High Level Of Automation Research Articles

Optimization-based Fault Mitigation for Safe Automated Driving

With increased developments and interest in cooperative driving and higher levels of automation (SAE level 3+), the need for safety systems that are capable to monitor system health and maintain safe operations in faulty scenarios is increasing. A variety of faults or failures could occur, and there exists a high variety of ways to respond to such events. Once a fault or failure is detected, there is a need to classify its severity and decide on appropriate and safe mitigating actions. To provide a solution to this mitigation challenge, in this paper a functional-safety architecture is proposed and an optimization-based mitigation algorithm is introduced. This algorithm uses nonlinear model predictive control (NMPC) to bring a vehicle, suffering from a severe fault, such as a power steering failure, to a safe-state. The internal model of the NMPC uses the information from the fault detection, isolation and identification to optimize the tracking performance of the controller, showcasing the need of the proposed architecture. Given a string of ACC vehicles, our results demonstrate a variety of tactical decision-making approaches that a fault-affected vehicle could employ to manage any faults. Furthermore, we show the potential for improving the safety of the affected vehicle as well as the effect of these approaches on the duration of the manoeuvre.

Development of generalized requirements for automated electric drive of cable equipment

The article deals with the production of cable and wire products and the operation of cable processing equipment. The technological parameters of cable machines are analyzed by maintaining the range established by the regulatory documentation, and the main task of ensuring the efficiency of the technology is formulated. The requirements for automated electric drive of cable equipment are analyzed, considering the harsh modern operating conditions of cable products. The work of modern cable equipment with a high level of automation of the technological process and existing cable machines with a service life of more than 10 years is considered. The possibility of creating a unified automatic control system for both the entire technological process and a separate technological operation by creating a flexible control system for a separate cable machine with the further formation of a full-scale digital environment for the entire cable enterprise is analyzed. The developed generalized requirements for the automated electric drive of the cable machine made it possible to conduct research on specific cable equipment the VSK-13 drawing machine by creating a simulation model, and the obtained results of mathematical modeling gave good results on the computational experiment of the electromechanical system of the VSK-13 drawing machine.

An Uncertainty-Adaptive Consistency Training Algorithm for Semi-Supervised Object Counting Networks

Object counting presents a significant challenge for applications demanding high levels of automation. In recently ears, semi-supervised counting methods have been explored to alleviate the burden of data annotation. Despite considerable progress, the state-of-the-art methods treat pixels with varying levels of difficulty equally during each training iteration, resulting in an inflexible consistency training that can lead to high supervision loss at the onset of training and potentially cause network collapse. To address this limitation, we propose an uncertainty-adaptive consistency training algorithm for semi-supervised object counting networks in this paper. Our approach leverages image colorization to construct colorization uncertainty, which can measure the difficulty of object pixels and background pixels. To ensure superior uncertainty estimation, we then enhance this colorization uncertainty by using density features to guide the learning of colorization. Furthermore, an uncertainty-adaptive consistency training (UACT) algorithm is introduced for the consistency training of density maps. By adaptively adjusting the uncertainty threshold, we prioritize harder pixels for selection, gradually incorporating easier ones into the consistency training. The effectiveness o f t he UACT is evaluated through extensive experiments on two datasets. Experimental results demonstrate that our method outperforms state-of-the-art semi-supervised counting methods.

The concept of sustainable transportation and unmanned railway technologies: the EAEU experience

The article attempts to critically assess the current regulatory framework in the field of unmanned technologies through the prism of the concept of sustainable transportation in the EAEU. The main trends in the development of unmanned technologies in transportation are identified. Using the example of the Russian railway transportation, the key technical and technological aspects of the operation of unmanned systems, which need a primary mechanism of regulation, are shown. The study shows that the effectiveness of high-level automation technologies directly depends on adequate normative and technical regulation and legal basis for ensuring safety issues and regulating responsibility at the interstate level. The authors consider it advisable to apply a test procedure for the use of unmanned technologies at the initial stage of operation, as well as to create “regulatory sandboxes” before the mass operation of unmanned vehicles. The development of international legal regulation of unmanned transport will become a driver for the realization of Russia’s transit potential, especially in the context of de-globalization trends in the world economy and anti-Russian sanctions.

Industry 4.0 and the Future of the Labor Market

After the introduction of computers and the Internet into our lives with the Third Industrial Revolution, digital developments such as wireless networks, computing, cloud infrastructures, big data technologies, artificial intelligence-enhanced robots, internet of things (IoT), and cyber-physical systems (CPS) are starting of a new technological age. The Fourth Industrial Revolution, known as Industry 4.0, will initiate a transformation in production models, as in many areas, with its technological tools. The aforementioned components of Industry 4.0, cyber-physical systems (CPS), Internet of Things (IoT), and cloud computing, artificial intelligence and robotic technologies have transformed production and changed the nature of many businesses. This digital transformation puts pressure on the labor market and the transformation of the labor factor and stands before us as a multidimensional problem that needs to be resolved. While these technologies increase competitiveness in terms of cost advantage and efficiency in production, they bring about changes in the production structure. The technology mentioned in all areas of life is planned to serve the "unmanned" mission. With unmanned transportation vehicles, educational institutions, hospitals, factories and many others, human labor will be replaced by artificial intelligence wonder robots, robotic arms and machines in daily life. The perfect example of full automation, dark factories, robots with artificial intelligence technology, robotic arms and machines that communicate with each other, seem to seriously shake the place of labor in production. In this process, the following question comes to mind: Will the machines that are expected to replace labor affect employment negatively or is it possible for labor to keep up with this technological transformation? Considering the unmanned mission of technological transformation, it means that this situation will negatively affect the employment of the labor factor and technological unemployment will increase. However, the disadvantaged position of labor in an environment with a high level of automation should be evaluated in terms of the characteristics of the current labor market. The jobs of the future undergoing technological transformation require more technological knowledge and human skills. Although technological developments leave production to artificial intelligence, robots and smart machines, human intelligence is still needed behind these technological wonders. In all production and service units built on full automation, there will always be a need for technicians and engineers working in the background of the flawless operation of that technology. Although this shows that unskilled labor force will lose the war against technology, it shows that there is always hope for qualified labor force. In the study, the current situation is revealed by making a literature study on the effect of technological developments in the labor market, and the effects of this technological transformation on the labor market are mentioned by giving information about the concept of industry 4.0 and its components.
 Possible changes in the labor market due to the intensive use of smart technologies in the production of goods and services are also included.

Derivation of harmonised high-level safety requirements for self-driving cars using railway experience

The development and manufacture of self-driving cars (SDCs) have triggered unprecedented challenges among car manufacturers and smart road operators to accelerate awareness and implementation of innovative technologies for cooperative, connected and automated mobility (CCAM), especially those with a high level of automation and safety. Safety improvement is a pre-requisite to justify and unleashing a mass deployment of connected and driverless cars to reach the goal of zero-accident in 2050 set by the European Commission. Behind these motivations a well-justified and widely acceptable high-level safety target for SDCs is mandatory. The aim of this article is to contribute to the derivation of an harmonised high-level safety target for SDCs, starting from the safety requirements and the state of the art achieved by train and airplane operations. The novelty of our approach is to leverage the Common Safety Method-Design Targets (CSM-DT) already adopted and widely accepted by the railway community. According to this approach, the derived, justified and harmonised high-level design safety target for SDCs, defined as the average probability of a dangerous failure PFSDC per 1 h, should be 1 × 10−7/h. An example of PFSDC allocation to individual SDC safety functions, including position determination based on Global Navigation Satellite System (GNSS), is described using a fault tree. The proposed methodology can speed up the validation and certification process needed to authorise the SDCs, by capitalising the know-how and best practices in use since many years for the train management.

VERTICAL VIBRATING MOVEABLE DEVICE

Modern industry is characterized by a high level of automation of technological operations in the production of any product. Thus, in order to save production space, as well as to organize the transportation of objects under the ceiling of the workshop, suspended transportation robotic systems are used. With their help, workpieces are supplied to workplaces, and finished parts to assembly positions, as well as loading and transfer of materials and finished products. First of all, it concerns the electronic and radio-electronic industry. There are a number of transport devices where the cargo flow can move both horizontally, at an angle to the horizon, and vertically. Transportation in the vertical plane can be carried out thanks to a working element such as a belt, rope, chain, combined element, auger, pipe, or a medium (air, water) or a phenomenon (electromagnetic field, vibrations). On the basis of the analysis of their designs and the patent search, it is possible to conclude that the working process of moving goods in the vertical plane, in connection with its wide variety of choosing a design solution, is the subject of scientific research, and the orientation of designers to the modernization of these means of movement, primarily with the aim increasing the efficiency of use, the energy efficiency coefficient and reducing the material consumption of equipment always remains an urgent task of mechanical engineering. The choice of such means depends, first of all, on its type, technological purpose, technical and economic indicators of production. All this indicates the need to deal with this issue, because even a slight improvement of these indicators gives a significant economic effect as a whole. In this work, as a development of alternative means of movement in suspended transport robotic systems, vibrating mobile devices, which can contain a cargo platform with a product or, for example, a simple manipulator, have become. We suggest you familiarize yourself with the results of the device's research in the forward and reverse direction of movement in the vertical plane. For the convenience of the study, a round profile (pipe) is taken as a monorail, on which a mobile vibrating device is strung. The design of the device can be quite diverse: in the form of elastic elements, brake, friction, overtaking, eccentric and ratchet mechanisms, etc. In this case, an elastic conical collet is used, which contacts the surface of the column. An effective means of implementing the given function is the use of an electromagnetic pad brake. The structure is built according to a two-mass scheme, which contains a working body, an electromagnetic drive and a locking mechanism. The effect of vibratory movement of the device along a vertical (rough) pipe is realized according to the asymmetry scheme of the first type under the action of longitudinal harmonic oscillations. Cyclic programming provides automatic execution of specified operations, stopping at loading and unloading positions, changing the direction of movement.

Smart challenges and opportunities in maritime fields on effects of 4th IR and COVID 19 pandemic

The COVID-19 pandemic affected world trade, and the economy in addition to public health i.e. adding additional challenges and perhaps opportunities for the maritime industry. Novel technologies and high levels of automation in maritime transport imposed by the Fourth Industrial Revolution (4IR) are expected to contribute significantly to the changing of maritime operations sooner than expected. Ports are already facing enormous challenges to adapt to many recent trends, including mega-ships, sustainability, and smart concepts such as cyber security. This paper focuses on a key aspect, i.e. how the maritime industry should adapt to accommodate and interface with novel technologies e.g. autonomous ships, i.e. accelerated after the pandemic, sooner than later to survive. By an inductive and deductive approach, the research demonstrates the challenges facing ports in preparing for different Fourth Industrial Revolution (4IR) challenges shortly. Suze Canal Economic Zone (SCZone) ports are taken as a case study, which should cope with these 4th IR developments and overcome any future pandemic effects. For rationality, analyses are done for SCzone, as an example of how to remain competitive in international transport. Findings of the research found that developing countries should be eager to invest in capacity building and legislative adaptation before investing in infrastructure to cope with the latest technologies. Technical cooperation programs under international bodies e.g. IMO, inter alia, can play an important role in these required adaptation developments. Keywords: Pandemic, Autonomous Ships - Ports, 4IR, Challenges, Opportunities

Understanding data governance requirements in IoT adoption for smart ports – a gap analysis

ABSTRACT Maritime shipping is considered the backbone of the global supply chain. It is expected that future fully automated smart ports will be data-driven, harvesting power from advanced analytics and artificial intelligence. Under the hood, Internet of Things (IoT) technologies are considered as an enabling foundation of new data sources for innovations and high-level automation. Thus, enterprise data management becomes critical when implementing IoT projects. However, the implementation of data management needs to be governed. Although the IoT adoption in smart ports receives significant interest from the port authority, the effectiveness of the IoT adoption lacks proper evaluation and support of comprehensive data management policy and guidelines. By using the systematic literature review and a case study to analyze the current gaps in IoT data governance research, this research shows that IoT data governance still needs to catch up in smart ports. In particular, compared to other industries, data lifecycle management and data quality management are two key data governance areas that should receive increasing attention from the port authorities. It is believed that with adequate data governance, smart ports can truly harvest the power of IoT to improve operational efficiency and sustainability with an increasing level of automation.

Explainable Deep Reinforcement Learning: State of the Art and Challenges

Interpretability, explainability, and transparency are key issues to introducing artificial intelligence methods in many critical domains. This is important due to ethical concerns and trust issues strongly connected to reliability, robustness, auditability, and fairness, and has important consequences toward keeping the human in the loop in high levels of automation, especially in critical cases for decision making, where both (human and the machine) play important roles. Although the research community has given much attention to explainability of closed (or black) prediction boxes, there are tremendous needs for explainability of closed-box methods that support agents to act autonomously in the real world. Reinforcement learning methods, and especially their deep versions, are such closed-box methods. In this article, we aim to provide a review of state-of-the-art methods for explainable deep reinforcement learning methods, taking also into account the needs of human operators—that is, of those who make the actual and critical decisions in solving real-world problems. We provide a formal specification of the deep reinforcement learning explainability problems, and we identify the necessary components of a general explainable reinforcement learning framework. Based on these, we provide a comprehensive review of state-of-the-art methods, categorizing them into classes according to the paradigm they follow, the interpretable models they use, and the surface representation of explanations provided. The article concludes by identifying open questions and important challenges.

Hairpin Windings: An Opportunity for Next-Generation E-Motors in Transportation

Advances in electrical machines and power electronics (PEs) are helping to achieve the power density and efficiency required by the transportation sector. However, the reliability of components and production processes is a challenge. This is especially true for electrical machines, whose winding processes are far from the high levels of automation, programmability, and repeatability that are required. This article looks into hairpin windings and outlines a number of future actions to address challenges and eventually enable the complete penetration of hairpin windings in transportation.

Smart Energy System Control Laboratory – a fully-automated and user-oriented research infrastructure for controlling and operating smart energy systems

Abstract In the present paper, we introduce the Smart Energy System Control Laboratory (SESCL) as a fully-automated and user-oriented research infrastructure for controlling and operating smart energy systems in the context of a microgrid-under-test setting. SESCL’s high level of automation and capacity to fully function in a grid-decoupled way allow for the study and evaluation of yet-to-be-developed tools and algorithms for energy technologies and grid control strategies on the edge of system stability, but in a safe environment. In the context of various European Smart Grid Laboratories, the new concept and specifications of SESCL are outlined in depth. The key advantages of SESCL are highlighted as (i) the provisioning of a fully-automated busbar matrix to provide a very flexible and adjustable microgrid topology; (ii) the capability of load shedding or integration of grid participants, as well as changing the microgrid topology on demand; (iii) and the possibility to control and modify setpoints and operating parameters of grid participants during runtime. Inspired by real-world events in island grids, the islanding of a microgrid is utilized as a use case to illustrate the capabilities of the SESCL research infrastructure.

RESPIRE: Reducing Spatial–Temporal Redundancy for Efficient Edge-Based Industrial Video Analytics

Video camera plays a growing important role in advancing industrial control towards a higher level of automation. Thus, video analytics become highly demanded, especially for low-latency and high-accuracy analytic results. Yet, the data volume produced by camera clusters is prohibitively high. In this article, we propose <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Respire</i> , a system that can remove redundant frames for reducing the cost of transmission and processing based on edge computing nodes, while maintaining useful frames for high analytic accuracy. Specifically, <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Respire</i> incorporates a new way for characterizing the spatial–temporal redundancy between frames. Then, <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Respire</i> prioritizes the uploading of frames for redundancy reduction. As the search space of the entire collected frames is exponential for the set of frames containing the maximal information, we jointly consider offline and online pruning of frames and propose a heuristic algorithm to reduce the search space. Extensive real-world dataset-based experiments demonstrate that the proposed system can significantly reduce communication and computation costs, while providing sufficient information for guaranteed video analytic accuracy.

Model of operation of computer measuring system

The implementation of the concepts of a smart home - smart city implies a high level of automation using control and measuring devices and equipment, as well as computer and informational technologies. One of the effective trends of automation is the widespread use of computer measuring systems Article presents the model of operation of a computer measuring system with digital data processing is proposed. The presented model is based on the semi-Markov model of operation of an analog-to-digital converter, on the semi-Markov model of an embedded personal computer, on the analytical formula for calculating the availability factor of computer measuring system. The analytical expression for the availability factor of a computer measuring system includes both the technical and operational characteristics of the computer, as well as the metrological and technical characteristics of the analog-to-digital converter. The specified expression allows to find the optimal value of calibration and verification interval. Determination of the optimal calibration interval required to control the metrological characteristics during long-term operation of the computer measuring system. The developed model can be used to set requirements for the metrological support of instruments and de-vices used in the framework of the automation trend in the sphere of housing and communal services.

Accuracy Assessment of Direct Georeferencing for Photogrammetric Applications Based on UAS-GNSS for High Andean Urban Environments

Unmanned Aircraft Systems (UAS) are used in a variety of applications with the aim of mapping detailed surfaces from the air. Despite the high level of map automation achieved today, there are still challenges in the accuracy of georeferencing that can limit both the speed and the efficiency in mapping urban areas. However, the integration of topographic grade Global Navigation Satellite System (GNSS) receivers on UAS has improved this phase, leading to a reach of up to a centimeter-level accuracy. It is therefore necessary to adopt direct georeferencing (DG), real-time kinematic positioning (RTK)/post-processed kinematic (PPK) approaches in order to largely automate the photogrammetric flow. This work analyses the positional accuracy using Ground Control Points (GCP) and the repeatability and reproducibility of photogrammetric products (Digital Surface Model and ortho-mosaic) of a commercial multi-rotor system equipped with a GNSS receiver in an urban environment with a DG approach. It was demonstrated that DG is a viable solution for mapping urban areas. Indeed, PPK with at least 1 GCP considerably improves the RMSE (x: 0.039 m, y: 0.012 m, and z: 0.034 m), allowing for a reliable 1:500 scale urban mapping in less time when compared to conventional topographic surveys.

Electrospun Polycrown Ether Composite Nanofibers as an Adsorbent for On-Line Solid Phase Extraction of Eight Bisphenols from Drinking Water Samples with Column-Switching Prior to High Performance Liquid Chromatography.

Bisphenols (BPs) are a class of endocrine disruptors widely existing in the environment. They have a great impact on human health owing to their environmental endocrine disrupting effects, chronic toxicity, neurotoxicity, cytotoxicity and genetic toxicity. In this paper, an on-line packed fiber solid phase extraction (PFSPE) coupling with column-switching HPLC-FLD determination method was developed for the determination of eight BPs in drinking water. The poly (dibenzo-18-crown-6-ether)/polystyrene composite nanofibers (PDB18C6/PS) were prepared by electrospinning and used as an adsorbent for the on-line PFSPE column. The on-line PFSPE-HPLC equipment contained a dual ternary pump and a switching valve to enable enrichment, purification, and analysis directly in the system. The results showed that the proposed on-line PFSPE-HPLC-FLD method realized the simultaneous separation and detection of eight BPs: BPF, BPE, BPA, BPB, BPAF, BPAP, BPC and BPZ. The curves of the target analytes were prepared with good correlation coefficient values (r2 &gt; 0.998) in the range of 50-1000 pg/mL. The limit of detection (S/N = 3) was 20 pg/mL, the limit of quantitation (S/N = 10) is 50 pg/mL. The recoveries of eight BPs were 94.8-127.3%, and the intra-day precisions (RSD) were less than 10%. The PFSPE column made of the PDB18C6/PS composite nanofibers has stable properties and can be reused at least 200 times. In the detection of drinking water samples, BPZ was detected in nearly 80% of drinking water samples, and BPA, BPAP, BPF and BPAF were also detected in some water samples. This high level of integration and automation was achieved in pretreatment of eight BPs from water samples. The proposed simple, rapid, and practical method has been successfully applied to the detection of eight BPs in drinking water, which can provide powerful technical support for drinking water quality and safety monitoring.

Occupant preferences on the interaction with human-centered control systems in school buildings

Human-centered control systems in buildings have gained increasing attention in recent years as they foster the integration of user preferences in the decision-making control algorithm. However, such advanced systems are built upon the assumption that occupants are willing to interact as data providers. Introducing technologies reliant on feedback from the users, without initially analysing how users accept them, can lead to impeding the anticipated operation of such systems. Hence, this rare interdisciplinary research presents a nexus of technical and social sciences, that addresses the occupant-related misconceptions regarding the interaction with advanced control systems. This study identifies the occupant preferences and provides a method to predict the willingness of occupants to interact with advanced control for indoor environment control and demand-response actions. Additionally, the proposed approach enables to identify the main drivers and motivators of that interaction. This study is built upon the behavioural science theory called the Theory of Planned Behaviour and 435 school building occupants participated in the study. The findings from this pertinent research show that many common concepts in the building control domain do not comply with the occupants’ viewpoint and need to be reconsidered. For instance, in the post-pandemic era, the most important comfort aspect according to the occupants is the indoor air quality compared to thermal and visual comfort. Furthermore, although higher automation levels are desired, control access through advanced technologies, such as human-centered control, is not easily accepted by occupants. Hence, their willingness for interaction should be predicted instead of assuming that occupants will share data with advanced control systems. The proposed model in this research has predictive potential and yielded an explained variance of 58%, showing that the target occupants of the building are willing to interact with the controller. These findings are important to researchers and practitioners who design and develop human-centered control systems to foresee the engagement level of occupants in indoor environment control or demand-response actions.

A rapid high throughput bioprinted colorectal cancer spheroid platform for in vitro drug- and radiation-response

We describe the development of a high-throughput bioprinted colorectal cancer (CRC) spheroid platform with high levels of automation, information content, and low cell number requirement. This is achieved via the formulation of a hydrogel bioink with a compressive Young’s modulus that is commensurate with that of colonic tissue (1–3 kPa), which supports exponential growth of spheroids from a wide range of CRC cell lines. The resulting spheroids display tight cell–cell junctions, bioink matrix-cell interactions and necrotic hypoxic cores. By combining high content light microscopy imaging and processing with rapid multiwell plate bioprinting, dose-response profiles are generated from CRC spheroids challenged with oxaliplatin (OX) and fluorouracil (5FU), as well as radiotherapy. Bioprinted CRC spheroids are shown to exhibit high levels of chemoresistance relative to cell monolayers, and OX was found to be significantly less effective against tumour spheroids than in monolayer culture, when compared to 5FU.

UTM Architecture and Flight Demonstration in Korea

Unmanned Aircraft System Traffic Management (UTM) is a traffic management system enabling drones to safely and efficiently fly in low-altitude airspace below 120~150m (400~500ft). UTM provides services such as communication, flight route management, location monitoring, and collision avoidance so that drones completing various missions can fly beyond visual line of sight (BVLOS) safely and increase the usability of airspace. In other words, UTM is a new air traffic management for drones with high levels of automation, advanced decision making and control. Many countries around the world are developing UTM systems that systematically manage the traffic of drones flying at low altitude. In Korea, UTM research has been ongoing as an R&amp;D project since 2017. The purpose of this paper is to introduce the Korean UTM system and to apply it to actual flight demonstration through the developed operational procedures. The approach of this article is to establish Korean UTM architecture through existing references and examples from other countries, devise an operational procedure suitable for the system, and describe the results of using it for flight demonstration. In other words, this paper covers Korea’s UTM architecture, operational procedures, and flight demonstration through a macro approach to UTM. In addition, this paper presents policy and technical challenges that UTM must go through and that need to be solved in the future, which are classified into four categories.

GIS Based Procedural Modeling in 3D Urban Design

Traditional urban design is time-consuming and laborious. We propose a computer-generated architecture (CGA)-based workflow in this work, with the goal of allowing designers to take advantage of a high level of automation. This workflow is based on procedural modeling. A three-step CGA rule was applied to implement 3D urban procedural modeling, (1) parcel subdivision and clustering, (2) building extrusion, and (3) texture mapping. Parcel subdivision and clustering is the key step of layout modeling, giving the modeler flexibility to adjust the placement and size of the inner building lots. Subsequently, a land-use-based combination of eight common building types and layouts was used to generate various urban forms for different urban functional zones. Finally, individual buildings were decorated by creating texture maps of a planar section of the building facade or, alternatively, decomposing facades into sets of repeating elements and texture maps. We employed the proposed workflow in the H-village urban redevelopment program and an air–rail integration zone development program in Guangzhou. Three design proposals were generated for each project. The results demonstrated that this workflow could generate multiple layout proposals and alternative facade textures quickly and, therefore, address most of the collaborative issues with its analysis functions, including a flexible adjustment mechanism and real-time visualization.