Search Results (2,275)

The paper proposes a novel automatic control system for the attitude of the mini-satellites equipped with an actuator having N = 2 DGMSCMGs (Double Gimbal Magnetically Suspended Control Moment Gyros) in parallel and orthogonal configuration, as well as a DGMSCMG-type sensor for the measurement of the satellite absolute angular rate. The proportional-derivative controller, designed based on the Lyapunov-functions theory, elaborates the control law according to which the angular rates applied to the servo systems for the actuation of the DGMSCMGs gyroscopic gimbals are computed. The gimbal’s angular rates create gyroscopic couples acting on the satellite in order to control its attitude with respect to the local orbital frame. The new proposed control architecture was software implemented and validated, and the analysis of the obtained results proved the cancellation of the convergence errors and excellent angular rate precision. Full article

This paper aims to investigate the effects of soil penetration resistance, tillage depth, and operating speeds on the deformation and fatigue of the subsoiling shovel based on the real-time measurement of tractor-operating conditions data. Various types of sensors, such as force, displacement, and angle, were integrated. The software and hardware architectures of the monitoring system were designed to develop a field operation condition parameter monitoring system, which can measure the tractor’s traction force of the lower tie-bar, the real-time speed, the latitude and longitude, tillage depth, and the strain of the subsoiling shovel and other condition parameters in real-time. The time domain extrapolation method was used to process the measured data to obtain the load spectrum. The linear damage accumulation theory was used to calculate the load damage of the subsoiling shovel. The magnitude of the damage value was used to characterize the severity of the operation. The signal acquisition test and typical parameter test were conducted for the monitoring system, and the test results showed that the reliability and accuracy of the monitoring system met the requirements. The subsoiling operation test of the system was carried out, which mainly included two kinds of soil penetration resistances (1750 kPa and 2750 kPa), three kinds of tillage depth (250 mm, 300 mm, and 350 mm), and three kinds of operation speed (4 km/h low speed, 6 km/h medium speed, and 8 km/h high speed), totaling 18 kinds of test conditions. Eventually, the effects of changes in working condition parameters of the subsoiling operation on the overall damage of subsoiling shovels and the differences in damage occurring between the front and rear rows of subsoiling shovels under the same test conditions were analyzed. The test results show that under the same soil penetration resistance, the overall damage sustained by the subsoiling shovels increases regardless of the increase in the tillage depth or operating speed. In particular, the increase in the tillage depth increased the severity of subsoiling shovel damage by 19.73%, which was higher than the 17.48% increase due to soil penetration resistance and the 13.07% increase due to the operating speed. It should be noted that the front subsoiling shovels consistently sustained more damage than the rear, and the difference was able to reach 16.86%. This paper may provide useful information for subsoiling operations, i.e., the operational efficiency and the damage level of subsoiling shovels should be considered. Full article

Steering wheel angle is an important and essential parameter of the navigation control of autonomous wheeled vehicles. At present, the combination of rotary angle sensors and four-link mechanisms is the main sensing approach for steering wheel angle with high measurement accuracy, which is widely adopted in autonomous agriculture vehicles. However, in a complex and challenging farmland environment, there are a series of prominent problems such as complicated installation and debugging, spattered mud blocking the parallel four-bar mechanism, breakage of the sensor wire during operation, and separate calibrations for different vehicles. To avoid the above problems, a novel dynamic measurement method for steering wheel angle is presented based on vehicle attitude information and a non-contact attitude sensor. First, the working principle of the proposed measurement method and the effect of zero position error on measurement accuracy and path tracking are analyzed. Then, an optimization algorithm for zero position error of steering wheel angle is proposed. The experimental platform is assembled based on a 2ZG-6DM rice transplanter by software design and hardware modification. Finally, comparative tests are conducted to demonstrate the effectiveness and priority of the proposed dynamic sensing method. Experimental results show that the average absolute error of the straight path is 0.057° and the corresponding standard deviation of the error is 0.483°. The average absolute error of the turning path is 0.686° and the standard deviation of the error is 0.931°. This implies the proposed dynamic sensing method can accurately realize the collection of the steering wheel angle. Compared to the traditional measurement method, the proposed dynamic sensing method greatly improves the measurement reliability of the steering wheel angle and avoids complicated installation and debugging of different vehicles. The separate calibrations for different vehicles are not needed since the proposed measurement method is not dependent on the kinematic models of the vehicles. Given that the attitude sensor can be installed at a higher position on the wheel, sensor damage from mud blocking and the sensor wire breaking is also avoided. Full article

In this paper, we introduce an efficient lossy coding procedure specifically tailored for handling video sequences of automotive high-dynamic range (HDR) image sensors in advanced driver-assistance systems (ADASs) for autonomous vehicles. Nowadays, mainly for security reasons, lossless compression is used in the automotive industry. However, it offers very low compression rates. To obtain higher compression rates, we suggest using lossy codecs, especially when testing image processing algorithms in software in-the-loop (SiL) or hardware-in-the-loop (HiL) conditions. Our approach leverages the high-quality VP9 codec, operating in two distinct modes: grayscale image compression for automatic image analysis and color (in RGB format) image compression for manual analysis. In both modes, images are acquired from the automotive-specific RCCC (red, clear, clear, clear) image sensor. The codec is designed to achieve a controlled image quality and state-of-the-art compression ratios while maintaining real-time feasibility. In automotive applications, the inherent data loss poses challenges associated with lossy codecs, particularly in rapidly changing scenes with intricate details. To address this, we propose configuring the lossy codecs in variable bitrate (VBR) mode with a constrained quality (CQ) parameter. By adjusting the quantization parameter, users can tailor the codec behavior to their specific application requirements. In this context, a detailed analysis of the quality of lossy compressed images in terms of the structural similarity index metric (SSIM) and the peak signal-to-noise ratio (PSNR) metrics is presented. With this analysis, we extracted some codec parameters, which have an important impact on preservation of video quality and compression ratio. The proposed compression settings are very efficient: the compression ratios vary from 51 to 7765 for grayscale image mode and from 4.51 to 602.6 for RGB image mode, depending on the specified output image quality settings. We reached 129 frames per second (fps) for compression and 315 fps for decompression in grayscale mode and 102 fps for compression and 121 fps for decompression in the RGB mode. These make it possible to achieve a much higher compression ratio compared to lossless compression while maintaining control over image quality. Full article

Eddy current sensors are increasingly being used to measure the dynamic blade tip clearance in turbines due to their robust anti-interference capabilities and non-contact measurement advantages. However, the current research primarily focuses on enhancing the performance of eddy current sensors themselves, with few studies investigating the influence of turbine rotor parameters on the measurements taken by these sensors for dynamic blade tip clearance. Hence, this paper addresses this gap by using COMSOL Multiphysics 6.2 software to establish a finite model with circuit interfaces. Additionally, the model’s validity was verified through experiments. This model is used to simulate the voltage output of the sensor and the measurement of dynamic blade tip clearance under various rotor parameters. The results indicate that the length and number of blades, as well as the hub radius, significantly affect the sensor voltage output in comparison to rotation speed. Furthermore, we show that traditional static calibration methods are inadequate for measuring dynamic blade tip clearance using eddy current sensors. Instead, it is demonstrated that incorporating rotor parameters into the calibration of eddy current sensors can enhance the accuracy of dynamic blade tip clearance measurements. Full article

Information and decision support systems are essential to conducting scientific field campaigns in the atmospheric sciences. However, their development is costly and time-consuming since each field campaign has its own research goals, which result in using a unique set of sensors and various analysis procedures. To reduce development costs, we present a software framework that is based on the Industrial Internet of Things (IIoT) and an implementation using well-established and newly developed open-source components. This framework architecture and these components allow developers to customize the software to a campaign’s specific needs while keeping the coding to a minimum. The framework’s applicability was tested in two scientific field campaigns that dealt with questions regarding air quality by developing specialized IIoT applications for each one. Each application provided the online monitoring of the acquired data and an intuitive interface for the scientific team to perform the analysis. The framework presented in this study is sufficiently robust and adaptable to meet the diverse requirements of field campaigns. Full article

In the Industry 4.0 scenario, human–robot collaboration (HRC) plays a key role in factories to reduce costs, increase production, and help aged and/or sick workers maintain their job. The approaches of the ISO 11228 series commonly used for biomechanical risk assessments cannot be applied in Industry 4.0, as they do not involve interactions between workers and HRC technologies. The use of wearable sensor networks and software for biomechanical risk assessments could help us develop a more reliable idea about the effectiveness of collaborative robots (coBots) in reducing the biomechanical load for workers. The aim of the present study was to investigate some biomechanical parameters with the 3D Static Strength Prediction Program (3DSSPP) software v.7.1.3, on workers executing a practical manual material-handling task, by comparing a dual-arm coBot-assisted scenario with a no-coBot scenario. In this study, we calculated the mean and the standard deviation (SD) values from eleven participants for some 3DSSPP parameters. We considered the following parameters: the percentage of maximum voluntary contraction (%MVC), the maximum allowed static exertion time (MaxST), the low-back spine compression forces at the L4/L5 level (L4Ort), and the strength percent capable value (SPC). The advantages of introducing the coBot, according to our statistics, concerned trunk flexion (SPC from 85.8% without coBot to 95.2%; %MVC from 63.5% without coBot to 43.4%; MaxST from 33.9 s without coBot to 86.2 s), left shoulder abdo-adduction (%MVC from 46.1% without coBot to 32.6%; MaxST from 32.7 s without coBot to 65 s), and right shoulder abdo-adduction (%MVC from 43.9% without coBot to 30.0%; MaxST from 37.2 s without coBot to 70.7 s) in Phase 1, and right shoulder humeral rotation (%MVC from 68.4% without coBot to 7.4%; MaxST from 873.0 s without coBot to 125.2 s), right shoulder abdo-adduction (%MVC from 31.0% without coBot to 18.3%; MaxST from 60.3 s without coBot to 183.6 s), and right wrist flexion/extension rotation (%MVC from 50.2% without coBot to 3.0%; MaxST from 58.8 s without coBot to 1200.0 s) in Phase 2. Moreover, Phase 3, which consisted of another manual handling task, would be removed by using a coBot. In summary, using a coBot in this industrial scenario would reduce the biomechanical risk for workers, particularly for the trunk, both shoulders, and the right wrist. Finally, the 3DSSPP software could be an easy, fast, and costless tool for biomechanical risk assessments in an Industry 4.0 scenario where ISO 11228 series cannot be applied; it could be used by occupational medicine physicians and health and safety technicians, and could also help employers to justify a long-term investment. Full article

In this manuscript, we present in detail the design and implementation of the hardware and software to produce a standalone wireless sensor node, called SensorQ system, for the detection of a toxic chemical agent. The proposed wireless sensor node prototype is composed of a micro-controller unit (MCU), a radio frequency (RF) transceiver, a dual-band antenna, a rechargeable battery, a voltage regulator, and four integrated sensing devices, all of them integrated in a package with final dimensions and weight of 200 × 80 × 60 mm and 0.422 kg, respectively. The proposed SensorQ prototype operates using the Long-Range (LoRa) wireless communication protocol at 2.4 GHz, with a sensor head implemented on a hetero-core fiber optic structure supporting the surface plasmon resonance (SPR) phenomenon with a sensing section (L = 10 mm) coated with titanium/gold/titanium and a chemically sensitive material (zinc oxide) for the detection of Di-Methyl Methyl Phosphonate (DMMP) vapor in the air, a simulant of the toxic nerve agent Sarin. The transmitted spectra with respect to different concentrations of DMMP vapor in the air were recorded, and then the transmitted power for these concentrations was calculated at a wavelength of 750 nm. The experimental results indicate the feasibility of detecting DMMP vapor in air using the proposed optical sensor head, with DMMP concentrations in the air of 10, 150, and 150 ppm in this proof of concept. We expect that the sensor and wireless sensor node presented herein are promising candidates for integration into a wireless sensor network (WSN) for chemical warfare agent (CWA) detection and contaminated site monitoring without exposure of armed forces. Full article

The availability of raw Global Navigation Satellites System (GNSS) measurements in Android smartphones fosters advancements in high-precision positioning for mass-market devices. However, challenges like inconsistent pseudo-range and carrier phase observations, limited dual-frequency data integrity, and unidentified hardware biases on the receiver side prevent the ambiguity resolution of smartphone GNSS. Consequently, relying solely on GNSS for high-precision positioning may result in frequent cycle slips in complex conditions such as deep urban canyons, underpasses, forests, and indoor areas due to non-line-of-sight (NLOS) and multipath conditions. Inertial/GNSS fusion is the traditional common solution to tackle these challenges because of their complementary capabilities. For pedestrians and smartphones with low-cost inertial sensors, the usual architecture is Pedestrian Dead Reckoning (PDR)+ GNSS. In addition to this, different GNSS processing techniques like Precise Point Positioning (PPP) and Real-Time Kinematic (RTK) have also been integrated with INS. However, integration with PDR has been limited and only with Kalman Filter (KF) and its variants being the main fusion techniques. Recently, Factor Graph Optimization (FGO) has started to be used as a fusion technique due to its superior accuracy. To the best of our knowledge, on the one hand, no work has tested the fusion of GNSS Post-Processed Kinematics (PPK) and PDR on smartphones. And, on the other hand, the works that have evaluated the fusion of GNSS and PDR employing FGO have always performed it using the GNSS Single-Point Positioning (SPP) technique. Therefore, this work aims to combine the use of the GNSS PPK technique and the FGO fusion technique to evaluate the improvement in accuracy that can be obtained on a smartphone compared with the usual GNSS SPP and KF fusion strategies. We improved the Google Pixel 4 smartphone GNSS using Post-Processed Kinematics (PPK) with the open-source RTKLIB 2.4.3 software, then fused it with PDR via KF and FGO for comparison in offline mode. Our findings indicate that FGO-based PDR+GNSS–PPK improves accuracy by 22.5% compared with FGO-based PDR+GNSS–SPP, which shows smartphones obtain high-precision positioning with the implementation of GNSS–PPK via FGO. Full article

Screws are a versatile method of fixation and are often used in orthopaedic surgery. Various specialised geometries are often used for bone screws to optimise their fixation strengths in limited spaces at the expense of manufacturing costs. Additionally, ongoing research is looking to develop systems/models to automatically optimise bone screw tightening torques. For both applications, it is desirable to have a test rig for inserting screws in a regulated, instrumented, and repeatable manner. This work presents such a test rig primarily used for the validation of optimal torque models; however, other applications like the above are easily foreseeable. Key features include controllable insertion velocity profiles, and a high rate measurement of screw torque, angular displacement, and linear displacement. The test rig is constructed from mostly inexpensive components, with the primary costs being the rotational torque sensor (approx. 2000 €), and the remainder being approximately 1000 €. This is in comparison to a biaxial universal testing machine which may exceed 100,000 €. Additionally, the firmware and interface software are designed to be easily extendable. The angular velocity profiling and linear measurement repeatability of the test rig is tested and the torque readings are compared to an off-the-shelf static torque sensor. Full article

The fast prediction of the extent and impact of accidental air pollution releases is important to enable a quick and informed response, especially in cities. Despite this importance, only a small number of case studies are available studying the dispersion of air pollutants from fires in a short distance (O(1 km)) in urban areas. While monitoring pollution levels in Southampton, UK, using low-cost sensors, a fire broke out from an outbuilding containing roughly 3000 reels of highly flammable cine nitrate film and movie equipment, which resulted in high values of PM_2.5 being measured by the sensors approximately 1500 m downstream of the fire site. This provided a unique opportunity to evaluate urban air pollution dispersion models using observed data for PM_2.5 and the meteorological conditions. Two numerical approaches were used to simulate the plume from the transient fire: a high-fidelity computational fluid dynamics model with large-eddy simulation (LES) embedded in the open-source package OpenFOAM, and a lower-fidelity Gaussian plume model implemented in a commercial software package: the Atmospheric Dispersion Modeling System (ADMS). Both numerical models were able to quantitatively reproduce consistent spatial and temporal profiles of the PM_2.5 concentration at approximately 1500 m downstream of the fire site. Considering the unavoidable large uncertainties, a comparison between the sensor measurements and the numerical predictions was carried out, leading to an approximate estimation of the emission rate, temperature, and the start and duration of the fire. The estimation of the fire start time was consistent with the local authority report. The LES data showed that the fire lasted for at least 80 min at an emission rate of 50 g/s of PM_2.5. The emission was significantly greater than a ‘normal’ house fire reported in the literature, suggesting the crucial importance of the emission estimation and monitoring of PM_2.5 concentration in such incidents. Finally, we discuss the advantages and limitations of the two numerical approaches, aiming to suggest the selection of fast-response numerical models at various compromised levels of accuracy, efficiency and cost. Full article

Embedded Operating Systems (OSs) are often developed in the C programming language. Developers justify this choice by the performance that can be achieved, the low memory footprint, and the ease of mapping hardware to software, as well as the strong adoption by industry of this programming language. The downside is that C is prone to security vulnerabilities unknowingly introduced by the software developer. Examples of such vulnerabilities are use-after-free, and buffer overflows. Like C, Rust is a compiled programming language that guarantees memory safety at compile time by adhering to a set of rules. There already exist a few OSs and frameworks that are entirely written in Rust, targeting sensor nodes. In this work, we give an overview of these OSs and frameworks and compare them on the basis of the features they provide, such as application isolation, scheduling, inter-process communication, and networking. Furthermore, we compare the OSs on the basis of the performance they provide, such as cycles and memory usage. Full article

Improving the performance at signalized intersections can be achieved through different management styles or sensor technologies. It is crucial that we measure the real-time impact of these variables on intersection performance. This study introduces a Bluetooth-based real-time performance measurement system applicable to all signalized intersections. Additionally, the developed method serves as a feedback tool for adaptive intersection management systems, providing valuable data input for performance optimization. The method developed in the study is applied at the Refik Cesur Intersection in the Polatlı district of Ankara where delay values are calculated based on traffic flows and data from Bluetooth sensors positioned at strategic locations. Initially, the intersection operated under a fixed-time signaling system, followed by a fully adaptive signaling system the next day. The performance of these two systems is compared using the Bluetooth-based application. The results show that the average delay per vehicle per day is 58.1 seconds/vehicle for the fixed-time system and 45.3 seconds/vehicle for the adaptive system. To validate the Bluetooth-based performance measurement system, the intersection is modeled and simulated using Aimsun Simulation Software Next 20.0.4. The simulation results confirm the findings of the Bluetooth-based analysis, demonstrating the effectiveness of the adaptive signaling system in reducing delays. Full article

The analysis of utilising unmanned aerial vehicles (UAVs) to form flying networks in obstacle conditions and various algorithms for obstacle avoidance is conducted. A planning scheme for deploying a flying LiFi network based on UAVs in a production facility with obstacles is developed and described. Such networks are necessary to ensure reliable data transmission from sensors or other sources of information located in dangerous or hard-to-reach places to the crisis centre. Based on the planning scheme, the following stages are described: (1) laying the LiFi signal propagation route in conditions of interference, (2) placement of the UAV at the specified points of the laid route for the deployment of the LiFi network, and (3) ensuring the reliability of the deployed LiFi network. Strategies for deploying UAVs from a stationary depot to form a flying LiFi network in a room with obstacles are considered, namely the strategy of the first point for the route, the strategy of radial movement, and the strategy of the middle point for the route. Methods for ensuring the uninterrupted functioning of the flying LiFi network with the required level of reliability within a given time are developed and discussed. To implement the planning stages for deploying the UAV flying LiFi network in a production facility with obstacles, the “Simulation Way” and “Reliability Level” software tools are developed and described. Examples of utilising the proposed software tools are given. Full article

This study aimed to evaluate the impact of three two-dimensional (2D) mammographic acquisition techniques on image quality and radiation dose in the presence of silicone breast implants (BIs). Then, we propose and validate a new International Atomic Energy Agency (IAEA) phantom to reproduce these techniques. Images were acquired on a single Hologic Selenia Dimensions^® unit. The mammography of the left breast of a single clinical case was included. Three methods of image acquisition were identified. They were based on misused, recommended, and reference settings. In the clinical case, image criteria scoring and the signal-to-noise ratio on breast tissue (SNR_BT) were determined for two 2D projections and compared between the three techniques. The phantom study first compared the reference and misused settings by varying the AEC sensor position and, second, the recommended settings with a reduced current-time product (mAs) setting that was 13% lower. The signal-difference-to-noise ratio (SDNR) and detectability indexes at 0.1 mm (d’ 0.1 mm) and 0.25 mm (d’ 0.25 mm) were automatically quantified using ATIA software. Average glandular dose (AGD) values were collected for each acquisition. A statistical analysis was performed using Kruskal–Wallis and corrected Dunn tests (p < 0.05). The SNR_BT was 2.6 times lower and the AGD was −18% lower with the reference settings compared to the recommended settings. The SNR_BT values increased by +98% with the misused compared to the recommended settings. The AGD increased by +79% with the misused settings versus the recommended settings. The median values of the reference settings were 5.8 (IQR 5.7–5.9), 1.2 (IQR 0.0), 7.0 (IQR 6.8–7.2) and 1.2 (IQR 0.0) mGy and were significantly lower than those of the misused settings (p < 0.03): 7.9 (IQR 6.1–9.7), 1.6 (IQR 1.3–1.9), 9.2 (IQR 7.5–10.9) and 2.2 (IQR 1.4–3.0) mGy for the SDNR, d’ 0.1 mm, d’ 0.25 mm and the AGD, respectively. A comparison of the recommended and reduced settings showed a reduction of −6.1 ± 0.6% (p = 0.83), −7.7 ± 0.0% (p = 0.18), −6.4 ± 0.6% (p = 0.19) and −13.3 ± 1.1% (p = 0.53) for the SDNR, d’ 0.1 mm, d’ 0.25 mm and the AGD, respectively. This study showed that the IAEA phantom could be used to reproduce the three techniques for acquiring 2D mammography images in the presence of breast implants for raising awareness and for educational purposes. It could also be used to evaluate and optimize the manufacturer’s recommended settings. Full article