Search Results (90)

This paper develops a theoretical framework and a numerical implementation for real-time estimation of the gross mass of heavy vehicles using only on-board signals: tire inflation pressure from the TPMS and radial deformation inferred from a monocular chassis camera. Each wheel is modeled as a single-degree-of-freedom radial oscillator with pressure-dependent stiffness $k_r\left(P\right)$ and damping $c_r\left(P\right)$. The contact patch geometry follows a compressed-arc approximation that maps radial deformation $\delta$ to contact length $L\left(\delta \right)$ and area $S\left(\delta \right)$. Two independent force surrogates are constructed—$F_k=k_r\left(P\right)\delta$ and $F_q=q\left(P\right)S\left(\delta \right)$, where $q\left(P\right)$ denotes the mean contact pressure—and fused by an adaptive Kalman filter operating at 30 Hz to recover per-wheel loads and total mass. Tuning the fusion weight $\lambda$ yields a relative mass estimation error below 5% across $0.001\le \delta \le 0.20$ m, and the maximum observed error is 4.99%. Numerical experiments using fixed-step RK4 and embedded RK45 methods confirm the accuracy and real-time feasibility on commodity hardware (runtime <33 ms per step). Uncertainty analysis based on Latin hypercube sampling, the PRCC, and Sobol indices shows robustness to parameter perturbations ($\pm 5\%$ inflation, $\pm 10\%$ stiffness, $\pm 15\%$ damping, $\pm 1^{°}$ camera pitch, $\pm 2$ kPa TPMS bias). Observability analysis supports identifiability under the tested regimes. The estimator delivers wheel and axle loads for on-board alerts, telematics, V2X pre-screening for road user charging and weigh-in-motion technology, and friction-aware control. Full article

Soft wearable actuators must align with anatomical joints, conform to limb geometry, and operate at low pneumatic pressures. Yet most twisting mechanisms rely on bulky attachment interfaces and relatively high actuation pressures, limiting practicality in assistive applications. This study introduces the first Twisting Soft Sleeve Actuator (TSSA), a self-contained, wearable actuator that produces controlled bidirectional torsion. The design integrates helically folded bellows with internal stabilization layers to suppress radial expansion and enhance torque transmission. The TSSA is fabricated from thermoplastic polyurethane using a Bowden-type fused filament fabrication (FFF) process optimized for airtightness and flexibility. Performance was characterized using a modular test platform that measured angular displacement and output force under positive pressure (up to 75 kPa) and vacuum (down to −85 kPa). A parametric study evaluated the effects of fold width, fold angle, wall thickness, and twist angle. Results demonstrate bidirectional, self-restoring torsion with clockwise rotation of approximately 30 degrees and a peak output force of about 40 N at 75 kPa, while reverse torsional motion occurred under vacuum actuation. The TSSA enables anatomically compatible, low-pressure torsion, supporting scalable, multi-degree-of-freedom sleeve systems for wearable robotics and rehabilitation. Full article

Conventional projection systems typically require a fixed spatial configuration relative to the projection surface, with strict control over distance and angle. In contrast, UAV-mounted projectors overcome these constraints, enabling dynamic, large-scale projections onto non-planar and complex environments. However, such flexible scenarios introduce a key challenge: severe geometric distortions caused by intricate surface geometry and continuous camera–projector motion. To address this, we propose a novel image registration method based on global dense matching, which estimates the real-time optical flow field between the input projection image and the target surface. The estimated flow is used to pre-warp the image, ensuring that the projected content appears geometrically consistent across arbitrary, deformable surfaces. The core idea of our method lies in reformulating the geometric distortion correction task as a global feature matching problem, effectively reducing 3D spatial deformation into a 2D dense correspondence learning process. To support learning and evaluation, we construct a hybrid dataset that covers a wide range of projection scenarios, including diverse lighting conditions, object geometries, and projection contents. Extensive simulation and real-world experiments show that our method achieves superior accuracy and robustness in correcting geometric distortions in dynamic UAV projection, significantly enhancing visual fidelity in complex environments. This approach provides a practical solution for real-time, high-quality projection in UAV-based augmented reality, outdoor display, and aerial information delivery systems. Full article

We present an automated and fully reproducible pipeline for restoring motion-smeared Mars Express SRC images of Phobos. A one-dimensional motion point spread function (PSF) is derived directly from SPICE geometry and microsecond-precision exposure timing, and Wiener deconvolution (SNR = 16 dB) is applied to recover image sharpness. Tested on 14 images from 4 orbits spanning slant distances of 52–292 km, exposures of 14–20 milliseconds, sampling of 0.47–2.7 m/pixel, and PSF lengths of 11–119 pixels, the method achieves up to 31.7 dB PSNR, 0.78 SSIM, and positive sharpness gains across all cases. The restored images reveal sub-meter surface features previously obscured by motion blur, with residual energy reduced relative to the acquisition model. The workflow relies solely on open data and open-source tools (ISIS, ALE/SpiceyPy, OpenCV), requires no star-field calibration, and generalizes to other motion-degraded planetary datasets, providing a fully transparent and reproducible solution for high-resolution planetary imaging. Full article

In this study, an innovative passive stability-enhancing barge platform geometry is presented to improve the operational efficiency of floating offshore wind turbines (FOWTs) by mitigating platform motion caused by wave action. Barge-type FOWTs, which primarily rely on surface support, have received less attention in terms of geometric optimization. The proposed design incorporates skirts and a trapezoidal cross-sectional shape for the barge platforms.To achieve effective stability given cost-effect considerations, geometrical optimization was performed while maintaining the same mass as the original design. Positioning the skirt with a height-to-diameter ratio of 0.8 reduces platform movements considerably, decreasing the heave by approximately 20% and the pitch by up to 70% relative to the original design. In addition, the analysis demonstrated that increasing the moonpool area to approximately 400 m² (approximately 10% of the platform’s surface area) led to an additional reduction in the heave and pitch responses. A specific moonpool diameter saturation point value was identified to increase the stability of the floater. Finally, the platform configuration yielded consistently lower peak motions across different wave angles, demonstrating improved stability. Full article

Historic masonry towers represent a significant part of the cultural heritage, which is often subject to retrofitting for preservation purposes. Due to the poor quality of the mortar, if present at all, the connection of existing towers to the foundation is generally such that it cannot ensure their monolithic behaviour under seismic action. When choosing a retrofitting technique, engineers often find themselves in a dilemma, whether to strengthen the connection between the tower and the foundation in order to enable the transfer of bending moments from the tower to the foundation due to seismic action, or to leave the towers freely rested on the foundation in order to enable the rocking motion mechanism. The aim of this paper was to investigate how the connection between the tower and the foundation affects the seismic resistance of masonry towers. For this purpose, a series of numerical analyses were performed on 2D numerical models that were created based on the geometry of five towers from the Italian region. In these numerical analyses, each of the towers is subjected to an incremental dynamic analysis in time for the case that it is freely supported on the base and for the case that it is freely rested base. The numerical analyses showed that: (i) unretrofitted towers have relatively low seismic resistance and rocking mechanisms cannot be realised to a significant extent; (ii) retrofitted masonry towers resting freely on the base have a significantly higher seismic resistance compared to the same towers connected to the base due to the rocking motion mechanism. The conclusions drawn on the basis of the conducted studies can serve engineers when choosing a technique for strengthening masonry towers. Full article

This paper addresses the challenge of robust pose estimation for spacecraft under rapid inter-frame motion, proposing a two-stage point cloud registration framework. The first stage computes coarse pose estimation by leveraging Fast Point Feature Histogram (FPFH) descriptors with random sample and consensus (RANSAC) for correspondence matching, effectively handling significant positional displacements. The second stage refines the solution through geometry-aware fine registration using raw point cloud data, enhancing precision through a multi-scale iterative ICP-like framework. To validate the approach, we simulate time-of-flight (ToF) sensor measurements by rendering NASA’s public 3D spacecraft models and obtain 3D point clouds by back-projecting the depth measurements to 3D space. Comprehensive experiments demonstrate superior performance over several state-of-the-art methods in both accuracy and robustness under rapid inter-frame motion scenarios. The dual-stage architecture proves effective in maintaining tracking continuity while mitigating error accumulation from fast relative motion, showing promise for autonomous spacecraft proximity operations. Full article

A barrier to the adoption of floating offshore wind turbines is their high cost relative to conventional fixed-bottom wind turbines. The largest contributor to this cost disparity is generally the floating substructure, due to its large size and complexity. Typically, a primary driver of the geometry and size of a floating substructure is the extreme environmental load case of Region 4, where platform loads are the greatest due to the impact of extreme wind and waves. To address this cost issue, a new concept for a floating offshore wind turbine’s substructure, its moorings, and anchors was optimized for a reference 10-MW turbine under extreme load conditions using OpenFAST. The levelized cost of energy was minimized by fixing the above-water turbine design and minimizing the equivalent substructure mass, which is based on the mass of all substructure components (stem, legs, buoyancy cans, mooring, and anchoring system) and associated costs of their materials, manufacturing, and installation. A stepped optimization scheme was used to allow an understanding of their influence on both the system cost and system dynamic responses for the extreme parked load case. The design variables investigated include the length and tautness ratio of the mooring lines, length and draft of the cans, and lengths of the legs and the stem. The dynamic responses investigated include the platform pitch, platform roll, nacelle horizontal acceleration, and can submergence. Some constraints were imposed on the dynamic responses of interest, and the metacentric height of the floating system was used to ensure static stability. The results offer insight into the parametric influence on turbine motion and on the potential savings that can be achieved through optimization of individual substructure components. A 36% reduction in substructure costs was achieved while slightly improving the hydrodynamic stability in pitch and yielding a somewhat large surge motion and slight roll increase. Full article

As China’s largest peninsula, the Shandong Peninsula faces recurrent threats from both tropical and extratropical cyclone-induced storm surges. Understanding the distinct mechanisms governing these surge types is critical for developing targeted coastal hazard mitigation strategies. This investigation employs the FVCOM-SWAVE coupled wave–current model to conduct numerical simulations and comparative analyses of two 2022 surge events, Typhoon Muifa (tropical) and the “221003” extratropical surge. The results demonstrate that hydrodynamic responses exhibit strong dependence on surge-generating meteorological regimes. Tropical surge dynamics correlate closely with typhoon track geometry, intensity gradients, and asymmetric wind field structures, manifesting rightward-biased energy intensification relative to storm motion. Conversely, extratropical surge variations align with evolving wind-pressure configurations during cold air advection, driven by synoptic-scale atmospheric reorganization. The hydrodynamic environmental response in the sea areas surrounding Jiaodong and Laizhou Bay is particularly pronounced, influenced by the intensity of wind stress on the sea surface, as well as the bathymetry and coastal geometry. Full article

The effect of corrugated wings on the aerodynamic characteristics of a dragonfly-like hovering flapping wing is investigated using two-dimensional numerical simulations. Two types of pitch motion profiles, namely ‘sinusoidal’ and ‘trapezoidal’, are employed. The results obtained from the corrugated wings at Reynolds number Re = 2150 are then compared with the flat plate geometries to analyze the aerodynamic benefits of wing corrugation. The aerodynamic characteristics of corrugated wings are investigated quantitatively using cycle-averaged vertical force coefficient. For the qualitative investigation, time histories of vertical force coefficient, vorticity, and surface pressure distribution are used. The results reveal that the corrugated wings perform better than the flat plates in all three flapping configurations for both sinusoidal and trapezoidal pitch profiles. For a tandem wing with a sinusoidal pitch profile, the corrugated wings yield a vertical force generation nearly 14%, 22%, and 12%, higher than the flat plate geometries for ψ = 0°, 90°, and 180°, respectively. The corrugated wing sheds a relatively stronger detached counter clockwise vortex (CCWV) on the lower surface as compared to the flat plate, and hence, the vertical force is much higher for the corrugated wing. For a tandem wing with a trapezoidal pitch profile, the corrugated wings yield a vertical force generation nearly 27%, 22%, and 57%, higher than the flat plate geometries for ψ = 0°, 90°, and 180°, respectively. In corrugated wing geometry, the delayed stall mechanism is slightly postponed due to the corrugation shape’s ability to trap the vortex structures, leading to a positive effect on vertical force production. Full article

During the last 15–20 years, the experimental methods for autonomous navigation and inter-satellite links have been developing rapidly in order to ensure navigation control and data processing without commands from Earth stations. Inter-satellite links are related to relative ranging between the satellites from one constellation or different constellations and measuring the distances between them with the precision of at least 1 $\mathsf{\mu }$m micrometer (=${10}^{-6}$ m), which should account for the bending of the light (radio or laser) signals due to the action of the Earth’s gravitational field. Thus, the theoretical calculation of the propagation time of a signal should be described in the framework of general relativity theory and the s.c. null cone equation. This review paper summarizes the latest achievements in calculating the propagation time of a signal, emitted by a GPS satellite, moving along a plane elliptical orbit or a space-oriented orbit, described by the full set of six Kepler parameters. It has been proved that for the case of plane elliptical orbit, the propagation time is expressed by a sum of elliptic integrals of the first, the second and the third kind, while for the second case (assuming that only the true anomaly angle is the dynamical parameter), the propagation time is expressed by a sum of elliptic integrals of the second and of the fourth order. For both cases, it has been proved that the propagation time represents a real-valued expression and not an imaginary one, as it should be. For the typical parameters of a GPS orbit, numerical calculations for the first case give acceptable values of the propagation time and, especially, the Shapiro delay term of the order of nanoseconds, thus confirming that this is a propagation time for the signal and not for the time of motion of the satellite. Theoretical arguments, related to general relativity and differential geometry have also been presented in favor of this conclusion. A new analytical method has been developed for transforming an elliptic integral in the Legendre form into an integral in the Weierstrass form. Two different representations have been found, one of them based on the method of four-dimensional uniformization, exposed in the monograph of Whittaker and Watson. The result of this approach is a new formulae for the Weierstrass invariants, depending in a complicated manner on the modulus parameter q of the elliptic integral in the Legendre form. Full article

In order to gain a deeper understanding of the distribution of residual stresses in swing-arc narrow-gap GMA welding, this paper comprehensively considers the arc motion trajectory and joint geometry and establishes a three-dimensional finite element numerical analysis model for residual stresses based on elastic–plastic theory. Using the Ansys software, the welding residual stresses were calculated under swing frequencies of 4 Hz, 3 Hz, and 2 Hz, and the distribution characteristics of residual stresses were analyzed. The results indicate that the model effectively and accurately represents the movement trajectory and distribution characteristics of the swing arc. Furthermore, the calculated temperature field and residual stress outcomes align closely with the experimental findings, thereby validating the accuracy of the model. Under varying swing frequencies, the distribution patterns of residual stress along each sampling line exhibit a consistent similarity. The residual stress is predominantly concentrated in the weld zone and the adjacent heat-affected zone, while it remains relatively low in areas further away from the weld. As the swing frequency increases, the residual stress decreases. The reason for this is that an increase in swing frequency can lead to a more uniform distribution of arc heat within the weld bead, ultimately resulting in lower residual stress. Full article

The aim of this study was to assess the impact of the variability of the Yeoh model when modeling the contact of bones through cartilage in the knee in compression and flexion–extension within a hybrid knee model. Firstly, a Sobol sequence of 64 samples and four variables representing the Yeoh parameters of the cartilage of the femur and tibia was generated. Based on these samples, 2 × 64 finite element contact models of the geometry of the sphere plane were generated and solved for healthy tissue affected by osteoarthritis. The resulting indentation curves were incorporated into a multibody knee joint model. The obtained results suggested that cartilage variability severely affected the knee in compression by up to 32%. However, the same variability also affected the flexion–extension motion, although to a lesser extent, with a relative change to the range of angular displacements of almost 7%. Osteoarthritic tissue was consistently more affected by this variability, suggesting that when modeling degenerated tissue, complex joint models are necessary. Full article

On 5 September 2022, the moment magnitude (Mw) 6.7 Luding earthquake struck in the Xianshuihe Fault system on the eastern edge of the Tibet Plateau, illuminating the seismic gap in the Moxi segment. The fault system geometry and rupture process of this earthquake are relatively complex. To better understand the underlying driving mechanisms, this study first uses the Interferometric Synthetic Aperture Radar (InSAR) technique to obtain static surface displacements, which are then combined with Global Positioning System (GPS) data to invert the coseismic slip distribution. A machine learning approach is applied to extract a high-quality aftershock catalog from the original seismic waveform data, enabling the analysis of the spatiotemporal characteristics of aftershock activity. The catalog is subsequently used for fault fitting to determine a reliable fault geometry. The coseismic slip is dominated by left-lateral strike-slip motion, distributed within a depth range of 0–15 km, with a maximum fault slip > 2 m. The relocated catalog contains 15,571 events. Aftershock activity is divided into four main seismic clusters, with two smaller clusters located to the north and south and four interval zones in between. The geometry of the five faults is fitted, revealing the complexity of the Xianshuihe Fault system. Additionally, the Luding earthquake did not fully rupture the Moxi segment. The unruptured areas to the north of the mainshock, as well as regions to the south near the Anninghe Fault, pose a potential seismic hazard. Full article

Computer modelling of technical constructions is increasingly carried out using software that includes more detailed knowledge, which requires an increase in the level as well as an expansion of the scope of the geometric knowledge. A significant part of motion transmission mechanisms are worm drive pairs, for which the separation of the parts dealing with the theoretical and practical problems found in the literature can be experienced in numerous instances. Due to the different technical features, in many cases the helical surfaces are not designed and manufactured in a geometrically correct way, or the best solution is not the compulsory chosen. The geometric model describing the production process of the worm surfaces provides the basis for examining the deviation between the surface mathematically determined by the designer and the surface produced. An integrated mathematical kinematic model was developed for the production geometrical analysis of the elements of cylindrical and conical worm gear drive pairs for machining with a traditional thread grinding machine, which causes a serious pitch fluctuating error among several other problems in the case of machining the conical worm. Modelling of the production process of surfaces and the simultaneous study of the manufacturing errors is basically performed with the toolbox of descriptive geometry, including the use of the projective invariants. Knowing the inheritance of the invariants of projective geometry, the aim was the mathematical generalization of the integrated model and the creation of a projective relationship between the reference surfaces of conical and cylindrical spiral surfaces. As a result, the improved constructive geometric model was created, in which the method of analytically creating the projective geometric relationship between the reference surfaces of conical and cylindrical helicoid surfaces has been described for the first time in this article. This procedure is considered the most important result of the present article. Another significance of the further development presented is that during production of the conical helicoid surface, the thread pitch fluctuation has been eliminated. The results obtained, consisting of an improved geometric model, lead to a new geometry of the technological environment regarding the relative position of the cutting tool and the workpiece as well as the relative motion between them. Full article