Search Results (3,597)

The parameter identification of Autonomous Underwater Vehicles (AUVs) serves as a fundamental basis for achieving high-precision motion control, state monitoring, and system development. Currently, AUV parameter identification typically relies on the complete motion information obtained from onboard sensors. However, in practical applications, it is often challenging to accurately measure key state variables such as velocity and angular velocity, resulting in incomplete measurement data that compromises identification accuracy and model reliability. This issue is particularly pronounced in vertical motion tasks involving low-speed, large pitch angles, and highly maneuverable conditions, where the strong coupling and nonlinear characteristics of underwater vehicles become more significant. Traditional hydrodynamic models based on full-state measurements often suffer from limited descriptive capability and difficulties in parameter estimation under such conditions. To address these challenges, this study investigates a parameter identification method for AUVs operating under vertical, large-amplitude maneuvers with constrained measurement information. A control autoregressive (CAR) model-based identification approach is derived, which requires only pitch angle, vertical velocity, and vertical position data, thereby reducing the dependence on complete state observations. To overcome the limitations of the conventional Recursive Least Squares (RLS) algorithm—namely, its slow convergence and low accuracy under rapidly changing conditions—a Multi-Innovation Least Squares (MILS) algorithm is proposed to enable the efficient estimation of nonlinear hydrodynamic characteristics in complex dynamic environments. The simulation and experimental results validate the effectiveness of the proposed method, demonstrating high identification accuracy and robustness in scenarios involving large pitch angles and rapid maneuvering. The results confirm that the combined use of the CAR model and MILS algorithm significantly enhances model adaptability and accuracy, providing a solid data foundation and theoretical support for the design of AUV control systems in complex operational environments. Full article

Inspection, maintenance, and repair (IMR) operations on underwater infrastructure remain costly and time-intensive because fully teleoperated remote operated vehicle s(ROVs) lack the range and dexterity necessary for precise cooperative underwater manipulation, and the alternative of using professional divers is ruled out due to the risk involved. This work presents and experimentally validates an autonomous, dual-I-AUV (Intervention–Autonomous Underwater Vehicle) system capable of assembling rigid pipeline segments through coordinated actions in a confined underwater workspace. The first I-AUV is a Girona 500 (4-DoF vehicle motion, pitch and roll stable) fitted with multiple payload cameras and a 6-DoF Reach Bravo 7 arm, giving the vehicle 10 total DoF. The second I-AUV is a BlueROV2 Heavy equipped with a Reach Alpha 5 arm, likewise yielding 10 DoF. The workflow comprises (i) detection and grasping of a coupler pipe section, (ii) synchronized teleoperation to an assembly start pose, and (iii) assembly using a kinematic controller that exploits the Girona 500’s full 10 DoF, while the BlueROV2 holds position and orientation to stabilize the workspace. Validation took place in a 12 m × 8 m × 5 m water tank. Results show that the paired I-AUVs can autonomously perform precision pipeline assembly in real water conditions, representing a significant step toward fully automated subsea construction and maintenance. Full article

The influence of soft tissue structures, including ligaments spanning one or more intervertebral junctions and the nuchal ligament, on motion of the equine cervical joints remains unclear. The present study addressed this using four post-mortem horse specimens extending from head to withers with all ligaments intact. Three-dimensional kinematics was obtained from markers on the head and bone-anchored markers on each cervical and the first thoracic vertebra during rotation, lateral bending, flexion and extension of the whole head, and neck segment. Yaw, pitch, and roll angles in 8 cervical joints (total 32) were calculated. Flexion and extension were expressed mainly as pitch in 27 and 22 joints, respectively. Rotation appeared as predominantly roll in 13 joints, whereas lateral bending was represented as predominantly yaw in 1 and as roll or pitch in all other joints. Significant correlations between yaw, pitch, and roll were observed at individual cervical joints in 97% of all measurements, with the atlanto-occipital joint showing complete (100%) correlation. Most non-significant correlations occurred at the C5–C6 joint, while C6–C7 exhibited significantly lower correlation coefficients compared to other levels. The overall movement of the head and neck is not replicated at individual cervical joint levels and should be considered when evaluating equine necks in vivo. Full article

This study aims to investigate the effects of phase synchronisation on tonal noise reduction in a multi-rotor UAV using an electronic phase-locking system. Experiments at the University of Bristol explored the impact of relative phase angle, propeller spacing, and blade geometry on acoustic performance, including psychoacoustic annoyance. Results show that increasing the phase angle consistently reduces the sound pressure level (SPL) due to destructive interference. For the two-bladed configuration, the highest noise reduction occurred at relative phase angle $\Delta \psi ={90}^{\circ }$, with a 19 dB decrease at the first blade-passing frequency (BPF). Propeller spacing had minimal impact when phase synchronisation was applied. The pitch-to-diameter ($P/D$) ratio also influenced results: for $P/D=0.55$, reductions ranged from 13–18 dB; and for $P/D=1.0$, reductions ranged from 10–20 dB. Maximum psychoacoustic annoyance was observed when propellers were in phase ($\Delta \psi =0^{\circ }$), while annoyance decreased with increasing phase angle, confirming the effectiveness of phase control for noise mitigation. For the five-bladed configuration, the highest reduction of 15 dB occurred at $\Delta \psi ={36}^{\circ }$, with annoyance levels also decreasing with phase offset. Full article

Research on raw materials for Al₂O₃-SiC-C refractory castables used in blast furnace troughs is relatively well established. However, gaps remain in both laboratory and industrial trials concerning the performance of castables incorporating SiC-modified flake graphite and alternative carbon sources. This study investigated the sintering behavior, mechanical properties, and service performance of Al₂O₃-SiC-C castables utilizing varying contents of modified flake graphite, pitch, and carbon black as carbon sources. Samples were characterized using SEM, XRD, and EDS for phase composition and microstructural morphology analysis. Key findings revealed that the thermal expansion mismatch between the SiC coating and flake graphite in SiC-modified graphite generated a microcrack-toughening effect. This effect, combined with the synergistic reinforcement from both components, enhanced the mechanical properties. The SiC modification layer improved the wettability and oxidation resistance of the flake graphite. This modified graphite further contributed to enhanced erosion resistance through mechanisms of matrix pinning and crack deflection within the microstructure. However, the microcracks induced by thermal mismatch concurrently reduced erosion resistance, resulting in an overall limited net improvement in erosion resistance attributable to the modified graphite. Specimens containing 1 wt.% modified flake graphite exhibited the optimal overall performance. During industrial trials, this formulation unexpectedly demonstrated a water reduction mechanism requiring further investigation. Full article

Sensor fusion in intelligent suspension systems constitutes a fundamental technology for optimizing vehicle dynamic stability, ride comfort, and occupant safety. By integrating data from multiple sensor modalities, this study proposes a hierarchical multi-sensor fusion framework for active suspension control, aiming to enhance control precision. Initially, a binocular vision system is employed for target detection, enabling the identification of lane curvature initiation points and speed bumps, with real-time distance measurements. Subsequently, the integration of Global Positioning System (GPS) and inertial measurement unit (IMU) data facilitates the extraction of road elevation profiles ahead of the vehicle. A BP-PID control strategy is implemented to formulate mode-switching rules for the active suspension under three distinct road conditions: flat road, curved road, and obstacle road. Additionally, an ant colony optimization algorithm is utilized to fine-tune four suspension parameters. Utilizing the hardware-in-the-loop (HIL) simulation platform, the observed reductions in vertical, pitch, and roll accelerations were 5.37%, 9.63%, and 11.58%, respectively, thereby substantiating the efficacy and robustness of this approach. Full article

The object of this study is welded joints of AISI 321 and Ti-6Al-4V, obtained by diffusion welding on developed conical surfaces. The problem of creating bimetallic joints of AISI 321 and Ti-6Al-4V with developed conical contact surfaces, using diffusion welding through an intermediate Electrolytic Tough Pitch Copper (Cu-ETP) copper layer, was solved. The joints were studied using micro-X-ray spectral analysis, microstructural analysis, and mechanical tests. High mutual diffusion of copper and titanium, along with increased concentrations of Cr and V in copper, was detected. The shear strength of the obtained welded joints is 250 MPa and 235 MPa at 30 min and 15 min, respectively, which is higher than the copper layer’s strength (180 MPa). The obtained results are explained by the dislocation diffusion mechanism in the volume of grains and beyond, due to thermal deformations during welding. Under operating conditions of internal pressure and cryogenic temperatures, the strength of the connection is ensured by the entire two-layer structure, and tightness is ensured by a vacuum-tight diffusion connection. The obtained strength of the connection (250 MPa) is sufficient under the specified operating conditions. Analysis of existing solutions in the literature review indicates that industrial application of technology for manufacturing bimetallic adapters from AISI 321 stainless steel and Ti-6Al-4V titanium alloy is limited to butt joints with small geometric dimensions. Studies of the transition zone structure and diffusion processes in bimetallic joints with developed conical contact surfaces enabled determination of factors affecting joint structure and diffusion coefficients. The obtained bimetallic adapters, made of Ti-6Al-4V titanium alloy and AISI 321 stainless steel, can be used to connect titanium high-pressure vessels with stainless steel pipelines. Full article

This paper proposes a novel hierarchical control architecture that combines Model Predictive Control (MPC) with Explicit Model-Following Control (EMFC) to enable accurate and efficient trajectory tracking for quadrotor electric Vertical Takeoff and Landing (eVTOL) aircraft operating in urban environments. The approach addresses the challenges of strong nonlinear dynamics, multi-axis coupling, and stringent safety constraints by separating the planning task from the fast-response control task. The MPC layer generates constrained velocity and yaw rate commands based on a simplified inertial prediction model, effectively reducing computational complexity while accounting for physical and operational limits. The EMFC layer then compensates for dynamic couplings and ensures the rapid execution of commands. A high-fidelity simulation model, incorporating rotor flapping dynamics, differential collective pitch control, and enhanced aerodynamic interference effects, is developed to validate the controller. Four representative ADS-33E-PRF tasks—Hover, Hovering Turn, Pirouette, and Vertical Maneuver—are simulated. Results demonstrate that the proposed controller achieves accurate trajectory tracking, stable flight performance, and full compliance with ADS-33E-PRF criteria, highlighting its potential for autonomous urban air mobility applications. Full article

The control stability and accuracy of quad tiltrotor UAVs is improved when encountering external disturbances during automatic flight by an active disturbance rejection control (ADRC) parameter self-tuning control strategy based on a radial basis function (RBF) neural network. Firstly, a nonlinear flight dynamics model of the quad tiltrotor UAV is established based on the approach of component-based mechanistic modeling. Secondly, the effects of internal uncertainties and external disturbances on the model are eliminated, whilst the online adaptive parameter tuning problem for the nonlinear active disturbance rejection controller is addressed. The superior nonlinear function approximation capability of the RBF neural network is then utilized by taking both the control inputs computed by the controller and the system outputs of the quad tiltrotor model as neural network inputs to implement adaptive parameter adjustments for the Extended State Observer (ESO) component responsible for disturbance estimation and the Nonlinear State Error Feedback (NLSEF) control law of the active disturbance rejection controller. Finally, an adaptive attitude control system for the quad tiltrotor UAV is constructed, centered on the ADRC-RBF controller. Subsequently, the efficacy of the attitude control system is validated through simulation, encompassing a range of flight conditions. The simulation results demonstrate that the Integral of Absolute Error (IAE) of the pitch angle response controlled by the ADRC-RBF controller is reduced to 37.4° in comparison to the ADRC controller in the absence of external disturbance in the full-states mode state of the quad tiltrotor UAV, and the oscillation amplitude of the pitch angle response controlled by the ADRC-RBF controller is generally reduced by approximately 50% in comparison to the ADRC controller in the presence of external disturbance. In comparison with the conventional ADRC controller, the proposed ADRC-RBF controller demonstrates superior performance with regard to anti-disturbance capability, adaptability, and tracking accuracy. Full article

Reliable prediction of tunnel thruster performance under reverse, or off-design, reverse operating direction (ROD) conditions, is crucial for modern vessels that require bidirectional thrust from a single unit—such as yachts and offshore support vessels. Despite the increasing demand for such a capability, there remains limited understanding of the unsteady hydrodynamic behavior and performance implications of ROD operation. This study addresses this gap through a scale-resolving computational fluid dynamics (CFD) investigation of a full-scale, fixed-pitch propeller with a diameter of 0.62, installed in a tunnel geometry representative of yacht-class side thrusters. Using advanced turbulence modeling, we compare the thruster’s performance under both the normal operating direction (NOD) and ROD. The results reveal notable differences: in ROD, the upstream separation zone was more compact and elongated, average thrust increases by approximately 3–4%, and torque and pressure fluctuations rise by 15–30%. These findings demonstrate that a single tunnel thruster can meet bidirectional manoeuvring requirements. However, the significantly elevated unsteady loads during ROD operation offer a plausible explanation for the increased noise and vibration frequently observed in practice. Full article

This study presents the results of axial tension (uplift) and compression tests evaluating the capacity of helical piles installed in Shahriyar dense sand using the UTM apparatus. Thirteen pile load experiments involving single-, double-, or triple-helix piles with shaft diameters of 13 mm were performed, including six compression tests and seven tension tests with different pitches (D_h =13, 20, and 25 mm). The tested helical piles with a helix diameter of 51 mm were considered, and the interhelix spacing approximately ranged between two and four times the helix diameter. Through laboratory testing techniques, the Shahriyar dense sand properties were identified. Alongside theoretical analyses of helical piles, the tensile and compressive pile load tests outcomes in dense sand with a relative density of 70% are presented. It was found that the maximum capacities of the compressive and tensile helical piles were up to six and eleven times that of the shaft capacity, respectively. With an increasing number of helices, the settlement reduced, and the bearing capacity increased. Consequently, helical piles can be manufactured in smaller sizes compared to steel piles. Overall, the compressive capacities of helical piles were higher than the tensile capacities under similar conditions. Single-helices piles with a pitch of 20 mm and double-helices piles with a pitch of 13 mm were more effective than others. Therefore, placing helices at the shallower depths and using smaller pitches result in better performance. In this study, when compared to values from the L1–L2 method, the theoretical method slightly underestimates the ultimate compression capacity and both overestimates and underestimates the uplift capacity for single- and double-helical piles, respectively, due to the individual bearing mode and cylindrical shear mode. Full article

The development of Global Positioning System (GPS) technology has contributed in various ways to improving the physical condition of modern football players by enabling the quantification of physical load. Previous studies have reported that the running demands of matches vary depending on playing position and formation. Over the past decade, despite the widespread use of GPS technology, studies that have investigated the running performance of young football players within the 1-4-3-3 formation are particularly limited. Therefore, the aim of the present study was to create the match running profile of playing positions in the 1-4-3-3 formation among high-level youth football players. An additional objective of the study was to compare the running performance of players between the two halves of a match. This study involved 25 football players (Under-19, U19) from the academy of a professional football club. Data were collected from 18 league matches in which the team used the 1-4-3-3 formation. Positions were categorized as Central Defenders (CDs), Side Defenders (SDs), Central Midfielders (CMs), Side Midfielders (SMs), and Forwards (Fs). The players’ movement patterns were monitored using GPS devices and categorized into six speed zones: Zone 1 (0.1–6 km/h), Zone 2 (6.1–12 km/h), Zone 3 (12.1–18 km/h), Zone 4 (18.1–21 km/h), Zone 5 (21.1–24 km/h), and Zone 6 (above 24.1 km/h). The results showed that midfielders covered the greatest total distance (p = 0.001), while SDs covered the most meters at high and maximal speeds (Zones 5 and 6) (p = 0.001). In contrast, CDs covered the least distance at high speeds (p = 0.001), which is attributed to the specific tactical role of their position. A comparison of the two halves revealed a progressive decrease in the distance covered by the players at high speed: distance in Zone 3 decreased from 1139 m to 944 m (p = 0.001), Zone 4 from 251 m to 193 m (p = 0.001), Zone 5 from 144 m to 110 m (p = 0.001), and maximal sprinting (Zone 6) dropped from 104 m to 78 m (p = 0.01). Despite this reduction, the total distance remained relatively stable (first half: 5237 m; second half: 5046 m, p = 0.16), indicating a consistent overall workload but a reduced number of high-speed efforts in the latter stages. The results clearly show that the tactical role of each playing position in the 1-4-3-3 formation, as well as the area of the pitch in which each position operates, significantly affects the running performance profile. This information should be utilized by fitness coaches to tailor physical loads based on playing position. More specifically, players who cover greater distances at high speeds during matches should be prepared for this scenario within the microcycle by performing similar distances during training. It can also be used for better preparing younger players (U17) before transitioning to the U19 level. Knowing the running profile of the next age category, the fitness coach can prepare the players so that by the end of the season, they are approaching the running performance levels of the next group, with the goal of ensuring a smoother transition. Finally, regarding the two halves of the game, it is evident that fitness coaches should train players during the microcycle to maintain high movement intensities even under fatigue. Full article

This study investigates the influence of weaving process parameters on the structural homogeneity of woven fabrics, with a focus on the structural autoregulation phenomenon. Two experimental fabric groups of 30 each, plain and twill weaves, were produced using varied loom settings: shed closure timing, lease rod position, backrest roller position, warp pre-tension, and yarn twist direction. Structural uniformity was assessed using a proprietary method and the MagFABRIC 2.1. image analysis system, which quantify intra-repeat, inter-repeat, and global inhomogeneity. This method uses the size, shape, and location of inter-thread pores as well as warp and weft pitches. The results indicate that autoregulation can reduce local structural disturbances, including warp yarn grouping. In plain weaves, loom parameters and humidity significantly contributed to structural autoregulation. In contrast, twill weaves demonstrated dominant internal feedback mechanisms, significantly influenced by yarn twist direction. Regression models at F = 10 revealed nonlinear interactions, confirming autoregulation and experimentally supporting Nosek’s quasi-dynamic theory for these types of fabrics. The results of these studies have practical relevance in high-performance textiles such as filtration, barrier fabrics, and composite reinforcements, where local structural deviations critically affect the functional properties of fabrics. Full article

Background/Objective: Puberphonia is a voice disorder characterized by the persistence of a high-pitched voice in sexually mature males. In phoniatrics and speech-language pathology, it is also known as post-mutational voice instability, mutational falsetto, persistent fistulous voice, or functional falsetto. The absence of an age-appropriate vocal pitch may adversely affect psychological well-being and hinder personal, social, and occupational functioning. The aim of this study was to evaluate of the impact of phoniatric and logopedic rehabilitation on voice quality in patients with puberphonia. Methods: The study included 18 male patients, aged 16 to 34 years, rehabilitated for voice mutation disorders. Phoniatric and logopedic rehabilitation included voice therapy tailored to each subject. A logopedist led exercises aimed at lowering and stabilizing the pitch of the voice and improving its quality. A phoniatrician supervised the therapy, monitoring the condition of the vocal apparatus and providing additional diagnostic and therapeutic recommendations as needed. The duration and intensity of the therapy were adjusted for each patient. Before and after voice rehabilitation, the subjects completed the following questionnaires: the Voice Handicap Index (VHI), the Vocal Tract Discomfort (VTD) scale, and the Voice-Related Quality of Life (V-RQOL). They also underwent an acoustic voice analysis. Results: Statistical analysis of the VHI, VTD, and V-RQOL scores, as well as the voice’s acoustic parameters, showed statistically significant differences before and after rehabilitation (p < 0.005). Conclusions: Phoniatric and logopedic rehabilitation is an effective method of reducing and maintaining a stable, euphonic male voice in patients with functional puberphonia. Effective voice therapy positively impacts selected aspects of psychosocial functioning reported by patients, improves voice-related quality of life, and reduces physical discomfort in the vocal tract. Full article

Objectives: Pelvic tumor resections demand high surgical precision to ensure clear margins while preserving function. Although patient-specific instruments (PSIs) improve osteotomy accuracy, positioning errors remain a limitation. This study evaluates the feasibility, accuracy, and usability of a novel dual-function augmented reality (AR) system for intraoperative guidance in PSI positioning and osteotomy execution using a head-mounted display (HMD). The system provides dual-function support by assisting both PSI placement and osteotomy execution. Methods: Ten fresh-frozen cadaveric hemipelves underwent AR-assisted internal hemipelvectomy, using customized 3D-printed PSIs and a new in-house AR software integrated into an HMD. Angular and translational deviations between planned and executed osteotomies were measured using postoperative CT analysis. Absolute angular errors were computed from plane normals; translational deviation was assessed as maximum error at the osteotomy corner point in both sagittal (pitch) and coronal (roll) planes. A Wilcoxon signed-rank test and Bland–Altman plots were used to assess intra-workflow cumulative error. Results: The mean absolute angular deviation was 5.11 ± 1.43°, with 86.66% of osteotomies within acceptable thresholds. Maximum pitch and roll deviations were 4.53 ± 1.32 mm and 2.79 ± 0.72 mm, respectively, with 93.33% and 100% of osteotomies meeting translational accuracy criteria. Wilcoxon analysis showed significantly lower angular error when comparing final executed planes to intermediate AR-displayed planes (p < 0.05), supporting improved PSI positioning accuracy with AR guidance. Surgeons rated the system highly (mean satisfaction ≥ 4.0) for usability and clinical utility. Conclusions: This cadaveric study confirms the feasibility and precision of an HMD-based AR system for PSI-guided pelvic osteotomies. The system demonstrated strong accuracy and high surgeon acceptance, highlighting its potential for clinical adoption in complex oncologic procedures. Full article