIPT) considering both time-switching (TS) and power-splitting (PS) receiver architectures, while dynamically modelling the involved dual-hop time-period (TP) metric. An optimization problem is formulated to jointly optimize the throughput, harvested energy, and transmit power of a SWIPT-enabled system with the proposed hybrid scheme. In this regard, we provide two distinct ways to obtain suitable solutions based on the Lagrange dual technique and Dinkelbach method assisted convex programming, respectively, where both the approaches yield an appreciable solution within polynomial computational time. The experimental results are obtained by directly solving the primal problem using a non-linear optimizer. Our numerical results in terms of weighted utility function show the superior performance of the proposed hybrid scheme over passive repeater-only and active relay-only schemes, while also depicting their individual performance benefits over the corresponding benchmark SWIPT systems with the fixed-TP. [less ▲]

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See detailPerformance Enhancement for Full-Duplex Relaying with Time-Switching-Based SWIPT in Wireless Sensors Networks
Tran, Phu Tin; Nguyen Nhat, ; Tran Dinh, Hieu UL et al

in Sensors (2021), 21(11), 3847

Full-duplex (FD) with simultaneous wireless information and power transfer (SWIPT) in wireless ad hoc networks has received increased attention as a technology for improving spectrum and energy efficiency ... [more ▼]

Full-duplex (FD) with simultaneous wireless information and power transfer (SWIPT) in wireless ad hoc networks has received increased attention as a technology for improving spectrum and energy efficiency. This paper studies the outage performance for a SWIPT-based decode-and-forward (DF) FD relaying network consisting of a single-antenna source S, a two-antenna relay R, and a multi-antenna destination D. Specifically, we propose four protocols, namely static time-switching factor with selection combining (STSF-SC), static time-switching factor with maximal ratio combining (STSF-MRC), optimal dynamic time-switching factor with selection combining (ODTSF-SC), and optimal dynamic time-switching factor with maximal ratio combining (ODTSF-MRC) to fully investigate the outage performance of the proposed system. In particular, the optimal time-switching factor from the ODTSF-SC and ODTSF-MRC methods is designed to maximize the total received data at the destination. In this context, we derive exact closed-formed expressions for all schemes in terms of the outage probability (OP). Finally, the Monte Carlo simulations are conducted to corroborate the theoretical analysis’s correctness and the proposed schemes’ effectiveness. [less ▲]

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See detailNo Interface, No Problem: Gesture Recognition on Physical Objects Using Radar Sensing
Attygalle, Nuwan T.; Leiva, Luis A. UL; Kljun, Matjaž et al

in Sensors (2021), 21(17),

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See detailLocalization System for Lightweight Unmanned Aerial Vehicles in Inspection Tasks
Benjumea, Diego; Alcántara, Alfonso; Ramos, Agustin et al

in Sensors (2021), 21(17 5937),

This paper presents a localization system for Unmanned Aerial Vehicles (UAVs) especially designed to be used in infrastructure inspection, where the UAVs have to fly in challenging conditions, such as ... [more ▼]

This paper presents a localization system for Unmanned Aerial Vehicles (UAVs) especially designed to be used in infrastructure inspection, where the UAVs have to fly in challenging conditions, such as relatively high altitude (e.g., 15 m), eventually with poor or absent GNSS (Global Navigation Satellite System) signal reception, or the need for a BVLOS (Beyond Visual Line of Sight) operation in some periods. In addition, these infrastructure inspection applications impose the following requirements for the localization system: defect traceability, accuracy, reliability, and fault tolerance. Our system proposes a lightweight solution combining multiple stereo cameras with a robotic total station to comply with these requirements, providing full-state estimation (i.e., position, orientation, and linear and angular velocities) in a fixed and time-persistent reference frame. Moreover, the system can align and fuse all sensor measurements in real-time at high frequency. We have integrated this localization system in our aerial platform, and we have tested its performance for inspection in a real-world viaduct scenario, where the UAV has to operate with poor or absent GNSS signal at high altitude. [less ▲]

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See detailGlimpse: A Gaze-Based Measure of Temporal Salience
Traver, V. Javier; Zorío, Judith; Leiva, Luis A. UL

in Sensors (2021), 21(9),

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See detailA Case Driven Study of the Use of Time Series Classification for Flexibility in Industry 4.0
Polge, Julien UL; Robert, Jérémy UL; Le Traon, Yves UL

in Sensors (2020), 20(24),

With the Industry 4.0 paradigm comes the convergence of the Internet Technologies and Operational Technologies, and concepts, such as Industrial Internet of Things (IIoT), cloud manufacturing, Cyber ... [more ▼]

With the Industry 4.0 paradigm comes the convergence of the Internet Technologies and Operational Technologies, and concepts, such as Industrial Internet of Things (IIoT), cloud manufacturing, Cyber-Physical Systems (CPS), and so on. These concepts bring industries into the big data era and allow for them to have access to potentially useful information in order to optimise the Overall Equipment Effectiveness (OEE); however, most European industries still rely on the Computer-Integrated Manufacturing (CIM) model, where the production systems run as independent systems (i.e., without any communication with the upper levels). Those production systems are controlled by a Programmable Logic Controller, in which a static and rigid program is implemented. This program is static and rigid in a sense that the programmed routines cannot evolve over the time unless a human modifies it. However, to go further in terms of flexibility, we are convinced that it requires moving away from the aforementioned old-fashioned and rigid automation to a ML-based automation, i.e., where the control itself is based on the decisions that were taken by ML algorithms. In order to verify this, we applied a time series classification method on a scale model of a factory using real industrial controllers, and widened the variety of parts the production line has to treat. This study shows that satisfactory results can be obtained only at the expense of the human expertise (i.e., in the industrial process and in the ML process). [less ▲]

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See detailFully-Actuated Aerial Manipulator for Infrastructure Contact Inspection: Design, Modeling, Localization, and Control
Sanchez Cuevas, Pedro Jesus UL; Gonzalez Morgado, Antonio; Cortes, Nicolas et al

in Sensors (2020)

This paper presents the design, modeling and control of a fully actuated aerial robot for infrastructure contact inspection as well as its localization system. Health assessment of transport ... [more ▼]

This paper presents the design, modeling and control of a fully actuated aerial robot for infrastructure contact inspection as well as its localization system. Health assessment of transport infrastructure involves measurements with sensors in contact with the bridge and tunnel surfaces and the installation of monitoring sensing devices at specific points. The design of the aerial robot presented in the paper includes a 3DoF lightweight arm with a sensorized passive joint which can measure the contact force to regulate the force applied with the sensor on the structure. The aerial platform has been designed with tilted propellers to be fully actuated, achieving independent attitude and position control. It also mounts a “docking gear” to establish full contact with the infrastructure during the inspection, minimizing the measurement errors derived from the motion of the aerial platform and allowing full contact with the surface regardless of its condition (smooth, rough, ...). The localization system of the aerial robot uses multi-sensor fusion of the measurements of a topographic laser sensor on the ground and a tracking camera and inertial sensors on-board the aerial robot, to be able to fly under the bridge deck or close to the bridge pillars where GNSS satellite signals are not available. The paper also presents the modeling and control of the aerial robot. Validation experiments of the localization system and the control system, and with the aerial robot inspecting a real bridge are also included. [less ▲]

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See detailWhen I Look into Your Eyes: A Survey on Computer Vision Contributions for Human Gaze Estimation and Tracking
Cazzato, Dario UL; Leo, Marco; Distante, Cosimo et al

in Sensors (2020), 20(13), 3739

The automatic detection of eye positions, their temporal consistency, and their mapping into a line of sight in the real world (to find where a person is looking at) is reported in the scientific ... [more ▼]

The automatic detection of eye positions, their temporal consistency, and their mapping into a line of sight in the real world (to find where a person is looking at) is reported in the scientific literature as gaze tracking. This has become a very hot topic in the field of computer vision during the last decades, with a surprising and continuously growing number of application fields. A very long journey has been made from the first pioneering works, and this continuous search for more accurate solutions process has been further boosted in the last decade when deep neural networks have revolutionized the whole machine learning area, and gaze tracking as well. In this arena, it is being increasingly useful to find guidance through survey/review articles collecting most relevant works and putting clear pros and cons of existing techniques, also by introducing a precise taxonomy. This kind of manuscripts allows researchers and technicians to choose the better way to move towards their application or scientific goals. In the literature, there exist holistic and specifically technological survey documents (even if not updated), but, unfortunately, there is not an overview discussing how the great advancements in computer vision have impacted gaze tracking. Thus, this work represents an attempt to fill this gap, also introducing a wider point of view that brings to a new taxonomy (extending the consolidated ones) by considering gaze tracking as a more exhaustive task that aims at estimating gaze target from different perspectives: from the eye of the beholder (first-person view), from an external camera framing the beholder’s, from a third-person view looking at the scene where the beholder is placed in, and from an external view independent from the beholder. [less ▲]

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See detailHow Do Runners Experience Personalization of Their Training Scheme: The Inspirun E-Coach?
Janssen, Mark; Goudsmit, Jos; Lauwerijssen, Coen et al

in Sensors (2020), 20(16),

Among runners, there is a high drop-out rate due to injuries and loss of motivation. These runners often lack personalized guidance and support. While there is much potential for sports apps to act as (e ... [more ▼]

Among runners, there is a high drop-out rate due to injuries and loss of motivation. These runners often lack personalized guidance and support. While there is much potential for sports apps to act as (e-)coaches to help these runners to avoid injuries, set goals, and maintain good intentions, most available running apps primarily focus on persuasive design features like monitoring, they offer few or no features that support personalized guidance (e.g., personalized training schemes). Therefore, we give a detailed description of the working mechanism of Inspirun e-Coach app and on how this app uses a personalized coaching approach with automatic adaptation of training schemes based on biofeedback and GPS-data. We also share insights into how end-users experience this working mechanism. The primary conclusion of this study is that the working mechanism (if provided with accurate data) automatically adapts training sessions to the runners' physical workload and stimulates runners' goal perception, motivation, and experienced personalization. With this mechanism, we attempted to make optimal use of the potential of wearable technology to support the large group of novice or less experienced runners and that by providing insight in our working mechanisms, it can be applied in other technologies, wearables, and types of sports. [less ▲]

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See detailInternet of Unmanned Aerial Vehicles—A Multilayer Low-Altitude Airspace Model for Distributed UAV Traffic Management
Samir Labib, Nader UL; Danoy, Grégoire UL; Musial, Jedrzej UL et al

in Sensors (2019), 19(21), 22

The rapid adoption of Internet of Things (IoT) has encouraged the integration of new connected devices such as Unmanned Aerial Vehicles (UAVs) to the ubiquitous network. UAVs promise a pragmatic solution ... [more ▼]

The rapid adoption of Internet of Things (IoT) has encouraged the integration of new connected devices such as Unmanned Aerial Vehicles (UAVs) to the ubiquitous network. UAVs promise a pragmatic solution to the limitations of existing terrestrial IoT infrastructure as well as bring new means of delivering IoT services through a wide range of applications. Owning to their potential, UAVs are expected to soon dominate the low-altitude airspace over populated cities. This introduces new research challenges such as the safe management of UAVs operation under high traffic demands. This paper proposes a novel way of structuring the uncontrolled, low-altitude airspace, with the aim of addressing the complex problem of UAV traffic management at an abstract level. The work, hence, introduces a model of the airspace as a weighted multilayer network of nodes and airways and presents a set of experimental simulation results using three UAV traffic management heuristics. [less ▲]

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See detailRobotic system for inspection by contact of bridge beams using UAVs
Sanchez Cuevas, Pedro Jesus UL; Ramon Soria, Pablo; Arrue, Begoña et al

in Sensors (2019)

This paper presents a robotic system using Unmanned Aerial Vehicles (UAVs) for bridge-inspection tasks that require physical contact between the aerial platform and the bridge surfaces, such as beam ... [more ▼]

This paper presents a robotic system using Unmanned Aerial Vehicles (UAVs) for bridge-inspection tasks that require physical contact between the aerial platform and the bridge surfaces, such as beam-deflection analysis or measuring crack depth with an ultrasonic sensor. The proposed system takes advantage of the aerodynamic ceiling effect that arises when the multirotor gets close to the bridge surface. Moreover, this paper describes how a UAV can be used as a sensor that is able to fly and touch the bridge to take measurements during an inspection by contact. A practical application of the system involving the measurement of a bridge’s beam deflection using a laser tracking station is also presented. In order to validate our system, experiments on two different bridges involving the measurement of the deflection of their beams are shown. [less ▲]

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See detailLocalized Trajectories for 2D and 3D Action Recognition
Papadopoulos, Konstantinos UL; Demisse, Girum UL; Ghorbel, Enjie UL et al

in Sensors (2019)

The Dense Trajectories concept is one of the most successful approaches in action recognition, suitable for scenarios involving a significant amount of motion. However, due to noise and background motion ... [more ▼]

The Dense Trajectories concept is one of the most successful approaches in action recognition, suitable for scenarios involving a significant amount of motion. However, due to noise and background motion, many generated trajectories are irrelevant to the actual human activity and can potentially lead to performance degradation. In this paper, we propose Localized Trajectories as an improved version of Dense Trajectories where motion trajectories are clustered around human body joints provided by RGB-D cameras and then encoded by local Bag-of-Words. As a result, the Localized Trajectories concept provides an advanced discriminative representation of actions. Moreover, we generalize Localized Trajectories to 3D by using the depth modality. One of the main advantages of 3D Localized Trajectories is that they describe radial displacements that are perpendicular to the image plane. Extensive experiments and analysis were carried out on five different datasets. [less ▲]

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See detailVision-based multirotor following using synthetic learning techniques
Rodriguez-Ramos, Alejandro; Alvarez-Fernandez, Adrian; Bavle, Hriday UL et al

in Sensors (2019), 19(21), 1--20

Deep-and reinforcement-learning techniques have increasingly required large sets of real data to achieve stable convergence and generalization, in the context of image-recognition, object-detection or ... [more ▼]

Deep-and reinforcement-learning techniques have increasingly required large sets of real data to achieve stable convergence and generalization, in the context of image-recognition, object-detection or motion-control strategies. On this subject, the research community lacks robust approaches to overcome unavailable real-world extensive data by means of realistic synthetic-information and domain-adaptation techniques. In this work, synthetic-learning strategies have been used for the vision-based autonomous following of a noncooperative multirotor. The complete maneuver was learned with synthetic images and high-dimensional low-level continuous robot states, with deep-and reinforcement-learning techniques for object detection and motion control, respectively. A novel motion-control strategy for object following is introduced where the camera gimbal movement is coupled with the multirotor motion during the multirotor following. Results confirm that our present framework can be used to deploy a vision-based task in real flight using synthetic data. It was extensively validated in both simulated and real-flight scenarios, providing proper results (following a multirotor up to 1.3 m/s in simulation and 0.3 m/s in real flights). [less ▲]

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See detailData Exchange Interoperability in IoT Ecosystem for Smart Parking and EV Charging
Karpenko, Anastasiia; Kinnunen, Tuomas; Madhikermi, Manik et al

in Sensors (2018)

Many domains are trying to integrate with the Internet of Things (IoT) ecosystem, such as public administrations starting smart city initiatives all over the world. Cities are becoming smart in many ways ... [more ▼]

Many domains are trying to integrate with the Internet of Things (IoT) ecosystem, such as public administrations starting smart city initiatives all over the world. Cities are becoming smart in many ways: smart mobility, smart buildings, smart environment and so on. However, the problem of non-interoperability in the IoT hinders the seamless communication between all kinds of IoT devices. Different domain specific IoT applications use different interoperability standards. These standards are usually not interoperable with each other. IoT applications and ecosystems therefore tend to use a vertical communication model that does not allow data sharing horizontally across different IoT ecosystems. In 2014, The Open Group published two domain-independent IoT messaging standards, O-MI and O-DF, aiming to solve the interoperability problem. In this article we describe the practical use of O-MI/O-DF standards for reaching interoperability in a mobile application for the smart city context, in particular for the Smart Mobility domain, electric vehicle (EV) charging case study. The proof-of-concept of the smart EV charging ecosystem with mobile application user interface was developed as a part of an EU (Horizon 2020) Project bIoTope. [less ▲]

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See detailA Model-Driven Co-Design Framework for Fusing Control and Scheduling Viewpoints
Sundharam, Sakthivel Manikandan UL; Navet, Nicolas UL; Altmeyer, Sebastian et al

in Sensors (2018), 18(2), 628

Model-Driven Engineering (MDE) is widely applied in the industry to develop new software functions and integrate them into the existing run-time environment of a Cyber-Physical System (CPS). The design of ... [more ▼]

Model-Driven Engineering (MDE) is widely applied in the industry to develop new software functions and integrate them into the existing run-time environment of a Cyber-Physical System (CPS). The design of a software component involves designers from various viewpoints such as control theory, software engineering, safety, etc. In practice, while a designer from one discipline focuses on the core aspects of his field (for instance, a control engineer concentrates on designing a stable controller), he neglects or considers less importantly the other engineering aspects (for instance, real-time software engineering or energy efficiency). This may cause some of the functional and non-functional requirements not to be met satisfactorily. In this work, we present a co-design framework based on timing tolerance contract to address such design gaps between control and real-time software engineering. The framework consists of three steps: controller design, verified by jitter margin analysis along with co-simulation, software design verified by a novel schedulability analysis, and the run-time verification by monitoring the execution of the models on target. This framework builds on CPAL (Cyber-Physical Action Language), an MDE design environment based on model-interpretation, which enforces a timing-realistic behavior in simulation through timing and scheduling annotations. The application of our framework is exemplified in the design of an automotive cruise control system. [less ▲]

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See detailMulti-Robot Interfaces and Operator Situational Awareness: Study of the Impact of Immersion and Prediction
Roldán, Juan Jesús; Peña-Tapia, Elena; Martín-Barrio, Andrés et al

in Sensors (2017), 17(8 1720),

Multi-robot missions are a challenge for operators in terms of workload and situational awareness. These operators have to receive data from the robots, extract information, understand the situation ... [more ▼]

Multi-robot missions are a challenge for operators in terms of workload and situational awareness. These operators have to receive data from the robots, extract information, understand the situation properly, make decisions, generate the adequate commands, and send them to the robots. The consequences of excessive workload and lack of awareness can vary from inefficiencies to accidents. This work focuses on the study of future operator interfaces of multi-robot systems, taking into account relevant issues such as multimodal interactions, immersive devices, predictive capabilities and adaptive displays. Specifically, four interfaces have been designed and developed: a conventional, a predictive conventional, a virtual reality and a predictive virtual reality interface. The four interfaces have been validated by the performance of twenty-four operators that supervised eight multi-robot missions of fire surveillance and extinguishing. The results of the workload and situational awareness tests show that virtual reality improves the situational awareness without increasing the workload of operators, whereas the effects of predictive components are not significant and depend on their implementation. [less ▲]

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