Range Of Resistance Values Research Articles

Estimated resistance of the malaria mosquito Anopheles messeae s.l. to the insecticide malathion.

Resistance to agricultural pesticides is an important and insufficiently studied concern for pest and disease vector research. We determined the malathion resistance of species in the Anopheles maculipennis mosquito group in a habitat near Novosibirsk, Russia. Most of the 851 individuals we measured were members of the Anopheles messeae s.l. complex (An. messeae and An. daciae species). The LC50 value for malathion was 0.052 mg/L for the mixed specimens, and we failed to find any differences between species. The LC50 value was within the range of values for malathion resistance of Anopheles stephensi and Culex quinquefasciatus. As the main resistance mechanism to organophosphate and carbamate insecticides is a single mononucleotide substitution in the ace-1 gene, we searched for this mutation in An. messeae s.l. and An. beklemishevi by restriction analysis. This mutation was not found in 347 of the specimens. We sequenced the ace-1 gene fragment for 24 specimens from four species of the Anopheles maculipennis group, including An. messeae, An. daciae, An. atroparvus, and An. beklemishevi. These specimens harbored a nucleotide substitution in the triplet where a mutation can lead to insecticide resistance, but this substitution would make it difficult for the resistance to develop. Since the studied specimens belong to branches of the Palearctic portion of the Anopheles maculipennis group, we suspect that all other Palearctic species of this group would have difficulties harboring the ace-1 mutation that would lead to organophosphate and carbamate resistance.

Application of electrical resistivity test to estimate carbon storage of tropical peat deposit (Case study of Bengkalis island)

Indonesia has approximately 21 million hectares (ha) of tropical peat land, equivalent to 80% of peat deposit in Southeast Asia. It was estimated that Indonesia has 1.5 Giga tonne of carbon stock. However the estimation is still rough because there was no calculation of volume yet. This study explain the use the geophysical method of electrical resistivity test (ERT) combined with real time kinematic (RTK) and laboratory test to estimate the volume of peat deposit. Direct boring was also done to verify the ERT results. The location of study is in Bengkalis Island, Riau-Indonesia. Twelve (12) locations of ERT has been conducted covering area of 127164.667 ha. Visual observation from boring sample reveal that the peat in generally are fibric to hemic or H2-H6 according to Von Post classification. The peat layer has resistivity value range between 20-150 ohm meter. In general the peat can be classified as very deep peat with average thickness of 6.4 m. The ERT revealed that average lateral variability of peat thickness electrode line is less than 0.6 m. The estimated peat volume is 6803206275.152 m3. The average ash content is 6.5% which equivalent to 53.9% of carbon content. The average bulk density is 0.09 tonne/m3. It was estimated the carbon sink of the location is 330023536.41 tonnes which equivalent to 2595.3 tonne/ha.

Bedrock Investigation Using Resistivity Method as an Effort to Provide Subsurface Data at ITERA Campus

This is a study of the application of resistivity method to provide the subsurface data for building/ foundation construction. The subsurface data which provided is resistivity data laterally and vertically and able to be used to investigate the depth and thickness of bedrock. 35 points of 1D resistivity data had been collected in ITERA campus that covered ± 150 Ha. It concentrates at northern to middle part of ITERA campus. Schlumberger configuration was employed with minimum and maximum AB/2 was 2 and 150 meter respectively and 3 varied MN. Iso-resistivity maps show high apparent resistivity value was distributed laterally and vertically. High apparent resistivity value is indicated as a representative of bedrock. The high apparent resistivity zone (resistive zone) was shown in Iso-resistivity map AB/2 2.5 and consistently up to AB/2 15 with the range of high apparent resistivity value is 80.2 up to 210.8 ohmmeter. The resistive zone was distributed laterally in Northeast to West part of study area where the depth and thickness of bedrock in west part is shallower and thicker than others.

Groundwater exploration using Vertical Electrical Sounding (VES) Method at Toro Jaya, Langgam, Riau

Vertical Electrical Sounding (VES) method is one of many methods in geophysics that was conducted in this research at Toro Jaya, Langgam, Riau. The aim of this research is to investigate and locate the depth of groundwater layer (aquifer). Data acquisition of VES was carried out using GEOCIST with Schlumburger configuration of electrode. There are four VES point in this research with various length of cable ranging from 135 m up to 200 m. From four VES point shown two different of resistivity value range. Very low resistivity value with range 0,34 – 0,9 Ωm interpreted as aquifer layer. The aquifer layer of research area divided into two types which are unconfined aquifer and confined aquifer. Meanwhile, another resistivity value ranging from 1,69 – 7 Ωm was interpreted as clay layers.

Application of Electrical Resistivity Method in Site Characterization along Ado – Afao Road, Southwestern Nigeria

A geophysical study was carried out at a proposed location for the construction of a structure along Ado-Afao road, Southwestern Nigeria. The aim of the study is to evaluate the electrical properties of the soil for Founding of Engineering structures. The geophysical investigation involved the Vertical Electrical Sounding (VES) technique using the Schlumberger configuration with a total of twenty-one (21) VES within the investigated area. The electrode separation varies from 1 to 100 m. The geoelectric sections identified three to five geoelectric/geologic subsurface layers along the traverses. The topsoil comprising of clay, clayey sand and sandy clay with the resistivity values range from 28 to 800 Ω-m with its thickness varying from 0.4 to 1.9 m. The second layer was found to be lateritic with resistivity ranging between 200 to 800 Ω-m and thickness ranges from 1 to 7.5 m while the weathered layer comprising of clay, clayey sand and sandy clay with resistivity varies from 30 to 220 Ω-m and its thickness varies from 1.2 to 54 m. The fractured basement with resistivity value of 763 Ωm and thickness value of 8m while the fresh basement has a resistivity value ranging from 365 to 2964 Ωm with depth to basement ranging from 8 to 58 m. The resistivity values of the topsoil are indicative of clay, sandy clay and clayey sand. This layer may not be of any special interest since topsoil is normally excavated. Hence, foundation of the proposed structures cannot be found on this layer. Based on the investigation, the subsurface of the study area can be generally classified as incompetent. There is a presence of lateral inhomogeneity of the subsurface layers and geologic features such as fractures and faults. The construction in the area should be founded on the lateritic layer or fresh basement layer coupled with pile foundation to ensure the stability of the building. The choice of foundation material, clay content and topography elevation should be put into consideration.

A SENSITIVE PENETROMETER FOR MEASURING SOIL PENETRATION RESISTANCE

Soil compaction is one of the main negative factors that limit plant growth and crop yield. Soil mechanical resistance can be used as an indicator of soil compaction. This study is focused on the design of a penetrometer, which can make instantaneous soil resistance measurements in the soil without human faults. The penetrometer consists of a load cell, an electric motor, an internal helical screw rod, a probe, bubble balances, a graduated scale, a digital screen, a battery and additional attachments. Laboratory calibration and tests were carried out. In the field, according to a soil depth of 0-15, 15-30, 30-45 and 45-60 cm soil penetration resistance was measured in the field under different conditions of soil moisture content and soil bulk density. General results showed that, in un-compacted soil, range of soil penetration resistance values were 0.306 and 0.991 MPa whereas, in compacted soil, the range of penetration resistance were 0.891 and 2.371 MPa, respectively at 30-45 cm soil depth under different conditions of moisture content and bulk density. In conclusion, the experimental results showed that the designed system works quite well in the field and the vertical static penetrometer is a practical instrument for providing direct soil penetration resistance measurements.

Geoelectrical and Geotechnical Investigations of Subsurface Corrosivity in Ondo State Industrial Layout, Akure, Southwestern Nigeria

Fifty two vertical electrical sounding (VES) data and six subsurface soil samples were collected at Ondo State Industrial Layout, Akure, south-western Nigeria in order to determine the subsurface corrosivity. The VES results delineated 3 to 5 geoelectric layers across the area, which correspond to topsoil, weathered layer, weathered basement, weathered/fractured basement and the presumed fresh bedrock. The layer resistivity values range from 22 to 602 ohm-m, 7 to 2468 ohm-m, 17 to 436 ohm-m, 25 to 39 ohm-m and 203 to 10023 ohm-m in the topsoil, weathered layer, weathered basement, weathered/fractured basement and the presumed fresh bedrock respectively. The iso-resistivity maps at depth slices of 1 and 2 m show that the northeastern, southeastern and the upper central part of the area are non-corrosive (above 350 ohm-m) to slightly corrosive (250 - 350 ohm-m), while the lower central, northwestern and southwestern parts of the area are moderately (150 - 250 ohm-m) to strongly corrosive (60 - 150 ohm-m). Soil sample analysis shows liquid limit results that vary from 37.6 to 59.7, while the plasticity limit results vary from 29.3 to 42.5 and all the plasticity index plots were below the A line indicating presence of non-plastic clay. The natural moisture content values vary from 21.4 to 35.5 %. The 2 m depth slice isoresistivity map and clay plasticity factor were synthesized using additive model to generate subsurface CR-index corrosivity model map which indicates that the northwestern, north-eastern and southern parts of the area are moderately (0.4 - 0.6) to strongly corrosive (0.6 - 0.8), while the upper central area and the flanks are slightly corrosive. The moderately and strongly corrosive zones correspond to the low elevation and water logged zones of the study area. The corrosivity model map was validated by the pH and corrosivity data. Keywords: Geotechnical, Liquid Limit, Plastic Limit, Plasticity Index, Clay Plasticity

Application of electrical resistivity method in estimating geohydraulic properties of a sandy hydrolithofacies: a case study of Ajali Sandstone in Ninth Mile, Enugu State, Nigeria

Geoelectric investigation using vertical electrical sounding (VES) (Schlumberger electrode configuration) was carried out in 14 locations at Ninth Mile area, southeastern Nigeria to determine the variations and interrelationship of some geoelectric and geohydraulic parameters of a sandstone hydrolithofacies. The measured resistivity data were interpreted using manual and computer software packages, which gave the resistivity, depth, and thickness for each layer within the maximum current electrodes separation. The aquifer resistivity values range from 86.56 to 4753.0 Ωm with 1669.40 Ωm average value. The values of water resistivity from borehole locations close to the sounding points range from 79.49 to 454 .55 Ωm and averaging about 264.7 Ωm. Porosity values of the sandy aquifer range from 30.19 to 34.20%. Fractional porosity values range from 0.3019 to 0.3292, while the tortuosity values vary between 2.91 and 22.85. The geohydraulic parameters estimated vary across the study area. Formation factor ranges from 0.28 to 15.29, hydraulic conductivity ranges from 1.21 to 66.54 m/day which, however, influences the natural flow of water in the aquifer while tortuosity values range from 2.91 to 23.27. The contour maps clearly show the variation of these parameters in the subsurface and the plots show their relationship and high correlation coefficients with one another. The results of this study have revealed the geological characteristics of the subsurface aquifer, established the influence on the amount of groundwater, and proposed a strategy for the management and exploitation of groundwater resources in the area and other aquiferous formations.

Study of anisotropic electrical resistance of knitted fabrics

Knitted fabrics, due to their multifunctional characteristics in terms of flexibility, elasticity and pliancy, are suitable to be used in electro-thermal garments as monitoring sensors for body movement. The arrangement of fibers and yarns in textiles makes them, in the majority of cases, inhomogeneous and anisotropic materials. Five highly conductive plain weft knitted fabrics in which anisotropy of electro-conductive properties occurred were chosen. In order to assess the global degree of planar anisotropy of the knitted fabrics, a new measurement procedure was designed. The Van der Pauw electrode configuration was used. The determination of resistance at selected points on the sample surface allowed us to find the surface response for each sample. Based on the results, the assessment of the global degree of planar anisotropy of electro-conductive properties of knitted fabrics was possible. Moreover, the experiment was designed to simultaneously solve the problem of measuring the resistance at the sample edge. The quotients ratio used as a measure representing the degree of global anisotropy was found to range from 2.5 to 11.1. This quotient was higher compared to that determined on the basis of measurements conducted in multi-directions lying in the sample plane and at a constant distance from the electrodes and from the sample edge. The relatively wide range of resistance values obtained for three samples makes it possible to use them as strain sensors, for example. The narrow resistance range observed in two samples is suited for the development of medical sensors, such as electrocardiogram electrodes.

Experimental study of internal and external short circuits of commercial automotive pouch lithium-ion cells

In order to develop a deeper understanding of the behaviour of commercial automotive lithium-ion pouch cells under short-circuiting conditions, two scenarios were experimentally investigated and compared. Firstly, experiments were conducted by internally shorting 15 Ah cells by full nail penetration using three different nail materials; copper, steel and plastic. A second set of experiments involved externally shorting the cell tabs using an external circuit with a range of resistance values. In both scenarios the cell electrical and thermal response were determined by the shorting resistance. In the case of nail penetration there was a clear distinction between the outcome of the conducting and non-conducting nails, although the outcome using conducting nails suffered from poor reproducibility. The poor reproducibility was attributed to the variation in the contact resistance between the nail and the cell layers. Correlating the outcome of both tests can be used to estimate the shorting resistance and construct the current profile during nail penetration test.

High resistance measurement circuit for fiber materials: Application to moisture content estimation

Measuring very high resistance values is a difficult task since low voltage or currents are present and thus, noise and amplification must be carefully done, especially when low resistance values are required to be measured using the same circuit, too. This work proposes a novel and accurate measurement instrument for a wide range of resistance values oriented to portable applications, i.e. low power and low supply voltage (5 V) for battery operated equipment, with a small circuit design including analog sensing, digital interface (data reading and control) using a microcontroller and external communication. The proposed circuit includes an inverter attenuator with layout and configuration specially designed to allow accurate measurements and low noise contribution. An analog circuit is proposed to avoid current leakage and a allow a wide range of resistance values, a theoretical analysis of noise and other error sources is done. Experimental results show that the circuit provides accuracy and stability in the range from 1 MΩ to 100 GΩ comparable to high precision instruments requiring high voltage and long measurement time: accuracy lower than 1%. A graphical user interface was also developed to communicate with the on-board microcontroller and control/monitor all data from the circuit. Finally, as the circuit is intended to be used for resistance measurement in fiber materials where Moisture Content (MC) is directly related to the electrical resistance in the material, different wood types are analyzed over 34 days. The evolution of measured resistance in wood is seen to be related to the ambient humidity an thus, the material MC can be directly extracted. At a low cost, small circuit size and low power, the proposed circuit exceeds standards for MC estimation in timber construction materials as EN14081-1:2011.

Identification of subsurface layer with Wenner-Schlumberger arrays configuration geoelectrical method

One of measurement methods to investigate the condition of the subsurface is by using geoelectric method. This research uses wenner-Schlumberger arrays configuration geoelectrical method which is mapping resistivity that is commonly known as profiling (2D) in order to identify the lateral and vertical anomaly of material resistivity. 2D resistivity cross section is obtained from the result of data- processing on software Res2Dinv. The data were obtained along 70 m using Wenner-Schlumberger configuration with 5 m spaced electrode. The approximated value of resistivity obtained from the data processing ranged from 1000-1548 Ωm and with the iteration error 87.9%. Based on the geological map of Ujung Pandang sheet, the location of the research is an alluvium and coastal precipitation area with grain in forms of gravel, sand, clay, mud, and coral limestone. Thus, by observing and analyzing the variety of the resistivity cross-section from the inversion data, there are areas (a) showing resistivity values ranged from 0.1-0.2 Ωm which is estimated to be salt water intrusion based on the resistivity table of Earth materials, and region (b) which is a mixture of sand and clay material with the range of resistivity values between 1-1000 μm.

APLIKASI METODA RES-2D UNTUK EKSPLORASI AIR BAWAH TANAH DI DAERAH KARS

People have long been interested in kars, the typically topograhy in limestone area. There are many spectacular ornament in the caves caused by carbonates presipitates. Among the most common shapes which is be chief attraction for cave visitors is stalactites, stalagmites and columns. Beside of the excitements, kars also have hard problem for people who lived in that area. It is how to find out water for their living. Karst formation, both the surface (dolina, hill, etc) and underground forms (caverns, groundwater conduits, underground streams), appears as conductive zones relative to adjacent undisturbed limestone. Therefore resistivity methode will produce good results if applied to identify dolina, conduits , caverns and structure of geology in kars. The methode describes in this paper is Res-2D with configuration of pole-dipole with area for research are kars in Pacitan and Tulungagung region. Four principal layers can typically be differentiated in a vertical section : near surface (clayey) loam and soil in dolina, dry karstified limestone, conduit cave and solid unkarstified limestone. They have contrast of resistivity. Conduits have resistivity value range from 10 to 20 ohmm, whereas resistivty of cave is 1000 ohmm. Karstified limestone have resistivity value from 20 to 250 ohmm, whereas massive limestone have resistivity 250 ohmm. This paper shows that Res-2D methode can give good contribution in exploration of groundwater in kars area. Kata Kunci : Kars, Res-2D, Conduits

English

Fifteen vertical electrical sounding (VES) stations were sounded using Schlumberger electrode configuration. The result revealed a total of 3 to 4 geoelectric layers. The first layer with resistivity values range from 2.8 to 149.2 Ωm and has thickness and depth of 0.1 to 6.5 m. The second layer has resistivity which ranges from 245.9 to 7761.2 Ωm, thickness of 1.1 to 10.7 m and depth of 1.2 to 17.2 m. This layer was observed to be more resistive than the overlain layer. The third layer was delineated with the resistivity range of 49.4 to 2161.4 Ωm, thickness of 4.5 m-∞ and depth of 5.7 m- ∞. The fourth layer has resistivity values which range from 203.3 Ωm-∞ within the maximum current electrode separation. The observed curve types are K, Q, KH and QK with K being the dominant curve type. The contour maps generated display the variation of the electrical properties of the subsurface layers. The lithology layer with clay is not suitable for building foundation due to their expansive nature while the laterite which is mechanically stable is suitable for building foundation. The lateritic layer to a depth of 1.2 to 3.0 m is considered suitable for massive engineering structures with strong base for solid foundation. Key words: Vertical electrical sounding, construction purpose, subsurface lithology, building foundation, Makurdi.

The Isopach Mapping of Volcanic Deposits of Mount Samalas 1257 AD Based on the Values of Resistivity and Physical Properties

A detailed study had been conducted on the sediment of Mount Samalas’ volcanic eruption in 1257 AD. Using the framework of the reconstruction of the ancient eruption of Mount Samalas, the first step was to map and analyze the deposits of volcanic sediment. Secondly, we analyzed the effect of geomorphology and the distance function to the isopach thickness. The results show that a combination of methods allowed to provide a high resolution map of the distribution of the thickness of the volcanic deposits, both on the slope and in alluvial areas. Geo-electric survey results (both Vertical Electric Sound (VES) and 2D mapping) show consistent changes in the pattern of contrast resistivity layer interface, for all areas. The pattern changes in a row of the top layer, the high resistivity turned into the low. Furthermore, the second and third layer interface changes from low to the high resistivity. High resistivity on the top layer is interpreted as a layer of unconsolidated volcanic sediment. High resistivity values are range from 736 to 2000 Ohm.m on the top layer in the area of the slopes while in the area of alluvial, the resistivity values range from 20 to 958 Ohm.m. Generally, the volcanic deposits in the area of the slopes have a higher value of isopach (>17 m) than in areas of alluvial (<25 m). The geomorphology seemed to have no significant effect on the isopach value, particularly pyroclastic fallout. Such is the case with distance from the source to the site, which is not linear. The value of isopach increases westward from 21 to 31 km, in contrast to the East, which began to occur at a distance of 14 km to 21 km.

Non-linear growth of double tearing mode: Explosive reconnection, plasmoid formation, and particle acceleration

The nonlinear evolution of double tearing modes (DTMs) is investigated within the framework of resistive magnetohydrodynamic (MHD) simulations in a two-dimensional Cartesian geometry. We have explored the explosive reconnection phase associated with the growth of the secondary structure-driven instability for a range of resistivity values. The time scale of the explosive phase (that is of order of a few Alfvénic time scales) is shown to be quasi-independent of the resistivity, even when fast growing plasmoids develop for the highest enough Lundquist number cases. Test particle accelerations are performed using the MHD explosive simulations as input parameters. Our results show that reconnection DTM dynamics is able to provide an efficient process for accelerating charged particles far beyond characteristic thermal velocities within the reconnection layers. The main acceleration mechanism is attributed to the strong inductive electric field generated by the island structure-driven instability, with an additional smaller contribution due to the presence of plasmoids. Finally, our results are used to discuss some features of the accelerated particle spectra during flaring activity in the solar corona.

Two-fluid tearing mode instability in cylindrical geometry

This paper investigates the linear stability of a force-free equilibrium in a plasma cylinder of finite aspect ratio, against the two-fluid resistive tearing mode. An analytic dispersion relation is derived by extending to cylindrical geometry the slab geometry boundary layer theory applicable to two-fluid tearing modes for high beta and general ion skin depths [E. Ahedo and J. J. Ramos, Plasma Phys. Controlled Fusion 51, 055018 (2009)]. The cylindrical dispersion relation shows the dependence of the mode growth rate and real frequency on the ion skin depth, through different regimes that range from the single-fluid MHD limit to the electron MHD limit. It also shows that the non-zero real frequency of the mode arises due to the combination of two-fluid and cylindrical effects. A numerical solution of the complete set of normal-mode equations that resolves the fine-scale singular layer is carried out, for a wide range of resistivity and ion skin depth values. The numerically obtained eigenvalues agree very well with the analytic dispersion relation and the agreement improves the smaller the resistivity and the larger the ion skin depth are. Comparison between the numerical eigenfunctions and the inner solutions of the boundary layer theory shows that the eigenfunctions develop imaginary parts within the resonant layer, also due to the combination of two-fluid and cylindrical effects.

Analysis of surface insulation resistance related failures in electronics by circuit simulation

PurposeThe purpose of this study is to show that the humidity levels for surface insulation resistance (SIR)-related failures are dependent on the type of activators used in no-clean flux systems and to demonstrate the possibility of simulating the effects of humidity and contamination on printed circuit board components and sensitive parts if typical SIR data connected to a particular climatic condition are available. This is shown on representative components and typical circuits.Design/methodology/approachA range of SIR values obtained on SIR patterns with 1,476 squares was used as input data for the circuit analysis. The SIR data were compared to the surface resistance values observable on a real device printed circuit board assembly. SIR issues at the component and circuit levels were analysed on the basis of parasitic circuit effects owing to the formation of a water layer as an electrical conduction medium.FindingsThis paper provides a summary of the effects of contamination with various weak organic acids representing the active components in no-clean solder flux residue, and demonstrates the effect of humidity and contamination on the possible malfunctions and errors in electronic circuits. The effect of contamination and humidity is expressed as drift from the nominal resistance values of the resistors, self-discharge of the capacitors and the errors in the circuits due to parasitic leakage currents (reduction of SIR).Practical/implicationsThe methodology of the analysis of the circuits using a range of empirical leakage resistance values combined with the knowledge of the humidity and contamination profile of the electronics can be used for the robust design of a device, which is also important for electronic products relying on low current consumption for long battery lifetime.Originality/valueExamples provide a basic link between the combined effect of humidity and contamination and the performance of electronic circuits. The methodology shown provides the possibility of addressing the climatic reliability of an electronic device at the early stage of device design by using typical SIR data representing the possible climate exposure.

Filament formation in lithium niobate memristors supports neuromorphic programming capability

Memristor crossbars are capable of implementing learning algorithms in a much more energy and area efficient manner compared to traditional systems. However, the programmable nature of memristor crossbars must first be explored on a smaller scale to see which memristor device structures are most suitable for applications in reconfigurable computing. In this paper, we demonstrate the programmability of memristor devices with filamentary switching based on LiNbO3, a new resistive switching oxide. We show that a range of resistance values can be set within these memristor devices using a pulse train for programming. We also show that a neuromorphic crossbar containing eight memristors was capable of correctly implementing an OR function. This work demonstrates that lithium niobate memristors are strong candidates for use in neuromorphic computing.

Maximizing the efficiency of wireless power transfer with a receiver-side switching voltage regulator

Output voltage regulation is an essential technology for achieving stable wireless power supply. A receiver-side switching voltage regulator is useful for realizing output voltage regulation. However, this paper shows that the switching voltage regulator degrades the transfer efficiency to below 50% in a wireless power transfer system that consists of a class-D power inverter and series-resonant transmitting and receiving resonators. Such efficiency degradation is caused by the instability of an operating point where the efficiency is >50%. The input resistance value of the switching voltage regulator at a stable operating point is much higher than the optimum value for maximizing the efficiency. To stabilize the high-efficiency operating points, this paper formulates a stability condition and derives its sufficient condition. The sufficient condition facilitates a system design method using a K-impedance inverter that allows for the optimum input resistance value to lie in the range of allowable input resistance values. In addition, we introduce an input-voltage-based efficiency maximization method for the system with the receiver-side switching voltage regulator. By combining these two methods, efficiency maximization is realized with the receiver-side switching voltage regulator. The proposed methods were verified by both simulations and measurements.