Search Results (21)

Indoor medium-to-large indoor object detection is a fundamental capability for mobile robot perception and visual navigation, yet it remains challenging in complex indoor environments due to occlusion, overlap, cluttered backgrounds, and the need for efficient deployment on resource-constrained devices. To address these challenges, this paper presents LIO-YOLO, a lightweight object detection framework developed from YOLO11n. A new MDA-C3k2 module is integrated into the backbone to improve multi-scale feature extraction and contextual information modeling. The Slim-neck design is further employed to achieve more efficient feature fusion with less redundant computation. In addition, SEAM-Head is introduced to improve the detection of occluded and overlapping objects, which enhances the model’s performance in complex indoor environments. To better reflect the characteristics of large-object detection in real indoor environments, an Indoor Large Object Dataset (ILOD) was constructed in this study. Experimental results show that LIO-YOLO achieved 84.9% precision, 80.7% recall, 88.6% mAP@0.5, and 58.6% mAP@0.5:0.95. Furthermore, the proposed model maintained only 5.4 GFLOPs, demonstrating a good trade-off between detection accuracy and computational cost. Moreover, deployment on the RK3588 edge platform reduced inference time from 11.8 ms to 9.5 ms and improved throughput from 84.8 FPS to 105.3 FPS. These results indicate that LIO-YOLO demonstrates its effectiveness for real-time indoor robotic perception applications. Full article

This paper presents a subtractive-dither-assisted background calibration technique for a 2 GS/s 12 bit pipelined analog-to-digital converter (ADC). A large 7 bit pseudo-random dither is injected in both the flash and the multiplying digital-to-analog converter (MDAC) to decorrelate the differential nonlinearity (DNL) errors caused by the inherent quantization error nonlinearity, capacitor mismatching, and inter-stage amplifier nonlinearity from the input signal. Designed in a 28 nm CMOS process with a 1 V supply, post-layout simulations demonstrate a 10.2 dB improvement in spurious-free dynamic range (SFDR), from 73.8 dB to 84.4 dB, with dithering enabled under a close-to-Nyquist input frequency of 985 MHz. Although the injected dither cannot be completely removed in the digital domain, the proposed ADC exhibits only a 0.5 dB degradation in signal-to-noise-and-distortion ratio (SNDR) for full-scale input, achieving an SNDR of 62.3 dB and an effective number of bits (ENOB) of 10.1 bits. Dithering also improves static performance, with DNL and INL optimized to +0.54/−0.53 LSBs and +0.85/−0.88 LSBs, respectively. Moreover, the proposed dither-based calibration technique introduces an additional power consumption of less than 2 mW. Full article

Membrane-based direct air capture of CO₂ (m-DAC) is a promising solution for atmospheric decarbonization. Despite growing interest, the impact of relative air humidity on the performance of m-DAC systems is often neglected in the literature. This study presents detailed parametric analyses that take into account humidity variability and several hypothetical scenarios regarding membrane selectivity toward water vapor. Specifically, cases were considered where the permeance of H₂O relative to CO₂ was assumed to be 0.5, 2, and 5 times higher, which allowed for a systematic assessment of the impact of relative humidity on process performance. The calculations were carried out both for membranes with assumed separation parameters and for the PolyActive^TM membrane, enabling a realistic evaluation of the influence of atmospheric conditions on the process. The results show that an increase in humidity in the analyzed range from 0 to 80% can lead to a rise in the energy intensity of the process by up to approximately 34%, and an increase in total power demand by around 29%. As humidity increases, key process parameters such as CO₂ purity in the permeate and recovery rate decrease. The water vapor content in the permeate in a single-stage membrane separation process can reach up to 60%. It is recommended to use gas drying systems and to develop membranes with low H₂O permeance in order to reduce the energy cost of the process. The potential location of m-DAC systems should preferably be in regions with low air humidity. The study highlights the necessity of considering local climate conditions and the need for further research on membrane selectivity. Full article

This paper presents a prototype open-loop pipelined stage in a 45 nm CMOS process for supporting 1.8 GS/s and 10-bit design specifications of pipelined ADCs. In order to alleviate the severe non-linearity expressed by open-loop MDACs, an innovative current-mode harmonic compensation is proposed to provide input related third harmonic terms to cancel non-linearity. In addition, an effective double-sampling scheme is optimized by modifying compensation timing and input of a residual amplifier so that the pipelined stage can be immune to memory effect and improve power efficiency. The memory effect compensation scheme can provide a 21 dB improvement on output SNDR of the double-sampling pipelined stage. The simulation results illustrate that the open-loop pipelined ADC stage achieves an output SNDR of at least 52 dB with 840 mV input amplitude and 240 fF load while consuming only 11.24 mW. Full article

Carbon dioxide (CO₂), as the primary greenhouse gas, has significant impacts on global climate change, leading to severe and irreversible adverse consequences for ecosystems and human environments. To address the issue of excessive CO₂ emissions, efforts in recent years have yielded significant progress in the development of clean energy sources and the promotion of carbon capture, utilization, and storage (CCUS) technologies. Conventional CO₂ capture techniques are limited in addressing global atmospheric CO₂ excess effectively, as they target only high-concentration CO₂ emissions and require implementation at specific emission points. Direct air capture (DAC) technology has emerged as a promising solution due to its flexibility in deployment, avoidance of land competition, and ability to capture legacy CO₂ emissions. Additionally, DAC offers opportunities for producing synthetic clean fuels, thereby reducing reliance on traditional fossil fuels and aiding in reducing greenhouse gas emissions. This study provides a comprehensive review of DAC technology, encompassing its principles, technological advancements, real-world applications, challenges, and future research directions. By offering insights into the current state and potential of DAC technology, this study aims to guide global efforts in scaling up DAC deployment, ultimately contributing to achieving global carbon neutrality or even negative emissions. Full article

‘Ruixue’ apples were used as the test material to study the effect of 10 μM methyl jasmonate (MeJA) on the quality and cell wall metabolism of apples after 18 d of storage. The results showed that MeJA significantly decreased the respiratory rate, reduced the titratable acid content and maintained a high soluble solids content. MeJA has been shown to suppress the activities and gene expressions of WSP, CSP, ISP, and cellulose in contrast to the control group, thereby maintaining a lower cell permeability and higher exocarp firmness. MeJA significantly decreased the expression of MdACS, MdACO, MdPL, Mdgal, and MdPG genes in the apple exocarp when compared to the control group. In addition, the overexpression of MdPL18 increased the content of cell wall polysaccharides such as WSP and CSP, enhanced cell wall-degrading enzyme activities, and accelerated fruit ripening and softening, whereas silencing MdPL18 did the opposite. Together, these results demonstrate that exogenous MeJA maintains the Ruixue apple fruit quality by regulating the metabolism of cell wall substances. Full article

A 16-bit 125 MS/s pipelined analog-to-digital converter (ADC) implemented in a 0.18 $\mathsf{\mu }$m CMOS process is presented in this paper. A sample-and-hold amplifier-less (SHA-less) modified 2.5-bit front-end is adopted, which splits the sampling capacitor in half to eliminate the common-mode voltage buffer. The multiplying-digital-to-analog converter (MDAC) in the first pipeline stage is modified by reusing the sampling capacitor in a foreground digital calibration for improving the ADC linearity. This design can circumvent a dedicated reference buffer to generate the calibration voltages at all comparator thresholds. By calibrating the ADC in the digital domain, the integral non-linearity (INL) is improved from −9.2/10 LSB to −3/2.2 LSB, and the spurious-free dynamic range (SFDR) is optimized by over 8dB. The ADC consumes 154mW (reference buffer and clock included) from a 1.8 V supply. Full article

Direct air capture (DAC) is an emerging negative CO₂ emission technology that aims to introduce a feasible method for CO₂ capture from the atmosphere. Unlike carbon capture from point sources, which deals with flue gas at high CO₂ concentrations, carbon capture directly from the atmosphere has proved difficult due to the low CO₂ concentration in ambient air. Current DAC technologies mainly consider sorbent-based systems; however, membrane technology can be considered a promising DAC approach since it provides several advantages, e.g., lower energy and operational costs, less environmental footprint, and more potential for small-scale ubiquitous installations. Several recent advancements in validating the feasibility of highly permeable gas separation membrane fabrication and system design show that membrane-based direct air capture (m-DAC) could be a complementary approach to sorbent-based DAC, e.g., as part of a hybrid system design that incorporates other DAC technologies (e.g., solvent or sorbent-based DAC). In this article, the ongoing research and DAC application attempts via membrane separation have been reviewed. The reported membrane materials that could potentially be used for m-DAC are summarized. In addition, the future direction of m-DAC development is discussed, which could provide perspective and encourage new researchers’ further work in the field of m-DAC. Full article

As the preferred architecture for high-speed and high-resolution analog-to-digital converters (ADC), the accuracy of pipelined ADC is limited mainly by various errors arising from multiple digital-to-analog converters (MDAC). This paper presents a multi-dimensional (M-D) MDAC calibration based on a genetic algorithm (GA) in a 12-bit 750 MS/s pipelined ADC. The proposed M-D MDAC compensation model enables capacitor mismatch and static interstage gain error (IGE) compensation on the chip and prepares for subsequent background calibration based on a pseudo-random number (PN) injection to achieve accurate compensation for dynamic IGE. An M-D coefficient extraction scheme based on GA is also proposed to extract the required compensation coefficients of the foreground calibration, which avoids falling into local traps through MATLAB. The above calibration scheme has been verified in a prototype 12-bit 750 MS/s pipelined ADC. The measurement results show that the signal-to-noise and distortion ratio (SNDR) and spurious-free dynamic range (SFDR) are increased from 49.9 dB/66.7 dB to 59.6 dB/77.5 dB with the proposed calibration at 25 °C. With the help of background calibration at 85 °C, the SNDR and SFDR are improved by 3.4 dB and 8.8 dB, respectively. Full article

Genomic selection (GS) is a methodology that is revolutionizing plant breeding because it can select candidate genotypes without phenotypic evaluation in the field. However, its practical implementation in hybrid prediction remains challenging since many factors affect its accuracy. The main objective of this study was to research the genomic prediction accuracy of wheat hybrids by adding covariates with the hybrid parental phenotypic information to the model. Four types of different models (MA, MB, MC, and MD) with one covariate (same trait to be predicted) (MA_C, MB_C, MC_C, and MD_C) or several covariates (of the same trait and other correlated traits) (MA_AC, MB_AC, MC_AC, and MD_AC) were studied. We found that the four models with parental information outperformed models without parental information in terms of mean square error by at least 14.1% (MA vs. MA_C), 5.5% (MB vs. MB_C), 51.4% (MC vs. MC_C), and 6.4% (MD vs. MD_C) when parental information of the same trait was used and by at least 13.7% (MA vs. MA_AC), 5.3% (MB vs. MB_AC), 55.1% (MC vs. MC_AC), and 6.0% (MD vs. MD_AC) when parental information of the same trait and other correlated traits were used. Our results also show a large gain in prediction accuracy when covariates were considered using the parental phenotypic information, as opposed to marker information. Finally, our results empirically demonstrate that a significant improvement in prediction accuracy was gained by adding parental phenotypic information as covariates; however, this is expensive since, in many breeding programs, the parental phenotypic information is unavailable. Full article

In wireless applications, such as radars, tens of MHz signals need to be quantized using an analog-to-digital converter (ADC) with a large dynamic range. The detected signal amplitude can be random, with a small or large amplitude. In addition, the dynamic performance is degraded by capacitor mismatches. A 16-bit 120 MS/s pipelined ADC implemented in a 180 nm complementary metal–oxide–semiconductor (CMOS) process is presented in this work. We propose a multi-level dither technique that can significantly enhance the ADC linearity. The injected dither also helps improve the linearity when the ADC handles an input signal with a small amplitude. Traditional dither injection leads to an increase in the amplifier output swing. A counteracting dither injection scheme, both in sub-flash ADC and the multiplying digital-to-analog converter (MDAC), is proposed to remedy this issue. Moreover, capacitor mismatches in the first three pipeline stages are calibrated in a foreground way. The inter-stage residue gain accuracy is guaranteed by a gain-boosting amplifier. To demonstrate the effectiveness of the dither scheme, we obtained the dynamic performance of the ADC with a small input signal (−12 dBFS). The proposed calibration and dither injection technique improved the spurious-free dynamic range (SFDR) from 77 dBc to 85 dBc with −12 dBFS input. With −1 dBFS input, the SFDR remained at over 85 dBc, reaching up to the Nyquist input frequency. Therefore, the dither scheme enhances the dynamic performance when the ADC handles a signal with small amplitude. Full article

The study aims to investigate Maisotsenko cycle evaporative cooling assisted solid desiccant air-conditioning (M-DAC) system for agricultural storage application. Conventional air-conditioning (AC) systems used for this application are refrigeration-based which are expensive as they consume excessive amount of primary-energy. In this regard, the study developed a lab-scale solid silica gel-based desiccant AC (DAC) system. Thermodynamic performance of the developed system was investigated using various adsorption/dehumidification and desorption/regeneration cycles. The system possesses maximum adsorption potential i.e., 4.88 g/kg-DA at higher regeneration temperature of 72.6 °C and long cycle time i.e., 60 min:60 min. Moreover, the system’s energy consumption performance was investigated from viewpoints of maximum latent, sensible, and total heat as well as latent heat ratio (LHR), which were found to be 0.64 kW, 1.16 kW, and 1.80 kW, respectively with maximum LHR of 0.49. Additionally, the study compared standalone DAC (S-DAC), and M-DAC system thermodynamically to investigate the feasibility of these systems from the viewpoints of temperature and relative humidity ranges, cooling potential (Q_p), and coefficient of performance (COP). The S-DAC system showed temperature and relative humidity ranging from 39 °C to 48 °C, and 35% to 66%, respectively, with Q_p and COP of 17.55 kJ/kg, and 0.37, respectively. Conversely, the M-DAC system showed temperature and relative humidity ranging from 17 °C to 25 °C, and 76% to 98%, respectively, with Q_p and COP of 41.80 kJ/kg, and 0.87, respectively. Additionally, the study investigated respiratory heat generation rate (Q_res), and heat transfer rate (Q_rate) by agricultural products at different temperature gradient (∆T) and air velocity. The Q_res and Q_rate by the products were increased with ∆T and air velocity, respectively, thereby generating heat loads in the storage house. Therefore, the study suggests that the M-DAC system could be a potential AC option for agricultural storage application. Full article

The effect of 1-methylcyclopropene (1-MCP) treatment on improving the storability of four apple cultivars (‘Hwangok’, ‘Picnic’, ‘Gamhong’, and ‘Fuji’) was investigated by analyzing the physiological and biochemical factors associated with their postharvest quality attributes. The flesh firmness, titratable acidity, and soluble solids content of the cultivars were higher in treated fruits than untreated fruits, while the opposite results were observed for ethylene production. In the treated fruits, the traits affected by 1-MCP varied depending on the cultivars used. Higher firmness and lower ethylene production were observed in the ‘Hwangok’ and ‘Picnic’ than ‘Gamhong’ and ‘Fuji’ cultivars. However, 1-MCP only affected weight loss in the ‘Gamhong’ cultivar, while the sugar content was affected in all of the cultivars except ‘Hwangok’. When analyzing cell wall hydrolase activities, 1-MCP differently affected the activities (β-galactosidase, α-galactosidase, β-glucosidase, α-mannosidase, β-xylosidase, and β-arabinosidase), with greater effects in the ‘Fuji’ and ‘Picnic’ cultivars and moderate effects in the ‘Gamhong’ and ‘Hwangok’ cultivars. In this study, the suppression of ethylene production by 1-MCP was positively associated with a transcriptional decrease in the ethylene biosynthesis genes MdACS1 and MdACO1. Overall, this study suggests that 1-MCP distinctly enhanced the storability of all apple cultivars, with a greater effect on ‘Hwangok’. Full article

In robotics, obstacle avoidance is an essential ability for distance sensor-based robots. This type of robot has axisymmetrically distributed distance sensors to acquire obstacle distance, so the state is symmetrical. Training the control policy with a reinforcement learning method is a trend. Considering the complexity of environments, such as narrow paths and right-angle turns, robots will have a better ability if the control policy can control the steering direction and speed simultaneously. This paper proposes the multi-dimensional action control (MDAC) approach based on a reinforcement learning technique, which can be used in multiple continuous action space tasks. It adopts a hierarchical structure, which has high and low-level modules. Low-level policies output concrete actions and the high-level policy determines when to invoke low-level modules according to the environment’s features. We design robot navigation experiments with continuous action spaces to test the method’s performance. It is an end-to-end approach and can solve complex obstacle avoidance tasks in navigation. Full article

This study provides insights into the feasibility of a desiccant dehumidification-based Maisotsenko cycle evaporative cooling (M-DAC) system for greenhouse air-conditioning application. Conventional cooling techniques include direct evaporative cooling, refrigeration systems, and passive/active ventilation. which are commonly used in Pakistan; however, they are either not feasible due to their energy cost, or they cannot efficiently provide an optimum microclimate depending on the regions, the growing seasons, and the crop being cultivated. The M-DAC system was therefore proposed and evaluated as an alternative solution for air conditioning to achieve optimum levels of vapor pressure deficit (VPD) for greenhouse crop production. The objective of this study was to investigate the thermodynamic performance of the proposed system from the viewpoints of the temperature gradient, relative humidity level, VPD, and dehumidification gradient. Results showed that the standalone desiccant air-conditioning (DAC) system created maximum dehumidification gradient (i.e., 16.8 g/kg) and maximum temperature gradient (i.e., 8.4 °C) at 24.3 g/kg and 38.6 °C ambient air conditions, respectively. The DAC coupled with a heat exchanger (DAC+HX) created a temperature gradient nearly equal to ambient air conditions, which is not in the optimal range for greenhouse growing conditions. Analysis of the M-DAC system showed that a maximum air temperature gradient, i.e., 21.9 °C at 39.2 °C ambient air condition, can be achieved, and is considered optimal for most greenhouse crops. Results were validated with two microclimate models (OptDeg and Cft) by taking into account the optimality of VPD at different growth stages of tomato plants. This study suggests that the M-DAC system is a feasible method to be considered as an efficient solution for greenhouse air-conditioning under the climate conditions of Multan (Pakistan). Full article