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Magneto-quasi-static fields emanated by inductive charging systems can be potentially harmful to the human body. Recent projects, such as TALAKO and MILAS, use the technique of wireless power transfer (WPT) to charge batteries of electrically powered vehicles. To ensure the safety of passengers, the exposing magnetic flux density needs to be measured in situ and compared to reference limit values. However, in the design phase of these systems, numerical simulations of the emanated magnetic flux density are inevitable. This study aims to present a tool along with a workflow, based on the Scaled-Frequency Finite Difference Time-Domain and Co-Simulation Scalar Potential Finite Difference schemes, to determine body-internal magnetic flux densities, electric field strengths and induced voltages into cardiac pacemakers. The simulations should be time efficient, with lower computational costs and minimal human workload.

The numerical assessment of the human exposure to magneto-quasi-static fields is computationally expensive, especially when considering high-resolution discretization models of vehicles and WPT systems. Incorporating human body models into the simulation further enhances the number of mesh cells by multiple millions. Hence, the number of simulations including all components and human models needs to be limited while efficient numerical schemes need to be applied.

This work presents and compares four exposure scenarios using the presented numerical methods. By efficiently combining numerical methods, the simulation time can be reduced by a factor of 3.5 and the required storage space by almost a factor of 4.

This work presents and discusses an efficient way to determine the exposure of human beings in the vicinity of wireless power transfer systems that saves computer simulation resources and human workload.

High resolution simulations of body-internal electric field strengths induced by magneto-quasistatic fields from wireless power transfer systems are computationally expensive. The exposure simulation can be split into two separate simulation steps allowing the calculation of the magnetic flux density distribution, which serves as input into the second simulation step to calculate the body-internal electric fields. In this work, the magnetic flux density is interpolated from in situ measurements in combination with the scalar-potential finite difference scheme to calculate the resulting body-internal field. These calculations are supposed to take less than 5 s to achieve a near real-time visualization of these fields on mobile devices. The purpose of this work is to present an implementation of the simulation on graphics processing units (GPUs), allowing for the calculation of the body-internal field strength in about 3 s.

This work uses the co-simulation scalar-potential finite difference scheme to determine the body-internal electric field strength of human models with a voxel resolution of 2 × 2 × 2 mm³. The scheme is implemented on GPUs. This simulation scheme requires the magnetic flux density distribution as input, determined from radial basis functions.

Using NVIDIA A100 GPUs, the body-internal electric field strength with high-resolution models and 8.9 million degrees of freedom can be determined in about 2.3 s.

This paper describes in detail the used scheme and its implementation to make use of the computational performance of modern GPUs.

The purpose of this study is to describe the proposed alpha solar rotary mechanism (ASRM) and how it is used to accurately modify the solar array of the China Space Station (CSS) in orbit to maintain continuous tracking of the sun to provide power. It also highlights the need to evaluate the performance of the ASRM and predict potential failure modes in various extreme scenarios.

To evaluate the performance of the ASRM, a dynamic model was created and tested under normal and faulty conditions. In addition, a multidirectional stiffness test was conducted on the prototype to verify the accuracy of the ASRM's dynamic model. The high-precision ASRM model was then used to predict potential failure modes and damaged parts in various extreme scenarios.

The simulation results were in good agreement with the test results, with a maximum error of less than 8.85%. The high-precision ASRM's model was able to accurately predict potential failure modes and damaged parts in extreme scenarios, demonstrating the effectiveness of the proposed model and simulation evaluation test.

The proposed high-precision ASRM model and simulation evaluation test provide an effective way to evaluate the structural safety and optimize the design of the spacecraft. This information can be used to improve the performance and reliability of the CSS's solar array and ensure continuous power supply to the station.

The goal of this research is to develop a dynamic step path planning algorithm based on the rapidly exploring random tree (RRT) algorithm that combines Q-learning with the Gaussian distribution of obstacles. A route for autonomous vehicles may be swiftly created using this algorithm.

The path planning issue is divided into three key steps by the authors. First, the tree expansion is sped up by the dynamic step size using a combination of Q-learning and the Gaussian distribution of obstacles. The invalid nodes are then removed from the initially created pathways using bidirectional pruning. B-splines are then employed to smooth the predicted pathways.

The algorithm is validated using simulations on straight and curved highways, respectively. The results show that the approach can provide a smooth, safe route that complies with vehicle motion laws.

An improved RRT algorithm based on Q-learning and obstacle Gaussian distribution (QGD-RRT) is proposed for the path planning of self-driving vehicles. Unlike previous methods, the authors use Q-learning to steer the tree's development direction. After that, the step size is dynamically altered following the density of the obstacle distribution to produce the initial path rapidly and cut down on planning time even further. In the aim to provide a smooth and secure path that complies with the vehicle kinematic and dynamical restrictions, the path is lastly optimized using an enhanced bidirectional pruning technique.

Legged walking robots have numerous advantages over the wheel or tracked robots due to their strong operational ability and exposure to the complex environment. This paper aims to present details about the mechanical formation and a new conceptual elliptical trajectory generation discussed throughout the paper of the quadruped robot.

Initially, a realistic CAD model of the four-legged robot is developed in Solidwork-2019. The proposed model’s forward and inverse kinematics equations are deduced using Denavit–Hartenberg parameters. Based on geometry and kinematics, manipulability and obstacle avoidance are investigated. A method of galloping trajectory is proposed for aiming the increase of upright direction impulse, which is produced by ground reaction force at each step frequency. Furthermore, the locomotion equation of the ellipse trajectory is derived by setting transition angle polynomial of free-fall phase, stance phase and swing phase and the constraints.

Finally, a successive simulation on a 2D sagittal plane is performed to check and verify the usefulness of the proposed trajectory. Before the development of the full quadruped, a single prototype leg is generated for experimental verification of the dynamic simulations.

The proposed trajectory is novel in that it uses force tracking control, which is intended to improve the quadruped robot’s robustness and stability.

Despite the growing attention on the relevance of improved building management systems with cognition in recent years in the architecture, engineering, construction and operation (AECO) community, no review has been conducted to understand the human-environment interaction features of cyber-physical systems (CPS) and digital twins (DTs) in developing the concept of a cognitive building (CB). Thus, this paper aims to review existing studies on CPS and DTs for CB to propose a comprehensive system architecture that considers human-environment interactions.

Scientometric analysis and content analysis were adopted for this study.

The scientometric analysis of 1,042 journal papers showed the major themes of CPS/DTs for CB, and these can be categorized into three key technologies to realize CB in the AECO community: CPS, DTs and cognitive computing (CC). Content analysis of 44 relevant publications in the built environment assisted in understanding and evidently confirming the claim of this study on the integration of CPS and DTs for CB in construction by also involving the CC. It is found and confirmed that CB can be realized with CPS and DTs along with the CC. A CB system architecture (CBSA) is proposed from the three key technologies considering the human-environment interactions in the loop. The study discovered the potential applications of the CBSA across the building lifecycle phases, including the design, construction and operations and maintenance, with the potential promise of endowing resilience, intelligence, greater efficiency and self-adaptiveness. Based on the findings of the review, four research directions are proposed: human-environment interactions, CB for sustainable building performance, CB concept for modular buildings and moving beyond CB.

This study stands out for comprehensively surveying the intellectual core and the landscape of the general body of knowledge on CPS/DTs for CB in the built environment. It makes a distinctive contribution to knowledge as it does not only propose CBSA by integrating CPS and DTs along with CC but also suggests some potential practical applications. These may require expert judgments and real case examples to enhance reproducibility and validation.

This research aims to present a novel cooperative control architecture designed specifically for roads with variations in height and curvature. The primary objective is to enhance the longitudinal and lateral tracking accuracy of the vehicle.

In addressing the challenges posed by time-varying road information and vehicle dynamics parameters, a combination of model predictive control (MPC) and active disturbance rejection control (ADRC) is employed in this study. A coupled controller based on the authors’ model was developed by utilizing the capabilities of MPC and ADRC. Emphasis is placed on the ramifications of road undulations and changes in curvature concerning control effectiveness. Recognizing these factors as disturbances, measures are taken to offset their influences within the system. Load transfer due to variations in road parameters has been considered and integrated into the design of the authors’ synergistic architecture.

The framework's efficacy is validated through hardware-in-the-loop simulation. Experimental results show that the integrated controller is more robust than conventional MPC and PID controllers. Consequently, the integrated controller improves the vehicle's driving stability and safety.

The proposed coupled control strategy notably enhances vehicle stability and reduces slip concerns. A tailored model is introduced integrating a control strategy based on MPC and ADRC which takes into account vertical and longitudinal force variations and allowing it to effectively cope with complex scenarios and multifaceted constraints problems.

In this study, an indoor sensor information fusion positioning system of the quadrotor unmanned aerial vehicle (UAV) was investigated to solve the problem of unstable indoor flight positioning.

The presented system was built on Light Detection and Ranging (LiDAR), Inertial Measurement Unit (IMU) and LiDAR-Lite devices. Based on this, one can obtain the aircraft's current attitude and the position vector relative to the target and control the attitudes and positions of the UAV to reach the specified target positions. While building a UAV positioning model relative to the target for indoor positioning scenarios under limited Global Navigation Satellite Systems (GNSS), the system detects the environment through the NVIDIA Jetson TX2 (Transmit Data) peripheral sensor, obtains the current attitude and the position vector of the UAV, packs the data in the format and delivers it to the flight controller. Then the flight controller controls the UAV by calculating the posture to reach the specified target position.

The authors used two systems in the experiment. The first is the proposed UAV, and the other is the Vicon system, our reference system for comparison purposes. Vicon positioning error can be considered lower than 2 mm from low to high-speed experiments. After comparison, experimental results demonstrated that the system could fully meet the requirements (less than 50 mm) in real-time positioning of the indoor quadrotor UAV flight. It verifies the accuracy and robustness of the proposed method compared with that of Vicon and achieves the aim of a stable indoor flight preliminarily.

Vicon positioning error can be considered lower than 2 mm from low to high-speed experiments. After comparison, experimental results demonstrated that the system could fully meet the requirements (less than 50 mm) in real-time positioning of the indoor quadrotor UAV flight. It verifies the accuracy and robustness of the proposed method compared with that of Vicon and achieves the aim of a stable indoor flight preliminarily.

The changes brought by Industry 4.0 go beyond transformations in the industrial environment. The increasingly frequent digitization and robotization of activities is not only restricted to the industrial environment, but also to people's daily routine. People spend a large part of their time inside buildings, and maintaining adequate Indoor Environmental Quality (IEQ) is an essential factor for a healthy and productive environment. In this sense, the purpose of this study is to verify how the Internet of Things (IoT) is being used to improve the indoor environment, through sensors that instantly measure the conditions of the environment.

The aim of this paper is to verify, through a literature review, how IoT is being used for building control (for energy saving purposes) and to monitor IEQ conditions inside buildings, in order to provide a better environment for occupants, in terms of health and comfort. By combining keywords in databases, PRISMA method was used to select the articles for analysis, and 91 articles were analyzed.

The main findings in this research are: (1) the main purpose for applying IoT inside buildings is to reduce energy consumption; (2) there is an interest in developing low-cost sensoring devices with a learning approach; (3) Machine Learning methods are mainly used for energy saving purposes and to learn about occupants' behavior inside buildings, focusing on thermal comfort; (4) sensors in the IoT era are a requirement to help improve people's comfort and well-being.

Studies directly correlating IoT and IEQ are limited. This paper emphasises the link between them, through the presentation of recent methods to control the built environment.