Centre for biorobotics
TalTech priority area
Research classification (Frascati)
Head of the research group
Research group member
Doctoral students
Keyword
underwater robotics and control
locomotion in multiphase environments
mapping and navigation
Overview
The Centre for Biorobotics specializes in researchand development of underwater robotics andsensing. On the robotics side we are focusing ondevelopment of locomotion and control in underwater and multiphase environments, whereconventional land and underwater platforms areunderperforming. In connection with robotics,we are focusing on using bioinspired sensingmethods in combination with conventional toolsto improve situational awareness and navigationperformance of our robots. Apart from robotics,we are also applying the bioinspired sensingmethods in water flow sensing in natural environments (rivers, coast etc.).
Related projects
Related department
- Remmas, W., Chemori, A., Kruusmaa M. Diver tracking in open waters : a low-cost approach based on visual and acoustic sensor fusion // Journal of field robotics (2021) vol. 38, 3, p. 494–508.
https://doi.org/10.1002/rob.21999 - Rätsep, M., Parnell, K. E., Soomere, T., Kruusmaa, M., Ristolainen, A., Tuhtan, J. A. Surface vessel localization from wake measurements using an array of pressure sensors in the littoral zone // Ocean engineering (2021) vol. 233, art. 109156.
https://doi.org/10.1016/j.oceaneng.2021.109156 - Vihman, L., Kruusmaa, M., Raik, J. Systematic review of fault tolerant techniques in underwater sensor networks // Sensors (2021) vol. 21, 9, art. 3264.
https://doi.org/10.3390/s21093264 - Meurer, C., Fuentes-Perez, J.F., Schwarzwalder, K., Kruusmaa, M. et al. 2D estimation of velocity relative to water and tidal currents based on differential pressure for autonomous underwater vehicles // IEEE robotics and automation letters (2020) vol. 5, 2, p. 3444−3451.
https://doi.org/10.1109/LRA.2020.2976318 - Simha, A., Gkliva, R., Kotta, Ü., Kruusmaa, M. A flapped paddle-fin for improving underwater propulsive efficiency of oscillatory actuation // IEEE robotics and automation letters (2020) vol. 5, 2, p. 3176-3181.
https://doi.org/10.1109/LRA.2020.2975747 - Monea, M.C., Löhr, D.K., Meyer, C., Drenkova-Tuhtan, A. et al. Comparing the leaching behavior of phosphorus, aluminum and iron from post-precipitated tertiary sludge and anaerobically digested sewage sludge aiming at phosphorus recovery // Journal of cleaner production (2020) vol. 247, art. 119129, 8 p. : ill.
https://doi.org/10.1016/j.jclepro.2019.119129 - Monoli, C., Fuentez-Perez, J. F., Cau, N., Capodaglio, P., Galli, M., Tuhtan, J. A. Land and underwater gait analysis using wearable IMU // IEEE sensors journal (2021) vol. 21, 9, p. 11192-11202.
https://doi.org/10.1109/JSEN.2021.3061623 - Garcia-Vega, A., Fuentes-Perez, J. F., Fukuda, S., Kruusmaa, M., Sanz-Ronda, F. J., Tuhtan, J. A. Artificial lateral line for aquatic habitat modelling: An example for Lefua echigonia // Ecological Informatics (2021) vol. 65, art. 101388.
https://doi.org/10.1016/j.ecoinf.2021.101388 - Soom, J., Pattanaik, V., Leier, M., Tuhtan, J.A. Environmentally adaptive fish or no-fish classification for river video fish counters using high-performance desktop and embedded hardware // Ecological Informatics (2022) vol. 72, art. 101817, 14 p. : ill.
https://doi.org/10.1016/j.ecoinf.2022.101817 - Khan, A.H., Hussmann, K.R., Powalla, D., Hoerner, S., Kruusmaa, M., Tuhtan, J.A. An open 3D CFD model for the investigation of flow environments experienced by freshwater fish // Ecological Informatics (2022) vol. 69, art. 101652, 12 p. : ill.
https://doi.org/10.1016/j.ecoinf.2022.101652 - Gkliva, R., Kruusmaa, M. Soft fluidic actuator for locomotion in multi-phase environments // IEEE robotics and automation letters (2022) vol. 7, 4, p. 10462-10469.
https://doi.org/10.1109/LRA.2022.3192204 - Remmas, W., Chemori, A., Kruusmaa, M. Inverse-model intelligent control of fin-actuated underwater robots based on drag force propulsion // Ocean Engineering (2021) vol. 239, art. 109883, 19 p. : ill.
https://doi.org/10.1016/j.oceaneng.2021.109883 - Godon, S., Ristolainen, A., Kruusmaa, M. An insight on mud behavior upon stepping // IEEE robotics and automation letters (2022) vol. 7, 4, p. 11039-11046.
https://doi.org/10.1109/LRA.2022.3194667 - Benigni, H., Schneider, J., Reckendorfer, W., Jaberg, H., Zenz, G., Tuhtan, J. Numerical simulation and experimental verification of downstream fish migration in a Kaplan turbine // IOP Conference Series: Earth and Environmental Science ; 774. : IOP Publishing, 2021. art. 012149.
https://doi.org/10.1088/1755-1315/774/1/012149 - Piho, L., Kruusmaa, M. Subsurface flow path modeling from inertial measurement unit sensor data using infinite hidden Markov models // IEEE sensors journal (2022) vol. 22, 1, p. 621-630 : ill.
https://doi.org/10.1109/JSEN.2021.3128838 - Miasayedava, L., McBride, K., Tuhtan, J.A. Automated environmental compliance monitoring of rivers with IoT and open government data // Journal of environmental management (2022) vol. 303, art. 114283, 10 p. : ill.
https://doi.org/10.1016/j.jenvman.2021.114283 - Fuentes-Pérez, J., Sanz-Ronda, F.J., Tuhtan, J.A. An open surface drifter for river flow field characterization // Sensors (2022) vol. 22, 24, art. nr. 9918.
https://doi.org/10.3390/s22249918 - Bensing, K., Tuhtan, J.A., Toming, G., Khan, A.H., Lehmann, B. Fish body geometry reduces the upstream velocity profile in subcritical flowing waters // Aquatic sciences (2022) vol. 84, 3, p. 1-14 : ill.
https://doi.org/10.1007/s00027-022-00863-6 - Stoltz, U., Geiger, F., Tuhtan, J. A. Influence of operation modes and fish behavior on fish passage through turbines // IOP Conference Series: Earth and Environmental Science ; 774. : IOP Publishing, 2021. art. 012125.
https://doi.org/10.1088/1755-1315/774/1/012125 - Arezzo, A., Kruusmaa, M., Mylonas, G. From bench to bedside // IEEE Transactions on Medical Robotics and Bionics (2022) Vol. 4, Issue 2, p. 297 - 299.
https://doi.org/10.1109/TMRB.2022.3172013 - Piho, L., Alexander, A., Kruusmaa, M. Topology and spatial-pressure-distribution reconstruction of an englacial channel // The cryosphere (2022) vol. 16, 9, p. 3669–3683.
https://doi.org/10.5194/tc-16-3669-2022 - Costa, M.J., Godinho, F., Romao, F., Fuentes-Perez, J.F., Tuhtan, J., Pinheiro, A.N., Boavida, I. The relevance of fluid-body interactions for habitat selection of two Iberian cyprinids during hydropeaking // Proceedings 39th IAHR World Congress. : IAHR, 2022. p. 1454−1459.
https://doi.org/10.3850/IAHR-39WC2521711920221269 - Ristolainen, A., Piho, L., Kruusmaa, M. Feasibility study on distributed flow sensing with inertial sensors in aquaculture fish cages // Aquacultural Engineering (2022) vol. 98, art. 102271, 9 p. : ill.
https://doi.org/10.1016/j.aquaeng.2022.102271 - Ratas, M., Chemori, A., Kruusmaa, M. PHA-based feedback control of a biomimetic AUV for diver following : design, simulations and real-time experiments // European Control Conference (ECC). : IEEE, 2022. p. 503-509.
https://doi.org/10.23919/ECC55457.2022.9838054 - Benigni, H., Schneider, J., Reckendorfer, W., Schiffer, J., Tuhtan, J., Leithner, S., Zenz, G., Meusburger, P. Numerical simulation and experimental verification of downstream fish migration in a bulb turbine // 31st IAHR Symposium on Hydraulic Machinery and Systems 26/06/2022 - 01/07/2022 Trondheim, Norway. Vol. 1079. : IOP Publishing, 2022. 10 p. : ill. (IOP Conference Series: Earth and Environmental Science).
https://doi.org/10.1088/1755-1315/1079/1/012101 - Boavida, I., Santos, J.M., Costa, M.J., Leite, R., Portela, M.M., Godinho, F., Leitao, P., Mota, R., Tuhtan, J., Pinheiro, A. The EcoPeak4Fish Project : an integrated approach to support self-sustaining fish populations downstream hydropower plants // Proceedings 39th IAHR World Congress. : IAHR, 2022. p. 1434-1438.
https://doi.org/10.3850/IAHR-39WC2521711920221160 - Tsubaki, R., Fuentes-Perez, J.F., Kawamura, S., Tuhtan, J.A., Sumitomo, K. Bedload transport measurement in a Japanese gravel river using synchronized hydrodynamic and hydroacoustic pressure sensing // River Flow 2020 Proceedings of the 10th Conference on Fluvial Hydraulics (Delft, Netherlands, 7-10 July 2020): River Flow 2020, Online, 7-10 July 2020. London : CRC Press, 2020. p. 1476-1482.
https://doi.org/10.1201/b22619 - Kruusmaa, M., Moktefi, A., Tuhtan, J. On the shoulders of giants : colourful argument trees for academic writing // Diagrammatic representation and inference : 11th International Conference, Diagrams 2020, Tallinn, Estonia, August 24–28, 2020 : proceedings. Cham : Springer, 2020. p. 520-524. (Lecture notes in computer science ; 12169, Lecture notes in artificial intelligence ; 12169).
https://doi.org/10.1007/978-3-030-54249-8_48 - Kaldmäe, A., Kotta, Ü., Meurer, C., Simha, A. Event-based control for differentially flat systems: application to autonomous underwater vehicle // IFAC-PapersOnLine (2019) vol. 52, 16, p. 180-185.
https://doi.org/10.1016/j.ifacol.2019.11.775 - Vihman, L., Kruusmaa, M., Raik, J. Data-driven cross-layer fault management architecture for sensor networks // 16th European Dependable Computing Conference : EDCC 2020 : Virtual Conference, Munich, Germany, 7-10 September 2020 : proceedings. Danvers : IEEE, 2020. art. 20094188, p. 33-40.
https://doi.org/10.1109/EDCC51268.2020.00015 - Tuhtan, J.A., Kruusmaa, M., Alexander, A., Fuentes-Perez, J.F. Multiscale change detection in a supraglacial stream using surface drifters // River Flow 2020 Proceedings of the 10th Conference on Fluvial Hydraulics (Delft, Netherlands, 7-10 July 2020): River Flow 2020, Online, 7-10 July 2020. London : CRC Press, 2020. p. 1483-1492.
https://doi.org/10.1201/b22619 - Põld, T., Bachmann, M., Päeske, L., Kalev, K., Lass, J., Hinrikus, H. EEG spectral asymmetry is dependent on education level of men // World Congress on Medical Physics and Biomedical Engineering 2018 : June 3–8, 2018, Prague, Czech Republic (Vol. 2). Singapore : Springer Nature, 2018. p. 405–408. (Springer Nature Singapore Pte Ltd).
https://doi.org/10.1007/978-981-10-9038-7_76 - Rätsep, M., Parnell, K.E., Soomere, T., Kruusmaa, M., Ristolainen, A., Tuhtan, J.A. Using spectrograms from underwater total pressure sensors to detect passing vessels in a coastal environment // Journal of atmospheric and oceanic technology (2020) vol. 37, 8, p. 1353-1363 : ill.
https://doi.org/10.1175/JTECH-D-19-0192.1 - Gkliva, R., Sfakiotakis, M., Kruusmaa, M. Development and experimental assessment of a flexible robot fin // 2018 IEEE International Conference on Soft Robotics (RoboSoft) : proceedings. [S.l.] : IEEE, 2018. p. 208-213 : ill.
https://doi.org/10.1109/ROBOSOFT.2018.8404921 - Ristolainen, A., Kalev, K., Tuhtan, J., Kuusik, A., Kruusmaa, M. Hydromorphological classification using synchronous pressure and inertial sensing // IEEE transactions on geoscience and remote sensing (2018) vol. 56, 6, p. 3222-3232 : ill.
https://doi.org/10.1109/TGRS.2018.2795641 - Preston, V., Salumäe, T., Kruusmaa, M. Underwater confined space mapping by resource-constrained autonomous vehicle // Journal of field robotics (2018) vol. 35, 7, p. 1122-1148 : ill.
https://doi.org/10.1002/rob.21806 - Alexander, A., Kruusmaa, M., Tuhtan, J.A. et al. Pressure and inertia sensing drifters for glacial hydrology flow path measurements // The cryosphere (2020) vol. 14, 3, p. 1009-1023.
https://doi.org/10.5194/tc-14-1009-2020 - Meurer, C., Simha, A., Kotta, Ü., Kruusmaa, M. Nonlinear orientation controller for a compliant robotic fish based on asymmetric actuation // 2019 International Conference on Robotics and Automation : ICRA 2019, Palais des Congres de Montreal, Canada, 20-24 May, 2019. Danvers : IEEE, 2019. Art. 8793892 ; p. 4688-4694.
https://doi.org/10.1109/ICRA.2019.8793892 - Ristolainen, A., Tuhtan, J. A., Kruusmaa, M. Continuous, near-bed current velocity estimation using pressure and inertial sensing // IEEE sensors journal (2019) vol. 19, 24, p. 12398 - 12406 : ill.
https://doi.org/10.1109/JSEN.2019.2937954 - Wolf, B.J., Pirih, P., Kruusmaa, M., Van Netten, S.M. Shape classification using hydrodynamic detection via a sparse large-scale 2D-sensitive artificial lateral line // IEEE Access (2020) Vol. 8, p. 11393 - 11404.
https://doi.org/10.1109/ACCESS.2020.2965316 - Schmidt, M.B., Tuhtan, J.A., Schletterer, M. Hydroacoustic and pressure turbulence analysis for the assessment of fish presence and behavior upstream of a vertical trash rack at a run-of-river hydropower plant // Applied sciences (2018) vol. 8, 10, art. 1723, 20 p. : ill.
https://doi.org/10.3390/app8101723 - Muhammad, N., Fuentes-Perez, J.F., Tuhtan, J.A., Toming, G., Musall, M., Kruusmaa, M. Map-based localization and loop-closure detection from a moving underwater platform using flow features // Autonomous robots (2019) vol. 43, 6, p. 1419-1434 : ill.
https://doi.org/10.1007/s10514-018-9797-3 - Tuhtan, J.A., Nag, S., Kruusmaa, M. Underwater bioinspired sensing: New opportunities to improve environmental monitoring // IEEE instrumentation & measurement magazine (2020) vol. 23, 2, p. 30-36.
https://doi.org/10.1109/MIM.2020.9062685 - Gosselin, M.-P., Ouellet, V., Harby, A., Nestler, J. Advancing ecohydraulics and ecohydrology by clarifying the role of their component interdisciplines // Journal of ecohydraulics (2019) vol. 4, 2, p. 172-187.
https://doi.org/10.1080/24705357.2019.1658137 - Monea, M.C., Meyer, C., Steinmetz, H., Schönberger, H., Drenkova-Tuhtan, A. Phosphorus recovery from sewage sludge – phosphorus leaching behavior from aluminum containing tertiary and anaerobically digested sludge // Water science and technology, Water science & technology (2020) vol. 82, 8, p. 1509-1522.
https://doi.org/10.2166/wst.2020.414 - Fuentes-Pérez, J.F., Tuhtan, J.A., Eckert, M., Kruusmaa, M. et al. Hydraulics of vertical-slot fishways: nonuniform profiles // Journal of hydraulic engineering (2019) vol. 145, 2, p. 06018020-1 - 06018020-6 : ill.
https://doi.org/10.1061/(ASCE)HY.1943-7900.0001565 - Kruusmaa, M., Gkliva, R., Tuhtan, J.A. et al. Salmon behavioural response to robots in an aquaculture sea cage // Royal Society open science (2020) vol. 7, 3, art. 191220, 14 p. : ill.
https://doi.org/10.1098/rsos.191220 - Meurer, C., Francisco Fuentes-Perez, J., Palomeras, N., Carreras, M., Kruusmaa, M. Differential pressure sensor speedometer for autonomous underwater vehicle velocity estimation // IEEE Journal of Oceanic Engineering (2020) Vol. 45, Issue 3, p. 946 - 978.
https://doi.org/10.1109/JOE.2019.2907822 - Schletterer, M., Kuzovlev, V.V., Zhenikov, Y.N, Tuhtan, J.A. et al. Fish fauna and fisheries of large European rivers: examples from the Volga and the Danube // Hydrobiologia (2018) vol. 814, 1, p. 45-60 : ill.
https://doi.org/10.1007/s10750-017-3370-5 - Pauwels, I. S., Baeyens, R., Toming, G., Tuhtan, J. A. et al. Multi-species assessment of injury, mortality, and physical conditions during downstream passage through a large Archimedes hydrodynamic screw (Albert Canal, Belgium) // Sustainability (2020) vol. 12, 20, art. 8722, 25 p. : ill.
https://doi.org/10.3390/su12208722 - Fuentes-Perez, J.F., Meurer, C., Tuhtan, J.A., Kruusmaa, M. Differential pressure sensors for underwater speedometry in variable velocity and acceleration conditions // IEEE Journal of Oceanic Engineering (2018) Vol. 43, 2, p. 418-426 : ill.
https://doi.org/10.1109/JOE.2017.2767786 - Tuhtan, J.A., Fuentes Perez, J.F., Toming, G., Schneider, M., Schwarzenberger, R., Schletterer, M., Kruusmaa, M. Man-made flows from a fish's perspective : autonomous classification of turbulent fishway flows with field data collected using an artificial lateral line // Bioinspiration & biomimetics (2018) vol. 13, 4, art. 046006, 17 p. : ill.
https://doi.org/10.1088/1748-3190/aabc79 - Alfredsen, K., Haas, C., Tuhtan, J., Zinke, P. Brief Communication : mapping river ice using drones and structure from motion // The cryosphere (2018) vol. 12, 2, p. 627-633 : ill.
https://doi.org/10.5194/tc-12-627-2018 - Costa, M.J., Fuentes-Perez, J.F., Boavida, I., Tuhtan, J.A. et al. Fish under pressure : Examining behavioural responses of Iberian barbel under simulated hydropeaking with instream structures // PLoS ONE (2019) vol. 14, 1, art. e021111525, 25 p. : ill.
https://doi.org/10.1371/journal.pone.0211115 - Fuentes-Pérez, J.F., Eckert, M., Tuhtan, J.A., Ferreira, M.T., Kruusmaa, M., Branco, P. Spatial preferences of Iberian barbel in a vertical slot fishway under variable hydrodynamic scenarios // Ecological engineering (2018) vol. 125, p. 131-142 : ill.
https://doi.org/10.1016/j.ecoleng.2018.10.014 - Salumae, T., Chemori, A., Kruusmaa, M. Motion control of a hovering biomimetic four-fin underwater robot // IEEE Journal of Oceanic Engineering (2019) Vol. 44, Issue 1, p. 54 - 71.
https://doi.org/10.1109/JOE.2017.2774318 - Fuentes-Perez, J.F., Silva, A.T., Tuhtan, J.A, Garcia-Vega, A., Carbonell-Baeza, R., Musall, M., Kruusmaa, M. 3D modelling of non-uniform and turbulent flow in vertical slot fishways // Environmental modelling & software (2018) vol. 99, p. 156-169 : ill.
https://doi.org/10.1016/j.envsoft.2017.09.011 - Rott, E., Nouri, M., Meyer, C., Minke, R., Schneider, M., Mandel, K., Ivanova Drenkova-Tuhtan, A. Removal of phosphonates from synthetic and industrial wastewater with reusable magnetic adsorbent particles // Water research (2018) vol. 145, p. 608-617.
https://doi.org/10.1016/j.watres.2018.08.067 - Bachmann, M., Päeske, L., Kalev, K., Aarma, K., Lehtmets, A., Ööpik, P., Lass, J., Hinrikus, H. Methods for classifying depression in single channel EEG using linear and nonlinear signal analysis // Computer methods and programs in biomedicine (2018) vol. 155, p. 11−17 : ill.
https://doi.org/10.1016/j.cmpb.2017.11.023 - Allotta, B., Costanzi, R., Ridolfi, A., Salvetti, O., Reggiannini, M., Kruusmaa, M., Salumae, T., Lane, D.M., Frost, G., Tsiogkas, N., Cocco, M. et al. The ARROWS project : robotic technologies for underwater archaeology // IOP conference series : materials science and engineering (2018) vol. 364, 1, art. 012088.
https://doi.org/10.1088/1757-899X/364/1/012088 - Boavida, I., Díaz-Redondo, M., Fuentes-Pérez, J.F., Hayes, D.S., Jesus, J., Moreira, M., Belmar, O., Vila-Martínez, N., Palau-Nadal, A., Costa, M.J. Ecohydraulics of river flow alterations and impacts on freshwater fish // Limnetica (2020) Vol. 39, 1, p. 213-232.
https://doi.org/10.23818/limn.39.14 - Weiss, S., Deiner, K., Tuhtan, Jeffrey A., Gumpinger, C., Schletterer, M. Genetische Analysen von Fischbeständen: Populationsgenetik und eDNA // Wasserwirtschaft (2018) vol. 108, 2/3, S. 22-29 : Ill.
https://www.springerprofessional.de/genetische-analysen-von-fischbestaenden-populationsgenetik-und-e/15499156 https://doi.org/10.1007/s35147-018-0008-0 - Gustenyov, N., Bailey, S.C.C., Egerer, M., Hultmark, M., Smits, A.J. Modeling dissipation scale distributions at high Reynolds number // AIAA AVIATION 2022 Forum. Reston : American Institute of Aeronautics and Astronautics (AIAA), 2022. Art. nr. AIAA 2022-3346.
https://doi.org/10.2514/6.2022-3346 - Tuhtan, J.A., Fuentes-Perez, J.F., Toming, G., Schneider, M., Schletterer, M. Ein Fisch ist kein Punkt: Analyse von Strömungssignaturen in Fischaufstiegsanlagen mit einem Seitenlinien Sensor // Wasserwirtschaft (2018) vol. 108, 2/3, S. 48-53 : Ill.
https://doi.org/10.1007/s35147-018-0015-1 - Boavida, I., Costa, M. J., Portela, M. M., Godinho, F., Tuhtan, J., Pinheiro, A. Do cyprinid fish use lateral flow-refuges during hydropeaking? // River research and applications (2023) vol. 39, 3, p. 554-560.
https://doi.org/10.1002/rra.3863 - Miasayedava, L., Kaugerand, J., Tuhtan, J.A. Lightweight assimilation of open urban ambient air quality monitoring data and numerical simulations with unknown uncertainty // Environmental modeling & assessment (2023) vol. 28, 6, p. 961–975.
https://doi.org/10.1007/s10666-023-09909-x - Godon, S., Kruusmaa, M., Ristolainen, A. Maneuvering on non-Newtonian fluidic terrain : a survey of animal and bio-inspired robot locomotion techniques on soft yielding grounds // Frontiers in Robotics and AI (2023) vol. 10, art. 1113881.
https://doi.org/10.3389/frobt.2023.1113881 - Dzipalski, A., Morton, J. A. S., Papachristou, N., Maier, R. R. J., MacPherson, W. N., Ristolainen, A., Kruusmaa, M., Reilent, E., Wolf, B. J., Pirih, P., Shuhova I., Lips U. et al. A multiplexed FBG based sensor platform for flow and temperature measurements in the Baltic Sea // Proceedings of SPIE. : SPIE, 2023. art. 1264307-1 : ill. (Proceedings of SPIE ; 12643).
https://doi.org/10.1117/12.2679756 - Remmas, M.W., Chemori, A., Kruusmaa, M. Fault-tolerant control allocation for a bio-inspired underactuated AUV in the presence of actuator failures : design and experiments // Ocean engineering (2023) Vol. 285, p. 1, art. 115327, 12 p. : ill.
https://doi.org/10.1016/j.oceaneng.2023.115327 - Monoli, C., Tuhtan, J. A., Piccinini, L., Galli, M. Wearable technologies for monitoring aquatic exercises : a systematic review // Clinical Rehabilitation (2023) vol. 37, 6, p. 791-807.
https://doi.org/10.1177/02692155221141039 - Miasayedava, L., Kaugerand, J., Tuhtan, J.A. Lightweight open data assimilation of Pan-European urban air quality // IEEE access (2023) vol. 11, p. 84670–84688 : ill., map.
https://doi.org//10.1109/ACCESS.2023.3302348