Search Results (5,188)

A mill relining manipulator is key maintenance equipment for liners exchanged and operated by workers inside a grinding mill. To improve the operation efficiency and safety, real-time path planning and end deformation compensation should be performed prior to actual execution. This paper proposes a five-dimensional digital twin framework to realize virtual–real interaction between a physical manipulator and virtual model. First, a real-time digital twin scene is established based on OpenGL. The involved technologies include scene rendering, a camera system, the light design, model importation, joint control, and data transmission. Next, different solving methods are introduced into the service space for relining tasks, including a kinematics model, collision detection, path planning, and end deformation compensation. Finally, a user application is developed to realize real-time condition monitoring and simulation analysis visualization. Through comparison experiments, the superiority of the proposed path planning algorithm is demonstrated. In the case of a long-distance relining task, the planning time and path length of the proposed algorithm are 1.7 s and 15,299 mm, respectively. For motion smoothness, the joint change curve exhibits no abrupt variation. In addition, the experimental results between original and modified end trajectories further verified the effectiveness and feasibility of the proposed end effector compensation method. This study can also be extended to other heavy-duty manipulators to realize intelligent automation. Full article

In this work, a controller hardware-in-the-loop (CHIL) simulation of a grid-connected three-phase inverter equipped with an LCL filter is implemented using a real-time digital simulator (RTDS) as the plant and a digital signal processor (DSP) as the control hardware. This work identifies and discusses the critical aspects of the CHIL implementation process, emphasizing the relevance of the control delays that arise from sampling, computation, and pulse width modulation (PWM), which also adversely affect system stability, accuracy, and performance. Time and frequency domains are used to validate the modeling of the system, either to represent large-signal or small-signal models. This work shows multiple representations of the system under study: the fundamental frequency model, the switched model, and the switched model controlled by the DSP, are used to validate the nonlinear model, whereas the impedance-based modeling is followed to validate the linear representation. The results demonstrate a strong correlation among the models, confirming that the delay effects are accurately captured in the different simulation approaches. This comparison provides valuable insights into configuration practices that improve the fidelity of CHIL-based validation and supports impedance-based stability analysis in power electronic systems. The findings are particularly relevant for wideband modeling and real-time studies in electromagnetic transient analysis. Full article

Explosion-proof safety evaluation is critical for coal mine equipment operating in hazardous environments. Traditional methods rely on physical explosion testing, which is time-consuming, costly, and impractical for large-scale or complex systems. We propose a real-time virtual measurement method based on an improved combined surrogate model to address these limitations. A digital twin framework is constructed by integrating internal explosion transmission data with physical models of gas deflagration and enclosure impact mechanics. A transient multi-physical reduced-order model is developed using Latin hypercube sampling and machine learning. The core prediction model, RBF-GMSE, combines a radial basis function surrogate model and a generalized mean square error model through adaptive weighting. This model is trained on dimension-reduced finite element data and used to predict explosion-induced stress, strain, and displacement in real time. A virtual measurement system is implemented using this framework, enabling accurate, dynamic safety evaluation of explosion-proof equipment. Validation against simulation data shows a maximum prediction error below 1.89% and an average correlation coefficient of 0.9779, confirming the model’s high accuracy and robustness. This approach offers an intelligent solution for efficient and precise acquisition of explosion-proof safety characteristics in coal mine equipment. Full article

The increasing pressure on water resources caused by agricultural intensification, the rising food demand and climate change requires new irrigation strategies that improve the sustainability and efficiency of agricultural production. The objective of this study is to evaluate the performance of the digital twin (DT), Irri_DesK, in a 15-hectare commercial processing tomatoes plot in Extremadura (Spain) over two growing seasons (2023 and 2024). Three irrigation strategies were compared: conventional farmer management, management based on a remote-sensing platform (Smart4Crops) and automated scheduling using Irri_DesK DT-integrated soil moisture sensors, climate data and simulation models to adjust irrigation doses daily. Results showed that the DT-based strategy allowed for the application of regulated deficit irrigation strategies while maintaining productivity or fruit quality. In 2023, it achieved an economic water efficiency of 284.81 EUR/mm with a yield of 140 t/ha using 413 mm of water. In 2024, it maintained high production levels (126 t/ha) under more challenging conditions of spatial variability. These results support the potential of DTs for improving irrigation management in water-limited environments. Full article

Autonomous docking is a critical capability for enabling fully automated operations in industrial and logistics environments using Autonomous Mobile Robots (AMRs). Traditional rule-based docking approaches often struggle with generalization and robustness in complex, dynamic scenarios. This paper presents a deep reinforcement learning-based autonomous docking framework that integrates Proximal Policy Optimization (PPO) with multi-sensor fusion. It includes YOLO-based vision detection, depth estimation, and LiDAR-based orientation correction. A concise 4D state vector, comprising relative position and angle indicators, is used to guide a continuous control policy. The outputs are linear and angular velocity commands for smooth and accurate docking. The training is conducted in a Gym-compatible Gazebo simulation, acting as a digital twin of the real-world system, and incorporates realistic variations in lighting, obstacle placement, and marker visibility. A designed reward function encourages alignment accuracy, progress, and safety. The final policy is deployed on a real robot via a sim-to-real transfer pipeline, supported by a ROS-based transfer node. Experimental results demonstrate that the proposed method achieves robust and precise docking behavior under diverse real-world conditions, validating the effectiveness of PPO-based learning and sensor fusion for practical autonomous docking applications. Full article

Displacement measurement is a critical issue in mechanical engineering. The moiré effect increases the accuracy of contactless measurements. We theoretically estimated the sensitivity threshold of moiré measurements using a digital camera on various objects. The estimated sensitivity threshold can be as low as a sub-pixel. We confirmed this experimentally in laboratory tests with a static image on a screen and simulated movement with non-integer and fractional amplitudes. Additionally, we provide practical examples, such as displacement measurement tests conducted in laboratories and outdoors. We took simultaneous measurements in two directions. The results can be applied in public safety, particularly for monitoring the condition of engineering structures. Full article

Autonomous surgery involves surgical tasks performed by a robot with minimal or no human involvement. Thanks to its precise automation, surgical robotics offers significant benefits in enhancing the consistency, safety, and quality of procedures, driving its growing popularity. However, ensuring the safety of autonomous surgical robotic systems remains a significant challenge. To address this, we propose a simulation-based validation method to detect potential safety issues in the software of surgical robotic systems, complemented by a digital twin to estimate the gap between simulation and reality. The validation framework consists of a test case generator and a monitor for validating properties and evaluating the performance of the robotic system during test execution. Using a robotic arm for needle insertion as a case study, we present a systematic test case generation method that ensures effective coverage measurement for a three-dimensional, irregular model. Since no simulation can perfectly replicate reality due to differences in sensing and actuation, the digital twin bridges the gap between simulation and the physical robotic arm. This integration enables us to assess the discrepancy between virtual simulations and real-world operations by verifying whether the data from the simulation accurately predicts real-world outcomes. Through extensive experimentation, we identified several flaws in the robotic software. Co-simulation within the digital twin framework has highlighted these discrepancies that should be considered. Full article

Self-medication is increasingly prevalent among healthcare students, raising concerns about the adequacy of current medical education in promoting safe medication practices. This study aimed to assess the frequency, motivations, and perceptions of self-medication among medical and pharmacy students and to identify educational gaps. A cross-sectional survey was conducted using a structured, anonymous questionnaire distributed to medical and pharmacy students at a single academic institution. The questionnaire assessed self-medication frequency, substances used, motivations, perceived risks, confidence in knowledge, sources of information, and attitudes toward curriculum improvements. Over 50% of participants reported practicing self-medication at least once a month. The most commonly used substances were analgesics and dietary supplements. Main motivations included recognition of symptoms, confidence in personal knowledge, and avoidance of waiting times. Despite receiving university instruction on self-medication risks, students continued to self-medicate, with many relying on the internet as a primary source of information. Only 8% felt very confident in counseling patients on self-medication. A majority (over 70%) expressed a strong interest in integrating dedicated educational modules into the curriculum. There is a clear need for improved, practice-oriented education on self-medication. Future interventions should focus on interdisciplinary teaching, digital literacy, and simulation-based training to foster safer medication practices. Full article

Network protector units (NPUs) are crucial parts of the protection of secondary networks to effectively isolate faults occurring on the primary feeders. When a fault occurs on the primary feeder, there is a path of the fault current going through the service transformers that causes a negative flow of current on the NPU connected to the faulted feeder. Conventionally, NPUs rely on the direction of current with respect to the voltage to detect faults and make a correct trip decision. However, the conventional NPU logic does not allow the reverse power flow caused by distributed energy resources installed on secondary networks. The communication-assisted direct transfer trip logic for NPUs can be used to address this challenge. However, the communication-assisted scheme is exposed to some vulnerabilities arising from the disruption or corruption of the communicated data that can endanger the reliable operation of NPUs. This paper evaluates the impact of the malfunction of the communication system on the operation of communication-assisted NPU logic. To this end, the impact of packet modification and denial-of-service cyberattacks on the communication-assisted scheme are evaluated. The evaluation was performed using a hardware-in-the-loop (HIL) co-simulation testbed that includes both real-time power system and communication network digital simulators. This paper evaluates the impact of the cyberattacks for different fault scenarios and provides a list of recommendations to improve the reliability of communication-assisted NPU protection. Full article

This study presents a high-fidelity digital twin (DT) framework designed to evaluate and improve vertiport operations for Advanced Air Mobility (AAM). By integrating Unreal Engine, AirSim, and Cesium, the framework enables real-time simulation of Unmanned Aerial Vehicles (UAVs), including unmanned electric vertical take-off and landing (eVTOL) operations under nominal and disrupted conditions, such as adverse weather and engine failures. The DT supports interactive visualisation and risk-free analysis of decision-making protocols, vertiport layouts, and UAV handling strategies across multi-scenarios. To validate system realism, mixed-reality experiments involving physical UAVs, acting as surrogates for eVTOL platforms, demonstrate consistency between simulations and real-world flight behaviours. These UAV-based tests confirm the applicability of the DT environment to AAM. Intelligent algorithms detect Final Approach and Take-Off (FATO) areas and adjust flight paths for seamless take-off and landing. Live environmental data are incorporated for dynamic risk assessment and operational adjustment. A structured capacity evaluation method is proposed, modelling constraints including turnaround time, infrastructure limits, charging requirements, and emergency delays. Mitigation strategies, such as ultra-fast charging and reconfiguring the layout, are introduced to restore throughput. This DT provides a scalable, drone-integrated, and data-driven foundation for vertiport optimisation and regulatory planning, supporting safe and resilient integration into the AAM ecosystem. Full article

Power transformers are critical components in electrical power systems, where failures can cause significant outages and economic losses. Traditional maintenance strategies, typically based on offline inspections, are increasingly insufficient to meet the reliability requirements of modern digital substations. This work presents an integrated multi-sensor monitoring framework that combines online frequency response analysis (OnFRA^® 4.0), capacitive tap-based monitoring (FRACTIVE^® 4.0), dissolved gas analysis, and temperature measurements. All data streams are synchronized and managed within a SCADA system that supports real-time visualization and historical traceability. To enable automated fault diagnosis, a Random Forest classifier was trained using simulated datasets derived from laboratory experiments that emulate typical transformer and bushing degradation scenarios. Principal Component Analysis was employed for dimensionality reduction, improving model interpretability and computational efficiency. The proposed model achieved perfect classification metrics on the simulated data, demonstrating the feasibility of combining high-fidelity monitoring hardware with machine learning techniques for anomaly detection. Although no in-service failures have been recorded to date, the monitoring infrastructure is already tested and validated through laboratory conditions, enabling continuous data acquisition. Full article

Bias Temperature Instability (BTI)-induced aging of transistors is a serious concern in modern electronic circuits, yet its effects on the operation of mixed-signal circuits have not been extensively studied. In this work, initially we analyze how BTI-induced aging degradation influences the analog front end of Flash analog-to-digital converters (ADCs). BTI-induced aging leads to substantial increments in the offset voltage of the ADC comparators, which in turn affect their trip point voltage, leading to the alteration of the ADC’s performance characteristics, such as gain, full-scale error and integral nonlinearity. Thus, erroneous responses are generated. Next, we propose a low-cost BTI-induced aging mitigation technique based on a circuit reconfiguration method which periodically alters the average voltage stress on the ADC comparators’ transistors. The proposed method limits the comparators’ offset voltage development, restricting the shift in their trip point voltage. Consequently, the impact of aging on the performance characteristics of the ADC is drastically reduced, and its reliability is improved. According to our simulations, after two years of operation, the gain error is reduced by 95.43%, the full-scale error is reduced by 63.31% and the integral nonlinearity is reduced by 63.00%, with respect to operation without applying the proposed aging mitigation technique. Full article

Virtual environment simulations have gained great importance in the field of robotics by enabling the validation and optimization of control algorithms before their implementation on real platforms. However, the construction of accurate digital models is limited not only by the lack of detailed characterization of the components but also by the uncertainty introduced by the physics engine and the plugins used in the simulation. Unlike other works, which attempted to model each element of the robot in detail and rely on the physics engine to reproduce its behavior, this paper proposes a methodology based on model following. The proposed architecture forces the simulated robot to replicate the dynamics of the real robot without requiring exactly the same physical parameters. The experimental validation was carried out on two unmanned surface vehicle (USV) platforms with different dynamic parameters and, therefore, different responses to excitation signals, demonstrating that the proposed approach enables a drastic reduction in error. In particular, RMSE and MAE were reduced by more than 98%, with $R^2$ values close to 1.0, demonstrating an almost perfect correspondence between the real and simulated dynamics. Full article

Integration of IoT and predictive modeling is critical for optimizing microclimate management in urban-agglomeration vertical farming. In this study, we present a hybrid digital twin approach that combines a physical microclimate model with a distributed IoT monitoring system to simulate and control the phytotron environment. A set of heat- and mass-balance equations governing the dynamics of temperature, humidity, and transpiration was implemented and parameterized using a genetic algorithm (GA)—an evolutionary optimization method—with real-time data collected over three intervals (72 h, 90 h, and 110 h) from LoRaWAN sensors (temperature, humidity, CO₂) and Wi-Fi-connected power meters managed by Home Assistant. The optimized model achieved mean temperature deviations ≤ 0.1 °C, relative humidity errors ≤ 2%, and overall energy consumption accuracy of 99.5% compared to measured values. The digital twin reliably tracked daily climate fluctuations and system energy use, confirming the accuracy of the hybrid approach. These results demonstrate that the proposed framework effectively integrates theoretical models with IoT-derived data to deliver precise environmental control and energy-use optimization in vertical farming, while also laying the groundwork for scalable digital twins in controlled-environment agriculture. Full article

This study explores a submerged architectural strategy for data center deployment in coal mining subsidence water bodies, aiming to simultaneously address the underutilization of post-mining landscapes, the high-carbon operation of data centers, and the implementation challenges of China’s dual carbon goals. The proposed structure integrates wall-mounted plate heat exchangers into the façades of underwater data halls, using the natural convection of surrounding water as a low-grade heat sink to replace conventional cooling towers and achieve passive, low-carbon cooling. A thermal exchange model was developed based on heat transfer principles and validated by comparing outputs from TRNSYS simulations and MATLAB-based parameterized calculations, showing a deviation of less than 3% under all test conditions. The model was then used to estimate energy consumption, PUE, and carbon emissions under typical IT load scenarios. Results indicate a 42.5–64.3% reduction in cooling energy use and a 37.7–75.1% reduction in carbon emissions compared to conventional solutions, while a PUE range of 1.06–1.15 is maintained. The system also offers strong spatial adaptability and scalability, presenting a sustainable solution for redeveloping subsidence zones that supports ecological restoration and digital transformation in resource-depleted urban regions. Full article