Abstract: Although experimental attempts to measure a single molecule/particle at room temperature or under physiological conditions without immobilization, for example on a surface, or without hydrodynamic flow have so far failed, this failure has given impetus to the underlying theory of Brownian motion towards its stochastic due to diffusion. Quantifying the thermodynamic jitter of molecules/particles inspires many and forms the theoretical basis of single-molecule/single-particle biophysics and biochemistry. For the first time, our simulation results for a live cell (cytoplasm) show that the tracks of individual single molecules are localized in Brownian motion, while there is fanning out in fractal diffusion (anomalous diffusion).

The research methods were used to investigate the following questions: Does a mobility training intervention change tissue stiffness, joint range of motion, and compensate for possible imbalances? Do the interventions influence the pressure pain threshold and the overall well-being?

Pressure-sensitive paint (PSP) has received significant attention for capturing surface pressure in recent years. One major source of uncertainty in PSP measurements, temperature dependency, stems from the fundamental photophysical process that allows PSP to extract pressure information. The motion-capturing PSP method, which involves two luminophores, is introduced as a method to reduce the measurement uncertainty due to temperature dependency. A theoretical model for the pressure uncertainty due to temperature dependency is proposed and demonstrated using a static pressure measurement with an applied temperature gradient. The experimental validation of the proposed model shows that the motion-capturing PSP method reduces the temperature dependency by 37.7% compared to the conventional PSP method. The proposed model also proves that a PSP with zero temperature dependency is theoretically possible.

This work focuses on the research area of energy generation and harvesting for its transformation into electrical energy with the primary use of energy independent sensor systems in the power range P=10-10000W. These systems are applied in sensing quantities in the transport sector (bridge structures, transport infrastructure, and the others ). The proposed theoretical harvester models describing the transformation of motion energy into electrical energy, also provides theoretical and experimental models. Results obtained in the design and construction of a robust motion generator with primarily linear geometry system technology are presented. The expected output electrical power of the harvester is variable and is designed based on the linear motion generated by the engine- compressed air, small fuel system, etc. The fundamental design of the generator core has been continuously numerically modeled and an experimental setup has been developed to analyze specific parts and variations in order to validate the concept and achieve the most suitable parameters with the selected construction materials. A scaled down version of the model principle was tested in experiments and then the parameters and results were compared with the predicted theoretical analyses.

Optical motion capture is a mature contemporary technique for the acquisition of motion data, alas it is non-error-free. Due to technical limitations and occlusions of markers, gaps might occur in such recordings. The article reviews various neural network architectures applied for gap filling problem in motion capture sequences within FBM framework providing the representation for body kinematic structure. The results are compared with interpolation and matrix completion methods. We found out, that for longer sequences simple linear feedforward neural networks can outperform the other, sophisticated architectures. We were also able to identify, that acceleration and monotonicity of input sequence are the parameters that have a notable impact on the obtained results.

Einstein’s theory of general relativity describes the gravitational field around massive objects ( like Earth) as a curvature in the spacetime. But it leaves the following question unanswered; why is the spacetime curved by a mass? Through a theory that has been introduced recently, regarding a medium for a light propagation, a simple answer is introduced. It depends on redefining the rest energy for a massive object ( like a planet) as new form of kinetic energy. For a static and spherically symmetric object, with a specific radius(

Driving simulators are widely used for understanding human-machine interaction, driver behavior and in driver training. The effectiveness of simulators in these process depends largely on their ability to generate realistic motion cues. Though the conventional filter-based motion cueing strategies have provided reasonable results, these methods suffer from poor workspace management. To address this issue, linear MPC-based strategies have been applied in the past. However, since the kinematics of the motion platform itself is non-linear and the required motion varies with the driving conditions, this approach tends to produce sub-optimal results. This paper presents a nonlinear MPC-based algorithm which incorporates the nonlinear kinematics of the Stewart platform within the MPC algorithm in order to increase the cueing fidelity and utilize maximum workspace. Further, adaptive weights-based tuning is used to smoothen the movement of the platform towards its physical limits. Full-track simulations were carried out and performance indicators were defined to objectively compare the response of the proposed algorithm with classical washout filter and linear MPC-based algorithms. The results indicate a better reference tracking with lower root mean square error and higher shape correlation for the proposed algorithm. Lastly, the effect of the adaptive weights-based tuning was also observed in the form of smoother actuator movements and better workspace utilization.

In this paper, we study the Parisian time of a reflected Brownian motion with drift on a finite collection of rays. We derive the Laplace transform of the Parisian time using a recursive method, and provide an exact simulation algorithm to sample from the distribution of the Parisian time. The paper is motivated by the settlement delay in the real-time gross settlement (RTGS) system. Both the central bank and the participating banks in the system are concerned about the liquidity risk, and are interested in the first time that the duration of settlement delay exceeds a predefined limit, we reduce this problem to the calculation of the Parisian time. The Parisian time is also crucial in the pricing of Parisian type options; to this end, we will compare our results with the existing literature.

Animal welfare remains a very important issue in the livestock sector but monitoring animal welfare in an objective and continuous way remains a serious challenge. Monitoring animal welfare based upon physiological measurements instead of audio-visual scoring of behaviour would be a step forward. One of the obvious physiological signals related to welfare and stress is heart rate. The objective of this research was to measure heart rate (beat per minutes) on pigs with technology that soon will be affordable. Affordable heart rate monitoring is done today at large scale on humans using the Photo Plethysmography (PPG) technology. We used PPG sensors on pig’s body to test whether it allows getting reliable heart rate signal. A continuous wavelet transform (CWT)-based algorithm is developed to decouple the cardiac pulse waves from the pig. Three different wavelets, namely 2^nd, 4^th and 6^th order Derivative of Gaussian (DOG, are tested. We show results of the developed PPG-based algorithm against electrocardiograms (ECG) as a reference measure for heart rate and this for an anesthetized versus a non-anesthetised animal. We tested three different anatomical body positions (ear, leg and tail) and give results for each body position of the sensor. In summary, it can be concluded that the agreement between PPG-based heart rate technique and reference sensor goes from 91 to 95 percentage. In this paper we showed the potential of using the PPG-based technology to assess pig’s hear rate.

Solid particles immersed in a fluid can be found in many engineering, environmental or medical fields. Applications are suspensions, sedimentation processes or procedural processes in the production of medication, food or construction materials. While homogenized behavior of these applications is well understood, contributions in the field of pore-scale fully resolved numerical simulations with non-spherical particles are rare. Using Smoothed Particle Hydrodynamics (SPH) as a simulation framework, we therefore present a modelling approach for Direct Numerical Simulations (DNS) of single-phase fluid containing non-spherically formed solid aggregates. Notable and discussed model specifications are the surface-coupled fluid-solid interaction forces as well as the contact forces between solid aggregates. The focus of this contribution is the numerical modelling approach and its implementation in SPH. Since SPH presents a fully resolved approach, the construction of arbitrary shaped particles is conveniently realizable. After validating our model for single non-spherical particles, we therefore investigate the motion of solid bodies in a Newtonian fluid and their interaction with the surrounding fluid by analyzing velocity fields of shear flow with respect to hydromechanical and contact forces. Results show a dependency of the motion and interaction of solid particles on their form and orientation. While spherical particles move to the centerline region, ellipsoidal particles move and rotate due to vortexes formation in the fluid flow in between.

In this paper we develop from first principles a unique law pertaining to the flow of fluids through closed conduits. This law, which we call “Quinn’s Law”, may be described as follows: When fluids are forced to flow through closed conduits under the driving force of a pressure gradient, there is a linear relationship between the normalized dimensionless pressure gradient, P_Q, and the normalized dimensionless fluid current, C_Q. The relationship is expressed mathematically as: P_Q = k₁ +k₂C_Q. This linear relationship remains the same whether the conduit is filled with or devoid of solid obstacles. The law differentiates, however, between a packed and an empty conduit by virtue of the tortuosity of the fluid path, which is seamlessly accommodated within the normalization framework of the law itself. When movement of the fluid is very close to being at rest, i.e., very slow, this relationship has the unique minimum constant value of k₁, and as the fluid acceleration increases, it varies with a slope of k₂ as a function of normalized fluid current. Quinn’s Law is validated herein by applying it to the data from published classical studies of measured permeability in both packed and empty conduits, as well as to the data generated by home grown experiments performed in the author’s own laboratory.

An idea expressed in the paper [Entropy 2017, 19, 345] about the deductive formulation of a physical theory resting on explicitly- and universally-introduced basic concepts is developed. An entropic measure of time with a number of properties leading to an analog of the Galilei–Einstein relativity principle is considered. Using the introduced measure and a simple model, a kinematic law relating the size, time, and number of particles of a system is obtained. Corollaries of this law are examined. In particular, accelerated increase of the system size and, if the system size remains unchanged, decrease of the number of particles are found. An interesting corollary is the emergence of repulsive and attractive forces inversely proportional to the square of the system size for relatively dense systems and constant for sufficiently rarefied systems.

At room temperature, the indentation morphologies of crystalline copper with different grain size including nanocrystalline (NC), ultrafine-grained (UFG) and coarse-grained (CG) copper were studied by nanoindentation at the strain rate of 0.04/s without holding time at indentation depth of 2000 nm. As the grain size increasing, the height of the pile-up around the residual indentation increases and then has a slightly decrease in the CG Cu, While the area of the pile-up increases constantly. Our analysis has revealed that the dislocation motion and GB activities in the NC Cu, some cross- and multiple-slips dislocation insides the larger grain in the UFG Cu, and forest dislocations from the intragranular Frank-Read sources in the CG Cu, would directly induce these distinct pile-up effect.

Background: Given that VR is applied in multiple domains, understanding the effects of cybersickness on human cognition and motor skills and the factors contributing to cybersickness gains urgency. This study aimed to explore the predictors of cybersickness and its interplay with cognitive and motor skills. Methods: 30 participants, 20-45 years old, completed the MSSQ and the CSQ-VR, and were immersed in VR. During immersion, they were exposed to a roller coaster ride. Before and after the ride, participants responded to CSQ-VR and performed VR-based cognitive and psychomotor tasks. Post VR session, participants completed the CSQ-VR again. Results: Motion sickness susceptibility, during adulthood, was the most prominent predictor of cybersickness. Pupil dilation emerged as a significant predictor of cybersickness. Experience in videogaming was a significant predictor of both cybersickness and cognitive/motor functions. Cybersickness negatively affected visuospatial working memory and psychomotor skills. Overall cybersickness’, nausea and vestibular symptoms’ intensities significantly decreased after removing the VR headset. Conclusions: In order of importance, motion sickness susceptibility and gaming experience are significant predictors of cybersickness. Pupil dilation appears as a cybersickness’ biomarker. Cybersickness negatively affects visuospatial working memory and psychomotor skills. Cybersickness and its effects on performance should be examined during and not after immersion.

Variable-DOF (or kinematotropic) mechanisms are a class of reconfigurable mechanisms. The number of variable-DOF multi-loop planar mechanisms proposed so far is very limited. This paper proposes a novel 8-link variable-DOF planar mechanism with five motion modes. Firstly, a description of the 8-link variable-DOF planar mechanism is presented. Reconfiguration analysis of the 8-link mechanism is then carried out using an elimination and algebraic geometry hybrid approach. The analysis shows that the 8-link mechanism has one 2-DOF motion mode and four 1-DOF motion modes and can switch among three motion modes at four transition configurations and between two motion modes at the remaining four transition configurations. Geometric characteristics of the mechanism in different motion modes are also revealed. Unlike the variable-DOF planar mechanisms found in literature, the proposed 8-link mechanism has two inactive joints in one of its 1-DOF motion modes, and both 4R kinematic sub-chains of the mechanism must appear as parallelograms in a pair or anti-parallelograms in a pair in the same motion mode. As a by-product, a method for factoring trigonometric functions in two angles is proposed.

In autonomous driving systems, high-speed and real-time image processing, along with object recognition, are crucial technologies. This paper builds upon the research achievements in in-dustrial item sorting systems and proposes an object recognition and sorting system for auton-omous driving. In industrial sorting lines, goods sorting robots often need to work at high speeds to efficiently sort large volumes of items. This poses a challenge to the robot's real-time vision and sorting capabilities, making it both practical and economically viable to implement a real-time and low-cost sorting system in a real-world industrial sorting line. Existing sorting systems have limitations such as high cost, high computing resource consumption, and high power consump-tion. These issues lead to the fact that existing sorting systems are typically used only in large industrial plants. In this paper, we design a high-speed, low-cost, low-resource-consumption FPGA (Field-Programmable Gate Array) based item sorting system that achieves similar perfor-mance to current mainstream sorting systems at a lower cost and consumption than existing sorting systems. The recognition part employs a morphological recognition method, which segments the image using a frame difference algorithm and then extracts the color and shape features of the items. To handle sorting, a six-degree-of-freedom robotic arm is introduced in the sorting segment. The improved cubic B-spline interpolation algorithm is employed to plan the motion trajectory and consequently control the robotic arm to execute the corresponding actions. Through a series of experiments, this system achieves an average recognition delay of 25.26ms, ensures smooth operation of the gripping motion trajectory, minimizes resource consumption, and reduces implementation costs.

In this paper, at first, a color image of a car is taken. Then the image is transformed into a grayscale image. After that, the motion blurring effect is applied to that image according to the image degradation model described in equation 3. The blurring effect can be controlled by a and b components of the model. Then random noise is added in the image via Matlab programming. Many methods can restore the noisy and motion blurred image; particularly in this paper Inverse filtering as well as Wiener filtering are implemented for the restoration purpose. Consequently, both motion blurred and noisy motion blurred images are restored via Inverse filtering as well as Wiener filtering techniques and the comparison is made among them.

The first years of an infant’s life represent a sensitive period for neurodevelopment and see the emergence of nascent forms of executive function (EF), which are required to support complex cognition. Few tests exist for measuring EF during infancy, and the available tests require painstaking manual coding of infant behaviour. In modern clinical and research practice, human coders collect data on EF performance by manually labelling video recordings of infant behaviour during toy or social interaction. Besides being extremely time-consuming, video annotation is known to be rater-dependent and subjective. To address these issues, starting from existing cognitive flexibility research protocols, we developed instrumented toys as a new task instrumentation and data collection tool suitable for infant use. A commercially available device comprising a Barometer and Inertial Measurement Unit (IMU) embedded in a 3D-printed lattice structure was used to detect when and how the infant interacts with the toy. The data collected using the instrumented toys provides a rich dataset describing the sequence of toy interaction and individual toy interaction patterns, from which EF-relevant aspects of infant cognition may be inferred. Such a tool potentially provides an objective, reliable, and scalable method of collecting early developmental data in socially interactive contexts.

The multivariate Gaussian random fields with matrix-based scaling laws are widely used for inference in statistics and many applied areas. In such contexts interests are often in symmetry and in the rates of change of spatial surfaces in any given direction. This article analyzes the almost sure sample function behavior for operator fractional Brownian motion, including multivariate fractional Brownian motion. We obtain the estimations of small ball probability and the strongly locally nondeterministic for operator fractional Brownian motion in any given direction. Applying these estimates we obtain Chung's laws of the iterated logarithm for spatial surfaces of operator fractional Brownian motion. Our results show that the precise rates of change of spatial surfaces are completely determined by the self-similarity exponent.

The ubiquitous problem of electrical energy waste is driven by human error, in which people regularly forget to turn off appliances when they leave a room, resulting in excessive consumption. The paper presents an energy-efficient TRIZ-inspired (EETRIZ) paradigm to automate consumer electronic devices in order to address this problem. Employing motion detection at entry and exit points, the system discerns room occupancy, effectively managing electrical appliances like lamps, fans, and air conditioners. The integration of theory of inventive problem solving (TRIZ) principles guides the ideation and design of an efficient switching mechanism. The system demonstrates that it is flexible by controlling multiple electronic consumer devices simultaneously. This paradigm can be used in a variety of environments, such as homes, offices, schools, and universities, and its goal is to reduce excessive energy use that results from human negligence. With an emphasis on economic viability and environmental impact, the proposed EETRIZ paradigm not only offers enhanced energy efficiency but also lays the groundwork for long-term sustainability practices, aligning with global efforts towards greener and smarter energy management. The proposed EETRIZ is implemented on C platform with support of MPLAB, Nuvoton 8051 Serie MCU Programming, GMPLibrary (GMP-5.1.1) and, Miracl Library. The proposed EETRIZ outperforms current state-of-the-art methods in terms of energy efficiency, cost-effectiveness, precision, and user-friendliness, according to hardware testing.

This paper proposes the application of force-projecting bilateral control to a master-follower teleoperation system with a pneumatic manipulator on the follower side, and evaluates its effectiveness. The proposed method directly projects the operating force on the master side to the driving force on the follower side, eliminating the need for both position control and external force detection on the follower side, thereby solving the problem of low rigidity and response delay of pneumatic manipulators and providing highly stable sensor-less force presentation against variable environments. In this study, dynamic response analyses of a 1-DOF master-follower system were performed by numerical simulation using a linear system model, followed by experimental verification by implementing an actual system with an external force estimator. The results showed that the proposed force-projecting bilateral control has significantly higher positioning rigidity and better force control stability than the conventional force-reflecting bilateral control. A theoretical consideration was also given using equivalent transformation of force transfer functions to provide evidence for the high stability.

The diamagnetic levitation technique can be applied to non-destructive testing for identifying cracks and defects in magnetic materials. Pyrolytic graphite is a material that can be leveraged in micromachines due to its no-power diamagnetic levitation on a permanent magnet (PM) array. However, the damping force applied to pyrolytic graphite prevents it from maintaining con-tinuous motion along the PM array. This paper investigates the in-plane motion and damping characteristics of pyrolytic graphite sheets on the PM array. The centroid of pyrolytic graphite will maintain a stable levitation when positioned on the intersecting point of the PM array. Fur-thermore, the in-plane motion of two different pyrolytic graphite sizes - PG10 (10×10×0.5mm3) and PG20 (20×20×0.5mm3) - has revealed that the in-plane forces applied to them are approximately 61.4μN and 28.2μN, respectively. The smaller sheet has a shorter oscillation time while oscillating before it stabilizes. The damping ratio of the oscillation was between 0.1-0.2. The in-plane force and the stable time of pyrolytic graphite are related to its size ratio in comparison with the PM. This relationship is believed to promote stability, as the force acting on the graphite sheet will be distributed over a larger area when the sheet size increases. During the fixed-axis rotation process, the study found that the friction coefficient and friction force decreased as the rotational speed decreased. The diamagnetic levitation of pyrolytic diamagnetic levitation is also unable to maintain long-term axial rotation. Finally, friction force was tested using PG10 during fixed-axis rotation above a circular PM array. The results showed that the order of the friction coefficient is 10-3, and the friction force is about 0.8μN, decreasing with graphite rotation speed. We hope this technique will be used in crack detection, magnetic detection and other micromachine.

The aim of this study was to investigate the impact of Process Oriented Guided Inquiry Learning (POGIL)-based instruction versus lecture-based instruction on Grade 12 students’ performance in circular motion unit. A quasi-experimental, pretest-posttest design, the impact of POGIL-based instruction versus lecture-based instruction on students’ performance as measured by three types of cognitive outcomes: Knowing, Applying and Reasoning (KAR). The total number of participants was approximately 110 students (N=110); 54 were assigned to treatment groups (25 girls and 29 boys) and 56 were assigned to control groups (27 girls and 29 boys). The treatment group was taught a unit of circular motion in physics using POGIL-based instruction while the control group was taught the unit using lecture-based instruction. The findings of the study showed statistically significant differences between students of the control group and the treatment group in favor of the later regarding their circular motion performance, suggesting the superiority of the POGIL in enhancing student understanding of the circular motion.

When presenting special relativity, it is customary to single out the so-called paradoxes. One of these paradoxes is the formal occurrence of speeds exceeding the speed of light. An essential part of such paradoxes arises from the incompleteness of the relativistic calculus of velocities. In special relativity, the additive group is used for velocities. However, the use of only group operations imposes artificial restrictions on possible computations. Naive expansion to vector space is usually done by using non-relativistic operations. We propose to consider arithmetic operations in the special theory of relativity in the framework of the Cayley–Klein model for projective spaces. We show that such paradoxes do not arise in the framework of the proposed relativistic extension of algebraic operations.

This paper investigates a distributed, coordinated motion control network based on multiple direct-drive, linear switched reluctance machines (LSRMs). A hierarchical, two-level synchronization control strategy is proposed for the four LSRMs based motion control network. The high-level, reference signals agreement algorithm is first employed to correct the asynchronous behaviors of the position commands. Then, the low-level tracking synchronization method is applied for the collaborative position control of the four LSRMs. The proposed two-level, fault-tolerant control strategy eliminates the asynchrony of the reference signals and it also guarantees the coordinated tracking control performance of the four LSRMs. Experimental results demonstrate that effective coordinated tracking control can be ensured, based on successful agreement of reference signals and an absolute tracking error falling within 2 mm can be achieved.

Natural calamities observation, study and simulation has always been a prime concern for disaster management agencies. Billions of dollars are spent annually to explore geo-seismic movements especially earthquakes but it has always been a unique accident. The real-time study of seismic waves, ground motions, and earthquakes always needed a programmable mechanical structure capable of physically producing the identical geo-seismic motions with seismology domain definitions. A programmable multi-parametric five degrees of freedom electromechanical seismic wave events simulation platform to study and experiment seismic waves and earthquakes realization in the form of geo-mechanic ground motions is exhibited in this work. The proposed platform was programmed and interfaced through an IoT cloud-based Web application. The geo-mechanics was tested in the range of i) frequencies of extreme seismic waves from 0.1Hz to 178Hz; ii) terrestrial inclinations from -10.000° to 10.000°; iii) velocities of 1km/s to 25km/s iv) variable arrival times 1us to 3000ms; v) magnitudes M1.0 to M10.0 earthquake; vi) epi-central and hypo-central distances of 290+ and 350+ kilometers. Wadati and triangulation methods have been used for entire platform dynamics design and implementation as one of key contributions in this work. This platform is as an enabler for a variety of applications such as training self-balancing and calibrating seismic-resistant designs and structures in addition to studying and testing seismic detection devices as well as motion detection sensors. Nevertheless, it serves as an adequate training colossus for machine learning algorithms and event management expert systems.

Global wind observations are fundamental for studying weather and climate dynamics. Most wind measurements come from atmospheric motion vectors (AMVs) by tracking the displacement of cloud or water vapor features. These AMVs generally rely on thermal infrared (IR) techniques for their height assignments, which are subject to large uncertainties in the presence of weak or reversed vertical temperature gradients around the planetary boundary layer (PBL) and with tropopause folding. Stereo imaging can overcome the height assignment problem using geometric parallax for feature height determination. In this study we develop a stereo 3D-Wind algorithm to simultaneously retrieve AMV and height from geostationary (GEO) and low Earth orbit (LEO) satellite imagery and apply it to collocated Geostationary Operational Environmental Satellite (GOES) and Multi-angle Imaging SpectroRadiometer (MISR) imagery. The new algorithm improves AMV and height relative to products from GOES or MISR alone, with an estimated accuracy of <0.5 m/s in AMV and <200 m in height with 2.2 km sampling. The algorithm can be generalized to other LEO-GEO or GEO-GEO combinations for greater spatiotemporal coverage. The technique demonstrated with MISR and GOES has important implications for future high-quality AMV observations, for which a low-cost constellation of CubeSats can play a vital role.

Information geometry (IG) is a fascinating combination of differential geometry and statistics where a Riemannian manifold's structure is applied to a statistical model. It may find numerous fascinating uses in the domains of theoretical neurology, machine learning, complexity, and (quantum) information theory, among others. (IG) aims to provide a differential-geometric perspective on statistical geodesic models' structure. In this case, IG, KD, and J-divergence (JD) are used to define the manifold of the Generalised Brownian Motion (GBM). Consequently, the geodesic equations (GEs) are devised, and GB information matrix exponential (IME) is presented. Moreover, for first time ever, the necessary and sufficient mathematical requirement that characterizes the developability of Generalized Brownian Motion(GBM) manifold is devised. Also, a novel sufficient and necessary conditions which characterizes the regions where the surface describing GBM is minimal is determined. Also, it is shown that GBM has a non-zero 0-Gaussian and Ricci curvatures. Consequently, this advances the establishment of a unified GBM- Relativistic Info-Geometric based analysis.

Earthquake-triggered landslides are one of the most significant hazards worldwide. These landslides, involving small or large volumes, can develop in debris flow or avalanche with high mobility and long-runout distance. The motion processes of this kind of landslide also quite complicated. This study reproduced the motion processes of two landslides using the LS-RAPID program. The Aso Bridge landslide occurred on April 16, 2016, with rapid and long-runout distance characteristics. The Kataragai landslide occurred on April 9, 2018, travelling with flow-like behavior. Through field investigations and laboratory experiments, features and mechanical parameters of these two landslides were obtained. In the LS-RAPID program, the pre-failure models and motion processes of these two landslides were established and reproduced. Results indicated that sliding speed and travelling morphology at different intervals were considered as two indicators to describe their motion process. However, while sliding speed of these two landslides have significant differences with sliding speeds of actual landslides, the final morphologies after failure were consistent with those observed in the field investigation.

In volleyball, the jump serve is a fundamental and crucial skill that is one of the most commonly used serving techniques. This study aimed to examine the kinematic differences between straight line (SL) and diagonal line (DL) in volleyball jump serves by focusing on torso and attack arm joint motions. Three-dimensional coordinate data were captured using a motion capture system (200 Hz) in 14 right-handed male professional volleyball players who performed SL and DL jump serves. This result suggests that the pelvis and torso backward rotation angles during the arm-clocking phase were smaller when performing DL serves. During ball contact, the servers exhibited greater forward rotation angles of the pelvis and torso to control the upper body facing the diagonal direction of the target zone. In addition, lowering the forward tilt angle of the trunk helped the servers maintain body balance in the air and increased their wrist flexion angle, preventing the ball from flying out of bounds when performing DL. These findings highlight the importance of controlling pelvic and torso rotations in the transverse plane when adjusting for different serving lines. These insights can guide volleyball athletes and coaches in refining their serving techniques.

In this paper, we discussed the motion of neutral and charged particles in Schwarzschild black hole immersed in an electromagnetic universe (SEBH). The SEBH represents a mass M coupled to an external electromagnetic field that was derived from the metric of colliding electromagnetic waves with double polarization. Our study examine how the external electromagnetic field affects the trajectory of neutral and charged particles. First, the trajectories of both photon and test particle are studied. Then, the exact solutions for the trajectories are obtained in terms of the Jacobi-elliptic integrals for all possible energy and angular momentum of test particle and photon. We have also discussed the motion of charged particle and obtained the radius of the innermost circular orbit (ISCO). It is especially interesting when the charge sign is positive since this creates a conflict between gravitational (attraction force) and electric (repulsion force). Furthermore, we discuss the Lyapunov exponent and the effective force influencing particles in SEBH spacetime.

Electrical impedance tomography (EIT) can monitor the real-time hemodynamic state of a conscious and spontaneously breathing patient noninvasively. However, cardiac volume signal (CVS) extracted from EIT images has a small amplitude and is sensitive to motion artifacts (MAs). This study aimed to develop a new algorithm to reduce MAs from the CVS for more accurate heart rate (HR) and cardiac output (CO) monitoring in patients undergoing hemodialysis based on the source consistency between the electrocardiogram (ECG) and the CVS of heartbeats. Two signals were measured at different locations on the body through independent instruments and electrodes, but the frequency and phase were matched when no MAs. As the number of motions per hour (MI) increased over 30, the proposed algorithm had a correlation of 0.83 and a precision of 1.65 beats per minute (BPM) compared to the conventional statical algorithm of a correlation of 0.56 and a precision of 4.04 BPM. For CO monitoring, the precision and upper limit of the mean ∆CO were 3.41 and 2.82 liters per minute (LPM), respectively, compared to 4.05 and 3.82 LPM of the statistical algorithm. The developed algorithm could reduce MAs and improve HR/CO monitoring accuracy and reliability, particularly in high-motion environments.

To validate the accuracy and reliability of onboard sensors for object detection and localization in driver assistance, as well as autonomous driving applications under realistic conditions (indoors and outdoors), a novel tracking system is presented. This tracking system is developed to determine the position and orientation of a slow-moving vehicle (e.g. car during parking maneuvers), independent of the onboard sensors, during test maneuvers within a reference environment. One requirement is a 6 degree of freedom (DoF) pose with a position uncertainty below 5 mm (3σ), an orientation uncertainty below 0.3° (3σ) at a frequency higher than 20 Hz, and a latency smaller than 500 ms. To compare the results from the reference system with the vehicle’s onboard system, a synchronization via Precision Time Protocol (PTP) and a system interoperability to Robot Operating System (ROS) is implemented. The developed system combines motion capture cameras mounted in a 360° panorama view set-up on the vehicle with robotic total stations. A point cloud of the test site serves as a digital twin of the environment, in which the movement of the vehicle is simulated. Results have shown that the fused measurements of these sensors complement each other, so that the accuracy requirements for the 6 DoF pose can be met, while allowing a flexible installation in different environments.

Atmospheric Motion Vectors (AMVs) calculated by six different institutions (Brazil Center for Weather Prediction and Climate Studies/CPTEC/INPE, European Organization for the Exploitation of Meteorological Satellites/EUMETSAT, Japan Meteorological Agency/JMA, Korea Meteorological Administration/KMA, Unites States National Oceanic and Atmospheric Administration/NOAA and the Satellite Application Facility on Support to Nowcasting/NWCSAF) with JMA’s Himawari-8 satellite data and other common input data are here compared. The comparison is based on two different AMV input datasets, calculated with two different image triplets for 21 July 2016, and the use of a prescribed and a specific configuration. The main results of the study are summarized as follows: (1) the differences in the AMV datasets depend very much on the “AMV height assignment” used and much less on the use of a prescribed or specific configuration; (2) the use of the “Common Quality Indicator (CQI)” has a quantified skill in filtering collocated AMVs for an improved statistical agreement between centers; (3) JMA AMV algorithm has the best overall performance considering all validation metrics, most likely due to its height assignment: “optimal estimation using observed radiance and NWP wind vertical profile”.

The increasing use of renewable energies as a source of electricity has led to a fundamental transition of the power supply system. The integration of fluctuating weather-dependent energy sources into the grid already has a major impact on the load flows of the grid. As a result, the interest in forecasting wind and solar radiation with a sufficient accuracy over short time horizons grew. In this study the short-term forecast of the effective cloud albedo based on optical flow estimation methods are investigated. The optical flow method utilized here is TV-L¹ from the open source library OpenCV. This method uses a multi-scale-approach to capture cloud motions on various spatial scales. After the clouds are displaced the solar surface radiation will be calculated with SPECMAGIC NOW which computes the global irradiation spectrally resolved from satellite imagery. Due to a high temporal and spatial resolution of satellite measurements the effective cloud albedo and thus solar radiation can be forecasted from 5 minutes up to 4 hours with a resolution of 0.05°. In the following there will be a brief description of the method for the short-term forecast of the effective cloud albedo. Subsequently evaluation results will be presented and discussed. Finally an outlook of further developments will be given.

In the present study, we derive a new B-spline technique namely trigonometric B-spline collocation algorithm to solve some initial boundary value problems for the nonlinear Klein-Gordon equation. In order to carry out the time integration with Crank-Nicolson implicit method, the order of the equation is reduced to give a coupled system of nonlinear partial differential equations. The collocation approximation based on trigonometric cubic B-splines for spatial discretization is followed by the linearization of the nonlinear term. The efficiency and accuracy of the present method are validated by measuring the error between the numerical and analytical solutions when exist. The conservation laws representing momentum and energy are also computed for all problems.

Tracking the kinematics of human movement usually requires the use of equipment that constrains the user within a room (e.g., optical motion capture systems), or requires the use of a conspicuous body-worn measurement system (e.g., inertial measurement units (IMUs) attached to each body segment). This paper presents a novel Lie group constrained extended Kalman filter to estimate lower limb kinematics using IMU and inter-IMU distance measurements in a reduced sensor count configuration. The algorithm iterates through the prediction (kinematic equations), measurement (pelvis height assumption/inter-IMU distance measurements, zero velocity update for feet/ankles, flat-floor assumption for feet/ankles, and covariance limiter), and constraint update (formulation of hinged knee joints and ball-and-socket hip joints). The knee and hip joint angle root-mean-square errors in the sagittal plane for straight walking were 7.6±2.6∘ and 6.6±2.7∘, respectively, while the correlation coefficients were 0.95±0.03 and 0.87±0.16, respectively. Furthermore, experiments using simulated inter-IMU distance measurements show that performance improved substantially for dynamic movements, even at large noise levels (σ=0.2 m). However, further validation is recommended with actual distance measurement sensors, such as ultra-wideband ranging sensors.

The mechanisms of natural oscillations and resonance are described, considering the peculiarities of the transformation of elastic and kinetic energy in the implementation of the law of conservation of energy in local and integral volumes of the body, using the concept of mechanics based on the concepts of space, time and energy. When describing the motion in the Lagrange form, the elastic deformation energy of the particles is determined by the quadratic invariant of the tensor, whose components are the partial derivatives of Euler variables with respect to Lagrange variables. The increment of the invariant due to elastic deformation is represented as the sum of two scalars, one of which depends on the average value of the relative lengths of the edges of the particles in the form of an infinitesimal parallelepiped, the second is equal to the standard deviation of these lengths from the average value. It is shown that each of the scalars can be represented in the form of two dimensionless kinematic parameters of elastic energy, which participate in different ways in the implementation of the law of conservation of energy. One part of the elastic energy passes into kinetic energy and participates in the implementation of the law of conservation of energy for the body as a whole, considering external forces. The second part is not converted into kinetic energy but changes the deformed state of the particles in accordance with the equations of motion while maintaining the same level of the part of the elastic energy of the particles used for this. The kinematic parameters differ from the volume density of the corresponding types of energy by a factor equal to the elastic modulus, which is directly proportional to the density and heat capacity of the material and inversely proportional to the volume compression coefficient. Transverse, torsional, and longitudinal vibrations are considered free and under resonance conditions. The mechanisms of transformation of forced vibrations into their own after the termination of external influences and resonance at the superposition of free and forced vibrations with the same or similar frequency are considered. The formation of a new free wave at each cycle with an increase in the amplitude, which occurs mainly due to internal energy sources, and not external forces, is justified.

According to the Cosmological Principle the Universe is isotropic and no preferred direction would be seen by an observer that might be stationary with respect to the expanding cosmic fluid. However, because of observer’s partaking in the solar system peculiar motion, there would appear in some of the observed properties of the Cosmos a dipole anisotropy, which could in turn be exploited to determine the peculiar motion of the solar system. The dipole anisotropy in the Cosmic Microwave Background Radiation (CMBR) has given a peculiar velocity vector 370 km s−1 along l=264∘,b=48∘. However, some other dipoles, for instance, from the number counts, sky brightness or redshift distributions in large samples of distant Active Galactic Nuclei (AGNs), have yielded values of the peculiar velocity many times larger than that from the CMBR, though surprisingly, in all cases the directions agreed with the CMBR dipole. Here we determine our peculiar motion from a sample of 0.28 million AGNs, selected from the Mid Infra Red Active Galactic Nuclei (MIRAGN) sample comprising more than a million sources. From this, we find a peculiar velocity, which is more than four times the CMBR value, although the direction seems to be within ∼2σ of the CMBR dipole. A genuine value of the solar peculiar velocity should be the same irrespective of the data or the technique employed to estimate it. Therefore, such discordant dipole amplitudes, might mean that the explanation for these dipoles, including that of the CMBR, might in fact be something else. But, the observed fact that the direction in all cases, is the same, though obtained from completely independent surveys using different instruments and techniques, by different sets of people employing different computing routines, might nonetheless indicate that these dipoles are not merely due to some systematics, otherwise why would they all be pointing along the same direction. It might instead suggest a preferred direction in the Universe, implying a genuine anisotropy, which would violate the Cosmological Principle, the core of the modern cosmology.

Unmanned agricultural tractor (UAT) represents the advanced stage of autonomous navigation and serves as a core technology in agricultural production. It reduces the operator’s workload, and improves operational accuracy and efficiency. This article reviews three aspects of key autonomous navigation technologies for UATs: perception, path planning and tracking, and motion control. The advantages, and shortages of these key technologies on UATs are clarified by analyzing technical principles and the current research status. We conducted summaries and analyses of existing unmanned navigation solutions for different application scenarios in order to identify current bottleneck issues. Based on the analysis of the applicability of key autonomous navigation technologies on UATs, it can be seen that fruitful research progresses have been achieved. The review also summarizes the common problems in current technologies. The application research on sharing and integrating multi-source data for autonomous navigation are relatively weak. There is an urgent need of high-precision, and high-stability sensing equipment. The universality of path planning methods, and the efficiency and precision of path tracking need to be improved. It is necessary to develop high reliability electrical control modules to enhance motion control performance. Overall, advanced sensors, high-performance intelligent algorithms, and reliable electrical control hardware are key factors in promoting the development of UAT technology.

We analyze the information that can be retrieved from the tracking parameters produced by an innovative wearable eye tracker. The latter is based on a permanent-magnet marked corneal lens and by an array of magnetoresistive detectors that measure the magnetostatic field in several positions in the eye proximity. We demonstrate that, despite missing information due to the axial symmetry of the measured field, physiological constraints or measurement conditions make possible to infer complete eye-pose data. Angular precision and accuracy achieved with the current prototypical device are also assessed and briefly discussed. The results show that the instrumentation considered is suitable as a new, moderately invasive medical diagnostics for the characterization of ocular movements and associated disorders.

In general, isolators and dampers used in seismically isolated buildings are designed to be isotropic in any horizontal direction. However, in the case of buildings with plan irregularities, their nonlinear responses depend on the direction of seismic loading. To discuss the influence of the angle of seismic incidence (ASI) on the nonlinear response of irregular building structures, it is important to define the angle of the critical axis of the horizontal ground motion. One possible choice is the “principal axis of ground motion” proposed by Arias (1970). However, because this principal axis is independent of the natural period of a structure, it could be complicated to use for seismically isolated structures with long natural periods. In this study, the influence of the ASI of long-period pulse-like seismic input on an irregular base-isolated building is investigated. First, the angle of the principal axis of ground motion is defined in terms of the cumulative energy input. Then, a nonlinear time-history analysis of a five-story irregular base-isolated building is performed using 10 long-period pulse-like ground motion records considering various ASIs. The results show that, compared with the principal axis of ground motion proposed by Arias, defining the principal axis of ground motion in terms of the cumulative energy input is more suitable for discussions concerning the influence of the ASI on the response of an irregular base-isolated building.

Precise and fast position tracking is essential for the correct operation of many industrial robots and CNC machine tools. This subject is also important in the control of the mount of the astronomical telescope, especially for the tracking of artificial satellites. As system parameters can change, a control method that is robust to changes in parameters must be used. Such a method is the sliding control, which, however, ensures the robustness only after reaching the sliding surface. Therefore, a new method was proposed in the paper, which eliminates the phase of reaching the sliding surface. The method consists of using a reference trajectory generator and determining the generalized error in relation to this trajectory. The procedure for designing the control system is presented. Next, the proposed method was verified on the laboratory stand. The described control method provides a robust system operation and can be easily implemented in the control system.

Optical motion capture systems are state-of-the-art in motion acquisition, however as any measurement systems they are not error free -- noise is their intrinsic feature. The works so far mostly employ simple noise model, expressing the uncertainty as a simple variance. In the work we prove the existence of several types of noise and demonstrate how to quantify them using Allan variance. For the automated readout of the noise coefficients we solve the multidimensional regression problem using sophisticated metaheuristics in exploration-exploitation scheme. Besides classic types of noise we identified the presence of the correlated noises and periodic distortion in our facility. We had also opportunity to observe the influence of camera failure to the overall performance.

The paper presents a study of two novel visual motion onset stimulus-based brain–computer interfaces (vmoBCI). Two settings are compared with afferent and efferent to a computer screen center motion patterns. Online vmoBCI experiments are conducted in an oddball event–related potential (ERP) paradigm allowing for “aha–responses” decoding in EEG brainwaves. A subsequent stepwise linear discriminant analysis classification (swLDA) classification accuracy comparison is discussed based on two inter–stimulus–interval (ISI) settings of 700 and 150 ms in two online vmoBCI applications with six and eight command settings. A research hypothesis of classification accuracy non–significant differences with various ISIs is confirmed based on the two settings of 700 ms and 150 ms, as well as with various numbers of ERP response averaging scenarios.The efferent in respect to display center visual motion patterns allowed for a faster interfacing and thus they are recommended as more suitable for the no–eye–movements requiring visual BCIs.

Characterized in biomedical terms, stretching exercises have been defined as movements applied by external and/or internal forces – to increase muscle and joint flexibility, decrease muscle stiffness, to elevate joint range of motion (ROM), to increase the length of the morpho-functional unit “muscle-tendon”, to improve joint, muscle and tendon movements, contraction and relaxa-tion. The present review examines and summarizes the initial and recent literature data related to the biomechanical, physiological and therapeutic effects of static stretching (SS) on flexibility and other physiological characteristics of the main structural and functional unit “joint-ligaments-tendon-muscle”. The healing and therapeutic effects of SS, soon combined with other rehabilitation techniques (massage, foam rolling – with and without vibrations; hot/cold therapy, etc.) are discussed in relationship to creation of individual (patient-specific) or group programs for treatment and prevention of joint injuries as well as for improving performance in sports. From a theoretical point of view, the role of SS as positively affecting the composition of the connective tissue matrix is pointed out: type I-III collagen synthesis, hyaluronic acid and glucosaminoglycans (GAGs) turnover – under influence of the transforming growth factor beta-1 (TGF-β-1). Different variables as collagen type, biochemistry, elongation and elasticity are used as molecular biomarkers. Recent studies evaluated that the static progressive stretching therapy could prevent/reduce the development of arthrogenic contractures, joint capsule fibrosis, muscle stiffness and need new clinical applications. Combined stretch techniques are proposed and ap-plied in medicine and sports, depending on their long- and short-term effects on variables such as ROM, EMG activity, muscle stiffness, etc. The results obtained are of theoretical and practical interest for development of new experimental, mathematical and computational models and creation of efficient therapeutic programs. The healing SS effects on the main structural and functional unit – “joint-ligament-tendon-muscle” need further investigations, which could clarify and evaluate benefits of SS in prophylaxis and treatment of joint injuries - in healthy and ill in-dividuals, in older adults, as compared to young, active and well-trained persons, as well as to professional athletes.

Recently, due to the miniaturization of electronic products, printed circuit boards (PCBs) have also become smaller. This trend has led to the need for high-precision electrical test equipment to check PCBs for disconnections and short circuits. The purpose of this study is to improve the position repeatability of the platform unit up to ±2.5 μm in a linear stage type test equipment. For this purpose, the causes of position errors of the platform unit are analyzed. The platform unit holding the PCB is driven by a single-axis linear ball screw drive system offset from its geometric center due to design constraints. The yaw rotation of the platform is found to have a dominant effect on position repeatability. To address this problem, the methods of adding balancing weights to the platform unit and adjusting the stiffness of LM Guides are proposed. This reduces the yaw rotation by moving the centers of mass and stiffness closer to the linear ball screw actuator. In the verification tests, the position repeatability was decreased to less than ±1.0 μm.

The paper deals with the Model Predictive Control (MPC) algorithm as applied to the sensorless control of a Permanent Magnet Synchronous Motor (PMSM). The proposed estimation strategy, based on the unscented Kalman filter (UKF), uses only the measurement of the motor current for the online estimation of speed, rotor position and load torque. Information about the system state feeds the MPC. Results verify the effectiveness and applicability of the proposed sensorless control technique. An implementation in low speed direct drive astronomy telescope mount systems is investigated.

Robot workpiece machining is interesting in industry since it offers some advantages, such as higher flexibility in comparison with the conventional approach based on the CNC technology. However, in recent years we have been facing a strong progressive shift to custom based manufacturing and low volume/high mix production, which require a novel approach to automation by the employment of collaborative robotics. However, collaborative robots feature only limited motion capability, to provide safety in cooperation with human workers. Thus, it is highly necessary to perform more detailed robot task planning to ensure its feasibility and optimal performance. In this paper, we deal with the problem of studying kinematic robot performance in the case of such manufacturing tasks, where the robot tool is constrained to follow the machining path embedded on the workpiece surface at a prescribed orientation. The presented approach is based on the well-known concept of manipulability, although the latter suffers from physical inconsistency due to mixing different units of linear and angular velocity in a general 6 DOF task case. Therefore, we introduce the characteristics of the workpiece surface constraint in the robot kinematic analysis, that enables evaluation of its available velocity capability in a reduced dimension space. Such constrained robot kinematics transform the robot`s task space to a two-dimensional surface tangent plane, and the manipulability analysis may be limited to the space of linear velocity only. Thus, the problem of physical inconsistency is avoided effectively. We show the theoretical derivation of the proposed method, which was verified by numerical experiments.

This paper describes developing and analyzing an analytical model of Microelectromechanical Systems (MEMS) internal vibrating ring gyroscope. The internal ring structure consists of eight semicircular beams attached to the externally placed anchors. The paper analyses the vibrating ring gyroscope inplane displacement behavior and the resulting elliptical vibrational modes. The elliptical vibrational modes appear as pairs with the same resonance frequency due to the symmetric nature of the design. The analysis commences by conceptualizing the ring as a geometric structure with a circular shape, possessing specific dimensions such as thickness, height, and radius. We construct a linear model that characterizes the vibrational dynamics of the internal vibrating ring. The analysis encompasses comprehensive mathematical formulations for the radial and tangential displacements in local polar coordinates, considering the inextensional displacement of the ring structure. By utilizing the derived equations, we highlight the underlying relationships driving the vibrational characteristics of the MEMS vibrating ring gyroscope. These dynamic vibrational relationships are essential in enabling the vibrating ring gyroscope's future utilization in accurate navigation and motion sensing technologies.

The response of structures under pulse-like ground motions is characterized by the large amount of energy input in a few cycles. Consequently, structures with insufficient strength may suffer severe damage owing to excessive deformation. In a previous paper, the energy-based prediction procedure for the peak and cumulative response of a reinforced concrete (RC) frame building with steel damper columns was proposed (Fujii and Shioda, 2023). Although this procedure was verified by comparison to the nonlinear time-history analysis (NTHA) results, the performance of the proposed procedure with pulse-like ground motion records has not been verified yet. In this study, the accuracy of the energy-based prediction procedure for an RC frame building with steel damper columns was investigated by considering pulse-like ground motions. The numerical analysis results reveal that the accuracy of the predicted peak response is satisfactory, which agrees with the results of the author’s previous study. However, the accuracy of the predicted total input energy to the building model depends on the ratio of the pulse period of the ground motion to the effective fundamental period of the building model. The reasons for this underestimation of the total input energy are discussed in this paper.

This paper presents designing an attitude motion control strategy for a half-car model using an anti-jerk predictive controller. Anti-jerk predictive controller based on active aerodynamics surfaces is employed to deal with the anticipated future road maneuvers and improve vehicle ride performance by canceling out external jerks acting on the vehicle body. The body jerks are produced during vehicle traversing on a double lane-change maneuver, acceleration, or braking. The control strategy helps the vehicle to achieve a realistic operation of the active aerodynamic surface to improve the vehicle’s ride performance, i.e., ride comfort and road holding during cornering, acceleration, or braking. The anti-jerk predictive controller is developed based on the predictive control strategy, which predicts future road inputs and uses them to compensate for the vehicle’s attitude motion. The simulation results show that the proposed control strategy effectively reduces the effects of vehicle body jerks transmitted to the passengers, improving ride comfort without degrading vehicle handling. The anti-jerk predictive controller successfully tracks the desired attitude position by canceling the external body jerks.

This study compares the effects of lecture-based instruction and process-oriented guided inquiry learning (POGIL)-based instruction on the self-efficacy performance of Grade 12 students. A quasi-experimental, pretest-posttest design was adopted to investigate and assess the impact of POGIL-based instruction versus lecture-based instruction on students’ performance as measured by three types of cognitive outcomes; Knowing, Applying and Reasoning (KAR). Two government high schools in Alain were selected as research sites, one for the boys and one for the girls. The total number of participants was approximately 110 students (N=110); 54 were assigned to treatment groups (25 girls and 29 boys), and 56 were assigned to control groups (27 girls and 29 boys). The treatment group was taught a circular motion unit in physics using POGIL-based instruction, while the control group was taught the unit using lecture-based instruction. The study's findings showed statistically significant differences between students of the control group and the treatment group in favour of the latter regarding their science performance, self-efficacy and science-related attitudes. Moreover, positive correlations were found between participants’ performance at the KAR test, self-efficacy and scientific attitudes towards scientific inquiry after the intervention. In conclusion, it is recommended to shift teaching towards POGIL-based instruction due to its positive impact on students’ performance and self-efficacy. It is also suggested to replicate the study to include government and private schools, elementary and high schools, teachers and advisors.

Many empirical and theoretical studies indicate that Brownian motion and diffusion models as its mean field counterpart provide appropriate modelling techniques for individual insect movement. However, this traditional approach has been challenged and conflicting evidence suggests that an alternative movement pattern such as Lévy walks can provide a better description. Lévy walks differ from Brownian motion since they allow for a higher frequency of large steps, resulting in a faster movement. Identification of the ‘correct’ movement model that would consistently provide the best fit for movement data is challenging and has become a highly controversial issue. In this paper, we show that this controversy may be superficial rather than real if the issue is considered in the context of trapping or, more generally, survival probabilities. In particular, we show that almost identical trap counts are reproduced for inherently different movement models (such as the Brownian motion and the Lévy walk) under certain conditions of equivalence. This apparently suggests that the whole ‘Levy or diffusion’ debate is rather senseless unless it is placed into a specific ecological context, e.g. pest monitoring programmes.

Detection of human movement requires lightweight, flexible systems to detect mechanical parameters (like strain and pressure) not interfering with user activity, and that he/she can wear comfortably. In this work we address such multifaceted challenge with the development of smart garments for lower limb motion detection, like a textile kneepad and anklet in which soft sensors and readout electronics are embedded for detecting movement of the specific joint. Stretchable capacitive sensors with a three-electrode configuration are built combining conductive textiles and elastomeric layers, and distributed at knee and ankle. They show an excellent behavior in the ~30% strain range, hence the correlation between their responses and the optically tracked Euler angles is allowed for basic lower limb movements. Bending during knee flexion/extension is detected, and it is discriminated from any external contact by implementing in real time a low computational algorithm. The smart anklet is designed to address joint motion detection in and off the sagittal plane. In this work, ankle dorsi/plantar flexion, adduction/abduction, and rotation are retrieved. Both smart garments show a high accuracy in movement detection, with a RMSE less than 4° in the worst case.

UAV photogrammetry development during the last decade has allowed to catch information at a very high spatial and temporal resolution from terrains with very difficult or impossible human access. This paper deals with the application of these techniques to study and produce information of very extreme topography which is useful to plan works on this terrain or monitoring it over the time to study its evolution. The methodology stars with the execution of UAV flights on the cut slope studied, one with the cam vertically oriented and other at 45º respect that orientation. Ground control points (GCPs) and check points (CPs) were measured for georeference and accuracy measurement purposes. Orthophoto was obtained projecting on a fitted plane to a studied surface. Moreover, since a digital surface model (DSM) is not able to represent faithfully that extreme morphology, information to project works or monitoring it has been derived from the point cloud generated during the photogrammetric process. An informatics program was developed to generate contour lines and cross sections derived from the point cloud, which was able to represent all terrain geometric characteristics, like several Z coordinates for a given planimetric (X, Y) point. Results yield a root mean square error (RMSE) in X, Y and Z directions of 0.053 m, 0.070 m and 0.061 m respectively. Furthermore, comparison between contour lines and cross sections generated from point cloud with the developed program on one hand and those generated from DSM on other hand, shown that the former are capable of representing terrain geometric characteristics that the latter cannot. The methodology proposed in this work has been shown as an adequate alternative to generate manageable information, as orthophoto, contour lines and cross sections, useful for the elaboration, for example, of projects for repairing or maintenance works of cut slopes with extreme topography.

Jumping side volley has created breathtaking moments and cherished memories for us. Regrettably, a scientific study on the skill has not been found in literature. Relying on talent of athletes to improvise on the fly can hardly be considered a viable learning strategy. This study targets to fill the gap by quantifying factors contributing to develop its coaching method. Using 3D motion capture (12-cameras, 200Hz) and full-body biomechanical modeling, our study aimed to identify elements that govern entrainment of the skill by examining jumping, kicking and falling phases of its execution. Given the rarity of players who have acquired this skill, we found five subjects for the study. Twenty-three trials were captured and quantified. The results unveil the following key elements: 1) the control of trunk rotation during the jumping, 2) the angle between thighs upon take-off, 3) the whip-like control of the kicking leg during airborne, 4) timing between ball motion and limbs’ coordination, and 5) damping mechanism during falling. An accurate kick can only be achieved through repetitive training. This underlines the need for athletes to master a safe landing technique that minimizes risk of injury during practice. Therefore, training should begin with learning a safe falling technique.

This study aims to identify the model that best approximates the credit spread that should be fixed on debt instruments issued by both public and private companies, considering the particularities of the Mexican market. Five models were analyzed: Merton's [1], those proposed by Denzler et al., the one presented in this paper, which includes the conformable derivatives, taking as a reference the change of variable made by Morales-Bañuelos et al., and the Corporate Default Risk Model (DRSK) for Publics Firms of Bloomberg [4]. The required financial information was obtained from the Bloomberg platform, from which the probabilities of default, credit spreads, and credit ratings for each company in the sample under the model (DRSK) were extracted directly. Likewise, the program developed by Moody's K.M.V. was used to obtain the EDF (Expected Default Frequencies). It was concluded that the Modified Merton model approximates to a greater extent the credit spreads that fix on a prime rate on the loans granted to the Mexican non-financial companies.

Background. The markerless motion capture system (MLS) is a new technology that uses deep learning to detect body segments from digital images. This study tested the agreement between the MLS and a force-plate based system (FPS, “gold standard”) to quantify stability control and motor performance (MP) during gait initiation (GI). Methods. Healthy adults (young and elderly) and patients with Parkinson’s disease (PD) performed GI series at spontaneous and maximal velocity on an FPS while being filmed by an MLS. Signals from both systems were used to compute the peak of forward center-of-mass velocity (indicator of MP) and the braking index (BI, indicator of stability control). Results. Descriptive statistics indicated that both systems detected between-groups differences and velocity effects similarly, while a Bland-Altman (BA) plot anal-ysis showed that BI and MP mean biases were virtually zero in all groups and conditions. Bayes factor 01 indicated strong (for BI) and moderate (for MP) evidence that both systems provided equivalent values. However, trial-by-trial analysis of BA plots revealed the possibility of differ-ences > 10% between the two systems. Conclusion. Although non-negligible differences do occur, MLS appears to be as efficient as FPS in detecting PD and velocity condition effects on BI and MP

Multivariate Time Series Classification (MTSC) is one of most important tasks in time series analysis, aiding in activities such as human motion recognition and medical diagnostics. Existing methods for MTSC do not explicitly model temporal differences and generalize the idea of temporal difference into a efficient temporal module. Additionally, existing methods are not yet able to capture cross-variable relationships well during network training. As a result, they are unable to achieve convincing feature representation, leading to suboptimal classification accuracy. In this paper, we propose a novel MTSC model called Temporal Difference and Cross-variate Fusion Network (TDCFN), which integrates a two-stream differential LSTM network and a cross-variate feature extraction network to enhance feature representation. TDCFN achieves superior classification accuracy by capturing dynamic temporal evolution and inter-variable relationships. The experimental results show that TDCFN can achieve competitive performance with state-of-the-art multivariate time series classification approaches.

Debris-covered glaciers are a notable feature in the greater Himalaya, and their ongoing mass loss under changing climate will affect the water resources of over a billion people. The current knowledge of the mass balance of Himalayan glaciers is restricted by the paucity of in-situ measurements of glaciers in both space and time, as well as the resolution of satellite remote sensing imageries. Recently, the use of Unmanned Aerial System (UAS) imagery has shown the potential to bridge this gap by enabling very detailed monitoring of inaccessible glacial areas. UAS imagery-based monitoring of Himalayan glaciers has so far been limited to a single glacier in the entire Himalaya, providing a limited understanding of spatial variability in glacier mass balance and driving factors. In the first UAS based glacial mass change estimation in the trans-Himalaya, we conducted two Unmanned Aerial System (UAS) surveys (May and November 2019) over the debris-covered Annapurna III glacier in the Himalaya. We performed Structure-from-Motion (SfM) analysis and utilized differential GPS field observations to derive geometrically accurate point clouds, ortho-mosaics and digital surface models (DSMs). The glacial volumetric loss was estimated from DSM differencing, and the magnitude and spatial variability of glacier surface change was derived from 3-D differencing of point clouds. Results revealed a heterogeneous glacial melt pattern, with an average elevation loss of 0.89 m during the monitored time period. The majority of the glacial tongue exhibited surface lowering except the area above and around the glacial snout that surprisingly exhibited significant elevation gain. Both the highest magnitude of mass loss and the highest spatial variability in mass change was observed in areas with exposed ice-cliffs and supraglacial ponds. Glacial surface velocity derived from manual feature tracking showed velocity ranging from 0-4.1 m. A detailed evaluation of specific areas allowed an improved understanding of the complex interplay of factors leading to observed surface change. Our findings expand the extent of UAS based monitoring of debris-covered glaciers in the Himalaya and conclude that UAS derived 3D topographic products will become increasingly important for monitoring of thinning debris-covered glaciers.

A simple bounded stochastic motion is employed for modelling equity price dynamics under shocks, where the prices are constrained to lie between two positive bounds. While the stochastic process has an inaccessible boundary, the other boundary is quasi-bounded, implying that the boundary can be breached if the probability leakage condition is met. The quasi-boundedness of the process at the boundary can thus provide an indicator of possible risk of equities under price shocks. Empirical calibration of model parameters of the proposed process for equities can be performed easily due to the availability of an analytically tractable probability density function which generates fat-tailed distributions consistent with empirical observations. The volatility and mean-reversion of the S&P500 dynamics calibrated by the process is positively and negatively co-integrated respectively with the VIX index representing the level of market distress. The process captures the high likelihood of Hertz’s default about two months earlier, using only information until that point, and before the firm filed for Chapter 11 bankruptcy in May 2020 as a result of the Covid-19 pandemic. Empirical calibration of the process for GameStop’s stock price shows that the short squeeze of the stock occurred when the condition for breaching an upper boundary was met on 14 January 2021, i.e., about two weeks before major short sellers closed out their positions with significant losses. The trading volume of the stock was positively co-integrated with the probability leakage ratio.

Equipped with an early social predisposition immediately post-birth, humans typically form associations with mothers and other family members through exposure learning, canalized by a spontaneous predisposition to biological motion, face configuration, and other cues of animacy. If impaired, reduced social preferences can lead to social interaction impairments such as autism spectrum disorder (ASD) via misguided canalization. Despite being taxonomically distant, domestic chicks also follow a homologous developmental trajectory toward adaptive socialization through imprinting, which is guided via predisposed preferences that are homologous to those of humans, thereby suggesting that chicks are valid animal models of ASD. In addition to the convergent similarities in predisposition with human newborns, accumulating evidence suggests the construct validity of the chick model. Considering the recent progress in the evolutionary neurobiology of vertebrates, we reviewed the advantages and limitations of the chick model of developmental mental diseases in humans.

(1) Background: A set of relevant Police Ergonomics Parameters (PEP) has been used for the assessment and prevention of occupational risks involved in Police Physical Interventions (PITs). Through this set of PEPs, a comparison has been made between 2 traditional PITs against 2 novel OTPs (Operational Tactical Procedures). (2) Method: The data have been collected by means of a motion capture suit fitted with 19 Inertial Measurement Units, IMUs. A specific and powerful software package specific for ergonomic analysis has been used to manage the large amount of data registered and to generate a series of 3-dimensional plots. Traditional PITs and newer OTPs have been performed for their analysis. Specifically, the PEPs corresponding to the implementation of 4 PITs have been analyzed by collecting the measurements provided by a set of IMUs installed on a motion capture suit and their occupational risk assessments have been compared against those corresponding to newer OTPs. (3) Results: For the 4 PITs, the PEPs have been analyzed with the measured values from the IMUs, throughout the duration of each technique. The two traditional intervention techniques have scored higher than the new OTPs in the REBA system, the Assymetry angle, L5-Pelvis Shear and Joint Contac Forces, and the Total Muscle Power measurements. (4) Conclusions: It has been confirmed that the new OPTs minimize the risk of injuries, since their PEPs reached lower values than those corresponding to the traditional PITs, which are still being taught at Police academies.

A problem with synthetic aperture radar (SAR) is that, due to the poor penetrating action of electromagnetic waves inside solid bodies, the capability to observe inside distributed targets is precluded. Under these conditions, imaging action is provided only on the surface of distributed targets. The present work describes an imaging method based on the analysis of micro-movements on the Khnum-Khufu Pyramid, which are usually generated by background seismic waves. The results obtained prove to be very promising, as high-resolution full 3D tomographic imaging of the pyramid's interior and subsurface was achieved. Khnum-Khufu becomes transparent like a crystal when observed in the micro-movement domain. Based on this novelty, we have completely reconstructed internal objects, observing and measuring structures that have never been discovered before. The experimental results are estimated by processing series of SAR images from the second-generation Italian COSMO-SkyMed satellite system, demonstrating the effectiveness of the proposed method.

Maxwell’s equations are valid only for a stationary observation point, therefore, to adequately describe real processes so far we have had to move to a moving reference frame. This paper presents the equations of electrodynamics for the moving observation point, it is shown that plane and spherical electromagnetic waves are their solutions, while the spherical wave propagates only outward, which cannot be said about Maxwell’s equations. The fields of uniformly moving charges are also solutions of the equations. Now there is no need to move to a moving reference frame, to use four-dimensional space and covariant form of equations. The question of finding a universal form of the equations that allows a solution in the form of the field of an arbitrarily moving charge remains open. This raises the question of the existence of a two-parameter group of transformations of electromagnetic fields along with the known one-parameter group has been posed. The phenomena derived from the equations, which make an additional contribution to the phase overrun in the Aharonov-Bohm effect are considered. The equation of motion of a charged particle in an electromagnetic field without simplifying approximations is considered, which allows us to take into account the radiation effects. It is shown that the fields in a moving observation point depend on its velocity and acceleration. In particular, although in a constant uniform electric field a force qE acts on a motionless charged particle, but on the same motionless but not fixed particle the force 4/3qE acts already, because it has a nonzero acceleration and the electric field at this point is larger. As the speed increases, the field decreases, and when it reaches the speed of light, when the particle stops accelerating, the force again becomes equal to qE The principle of operation of an unconventional alternator in a constant electric field and its corresponding engine, as well as new types of direct and impulse current generators, predicted by the equations, are described.

This paper presents an Edge-based color image segmentation derived from the method of Particle Motion in a Vector Image Fields (PMVIF) that could previously be applied only to monochrome images. Instead of using an edge vector field derived from a gradient vector field and a normal compressive vector field derived from a Laplacian-gradient vector field, two novel orthogonal vector fields, directly computed from a color image, one parallel and another orthogonal to the edges, were used in the model to force a particle to move along the object edges. The normal compressive vector field is derived from the center-to-centroid vectors of local color distance images. Next, the edge vector field is derived by taking the normal compressive vector field, multiplied by differences of auxiliary image pixels to obtain a vector field analogous to a Hamiltonian gradient vector field. Using the PASCAL Visual Object Classes Challenge 2012 (VOC2012) and the Berkeley Segmentation Data Set and Benchmarks 500 (BSDS500), the benchmark score of the proposed method is provided in comparison with those of the traditional PMVIF, Watershed, SLIC, K-means, Mean shift, and JSEG. The proposed method yields better RI, GCE, NVI, BDE, Dice coefficients, faster computation time, and noise resistance.

In this paper, optimum parameters of Tuned Mass Dampers (TMD) are considered to control the responses of 10-story shear building under harmonic loading and 22 set of seismic records of FEMA-P695. The criterion used to obtain the optimum parameters is to select mass ratio, the frequency (tuning) and damping ratio that would result in smallest lateral displacements. State-space equations of motion are presented to compute the structural responses by developing a MATLAB file. A 10-story shear building is presented as a case study to assess the effects of TMDs on the multi-story structures. The results indicate that using TMD can reduce structural responses up to the average 20% under earthquake excitation and up to 90% under harmonic loadings. TMDs are not always effective under any type of ground motion; therefore, being aware of the given location is significant to design TMDs properly.

Hand and arm gesture recognition using radio frequency (RF) sensing modality proves valuable in man-machine interface and smart environment. In this paper, we use time series analysis method for accurately measuring the similarity of the micro-Doppler (MD) signatures between the training and test data, thus providing improved gesture classification. We characterize the MD signatures by the maximum instantaneous Doppler frequencies depicted in the spectrograms. In particular, we apply the dynamic time warping (DTW) method and compare its performance with that of the long short-term memory (LSTM) network. Both methods take into account the values as well as the temporal evolution and trends of time series data. It is shown that the DTW method achieves high gesture classification rates and is robust to time misalignment.

This paper presents a novel method of restoring the electron beam (EB) measurements that are degraded by linear motion blur. This is based on a Fuzzy Inference System (FIS) and Wiener inverse filter, together providing autonomy, reliability, flexibility and real-time execution. This system is capable of restoring highly degraded signals without requiring the exact knowledge of EB probe size. The FIS is formed of three inputs, eight fuzzy rules and one output. The FIS is responsible to monitor the restoration results, grade their validity and choose the one that yields to a better grade. These grades are produced autonomously by analyzing results of Wiener inverse filter. To benchmark the performance of the system, ground truth signals obtained using an 18 um wire probe are compared with the restorations. Main aims are therefore a) Provide unsupervised deblurring for device independent EB measurement; b) Improve the reliability of the process; c) Apply deblurring without knowing the probe size. These, further facilitates the deployment and manufacturing of EB probes and probe independent and accurate EB characterization. It also makes restoration of previously collected EB measurements easier, where the probe sizes are not known or recorded.

The separation of sister chromatids during anaphase is the culmination of mitosis and one of the most strikingly beautiful examples of cellular movement. It consists of two distinct processes: Anaphase A, the movement of chromosomes toward spindle poles via shortening of the connecting fibers, and anaphase B, separation of the two poles from one another via spindle elongation. I focus here on anaphase A chromosome-to-pole movement. The chapter begins by summarizing classical observations of chromosome movements, which support the current understanding of anaphase mechanisms. Live cell fluorescence microscopy studies showed that poleward chromosome movement is associated with disassembly, or ‘melting’ of the kinetochore-attached microtubule fibers that link chromosomes to poles. Microtubule-marking techniques established that kinetochore-fiber disassembly often occurs through a ‘pac-man’ mechanism, where tubulin subunits are lost from kinetochore-attached plus ends and the kinetochore appears to consume its microtubule track as it moves poleward. In addition, kinetochore-fiber disassembly in many cells occurs partly through ‘flux’, where the microtubules flow continuously toward the poles and tubulin subunits are lost from minus ends. Molecular mechanistic models for how load-bearing attachments are maintained to disassembling microtubule ends, and how the forces are generated to drive pac-man and flux-based movements, are discussed.

Dams are a critical infrastructure system for many communities, but they are also one of the most challenging to inspect. Dams are typically very large and complex structures, and the result is that inspections are often time-intensive and require expensive, specialized equipment and training to provide inspectors with comprehensive access to the structure. The scale and nature of dam inspections also introduces additional safety risks to the inspectors. Unmanned aerial vehicles (UAV) have the potential to address many of these challenges, particularly when used as a data acquisition platform for photogrammetric three-dimensional (3D) reconstruction and analysis, though the nature of both UAV and modern photogrammetric methods necessitates careful planning and coordination for integration. This paper presents a case study on one such integration at the Brighton Dam, a large-scale concrete gravity dam in Maryland, USA. A combination of multiple UAV platforms and multi-scale photogrammetry was used to create two comprehensive and high-resolution 3D point clouds of the dam and surrounding environment at intervals. These models were then assessed for their overall quality, as well as their ability to resolve flaws and defects that were artificially applied to the structure between inspection intervals. The results indicate that the integrated process is capable of generating models that accurately render a variety of defect types with sub-millimeter accuracy. Recommendations for mission planning and imaging specifications are provided as well.

Powered ankle prostheses have been proven to improve the walking economy of people with transtibial amputation. All commercial powered ankle prostheses that are currently available can only perform one-degree-of-freedom motion in a limited range. However, studies have shown that the frontal plane motion during ambulation is associated with balancing. In addition, as more advanced neural interfaces have become available for people with amputation, it is possible to fully recover ankle function by combining neural signals and a robotic ankle. Accordingly, there is a need for a powered ankle prosthesis that can have active control on not only plantarflexion and dorsiflexion but also eversion and inversion. We designed, built, and evaluated a two-degree-of-freedom (2-DoF) powered ankle-foot prosthesis that is untethered and can support level-ground walking. Benchtop tests were conducted to characterize the dynamics of the system. Walking trials were performed with a 77 kg subject that has unilateral transtibial amputation to evaluate system performance under realistic conditions. Benchtop tests demonstrated a step response rise time of less than 50 milliseconds for a torque of 40 N·m on each actuator. The closed-loop torque bandwidth of the actuator is 9.74 Hz. Walking trials demonstrated torque tracking errors (root mean square) of less than 7 N·m. These results suggested that the device can perform adequate torque control and support level-ground walking. This prosthesis can serve as a platform for studying biomechanics related to balance and has the possibility of further recovering the biological function of the ankle-subtalar-foot complex beyond the existing powered ankles.

As most of the current dynamic positioning systems are based on model ships, they cannot accu-rately reflect the motion state, position changes, and mutual influence of each part of the dynamic positioning system of actual ships in complex environments. Other actual ships such as cargo ships cannot add various sensors and auxiliary equipment to verify and analyze the positioning system. This article takes the intelligent research and training dual-use ship of Dalian Maritime University, which integrates scientific research and training, as the object of study. This ship will not be affected by the voyage period and route and can choose a suitable sea area for research. Therefore, in order to improve the accuracy and reliability of the dynamic positioning system, research on the ship’s dynamic positioning system was carried out. Firstly, an accurate mathematical model of ship motion was established, and the hydrodynamic derivatives of ship model motion were obtained by nu-merical calculation, and applied to the three-degree-of-freedom model of the intelligent research and training dual-use ship. Then, the model was used as part of the closed-loop simulation model of the ship’s dynamic positioning system, and the terminal sliding mode controller was used for sim-ulation and emulation, thereby obtaining ideal simulation test results. This research helps to im-prove the accuracy and reliability of the dynamic positioning system and provides new ideas and methods for ship motion control.

Rapid post-earthquake damage diagnosis of bridges can guide decision-making for emergency response management and recovery. This can be facilitated using digital technologies to remove the barriers of manual post-event inspections. Prior mechanics-based Finite Element (FE) models can be used for post-event response simulation using the measured ground motions at nearby stations; however, the damage assessment outcomes would suffer from uncertainties in structural and soil material properties, input excitations, etc. For instrumented bridges, these uncertainties can be reduced by integrating sensory data with prior models through a model updating approach. This study presents a sequential Bayesian model updating technique, through which a linear/nonlinear FE model, including soil-structure interaction effects, and the foundation input motions are jointly identified from measured acceleration responses. The efficacy of the presented model updating technique is first examined through a numerical verification study. Then, seismic data recorded from the San Rogue Canyon Bridge in California are used for a real-world case study. Comparison between the free-field and the foundation input motions reveals valuable information regarding the soil-structure interaction effects at the bridge site. Moreover, the reasonable agreement between the recorded and estimated bridge responses shows the potentials of the presented model updating technique for real-world applications. The updated FE model is considered as the digital twin of the bridge and can be used to analyze the bridge and monitor the structural response at element, section, and fiber levels to diagnose the location and severity of any potential damage mechanism.

The power-generation capacity of grid-connected photovoltaic (PV) power systems is increasing. As output power forecasting is required by electricity market participants and utility operators for the stable operation of power systems, several methods have been proposed using physical and statistical approaches for various time ranges. A short-term (30 min ahead) forecasting method has been previously proposed by our laboratory for geographically distributed PV systems using motion estimation. This study focuses on an important parameter for estimating the proposed motion and optimizing the parameter. This parameter is important because it is associated with the smoothness of the vector field, which is the result of motion estimation and influences the forecasting accuracy. In the periods with drastic power output changes, the evaluation was conducted on 101 PV systems located within a circle of 15-km radius in the Kanto region of Japan. The results indicate that the absolute mean error of the proposed method with the optimized parameter is 10.3%, whereas that of the persistent prediction method is 23.7%. Therefore, the proposed method is effective in forecasting for periods when PV output changes drastically in a short time.

In the present paper, we efficiently solve the two-body problem for extreme cases such as those with high eccentricities. The use of numerical methods, with the usual variables, cannot maintain the perihelion passage accurately. In previous articles, we have verified that this problem is treated more adequately through temporal reparametrizations related to the mean anomaly through the partition function. The biparametric family of anomalies, with an appropriate partition function, allows a systematic study of these transformations. In the present work, we consider the elliptical orbit as a meridian section of the ellipsoid of revolution, and the partition function depends on two variables raised to specific parameters. One of the variables is the mean radius of the ellipsoid at the secondary, and the other is the distance to the primary. One parameter regulates the concentration of points in the apoapsis region, and the other produces a symmetrical displacement between the polar and equatorial regions. The three most used geodesy latitude variables are also studied, resulting in one not belonging to the biparametric family. However, it is in the one introduced now, which implies an extension of the biparametric method. The results obtained by the method presented here now allow a causal interpretation of the operation of numerous reparametrizations used in the study of orbital motion.

Transportation tasks in nursing are common and shorten the time for direct patient care in times of nursing shortage and an aging society. There is a lack of research on transportation needs, with most studies focusing on overall nursing task analysis without a deeper analysis of transportation tasks. In July and September 2023, we conducted weekly observations of nurses to assess clinical transportation needs. We aim to understand the economic impact and the methods nurses use for transportation tasks. We conducted a participant observation using a standardized app-based form over a seven-day observation period in two rural clinics. N=1,830 transports were made by nurses and examined by descriptive analysis. Non-medical supplies account for 27.05 % (n=495) of all transports, followed by medical supplies at 17.32 % (n=317), pharmacotherapy at 14.10 % (n=258) and other other categories like meals or drinks contributing 12.68 % (n=232). Most transports had a factual transport time of under a minute, with patient transport and lab samples displaying more variability. In total, 77.15 % of all transports were made by hand. Requirements to collect items or connect transports with patient care were included in 5 % of all transports. Our economic evaluation spotlighted meals as the most costly transport, with 9,596.16€ p.a. in the observed clinics. Budget-friendly robots would amortize over one year by transporting meals. We support understanding nurses’ transportation needs via further research on assistive robots to validate our findings and determine the feasibility of transport robots.

Human motion analysis using inertial measurement units (IMUs) has recently been shown to provide accuracy similar to the gold standard, marker-based optical motion capture, but at much lower costs and while being less restrictive and time-consuming. However, IMU-based motion analysis requires precise knowledge of the orientation in which the sensor is attached to the body segments. This knowledge is commonly obtained via an anatomical calibration procedure based on precisely defined poses or motions, which is time-consuming and error-prone. In the present work, we propose a self-calibrating approach for magnetometer-free joint angle tracking that is suitable for joints with two degrees of freedom (DoF), such as the elbow, ankle, and metacarpophalangeal finger joints. The proposed methods exploit kinematic constraints to simultaneously identify the joint axes and the heading offset. The experimental evaluation shows that the proposed methods are able to estimate plausible and consistent joint axes from just ten seconds of arbitrary elbow joint motion. Comparison with optical motion capture shows that the proposed methods yield joint angles with similar accuracy as a conventional IMU-based method while being much less restrictive. Therefore, the proposed methods improve the practical usability of IMU-based motion tracking in many clinical and biomedical applications.

This comprehensive treatise is written for the special occasion of the author’s 70th birthday. It presents his lifelong endeavors and reflections with original reasoning and re-interpretations of the most critical and misleading issues in thermodynamics; since now, we have the advantage to look at the historical developments more comprehensively and objectively than the pioneers. Starting from Carnot (grand-father of thermodynamics-to-be) to Kelvin and Clausius (fathers of thermodynamics), and other followers, the most relevant issues are critically examined and put in historical and contemporary perspective. From original reasoning of energy forcing and displacement to logical-proofs of the fundamental laws, to ubiquity of thermal motion and heat, and indestructibility of entropy, including new concept of “thermal roughness” and inevitability of dissipative irreversibility, to “dissecting Carnot true reversible-equivalency” and critical concept of “Carnot-Clausius heat-work equivalency (CCHWE)” regarding interchangeability of heat and work, and to demonstrating “no hope” for the “challengers” of the Second Law of thermodynamics, among others, are offered. It is hoped that the novel contributions presented will enhance comprehension and resolve some of the fundamental issues, as well as promote collaboration and future progress.

Gyroscopes are fascinating instruments with a history of about 200 years. When J.G.F. Bohnenberger presented his machine to his students in 1810 at the University of Tuebingen, Germany, nobody could have foreseen that this fascinating development would be used for complex orientation and positioning. At the University of Stuttgart, Germany, a collection of 160 exhibits is available and in transition for a sustainable future. Here, the systems are digitized in 2D, 2.5D and 3D and are made available for a world-wide community using OpenAccess platforms. The technologies being used are Computed Tomography, Computer Vision, Endoscopy and Photogrammetry. The workflows for combining voxel representations and colored point clouds are described, to create Digital Twins of the tangible assets. Advantages and disadvantages are discussed und work for near future is outlined in this new and challenging field of Tech Heritage digitization.

Sea level rise due to global warming is a continuing and, disappointingly, accelerating process, which has already affected and will further impact coastal lowlands and the social and economic activities in these areas. Delos Island, situated in the middle of the Cyclades in the Aegean Sea, was considered the most sacred of all islands in ancient Greek culture and a trading hub for the entire eastern Mediterranean. Uninhabited since the 7th century AD, and consistently the focus of research and touristic attention, the island is designated as an archaeological site and inscribed on the Unesco World Heritage List. Previous studies on the relative sea level (rsl) changes suggest a steadily rsl rise during the last 6,300 years, starting from a sea level at -4.80±0.20m in the Late Neolithic. The seafront of the ancient city of Delos is subject to the effects of the rsl rise, which have caused significant coastline retreat and exposure to the northerly winds and waves, whereas parts of the coastal lowland where the remains of the ancient city lie are inundated, forming extended wetlands. The future impacts of rsl rise on the seafront of ancient Delos are illustrated on very high-resolution digital surface models, evaluating both the flooding risk under different climatic projections, as provided by the IPCC AR6 report, and the ongoing land subsidence, as recorded by GNSS data. An rsl rise ranging from 87cm (SSP1-2.6 scenario) to 148cm (SSP5-8.5 scenario) is anticipated by 2150, requiring both resilience strategies and adaptation solutions as well as mitigation policies to cope with the effects of climate change.

Human violence recognition is an area of great interest in the scientific community, given its broad spectrum of applications, especially in video surveillance systems, since detecting violence in real-time could prevent criminal acts and save lives. Despite the number of existing proposals and research, most focus on the precision of results, leaving aside efficiency and its practical implementation. Thus, this work proposes a model that is effective and efficient in recognizing human violence in real-time. The proposed model consists of three modules: a first module called Spatial Motion Extractor (SME), in charge of extracting regions of interest from a frame; a second module called Short Temporal Extractor (STC), whose function is to extract temporal characteristics of rapid movements, finally the Global Temporal Extractor (GET) module, responsible for identifying long-lasting temporal features and fine-tuning the model. The proposal was evaluated regarding efficiency, effectiveness, and ability to operate in real-time. The results obtained on Hockey, Movies, and RWF-2000 datasets demonstrated that this approach is highly efficient compared to other alternatives. A VioPeru dataset was created to validate real-time applicability with violent and non-violent videos captured by real video surveillance cameras in Peru. The effectiveness results in this dataset outperformed the best existing proposal. Therefore, our proposal has contributions in efficiency, effectiveness, and real-time.

The construction of molecular robotic-like objects that imitate living things is an important challenge for current chemists. Such molecular devices are expected to perform their duties robustly to carry out mechanical motion, process information, and make independent decisions. Dissipative self-organization plays an essential role in meeting these purposes. To produce a micro-robot that can perform the above tasks autonomously as a single entity, a function generator is required. Although many elegant review articles featuring chemical devices that mimic biological mechanical functions have been published recently, the dissipative structure, which is the minimum requirement, has not been sufficiently discussed. This article aims to show clearly that dissipative self-organization is a phenomenon involving autonomy, robustness, mechanical functions, and energy transformation. Moreover, the author details the recent experimental results of an autonomous light-driven molecular device that achieves all of these features. In addition, a chemical model of cell-amplification is also discussed to focus on the generation of hierarchical movement by dissipative self-organization. By reviewing this research, it may be perceived that mainstream approaches to synthetic chemistry have not always been appropriate. In summary, the author proposes that the integration of catalytic functions is a key issue for the creation of autonomous microarchitecture.

It is important to understand the statistical-physical structure of the rain in the vertical so that observations aloft can be translated meaningfully into what will occur at the surface. In order to achieve this understanding, it is necessary to gather high temporal and spatial resolution observations of rain in the vertical. This can only be accomplished using radars. It can be achieved by translating radar Doppler spectra into drop size distributions which can then be integrated to calculate variables such as the rain fall rate. A long-standing difficulty in using such measurements, however, is the problem of vertical air motion which can shift the Doppler spectra, and, therefore, significantly alter the deduced drop size distributions and integrated variables. In this work, we illustrate the improvement in measured rain structures using a new approach for removing the effect of mean vertical air motion. It is demonstrated that the new approach proposed here not only produces what appear to be better estimates of the rainfall rates, but, also as a consequence, provides estimates of the temporal and spatial regionally coherent updraft and downdrafts occurring in the precipitation. Furthermore, the technique is readily applicable to other radars especially those operating at non-attenuating frequencies.

We study the effect of the generation of the mechanical transverse wave (MTW)　travelling in the opposite direction (OD) to a moving medium (MM) on the relativistic energy conservation law (RECL). From the viewpoint of the relativity of simultaneity (RS), the time on the coordinate coinciding with the advance end of the wave (AEW) travelling toward the rear of the MM passes faster than that on the coordinate coinciding with the wave source (WS). Then the AEW in the MM travels forward compared to that in the rest frame of reference (RFR) which is stationary relative to the medium when the time on the coordinate coinciding with the WS is same for each inertial frame of reference (IFR). Hence, the coordinate interval (CI) between the AEW and WS in the MM is observed to be larger than that between them in the RFR. We show that this difference holds true for the CI of any portion having transverse velocities mutually converted by the Lorentz transformation (LT). This difference in the CI leads to that in the rest mass (RM). We demonstrate that the RM included in wave motion (WM) in the MM is larger than one included in WM in the RFR when comparing the portions having transverse velocities mutually converted by the LT. This relation holds true for all portions in WM. Therefore, the total coordinate interval of the portion (CIP) and total RM (TRM) included in WM in the MM (WMMM) are large compared to them included in WM in the RFR. Furthermore, we compare the relativistic kinetic energy (RKE) of the MTW travelling in the OD to the MM (ODMM) with that of the MTW propagating in the direction vertical to the moving direction of the medium. We prove that the CIP and RM included in the former MTW are larger than them included in the latter MTW when comparing each portion with the same transverse velocity (TV). Moreover, the total CIP and TRM included in the former MTW are also large compared to them included in the latter MTW. The reason for these is that the latter CIP and RM are equal to them in the RFR when comparing the portions having transverse velocities mutually converted by the LT. On the other hand, the energy supplied to generate each MTW is the same. From these, we demonstrate that the RKE of the MTW travelling in the ODMM can be larger than the total relativistic energy (TRE) of the MTW propagating in the direction vertical to the moving direction of the medium. Consequently, we propose a violation of the RECL and Einstein’s principle of relativity (EPR) because the TRE is not necessarily conserved in the IFR in which the medium is moving.

The current study characterizes the transient M/M/1 queue manifold info-geometrically, through devising Fisher Information matrix(FIM) and its inverse(IFIM). Additionally, the impact of stability on the existence of IFIM and explore the geodesic equations of motion has been revealed. More potentially, the paper discusses the relationship between stability and the Gaussian curvature, as well as the connections between queueing theory, information geometry, , Riemannian geometry, and the Theory of Relativity.

Research for a theory of quantum gravity has recently led to the use of presheaf topos. Quantum uncertainty is linked to the truth values of intuitionistic logic. This paper proposes transposing this model into a classic probability context, that of conditional mathematical expectations. A simulation of Brownian motion is offered for illustrative purposes.

This paper revisits the analytical theory of fractional vibrations with the highlights in five aspects. First, we address the cases of structures with frequency dependent mass or damping or stiffness in Sections 2-4. Second, we introduce the theory based on the general second-order vibration motion equation with frequency dependent elements (mass, damping, stiffness) in Sections 5-7. Third, we present the analytical theory of seven specific classes of second-order vibration systems with frequency dependent mass or damping or stiffness in Sections 8 and 9. Fourth, we bring forward the analytical theory of seven classes of fractional vibration systems in Sections 10-12. Finally, as an application, we give the closed form expression of the forced response to multi-fractional Euler-Bernoulli beam in Section 13. The explanation of the nonlinearity of fractional vibrations is given in Section 14.

This study introduces a remote sensing application using satellite imagery to survey a network-scale aggregate stockpile inventory. First, a real scale aggregate quarry site was surveyed using a small Unmanned Aerial Vehicle (sUAV) to produce digital terrain models that enabled analysis of aggregate pile geometry. Second, a lab experiment was designed and performed to validate the applicability of close-range Structure from Motion (SfM) photogrammetry for measuring aggregate piles' physical properties such as volume and density. The other part of the lab experiment delved into direct measurement of aggregate density under varying compaction efforts. These experimental results, in conjunction with some simplifying assumptions, enabled the calculation of aggregate stockpile volumes and estimated weights from satellite imagery. We estimated that an inventory of 4.4 and 1.1 million metric tons of crushed aggregates and Reclaimed Asphalt Pavement (RAP), respectively, stockpiled in Washington State for asphalt production in 2017. The merit of producing such database was further showcased in an example on the economic and environmental impacts of material transportation. We approximated that hauling aggregates from quarry plants to construction sites within Washington State incurs a cost of about $50 thousand to over $4 million, consumes about 0.25 to 20 TJ of energy, and emits 20 to over 1,500 tons of CO₂-eq per asphalt plant annually.

The present article addresses the long-standing problem of the polymer brush bilayers under stationary shear flow at non-linear response regime where the system gets a non-Newtonian fluid. The main idea behind this research would be the fact that the immense lubricity of the polymer brush bilayers originates from a global restructuring that takes place at large shear rates. It is shown here that physical quantities like, stress tensor, viscosity tensor, the friction coefficient and the chain extensions could become dependent on the shear rate at non-Newtonian regime. Apparently, the sub-linear scaling of the physical quantities at large shear rates is solely due to the fact that the chains stretch in the shear direction.

Today electricity is distributed to the individual users via physical Copper connections. From the power stations, the energy is transported through transmission lines where the electricity, sinusoidally modulated at a fixed frequency of about 50 Hz, is raised up to a voltage in a range approximately variating between 30, and 110 kV. When electrons, aligned at this voltage, pass through the transmission lines, they cause coherent vibrations, sometimes even audible in the acoustic frequencies. In the spectrum of movements to which electric cables are subjected, there are also unexpected and sporadic movements caused by winds and rain. The problem of carrying out persistent, precise and spatially distributed monitoring of transmission line health is to use a large number of sensors physically distributed everywhere and somehow transmit the results to a control station. The use of synthetic aperture radar (SAR) data could be a viable solution of persistent and wide-area high-voltage vibration monitoring. In this paper we produce a comprehensive survey on how to monitor both movements in terms of vibrational displacement, due to weathering, and those due to electricity transmission, normally fixed at about 50 Hz. The results demonstrate the technical feasibility of an operational use of SAR for these purposes in the very short term. This would allow the possibility of monitoring malfunctions such as black-outs or other frequency anomalies.

Height assignment is an important problem for satellite measurements of Atmospheric Motion Vectors (AMVs) that are interpreted as winds by forecast and assimilation systems. Stereo methods assign heights to AMVs from the parallax observed between observations from different vantage points in orbit while tracking cloud or moisture features. In this paper, we fully develop the stereo method to jointly retrieve wind vectors with their geometric heights from geostationary satellite pairs. Synchronization of observations between observing systems is not required. NASA and NOAA stereo-winds codes have implemented this method and we have processed large datasets from GOES-16, -17, and Himawari-8. Our retrievals are validated against rawinsonde observations and demonstrate the potential to improve forecast skill. Stereo winds also offer an important mitigation for the loop heat pipe anomaly on GOES-17 during times when warm focal plane temperatures cause infra-red channels that are needed for operational height assignments to fail. We also examine several application areas, including deep convection in tropical cyclones, planetary boundary layer dynamics, and fire smoke plumes, where stereo methods provide insights into atmospheric processes. The stereo method is broadly applicable across the geostationary ring where systems offering similar Image Navigation and Registration (INR) performance as GOES-R are deployed.

Technological advances in game-mediated robotics provide an opportunity to engage children with cerebral palsy (CP) and other neuromotor disabilities in more frequent and intensive therapy by making personalized, programmed interventions available 24/7 in children’s homes. Though shown to be clinically effective and feasible to produce, little is known of the subjective factors impacting acceptance of what we term assistive/rehabilitative (A/R) gamebots by their target populations. This research describes the conceptualization phase of an effort to develop a valid and reliable instrument to guide the design of A/R gamebots. We conducted in-depth interviews with 8 children with CP and their families who had trialed an exemplar A/R gamebot, PedBotHome, for 28 days in their homes. The goal was to understand how existing theories and instruments were either appropriate or inappropriate for measuring the subjective experience of A/R gamebots. Key findings were the importance of differentiating the use case of therapy from that of assistance in rehabilitative technology assessment, the need to incorporate the differing perspectives of children with CP and those of their parents into A/R gamebot evaluation, and the potential conflict between the goals of preserving the quality of the experience of game play for the child while also optimizing the intensity and duration of therapy provided during play.

In this paper, we review a new treatment of classical radiation damping, which resolves a well-known contradiction in the Abraham-Lorentz equation that has long been a concern. This radiation damping problem has already been solved in quantum mechanics by the method introduced by Friedrichs. Based on Friedrichs’ treatment, we solved this long-standing problem by classicizing quantum mechanics by replacing the canonical commutation relation in quantum mechanics with the Poisson bracket relation in classical mechanics. As an application of our new approach, we will analyze the anomalous damping experienced by electrons undergoing cyclotron motion inside a waveguide near the cut-off frequency. This anomalous damping cannot be described using the existing Abraham-Lorentz equation.

A method for generating fluoroscopic (time-varying) volumetric images using patient-specific motion models derived from 4-dimensional cone-beam CT (4D-CBCT) images is developed. 4D-CBCT images acquired immediately prior to treatment have the potential to accurately represent patient anatomy and respiration during treatment. Fluoroscopic 3D image estimation is done in two steps: 1) deriving motion models and 2) optimization. To derive motion models, every phase in a 4D-CBCT set is registered to a reference phase chosen from the same set using deformable image registration (DIR). Principal components analysis (PCA) is used to reduce the dimensionality of the displacement vector fields (DVFs) resulting from DIR into a few vectors representing organ motion found in the DVFs. The PCA motion models are optimized iteratively by comparing a cone-beam CT (CBCT) projection to a simulated projection computed from both the motion model and a reference 4D-CBCT phase, resulting in a sequence of fluoroscopic 3D images. Patient datasets were used to evaluate the method by estimating the tumor location in the generated images compared to manually defined ground truth positions. Experimental results showed that the average tumor mean absolute error (MAE) along the superior-inferior (SI) direction and the 95th percentile in two patient datasets were (2.29 mm and 5.79 mm) for patient 1 and (1.89 mm and 4.82 mm) for patient 2. This study has demonstrated the feasibility of deriving 4D-CBCT-based PCA motion models that have the potential to account for the 3D non-rigid patient motion and localize tumors and other patient anatomical structures on the day of treatment.

Rapid developments in the field of underwater photogrammetry have given scientists1the ability to produce accurate 3-dimensional (3D) models which are now increasingly used in the representation and study of local areas of interest. This paper addresses the lack of systematic analysis of 3D reconstruction and navigation fusion strategies, as well as associated error evaluation of models produced at larger scales in GPS-denied environments using a monocular camera (often in deep-sea scenarios). Based on our prior work on automatic scale estimation of Structure from Motion (SfM)-based 3D models using laser scalers, an automatic scale accuracy framework is presented. The confidence level for each of the scale error estimates is independently assessed through the propagation of the uncertainties associated with image features and laser spot detections using a Monte Carlo simulation. The number of iterations used in the simulation was validated through the analysis of the final estimate behaviour. To facilitate the detection and uncertainty estimation of even greatly attenuated laser beams, an automatic laser spot detection method, mitigating the effects of scene texture, was developed, with the main novelty of estimating the uncertainties based on the recovered characteristic shapes of laser spots with radially decreasing1 intensities. The effects of four different reconstruction strategies resulting from the combinations of Incremental/GlobalSfM, and thea priori/a posterioriuse of navigation data were analyzed using two distinct survey scenarios captured during the SUBSAINTES 2017 cruise (doi: 10.17600/17001000). The study demonstrates that surveys with multiple overlaps of non-sequential images result in a nearly identical solution regardless of the strategy (SfM or navigation fusion), while surveys with weakly connected sequentially acquired images are prone to produce broad-scale deformation (doming effect) when navigation is not included in the optimization. Thus the scenarios with complex survey patterns substantially benefit from using multi-objective BA navigation fusion. In all cases, the errors in the models are inferior to 5%, with errors often being around 1%. The effects of combining data from multiple surveys were also evaluated. The introduction of additional vectors in the optimization of multi-survey problems successfully accounted for offset changes present in the underwater USBL-based navigation data and thus minimize the effect of contradicting navigation priors. Our results also illustrate the importance of collecting a multitude of evaluation data at different locations and moments during the survey.

This research aims to estimate the micro-motion (m-m) of ships. The problem of motion and m-m detection of targets is usually solved using synthetic aperture radar (SAR) along-track interferometry (ATI) which is observed employing two radars spatially distanced by a baseline extended in the azimuth direction. This paper is proposing a new approach where the m-m estimation of ships, occupying thousands of pixels, is measured processing the information given by sub-pixel tracking generated during the coregistration process of several re-synthesized time-domain and overlapped sub-apertures. The SAR products are generated splitting the raw data, according to a small-temporal baseline strategy, observed by one single wide-band staring spotlight (ST) SAR image. The predominant vibrational modes of different ships are estimated and results are promising to extend this application in performing surveillance also of land-based industries activities. Experiments are performed processing one ST SAR image observed by the COSMO-SkyMed satellite system.

In the face of the upcoming 30th anniversary of econophysics, we review our contributions and other related works on the modeling of the long–range memory phenomenon in physical, economic, and other social complex systems. Our group has shown that the long–range memory phenomenon can be reproduced using various Markov processes, such as point processes, stochastic differential equations and agent–based models. Reproduced well enough to match other statistical properties of the financial markets, such as return and trading activity distributions and first–passage time distributions. Research has lead us to question whether the observed long–range memory is a result of actual long–range memory process or just a consequence of non–linearity of Markov processes. As our most recent result we discuss the long–range memory of the order flow data in the financial markets and other social systems from the perspective of the fractional Lèvy stable motion. We test widely used long-range memory estimators on discrete fractional Lèvy stable motion represented by the ARFIMA sample series. Our newly obtained results seem indicate that new estimators of self–similarity and long–range memory for analyzing systems with non–Gaussian distributions have to be developed.

Robots in space are necessarily extremely light and lack structural stiffness resulting in natural frequencies of resonance so low as to reside inside the attitude controller’s bandwidth. A variety of input trajectories can be used to drive a controller’s attempt to ameliorate the control-structural interactions where feedback is provided by low-quality, noisy sensors. Traditionally, step functions are used as the ideal input trajectory. However, step functions are not ideal in many applications, as they are discontinuous. Alternative input trajectories are explored in this manuscript and applied to an example system that includes a flexible appendage attached to a rigid main body. The main body is controlled by a reaction wheel. The equations of motion of the flexible appendage, rigid body, and reaction wheel are derived. A feedback controller is developed to account for the rigid body modes. Additional filters are added to compensate for the system’s flexible modes. Sinusoidal trajectories are autonomously generated to feed the controller. Whiplash compensation is additionally implemented for comparison. The control method without random errors with the smallest error is the sinusoidal trajectory method, which showed a 97.39% improvement when compared to the baseline response when step trajectories were commanded, while the sinusoidal method was inferior to traditional step trajectories when sensor noise and random errors were present.