For Interferometry Synthetic Aperture Radar (InSAR), the normal baseline is one of the main factors that affect the accuracy of the ground elevation. For Gaofen-3 (GF-3) InSAR processing, the poor accuracy of the real-time orbit determination resulting in a large baseline error, leads to the modulation error in azimuth and the slope error in range for timely Digital Elevation Model (DEM) generation. In order to address this problem, a baseline estimation method based on external DEM is proposed in this paper. Firstly, according to the characteristic of the real-time orbit of GF-3 images, orbit fitting is executed to remove the non-linear error factor. Secondly, the height errors are obtained in slant-range plane between Shuttle Radar Topography Mission (SRTM) DEM and the GF-3 generated DEM after orbit fitting. At the same time, the height errors are used to estimate the baseline error which has a linear variation. In this way, the orbit error can be calibrated by the estimated baseline error. Finally, DEM generation is performed by using the modified baseline and orbit. This procedure is implemented iteratively to achieve a higher accuracy DEM. Based on the results of GF-3 interferometric SAR data for Hebei, the effectiveness of the proposed algorithm is verified and the accuracy of GF-3 real-time DEM products can be improved extensively.

We investigate wealth accumulation in forestry, assuming that revenues are re-invested. Three different optimization criteria are compared, two of which are based on cash flows, the third financially grounded. Direct optimization of wealth appreciation rate always yields best results. Procedures gained by maximizing internal rate of return are only slightly inferior. With external discounting interest rate, the maximization of net present value yields arbitrary results, with at worst devastating financial consequences.

P versus NP is considered as one of the most fundamental open problems in computer science. This consists in knowing the answer of the following question: Is P equal to NP? It was essentially mentioned in 1955 from a letter written by John Nash to the United States National Security Agency. However, a precise statement of the P versus NP problem was introduced independently by Stephen Cook and Leonid Levin. Since that date, all efforts to find a proof for this problem have failed. Another major complexity class is NP-complete. It is well-known that P is equal to NP under the assumption of the existence of a polynomial time algorithm for some NP-complete. We show that the Monotone Weighted Xor 2-satisfiability problem (MWX2SAT) is NP-complete and P at the same time. Certainly, we make a polynomial time reduction from every directed graph and positive integer k in the K-CLOSURE problem to an instance of MWX2SAT. In this way, we show that MWX2SAT is also an NP-complete problem. Moreover, we create and implement a polynomial time algorithm which decides the instances of MWX2SAT. Consequently, we prove that P = NP.

A new method for short circuit fault location is proposed based on instantaneous signal measurement and its derivatives, and is based on the retardation phenomena. The difference between the times in which a signal is registered in two detectors is used to locate the fault. Although a description of faults in terms of a lumped circuit is useful for elucidating the methods for detecting the fault. This description will not suffice to describe the fault signal propagation hence a distributed models is needed which is given in terms of the telegraph equations. Those equations are used to derive a transmission line transfer function, and an exact analytical description of the short circuit signal propagating in the transmission line is obtained. The analytical solution was verified both by numerical simulations and experimentally.

With the great development of intelligent transportation systems (ITS), travel time prediction has attracted the attentions of many researchers and a large number of prediction methods have been developed. However, as an unavoidable topic, the predictability of travel time series is the basic premise for travel time prediction has received less attention than the methodology. Based on the analysis of the complexity of travel time series, this paper defines travel time predictability to express the probability of correct travel time prediction and proposes an entropy-based method to measure the upper bound of travel time predictability. Multiscale entropy is employed to quantify the complexity of travel time series, and the relationships between entropy and the upper bound of travel time predictability are presented. Empirical studies are made with vehicle trajectory data in an express road section. The effectiveness of time scales, tolerance, and series length to entropy and travel time predictability are analysis, and some valuable suggestions about the accuracy of travel time predictability are discussed. Finally, the comparisons between travel time predictability and actual prediction results from two prediction models, ARIMA and BPNN, are conducted. Experimental results demonstrate the validity and reliability of the proposed travel time predictability.

Nowadays, security is a top priority. In fact, biometrics uses cutting-edge technologies to identify terrorists and criminals. But the practice of distinguishing humans based on intrinsic physical or behavior traits goes back thousands of years. With the widespread use of computers in the late 20th century, new possibilities for digital biometrics emerged and new technologies were generously used. Among these, we remember high resolution security video cameras and drones. So, the aim of the present project is to study and explain the features of these technologies, especially the ones of the the Phantom 4 Pro+ aircraft and analyze its operating methods in order to identify human faces during live streaming of videos. For this purpose, it will be used Paul Viola and Michael Jones’ face detection algorithm, which includes Haar features and cascade classifiers to identify faces, eyes and ears of an individual.

The P versus NP problem is a cornerstone of theoretical computer science, asking whether problems that are easy to check are also easy to solve. "Easy" here means solvable in polynomial time, where the computation time grows proportionally to the input size. While this problem's origins can be traced to John Nash's 1955 letter, its formalization is credited to Stephen Cook and Leonid Levin. Despite decades of research, a definitive answer remains elusive. Central to this question is the concept of NP-completeness. If even one NP-complete problem could be solved efficiently, it would imply that all problems in NP could be solved efficiently, proving P equals NP. This research proposes that EXACT CLOSURE, a notoriously difficult NP-complete problem, can be solved efficiently, thereby potentially establishing the equivalence of P and NP. This work is an expansion and refinement of the article "Note for the P versus NP problem", published in IPI Letters.

In a previous paper\cite{simplified}, a variation of the Collision-time Statistics method was applied to identify the relevant perturbers for line broadening under the action of a constant magnetic field. As discussed, that version was simplified and inadequate for low magnetic field and/or large perturber mass (ions). The purpose of the present work is to augment the previous work, so that such cases, corresponding to the Larmor radius exceeding the maximum impact parameter, can be handed efficiently. The results may also be used to construct analytic, i.e. impact/unified models under the usual assumptions in these models.

Monkeypox (mpox) caused by the monkeypox virus (MPXV) is currently the most common orthopoxvirus (OPXV) zoonotic disease. Since 2022, a multi-country outbreak of mpox has been reported with atypically rapid human-to-human transmission. The present work aimed to investigate the frequency of MPXV and OPXV DNA detection in different clinical materials taken at acute and convalescent phases of the infection in Bulgarian patients. A total of 181 clinical samples from 42 Bulgarian patients with possible mpox infections were tested. Screening for MPXV DNA (F3L gene) and OPXV DNA (rpo18 gene) were performed by real-time PCR assays. Of all tested patients six (14%) were confirmed with mpox infection. MPXV DNA was detected in 23/181 (12,71%) and OPXV DNA in 20/181 (11,05%) clinical samples. All confirmed patients were men who have sex with men, aged 23 to 44 (at an average age of 35,17±7,91 years) and two of them were HIV positive. The commonest clinical features of patients were fever (5/6), vesicular-pustular rash: perianal (6/6), penile (4/6), and limbs (4/6). MPXV DNA was found with the greatest frequency in specimens of vesicle contents and nasal/oropharyngeal swabs in 6/6 and 5/6. OPXV DNA mainly was detected in vesicle contents (6/6), nasal/oropharyngeal swabs (4/6), and urine (4/6). In the collected follow-up samples, MPXV DNA was detected in the highest percentage in the specimen's vesicle contents (6/6) and urine (6/6) and not demonstrated in samples of feces and saliva. The laboratory surveillance of MPXV is critical to contain the outbreak and to elucidate the new fast transmission of the virus.

A correct system design can be systematically obtained from a specification model of a real-time system that integrates hybrid measurements in a realistic industrial environment, this has been carried out through complete Matlab / Simulink / Stateflow models. However, there is a widespread interest in carrying out that modeling by resorting to Machine Learning models, which can be understood as Automated Machine Learning for Real-time systems that present some degree of hybridization. An induction motor controller which must be able to maintain a constant air flow through a filter is one of these systems and it is discussed in the paper as a study case of closed-loop control system. The article discusses a practical application of ML methods that demonstrates how to replace such closed loop in industrial control systems with a Simulink block generated from neural networks to show how the proposed procedure can be applied to derive complete hybrid system designs with artificial neural networks (ANN). In the proposed ANN-based method to design a real-time hybrid system with continuous and discrete components, we use a typical design of a neural network, in which we define the usual phases: training, validation, and testing. The generated output of the model is made up of reference variables values of the cyber-physical system, which represent the functional and dynamic aspects of model. They are used to feed Simulink/Stateflow blocks in the real target system.

In this paper, the P versus NP problem is studied based on a six-dimensional space-time perspective. The gap between the P-class and NP-class arises from the relationship between time and the solution, as well as the answer that is independent of time. The complexity of solving a problem depends on the time dependence of the answer. Solving problems whose answers do not depend on the passage of time is very difficult and impossible. Like the description of the gravitational factor in Newtonian physics, NP class problems require different mathematical tools. Based on the generalization of physical facts in mathematics, based on six-dimensional space-time, a method to solve problem P versus NP problem has been stated. The results of this study offer a fresh insight into information processing that occurs independent of the passage of time.

Biopolymer gels have gained tremendous potential for therapeutic applications due to their biocompatibility, biodegradability, and ability to adsorb and bind biological fluids, making them attractive for drug delivery and therapy. The versatility of biopolymer gels in theranostic backgrounds, with a focus on integrating imaging features and facilitating real-time monitoring of drug delivery. Different methods of delivery are explored imaging agents into biopolymer gels, including encapsulation, surface functionalization, nanoparticle encapsulation and layer-by-layer assembly techniques. Integration of Agents and Real-Time Monitoring Drug Delivery We summarize the synthesis methods, general properties, and mechanisms of biopolymer gels functionality, demonstrating their broad applications as multimodal systems for imaging-based therapeutics. These techniques not only enable multiple imaging but also provide signal enhancement and imaging a targeted facilitates, increasing the diagnostic accuracy and therapeutic efficacy. In addition, current techniques for incorporating imaging agents into biopolymer gels are discussed, and their role in precise drug delivery and monitoring.

Computational animation of spatiotemporal models for 3-D shape and motion is considered as core of dynamic real-time vision. This is based on sets of features evaluated from multi-focal image streams. Subjects are defined as special objects capable of sensing environmental parameters and of initiating own actions in combination with stored knowledge. Object/subject recognition and scene understanding are achieved on different levels. Multiple objects are tracked individually for perceiving their actual state (‘here and now’). Fast saccadic jumps in gaze direction allow flexible concentration on objects or parts of actual interest. By analyzing motion of relevant objects/subjects over a larger time scale on the level of state variables and documenting them in the ‘scene tree representation’ (computer graphics), the situation with respect to decision making is assessed. Various behavioral capabilities of subjects are represented on an abstract level for characterizing their potential behaviors. These are generated by stereotypical feed-forward and feedback control applications on a separate level close to the actuator hardware with corresponding methods. This dual representation on one level for decision making and one on the implementation level allows for flexibility and easy adaptation or extension. Results are shown for road vehicle guidance based on three cameras on a gaze-controlled platform.

In this paper we exploit concepts from Information Theory to improve the classical Chvatal’s greedy algorithm for the Set Covering Problem. In particular, we develop a new greedy procedure, called Surprisal-Based Greedy Heuristic (SBH), incorporating the computation of a “surprisal” measure when selecting the solution columns. Computational experiments, performed on instances from the OR-Library, show that SBH yields a 2.5% improvement in terms of the objective function value over the Chvatal’s algorithm while retaining similar execution times, making it suitable for real-time applications. The new heuristic was also compared with Kordalewski’s greedy algorithm, obtaining similar solutions with much lower times on large instances, and Grossmann and Wool’s algorithm for unicost instances, where SBH obtained better solutions.

Deep-learning-based speech enhancement techniques have been recently grown in interest, since their impressive performance can potentially benefit a wide variety of digital voice communication systems. However, such performance has been evaluated mostly in offline audio processing scenarios (i.e. feeding the model, in one go, a complete audio recording, which may extend several seconds). It is of great interest to evaluate and characterize the current state-of-the-art in applications that process audio online (i.e. feeding the model a sequence of segments of audio data, concatenating the results at the output end). Although evaluations and comparisons between speech enhancement techniques have been carried out before, as far as the author knows, the work presented here is the first that evaluates the performance of such techniques in relation to their online applicability. Meaning, this work measures how the output signal-to-interference ratio (as a separation metric), the response time and memory usage (as online metrics) are impacted by the input length (the size of audio segments), in addition to the amount of noise, amount and number of interferences, and amount of reverberation. Three popular models were evaluated, given their availability on public repositories and online viability: MetricGAN+, Spectral Feature Mapping with Mimic Loss, and Demucs-Denoiser. The characterization was carried out using a systematic evaluation protocol based on the Speechbrain framework. Several intuitions are presented and discussed, and some recommendations for future work are proposed.

Operational weather and also flood forecasting has been performed successfully for decades and is of great socioeconomic importance. Up to now, forecast products focus on atmospheric variables, such as precipitation, air temperature and, in hydrology, on river discharge. Considering the full terrestrial system from groundwater across the land surface into the atmosphere, a number of important hydrologic variables are missing especially with regard to the shallow and deeper subsurface (e.g. groundwater), which are gaining considerable attention in the context of global change. In this study, we propose a terrestrial monitoring/forecasting system using the Terrestrial Systems Modeling Platform (TSMP) that predicts all essential states and fluxes of the terrestrial hydrologic and energy cycles from groundwater into the atmosphere. Closure of the terrestrial cycles provides a physically consistent picture of the terrestrial system in TSMP. TSMP has been implemented over a regional domain over North Rhine-Westphalia and a continental domain over European in a real-time forecast/monitoring workflow. Applying a real-time forecasting/monitoring workflow over both domains, experimental forecasts are being produced with different lead times since the beginning of 2016. Real-time forecast/monitoring products encompass all compartments of the terrestrial system including additional hydrologic variables, such as plant available soil water, groundwater table depth, and groundwater recharge and storage.

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.

Future cyber-physical systems may extend over broad geographical areas, like cities or regions, thus requiring the deployment of large real-time networks. A strategy to guarantee predictable communication over such networks is to synthesize an offline time-triggered communication schedule. However, this synthesis problem is computationally hard (NP-complete), and existing approaches do not scale satisfactorily to the required network sizes. This article presents a segmented offline synthesis method which substantially reduces this limitation, being able to generate time-triggered schedules for large hybrid (wired and wireless) networks. We also present a series of algorithms and optimizations that increase the performance and compactness of the obtained schedules while solving some of the problems inherent to segmented approaches. We evaluate our approach on a set of realistic large-size multi-hop networks, significantly larger than those considered in the existing literature. The results show that our segmentation reduces the synthesis time up to two orders of magnitude.

We present the real number system as a natural generalization of the natural numbers. First, we prove the co-finite topology, $Cof(\mathbb N)$, is isomorphic to the natural numbers. Then, we generalize these results to describe the continuum $[0,1]$. Then we prove the power set $2^{\mathbb Z}$ contains a subset isomorphic to the non-negative real numbers, with all its defining structure of operations and order. Finally, we provide two different constructions of the entire real number line. We see that the power set $2^{\mathbb N}$ can be given the defining structure of $\mathbb R$. The constructions here provided give simple rules for calculating addition, multiplication, subtraction, division, powers and rational powers of real numbers, and logarithms. The supremum and infimum are explicitly constructed by means of a well defined algorithm that ends in denumerable steps. In section 5 we give evidence our construction of $\mathbb N$ and $\mathbb R$ are canonical; these constructions are as natural as possible. In the same section, we propose a new axiomatic basis for analysis. In the last section we provide a series of graphic representations and physical models that can be used to represent the real number system. We conclude that the system of real numbers is completely defined by the order structure of $\mathbb N$.}

In this research article we solve the problem of synchronization and anti-synchronization of chaotic systems described by discrete and time-delayed variable fractional order differential equations. To guarantee the synchronization and anti-synchronization of these systems, we use the well-known PID control theory and the Lyapunov-Krasovskii stability theory for discrete systems of variable fractional order.We illustrate the results obtained through simulation with examples, in which it can be seen that our results are satisfactory, thus achieving synchronization and anti-synchronization of chaotic systems of variable fractional order with discrete time delay.

Land surface albedo determines the splitting of downwelling solar radiation into components which are either reflected back to the atmosphere or absorbed by the surface. Land surface albedo is an important variable for the climate community and therefore was defined by the Global Climate Observing System (GCOS) as an Essential Climate Variable (ECV). Within the scope of the Satellite Application Facility for Land Surface Analysis (LSA SAF) of EUMETSAT, a near-real time (NRT) daily albedo product was developed in the last decade from observations provided by the SEVIRI instrument on board the geostationary satellites of the Meteosat Second Generation (MSG) series. In this study we present a new collection of albedo satellite products based on the same satellite data. The MSG Ten-day ALbedo (MTAL) product incorporates MSG observations over 31 days with a frequency of NRT production of 10 days. The MTAL collection is more dedicated to climate analysis studies compared to the daily albedo that was initially designed for the weather prediction community. For this reason, a homogeneous reprocessing of MTAL was done in 2018 to generate a Climate Data Record (CDR). The resulting product is called MTAL-R and has been made available to the community in addition to the NRT version of the MTAL product which has been available for several years. The retrieval algorithm behind the MTAL products comprises three distinct modules: one for atmospheric correction, one for daily inversion of a semi-empirical model of the bidirectional reflectance distribution function, and one for monthly composition that also determines surface albedo values. In this study the MTAL-R CDR is compared to ground surface measurements and concomitant albedo products collected by sensors on-board polar-orbiting satellites (SPOT-VGT and MODIS). We show that MTAL-R meets the quality requirements if MODIS or SPOT-VGT are considered as reference. This work leads to 14 years of production of geostationary land surface albedo products with a guaranteed continuity in the LSA SAF for the future years with the forthcoming third generation of European geostationary satellites.

The oil and gas industry faces increasing pressure to remove people from dangerous offshore environments. Robots present a cost-effective and safe method for inspection, repair and maintenance of topside and marine offshore infrastructure. In this work, we introduce a new immobile multi-sensing robot, the Limpet, which is designed to be low-cost and highly manufacturable, and thus can be deployed in huge collectives for monitoring offshore platforms. The Limpet can be considered an instrument, where in abstract terms, an instrument is a device that transforms a physical variable of interest (measurand) into a form that is suitable for recording (measurement). The Limpet is designed to be part of the ORCA (Offshore Robotics for Certification of Assets) Hub System, which consists of the offshore assets and all the robots (UAVs, drones, mobile legged robots etc.) interacting with them. The Limpet comprises the sensing aspect of the ORCA Hub System. We integrated the Limpet with Robot Operating System (ROS), which allows it to interact with other robots in the ORCA Hub System. In this work, we demonstrate how the Limpet can be used to achieve real-time condition monitoring for offshore structures, by combining remote sensing with signal processing techniques. We show an example of this approach for monitoring offshore wind turbines. We demonstrate the use of four different communication systems (WiFi, serial, LoRa and optical communication) for the condition monitoring process. By processing the sensor data on-board, we reduce the information density of our transmissions, which allows us to substitute short-range high-bandwidth communication systems with low-bandwidth long-range communication systems. We train our classifier offline and transfer its parameters to the Limpet for online classification, where it makes an autonomous decision based on the condition of the monitored structure.

We present a near real-time solution for 3D reconstruction from aerial images captured by consumer UAVs. Our core idea is to simplify the multi-view stereo problem into a series of two-view stereo matching problems. Our method applies to UAVs equipped with only one camera and does not require special stereo-capturing setups. We found that the neighboring two video frames taken by UAVs flying at a mid-to-high cruising altitude can be approximated as left and right views from a virtual stereo camera. Leveraging GPU-accelerated real-time stereo estimation, efficient PnP correspondence solving algorithms and extended Kalman filter, our system simultaneously predicts scene geometry and camera position/orientation from the virtual stereo cameras. Also, this method allows user selection of varying baseline lengths, which provides more flexibility given the trade-off between camera resolution, effective measuring distance, flight altitude, and mapping accuracy. Our method outputs dense point clouds at a constant speed of 25 frames per second and is validated on a variety of real-world datasets with satisfactory results.

Rapid growth of IoT applications and their interference in our daily lives led to many different IoT devices which generates enormous data. The IoT devices’ resources are very limited, so storing and processing IoT data in the devices is very inefficient. Several resources of cloud-computing are efficiently used to handle some IoT resources issues. While using resources in the cloud centers cause some other issues, like latency in the IoT applications, which are time-critical. Thus, the technology of edge cloud has evolved recently. This technology permits storage and data processing at the network edge. This paper studies edge computing in-depth for timeless sensitive devices in IoT. In-depth, cutting-edge IoT computing systems (ECAs-IoT) are evaluated and characterized in this paper according to numerous criteria, such as information placement, improvisation facilities, reliability, and data visualization. Moreover, according to distinctive properties, the paper aims at comparing each structure in detail. The paper also highlights the significant limitations of the new ECAs-IoT and recommends solutions to them. The studies also introduce and propose solutions to some of the most important restrictions of the current ECAs-IoT. Consequently, in the edge computing domain, this survey outlines the IoT implementations. Lastly, with the use of IoT implementations for ECAs-IoT, the paper suggests four distinct scenarios.

White Spot Syndrome Virus (WSSV) has emerged as one of the most prevalent and lethal viruses globally, and infects both shrimps and crabs in the aquatic environment. This study aimed to investigate the occurrence of WSSV in different ghers of Bangladesh and the virulence of the circulating phylotypes. We collected 360 shrimp (Penaeus monodon) and 120 crab (Scylla sp.) samples from the South-East (Cox’s Bazar) and South-West (Satkhira) coastal regions of Bangladesh. The VP28 gene-specific PCR assays and sequencing revealed statistically significant (p < 0.05, Kruskal Wallis test) differences in the prevalence of WSSV in shrimps and crabs between the study areas (Cox’s Bazar and Satkhira), and over the study periods (2017-2019). The mean Log load of WSSV varied from 8.40 (Cox’s Bazar) to 10.48 (Satkhira) per gram of tissue. The mean values for salinity, dissolved oxygen, temperature and pH were 14.71±0.76 ppt, 3.7±0.1 ppm, 34.11±0.38˚C and 8.23±0.38, respectively in the WSSV-positive ghers. The VP28 gene-based phylogenetic analysis showed an amino-acid substitution (E→G) at 167th position in the isolates from Cox’s Bazar (referred to as phylotype BD2) compared to the globally circulating one (BD1). Shrimp PL artificially challenged with BD1 and BD2 phylotypes with filtrates of tissue containing 0.423 X 109 copies of WSSV per mL resulted a median LT50 value of 73 hrs and 75 hrs, respectively. The in-vivo trial showed higher mean Log WSSV copies (6.47±2.07 per mg tissue) in BD1 challenged shrimp PL compared to BD2 (4.75±0.35 per mg tissue). Crabs infected with BD1 and BD2 showed 100% mortality within 48 hrs and 62 hrs of challenge, respectively with mean Log WSSV copies of 12.06±0.48 and 9.95±0.37 per gram tissue, respectively. Moreover, shrimp antimicrobial peptides (AMPs) penaeidin and lysozyme expression was lower in BD1 challenged group compared to BD2 challenged shrimps. These results collectively demonstrated that relative virulence properties of WSSV based on mortality rate, viral load and expression of host immune genes in artificially infected shrimp PL could be affected by single aa substitution in VP28.

Timeworn telecommunication are progressively being substituted by a new one that run over IP networks, which is recognized as voice over internet protocol (VoIP). VoIP has a number of qualities (e.g., inexpensive call rate), which make it progressively widespread in the telecommunication domain. However, VoIP faces plentiful obstacles that slow its growth. One of the major obstacles is poorly utilizing the network bandwidth. A number of techniques have been offered to handle this obstacle, including packet multiplexing techniques. This paper designs an original multiplexing techniques, called packet multiplexing and carrier header (PM-CH), to decrease the quantity of the bandwidth consumed by VoIP. PM-CH protect the bandwidth by multiplexing the packets in a header and using the Timestamp field in the RTP header. The achievement of the PM-CH technique was examined depends on connection capacity and payload shortening. Simulation outcomes show that the PM-CH technique outperforms the contrast technique in the two factors. For instance, the PM-CH technique’s connection capacity outperforms the comparable technique by 58.9% when the connection bandwidth is 1000 kbps. Consequently, the PM-CH technique attains its objective of reducing the unexploited bandwidth caused by VoIP.

Heavy metals pollution in the Straits of Malacca warrants the development of rapid, simple and sensitive assays. Enzyme-based assays are excellent preliminary screening tool with near real-time potential. The heavy-metal assay based on the protease ficin was optimized for mercury detection using Response Surface Methodology. The inhibitive assay is based on ficin action on the substrate casein and residual casein is determined using the Coomassie dye-binding assay. Heavy metals strongly inhibit the hydrolysis. A Central Composite Design (CCD) was utilized to optimize detection. The results show a marked improvement for the concentration causing 50% inhibition (IC50) for mercury, silver and copper. Compared to One-factor-at-a-time (OFAT) optimization, RSM gave an improvement of IC50 from 0.060 (95% CI, 0.0300.080) to 0.017 (95% CI, 0.0160.019), from 0.098 (95% CI, 0.0770.127) to 0.028 (95% CI, 0.0220.037) and from 0.040 (95% CI, 0.035.045) to 0.023 (95% CI, 0.0200.027), for mercury, silver and copper, respectively. A near real-time monitoring of mercury concentration in the Straits of Malacca at one location in Port Klang was carried out over a 4-h interval for a total of 24 h and validated by instrumental analysis with the result revealing an absence of mercury pollution in the sampling site.

Real-time strategy (RTS) game has proposed many challenges for AI research for its large state spaces, enormous branch factors, limited decision time and dynamic adversarial environment. To tackle above problems, the method called Adversarial Hierarchical Task Network planning (AHTN) has been proposed and achieves favorable performance. However, the HTN description it used cannot express complex relationships among tasks and impacts of environment on tasks. Moreover, the AHTN cannot handle task failures during plan execution. In this paper, we propose a modified AHTN planning algorithm named AHTNR. The algorithm introduces three elements essential task, phase and exit condition to extend the HTN description. To deal with possible task failures, the AHTNR first uses the extended HTN description to identify failed tasks. And then a novel task repair strategy is proposed based on historical information to maintain the validity of previous plan. Finally, empirical results are presented for the μRTS game, comparing AHTNR to the state-of-the-art search algorithms for RTS games.

The alteration of natural land cover to impervious surfaces during development increases stormwater runoff. Stormwater Control Measures (SCMs) are used to manage water quantity and enhance water quality by restoring the hydrologic cycle altered by development. Often, SCMs have an outflow pipe to handle overflows or to manage the release of water detained when infiltration is not possible. Traditionally, these are static controls (e.g. a small orifice is used to restrict the volume of outflow), however, these systems can be improved by instituting real-time controls (RTC). RTC improve the functionality of SCMs by dynamically controlling outflows to adjust to environmental conditions. A major impediment to the widespread implementation of RTC is the high cost of installation and operation. This study utilized machine learning methods to develop a forecasting approach for the implementation of low-cost RTC that were implemented on a programmable gate of the outlet structure of a multi-stage basin in southeastern Pennsylvania. The goals were to decrease the peak flow exiting the basin during rain events, increase the volume of water detained, decrease the number of overtopping events, maintain healthy vegetation in the basin, and protect the downstream vegetation from erosion. Multiple popular data science algorithms were evaluated including multiple linear regression and long short-term memory. These algorithms were used with a dataset, which consisted of four years of historical sensor data, collected in 5-minute intervals, to train models to predict water levels to optimize operations. The accuracy of 30 models with three different methods of handling missing values were compared. A long short-term memory model configured with a 30-minute lead time produced the best results. Having an approximate same lag time of 30 minutes for the contributing drainage area of the SCM provided a sufficient RTC functioning period to improve the performance of the outlet structure.

There is a long standing ‘two times problem’ in that a satisfactory reconciliation between the time of physics and that of psychology has not been realized. A partial solution to the past/present/future phenomenon has been successfully given by the Hartle information gathering and processing system (IGUS) view. That model IGUS robot is enhanced here for the entire ‘two times problem’ to deal with not only the temporal experiences of the flow of time but also those of manifest time. A dualistic robot is proposed which has a veridical system of temporal experiences that are compatible with various spacetime cosmologies. It also has an illusory system of corresponding temporal experiences. This dualistic IGUS robot was made possible by discovering temporal experience within the brain that correspond to those of physics. The dualistic theory suggests that the veridical system, as a result of evolution, begets the illusory system to enhance behavioral adaptation. Thus, there is just one fundamental physical time which the brain does, indeed, possess and then enhances with illusory counterparts. Therefore, there should no longer be a need to reify illusory temporal experiences as modern spacetime cosmologies tend to do. Physical time already resides within human time.

Premature skin aging, also known as photoaging, refers to the changes of the structure and function of the skin caused by chronic sun exposure. The ultraviolet radiation in the sunlight is one of the key factors that causes photoaging. Thus, MMPs, TGFB1, and NF-κB signaling can be an effective therapeutic strategy for UVB exposure. In this study, we used human dermal fibroblast and mouse macrophage cells to identify the mediators of skin photoaging. Quercitrin isolated from ‘Green Ball’ apple peel was treated to UVB-irradiated fibroblast cell and lipopolysaccharide (LPS)-induced macrophages to identify photoaging prevention effect of quercitrin. Genes that are associated with photoaging was determined by using ELISA, western blot, and qPCR. Quercitrin increased collagen biosynthesis in UVB-irradiated fibroblast cell via regulating MMPs, TIMP-1, TGFB1, HAS2, and COL1A2. In addition, quercitrin regulated p-65, iNOS, COX-2, and mediators (PGE2 and NO), in the NF-κB signaling process, and inhibited the production of cytokines in LPS-induced macrophages. These results indicates that quercitrin can improve photoaging damaged skin by regulating MMPs, TGFβ, and NF-κB signaling pathway modulators.

This review provides an overview of eXplainable AI (XAI) methods for oncological ultrasound image analysis and compares their performance evaluations. A systematic search of Medline Embase and Scopus between March 25 and April 14 2024 identified 17 studies describing 14 XAI methods, including visualization, semantics, example-based, and hybrid functions. These methods primarily provided specific, local, and post-hoc explanations. Performance evaluations focused on AI model performance, with limited assessment of explainability impact. Standardized evaluations incorporating clinical end-users are generally lacking. Enhanced XAI transparency may facilitate AI integration into clinical workflows. Future research should develop real-time methodologies and standardized quantitative evaluative metrics.

Enteric viruses are the major cause of gastroenteritis and enteric hepatitis worldwide, but in some areas like Saudi Arabia little data is known about their presence in water sources. The available information from clinical samples is not enough to figure their actual prevalence. The aim of this study was to gather information for the first time in Saudi Arabia on the presence of Norovirus (NoV) genogroup GI and GII, hepatitis A virus (HAV) and hepatitis E virus (HEV) in water. For this purpose, thirteen monthly samples were collected in lake Wadi Hanifa and surrounding wells from December 2014 to November 2015. Viruses were detected and quantified by Real-time RT-qPCR. Despite HEV findings were anecdotic, our results highlight interesting behaviors of the other viruses. There was a higher prevalence of noroviruses in Wadi Hanifa samples than in well water samples (46.43% vs12.5% of NoV GI; 66.67% vs8.33% of NoV GII). On the contrary, similar levels of HAV positivity were observed (40.48% in surface water vs 43.06% in well water). Also, a strong influence of flooding events on HAV and NoV GI occurrence was observed in both surface and well water samples, being NoV GII apparently not affected.

Real-time tracking is one of the most challenging problems in computer vision. Most Transformer-based trackers usually require expensive computational and storage power, which leads to the inability of these robust trackers to achieve real-time performance in resource-constrained devices. In this work, we propose a lightweight tracker, AnteaTrack. To localize the target more precisely, we develop a scaling-invariant max-filtering operator employing a sliding window combined with local max-pooling, which filters out the suspected target from the feature and performs an augmented representation while suppressing the background. For a more tight bounding box, we employ Pixel-Shuffle to increase the resolution of the feature map and get a more fine-grained representation of the target. In addition, AnteaTrack can run in real-time at 47 frames per second(FPS) on the CPU. We tested AnteaTrack on 5 datasets, and a large number of experiments have shown that AnteaTrack provides the most efficient solution compared to the same type of CPU real-time trackers. The code will be available at https://github.com/cnchange/AnteaTrack.

Background: Pneumocystis pneumonia (PCP) commonly affects immunocompromised individuals, whereas in immunocompetent persons, it occurs relatively rarely, and in most cases the Pneumocystis infection is detected as an asymptomatic colonization. The present study aimed to establish the prevalence of Pneumocystis jirovecii infection in human hosts with different immune status (immunocompromised and immunocompetent), using molecular diagnostic methods, and to compare their diagnostic value with that of classical staining methods. Methods: We used the collected to this moment data from a prospective study on the prevalence of pneumocystosis among the Bulgarian population. Clinical specimens (including throat secretion, induced sputum, tracheal aspirate, and bronchoalveolar lavage collected from 220 patients suspected of PCP (153 immunocompetent and 67 immunocompromised patients) were examined with staining microscopic methods and real-time PCR for detection of P. jirovecii. Results: DNA of the pathogen was detected in 38 (17%) specimens (32 immunocompromised patients and 6 immunocompetent subjects). From all 220 clinical samples examined by staining methods, only in five (2%) P. jirovecii cysts were detected by the Gomori's stain. All patients with PCP were treated with trimethoprim-sulfamethoxazole, but in ten of them (HIV- positive patients) the disease was with fatal outcome. Conclusions: This study is the first for the country including the main available laboratory methods for diagnosis of human pneumocystosis in Bulgaria. Regarding the etiological diagnosis of PCP, in our study the sensitivity of real-time PCR was higher compared to the staining methods. The choice of a method for sample collection and examination has an important role in the efficiency of the laboratory diagnostics.

In a safety-critical system typically not all provided services have the same criticality, which we call mixed-criticality systems. Criticality arithmetic, also called SIL arithmetic, is an approach to lower the development effort of a service by providing redundancy with tasks that are developed for a lower criticality level. In this paper we present ATMP-CA, which is a derivation of the multi-core scheduler ATMP. ATMP-CA is able to take into account the knowledge about the use of criticality arithmetic. ATMP-CA has a modified core allocation and procedure for utility optimisation, considering the context of the replicated tasks. We conducted experiments that show that ATMP-CA is able to provide the services using criticality arithmetic, while the reference schedulers were not.

Layer-wise 3D surface morphology information is critical for the quality monitoring and control of additive manufacturing (AM) processes. However, most of the existing 3D scan technologies are either contact or time consuming, which are not capable of obtaining the 3D surface morphology data in a real-time manner during the process. Therefore, the objective of this study is to achieve real-time 3D surface data acquisition in AM, which is achieved by a supervised deep learning-based image analysis approach. The key idea of this proposed method is to capture the correlation between 2D image and 3D point cloud, and then quantify this relationship by using a deep learning algorithm, namely, convolutional neural network (CNN). To validate the effectiveness and efficiency of the proposed method, both simulation and real-world case studies were performed. The results demonstrate that this method has strong potential to be applied for real-time surface morphology measurement in AM, as well as other advanced manufacturing processes.

An outbreak of winter disease, complicated by severe respiratory syndrome, occurred in January 2020 in a high production dairy cow herd located in a hilly area of the Calabria region. Of the 52 animals belonging to the farm, 5 (9.6%) died with severe respiratory distress, death occurring 3-4 days after the appearance of the respiratory signs (caught and gasping breath). Microbiological analysis revealed absence of pathogenic bacteria whilst Real-time PCR identified the presence of RNA from Bovine Coronavirus (BCoV) in several organs: lungs, small intestine (jejunum), mediastinal lymph nodes, liver and placenta. Since being the only pathogen identified, BCoV was hypothesized to be the cause of the lethal pulmonary infection. Like the other CoVs, BCoV is able to cause different syndromes. Its role in calfhood diarrhoea and in mild respiratory disease is well known: we report instead the involvement of this virus in a severe and fatal respiratory disorder, with symptoms and disease evolution resembling that of Severe Acute Respiratory Syndromes (SARS).

The aim of the study was to determine the presence Fusarium species and mycotoxins in winter wheat grain in Poland. Grain samples from different locations in Poland in 2009 and 2010 were analysed for the content of biomass of Fusarium species and mycotoxins. In 2009 biomass of F. graminearum and F. poae was present in all samples, F. culmorum in 82% of samples, F. avenaceum in 55% of samples. F. sporotrichioides, F. tricinctum and F. equiseti were found only in individual samples. F. langsethiae was not detected. In 2010, five Fusarium species were detected with the exception of F. sporotrichioides. The highest content of biomass was found for F. graminearum followed by F. avenaceum, F. poae and F. langsethiae. The amount of F. culmorum biomass was very low. The most frequently occurring species was F. poae and F. graminearum. In 2009, deoxynivalenol was detected in all samples. In 2010, the average content of deoxynivalenol was lower than in 2009. Nivalenol was detected at very low concentration in both years. Significant correlations between content of F. graminearum biomass and deoxynivalenol concentration in grain and between content of F. poae biomass and nivalenol concentration in grain in 2009 were found. The most important finding of this study was that main Fusarium species infecting wheat kernels in Poland in both years was F. graminearum. The amount of biomass of F. graminearum was the highest in both years. It was present in the most samples. The other frequently detected species was F. poae, which in 2010 appeared in more samples than F. graminearum. However, the amount of F. poae biomass was lower. F. culmorum, species that was previously dominating as wheat pathogen in Poland, was found less frequently than F. graminearum. The amount of biomass of this species was the lowest in 2010.

When a rotary machine is running, from which the acquired vibro-acoustic signals enable to reveal its operation status and health condition. The study proposed a DSP-based adaptive angular-velocity Vold-Kalman filtering order tracking (AV2KF_OT) algorithm with an online real-time nature for signal interpretation and machine condition monitoring. Theoretical derivation and numerical implementation of computation schemes are briefly introduced. An online real-time monitoring system based on the AV2KF_OT algorithm, which was implemented through both a digital signal processor and a user interface coded by using LabVIEW, was developed. Two experimental tasks were applied to justify the proposed technique, including (i) the detection of startup on the fluid-induced whirl performed through a journal-bearing rotor rig, and (ii) the separation of close orders from the measured signals of a multifunction transmission-element ball-bearing bench.

This paper deals with the problem of real-time management of Smart Grids. For this sake, the energy management is integrated with the power system through a telecommunication system. The use of Multiagent Systems leads the proposed algorithm to find the best-integrated solution, taking into consideration the operating scenario and the system characteristics. The proposed technique is tested with the help of an academic microgrid, so the results may be replicated.

Metasurfaces of gold (Au) nanoparticles on a SiO2-Si substrate were fabricated for the enhancement of second harmonic generation (SHG) using electron beam lithography and lift-off. Triangular Au nanoprisms which are non-centro-symmetric and support the second- order non-linearity were examined for SHG. The thickness of the SiO2 spacer is shown to be an efficient parameter to spectrally tune to maximise SHG. Electrical field enhancement at the fundamental wavelength was shown to define the intensity of the second harmonics. Numerical modeling of light enhancement was verified by experimental measurements of SHG and reflectivity spectra at the normal incidence. At the plasmonic resonance, SHG is enhanced up to ∼3.5×103 times for the optimised conditions.

The simultaneous progress of integrated op- tical frequency comb (OFC) and radio frequency (RF) photonic signal processing technique have promoted the rapid development of real-time signal processing. Integrated optical frequency comb offer multiple wave- lengths as a powerful source for RF photonic sig- nal transversal filter. Here, we review development of real-time signal processing system consisting of inte- grated OFC and RF photonic signal transversal filter in chronological order, and focus on the applications of this system such as differentiator, integrator, Hilbert transformer, and image processor. We also discuss and present our outlook on more parallel functions and fur- ther integration of real-time signal processing system.

Dhaka one of the fastest-growing megacities in the world is increasingly vulnerable to urban flooding due to rapid urbanization, inadequate drainage infrastructure, and climate change-induced extreme weather events. This study presents the development of an urban flood forecasting system for Dhaka City using the MIKE+ hydrodynamic modeling software. The system integrates detailed hydrological and hydraulic models to simulate urban flooding scenarios, accounting for complex drainage networks and catchment characteristics. Real-time data from river gauges, rainfall stations, and drainage systems are incorporated to enhance the accuracy and reliability of the forecasts. The model's predictive capability is validated against historical flood events, demonstrating its effectiveness in forecasting flood extents, depths, and durations in critical areas of the city. This system serves as a valuable tool for city planners, emergency response teams, and decision-makers, enabling proactive flood management and risk mitigation. The study underscores the importance of such advanced modeling tools in safeguarding urban populations and infrastructures from the increasing threat of urban floods in Dhaka and similar rapidly urbanizing cities.

This paper introduces a novel decision-making approach grounded in insights into human visual perception of change. Modern technologies such as internet of things (IoT) provide us with large amounts of sensor data that need to be processed in real time and decisions made with a high degree of accuracy and reliability. Artificial intelligence (AI) methods are welcome in this context and need to be upgraded to meet actual challenges. While modern computing capabilities facilitate rapid data processing, the real-time demands of vast sensor data necessitate swift responses across the cyber chain, often leading to compromises in solution quality to circumvent combinatorial search complexities. Determining the adequacy of a solution entails varied approaches, often relying on heuristic methodologies. We illustrate our original approach with an example of a selected detail of a differential evolution algorithm, where we have to make a decision to adopt the best solution so far. We propose an approach inspired by human perceptual features that exploits the Weber-Fechner law to emulate human judgements, and offers a promising way to improve decision making in AI applications and real-time requirements fulfillment. Our proposed methodology demonstrates applicability across diverse AI scenarios involving numerical data, effectively mirroring human perception abilities.

Phytophthora cinnamomi is a devastating soil-borne plant pathogen. The primary source of P. cinnamomi infection is the soil, where the pathogen can persist for long periods. Effective prevention and management of this pathogen in tree crops require an early and reliable detection method. In this study, we develop a simple, fast, reliable, and sensitive method based on real-time quantitative PCR (qPCR) for P. cinnamomi detection and quantification directly in plant or soil samples. Primers were developed targeting the nuclear single-copy ras-related protein gene Ypt1, suitable for Phytophthora-specific PCR. The specificity of the assay was confirmed by testing it against genomic DNA from 50 isolates across 8 different Phytophthora clades, including very similar P. parvispora. The efficiency and reliability of the qPCR protocol were evaluated on challenging environmental samples, such as plant tissue of different host trees (walnut, chestnut, oak) and naturally infected soils in walnut orchards. The main outcome was the development of a qPCR method for the specific identification and quantification of P. cinnamomi in natural soil samples. Additionally, this study established a systematic and repeatable soil sampling method and developed an efficient soil DNA extraction technique to apply the developed qPCR in naturally infested soils of walnut orchards.

Turbidity stands as a crucial indicator for assessing water quality, and while turbidity sensors exist their high cost prohibit their extensive use. In this paper, we introduce an innovative turbidity sensor, and it is the first low-cost turbidity sensor which is designed specifically for long-term stormwater in-field monitoring. Its low cost ($23.50 USD), enables the implementation of high spatial resolution monitoring schemes. The sensor design is available under open hardware and open-source licences, and the 3D-printed sensor housing is free to modify based on different monitoring purposes and ambient conditions. The sensor was tested both in the laboratory and in the field. The laboratory results show a strong linear relationship (R2 > 0.99) between the sensor readings and the commercial hand-held turbidimeter (Thermo Scientific AQ4500) results of the solution. In the field, the low-cost sensor measurements were statistically significantly correlated (p < 0.01) to a standard high-cost commercial turbidity sensor (GreenSpan TS-1000). Biofouling and drifting issues were also analysed after the sensors were deployed in the field for more than 6 months, showing both biofouling and drift occur during monitoring. Nonetheless, in terms of maintenance requirements, the low-cost sensor exhibited similar needs compared to the Green-Span sensor.

Lumpy skin disease (LSD) is a viral disease of cattle and water buffalo characterized by cutaneous nodules, biphasic fever and lymphadenitis. LSD is endemic in Africa and Middle East but in recent years has spread in different Asian countries. Drop of animal productions, vaccination campaign, surveillance costs and trade restrictions have significant impact on the economy of affected countries. The disease is well characterized in cattle while little is known in buffaloes and no experimental studies have been conducted in this species. Six buffaloes and two cattle were inoculated with an Albanian LSD virus (LSDV) field strain. Over a period of 42 days animals were clinically monitored and sampled for serological and virological analysis. Only two buffaloes showed clinical sign, fever, skin nodules and lymphadenitis. All samples tested in real time PCR (blood, swabs, biopsies and organ) gave negative results. Three buffaloes seroconverted at day 39 and 42 post-inoculation, detected by ELISA, but all sera were negative in serum neutralization test. Cattle showed more severe clinical signs. Moreover, viraemia and virus shedding were proven by positive PCR results and antibodies were detected by both ELISA and serum neutralization test. These findings demonstrated the limited susceptibility of buffaloes compared to cattle once experimental infected with LSDV. Further studies are needed to investigate the epidemiological role of the buffaloes.

RT-PCR tests have become the gold standard for detecting the SARS-CoV-2 virus in the context of the COVID-19 pandemic. Because of the extreme number of cases in periodic waves of infection, there is a severe financial and logistical strain on diagnostic laboratories. For this reason, alternative implementations, and validations of academic protocols, that employ the lowest cost and most widely available equipment and reagents found in different regions, is essential. In this study, we report an alternative implementation of the EUA 2019-nCoV CDC assay which uses a previously characterized duplex PCR reaction for the N1 and RNAse P target regions and an additional uniplex reaction for the N2 target region. Taking advantage of the Abbott m2000 Sample Preparation System and NEB Luna Universal Probe One-Step RT-qPCR kit, some of the most widely available and lowest cost nucleic acid extraction and amplification platforms, this modified test shows a state-of-the-art analytical and clinical sensitivities and specificities, when compared with the Seegene Allplex-SARS-CoV-2 assay. This implementation has the potential to be verified and implemented by diagnostic laboratories around the world to guarantee low-cost RT-PCR tests that can take advantage of widely available equipment and reagents.

Proposal: Pineal region cysts (PCs) may affect the tectum and aqueduct and cause deep central vein congestion and endocrine dysfunction. In addition to headaches, PC often causes a broad range of symptoms, leading to prolonged diagnosis and therapy. The aims of this study are to reveal parameters that might explain the ambiguity of the symptoms and to identify factors association with the respiration driven neurofluid preload system. Methods: This retrospective study included 28 paediatric patients (mean age 11.6 years) who received surgical treatment for pineal region cysts and 18 patients (mean age 11.3 years) who were followed conservatively. Multiple clinical patient characteristics, such as symptoms, time to neuroimaging diagnosis, cyst size, ventricular indices, head circumference and postoperative outcome, were analysed. Four patients were investigated for CSF dynamics with real-time MRI. The mean follow-up time was 1.6 years. Results: The most common early onset symptoms were headaches (92%), blurred vision (42.8%), sleep disturbances (39.3%) and vertigo (32.1%). Tectum contact was observed in 82% of patients, and MRI examinations revealed that imaging flow void signals were absent in 32.1% of patients. The mean cyst diameters were 13.7 mm for the axial axis and 15.6 mm for the longitudinal axis. Together with a postoperative flow void signal, 4 patients recovered their respiration-driven CSF upward flow, which was not detectable before OP. After operation in 92.1% of patients, the leading symptoms improved without any mortality or morbidity. Conclusion: Despite proximity to the tectum and aqueduct with frequently absent aqueductal flow void signals, hydrocephalic ventricular enlargement was never detected. Data from real-time MRI depicted a reduced preoperative filling of the ventricular CSF compartments, indicating a diminished fluid preload, which recovered postoperatively.

Peanut (Arachis hypogaea) contains allergenic proteins, which make it harmful to the sensitised population. The presence of peanut in foods must be indicated on label, to prevent accidental consumption by allergic population. In this work, we use chloroplast markers for specifically detection of peanut by real-time PCR, in order to increase the assay sensitivity. Binary mixtures of raw and processed peanut flour in wheat were performed at concentrations ranging from 100000 to 0.1 mg/kg. DNA isolation from peanut, mixtures and other legumes was carried out following three protocols for obtaining genomic and chloroplast-enrich DNA. Quantity and quality of DNA was evaluated, obtaining better results for protocol 2. Specificity and sensitivity of the method has been assayed with specific primers for three chloroplast markers (mat k, rpl16 and trnH-psbA) and Ara h 6 peanut allergen-coding region was selected as nuclear low-copy target and TaqMan probes. Efficiency and linear correlation of calibration curves were within the adequate ranges. Mat k chloroplast marker yielded the most sensitive and efficient detection for peanut. Moreover, detection of mat K in binary mixtures of processed samples was possible up to 10 mg/kg even after boiling, and autoclave 121°C 15 min, with acceptable efficiency and linear correlation. Applicability of the method has been assayed in several commercial food products.

Climate change and development have increased urban flooding, requiring modernization of stormwater infrastructure. Retrofitting standard passive systems with controllable valves/pumps is promising, but requires real-time control (RTC). One method of automating RTC is reinforcement learning (RL), a general technique for sequential optimization and control in uncertain environments. The notion is that an RL algorithm can use inputs of real-time flood data and rainfall forecasts to learn a policy for controlling the stormwater infrastructure to minimize measures of flooding. In real-world conditions, rainfall forecasts and other state information, are subject to noise and uncertainty. To account for these characteristics of the problem data, we implemented Deep Deterministic Policy Gradient (DDPG), an RL algorithm that is distinguished by its capability to handle noise in the input data. DDPG implementations were trained and tested against a passive flood control policy. Three primary cases were studied: (i) perfect data, (ii) imperfect rainfall forecasts, and (iii) imperfect water level and forecast data. Rainfall episodes (100) that caused flooding in the passive system were selected from 10 years of observations in Norfolk, Virginia, USA; 85 randomly selected episodes were used for training and the remaining 15 unseen episodes served as test cases. Compared to the passive system, all RL implementations reduced flooding volume by 70.5% on average, and performed within a range of 5%. This suggests that DDPG is robust to noisy input data, which is essential knowledge to advance the real-world applicability of RL for stormwater RTC.

In the study, a new correction method was applied to reduce error during detection on mixed pesticide residue in apples by using Raman spectra. Combined with self-built pesticide residues detection system by Raman spectroscopy and the application of surface enhancement technology, rapid real-time qualitative and quantitative analysis of deltamethrin and acetamiprid residues in apples can be applied effectively. In quantitative analysis, compared with the intensity value of characteristic peaks of single pesticide with same concentration, the intensity value of characteristic peaks of the two pesticides decreased after mixing the pesticides, which interferes the results severely. By comparing the difference in the intensity of characteristic peaks of single and mixed pesticides, a correction method is proposed to eliminate the influence of pesticides mixture. Characteristic peak intensity values of gradient concentration pesticide from 10-1 g•kg-1 to 10-6 g•kg-1 and Lagrangian interpolation are applied in the correction method. And a smooth surface is applied to describe the correction ratio of characteristic peak intensity. Through detecting the characteristic peak intensity values of the mixed pesticide, correction ratio will be obtained. Then real values of the peak intensity of pesticides and the content of each component of the mixed pesticide will be acquired by the correction method. Correlation coefficient of model validation exceeds 0.88 generally and Root Mean Square Error also decreases obviously after correction, which proved the reliability of the method.

In modern Commercial Off-The-Shelf (COTS) multicore systems, cores can produce several simultaneous memory requests. The processing of such requests over the memory controller negatively impacts the interference delay triggered by running parallel tasks on the platform. In this paper, we propose a software-based testing approach for analyzing memory interference delay, when cores are exposed to extensive read/write requests that access in parallel their Cache Coherent Interconnect. The hardware targeted in this work is the well-known LayerScape QorIQ LS2085A, which can be approached as a potential successor to the Freescale QorIQ P4080. The test analysis was conducted based on a bare-metal operating system that we developed to guarantee a deterministic execution environment at all time points. Our testing was accomplished using a set of carefully designed synthetic benchmarks as well as TACLeBench benchmarks.

Given a stream of depth images with a known cuboid reference object present in the scene, we propose a novel approach for accurate camera tracking and volumetric surface reconstruction in real-time. Our contribution in this paper is threefold: (a) utilizing a priori knowledge of the cuboid reference object, we keep drift-free camera tracking without explicit global optimization; (b) we improve the fineness of the volumetric surface representation by proposing a prediction-corrected data fusion strategy rather than simple moving average, which enables accurate reconstruction of high-frequency details such as sharp edges of objects and geometries of high curvature; (c) we introduce a benchmark dataset CU3D containing both synthetic and real-world scanning sequences with ground-truth camera trajectories and surface models for quantitative evaluation of 3D reconstruction algorithms. We test our algorithm on our dataset and demonstrate its accuracy compared with other state-of-the-art algorithms. We release both our dataset and code as opensource1 for other researchers to reproduce and verify our results.

The purpose of this work is to present an adaptive sliding mode luenberger state observer with improved disturbance rejection capability and better tracking performance under dynamic conditions. The sliding hyperplane is altered by incorporating the estimated disturbance torque with the stator currents. Also, the effects of parameter detuning on the speed convergence is observed and compared with the conventional disturbance rejection mechanism. The entire drive system is first built in simulink environment. Then, the simulink model is integrated with RT-Lab blocksets and implemented in a relatively new real-time environment using OP4500 real-time simulator. Real-time simulation and testing platforms have succeeded offline simulation and testing tools due to their reduced development time. The real-time results validate the improvement in the proposed state observer and also correspond to the performance of the actual physical model.

Skid steer mobile robots are widely used in indoor and outdoor applications. However, accurate trajectory tracking control for this kind of robot is quite challenging due to the uncertainties arising from the complex behavior of frictional force, external disturbances, and undergoing fluctuations in the instantaneous center of rotation (ICR) during turning maneuvers. The uncertainties directly disturb velocities and make it impossible for the robot to track the command velocities, thus making the SSMR unable to follow the reference path. This paper proposes a nonsingular terminal sliding mode control (NTSMC) based on backstepping for a 4-wheel skid steer mobile robot to cope with the aforementioned challenges. The strategy seeks to mitigate the impact of external disturbances and model uncertainties by developing an adaptive law to estimate the integrated lumped outcome. Then, the finite time stability of the closed-loop system is proven using Lyapunov’s theory. The designed NTSMC input is continuous and has no noticeable chattering problem. It has also been noted from the analysis that the proposed control strategy is strongly robust against disturbance and modeling uncertainties. The proposed control scheme demonstrates effective trajectory tracking performance in the presence of disturbance and modeling uncertainties through simulations.

We construct admissible circulant Laplacian matrix functions as generators for strictly increasing random walks on the integer line. These Laplacian matrix functions refer to a certain class of Bernstein functions. The approach has connections with biased walks on digraphs. Within this framework, we introduce a space-time generalization of the Poisson process as a strictly increasing walk with discrete Mittag-Leffler jumps subordinated to a (continuous-time) fractional Poisson process. We call this process ‘space-time Mittag-Leffler process’. We derive explicit formulae for the state probabilities which solve a Cauchy problem with a Kolmogorov-Feller (forward) difference-differential equation of general fractional type. We analyze a “well-scaled” diffusion limit and obtain a Cauchy problem with a space-time convolution equation involving Mittag-Leffler densities. We deduce in this limit the ‘state density kernel’ solving this Cauchy problem. It turns out that the diffusion limit exhibits connections to Prabhakar general fractional calculus. We also analyze in this way a generalization of the space-time fractional Mittag-Leffler process. The approach of construction of good Laplacian generator functions has a large potential in applications of space-time generalizations of the Poisson process and in the field of continuous-time random walks on digraphs.

International trade has been one of the most significant economic activities among countries, and its contributions towards a country’s economic growth and sustainable development have been acknowledged. In recent times, international trade and global trade networks have received preeminent attention due to the sharp growth in trade volumes and its contributions to poverty reduction and general welfare. Despite the growth in global trade volumes, there are worrying concerns about the unprecedented changes in international trade patterns and growing imbalances in trade in recent times. Whereas China’s trade volumes have more than tripled over the last decades and have maintained the largest trade surplus spot ahead of Germany, other major trade surplus countries such as Japan, the USA, etc. have become trade deficit countries with their trade volumes increasing at a much slower pace. In view of the growing imbalances in global trade volumes, we use an augmented gravity model of trade that incorporates social network measurement, the real effective exchange rate which is a measurement of international competitiveness, as well as the Linder theory of trade, to investigate the factors that determine the export performance of countries. Using data from 51 countries for 41 years, our results indicate that the GDP of both the home country and the partner country affects the home country’s exports positively. Similarly, the real effective exchange rate REER, trade openness OPEN and dummy variables BORDER, ENGLISH, and EU have produced positive and statistically significant coefficient estimates, and these are in line with our theoretical expectations.

Given a set of distinct non-negative integers X^n and a target certificate S in parametrized form: ∃X^k⊆X^n,∑_(x_i∈X^k)▒x_i =S (k=|X^k |,n=|X^n |). We present a polynomial solution of the subset sum problem with time complexity T≤O(kn)≤O(n^2) and space complexity S≤O(((n-1)n)/2)≤O(n^2 ), so that P = NP.

Currently Single Board Computers (SBCs) are sufficiently powerful to run Real-Time Operating Systems (RTOSs) and applications with real-time attributes and requirements. SBCs serve as a foundation in Industrial Internet of Things (IIoT). The NXP Semiconductors produces a series of SBCs based on ARM-processors for a variety of industrial applications. The continuous increase in real-time data generated by IoT devices adds further research issues about the efficiency of such systems and applications. The purpose of this research was to investigate the timing performance of an NXP TWR-K70F120M device with μClinux OS on running concurrently tasks with real-time features and constraints. A custom-built multithreaded application with specific compute-intensive sorting and matrix operations was developed and applied to obtain measurements in specific timing metrics, including task’s execution time, threads waiting time, and response time, under different threads variations. The performance of this device was additionally benchmarked and validated against favorite platforms, a Raspberry Pi4 and BeagleBone AI SBCs. The experimental results showed that this device stands well both in terms of timing and efficiency metrics. Execution times were quite lower than the others, by approximately 56% in the case of two threads, and by 29% in the case of thirty-two threads configurations.

In recent years, the individualized demand of customers brings small batches and diversification of orders towards enterprises. The application of enabling technologies in factory, such as the Industrial Internet of Things (IIoT) and Cloud Manufacturing (CMfg), enhances the ability of customer requirement automatic elicitation and the manufacturing process control. The job shop scheduling problem with random job arrival time dramatically increases the difficulty in process management. Thus, how to collaboratively schedule the production and logistics resources in the shop floor is very challenging, and it has a fundamental and practical significance of achieving the competitiveness for an enterprise. To address this issue, the real-time model of production and logistics resources is built firstly. Then, the task entropy model is built based on the task information. Finally, the real-time self-adaption collaboration of production and logistics resources is realized. The proposed algorithm is carried out based on a practical case to evaluate its effectiveness. Experimental results show that our proposed algorithm outperforms three existing algorithms.

This study presents a comprehensive systematic review that addresses the critical transition from ROS 1 to ROS 2, spotlighting the significant enhancements and the pressing need for a detailed exploration of ROS 2 within the robotics community. Despite the extensive deployment and adaptations of ROS in varied robotics applications, literature lacks a cohesive synthesis that delineates the advancements, limitations, and broader impacts of ROS 2 compared to its predecessor, ROS 1. Our contribution bridges this gap by assembling the largest database of ROS-related research, encompassing 7,498 articles, with a focused analysis in this survey on 431 ROS2-specific publications. We categorize these into i.) articles that discuss and analyze core ROS 2 concepts, ii.) articles that propose frameworks or tools for ROS 2, and iii.) articles utilizing ROS 2. Furthermore, we summarize literature findings of ROS 2 challenges, advancements, and future direction in the fields of a.) security, b.) real-time, c.) middleware, d.) embedded and distributed systems, e.) communication reliability and QoS, and f.) multi-robot systems. The methodology involved meticulous data collection and categorization from multiple databases, facilitating an in-depth online accessible resource. Results underscore ROS2’s enhancements in modularity, real-time capabilities, and security, extending its applicability across various robotic platforms and industries. However, challenges in scalability and reliability persist, signaling avenues for future enhancements. This review not only deepens the understanding of ROS2’s contributions but also charts a path for ongoing improvements in robotic systems design. The original data presented in the study are openly available in https://www.ros.riotu-lab.org/.

In the present study, we investigated to what extent the soybean has been used in in-dustrial and homemade sausage produced in Kosovo, as well as its potential impact on the fatty acid profile. In total, 63 samples, 42 industrial and 21 traditional sausages, were collected either from the market or the production site. All samples were tested by means of real-time PCR for the detection and quantification of soy content, as well as the GC-FID to determine the potential re-flection in the fatty acid profile. The presence of soy DNA was detected in 54 out of 63 samples. 41 out of 42 industrial sausage samples were positive for soy DNA, with an average ct value of 22.60 and a standard deviation (SD) of 4.28, whereas 13 out of 21 traditional sausage samples were positive for soy DNA, with a mean ct value of 23.36 and a standard deviation (SD) of 4.56. There was a statistically significant difference in means between industrial sausage and traditional sausage, p≤0.001 based on CT values (ANOVA test). We investigated the correlation between ct values in real-time PCR for soy DNA with each fatty acid content. There is a moderate correlation of soy DNA ct values with C16:0 palmitin (decrease), C18:0 stearic acid (decrease), C18:1 oleic acid (in-crease), and overall saturated fatty acids (decrease). With the exception of C14:0 Myristin, C18:1 Oleic, and C20:0 Arachin acids and monosaturated fats, the ANOVA test reveals a significant dif-ference in means between groups for the majority of the fatty acids between industrial sausages and traditional sausages. The current study demonstrates that the fatty acid composition of sau-sages is influenced by the amount of soy present in them. The extent to which other components affect the fatty acid profile is unknown. However, an increase in oleic acid and a decrease in stearic and overall saturated fatty acids are expected.

African swine fever (ASF) continues to spread in Africa, Europe, Asia, and the island of Hispaniola increasing the need to develop more streamlined and highly efficient surveillance and diagnostic capabilities. One way to achieve this is by further optimization of already established standard operating procedures to remove bottlenecks for high-throughput screening. Real-time polymerase chain reaction (RT-PCR) is the most sensitive and specific assay available for the early detection of ASF, but it requires high quality nucleic acid extracted from the samples. Whole blood from live pigs and spleen tissue from dead pigs are the preferred samples for ASF RT-PCR. Whole blood can be used as is in nucleic acid extraction, but spleen tissues require an additional homogenization step. In this study, we compared the homogenates and swabs prepared from 52 spleen samples collected from pigs experimentally inoculated with highly and moderately virulent ASF virus strains. The results show that not only are the spleen swabs more sensitive when executed with a low-cell-count nucleic acid extraction procedure followed by RT-PCR assays, they also increase the ability to isolate ASFV from positive spleen samples. Swabbing is a convenient, simpler, and less time-consuming alternative to tissue homogenization. Hence, we recommend spleen swabs over tissue homogenates for high-throughput detection of ASFV by real-time PCR.

This study presents the design and comprehensive 3D multiphysics simulation of a novel microfluidic immunosensor for real-time, non-invasive monitoring of pro-inflammatory biomarkers in human sweat. The patch-like device, designed using COMSOL Multiphysics, integrates magnetofluidic manipulation with direct-field capacitive sensing. The sensor comprises two distinct units: an immunocomplex enhancement unit, employing a series of microcoils to optimize the binding efficiency, reaction kinetics, and homogeneity of biomarker-magnetic nanoparticle (MNP) interactions, thereby enhancing the sensor's specificity; and a layered capacitive sensing unit, designed to concentrate and detect biomarker-tagged MNPs, thus amplifying sensitivity. Simulations of the capacitive sensing unit revealed a substantial sensitivity increase of up to 42.48\% at an 85\% MNP concentration within the detection zone. These findings highlight the potential of the proposed immunosensor for efficient and precise real-time biomarker monitoring, which may facilitate early disease diagnosis and enable personalized healthcare interventions.

Protection suit is vital for fireman’ safety. Traditional protection suit just physically protects fireman from empyrosis, but can not locate the body injury position from the impact debris. Herein, we present a wearable impact debris positioning system for fireman protection suit alarming based on accelerometer array. The wearable piezoelectric accelerometers with distribute regularly on the suit to detect the vibration on different body parts, which is conducive to positioning injured body parts. In addition, the injured parts can be displayed on the dummy body model on the upper computer with a higher localization accuracy of 4 cm. The positioning alarm system has a rapid response time of 0.11ms attributing to smart signal processing method. This work provides a reliable and smart method for locating and assessing the body injury position from the impact debris, which is significant for fire disaster commander to rescue injured fireman in time.

The emergence of SARS-CoV-2 mutations pose significant challenges to diagnostic tests as these mutations can reduce the sensitivity of commonly used RT-PCR assays. Therefore, there is a need to design diagnostic assays with multiple targets to enhance sensitivity. In this study, we identified a novel diagnostic target, nsp10 gene, using nanopore sequencing. Firstly, we determined the analytical sensitivity and specificity of our COVID-19-nsp10 assay. The COVID-19-nsp10 assay had the limit of detection of 74 copies/mL (95% confidence interval: 48-299 copies/mL) and did not show cross-reactivity with other respiratory viruses. Next, we determined the diagnostic performance of the COVID-19-nsp10 assay using 261 respiratory specimens, including 147 SARS-CoV-2-positive specimens belonging to ancestral strain and Alpha, Beta, Gamma, Delta, Mu, Eta, Kappa, Theta and Omicron lineages. Using the LightMix E-gene RT-PCR assay as the reference method, the diagnostic sensitivity and specificity of the COVID-19-nsp10 assay were 100%. The median Cp values for the LightMix E-gene RT-PCR and our COVID-19-nsp10 RT-PCR were 22.48 (range: 12.95-36.60) and 25.94 (range 16.37-36.87), respectively. The Cp values of the COVID-19-nsp10 RT-PCR assay correlated well with those of the LightMix E-gene RT-PCR assay (Spearman’s ρ = 0.968; P&lt;0.0001). In conclusion, nsp10 is a suitable target for SARS-CoV-2 RT-PCR assay.

The most commonly used real-time augmentation services in China are International GNSS Service (IGS) real-time service, PPP-B2b service, and BeiDou Satellite-Based Augmentation System (BDSBAS) dual-frequency augmentation service. However, the research on the performance evaluation, comparison and application scope of these three products is still unknown and unrevealed. This article introduces methods for obtaining real-time augmentation information and real-time orbit and clock offset recovery. Based on real-time orbit and clock offset accuracy, positioning accuracy, and positioning availability, it systematically evaluates the performance of CNES, PPP-B2b, and BDSBAS augmentation information. The results indicate that the radial accuracy of CNES and PPP-B2b real-time orbit products is consistent, and the Root Mean Square (RMS) is better than 5 cm. CNES can achieve centimeter-level accuracy in both along-track and cross-track components, surpassing the decimeter-level accuracy of PPP-B2b. Both services demonstrate consistent accuracy in real-time clock offset, with PPP-B2b showing similar standard deviations (STD) of 0.16 ns for different satellites. However, for CNES, the STD of real-time clock offset varies for GPS, BDS-3 MEO, and BDS-3 IGSO satellites, with values of 0.10 ns, 0.19 ns, and 0.60 ns, respectively. The accuracy and availability of the two PPP services exhibit the same levels, with centimeter-level accuracy achieved after convergence and positioning availability exceeding 99%. Therefore, the difference between the two services in application areas depends on the acquisition of augmentation information. However, BDSBAS, which concentrates on code observations, demonstrates lower accuracy in real-time orbit and clock offset, positioning accuracy, and positioning availability compared to the other two services. Its primary application is in the aviation and maritime domains, where there is a greater need for service integrity, continuity, and reliability.

Modern electrical power systems integrate ancillary services to provide security and quality of service in real-time operation because of the intense variations in frequency caused by the massive development and uncertainty of solar-wind generation. Therefore, this ancillary services market focuses on power reserves for secondary and tertiary frequency control. Adjusting reserves and dispatching plants is a manual instruction executed by the system operator to maintain the frequency in the normal operating state (49.80≤f≤50.20 Hz). However, in the absence of an economic model for real-time power reserve reallocation in the ancillary services market, the reserve adjustments made by the system operator are not always optimal since they generate a displacement between the scheduled and actual marginal costs. Then, this work proposes a methodology for operating the ancillary services market in real-time through a dynamic and hourly mathematical model that integrates the variability of solar-wind generation, the demand monitoring curve, and the trajectory of the marginal cost. This model minimizes power reserve costs, which are governed by hourly price auctions, for candidate plants classified as supra/infra-marginal and can optimally reallocate power reserves for secondary and tertiary frequency control.

Asthma is a chronic respiratory disease that impairs breathing. Management of asthma presents a significant challenge due to its inherent variability; that is, its symptoms can substantially differ among individuals, thereby complicating the prediction and management of exacerbations. Furthermore, individuals with asthma often have unique triggers that precipitate symptoms or attacks. The identification of these triggers can often prove to be a challenging, and at times, an impractical attempt. To address this, our research proposes a practical, personalized alert system, predicated on individual lung function tests conducted under varying environmental conditions classified by air-quality sensors. To validate this concept, we conducted an observational pilot study involving healthy individuals. We recruited twelve healthy participants and monitored their responses across a broad spectrum of environments, characterized by varying air quality, temperature, and humidity conditions. The lung function for each participant, assessed using peak expiratory flow (PEF) values, was recorded in each of these environments. Our results highlighted substantial variability in pulmonary responses to different environments. Utilizing these insights, we proposed a personalized alarm system that provides real-time air-quality monitoring and issues alerts when environmental conditions may potentially become unfavorable. We also explored the feasibility of employing basic machine learning techniques to predict PEF values in the aforementioned environmental conditions. This proposed system has the potential to empower individuals in actively safeguarding their respiratory health and mitigating discomfort caused by environmental conditions, especially in cases of asthma patients. By enabling timely and personalized interventions, the system aims to provide individuals with the necessary tools to minimize exposure to asthma’s possible triggers.

Turbidity is an important water quality parameter, especially for drinking water. The ability to actively monitor the turbidity level in Drinking Water Distribution Systems is of critical importance to the safety and wellbeing of the public. Traditional turbidity monitoring methods involve manual collection of water samples at set locations and times followed by laboratory analysis, which are labor intensive and time consuming. Fiber-optic measurement permits real-time, in-situ turbidity monitoring. But the current technology is based on plastic fibers, which suffer from high optical attenuation and hence are unsuitable for large-scale remote monitoring. In this paper, we report the demonstration of a fiber-optic turbidity sensor based on multi-mode glass fibers. The system uses a single fiber to both deliver laser light into the water sample and collect the back-scattered light for detection. A balanced-detection scheme is utilized to remove the common-mode noise to enhance the turbidity sensitivity. Highly linear turbidity responses are obtained and a turbidity resolution as low as 0.1 NTU is achieved. The test unit is also shown to have excellent reproducibility against repeated measurements and good stability against temperature changes. Turbidity measurement in real environmental matrices such as tap water and pond water is also reported with an assessment of the impact of flow rate. This work demonstrates the feasibility of future large scale distributed fiber-optic turbidity monitoring networks.

Purpose: ETV is indicated for treating obstructions of major CSF pathways. The outcome evaluation often yields success rates of only +- 70% for shunt independency. Hence, compromised CSF absorption seems to occur more often than expected. We searched for parameters suitable to assess the involved CSF dynamics. Material and Methods: This was a prospective study in 58 paediatric patients (7.7 yrs. mean age) between 2000 and 2020 with aqueductal stenosis (11/58), obstruction of the aqueduct due to tumor growth (22/58),and connatal hydrocephalus (9/58). The average follow-up interval was 4.7 years. Head circumferences, Evans- and fronto-occipital horn ratios before and 3 months after ETV were obtained as Delta-indices. Furthermore ETV success score (ETVSS), the patency of the aqueduct pre- and postoperatively as well as of the stoma were assessed by flow void signs on MRI. Evaluation on MRI also included the shape of the floor of the 3^rd ventricle and whether or not the septum pellucidum showed signs of perforation. Four patients were analysed pre- and postoperatively via real-time MRI. At least the educational status regarding protected or unprotected education was analyzed. Results:The prevalence of a bowing of the floor of the 3^rd ventricle was 72%, and the ETVSS was 71.0%. In 26 children a septal perforations or an open aqueduct prior to ETV (19) could be identified. Mean ER and FOHR were reduced by 0.03 and 0.05 , respectively. Maintained open (flow void on postop MRI) or perforation could successfully be carried out during endoscopic surgery in 44 patients (79%). The disproportionate increase of head circumference abated in 79.4% of patients. New shunt insertion occurred in 16 patients (27.5%). Intraoperatively upward CSF flow was detected in all cases. Statistical analyses(ANOVA) showed significant results for unprotected education, postoperative ER and FOHR but not for open stoma. Conclusion: The identification of flow through the stoma on postoperative MRI seems to be a necessary but not sufficient condition for ETV success. In our study, ventricular volumes were used as parameters to determine success rates as well as unprotected education. Furthermore, enabling upward CSF flow driven by inspiration seems crucial for successful ETV.

Cellular Nonlinear Networks (CNN) are a concept introduced in 1988 by Leon Chua and Lin Yang as a bio-inspired architecture, capable of massively parallel computation. Later on, CNN have been enhanced by incorporating designs that incorporate memristors to profit from their processing and memory capabilities. In addition, Stochastic Computing (SC) can be used to optimize the quantity of required processing elements; thus it provides a lightweight approximate computing framework, quite accurate and effective, though. In this work, we propose utilization of SC in designing and implementing a memristor-based CNN. As a proof of the proposed concept, an example of application is presented. This application combines Matlab and a FPGA in order to create the CNN. The implemented CNN has then been used to perform three different real-time applications on a 512x512 gray-scale and a 768x512 color image: storage of the image, edge detection, and image sharpening. It has to be pointed out that the same CNN has been used for the three different tasks, with the sole change of some programmable parameters. Results show an excellent capability with significant accompanying advantages, like the low number of needed elements further allowing for a low cost FPGA-based system implementation, something confirming the system’s ability for real time operation.

Predictive maintenance (PM) algorithms are widely applied for detecting operational anomalies on industrial processes to trigger maintenance before a possible breakdown; however, much less focus has been devoted to the use of such PM predictions as feedback in automated process control mechanisms. They usually integrate preventive solutions to protect the machines, usually causing downtimes. The premise of this study is to develop a holistic adaptive process scheduling mechanism that incorporates PM analysis as a safety component to optimize the operation mode of an industrial process toward preventing breakdowns while maintaining its availability and operational state, thereby reducing downtimes. As PM is largely a data-driven approach; hence, relies on the setup, we first compare different PM approaches and identify a one-class support vector machine (OCSVM) as the best performing option for the anomaly detection on our setup. Then, we propose a novel pipeline to integrate maintenance predictions into a real-time adaptive process scheduling mechanism. It schedules for the most suitable operation, i.e., optimizing for machine health and process efficiency, according to the abnormal readings. To demonstrate the pipeline on action, we implement our approach on a small-scale conveyor belt system utilizing our Internet of Things (IoT) framework. The results show that our PM-based adaptive process control provides an efficient process with less or no downtime. We also conclude that a PM approach does not provide sufficient efficiency without its integration into an autonomous planning process.

With the development of designing and manufacturing level for micro-electromechanical system (MEMS) gyroscopes, the control circuit system becomes a key point to determine their internal performances. Nevertheless, phase delay of electron components may result in some serious hazards. This paper describes a real-time circuit phase delay correction system for MEMS vibratory gyroscopes. A detailed theoretical analysis is provided to clarify the influences of circuit phase delay on the in-phase and quadrature (IQ) coupling characteristics and zero rate output (ZRO) utilizing force-to-rebalance (FTR) closed-loop detection and quadrature correction system. By deducing the relationship between amplitude-frequency, phase-frequency of MEMS gyroscope and the phase relationship of the whole control loop, a real-time correction system is proposed to automatically adjust the phase reference value of phase-locked loop (PLL) and thus compensate for the real-time circuit phase delay. The experimental results show that the correction system can accurately measure and compensate the circuit phase delay in real time. Furthermore, the unwanted IQ coupling can be eliminated and the ZRO is decreased by 755% to 0.095°/s. This correction system realizes a small angle random walk of 0.978°/√h, and a low bias instability of 9.458°/h together with a scale factor nonlinearity of 255 ppm at room temperature. Besides, the thermal drift of ZRO is reduced to 0.0034°/s/°C at a temperature range from -20°C to 70°C.

In this paper, we propose a multi-zone service control scheme to maximize the performance of each service zone when a large number of cellular service zones and D2D (Device-to-Device) service zones are composed to 5G cellular network. This paper also improves performance of service zone by dividing traffic into real-time traffic and non-real-time traffic in order to minimize traffic interference. Real-time traffic and non-real-time traffic have a significant impact on communication performance. We propose a new self-detection traffic interference control technique to improve the QoS and throughput of D2D and C2D communication in a cellular network, STICS (Self-detecting Traffic Interference Control Scheme). The proposed STICS scheme distinguishes between short-term traffic congestion process and long-term traffic congestion process according to traffic characteristics to detect and control traffic. When the proposed scheme is applied to the 5G-based cellular network environment, it is expected that the traffic type will be efficiently classified by self-detecting the traffic according to the flow. Such classified traffic is less sensitive to communication between the D2D and C2D links, thereby reducing traffic overload. We evaluate the performance of the proposed scheme through simulation and show that the proposed scheme is more efficient than other comparison schemes.

The calculation of the release of liquid hazardous chemicals storage tanks is an important part of the quantitative risk assessment of accidents. This paper mainly establishes a continuous real–time release model based on the instantaneous mass flow Q_m model. Meanwhile, the software function module was analyzed, and programming software was developed using C# language for model solving. A series of experiments for repeated leakage tests was designed and the discharges through three small holes with different heights for 200 s were observed. The results show that the continuous real–time leakage model is effective, and the deviation between theoretical and experimental release amounts are within a reasonable range. The higher the liquid level above the leak hole is, and the smaller the height of the leak hole from the ground is, the greater the flow rate at the leak orifice is and the smaller discharge rate change is. Therefore, the deviation between the theoretical release amount M_t and the experimental average release amount Ma is greater while the height of the leak hole from the ground is smaller, which indicates that the smaller the distance from the leak orifice to the ground, the greater the influence of the empirical discharge coefficient C₀ on the release amount M.

This paper proposes an innovative mechatronic piezo-actuated module to control vibrations in modern machine tools. Vibrations represent one of the main issues that compromise seriously the quality of the workpiece. The active vibration control (AVC) device is composed by a host part integrated with sensors and actuators synchronized by a regulator, able to make a self-assessment and adjust to the environmental alteration. This study presents the mechatronic model based on the kinematic and dynamic analysis of the AVC device. To ensure a real time performance, a H2-LQG controller has been developed and validated by simulations involving machine tool, PZT actuator and controller models. The Hardware-in-the-loop (HIL) architecture is adopted to control and attenuate the vibrations. A set of experimental tests has been performed to validate the AVC module on a commercial machine tool. The feasibility of the real time vibration damping is demonstrated and the simulation accuracy is evaluated.

Autonomous navigation of spacecraft necessitates innovative technologies, methods, and algorithms, particularly when orbiting in proximity of other space objects. Optimization methods are useful for autonomous spacecraft navigation, guidance, and control, but their performance is hampered by noisy multi-sensor technologies and poorly modeled system equations, and real-time on-board utilization is generally computationally burdensome. Some proposed methods use noisy sensor data to learn the optimal guidance and control solutions real-time (online), where non-iterative instantiations are preferred to reduce computational burdens. This study aims to highlight efficacy and limitations of several common methods for optimizing guidance and control while proposing a few more, where all methods are applied to the full, nonlinear, coupled equations of motion including cross-products of motion from the transport theorem. Five disparate types of optimum guidance and control algorithms are presented and compared to a classical benchmark. Comparative analysis is based on tracking errors (both states and rates), fuel usage, and computational burden. Real-time optimalization with singular switching plus nonlinear transport theorem decoupling proves superior by matching open-loop solutions to the constrained optimization problem (in terms of state and rate errors and fuel usage), while robustness is validated in the utilization of mixed, noisy state and rate sensors and uniformly varying mass and mass moments of inertia. State tracking errors are reduced one-hundred ten percent. Rate tracking errors are reduced one-hundred thirteen percent. Control utilization (e.g., fuel) is reduced eighty four percent, while computational burden in reduced ten percent simultaneously.

Fractional-time Schrödinger equation (FTSE) describes the evolution of quantum processes endowed with memory effects. FTSE manifestly breaks all consistency requirements of quantum field theory (unitarity, locality and compliance with the clustering theorem), unless the order of fractional differentiation and integration ( ) falls close to the standard index . Working in the context of the minimal fractal manifold (where , ), we confirm here that FTSE approximates the attributes of gravitational metric and provides an unforeseen generation mechanism for massive fields.

The development of mineral resources in China has gradually entered the stage of deep mining. Rock burst, collapse and other ground pressure disasters caused by deep high stress have become major hidden dangers restricting mine safety production. Microseismic monitoring technology is an important means of ground pressure risk prediction. In this paper, the wavelet coefficient threshold denoising method in time-frequency domain, STA/LTA method, AIC method, Skew and Kurtosis method are studied, and the automatic P-phase onset time picking model based on noise reduction and multiple detection indexes is established. Through the effect analysis of microseismic signals collected by microseismic monitoring system of coral Tungsten Mine in Guangxi, automatic P-phase onset time picking is realized. the reliability of the P-phase onset time picking method proposed in this paper based on noise reduction and multiple detection indexes is verified. The picking accuracy can still be guaranteed under the severe signal interference of background noise, power frequency interference and manual activity underground mine, Which is of great significance to the data processing and analysis of microseismic monitoring.

The main focus of this research is to explore the development of machine learning (ML) within a microservices setting for travel applications that offer real-time personalization to create user engagement and satisfaction. The system utilizes context awareness that is dynamic and relevant to the user, such as user profiles, location, and current activities to generate appropriate recommendations that develop with the user. It emerged from testing that there was a marked increase in engagement as evidenced by the click-through rates (CTR) which improved by 15% from what was observed in the conventional systems signifying that the model had worked. Furthermore, the accuracy of the recommendations in relation to the user preferences registered 85% accuracy for the implemented ML models and in addition to that the system employed microservices therefore tools for scaling up while integrating all the components kept the latency at less than 500 ms even during the busiest loads. In addition, the level of adaptation that was real-time was also improved as the system was able to react at a faster pace to changes in data, such as even the delay of flights, and made recommendations to passengers that were situationally appropriate.Finally, it is established that personalization enabled by machine learning contributes towards enhancing customer satisfaction, retention rate, and response time in the travel industry. The convergence of micro services and machine learning can be viewed as a great solution to the performance evolution and scaling requirements of data intelligence responsive markets like the travel industry which are highly active and interactive in nature.

The use of digital twin and shadow concepts for industrial material processes have promoted new notions to bridge the gap between physical and cyber manufacturing processes. Hence, many multi-disciplinary areas like advanced sensor technologies, material science, data analytics, and machine learning algorithms are employed to create such hybrid systems. On the other hand, new additive manufacturing (AM) processes for metals and polymers based on novel emerging technologies have already shown a promising horizon for manufacturing of sophisticated parts with complex geometries. These processes are going through a major transformation with the emergence of digital technology, hybrid physical-data driven modelling and fast reduced models. This paper presents a fresh look at the hybrid physical-data driven and reduced order modelling (ROM) techniques for digitalization of AM processes within a digital-twin concept. The main contribution is to show the benefits of ROM and machine learning (ML) technology for process data handling, optimization\controlling and their integration into the real-time assessment of AM processes. Hence, a novel combination of efficient data solver technology and architecturally designed neural network (NN) module has been developed for the transient manufacturing processes with high heating\cooling rates. Furthermore, a real-world case study has been presented where the combination of hybrid modelling along with ROM and ML schemes are used for an industrial wire arc AM (WAAM) process.

An optical fiber scale sensor based on the detection principle of surface plasmon resonance (SPR) was developed for the rapid, high-sensitivity real-time evaluation of scale precipitation from geothermal fluids. The optical fiber SPR scale sensor was fabricated by depositing a gold thin film on the surface of an optical fiber with an exposed core. The optimal gold film thickness of the sensor was determined to be 30 nm, which achieved a refractive index sensitivity of 2140 nm per refractive index unit. A field test was conducted using geothermal brine from the Obama Binary Geothermal Power Plant in Unzen, Nagasaki Prefecture. A conventional optical fiber scale sensor and the SPR sensor were simultaneously assessed using raw and pH-adjusted brines. For the SPR sensor, a peak shift of 0.27 nm/min was observed at a response time of 1 min, whereas no change in transmittance was observed for the conventional sensor until 180 min. After the experiments, scanning electron microscopy–energy-dispersive spectroscopy analysis was conducted on the sensors, and findings showed that the deposition of Mg–SiO2 scale did not significantly differ between the two sensors. The developed SPR sensor achieved faster scale precipitation detection (tens of minutes to hours) than the conventional sensor.

Smallsats are becoming the predominant electro-optical Earth observation (EO) imaging platforms. While atmospheric correction of smallsat data enhances its utility, an established pathway to do so may constrain accuracy and utility. The alternative, Closed-form Method for Atmospheric Correction (CMAC), developed for smallsat application provides surface reflectance derived solely from scene statistics. In a prior paper, CMAC closely agreed with Land Surface Reflectance Code (LaSRC) software for correction of the four VNIR bands of Landsat-8/9 images for conditions of low to moderate atmospheric effect over quasi-invariant warehouse-industrial targets. Those results were accepted as surrogate surface reflectance to support analysis of CMAC and LaSRC reliability for surface reflectance retrieval in two contrasting environments: shortgrass prairie and barren desert. Reliability was defined and tested through a null hypothesis: the same top-of-atmosphere reflectance under the same atmospheric condition will provide the same estimate of surface reflectance. Evaluated against the prior surrogate surface reflectance, the results found decreasing error with increasing wavelength for both methods. From 58 comparisons across the four bands, LaSRC average absolute error ranged from 0.59% (NIR) to 50.30% (blue). CMAC error was well constrained from 0.01% (NIR) to 0.98% (blue) sustaining the null hypothesis for reliability.

The container relocation problem (CRP) is one of the important topics in container terminals, which aims to find the optimal sequence of movements to minimize the total number of relocations needed to retrieve all the containers within a bay according to a given specific layout and retrieval order. However, determining such an order may be difficult due to uncertainty. Various CRP solution methods proposed so far show a common pitfall concerning the complexity of the solving process, whose scale grows exponentially with the number of containers. Considering the retrieval operation process of the inbound containers in a bay consists of several operation rounds, this paper focuses on the real-time operation scenario of each round to minimize the actual number of relocations during the pick-up process, i.e., starting from the initial layout of the bay, we minimize the sum of the incremental number of blocking containers due to the layout change and the number of reallocated containers unrelated to the target container. We present a heuristic algorithm (called SPFH) based on the three rules (LL, MSS, and FSS), considering the adjustment of the pick-up order of containers. Numerical experiments on a set of instances generated from the literature are performed. The proposed methodology excels in both execution efficiency and solution quality and is capable of solving instances that were impossible to solve before. This also makes our methods appealing for being applied in practice. The source codes are available at https://github.com/zhou-sf/rt-scrp.

As broiler farming facilities have become larger and more concentrated in response to external environmental changes, there is a possibility of increased concentrations of fine dust and aerosols inside these facilities due to enclosure. In particular, workers are exposed to high concentrations of organic particulate matter and harmful gases while performing their tasks, and as they age, they become more vulnerable to respiratory diseases. It is essential to directly monitor the concen-trations to which workers are exposed, along with the spatial distribution of aerosols inside broiler house. In this study, we analyzed the regional aerosol concentrations using passive samplers in commercial tunnel-ventilated broiler farms. Simultaneously, we employed active samplers at the height of the workers' breathing zones to monitor real-time aerosol concentrations by particle size along their work routes. Spatial aerosol concentrations generally increased from the inlet to the exhaust in the breathing zone. The average aerosol concentrations were TSP -1,042 µg/m³, PM-10 718 µg/m³, and PM-2.5 137 µg/m³. To analyze the workers' exposure environments, we categorized the tasks in the barn into Static work period (SWP) and Moving work period (MWP) based on video analysis. The results showed that during MWP, fine dust concentrations exceeded the standards by up to 214%. Particularly, during MWP, the concentrations were 1.74 times higher for TSP, 1.40 times higher for PM-10, and 1.22 times higher for PM-2.5 compared to SWP. It was observed that during the movement of workers, physical generation of particles around 10 µm, such as feces, feed, and bedding, occurred due to the movement of chicken, which influenced the aerosol concentration.

Star image registration is the most important step in the application of astronomical image differencing, stacking and mosaicking, which requires high robustness, accuracy and real--time of the algorithm, but there is no high--performance registration algorithm in this field. In this paper, we propose a star image registration algorithm that relies only on radial module features (RMF) and rotation angle features (RAF), which has excellent robustness, high accuracy, and good real--time performance. The test results on a large amount of simulated and real data show that the comprehensive performance of the proposed algorithm is significantly better than the four classical baseline algorithms in the presence of rotation, insufficient overlapping area, false stars, position deviation, magnitude deviation and complex sky background, which is a more ideal star image registration algorithm.

For a subject suffering from complex post-traumatic stress disorder, a psychological intervention program was designed, monitored in real-time during psychotherapy, and evaluated quantitatively and qualitatively after psychotherapy. One male subject participated in this program under consent. The proposed intervention program was designed using cognitive behavioral therapy and stabilization treatments for body-based sensory processes in four sessions of 90 min each. During psychotherapy, a wearable heart sensor and a communication application were utilized to determine the subject’s current psychological state. After the intervention, the effect of the proposed program was analyzed qualitatively and quantitatively using the Impact of Event Scale–Revised (IES-R-K), Athens insomnia scale (AIS), and heart rate variability (HRV). After the intervention program was conducted, the subject reconstructed his traumatic events and trained himself with certain psychological techniques to decrease his negative thoughts and emotions induced by his previous traumatic events. The IES-R-K and AIS ten months after the last session were changed positively by approximately 25% compared with the subject’s state before the first session. During psychotherapy, the HRV exhibited a significant correlation with the subject’s emotional state. The proposed intervention program induced a positive change in the subject. Although the HRV was well utilized in this investigation, more sophisticated statistical analysis will be required for clinical trials.

Video behavior recognition often needs to focus on object motion processes. In this work, a self-organizing computational system oriented to behavioral clustering recognition is proposed, which achieves the extraction of motion change patterns by binary encoding and completes motion pattern summarization using a similarity comparison algorithm. And in the face of unknown behavioral video data, a self-organizing structure with layer-by-layer accuracy progression is used to achieve motion law summarization by using a multi-layer agent design approach. Finally, the real-time feasibility is verified in the prototype system using real scenes to provide a new feasible solution for unsupervised behavior recognition and space-time scenes.

Fusarium head blight (FHB) is a wheat disease caused by fungi of the genus Fusarium. The aim of the study was to find relationships between the weather conditions in the experimental years and the locations and the amount of F. culmorum DNA and trichothecene genotypes, as well as the proportions between them. A three-year field experiment (2017, 2018 and 2019) was established at two locations (Poznań, Radzików). F. culmorum DNA was detected in all grain samples in an average amount of 20124 pg per 1 g of wheat DNA. The average amount of DNA from the 3ADON genotype was 4879 pg/μg and the amount of DNA from the NIV genotype was 3330 pg/μg. In the three experimental years, a large variability was observed in the coefficients of correlation between DNA concentrations and the FHB index, FDK, ergosterol, and the corresponding toxins. There were significant correlations between disease incidence, fungal biomass (quantified as the total amount of fungal DNA or DNA trichothecene genotypes) and toxins (DON, 3AcDON and NIV) concentrations. The 3ADON trichothecene genotype dominates over the NIV genotype (ratio 1.5); however, this varied greatly depending on environmental conditions.

Classical and optimal control architectures for motion mechanics with fusion of noisy sensors use different algorithms and calculations to perform and control any number of physical demands, to varying degrees of accuracy, precision, and cost. Their performances are tested for the purpose of comparison through the means of a Monte Carlo simulation that simulates how different parameters might vary under noise, representing real-world imperfect sensors. We find that improvements in one figure of merit often come at a cost in the performance in the others, especially depending on the presence of noise in the system sensors. If sensor noise is negligible, open-loop optimal control performs the best. However, in the overpowering presence of sensor noise, using a control law inversion patching filter performs as the best replacement, but has significant computational strain.

This study aims to explore the effect of real-time visual feedback (VF) information of the pres-sure of center (COP) provided by intelligent insoles on balance training in a one leg stance (OLS) and tandem stance (TS) posture. Thirty healthy female college students were randomly assigned to the visual feedback balance training group (VFT), non-visual feedback balance training group (NVFT), and control group (CG). The balance training includes: OLS, tandem Stance (dominant leg behind, TSDL), tandem stance (non-dominant leg behind, TSNDL). The training lasted 4 weeks, the training lasts 30 minutes at an interval of 1 days. There was a sig-nificant difference in the interaction effect between Groups*Times of the COP parameters (p<0.05) for OLS. There was no significant difference in the interaction effect between Groups*Times of the COP parameters (p>0.05) for TS. The main effect of the COP parameters was a significant difference in Times (p<0.05). The COP displacement, velocity, radius, and area in VFT significantly decreased after training (p < 0.05). Therefore, the visual feedback technology of intelligent auxiliary equipment during balance training can enhance the benefit of training. The use of smart wearable devices in OLS balance training may improve the visual and physical balance integration ability.

Alnus glutinosa is important woody plant in Lithuanian forest ecosystems. Knowledge of fluorescence properties of black alder pollen is necessary for scientific and practical purposes. By the results of the study we aimed to evaluate possibilities of identifying Alnus glutinosa pollen fluorescence properties by modeling ozone effect and applying two different fluorescence-based devices. To implement experiments, black alder pollen was collected in a typical habitat during the annual flowering period in 2018-2019. There were three groups of experimental variants, which differed in the duration of exposure to ozone, conditions of pollen storage before the start of the experiment, and the experiment start time. Data for pollen fluorescence analysis were collected using two methods. The microscopy method was used in order to evaluate the possibility of employing image analysis systems for investigation of pollen fluorescence. The second data collection method is related to the automatic device identifying pollen in real-time, which uses the fluorescence method in the pollen recognition process. Data were assessed employing image analysis and principal component analysis (PCA) methods. Digital images of ozone-exposed pollen observed under the fluorescence microscope showed the change of the dominant green colour towards the blue spectrum. Meanwhile, the automatic detector detects more pollen whose fluorescence is at the blue light spectrum. It must be noted that assessing pollen fluorescence several months after exposure to ozone, no effect of ozone on fluorescence remains.

Acquisition of real-time hydraulic data is an essential component for flood forecasting. However, we frequently face difficulties in obtaining discharge data using classical contact methods during high magnitude floods and for systems experiencing rapid hydro-geomorphological adjustment. Therefore, we developed low-cost, non-contact sensors and platforms that are designed to overcome these difficulties. These advances enable flood flow properties to be monitored at multiple locations across a river catchment, at low-cost, and communicated in near real-time by using an image velocimetry method. This is an optics-based approach for stream flow measurement using commercially available near-infrared digital cameras to acquire video footage in full HD (30fps). Video footage is then subjected to optical flow tracking techniques based on cross-correlation, and feature-based tracking, enabling the displacement rates of detected features (for example natural foam, seeds, woody debris, and turbulent structures) to be computed. This manual provides step by step guidance to install an image-based gauging station. It contains the list of necessary components, the calibration process of a new camera and the assembly procedure of the system.

Fast 3D reconstruction with semantic information on road scenes is of great requirements for autonomous navigation. It involves issues of geometry and appearance in the field of computer vision. In this work, we propose a method of fast 3D semantic mapping based on the monocular vision. At present, due to the inexpensive price and easy installation, monocular cameras are widely equipped on recent vehicles for the advanced driver assistance and it is possible to acquire semantic information and 3D map. The monocular visual sequence is used to estimate the camera pose, calculate the depth, predict the semantic segmentation, and finally realize the 3D semantic mapping by combination of the techniques of localization, mapping and scene parsing. Our method recovers the 3D semantic mapping by incrementally transferring 2D semantic information to 3D point cloud. And a global optimization is explored to improve the accuracy of the semantic mapping in light of the spatial consistency. In our framework, there is no need to make semantic inference on each frame of the sequence, since the mesh data with semantic information is corresponding to sparse reference frames. It saves amounts of the computational cost and allows our mapping system to perform online. We evaluate the system on naturalistic road scenes, e.g., KITTI and observe a significant speed-up in the inference stage by labeling on the mesh.

In factory automation systems, hybrid wired/wireless networks are often deployed to connect devices of difficult reachability such as those mounted on mobile equipment. A widespread version of these networks makes use of Access Points (APs) to implement wireless extensions of Real--Time Ethernet (RTE) networks via the IEEE 802.11 Wireless LAN (WLAN). Unfortunately, APs may introduce random delays in packet forwarding, mainly related to the their internal behaviors (e.g. code processing times) that negatively impact on the whole performance of the automation systems. Consequently, the knowledge of these delays represent a crucial design information. This paper presents an original and effective method to measure the delays introduced by APs, exploiting a hybrid loop-back link and a simple set-up with moderate instrumentation requirements. The method, which requires an initial calibration by means of a reference AP, has been successfully tested on some commercial APs. As it will be shown, the proposed measurement procedure is general and, as such, can be profitably adopted in even different scenarios.

A programmable DC power supply with Real-time Digital Simulator (RTDS)-based photovoltaic (PV) Power Hardware-In-the-Loop (PHIL) simulators have been used to improve the control algorithm and reliability of PV Inverter. This paper proposes a supervisory control algorithm for PV PHIL simulator with non-RTDS device that is an alternative solution of high cost PHIL simulator. However, when such a simulator with conventional algorithm which is used in RTDS is connected to a PV inverter, the output is in the transient state and it makes it impossible to evaluate the performance of the PV Inverter. Therefore proposed algorithm controls the voltage and current target values according to the constant voltage (CV) and constant current (CC) modes to overcome the limitation of the Computing Unit, DC power supply and also uses a multi-rate system to account for the characteristics of each component of simulator. A mathematical models of a PV system, programmable DC power supply, isolated DC measurement device and Computing Unit are integrated to form a real-time processing simulator. Performance tests using a PV PHIL simulator which is applied proposed algorithm connected a PV inverter are carried out and proved superiority and utility of this method against conventional methods.

This manuscript presents a system that can generate a 2D grid map and a 3D voxel model of an environment by fusing multiple sensors integrated into a robot. The fusion of these sensors is done by utilizing Robot Operating System (ROS) and some of its libraries. The sensors that are fused in the robot are a Light Detection and Ranging (LIDAR), Inertial Measurement Units (IMU), wheel encoders, and a Time-of-Flight camera. With the fusion of the point cloud data information obtained with the Time-of-Flight camera, the laser information of the LIDAR sensor, in addition to the odometry generated with the other sensors, a 2D grid map and a 3D model of two different environments were created, thus testing the performance of the system.