Presently, autonomous vehicles are on the rise and are expected to be on the roads in the coming years. In this sense, it becomes necessary to have adequate knowledge about its states to design ...controllers capable of providing adequate performance in all driving scenarios. Sideslip and roll angles are critical parameters in vehicular lateral stability. The later has a high impact on vehicles with an elevated center of gravity, such as trucks, buses, and industrial vehicles, among others, as they are prone to rollover. Due to the high cost of the current sensors used to measure these angles directly, much of the research is focused on estimating them. One of the drawbacks is that vehicles are strong non-linear systems that require specific methods able to tackle this feature. The evolution in Artificial Intelligence models, such as the complex Artificial Neural Network architectures that compose the Deep Learning paradigm, has shown to provide excellent performance for complex and non-linear control problems. In this paper, the authors propose an inexpensive but powerful model based on Deep Learning to estimate the roll and sideslip angles simultaneously in mass production vehicles. The model uses input signals which can be obtained directly from onboard vehicle sensors such as the longitudinal and lateral accelerations, steering angle and roll and yaw rates. The model was trained using hundreds of thousands of data provided by Trucksim® and validated using data captured from real driving maneuvers using a calibrated ground truth device such as VBOX3i dual-antenna GPS from Racelogic®. The use of both Trucksim® software and the VBOX measuring equipment is recognized and widely used in the automotive sector, providing robust data for the research shown in this article.
In this article, a new force transducer is designed, developed and built for the measurement of braking forces in the wheel rim of a motor vehicle. The parameters of the transducer design are ...justified using numerical simulation. In order to install it in the vehicle in a simple and interference-free way, the metal base of the caliper rod is used. It is manufactured and installed in a vehicle in order to obtain the signals of the wheel braking torque, in real time, and at different speeds of circulation, carrying out several tests on the track. Subsequently, data are obtained from calculations of the disc brake system itself. The latter provides instantaneous adherence values between the brake pad and the disc.
Abstract
In this paper, the consequences of the lack of definition of so-called hybrid threats is explored. Special attention was paid to the importance of the work already completed by the North ...Atlantic Treaty Organisation (NATO) and the European Union (EU) regarding the ever evolving types of actions associated with hybrid threats in the so called grey zone. The latter can be thought of as activities undertaken by one state that are harmful to another, albeit not legal acts of war, sometimes referred to as a malevolent manifestation of the concept of peace. The vastly different experiences of democratic and authoritarian states acting in the grey zone was also examined. In addition, the law applicable to hybrid threats was studied to determine if the legal framework is sufficiently adapted to repel state-sponsored and non-state-sponsored hybrid threats. In addition, the use of the European Convention on Human Rights in the struggle against hybrid threats in Europe and the limits to how state parties can react to hybrid threats established by this treaty was analysed. Lastly, the international rules of attribution of responsibility and difficulties associated with their application with respect to hybrid threats was considered. This article is structured in two parts. The first part explores the difficulty of defining hybrid threats, while the second presents the legal framework used to counter such threats, both at the international and European levels.
In recent years, there have been many advances in vehicle technologies based on the efficient use of real-time data provided by embedded sensors. Some of these technologies can help you avoid or ...reduce the severity of a crash such as the Roll Stability Control (RSC) systems for commercial vehicles. In RSC, several critical variables to consider such as sideslip or roll angle can only be directly measured using expensive equipment. These kind of devices would increase the price of commercial vehicles. Nevertheless, sideslip or roll angle or values can be estimated using MEMS sensors in combination with data fusion algorithms. The objectives stated for this research work consist of integrating roll angle estimators based on Linear and Unscented Kalman filters to evaluate the precision of the results obtained and determining the fulfillment of the hard real-time processing constraints to embed this kind of estimators in IoT architectures based on low-cost equipment able to be deployed in commercial vehicles. An experimental testbed composed of a van with two sets of low-cost kits was set up, the first one including a Raspberry Pi 3 Model B, and the other having an Intel Edison System on Chip. This experimental environment was tested under different conditions for comparison. The results obtained from low-cost experimental kits, based on IoT architectures and including estimators based on Kalman filters, provide accurate roll angle estimation. Also, these results show that the processing time to get the data and execute the estimations based on Kalman Filters fulfill hard real time constraints.
In this article, a Linear Quadratic Regulator (LQR) lateral stability and rollover controller has been developed including as the main novelty taking into account the road bank angle and using ...exclusively active suspension for both lateral stability and rollover control. The main problem regarding the road bank is that it cannot be measured by means of on-board sensors. The solution proposed in this article is performing an estimation of this variable using a Kalman filter. In this way, it is possible to distinguish between the road disturbance component and the vehicle's roll angle. The controller's effectiveness has been tested by means of simulations carried out in TruckSim, using an experimentally-validated vehicle model. Lateral load transfer, roll angle, yaw rate and sideslip angle have been analyzed in order to quantify the improvements achieved on the behavior of the vehicle. For that purpose, these variables have been compared with the results obtained from both a vehicle that uses passive suspension and a vehicle using a fuzzy logic controller.
A new portable arm exercise device is presented as a laboratory prototype to assist arm movements in rehabilitation therapies and movement exercises. Unlike the devices currently used, a portable ...design is proposed, with easy assembly and operational characteristics that enable it to be used by users in the home and in a familiar environment. Sensors are also provided on the rotating crank to validate and monitor the efficiency of the arm exercise. A low-cost prototype is assembled using off-the-shelf components and 3D-printed parts. Design issues are discussed and elaborated on to build a prototype for future laboratory testing using fairly simple experimental methodology. Preliminary testing by one author shows good feasibility of the device. The findings from the experimental results can be summarized as effective smooth-monitored cyclic motion in the crank rotation with limited values for acceleration less than 1 g and for acting user forces less than 22 N. The values detected are significantly lower in the left hand, with the testing subject being right-handed and healthy, without injury to her upper limbs.
In this study, we investigated the airborne dissemination of bacteria from the inside of two very different pork farms (an intensively confined farm and an open-range farm) to the immediate ...environment. Samples were taken from the slurry, from the air inside the farms (area 0), and from their immediate surroundings at a distance of 50, 100, and 150 m in four directions (north, south, east, and west). A control sample in the air of a zone far away from human or animal activity was also taken. Identification of isolates was made by means of the matrix-assisted laser desorption-ionization time of flight system. A total of 1,063 isolates were obtained, of which a mere 7 came from the air of the control area. Staphylococci, enterococci, and Enterobacteriaceae were selectively targeted for isolation and represented 48.6, 27.2, and 21.6% of the isolates, respectively. The species identified from the air of surrounding areas ( Enterococcus faecalis, Enterococcus hirae, and Staphylococcus arlettae, mainly) were also present inside the farms studied. The results suggest that air is involved in bacterial dissemination, and pork farms should be considered a potential source of foodborne bacteria that might contaminate surrounding areas, including vegetable orchards. Wind direction appears as a factor involved in bacterial dispersion through the air, but its effect may be conditioned by existing vegetation and orographic conditions.
Antimicrobial resistance is an important One Health challenge that encompasses the human, animal, and environmental fields. A total of 111 Escherichia coli isolates previously recovered from manure ...(n = 57) and indoor air (n = 54) samples from a broiler farm were analyzed to determine their phenotypes and genotypes of antimicrobial resistance and integron characterization; in addition, plasmid replicon analysis and molecular typing were performed in extended-spectrum-beta-lactamase (ESBL) producer isolates. A multidrug-resistance phenotype was detected in 46.8% of the isolates, and the highest rates of resistance were found for ampicillin, trimethoprim−sulfamethoxazole, and tetracycline (>40%); moreover, 15 isolates (13.5%) showed susceptibility to all tested antibiotics. None of the isolates showed imipenem and/or cefoxitin resistance. Twenty-three of the one hundred and eleven E. coli isolates (20.7%) were ESBL producers and carried the blaSHV-12 gene; one of these isolates was recovered from the air, and the remaining 22 were from manure samples. Most of ESBL-positive isolates carried the cmlA (n = 23), tet(A) (n = 19), and aac(6′)-Ib-cr (n = 11) genes. The following genetic lineages were identified among the ESBL-producing isolates (sequence type-phylogroup-clonotype): ST770-E-CH116−552 (n = 12), ST117-B2-CH45−97 (n = 4), ST68-E-CH26−382/49 (n = 3), ST68-E-CH26−49 (n = 1), and ST10992-A/B1-CH11−23/41/580 (n = 4); the latter two were detected for the first time in the poultry sector. At least two plasmid replicon types were detected in the ESBL-producing E. coli isolates, with IncF, IncF1B, IncK, and IncHI1 being the most frequently found. The following antimicrobial resistance genes were identified among the non-ESBL-producing isolates (number of isolates): blaTEM (58), aac(6′)-Ib-cr (6), qnrS (2), aac(3)-II (2), cmlA (6), tet(A)/tet(B) (22), and sul1/2/3 (51). Four different gene-cassette arrays were detected in the variable region of class 1 (dfrA1-aadA1, dfrA12-aadA2, and dfrA12-orf-aadA2-cmlA) and class 2 integrons (sat2-aadA1-orfX). This work reveals the worrying presence of antimicrobial-resistant E. coli in the broiler farm environment, with ESBL-producing isolates of SHV-12 type being extensively disseminated.
The effect of carvacrol added to patties stored at 4 °C for 14 days, previously pressurized and vacuum-cooked (HPP-SVCOOK), was investigated. Three formulations were prepared (veal, plant-based ...product, and hybrid product). An emulsion made with olive and linseed oils was added. The physicochemical and microbiological qualities were assessed. Microbial tests indicated negligible growth of spoilage organisms in treated patties. No significant effect of carvacrol on the microbial loads of patties was noticed. Sulfite-reducing clostridia and Enterobacteriaceae were absent in the treated patties, whereas, in the treated veal and hybrid samples, 3 and 2 units of log cfu/g reduction for lactic acid bacteria and molds and yeasts were noted, respectively. On day 7 of storage, veal patties exhibited a significant reduction (p < 0.05) in the L* (53.9−49.3), hardness (32.3−21.4 N), springiness (0.8−0.7 N), cohesiveness (0.49−0.46), and chewiness (12.2−7.1) and a hike in the a* value (5.3−9.4). No significant changes in L* (59.1−58.6), a* (8.57−8.61), hardness (11.6−10.6 N), or cohesiveness (0.27−0.26) were observed in plant-based patties over the storage times, whereas reductions in springiness (0.5−0.4), chewiness (1.9−1.3), and b* (26.6−29.1) were noted in them. In hybrid patties, the L* (53.9−52.5) and b* values (24.9−24.3) were consistent but had a significant decrease in a* value (5.9−3.5) along the days of storage under study. The texture parameters of the hybrid patties altered were similar to those of veal patties during the 14-day storage time. In all samples, pH decreased with storage time. HPP-SVCOOK was effective on rendering safe and shelf-stable, ready-to-eat patties regardless of their matrix formulation. The addition of carvacrol had limited effects on the textural qualities of the HPP-SVCOOK products. Future studies need to be undertaken to assess the treated patties’ consumer acceptability and sensory profile. The study provides the basis for the development of novel meat-based and plant-based products that are microbiologically safe, with minimum physicochemical alterations during storage.
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