Search Results (148)

Network connectivity and area coverage are the most important aspects in the applications of wireless sensor networks (WSNs). The resource and energy constraints of sensor nodes, operational conditions, and network size pose challenges to the optimal coverage of targets in the region of interest (ROI). The main idea is to achieve maximum area coverage and connectivity with strategic deployment and the minimal number of sensor nodes. This work addresses the problem of network area coverage in randomly distributed WSNs and provides an efficient deployment strategy using an enhanced version of cuckoo search optimization (ECSO). The “sequential update evaluation” mechanism is used to mitigate the dependency among dimensions and provide highly accurate solutions, particularly during the local search phase. During the preference random walk phase of conventional CSO, particle swarm optimization (PSO) with adaptive inertia weights is defined to accelerate the local search capabilities. The “opposition-based learning (OBL)” strategy is applied to ensure high-quality initial solutions that help to enhance the balance between exploration and exploitation. By considering the opposite of current solutions to expand the search space, we achieve higher convergence speed and population diversity. The performance of ECSO-OBL is evaluated using eight benchmark functions, and the results of three cases are compared with the existing methods. The proposed method enhances network coverage with a non-uniform distribution of sensor nodes and attempts to cover the whole ROI with a minimal number of sensor nodes. In a WSN with a 100 m² area, we achieved a maximum coverage rate of 98.45% and algorithm convergence in 143 iterations, and the execution time was limited to 2.85 s. The simulation results of various cases prove the higher efficiency of the ECSO-OBL method in terms of network coverage and connectivity in WSNs compared with existing state-of-the-art works. Full article

Preserving historical porous materials requires careful monitoring of surface humidity to mitigate deterioration processes like salt crystallization, mold growth, and material decay. While microclimate monitoring is a recognized preventive conservation tool, its role in detecting surface-specific moisture risks remains underexplored. This study evaluates the relationship between indoor microclimate fluctuations and surface moisture dynamics across 13 historical sites in Northern Italy (Lake Como, Valtellina, Valposchiavo), encompassing diverse masonry typologies and environmental conditions. High-resolution sensors recorded temperature and relative humidity for a minimum of 13 months, and eight indicators—including dew point depression, critical temperature–humidity zones, and damp effect indices—were analyzed to assess the moisture risks. The results demonstrate that multivariate microclimate data could effectively predict humidity accumulation. The key findings reveal the impact of seasonal ventilation, thermal inertia, and localized air stagnation on moisture distribution, with unheated alpine sites showing the highest condensation risk. The study highlights the need for integrated monitoring approaches, combining dew point analysis, mixing ratio stability, and buffering performance, to enable early risk detection and targeted conservation strategies. These insights bridge the gap between environmental monitoring and surface moisture diagnostics in porous heritage materials. Full article

This study investigates the thermal response and surface modification of low-carbon manganese-alloyed 20GL steel during electrolytic plasma hardening. The objective was to evaluate the feasibility of surface hardening 20GL steel—traditionally considered difficult to quench—by combining high-rate surface heating with rapid cooling in an electrolyte medium. To achieve this, a transient two-dimensional heat conduction model was developed to simulate temperature evolution in the steel sample under three voltage regimes. The model accounted for dynamic thermal properties and non-linear boundary conditions, focusing on temperature gradients across the thickness. Experimental temperature measurements were obtained using a K-type thermocouple embedded at a depth of 2 mm, with corrections for sensor inertia based on exponential response behavior. A comparison between simulation and experiment was conducted, focusing on peak temperatures, heating and cooling rates, and the effective thermal penetration depth. Microhardness profiling and metallographic examination confirmed surface strengthening and structural refinement, which intensified with increasing voltage. Importantly, the study identified a critical cooling rate threshold of approximately 50 °C/s required to initiate martensitic transformation in 20GL steel. These findings provide a foundation for future optimization of quenching strategies for low-carbon steels by offering insight into the interplay between thermal fluxes, surface kinetics, and process parameters. Full article

Hydraulic excavators operate in harsh environments where direct measurement of actuator chamber pressures and boom displacement is often unreliable or infeasible. This study presents a novel control strategy that estimates actuator chamber pressures from work port pressures using differential equations, eliminating the need for direct pressure or position sensors. A fuzzy logic-based proportional–derivative (PD) controller is developed to mitigate boom oscillations, particularly under high-inertia load conditions and variable operator inputs. The controller dynamically adjusts gains through fuzzy logic-based gain scheduling, enhancing adaptability across a wide range of operating conditions. The proposed method addresses the limitations of classical PID controllers, which struggle with the nonlinearities, parameter uncertainties, and instability introduced by counterbalance valves and pressure-compensated proportional valves. Experimental data is used to design fuzzy rules and membership functions, ensuring robust performance. Simulation and full-scale experimental validation demonstrate that the fuzzy PD controller significantly reduces pressure overshoot (by 23% during extension and 32% during retraction) and decreases settling time (by 31.23% and 28%, respectively) compared to conventional systems. Frequency-domain stability analysis confirms exponential stability and improved damping characteristics. The proposed control scheme enhances system reliability and safety, making it ideal for excavators operating in remote or rugged terrains where conventional sensor-based systems may fail. This approach is generalizable and does not require modifications to the existing hydraulic circuit, offering a practical and scalable solution for modern hydraulic machinery. Full article

In this paper, an advanced flight simulation model of the ILR-33 AMBER rocket is shown. The model is designed for Hardware-in-the-Loop (HiL) tests of the rocket control system. It permits us to simulate flight dynamics in a 6DOF environment, with consideration of the variable thrust, mass-inertia, and aerodynamics. It reproduces key functionalities of on-board computer and sensors and allows us to reproduce multiple mission scenarios. Simplifying assumptions concerning the environment and coordinate systems were made, reducing calculation costs while preserving key functionalities of the simulation. The control system consists of four movable canards, actuators, and motion controllers. The process of integration between the simulation model and hardware using a real-time computer is shown. Efficient communication between those elements was developed and tested in simulated flight conditions. In the final part, relevant control system HiL tests were presented. An extensive comparison between unguided and guided flight trajectories was performed. The impact of the control system operation on all analyzed parameters is clearly demonstrated. The results confirmed the usefulness of the simulation model for the task it was developed for. The potential of the HiL method in the design of complex control systems for suborbital rockets is proven. Full article

Smartphone-embedded inertia sensors are widely available nowadays. We have developed a smartphone application that could assess temporal gait characteristics using the built-in inertia measurement unit with the aim of enabling mass screening for gait abnormality. This study aimed to examine the test–retest reliability and concurrent validity of the smartphone-based gait assessment in assessing temporal gait parameters in level-ground walking. Twenty-six healthy young adults (mean age: 20.8 ± 0.7) were recruited. Participants walked at their comfortable pace on a 10 m pathway repetitively in two walking sessions. Gait data were simultaneously collected by the smartphone application and a VICON system during the walk. Gait events of heel strike and toes off were detected from the sensors signal by a peak detection algorithm. Further gait parameters were calculated and compared between the two systems. Pearson Product–Moment Correlation was used to evaluate the concurrent validity of both systems. Test–retest reliability was examined by the intraclass correlation coefficients (ICCs) between measurements from two sessions scheduled one to four weeks apart. The validity of smartphone-based gait assessment was moderate to excellent for parameters involving only heel strike detection (r = 0.628–0.977), poor to moderate for parameters involving detection of both heel strike and toes off (r = 0.098–0.704), and poor for the proportion of gait phases within a gait cycle. Reliability was good to fair for heel strike-related parameters (ICC = 0.845–0.388), good to moderate for heel strike and toes-off-related parameters (ICC = 0.827–0.582), and moderate to fair for proportional parameters. Validity was adversely affected when toe off was involved in the calculation, when there was an insufficient number of effective steps taken, or when calculating sub-phases with short duration. The use of smartphone-based gait assessment is recommended in calculating step time and stride time, and we suggest collecting no less than 100 steps per leg during clinical application for better validity and reliability. Full article

Wearable sensors are used in gait analysis to obtain spatiotemporal parameters, with gait events serving as critical markers for foot and lower limb movement. Summarizing detection methods is essential, as accurately identifying gait events and phases are key to deriving precise spatiotemporal parameters through wearable technology. However, a clear understanding of how these sensors, particularly angular velocity and acceleration signals within inertial measurement units, individually or collectively, contribute to the detection of gait events and gait phases is lacking. This review aims to summarize the current state of knowledge on the application for both gyroscopes, with particular emphasis on the role of angular velocity signals, and inertial measurement units with both angular velocity and acceleration signals in identifying gait events, gait phases, and calculating gait spatiotemporal parameters. Gyroscopes remain the primary tool for gait events detection, while inertia measurement units enhance reliability and enable spatiotemporal parameter estimation. Rule-based methods are suitable for controlled environments, whereas machine learning offers flexibility to analyze complex gait conditions. In addition, there is a lack of consensus on optimal sensor configurations for clinical applications. Future research should focus on standardizing sensor configurations and developing robust, adaptable detection methodologies suitable for different gait conditions. Full article

This paper proposes a robust impedance controller to address the performance limitations of mechanical impedance rendering in robotic joints, enabling stable interaction with passive environments. Considering structured uncertainties, such as dynamic parameter perturbations, sensor noise, disturbances, and unmodeled dynamics in actuator models, the $\mathsf{\mu }$-synthesis method is employed to optimize closed-loop robustness performance. This approach minimizes impedance-matching errors in the frequency domain, thereby enhancing the regulation of the systems’s inherent impedance characteristics. Key performance metrics are analyzed, and the impedance-rendering accuracy is evaluated. Furthermore, the limiting factors affecting impedance-matching bandwidth are investigated to inform the selection of impedance parameters and ensure safe physical interaction. The proposed controller is validated through simulations and hardware experiments on a one-DoF modular robotic joint. Frequency domain impedance matching comparisons show that relative to ${\mathcal{H}}_{\infty }$ control, the $\mathsf{\mu }$-synthesis approach reduces impedance matching errors by up to 94.6% and 97.5% under 5% and 30% inertia uncertainties, respectively. Furthermore, experimental results demonstrate that compared to classical impedance control, the proposed method reduces impedance rendering errors by an average of 85.71% across all tested configurations while maintaining superior passivity and interaction stability under diverse impedance conditions. These results validate the effectiveness of $\mathsf{\mu }$-synthesis in achieving safe and high-fidelity physical interaction behavior. Full article

Robust robot manipulation hinges on effective state estimation. The VRT 6 robot leverages an inertia measurement unit with triaxial gyroscopes, magnetometers, and accelerometers, as well as a position sensor, but these sensors are plagued by noise that demands rigorous filtering. To tackle this, an adaptively scaled unscented Kalman filter was employed. The filter’s scaling parameter was meticulously optimized using density- and moment-based techniques, as both system properties and estimated state impact this crucial parameter. A Maximum Likelihood Estimation (ML) substantiates the enhanced quality of the estimated velocity and acceleration, on par with the position estimate. Minimizing measurement prediction error (MMPE) also shows better results with less RMSE when compared to fixed-kappa values, and the quality of position estimates is higher with the increase in the domain of the scaling parameter. By carefully selecting the adaptive scaling parameters’ range to minimize sigma point weights and ensure the positive definiteness of the covariance matrix, this enhanced UKF method achieved markedly superior state estimates compared to standard UKF implementations. Full article

Expected lives of mechanical parts and structures depend upon the environmental conditions, their dynamic behaviours and the task-oriented spectra of different loadings. This paper exploits contactless full-field mobilities, estimated by Scanner Laser Doppler Vibrometry (SLDV), in the real manufacturing, assembling and loading conditions of the thin plate tested, whose structural dynamics can be described in broad frequency bands, with no distorting inertia of sensors and no numerical models. The paper derives the mobilities into full-field strain Frequency Response Functions (FRFs), which map, by selecting the proper complex-valued broad frequency band excitation spectrum, the surface strains. From the latter, by means of the constitutive model, dynamic stress distributions are computed, to be exploited in fatigue spectral methods to map the expected life of the component, according to the selected tasks’ spectra and the excitation locations. The results of this experiment-based approach are thoroughly commented in sight of non-destructive-testing, damage and failure prognosis, Structural Health Monitoring, manufacturing and maintenance actions. Full article

Cable-driven actuators (CDAs) are extensively used in the rehabilitation field because of advantages such as low moment of inertia, fast movement response, and intrinsic flexibility. Accurate control of cable force is essential for achieving precise movement control, especially when the movement is generated by multiple CDAs. However, velocity-induced disturbances pose challenges to accurate force control during dynamic movements. Several strategies for direct force control have been investigated in the literature, but time-consuming tests are often required. The aim of this study was to develop a force feedback controller and a speed feedforward compensator for a CDA with a convenient experiment-based approach. The CDA consisted of a motor with a gearbox, a cable drum, and a force sensor. The transfer function between motor torque and cable force was estimated through an open-loop test. A PI force feedback controller was developed and evaluated in a static test. Subsequently, a dynamic test with a reference force of 100 N was conducted, during which the cable was pulled to move at different speeds. The relationship between the motor speed and the cable force was determined, which facilitated further development of a speed feedforward compensator. The controller and compensator were evaluated in dynamic tests at various speeds. Additionally, the system dynamics were simulated in MATLAB/Simulink. The static test showed that the PI force controller produced a mean force control error of 4.7 N, which was deemed very good force-tracking accuracy. The simulated force output was very similar to the experiment (RMSE error of 4.0 N). During the dynamic test, the PI force controller alone produced a force control error of 9.0 N. Inclusion of the speed feedforward compensator improved the force control accuracy, resulting in a mean error at various speeds of 5.6 N. The combined force feedback controller and speed feedforward compensator produced a satisfactory degree of accuracy in force control during dynamic tests of the CDA across varying speeds. Additionally, the accuracy level was comparable to that reported in the literature. The convenient experiment-based design of the force control strategy exhibits potential as a general control approach for CDAs, laying the solid foundation for precise movement control. Future work will include the integration of the speed compensator into better feedback algorithms for more accurate force control. Full article

Motorized mobility scooters (MMSs) are vital assistive technology devices that facilitate independent living for older adults. In many cases, older adults with physical impairments operate MMSs without special licenses, increasing the risk of accidents caused by operational errors. Although sensing systems have been developed to record MMS operations and evaluate driving skills, they face challenges in clinical applications because of the complexity of installing inertial measurement units (IMUs). This study proposes a novel recording system for MMS operation that uses a compact single-lens camera and image processing. The system estimates steering and throttle angles during MMS operation using optical flow and template matching approaches. Estimation relies on road surface images captured by a single monocular camera, significantly reducing the complexity of the sensor setup. The proposed system successfully estimated the steering angle with comparable accuracy to existing approaches using IMUs. Estimation of the throttle angle was negatively affected by the inertia of the MMS body during acceleration and deceleration but demonstrated high accuracy during stable driving conditions. This method provides a fundamental computational technique for measuring MMS operations using camera images. With its simple setup, the proposed system enhances the usability of recording systems for evaluating MMS driving skills. Full article

Researchers have increasingly focused on thermal comfort, examining both individuals’ thermal sensations and the percentage of people dissatisfied with the thermal environment. Most studies rely on the widely used PMV (Predicted Mean Vote) model and the PPD (Predicted Percentage of Dissatisfied) value derived from it, both defined by the ISO 7730:2005 standard. However, previous studies have shown that this standardized method only applies under steady-state conditions, which do not reflect the dynamic nature of everyday environments. As closed-loop control technologies gain prominence in building services, the need to evaluate thermal comfort under time-varying conditions has grown. The standard method does not account for the thermal inertia of the human body, which limits its applicability in such dynamic contexts. In this study, we develop a method to estimate instantaneous thermal sensation under non-stationary conditions by incorporating thermal inertia through signal processing techniques. This approach addresses a well-recognized limitation of the standard PMV–PPD model and provides a way to assess thermal comfort in real time. We collected experimental data using a thermal comfort measurement station, a thermal manikin, and human subjects in a controlled climate chamber. The proposed method enables real-time evaluation of thermal comfort in dynamic environments and offers a foundation for integration into HVAC control and comfort optimization systems. Full article

This work presents an innovative, energy-efficient IoT routing protocol that combines advanced data fusion grouping and routing strategies to effectively tackle the challenges of data management in smart cities. Our protocol employs hierarchical Data Fusion Head (DFH), relay DFHs, and marine predators algorithm, the latter of which is a reliable metaheuristic algorithm which incorporates a fitness function that optimizes parameters such as how closely the Sensor Nodes (SNs) of a data fusion group (DFG) are gathered together, the distance to the sink node, proximity to SNs within the data fusion group, the remaining energy (RE), the Average Scale of Building Occlusions (ASBO), and Primary DFH (PDFH) rotation frequency. A key innovation in our approach is the introduction of data fusion techniques to minimize redundant data transmissions and enhance data quality within DFG. By consolidating data from multiple SNs using fusion algorithms, our protocol reduces the volume of transmitted information, leading to significant energy savings. Our protocol supports both direct routing, where fused data flow straight to the sink node, and multi-hop routing, where a PDF relay is chosen based on an influential relay cost function that considers parameters such as RE, distance to the sink node, and ASBO. Given that the proposed protocol incorporates efficient failure recovery strategies, data redundancy management, and data fusion techniques, it enhances overall system resilience, thereby ensuring high protocol performance even in unforeseen circumstances. Thorough simulations and comparative analysis reveal the protocol’s superior performance across key performance metrics, namely, network lifespan, energy consumption, throughput, and average delay. When compared to the most recent and relevant protocols, including the Particle Swarm Optimization-based energy-efficient clustering protocol (PSO-EEC), linearly decreasing inertia weight PSO (LDIWPSO), Optimized Fuzzy Clustering Algorithm (OFCA), and Novel PSO-based Protocol (NPSOP), our approach achieves very promising results. Specifically, our protocol extends network lifespan by 299% over PSO-EEC, 264% over LDIWPSO, 306% over OFCA, and 249% over NPSOP. It also reduces energy consumption by 254% relative to PSO-EEC, 264% compared to LDIWPSO, 247% against OFCA, and 253% over NPSOP. The throughput improvements reach 67% over PSO-EEC, 59% over LDIWPSO, 53% over OFCA, and 50% over NPSOP. By fusing data and optimizing routing strategies, our protocol sets a new benchmark for energy-efficient IoT DFG, offering a robust solution for diverse IoT deployments. Full article

CTD profilers are used as reference instruments to qualify temperature and salinity data. Their metrological specifications can be controlled in a calibration bath, and calibration coefficients can be applied to correct the linearity of sensors and the trueness of measured data with a given uncertainty. However, in ocean areas with thermal gradients, the uncertainty of the measured data is questionable due to the thermal inertia of sensors and the movements of the CTD in relation to the roll or pitch of the boat. In order to evaluate these measurement uncertainties and in order to be able to use the upcast profiles, a double C–T sensor SBE 9 profiler was fixed under a carousel water sampler, the second C–T couple being at the top of the carousel frame. This configuration allows the evaluation of the temperature measurement deviations of recorded profiles. In order to quantify the different sources of instrumental uncertainties, the temperature signal has been modelled accounting for the movements induced by the boat. The result allows one to quantify what can be called the representativeness of CTD’s temperature measurements. This notion is very useful in the data assimilation process. A table quantifying the various sources of uncertainty has been created from profiles obtained during four offshore campaigns. In the future, it could be used to find the representativeness of similar profiles obtained with a single pair of sensors. Ship-based CTD profiles are generally considered as perfect or without uncertainty in data assimilation and in the qualification per comparison of other instruments (XBT, Argo profiles, etc.). Our findings imply that this hypothesis will have to be reconsidered. Full article