Optimal control is a critical tool for mechanical robotic systems, facilitating precise manipulation of dynamic processes. These processes are described through differential equations governed by a control function, addressing a time-optimal problem with bilinear characteristics. Our study utilizes the classical approach complemented by Pontryagin's Maximum Principle (PMP) to explore this inverse optimal problem. The objective is to develop an exact piecewise control function that effectively manages trajectory control while considering the effects of viscous friction. Our simulations demonstrate that the proposed control law markedly diminishes oscillations induced by boundary conditions. This research not only aims to delineate the reachability set but also strives to determine the minimal time required for the process. The findings include an exact analytical solution for the stated control problem.

There is an increase towards reducing the weight of structures through the use of aluminium alloys in different industries like aerospace, automotive, etc. This growing interest would lead towards using dissimilar aluminium alloys which would require welding. TIG and friction stir welding are the well-known techniques that are currently suitable for joining dissimilar aluminium alloys. The welding of dissimilar alloys has its own dynamics which impact on the quality of the weld. This then suggests that there should be a process which can be used to improve the dissimilar alloys welds post their production. Friction stir processing is viewed as one of the techniques that could be used to improve the mechanical properties of the material. This paper reports on the status and the advancement of FSW, TIG and FSP technique. It further looks at the variation use of FSP on TIG and FSW welded joints with the purpose of identifying the knowledge gap.

With the increasing concern of environment, the energy-efficiency scheduling of manufacturing industry is becoming urgent and popular. In turning processes, both spindle speed and processing time can affect the final energy consumption and thus the spindle speed and scheduling scheme need to be optimized simultaneously. Since the turning workshop can be regarded as the flexible flow shop, this paper formulates a mixed integer linear programming model for energy-efficient scheduling of flexible flow shop. Accordingly, a new decoding method is developed by considering of the optimization of spindle speed and scheduling scheme simultaneously, and an estimation of distribution algorithm adopting the new decoding method is proposed to solve large-size problems. The parameters of this algorithm are determined by statistical technique with a simplified practical case. In order to validate the proposed method, a case from practical factories is studied, in which the makespan can be shortened by 25.22%, and the consumed energy can be saved by 5.48%. These results demonstrate the effectiveness of the proposed mathematical model and algorithm.

This paper deals with the possibility for construction of the database on friction coefficient on the actual roads from the viewpoint of traffic safety. A measurement algorithm is determined in order to construct road friction measuring device. Next, the tires used for measurement are selected and the characteristics are measured using bench tire characteristic tester, and the measuring device is designed and constructed based on the characteristics. Finally, using this device, the measurement results of the road friction characteristics for two types of road surfaces are shown.

Ultrasound (US) scans of the inferior vena cava (IVC) provide useful information on the volume status of a patient. However, their investigation is user-dependent and prone to measurement errors. An important technical problem is the objective difficulty in studying a very compliant blood vessel like IVC, which makes large respirophasic movements and shows a complicated three dimensional geometry. Using bi-dimensional (2D) B-mode views either in long or short axis has improved the characterization of IVC dynamics compared to a measurement along a single direction (M-mode). However, specific movements of the IVC can challenge also the information provided by these 2D sections. Thus, these two orthogonal views, provided by an US system in X-plane, are here integrated by an innovative method. It is tested on simulated videos of the IVC performing complicated movements, that are compensated by the new method, overcoming the biased measurements provided by 2D scans. The method is then applied on example experimental data.

Panel data of our interest consist of a moderate number of panels, while the panels contain a small number of observations. An estimator of common breaks in panel means without a boundary issue for this kind of scenario is proposed. In particular, the novel estimator is able to detect a common break point even when the change happens immediately after the first time point or just before the last observation period. Another advantage of the elaborated change point estimator is that it results in the last observation in situations with no structural breaks. The consistency of the change point estimator in panel data is established. The results are illustrated through a simulation study. As a by-product of the developed estimation technique, a theoretical utilization for correlation structure estimation, hypothesis testing, and bootstrapping in panel data is demonstrated. A practical application to non-life insurance is presented as well.

Based on some experiments, the paper describes with the help of polarization the physic-chemical processes that take place in the contact area of friction pairs, during the selective transfer as a result of the change in the input speed of the lubricant (glycerin), as well as how it influences their wear. Through polarization, the quantitative and qualitative transformations of glycerin are studied during frictional stress with selective transfer, the determination of the properties of the selective solution, and the damage to the metals and alloys of the friction pairs, but also after frictional stress.

In wireless sensor networks (WSNs), each sensor node can estimate the global parameter from the local data in distributed manner. This paper proposed a robust diffusion estimation algorithm based on minimum error entropy criterion with self-adjusting step-size, which are referred to as diffusion MEE-SAS (DMEE-SAS) algorithm. The DMEE-SAS algorithm has fast speed of convergence and is robust against non-Gaussian noise in the measurements. The detailed performance analysis of the DMEE-SAS algorithm is performed. By combining the DMEE-SAS with diffusion minimum error entropy (DMEE) algorithms, an Improving DMEE-SAS algorithm is proposed, in non-stationary environment where tracking is very important. The Improving DMEE-SAS algorithm can avoid insensitivity of the DMEE-SAS algorithm due to the small effective step-size near the optimal estimator, and obtain a fast convergence speed. Numerical simulations are given to verify the effectiveness and advantages of these proposed algorithms.

Assessing the quality of corn seeds necessitates evaluating their content of water, fat, protein, and starch. This study integrates hyperspectral imaging technology with chemometric analysis techniques to achieve non-invasive and rapid detection of multiple key components in corn seeds. Hyperspectral images of the embryo surface of maize seeds were collected within the wavelength range of 1100~2498nm. Subsequently, image segmentation techniques were applied to extract the germ structure of the corn seeds as the region of interest. Seven spectral data preprocessing algorithms were employed, and the Detrending Transformation (DT) algorithm was identified as the optimal preprocessing method through comparative analysis using the Partial Least Squares Regression (PLSR) model. To reduce spectral redundancy and streamline the prediction model, three algorithms were employed for characteristic wavelength extraction: Successive Projections Algorithm (SPA), Competitive Adaptive Reweighted Sampling (CARS), and Uninformative Variable Elimination (UVE). Using both the original spectra and the extracted characteristic wavelengths, four content detection models were constructed: PLSR, Back Propagation Neural Network (BPNN), Radial Basis Function Neural Network (RBFNN), and Least Squares Support Vector Machine (LSSVM). The experimental results demonstrate that the DT-CARS-LSSVM model exhibits exceptional accuracy and stability in predicting these four key components, with determination coefficients of 0.9877, 0.9344, 0.9827, and 0.9592, respectively. This study not only provides a scientific basis for evaluating the quality of corn seeds but also opens up new avenues for the development of non-invasive detection technology in related fields.

Ambulatory heart rate (HR) monitors that acquire electrocardiogram (ECG) or/and photoplethysmographm (PPG) signals from the torso, wrists, or ears are notably less accurate in tasks associated with high levels of movement compared to clinical measurements. However, reliable estimation of HR can be obtained through data fusion from different sensors. These methods are especially suitable for multimodal hearable devices, where heart rate can be tracked from different modalities, including electrical ECG, optical PPG, and sounds (heart tones). Combined information from different modalities can compensate for single source limitations. In this paper, we evaluate the possible application of data fusion methods in hearables. We assess data fusion for heart rate estimation from simultaneous in-ear ECG and in-ear PPG, recorded on eight subjects while performing 5-minute sitting and walking tasks. Our findings show that data fusion methods provide a similar level of mean absolute error as the best single-source heart rate estimation but with much lower intra-subject variability, especially during walking activities. We conclude that data fusion methods provide more robust HR estimation than a single cardiovascular signal. These methods can enhance the performance of wearable devices, especially multimodal hearables, in heart rate tracking during physical activity.

The variation of aerosols, especially dust aerosol, in time and space plays an important role in climate forcing studies. Aerosols can effectively reduce land surface longwave emission and re-emit energy at a colder temperature, making estimation of downwelling surface longwave radiation (DSLR) with satellite data difficult. Using the latest atmospheric radiative transfer code (MODTRAN 5.0), we simulate the outgoing longwave radiation (OLR) and DSLR under different land surface and atmospheric profile conditions. The results show that dust aerosol has an obvious “warming” effect to longwave radiation compared with other aerosols, that aerosol longwave radiative forcing (ALRF) increased with increasing aerosol optical depth (AOD), and that the atmospheric water vapor content (WVC) is critical to the understanding of ALRF. A method is proposed to improve the accuracy of DSLR estimation from satellite data for the skies under heavy dust aerosols. The AOD and atmospheric WVC under cloud-free conditions with a relatively simple satellite-based radiation model that yields the high accurate DSLR under heavy dust aerosol are used explicitly as model input to reduce the effects of dust aerosol on the estimation of DSLR. Validations of the proposed model with satellites data and field measurements show that it estimates the DSLR accurately under heavy dust aerosol skies. The root mean square errors (RMSEs) are 20.4 W/M² and 24.2 W/M² for Terra and Aqua satellites, respectively, at the Yingke site, and the biases are 2.7 W/M² and 9.6 W/M², respectively. For the Arvaikheer site, the RMSEs are 23.2 W/M² and 19.8 W/M² for Terra and Aqua, respectively, and the biases are 7.8 W/M² and 10.5 W/M², respectively. The proposed method is especially applicable to acquire relatively high accurate DSLR under heavy dust aerosol using MODIS data with available WVC and AOD data.

The development requirements for reusable liquid rocket engines have set higher standards for the reliability design of turbopump structures. To address the issue of bearing failure in turbopumps under harsh conditions such as low temperature, high speed, heavy load, and repeated start-stop cycles, this paper proposes replacing ball bearings with thrust foil bearings. We used liquid nitrogen instead of liquid hydrogen and liquid oxygen to simulate the ultralow temperature and low viscosity operating environment of turbopumps, evaluating the potential feasibility of using thrust foil bearings in this context. The numerical calculations primarily include the formulation of the foil deformation equations based on the link-spring model for the wavy foil and the thin plate finite element model for the top foil. These equations are solved by coupling the Reynolds lubrication equation, the fluid film thickness equation, and the foil deformation equations using the finite difference method, Newton-Raphson method, and finite element method. A detailed analysis is conducted on the effects of rotational speed, fluid film thickness, thrust disk inclination angle, and wavy foil interface friction coefficient on the static and dynamic characteristics of thrust foil bearings. The research findings provide guidance for the application of thrust foil bearings in liquid rocket turbopumps.

Friction is an important subject for sustainability due to problems associated with energy loss. Recent years, surface micro- and nanostructures have attracted much attention to reduce friction; however, suitable structures are still under consideration. Many functional surfaces are present in nature, such as the friction reduction surfaces of snake skins. In this study, we focused on firebrats, Thermobia domestica, living in narrow spaces such as under bark, so their surface frequently contacts with surrounding surfaces. We speculate that their body surface would be adapted to reduce friction. To investigate the firebrat surface functions, firebrat surfaces were observed by using a field-emission scanning electron microscope (FE-SEM) and a colloidal probe atomic force microscope (AFM), respectively. Results of surface observations by the FE-SEM revealed that firebrats are entirely covered with scales, whose surfaces have micro groove structures. Scale groove periods around the firebrat's head are almost uniform within a scale but vary between scales. AFM friction force measurements revealed that firebrat scale reduces friction by decreasing contact area between scales and a colloidal probe. The heterogeneity of groove periods of the scales suggest that it is difficult to fix the whole body in particular rough surfaces and that lead to be "fail-safe".

This research deals with the possibility for construction of the database on the braking friction coefficient for actual roads from the viewpoint of traffic safety especially for automated driving such as level 4 or higher. In an automated driving such levels, the controller needs to control the vehicle, but the road surface condition, especially the road friction coefficient on wet roads, snowy or icy roads, changes greatly, and in some cases, changes by almost one order. Therefore, it is necessary for the controller to constantly collect environment information such as the road friction coefficients and prepare for emergencies such as obstacle avoidance. However, at present, the measurement of the road friction coefficients is not systemically performed, and a method for accurately measuring has not been established. In order to improve this situation, this study examines a method for continuously measurement for the road friction characteristics such as μ-s characteristics.

Accurate power curve modelling is essential to continuously evaluate the performance of a wind turbine (WT). In this work, we characterize the wind power curves using SCADA data acquired at a frequency of 5 minutes in a wind farm (WF) consisting of 5 WTs. Regarding the non-parametric methods, we select artificial neural networks (ANNs) to make curve estimations. Given that, we have the curves provided by the manufacturer of the WTs given by some very precisely measured pair of wind speed and power points. We can evaluate the difference between the manufacturer characterization and the ones estimated with the data provided by the SCADA system. Before the estimation, we propose a method of filtering the anomalies based on the characteristics provided by the manufacturer. We use three-quarters of the available data for curve estimation and one-quarter for the test. One WT suffered a break in the test part, so we can check how the test estimates reflect this problem in its wind-power curve compared to the estimations obtained in the WTs that worked adequately.

Infrared thermography has already been proven to be a significant method in non-destructive evaluation since it gives information with immediacy, rapidity and low cost. However, the thorniest issue for wider application of IRT is the quantification. In this work, we proposed a specific depth quantifying technique by employing the Gated Recurrent Units (GRU) in composite material samples via pulsed thermography (PT). Carbon Fiber Reinforced Polymer(CFRP) embedded with flat bottom holes were designed via Finite Element Method (FEM) modeling in order to precisely control the depth and geometrics of the defects. The GRU model automatically quantified the depth of defects presented in the CFRP material. The proposed method evaluated the accuracy and performance of synthetic CFRP data from FEM for defect depth predictions.

Daily maximum surface air temperature (Tamax) is a crucial factor for understanding complex land surface processes under rapid climate change. Remote detection of Tamax has widely relied on the empirical relationship between air temperature and land surface temperature (LST), a product derived from remote sensing. However, little is known about how such a relationship is affected by the high heterogeneity in landscapes and dynamics in seasonality. This study aims to advance our understanding of the roles of land cover and seasonal variation in the estimation of Tamax using the MODIS (Moderate Resolution Imaging Spectroradiometer) LST product. We developed statistical models to link Tamax and LST in the middle and lower reaches of the Yangtze River in China for five major land-cover types (i.e., forest, shrub, water, impervious surface, cropland, and grassland) and two seasons (i.e., growing season and non-growing season). Results show that the performance of modeling the Tamax-LST relationship was highly dependent on land cover and seasonal variation. Estimating Tamax over grasslands and water bodies achieved superior performance; while uncertainties were high over forested lands that contained extensive heterogeneity in species types, plant structure, and topography. We further found that all the land-cover specific models developed for the plant non-growing season outperformed the corresponding models developed for the growing season. Discrepancies in model performance mainly occurred in the vegetated areas (forest, cropland, and shrub), suggesting an important role of plant phenology in defining the statistical relationship between Tamax and LST. For impervious surfaces, the challenge of capturing the high spatial heterogeneity in urban settings using the low-resolution MODIS data made Tamax estimation a difficult task, which was especially true in the growing season.

In 1975, Fuller and Tabor have shown that roughness can destroy macroscopic adhesion. This means that in spite of the presence of adhesion at the microscopic scale, the macrosopic force of adhesion vanishes. The mechanism of vanishing macroscopic adhesion is very simple: during approach of elastic bodies, asperities are elastically deformed so strongly that after unloading they destroy the microscopic adhesive junctions. However, both in the moment of formation of microscopic adhesive junctions in the loading phase and their destruction during unloading, mechanical energy disappears. This means that the microscopic adhesion makes the contact dissipative even if there is no macroscopic force of adhesion. In particular, the force-distance dependency during indentation and pull-off do not coincide with each other showing some "adhesive hysteresis". When a ball rolls on such rough surface, there will be a final energy dissipation due to formation of a new contact at the frontline of the contact and its destruction at the rear part. Thus, microscopic adhesion will lead to appearance of rolling friction in an apparently non-adhesive contact. In the present paper, we calculate the approach and pull-off dependencies of force on distance, the dissipated energy in one loading-unloading cycle and estimate the force of rolling friction due to microscopic adhesion.

To address the issue of reduced orbit estimation accuracy resulting from discrepancies between in-orbit measured geomagnetic field values and IGRF model values in autonomous orbit estimation of microsatellites based on geomagnetic field measurements, this study introduces an adaptive cubature H-infinity filtering algorithm. Firstly, it presents the low-altitude orbital dynamics model and geomagnetic field measurement model for microsatellites. Subsequently, within the adaptive cubature H-infinity filtering algorithm, a spherical simplex rule and a second-order Gaussian-Legendre quadrature criterion are employed to compute the spherical surface integral and radial integral. Additionally, a spherical simplex-radial quadrature rule is proposed to enhance the approximation accuracy of nonlinear Gaussian weighted integrals. Furthermore, by integrating extended H-infinity filtering based on game theory with the cubature quadrature rule, an inverse proportional relationship between constraint level and filtering innovation is established. This allows for adaptive adjustment of the constraint level to enhance robustness against model errors. Finally, through semi-physical simulation experiments, it is demonstrated that compared with traditional algorithms, the proposed algorithm improves autonomous orbit estimation position accuracy of microsatellites by 7.49%, while also enhancing velocity accuracy by 3.1%, thus validating its effectiveness.

This study provides a detailed numerical assessment of the productivity of single-slope solar stills across key cities in the Caspian region, including Aktau, Atyrau, Astrakhan, Makhachkala, Baku, Tehran, and Turkmenbashi. Employing a mathematical model based on heat balance equations and the 4th-order Runge-Kutta method, we simulated the distillation process under various climatic conditions. The results reveal that productivity is significantly influenced by geographic location and local meteorological conditions. Tehran demonstrated the highest productivity across all seasons, with values of 1.75 × 10³ kg/(m²·year) and an efficiency of 0.53, due to its optimal solar irradiation and ambient temperature. In contrast, Atyrau and Makhachkala exhibited lower productivity, particularly in colder months, highlighting the effect of ambient temperature on solar still efficiency. The analysis identified optimal water depth at 2 cm and insulation thickness between 4 and 9 cm for enhancing productivity in continental climates like Aktau. Additionally, the lowest cost of distilled water was $0.024 per kilogram in Baku. These findings align with existing literature, validating the numerical model's accuracy. Future research will explore integrating solar stills with other renewable and fossil fuel-based technologies.

Friction and wear take place on two solid surfaces in sliding contact as a result of the mechanical, thermal and chemical interactions with the participation of environmental species. Electron microscopy and the associated spectroscopic analyses are powerful in probing these mechanisms in spatial resolutions from micro to atomic scale. This article provides a review of the author’s work in the wear and friction mechanisms of PVD hard coatings in which various SEM- and TEM-based microscopic and spectroscopic techniques were employed. Understanding on the failure mechanisms and the origin of self-adaptive friction has been improved to nano-scale. Other related issues are also discussed, such as sample preparation techniques for cross-sectional electron microscopy, energy dispersive X-ray spectroscopy and electron energy loss spectroscopy.

Additive Friction Extrusion Deposition (AFED) is a recently developed additive manufacturing technique that promises high deposition rates at low forces. Due to the novelty of the process, the underlying phenomena and their interactions are not fully understood, and in particular the processing strategy and tool design are still in their infancy. This work contributes to the state of the art of AFED through a comprehensive analysis of its working principles and an experimental program including a representative sample component. The working principle and process mechanics of AFED are broken down into their individual components. Forces, their origins and effects on the process are described, and measures of process efficiency and theoretical minimum energy consumption are derived. Three geometrical features of the extrusion die are identified as most relevant to the active material flow, process forces and deposition quality: the topography of the inner and outer circular surfaces and the geometry of its extrusion channels. Based on this, the experimental program investigates seven different tool designs in terms of efficiency, force reduction and throughput. The experiments using AA 6061-T6 as feedstock show that AFED is capable of both high material throughput (close to 550 mm³/s) and reduced substrate forces: For example, the forces for a run at 100 mm³/s remained continuously below 500 N, and for a run at 400 mm³/s below 3500 N. Material flow and microstructure of the AFED are assessed from the macrosections. Significant differences are found between the advancing and retracting sides for both process effects and material flow. Banded structures show strong similarities to other solid state processes. The fabrication of the sample components demonstrates that AFED is already capable of producing industrial grade components. In mechanical testing, interlayer bonding defects result in a more brittle failure behavior in the direction of the structure, in the microstructure show strong similarities to other solid-state processes. The manufacturing of the sample components demonstrates that AFED is already capable of producing industrial grade components. In mechanical tests, interlayer bonding defects result in a more brittle failure behavior in the direction of the structure, while in the horizontal direction of the structure mechanical properties corresponding to a T4 temper have been achieved.

To have a better protection, strong toughness and good flexibility, all lives and plants must have skins, similarly, all books should have covers. In this paper, considering interlayer friction as a perturbation, we formulate a hardcover-book-like laminated plates with internal friction. For a quasi-static problem, detail analysis on the bending response and energy dissipation are carried out for a three-point-supported plates. Our numerical investigations show that the hardcover is more essential than the core layers in terms of bending response, and the energy dissipation within per loading-unloading cycle can be made to vary by a considerable amount. The central goal of studying is not only to predict the bending deformation of the book-like-plates, but also as a representative case to help finding some clue on the universal behaviours of multilayered architectures with internal friction.

Employing numerical methods to simulate manufacturing processes and study their influential factors is increasing. The development of computers and engineering software has increased the ability and accuracy of numerical methods in simulating various aspects of different processes. One of the manufacturing processes that has been considered by many industries in recent years to join metals in solid-state with unique properties is called friction stir welding. It is challenging and, in some cases, impossible to experimentally study the various aspects of this process, such as temperature distribution, stress distribution, and material flow, due to severe plastic deformation in the weld zone. In this case, numerical methods are used to investigate these parameters and better understand the process. This study first investigates various numerical methods researchers use to simulate the process. The ability, pros, and cons of these methods to simulate the process are also examined. Then, the applications of numerical models in simulating the temperature distribution during the process as well as the effects of input parameters on the temperature history of the process, are deeply considered. Next, the application of numerical methods in material flow modeling during the process is investigated. Finally, the modeling of the microstructure of the welding zone is investigated using numerical methods that help significantly in predicting the weld microstructure.

Today, Colebrook’s equation is mostly accepted as an informal standard for modeling of turbulent flow in hydraulically smooth and rough pipes including transient zone in between. The empirical Colebrook’s equation relates the unknown flow friction factor (λ) with the known Reynolds number (R) and the known relative roughness of inner pipe surface (ε/D). It is implicit in unknown friction factor (λ). Implicit Colebrook’s equation cannot be rearranged to derive friction factor (λ) directly and therefore it can be solved only iteratively [λ=f(λ, R, ε/D)] or using its explicit approximations [λ≈f(R, ε/D)]. Of course, approximations carry in certain error compared with the iterative solution where the highest level of accuracy can be reached after enough number of iterations. The explicit approximations give a relatively good prediction of the friction factor (λ) and can reproduce accurately Colebrook’s equation and its Moody’s plot. Usually, more complex models of approximations are more accurate and vice versa. In this paper, numerical values of parameters in various existing approximations are changed (optimized) using genetic algorithms to reduce maximal relative error. After this improvement computational burden stays unchanged while accuracy of approximations increases in some of the cases very significantly.

Time estimation was investigated in 24 healthy adults, 12 women and 12 men, before and after an exhaustive exercise. We compared the capability of estimating time intervals in the range from 1 to 5 s using tasks requiring mental count and tasks that did not allow the mental count. Time estimation and blood lactate levels were evaluated before and at the end of the exercise. We found that the perception of time intervals between 1 and 5 s was affected at the end of the exercise. The observed effects, associated with a significant increase in blood lactate levels, were different in the two types of time estimation used in the present study. In experimental conditions in which participants had to evaluate duration of the time interval by mental counting, at the end of exercise a significant reduction in the overestimation of time made at rest was observed. On the other hand, when participants had to assess the difference in duration between two events without the possibility to mentally count, at the end of the exercise a significant deterioration in performance was observed. In both cases, no gender differences were seen.

With the growing demand for positioning services, angle-of-arrival (AoA) estimation or direction-finding (DF) has been widely investigated for applications in fifth-generation (5G) technologies. Many existing AoA estimation algorithms only require the measurement of the direction of the incident wave at the transmitter to obtain correct results. However, for most of the cellular systems such as Bluetooth indoor positioning system due to multipath and non-line-of-sight (NLOS) propagation, the indoor positioning accuracy is severely affected. In this paper a comprehensive algorithm is investigated that combines radio measurements from Bluetooth AoA local navigation systems with indoor position estimates obtained using particle filtering, which allows us to explore new optimised methods to reduce estimation errors in indoor positioning. First, particle filtering is used to predict the rough position of a moving target. Then, an algorithm with robust beam weighting is used to estimate the AoA of the multipath components. Based on this, a system of pseudo-linear equations for target positioning based on the probabilistic framework of PF and AoA measurement is derived. Theoretical analysis and simulation results show that the algorithm can improve the positioning accuracy by about 25.7% on average.

Fire detection from satellite sensors relies on an accurate estimation of the unperturbed state of a target pixel, from which an anomaly can be isolated. Methods for estimating the radiation budget of a pixel without fire depend upon training data derived from the location's recent history of brightness temperature variation over the diurnal cycle, which can be vulnerable to cloud contamination and the effects of weather. This study proposes a new method that utilises the common solar budget found at a given latitude in conjunction with an area's local solar time to aggregate a broad-area training dataset, which can be used to model the expected diurnal temperature cycle of a location. This training data is then used in a temperature fitting process with the measured brightness temperatures in a pixel, and compared to pixel-derived training data and contextual methods of background temperature determination. Results of this study show similar accuracy between clear-sky medium wave infrared upwelling radiation and the diurnal temperature cycle estimation compared to previous methods, with demonstrable improvements in processing time and training data availability. This method can be used in conjunction with brightness temperature thresholds to provide a baseline for upwelling radiation, from which positive thermal anomalies such as fire can be isolated.

High dimensional statistical analysis for the yield of large-scale circuits is quite difficult due to expensive simulations, especially for the memory circuits with high sigma requirement (e.g., SRAM). In this paper, we developed an efficient sparse additive model to substitute simulations. To fit high sigma region accurately, the modeling center is moved to near failure boundary searched by scaling the shape of sampling function. To solve the model efficiently, the process variables are grouped by standard cells so that the model can be solved by our developed blockwise greedy algorithm. The experiments on the 28nm memory circuits validate that our method achieves high accuracy and efficiency compared with other state-of-art works.

The main objective of this work is the assessment of the annual number of hospital admissions for respiratory disease (HARD) due to the exposure to in-healable particulate matter (PM10), within the greater Athens area (GAA), Greece. Towards this aim, the time series of the particulate matter with aerodynamic diameter less than 10μm (PM10) recorded in six monitoring stations located in the GAA, for a 13-year period 2001-2013, is used. Initially, a descriptive statistical treatment of PM10 concentrations took place. Furthermore, the AirQ2.2.3 software developed by the WHO was used to evaluate adverse health effects by PM10 in the GAA during the examined period. The results show that, during the examined period PM10 concentrations present a significant decreasing trend. Also, the mean annual HARD cases per 100,000 inhabitants ranged between 20 (suburban location) and 40 (city centre location). Approximately 70% of the annual HARD cases are due to city centre residents. In all examined locations, a declining trend in the annual number of HARD cases is appeared. Moreover, a strong relation between the annual number of HARD cases and the annual number of days exceeding the European Union daily PM10 threshold value was found.

This paper presents a new semi-explicit algorithm for parameters estimation in a time-fractional generalization of dual-phase-lag heat conduction model with the Caputo fractional derivatives. It is shown that this model can be derived from a general linear constitutive relation for the heat transfer by conduction when the heat conduction relaxation kernel contains the Mittag-Leffler function. The model can be used to describe heat conduction phenomena in a material with power-law memory. The proposed algorithm of parameters estimation is based on the time integral characteristics method. The explicit representations of the thermal diffusivity and the fractional analogues of the thermal relaxation time and the thermal retardation are obtained via a Laplace transform of the temperature field and utilized in the algorithm. An implicit relation is derived for the order of fractional differentiation. In the algorithm, this relation is resolved numerically. An example illustrates the proposed technique.

An investigation was made to determine the effects of tungsten surface coating on the coefficient of friction of sliding contact between lubricated steel surfaces. The four-ball test was modified, using a tungsten carbide ball bearing in the spindle to cause sliding contact onto three hard steel ball bearings coated with tungsten disulfide lamellar dry lubricant coating, with a coating of grease lubrication applied to the ball bearings. The coatings, loads, speed, and grease level was varied to best understand the impact of different conditions to the friction coefficient.

In this study, a novel method is proposed to estimate surface-spectral reflectance from camera responses that combines model-based and training-based approaches. An imaging system is modeled using the spectral sensitivity functions of an RGB camera, spectral power distributions of multiple light sources, unknown surface-spectral reflectance, additive noise, and a gain parameter. The estimation procedure comprises two main stages: (1) selecting the local optimal reflectance dataset from a reflectance database and (2) determining the best estimate by applying a neural network to the local optimal dataset only. In stage (1), the camera responses are predicted for the respective reflectances in the database, and the optimal candidates are selected in the order of lowest prediction error. In stage (2), most reflectance training data are obtained by a convex linear combination of local optimal data using weighting coefficients based on random numbers. A feed-forward neural network with one hidden layer is used to map the observation space onto the spectral reflectance space. In addition, the reflectance estimation is repeated by generating multiple sets of random numbers, and the median of a set of estimated reflectances is determined as the final estimate of the reflectance. Experimental results show that the estimation accuracies exceed those of other methods.

In recent decades, low-yielding seismic devices based on the use of friction dampers have emerged as an excellent solution for the development of building structures with improved reparability and resilience. Achieving an optimal design for such low-yielding seismic devices requires precise control of bolt preloading levels and predictability of the friction coefficient (CoF) between the damper interfaces. While various types of friction devices exist, capable of providing significant energy dissipation, ongoing research is focused on the development of novel friction materials that exhibit a stable hysteretic response, high CoF values, minimal differences between static and dynamic CoF, and predictable slip resistance. In this context, an experimental campaign was conducted at the STRENGTH Laboratory of the University of Salerno to evaluate the behaviour of new friction shims employing specially developed metal alloys. Specifically, the influence of the characteristics of the contact surfaces in the sliding area on the behaviour and performance of the friction device was analysed. The tests followed the loading protocol recommended by EN12159 for seismic device qualification. Monitored parameters included preloading force values and the evolution of slip resistance. The friction value was determined, along with its degradation over time. Finally, the material's performance in terms of hysteretic behaviour was assessed, providing a comparison of the tested specimens in terms of slip force degradation and energy dissipation capacity.

Stability considerations play a central role in structural dynamics to determine states that are robust against perturbations during the operation. Linear stability concepts, such as the complex eigenvalue analysis, constitute the core of analysis approaches in engineering reality. However, most stability concepts are limited to local perturbations, i.e. they can only measure a state’s stability against small perturbations. Recently, the concept of basin stability has been proposed as a global stability concept for multi-stable systems. As multi-stability is a well-known property of a range of nonlinear dynamical systems, this work studies the basin stability of bi-stable mechanical oscillators that are affected and self-excited by dry friction. The results indicate how the basin stability complements the classical binary stability concepts for quantifying how stable a state is given a set of permissible perturbations.

In response to the issues of sensor noise and accumulated motion errors that lead to low positioning accuracy and insufficient robustness during large maneuvers or continuous flight of small unmanned aerial vehicles (UAVs) in complex environments, this paper proposes a multi-source and multimodal data fusion method. Initially, it employs a multimodal data fusion of various sensors including GPS (Global Positioning System), IMU (Inertial Measurement Unit), and visual sensors to complement the strengths and weaknesses of each hardware component, thereby eliminating motion errors to enhance accuracy. To mitigate the impact of sudden changes in sensor data, the method introduces a digital twin UAV data source. By utilizing the Extended Kalman Filter algorithm, it fuses data from both the real UAV and its digital twin, and the filtered positional information is fed back into the control system of the real UAV. This enables real-time correction of UAV positional deviations caused by sensor noise and environmental disturbances. The multi-source multimodal fusion Kalman filter method proposed in this paper significantly improves the positioning accuracy of UAVs in complex scenarios and the overall stability of the system. This method holds significant value in maintaining high-precision positioning in variable environments and has important practical implications for enhancing UAV navigation and application efficiency.

Quadruped robots possess significant mobility in complex and uneven terrains due to their outstanding stability and flexibility, making them highly suitable in rescue missions, environmental monitoring, and smart agriculture. With the increasing use of quadruped robots in more demanding scenarios, ensuring accurate and stable state estimation in complex environments has become particularly important. Existing state estimation algorithms relying on multi-sensor fusion, such as those using IMU, LiDAR, and visual data, often face challenges on non-stationary terrains due to issues like foot-end slippage or unstable contact, leading to significant state drift. To tackle this problem, this paper introduces a state estimation algorithm that integrates an Invariant Extended Kalman Filter (InEKF) with a disturbance observer, aiming at estimating the motion state of quadruped robots on non-stationary terrains. Firstly, foot-end slippage is modeled as a deviation in body velocity and explicitly included in the state equations, allowing for a more precise representation of how slippage affects the state. Secondly, the state update process integrates both foot-end velocity and position observations to improve the overall accuracy and comprehensiveness of the estimation. Lastly, a foot-end contact probability model, coupled with an adaptive covariance adjustment strategy, is employed to dynamically modulate the influence of the observations. These enhancements significantly improve the filter's robustness and the accuracy of state estimation in non-stationary terrain scenarios. Experiments conducted with the Jueying Mini quadruped robot on various non-stationary terrains show that the enhanced InEKF method offers notable advantages over traditional filters in compensating for foot-end slippage and adapting to different terrains.

In the context of smart agriculture, accurately estimating plant leaf chemical parameters is crucial for optimizing crop management and improving agricultural yield. Hyperspectral imaging, with its ability to capture detailed spectral information across various wavelengths, has emerged as a powerful tool in this regard. However, the complex and high-dimensional nature of hyperspectral data poses significant challenges in extracting meaningful features for precise estimation. To address this challenge, this study proposes an end-to-end estimation network for multiple chemical parameters of Astragalus leaves based on attention mechanism (AM) and multivariate hyperspectral features (AM-MHENet). We leveraging HybridSN and multilayer perception (MLP) to extract prominent features from the hyperspectral data of Astragalus membranaceus var. mongholicus (AMM) leaves and stems, as well as the surface and deep soil surrounding AMM roots. This methodology allows us to capture the most significant characteristics present in these hyperspectral data with high precision. The AM is subsequently used to assign weights and integrate the hyperspectral features extracted from different parts of the AMM. The MLP is then employed to simultaneously estimate the chlorophyll content (CC) and nitrogen content (NC) of AMM leaves. Compared with estimation networks that utilize only hyperspectral data from AMM leaves as input, our proposed end-to-end AM-MHENet demonstrates superior estimation performance. Specifically, AM-MHENet achieves an R2 of 0.983 with an RMSE of 0.73 for the estimation of CC in AMM leaves. For NC estimation, AM-MHENet achieves an R2 value of 0.977 with an RMSE of 0.27. These results underscore AM-MHENet’s effectiveness in significantly enhancing the accuracy of both CC and NC estimation in AMM leaves. Moreover, these findings indirectly suggest a strong correlation between the development of AMM leaves and stems, as well as the surface and deep soil surrounding the roots of AMM, and directly highlight the ability of AM to effectively focus on the relevant spectral features within the hyperspectral data. This findings from this study could offer valuable insights into the simultaneous estimation of multiple chemical parameters in plants, thereby making a contribution to the existing body of research in this field.

Employing remote sensing techniques to evaluate crop residue cover (CRC) enables rapid mapping of tillage practices over large cropland areas, which has significant practical implications for monitoring the implementation of conservation tillage practices. This research utilized Sentinel-2 MSI and Landsat-8 OLI remotely sensed data, various spectral indices were calculated and the datasets were correlated with the field-measured CRC data. Selected spectral indices, highly significantly correlated, were chosen to build a correlation model between the indices and the CRC. Considering Sentinel-2 MSI and Landsat 8 OLI remotely sensed data variations in spectral and spatial scales, the accuracy of CRC models was evaluated using R2 and RMSE values. From the results, it's evident that all six spectral indices, including STI, NDTI, SRNDR, NDI5, NDI7 and NDSVI, registered correlation coefficients with the CRC exceeded 0.3 in the study area. STI and NDTI showed a stronger correlation to CRC, with coefficients of 0.810 and 0.803, respectively. For the Landsat 8 data, the lowest correlation obtained was for NDSVI with the Landsat 8 data with a correlation coefficient of 0.358. Applying the linear regression technique, STI and NDTI obtained higher accuracy compared to other indices in the Sentinel-2 MSI data. For NDTI and STI, The R2 values were 0.650 and 0.665, respectively, while their corresponding RMSE values were 3.96% and 4.03%. The highest model accuracy was obtained for the STI and NDTI constructed from the Landsat 8 OLI data (R2 values 0.41 and 0.40; RMSE values 5.25% and 5.27%, respectively). The CRC model built using partial least squares regression (PLSR) exhibited greater precision when applied to the Sentinel-2 MSI data (R2 value 0.894; RMSE value 2.18%) in comparison to the Landsat 8 OLI data (R2 value 0.695; RMSE value 3.70%). PLSR has the potential to enhance the precision of the model. In addition, the study area shows that the estimation of the CRC is better in the one-dimensional linear regression model and the PLSR model created with the Sentinel-2 MSI optical data compared to the Landsat 8 OLI optical remotely sensed data. The validation suggests that the CRC estimation in the study area is more precise when using the model relying on Sentinel-2 satellite imagery rather than the Landsat 8 OLI imagery.

The purpose of this work is to study the mechanism of running-in during the friction and to determine the informative parameters characterizing the degree of its completion. During the friction, contact interaction of rough surfaces causes various wave phenomena covering a wide range of frequencies, the subsequent frequency analysis can provide information about the sizes of wave sources and thereby clarify the mechanism of interaction between surface roughness. The using of the wavelet transform for processing of the signals of audible acoustic emission made it possible to determine the beginning and the end of the change in the frequency ranges of the interaction of roughness. The code developed by the authors was used to analyze the acoustic emission signals by using wavelet energy and entropy criteria. The mother wavelet was chosen by carefully evaluating the effectiveness of 54 preliminary candidates for the mother wavelet from 7 wavelet families, ac-cording to three criteria: 1) maximum wavelet energy; 2) Shannon entropy minimum; 3) maximum energy-to-Shannon entropy ratio.

The concept of friction damper is widespread technique and used to reduce the structural vibrations in many industrial applications. These friction dampers are generally coated with low wear rate materials to reduce the fretting wear. This paper investigates the use of physical vapor deposition (PVD) nitride based AlTiN coating material applied over the stainless steel friction damper to enhance the damping capacity and to reduce the fretting wear. A friction test rig has been developed to measure the dynamic hysteresis characteristics of friction damper at high temperature (700 °C). The damping capacity and fretting wear analysis is carried out at room temperature, 300 °C and 600 °C. The force versus displacment characterisitcs curve is used to predict the damping capacity and fretting wear analysis is carried out at microscopic level for the comparision. It is observed that at room temperature AlTiN coated friction damper has not much influence to improve the damping capacity and to reduce the fretting-wear. However, at high temperature it has better damping capacity and less wear in comparision to uncoated friction damper. Wear behaviour in coated and uncoated damper is different at room temperature and at elevated temperature.

While texturing of workpiece surfaces to promote lubrication in metal forming has been applied for several decades tool surface texturing is rather new. In the present paper tool texturing is studied as a method to prevent galling. Adopting a strip reduction test longitudinal pocket geometries oriented perpendicular to the sliding direction, with shallow pocket depth, small pocket angle to the workpiece surface and varying distance between pockets are investigated. The experiments reveal that the distance between pockets should be larger than the pocket width thereby creating a topography similar to flat table mountains to avoid mechanical interlocking in the valleys; otherwise an increase in drawing load and pick-up on the tools is observed. The textured tool surface lowers friction and improves lubrication performance provided that the distance between pockets is 2-4 times larger than the pocket width. Larger drawing speed facilitates escape of the entrapped lubricant in the pockets. Testing with low to medium viscosity oils leads to a low sheet roughness on the plateaus but also local workpiece material pick-up on the tool plateaus. Large lubricant viscosity results in higher sheet plateau roughness but also prevents pick-up and galling.

Introduction: Hypertension is a serious public health problem in Morocco. The objective of this pilot study was to estimate the salt intake of Moroccan adults by measuring 24-hour urinary sodium excretion. Methods: 132 participants were recruited from the central region of Morocco. Sodium, potassium and creatinine levels were measured using the 24-hour urine samples. Additional data included anthropometric measurements and socio-demographic questionnaire. Results: The daily sodium, potassium and creatinine excretions were 2779.1±1334.9 mg, 1350.0±642.8 mg and 820.3 ± 381.2 mg, respectively. Data analysis revealed that 71.2% of the participants had a daily sodium intake more than 2000 mg (5g of salt) recommended by the WHO. The mean of potassium excretion was 1350.0±642.8 mg /day, this average was lower than 3.51g per day recommended by the WHO. Conclusion: Public health measures to reduce sodium and increase potassium consumption in order to decrease the population’s risk of high blood pressure and heart disease are recommended.

Remote sensing datasets are increasingly being used to provide spatially explicit large scale evapotranspiration (ET) estimates. The focus of this study was to estimate and thematically map on a pixel-by-pixel basis, the actual evapotranspiration (ET_a) of the Wonji Shoa Sugarcane Estate using the Surface Energy Balance Algorithm for Land (SEBAL), Simplified Surface Energy Balance (SSEB) and Operational Simplified Surface Energy Balance (SSEBop) algorithms. The results obtained revealed that the ranges of the daily ETa estimated on January 25, February 26, September 06 and October 08, 2002 using SEBAL were 0.0 - 6.85, 0.0 – 9.36, 0.0 – 3.61, 0.0 – 6.83 mm/day; using SSEB 0.0 - 6.78, 0.0 – 7.81, 0.0 – 3.65, 0.0 – 6.46 mm/day, and SSEBop were 0.05 - 8.25, 0.0 – 8.82, 0.2 – 4.0, 0.0 – 7.40 mm/day, respectively. The Root Mean Square Error (RMSE) values between SSEB and SEBAL, SSEBop and SEBAL, and SSEB and SSEBop were 0.548, 0.548, and 0.99 for January 25, 2002; 0.739, 0.753, and 0.994 for February 26, 2002;0.847, 0.846, and 0.999 for September 06, 2002; 0.573, 0.573, and 1.00 for October 08, 2002, respectively. The standard deviation of ET_a over the sugarcane estate showed high spatio-temporal variability perhaps due to soil moisture variability and surface cover. The three algorithm results showed that well watered sugarcane fields in the mid-season growing stage of the crop had higher ET_a values compared with the other dry agricultural fields confirming that they consumptively use more water. Generally during the dry season, ET_a is limited to water surplus areas only and in wet season, ET_a was high throughout the entire sugarcane estate. The evaporation fraction (ETrF) results also followed the same pattern as the daily ET_a over the sugarcane estate. The total crop and irrigation water requirement and effective rainfall estimated using the Cropwat model were 2468.8, 2061.6 and 423.8 mm/yr for January 2001 planted and 2281.9, 1851.0 and 437.8 mm/yr for March 2001 planted sugarcanes, respectively. The mean annual ET_a estimated for the whole estate were 107 Mm³, 140 Mm³, and 178 Mm³ using SEBAL, SSEB, and SSEBop, respectively. Even though the algorithms should be validated through field observation, they have potential to be used for effective estimation of ET in the sugarcane estate.

Friction, one of the oldest technologies harnessed by humanity, has thus far eluded a theoretical model capable of predicting kinetic friction forces across a broad range of sliding velocities. This study employs the first principle of thermodynamics to delve into sliding friction. For the first time, a general expression for the friction force has been derived, revealing that the damping of sliding friction is inversely proportional to the relative sliding velocity between the two interfaces in motion, contrary to the assumption in traditional models that it is directly proportional to the relative velocity. To simplify the general result, the concept of a friction boundary layer is introduced. An approximate expression is found to reveal the mechanism for reducing friction, which involves increasing the sliding velocity while decreasing the vibration velocity of the object perpendicular to the sliding interface.

Holding an object by clamping force is a fundamental phenomena, layered or laminated architectures with internal sliding features are essential mechanism in natural and man-made structural system. In this paper, we combine the layered architecture and clamping mechanism to form a multilayered clamp and study the clamping force with internal friction. Our investigations show that the clamping force and energy dissipation are very mich depend on the number of layers, its geometry and elasticity, as well as internal friction. The central goal of studying the covered book is not only to predict the clamping force of the clamp, but also as a representative case to help finding some clue on the universal behaviours of multilayered architectures with internal friction.

Friction stir alloying (FSA) of commercially pure Cu with Ni, Zn, and Mg is implemented in the current study. The successfully fabricated alloy structure has been scrutinized in terms of mechanical and micro-structural standpoints. Energy-dispersive X-ray spectroscopy revealed a uniform distribution of alloying elements and coalescence at the atomic level. The compositional and grain size heterogeneity is managed in the stir zone, which pave way for microstructural control using FSA. Thus, the present study carries significance for the development of novel materials whose fabrication requires temperature far below the melting point of base metals. Ultra-refinement of grains is found to accompany the alloying process, with ~ 440 nm being the smallest grain size. Maximum and average micro-hardness enhancement of 18.4 % and 6 % is observed for the fabricated alloy. Tensile properties have also been investigated and co-related with the micro-structural morphology. The shift towards grain bimodality has also been reported, which is a highly sought property in the present day, especially to overcome the strength-ductility trade-off.

Aluminium alloys have evolved as suitable materials for automotive and aircraft industries due to their reduced weight, excellent fatigue properties, high-strength to weight ratio, high workability/formability, and corrosion resistance. Recently, the joining of similar and dissimilar metals have achieved huge success in various sectors. The processing of soft metals like aluminium, copper, iron and nickel have been fabricated using friction stir processing. Friction stir processing (FSP) is a microstructural modifying technique that uses the same principles as the friction stir welding technique. In the majority of studies on FSP, the effect of process parameters on the microstructure was characterized after a single pass. However, multiple passes of FSP is another method to further modify the microstructure in aluminium castings. This study is aimed at reviewing the impact of multi-pass friction stir processed joints of aluminium alloys and to identify a knowledge gap. From the literature that is available on multi-pass FSP, it has been observed that the majority of the literature focused on the processing of plates than the joints. There is limited literature reporting on multi-pass friction stir processed joints. This then creates a need to study further on multi-pass friction stir processing on dissimilar aluminium alloys.

This paper gives a new unified formula for the Newtonian fluids valid for all pipe flow regimes from laminar to the fully rough turbulent. It includes laminar, unstable sharp jump from laminar to turbulent, and all types of the turbulent regimes: smooth turbulent regime, partial non-fully developed turbulent and fully developed rough turbulent regime. The formula follows the inflectional form of curves as suggested in Nikuradse’s experiment rather than monotonic shape proposed by Colebrook and White. The composition of the proposed unified formula consists of switching functions and of the interchangeable formulas for laminar, smooth turbulent and fully rough turbulent flow. The proposed switching functions provide a smooth and a computationally cheap transition among hydraulic regimes. Thus, the here presented formulation represents a coherent hydraulic model suitable for engineering use. The model is compared to existing literature models, and shows smooth and computationally cheap transitions among hydraulic regimes.

With the progression of AI, embedding advanced AI technologies into small robotics and mobile devices has become essential, driving research towards lightweighting AI models. Our study enhances the EPINET depth estimation model for light field images, aiming for compactness and faster inference while preserving accuracy. We conducted two-step experiments aimed at enhancing inference efficiency: Initially, by adjusting input streams and convolution layers, we simplified the CNN model, achieving faster inference times at the cost of reduced accuracy. To address this reduction in accuracy, we then applied knowledge distillation, allowing the simplified model to learn from the original model’s more complex patterns. In our quantitative experiments using two error metrics, MSE (Mean Squared Error) and BadPix, we identified optimal knowledge positions and evaluated the required complexity for the student model. As a result, our method improved MSE by 21% and BadPix by 14% compared to training without it. Furthermore, the student model achieved an inference speed 13% faster than the teacher model and surpassed its accuracy by 10% in MSE. Additionally, we demonstrated that repeatedly applying our approach could further enhance both model compactness and accuracy.

Automatic and blind parameter estimation based on the inherent features of wireless signals is a major research area due to the fact that these techniques lead to the simplification of receivers, especially in terms of coarse synchronization, more importantly reduce down the signaling load at the control channels. Thus, in the literature many techniques are proposed to estimate a vast set of parameters including modulation types and orders, data and chip rates, phase and frequency offsets and so on. In this paper, a cyclostationary feature detection based method is proposed to estimate the carrier numbers and carrier spacing of carrier-aggregated direct sequence spread spectrum cellular signals blindly. The particular chip rate of the signal is also estimated through the process jointly. In the paper, after the proposed method is formulated, the measurement setup which is developed to collect the data for the validation of the proposed method is introduced. The measurement results are post-processed for performance analysis purposes. To that end, the method is investigated in terms of SNR values, different channel conditions, and measurement durations. Furthermore, the performance of the proposed method is compared with that of energy detection. Measurement results indicate superior performance of the proposed method under significant wireless channel impairments and in low-SNR regions.

Carbon fiber reinforced polymers (CFRPs) are being used extensively in modern industries that require high strength-to-weight ratio such as aerospace, automotive, motorsport, and sports equipment. However, although reinforcement with carbon fibers improves the mechanical properties of polymer, this comes on the expense of abrasive wear resistance. Therefore, to efficiently utilize CFRPs in dry sliding contacts, solid lubricant is used as a filler. Further, to facilitate fabrication of objects with complex geometries, selective laser sintering (SLS) can be employed. Accordingly, in the present work, graphite-filled carbon fiber-reinforced polyamide 12 (CFR-PA12) specimens were prepared using SLS process to explore the dry sliding friction and wear characteristics of the composite. The test specimens were aligned along four different orientations in the build chamber of SLS machine to determine the orientation-dependent tribological properties. The experiments were conducted using pin-on-disc tribometer to measure the coefficient of friction (COF), interface temperature, friction-induced noise, and specific wear rate. In addition, scanning electron microscopy (SEM) of tribo-surfaces was conducted to specify the dominant wear pattern. The results indicated that the steady state COF, contact temperature, and wear pattern of graphite-filled CFR-PA12 are orientation-independent, and that the contact temperature is likely to approach an asymptote far below the glass transition temperature of amorphous PA12 zones, thus eliminating the possibility of matrix softening. Additionally, the results showed that the Z-oriented specimen exhibits the lowest level of friction-induced noise along with the highest wear resistance. Moreover, SEM of tribo-surfaces determined that abrasive wear is the dominant wear pattern.

Classical laws of friction suggest that friction force is proportional to the normal load and independent of the nominal contact area. As a great improvement in this subject, it is now widely accepted that friction force is proportional to the real area in contact, and much work has been conducted based on this hypothesis. In present study, this hypothesis will be carefully revisited by measuring the friction force and real contact area in-site and real-time at both normal loading and unloading stages. Our experiments reveal that the linear relation always holds between friction force and normal load. However, for the relation between friction force and real contact area, the linearity holds only at the loading stage while fails at the unloading stage. This study may improve our understanding of the origin of friction.

Welding of dissimilar aluminium alloys has been a challenge for a long period until the discovery of the solid state welding technique called friction stir welding (FSW). The discovery of this technique encouraged different research interests revolving around the optimization of this technique. This involves the welding parameters optimization and this optimization is categorized into two classes i.e. similar alloys and dissimilar alloys. This paper reports about the mechanical properties of the friction stir welded dissimilar AA1050-H14 and AA5083-H111 joint. The main focus is to compare the mechanical properties of specimens extracted from different locations of the welds i.e. the beginning, middle and the end of the weld. The specimen extracted at the beginning of the weld showed low tensile properties compared to specimens extracted from different locations of the weld. There was no certain trend noted through the bending results. All three specimens showed dimpled fracture which is the characterization of the ductile fracture.

Here is shown method for the hydraulic solution of a looped gas-pipeline networks. Calculation of presented network is done according to principles of Hardy Cross method. The optimization was carried out by iteration of the pipes diameters, node consumptions are known and flow velocities through pipes have to stand below certain values. Accent is on determination of appropriate friction factor, and on selection of representative equation for natural gas flow under presented conditions in the network. Inappropriate usage of friction factor, equally as inappropriate usage of gas flow equation can lead to inaccurate final results. Here is shown new facts in comparison to previous calculation of gas distribution network in Kragujevac, Serbia which is done in 1994. After the implementation, measurements in situ have performed, and real measured values deviate from calculated. Causes for these errors are investigated, and improved and more accurate procedure is shown.

Information theoretic quantities such as entropy, entropy rate, information gain, and relative entropy are often used to understand the performance of intelligent agents in learning applications. Mean squared error has not played a role in these analyses, primarily because it is not felt to be a viable performance indicator in these scenarios. We build on a new quantity, the log ratio of entropy powers, to establish that minimum mean squared error (MMSE) estimation, prediction, and smoothing are directly connected to Mutual Information Gain or Loss in an agent learning system modeled by a Markov chain for many probability distributions of interest. Expressions for mutual information gain or loss are developed for MMSE estimation, prediction, and smoothing and an example for fixed lag smoothing is presented.

Using only a limited number of computationally expensive functions, we show a way how to construct accurate and computationally efficient approximations of the Colebrook equation for flow friction. The presented approximations are based on the asymptotic series expansion of the Wright ω-function and symbolic regression. The results are verified with 8 million of Quasi-Monte Carlo points covering the domain of interest for engineers. In comparison with the built-in “wrightOmega” feature of Matlab R2016a, the herein introduced related approximations of the Wright ω-function significantly accelerate the computation. With only two logarithms and several basic arithmetic operations used, the presented approximations are not only computationally efficient but also extremely accurate. The maximal relative error of the most promising approximation which is given in the form suitable for engineers’ use is limited to 0.0012%, while for a little bit more complex variant is limited to 0.000024%.

Accurate forecasting of crop yields holds paramount importance in guiding decision-making processes related to breeding efforts. This study focused on the application of multi-sensor data fusion and machine learning algorithms based on unmanned aerial vehicles (UAVs) in wheat yield prediction. Five machine learning (ML) algorithms namely random forest (RF), partial least squares (PLS), ridge regression (RR), K-Nearest Neighbor (KNN) and eXtreme Gradient Boosting Decision Tree (XGboost) were utilized for multi-sensor data fusion, and three ensemble methods including the second-level ensemble methods (stacking and feature-weighted) and the third-level ensemble method (simple average) for wheat yield prediction. The 270 wheat hybrids were used as planting materials under full and limited irrigation treatments. A cost-effective multi-sensor UAV platform, equipped with red–green–blue (RGB), multispectral (MS), and thermal infrared (TIR) sensors, was utilized to gather remote sensing data. The results revealed that the XGboost algorithm exhibited outstanding performance in multi-sensor data fusion, with the RGB+MS+Texture+TIR combination demonstrating the highest fusion performance (R2=0.660, RMSE= 0.754). Compared with the single ML model, the employment of three ensemble methods significantly enhanced the prediction accuracy of wheat yield. Notably, the third-layer simple average ensemble method demonstrated superior performance (R2 = 0.733, RMSE= 0.668 t ha-1). It significantly outperformed both the second-layer ensemble methods of Stacking (R2= 0.668, RMSE= 0.673 t ha-1) and feature-weighted (R2= 0.667, RMSE= 0.674 t ha-1), thereby exhibiting superior predictive capabilities. This finding demonstrated that the third-layer ensemble method not only augments the predictive ability of the model but also fine-tuned the accuracy of wheat yield prediction through the employment of simple average ensemble learning. Consequently, it offers a novel perspective for crop yield prediction and breeding selection.

This interdisciplinary investigation of the human remains of Balduin Helm, one of the most important abbots of Fürstenfeld monastery, provides novel information on that historic individual. This is particularly interesting since Balduin, during early 18th century, was involved in the renovation of this large Bavarian monastery. Metastatic prostate cancer was found as evidenced by multiple mixed osteolytic-osteoblastic bone lesions in all available vertebral bodies, fragments of both hemipelvises and isolated metastases in skull bones. Distribution, radio- and histomorphology, and especially the immunohistochemical detection of prostate-specific antigen in those metastases, definitively confirm this diagnosis. Further investigation, especially by stable isotope analysis, showed a balanced high-level diet with considerable contribution from animal protein and significant freshwater fish. These additional findings suggest a significant radiocarbon reservoir effect as an explanation for a “too old” radiocarbon dating. Finally, the obviously high-level protein diet may have contributed to the tumorigenesis which caused the death of the abbot at an advanced age.

This paper focuses on improving the tracking accuracy for servo systems and increasing the contouring performance of precision machining. The dynamic friction during precision machining is analyzed using the LuGre model. The dynamic and static parameters in the friction model are efficiently and accurately identified using the improved Drosophila Swarm Algorithm based on cross-mutation. The friction tracking error can be deduced by the friction state space and an expression is derived. To compensate for the tracking error caused by friction, a feedforward compensation control is designed to avoid signal lag in traditional friction controllers. Furthermore, the factors of multi-axis parameter mismatching that impact the machining profile accuracy are analyzed for multi-axis control. An adaptive cross-coupled control-based pre-compensation strategy of contour error is designed to reduce both the tracking error and the contour error. The effectiveness of the proposed method is validated through several experiments, which demonstrate a remarkable improvement in tracking performance and contour accuracy.

Structural evolution, mechanical and tribological properties of Al-Mg alloy admixed with 5, 10 and 15 vol.% of iron powder using multi-pass friction stir processing (FSP) have been studied. Homogeneous distribution of intermetallic compound (IMC) particles were achieved after 4 FSP passes what resulted in increasing the stir zone hardness and ultimate tensile stress with simultaneous loss in the ductility. The reinforcement of the aluminum alloy matrix with IMCs allowed reducing wear at the same magnitude of friction. Subsurface composite tribological layer was formed on the FSPed samples as a result of rubbing against a steel counterbody.

The Fruit Harvest Helper, a mobile application developed by Northwest Nazarene University’s (NNU) Robotics Vision Lab, aims to assist farmers in estimating fruit yield for apple orchards. Currently, farmers manually estimate the fruit yield for an orchard, which is a laborious task. Fruit Harvest Helper seeks to simplify their process. While prior research efforts at NNU concentrated on developing an iOS app for blossom detection, this current research aims to adapt that smart farming application for apple detection across multiple platforms, iOS and Android. The old and new applications were designed with an intuitive user interface that is easy for farmers to use, allowing for quick image selection and processing. Unlike before, the adapted app utilizes a color ratio-based image segmentation algorithm implemented in OpenCV C++ to detect apples in apple tree images selected for processing. The results of testing the algorithm with a dataset of images indicate an 8.52% Mean Absolute Percentage Error (MAPE) and a Pearson correlation coefficient of 0.6 between detected and actual apples on the trees. These findings were obtained by evaluating the images from both the east and west sides of the trees, which was the best method to reduce the error of this algorithm. Although the Fruit Harvest Helper shows promise, there are many opportunities for improvement. These opportunities include exploring alternative machine-learning approaches for apple detection, conducting real-world testing without any human assistance, and expanding the app to detect various types of fruit. The Fruit Harvest Helper mobile application is among the many mobile applications contributing to precision agriculture, nearing readiness for farmers to use in yield monitoring and farm management.

In recent years, unmanned aerial vehicles (UAVs) have become a valuable platform for many applications, including communication networks. UAV-enabled wireless communication faces challenges in complex urban and dynamic environments. UAVs can suffer from power limitations and path losses caused by non-line-of-sight connections, which may hamper better communication performance. To address these issues, reconfigurable intelligent surfaces (RIS) have been proposed as a helpful tool to enhance UAV communication networks. However, due to the high mobility of UAV, complex channel environments, and dynamic RIS configurations, it is challenging to estimate the link quality of ground users. In this paper, we propose a link quality estimation model using a gated recurrent unit (GRU) to assess the link quality of ground users for a multi-user RIS-assisted UAV-enabled wireless communication system. Our proposed framework uses a time series of user channel data and RIS phase shift information to estimate the quality of the link for each ground user. Simulation results showed that the proposed GRU model effectively and accurately estimates the link quality of the ground users in the RIS-assisted UAV-enabled wireless communication network.

In this paper, we present a multi-task model that predicts disparities and confidence levels in deep stereo matching simultaneously. We do this by combining its successful model for each separate task and obtaining a multitask model that can be trained with a proposed loss function. We show the advantages of this model compared to training and predicting disparity and confidence sequentially. This method enables an improvement of 15% to 30% in the area under the curve (AUC) metric when trained parallel rather than sequential. In addition, the effect of weighting the components in the loss function on the stereo and confidence performance is investigated. By improving the confidence estimate, the practicality of stereo estimators for creating distance images is increased.

Wireless communication has proliferated due to the colossal augmentation of smart phones, mobile phones, tablets and laptops etc. Multimedia applications such as live videos, audios, still images, animated graphics and live communications all requires accompaniments of quality of service (QoS) as well as reliable end-to-end transfer of data. Information about the availability of resources in channel is must in order to improve the QoS. QoS can be determined in terms of capacity of channel, available bandwidth (ABW), and bulk transfer capacity (BTC). Bandwidth availability is a key check for improving the QoS in a network. The performance of a multimedia application is directly affected by the bandwidth availability. One of the most important QoS characteristic is ABW at a wireless route and it can be demarcated as least unused capacity of links instituting a network route. Since now there have been many bandwidth estimation techniques are available in the literature to increase the network performance. Bandwidth estimation techniques have been arranged into three leading classifications: i) Active probing bandwidth estimation techniques, ii) Passive bandwidth estimation technique and iii) Model based bandwidth estimation techniques. Each of these techniques are briefly discussed in this paper.

A friction loss model for brake testing platform is constructed to revise the braking force test results, which can largely improve the accuracy of automotive brake performance testing. Specifically, the influence of tire pressure, vehicle axle load, placement angle and vehicle speed on the friction loss is tested and analyzed on a wheelbase adjustable automotive anti-force brake testing platform. The friction loss model for the platform is constructed based on the defined relative slip and placement angle, which is validated through actual tests on four types of vehicles. The results showed that the maximum relative error between the values of the model calculated simulation and the measured was 2.2%, indicating the friction loss model is valid and can provide a basis for revising the braking force of automotive brake. Meanwhile, the maximum braking force increases from 3982 N to 4772 N, increased by 19.8%, when the placement angle increased from 36.9° to 47.0°. Accordingly, in order to improve the accuracy of detection results of the automotive anti-force rolling brake testing platform, the friction loss caused by the change in the placement angle should be revised, and then braking rate of the vehicle should be judged according to GB 7258-2017 and GB 38900-2020.

Friction has long been an important issue in multibody dynamics. Static friction models apply appropriate regularization techniques to convert the stick inequality and the non-smooth stick-slip transition of Coulomb’s approach into a continuous and smooth function of the sliding velocity. However, a regularized friction force is not able to maintain long-term stick. That is why, dynamic friction models were developed in the last decades. The friction force depends herein not only on the sliding velocity but also on internal states. The probably best known representative, the LuGre friction model, is based on a fictitious bristle but realizes a too simple approximation. The recently published second order dynamic friction model describes the dynamics of a fictitious bristle more accurately. Its performance is compared here to stick-slip friction models, developed and launched not long ago by commercial multibody software packages.

Widely used in hydraulics, the Colebrook equation for flow friction relates implicitly to the input parameters; the Reynolds number, Re and the relative roughness of inner pipe surface, ε/D with the output unknown parameter; the flow friction factor, λ; λ=f(λ, Re, ε/D). In this paper, a few explicit approximations to the Colebrook equation; λ≈f(Re, ε/D), are generated using the ability of artificial intelligence to make inner patterns to connect input and output parameters in explicit way not knowing their nature or the physical law that connects them, but only knowing raw numbers, {Re, ε/D}→{λ}. The fact that the used genetic programming tool does not know the structure of the Colebrook equation which is based on computationally expensive logarithmic law, is used to obtain better structure of the approximations which is less demanding for calculation but also enough accurate. All generated approximations are with low computational cost because they contain a limited number of logarithmic forms used although for normalization of input parameters or for acceleration, but they are also sufficiently accurate. The relative error regarding the friction factor λ, in best case is up to 0.13% with only two logarithmic forms used. As the second logarithm can be accurately approximated by the Padé approximation, practically the same error is obtained also using only one logarithm.

This contribution addresses dry sliding friction of a “Non-Asbestos Organic” friction material (pad) rubbed against a pearlitic grey cast iron disc. This configuration is commonly used in brakes in US, Europe and Asia. The initial stage of friction is of particular interest when addressing “creep-groan” phenomena occurring in passenger and sport utility vehicles with automatic transmissions. The custom built Universal Friction Tester allowing the variation of sliding speed, test temperature, normal load, stiffness and humidity of the system was used in this experiment in combination with surface analysis by polarized light microscopy, scanning electron microscopy and stylus profilometry. The obtained results indicate that the “stick” phase in the so-called “stick-slip” phenomenon does not really exist. The surfaces of pad and disc are in continuous relative movement. The complexity of surfaces does not allow for a definitive description of exact mechanisms responsible for the detected changes of friction forces. The observed friction process can be rather described as a stretching with possible localized relaxations causing the jerky behavior in the stretching phase, followed by slip between two materials in contact. Understanding of factors contributing to the stretching at different scale levels of friction system is necessary for development of proper models. An accurate friction model should also incorporate the vibrational element introduced by phenomena occurring at the friction surfaces. The absence of heterogeneous regions on the friction surface and “evenly distributed friction level” can help when mitigating creep-groan in the investigated brake system. Understanding of factors on different scales of friction is also required when developing the improved brakes.

The Colebrook equation is a popular model for estimating friction loss coefficients in water and gas pipes. The model is implicit in the unknown flow friction factor . To date, the captured flow friction factor can be extracted from the logarithmic form analytically only in the term of the Lambert -function. The purpose of this study is to find an accurate and computationally efficient solution based on the shifted Lambert -function also known as the Wright -function. The Wright -function is more suitable because it overcomes the problem with the overflow error by switching the fast growing term of the Lambert -function to the series expansions that further can be easily evaluated in computers without causing overflow run-time errors. Although the Colebrook equation transformed through the Lambert -function is identical to the original expression in term of accuracy, a further evaluation of the Lambert -function can be only approximate. Very accurate explicit approximations of the Colebrook equation that contains only one or two logarithms are shown. The final result is an accurate explicit approximation of the Colebrook equation with the relative error of no more than 0.0096%. The presented approximations are in the form suitable for everyday engineering use, they are both accurate and computationally efficient.

The growing concerns about floods have highlighted the need for accurate and detailed precipitation data as extreme precipitation occurrences can lead to catastrophic floods, resulting in significant economic losses and casualties. Integrated Multi-satellitE Retrievals for the Global Precipitation Measurement (GPM-IMERG) is a commonly used high-resolution gridded precipitation dataset and is recognized as trustworthy alternative sources of precipitation data. The aim of this study is to comprehensively evaluate the performance of GPM IMERG Early (IMERG-E), Late (IMERG-L), and Run Final (IMERG-F) in precipitation estimation and their capability in detecting extreme rainfall indices over southwestern Iran during 2001-2020. The Asfezari gridded precipitation data which are developed using a dense of ground-based observation were utilized as the reference dataset. The findings indicate that the IMERG-F performs reasonably well in capturing many extreme precipitation events (defined by various indices). All the three products showed a better performance in capturing fixed and non-threshold precipitation indices across the study region. The findings also revealed that both IMERG-E and IMERG-L have problems in rainfall estimation over elevated areas showing values of overestimations. Examining the effect of land cover type on the accuracy of the precipitation products suggest that both IMERG-E and IMERG-L show large and highly unrealistic overestimations over inland water bodies and permanent wetlands. The results of the current study highlight the potential of IMERG-F as a valuable source of data for precipitation monitoring in the region.

Understanding the dynamics of Organic Carbon mineralization is fundamental in forecasting biosphere to atmosphere Net Carbon Ecosystem Exchange (NEE). With this perspective, we developed 3D-CMCC-PSM, a new version of the hybrid Process Based Model 3D‐CMCC FEM where also heterotrophic respiration (R_h) is explicitly simulated. The aim was to quantify NEE as a forward problem, by subtracting Ecosystem Respiration (R_eco) to Gross Primary Productivity (GPP). To do so, we developed a simplification of the Soil Carbon dynamics routine proposed in DNDC [1]. The method calculates decomposition as a function of soil moisture, temperature, state of the organic compartments, and relative abundance of microbial pools. Given the pulse dynamics of soil respiration, we introduced modifications in some of the principal constitutive relations involved in phenology and littering sub-routines. We quantified the model structure related uncertainty in NEE, by running our training simulations over 1000 random parameter-sets extracted from parameters distributions expected from literature. 3D-CMCC-PSM predictability was tested on independent time series for 6 Fluxnet sites. The model resulted in daily and monthly estimations highly consistent with the observed time series. It showed lower predictability in Mediterranean ecosystems, suggesting that it may need further improvements in addressing evapotranspiration and water dynamics.

Eutrophication, a global concern, impacts water quality, ecosystems, and human health. It’s crucial to monitor algal blooms in freshwater reservoirs, as they indicate the trophic condition of a waterbody through Chlorophyll-a (Chla) concentration. Traditional monitoring methods, however, are expen-sive and time-consuming. Addressing this hindrance, we developed models using remotely sensed data from the Sentinel-2 satellite for large-scale coverage, including its bands and spectral indexes, to estimate the Chla concentration on 149 freshwater reservoirs in Ceará, Brazil. Several machine learning models were trained and tested, including k-nearest neighbours, random forests, extreme gradient boosting, the least absolute shrinkage, group method of data handling (GMDH), and sup-port vector machine models. A stepwise approach determined the best subset of input parameters. Using a 70/30 split for the training and testing datasets, the best-performing model was the GMDH, achieving an R2 of 0.91, MAPE of 102.34%, and RMSE of 20.38 g/L, which are values consistent with the ones found in the literature. Nevertheless, the predicted Chla concentration values were most sensitive to the red, green, and near infra-red bands.

This work addresses the problem of automatic head pose estimation and its application in 3D gaze estimation using low quality RGB--D sensors without any subject cooperation or manual intervention. The previous works on 3D head pose estimation using RGB--D sensors require either an offline step for supervised learning or 3D head model construction which may require manual intervention or subject cooperation for complete head model reconstruction. In this paper, we propose a 3D pose estimator based on low quality depth data, which is not limited by any of the aforementioned steps. Instead, the proposed technique relies on modeling the subject's face in 3--D rather than the complete head, which in turn, relaxes all of the constraints with the previous works. The proposed method is robust, highly accurate and fully automatic. Moreover, it does not need any offline step. Unlike some of the previous works, the method only uses depth data for pose estimation. The experimental results on the Biwi head pose database confirm the efficiency of our algorithm in handling large pose variations and partial occlusion. We also evaluate the performance of our algorithm on IDIAP database for 3D head pose and eye gaze estimation.

Empirical Colebrook equation from 1939 is still accepted as an informal standard to calculate friction factor during the turbulent flow (4000 < Re < 10⁸) through pipes from smooth with almost negligible relative roughness (ε/D→0) to the very rough (up to ε/D = 0.05) inner surface. The Colebrook equation contains flow friction factor λ in implicit logarithmic form where it is, aside of itself; λ, a function of the Reynolds number Re and the relative roughness of inner pipe surface ε/D; λ = f (λ, Re, ε/D). To evaluate the error introduced by many available explicit approximations to the Colebrook equation, λ ≈ f(Re, ε/D), it is necessary to determinate value of the friction factor λ from the Colebrook equation as accurate as possible. The most accurate way to achieve that is using some kind of iterative methods. Usually classical approach also known as simple fixed point method requires up to 8 iterations to achieve the high level of accuracy, but does not require derivatives of the Colebrook function as here presented accelerated Householder’s approach (3^rd order, 2^nd order: Halley’s and Schröder’s method and 1^st order: Newton-Raphson) which needs only 3 to 7 iteration and three-point iterative methods which needs only 1 to 4 iteration to achieve the same high level of accuracy. Strategies how to find derivatives of the Colebrook function in symbolic form, how to avoid use of the derivatives (Secant method) and how to choose optimal starting point for the iterative procedure are shown. Householder’s approach to the Colebrook’s equations expressed through the Lambert W-function is also analyzed. One approximation to the Colebrook equation based on the analysis from the paper with the error of no more than 0.0617% is shown.

Solid-phase joining is a technique used to fuse two materials by applying heat and pressure, causing plastic deformation without reaching the melting point. This method is applicable for similar and dissimilar materials, including metals, polymers, and ceramics, without the need for filler material. Among the various methods, Friction Stir Welding (FSW) is preferred for joining dissimilar materials due to its solid-state process, which enhances mechanical properties, metallurgical compatibility, and reduces distortion. FSW is particularly effective for materials with significant differences in melting points. The current project focuses on assessing the strength and mechanical properties of FSW joints between aluminum and polymer-based composites. FSW was selected for its ability to produce fine-grained, strong welds free from fusion-related defects such as porosity and cracks. Applications in sectors like automotive, aerospace, and shipbuilding are explored, with impact, hardness, and tensile tests conducted to evaluate joint performance. This comprehensive study includes literature review, fabrication, testing, and tool design to ensure a thorough understanding of dissimilar joint properties.

This study aims to develop a novel retention method combining the retrievability of the screw retention method with the ideal occlusal table and the aesthetics capability of cement retention. Coping was developed to have lateral screw access allowing the screw to lock coping using lateral forces from screw tightening and friction between the tip of the screw and the sandblasted surface of an abutment. Sandblasting parameters varied based on particle size. Results show a positive correlation to surface roughness and indicate a positive correlation to retention force. The highest surface roughness and retention force result was shown by groups that were sandblasted using 686 μm of aluminum oxide. Experiment on the tightening strength of 48 subjects measured in simulated conditions similar to assembly conditions of lateral screw retention implant resulted in a mean of 69.75 Nmm with the highest and lowest values of 120.67 Nmm and 34.67 Nmm. This result became the basis of tightening torque variation. Each group's retention capability is measured and compared to cement-retained dental implants. Results show that tightening torque correlates positively with retention force, with the highest average retention score showed by lateral screw retained under tightening torque of 200 Nmm with 317.87 N higher than cement-retained.

The object of this work is to determine the correlation on the Nusselt number on the individual rows of a four-row tubular finned heat exchanger with continuous fins with a staggered tube arrangement using CFD modelling. Correlations for calculating Darcy-Weisbach friction factors on individual tube rows were also determined. Relationships for the Nusselt number and friction factor derived for the entire exchanger based on CFD modelling were compared with those available in the literature determined using experimental data. The maximum relative differences between the Nusselt number for a four-row exchanger determined experimentally and by CFD modelling are in the range from 22% for a Reynolds number based on a tube's outside diameter of 1,000 to 30% for a Reynolds number of 13,000. The maximum relative differences between the friction factor for a four-row exchanger determined experimentally and by CFD modelling are in the range of 50% for a Reynolds number based on a tube outer diameter of 1,000 to 10% for a Reynolds number of 13,000. The CFD modeling performed shows that in the range of Reynolds numbers based on hydraulic diameters from 150 to 1,400, the Nusselt number for the first row in a four-row finned heat exchanger is about 22% to 15% higher than the average Nusselt number for the entire exchanger. In the range of Reynolds number changes based on hydraulic diameter from 2,800 to 6,000, the Nusselt numbers on the first and second rows of tubes are close to each other. Correlations on Nusselt numbers and friction factors derived for individual tube rows can be used in the design of plate-fin and tube heat exchangers used in equipment such as air-source heat pumps, automotive radiators, air-conditioning systems and in air hot-liquid coolers. In particular, the correlations can be used to select the optimum number of tube rows in the exchanger.

The lack of knowledge on the link between the manufacturing process and performances constitutes a major issue of brake lining development. This study focuses on the effect of mixing duration on properties and tribological behavior of organic friction composite materials. The adopted methodology is based on efficient simplified formulations to limit synergic effects by the reduction of number and size distribution of constituents. Microstructural characteristics are analyzed and correlated to thermo physical and mechanical properties. Wear mechanisms and tribological behavior are studied in relation with the given microstructure and material properties. In the elaboration process, mixing duration has an impact on particle distribution and fibre arrangement. Distribution and size of fibre entanglements are found to cluster carbonaceous particles, which creates bulk thermal bridges improving thermal conductivity. Moreover, rockwool fibre arrangements affect density, porosity and thermo-physical properties. In addition, mixing duration disrupts cohesion of fibre bundles with the matrix, affecting compressive modulus and wear behaviour. This microstructural defect fosters an abundant third-body source flow, which results in a high wear flow. Porosities induced by fibre entanglements, presenting large and irregular size and distribution on the friction surface, lead to a low wear resistance and change the stability of friction.

Forest ecosystems make a greater contribution to carbon (C) stocks than any other terrestrial ecosystem. To understand the role of regional forest ecosystems in global climate change and carbon exchange, forest C stock and its spatial distribution within the small (2,300 km2) Liuxihe River basin were analyzed to determine the different contributors to the C stock. Forest C stocks were quantified by measuring the biomass of trees, understory vegetation, litter and roots, as well as soil organic C, using data from field samples and laboratory experiments. The results showed that forests stored 38.04 Tg C in the entire basin, with secondary and planted forests accounting for 89.82% and 10.18%, respectively, of the stored C. Five types of forests, a subtropical evergreen broad-leaved forest, a subtropical coniferous and broad-leaved mixed forest, a subtropical coniferous forest, a timber forest, and a non-wood forest, stored 257.55 ± 15.01, 218.92 ± 9.59, 195.24 ± 18.29, 177.42 ± 17.55, and 117.86 ± 6.04 Mg C ha−1, respectively. In the forest ecosystem C stocks of the basin, soils averagely contribute about 73.78%, not including root underground biomass. It provides a comprehensive method for forest ecosystem carbon investigation and forest management in small basin scale.

Transient conjugate heat transfer measurements under varying temperature and velocity inlet boundary conditions at incompressible flow conditions were performed for flat plate and ribbed channel geometries. Therefrom local adiabatic wall temperatures and heat transfer coefficients are determined. Those data are analyzed using typical heat transfer correlations, e.g. Nu=CRe^mPr^n determining the local distribution of C and m. It is shown that they are closely linked. A relationship lnC=A−mB is observed with A and B as modeling parameters. They could be related to parameters in log law or power law representations for turbulent boundary layer flows. The parameter m is shown to have a close link to local pressure gradients and therewith near wall streamlines as well as friction factor distributions. A normalization of the C parameter allows to derive a Reynolds analogy factor and therefrom local wall shear stresses.

If a lubricant contains structures capable of conducting energy, reactions involving zinc dialkyldithiophosphate (ZDDP) may take place both very close to and away from the solid surfaces, with this indicating that ZDDP can be a highly effective anti-wear (AW) additive. The central thesis of this article is that the tribocatalytic effect is observed only when the energy emitted by the solids is transmitted by ordered molecular structures present in the lubricant, e.g., graphene. The friction tests were carried out for 100Cr6 steel balls in a sliding contact with uncoated or a:C-H-coated HS6-5-2C steel discs in the presence of polyalphaolefin 8 (PAO 8) as the lubricant, which was enhanced with graphene and/or ZDDP. There is sufficient evidence of the interactions occurring between ZDDP and graphene and their effects on the tribological performance of the system. It was also found that the higher the concentration of zinc in the wear area, the lower the wear. This was probably due to the energy transfer resulting from the catalytic decomposition of ZDDP molecules. Graphene, playing the role of the catalyst, contributed to that energy transfer.

Among all the processing technologies of heat-treatable aluminum alloys like 2219 aluminum alloy, using friction stir welding (FSW) as the joining technology and using electromagnetic forming (EMF) for plastic forming technology both have obvious advantages and successful applications. Therefore, there is a broad prospect for the compound technologies which can be used on the 2219 aluminum alloy to manufacture the large-scale thin-wall parts in the astronautic industry. The microstructure and mechanical properties of 2219 aluminum alloy under the process compounded of FSW, heat treatment, and EMF were investigated by means of tensile test, optical microscope (OM), and scanning electron microscope (SEM). The results show that the reduction of strength, which was caused during the FSW process, can be recovered effectively by the post-welding heat treatment composed of solid solution and aging, while the ductility was still reduced after heat treatment. Under the compound technology of FSW, heat treatment, and EMF, the forming limit of 2219 aluminum alloy decreased distinctly due to the poor ductility of the welding joint. A ribbon-pattern, which was formed due to the banded structure caused by FSW process, was found on the fracture surface of welded 2219 aluminum alloy after EMF treatment. During the EMF process, because of the effects of induced eddy current, a unique structure, which was manifested as a molted-surface appearance under the SEM observation, was formed as the material fractured.

The use of friction-based Beam-to-Column Connections (BCC)s for earthquake-resistant Moment Resistant Frames (MRFs), aiming at eliminating damage to beam end sections due to the development of plastic hinges, has taken hold since the early eighties. Different technical solutions were proposed for steel structures, some were also designed for timber structures, while few more recent studies concern friction joints employed in reinforced concrete structures. Research aimed at characterizing the behavior of joints has focused on the evaluation of the tribological properties of the friction materials, coefficient of friction, shape and stability of the hysteresis cycles, influence of the temperature, speed of load application, effects of the application method, stability of preload, the influence of seismic excitation characteristics on the structural response, statistical characterization of amplitude and frequency of the slip excursion during seismic excitation. Studies aimed at identifying the design parameters capable of optimizing performance have focused attention mainly on the slip threshold, device stiffness, and deformation capacity. This review compiles the main and most recent solutions developed for MRFs. Furthermore, the pros and cons for each solution are highlighted, focusing on the dissipative capacity, shape and stability of hysteresis loops. In addition, the common issues affecting all friction connections, namely characteristics of friction shims and the role of bolt preload, are discussed. Based on the above considerations, a guideline can be outlined, which can help to choose the appropriate solutions for beam-to-column connections for MRFs.

The diameter of a H13 steel tool with M6 threads and a pin diameter of 5.9 mm and a pin length of 5 mm was measured after each 25.4 mm length of friction stir processing (FSP) of 6061-T6 extrusions. The change in pin diameter with FSP time or distance did not exhibit any steady state and was found to have two distinct regions. Metallographic analysis of two tools subjected to FSP for 60 and 120 seconds showed that (i) threads fractured in early stages of FSP, (ii) a built-up layer formed between the threads, and (iii) threads progressively wore with processing time. The metallographic analysis of an embedded tool showed the presence of a fractured piece of the tool in the stir zone. These points are discussed in detail in the paper.

The stock beta coefficient literature extensively discusses the proper methods for the estimation of beta as well as its use in asset valuation. However, there are relatively few references with respect to the appropriate time horizon that investors should utilize when evaluating the risk-return relationship of a stock. We examine the appropriate time horizon for beta estimation differentiating our results by sector according to the Industry Classification Benchmark. We employ data from the NYSE and we estimate varying lengths of beta employing data from 30 to 250 trading days. The constructed beta series is then examined for the presence of breaks using the endogenous structural break literature. Results show evidence against the use of betas that employ more than 90 trading days of data provisional to the sector under study.

Many natural signals exhibit a quasi-periodic behavior and are conveniently modeled as a combination of several harmonic sinusoids whose relative frequencies, magnitudes and phases vary with time. The waveform shape of those signals reflects important physical phenomena underlying their generation, which requires that those parameters be accurately estimated and modeled. In the literature, accurate phase estimation and modeling has received much less research effort than frequency estimation, or magnitude estimation. First, this paper addresses accurate DFT-based phase estimation of individual sinusoids in six scenarios involving two DFT-based filter banks and three different windows. It is shown that bias in phase estimation is less than 1E-3 radians when the SNR is equal to or larger than 2.5 dB. Taking as a reference the Cramér-Rao Lower Bound, it is shown that one particular window offers a performance of practical interest by approximating better the CRLB when signal conditions are favorable, and by minimizing the performance deviation when signal conditions are adverse. Second, this paper explains how a shift-invariant phase-related feature can be devised that characterizes harmonic phase structure, which motivates a signal processing paradigm that greatly simplifies parametric modeling, transformation and synthesis of harmonics signals, in addition to facilitating the understanding and reverse engineering of the phasegram. Theory and results are discussed in a reproducible perspective using dedicated experiments that are supported with code allowing not only to replicate figures and results in this paper, but also to expand research.

The novel Ionized Gas Thermoelectric Generator (IG-TEG) system that has been studied theoretically showing capabilities to continually extracting energy from the thermal energy of the ambient air, at low temperatures within the standard room temperature and below. This system does not need a temperature gradient in order to work, unlike the other TEGs that use Seebeck effect, and therefore this new system can be utilized for cooling purposes, by extracting energy instead of wasting energy in compressing the gas for cooling. This novel system was designed based on Static Ratchet Potential (SRP), which is known as a spatially asymmetric electric potential produced by an array of positive and negative electrodes. The ratchet potential produces electrical current from random Brownian Motion of charged particles that are driven by thermal energy. Ratchet potential was studied and investigated by several researches in the fields of sensing and energy harvesting. The main ratchet potential system parameter is the particles transportation, this parameter was studied under the condition of flashing ratchet potentials, and was analyzed based on several methods. In this study, a different approach is pursued to estimate particles transportation, by evaluating the charged particles distribution, and applying the other conditions of the SRP.

A class of models for non-Gaussian spatial random fields is explored for spatial field reconstruction in environmental and sensor network monitoring. The family of models explored utilises a class of transformation functions known as the Tukey g-and-h transformations to create a family of warped spatial Gaussian process models which can support various desirable features such as flexible marginal distributions, which can be skewed, leptokurtic and/or heavy-tailed. The resulting model is widely applicable in a range of spatial field reconstruction applications. To utilise the model in applications in practice, it is important to carefully characterise the statistical properties of the Tukey g-and-h random fields. In this work, we both study the properties of the resulting warped Gaussian processes as well as using the characterising statistical properties of the warped processes to obtain flexible spatial field reconstructions. In this regard, we derive five different estimators for various important quantities often considered in spatial field reconstruction problems. These include the multi-point Minimum Mean Squared Error (MMSE) estimators; the multiple point Maximum A-Posteriori (MAP) estimators; an efficient class of multiple-point linear estimators based on the Spatial-Best Linear Unbiased (S-BLUE) estimators; and two multi-point threshold exceedance based estimators, namely the Spatial Regional and Level Exceedance estimators. Simulation results and real data examples show the benefits of using the Tukey g-and-h transformation as opposed to standard Gaussian spatial random fields in a real data application for environmental monitoring.

During the conceptual and preliminary design stage of a ship, designers need to ensure that the selected principal dimensions and parameters are good enough to deliver a stable ship (statically and dynamically) besides deadweight and speed. To support this, the initial intact stability of the proposed ship is required to be calculated, and in doing so, the lightship weight and its detailed breakdown are necessary to be known. After hull steel weight, machinery weight, mainly, marine propulsion and power generation machinery, play a vital role in the lightship weight estimate of a ship due to its robustness. The correct estimation of respective weights improves the accuracy of calculating a ship's initial stability typically to be designed and built. Hence, it would be advantageous for the designer to convince the ship owner. A total of 3006 marine propulsion (main marine diesel) engines and 348 power generation (auxiliary marine diesel) engines/generators of various power output (generators output for auxiliary engines), engine RPM and cylinder number of different engine makers are collected. These are analyzed and presented in both tabular and graphical forms to demonstrate the possible relationship between marine propulsion engine weight and power generation engine weight, and their respective power output, RPM, cylinder number, power-RPM ratio and power-RPM ratio per cylinder.In this article, the authors have attempted to investigate the behavior of marine propulsion engine weight and power generation engine/generator weight regarding engine power output, generator power output, engine RPM and cylinder number (independent variables). Further attempts have been made to identify those independent variables that influence the weight of the marine propulsion engine and power generation engine/generator (dependent variables), and their interrelationships. A mathematical model has thus been developed and proposed, as a guiding tool, for the designer to estimate the weight of main and auxiliary engines more accurately during the conceptual and preliminary design stage.

Estimation and planning play a vital role in the construction of an autonomous navigation framework. However, these problems are often considered separately, while planning gives robot a free-collision path towards the desired goal, estimation algorithm presents the executed trajectory in the sense that it has to be closed to the ground truth path as much as possible. Recently, a unified probabilistic framework, which supports solving these problems simultaneously, dubbed STEAP has been proposed. Nevertheless, its current version is only designated for an omni wheels robot, which allows robot to move and turn in vertical direction. Differential drive robot, on the other hand, though limited to move along only one direction, has been used in various situations due to its flexibility and lower cost in hardware designing. Thus, in this extension, our aim is to control a differential drive robot via STEAP. Moreover, in a more complicated environment such as labyrinth or maze, the original STEAP sometimes fails to find a path. Indeed, this problem is mainly caused by the poor initialization and the non-linearity in optimizer constraints. In our implementation, instead of dealing with these constraints, we employ a global planner algorithm such as Dijkstra or RRT to treat STEAP as an effective local planner module that focus on following the global path. Consequently, the experimental results show that the extended STEAP not only able to navigate a differential drive robot but also in a more complicated and unstructured environment.

Double-walled carbon nanotube-yttria-stabilized ZrO2 nanocomposites are prepared by a mixing route followed by Spark Plasma Sintering. Incorporation of carbon at contents higher than 2 wt.% results in significantly lower friction coefficients, both against alumina and steel balls. Double-walled carbon nanotubes improve wear resistance and reduce friction without severe damage, contrary to multi-walled carbon nanotubes.

Friction stir welding (FSW) is a solid state welding process for joining metallic alloys and dissimilar metals. It has emerged as an alternative technology for welding high strength alloys that are difficult to join with conventional techniques. FSW is used to produce products with better mechanical properties. Now a days aluminum alloys have been widely used in several industrial applications such as aerospace, marine, automobile and commercial applications due to their light weight structure, better mechanical properties and high corrosion resistance.In this work, three welding parameters such as spindle speed, welding speed and plunge depth were considered for friction stir welding. FSW was carried out between dissimilar aluminum alloy plates (AA6061 and AA 8011) to produce butt joint.A Box-Behnken design with three factors and three levels was chosen to minimize the number of experimental conditions .The tensile strength and hardness of the welded regions were evaluated. The optimum level settings and the major parameters that influence the joint strength were obtained by Box-Behnken design.

An accurate understanding of jointed rock mass behavior is important in many applications ranging from deep geological disposal of nuclear waste to deep mining to urban geoengineering projects. The roughness of rock fractures and the matching of the fracture surfaces are the key contributors to the shear strength of rock fractures. In this research, push shear tests with three normal stress levels of 3.6, 6.0, and 8.5 kPa were conducted with two granite samples with artificially induced well-matching tensile fractures with sizes of 500 mm × 250 mm and 1000 mm × 500 mm. The large sample reached on average a -60 % weaker peak shear stress than the medium-sized sample, and a strong negative scale effect was observed in the peak shear strength. The roughness of the surfaces was measured using a profilometer and photogrammetry. The scale-corrected profilometer-based method (JRC) underestimates the peak friction angle for the medium-sized slabs by -27 % for the medium sample and -9 % for the large sample. The photogrammetry-based (Z’2) method produces an estimate with -7% (medium) and +12 % (large) errors. The photogrammetry-based Z’2 is an objective method that consistently produces usable estimates for the JRC and peak friction angle.

There always exist steel cuttings, holes and cracks at the interfaces in the explosive composite plate. Multi-pass friction stir processing (M-FSP) is proposed in this research to optimize the interface microstructure and the interface connection for 1060Al/Q235 explosive composite plate. Results show that the microstructures of 1060Al after M-FSP are fine and uniform owing to the strong stirring effect and recrystallization. Micro-defects formed by the explosive welding can be repaired by the M-FSP. However, M-FSP can also form tunnel defects in the aluminum, especially when the passes are one and two. The melting block and the melting lump in the composite plates are easy to become source of crack. The shear strengths and the bending properties for the 1060Al/Q235 explosive composite plate after M-FSP are the best when the passes are three, with the tool rotation speed of 1200rpm and the forward speed of 60mm/min. The optimized interfaces for the explosive composite plate after M-FSP are mainly by the metallurgical bondings, with a certain thickness and are discontinuous. Therefore, the crack extension stress is the largest and the mechanical properties are the best.

Modelling diameter distribution is an integral part of forest management. It requires the use of a suitable probability density function or cumulative distribution function with the appropriate fitting method. In this study, we compared the suitability of eight probability density functions fitted by derivative and optimization methods used for diameter distribution estimation of forest stands. The derivation and optimization were used on A Charlier, beta, generalized beta, gamma, Gumbel, Johnson’s SB, and Weibull (2 and 3-parameter). We used data from 167 permanent sample plots from Atlantic forest (Quercus robur) and 59 temporary sample plots from tropical forests (Tectona grandis). The quality of the fits was evaluated with different indices such as Kolmogorov–Smirnov, Cramer-von Mises, mean absolute error, bias and mean squared error. The results showed Johnson’s SB function was more suitable for describing the diameter distribution of the stands. Johnson’s SB, 3-parameter Weibull and generalized beta had consistent performance regardless of the fitting methods. The quality of fits produced by gamma, Gumbel and 2-parameter Weibull was poor.

Elastic properties of materials and their changes with temperature are important for their applications in engineering. A study on the influence of phase composition of AISI 4130 alloy on Young's modulus (Ed), shear modulus (Gd), and damping (Q-1) was carried out by Impulse Excitation Technique (IET). The material characterization was carried out using confocal microscopy, XRD, MET, HV, and dilatometry. A stable structure, composed of ferrite (BCC) and pearlite (α-Fe+Fe3C), was obtained by annealing. Metastable structure of martensite (BCT) was obtained by quenching. The Ed, Gd, and Q-1 were measured, varying the temperature from RT to 900 °C. The values of Ed and Gd, at RT, were determined as 201.5 and 79.2 GPa (annealed), and 190.13 and 76.5 GPa (quenched), respectively. In the annealed steel, the values Ed and Gd decrease linearly on heating up to 650 °C, with the thermal expansion. In the quenched steel, weak changes in the dilatometric curve, Ed, Gd, and Q-1, in the range of 350-450 °C, indicated decompositions of the martensitic phase. Sharp decrease in the moduli and high peak of Q-1, was observed for both samples around 650-900 °C, revealing low lattice elastic stability of the phases during transformations α(BCC)+Fe3C↔γ(FCC).

To address friction and wear challenges in dry contacts, manufacturers often employ self-lubricating materials. Graphite and its derivatives stand out as particularly suitable due to their exceptional tribological properties. However, under intense friction conditions, graphite can experience a decline in lubricating efficiency due to severe abrasive wear. This abrasive damage results in elevated activated carbon surfaces with increased surface energy, fostering greater adhesion between sliding surfaces. The low friction coefficient of graphite is not an inherent property but rather a consequence of water vapor adsorption by the material. Beyond 150°C, desorption of the vapor occurs, leading to a transition in the friction coefficient from µ=0.1 to µ=0.6. To address this issue, impregnation solutions for self-lubricating materials have been developed, with various compositions tailored to specific objectives. Common types include molybdenum disulfide, soft metals, or polymers. In this predominantly experimental study, the impact of polymer impregnation on the evolution of friction force and wear rate in graphite material bearings subjected to a dry fretting contact under severe thermal stresses at 270°C was investigated. Additionally, the mechanical stresses in the bearings throughout different phases of our tests were analyzed using a numerical model.

The goal of this study was to evaluate the feasibility of methods based on the Worldwide Harmonized Light-Duty Vehicles Test Procedure Brake Cycle to measure brake wear particle emissions for currently used electrified vehicles. Our results indicated that reducing brake friction work reduced brake wear particle emissions. Commercially available, plug-in hybrid electric vehicles reduced emissions by 85% for PM₁₀, 78% for PM_2.5, and 87% for particle numbers (PNs) compared to vehicles with internal combustion engines. Brake friction work showed a linear relationship with PM₁₀ and PM_2.5. Nanoparticle PM emissions tended to increase slightly with regenerative braking, but did not contribute significantly to the overall PM percentage. the emission events of high number concentrations of nuclei mode particles (<20 nm in diameter) in electric vehicle brake assemblies designed for regenerative braking use under high-temperature, high-load braking conditions with full-friction brakes. The nuclei mode particles amplified the PN emissions and led to a high variability. In strict regulatory certification tests, where measurement reproducibility and stability are required, it is appropriate to measure PNs under brake conditions appropriate for the actual use of electric vehicles rather than under full-friction brake conditions or to remove particle measurements smaller than 20 nm.

Friction Stir Welding is a suitable solid-state joining technology to connect dissimilar materials. To produce an effective joint, it requires a phase of optimization which leads to the definition of process parameters such as pin geometry, tool rotational speed, rotation direction, welding speed, thickness of the sheets or tool tilt angle. The aim of this review is to present a complete and detailed frame of the main process parameters and their effect on the final performance of a friction stir welded joint in terms of mechanical properties and microstructure. Particularly, the attention was focused on the connection between different aluminum alloys. Moreover, the experimental results were correlated to the development and the applications of tools, which can effectively use in the design of the manufacturing process, such as finite element analyses, artificial neural networks, statistical studies. The review wants to be also a point of reference to identify the best combinations of process parameters based on the dissimilar aluminum to be joined.