Average Total Error Research Articles

Digital twin for decision support system of industrial utility management

Manufacturing and industrial operations rely heavily on energy that is generated mostly from fossil fuels, such as coal, oil, and natural gas, which harm the environment and contribute to climate change. Thus, renewable energy is being integrated into industrial processes to lessen environmental effects and reduce fossil fuel usage. However, the renewable source performance process can be greatly affected by disturbances and constraints, such as ambient air temperature and relative humidity, minimum utility consumption, and the total energy required, making effective control difficult. This study proposes a digital twin built with machine learning regression techniques for load demand forecasting as a decision-support system for industrial utility management. From the results, the ensemble tree (ET) model produced the highest accuracy, based on validation and test dataset root mean squared error values of 23.164 and 27.558, respectively, and R2 values of 0.96 and 0.95, respectively. The digital twin and load demand forecasting approaches effectively created an efficient operating schedule for industrial utility management. The ET model had a total error of 23.86%, substantially lower than the average load demand's total error of 65.29%. Therefore, the ET model with weather conditions in four scenarios could be recommended to optimize energy utilization when creating the operating schedule.

Identification of Crashworthy Designs Combining Active Learning and the Solution Space Methodology

Abstract This study introduces a novel methodology for vehicle development under crashworthiness constraints. We propose coupling the solution space method (SSM) with active learning reliability (ALR) to map global requirements, i.e., safety requirements on the whole vehicle, to the design parameters associated with a component. To this purpose, we use a classifier to distinguish between the design that fulfills the requirements, the safe domain, and those that do not, the failure domain. This classifier is trained on finite element simulations, exploiting the learning strategies used by ALR to efficiently and precisely identify the border between the two domains and the information provided on these domains by the SSM. We then provide an exemplary application where the efficiency of the method is shown: the safe domain is identified with 270 samples and an average total error of 2.5%. The methodology we propose here is an efficient method to identify safe designs at a comparatively low computational budget. To the best of our knowledge, there is currently no methodology available that can identify regions in the design space that result in designs satisfying the local requirements set by the SSM due to the complexity and strong nonlinearity of crashworthiness simulations. The proposed coupling exploits the information of SSM and the capabilities of ALR to provide a fast mapping between the global requirements and the design parameters, which can, in turn, be made available to the designers to inexpensively evaluate the crashworthiness of new shapes and component features.

An Improved Adaptive Grid-Based Progressive Triangulated Irregular Network Densification Algorithm for Filtering Airborne LiDAR Data

Ground filtering is crucial for airborne Light Detection and Ranging (LiDAR) data post-processing. The progressive triangulated irregular network densification (PTD) algorithm and its variants outperform others in accuracy, stability, and robustness, using grid-based seed point selection, TIN construction, and iterative rules for ground point identification. However, these methods still face limitations in removing low points and accurately preserving terrain details, primarily due to their sensitivity to grid size. To overcome this issue, a novel PTD filtering algorithm based on an adaptive grid (AGPTD) was proposed. The main contributions of the proposed method include an outlier removal method using a radius outlier removal algorithm and Kd-tree, a method for establishing an adaptive two-level grid based on point cloud density and terrain slope, and an adaptive selection method for angle and distance thresholds in the iterative densification processing. The performance of the AGPTD algorithm was assessed based on widely used benchmark datasets. Results show that the AGPTD algorithm outperforms the classical PTD algorithm in retaining ground feature points, especially in reducing Type I error and average total error significantly. In comparison with other advanced algorithms developed in recent years, the novel algorithm showed the lowest average Type I error, the minimal average total error, and the greatest average Kappa coefficient, which were 1.11%, 2.28%, and 90.86%, respectively. Additionally, the average accuracy, precision, and recall of AGPTD were 97.69%, 97.52%, and 98.98%, respectively.

Numerical harmonic modelling of low wattage LED lamps based on parameter estimation algorithms

This paper presents a numerical harmonic modeling approach for 18 low-wattage Light-Emitting Diode (LED) lamps. The proposed methodology utilizes meta-heuristic algorithms, namely Multi-Stage Ant Colony Optimization (MSACO) and Harris Hawk Optimization (HHO), to estimate optimal parameters for the equivalent circuits. Additionally, the study examines eight different configurations of Electromagnetic Interference (EMI) Filter circuits, including their respective parameters, which function as front-end circuits for the Full Bridge Rectifier (FBR) of the LED drivers. Through extensive investigations, the primary objective is to establish generalized and accurate models for various EMI filter circuits that can be universally applied, with validation through comparison against experimental results. Under both MSACO and HHO, the lowest average total error ranges were observed in the LC-Filter and CL-Filter configurations, with errors ranging from 21.302 % and 22.769 %, respectively. On the other hand, the L-Filter and R-only configurations exhibited the highest average total error ranges, with errors of 42.376 % and 44.648 %, respectively. Notably, this paper introduces a non-intrusive, non-invasive method for estimating optimal parameters based solely on measurements obtained from the input terminals of the LED lamps.

Area of origin estimation from multiple arbitrarily oriented surfaces using marker-guided structure from motion

Bloodstain pattern analysis plays a crucial role in forensic investigations. Projected patterns can offer valuable insights into the dynamics of crime scenes. In this paper, we propose and validate a novel approach that extends existing software, HemoVision, to analyze impact patterns that are distributed across multiple arbitrarily oriented surfaces. The proposed method integrates HemoVision’s marker-based system with structure from motion (SfM) techniques to reconstruct the three-dimensional geometry of impact patterns using only two-dimensional photographs. Controlled experiments were used to validate the proposed approach, demonstrating robustness in reconstruction accuracy with median translation errors below 3 mm and median angular errors below 0.2°, irrespective of imaging device or image resolution. Comparing the estimated areas origin to their known ground truth, the proposed method achieved an average total error of 8.12 cm, with the primary source of error being the vertical dimension. Despite this, the overall error remains well within the ranges of error reported in prior work. This study demonstrates that HemoVision can be used to analyze complex impact patterns using only two-dimensional photographs, providing forensic experts with an efficient and accessible tool for investigating intricate crime scenes involving multi-surface impact patterns.

Filtering airborne LiDAR data based on multi-view window and multi-resolution hierarchical cloth simulation

ABSTRACT Ground filtering is a fundamental step in airborne LiDAR data processing toward a variety of applications. However, existing algorithms remain tremendously challenging in complex environments, e.g. steep hillsides, ridges, valleys, discontinuities, and numerous objects. We presented a new ground filtering algorithm that can handle various landscapes. First, the multi-view window is developed to increase the number of ground seeds on the various terrains. Second, multi-resolution hierarchical cloth simulation is used to rapidly construct the high-resolution reference terrain, and bidirectional internal force operation is proposed to improve the accuracy of reference terrain by smoothing the spikes in cloth. Finally, ground and non-ground points are classified based on the height differences between points and the reference terrain. The proposed algorithm was validated not only in the International Society for Photogrammetry and Remote Sensing (ISPRS) but also karst datasets, where particularly complex environments is contained. Results showed that the proposed algorithm outperformed the existing algorithms, with the lowest average total error of 3.85% and the highest average kappa coefficient of 87.75%. Moreover, the proposed algorithm can completely preserve complex terrain, e.g. extremely steep hillsides, and sharp ridges. This study had great potential to provide a useful tool for LiDAR data processing.

Random Quantum Circuits Transform Local Noise into Global White Noise

We study the distribution over measurement outcomes of noisy random quantum circuits in the regime of low fidelity, which corresponds to the setting where the computation experiences at least one gate-level error with probability close to one. We model noise by adding a pair of weak, unital, single-qubit noise channels after each two-qubit gate, and we show that for typical random circuit instances, correlations between the noisy output distribution pnoisy\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$p_{\ ext {noisy}}$$\\end{document} and the corresponding noiseless output distribution pideal\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$p_{\ ext {ideal}}$$\\end{document} shrink exponentially with the expected number of gate-level errors. Specifically, the linear cross-entropy benchmark F that measures this correlation behaves as F=exp(-2sϵ±O(sϵ2))\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$F=\ ext {exp}(-2s\\epsilon \\pm O(s\\epsilon ^2))$$\\end{document}, where ϵ\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\epsilon $$\\end{document} is the probability of error per circuit location and s is the number of two-qubit gates. Furthermore, if the noise is incoherent—for example, depolarizing or dephasing noise—the total variation distance between the noisy output distribution pnoisy\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$p_{\ ext {noisy}}$$\\end{document} and the uniform distribution punif\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$p_{\ ext {unif}}$$\\end{document} decays at precisely the same rate. Consequently, the noisy output distribution can be approximated as pnoisy≈Fpideal+(1-F)punif\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$p_{\ ext {noisy}}\\approx Fp_{\ ext {ideal}}+ (1-F)p_{\ ext {unif}}$$\\end{document}. In other words, although at least one local error occurs with probability 1-F\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$1-F$$\\end{document}, the errors are scrambled by the random quantum circuit and can be treated as global white noise, contributing completely uniform output. Importantly, we upper bound the average total variation error in this approximation by O(Fϵs)\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$O(F\\epsilon \\sqrt{s})$$\\end{document}. Thus, the “white-noise approximation” is meaningful when ϵs≪1\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\epsilon \\sqrt{s} \\ll 1$$\\end{document}, a quadratically weaker condition than the ϵs≪1\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\epsilon s\\ll 1$$\\end{document} requirement to maintain high fidelity. The bound applies if the circuit size satisfies s≥Ω(nlog(n))\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$s \\ge \\Omega (n\\log (n))$$\\end{document}, which corresponds to only logarithmic depth circuits, and if, additionally, the inverse error rate satisfies ϵ-1≥Ω~(n)\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\epsilon ^{-1} \\ge {\ ilde{\\Omega }}(n)$$\\end{document}, which is needed to ensure errors are scrambled faster than F decays. The white-noise approximation is useful for salvaging the signal from a noisy quantum computation; for example, it was an underlying assumption in complexity-theoretic arguments that noisy random quantum circuits cannot be efficiently sampled classically, even when the fidelity is low. Our method is based on a map from second-moment quantities in random quantum circuits to expectation values of certain stochastic processes for which we compute upper and lower bounds.

Assessing iPhone LiDAR & Recon-3D for determining area of origin in bloodstain pattern analysis.

Bloodstain pattern analysis (BPA) has proven to be a useful tool in forensic and criminal investigations for quite some time. Traditionally, documenting a crime scene for a bloodletting event was completed using manual techniques, physical strings, and a tape measure. In more recent years, laser scanners and 3D software programs have become a preferred method to capture accurate data that improves the validity and reliability of BPA. The initial cost of laser scanning equipment is relatively high, rendering these systems inaccessible to some police and smaller agencies. Recon-3D is a newly developed iPhone application that utilizes the iPhone LiDAR sensor in combination with video data to create 3D point clouds of crime scenes. To assess the viability of Recon-3D for area of origin analysis, two tests were performed. One was a series of bloodstain impacts which were analyzed in FARO Zone 3D software, while the second was a series of 6 repeated Recon-3D scans of two 90-degree walls which was then compared to the FARO Focus S350 scanner using CloudCompare software. A total of eight impact patterns were made at three different distances from a wall. The area of origin was measured and compared to the known location of the blood source. The average total 3D error for the area of origin set at 25, 50, and 100 cm from two perpendicular walls was found to be 6.04, 15.16, and 36.59 cm, respectively. These results are similar to past studies where programs such as HemoSpat have been used. The results of the point cloud comparison show that on average, 95% of the points from Recon-3D fall below a threshold of 3.6 mm when compared to a FARO Focus S350 laser scanner. Thus, the results of this test suggest that Recon-3D is an accurate and affordable scanning application for bloodstain patterns at crime scenes and the data provide acceptable results for area of origin analysis in BPA programs which accept laser scanner data.

Uključivanje kretanja gornje i donje platforme - generalizovani inverzni kinematički model za simulaciju i eksperimentalno testiranje 6-ups Stjuart platforme

Due to accuracy and precision of parallel manipulators like Stewart platform, several technological applications have relied on them. An accurate kinematic model must be developed in order to improve the manipulator's accuracy. In this paper, inverse kinematic model investigation and verification have been accomplished. Conducting both upper and lower platforms under various motion types is a defining feature of this model. The 3D model of the platform has been directly linked to SimMechanics, paving the way for simulation analysis. MATLAB was used to code the obtained kinematic model. Workspace analysis of the platform has shown the permissible 3D range of each leg, and its intersection consists the total range of the upper platform. Simulation analysis has shown that, position track error hadn't exceeded 10% along any axis, while orientation error hadn't exceeded 2.32% about any axis. In the Experimental model test, the total average error in actuator's displacements is 0.094 cm, while the total average error in rotation angles is 1.145° .

Prediction of component activities in the ternary molten slags containing titanium oxide by pseudo-multicomponent approach of MIVM

Based on the molecular interaction volume model (MIVM) and the coexistence theory model (CTM), the component activities were predicted in the ternary slags FeO-MnO-SiO2, FeO-MnO-TiO2, MnO-SiO2-TiO2 and FeO-SiO2-TiO2. In com parison with the experiment data, the total average relative errors of the predicted value by pseudo-multicomponent approach of MIVM were 16%, the total average standard deviations were 0.062. On the other hand, the total average relative errors of the predicted value by coexistence theory model were 28%, the total average standard deviations were 0.077. The predicted effect of the pseudo-multicomponent approach of MIVM has better stability and reliability than coexistence theory. Therefore, the activities of component TiO2 were predicted in the ternary slags FeO-MnO-TiO2, MnO-SiO2-TiO2 and FeO-SiO2-TiO2 by MIVM, the corresponding isoactivity curves were plotted and the thermodynamic behavior tendency of constituent TiO2 in different slag systems was analyzed. This work has enriched the thermodynamic data of titanium-containing slag system and made up for the deficiency of high temperature experiment to some extent.

Numerical framework of magnetized thermal Casson nanoliquid flow with time-dependent stretching channel enclosing chemical reaction effect and variable fluid properties: A Particle Swarm Optimization with stability

Nanofluids are a relatively new class of materials that have gained attention in recent years due to their unique physical and thermal properties. They are used as contrast agents in biomedicine, including for magnetic resonance imaging (MRI) and computed tomography (CT). Keeping the above applications in mind, this theoretical study intended to explore the consequence of transient magnetized Casson nanoliquid driven by a permeable bi-direction time-dependent stretching platform positioned inclined subject to nonlinear heat source/sink. The Brownian movement, thermophoretic force, chemical reaction, and variable internal heating impacts are incorporated into the proposed flow problem. The leading constitutive PDEs are diminished into coupled nonlinear self-similar dimensionless ODEs through pertinent non-dimensional quantities. The resulting problems are addressed utilizing “Particle Swarm Optimization (PSO)” and a hybrid shooting methodology inspired by the Runge–Kutta four (RK4) method. The novelty of this work is the investigation of the numerical solution of magnetized Casson nanoliquid enclosing thermal radiation and chemical reaction via PSO along with hybrid shooting technique over time-dependent stretching sheet, which has not been elaborated on to date. The physical appearance of relevant physical factors on different flow phenomena are evaluated via graphs. For the stability purpose of the numerical method Average Square Residue Error (ASRE) and Total Average Square Residue Error (TASRE) are computed. For the validation purpose the present work is associated with the available work and great correlation is found.

ICSF: An Improved Cloth Simulation Filtering Algorithm for Airborne LiDAR Data Based on Morphological Operations

Ground filtering is an essential step in airborne light detection and ranging (LiDAR) data processing in various applications. The cloth simulation filtering (CSF) algorithm has gained popularity because of its ease of use advantage. However, CSF has limitations in topographically and environmentally complex areas. Therefore, an improved CSF (ICSF) algorithm was developed in this study. ICSF uses morphological closing operations to initialize the cloth, and estimates the cloth rigidness for providing a more accurate reference terrain in various terrain characteristics. Moreover, terrain-adaptive height difference thresholds are developed for better filtering of airborne LiDAR point clouds. The performance of ICSF was assessed using International Society for Photogrammetry and Remote Sensing urban and rural samples and Open Topography forested samples. Results showed that ICSF can improve the filtering accuracy of CSF in the samples with various terrain and non-ground object characteristics, while maintaining the ease of use advantage of CSF. In urban and rural samples, ICSF obtained an average total error of 4.03% and outperformed another eight reference algorithms in terms of accuracy and robustness. In forested samples, ICSF produced more accuracy than the well-known filtering algorithms (including the maximum slope, progressive morphology, and cloth simulation filtering algorithms), and performed better with respect to the preservation of steep slopes and discontinuities and vegetation removal. Thus, the proposed algorithm can be used as an efficient tool for LiDAR data processing.

Fault diagnosis in bipolar HVDC systems based on traveling wave theory by monitoring data from one terminal

This paper proposes a method for detecting, classifying and locating incident faults on transmission line (TL) of a bipolar HVDC system. This method is based on the traveling waves theory and uses the redundant discrete wavelet transform to filter voltage signals monitored at only one system terminal. The model represents the Brazilian HVDC system of the Madeira River, which is simulated in the Alternative Transient Program (ATP). Different fault scenarios are analyzed, being generated by varying type, resistance and fault location. Moreover, in order to make the simulation more realistic, the TL is modeled based on frequency dependent parameters. Thereby, the impacts of line parameter uncertainties and transient attenuation on the proposed method are analyzed. From the obtained results, it is concluded that the method correctly detects all fault types through the use of a self-adaptive detection threshold. Furthermore, it is verified that the self-adaptive threshold detects the fault times instants with an efficiency superior to the fixed threshold. In the classification step, all faults were correctly classified through rules elaborated based on the voltage variation level. Finally, the total average errors of fault location represents only 0.047% of the TL extension. Moreover, it is verified that fault location errors for pole:pole faults were inferior to those obtained for pole:ground faults, being the efficiency of the method inversely proportional to the fault resistance.

Can Pure Predictions of Activity Coefficients from PC-SAFT Assist Drug-Polymer Compatibility Screening?

The bioavailability of poorly water-soluble active pharmaceutical ingredients (APIs) can be improved via the formulation of an amorphous solid dispersion (ASD), where the API is incorporated into a suitable polymeric carrier. Optimal carriers that exhibit good compatibility (i.e., solubility and miscibility) with given APIs are typically identified through experimental means, which are routinely labor- and cost-inefficient. Therefore, the perturbed-chain statistical associating fluid theory (PC-SAFT) equation of state, a popular thermodynamic model in pharmaceutical applications, is examined in terms of its performance regarding the computational pure prediction of API-polymer compatibility based on activity coefficients (API fusion properties were taken from experiments) without any binary interaction parameters fitted to API-polymer experimental data (that is, kij = 0 in all cases). This kind of prediction does not need any experimental binary information and has been underreported in the literature so far, as the routine modeling strategy used in the majority of the existing PC-SAFT applications to ASDs comprised the use of nonzero kij values. The predictive performance of PC-SAFT was systematically and thoroughly evaluated against reliable experimental data for almost 40 API-polymer combinations. We also examined the effect of different sets of PC-SAFT parameters for APIs on compatibility predictions. Quantitatively, the total average error calculated over all systems was approximately 50% in the weight fraction solubility of APIs in polymers, regardless of the specific API parametrization. The magnitude of the error for individual systems was found to vary significantly from one system to another. Interestingly, the poorest results were obtained for systems with self-associating polymers such as poly(vinyl alcohol). Such polymers can form intramolecular hydrogen bonds, which are not accounted for in the PC-SAFT variant routinely applied to ASDs (i.e., that used in this work). However, the qualitative ranking of polymers with respect to their compatibility with a given API was reasonably predicted in many cases. It was also predicted correctly that some polymers always have better compatibility with the APIs than others. Finally, possible future routes to improve the cost-performance ratio of PC-SAFT in terms of parametrization are discussed.

Image Mapping Accuracy Evaluation Using UAV with Standalone, Differential (RTK), and PPP GNSS Positioning Techniques in an Abandoned Mine Site.

Global navigation satellite systems (GNSSs) provide a common positioning method that utilizes satellite signals to determine the spatial location of a receiver. However, there are several error factors in standalone GNSS positioning due to instrumental, procedural, and environmental factors that arise during the signal transmission process, and the final positioning error can be up to several meters or greater in length. Thus, real-time kinematic (RTK) correction and post-mission precise point positioning (PPP) processing technologies are proposed to improve accuracy and accomplish precise position measurements. To evaluate the geolocation accuracy of mosaicked UAV images of an abandoned mine site, we compared each orthomosaic image and digital elevation model obtained using standalone GNSS positioning, differential (RTK) GNSS positioning, and post-mission PPP processing techniques. In the three types of error evaluation measure (i.e., relative camera location error, ground control points-based absolute image mapping error, and volumetric difference of mine tailings), we found that the RTK GNSS positioning method obtained the best performance in terms of the relative camera location error and the absolute image mapping error evaluations, and the PPP post-processing correction effectively reduced the error (69.5% of the average total relative camera location error and 59.3% of the average total absolute image mapping error) relative to the standalone GNSS positioning method. Although differential (RTK) GNSS positioning is widely used in positioning applications that require very high accuracy, post-mission PPP processing can also be used in various fields in which it is either not feasible to operate expensive equipment to receive RTK GNSS signals or network RTK services are unavailable.

Predicting electrical power consumption of end milling using a virtual machining energy toolkit (V_MET)

Understanding electrical energy consumption of machines and processes is of increasing importance to (i) minimise costs and environmental impact of production activities and (ii) provide an additional information stream to inform condition monitoring systems (i.e. digital twins) about a machine’s status and health. The research outlined in this paper develops a Virtual Machining Energy Toolkit (V_MET) to predict the electrical power consumption of a Computer Numeric Control (CNC) milling machine cutting a particular part program from preparatory codes (i.e. G code). In this way the evaluation of the energy impact of manufacturing part programs prior to implementation and real-time monitoring of the process can become a routine activity at part of a total manufacturing system optimisation. The novelty of this work lies in the inclusion of a virtual CNC process model to determine cutting geometry (i.e. width and depth of cut) to enable the prediction of relatively complex part program geometry.V_MET consists of three components: (i) the NC interpreter to extract key parameters (e.g. spindle speed, feed rate, tool path) from G-code instructions, (ii) a virtual CNC process model to determine instantaneous cutting geometry (i.e. width and depth of cut) and the material removal from the resulting machining by simulating the motion of the tool path to predict the interaction between the tool tip and workpiece and (iii) an energy model to predict the electrical power consumption for a given set of conditions, developed using regression analysis of data collected under real manufacturing conditions.Validation of V_MET has been conducted by physical machining of different product features to evaluate the validity over a range of different cutting parameters, NC operations (i.e. linear, clockwise interpolations) and repasses over previously cut regions. Overall good accuracy has been observed for the predicted energy requirements as a function of the cutting regimes, with 4.3% error in total energy and Mean Average Percentage Error (MAPE) of 5.6% when compared with measurements taken during physical cutting trials.

Tomato recognition and location algorithm based on improved YOLOv5

In order to meet the requirements of target detection and location for intelligent tomato picking, a recognition and location algorithm based on improved YOLOv5s is proposed in this paper. The CARAFE module structure was used to optimize the upsampling algorithm of YOLOv5s, which increased the receptive field of the network while maintaining the lightweight. EIoU and Quality Focal Loss were introduced to optimize the loss function of the network, which solved the problem of reduced accuracy caused by uneven samples, and at the same time accelerated the training convergence speed and improved the regression accuracy. The improved model is denoted as YOLOv5s-CQE. Compared with YOLOv5s, the mAP_0.5 and mAP_0.5:0.95 of YOLOv5s-CQE was increased by 1.67 and 3.43 percentages points, respectively. The recognition accuracy of YOLOv5s-CQE model in the test set was 99.77%, which had increased by 2.40 percentages points compared with before improvement, and was 4.10, 6.47 and 3.03 percentages points higher than that of the lightweight networks YOLOv4-tiny, YOLOv5-Lite-e and YOLOv5-Lite-s, respectively. Compared with YOLOv7 and Faster RCNN, the recognition accuracy rate was increased by 1.69, 3.97 percentages points respectively. In order to improve the accuracy of positioning, distortion removal and ROI clipping were carried out on the obtained images. The accuracy of location was tested by laboratory positioning test and field picking test. The results showed the total average errors decreased by 6.65 mm compared with those before distortion removal, and the field positioning accuracy was improved by 6.67 percentages points. The experimental results showed that the algorithm in this paper had the advantages of high precision, fast detection speed and strong robustness, which provided a theoretical basis for intelligent tomato picking.

A Progressive Plane Detection Filtering Method for Airborne LiDAR Data in Forested Landscapes

Ground filtering is necessary in processing airborne light detection and ranging (LiDAR) point clouds for forestry applications. This study proposes a progressive plane detection filtering (PPDF) method. First, the method uses multi-scale planes to characterize terrain, i.e., the local terrain with large slope variations is represented by small-scale planes, and vice versa. The planes are detected in local point clouds by the random sample consensus method with decreasing plane sizes. The reliability of the planes to represent local terrain is evaluated and the planes with optimal sizes are selected according to evaluation results. Then, ground seeds are identified by selecting the interior points of the planes. Finally, ground points are iteratively extracted based on the reference terrain, which is constructed using evenly distributed neighbor ground points. These neighbor points are identified by selecting the nearest neighbor points of multiple subspaces, which are divided from the local space with an unclassified point as center point. PPDF was tested in six sites with various terrain and vegetation characteristics. Results showed that PPDF was more accurate and robust compared to the classic filtering methods including maximum slope, progressive morphology, cloth simulation, and progressive triangulated irregular network densification filtering methods, with the smallest average total error and standard deviation of 3.42% and 2.45% across all sites. Moreover, the sensitivity of PPDF to parameters was low and these parameters can be set as fixed values. Therefore, PPDF is effective and easy-to-use for filtering airborne LiDAR data.

A Framework for Hardware Impairments-Aware Multi-Antenna Transceiver Design in IoT Systems via Majorization–Minimization

In view of the nonideality of communication links in the Internet of Things (IoT) originating from transceiver hardware impairments, in this article, we introduce a general framework for hardware impairments-aware multiantenna transceiver design, which considers different availabilities of CSI at the transmitter (CSIT) and the receiver (CSIR). The well-known Kronecker model is applied to characterize stochastic channel state information (CSI) errors. For each case, we aim to minimize the (average) total mean square error (MSE) of all data streams subject to the practical per-antenna power constraints. To address the nonconvexity of the formulated problem, we propose an efficient majorization–minimization (MM)-based iterative algorithm to transform the original problem into a series of convex subproblems with semiclosed-form optimal solutions. For low-complexity implementation, we also develop an alternative scheme for directly finding a high-quality suboptimal solution by considering both worst case hardware impairments and worst case CSI errors. In particular, since an explicit expression of the average total MSE for the perfect CSIR and imperfect CSIT case is hard to derive, we instead optimize its effective upper and lower bounds. The prospective applications of our work in the two currently popular multiple-input–multiple-output (MIMO) IoT scenarios are then discussed. Furthermore, we fundamentally reveal the MSE floor effect caused by both hardware distortion and CSI imperfection in the high-SNR regime. Numerical results illustrate the excellent average total MSE and average bit error rate (BER) performance of our proposed algorithms over the adopted benchmark schemes.

A Study on the Response Characteristics of Smoke Detectors Based on the Smoke Color

This study investigates the response characteristics of smoke detectors based on the smoke colors. Experiments on white paper fires similar to the UL 268 real fire garden test, domestic-type approval reference tests, and black polyurethane foam and flammable liquid fire tests that did not undergo domestic-type approval were conducted to examine the response characteristics of smoke detectors according to the smoke color. Consequently, all analog smoke detectors (ASDs) subjected to the paper fire experiments, which generated white smoke, met the UL 268 operating conditions. However, in the flammable liquid and polyurethane foam fire experiments, which generated black smoke, none of the ASDs subjected to the experiment met the UL 268 operating conditions. The total average error for the smoke concentration was measured by the ASDs based on optical concentration ODM, and was found to be -24.54%/m in flammable liquid fires and -81.22% in polyurethane foam.