Search Results (2,747)

Detecting previously unseen anomalies in sensor data is a challenging problem for artificial intelligence when sensor-specific and deployment-specific characteristics of the time series need to be learned from a short calibration period. From the application point of view, this challenge becomes increasingly important because many applications are gravitating towards utilising low-cost sensors for Internet of Things deployments. While these sensors offer cost-effectiveness and customisation, their data quality does not match that of their high-end counterparts. To improve sensor data quality while addressing the challenges of anomaly detection in Internet of Things applications, we present an anomaly detection framework that learns a normality model of sensor data. The framework models the typical behaviour of individual sensors, which is crucial for the reliable detection of sensor data anomalies, especially when dealing with sensors observing significantly different signal characteristics. Our framework learns sensor-specific normality models from a small set of anomaly-free training data while employing an unsupervised feature engineering approach to select statistically significant features. The selected features are subsequently used to train a Local Outlier Factor anomaly detection model, which adaptively determines the boundary separating normal data from anomalies. The proposed anomaly detection framework is evaluated on three real-world public environmental monitoring datasets with heterogeneous sensor readings. The sensor-specific normality models are learned from extremely short calibration periods (as short as the first 3 days or 10% of the total recorded data) and outperform four other state-of-the-art anomaly detection approaches with respect to F1-score (between 5.4% and 9.3% better) and Matthews correlation coefficient (between 4.0% and 7.6% better). Full article

Permanent magnetic couplings provide critical advantages for deep-sea systems through static-sealed, contactless power transmission. However, conventional metallic isolation sleeves incur significant eddy current losses, limiting efficiency and high-speed operation. Limited torque capacities fail to meet the operational demands of harsh marine environments. This study presents a novel permanent magnet coupling featuring a ceramic isolation sleeve engineered for deep-sea cryogenic ammonia submersible pumps. The ceramic sleeve eliminates eddy current losses and provides exceptional corrosion resistance in acidic/alkaline environments. To withstand 3.5 MPa hydrostatic pressure, a 6-mm-thick sleeve necessitates a 10 mm operational air gap, challenging magnetic circuit efficiency. To address this limitation, an improved 3D magnetic equivalent circuit (MEC) model was developed that explicitly accounts for flux leakage and axial end-effects, enabling the accurate characterization of large air gap fields. Leveraging this model, a Taguchi method-based optimization framework was implemented by balancing key parameters to maximize the torque density. This co-design strategy achieved a 21% increase in torque density, enabling higher torque transfer per unit volume. Experimental validation demonstrated a maximum torque of 920 Nm, with stable performance under simulated deep-sea conditions. This design establishes a new paradigm for high-power leak-free transmission in corrosive, high-pressure marine environments, advancing applications from deep-sea propulsion to offshore energy systems. Full article

Channels with three standard symmetrical sections and one asymmetric section are mounted as cantilever beams with the web oriented vertically. A classical solution to the analysis of stress in each thin-walled cantilever channel is provided using the principle of wall shear flow superposition. The latter is coupled with a further superposition between axial stress arising from bending and from the constraint placed on free warping imposed at the fixed end. Closed solutions for design are tabulated for the net shear stress and the net axial stress at points around any section within the length. Stress distributions thus derived serve as a benchmark structure for alternative numerical solutions and for experimental investigations. The conversion of the transverse free end-loading applied to a thin-walled cantilever channel into the shear and axial stress that it must bear is outlined. It is shown that the point at which this loading is applied within the cross-section is crucial to this stress conversion. When a single force is applied to an arbitrary point at the free-end section, three loading effects arise generally: bending, flexural shear and torsion. The analysis of each effect requires that this force’s components are resolved to align with the section’s principal axes. These forces are then considered in reference to its centroid and to its shear centre. This shows that axial stress arises directly from bending and from the constraint imposed on free warping at the fixed end. Shear stress arises from flexural shear and also from torsion with a load offset from the shear centre. When the three actions are combined, the net stresses of each action are considered within the ability of the structure to resist collapse from plasticity and buckling. The novelty herein refers to the presentation of the shear flow calculations within a thin wall as they arise from an end load offset from the shear centre. It is shown how the principle of superposition can be applied to individual shear flow and axial stress distributions arising from flexural bending, shear and torsion. Therein, the new concept of a ‘trans-moment’ appears from the transfer in moments from their axes through centroid G to parallel axes through shear centre E. The trans-moment complements the static equilibrium condition, in which a shift in transverse force components from G to E is accompanied by torsion and bending about the flexural axis through E. Full article

In Aerial Manipulation, the motion of the robotic arm can cause unwanted movements of the flying base affecting the trajectory tracking capability. A possible solution to reduce these disturbances is to use a free revolute joint between the flying base and the manipulator, thus reducing the torque applied to the base from the manipulator. In this paper, a novel approach to solve the inverse kinematics of an aerial manipulator with a free revolute joint is presented. The approach exploits the Generalized Jacobian to deal with the presence of a mobile base, and the dynamics of the system is considered to predict the motion of the non-actuated joint; external forces acting on the system are also included. The method is implemented in MATLAB for a planar case considering the parameters of a real manipulator attached to a real octocopter. The tracking of a trajectory with the end-effector and a load picking task are simulated for a non-redundant and for a redundant manipulator. Simulation results demonstrate the capability of this approach in following the desired trajectories and reducing rotation and horizontal translation of the base. Full article

Camelina sativa (CS) is an emerging sustainable oilseed crop with interesting feed application potentialities. The research assessed the potentiality of Camelina sativa (CS) in the diet for free-range laying hens, aiming at reaching a nutritional claim. To this purpose, two feeding groups of hens (n = 100 Livorno hens, n = 25 hens/pen) were farmed outdoor and received either a Control diet, which was a commercial diet for laying hens, or a CS diet. The latter was formulated to include the 5% CS cake and 1% CS oil, replacing conventional feedstuffs. Diets were isoprotein and isoenergy and were available ad libitum throughout the laying period (February–September). At day 1, n = 12 eggs/diet were sampled to assess the initial proximate composition and FA profile. Every 7 days the sampling was repeated to analyze the eggs’ FA profile, up to day 35. At the end of the laying season, n = 6 hens/dietary treatment were slaughtered and subjected to meat quality evaluations. Results highlighted that a 28-day feeding was the period required to obtain 227 mg of C18:3 n-3 and 81 mg of C20:5 n-3 + C22:6 n-3/100 g egg, whereas a further 7 days of feeding trial were ineffective in further enhancing the omega-3 FA content of eggs. CS eggs were comparable to Control ones for overall physical traits, proximate composition, and shelf-life. In addition, at the end of the laying period, the meat of CS hens was also found to be healthier than that of Control ones, thanks to a higher omega-3 FA proportion (p < 0.01), which was, however, not sufficient to reach any nutritional claim. Instead, the proximate composition of CS meat was overall comparable to Control hens. In conclusion, the present research demonstrated that feeding Camelina sativa meal and oil to laying hens is feasible and allows to reach the nutritional claim in eggs “rich in omega-3 FA” after a feeding period of 28 days, without any negative effects on other eggs’ quality trials. Camelina sativa can thus be defined as a promising sustainable feedstuff for the poultry sector for diversification purposes and to enhance the nutritional quality of eggs. Full article

Series of pyrene-labeled diols (Py₂-DOs) and polyols (Py-POs) were synthesized by coupling a number (n_PyBA) of 1-pyrenebutyric acids to diols and polyols to yield series of end-labeled linear (n_PyBA = 2) and branched (n_PyBA > 2) oligomers, respectively. Pyrene excimer formation (PEF) between an excited and a ground-state pyrene was studied for the Py₂-DO and Py-PO samples by analyzing their fluorescence spectra and decays in tetrahydrofuran, dioxane, N,N-dimethylformamide, and dimethyl sulfoxide. Global model-free analysis (MFA) of the pyrene monomer and excimer fluorescence decays yielded the average rate constant (<k>) for PEF. After the calculation of the local pyrene concentration ([Py]_loc) for the Py₂-DO and Py-PO samples, the <k>-vs.-[Py]_loc plots were linear in each solvent, with larger and smaller slopes for the Py₂-DO and Py-PO samples, respectively, resulting in a clear kink in the middle of the plot. The difference in slope was attributed to a bias for PEF between pyrenes close to one another on the densely branched Py-PO constructs resulting in lower apparent [Py]_loc and <k> values. This study illustrated the ability of PEF to probe how steric hindrance along a main chain affects the dynamic encounters between substituents in multifunctional oligomers such as diols and polyols. Full article

Infertility is a significant global health concern, and incorporating antioxidants into sperm preparation media is one strategy to enhance sperm quality and decrease infertility rates. This study aimed to investigate the phytochemical compounds of red cotton stamen extracts and their effects as antioxidants in improving the quality of bull frozen semen. Among the extracts, RCU contained the highest levels of total phenolics, total tannins, and total monomeric anthocyanins along with the strongest ABTS free radical scavenging activity and protein denaturation inhibition. Exposing sperm to FeSO₄-induced oxidative stress resulted in significantly reduced motility, viability, and normal morphology. However, treatment with RCD, RCU, and RCM improved these parameters. Additionally, the FeSO₄-induced group showed elevated levels of reactive oxygen species (ROS) and advanced glycation end products (AGEs) compared to the normal control, whereas all red cotton stamen extracts effectively reduced these levels. In conclusion, red cotton stamen extracts, rich in phenolic bioactive compounds, demonstrated strong free radical scavenging capacity and improved sperm motility, viability, and morphology by neutralizing free radicals and enhancing antioxidant defenses. These findings suggest that the red cotton stamen extracts, particularly RCD and RCU, offer benefits for sperm preservation. Full article

The commercialization of selective broccoli harvesters, a critical response to agricultural labor shortages, is hampered by end effectors with large operational envelopes and poor adaptability to complex field conditions. To address these limitations, this study developed and evaluated a novel end-effector with an integrated transverse cutting mechanism and a foldable grasping cavity. Unlike conventional fixed cylindrical cavities, our design utilizes actuated grasping arms and a mechanical linkage system to significantly reduce the operational footprint and enhance maneuverability. Key design parameters were optimized based on broccoli morphological data and experimental measurements of the maximum stem cutting force. Furthermore, dynamic simulations were employed to validate the operational trajectory and ensure interference-free motion. Field tests demonstrated an operational success rate of 93.33% and a cutting success rate of 92.86%. The end effector successfully operated in dense planting environments, effectively avoiding interference with adjacent broccoli heads. This research provides a robust and promising solution that advances the automation of broccoli harvesting, paving the way for the commercial adoption of robotic harvesting technologies. Full article

In response to the increasing demands for reliable, fast, and secure communications beyond 5G scenarios, the high-capacity networks have become a focal point. Quantum communication is at the forefront of this research, offering unmatched throughput and security. A free space optics (FSO) communication system integrated with fiber-end is designed and investigated using the Bennett–Brassard 1984 quantum key distribution (BB84-QKD) protocol. Simulation results show that reliable transmission can be achieved over a 10–15 km fiber length with a signal power of −19.54 dBm and high optical-to-signal noise of 72.28–95.30 dB over a 550 m FSO range under clear air, haze, fog, and rain conditions at a data rate of 1 Gbps. Also, the system using rectilinearly and circularly polarized signals exhibits a Stokes parameter intensity of −4.69 to −35.65 dBm and −7.7 to −35.66 dBm Stokes parameter intensity, respectively, over 100–700 m FSO range under diverse weather conditions. Likewise, for the same scenario, an FSO range of 100 m incorporating 2.5–4 mrad beam divergence provides the Stokes power intensity of −6.03 to −11.1 dBm and −9.04 to −14.12 dBm for rectilinearly and circularly polarized signals, respectively. Moreover, compared to existing works, this work allows faithful and secure signal transmission in free space, considering FSO–fiber link losses. Full article

This paper presents some of the most significant findings in the design of a hydraulic servomechanism for flight controls, which were primarily achieved by the first author during his activity in an aviation institute. These results are grouped into four main topics. The first one outlines a classical theory, from the 1950s–1970s, of the analysis of nonlinear automatic systems and namely the issue of absolute stability. The uninformed public may be misled by the adjective “absolute”. This is not a “maximalist” solution of stability but rather highlights in the system of equations a nonlinear function that describes, for the case of hydraulic servomechanisms, the flow-control dependence in the distributor spool. This function is odd, and it is therefore located in quadrants 1 and 3. The decision regarding stability is made within the so-called Lurie problem and is materialized by a matrix inequality, called the Lefschetz condition, which must be satisfied by the parameters of the electrohydraulic servomechanism and also by the components of the control feedback vector. Another approach starts from a classical theorem of V. M. Popov, extended in a stochastic framework by T. Morozan and I. Ursu, which ends with the description of the local and global spool valve flow-control characteristics that ensure stability in the large with respect to bounded perturbations for the mechano-hydraulic servomechanism. We add that a conjecture regarding the more pronounced flexibility of mathematical models in relation to mathematical instruments (theories) was used. Furthermore, the second topic concerns, the importance of the impedance characteristic of the mechano-hydraulic servomechanism in preventing flutter of the flight controls is emphasized. Impedance, also called dynamic stiffness, is defined as the ratio, in a dynamic regime, between the output exerted force (at the actuator rod of the servomechanism) and the displacement induced by this force under the assumption of a blocked input. It is demonstrated in the paper that there are two forms of the impedance function: one that favors the appearance of flutter and another that allows for flutter damping. It is interesting to note that these theoretical considerations were established in the institute’s reports some time before their introduction in the Aviation Regulation AvP.970. However, it was precisely the absence of the impedance criterion in the regulation at the appropriate time that ultimately led, by chance or not, to a disaster: the crash of a prototype due to tailplane flutter. A third topic shows how an important problem in the theory of automatic systems of the 1970s–1980s, namely the robust synthesis of the servomechanism, is formulated, applied and solved in the case of an electrohydraulic servomechanism. In general, the solution of a robust servomechanism problem consists of two distinct components: a servo-compensator, in fact an internal model of the exogenous dynamics, and a stabilizing compensator. These components are adapted in the case of an electrohydraulic servomechanism. In addition to the classical case mentioned above, a synthesis problem of an anti-windup (anti-saturation) compensator is formulated and solved. The fourth topic, and the last one presented in detail, is the synthesis of a fuzzy supervised neurocontrol (FSNC) for the position tracking of an electrohydraulic servomechanism, with experimental validation, in the laboratory, of this control law. The neurocontrol module is designed using a single-layered perceptron architecture. Neurocontrol is in principle optimal, but it is not free from saturation. To this end, in order to counteract saturation, a Mamdani-type fuzzy logic was developed, which takes control when neurocontrol has saturated. It returns to neurocontrol when it returns to normal, respectively, when saturation is eliminated. What distinguishes this FSNC law is its simplicity and efficiency and especially the fact that against quite a few opponents in the field, it still works very well on quite complicated physical systems. Finally, a brief section reviews some recent works by the authors, in which current approaches to hydraulic servomechanisms are presented: the backstepping control synthesis technique, input delay treated with Lyapunov–Krasovskii functionals, and critical stability treated with Lyapunov–Malkin theory. Full article

The sludge produced by the Fenton process contains mixed-valence iron particulates (hereafter called Fenton wastes). Using a solvothermal method, we fabricated a new heterogeneous photo-Fenton catalyst using Fenton wastes and metal–organic frameworks (MOFs). Nanoporous metal carboxylate (MIL-88) MOF impregnated with Fenton waste was functionalized using 2,5-dihydroxyterephthalic acid (x-HO-MIL-88-C, x, concentration of the 2,5-dihydroxyterephthalic acid). The efficiency of x-HO-MIL-88-C was examined under visible light radiation using methylene blue (MB) as an index pollutant. We observed the best catalytic performance for MB degradation by 4-HO-MIL-88-C. In the photo-Fenton process, the simultaneous presence of singlet oxygen, superoxide, and hydroxyl radicals is confirmed by free radical quenching and electron spin resonance spectral data. These free radicals associate with holes in the non-selective degradation of MB. The 4-HO-MIL-88-C catalyst shows good stability and reusability, maintaining over 80% efficiency at the end of five consecutive cycles. This work opens up a new path for recycling Fenton wastes into usable products. Full article

The timely detection of delamination is essential for preventing catastrophic failures and extending the service life of carbon fiber-reinforced polymers (CFRP). Full wavefields in CFRP encapsulate extensive information on the interaction between guided waves and structural damage, making them a widely utilized tool for damage mapping. However, due to the multimodal and dispersive nature of guided waves, interpreting full wavefields remains a significant challenge. This study proposes an end-to-end delamination imaging approach based on UNet++ using 2D frequency domain spectra (FDS) derived from full wavefield data. The proposed method is validated through a self-constructed simulation dataset, experimental data collected using Scanning Laser Doppler Vibrometry, and a publicly available dataset created by Kudela and Ijjeh. The results on the simulated data show that UNet++, trained with multi-frequency FDS, can accurately predict the location, shape, and size of delamination while effectively handling frequency offsets and noise interference in the input FDS. Experimental results further indicate that the model, trained exclusively on simulated data, can be directly applied to real-world scenarios, delivering artifact-free delamination imaging. Full article

Background/Objectives: Left atrial function can be a tool for risk stratification for hypertrophic cardiomyopathy (HCM). Over the past decade, there has been growing interest in the application of strain analysis for earlier and more accurate prediction of cardiovascular disease prognosis. This study aimed to investigate the performance of left atrial strain analysis compared to conventional left atrial measures in predicting clinical outcomes in Asian patients with HCM. Methods and Results: This was a retrospective study involving 291 patients diagnosed with HCM between 2010 and 2017. Left atrial volumes were assessed using the method of discs in orthogonal plans at both end diastole and end systole. Left atrial (LA) strain was obtained using a post-hoc analysis with TOMTEC software. We tested the various left atrial parameters against outcomes of (1) heart failure hospitalization and (2) event-free survival from a composite of adverse events, including all-cause mortality, ventricular tachycardia (VT)/ventricular fibrillation (VF) events, appropriate device therapy if an implantable cardioverter defibrillator (ICD) was implanted, stroke, and heart failure hospitalization. The patients had a mean age of 59.0 ± 16.7 years with a male preponderance (71.2%). The cumulative event-free survival over a follow-up of 3.9 ± 2.7 years was 55.2% for patients with an abnormal LA strain versus 82.4% for patients without one (p < 0.001). Multivariable Cox regression analyses were performed separately for each LA parameter, adjusting for age, sex, LV mass index, LV ejection fraction (EF), E/e’, the presence of LV outflow tract (LVOT) obstruction at rest, and atrial fibrillation. An analysis showed that all parameters except for LAEF demonstrated an independent association with heart failure hospitalization. Left atrial strain outperformed the rest of the parameters by demonstrating an association with a composite of adverse events. Conclusions: In Asian patients with HCM, measures of left atrial strain were independently associated with heart failure hospitalization and a composite of adverse outcomes. Left atrial strain may be used as a tool to predict adverse outcomes in patients with HCM. Full article

Robotic-assisted therapy is an increasingly vital approach for upper-limb rehabilitation, offering consistent, high-intensity training critical to neuroplastic recovery. However, current control strategies often lack robustness against uncertainties and external disturbances, limiting their efficacy in dynamic, real-world settings. Addressing this gap, this study proposes a novel control framework for the iTbot—a 2-DoF end-effector rehabilitation robot—by integrating differential flatness theory with a derivative-free Kalman filter (DFK). The objective is to achieve accurate and adaptive trajectory tracking in the presence of unmeasured dynamics and human–robot interaction forces. The control design reformulates the nonlinear joint-space dynamics into a 0-flat canonical form, enabling real-time computation of feedforward control laws based solely on flat outputs and their derivatives. Simultaneously, the DFK-based observer estimates external perturbations and unmeasured states without requiring derivative calculations, allowing for online disturbance compensation. Extensive simulations across nominal and disturbed conditions demonstrate that the proposed controller significantly outperforms conventional flatness-based control in tracking accuracy and robustness, as measured by reduced mean absolute error and standard deviation. Experimental validation under both simple and repetitive physiotherapy tasks confirms the system’s ability to maintain sub-millimeter Cartesian accuracy and sub-degree joint errors even amid dynamic perturbations. These results underscore the controller’s effectiveness in enabling compliant, safe, and disturbance-resilient rehabilitation, paving the way for broader deployment of robotic therapy in clinical and home-based environments. Full article

Precision extrusion forging is an innovative manufacturing process for trouble-free production of high-quality components with an accurate shape. The process provides a reduced technological chain and high production efficiency, as only certain surfaces need additional processing. This study used QForm software as an environment for simulating precision extrusion forging. The main goal of this research was to present a brief overview of the latest research on the simulation of precision extrusion forging, with an emphasis on the production cycle rather than on mathematical description. This article examines the processes of simulation modeling of precision extrusion forging with newly designed tooling for the manufacture of a newly introduced asymmetric load-bearing facade element patented by Braykov. With the help of simulation modeling, appropriate modes for specific production were established, and were later implemented. The production process itself is briefly presented at the end of this article. Full article