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arXiv 2020年

作者： Porter, Matthew Dey, Sidhartha Joshi, Arnav Hespanhol, Pedro Aswani, Anil Johnson-Roberson, Matthew Vasudevan, Ram Department of Mechanical Engineering University of Michigan Ann ArborMI48103 United States Robotics Institute University of Michigan Ann ArborMI48103 United States Department of Industrial Engineering and Operations Research University of California Berkeley BerkeleyCA94720 United States Department of Naval Architecture University of Michigan Ann ArborMI48103 United States

Cyber-physical systems (CPS) such as autonomous vehicles rely on both on-board sensors and external communications to estimate their state. Unfortunately, these communications render the system vulnerable to cyber-attacks. While many attack detection methods have begun to address these concerns, they are limited to linear time-invariant (LTI) systems. Though LTI system models provide accurate approximations for CPS such as autonomous vehicles at constant speed and turning radii, they are inaccurate for more complex motions such as lane changes, turns, and changes in velocity. Since these more complex motions are more suitably described by linear time-varying (LTV) system models rather than LTI models, Dynamic Watermarking, which adds a private excitation to the input signal to validate measurements, has recently been extended to LTV systems. However, this extension does not allow for LTV systems that require several steps before the effect of a given control input can be seen in the measurement signal. Additionally, there is no consideration for the time-varying effects of auto-correlation. Furthermore, a proof of concept was only provided using simulations of a simplified model. This paper relaxes the requirement for inputs to be visible in a single step and constructs an auto-correlation normalizing factor to remove the effects of auto-correlation. In addition, Dynamic Watermarking is applied to a high-fidelity vehicle model in CarSim™and a 1/10 scale autonomous rover to further reinforce the proof of concept for realistic systems. In each case, the vehicle follows a predefined path with time-varying velocity and turning radii. A replay attack, which replays previously recorded measurements, is shown to be detectable using LTV Dynamic Watermarking in a quick and repeatable manner. Copyright © 2020, The Authors. All rights reserved.

关键词： Embedded systems

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Effects of sodium alginate-poly(acrylic acid) cross-linked hydrogel beads on soil conditioner in the absence and presence of phosphate and carbonate ions

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Case Studies in Chemical and Environmental engineering 2024年 9卷

作者： Hidayat, Endar Sarbani, Nur Maisarah Mohamad Lahiri, Sudip Kumar Samitsu, Sadaki Yonemura, Seiichiro Mitoma, Yoshiharu Harada, Hiroyuki Graduate School of Comprehensive Scientific Research Program in Biological System Sciences Prefectural University of Hiroshima Shobara 727-0023 Japan Department of Life System Science Faculty of Bioresources Science Prefectural University of Hiroshima Shobara 727-0023 Japan Data-driven Polymer Design Group Research Center for Macromolecules and Biomaterials National Institute for Materials Science 1−2−1 Sengen Tsukuba 305-0047 Japan Department of Mechanical & Industrial Engineering University of Toronto Toronto M5S 3G8 ON Canada Faculty of Allied Health Sciences Chettinad Hospital and Research Institute Chettinad Academy of Research and Education Tamil Nadu Kelambakkam 603103 India

Hydrogel beads, composed of polymers, possess the ability to absorb substantial quantities of water simultaneously and gradually release it in dry conditions. In this work, hydrogel beads were synthesized using sodium alginate (S-Alg) and poly (acrylic acid) (P-Acc), either in the absence or presence of phosphate (PO₄ ³⁻) (S-Alg/P-Acc@PO₄ ³⁻) and carbonate (CO₃ ²⁻) anionic ions (S-Alg/P-Acc@CO₃ ²⁻). Subsequently, these beads were crosslinked with Ca²⁺ ions. The scanning electron microscopy (SEM) images demonstrated that the presence of anionic ions has an impact on the structure of the hydrogel beads and enhances porosity expansion while concurrently reducing the concentration of carboxyl (COOH) groups. The hydrogel beads exhibited a great swelling behavior, with S-Alg/P-Acc@CO₃ ²⁻ capable of absorbing up to 73.5 % of water in acidic conditions, but decreased under neutral and basic conditions. Soil water loss (SWL) experiments confirmed the ability of hydrogel beads to retain water in the soil. Additionally, observations of soil characteristics after a 14-day treatment revealed no significant difference in pH and C/N ratio (P-value <0.05). However, soil's available Fe and N–NO₃ ^- significantly reduced (P-value <0.05) while substantially promoting soil N–NH₄ ⁺, available phosphorus (P), cation exchange capacity (CEC), soil organic carbon (SOC), and exchangeable cation (Ca²⁺, K⁺ and Mg²⁺). The presence of hydroxyl (-OH) and –COOH groups was found to be crucial for enhancing soil properties. © 2024 The Authors

关键词： Anionic ions Hydrogel beads Poly (acrylic acid) Sodium alginate Soil characteristics Soil water retention Swelling

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OpenKBP-Opt: An international and reproducible evaluation of 76 knowledge-based planning pipelines

arXiv

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arXiv 2022年

作者： Babier, Aaron Mahmood, Rafid Zhang, Binghao Alves, Victor G.L. Barragán-Montero, Ana Maria Beaudry, Joel Cardenas, Carlos E. Chang, Yankui Chen, Zijie Chun, Jaehee Diaz, Kelly Eraso, Harold David Faustmann, Erik Gaj, Sibaji Gay, Skylar Gronberg, Mary Guo, Bingqi He, Junjun Heilemann, Gerd Hira, Sanchit Huang, Yuliang Ji, Fuxin Jiang, Dashan Giraldo, Jean Carlo Jimenez Lee, Hoyeon Lian, Jun Liu, Shuolin Liu, Keng-Chi Marrugo, José Miki, Kentaro Nakamura, Kunio Netherton, Tucker Nguyen, Dan Nourzadeh, Hamidreza Osman, Alexander F.I. Peng, Zhao Muñoz, José Darío Quinto Ramsl, Christian Rhee, Dong Joo Rodriguez, Juan David Shan, Hongming Siebers, Jeffrey V. Soomro, Mumtaz H. Sun, Kay Hoyos, Andrés Usuga Valderrama, Carlos Verbeek, Rob Wang, Enpei Willems, Siri Wu, Qi Xu, Xuanang Yang, Sen Yuan, Lulin Zhu, Simeng Zimmermann, Lukas Moore, Kevin L. Purdie, Thomas G. McNiven, Andrea L. Chan, Timothy C.Y. Department Of Mechanical And Industrial Engineering University Of Toronto TorontoON Canada Vector Institute TorontoON Canada Department Of Radiation Oncology University Of Virginia Health System CharlottesvilleVA United States Department Of Molecular Imaging Radiation Oncology UCLouvain Louvain-la-Neuve Belgium Department Of Radiation Oncology Memorial Sloan Kettering Cancer Center New YorkNY United States Department Of Radiation Oncology The University Of Alabama At Birmingham BirminghamAL United States Department Of Engineering And Applied Physics University Of Science And Technology Of China Hefei China Shenying Medical Technology Co. Ltd. Guangdong Shenzhen China Department Of Radiation Oncology Yonsei University Seoul Korea Republic of Department Of Physics National University Of Colombia Medellín Colombia Atominstitut Vienna University Of Technology Vienna Austria Department Of Biomedical Engineering Cleveland Clinic ClevelandOH United States Department Of Radiation Physics The University Of Texas MD Anderson Cancer Center HoustonTX United States Department Of Biomedical Engineering Shanghai Jiao Tong University Shanghai China Department Of Radiation Oncology Medical University Of Vienna Vienna Austria Department Of Biomedical Engineering Johns Hopkins University BaltimoreMD United States Department Of Radiation Oncology Peking University Cancer Hospital And Institute Beijing China Department Of Electrical Engineering And Automation Anhui University Hefei China Department Of Radiation Oncology Massachusetts General Hospital BostonMA United States Department Of Radiation Oncology University Of North Carolina At Chapel Hill Chapel HillNC United States Department Of Medical Imaging Taiwan AI Labs Taipei Taiwan Department Of Biomedical And Health Sciences Hiroshima University Hiroshima Japan Laboratory Department Of Radiation Oncology The University Of Texas Southwestern Medical Center DallasTX United States Department Of Radiatio

We establish an open framework for developing plan optimization models for knowledge-based planning (KBP) in radiotherapy. Our framework includes reference plans for 100 patients with head-and-neck cancer and high-quality dose predictions from 19 KBP models that were developed by different research groups during the OpenKBP Grand Challenge. The dose predictions were input to four optimization models to form 76 unique KBP pipelines that generated 7600 plans. The predictions and plans were compared to the reference plans via: dose score, which is the average mean absolute voxel-by-voxel difference in dose a model achieved;the deviation in dosevolume histogram (DVH) criterion;and the frequency of clinical planning criteria satisfaction. We also performed a theoretical investigation to justify our dose mimicking models. The range in rank order correlation of the dose score between predictions and their KBP pipelines was 0.50 to 0.62, which indicates that the quality of the predictions is generally positively correlated with the quality of the plans. Additionally, compared to the input predictions, the KBPgenerated plans performed significantly better (P © 2022, CC BY.

关键词： Forecasting

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Evaluation of sampling methods for robotic sediment sampling systems

arXiv

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arXiv 2020年

作者： Bae, Jun Han Jo, Wonse Park, Jee Hwan Voyles, Richard M. McMillan, Sara K. Min, Byung-Cheol SMART Lab Department of Computer and Information Technology Purdue University West LafayetteIN47907 United States SMART Lab Department of Computer and Information Technology School of Mechanical Engineering Purdue University West LafayetteIN47907 United States Collaborative Robotics Lab School of Engineering Technology Purdue University West LafayetteIN47907 United States Department of Agricultural & Biological Engineering Purdue University West LafayetteIN47907 United States

Analysis of sediments from rivers, lakes, reservoirs, wetlands and other constructed surface water impoundments is an important tool to characterize the function and health of these systems, but is generally carried out manually. This is costly and can be hazardous and difficult for humans due to inaccessibility, contamination, or availability of required equipment. Robotic sampling systems can ease these burdens, but little work has examined the efficiency of such sampling means and no prior work has investigated the quality of the resulting samples. This paper presents an experimental study that evaluates and optimizes sediment sampling patterns applied to a robot sediment sampling system that allows collection of minimally-disturbed sediment cores from natural and man-made water bodies for various sediment types. To meet this need, we developed and tested a robotic sampling platform in the laboratory to test functionality under a range of sediment types and operating conditions. Specifically, we focused on three patterns by which a cylindrical coring device was driven into the sediment (linear, helical, and zig-zag) for three sediment types (coarse sand, medium sand, and silt). The results show that the optimal sampling pattern varies depending on the type of sediment and can be optimized based on the sampling objective. We examined two sampling objectives: maximizing the mass of minimally disturbed sediment and minimizing the power per mass of sample. This study provides valuable data to aid in the selection of optimal sediment coring methods for various applications and builds a solid foundation for future field testing under a range of environmental conditions. Copyright © 2020, The Authors. All rights reserved.

关键词： Sediments

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Characterization of annealed U-10Zr fuel with additive antimony for immobilizing fission product lanthanides

Characterization of annealed U-10Zr fuel with additive antim...

引用

2019 Transactions of the American Nuclear Society, ANS 2019

作者： Zhuo, Weiqian Benson, Michael T. Xie, Yi Mariani, Robert D. Zhang, Jinsuo Nuclear Engineering Program Department of Mechanical Engineering Virginia Polytechnic Institute State University BlacksburgVA24061 United States Idaho National Laboratory P.O. Box 1625 MS 6188 Idaho FallsID83415 United States

Sb is chosen as an additive to bind lanthanides in U-10Zr metallic fuel and the effectiveness was demonstrated in as-cast sample. Upon annealing, no evidence of free Sb was observed in both alloys. This is important and favorable because of the melting point of Sb (630.6 °C) is close to the fuel operation temperature, and Sb is an embrittling agent to Fe-based cladding. The microstructure of the U-10Zr4Sb alloys does not have noticeable change, Sb is in the solid phase with Zr. For U-10Zr-4Sb-4Ce, Zr-Sb phase is found, but in very small amount. Ce4Sb3 is identified, indicating the thermal stability for such compound. © 2019 American Nuclear Society. All rights reserved.

关键词： Binary alloys

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Preface

Minerals, Metals and Materials Series

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Minerals, Metals and Materials Series 2022年 v-vii页

作者： Srivatsan, T.S. Rohatgi, Pradeep K. Murph, Simona Hunyadi Department of Mechanical Engineering The University of Akron AkronOH United States Materials Science and Engineering Department University of Wisconsin–Milwaukee MilwaukeeWI United States LDRD Program Manager Savannah River National Laboratory AikenSC United States University of Georgia AthensGA United States

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3D noise modeling of an urban environment: Simulated and measured noise characteristics of the UDC campus

引用

Proceedings of Meetings on Acoustics 2024年第1期46卷

作者： Lirane Mandjoupa Dorian Davis Samba Gaye Shehabaldin Mohamed Etochukwu Ofodile Lei Wang Wagdy Mahmoud Max Denis University of the District of Columbia Washington DC 20008 USA liranekertesse.mandj@udc.edu dorian.davis@udc.edu samba.gaye@udc.edu Shehabaldin.Mohamed@udc.edu etochukwu.ofodile@udc.edu Department of Civil and Architectural Engineering and Construction Management University of Cincinnati Cincinnati OH 45221 USA wang4li@ucmail.uc.edu Computer Engineering Program Director Department of Electrical and Computer Engineering University of the District of Columbia Washington DC 20008 USA wmahmoud@udc.edu Department of Mechanical Engineering University of the District of Columbia Washington DC 20008 USA max_f_denis@***

In this work, a 3-D numerical method is employed to predict the noise propagation within the University of the District of Columbia (UDC). UDC is located within an urban environment in Washington, DC. Sound pressure level measurements of various noise sources including traffic noise are obtained. Of particular interest is the method’s ability to accurately simulate the urban space. Accuracy is evaluated comparatively between simulated and measured results of acoustic parameters in the mid-to-high-frequency regimes. Specifically, reverberation time, energy decay time, and sound pressure level. The results and limitations of the particle-tracing method for predicting sound propagation in urban environments are discussed.

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Lidar-enhanced structure-from-motion

arXiv

引用

arXiv 2019年

作者： Zhen, Weikun Hu, Yaoyu Yu, Huai Scherer, Sebastian Department of Mechanical Engineering Robotics Institute Carnegie Mellon University PittsburghPA15213 United States

Although Structure-from-Motion (SfM) as a maturing technique has been widely used in many applications, state-of-the-art SfM algorithms are still not robust enough in certain situations. For example, images for inspection purposes are often taken in close distance to obtain detailed textures, which will result in less overlap between images and thus decrease the accuracy of estimated motion. In this paper, we propose a LiDAR-enhanced SfM pipeline that jointly processes data from a rotating LiDAR and a stereo camera pair to estimate sensor motions. We show that incorporating LiDAR helps to effectively reject falsely matched images and significantly improve the model consistency in large-scale environments. Experiments are conducted in different environments to test the performance of the proposed pipeline and comparison results with the state-of-the-art SfM algorithms are reported. Copyright © 2019, The Authors. All rights reserved.

关键词： Pipelines

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Assessment of Decontamination and Reuse of Disposable Filter Funnels Used in Microbiological Water Quality Tests

引用

Environmental Health Insights 2021年第15期15卷 11786302211014400页

作者： Zimmer, Camille Cassivi, Alexandra Baía, Celia C Tilley, Elizabeth Bain, Robert Johnston, Richard Dorea, Caetano C Department of Civil Engineering University of Victoria Victoria BC Canada Environment and Regional Development Graduate Program (PGDRA) Universidade Federal de Rondônia (UNIR) Porto Velho Rondônia Brazil Department of Mechanical and Process Engineering ETH Zurich Zurich Switzerland The Polytechnic University of Malawi Chichiri Malawi Division of Data Analysis Planning and Monitoring UNICEF New York NY United States Department of Environment Climate Change and Health (ECH) WHO Geneva Switzerland

To monitor safely managed drinking water services, an increasing number of countries have integrated water quality testing for Escherichia coli into nationally-representative household surveys such as the Multiple Indicator Cluster Surveys (MICS). However, plastic waste generated during such water quality testing programs, mostly through the use of pre-sterilized disposable materials, is non-negligible. The objective of this study was to evaluate several re-use protocols for disposable filter funnels used by the MICS water quality test kits. Decontamination and re-use protocols were assessed in centralized laboratory and decentralized field settings and neither yielded positive results. Re-use of 100 mL sterile funnels decontaminated with an alcohol wipe resulted in a higher incidence of false positive results (i.e., positive contamination when processing sterile water), both in the laboratory and field;therefore, a higher proportion of positives tests can be expected if these components are re-used. Further improvements to the decontamination technique and training are needed before material re-use can be reliably adopted. Autoclaving the funnels for re-use is feasible, provided that there is capacity to re-package and distribute funnels in a sterile manner. © The Author(s) 2021.

关键词： Drinking water quality Escherichia coli microbial water testing multiple indicator cluster surveys (MICS) plastics waste

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The soft landing problem: Minimizing energy loss by a legged robot impacting yielding terrain

arXiv

引用

arXiv 2019年

作者： Lynch, Daniel J. Lynch, Kevin M. Umbanhowar, Paul B. Center for Robotics and Biosystems Department of Mechanical Engineering Northwestern University EvanstonIL60208 United States

Enabling robots to walk and run on yielding terrain is increasingly vital to endeavors ranging from disaster response to extraterrestrial exploration. While dynamic legged locomotion on rigid ground is challenging enough, yielding terrain presents additional challenges such as permanent ground deformation which dissipates energy. In this paper, we examine the soft landing problem: given some impact momentum, bring the robot to rest while minimizing foot penetration depth. To gain insight into properties of penetration depth-minimizing control policies, we formulate a constrained optimal control problem and obtain a bang-bang open-loop force profile. Motivated by examples from biology and recent advances in legged robotics, we also examine impedance-control solutions to the dimensionless soft landing problem. Through simulations, we find that optimal impedance reduces penetration depth nearly as much as the open-loop force profile, while remaining robust to model uncertainty. Through simulations and experiments, we find that the solution space is rich, exhibiting qualitatively different relationships between impact velocity and the optimal impedance for small and large dimensionless impact velocities. Lastly, we discuss the relevance of this work to minimum-cost-of-transport locomotion for several actuator design choices. Copyright © 2019, The Authors. All rights reserved.

关键词： Uncertainty analysis

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