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Peng S, Wei S, Zhang G, Xiong X, Ai M, Li X, Shen Y. Discrimination of wheat gluten quality utilizing terahertz time-domain spectroscopy (THz-TDS). SPECTROCHIMICA ACTA. PART A, MOLECULAR AND BIOMOLECULAR SPECTROSCOPY 2025; 328:125452. [PMID: 39579728 DOI: 10.1016/j.saa.2024.125452] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/22/2024] [Revised: 10/29/2024] [Accepted: 11/15/2024] [Indexed: 11/25/2024]
Abstract
Wheat is an important food crop in the world, and wheat gluten quality is one of the important standards for judging the use of wheat. In this study, a combination of chemometric and machine learning methods based on THz-TDS were used to identify three different gluten wheats (high gluten, medium gluten, and low gluten). After collecting the time-domain spectral information of the samples, the frequency-domain spectra, refractive index spectra and absorption coefficient spectra of the samples were obtained by calculating the optical parameters. The experimental results showed that there were differences in the refractive indices and absorption coefficients of wheat with different gluten levels. More importantly the differences in refractive index spectra were more significant. The Competitive Adaptive Reweighted Sampling (CARS) method was applied to select characteristic frequencies from the refractive index spectra within the frequency range of 0.1 to 1.5 THz, to establish a discrimination model for wheat gluten strength. We analysed and compared four discriminative models of Support Vector Machines (SVM), Back Propagation Neural Networks (BPNN), Improved Convolutional Neural Networks (Improved CNN) and Sparrow Algorithm Optimised Support Vector Machines (SSA-SVM). The final results indicated that the SSA-SVM model demonstrated the optimal discrimination performance, achieving an accuracy rate of 100% as reflected in the confusion matrix. In summary, this study provides an efficient, accurate, and non-destructive discrimination method for wheat gluten strength, offering a theoretical basis for differentiating wheat with varying gluten strengths in production processes. It holds practical significance for industrial production reference.
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Affiliation(s)
- Shuyan Peng
- College of Medical Information, Chongqing Medical University, Chongqing 400016, China
| | - Shengkun Wei
- Luzhou Vocational and Technical College, Sichuan, Luzhou 646000, China
| | - Guoyong Zhang
- Sichuan Vocational College of Chemical Industry, Sichuan, Luzhou 646099, China
| | - Xingliang Xiong
- College of Medical Information, Chongqing Medical University, Chongqing 400016, China
| | - Ming Ai
- College of Psychiatry, The First Affiliated Hospital of Chongqing Medical University, Chongqing 400010, China
| | - Xiuhua Li
- College of Language Intelligence, Sichuan International Studies University, Chongqing 400031, China
| | - Yin Shen
- College of Medical Information, Chongqing Medical University, Chongqing 400016, China; Luzhou Vocational and Technical College, Sichuan, Luzhou 646000, China.
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Liu X, Guo P, Xu Q, Du W. Cotton seed cultivar identification based on the fusion of spectral and textural features. PLoS One 2024; 19:e0303219. [PMID: 38805455 PMCID: PMC11132500 DOI: 10.1371/journal.pone.0303219] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/02/2023] [Accepted: 04/21/2024] [Indexed: 05/30/2024] Open
Abstract
The mixing of cotton seeds of different cultivars and qualities can lead to differences in growth conditions and make field management difficult. In particular, except for yield loss, it can also lead to inconsistent cotton quality and poor textile product quality, causing huge economic losses to farmers and the cotton processing industry. However, traditional cultivar identification methods for cotton seeds are time-consuming, labor-intensive, and cumbersome, which cannot meet the needs of modern agriculture and modern cotton processing industry. Therefore, there is an urgent need for a fast, accurate, and non-destructive method for identifying cotton seed cultivars. In this study, hyperspectral images (397.32 nm-1003.58 nm) of five cotton cultivars, namely Jinke 20, Jinke 21, Xinluzao 64, Xinluzao 74, and Zhongmiansuo 5, were captured using a Specim IQ camera, and then the average spectral information of seeds of each cultivar was used for spectral analysis, aiming to estab-lish a cotton seed cultivar identification model. Due to the presence of many obvious noises in the < 400 nm and > 1000 nm regions of the collected spectral data, spectra from 400 nm to 1000 nm were selected as the representative spectra of the seed samples. Then, various denoising techniques, including Savitzky-Golay (SG), Standard Normal Variate (SNV), and First Derivative (FD), were applied individually and in combination to improve the quality of the spectra. Additionally, a successive projections algorithm (SPA) was employed for spectral feature selection. Based on the full-band spectra, a Partial Least Squares-Discriminant Analysis (PLS-DA) model was established. Furthermore, spectral features and textural features were fused to create Random Forest (RF), Convolutional Neural Network (CNN), and Extreme Learning Machine (ELM) identification models. The results showed that: (1) The SNV-FD preprocessing method showed the optimal denoising performance. (2) SPA highlighted the near-infrared region (800-1000 nm), red region (620-700 nm), and blue-green region (420-570 nm) for identifying cotton cultivar. (3) The fusion of spectral features and textural features did not consistently improve the accuracy of all modeling strategies, suggesting the need for further research on appropriate modeling strategies. (4) The ELM model had the highest cotton cultivar identification accuracy, with an accuracy of 100% for the training set and 98.89% for the test set. In conclusion, this study successfully developed a highly accurate cotton seed cultivar identification model (ELM model). This study provides a new method for the rapid and non-destructive identification of cotton seed cultivars, which will help ensure the cultivar consistency of seeds used in cotton planting, and improve the overall quality and yield of cotton.
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Affiliation(s)
- Xiao Liu
- College of Sciences, Shihezi University, Shihezi, China
| | - Peng Guo
- College of Sciences, Shihezi University, Shihezi, China
| | - Quan Xu
- China Geological Survey Urumqi Comprehensive Survey Center on Natural Resources, Urumqi, China
| | - Wenling Du
- College of Sciences, Shihezi University, Shihezi, China
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Yang CB, Cai ZL, Li QZ, Tang F, Wu JJ, Yang J, Zhang YR, Li B, Yang P, Ye X, Yang LM. Rapid discrimination of urine specific gravity using spectroscopy and a modified combination method based on SPA and spectral index. JOURNAL OF BIOPHOTONICS 2024; 17:e202300323. [PMID: 37769060 DOI: 10.1002/jbio.202300323] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/10/2023] [Revised: 09/23/2023] [Accepted: 09/27/2023] [Indexed: 09/30/2023]
Abstract
To achieve high-accuracy urine specific gravity discrimination and guide the design of four-waveband multispectral sensors. A modified combination strategy was attempted to be proposed based on the successive projections algorithm (SPA) and the spectral index (SI) in the present study. First, the SPA was used to select four spectral variables in the full spectra. Second, the four spectral variables were mathematically transformed by SI to obtain SI values. Then, SPA gradually fusions the SI values and establishes models to identify USG. The results showed that the SPA can screen out the four characteristic wavelengths related to the measured sample attributes. SIs can be used to improve the performance of constructed prediction models. The best model only involves four spectral variables and 1 SI value, with high accuracy (91.62%), sensitivity (0.9051), and specificity (0.9667). The results reveal that m-SPA-SI can effectively distinguish USG and provide design guidance for 4-wavelength multispectral sensors.
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Affiliation(s)
- Cheng-Bo Yang
- Research Center of Laser Fusion, China Academy of Engineering Physics, Mianyang, China
| | | | - Qing-Zhi Li
- Research Center of Laser Fusion, China Academy of Engineering Physics, Mianyang, China
| | - Feng Tang
- Research Center of Laser Fusion, China Academy of Engineering Physics, Mianyang, China
| | - Jing-Jun Wu
- Research Center of Laser Fusion, China Academy of Engineering Physics, Mianyang, China
| | - Jia Yang
- Sichuan Science City Hospital, Mianyang, China
| | | | - Bo Li
- Research Center of Laser Fusion, China Academy of Engineering Physics, Mianyang, China
| | - Ping Yang
- Sichuan Science City Hospital, Mianyang, China
| | - Xin Ye
- Research Center of Laser Fusion, China Academy of Engineering Physics, Mianyang, China
| | - Li-Ming Yang
- Research Center of Laser Fusion, China Academy of Engineering Physics, Mianyang, China
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Cao Q, Zhao C, Bai B, Cai J, Chen L, Wang F, Xu B, Duan D, Jiang P, Meng X, Yang G. Oolong tea cultivars categorization and germination period classification based on multispectral information. FRONTIERS IN PLANT SCIENCE 2023; 14:1251418. [PMID: 37705705 PMCID: PMC10495989 DOI: 10.3389/fpls.2023.1251418] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/03/2023] [Accepted: 08/14/2023] [Indexed: 09/15/2023]
Abstract
Recognizing and identifying tea plant (Camellia sinensis) cultivar plays a significant role in tea planting and germplasm resource management, particularly for oolong tea. There is a wide range of high-quality oolong tea with diverse varieties of tea plants that are suitable for oolong tea production. The conventional method for identifying and confirming tea cultivars involves visual assessment. Machine learning and computer vision-based automatic classification methods offer efficient and non-invasive alternatives for rapid categorization. Despite advancements in technology, the identification and classification of tea cultivars still pose a complex challenge. This paper utilized machine learning approaches for classifying 18 oolong tea cultivars based on 27 multispectral characteristics. Then the SVM classification model was executed using three optimization algorithms, namely genetic algorithm (GA), particle swarm optimization (PSO), and grey wolf optimizer (GWO). The results revealed that the SVM model optimized by GWO achieved the best performance, with an average discrimination rate of 99.91%, 93.30% and 92.63% for the training set, test set and validation set, respectively. In addition, based on the multispectral information (h, s, r, b, L, Asm, Var, Hom, Dis, σ, S, G, RVI, DVI, VOG), the germination period of oolong tea cultivars can be completely evaluated by Fisher discriminant analysis. The study indicated that the practical protection of tea plants through automated and precise classification of oolong tea cultivars and germination periods is feasible by utilizing multispectral imaging system.
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Affiliation(s)
- Qiong Cao
- Technology Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing, China
- Hunan Agricultural University College of Mechanical and Electronical Engineering, Changsha, Hunan, China
| | - Chunjiang Zhao
- Technology Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing, China
- Hunan Agricultural University College of Mechanical and Electronical Engineering, Changsha, Hunan, China
| | - Bingnan Bai
- Technology Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing, China
| | - Jie Cai
- Technology Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing, China
| | - Longyue Chen
- Technology Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing, China
| | - Fan Wang
- Technology Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing, China
| | - Bo Xu
- Technology Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing, China
| | - Dandan Duan
- Technology Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing, China
| | - Ping Jiang
- Hunan Agricultural University College of Mechanical and Electronical Engineering, Changsha, Hunan, China
| | - Xiangyu Meng
- Technology Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing, China
| | - Guijun Yang
- Technology Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing, China
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Lin XW, Liu RH, Wang S, Yang JW, Tao NP, Wang XC, Zhou Q, Xu CH. Direct Identification and Quantitation of Protein Peptide Powders Based on Multi-Molecular Infrared Spectroscopy and Multivariate Data Fusion. JOURNAL OF AGRICULTURAL AND FOOD CHEMISTRY 2023. [PMID: 37406208 DOI: 10.1021/acs.jafc.3c01841] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/07/2023]
Abstract
Given that protein peptide powders (PPPs) from different biological sources were inherited with diverse healthcare functions, which aroused adulteration of PPPs. A high-throughput and rapid methodology, united multi-molecular infrared (MM-IR) spectroscopy with data fusion, could determine the types and component content of PPPs from seven sources as examples. The chemical fingerprints of PPPs were thoroughly interpreted by tri-step infrared (IR) spectroscopy, and the defined spectral fingerprint region of protein peptide, total sugar, and fat was 3600-950 cm-1, which constituted MIR finger-print region. Moreover, the mid-level data fusion model was of great applicability in qualitative analysis, in which the F1-score reached 1 and the total accuracy was 100%, and a robust quantitative model was established with excellent predictive capacity (Rp: 0.9935, RMSEP: 1.288, and RPD: 7.97). MM-IR coordinated data fusion strategies to achieve high-throughput, multi-dimensional analysis of PPPs with better accuracy and robustness which meant a significant potential for the comprehensive analysis of other powders in food as well.
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Affiliation(s)
- Xiao-Wen Lin
- College of Food Science & Technology, Shanghai Ocean University, Shanghai 201306, P. R. China
- Shanghai Qinpu Biotechnology Pte Ltd, Shanghai 201306, China
| | - Run-Hui Liu
- College of Food Science & Technology, Shanghai Ocean University, Shanghai 201306, P. R. China
| | - Song Wang
- College of Food Science & Technology, Shanghai Ocean University, Shanghai 201306, P. R. China
- Shanghai Qinpu Biotechnology Pte Ltd, Shanghai 201306, China
| | - Jie-Wen Yang
- College of Food Science & Technology, Shanghai Ocean University, Shanghai 201306, P. R. China
| | - Ning-Ping Tao
- College of Food Science & Technology, Shanghai Ocean University, Shanghai 201306, P. R. China
- Shanghai Engineering Research Center of Aquatic-Product Processing & Preservation, Shanghai 201306, China
| | - Xi-Chang Wang
- College of Food Science & Technology, Shanghai Ocean University, Shanghai 201306, P. R. China
- Shanghai Engineering Research Center of Aquatic-Product Processing & Preservation, Shanghai 201306, China
| | - Qun Zhou
- Department of Chemistry, Tsinghua University, Beijing 100084, China
| | - Chang-Hua Xu
- College of Food Science & Technology, Shanghai Ocean University, Shanghai 201306, P. R. China
- Shanghai Engineering Research Center of Aquatic-Product Processing & Preservation, Shanghai 201306, China
- Ministry of Agriculture, Laboratory of Quality and Safety Risk Assessment for Aquatic Products on Storage and Preservation (Shanghai), Shanghai 201306, China
- National R&D Branch Center for Freshwater Aquatic Products Processing Technology (Shanghai), Shanghai 201306, China
- Shanghai Qinpu Biotechnology Pte Ltd, Shanghai 201306, China
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Soni K, Frew R, Kebede B. A review of conventional and rapid analytical techniques coupled with multivariate analysis for origin traceability of soybean. Crit Rev Food Sci Nutr 2023; 64:6616-6635. [PMID: 36734977 DOI: 10.1080/10408398.2023.2171961] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/04/2023]
Abstract
Soybean has developed a reputation as a superfood due to its nutrient profile, health benefits, and versatility. Since 1960, its demand has increased dramatically, going from a mere 17 MMT to almost 358 MMT in the production year 2021/22. These extremely high production rates have led to lower-than-expected product quality, adulteration, illegal trade, deforestation, and other concerns. This necessitates the development of an effective technology to confirm soybean's provenance. This is the first review that investigates current analytical techniques coupled with multivariate analysis for origin traceability of soybeans. The fundamentals of several analytical techniques are presented, assessed, compared, and discussed in terms of their operating specifics, advantages, and shortcomings. Additionally, significance of multivariate analysis in analyzing complex data has also been discussed.
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Affiliation(s)
- Khushboo Soni
- Department of Food Science, University of Otago, Dunedin, New Zealand
| | - Russell Frew
- Oritain Global Limited, Central Dunedin 9016, Dunedin, New Zealand
| | - Biniam Kebede
- Department of Food Science, University of Otago, Dunedin, New Zealand
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Li Q, Lei T, Sun DW. Analysis and detection using novel terahertz spectroscopy technique in dietary carbohydrate-related research: Principles and application advances. Crit Rev Food Sci Nutr 2023; 63:1793-1805. [PMID: 36647744 DOI: 10.1080/10408398.2023.2165032] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/18/2023]
Abstract
As one of the main functional substances, carbohydrates account for a large proportion of the human diet. Conventional analysis and detection methods of dietary carbohydrates and related products are destructive, time-consuming, and labor-intensive. In order to improve the efficiency of measurement and ensure food nutrition and consumer health, rapid and nondestructive quality evaluation techniques are needed. In recent years, terahertz (THz) spectroscopy, as a novel detection technology with dual characteristics of microwave and infrared, has shown great potential in dietary carbohydrate analysis. The current review aims to provide an up-to-date overview of research advances in using the THz spectroscopy technique in analysis and detection applications related to dietary carbohydrates. In the review, the principles of the THz spectroscopy technique are introduced. Advances in THz spectroscopy for quantitative and qualitative analysis and detection in dietary carbohydrate-related research studies from 2013 to 2022 are discussed, which include analysis of carbohydrate concentrations in liquid and powdery foods, detection of foreign body and chemical residues in carbohydrate food products, authentication of natural carbohydrate produce, monitoring of the fermentation process in carbohydrate food production and examination of crystallinity in carbohydrate polymers. In addition, applications in dietary carbohydrate-related detection research using other spectroscopic techniques are also briefed for comparison, and future development trends of THz spectroscopy in this field are finally highlighted.
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Affiliation(s)
- Qingxia Li
- Food Refrigeration and Computerized Food Technology (FRCFT), Agriculture and Food Science Centre, University College Dublin, National University of Ireland, Dublin 4, Ireland
| | - Tong Lei
- Food Refrigeration and Computerized Food Technology (FRCFT), Agriculture and Food Science Centre, University College Dublin, National University of Ireland, Dublin 4, Ireland
| | - Da-Wen Sun
- Food Refrigeration and Computerized Food Technology (FRCFT), Agriculture and Food Science Centre, University College Dublin, National University of Ireland, Dublin 4, Ireland
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Li Y, Liu L, Wang Z, Chang T, Li K, Xu W, Wu Y, Yang H, Jiang D. To Estimate Performance of Artificial Neural Network Model Based on Terahertz Spectrum: Gelatin Identification as an Example. Front Nutr 2022; 9:925717. [PMID: 35911115 PMCID: PMC9330513 DOI: 10.3389/fnut.2022.925717] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/21/2022] [Accepted: 06/17/2022] [Indexed: 11/13/2022] Open
Abstract
It is a necessity to determine significant food or traditional Chinese medicine (TCM) with low cost, which is more likely to achieve high accurate identification by THz-TDS. In this study, feedforward neural networks based on terahertz spectra are employed to predict the animal origin of gelatins, whose adaption to the mission is examined by parallel models built by random sample partition and initialization. It is found that the generalization performance of feedforward ANNs in original data is not satisfactory although prediction on trained samples can be accurate. A multivariate scattering correction is conducted to enhance prediction accuracy, and 20 additional models verify the effectiveness of such dispose. A special partition of total dataset is conducted based on statistics of parallel models, whose influence on ANN performance is investigated with another 20 models. The performance of the models is unsatisfactory because of notable differences in training and test sets according to principal component analysis. By comparing the distribution of the first two principal components before and after multivariate scattering correction, we found that the reciprocal of the minimum number of line segments required for error-free classification in 2-D feature space can be viewed as an index to describe linear separability of data. The rise of proposed linear separability would have a lower requirement for harsh parameter tuning of ANN models and tolerate random initialization. The difference in principal components of samples between a training set and a data set determines whether partition is acceptable or whether a model would have generality. A rapid way to estimate the performance of an ANN before sufficient tuning on a classification mission is to compare differences between groups and differences within groups. Given that a representative peak missing curve is discussed in this article, an analysis based on gelatin THz spectra may be helpful for studies on some other feature-less species.
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Affiliation(s)
- Yizhang Li
- Institute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Key Laboratory of UWB & THz of Shandong Academy of Sciences, Jinan, China
| | - Lingyu Liu
- Institute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Key Laboratory of UWB & THz of Shandong Academy of Sciences, Jinan, China
| | - Zhongmin Wang
- Institute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Key Laboratory of UWB & THz of Shandong Academy of Sciences, Jinan, China
- *Correspondence: Zhongmin Wang,
| | - Tianying Chang
- Institute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Key Laboratory of UWB & THz of Shandong Academy of Sciences, Jinan, China
| | - Ke Li
- Institute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Key Laboratory of UWB & THz of Shandong Academy of Sciences, Jinan, China
| | - Wenqing Xu
- Institute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Key Laboratory of UWB & THz of Shandong Academy of Sciences, Jinan, China
| | - Yong Wu
- Shandong Fupai Ejiao, Co., Ltd., Jinan, China
| | - Hua Yang
- Shandong Fupai Ejiao, Co., Ltd., Jinan, China
| | - Daoli Jiang
- Shandong Fupai Ejiao, Co., Ltd., Jinan, China
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Li J, Deng X, Zheng X, Ren Y. A qualitative analysis method for multi-component gas mixtures via terahertz rotational spectroscopy. ANALYTICAL METHODS : ADVANCING METHODS AND APPLICATIONS 2022; 14:2479-2484. [PMID: 35699574 DOI: 10.1039/d2ay00596d] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Terahertz rotational spectroscopy is one of the most effective methods of gas sensing. However, the rich and dense spectral peaks of multi-component gas mixtures in the terahertz band increase the difficulty of gas identification. A novel qualitative analysis method is proposed based on the collision broadening mechanism coupled with terahertz spectroscopy technology. First of all, a broadening coefficients database of acetonitrile, formic acid, and formaldehyde colliding with nitrogen was established by experimental measurements and a spectral peak fitting technique. Then the broadening coefficients of the isolated peaks in binary and ternary mixtures perturbed by nitrogen were derived. Finally, the components were identified by matching the broadening coefficients of these isolated peaks with the established database. The proposed qualitative analysis method based on the collision broadening mechanism would be a new approach for identifying multi-component gas mixtures in analytical chemistry.
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Affiliation(s)
- Jia Li
- Department of Automation, Beijing National Research Center for Information Science and Technology, Tsinghua University, Beijing 100084, China.
| | - Xiaojiao Deng
- Department of Automation, Beijing National Research Center for Information Science and Technology, Tsinghua University, Beijing 100084, China.
| | - Xiaoping Zheng
- Department of Automation, Beijing National Research Center for Information Science and Technology, Tsinghua University, Beijing 100084, China.
| | - Yimin Ren
- Department of Automation, Beijing National Research Center for Information Science and Technology, Tsinghua University, Beijing 100084, China.
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