Body Attitude Research Articles

3D-SLIP model based dynamic stability strategy for legged robots with impact disturbance rejection

Inspired by biomechanical studies, the spring-loaded inverted pendulum model is an effective behavior model to describe the running movement of animals and legged robots in the sagittal plane. However, when confronted with external lateral disturbances, the model has to move out of the 2-D plane and be extended to 3-D locomotion. With the degree of freedom increasing, the computational complexity is higher and the real-time control is more and more difficult, especially when considering the complex legged model. Here, we construct a control strategy based on the classical Raibert controller for legged locomotion under lateral impact disturbances. This strategy, named 3D-HFC, is composed of three core modules: touchdown angle control, body attitude angle control and energy compensation. The energy loss in each step is taken into consideration, and the real-time measured energy loss of the current step is adopted to predict that of the next step. We demonstrate the efficiency of the proposed control strategy on a simulated 3D-SLIP lower order model and a simulated running quadruped, which are perturbed by different impact forces. Furthermore, a quadruped bionic prototype named MBBOT was set up, on which lateral impact experiments were designed and implemented. Both simulation and experimental results show that the proposed approach can realize the impact disturbance rejection.

Body Gaze as a Marker of Sexual Objectification: A New Scale for Pervasive Gaze and Gaze Provocation Behaviors in Heterosexual Women and Men

Body gaze behavior is assumed to be a key feature of sexual objectification. However, there are few self-report gaze measures available and none capturing behavior which seeks to invite body gaze from others. Across two studies, we used existing self-report instruments and measurement of eye movements to validate a new self-report scale to measure pervasive body gaze behavior and body gaze provocation behavior in heterosexual women and men. In Study 1, participants (N = 1021) completed a survey with newly created items related to pervasive body gaze and body gaze provocation behavior. Participants also completed preexisting measures of body attitudes, sexual assault attitudes, pornography use, and relationship status. Exploratory and confirmatory factor analyses across independent samples suggested a 12-item scale for men and women to separately measure pervasive body gaze (5 items) and body gaze provocation (7 items) toward the opposite sex. The two scales yielded excellent internal consistency estimates (.86–.89) and promising convergent validity via positive correlations with body and sexual attitudes. In Study 2, a subsample (N = 167) of participants from Study 1 completed an eye-tracking task to capture their gaze behavior toward matched images of partially and fully dressed female and male subjects. Men exhibited body-biased gaze behavior toward all the female imagery, whereas women exhibited head-biased gaze behavior toward fully clothed male imagery. Importantly, self-reported body gaze correlated positively with some aspects of objectively measured body gaze behavior. Both scales showed good test–retest reliability and were positively correlated with sexual assault attitudes.

Design and study on the leveling mechanism of the tractor body in hilly and mountainous areas

PurposeThis study aims to improve the automatic leveling performance of tractor body in hilly and mountainous areas by designing a kind of controllable and adaptive leveling mechanism of tractor body.Design/methodology/approachThe mechanism is mainly composed of longitudinal slope leveling mechanism, transverse slope leveling mechanism and control components. According to the tractor body attitude in operation, the longitudinal slope leveling and lateral slope leveling can coordinate to realize the adaptive adjustment of tractor body. For this mechanism, the support mode of the linear three-point support and plane positioning combining is designed, and the leveling method of electromechanical combination is designed. The servo motor controls the longitudinal slope leveling mechanism through the reducer with self-locking function to realize the longitudinal leveling, and the servo driver controls the expansion and contraction of electric cylinder to realize lateral leveling. The designed mode can realize the relative independence and coordination of leveling in different directions.FindingsThe performance test results of the leveling mechanism are shown: the mechanism can work normally; the leveling accuracy can reach within 1°; and the leveling accuracy and stability can meet the design requirements. The leveling accuracy and stability of longitudinal slope are higher than that of lateral slope, and the coordination leveling effect of longitudinal slope and lateral slope is better than that of the independent leveling.Originality/valueThis study provides a technical reference for the design of leveling device of agricultural machines and tools in hilly and mountainous areas.

Real-time measurement of track curvature based on vehicle attitude perception

Track curvature is a key parameter in many active control systems for rail vehicles. The real-time autonomous acquisition of track curvature is currently an engineering challenge in the field of rail transit. In this study, the cause of the geometric inertia effect (GIE) when the car body attitude is used to perceive the track curvature was explained by a theoretical derivation using the plane trajectory equation of the rail vehicle. Then, the bogie attitude rather than car body attitude was selected as the sensing signal due to weak GIE. In addition, a new algorithm for measuring the track curvature in real-time using the bogie yaw angular rate and the running velocity was proposed by combining the curvature compensation algorithm (CCA) and percentile filtering (PF) algorithm. Subsequently, the effectiveness of the proposed algorithm was verified through simulations. The results demonstrated that the proposed algorithm could effectively improve the measurement accuracy of the track curvature. Finally, the algorithm proposed in this study was validated based on running tests. The results of this study can provide a reference for the real-time measurement of track curvature.

Vehicle body pitch control through integration of MR damping system implemented in both vehicle suspension and front-end structure

The current research work is directed to study and improve vehicle behavior during crashes. Hence, a crash-pitch controller integrated with Magneto-Rheological (MR) dampers implemented in both vehicle suspension system and front-end structure is designed and studied. The methodology of the work is based on modeling the vehicle dynamical attitude as a half-car mathematical model that is developed with 3 degrees of freedom (DOF), longitudinal, bounce, and pitch. The model is constructed to study the vehicle’s dynamic response in a full-frontal collision against a fixed barrier. Additionally, a fuzzy logic controller is developed to integrate the suspension MR dampers with another set of MR dampers implemented within the vehicle’s front-end structure. Four different vehicle cases were discussed and compared within the simulation results of the developed model. Moreover, the four mentioned cases can be clarified as first free-rolling, second replacing the vehicle’s conventional dampers with MR dampers, third implemented MR dampers within the vehicle’s front-end structure, finally the fourth case through the integration of MR dampers implemented within both front-end structure and suspension system. Hence, the fourth case was implemented through the augmentation of simultaneous crash-pitch controllers. The simulation results showed a noticeable improvement in the front-end structure deformation as it had been reduced. Moreover, the vehicle’s body attitudes had also been improved where pitch angle had been reduced as well as its settling time. Also, pitch acceleration had been reduced which benefits human body exposure.

Observer-based hybrid control for global attitude tracking on SO(3) with input quantisation

This paper studies the global attitude stabilization of a rigid body, a task that is subjected to topological obstacles. As a result of these obstructions, continuous feedbacks cannot globally stabilise the rigid body attitude. Therefore, this paper presents an observer-based hybrid controller to overcome these restrictions. Consequently, a new kind of synergistic potential function is designed which induces a gradient vector field to globally stabilise a given set. Moreover, the gradient of the proposed potential functions is utilised to derive a hybrid observer. Furthermore, this paper considers two types of constraints: angular velocity constraint and torque constraint. Afterward, these constraints are formulated in terms of the Linear Matrix Inequalities (LMI) optimisation problem to perform constraints satisfaction. Besides, this paper introduces a novel hybrid quantiser to deal with the problem of the low-price wireless network. Finally, a comparative study in simulations is provided to assess the performance of the proposed scheme.

Psychosocial Predictors of Body Weight Congruence in Adolescents Aged 15 and 17 Years in Poland: Findings from the Health Behaviour in School-Aged Children (HBSC) Study.

Background: Body weight congruence (BWC) has implications for adolescent health. The main goal of this study was to examine the distribution of BWC and its relationship with six psychosocial factors. Methods: A representative sample of N = 3508 adolescents aged 15 and 17 years (52.4% girls) derived from the Health Behaviour in School-aged Children study, conducted in 2017/2018 in Poland, was used. BWC groups were defined based on self-reported BMI and subjective assessment of weight: (1) correct perception; (2) overestimation, and (3). underestimation. Principal component analysis (PCA) extracted the following two factors: a socio-relational factor (SR) related to perceived social support and social self-efficacy, and a body attitudes and social media exposure factor (BAME). Using the total sample, multinomial logistic regression was applied to estimate their impact on the BWC, and gender-specific models were compared. Results: Half (48.6%) of the adolescents correctly estimated their body weight, 31.0% overestimated it (girls 43.9%, boys 17.1%), and 20.0% underestimated it (boys 37.2%, girls 9.0%). Overestimation of body weight concerns 48.0% of normal weight girls, 50.0% of underweight girls, and 21.3% and 32.1% of normal weight and underweight boys, respectively. The percentage of normal weight (34.4%), and overweight and obese (30.8%) boys who underestimated their body weight was three times higher than the respective percentages of girls that underestimated their weight (9.0% and 11.9%). The SR factor protected adolescents from both underestimation (only in girls) and overestimation in the total sample (OR 0.74, 95%CI 0.68–0.81) and both genders. BAME increased this risk of overestimation in both genders (OR = 1.83, 95%CI 1.67–2.0), and the risk of underestimation among boys. Conclusions: Prevention programmes should include a wide range of psychosocial factors to improve BWC among adolescents.

Pose consensus control of multi‐agent rigid body systems with homogenous and heterogeneous communication delays

AbstractA new strategy for full pose and velocity consensus control of multi‐agent rigid body systems in the presence of communication delays is presented. Specifically, consensus protocols are proposed for a system of N heterogeneous rigid bodies on the Banach manifold associated with the tangent bundle , under a fixed and undirected communication topology, where the attitudes of the rigid bodies are described in terms of rotation matrices. The stability argument is strengthened from that used in prior studies by using an extension of Morse–Lyapunov–Krasovskii approach, and sufficient conditions are derived to achieve almost global asymptotic stability of the consensus subspace. Finally, illustrative examples are given to demonstrate the proposed method where both homogenous and heterogeneous communication delays are considered.

Joint Research on Aerodynamic Characteristics and Handling Stability of Racing Car under Different Body Attitudes

With the rapid development of FSAE, the speed of racing cars has increased year by year. As the main research content of racing cars, aerodynamics has received extensive attention from foreign teams. For racing cars, the aerodynamic force on the aerodynamic device ultimately acts on the tires through the transmission of the body and the suspension. When the wheel is subjected to the vertical load generated by the aerodynamic device, the ultimate adhesion capacity of the wheel is improved. Under changing conditions, racing wheels can withstand greater lateral and tangential forces. Therefore, the effects of aerodynamics have a more significant impact on handling stability. The FSAE racing car of Jilin University was taken as the research object, and this paper combines the wind tunnel test, the numerical simulation and the dynamics simulation of the racing system. The closed-loop design process of the aerodynamics of the FSAE racing car was established, and the joint study of aerodynamic characteristics and handling stability of racing car under different body attitudes was realized. Meanwhile, the FSAE car was made the modification of aerodynamic parameter on the basis of handling stability. The results show that, after the modification of the aerodynamic parameters, the critical speed of the car when cornering is increased, the maneuverability of the car is improved, the horoscope test time is reduced by 0.525 s, the downforce of the car is increased by 11.39%, the drag is reduced by 2.85% and the lift-to-drag ratio is increased by 14.70%. Moreover, the pitching moment is reduced by 82.34%, and the aerodynamic characteristics and aerodynamic efficiency of the racing car are obviously improved. On the basis of not changing the shape of the body and the aerodynamic kit, the car is put forward to shorten the running time of the car and improve the comprehensive performance of the car, so as to improve the performance of the car in the race.

A Simple Structure Constrained Attitude Control for Rigid Bodies: A PD-Type Control

This study investigates the challenging and complicated issue of full-state constraint attitude control for rigid bodies under actuators physical limitation. Using the concept of prescribed performance control (PPC), a novel proportional-derivative (PD)-type control is introduced by which both the attitude quaternion and the rotation velocity of the rigid body are enforced to possess specific behaviors in transient and steady state. To this end, a prescribed performance function (PPF) with finite-time convergence is first defined as the predefined boundaries for the quaternion and rotation velocity. Subsequently, a constrained PD-type attitude control for rigid body attitude system is developed. The significant difference between the proposed methodology and the PPC is the simple structure of the controller making it more applicable from practical implementation point of view. Indeed, due to the use of error transformation in the PPC, the controller contains partial derivative terms and complicated functions even for only constraining the attitude quaternion. When it comes to angular velocity constraint as well, the complexity of the control design procedure is doubled. It is rigorously proved that the suggested control framework can successfully satisfy constraints not only on the quaternion but also on the angular velocity, simultaneously. These interesting results are obtained even when the actuator saturation is considered. The simulation results conducted on a rigid spacecraft verify the efficacy and applicability of the suggested constrained attitude control approach.

The Mediator Role of Femininity-Masculinity Perceptions Between Body Perception and Eating Attitudes

It is thought that ideal body norms which is shaped under the influence of Western culture are effective in the rapid increase in the rate of eating disorders in recent years. Body norms are gender specific. And it is thought that the desire to be thin in women and to be muscular in men increases body dissatisfaction. As these norms are more exposed in Western culture, it is claimed that femininity and masculinity norms over the body are reflected through ideal body characteristics. However in recent years, it is thought that these ideal body norms specific to gender, due to factors such as communication tools and media, increase body dissatisfaction in other cultures. In this study, in order to test this view, in the Turkish population the mediation effect of femininity-masculinity perception in the relationship between gender-specific body dissatisfaction and eating attitudes was investigated with Process Macro Analysis. The study was carried out with 430 female and 414 male between the ages of 18 and 26 years. In this study, Ben-Tovim Walker Body Attitude Scale, Feminine Thoughts Scale, Male-Specific Body Attitude Scale, Masculinity Role Norms Scale and Eating Attitude Test were administered to the participants. According to the findings, as the desire to be thin in women and desire to be muscular in men increased, body dissatisfaction also increased. As adherence to norms of femininity in women and masculinity norms in men increased, body dissatisfaction and deterioration in eating attitudes also increased. The mediating effect of gender role norms was not found in women. A low mediation effect of masculinity norms was found between body dissatisfaction and eating attitudes in men. As a result, ideal body characteristics changed according to gender and according to the level of adherence to gender norms, the risk of developing an eating disorder changes.

A Hölder-continuous Extended State Observer for Rigid Body Attitude Dynamics

Estimating rigid body attitude dynamics in the presence of unknown or uncertain torques, has applications to unmanned aerial, ground, (under)water and space vehicles. This work provides a new approach to estimating the attitude states and unknown, time-varying, (disturbance) torque vector acting on a rigid body, using an extended state observer. The observer design uses the concept of geometric homogeneity to obtain its stability. A Lyapunov stability analysis is carried out to prove its stability properties. The resulting observer for the attitude states and disturbance torque is smooth, Hölder-continuous, and exhibits almost globally finite-time stable (AG-FTS) with a constant disturbance torque in body frame. These properties are theoretically shown, and a numerical simulation is carried out to demonstrate how the observer works in a realistic attitude estimation scenario.

Obesity and Diet Predict Attitudes towards Health Promotion in Pre-Registered Nurses and Midwives.

Nurses and midwives are integral to public health promotion; in the UK, they are advised to act as role models by their governing body, but overweight or obesity rates are high. We explored whether obesity and dietary habits are related to attitudes towards healthy role modelling and health promotion practice. A total of 346 pre-registered UK nurses and midwives (92.6% female; 18–53 years) completed an online survey. Items included body composition, dietary habits assessed by the Lifestyle Behaviour Questionnaire (LBQ), attitudes towards being role models for health (RA: role attitudes) and attitudes toward health promotion practice (ATHPP): 33.8% of the sample self-reported as overweight or obese; 67.6% did not consume 5-a-day portions of fruit/veg; 31.5% reported a healthy diet; and 89.6% believed their diet could be healthier. Positive RA was significantly linked to health promotion engagement (HP) (ß = 0.33, p < 0.001). Positive ATHPP was significantly predicted by lower BMI (ß = −0.08, p = 0.078), positive RA (ß = 0.67, p < 0.001), lower HP (ß = −0.25, p < 0.001) and male gender (ß = 0.09, p = 0.02). Greater confidence in patients valuing healthcare professional’s advice was predicted by healthier diet (ß = 0.11, p = 0.03), lower BMI (ß = −0. 16, p < 0.01), more positive RA (ß = 0.14, p < 0.01) as well as HP engagement during training (ß = 0.20, p < 0.01). One’s own motivation to promote health, similarly to ATHPP, was predicted by RA (ß = 0.17, p = 0.001) and previous HP engagement (ß = 0.39, p < 0.001). Findings show that overweight and obesity are prevalent in pre-registered nurses and midwives; the majority did not consume a healthy diet. Individual’s body composition, diet and attitudes towards role modelling are positively associated with their attitudes towards, and confidence in, health promotion practice. Experiences of health promotion practice during training can have either a positive or a negative influence on attitudes. Mentors and educators could actively promote healthy lifestyles for pre-registered nurses and midwives and facilitate more opportunities for health promotion practice during placements, which includes time for reflection.

Adaptive neural-based finite-time attitude synchronization and tracking control of multiple rigid bodies under actuator faults and saturation

PurposeThe purpose of this paper, is to solve the problem of finite-time fault-tolerant attitude synchronization and tracking control of multiple rigid bodies in presence of model uncertainty, external disturbances, actuator faults and saturation. It is assumed that the rigid bodies in the formation may encounter loss of effectiveness and/or bias actuator faults.Design/methodology/approachFor the purpose, adaptive terminal sliding mode control and neural network structure are used, and a new sliding surface is proposed to guarantee known finite-time convergence not only at the reaching phase but also on the sliding surface. The sliding surface is then modified using a proposed auxiliary system to maintain stability under actuator saturation.FindingsAssuming that the communication topology between the rigid bodies is governed by an undirected connected graph and the upper bounds on the actuators’ faults, estimation error of model uncertainty and external disturbance are unknown, not only the attitudes of the rigid bodies in the formation are synchronized but also they track the time-varying attitude of a virtual leader. Using Lyapunov stability approach, finite-time stability of the proposed control algorithms demonstrated on the sliding phase as well as the reaching phase. The effectiveness of the proposed algorithm is also validated by simulation.Originality/valueThe proposed controller has the advantage that the need for any fault detection and diagnosis mechanism and the upper bounds information on estimation error and external disturbance is eliminated.

The Influence of Mothers on the Development of Their Daughter’s Eating Disorders: An Integrative Review

ABSTRACT Background: Eating disorders (ED) are characterized by changes in eating behavior, whose aetiology is multifactorial with an emphasis on family relations, especially in the mother-daughter relationship Objective: To analyse the national and international scientific literature about the influence of mothers on the development of their daughter’s ED. Methods: Integrative review based on the search of publications from 2012 to 2019 through PubMed, LILACS and SciELO electronic databases. Results: It was found 181 articles, from which 26 were selected (21 in English, four in Portuguese and one in French) to comprise the research corpus. In addition, 155 were removed from the review due to the exclusion criteria, which included narrative review articles, theses, dissertations, monographs, editorial letters and responses to the editor. Discussion: The analyzed articles offer evidence that the type of influence exercised by the mother depends on her personality profile, the mother’s eating behaviour and body attitudes, the bond between mother and daughter and the type of communication that is established between the dyad. Conclusion: Health promotion actions in the population are necessary to prevent ED. In addition, interventions for families, and especially for mothers, are recommended, in order to favour more effective therapeutic and prognostic results.

Decoupling control of active suspension and four-wheel steering based on Backstepping-ADRC with mechanical elastic wheel

Mechanical elastic wheel (MEW) has the advantages of explosion-proof and prick-proof, which is conducive to the safety and maneuverability of the vehicle. However, the research on the performance of the full vehicle equipped with MEW is rare. Considering the particular properties of the radial and cornering stiffness of MEW, this paper aims to take into account both ride comfort and yaw stability of the vehicle equipped with the MEW through a nonlinear control method. Firstly, a 9-DOF nonlinear full vehicle model with the MEW tire model is constructed. The tire model is fitted based on experimental data, which corrects the impacts of vertical load on the cornering characteristic of the MEW. Then the full vehicle system is decoupled into four subsystems with a single input and a single output each according to active disturbance rejection control (ADRC) technology. In this process, the coupling relationship between different motions of the original system is regarded as the disturbance. Afterward, a novel nonlinear extended state observer is proposed, which has a similar structure of traditional linear extended state observer but smaller estimation error. Next, the control law of Backstepping-ADRC for different subsystems are derived respectively based on the Lyapunov theory. For the first time, the Backstepping-ADRC method is applied to the decoupling control of four-wheel steering and active suspension systems. Furthermore, the parameters of the controllers are adjusted through a multi-objective optimization scheme. Finally, simulation results validate the effectiveness and robustness of the proposed controller, especially when encountering some disturbances. The indices of vehicle body attitude and ride comfort are improved significantly, and also the yaw stability is guaranteed simultaneously.

Active Suspension Control Strategy of Multi-Axle Emergency Rescue Vehicle Based on Inertial Measurement Unit.

Active suspension control strategies are a top priority in active suspension system. The current research on active suspension control strategies is mostly focused on two-axle vehicles, and there is less research investigating multi-axle vehicles. Additionally, their effective implementation is dependent on accurate mathematical models, and most of them adopt force feedback control, which is vulnerable to external interference. To solve these problems, this paper proposes an active suspension control strategy based on Inertial Measurement Unit. The multi-axle emergency rescue vehicle is made to be equivalent to a 3-degrees-of-freedom parallel mechanism by using the method of grouping and interconnecting the suspension units of the whole vehicle. The attitude change of the vehicle body was transformed into the servo actuator’s displacement by solving the inverse solution of the parallel mechanism position and the action of the servo actuator was driven in reverse according to the displacement obtained. In this way, the vehicle body attitude can be compensated, and the ride comfort and the handling stability of the vehicle can be improved. To verify the effectiveness of the control strategy proposed, the three-axle six vehicle was taken as the research object, the position inverse solution of its equivalent 3-degrees-of-freedom parallel mechanism was deduced, and a high-pass filter was designed. The three-axle vehicle experiment platform integrating active suspension and hydro-pneumatic suspension was built, and the gravel road and slope road experiments were carried out and the results compared with those obtained with hydro-pneumatic suspension. The experiment results showed that, compared with hydro-pneumatic suspension, the active suspension control strategy based on Inertial Measurement Unit proposed in this paper can not only stabilize the body attitude, but also effectively suppress body vibration, improving the ride comfort and handling stability of the vehicle significantly.

Computational Journalism Analysis on Young Adults' Body Images and Attitudes Toward Plastic Surgery

Computational journalism, especially social media analysis, is a very popular field in computational science. This study was conducted to explore and analyze the impact of the intensity of the exposure to social media on young Thai adults' body images and attitudes toward plastic surgery. The purposive sampling method was used for choosing 250 young Thai men and women aged 21 to 40 who used Facebook and/or Instagram on a regular basis. Online survey questionnaires were posted on Facebook for one month to achieve the results. It was found that young Thai adults frequently and heavily used both social media. Having appearance pressure from and repeated social comparison with idealistic media images, a considerable number of participants displayed more negative self-perceptions and engaged in appearance-changing strategies through increased appearance investment. The results showed that the more these young adults were exposed to social media, the more they were likely to develop a negative body image of themselves, which later caused their attitude toward plastic surgery to be positive.

Psychometric properties of the Male Body Attitudes Scale—Revised among Brazilian men.

Psychometric properties of the Male Body Attitudes Scale—Revised among Brazilian men.

Autonomous Quadrotor Landing on Inclined Surfaces Using Perception-Guided Active Asymmetric Skids

We present an autonomous quadrotor capable of safely landing on sloped surfaces up to 40 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">°</sup> , intended for emergency scenarios where the only terrain available for landing may be sloped. This system uses a downward-facing depth perception system to determine the direction, angle, and smoothness of the slope. Two robotic landing skids of different lengths actively conform to the slope in order to maintain level body attitude upon landing. We developed an analytical model to design leg lengths, conform to the slope surface angle, and ensure both zero tilt angle of the quadrotor body and clearance of the propellers from the surface. The selection of skid angles is framed as an optimization to match the slope angle while maximizing the buffer between the propellers and the surface. An eigenvalue decomposition of the point cloud covariance matrix provides a surface normal vector, which is used to determine the proper skid angle and yaw angle of the quadrotor. The ratio of the eigenvalues is used to determine whether the surface is sufficiently smooth for safe landing. The proposed system and method were validated in a motion capture environment by conducting five autonomous takeoff and land missions over different sloped surfaces ranging from 0 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">°</sup> to 40 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">°</sup> . The detected slope angle and direction of all trials were within 1 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">°</sup> and 3.3 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">°</sup> , respectively, of ground truth. No failures or crashes occurred during testing, which demonstrates the viability and robustness of this system for use in real-world scenarios.