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The purpose of this paper is to derive a new fractal active low-pass filter (LPF) within the local fractional derivative (LFD) calculus on the Cantor set (CS).

To the best of the author’s knowledge, a new fractal active LPF within the LFD on the CS is proposed for the first time in this work. By defining the nondifferentiable (ND) lumped elements on the fractal set, the author successfully extracted its ND transfer function by applying the local fractional Laplace transform. The properties of the ND transfer function on the CS are elaborated in detail.

The comparative results between the fractal active LPF (for γ = ln2/ln3) and the classic one (for γ = 1) on the amplitude–frequency and phase–frequency characteristics show that the proposed method is correct and effective, and is expected to shed light on the theory study of the fractal electrical systems.

To the best of the author’s knowledge, the fractal active LPF within the LFD calculus on the CS is proposed for the first time in this study. The proposed method can be used to study the other problems in the fractal electrical systems, and is expected to shed a light on the theory study of the fractal electrical systems.

This study aims to design a compact filtering monopole antenna for 5G communication. The design is most suited for various applications within the frequency range of 2.2–3.8 GHz. It offers enhanced bandwidth and reasonable gain with wide-stopband performance.

A low-pass filter (LPF) of complementary split ring resonator (CSRR) with short-circuited stub lines is integrated with a compact defected coplanar waveguide fed truncated circular monopole ultrawideband (UWB) antenna. The reference UWB antenna etched on an FR4 substrate was coupled to the designed LPF to transform the UWB antenna into a wideband antenna. The effect of coupling is analyzed based on the real and imaginary responses of the terminal impedance (ZT) curve. Three short-circuited stub lines of asymmetric lengths are added to the CSRR LPF to suppress harmonics, thereby enhancing the stopband performance and impedance matching between the elements. The proposed filtering antenna is fabricated using a photolithography process, and the corresponding results are measured using a network analyzer (N9951A). The radiation parameters of the proposed filtering monopole antenna are tested in the anechoic chamber. The simulated/measured results are compared and are found in agreement with each other.

The proposed design suppresses 6.5f0 harmonics, resulting in wide stopband performance and increased gain selectivity at the transition edge. A peak suppression of −41 dB and an average suppression of −18 dB were attained throughout the stopband. An operating fractional bandwidth of 54.5%/143% with a peak gain of 3 dBi/5 dBi was obtained. The proposed filtering antenna supports 5G applications such as WiMAX, WLAN, n7, n38 IMT-E, n30 WCS, n40 TDD, n41 TDD, n48 TDD, n78 TDD and n90 TDD.

The proposed design is novel and compact and has a wide application in 5G communication. With the filter, the antenna operates in wideband, and without the filter, it operates in UWB. Besides, it offers enhanced stopband performance with high gain selectivity at the transition edge. Comparatively, a 50% improvement in bandwidth, 52% improvement in size reduction and 33% improvement in harmonic suppression are attained.

Multilevel inverters play a major role in the development of high-power industrial applications. In traditional low-level inverters (e.g. 2-level), the switching frequency is restricted and the harmonic spectrum of the system is hard to meet power requirements. Similarly, high-level inverters consist of a large number of switches, complex modulation techniques and complex hardware architecture, which results in high power loss and a significant amount of harmonic distortion. Furthermore, it is a must to ensure that every switch experiences the same stress of voltage and current. The purpose of this paper is to present an inverter topology with lower conduction and switching losses via reduced number of switches and equal voltage source-sharing technique.

Herein, the authors present a cascaded multilevel inverter having less power switches, a simple modulation technique and an equal voltage source-sharing phenomenon implementation.

The modulation technique becomes more complex when equal voltage source-sharing is to be implemented. In this study, a novel topology for the multilevel inverter with fewer switches, novel modulation technique, equal voltage source-sharing and Inductor-Capacitor-Inductor filter implementation is demonstrated to the reduce harmonic spectrum and power losses of the proposed system.

The nine-level inverter design is validated using software simulations and hardware prototype testing; the power losses of the proposed inverter design are elaborated and compared with the traditional approach.

Docking technology plays a crucial role in enabling long-duration operations of autonomous underwater vehicles (AUVs). Visual positioning solutions alone are susceptible to abnormal drift values due to the challenging underwater optical imaging environment. When an AUV approaches the docking station, the absolute positioning method fails if the AUV captures an insufficient number of tracers. This study aims to to provide a more stable absolute position visual positioning method for underwater terminal visual docking.

This paper presents a six-degree-of-freedom positioning method for AUV terminal visual docking, which uses lights and triangle codes. The authors use an extended Kalman filter to fuse the visual calculation results with inertial measurement unit data. Moreover, this paper proposes a triangle code recognition and positioning algorithm.

The authors conducted a simulation experiment to compare the underwater positioning performance of triangle codes, AprilTag and Aruco. The results demonstrate that the implemented triangular code reduces the running time by over 70% compared to the other two codes, and also exhibits a longer recognition distance in turbid environments. Subsequent experiments were carried out in Qingjiang Lake, Hubei Province, China, which further confirmed the effectiveness of the proposed positioning algorithm.

This fusion approach effectively mitigates abnormal drift errors stemming from visual positioning and cumulative errors resulting from inertial navigation. The authors also propose a triangle code recognition and positioning algorithm as a supplementary approach to overcome the limitations of tracer light positioning beacons.

Identifying the flow regime is a prerequisite for accurately modeling two-phase flow. This paper aims to introduce a comprehensive data-driven workflow for flow regime identification.

A numerical two-phase flow model was validated against experimental data and was used to generate dynamic pressure signals for three different flow regimes. First, four distinct methods were used for feature extraction: discrete wavelet transform (DWT), empirical mode decomposition, power spectral density and the time series analysis method. Kernel Fisher discriminant analysis (KFDA) was used to simultaneously perform dimensionality reduction and machine learning (ML) classification for each set of features. Finally, the Shapley additive explanations (SHAP) method was applied to make the workflow explainable.

The results highlighted that the DWT + KFDA method exhibited the highest testing and training accuracy at 95.2% and 88.8%, respectively. Results also include a virtual flow regime map to facilitate the visualization of features in two dimension. Finally, SHAP analysis showed that minimum and maximum values extracted at the fourth and second signal decomposition levels of DWT are the best flow-distinguishing features.

This workflow can be applied to opaque pipes fitted with pressure sensors to achieve flow assurance and automatic monitoring of two-phase flow occurring in many process industries.

This paper presents a novel flow regime identification method by fusing dynamic pressure measurements with ML techniques. The authors’ novel DWT + KFDA method demonstrates superior performance for flow regime identification with explainability.

Wireless sensor networks (WSN), as a solution for buried water pipe monitoring, face a new set of challenges compared to traditional application for above-ground infrastructure monitoring. One of the main challenges for underground WSN deployment is the limited range (less than 3 m) at which reliable wireless underground communication can be achieved using radio signal propagation through the soil. To overcome this challenge, the purpose of this paper is to investigate a new approach for wireless underground communication using acoustic signal propagation along a buried water pipe.

An acoustic communication system was developed based on the requirements of low cost (tens of pounds at most), low power supply capacity (in the order of 1 W-h) and miniature (centimetre scale) size for a wireless communication node. The developed system was further tested along a buried steel pipe in poorly graded SAND and a buried medium density polyethylene (MDPE) pipe in well graded SAND.

With predicted acoustic attenuation of 1.3 dB/m and 2.1 dB/m along the buried steel and MDPE pipes, respectively, reliable acoustic communication is possible up to 17 m for the buried steel pipe and 11 m for the buried MDPE pipe.

Although an important first step, more research is needed to validate the acoustic communication system along a wider water distribution pipe network.

This paper shows the possibility of achieving reliable wireless underground communication along a buried water pipe (especially non-metallic material ones) using low-frequency acoustic propagation along the pipe wall.

The purpose of this paper is to develop a prototype of a wearable medical device in the form of a bandage with a real-time data monitoring platform, which can be used domestically for diabetic patients to identify the possibility of foot ulceration at the early stage.

The prototype can measure blood volumetric change and temperature variation in the forefoot area simultaneously. The waveform extracted using a pulsatile-blood-flow signal was used to assess blood perfusion-related information, and hence, predict ischemic ulcers. The temperature difference between ulcerated and the reference was used to predict neuropathic ulcers. The medical device can be used as a bandage during the application wherein the sensory module is placed inside the hollow pocket of the bandage. A platform was developed through a mobile application where doctors can extract real-time information, and hence, determine the possibility of ulceration.

The height of the peaks in the pulsatile-blood-flow signal measured from the subject with foot ischemic ulcers is significantly less than that of the subject without ischemic ulcers. In the presence of ischemic ulcers, the captured waveform flattens. Therefore, the blood perfusion from arteries to the tissue of the forefoot is considerably low for the subject with ischemic ulcers. According to the temperature difference data measured over 25 consecutive days, the temperature difference of the subject with neuropathic ulcers occasionally exceeded the 4 °F range but mostly had higher values closer to the 4 °F range. However, the temperature difference of the subject who had no complications of neuropathic ulcers did not exceed the 4 °F range, and the majority of the measurements occupy a narrow range from −2°F to 2 °F.

The proposed prototype of wearable medical apparatus can monitor both temperature variation and pulsatile-blood-flow signal on the forefoot simultaneously and thereby predict both ischemic and neuropathic diabetes using a single device. Most importantly, the wearable medical device can be used domestically without clinical assistance with a real-time data monitoring platform to predict the possibility of ulceration and the course of action thereof.

The purpose of this paper aims to investigate the adaptive impedance control and its optimized PSO algorithm for force tracking of a dual-arm cooperative robot. Because the dual-arm robot is directly in contact with external environment, controlling the mutual force between robot and external environment is of great importance. Besides, a high compliance of the robot should be guaranteed.

An impedance control based on Particle Swarm Optimization (PSO) algorithm is designed to track the mutual force and achieve compliance control of the robot end.

The experimental results show that the impedance control coefficients can be automatically tuned converged by PSO algorithm.

The system can reach a steady state within 0.03 s with overshoot convergence, and the force fluctuation range at the steady state decreases to about ±0.08 N even under the force mutation condition.

The patient-side manipulator (PSM) achieves high torque capability by combining harmonic servo system with high reduction ratio and low torque motor. However, high reduction ratio can increase inertia and decrease compliance of the manipulator. To enhance the backdrivability of the minimally invasive surgical robot, this paper aims to propose a resistance torque compensation algorithm.

A resistance torque compensation algorithm based on dynamics and Luenberger observer is proposed. The dynamics are established, considering joint flexibility and an improved Stribeck friction model. The dynamic parameters are experimentally identified by using the least squares method. With the advantages of clear structure, simple implementation and fast solution speed, the Luenberger observer is selected to estimate the unmeasured dynamic information of PSM and realize the resistance torque compensation.

For low-speed surgical robots, the centrifugal force term in the dynamic model can be simplified to reduce computational complexity. Joint flexibility and an improved Stribeck friction model can be considered to improve the accuracy of the dynamic model. Experiment results show that parameter identification and estimated results of the Luenberger observer are accurate. The backdrivability of the PSM is enhanced in ease and smoothness.

This algorithm provides potential application prospects for surgical robots to maintain high torque while remaining compliant. Meanwhile, the enhanced backdrivability of the manipulator helps to improve the safety of the preoperative manual adjustment.

The crane plays an essential role in modern construction sites as it supports numerous operations and activities on-site. Additionally, the crane produces a big amount of data that, if analyzed, could significantly affect productivity, progress monitoring and decision-making in construction projects. This paper aims to show the usability of crane data in tracking the progress of activities on-site.

This paper presents a pattern-based recognition method to detect concrete pouring activities on any concrete-based construction sites. A case study is presented to assess the methodology with a real-life example.

The analysis of the data helped build a theoretical pattern for concrete pouring activities and detect the different phases and progress of these activities. Accordingly, the data become useable to track progress and identify problems in concrete pouring activities.

The paper presents an example for construction practitioners and researcher about a practical and easy way to analyze the big data that comes from cranes and how it is used in tracking projects' progress. The current study focuses only on concrete pouring activities; future studies can include other types of activities and can utilize the data with other building methods to improve construction productivity.

The proposed approach is supposed to be simultaneously efficient in terms of concrete pouring detection as well as cost-effective. Construction practitioners could track concrete activities using an already-embedded monitoring device.

While several studies in the literature targeted the optimization of crane operations and of mitigating hazards through automation and sensing, the opportunity of using cranes as progress trackers is yet to be fully exploited.