RFID Research Articles

Phototunable and Photopatternable Polymer Semiconductors.

ConspectusIn recent decades, there has been rapid development in the field of polymer semiconductors, particularly those based on conjugated donor-acceptor (D-A) polymers exhibiting high charge mobilities. Furthermore, the application of polymer semiconductors has been successfully extended to a wide range of functional devices, including sensors, photodetectors, radio frequency identification (RFID) tags, electronic paper, skin electronics, and artificial synapses. Over the past few years, there has been a growing focus on stimuli-responsive polymer semiconductors, which have the potential to impart additional functionalities to conventional field-effect transistors, garnering increased attention within the research community. In this context, phototunable polymer semiconductors have received significant attention due to their ability to utilize light as an external stimulus, enabling remote control of device performance with high spatiotemporal resolution. Meanwhile, integration of field-effect transistors with polymer semiconductors can enable the realization of complex functions. To achieve this, precise and controllable patterning of polymer semiconductors becomes essential. In this Account, we discuss our research findings in the context of phototunable and photopatternable polymer semiconductors. These developments encompass the following key aspects: (i) polymer semiconductors, such as poly(diketopyrrolopyrrole-quaterthiophene) (PDPP4T), exhibit phototunability when blended with the photochromic compound hexaarylbiimidazole (HABI). The photo/thermal-responsive field-effect transistors (FETs) can be fabricated using blending thin films. Remarkably, these photo/thermal-responsive transistors can function as photonically programmable and thermally erasable nonvolatile memory devices. (ii) By incorporating photoswitchable groups like azo and spiropyran into the side chains of conjugated D-A polymers, we can create phototunable polymer semiconductors. The reversible isomerization of azo and spiropyran groups significantly influences the charge transport properties of these polymer semiconductors. Consequently, the performance of the resulting FETs can be reversibly tuned through UV/visible or near-infrared light (NIR) irradiation. Notably, the incorporation of two distinct azo groups into the side chains leads to polymer semiconductors with tristable semiconducting states, offering the ability to logically control device performance using light irradiation at three different wavelengths. (iii) Photopatterning of p-type, n-type, and ambipolar semiconductors featuring alkyl side chains can be achieved using a diazirine-based, four-armed photo-cross-linker (4CNN) with a loading concentration of no more than 3% (w/w). Furthermore, the semiconducting performances of FETs with patterned thin films were found to be satisfactorily uniform. Importantly, the cross-linked thin films are robust and show good resistance to organic solvents, which is useful for fabricating all-solution processable multilayer electronic devices. (iv) The introduction of azide groups into the side chains of conjugated polymers results in a single-component semiconducting photoresist. The presence of azide groups renders the side chains with photo-cross-linking ability, enabling the successful formation of uniform patterns, even as small as 5 μm, under UV light irradiation. Benefiting from the single component feature, field-effect transistors with individual patterned thin films display satisfactorily uniform performances. Moreover, this semiconducting photoresist has proven effective for efficiently photopatterning other polymer semiconductors, demonstrating its versatility.

Improved RFID mutual authentication protocol against exhaustive attack in the context of big data

The development of big data has epromoted the development of Internet technology, but it has brought more network security and privacy problems. Therefore, how to solve network security problems is the main research direction of current network technology development. In order to deal with the harm of network attacks to personal privacy security, this paper studies and proposes an RFID mutual authentication protocol against exhaustive attacks based on improved Hash function, and proposes a security proof based on BAN logic rules. At the same time, to enhance the computing resources of the improved protocol, this paper proposes an improved authentication query protocol for multi-source RFID tags. In the performance analysis, when the distance between the reader and the tag reaches 10 m, the improved protocol can still be higher than 90%. The application test shows that the improved protocol proposed in the study is capable of resisting exhaustive attacks, its execution time is short, and it is less affected by the number of tags. The above results show that in the context of big data, the improved RFID mutual authentication protocol proposed by the research against network exhaustive attacks has a more significant defense effect, can effectively protect user privacy, and has a greater reference value in network security research.

Wire- and radiofrequency identification tag-guided localization of impalpable breast lesions: iBRA-NET localization study.

A national cohort ideal stage 2a/2b study comparing the safety and effectiveness of Wire- and RFID -guided localisation for impalpable breast lesions.

Medical records information system based on prototyping model using automatic identifier NFC card

Radio Frequency Identification is a compact wireless technology that is superior and has been developed in the commercial and educational for example in automatic identification in the hospital patient registration. This research aims to improve patient registration services to be more practical during outpatient registration at hospitals. Currently, hospital outpatient registration is still carried out semi-computerized where patients come to the reception desk and then register by filling in a registration form. Next, the reception staff performs data entry from the registration form that has been filled in by the patient. If a lot of patients come, there will be a queue of patients because it takes quite a long time for the registration process. Based on the problems faced, this research carried out the development of a patient data management system using NFC cards which contain patient medical record number data. When a patient visits the hospital, the patient taps the medical record card and inputs the complaint and the doctor they are going to, then the patient gets a queue number for consultation, until the patient consults with a doctor and gets the medicine prescribed by the doctor through the use of the system. Testing the system by reading and writing data on the NFC card on the card reader/writer unit, the test results showed that the maximum reading distance for the NFC card was 7 cm with a reading angle relative to the NFC reader/writer with 300 can read the NFC card.

Powering for Long Term Monitoring in the Enclosed Areas

Paper presents possible solution and practical examples for wireless powering and signal transfer using the inductive coupling. It can be suitable for long term monitoring in enclosed areas and systems that are isolated form the surroundings. This solution allows avoiding the batteries. It can be used for probes bricked in to the wall, extreme temperature environment measurement, the barrels internal shells health monitoring etc. Main advantage of this kind of powering is nearly unlimited lifetime, no toxic pollutions (such as Cd, Li, H2SO4,… contained in the batteries) and universal applicability. The powering is provided by the near magnetic field. The resonance is considered in the design for increasing the voltage transfer. Also the passive signal transfer can be performed using this principle while it is similar to the RFID systems (Radio Frequency Identification). The main contribution of this paper is prediction of the powering potentialities and distance limits of this strategy. Voltage levels, power transfer efficiency and signal modulation effects are studied up to distance of 30 cm. The simple coils are considered. Also special converter principle is presented for this purpose.

A Novel Antenna Design of Compact HF and UHF Passive RFID Tags with Interconnected Structure for Energy Harvesting and Tracking Systems

We propose a new dual-band passive RFID tag antenna design by combining a rectangular spiral coil and patch-meander-line dipole with an interconnected structure. This design enables operation in high-frequency (HF) and ultra-high-frequency (UHF) RFID systems, suitable for energy harvesting and tracking applications. The simulations by the CST full-wave software demonstrate conjugate impedance matching between the tag antenna and two RFID tag chips. At 13.56 MHz (HF), the tag antenna exhibits an inductive reactance of 422.79 Ω, while at 922.5 MHz (UHF), it presents an impedance of 9.41+j174.96 Ω. The antenna generates a maximum magnetic field intensity of 0.5 A/m and omnidirectional electromagnetic fields with an antenna realized gain of -4.26 dBi at 922.5 MHz. We also analyze the impact of the tag antenna combination using numerical software. Furthermore, we fabricate a prototype tag antenna and validate its performance with RFID readers. The proposed tag antenna achieves the maximum read ranges of 11 cm and 6.9 m for the HF (13.56 MHz) and UHF (920-925 MHz) bands, respectively, accompanied by the energy harvesting of 1.48 volts at the HF band by the coupling magnetic field received by the HF antenna to the chip ST25DV04K at the output voltage pin.

Application Analysis of RFID in Supply Chain Management

With the increase in global trade and the intensification of market competition, the importance of supply chain management is becoming more and more obvious. Radio Frequency Identification (RFID) technology emerged as the times required, bringing a new solution to supply chain management. This article will discuss the application analysis of RFID in supply chain management. The article mainly analyzes the environmental benefits of RFID technology; RFID application analysis based on the clothing industry and the application of RFID technology in inventory management of companies. The results of the study pointed out that although there are still some difficulties in the application of RFID technology, RFID technology has indeed effectively improved the efficiency of the supply chain. Moreover, the development trend of RFID is getting better and better, and the RFID technology has gradually lowered the application threshold standard as more people invest in research. RFID ultimately brings more benefits to enterprises and society. Therefore, this paper proposes to increase investment in the application of RFID technology in the supply chain. This article aims to provide decision-making guidance and reference significance for enterprises using RFID technology.

Comparison of magnetic seed and RFID methods in the localization of non-palpable breast lesions

ABSTRACT Background: Many methods have been developed for localizing non-palpable breast lesions. This study investigated the success rate and surgical results of the magnetic seed (Magseed) and radiofrequency identification (RFID) method, which are relatively new compared to standard wire-guided localizations. Materials and Methods: 20 simulation (10 Magseed, 10 RFID) models were created using turkey breasts and raisins. Raisins containing magnetic seed and RFID tags were placed on the turkey breast. Sentimag® probe was used for the Magseed group, and Faxitron LOCalizer™ System device was used in the RFID group. Both methods were evaluated in terms of accuracy in detecting breast lesion localization, operation times, excised tissue weights, total resection volume, surgical margin negativity, and re-excision rates. Results: Lesion localization success in both techniques was 100%. While procedure times were statistically significantly shorter in the Magseed group, incision lengths were shorter in the RFID group (P = 0.013, P = 0.007, respectively). No statistically significant difference was found between the groups for the weight of the removed parts, total resection volume, and surgical margin distance (P > 0.05). Conclusion: In this feasibility study, it was concluded that neither the RFID nor Magseed methods had a significant advantage over each other, in terms of localization detection and surgical margin negativity, and both methods could be used successfully for localization.

Location privacy protection of nodes in the perception layer of the Internet of things based on Radio Frequency Identification location aware algorithm

AbstractTo ensure the security of node location privacy in the perception layer of the Internet of Things, this study proposes a location privacy protection method based on RFID location awareness algorithm. This method first introduces an adaptive multi tree anti‐collision algorithm based on collision trees when perceiving and locating the location information of nodes in the perception layer of the Internet of Things, to prevent signal collisions between multiple readers and writers. Then, based on the obtained node location results, a IoT perception layer node location privacy protection scheme based on virtual ring strategy is used to randomly initiate directed co hop routing using the virtual nodes generated after random walking, avoiding the visible area of the source node location, and transmitting data to the aggregation node in the form of the shortest routing path to protect the privacy and security of the node location. Finally, experiments are carried out to prove the progressiveness of the proposed method. The experimental results show that this method can prolong the security period of the source and aggregation nodes in the perception layer of the Internet of Things, protect the privacy and security of node positions, and has great application value.

Privacy, surveillance, and implanting RFID microchips to humans*

Background: Radio Frequency Identification (RFID) technology is specifically designed for the remote identification of objects. The first patent for human implantable RFID microchips was granted in 1997, and the FDA approved these microchips in 2004. Since then, they have found applications in humans for diverse reasons.Objective: This study aims to make an ethical evaluation of using RFID microchips in humans, focusing on privacy and surveillance.Methods: A literature review was conducted, exploring the conceptual dimensions of privacy and surveillance, and ethical evaluations were made regarding potential privacy violations caused by RFID microchips, as well as their potential uses for surveillance purposes.Results: Privacy is a multidimensional concept that spans various disciplines such as psychology, sociology, anthropology, medicine, theology, and law, and throughout history it constitutes an indispensable and intrinsic necessity for humanity. On the other hand, surveillance is a process wherein certain groups employ methods to gather, accumulate, analyze, process, and utilize data, with the objective of regulating the behavior of specific groups, entailing potential physical, ideological, or structural interventions, ultimately aiming to guide individuals toward predetermined behavioral patterns.Discussion and Conclusion: A major concern with RFID microchips is potential privacy violations and their use for surveillance. These microchips and their connected networks hold a significant amount of information, including sensitive data like healthrelated information. Thus, they make individuals become easily identifiable and make them vulnerable to surveillance practices.International Journal of Human and Health Sciences Vol. 08 No. 01 Jan’24 Page: 84-94

Polycaprolactone‐Based Zinc Ink for High Conductivity Transient Printed Electronics and Antennas

AbstractDistributed sensors and electronics can be used in agriculture to optimize crop management and improve environmental outcomes. Electronic devices in these outdoor spaces require medium to long range (>1m) wireless communication of data over several weeks or months, which in turn requires high conductivity (1 × 105 Sm−1) antennas. Printed bioinert or ecoresorbable conductors, comprising carbon, magnesium, or zinc fillers, typically exhibit conductivity on the order of 10–1000 Sm−1 and lifetimes from a few hours to a few days. A print‐based fabrication process for chemically treated zinc traces, which achieves conductivity of up to 6 × 105 Sm−1 is reported here. The ink formulation uses a non‐water‐soluble soil biodegradable polycaprolactone binder. The ink and printing processes reported here led to stable conductive traces that are used in ultra high frequency radio frequency identification (UHF‐RFID) folded dipole antennas operating at 915 MHz. The conductivity of the printed traces is maintained for over 70 days in ambient environments when traces are protected by a biodegradable beeswax encapsulation layer.

Enhancing Hazardous Chemical Management in Chinese University Laboratories: Strategies for Safety and Efficiency

This paper examines the management of hazardous chemicals in Chinese university laboratories, identifying keychallenges and proposing improvements. It reviews current practices and safety measures, highlighting deficiencies suchas inadequate safety systems and insufficient awareness among personnel. The study emphasizes the necessity of tailoredsafety management systems, the integration of digital tracking technologies like Radio Frequency Identification, andenhanced safety training for staff. The proposed recommendations aim to mitigate risks and enhance laboratory safety andefficiency. In conclusion, the paper asserts that a comprehensive approach, encompassing improved management systems,technological advancements, and educational initiatives, is essential for safer chemical handling in academic researchenvironments

A distinguished-bit tracking knowledge-based query tree for RFID tag identification

—Many RFID systems own the information of RFID tags in the database, so the reader knows how many tags will be identified and which tags’ IDs might appear. How the RFID anti-collision protocols take advantage of this knowledge is a challenge. Some previous anti-collision protocols, including Query Tree with Shortcutting and Couple Resolution (QTSC) and Bit-tracking Knowledge-based Query Tree (BKQT), solved this task with the knowledge. We propose one novel protocol, Distinguished-bit Tracking Knowledge-based Query Tree (DKQT), which integrates the knowledge with the bit-tracking technique. Utilizing the knowledge and knowing the collided-bit locations, DKQT adopts a distinguishable technique, which can identify the tags that have a distinguished-bit representing that only one tag has a unique “0” or “1” in a bit location of the tag ID, to speed up the tag identification. Innovatively, adopting a distinguishable technique, DKQT forms an n-ary tree where a node has some leaves that are the tags having distinguished-bits. Thus, DKQT using the distinguishable technique can recognize multiple appearing tags in a collision by traversing this n-ary tree. The simulation results show that DKQT can reduce the number of slots by 36.94 % and 15.58 %, and the identification time by 37.47 % and 17.86 %, compared to the previous knowledge-based protocols, QTSC and BKQT, respectively.

SISTEM INFORMASI ABSENSI MENGGUNAKAN ARDUINO BERBASIS SCANNER RFID DI SD NEGERI LANGENSARI 03

Attendance is a data collection activity to determine the number of people present at an event. Every activity always requires information about participant attendance. This also happens in the learning process. The benefit of attendance using an Arduino based RFID scanner is that it makes it easier for attendance officers to input practical data because they can retrieve and store attendance data from RFID tags directly. Research on the development of attendance to become more effective in the education sector. Every activity that requires information about participant attendance will definitely utilize the use of tools that are used as proof of participant attendance, while teacher attendance currently used is using fingerprints. When absent, problems often occur, namely the finger that will be used to do the fingerprinting. Based on the background above, the author created automatic attendance to make attendance easier while at the agency where the teacher teaches. Meanwhile, the barcode scanner is a faster data input process compared to the manual method. This input process can be done with a scanner to record the data contained in the barcode quickly, so it doesn't need to take a lot of time.

Modeling and simulation of a Radio Frequency Identification (RFID) Tag for Hospital Applications

Electromagnetism and all the principles associated with it have been studied extensively due, above all, to their applicability in several new technologies, including Radio Frequency Identification (RFID). This system, composed of a tag, a reader, and software, aimed at information processing, operates through wireless communication, thanks to the interaction between radio waves, more specifically, their transmission and reception. This technology becomes even more remarkable, from the integration of Artificial Intelligence, in directing the collected data, to AI algorithms, responsible for recognizing patterns, anticipating demands and improving processes. In this article, RFID technology is directed towards the hospital setting, building upon an in-depth theoretical study of improvement possibilities by integrating such systems into medical and hospital services. Furthermore, based on the modelling of an RFID tag with a chip, modifications are made to the original structure, with the insertion of resonator rings, resulting in miniaturization of the initial project, as well as redundancy in the reading process, results that were analysed in the software © CST Microwave Studio, given continuous computer simulations.

Exploring the nexus of RFID and industry 4.0: Bibliometric analysis to investigate the strategic themes and thematic evolution

Purpose: This article aims to identify themes associated with RFID technologies (Radio Frequency Identification) and industry 4.0. Using key articles from the database developed for this study, the main themes underlying key technology features and their relationships will be uncovered.Design/methodology/approach: Systematic quantitative literature review is conducted to uncover hidden relationships between RFID and industry 4.0. The research methodology encompasses a systematic analysis of pertinent literature and resources, employing a structured approach to identify and categorize crucial topics and keywords that constitute the basis for our exploration. Subsequently, we delve into the relationships within these identified dimensions, aiming to synthesize a holistic interpretation of the connections between RFID and Industry 4.0.Findings: Through our rigorous analytical process, we have unveiled significant attributes embedded within the three delineated dimensions. These findings contribute to our capacity to construct a synoptic depiction that encapsulates all relevant associations between RFID technology and the Industry 4.0 paradigm. The synthesis of relationships between Radio Frequency Identification (RFID) technology and the Industry 4.0 framework, derived from our analysis of pivotal dimensions and keywords, offers a profound insight into the intricate interplay between these domains. As industries continue to evolve in the wake of technological advancements, this study contributes to the foundation of knowledge necessary to navigate the dynamic landscape of modern industrial systems.Research limitations/implications: Bibliometric network analysis offers a systematic approach to literature review, aiding researchers in identifying seminal works, influential authors, and emerging trends within a field. By visualizing the relationships between authors, journals, and keywords, bibliometric network analysis facilitates the mapping of academic disciplines, enabling researchers to comprehend the intellectual landscape. Network analysis highlights potential collaboration opportunities by revealing clusters of authors or institutions with closely related research interests and specific works related industry 4.0 and RFID, wans’t found, however, being a potential limitation, it proved to be a way to maintain the originality and necessity of this work we are presenting.Practical implications: The practical employs bibliometric research to explore the synergy between Industry 4.0 and Radio Frequency Identification (RFID), aiming to provide a comprehensive understanding and practical applicability of these interconnected themes. The study's findings offer practical implications such as facilitating technology integration, optimizing operations, guiding investment decisions, fostering collaborations, informing policy-making, supporting professional development, and enabling knowledge dissemination. These insights underscore the tangible real-world impact of academic research in enhancing industry practices and driving innovation within the context of Industry 4.0 and RFID integration.Originality/value: This study stands as one of the pioneering works to delineate the themes linked with both Radio Frequency Identification (RFID) technologies and the Industry 4.0 paradigm.

Modern methods of assess- ing the resources of honeylands

An information review of innovative methods for assessing the resources of honey-bearing lands is presented. The relevance and problems of their use are noted. Alternative strategies for determining the resource potential of honey-bearing lands are shown. Scientific methods of identifying honey plants are described: the study of vegetation, analysis of the chemical composition of honey and its properties, the use of drones to survey honey grounds, and the use of artificial intelligence to process large amounts of data about honey grounds. GPS (global positioning system) technologies, which allow accurate geospatial mapping of homelands, are currently the most widespread. The identification of honey plants to improve the food supply is carried out by various methods: floral analysis of vegetation, pollen analysis, informational analysis of vegetation, and observation of the behaviour of bees in hives. New techniques for determining the land’s honey reserves and the flowering intensity of honey plants are presented: collecting nectar samples and sugar content in nectar, which helps collect data on nectar productivity and nectar quality with greater accuracy and efficiency. RFID tags are widely used for producing and managing honey stocks, monitoring the condition of hives, and determining bee colonies’ productivity. Thanks to advances in technology and scientific research, many new approaches allow for more accurate and efficient selection of resource aspects of honey lands.

A Semi‐Passive Smart Contact Lens with on‐Lens Power Storage Element

This paper presents a semi‐passive smart contact lens platform for sensor and actuator applications. It focuses on design improvements made prior to human clinical trials involving basic considerations on comfort and safety, which are verified through animal studies. Observations of tissue temperature variation and post‐trial surgery examinations confirm that the 50 μW on‐lens wireless power delivery reduces the impact on tissue of previously reported SCL. Migration of wirelessly powered radio frequency identification (RFID)‐based passive SCL to semi‐passive systems is enabled with the proposed on‐lens power storage element. Furthermore, a switched capacitor converter extends the active time of the storage element and reduces electromagnetic influence. © 2024 Institute of Electrical Engineers of Japan. Published by Wiley Periodicals LLC.

Encounter rates and catch‐and‐release mortality of steelhead in the Snake River basin

AbstractObjectiveThe potential influence (i.e., impact rate) of catch‐and‐release fisheries on wild steelhead Oncorhynchus mykiss is poorly understood and is a function of the abundance of wild fish, how many fish are encountered by anglers (i.e., encounter rate), and the mortality of fish that are caught and released. In Idaho, estimates of wild steelhead encounter rates have been derived using the number of wild and hatchery steelhead passing Lower Granite Dam, the number of hatchery steelhead harvested, and the number of hatchery steelhead caught and released. The method includes assumptions that hatchery and wild steelhead have equal encounter rates and catch‐and‐release mortality is 5% for wild steelhead. Here, we investigated wild and hatchery steelhead encounter rates by anglers, estimated catch‐and‐release mortality, and concatenated both aspects to examine how existing recreational steelhead fisheries influence wild steelhead mortality.MethodsWe sampled, tagged, and released 1,251 spawn‐year 2020 (SY2020) and 1,956 spawn‐year 2021 (SY2021) adult steelhead at Lower Granite Dam with T‐bar anchor tags and passive integrated transponder (PIT) tags to estimate steelhead encounter rates and catch‐and‐release mortality. Differences in survival of caught steelhead and those not reported as caught were evaluated using detections at various locations (e.g., PIT arrays, weirs).ResultEstimated encounter rates were 43.7% (95% credible interval; 28.2%, 100.0%) for wild fish and 46.7% (29.6%, 100.0%) for adipose‐clipped fish in SY2020. In SY2021, encounter rates were 47.2% (32.4%, 100.0%) for wild fish and 52.3% (37.1%, 100.0%) for adipose‐clipped fish. Based on detections of caught fish and those not reported as caught, catch‐and‐release mortality of wild steelhead was estimated to be 1.6% (0.0%, 5.2%). Wild steelhead impact rates were 0.7% (0.0%, 2.7%) in SY2020 and 0.7% (0.0%, 2.8%) in SY2021.ConclusionEstimated rates of impact on wild steelhead were consistent and low across years despite major differences in the structure of the fisheries. Our results suggest assuming that encounter rates are equal between hatchery and wild steelhead, and that steelhead catch‐and‐release mortality is 5%, will likely lead to a conservative estimate of the wild steelhead impact occurring from catch‐and‐release fisheries.

Object Localization and Sensing in Non-Line-of-Sight Using RFID Tag Matrices

RFID-based technology innovated a new field of wireless sensing, which has been applied in posture recognition, object localization, and the other sensing fields. Due to the presence of a Fresnel zone around a magnetic field when the RFID-based system is working, the signal undergoes significant changes when an object moves through two or more different Fresnel zones. Therefore, the moving object can be sensed more easily, and most of the sensing applications required the tag to be attached to the moving object for better sensing, significantly limiting their applications. The existing technologies to detect static objects in agricultural settings are mainly based on X-ray or high-power radar, which are costly and bulky, making them difficult to deploy on a large scale. It is a challenging task to sense a static target without a tag attached in NLOS (non-line-of-sight) detection with low cost. We utilized RFID technologies to sense the static foreign objects in agricultural products, and take metal, rock, rubber, and clod as sensing targets that are common in agriculture. By deploying tag matrices to create a sensing region, we observed the signal variations before and after the appearance of the targets in this sensing region, and determined the targets’ positions and their types. Here, we buried the targets in the media of seedless cotton and wheat, and detected them using a non-contact method. Research has illustrated that, by deploying appropriate tag matrices and adjusting the angle of a single RFID antenna, the matrices’ signals are sensitive to the static targets’ positions and their properties, i.e., matrices’ signals vary with different targets and their positions. Specifically, we achieved a 100% success rate in locating metallic targets, while the success rate for clods was the lowest at 86%. We achieved a 100% recognition rate for the types of all the four objects.