Search Results (22)

This study deals with the problem of uneven wear of brake pads of wagons caused by a set of structural, dynamic, technological and operational factors. It has been found that an uneven distribution of the brake pad pressure force leads to higher maintenance costs and lower braking efficiency. The main causes of uneven wear are worn kinetostatic units, differences in the geometric parameters of pads, and imperfections in the lever transmission design. A method for optimizing the distribution of the pressure force using weight coefficients and the Lagrange function has been developed; it reduces the uneven wear of brake pads to 8–10% compared to that of a typical wagon bogie brake system, which is 20–35%. The experiments conducted have shown that for a mileage of 74,400 km and with the air distributor in empty mode, the wear of the pads is 19.6–28 mm, while in the loaded mode it amounts to 27.53–38.04 mm. The stress state of brake pads was determined with consideration of the weight coefficients. It was found that for abnormal wear of brake pads, their strength is not observed. The strength of the wheel when interacting with an abnormally worn pad has also been assessed. The resulting stresses are 1.5% higher than those that occur when the wheel interacts with the pad with nominal dimensions. The results of the research will contribute to the database of developments to be used for designing of modern structures of tribotechnical pairs of rolling stock and increasing the efficiency of railway transport. Full article

Objective. Telecontrol approaches for rheumatoid arthritis (RA) management aim to enhance patient outcomes. This pilot study assessed whether the Rheumatoid Arthritis Impact of Disease (RAID) approach could be used during teleconsultations to monitor RA disease activity through a web-based platform called iARPlus (Innovative Approach in Rheumatology). Methods. Forty RA patients participated in two in-person visits (baseline and 12 months) and seven teleconsultations over 12 months, collected via the iARPlus portal and accessible through an internet browser. Disease activity, at baseline and follow-up, was measured using the Clinical Disease Activity Index (CDAI) and self-reported RAID scores throughout the study. The RAID approach, developed by the European Alliance of Associations for Rheumatology (EULAR), combines key patient-reported outcomes (PROs). Results. Nineteen patients (mean age: 49.3 years) were treated with Janus kinase inhibitors (JAKis), and 21 patients (mean age: 48.1 years) received adalimumab. All patients had active disease (mean CDAI 27.9 ± 4.8). Strong correlations were found between CDAI and RAID scores at baseline (ρ = 0.809, p < 0.0001) and at follow-up (ρ = 0.789, p < 0.0001). JAKi-treated patients showed greater reductions in RAID scores, pain relief, and higher rates of disease remission compared to adalimumab-treated patients. Conclusions. RAID scores were effective in teleconsultations for assessing RA disease activity. JAKi treatment resulted in better pain control and disease activity improvement compared to adalimumab. Further studies are needed to confirm the clinical and economic benefits of telecontrol for RA management. Full article

This research highlights the results of a comprehensive study of the efficiency of modernized brake systems operation of freight wagons. The inspection of the modernized elements of the lever brake system of bogies and the measurement of the wear parameters of composite brake pads during each cycle of the experimental wagons in the interval of mileage from 2.1 to 197.8 thousand km were carried out. A statistical approach was used to study the wear parameters of brake pads of modernized bogies brake systems determined during operational studies. This allowed appropriate dependencies of brake pad wear to be obtained. Based on the research results, a regression model was developed. This makes it possible to predict the residual wear resource of composite brake pads with modernized braking systems of bogies for the entire inter-repair period of operation of freight wagons guaranteed by the wagon repair company. The peculiarity of the model is that it considers the total and additional mileage of the freight wagon. This makes it possible to more accurately predict the residual lifetime of composite brake pads. It was established that, under the condition of uniform wear of brake pads, the average mileage of a freight wagon during the use of modernized brake systems of bogies can reach up to 284.57 thousand km, which increases the resource of composite pads’ wear approximately by 2.59 times. The generated model was verified by the F-criterion. Approbation of experimental devices for uniform wear of composite pads in operation established that measures to modernize brake systems of freight wagons ensure the reliable and efficient operation of the brake lever system as a whole. Full article

Traditional automatic modulation classification methods operate under the closed-set assumption, which proves to be impractical in real-world scenarios due to the diverse nature of wireless technologies and the dynamic characteristics of wireless propagation environments. Open-set environments introduce substantial technical challenges, particularly in terms of detection effectiveness and computational complexity. To address the limitations of modulation classification and recognition in open-set scenarios, this paper proposes a semi-supervised open-set recognition approach, termed SOAMC (Semi-Supervised Open-Set Automatic Modulation Classification). The primary objective of SOAMC is to accurately classify unknown modulation types, even when only a limited subset of samples is manually labeled. The proposed method consists of three key stages: (1) A signal recognition pre-training model is constructed using data augmentation and adaptive techniques to enhance robustness. (2) Feature extraction and embedding are performed via a specialized extraction network. (3) Label propagation is executed using a graph convolutional neural network (GCN) to efficiently annotate the unlabeled signal samples. Experimental results demonstrate that SOAMC significantly improves classification accuracy, particularly in challenging scenarios with limited amounts of labeled data and high signal similarity. These findings are critical for the practical identification of complex and diverse modulation signals in real-world wireless communication systems. Full article

In this paper, experimental results about the performance of a Takagi–Sugeno Fuzzy Controller (TSFC) for an EV3 Ballbot Robotic System (EV3BRS) are reported. The physical configuration of the EV3BRS has the form of an inverted pendulum mounted on a ball. The EV3BRS is an underactuated robotic system with four outputs and two control torques. In this work, following the Takagi–Sugeno (TS) fuzzy control design methodology, the Parallel Distributed Compensation (PDC) approach is used in the design of the TSFC. The EV3BRS’s TS Fuzzy Model (TSFM) design comes from linearization of the nonlinear model around two operation points near the upright position of EV3BRS’s body. The Linear Matrix Inequality (LMI) approach was used to obtain the feedback gains for every local linear controller, guaranteeing, via a conservative stability condition, the global asymptotic stability of the overall fuzzy control system. The main goal of the control task consists of maintaining the EV3BRS’s body at its upright position. Measurement and control data from and to the EV3BRS are transferred via telecontrol and telemetry. The appropriate performance of the controller design is corroborated via experimentation. Full article

This article presents the results of a study focused on identifying the main causes of the asymmetric (clinodual) wear of composite brake pads on freight wagons. A new scientific approach to determining the clinodual wear of composite brake pads on freight wagons is proposed. It is established that the harmful abrasion of the pad occurs during the movement of the freight train due to an imperfection in the bogie-brake lever transmission. The causes of the non-normative frictional wear of composite brake pads were investigated. This kind of wear leads to the tilting and abutting of the upper end of the brake pads against the rotating wheel during train running. The results of geometric and kinetostatic studies of the “pad–wheel” tribotechnical pair are provided to establish the causes and consequences of the accelerated clinodual frictional wear of composite brake pads on pendulum suspension in the bogies of freight wagons. The conditions of rotation of the wheels during braking “for” and “against” the clockwise direction depending on the direction of the train are considered. A new approach to brake-pad-wear prediction depending on the mileage of wagons under operational conditions is proposed. The research conducted in this study contributes to the development of the mechanical parts of freight-wagon brakes, increasing the efficiency of brake operation and improving the safety of train traffic. Full article

The paper highlights the results of determining the strength of the brake pad of a freight wagon under uneven loading in operation. The main reasons for the uneven loading on the pad have been found. A mathematical tool for determining the strength of the pad unevenly loaded has been proposed. In the study, the pad is considered to be a rod system loaded with concentrated forces and bending moments. Sensors have been used in order to detect the load state of the brake pads. These sensors have been defined in the simulation software, and they have been placed on the working surface of the pad in the area of its interaction with the wheel. The operation of these sensors was simulated in the simulation software package. The results of the calculation have shown that the stresses in the pad are about 21.1 MPa; thus, they exceed the permissible values by 29%. Therefore, considering the uneven loading of the pad in operation, the strength of the pad is not ensured. To test the obtained results, the strength of the pad was determined using the finite element method. The Coulomb criterion was used for the calculation. It was found that the maximum stresses in the pad were about 19 MPa. These stresses were 21% higher than permissible values and occurred in the back of the pad. The study has proven that the uneven loading on the brake pad in operation can cause their destruction during braking. This may also cause traffic accidents with freight trains during their movement. The results of this study will contribute to the theoretical developments and recommendations aimed at improving the brake system of a freight wagon and rail traffic safety. It is considered that the tensometric sensors will be applied in future experimental tests for comparison and verification of the achieved results from the simulation computations. Full article

This work presents a remote control device designed to drive the arm gestures of an assistant humanoid mobile robot. The remote control is a master device with two passive arms configured to replicate the four degrees of freedom of each arm of the original assistant humanoid robot and send this information to the robot. This configuration allows the mobile robot to directly replicate the position of the arms on the remote controller. The objective of this proposal is to provide the robot with enhanced non-verbal and pointing communication capabilities during human interaction or assistance. The master device registers the angular position of each joint of its passive arms and transmits this information to the mobile robot, which replicates it. The experimental evaluation of the system has shown that the humanoid robot is able to successfully replicate any gesture on the remote controller. The positions of the arms have been sampled at a frame rate of 20 ms, and the average telecontrol delay obtained in the gesture experiments has been 549 ms, without appreciable jumps or irregularities in the gestures. The conclusion is that the direct manipulation of the passive arms of the remote control device provides the APR-02 humanoid robot with enhanced non-verbal and pointing communication capabilities during human interaction or assistance. Full article

Telepresence robots have become popular during the COVID-19 era due to the quarantine measures and the requirement to interact less with other humans. Telepresence robots are helpful in different scenarios, such as healthcare, academia, or the exploration of certain unreachable territories. IoT provides a sensor-based environment wherein robots acquire more precise information about their surroundings. Remote telepresence robots are enabled with more efficient data from IoT sensors, which helps them to compute the data effectively. While navigating in a distant IoT-enabled healthcare environment, there is a possibility of delayed control signals from a teleoperator. We propose a human cooperative telecontrol robotics system in an IoT-sensed healthcare environment. The deep reinforcement learning (DRL)-based deep deterministic policy gradient (DDPG) offered improved control of the telepresence robot to provide assistance to the teleoperator during the delayed communication control signals. The proposed approach can stabilize the system in aid of the teleoperator by taking the delayed signal term out of the main controlling framework, along with the sensed IOT infrastructure. In a dynamic IoT-enabled healthcare context, our suggested approach to operating the telepresence robot can effectively manage the 30 s delayed signal. Simulations and physical experiments in a real-time healthcare environment with human teleoperators demonstrate the implementation of the proposed method. Full article

Lake Rawapening, Semarang Regency, Indonesia, has incorporated a holistic plan in its management practices. However, despite successful target achievements, some limitations remain, and a review of its management plan is needed. This paper identifies and analyzes existing lake management strategies as a standard specifically in Lake Rawapening by exploring various literature, both legal frameworks and scholarly articles indexed in the Scopus database and Google Scholar about lake management in many countries. By using Publish or Perish with the keywords “lake management” OR “management of lake”, 1532 and 1990 works from the Scopus database and Google Scholar, respectively, have been reduced 37. The results show that there are two major types of lake management, namely pillar-based and object-based. The holistic review has resulted in nine points of pillar-based management, which consists of conceptual paradigms as the foundation, and 11 points of object-based management to restore or preserve the lake, which is in line with the form of programs and activities. Overall, Lake Rawapening management should be concerned with finance and technology when applying pillar-based management, and it should include more activities within programs on erosion-sedimentation control as well as monitoring of operational performance using information systems to ensure the implementation of activities within programs in applying object-based lake management. Full article

The article presents the results of the strength calculation of the FLAT RACK removable module design using the finite element method. The FLAT RACK removable module provides higher efficiency of freight transportation. The special features of the removable module are its components made of rectangular tubes and its fittings with viscoelastic bonds. The parameters of the profile for such a removable module are determined through the maximum resistance moments of its components. The research includes mathematical modelling of the dynamic loading on the removable module placed on a flat wagon during a shunting impact. The accelerations to the removable module are also determined. The results are confirmed by computer modelling of the dynamic loading on the removable module. It is found that the strength of the removable module is provided. The research conducted may be used by those who are concerned about designing advanced module-type rail vehicle structures and enhancing their operational efficiency. Full article

Nowadays, various systems were developed in the telecommunications field which make use of technologies for the transmission and reception of information. One of these technologies is the Internet, which was developed in tandem with scientific growth. Therefore, its application in the control of various industrial processes has a notable influence. In this context, there are industrial processes that, due to the potential danger they represent to human beings, must be controlled by means of a remote control system. Such systems can be implemented through client–server communication schemes, which form a network of computers to exchange information. In the exchange of information, delay times are generated. These inactivity times have a close relationship with the latency in the communication network and have a negative impact on the performance of closed-loop control systems. In this sense, for physical implementation, it is essential to measure and mathematically characterize their magnitudes in order to know their variability and thus be able to design control strategies that compensate for their effects. Hence, this research paper presents the reconstruction of the communication times measured from a telecontrol system, where it is assumed that only one subsystem acts as the controller and the other one acts as the controlled. In other words, this paper addresses a control scheme type of single-input-single-output system (SISO). This reconstruction is based on the Kalman filter, which estimates the communication times that are measured on an experimental test bench with a client–server communication scheme. Communication times are characterized as stochastic processes. So, in order to validate the reconstruction presented, the level of dependence between the random processes is evaluated by analyzing their moments of probability as well as their covariance moments. Finally, an analysis based on the mean square error is presented, through which it can be concluded that the reconstruction technique used allows one to know the dynamics of the communication times generated by the remote control process presented in this research. Full article

This paper presents a robust trajectory design method for approaching and rendezvous with a space target considering multi-source uncertainties. A nonlinear covariance analysis method based on the state transition tensor is presented to formulate the propagation of uncertainties including environment parameter uncertainty, actuator error, sensor noise, navigation error and initial state dispersion of the closed-loop GN&C system. Then, the robust trajectory design problem is defined based on the quantified effect of the uncertainties, and an improved self-adaptive differential evolution algorithm is presented to solve the robust trajectory design problem with uncertainties. Finally, four groups of numerical simulations are carried out to show that the designed robust trajectories can satisfy the final state dispersion constraint under multi-source uncertainties. Full article

This paper presents an integrated mapping of motion and visualization scheme based on a Mixed Reality (MR) subspace approach for the intuitive and immersive telemanipulation of robotic arm-hand systems. The effectiveness of different control-feedback methods for the teleoperation system is validated and compared. The robotic arm-hand system consists of a 6 Degrees-of-Freedom (DOF) industrial manipulator and a low-cost 2-finger gripper, which can be manipulated in a natural manner by novice users physically distant from the working site. By incorporating MR technology, the user is fully immersed in a virtual operating space augmented by real-time 3D visual feedback from the robot working site. Imitation-based velocity-centric motion mapping is implemented via the MR subspace to accurately track operator hand movements for robot motion control and enables spatial velocity-based control of the robot Tool Center Point (TCP). The user control space and robot working space are overlaid through the MR subspace, and the local user and a digital twin of the remote robot share the same environment in the MR subspace. The MR-based motion and visualization mapping scheme for telerobotics is compared to conventional 2D Baseline and MR tele-control paradigms over two tabletop object manipulation experiments. A user survey of 24 participants was conducted to demonstrate the effectiveness and performance enhancements enabled by the proposed system. The MR-subspace-integrated 3D mapping of motion and visualization scheme reduced the aggregate task completion time by 48% compared to the 2D Baseline module and 29%, compared to the MR SpaceMouse module. The perceived workload decreased by 32% and 22%, compared to the 2D Baseline and MR SpaceMouse approaches. Full article

Currently, distribution system operators (DSOs) are asked to operate distribution grids, managing the rise of the distributed generators (DGs), the rise of the load correlated to heat pump and e-mobility, etc. Nevertheless, they are asked to minimize investments in new sensors and telecommunication links and, consequently, several nodes of the grid are still not monitored and tele-controlled. At the same time, DSOs are asked to improve the network’s resilience, looking for a reduction in the frequency and impact of power outages caused by extreme weather events. The paper presents a machine learning GIS-based approach to estimate a secondary substation’s load profiles, even in those cases where monitoring sensors are not deployed. For this purpose, a large amount of data from different sources has been collected and integrated to describe secondary substation load profiles adequately. Based on real measurements of some secondary substations (medium-voltage to low-voltage interface) given by Unareti, the DSO of Milan, and georeferenced data gathered from open-source databases, unknown secondary substations load profiles are estimated. Three types of machine learning algorithms, regression tree, boosting, and random forest, as well as geographic information system (GIS) information, such as secondary substation locations, building area, types of occupants, etc., are considered to find the most effective approach. Full article