Search Results (134)

Lidar has been used for many years to study the optical properties of aerosols, but estimating the boundary values requires solving the lidar elastic scattering equation, which remains a challenge. The boundary values are often determined by fitting to uniform regions of the atmosphere. This method typically excludes low signal-to-noise ratio (SNR) signals because it classifies them as non-uniform, reducing the effective detection range of the lidar. On the other hand, directly fitting low SNR signals to estimate the boundary values can introduce significant errors. The method is based on maximizing the lidar detection distance and determines the boundary value using a new estimation algorithm with the averaging of multiple fitted results in the low SNR region to reduce the impact of noise. Simulations demonstrate that the new method reduces the relative error in the boundary value estimation by approximately 5% and improves the accuracy of the extinction coefficient profile inversion compared with the method of directly fitting all-sample signals. Field comparison experiments with forward-scattering sensors further verify that the algorithm improves the retrieval accuracy by 17.3% under extremely low signal-to-noise ratio (SNR) conditions, while performing comparably to the traditional method in high SNR homogeneous atmospheres. Additionally, based on the scanned lidar signals, the algorithm can provide detailed information on the spatial distribution of sea fog and offer valuable insights for an in-depth understanding of the physical evolution of sea fog. Full article

Free space optics (FSOs) is an emerging technology offering solutions for secure and high data rate transmission in dense urban areas, back haul link in telecommunication networks, and last mile access applications. It is important to investigate the performance of the FSO link as a result of aggregate attenuation caused by different weather conditions in a region. In the present work, empirical models have been derived in terms of visibility, considering fog, haze, and cloud conditions of diverse geographical regions of Delhi, Washington, London, and Cape Town. Mean square error (MSE) and goodness of fit (R squared) have been employed as measures for estimating model performance. The dual polarization-quadrature phase shift keying (DP-QPSK) modulation technique has been employed with hybrid mode and the wave division multiplexing (MDM-WDM) scheme for analyzing the performance of the FSO link with two Laguerre Gaussian modes (LG00 and LG 01) at 5 different wavelengths from 1550 nm to 1554 nm. The performance of the system has been analyzed in terms of received power and signal to noise ratio with respect to the transmission range of the link. Minimum received power and SNR values of −52 dBm and −33 dB have been obtained over the observed transmission range as a result of multiple impairments. Random forest (RF), k-nearest neighbors (KNN), multi-layer perceptron (MLP), gradient boosting (GB), and machine learning (ML) techniques have also been employed for estimating the SNR of the received signal. The maximum R squared (0.99) and minimum MSE (0.11), MAE (0.25), and RMSE (0.33) values have been reported in the case of the GB model, compared to other ML techniques, resulting in the best fit model. Full article

Inertial navigation systems (INSs) provide autonomous position estimation capabilities independent of global navigation satellite systems (GNSSs). However, the high cost of traditional sensors, such as fiber-optic gyroscopes (FOGs), limits their widespread adoption. In contrast, micro-electromechanical system (MEMS)-based inertial measurement units (IMUs) offer a low-cost alternative; however, their lower accuracy and sensor bias issues, particularly in maritime environments, remain considerable obstacles. This study proposes an improved method for bias estimation by comparing the estimated values from a trajectory generator (TG)-based acceleration and angular-velocity estimation system with actual measurements. Additionally, for X- and Y-axis accelerations, we introduce a method that leverages the correlation between altitude differences derived from an INS/GNSS/gyrocompass (IGG) and those obtained during the TG estimation process to estimate the bias. Simulation datasets from experimental voyages validate the proposed method by evaluating the mean, median, normalized cross-correlation, least squares, and fast Fourier transform (FFT). The Butterworth filter achieved the smallest angular-velocity bias estimation error. For X- and Y-axis acceleration bias, altitude-based estimation achieved differences of 1.2 × 10⁻² m/s² and 1.0 × 10⁻⁴ m/s², respectively, by comparing the input bias using 30 min data. These methods enhance the positioning and attitude estimation accuracy of low-cost IMUs, providing a cost-effective maritime navigation solution. Full article

Background: The literature on the relationships among blood iron levels, cognitive performance, and brain iron levels specific to women at the menopausal transition is ambiguous at best. The need to better understand these potential relationships in women for whom monthly blood loss (and thus iron loss) is ceasing is highlighted by iron’s accumulation in brain tissue over time, thought to be a factor in the development of neurodegenerative disease. Methods: Non-anemic women who were either low in iron or had normal iron levels for their age and race/ethnicity provided blood samples, underwent MRI scans to estimate brain iron levels, and performed a set of cognitive tasks with concurrent EEG. Results: Cognitive performance and brain dynamics were positively related to iron levels, including measures associated with oxygen transport. There were no relationships between any of the blood measures of iron and brain iron. Conclusions: Higher iron status was associated with better cognitive performance in a sample of women who were neither iron deficient nor anemic, without there being any indication that higher levels of systemic iron were related to higher levels of brain iron. Consequently, addressing low iron levels at the menopausal transition may be a candidate approach for alleviating the “brain fog” commonly experienced at menopause. Full article

Foggy weather poses significant challenges to outdoor computer vision tasks, such as object detection, by degrading image quality and reducing algorithm reliability. In this paper, we present a novel model for estimating fog density in outdoor scenes, aiming to enhance object detection performance under varying foggy conditions. Using a support vector machine (SVM) classification framework, the proposed model categorizes unknown images into distinct fog density levels based on both global and local fog-relevant features. Key features such as entropy, contrast, and dark channel information are extracted to quantify the effects of fog on image clarity and object visibility. Moreover, we introduce an innovative region selection method tailored to images without detectable objects, ensuring robust feature extraction. Evaluation on synthetic datasets with varying fog densities demonstrates a classification accuracy of 85.8%, surpassing existing methods in terms of correlation coefficients and robustness. Beyond accurate fog density estimation, this approach provides valuable insights into the impact of fog on object detection, contributing to safer navigation in foggy environments. Full article

Peplography is a technology for removing scattering media such as fog and smoke. However, Peplography only removes scattering media, and decisions about the images are made by humans. Therefore, there are still many improvements to be made in terms of system automation. In this paper, we combine Peplography with You Only Look Once (YOLO) to attempt object detection under scattering medium conditions. In addition, images reconstructed by Peplography have different characteristics from normal images. Therefore, by applying Peplography to the training images, we attempt to learn the image characteristics of Peplography and improve the detection accuracy. Also, when considering autonomous driving in foggy conditions or rescue systems at the scene of a fire, three-dimensional (3D) information such as the distance to the vehicle in front and the person in need of rescue is also necessary. Furthermore, we apply a stereo camera to this algorithm to achieve 3D object position and distance detection under scattering media conditions. In addition, when estimating the scattering medium in Peplography, it is important to specify the processing area, otherwise the scattering medium will not be removed properly. Therefore, we construct a system that continuously improves processing by estimating the size of the object in object detection and successively changing the area range using the estimated value. As a result, the PSNR result by our proposed method is better than the PSNR by the conventional Peplography process. The distance estimation and the object detection are also verified to be accurate, recording values of 0.989 for precision and 0.573 for recall. When the proposed system is applied, it is expected to have a significant impact on the stability of autonomous driving technology and the safety of life rescue at fire scenes. Full article

The monitoring of fog density is of great importance in meteorology and its applications in environment, aviation and transportation. Nowadays, vision-based fog estimation from images taken with surveillance cameras has made a great supplementary contribution to the scarcely traditional meteorological fog observation. In this paper, we propose a new Random Forest (RF) approach for image-based fog estimation. In order to reduce the impact of data imbalance on recognition, the StyleGAN2-ADA (generative adversarial network with adaptive discriminator augmentation) algorithm is used to generate virtual images to expand the data of low proportions. Key image features related to fog are extracted, and an RF method, integrated with the hierarchical and k-medoid clustering, is deployed to estimate the fog density. The experiment conducted in Sichuan in February 2024 shows that the improved RF model has achieved an average accuracy of fog density observation of 93%, 6.4% higher than the RF model without data expansion, 3–6% higher than the VGG16, the VGG19, the ResNet50, and the DenseNet169 with or without data expansion. What is more, the improved RF method exhibits a very good convergence as a cost-effective solution. Full article

The Normalized Differential Spectral Attenuation (NDSA) technique was proposed years ago as an active method for measuring integrated water vapor (IWV) along a Ku/K-band radio link immersed (totally or partially) in the troposphere. The approach is of the active kind, as it relies on the transmission of a couple of sinusoidal signals, whose power is measured at the receiver, thus providing the differential attenuation measurements from which IWV estimates can be in turn derived. In 2018, a prototype instrument providing such differential attenuation measurements was completed and set up for a first measurement campaign aimed at demonstrating the NDSA method. By the end of June 2022, the instrument was profoundly modified and upgraded so that a second measurement campaign could be carried out from 1 August to 30 November 2022. The transmitter was placed on the top of Monte Gomito (44.1277°lat, 10.6434°lon, 1892 m a.s.l.) and the receiver on the roof of the Department of Information Engineering of the University of Florence (43.7985°lat, 11.2528°lon, 50 m a.s.l.). The resulting radio link length was 61.15 km. Four ground weather stations of the regional weather service were selected among those available. In this paper, we describe the upgraded instrument and present the outcomes of the new measurement campaign, whose purpose was mainly to compare the IWV estimates provided by the instrument with the ground sensor measurements of air temperature, air humidity, barometric pressure, and rainfall. In particular, we show that the temporal trends of the two IWV estimates are qualitatively consistent, and that the instrument is able to provide IWV estimates also in the presence of fog and rainfall. Conversely, a quantitative evaluation through comparison with IWV data from point weather station measurements appears challenging due to the significant spatial variability in temperature and relative humidity, even between couples of stations that are quite close to each other. Full article

As the adoption of large-scale model-based AI grows, the field of robotics is undergoing significant changes. The emergence of cloud robotics, where advanced tasks are offloaded to fog or cloud servers, is gaining attention. However, the widely used Robot Operating System (ROS) does not support communication between robot software across different networks. This paper introduces ROS Gateway, a middleware designed to improve the usability and extend the communication range of ROS in multi-network environments, which is important for processing sensor data in cloud robotics. We detail its structure, protocols, and algorithms, highlighting improvements over traditional ROS configurations. The ROS Gateway efficiently handles high-volume data from advanced sensors such as depth cameras and LiDAR, ensuring reliable transmission. Based on the rosbridge protocol and implemented in Python 3, ROS Gateway is compatible with rosbridge-based tools and runs on both x86 and ARM-based Linux environments. Our experiments show that the ROS Gateway significantly improves performance metrics such as topic rate and delay compared to standard ROS setups. We also provide predictive formulas for topic receive rates to guide the design and deployment of robotic applications using ROS Gateway, supporting performance estimation and system optimization. These enhancements are essential for developing responsive and intelligent robotic systems in dynamic environments. Full article

Post COVID-19 condition (PCC) is defined as ongoing symptoms at ≥1 month after acute COVID-19. We investigated the risk of PCC in an international cohort according to viral variants. We included 7699 hospitalized patients in six centers (January 2020–June 2023); a subset of participants with ≥1 visit over the year after clinical recovery were analyzed. Variants were observed or estimated using Global Data Science Initiative (GISAID) data. Because patients returning for a post COVID-19 visit may have a higher PCC risk, and because the variant could be associated with the probability of returning, we used weighted logistic regressions. We estimated the proportion of the effect of wild-type (WT) virus vs. Omicron on PCC, which was mediated by Intensive Care Unit (ICU) admission, through a mediation analysis. In total, 1317 patients returned for a post COVID visit at a median of 2.6 (IQR 1.84–3.97) months after clinical recovery. WT was present in 69.6% of participants, followed by the Alpha (14.4%), Delta (8.9%), Gamma (3.9%) and Omicron strains (3.3%). Among patients with PCC, the most common manifestations were fatigue (51.7%), brain fog (32.7%) and respiratory symptoms (37.2%). Omicron vs. WT was associated with a reduced risk of PCC and PCC clusters; conversely, we observed a higher risk with the Delta and Alpha variants vs. WT. In total, 42% of the WT effect vs. Omicron on PCC risk appeared to be mediated by ICU admission. A reduced PCC risk was observed after Omicron infection, suggesting a possible reduction in the PCC burden over time. A non-negligible proportion of the variant effect on PCC risk seems mediated by increased disease severity during the acute disease. Full article

The detection and surveillance of ship targets in coastal waters is not only a crucial technology for the advancement of ship intelligence, but also holds great significance for the safety and economic development of coastal areas. However, due to poor visibility in foggy conditions, the effectiveness of ship detection in coastal waters during foggy weather is limited. In this paper, we propose an improved version of YOLOv8s, termed YOLOv8s-Fog, which provides a multi-target detection network specifically designed for nearshore scenes in foggy weather. This improvement involves adding coordinate attention to the neck of YOLOv8 and replacing the convolution in C2f with deformable convolution. Additionally, to expand the dataset, we construct and synthesize a collection of ship target images captured in coastal waters on days with varying degrees of fog, using the atmospheric scattering model and monocular depth estimation. We compare the improved model with the standard YOLOv8s model, as well as several other object detection models. The results demonstrate superior performance achieved by the improved model, achieving an average accuracy of 74.4% (mAP@0.5), which is 1.2% higher than that achieved by the standard YOLOv8s model. Full article

The density of fog is directly related to visibility and is one of the decision-making criteria for airport flight management and highway traffic management. Estimating fog density based on images and videos has been a popular research topic in recent years. However, the fog density estimated results based on images should be further evaluated and analyzed by combining weather information from other sensors. The data obtained by different sensors often need to be aligned in terms of time because of the difference in acquisition methods. In this paper, we propose a video and a visibility data alignment method based on temporal consistency for data alignment. After data alignment, the fog density estimation results based on images and videos can be analyzed, and the incorrect estimation results can be efficiently detected and corrected. The experimental results show that the new method effectively combines videos and visibility for fog density estimation. Full article

The pipe jacking guidance system based on a fiber optic gyroscope (FOG) has gained extensive attention due to its high degree of safety and autonomy. However, all inertial guidance systems have accumulative errors over time. The zero-velocity update (ZUPT) algorithm is an effective error compensation method, but accurately distinguishing between moving and stationary states in slow pipe jacking operations is a major challenge. To address this challenge, a “MV + ARE + SHOE” three-conditional zero-velocity detection (TCZVD) algorithm for the fiber optic gyroscope inertial navigation system (FOG-INS) is designed. Firstly, a Kalman filter model based on ZUPT is established. Secondly, the TCZVD algorithm, which combines the moving variance of acceleration (MV), angular rate energy (ARE), and stance hypothesis optimal estimation (SHOE), is proposed. Finally, experiments are conducted, and the results indicate that the proposed algorithm achieves a zero-velocity detection accuracy of 99.18% and can reduce positioning error to less than 2% of the total distance. Furthermore, the applicability of the proposed algorithm in the practical working environment is confirmed through on-site experiments. The results demonstrate that this method can effectively suppress the accumulated error of the inertial guidance system and improve the positioning accuracy of pipe jacking. It provides a robust and reliable solution for practical engineering challenges. Therefore, this study will contribute to the development of pipe jacking automatic guidance technology. Full article

Sea fog reduces visibility to less than 1 km and is a major cause of maritime accidents, particularly affecting the navigation of small fishing vessels as it forms when warm, moist air moves over cold water, making it difficult to predict. Traditional visibility measurement tools are costly and limited in their real-time monitoring capabilities, which has led to the development of video-based algorithms using cameras. This study introduces the Approximating and Eliminating the Airlight–Reduced DCP (AEA-RDCP) algorithm, designed to address the issue where sunlight reflections are mistakenly recognized as fog in existing video-based sea fog intensity measurement algorithms, thereby improving performance. The dataset used in the experiment is categorized into two types: one consisting of images unaffected by sunlight and another consisting of maritime images heavily influenced by sunlight. The AEA-RDCP algorithm enhances the previously researched RDCP algorithm by effectively eliminating the influence of atmospheric light, utilizing the initial stages of the Dark Channel Prior (DCP) process to generate the Dark Channel image. While the DCP algorithm is typically used for dehazing, this study employs it only to the point of generating the Dark Channel, reducing computational complexity. The generated image is then used to estimate visibility based on a threshold for fog density estimation, maintaining accuracy while reducing computational demands, thereby allowing for the real-time monitoring of sea conditions, enhancing maritime safety, and preventing accidents. Full article

Haze imagery suffers from reduced clarity, which can be attributed to atmospheric conditions such as dust or water vapor, resulting in blurred visuals and heightened brightness due to light scattering. Conventional methods employing the dark channel prior (DCP) for transmission map estimation often excessively amplify fogged sky regions, causing image distortion. This paper presents a novel approach to improve transmission map granularity by utilizing multiple $1\times 1$ DCPs derived from multiscale hazy, inverted, and Euclidean difference images. An adaptive airlight estimation technique is proposed to handle low-light, hazy images. Furthermore, an adaptive gamma correction method is introduced to refine the transmission map further. Evaluation of dehazed images using the Dehazing Quality Index showcases superior performance compared to existing techniques, highlighting the efficacy of the enhanced transmission map. Full article