This work provides a feasibility study on estimating the 3-D locations of several thousand miniaturized free-floating sensor platforms. The localization is performed on basis of sparse ultrasound range measurements between sensor platforms and without the use of beacons. We show that this task can be viewed as a specific type of pose graph optimization. The main challenge is robustly estimating an initial pose graph, that models the locations of sensor platforms. For this, we introduce a novel graph growing strategy that uses random sample consensus in alternation with non-linear refinement. The theoretical properties of our sensor cloud localization method are analyzed and its robustness is investigated using simulations. These simulations are based on inlier-outlier measurement models and focus on the application of subterranean 3-D mapping of liquid environments, such as pipe infrastructures and oil wells.
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We report on a first field test in which miniaturized sensor motes were used to explore and inspect an operational pipeline by performing in situ measurements. The spherical sensor motes with a diameter of 39 mm were equipped with an inertial measurement unit (IMU) measuring 3-D acceleration, rotation, and magnetic field, as well as an ultrasound emitter. The motes were injected into the pipeline and traversed a 260-m section of it with the flow of water. After the extraction of the motes from the pipeline, the recorded IMU data were read out for the off-line analysis. Unlike dead-reckoning techniques, we analyze the IMU data to reveal structural information about the pipeline and locate pipe components, such as hydrants and junctions. The recorded data show different and distinct patterns that are a result of the fluid dynamics and the interaction with the pipeline. Using the magnetic data, pipe sections made from different materials and pipe components are identified and localized. A preliminary analysis on the motes' interaction with the pipeline shows differences in pipe wall roughness and locates structural anomalies. The results of this field test show that sensor motes can be used as a versatile and cost-effective tool for exploration and inspection of a wide variety of pipelines.
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In order to guarantee structural integrity of marine structures in an effective way, operators of these structures seek an affordable, simple and robust system for monitoring detected cracks. Such systems are not yet available and the authors took a challenge to research a possibility of developing such a system. The paper describes the initial research steps made. In the first place, this includes reviewing conventional and recent methods for sensing and monitoring fatigue cracks and discussing their applicability for marine structures. A special attention is given to the promising but still developing new sensing techniques. In the second place, wireless network systems are reviewed because they form an attractive component of the desired system. The authors conclude that it is feasible to develop the monitoring system for detected cracks in marine structures and elaborate on implications of availability of such a system on risk based inspections and structural health monitoring systems
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Twirre is a new architecture for mini-UAV platforms designed for autonomous flight in both GPS-enabled and GPS-deprived applications. The architecture consists of low-cost hardware and software components. High-level control software enables autonomous operation. Exchanging or upgrading hardware components is straightforward and the architecture is an excellent starting point for building low-cost autonomous mini-UAVs for a variety of applications. Experiments with an implementation of the architecture are in development, and preliminary results demonstrate accurate indoor navigation
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This work is on 3-D localization of sensor motes in massive swarms based solely on 1-D relative distance-measurements between neighbouring motes. We target applications in remote and difficult-to-access environments such as the exploration and mapping of the interior of oil reservoirs where hundreds or thousands of motes are used. These applications bring forward the need to use highly miniaturized sensor motes of less than 1 centimeter, thereby significantly limiting measurement and processing capabilities. These constraints, in combination with additional limitations posed by the environments, impede the communication of unique hardware identifiers, as well as communication with external, fixed beacons.
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Electrohydrodynamic atomization (EHDA) is a technique which uses the influence of strong electric fields to manipulate the break-up of a liquid, pumped through a capillary nozzle, into droplets. In this work, an extended description of a specific high flow EHDA mode, known as the simple-jet mode, is presented. In it, a review of different works published about the mode is presented as well as results about the droplet population generated with varicose and whipping break-up using water as the atomized liquid. Additionally, experiments were conducted to investigate whether such atomization method could be used to improve the efficiency of droplet inair evaporation, using a single effect evaporation chamber coupled with a EHDA multinozzle system functioning as a shower head. The liquid used in these experiments was a solution of water and NaCl (35 g L−1) to simulate sea water average concentrations. The results have shown that, the manipulation of the droplet diameter, droplet size distribution and spray angle, provided by EHDA, could improve the droplet evaporation efficiency by up to 40% when combinedwith, e.g. forced convection and higher inlet temperatures.
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This study investigates what pupils aged 10-12 can learn from working with robots, assuming that understanding robotics is a sign of technological literacy. We conducted cognitive and conceptual analysis to develop a frame of reference for determining pupils' understanding of robotics. Four perspectives were distinguished with increasing sophistication; psychological, technological, function, and controlled system. Using Lego Mindstorms NXT robots, as an example of a Direct Manipulation Environment, we developed and conducted a lesson plan to investigate pupils' reasoning patterns. There is ample evidence that pupils have little difficulty in understanding that robots are man-made technological and functional artifacts. Pupils' understanding of the controlled system concept, more specifically the complex sense-reason-act loop that is characteristic of robotics, can be fostered by means of problem solving tasks. The results are discussed with respect to pupils' developing technological literacy and the possibilities for teaching and learning in primary education.
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Animal welfare is a multidimensional phenomenon and currently its on-farm assessment requires complex, multidimensional frameworks involving farm audits which are time-consuming, infrequent and expensive. The core principle of precision agriculture is to use sensor technologies to improve the efficiency of resource use by targeting resources to where they give a benefit. Precision livestock farming (PLF) enables farm animal management to move away from the group level to monitoring and managing individual animals. A range of precision livestock monitoring and control technologies have been developed, primarily to improve livestock production efficiency. Examples include using camera systems monitoring the movement of housed broiler chickens to detect problems with feeding systems or disease and leg-mounted accelerometers enabling the detection of the early stages of lameness in dairy cows. These systems are already improving farm animal welfare by, for example, improving the detection of health issues enabling more rapid treatment, or the detection of problems with feeding systems helping to reduce the risk of hunger. Environmental monitoring and control in buildings can improve animal comfort, and automatic milking systems facilitate animal choice and improve human-animal interactions. Although these precision livestock technologies monitor some parameters relevant to farm animal welfare (e.g. feeding, health), none of the systems yet provide the broad, multidimensional integration that is required to give a complete assessment of an animal’s welfare. However, data from PLF sensors could potentially be integrated into automated animal welfare assessment systems, although further research is needed to define and validate this approach.
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Abstract: The key challenge of managing Floating Production Storage and Offloading assets (FPSOs) for offshore hydrocarbon production lies in maximizing the economic value and productivity, while minimizing the Total Cost of Ownership and operational risk. This is a comprehensive task, considering the increasing demands of performance contracting, (down)time reduction, safety and sustainability while coping with high levels of phenomenological complexity and relatively low product maturity due to the limited amount of units deployed in varying operating conditions. Presently, design, construction and operational practices are largely influenced by high-cycle fatigue as a primary degradation parameter. Empirical (inspection) practices are deployed as the key instrument to identify and mitigate system anomalies and unanticipated defects, inherently a reactive measure. This paper describes a paradigm-shift from predominant singular methods into a more holistic and pro-active system approach to safeguard structural longevity. This is done through a short review of several synergetic Joint Industry Projects (JIP’s) from different angles of incidence on enhanced design and operations through coherent a-priori fatigue prediction and posteriori anomaly detection and -monitoring.
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Abstract Aims: To lower the threshold for applying ultrasound (US) guidance during peripheral intravenous cannulation, nurses need to be trained and gain experience in using this technique. The primary outcome was to quantify the number of procedures novices require to perform before competency in US-guided peripheral intravenous cannulation was achieved. Materials and methods: A multicenter prospective observational study, divided into two phases after a theoretical training session: a handson training session and a supervised life-case training session. The number of US-guided peripheral intravenous cannulations a participant needed to perform in the life-case setting to become competent was the outcome of interest. Cusum analysis was used to determine the learning curve of each individual participant. Results: Forty-nine practitioners participated and performed 1855 procedures. First attempt cannulation success was 73% during the first procedure, but increased to 98% on the fortieth attempt (p<0.001). The overall first attempt success rate during this study was 93%. The cusum learning curve for each practitioner showed that a mean number of 34 procedures was required to achieve competency. Time needed to perform a procedure successfully decreased when more experience was achieved by the practitioner, from 14±3 minutes on first procedure to 3±1 minutes during the fortieth procedure (p<0.001). Conclusions: Competency in US-guided peripheral intravenous cannulation can be gained after following a fixed educational curriculum, resulting in an increased first attempt cannulation success as the number of performed procedures increased.
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