Search Results (100)

This study presents a novel semi-submersible platform design for 10 MW vertical-axis wind turbines (VAWTs), specifically engineered to address the compounded challenges of China’s intermediate-depth (40 m), typhoon-prone maritime environment. Unlike conventional horizontal-axis configurations, VAWTs impose unique demands due to omnidirectional wind reception, high aerodynamic load fluctuations, and substantial self-weight—factors exacerbated by short installation windows and complex hydrodynamic interactions. Through systematic scheme demonstration, we establish the optimal four-column configuration, resolving critical limitations of existing concepts in terms of water depth adaptability, stability, and fabrication economics. The integrated design features central turbine mounting, hexagonal pontoons for enhanced damping, and optimized ballast distribution, achieving a 3400-tonne steel mass (29% reduction vs. benchmarks). Comprehensive performance validation confirms exceptional survivability under 50-year typhoon conditions (Hs = 4.42 m, Uw = 54 m/s), limiting platform tilt to 8.02° (53% of allowable) and nacelle accelerations to 0.10 g (17% of structural limit). Hydrodynamic analysis reveals heave/pitch natural periods > 20 s, avoiding wave resonance (Tp = 7.64 s), while comparative assessment demonstrates 33% lower pitch RAOs than leading horizontal-axis platforms. The design achieves unprecedented synergy of typhoon resilience, motion performance, and cost-efficiency—validated by 29% steel savings—providing a technically and economically viable solution for megawatt-scale VAWT deployment in challenging seas. Full article

We propose an empirical motion compensation algorithm for a better turbulence intensity (TI) measurement by Floating LiDAR systems (FLSs) with a newly introduced motion parameter, the significant tilt angle ${\theta }_{\alpha ,1/3}$, using four datasets from three different FLSs in Japan. The parameter was compared to other environmental parameters; it was confirmed to well represent various types of buoy motion. A sensitivity assessment was conducted for the error of the FLS’s standard deviation of wind speed to the buoy motion. The strong correlation obtained by the assessment suggests that the error of the FLS TI is dominated by the motion and that it is possible to offset the error by applying the relationship back to the measurement. The corrected TI shows good agreement with that of a reference fixed vertical LiDAR (VL). Moreover, the similarity of the relationships for the same type of VL mounted on different buoys implies that the correction may be VL-specific rather than FLS-specific, and, therefore, universal regardless of the FLS type. The successful validation suggests that the correction based on ${\theta }_{\alpha ,1/3}$ can be applied not only to the future campaign but also to those performed in the past to revitalize numerous existing FLS datasets. Full article

The paper deals with the assembling, integration, and test (AIT) phase of the laboratory model of an innovative telescope in the framework of the project DORA (deployable optics for remote sensing applications). The telescope is a Cassegrain type of instrument, with an entrance pupil of ∅300 mm, f/16 aperture, and FOV of 0.16°. It has been designed to be mounted onboard a micro-satellite frame, allowing for switching between a stowed configuration during the launch phase and a deployed one once in orbit. The telescope is matched to an infrared Fourier spectrometer, operating in the spectral range of 5–25 $\mathsf{\mu }$m, for the observation of terrestrial atmospheric phenomena, but it can also be adopted for planetary exploration missions. The telescope breadboard has been assembled in the INAF-IAPS premises and has undergone measurements for the determination of the accuracy and repeatability of the mechanism opening. The mechanical tests have demonstrated that the deployment mechanism adopted complies with the requirements imposed by the infrared Fourier spectrometer, guaranteeing a repositioning of the secondary mirror with respect to the primary mirror within 100 $\mathsf{\mu }$m (in-plane displacement) and 0.01° (tilt) of the nominal position. Full article

This work proposes a vision system mounted on the head of an omnidirectional robot to track pineapples and maintain them at the center of its field of view. The robot head is equipped with a pan–tilt unit that facilitates dynamic adjustments. The system architecture, implemented in Robot Operating System 2 (ROS2), performs the following tasks: it captures images from a webcam embedded in the robot head, segments the object of interest based on color, and computes its centroid. If the centroid deviates from the center of the image plane, a proportional–integral–derivative (PID) controller adjusts the pan–tilt unit to reposition the object at the center, enabling continuous tracking. A multivariate Gaussian function is employed to segment objects with complex color patterns, such as the body of a pineapple. The parameters of both the PID controller and the multivariate Gaussian filter are optimized using a genetic algorithm. The PID controller receives as input the (x, y) positions of the pan–tilt unit, obtained via an embedded board and MicroROS, and generates control signals for the servomotors that drive the pan–tilt mechanism. The experimental results demonstrate that the robot successfully tracks a moving pineapple. Additionally, the color segmentation filter can be further optimized to detect other textured fruits, such as soursop and melon. This research contributes to the advancement of smart agriculture, particularly for fruit crops with rough textures and complex color patterns. Full article

Aperture space telescopes are widely used in space debris size information detection and celestial body detection work. For the problem of limited space inside the optical system of large aperture telescopes, a space telescope mounting method based on the intrinsic coefficient sensitivity matrix is proposed by combining the wavefront detection technology. Compared with the traditional sensitivity matrix method, the method in this paper does not need to partition the detector and simplifies the construction of the wavefront reconstruction matrix. Characterisation of the system wave aberration is realised by using the eigenfactors, and the sensitivity matrix model is established according to the amount of misalignment. The experimental tests are carried out on the telescope with a diameter of 1.2 m, and the results show that the root mean square (RMS) values of the wavefront aberration in the centre field of view are less than $\lambda /16$ under the cases of eccentricity misalignment of the sub-mirror and tilting misalignment with the phase-aberration correction, which is of good value for the mounting of space telescope optical systems. Full article

Numerous studies have previously explored the perception of horizontal movements. This includes research on Redirected Walking (RDW). However, the challenge of replicating the sensation of vertical movement has remained a recurring theme. Many conventional methods rely on physically mimicking steps or slopes, which can be hazardous and induce fear. This is especially true when head-mounted displays (HMDs) obstruct the user’s field of vision. Our primary objective was to reproduce the sensation of ascending a slope while traversing a flat surface. This effect is achieved by giving the users the haptic sensation of gripping a tilted handrail similar to those commonly found on ramps or escalators. To achieve this, we developed a walker-type handrail device capable of tilting across a wide range of angles. We induced a cross-modal effect to enhance the perception of walking up a slope. This was achieved by combining haptic feedback from the hardware with an HMD-driven visual simulation of an upward-sloping scene. The results indicated that the condition with tactile presentation significantly alleviated fear and enhanced the sensation of walking uphill compared to the condition without tactile presentation. Full article

In orchard environments, negative obstacles such as ditches and potholes pose significant safety risks to robots working within them. This paper proposes a negative obstacle detection method based on LiDAR tilt mounting. With the LiDAR tilted at 40°, the blind spot is reduced from 3 m to 0.21 m, and the ground point cloud density is increased by an order of magnitude. Based on geometric features of laser point clouds (such as rear wall height and density, and spacing jump between points), a method for detecting negative obstacles is presented. This method establishes a mathematical model by analyzing changes in point cloud height, density, and point spacing, integrating features captured from multiple frames to enhance detection accuracy. Experiments demonstrate that this approach effectively detects negative obstacles in orchard environments, achieving a success rate of 92.7% in obstacle detection. The maximum detection distance reaches approximately 8.0 m, significantly mitigating threats posed to robots by negative obstacles in orchards. This research contributes valuable technological advancements for future orchard automation. Full article

This paper presents a novel approach to enhance pose estimation accuracy and precision in mobile robotics using multiple graphical markers. While traditional single-marker methods using graphical markers such as ArUco offer simple implementation, their performance is susceptible to environmental variations and measurement errors. To address these limitations, we propose a robust pose estimation algorithm that leverages multiple markers simultaneously. Our approach incorporates two key mechanisms: spatial consistency verification to detect invalid markers within the marker array, and temporal stability analysis to identify and exclude outlier measurements. The algorithm enhances pose estimation accuracy by averaging measurements from valid markers while preventing any single marker from dominating the estimation process. The effectiveness of our approach was validated through experiments using both fixed and drone-mounted camera configurations. The results demonstrated that the pose estimation using multiple markers significantly improved both accuracy and precision compared with single-marker approaches. In fixed-camera experiments, the proposed method showed reduced mean errors and standard deviations in both position and orientation measurements across various camera poses. Similarly, in drone-mounted camera experiments, our approach exhibited superior stability with significantly lower measurement variations during hovering maneuvers. These improvements were particularly pronounced in challenging scenarios, such as when the camera was tilted at large angles relative to the marker plane. This research contributes to the advancement of reliable pose estimation methodologies in mobile robotics and autonomous systems, with potential applications across diverse environments where precise position and orientation measurements are crucial. Full article

In response to prominent issues in existing wine grape cultivation, such as complex power machinery integration, inconvenient connection operations, and low efficiency of unilateral walking operations, a gantry track-mounted multifunctional operations platform for wine grapes was developed. The platform spans across grape trellises, enabling dual-sided operations in a single pass. Considering the high stability requirements for wine grape operations, the track walking device and hitch-lifting mechanism were developed. To accommodate the varying speed requirements of different operational stages, engine power and gearbox gear selection were calculated and selected. Structural strength analysis, steering performance analysis, and overall stability analysis of the machine were conducted. Field test results indicate a maximum operating speed of 3.85 km/h and a minimum turning radius of 3.95 m, meeting the needs of field operations. The maximum climbing angle is no more than 18°, and the machine experiences no lateral sliding or tipping when the maximum lateral tilt angle is below 28°. The hitch-lifting mechanism showed an average settlement of 1.58 mm when lifting to different heights, with a stability rate of 99.7%. This study demonstrates that the developed multifunctional operations platform can meet the field operation requirements of wine grape cultivation. Full article

In response to the current low work efficiency of soil ridge-working machinery, as well as its poor stability, passability, and adaptability, this paper designs an independent leg-type working platform that can autonomously adjust its vehicle attitude through LiDAR scanning in a soil ridge-working environment. The platform, in terms of its mechanism and structural design, adopts dual parallelogram mechanisms, dual lead screw mechanisms, and independent column leg mechanisms, with a maximum adjustable ground clearance of 107 mm and a maximum wheelbase adjustment of 150 mm. A gyroscope is mounted at the center of the platform for attitude adjustment, ensuring the accurate data collection of the ultrasonic ranging module. Moreover, the platform adopts an adaptive adjustment method based on vehicle attitude and soil ridge shape parameters, obtaining soil ridge parameters through LiDAR and combining ultrasonic ranging module data with stepper motor pulse signals to obtain the absolute vehicle attitude parameters, using first and second linear regression methods to adjust the vehicle attitude and other working parameters. A prototype was also created, and the test data from the soil obtained through experiments show that, after leveling with the gyroscope leveling algorithm, the average value of the pitch angle is up to 0.6154°, and the average value of the roll angle is up to 0.9989°, with the maximum variance of the pitch angle being 0.0474° and the maximum variance of the tilt angle being 0.1320°. After the ultrasonic ranging module data are filtered by the Kalman filter, the maximum variance is 0.0304, and after applying the final fusion algorithm, the maximum variance is only 0.0085. The LiDAR measurement width value deviates from the actual width value by no more than 1.0 cm, and the LiDAR measurement height value deviates from the actual height value by no more than 1.0 cm. The platform’s actual adjusted width deviates from the actual soil ridge width by no more than 2.0 cm, and the platform’s actual adjusted height deviates from the actual soil ridge height by no more than 1.2 cm. This platform can improve the passability, adaptability, and stability of agricultural machinery in soil ridge work and provide technical references for subsequent related research. Full article

Some of the barriers preventing virtual reality (VR) from being widely adopted are the cost and unfamiliarity of VR systems. Here, we propose that in many cases, the specialized controllers shipped with most VR head-mounted displays can be replaced by a regular smartphone, cutting the cost of the system, and allowing users to interact in VR using a device they are already familiar with. To achieve this, we developed SmartVR Pointer, an approach that uses smartphones to replace the specialized controllers for two essential operations in VR: selection and navigation by teleporting. In SmartVR Pointer, a camera mounted on the head-mounted display (HMD) is tilted downwards so that it points to where the user will naturally be holding their phone in front of them. SmartVR Pointer supports three selection modalities: tracker based, gaze based, and combined/hybrid. In the tracker-based SmartVR Pointer selection, we use image-based tracking to track a QR code displayed on the phone screen and then map the phone’s position to a pointer shown within the field of view of the camera in the virtual environment. In the gaze-based selection modality, the user controls the pointer using their gaze and taps on the phone for selection. The combined technique is a hybrid between gaze-based interaction in VR and tracker-based Augmented Reality. It allows the user to control a VR pointer that looks and behaves like a mouse pointer by moving their smartphone to select objects within the virtual environment, and to interact with the selected objects using the smartphone’s touch screen. The touchscreen is used for selection and dragging. The SmartVR Pointer is simple and requires no calibration and no complex hardware assembly or disassembly. We demonstrate successful interactive applications of SmartVR Pointer in a VR environment with a demo where the user navigates in the virtual environment using teleportation points on the floor and then solves a Tetris-style key-and-lock challenge. Full article

The efficiency of solar systems, in particular photovoltaic panels, is typically low. Various environmental parameters affect solar panels, including sunlight, the ambient and module surface temperatures, the wind speed, humidity, shading, dust, the installation height, etc. Among others, the key players are indeed solar irradiance and temperature. The higher the temperature is, the higher the short-circuit current is, and the lower the open-circuit voltage is. The negative effect of lowering the open-circuit voltage is dominant, consequently lowering the power of the photovoltaic panels. Passive or active cooling systems can be provided to avoid the negative effect of temperature. This paper presents a prototype of an active cooling system dedicated to photovoltaics. The prototype of such a system was developed at the AGH University of Kraków and tested under laboratory conditions. The proposed system is equipped with air fans mounted on a plate connected to the rear part of a 70 Wp photovoltaic panel. Different configurations of the system were tested, including different numbers of fans and different locations of the fans. The artificial light source generated a irradiation value of 770 W/m². This value was present for every variant tested in the experiment. As observed, the maximum power generated in the photovoltaic panel under laboratory conditions was approx. 47.31 W. Due to the temperature increase, this power was reduced to 40.09 W (when the temperature of the uncooled panel surface reached 60 °C). On the other hand, the power generated in the photovoltaic panel equipped with the developed cooling system was approx. 44.37 W in the same conditions (i.e., it was higher by 10.7% compared to that of the uncooled one). A mathematical model was developed based on the results obtained, and simulations were carried out using the ANSYS Workbench software. After the validation procedure, several configurations of the air cooling system were developed and analyzed. The most prominent case was chosen for additional parametrical analysis. The optimum fan orientation was recognized: a vertical tilt of 7° and a horizontal tilt of 10°. For the tested module, this modification resulted in a cost-effective system (a net power increase of ~3.1%). Full article

Long-duration bedrest impairs upright postural and locomotor control, prompting the need for assessment tools to predict the effects of deconditioning on post-bedrest outcome measures. We developed a tilt board mounted vertically with a horizontal air-bearing sled as a potential supine assessment tool for a future bedrest study. The purpose of this pilot study was to examine the association between supine proprioceptive assessments on the tilt board and upright functional mobility. Seventeen healthy participants completed variations of a supine tilt board task and an upright functional mobility task (FMT), which is an established obstacle avoidance course. During the supine tasks, participants lay on the air-bearing sled with axial loading toward the tilt board. Participants tilted the board to capture virtual targets on an overhead monitor during 30 s trials. The tasks included two dynamic tasks (i.e., double-leg stance matching mediolateral tilt targets over ±3° or ±9° ranges) and two static tasks (i.e., single-leg stance maintaining a central target position). The performances during the dynamic tasks were significantly correlated with the FMT time to completion. The dominant-leg static task performance showed a moderate trend with the FMT time to completion. The results indicate that supine proprioceptive assessments may be associated with upright ambulation performance, and thus, support the proposed application in bedrest studies. Full article

The results of traditional vegetation-measuring methods are mostly two-dimensional data, which can only convey limited information. The greening situation of many cities or regions in the world cannot be fully assessed by these results. In this regard, this paper proposes the use of the air–ground integrated point cloud data acquisition mode for measuring vegetation. This mode combines a backpack-mounted laser scanning system, a vehicle-mounted laser scanning system, and UAV tilt photography technology to collect greening data in a comprehensive park and along a municipal road in Guangzhou, China. To classify the collected greening data, we propose the BiFPN-KPointNet-CBAM model, which was derived from PointNet. The model was introduced to analyze the distribution of green plants in study areas. The experimental findings indicate that our model achieved a notable enhancement in the overall accuracy by approximately 8% compared with other state-of-the-art models. Compared with the traditional greening survey method, this method obtained three-dimensional and more accurate greening data, and thus, provides higher quality greening data for urban managers. Full article

This study aimed to investigate the effects of wearing virtual reality (VR) with a head-mounted display (HMD) on body sway in younger and older adults. A standing posture with eyes open without an HMD constituted the control condition. Wearing an HMD and viewing a 30°-tilt image and a 60°-tilt image in a resting standing position were the experimental conditions. Measurements were made using a force plate. All conditions were performed three times each and included the X-axis trajectory length (mm), Y-axis trajectory length (mm), total trajectory length (mm), trajectory length per unit time (mm/s), outer peripheral area (mm²), and rectangular area (mm²). The results showed a significant interaction between generation and condition in Y-axis trajectory length (mm) and total trajectory length (mm), with an increased body center-of-gravity sway during the viewing of tilted VR images in older adults than in younger adults in both sexes. The results of this study show that body sway can be induced by visual stimulation alone with VR without movement, suggesting the possibility of providing safe and simple balance training to older adults. Full article