The forces generated at the wheel-rail contact patch are important and crucial to the railway vehicle’s operation because they control the dynamic behavior of the entire rolling stock. The transfer of the tractive fo...
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The forces generated at the wheel-rail contact patch are important and crucial to the railway vehicle’s operation because they control the dynamic behavior of the entire rolling stock. The transfer of the tractive force applied by the locomotive’s traction and braking system requires a certain amount of adhesion force at the wheel-rail contact area. The wheel may skid while decelerating and slip when accelerating due to the maximal adhesion force at the wheel-rail interface may be less than the applied tractive force. A major difficulty is accurately estimating adhesion conditions and implementing them in real time because the contact forces between the wheel and rail are complicated and are highly non-linear. The fast-processing speed and hardware flexibility of field programmable gate arrays (FPGAs) make them ideal for the implementation of nonlinear condition monitoring systems. The goal of our work is to estimate various railway wheelset characteristics relating to wheel-rail contact forces under variable track-contact situations by designing and implementing the extended Kalman filter (EKF) model utilizing MATLAB and FPGA. The onboard estimation of wheel-rail interaction parameters is verified using the Xilinx (Registered trademark) System-On-Chip (SoC) Zynq and Xilinx Spartan-3 FPGA devices, built-in with the National Instruments (NI) myRIO® development board and sbRIO (Registered trademark) single-board controller. Two FPGA platforms are used to test the dataset generated by the MATLAB railway nonlinear wheelset model under different track circumstances, which include the vehicle’s acceleration and deceleration modes. The 95% of the simulation results achieved. The proposed model’s hardware synthesizes on FPGA are validated, and the area-performance is analyzed. Both FPGA devices take 52 cycles per sample and hence throughput becomes 769 kilo samples per second. Comparing the Xilinx System-On-Chip Zynq FPGA device to the Spartan-3, it is found that the latter
This paper introduces a novel approach for enabling real-time imitation of human head motion by a Nao robot, with a primary focus on elevating human-robot interactions. By using the robust capabilities of the MediaPip...
This paper introduces a novel approach for enabling real-time imitation of human head motion by a Nao robot, with a primary focus on elevating human-robot interactions. By using the robust capabilities of the MediaPipe as a computer vision library and the DeepFace as an emotion recognition library, this research endeavors to capture the subtleties of human head motion, including blink actions and emotional expressions, and seamlessly incorporate these indicators into the robot’s responses. The result is a comprehensive framework which facilitates precise head imitation within human-robot interactions, utilizing a closed-loop approach that involves gathering real-time feedback from the robot’s imitation performance. This feedback loop ensures a high degree of accuracy in modeling head motion, as evidenced by an impressive R2 score of 96.3 for pitch and 98.9 for yaw. Notably, the proposed approach holds promise in improving communication for children with autism, offering them a valuable tool for more effective interaction. In essence, proposed work explores the integration of real-time head imitation and real-time emotion recognition to enhance human-robot interactions, with potential benefits for individuals with unique communication needs.
The diffusion process is the basis of many branches of science and engineering, and generally obeys reciprocity between two ports of a linear time-invariant medium. Recent research on classical wave dynamics has explo...
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The diffusion process is the basis of many branches of science and engineering, and generally obeys reciprocity between two ports of a linear time-invariant medium. Recent research on classical wave dynamics has explored the spatiotemporal modulation to exhibit preferred directions in photons and plasmons. Here we report a distinct rectification effect on diffusion-wave fields by modulating the conductivity and observe nonreciprocal transport of charges. We experimentally create a spatiotemporal diffusion metamaterial, in which a mode transition to zero frequency is realized. A direct current component thereby emerges, showcasing a biased effect on the charge diffusion when the incident fundamental frequency is a multiple of the system modulation frequency. These results may find applications spanning a plethora of diffusive fields in general.
Near Infrared (NIR) spectroscopy is widely used in industrial quality control and automation to test the purity and grade of items. In this research, we propose a novel sensorized end effector and acquisition strategy...
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This work provides a design of a deep-sea soft robotic fish propelled by the body and/or caudal fin (BCF) mode. The robotic fish consists of a bionic fish head and a BCF propulsion body. To enhance the swimming perfor...
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Given an undirected graph,the Maximum Clique Problem(MCP)is to find a largest complete subgraph of the *** is NP-hard and has found many practical *** this paper,we propose a parallel Branch-and-Bound(BnB)algorithm to...
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Given an undirected graph,the Maximum Clique Problem(MCP)is to find a largest complete subgraph of the *** is NP-hard and has found many practical *** this paper,we propose a parallel Branch-and-Bound(BnB)algorithm to tackle this NP-hard problem,which carries out multiple bounded searches in *** search has its upper bound and shares a lower bound with the rest of the *** potential benefit of the proposed approach is that an active search terminates as soon as the best lower bound found so far reaches or exceeds its upper *** describe the implementation of our highly scalable and efficient parallel MCP algorithm,called PBS,which is based on a state-of-the-art sequential MCP *** proposed algorithm PBS is evaluated on hard DIMACS and BHOSLIB *** results show that PBS achieves a near-linear speedup on most DIMACS instances and a superlinear speedup on most BHOSLIB ***,we give a detailed analysis that explains the good speedups achieved for the tested instances.
Escalating competition within aquatic environments,particularly in oceans,underscores the imperative for innovative solutions in underwater *** solutions necessitate the development of intelligent underwater equipment...
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Escalating competition within aquatic environments,particularly in oceans,underscores the imperative for innovative solutions in underwater *** solutions necessitate the development of intelligent underwater equipment,with robotic fish emerging as a promising contender.1 Leveraging advancements in robotics and artificial intelligence,robotic fish offer a suite of advantages that position them as transformative assets in underwater exploration and *** fish are autonomous robots designed based on biomimetics principles that mimic the appearance of fish and can autonomously swim and perform specific tasks in water.
Natural joints have excellent low-friction properties that positively inspire the frictional wear properties of artificial joints. Replacing damaged biological joints with artificial ones can restore bio-function and ...
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Cybercriminals are increasingly using steganography to launch attacks on devices. The cyberattack is more threatening as steganography hides the embedded malware, if any, making it harder to detect by various anti-vir...
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The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Differ...
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The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous *** improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.
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