Real-time System Research Articles

Modelling and Experimentation of failure modes to obtain safe operating Range for improved Dielectric elastomer actuation performance

Abstract Dielectric elastomers (DEs) possess high energy density, lightweight, and low response time making them suitable material candidatures for electromechanical transducers (ET). Performance enhancement of ET necessitates escalated electrical load making prone to failure and subsequently hindering reliability and life cycle. Existing models towards failure mitigation focus on mechanical and electrical loads individually with constant relative permittivity, whereas DEs undergoes combined loading and stretch-electrostriction in real-time application. This study aims to identify safe design and operating parameters by addressing various modes of failures under combined loads and stretch-electrostriction. Under combined load, pre-strain emerges as a crucial parameter to reduce EMI, while extensive pre-strain leads to diminish thickness which in turn promotes electrical breakdown of elastomer. The optimized design for DEs exhibit substantial failure suppression at a pre-strain value of 1.7 (λpre) under maximum electrical load of 37.66 MV/m (Emax). The efficacy of optimized parameters for the failure suppression is verified through an in-house fabricated planar actuator. Operation within the identified range of parameters is observed to enhance the reliability and lifespan of DE-actuators, marking a noteworthy advancement in the field of soft robotics.

Three-dimensional finite element analysis of biological signal feedback in the mechanical properties of sound production

In response to the problems of low reliability and long time consumption in traditional research on sound production, this article used electromyography (EMG) signals as input signals to build a high-precision sound production mechanics model. A Proportional-Integral-Derivative (PID) controller was used to dynamically adjust the model and develop a real-time feedback system. This article established a detailed three-dimensional (3D) finite element model including the vocal cords and throat, defined the nonlinear elastic properties and linear elastic properties of different tissues, and used tetrahedral grid partitioning technology to improve the computational accuracy of the model. Through a EMG sensor, an individual EMG was collected and filtered to remove noise. The processed EMGs were used as input parameters for the finite element model to drive the muscle units in the model. By using a PID controller to receive real-time EMG input, the error was calculated and the model was adjusted, enabling accurate simulation of the mechanical properties of vocal cord vibration under different vocal states and achieving real-time feedback. Considering the complexity of vocal cord vibration driven by biological signals, this article simulated and analyzed the modal characteristics of vocal cord vibration, and analyzed the differences in vocal cord vibration characteristics under different vocal states. The sound pressure distribution and resonance frequency were simulated and analyzed to understand the propagation characteristics of sound. Finally, by comparing and analyzing the simulated data with the actual collected data, it was found that the maximum relative error rate of the model under different sound states was 6.14%, and the overall error rate of the model was relatively low, which verified the reliability of the model. The findings demonstrated that the feedback delays of the model in different sound states were all within 100 milliseconds, indicating that the system had high real-time performance and accuracy, which was promising in practical applications.

Improved modelling of low-pressure rotor speed in commercial turbofan engines: A comprehensive analysis of machine learning approaches

Accurate engine thrust modelling offers notable opportunities for reducing fuel consumption, mitigating emission effects, managing air traffic, and optimizing the preliminary design of aircraft. This study focuses on the development of machine learning models to predict the low-pressure rotor speed (N1) parameter, which is closely related to the thrust of turbofan engines, for commercial aircraft during the cruise phase. The analysis utilizes a Flight Data Recorder (FDR) dataset from 1086 actual flights involving twin-engine, narrow-body, short-to-medium haul commercial aircraft equipped with CFM56-7B turbofan engines. To achieve accurate N1 parameter predictions, the study employs machine learning models, including Deep Learning (DL), Random Forest (RF), Gradient Boosted Machines (GBM), and Artificial Neural Networks (ANN). These models are evaluated using statistically significant indicators, demonstrating that machine learning models yield highly accurate results. Among the models tested, the DL model provides the most precise estimates of the N1 parameter. This study not only advances the understanding of engine thrust modelling through machine learning but also provides practical insights for the aerospace industry. The findings underline the potential of machine learning techniques in delivering superior prediction accuracy, which can be integrated into real-time flight management systems, ultimately contributing to more sustainable and efficient aviation operations.

Advanced parameter estimation for lithium-ion battery model using the information sharing group teaching optimization algorithm

Accurate battery modeling is crucial for optimizing the performance and safety of Lithium-ion batteries (LiBs), particularly in applications such as electric vehicles and smart grids. This paper introduces the Information Sharing Group Teaching Optimization Algorithm (ISGTOA), a novel human-based metaheuristic algorithm designed to estimate the 21 parameters of third-order Equivalent Circuit Model (ECM) for LiBs. Unlike existing methods, ISGTOA effectively manages the increased complexity of a model through advanced group teaching strategies and sophisticated information-sharing mechanisms inspired by classroom dynamics. We validated the effectiveness of ISGTOA using two distinct datasets—High Dynamic Profile (HDP) and Urban Dynamometer Driving Schedule (UDDS)—across various LiB chemistries (NCA and NMC) and temperature conditions (−5 °C, 25 °C and 45 °C). The results demonstrate that ISGTOA achieves superior parameter estimation accuracy and convergence speed compared to established and recent optimization methods such as TLBO, TLSBO, AISA, MTBO, and DTBO. Specifically, ISGTOA attained a minimum RMSE of 8.357 mV with rapid convergence and high stability in the HDP dataset and minimized RMSE to 10 mV within ten iterations at both 25 °C and 45 °C in the UDDS dataset. Additionally, ISGTOA exhibited high efficiency (up to 97.75 %) under varying thermal environments. This work not only introduces a novel algorithm for complex battery modeling but also sets the stage for future advancements in real-time battery management systems, emphasizing the importance of robust, versatile, and efficient parameter estimation techniques.

RescueNow: Real-time SOS and Predictive Women's Safety System

This paper presents a comprehensive women’s safety application designed to address the growing concerns of personal safety through technological intervention. The system integrates multiple advanced features such as real-time SOS alerts, geofencing to detect high-risk areas, AI-driven crime predictions, and multiple SOS activation methods, including voice commands, shake detection, and button press. Additionally, the app employs silent recording functionality to gather evidence in distress situations and incorporates secure communication channels for contacting law enforcement. The application also supports community-driven safety ratings and crime reporting. Tested with real-world scenarios, the system demonstrates high accuracy in predictive analytics and provides a seamless, scalable solution for enhancing women’s safety. This project contributes to the field of personal safety technologies by introducing a multi-faceted, AI-enabled framework for real-time risk mitigation. Key Words: Women’s safety, SOS alerts, AI crime prediction, geofencing, real-time GPS tracking, predictive analytics, Firebase Cloud Messaging, Twilio, silent recording, crime reporting.

A lightweight dual-link accelerated authentication protocol based on NLFSR-XOR APUF

Physical Unclonable Function (PUF) circuits, as a lightweight hardware security primitive, can provide reliable authentication for resource-constrained Internet of Things (IoT) devices. However, in real-time environments and systems, authentication of embedded devices has strict requirements on resources and low latency. Therefore, this paper proposes a lightweight dual-link accelerated authentication protocol design based on NLFSR-XOR APUF, through the study of Non-Linear Feedback Shift Registers (NLFSR) and XOR APUF circuits. First, the scheme utilizes the symmetric path delay deviation characteristics of APUF and the complexity of NLFSR state transitions to form a nonlinear output function that changes with the challenge signal. Then, a lightweight and attack-resistant authentication protocol is established by combining the random probability of shuffling array bits with the XOR confusion mechanism. Finally, the advantages of GPU parallel computing and AES T-table reconfiguration scheme are used to achieve an accelerated and side-channel attack-resistant authentication protocol. Experimental results show that the PUF circuit can effectively resist various modeling attacks, including logistic regression (LR), artificial neural network (ANN), and support vector machine (SVM). The security of the protocol has been formally verified, and the prototype has been implemented on the Xilinx xc100T development board, effectively resisting deception attacks, physical attacks, and modeling attacks. The protocol's area overhead in terms of LUT and encryption time is reduced by 58.6 % and 67.8 %, respectively, compared to similar protocols.

Applications of Machine Learning in Real-Time Control Systems: A Review

Abstract Real-time control systems(RTCS) have become an indispensable part of modern industry, finding widespread applications in fields such as robotics, intelligent manufacturing and transportation. However, these systems face significant challenges, including complex nonlinear dynamics, uncertainties and various constraints. These challenges result in weakened disturbance rejection and reduced adaptability, which make it difficult to meet increasingly stringent performance requirements. In fact, RTCS generate a large amount of data, which presents an important opportunity to enhance control effectiveness. Machine learning, with its efficiency in extracting valuable information from big data, holds significant potential for applications in RTCS. Exploring the applications of machine learning in RTCS is of great importance for guiding scientific research and industrial production. This paper first analyzes the challenges currently faced by RTCS, elucidating the motivation for integrating machine learning into these systems. Subsequently, it discusses the applications of machine learning in RTCS from various aspects, including system identification, controller design and optimization, fault diagnosis and tolerance, and perception. The research indicates that data-driven machine learning methods exhibit significant advantages in addressing the multivariable coupling characteristics of complex nonlinear systems, as well as the uncertainties arising from environmental disturbances and faults, thereby effectively enhancing the system's flexibility and robustness. However, compared to traditional methods, the applications of machine learning also faces issues such as poor model interpretability, high computational requirements leading to insufficient real-time performance, and a strong dependency on high-quality data. This paper discusses these challenges and proposes potential future research directions.

Predictive pretrained transformer (PPT) for real-time battery health diagnostics

Modeling and forecasting the evolution of battery systems involve complex interactions across physical, chemical, and electrochemical processes, influenced by diverse usage demands and dynamic operational patterns. In this study, we developed a predictive pre-trained Transformer (PPT) model equipped with 1,871,114 parameters that enhance identification of both short-term and long-term patterns in time-series data. This is achieved through the integration of convolutional layers and probabilistic sparse self-attention mechanisms, which collectively enhance prediction accuracy and efficiency in diagnosing battery health. Moreover, the customized hybrid-model fusion supports parallel computing and employs transfer learning, reducing computational costs while enhancing scalability and adaptability. Consequently, this allows for precise real-time health estimations across various battery cycles. We validated this method using a public dataset of 203 commercial lithium iron phosphate (LFP)/graphite batteries charged at rates ranging from 1C to 8C. By using only partial charge data—from an 80 % state of charge to the maximum charging voltage (3.6 V for LFP batteries, 4.2 V for ternary batteries)—and avoiding complex feature engineering, error metrics were achieved below 0.3 % for root mean square error (RMSE), weighted mean absolute percentage error (WMAPE), and mean absolute error (MAE), with an R2 of 98.9 %. The generalization capabilities were further demonstrated across 36 different testing protocols, encompassing 23,480 cycles throughout the entire life cycle, with a total inference time of 9.88 s during the testing phases. Further experiments on 30 nickel cobalt aluminum (NCA) batteries and 36 nickel cobalt manganese (NCM) batteries, across different battery types and operational scenarios, resulted in RMSE, WMAPE, and MAE all below 0.9 %, with R2 values of 94.1 % and 94.4 %, respectively. These findings highlight the potential of our customized deep transfer neural networks to enhance diagnostic accuracy, accelerate training, and improve generalization in real-time applications.

Low power RTL implementation of Tiny-YOLO-v2 DCNN hardware accelerator on Virtex-7 FPGA

Deep Convolution Neural Networks (DCNNs) are widely used in real-time applications, including image classification, speech recognition, and object detection. However, there are challenges for real-time applications on portable devices like mobile phones or embedded systems. Most object detection models are optimized for desktop configurations, requiring fast GPUs. Shallower networks with fewer computational complexities have been proposed for real-time detection, but ultimately compromise detection accuracy. Performance and complexity trade-offs are significant for computationally complex deep networks. This work aims to implement the CNN-based object detection model Tiny-Yolo-v2 on a Field Programmable Gate Array (FPGA) using Register Transfer Logic (RTL) as a native language. Hardware implementation is synthesized on The AMD Virtex 7 FPGA VC709 Connectivity Kit using VHDL code on Vivado 2020.1. This is the first, up to the authors' knowledge, RTL implementation of the Tiny-Yolo-v2 object identification algorithm on FPGA. The power consumed by the CNN layers equals 7.09W at a frequency of 100MHz.

Deep learning-based video surveillance system for suspicious activity detection

The need for reliable video surveillance systems to detect and prevent suspicious activities has become more important with the increase in crime and security threats. This paper proposes a real-time video surveillance system based on the Long-term Recurrent Convolutional Network (LRCN) model, which can automatically detect and alert the authority about suspicious activities, such as fighting, accidents, and robbery. Our system comprises two main components: LRCN-based activity recognition and real-time alert generation. We evaluated the performance of the proposed system on a custom dataset compiled from two publicly available datasets and achieved state-of-the-art results in terms of accuracy, precision, and recall. Our results demonstrate the effectiveness and scalability of the LRCN-based video surveillance system for real-time suspicious activity detection. We believe that our proposed system can be deployed in various public places, such as airports, train stations, and shopping malls, to enhance the security and safety of the public.

Real-time deep learning-assisted mechano-acoustic system for respiratory diagnosis and multifunctional classification

Epidermally mounted sensors using triaxial accelerometers have been previously used to monitor physiological processes with the implementation of machine learning (ML) algorithm interfaces. The findings from these previous studies have established a strong foundation for the analysis of high-resolution, intricate signals, typically through frequency domain conversion. In this study we integrate a wireless mechano-acoustic sensor with a multi-modal deep learning system for the real-time analysis of signals emitted by the laryngeal prominence area of the thyroid cartilage at frequency ranges up to 1 kHz. This interface provides real-time data visualization and communication with the ML server, creating a system that assesses severity of chronic obstructive pulmonary disease and analyzes the user’s speech patterns.

Integration of a Paper‐Based Supercapacitor and Flexible Perovskite Mini‐Module: Toward Self‐Powered Portable and Wearable Electronics

AbstractAn all‐flexible self‐powering unit, combining a flexible perovskite solar mini‐module for energy conversion and ultra‐flexible screen‐printed interdigitated carbon supercapacitors on paper for energy storage, is designed and developed. Through a hybrid bifurcated structure, the supercapacitors are connected in series and neatly layered on a paper substrate with the perovskite solar mini‐module strategically placed on top for seamless integration. The photosupercapacitor quickly reaches saturated voltage under various light intensities (1 sun, 1000 lx, 500 lx, and 200 lx) and displays a self‐discharge time of over 2 minutes. It delivers peak overall and storage efficiencies of 2.8% and 23%, respectively, and exhibits an extensive potential window of 3.8 V, making it a prominent choice for real time applications in electronic systems. In a nutshell, the inherent flexibility of both the solar module and the storage system, coupled with the space‐saving design, and the extensive potential window of the hybrid photosupercapacitor paves the way for implementation in portable and wearable electronics operating in indoor environments, ushering a new era of more versatile and adaptable energy solutions.

On formal modeling, analysis and optimization of reconfigurable manufacturing systems

ABSTRACT This paper deals with the formal specification and multi-objective optimization of reconfigurable manufacturing systems (RMSs). RMSs are characterized by their dynamic structure, crucial for responding to functional variations, adjusting production capacity and overcoming operational dysfuntions promptly and cos-effectively. The effective utilization of this dynamic capability depends on thorough study and optimization of RMS configurations. To tackle this challenge, a novel formalism called genetic reconfigurable object nets (Gen-RONs) is introduced. Gen-RONs formalism integrates the modeling, verification and reconfiguration capabilities of reconfigurable object nets with advanced multi-objective techniques from genetic algorithms. Within Gen-RONs, Petri nets serve to: (i) encode RMS configurations, (ii) manage RMS scheduling and (iii) employ graph transformation theory rules as genetic algorithm operators for real-time system reconfiguration. Thus, Gen-RONs formalism provides a robust framework for optimizing RMSs using genetic algorithms. To ensure deadlock-free RMS configurations, Gen-RONs incorporate a binary tree-based technique. Furthermore, Taguchi’s method is employed to fine-tune genetic algorithm parameters. The contribution of this paper is demonstrated through a case study involving an RMS and the widely used genetic algorithm NSGA-II. Significant gains in terms of the number of solutions (i.e. configurations) and the criteria values are achieved.

Intraoperative navigation in craniofacial surgery

Craniofacial surgery requires comprehensive anatomical knowledge of the head and neck to ensure patient safety and surgical precision. Over recent decades, there have been significant advancements in imaging techniques and the development of real-time surgical navigation systems. Intraoperative navigation technology aligns surgical instruments with imaging-derived information on patient anatomy, enabling surgeons to closely follow preoperative plans. This system functions as a radiologic map, improving the accuracy of instrument placement and minimizing surgical complications. The introduction of first-generation navigation systems in the early 1990s revolutionized surgical procedures by enabling real-time tracking of instruments using preoperative imaging. Initially utilized in neurosurgery, intraoperative navigation has since become standard practice in otolaryngology, cranio-maxillofacial surgery, and orthopedics. Since the 2000s, second-generation navigation systems have been developed to meet the growing demand for precision across various surgical specialties. The adoption of these systems in craniofacial surgery has been slower, but their use is increasing, particularly in procedures such as foreign body removal, facial bone fracture reconstruction, tumor resection, and craniofacial reconstruction and implantation. In Korea, insurance coverage for navigation in craniofacial surgery began in 2021, and new medical technologies for orbital wall fracture treatment were approved in August 2022. These technologies have only recently become clinically available, but are expected to play an increasingly important role in craniofacial surgery. Intraoperative navigation enhances operative insight, improves target localization, and increases surgical safety. Although these systems have a steep learning curve and initially prolong surgery, efficiency improves with experience. Calibration issues, registration errors, and soft tissue deformation can introduce inaccuracies. Nonetheless, navigation technology is evolving, and the integration of intraoperative computed tomography data holds promise for further enhancements of surgical accuracy. This paper discusses the various types and applications of navigation employed in craniofacial surgery, highlighting their benefits and limitations.

Proposal of UAV-SLAM-Based 3D Point Cloud Map Generation Method for Orchards Measurements

This paper proposes a method for generating highly accurate point cloud maps of orchards using an unmanned aerial vehicle (UAV) equipped with light detection and ranging (LiDAR). The point cloud captured by the UAV-LiDAR was converted to a geographic coordinate system using a global navigation satellite system / inertial measurement unit (GNSS/IMU). The converted point cloud is then aligned with the simultaneous localization and mapping (SLAM) technique. As a result, a 3D model of an orchard is generated in a low-cost and easy-to-use manner for pesticide application with precision. The method of direct point cloud alignment with real-time kinematic-global navigation satellite system (RTK-GNSS) had a root mean square error (RMSE) of 42 cm between the predicted and true crop height values, primarily due to the effects of GNSS multipath and vibration of automated vehicles. Contrastingly, our method demonstrated better results, with RMSE of 5.43 cm and 2.14 cm in the vertical and horizontal axes, respectively. The proposed method for predicting crop location successfully achieved the required accuracy of less than 1 m with errors not exceeding 30 cm in the geographic coordinate system.

Wearable Online Freezing of Gait Detection and Cueing System.

This paper presents a real-time wearable system designed to assist Parkinson's disease patients experiencing freezing of gait episodes. The system utilizes advanced machine learning models, including convolutional and recurrent neural networks, enhanced with past sample data preprocessing to achieve high accuracy, efficiency, and robustness. By continuously monitoring gait patterns, the system provides timely interventions, improving mobility and reducing the impact of freezing episodes. This paper explores the implementation of a CNN+RNN+PS machine learning model on a microcontroller-based device. The device operates at a real-time processing rate of 40 Hz and is deployed in practical settings to provide 'on demand' vibratory stimulation to patients. This paper examines the system's ability to operate with minimal latency, achieving an average detection delay of just 261 milliseconds and a freezing of gait detection accuracy of 95.1%. While patients received on-demand stimulation, the system's effectiveness was assessed by decreasing the average duration of freezing of gait episodes by 45%. These preliminarily results underscore the potential of personalized, real-time feedback systems in enhancing the quality of life and rehabilitation outcomes for patients with movement disorders.

Systematic Review of Quantitative Risk Quantification Methods in Construction Accidents

Construction accidents pose significant risks to workers and the public, affecting industry productivity and reputation. While several reviews have discussed risk assessment methods, recent advancements in artificial intelligence (AI), big data analytics, and real-time decision support systems have created a need for an updated synthesis of the quantitative methodologies applied in construction safety. This study systematically reviews the literature from the past decade, following the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) guidelines. A thorough search identified studies utilizing statistical analysis, mathematical modeling, simulation, and artificial intelligence (AI). These methods were categorized and analyzed based on their effectiveness and limitations. Statistical approaches, such as correlation analysis, examined relationships between variables, while mathematical models, like factor analysis, quantified risk factors. Simulation methods, such as Monte Carlo simulations, explored risk dynamics and AI techniques, including machine learning, enhanced predictive modeling, and decision making in construction safety. This review highlighted the strengths of handling large datasets and improving accuracy, but also noted challenges like data quality and methodological limitations. Future research directions are suggested to address these gaps. This study contributes to construction safety management by offering an overview of best practices and opportunities for advancing quantitative risk assessment methodologies.

CONTEMPORARY CHALLENGES IN CIVIL PROTECTION AND DEFENSE

The addressed problem is the need to enhance public policies and regulations in disaster management in Brazil, due to the increasing frequency and severity of these events. The hypothesis posits that integrating public policies with emerging technologies and community participation can significantly improve disaster management. The methodology involves a literature review of existing legislation, case study analysis, and the implementation of real-time hydrometeorological monitoring systems. Key results indicate that, despite advancements in prevention and mitigation policies, significant gaps remain in inter-institutional coordination and practical application of regulations. The main conclusion is that effective integration of public policies and emerging technologies is essential for risk reduction and the effective protection of vulnerable communities.

A Portable Electronic Nose Coupled with Deep Learning for Enhanced Detection and Differentiation of Local Thai Craft Spirits

In this study, our primary focus is the biomimetic design and rigorous evaluation of an economically viable and portable ‘e-nose’ system, tailored for the precise detection of a broad range of volatile organic compounds (VOCs) in local Thai craft spirits. This e-nose system is innovatively equipped with cost-efficient metal oxide gas sensors and a temperature/humidity sensor, ensuring comprehensive and accurate sensing. A custom-designed real-time data acquisition system is integrated, featuring gas flow control, humidity filters, dual sensing/reference chambers, an analog-to-digital converter, and seamless data integration with a laptop. Deep learning, utilizing a multilayer perceptron (MLP), is employed to achieve highly effective classification of local Thai craft spirits, demonstrated by a perfect classification accuracy of 100% in experimental studies. This work underscores the significant potential of biomimetic principles in advancing cost-effective, portable, and analytically precise e-nose systems, offering valuable insights into future applications of advanced gas sensor technology in food, biomedical, and environmental monitoring and safety.

Inquiring the robot operating system community on the state of adoption of the ROS 2 robotics middleware

AbstractThe robot operating system (ROS) is a well-established and popular open-source robotics middleware used for rapid prototyping of robotic applications. However, ROS has several known weaknesses, such as lack of support for real-time systems and limitations in fully distributed deployments with multiple robots. To address these weaknesses, ROS underwent a major update and the first version of ROS 2 was released back in 2015, being lingeringly adopted by the community in recent years. Yet, long-term support for ROS 1 will come to an end on May 2025. As such, it is more important than ever to analyze and explore the features of ROS 2, and understand its technological readiness. This work focuses on the state of adoption of ROS 2. Specifically, the article presents a user experience questionnaire targeting the ROS community to understand the more eminent needs with respect to ROS 2, determine the current levels of adoption, and identify what is holding the community back from migrating their ROS 1 applications to ROS 2. Results with more than 100 participants from around the world show that the community is aware of ROS 2 and the middleware is addressing most user expectations. We unveil the main reasons given for not migrating to ROS 2, further understand the community’s views on ROS 2, and identify what is missing to anticipate ROS 1 users migrating to ROS 2 and make ROS 2 widely adopted. Moreover, we gather important impressions on the appropriateness of ROS 2 for multi-robot system use cases.