Low Speed Research Articles

Comparative analysis of real-world vehicular emissions from BS-IV and BS-VI cars in India.

This study investigates real-world carbon dioxides (CO2) and nitrogen oxides (NOx) emissions from diesel (Bharat Stage-IV (BS-IV)) and petrol/gasoline (BS-IV and BS-VI) cars in Indian driving conditions using a portable emission measurement system (PEMS). The paired sample t-test revealed a significant difference ( < 0.05) in NOx and CO2 emissions among the three types of cars, except for CO2 emissions ( > 0.05) between BS-IV petrol and BS-VI petrol cars. The highest NOx emission rates were observed in all car types during acceleration (> 1m/s2) and deceleration (- 2m/s2). CO2 emission rates were also high during acceleration (> 1m/s2) for all car types. At low speeds (around 20 kmph), all car types had low emissions of CO2 and NOx, with acceleration and deceleration rates ranging from - 0.5 to 0.5m/s2. BS-IV diesel cars emit significantly higher NOx emissions compared to petrol cars, especially at vehicle-specific power (VSP) bin 0 (deceleration to idling mode) and during VSP bin 7 (acceleration mode). BS-IV diesel cars emit 228% and 530% higher NOx emissions than BS-IV and BS-VI petrol cars at VSP bins 0 and 7, respectively. CO2 emissions from BS-VI petrol cars were 10% lower than those from BS-IV petrol cars across all VSP bins, indicating moderate reductions. Furthermore, diesel cars emit 140% less CO2 emissions than petrol cars across various VSP bins. The findings highlight the need for cleaner technologies and responsible driving practices to address vehicular emission concerns.

Sleep apnea in schizophrenia: Estimating prevalence and impact on cognition

Undertreated medical illnesses can compound the disabling cognitive deficits of schizophrenia. Obstructive sleep apnea (OSA) impairs cognitive domains also affected by schizophrenia, is common, and is treatable. The effects of sleep apnea on cognition in schizophrenia, however, are not well understood. We estimated the prevalence of OSA in a previously characterized sample of 3942 Veterans with schizophrenia by self-report and with a predictive model to identify individuals at high risk for OSA. We then compared neuropsychological and functional capacity assessment results between those who reported OSA versus those who did not, and between those predicted to have OSA versus predicted to not have OSA. We expected that many Veterans not reporting sleep apnea would be predicted to have it, and that both reported and predicted sleep apnea would be associated with lower cognitive and functional performance. The reported prevalence of OSA in the sample was 14%, whereas 72% were predicted to be at high risk of OSA. Interestingly, participants who reported having OSA had better cognitive and functional capacity performance (p's < 0.001) compared to those who did not report OSA, particularly on speed of processing assessments (p < 0.001). Predicted OSA, by contrast, was associated with lower speed of processing, verbal learning and working memory test scores (p's < 0.001). One possible interpretation of these results is that people with higher cognitive capacity may be more likely to seek medical care, while those with cognitive impairments are at greater risk for having untreated co-occurring medical conditions that further compromise cognition.

Enhancing Estimating the Charge Level in Electric Vehicles: Leveraging Force Fluctuation and Regenerative Braking Data

Accurate determination of the state of charge is vital to optimize the performance and lifespan of electric vehicle batteries. Traditional methods which rely on battery models and direct measurements can be error-prone due to fluctuating operating conditions and battery degradation over time. Regenerative braking systems are crucial in electric and hybrid vehicles for improving energy efficiency by transforming kinetic energy into electrical energy during braking. However, force fluctuation is a challenge that can affect the performance and comfort of regenerative braking. It is known to us that electric motors and generators used in regenerative braking have non- linear torque characteristics, especially at low speeds, leading to inconsistent braking force. Variations in road conditions, such as wet or uneven surfaces, can affect the grip of the tires, leading to fluctuations in deceleration. Interactions of regenerative braking system with conventional friction brakes can cause force fluctuations, especially during the transition between the two systems. This study introduces an improved state of charge estimation technique based on force fluctuation and a regenerative braking system. This research shows that this approach significantly enhances state of charge accuracy compared to traditional methods, especially in urban driving conditions with frequent braking. The findings underscore the potential of using regenerative braking as well as force fluctuation condition data as a valuable input for state of charge estimation, ultimately leading to better battery management and an extended electric vehicle range.

Design and Optimization of an Ultraviolet Scattering Communication System Based on Duty Cycle Regulation

In this paper, a novel ultraviolet (UV) scatter communication scheme is presented, designed to dynamically adjust the signal duty cycle to optimize on–off keying (OOK) modulation and reduce the bit error rate (BER), particularly under varying rate settings. This approach addresses the significant challenge posed by LED tailing effects, which cause signal fluctuations and increase BER in high-speed communications. This BER suppression scheme is proposed for the first time in UV communication research, enhancing communication performance without the need for additional hardware or complex algorithms. A UV communication model that incorporates both path loss and LED tailing effects is introduced, with the probability density function of the signal from transmitter to receiver derived. By varying the signal duty cycle, tailing-induced BER is effectively minimized. Additionally, a closed-form expression for signal transmission BER using a single-scattering model is provided, and the proposed UV communication system is validated through comprehensive simulations and experimental tests. The results indicate that LED tailing has a pronounced impact on BER at higher communication speeds, while its effects are less significant at lower speeds. By optimizing the duty cycle parameters for various communication rates, findings demonstrate that lower duty cycle settings significantly reduce the BER at higher speeds. This further demonstrates the excellent performance of the proposed UV communication solution for OOK-modulated optical communication.

Sensorless control method of induction motors with new feedback gain matrix and speed adaptive law for low speed range

Abstract The conventional adaptive full-order observer-based speed sensorless control method for induction motor is prone to instability at low-speed region as improper feedback gain matrix and imprecise speed adaptive law are often used. To address these problems, a new feedback gain matrix design approach as well as a new speed adaptive law design technique are proposed in this paper. Firstly, considering that the d-axis current estimation error in the traditional feedback gain matrix design method has a great influence on the stability of the speed estimation algorithm, especially at low speeds, a new feedback gain matrix design method is proposed to minimize the d-axis current estimation error. Secondly, a new speed adaptive law design technique is studied based on the conventional method, which only requires the d-axis and q-axis current estimation error with a weight coefficient to be designed, simplifying the conventional speed adaptive law. Thirdly, the transfer function from the speed observation error to the proposed adaptive error is analyzed by Routh stability criterion theory, and the weight coefficient suitable for full range stable operation is determined by MATLAB software. Fourthly, the stability of the proposed method in this paper is analyzed using the poles distribution maps. Finally, the proposed method is experimentally verified based on a 2.2 kW induction motor experimental platform. The experimental results show that the proposed method can make the induction motor operate steadily at low-speed and zero-speed region with rated load. In addition, the proposed method has better anti-disturbance performance than the existing method.

Tumor-Derived Exosomes Promote Tumor Growth Through Modulating Microvascular Hemodynamics in a Human Ovarian Cancer Xenograft Model.

Abnormal tumor vascular network contributes to aberrant blood perfusion and reduced oxygenation in tumors, which lead to poor efficacy of chemotherapy and radiotherapy. We aimed to explore the effects of the tumor-derived exosomes (TDEs) and C188-9 (a small molecule inhibitor of signal transducer and activator of transcription 3, STAT3) on tumor microvascular hemodynamics and determine which blood flow oscillations for various frequency intervals are responsible for these changes. Microvascular hemodynamics parameters were recorded using a PeriFlux 6000 EPOS system in tumor surface in a nude mouse subcutaneous xenograft model. Oscillations of laser Doppler flowmetry (LDF) signal were investigated by wavelet transform analysis. TDEs facilitated tumor growth at least partially was associated with increasing blood flow in smaller vessels with lower speed and decreasing the blood flow at larger vessels with higher speed. Lower oxyhemoglobin saturation (SO2) on tumor surface was aggravated by TDEs, and C188-9 treatment significantly alleviated this decrease. Wavelet transform spectral analysis revealed that TDEs increased the amplitude of oscillations in four frequency intervals related to endothelial (NO-dependent and -independent), myogenic and neurogenic activities, and C188-9 had no effect on this increase. TDEs facilitated tumor growth partially was associated with increasing blood flow in distributing vessels, reducing blood perfusion in larger vessels, and lowering SO2 on tumor surface. Enhanced vascular smooth muscle, endothelial and neurogenic activities occurred in tumor superficial zone.

Probabilistic assessment of short‐term voltage stability under load and wind uncertainty

AbstractContemporary electricity networks are exposed to operational uncertainties, which may jeopardise the stability of the power grid. More specifically, the increasing penetration level of variable renewable energy generation and uncertainty in load demand are key catalysts for these emerging stability issues. A mathematical relationship is established to track the system voltage trajectory with respect to variations in uncertain inputs (associated with wind speed, system load, and wind power penetration levels). Additionally, it demonstrates the consequences of varying uncertain inputs on the short‐term voltage response across different potential operating conditions. The theoretical proposition has further been verified by the simulation studies with two test power networks in DIgSILENT PowerFactory software. The simulation results revealed that uncertain injection sources significantly impacted the system voltage at the receiving end. High uncertainty in wind speed and system loads increased voltage recovery variation, causing delays in voltage response during low wind speeds and high system loads. Additionally, increased wind power penetration levels expanded voltage recovery uncertainties, resulting in decreased system voltage and potentially leading to voltage violations and instability at 30% wind power levels. Moreover, the results showed that the system's response time increased, and in some cases, it collapsed due to increased system capacity (&gt;80%) and dynamic load (&gt;75%), as well as encountering a large disturbance under uncertain circumstances.

Optimization of operating parameters of a drum-type feed metering unit developed for a human-powered floating fish feeder

Feed wastage is one of the major concerns in aquaculture practice. A simple and unique floating fish feeder with drum-type metering mechanism was developed, which addresses this concern. A drum-type metering mechanism is an easy, effective, low cost metering method with low energy requirement. Optimizing the feed rate for any metering systems is a necessary pre-requisite to ensure proper feeding. In this study, the operating parameters of the drum-type feed metering unit have been optimized to achieve the desired feed rate. The influence of three independent parameters (number of metering holes, shaft speed and drum fill level) on the dependent parameter (feed rate) was studied and optimized using response surface methodology. A multilevel full factorial design approach has been adopted for the experimental design. The effect of variation in operating parameters was investigated experimentally and a response surface model was developed from experimental data. The fit of the model was expressed by an R2 value of 0.879. The optimal solutions obtained from the model with high desirability values were further used for validation experiments in aquaculture pond and found to be acceptable. It was observed that low shaft speeds and drum fill levels led to better feeding. The best settings recommended for the feeder operation were 24 metering holes, 31 % drum fill level and 30 rpm shaft speed. The feeder was found to improve feed application and reduce feed wastage. This kind of low-cost feeding systems is expected to encourage adoption of mechanized feeding among small and marginal farmers.

Correlates and predictors of sarcopenia among men with metastatic castrate-resistant prostate cancer.

Sarcopenia is a predictor of clinical outcomes in men with metastatic castrate-resistant prostate cancer (mCRPC); however, correlates and predictors of sarcopenia are poorly understood in this population. The aim of this study was to examine correlates and predictors of sarcopenia in men with mCRPC prior to treatment. A secondary analysis of an observational study was performed. Participants were receiving care for mCRPC at the Princess Margaret Cancer Centre. Sarcopenia was assessed prior to treatment and was defined as the combination of low grip strength (<35.5 kg), low gait speed (<0.8 m/s), and computed tomography-derived low muscle mass or density. Participants' sociodemographic and clinical characteristics, comorbidity information, and clinically relevant blood markers were collected prior to treatment and were used to identify correlates and predictors of sarcopenia through Spearman correlations and multivariable logistic regression, respectively. In total, 110 men had complete data on sarcopenia measures and were included in the analysis. Sarcopenia was identified in 30 (27.3%) participants. Pre-treatment sarcopenia was moderately correlated with dependence in one or more instrumental activities of daily living (IADLs) (r=0.412), Vulnerable Elders Survey-13 (r=0.404), and a lower hemoglobin (r=0.407 per 10 g/L decrease). In adjusted logistic regression, dependence in one or more IADLs (odds ratio [OR] 4.37, 95% confidence interval [CI] 1.37-13.86, p=0.012), and a 10 g/L decrease in hemoglobin (OR 1.70, 95% CI 1.13-2.57, p=0.012) were significantly associated with sarcopenia. In settings where assessment of sarcopenia is not feasible, evaluation of IADLs and hemoglobin may be used to identify high-risk patients that can benefit from supportive care strategies aiming to improve muscle mass and function.

Дослідження впливу зовнішніх факторів на експлуатаційні властивості електромобіля

Many factors affect the range of an electric vehicle: speed, driving style and ambient temperature can reduce the range of a full charge. Cold weather poses two main problems for electric vehicles: cold air limits battery performance, and the robo-heater significantly drains the battery. Studies have shown that 21.5 degrees is the optimal temperature for the operation of an electric car battery. Because an average of 21.5 degrees Celsius is the most optimal temperature when it comes to the range of an electric car. This actually prolongs its operation. At 21.5 degrees, the electric car's temperature system does not work, so energy is used for its movement. At -20°C, an electric car loses an average of 50% of its battery charge range. At -10 – 40%, at 0 – 20%. When the temperature is +10o C, the real driving distance of the electric car corresponds to 100% charging of the battery. At +21 o C, the real distance can be increased to 15%. When it is +40oC, the performance of the battery drops significantly to 80%, and the rate of charge rapidly decreases as the temperature increases. The energy consumption of electric vehicles is largely influenced by weather factors. Studies have shown the influence of ambient temperature and wind speed on energy consumption. The results show that at low speeds (30 km/h) the relative influence of ambient temperature is extremely high. The lowest energy consumption is achieved at a temperature of 20° C. At higher speeds (130 km/h), the relative influence of the temperature of the external environment is much lower. It has been proven that 21.5 degrees is the optimal ambient temperature for the operation of an electric car battery during operation, a decrease or increase in temperature leads to a decrease in the efficiency of electric car operation.

Development and validation of the Thai version of MNREAD acuity charts.

To develop and validate MNREAD acuity charts in the Thai language (MNREAD-TH). In total, 180 Thai sentences were generated using words specific to the primary 1-3 students. Each sentence contained 60 characters divided into three lines with even left and right margins and was evaluated by instructors in the education program in Thai. The selected 118 sentences were tested in 20 adults and 20 children by measuring reading time and recording the errors. Sentences with extremely high or low mean reading speeds were excluded. The remaining sentences were selected for contributing to the MNREAD-TH charts. For validation, the charts were tested in another 20 normal-sighted adult groups. In total, 118 sentences were tested on 20 adults (range: 23-58 years) and 20 primary school students (age: 8-9 years). The mean (SD) reading speeds in adult and children's groups were 134.09 (12.45) and 71.33 (10.77) words/min (wpm), respectively. After removing the sentences that deviated by ±1 SD from the mean reading speed, repeatedly had difficulty words, and had low subjective scoring, 60 matched sentences between the groups were selected to develop three versions of the MNREAD-TH chart. The intraclass correlation coefficients between charts were 0.85 for reading acuity, 0.94 for maximum reading speed, and 0.79 for critical print size. The MNREAD-TH charts can be reliably used for evaluating reading performance in Thai people for both children and adults with either normal sight or low vision. These charts are standardized and helpful in clinical trials involving reading.

Age-related and experience-related differences in selected motor cognitive abilities of soccer players

Background: Soccer players constantly experience rapidly changing situations that challenge them to receive and process stimuli, make fast and correct decisions, and perform actions at specific moments. The aim of the present study was to analyze age and experience-related differences in the level of brain speed, disjunctive reaction time, and reaction speed of soccer players. Methods: A total of 111 soccer players (x=12.414; s=1.921) divided by age and level of experience participated in the study. The diagnosis of brain speed and disjunctive reactivity was carried out with the BrainHQ Hawk Eye test and BrainHQ Agility test using the Witty Sem system. Reaction speed was diagnosed with the Fitro Agility Check test using the Fitro Agility system. The Mann-Whitney U test and the Kruskal-Wallis analysis of variance were used to determine the significance of age and experiencerelated differences in the level of brain speed, disjunctive reaction time, and reaction speed of the soccer players. Results and conclusion: Statistically significant differences (p&lt;0.01) in favor of older age categories were observed between disjunctive reaction time and brain speed. Younger soccer players showed significantly lower levels of lower limb reaction speed in both directions of the sagittal plane than older players (p&lt;0.01). Less experienced soccer players demonstrated significantly lower levels of lower limb reaction speed in both directions of the sagittal plane than more experienced counterparts and lower levels of brain speed and disjunctive reaction time (p&lt;0.01).

Differential Mitochondrial Adaptation of the Slow and Fast Skeletal Muscles by Endurance Running Exercise in Streptozotocin-Induced Diabetic Mice.

The skeletal muscle is the main organ responsible for insulin action, and glucose disposal and metabolism. Endurance and/or resistance training raises the number of mitochondria in diabetic muscles. The details of these adaptations, including mitochondrial adaptations of the slow and fast muscles in diabetes, are unclear. This study aimed to determine whether exercise training in streptozotocin (STZ)-induced mice leads to differential adaptations in the slow and fast muscles, and improving glucose clearance. Eight-week-old mice were randomly distributed into normal control (CON), diabetes (DM), and diabetes and exercise (DM+Ex) groups. In the DM and DM+Ex groups, mice received a freshly prepared STZ (100 mg/kg) intraperitoneal injection on two consecutive days. Two weeks after the injection, the mice in the groups ran on a treadmill for 60 min at 20 m/min for a week and subsequently at 25 m/min for 5 weeks (5 days/week). The analyses indicated that running training at low speed (25 m/min) enhanced mitochondrial enzyme activity and expression of lactate and glucose transporters in the plantaris (low-oxidative) muscle that improved whole-body glucose metabolism in STZ-induced diabetic mice. There were no differences in glucose transporter expression levels in the soleus (high-oxidative) muscle. The endurance running exercise at 20-25 m/min was sufficient to induce mitochondrial adaptation in the low-oxidative muscles, but not in the high-oxidative muscles, of diabetic mice. In conclusion, the present study indicated that running training at 25 m/min improved glucose metabolism by increasing the mitochondrial enzyme activity and glucose transporter 4 and monocarboxylate transporter 4 protein contents in the low-oxidative muscles in STZ-induced diabetic mice.

Effects of axial electric and transverse magnetic fields on a rotating electro-osmotic flow in micro-parallel plates

This paper explores the combined influence of an axial electric field and a perpendicular magnetic field imposed on rotating micro-parallel plates immersed in an electrolyte solution. A specialized computer program was developed to solve the velocity as well as the EDL potential fields using the finite difference method, employing the Debye-Hückel (DH) approximation to linearization the EDL potential. The study examines the influence of various non-dimensional parameters, including rotational speed (ω), Hartmann number (Ha), Debye-Hückel parameter (κ), and the non-dimensional parameter ‘S’, on axial, and transverse velocities, wall shear stress, and net flow rate. Results demonstrate that, both velocity components decrease with increased rotational speed and Hartmann number, while the net flow rate increases with the Debye-Hückel parameter for both rotating and non-rotating systems. The impact of these parameters on shear stress was also analyzed. Analysis of Ekmann spirals in the velocity plane revealed closed spirals at a higher rotational speed and open spirals at lower speeds, with spiral size reducing as rotational speed increases.

Friction and Wear Performance of a Hydraulic Motor Roller/Piston Pair Contact lined with the Self-Lubricating Bearing Bush Modified by PEEK

Poly Ether Ether Ketone (PEEK) is a kind of special engineering plastic with excellent properties such as high-temperature resistance, self-lubrication, wear resistance, and high mechanical strength. However, its blending or composite modification applications still face numerous challenges. The primary objective of this research was to evaluate the friction and wear performance of a three-layer self-lubricating bearing bush, which was made from a modified material containing short carbon fiber and Poly Ether Ether Ketone (SCF/PEEK). The bearing bush is used as a surface contact layer on the pistons of a hydraulic motor in the interface with the cam roller. The bearing bush was processed using a 15% SCF-modified PEEK material, and the friction and wear test was conducted using a self-built friction test machine. This study aimed to assess the frictional and wear characteristics of the SCF/PEEK-modified material in the bearing bush. The results show that as the experimental pressure rises from 15 MPa to 25 MPa, the friction coefficient of the SCF-modified bearing bush experiences a significant decrease from 0.420 to 0.296. Furthermore, the stability of the frictional morphology of carbon fibers indicates its effective adaptability to low speed and high load conditions.

Thermodynamic Study on the Vortex Teeth of Electric Scroll Compressors Based on Gradient Tooth Height

Through the analysis of the adhesion between the tooth head and axial clearance leakage attributed to vortex tooth shape deformation, an innovative tooth shape design concept has been introduced entitled “progressive change tooth high vortex tooth”. This unique design includes a gradual change in tooth height and an elevated vortex tooth profile, using temperature-sensitive materials to enhance the resolution of temperature loading on the vortex disc. By refining the process of resolving the temperature loading on the vortex disc, the mean temperature function of the fluid domain along the wall of the vortex tooth is calculated, and a steady-state temperature distribution model for the solid domain of the vortex tooth is formulated. Subsequently, a finite element model for the high eddy current disc is constructed using Abaqus 2021 finite element software, which facilitates the calculation of stress–strain distribution within the high eddy current disc under both gas pressure and temperature field loads. The results show that, especially under conditions of low speed and low exhaust pressure, the temperature load mainly influences the maximum deformation and stress distribution of the vortex tooth. Specifically, under the influence of heat-solid coupling, the maximum deformation of the progressive change tooth high vortex tooth occurs in close proximity to the central compression cavity, reaching up to 13 microns. These results provide a crucial theoretical basis for the structural design and performance optimization of the compressor.

Thermodynamic Study on the Vortex Teeth of Electric Scroll Compressors Based on Gradient Tooth Height

Through the analysis of the adhesion between the tooth head and axial clearance leakage attributed to vortex tooth shape deformation, an innovative tooth shape design concept has been introduced entitled “progressive change tooth high vortex tooth”. This unique design includes a gradual change in tooth height and an elevated vortex tooth profile, using temperature-sensitive materials to enhance the resolution of temperature loading on the vortex disc. By refining the process of resolving the temperature loading on the vortex disc, the mean temperature function of the fluid domain along the wall of the vortex tooth is calculated, and a steady-state temperature distribution model for the solid domain of the vortex tooth is formulated. Subsequently, a finite element model for the high eddy current disc is constructed using Abaqus 2021 finite element software, which facilitates the calculation of stress–strain distribution within the high eddy current disc under both gas pressure and temperature field loads. The results show that, especially under conditions of low speed and low exhaust pressure, the temperature load mainly influences the maximum deformation and stress distribution of the vortex tooth. Specifically, under the influence of heat-solid coupling, the maximum deformation of the progressive change tooth high vortex tooth occurs in close proximity to the central compression cavity, reaching up to 13 microns. These results provide a crucial theoretical basis for the structural design and performance optimization of the compressor.

Charge generation by passive plant leaf motion at low wind speeds: design and collective behavior of plant-hybrid energy harvesters

Energy harvesting techniques can exploit even subtle passive motion like that of plant leaves in wind as a consequence of contact electrification of the leaf surface. The effect is strongly enhanced by artificial materials installed as ‘artificial leaves’ on the natural leaves creating a recurring mechanical contact and separation. However, this requires a controlled mechanical interaction between the biological and the artificial component during the complex wind motion. Here, we build and test four artificial leaf designs with varying flexibility and degrees of freedom across the blade operating on Nerium oleander plants. We evaluate the apparent contact area (up to 10 cm2 per leaf), the leaves’ motion, together with the generated voltage, current and charge in low wind speeds of up to 3.3 m s−1 and less. Single artificial leaves produced over 75 V and 1 µA current peaks. Softer artificial leaves increase the contact area accessible for energy conversion, but a balance between softer and stiffer elements in the artificial blade is optimal to increase the frequency of contact-separation motion (here up to 10 Hz) for energy conversion also below 3.3 m s−1. Moreover, we tested how multiple leaves operating collectively during continuous wind energy harvesting over several days achieve a root mean square power of ∼6 µW and are capable to transfer ∼80 µC every 30–40 min to power a wireless temperature and humidity sensor autonomously and recurrently. The results experimentally reveal design strategies for energy harvesters providing autonomous micro power sources in plant ecosystems for example for sensing in precision agriculture and remote environmental monitoring.

The Motion Estimation of Unmanned Aerial Vehicle Axial Velocity Using Blurred Images

This study proposes a novel method for estimating the axial velocity of unmanned aerial vehicles (UAVs) using motion blur images captured in environments where GPS signals are unavailable and lighting conditions are poor, such as underground tunnels and corridors. By correlating the length of motion blur observed in images with the UAV’s axial speed, the method addresses the limitations of traditional techniques in these challenging scenarios. We enhanced the accuracy by synthesizing motion blur images from neighboring frames, which is particularly effective at low speeds where single-frame blur is minimal. Six flight experiments conducted in the corridor of a hydropower station demonstrated the effectiveness of our approach, achieving a mean velocity error of 0.065 m/s compared to ultra-wideband (UWB) measurements and a root-mean-squared error within 0.3 m/s. The results highlight the stability and precision of the proposed velocity estimation algorithm in confined and low-light environments.

The Motion Estimation of Unmanned Aerial Vehicle Axial Velocity Using Blurred Images

This study proposes a novel method for estimating the axial velocity of unmanned aerial vehicles (UAVs) using motion blur images captured in environments where GPS signals are unavailable and lighting conditions are poor, such as underground tunnels and corridors. By correlating the length of motion blur observed in images with the UAV’s axial speed, the method addresses the limitations of traditional techniques in these challenging scenarios. We enhanced the accuracy by synthesizing motion blur images from neighboring frames, which is particularly effective at low speeds where single-frame blur is minimal. Six flight experiments conducted in the corridor of a hydropower station demonstrated the effectiveness of our approach, achieving a mean velocity error of 0.065 m/s compared to ultra-wideband (UWB) measurements and a root-mean-squared error within 0.3 m/s. The results highlight the stability and precision of the proposed velocity estimation algorithm in confined and low-light environments.