Search Results (3,786)

To improve collision risk prediction in high-traffic coastal waters and support real-time decision-making in maritime navigation, this study proposes a regional collision risk prediction system integrating the Computed Distance at Collision (CDC) method with an Adaptive Neuro-Fuzzy Inference System (ANFIS). Unlike Distance at Closest Point of Approach (DCPA), which depends on the position of Global Positioning System (GPS) antennas, Computed Distance at Collision (CDC) directly reflects the actual hull shape and potential collision point. This enables a more realistic assessment of collision risk by accounting for the hull geometry and boundary conditions specific to different ship types. The system was designed and validated using ship motion simulations involving bulk and container ships across varying speeds and crossing angles. The CDC method was used to define collision, almost-collision, and near-collision situations based on geometric and hydrodynamic criteria. Subsequently, the FIS–CDC model was constructed using the ANFIS by learning patterns in collision time and distance under each condition. A total of four input variables—ship speed, crossing angle, remaining time, and remaining distance—were used to infer the collision risk index (CRI), allowing for a more nuanced and vessel-specific assessment than traditional CPA-based indicators. Simulation results show that the time to collision decreases with higher speeds and increases with wider crossing angles. The bulk carrier exhibited a wider collision-prone angle range and a greater sensitivity to speed changes than the container ship, highlighting differences in maneuverability and risk response. The proposed system demonstrated real-time applicability and accurate risk differentiation across scenarios. This research contributes to enhancing situational awareness and proactive risk mitigation in Maritime Autonomous Surface Ship (MASS) and Vessel Traffic System (VTS) environments. Future work will focus on real-time CDC optimization and extending the model to accommodate diverse ship types and encounter geometries. Full article

The force ripple of a permanent magnet synchronous linear motor (PMSLM) caused by multi-source disturbances in practical applications seriously restricts its high-precision motion control performance. The traditional single-mechanism model has difficulty fully characterizing the nonlinear disturbance factors, while the data-driven method has real-time limitations. Therefore, this paper proposes a hybrid modeling framework that integrates the physical mechanism and measured data and realizes the dynamic compensation of the force ripple by constructing a collaborative suppression algorithm. At the mechanistic level, based on electromagnetic field theory and the virtual displacement principle, an analytical model of the core disturbance terms such as the cogging effect and the end effect is established. At the data level, the acceleration sensor is used to collect the dynamic response signal in real time, and the data-driven ripple residual model is constructed by combining frequency domain analysis and parameter fitting. In order to verify the effectiveness of the algorithm, a hardware and software experimental platform including a multi-core processor, high-precision current loop controller, real-time data acquisition module, and motion control unit is built to realize the online calculation and closed-loop injection of the hybrid compensation current. Experiments show that the hybrid framework effectively compensates the unmodeled disturbance through the data model while maintaining the physical interpretability of the mechanistic model, which provides a new idea for motor performance optimization under complex working conditions. 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 aircraft nose-wheel steering system serves as a critical component for ensuring ground taxiing safety and maneuvering efficiency. However, its dynamic control stability faces significant challenges under complex operational conditions. Existing research predominantly focuses on single-discipline modeling, with insufficient in-depth analysis of the coupling effects between hydraulic system dynamics and mechanical dynamics. Traditional PID controllers exhibit limitations in scenarios involving nonlinear time-varying conditions caused by normal load fluctuations of the landing gear buffer strut during high-speed landing phases, including increased control overshoot and inadequate adaptability to abrupt load variations. These issues severely compromise the stability of high-speed deviation correction and overall aircraft safety. To address these challenges, this study constructs a digital twin model based on real aircraft data and innovatively implements multidisciplinary co-simulation via Simcenter 3D, AMESim 2021.1, and MATLAB R2020a. A fuzzy adaptive PID controller is specifically designed to achieve adaptive adjustment of control parameters. Comparative analysis through co-simulation demonstrates that the proposed mechanical–electrical–hydraulic collaborative control strategy significantly reduces response delay, effectively minimizes control overshoot, and decreases hydraulic pressure-fluctuation amplitude by over 85.2%. This work provides a novel methodology for optimizing steering stability under nonlinear interference scenarios, offering substantial engineering applicability and promotion value. Full article

Microfluidic platforms offer a powerful approach for ultimately replicating vascularization in vitro, enabling precise microscale control and manipulation of physical parameters. Despite these advances, the real-time ability to monitor and quantify mechanical forces—particularly pressure—within microfluidic environments remains constrained by limitations in cost and compatibility across diverse device architectures. Our work presents an advanced experimental module for quantifying pressure within a vascularizing microfluidic platform. Equipped with an integrated Arduino microcontroller and image monitoring, the system facilitates real-time remote monitoring to access temporal pressure and flow dynamics within the device. This setup provides actionable insights into the hemodynamic parameters driving vascularization in vitro. In-line pressure sensors, interfaced through I2C communication, are employed to precisely record inlet and outlet pressures during critical stages of microvasculature tubulogenesis. Flow measurements are obtained by analyzing changes in reservoir volume over time (dV/dt), correlated with the change in pressure over time (dP/dt). This quantitative assessment of various pressure conditions in a microfluidic platform offers insights into their impact on microvasculature perfusion kinetics. Data acquisition can help inform and finetune functional vessel network formation and potentially enhance the durability, stability, and reproducibility of engineered in vitro platforms for organoid vascularization in regenerative medicine. Full article

This paper develops a unified framework for mathematical finance under general semimartingale models that allow for dividend payments, negative asset prices, and unbounded jumps. We present a rigorous approach to the mathematical modeling of financial markets with dividend-paying assets by defining appropriate concepts of numéraires, discounted processes, and self-financing trading strategies. While most of the mathematical results are not new, this unified framework has been missing in the literature. We carefully examine the transition between nominal and discounted price processes and define appropriate notions of admissible strategies that work naturally in both settings. By establishing the equivalence between these models and providing clear conditions for their applicability, we create a mathematical foundation that encompasses a wide range of realistic market scenarios and can serve as a basis for future work on mathematical finance and derivative pricing. We demonstrate the practical relevance of our framework through a comprehensive application to dividend-paying equity markets where the framework naturally handles discrete dividend payments. This application shows that our theoretical framework is not merely abstract but provides the rigorous foundation for pricing derivatives in real-world markets where classical assumptions need extension. Full article

Accurate diagnosis of gastrointestinal (GI) diseases typically requires invasive procedures or imaging studies that pose the risk of various post-procedural complications or involve radiation exposure. Bowel sounds (BSs), though typically described during a GI-focused physical exam, are highly inaccurate and variable, with low clinical value in diagnosis. Interpretation of the acoustic characteristics of BSs, i.e., using a phonoenterogram (PEG), may aid in diagnosing various GI conditions non-invasively. Use of artificial intelligence (AI) and improvements in computational analysis can enhance the use of PEGs in different GI diseases and lead to a non-invasive, cost-effective diagnostic modality that has not been explored before. The purpose of this work was to develop an automated AI model, You Only Listen Once (YOLO), to detect prominent bowel sounds that can enable real-time analysis for future GI disease detection and diagnosis. A total of 110 2-minute PEGs sampled at 44.1 kHz were recorded using the Eko DUO^® stethoscope from eight healthy volunteers at two locations, namely, left upper quadrant (LUQ) and right lower quadrant (RLQ) after IRB approval. The datasets were annotated by trained physicians, categorizing BSs as prominent or obscure using version 1.7 of Label Studio Software^®. Each BS recording was split up into 375 ms segments with 200 ms overlap for real-time BS detection. Each segment was binned based on whether it contained a prominent BS, resulting in a dataset of 36,149 non-prominent segments and 6435 prominent segments. Our dataset was divided into training, validation, and test sets (60/20/20% split). A 1D-CNN augmented transformer was trained to classify these segments via the input of Mel-frequency cepstral coefficients. The developed AI model achieved area under the receiver operating curve (ROC) of 0.92, accuracy of 86.6%, precision of 86.85%, and recall of 86.08%. This shows that the 1D-CNN augmented transformer with Mel-frequency cepstral coefficients achieved creditable performance metrics, signifying the YOLO model’s capability to classify prominent bowel sounds that can be further analyzed for various GI diseases. This proof-of-concept study in healthy volunteers demonstrates that automated BS detection can pave the way for developing more intuitive and efficient AI-PEG devices that can be trained and utilized to diagnose various GI conditions. To ensure the robustness and generalizability of these findings, further investigations encompassing a broader cohort, inclusive of both healthy and disease states are needed. Full article

The operational and indoor environmental quality of buildings has a significant impact on global energy consumption and human quality of life. One of the key directions for improving building performance is the optimization of building control systems. In modern buildings, the presence of numerous actuators and monitoring points makes manually designed control algorithms potentially suboptimal due to the complexity and human factors. To address this challenge, model predictive control based on artificial neural networks can be employed. The advantage of this approach lies in the model’s ability to learn and understand the dynamic behavior of the building from monitoring datasets. It should be noted that the effectiveness of such control models is directly dependent on the forecasting accuracy of the neural networks. In this study, we adapt neural network architectures such as GRU and TCN for use in the context of building model predictive control. Furthermore, we propose a novel hybrid architecture that combines the strengths of recurrent and convolutional neural networks. These architectures were compared using real monitoring data collected with a custom-developed device introduced in this work. The results indicate that, under the given experimental conditions, the proposed hybrid architecture outperforms both GRU and TCN models, particularly when processing large sequential input vectors. Full article

Background/Objectives: A common approach to investigating visual form processing is through studying responses to visual stimuli that comprise illusory contours. Such stimuli induce contours where none exist physically and thus reveal the constructive nature of visual perception and the conditions that engender it. The present work used IC stimuli to study the development of visual form detection and extraction in infants and adults. Methods: Infant and adult participants viewed square stimulus forms with either real or illusory contours, while their looking behavior was measured with an eye tracker. Fixations of the stimuli were coded by region, distinguishing between the contours of the forms and within the forms themselves. Fixations were summed by region, and fixations on forms were interpreted to index the detection of coherent, whole forms. Fixations on contours (real and illusory) were interpreted to index the extraction of form edges. Results: Total form fixations differed by age. For real contours, fixations by infants exceeded those by adults; when contours were illusory, adult fixations were greater than those of infants. Contour fixations were similar between ages. Infants and adults both looked more at contours when illusory than when real. Conclusions: Together, the results provide new conclusions about change and continuity in the visual analysis of form and contour. The results suggest that the visual detection and binding of simple form structure appears to develop between infancy and adulthood. However, the exploration of contours that support the extraction of form contours from backgrounds appears to change little between infancy and adulthood. Full article

In the industrial production of polytetrafluoroethylene (PTFE), accurately recognizing the liquid state within the coagulation vessel is critical to achieving better product quality and higher production efficiency. However, the complex and subtle changes in the coagulation process pose significant challenges for traditional sensing methods, calling for more reliable visual approaches that can handle varying scales and dynamic state changes. This study proposes a multi-branch deep learning framework for classifying the liquid state of PTFE emulsions based on high-resolution images captured in real-world factory conditions. The framework incorporates multi-scale feature extraction through a three-branch network and introduces a frequency–channel attention module to enhance feature discrimination. To address optimization challenges across branches, contrastive learning is employed for deep supervision, encouraging consistent and informative feature learning. The experimental results show that the proposed method significantly improves classification accuracy, achieving a mean F1-score of 94.3% across key production states. This work demonstrates the potential of deep learning-based visual classification methods for improving automation and reliability in industrial production. Full article

Accurate localization plays a critical role in enabling underwater vehicle autonomy. In this work, we develop a robust infrastructure-based localization framework that estimates the position and orientation of underwater vehicles using only range measurements from long baseline (LBL) acoustic beacons to multiple on-board receivers. The proposed framework integrates three key components, each formulated as a convex optimization problem. First, we introduce a robust calibration function that unifies multiple sources of measurement error—such as range-dependent degradation, variable sound speed, and latency—by modeling them through a monotonic function. This function bounds the true distance and defines a convex feasible set for each receiver location. Next, we estimate the receiver positions as the center of this feasible region, using two notions of centrality: the Chebyshev center and the maximum volume inscribed ellipsoid (MVE), both formulated as convex programs. Finally, we recover the vehicle’s full 6-DOF pose by enforcing rigid-body constraints on the estimated receiver positions. To do this, we leverage the known geometric configuration of the receivers in the vehicle and solve the Orthogonal Procrustes Problem to compute the rotation matrix that best aligns the estimated and known configurations, thereby correcting the position estimates and determining the vehicle orientation. We evaluate the proposed method through both numerical simulations and field experiments. To further enhance robustness under real-world conditions, we model beacon-location uncertainty—due to mooring slack and water currents—as bounded spherical regions around nominal beacon positions. We then mitigate the uncertainty by integrating the modified range constraints into the MVE position estimation formulation, ensuring reliable localization even under infrastructure drift. Full article

Energy harvesting systems (EHSs) are widely used to power wireless sensors. Piezoelectric harvesters have the advantage of producing an electric signal directly related to the exciting force and can thus be used to power condition monitoring sensors in dynamically loaded structures such as bridges. The need for such monitoring is exemplified by the fact that the condition of close to 25% of public roadway bridges in, e.g., Germany is not satisfactory. Stack-based piezoelectric energy harvesting systems (pEHSs) installed near bridge bearings could provide information about the traffic and dynamic loads on the one hand and condition-dependent changes in the bridge characteristics on the other. This paper presents an approach to co-optimizing the design of the mechanical and electrical components using a nonlinear solver. Such an approach has not been described in the open literature to the best of the authors’ knowledge. The mechanical excitation is estimated through a finite element simulation, and the electric circuitry is modeled in Simulink to account for the nonlinear characteristics of rectifying diodes. We use real traffic data to create statistical randomized scenarios for the optimization and statistical variation. A main result of this work is that it reveals the strong dependence of the energy output on the interaction between bridge, harvester, and traffic details. A second result is that the methodology yields design criteria for the harvester such that the energy output is maximized. Through the case study of an actual middle-sized bridge in Germany, we demonstrate the feasibility of harvesting a time-averaged power of several milliwatts throughout the day. Comparing the total amount of harvested energy for 1000 randomized traffic scenarios, we demonstrate the suitability of pEHS to power wireless sensor nodes. In addition, we show the potential sensory usability for traffic observation (vehicle frequency, vehicle weight, axle load, etc.). Full article

Modern microgrids face critical challenges in maintaining stability and efficiency due to renewable energy intermittency and dynamic load demands. This paper proposes a novel real-time energy management framework that synergizes a bio-inspired T-Cell optimization algorithm with decentralized voltage-based droop control to address these challenges. A JADE-based multi-agent system (MAS) orchestrates coordination between the T-Cell optimizer and edge-level controllers, enabling scalable and fault-tolerant decision-making. The T-Cell algorithm, inspired by adaptive immune system dynamics, optimizes global power distribution through the MAS platform, while droop control ensures local voltage stability via autonomous adjustments by distributed energy resources (DERs). The framework is rigorously validated through Hardware-in-the-Loop (HIL) testing using OPAL-RT, which interfaces MATLAB/Simulink models with Raspberry Pi for real-time communication (MQTT/Modbus protocols). Experimental results demonstrate a 91% reduction in grid dependency, 70% mitigation of voltage fluctuations, and a 93% self-consumption rate, significantly enhancing power quality and resilience. By integrating centralized optimization with decentralized control through MAS coordination, the hybrid approach achieves scalable, self-organizing microgrid operation under variable generation and load conditions. This work advances the practical deployment of adaptive energy management systems, offering a robust solution for sustainable and resilient microgrids. Full article

Material extrusion additive manufacturing (MEAM) has emerged as a versatile and widely adopted 3D printing technology due to its cost-effectiveness and ability to process a diverse range of materials. However, achieving consistent part quality and repeatability remains a challenge, mainly due to variations in process parameters and material behavior during fabrication. In-situ monitoring and advanced process control systems have been increasingly integrated into MEAM to address these issues, enabling real-time detection of defects, optimization of printing conditions, reliability of fabricated parts, and enhanced control over mechanical properties. This review examines the state-of-the-art in-situ monitoring techniques, including thermal imaging, vibrational sensing, rheological monitoring, printhead positioning, acoustic sensing, image recognition, and optical scanning, and their integration with process control strategies, such as closed-loop feedback systems and machine learning algorithms. Key challenges, including sensor accuracy, data processing complexity, and scalability, are discussed alongside recent advancements and their implications for industrial applications. By synthesizing current research, this work highlights the critical role of in-situ monitoring and process control in advancing the reliability and precision of MEAM, paving the way for its broader adoption in high-performance manufacturing. Full article

This research presents DuSAFNet, a lightweight deep neural network for fine-grained bird audio classification. DuSAFNet combines dual-path feature fusion, spectral–temporal attention, and a multi-band ArcMarginProduct classifier to enhance inter-class separability and capture both local and global spectro–temporal cues. Unlike single-feature approaches, DuSAFNet captures both local spectral textures and long-range temporal dependencies in Mel-spectrogram inputs and explicitly enhances inter-class separability across low, mid, and high frequency bands. On a curated dataset of 17,653 three-second recordings spanning 18 species, DuSAFNet achieves 96.88% accuracy and a 96.83% F1 score using only 6.77 M parameters and 2.275 GFLOPs. Cross-dataset evaluation on Birdsdata yields 93.74% accuracy, demonstrating robust generalization to new recording conditions. Its lightweight design and high performance make DuSAFNet well-suited for edge-device deployment and real-time alerts for rare or threatened species. This work lays the foundation for scalable, automated acoustic monitoring to inform biodiversity assessments and conservation planning. Full article