ArticleProceedings of the ACM on interactive, mobile, wearable and ubiquitous technologies2026
SOPAR: Bee Localization and Tracking Using RF Sub-harmonic Oscillating Parametric Resonator in Hive Environments.
Article in Proceedings of the ACM on interactive, mobile, wearable and ubiquitous technologies, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Abstract
Honey bees play a vital role in global agriculture. Understanding the movement of a queen bee within a hive box is essential for advancing both biological research and practical apiculture. In this paper, we present SOPAR, a novel Radio Frequency (RF) Sub-harmonic Oscillating Parametric Resonator designed for non-invasive localization and tracking of a queen bee inside a full-size hive box. The core component of SOPAR is a lightweight RF backscatter tag that can be attached to a bee's thorax without affecting its normal behavior. The tag comprises two passive resonators: (i) an inner spiral inductor bridged by a varactor diode and (ii) an outer circular inductor with a gap bridged by a chip capacitor. The outer inductor harvests energy from the external excitation signal, driving the oscillation of the inner spiral resonator to produce sub-harmonic backscattered signals at half the excitation frequency. The frequency separation between excitation and backscatter signals eliminates self-interference at the RF reader, significantly improving signal-to-noise ratio (SNR) and detection range. The layout of the two resonators is meticulously optimized to maximize magnetic coupling, thereby minimizing the overall tag size. Building on this dual-resonator tag, we design an RF reader with a Bayesian estimation algorithm that localizes the tagged bee by exploiting the spatio-temporal characteristics of the sub-harmonic backscattered signals. We have built a prototype of SOPAR, featuring a tag with a diameter of only 3.7 mm and a weight of less than 10 mg. Extensive experiments demonstrate that SOPAR achieves a median localization error of 3.7 cm when tracking a queen bee in a full-size hive box. Moreover, the results confirm that SOPAR remains robust under diverse environmental conditions.
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