Search Results (6,060)

Strain clamps are critical components in high-voltage overhead transmission lines, and detection of their defects becomes an important part of regular inspection of transmission lines. A dual UAV (unmanned aerial vehicle) system was proposed to detect strain clamps in multiple split-phase conductors. The main UAV was equipped with a digital radiography (DR) imaging device, a mechanical arm, and an edge intelligence module with visual sensors. The slave UAV was equipped with a digital imaging board and visual sensors. A workflow was proposed for this dual UAV system. Target detection and distance detection of the strain clamps, as well as detection of the defects of strain clamps in DR images, are the main procedures of this workflow. To satisfy the demands of UAV-borne and real-time deployment, the improved YOLOv8-TR algorithm was proposed for the detection of strain clamps (the mAP@50 was 60.9%), and the KD-ResRPA algorithm is used for detecting defects in DR images (the average AUCROC of the three datasets was 82.7%). Field experiments validated the suitability of our dual UAV-based system for charged detection of strain clamps in double split-phase conductors, demonstrating its potential for practical application in live detecting systems. Full article

Structural damage is a prevalent issue in long-term operations of harbor terminals. Addressing the lack of transparency in terminal infrastructure components, the limited integration of sensor monitoring data, and the insufficient support for feedback on service performance, we propose a novel digital twin system construction methodology tailored for the long-term monitoring of port terminals. This study elaborates on the organization and processing of foundational geospatial data, sensor monitoring information, and oceanic hydrometeorological data essential for constructing a digital twin of the terminal. By mapping relationships between physical and virtual spaces, we developed comprehensive dynamic and static models of terminal facilities. Employing a “particle model” approach, we visually represented oceanic and meteorological elements. Additionally, we developed a multi-source heterogeneous data fusion model to facilitate the rapid creation of data indexes for harbor elements under high concurrency conditions, effectively addressing performance issues related to scene-rendering visualization and real-time sensor data storage efficiency. Experimental validation demonstrates that this method enables the rapid construction of digital twin systems for port terminals and supports practical application in business scenarios. Data analysis and comparison confirm the feasibility of the proposed method, providing an effective approach for the long-term monitoring of port terminal operations. Full article

In the development of the aviation industry, integrating Life Cycle Management (LCM) with Advanced Health Monitoring Systems (AHMSs) and modular design emerges as a pivotal strategy for enhancing sustainability and cost efficiency. This paper examines how AHMSs, using the Internet of Things, artificial intelligence, and blockchain technologies, can transform maintenance operations by providing real-time diagnostics, predictive maintenance, and secure data logging. The study introduces a comprehensive framework that integrates these technologies into LCM, focusing on maximizing the utilization and lifespan of aircraft components. Quantitative models are developed to compare traditional and modern aviation systems, highlighting the substantial life cycle cost savings and operational efficiencies achieved through these integrations. The results demonstrate up to a 30% reduction in maintenance costs and up to a 20% extension in component lifespan, validating the economic and operational benefits of the proposed integrations. The research underscores the potential of these combined strategies to advance the aviation sector’s sustainability objectives, and serves as valuable tools for industry stakeholders, offering actionable insights into the implementation of LCM strategies enhanced by AHMSs and modular design, offering a detailed analysis of the practical implementation challenges. Full article

This paper introduces a novel methodology for mitigating undesired oscillations in overhead crane systems used in material handling operations in the industry by leveraging Long Short-Term Memory (LSTM)-based Recurrent Neural Networks (RNNs). Oscillations during material transportation, particularly at the end location, pose safety risks and prolong carrying times. The methodology involves collecting sensor data from an overhead crane system, preprocessing the data, training an LSTM-based RNN model that incorporates symmetrical features, and integrating the model into a control algorithm. The control algorithm utilizes swing angle predictions from the symmetry-enhanced LSTM-based RNN model to dynamically adjust crane motion in real time, minimizing oscillations. Symmetry in this framework refers to the balanced and consistent handling of oscillatory data, ensuring that the model can generalize better across different scenarios and load conditions. The LSTM-based RNN model accurately predicts swing angles, enabling proactive control actions to be taken. Experimental validation demonstrates the effectiveness of the proposed approach, achieving an accuracy of approximately 98.6% in swing angle prediction. This innovative approach holds promise for transforming material transportation processes in industrial settings, enhancing operational safety, and optimizing efficiency. Full article

Real-time remote sensing segmentation technology is crucial for unmanned aerial vehicles (UAVs) in battlefield surveillance, land characterization observation, earthquake disaster assessment, etc., and can significantly enhance the application value of UAVs in military and civilian fields. To realize this potential, it is essential to develop real-time semantic segmentation methods that can be applied to resource-limited platforms, such as edge devices. The majority of mainstream real-time semantic segmentation methods rely on convolutional neural networks (CNNs) and transformers. However, CNNs cannot effectively capture long-range dependencies, while transformers have high computational complexity. This paper proposes a novel remote sensing Mamba architecture for real-time segmentation tasks in remote sensing, named RTMamba. Specifically, the backbone utilizes a Visual State-Space (VSS) block to extract deep features and maintains linear computational complexity, thereby capturing long-range contextual information. Additionally, a novel Inverted Triangle Pyramid Pooling (ITP) module is incorporated into the decoder. The ITP module can effectively filter redundant feature information and enhance the perception of objects and their boundaries in remote sensing images. Extensive experiments were conducted on three challenging aerial remote sensing segmentation benchmarks, including Vaihingen, Potsdam, and LoveDA. The results show that RTMamba achieves competitive performance advantages in terms of segmentation accuracy and inference speed compared to state-of-the-art CNN and transformer methods. To further validate the deployment potential of the model on embedded devices with limited resources, such as UAVs, we conducted tests on the Jetson AGX Orin edge device. The experimental results demonstrate that RTMamba achieves impressive real-time segmentation performance. Full article

The occurrence of tool chatter can have a detrimental impact on the quality of the workpiece. In order to improve surface quality, machining stability, and reduce tool wear cycles, it is essential to monitor the workpiece machining process in real time during the turning process. This paper presents a tool chatter state recognition model based on a denoising autoencoder (DAE) for feature dimensionality reduction and a bidirectional long short-term memory (BiLSTM) network. This study examines the feature dimensionality reduction method of the DAE, whereby the reduced-dimensional data are concatenated and input into the BiLSTM model for training. This approach reduces the learning difficulty of the network and enhances its anti-interference capability. Turning experiments were conducted on a SK50P lathe to collect the dataset for model performance validation. The experimental results and analysis indicate that the proposed DAE-BiLSTM model outperforms other models in terms of prediction and classification accuracy in distinguishing between stable machining, over-machining, and severe chatter stages in turning chatter state recognition. The overall classification accuracy reached 96.28%. Full article

Typically, fruit cracking in sweet cherry is associated with the occurrence of free water at the fruit surface level due to direct (rain and fog) and indirect (cold exposure and dew) mechanisms. Recent advances in close range remote sensing have enabled the monitoring of the temperature distribution with high spatial resolution based on light detection and ranging (LiDAR) and thermal imaging. The fusion of LiDAR-derived geometric 3D point clouds and merged thermal data provides spatially resolved temperature data at the fruit level as LiDAR 4D point clouds. This paper aimed to investigate the thermal behavior of sweet cherry canopies using this new method with emphasis on the surface temperature of fruit around the dew point. Sweet cherry trees were stored in a cold chamber (6 °C) and subsequently scanned at different time intervals at room temperature. A total of 62 sweet cherry LiDAR 4D point clouds were identified. The estimated temperature distribution was validated by means of manual reference readings (n = 40), where average $R^2$ values of 0.70 and 0.94 were found for ideal and real scenarios, respectively. The canopy density was estimated using the ratio of the number of LiDAR points of fruit related to the canopy. The occurrence of wetness on the surface of sweet cherry was visually assessed and compared to an estimated dew point ($Y_{dew}$) index. At mean $Y_{dew}$ of 1.17, no wetness was observed on the fruit surface. The canopy density ratio had a marginal impact on the thermal kinetics and the occurrence of wetness on the surface of sweet cherry in the slender spindle tree architecture. The modelling of fruit surface wetness based on estimated fruit temperature distribution can support ecophysiological studies on tree architectures considering resilience against climate change and in studies on physiological disorders of fruit. Full article

Based on the characteristic of ubiquitous radar emitting low-gain wide beam, a method of long-time coherent integration (LTCI) is required to enhance target detection capability. However, high-speed and highly maneuverable targets can cause Doppler frequency migration (DFM), range migration (RM), and velocity ambiguity (VA), severely degrading the performance of LTCI. Additionally, the number of targets is unknown and variable, and the presence of clutter further complicates the target tracking problem. To address these challenges, we propose a hybrid integration method to achieve joint detection and estimation of multiple high-speed, and highly maneuverable targets. Firstly, we compensate for first-order RM using the keystone transform (KT) and generate corresponding sub-range-Doppler (SRD) planes with different folding factors to achieve VA compensation. These SRD planes are then stitched together to form an extended range-Doppler (ERD) plane, which covers a broader velocity range. Secondly, during the track-before-detect (TBD) process, tracking is performed directly on the ERD plane. We use the sequential Monte Carlo (SMC) approximation of the probability hypothesis density (PHD) to propagate multi-target states. Additionally, we propose an amplitude-based adaptive prior distribution method and a line spread model (LSM) observation model to compensate for DFM. Since the acceleration of the target is included in the particle state, using particles to search for DFM does not increase the computational load. To address the issue of misclassifying mirror targets as real targets in the SRD plane, we propose a particle space projection method. By stacking the SRD planes to create a folding range-Doppler (FRD) space, particles are projected along the folding factor dimension, and then, the particles are clustered to eliminate the influence of the mirror targets. Finally, through simulation experiments, the superiority of the LSM for targets with acceleration was demonstrated. In comparative experiments, the proposed method showed superior performance and robustness compared to traditional methods, achieving a balance between performance and computational efficiency. Furthermore, the proposed method’s capability to detect and track multiple high-speed and highly maneuverable targets was validated using actual data from a ubiquitous radar system. Full article

Power converters are the basic elements of any power electronics system in many areas and applications. Among them, the push–pull converter topology is one of the most widespread due to its high efficiency, versatility, galvanic isolation, reduced number of switching devices and the possibility of implementing high conversion ratios with respect to non-isolated topologies. Optimal design and control requires very accurate models that consider all the non-idealities associated with the actual converter. However, this leads to the use of high-order models, which are impractical for the design of model-based controllers in real-time applications. To obtain a trade-off model that combines the criteria of simplicity and accuracy, it is appropriate to assess whether it is necessary to consider all non-idealities to accurately model the dynamic response of the converter. For this purpose, this paper proposes a methodology based on a sensitivity analysis that allows quantifying the impact of each non-ideality on the converter behaviour response as a function of the converter topology, power and frequency. As a result of the study, practical models that combine the trade-off between precision and simplicity are obtained. The behaviour of the simplified models for each topology was evaluated and validated by simulation against the most complete and accurate non-ideal model found in the literature. The results have been excellent, with an error rate of less than 5% in all cases. Full article

In foggy weather, outdoor safety helmet detection often suffers from low visibility and unclear objects, hindering optimal detector performance. Moreover, safety helmets typically appear as small objects at construction sites, prone to occlusion and difficult to distinguish from complex backgrounds, further exacerbating the detection challenge. Therefore, the real-time and precise detection of safety helmet usage among construction personnel, particularly in adverse weather conditions such as foggy weather, poses a significant challenge. To address this issue, this paper proposes the DST-DETR, a framework for foggy weather safety helmet detection. The DST-DETR framework comprises a dehazing module, PAOD-Net, and an object detection module, ST-DETR, for joint dehazing and detection. Initially, foggy images are restored within PAOD-Net, enhancing the AOD-Net model by introducing a novel convolutional module, PfConv, guided by the parameter-free average attention module (PfAAM). This module enables more focused attention on crucial features in lightweight models, therefore enhancing performance. Subsequently, the MS-SSIM + ${\mathsf{\ell }}_2$ loss function is employed to bolster the model’s robustness, making it adaptable to scenes with intricate backgrounds and variable fog densities. Next, within the object detection module, the ST-DETR model is designed to address small objects. By refining the RT-DETR model, its capability to detect small objects in low-quality images is enhanced. The core of this approach lies in utilizing the variant ResNet-18 as the backbone to make the network lightweight without sacrificing accuracy, followed by effectively integrating the small-object layer into the improved BiFPN neck structure, resulting in CCFF-BiFPN-P2. Various experiments were conducted to qualitatively and quantitatively compare our method with several state-of-the-art approaches, demonstrating its superiority. The results validate that the DST-DETR algorithm is better suited for foggy safety helmet detection tasks in construction scenarios. Full article

Extended reality (XR) is one of the most important technologies in developing a new generation of human–machine interfaces (HMIs). In this study, the design and implementation of a standalone interactive XR-supported industrial robot programming system using the Unity game engine is presented. The presented research aims to achieve a cross-platform solution that enables novel tools for robot programming, trajectory validation, and robot programming debugging within an extended reality environment. From a robotics perspective, key design tasks include modeling in the Unity environment based on robot CAD models and control design, which include inverse kinematics solution, trajectory planner development, and motion controller set-up. Furthermore, the integration of real-time vision, touchscreen interaction, and AR/VR headset interaction are involved within the overall system development. A comprehensive approach to integrating Unity with established industrial robot modeling conventions and control strategies is presented. The proposed modeling, control, and programming concepts, procedures, and algorithms are verified using a 6DoF robot with revolute joints. The benefits and challenges of using a standalone XR-supported interactive industrial robot programming system compared to integrated Unity–robotics development frameworks are discussed. Full article

In the field of photovoltaic (PV) power prediction, long-term forecasting, which is more challenging than short-term forecasting, can provide more comprehensive and forward-looking guidance. Currently, significant achievements have been made in the field of short-term forecasting for PV power, but inadequate attention has been paid to long-term forecasting. Additionally, multivariate global forecasting across multiple sites and the limited historical time series data available further increase the difficulty of prediction. To address these challenges, we propose a variable–adaptive channel-independent architecture (VACI) and design a deep tree-structured multi-scale gated component named DTM block for this architecture. Subsequently, we construct a specific forecasting model called DTMGNet. Unlike channel-independent modeling and channel-dependent modeling, the VACI integrates the advantages of both and emphasizes the diversity of training data and the model’s adaptability to different variables across channels. Finally, the effectiveness of the DTM block is empirically validated using the real-world solar energy benchmark dataset. And on this dataset, the multivariate long-term forecasting performance of DTMGNet achieved state-of-the-art (SOTA) levels, particularly making significant breakthroughs in the 720-step ultra-long forecasting window, where it reduced the MSE metric below 0.2 for the first time (from 0.215 to 0.199), representing a reduction of 7.44%. Full article

Robotic manipulators play a key role in modern industrial manufacturing processes. Monitoring their operational health is of paramount importance. In this paper, a novel anomaly detection framework named U-TFF is introduced for energy consumption auditing of robotic manipulators. It comprises a cascade of Time–Frequency Fusion (TFF) blocks to extract both time and frequency domain features from time series data. The block applies the Fast Fourier Transform to convert the input to the frequency domain, followed by two separate dense layers to process the resulting real and imaginary components, respectively. The frequency and time features are then combined to reconstruct the input. A U-shaped architecture is implemented to link corresponding TFF blocks of the encoder and decoder at the same level through skip connections. The semi-supervised model is trained using data exclusively from normal operations. Significant errors were generated during testing for anomalies with data distributions deviating from the training samples. Consequently, a threshold based on the magnitude of reconstruction errors was implemented to identify anomalies. Experimental validation was conducted using a custom dataset, including physical attacks as abnormal cases. The proposed framework achieved an accuracy and recall of approximately 0.93 and 0.83, respectively. A comparison with other benchmark models further verified its superior performance. Full article

Gusts have a significant impact on aircraft and need to be analyzed through flight simulations. The solution for time-domain gust aerodynamic forces stands as a pivotal stage in this process. With the increasing demand for flight simulations within gusty environments, traditional methods related to gust aerodynamics cannot fail to balance computational accuracy and efficiency. A method that can be used to quickly and accurately calculate the time-domain gust aerodynamic force is needed. This study proposes the fitting strip method, a gust aerodynamic force solution method that is suitable for real-time flight simulations. It only requires the current and previous gust information to calculate the aerodynamic force and is suitable for different configurations of aircraft and different kinds of gusts. Firstly, the fitting strip method requires the division of fitting strips and the calculation of the aerodynamic force under calibration conditions. In this study, the double-lattice method and computational fluid dynamics are used to calculate the aerodynamic force of the strips. Then, the amplitude coefficients and time-delay coefficients are obtained through a fitting calculation. Finally, the coefficients and gust information are put into the formula to calculate the gust aerodynamic force. An example of a swept wing is used for validation, demonstrating congruence between the computational results and experimental data across subsonic and transonic speeds, which proves the accuracy of the fitting strip method in both discrete gusts and continuous gusts. Compared with other methods, the fitting strip method uses the shortest time. Furthermore, the results of a calculation for normal-layout aircraft show that this method avoids the shortcomings of the rational function approximation method and is more accurate than the gust grouping method. Concurrently, gust aerodynamic force calculations were performed on aircraft with large aspect ratios and used in a real-time flight simulation. Full article

For the sake of enhancing the handling and stability of distributed drive electric vehicles (DDEVs) under four-wheel steering (4WS) conditions, this study proposes a novel hierarchical control strategy based on a phase plane analysis. This approach involves a meticulous comparison of the stable region in the phase plane to thoroughly analyze the intricate influence of the front wheel angle, rear wheel angle, road adhesion coefficient, and longitudinal speed on the complex dynamic performances of DDEVs and to accurately determine the critical stable-state parameter. Subsequently, a hierarchical control strategy is presented as an integrated solution to achieve the coordinated control of maneuverability and stability. On the upper control level, a model predictive control (MPC) motion controller is developed, wherein the real-time adjustment of the control weight matrix is ingeniously achieved by incorporating the crucial vehicle stable-state parameter. The lower control level is responsible for the optimal torque allocation among the four wheel motors to minimize the tire load rate, thereby ensuring a sufficient tire grip margin. The optimal torque distribution for the four wheel motors is achieved using a sophisticated two-level allocation algorithm, wherein the friction ellipse is employed as a judgement condition. Finally, this developed control strategy is thoroughly validated through co-simulation utilizing the CarSim 2019 and Simulink 2020b commercial software, demonstrating the validity of the developed control strategy. The comparative results indicate that the presented controller ensures a better tracking capability to the desired vehicle state while exhibiting improved handling stability under both the double lane shifting condition and the serpentine working condition. Full article