Search Results (896)

Underwater simultaneous localization and mapping (SLAM) has significant challenges due to the complexities of underwater environments, marked by limited visibility, variable conditions, and restricted global positioning system (GPS) availability. This study provides a comprehensive analysis of sensor fusion techniques in underwater SLAM, highlighting the amalgamation of proprioceptive and exteroceptive sensors to improve UUV navigational accuracy and system resilience. Essential sensor applications, including inertial measurement units (IMUs), Doppler velocity logs (DVLs), cameras, sonar, and LiDAR (light detection and ranging), are examined for their contributions to navigation and perception. Fusion methodologies, such as Kalman filters, particle filters, and graph-based SLAM, are evaluated for their benefits, limitations, and computational demands. Additionally, innovative technologies like quantum sensors and AI-driven filtering techniques are examined for their potential to enhance SLAM precision and adaptability. Case studies demonstrate practical applications, analyzing the compromises between accuracy, computational requirements, and adaptability to environmental changes. This paper proceeds to emphasize future directions, stressing the need for advanced filtering and machine learning to address sensor drift, noise, and environmental unpredictability, hence improving autonomous underwater navigation through reliable sensor fusion. Full article

Although the Doppler velocity log is widely applied to measure underwater fluid flow, it requires high power and is inappropriate for measuring low flow velocity. This study proposes a fluid flow sensor that utilizes optical flow sensing. The proposed sensor mimics the neuromast of a fish by attaching a phosphor to two pillar structures (A and B) produced using ethylene propylene diene monomer rubber. The optical signal emitted by the phosphor is measured using a camera. An experiment was conducted to apply an external force to the reactive part using a push–pull force gauge sensor to confirm the performance of the proposed sensor. The optical signal emitted by the phosphor was obtained using an image sensor, and a quantitative value was calculated using image analysis. A simulation environment was constructed to analyze the flow field and derive the relationship between the flow rate and velocity. The physical properties of the pillar were derived from hysteresis measurement results, and the error was minimized when pillar types A and B were utilized within the ranges of 0–0.1 N and 0–2 N, respectively. A difference in the elastic recovery characteristics was observed; this difference was linear based on the shape of the pillar, and improvement rates of 99.585% and 99.825% were achieved for types A and B, respectively. The proposed sensor can help obtain important information, such as precise flow velocity measurements in the near field, to precisely navigate underwater unmanned undersea vehicles and precisely control underwater robots after applying the technology to the surface of various underwater systems. Full article

In order to reduce the frequency of high-frequency Doppler signal light, the electronic bandwidth of a data acquisition system is reduced. This paper mainly describes the principle and experimental verification results of optical multistage cascade frequency reduction technology. The bandwidth requirement of the detector and the oscilloscope is reduced by the method of “relaying” the measured beat frequency signal between multiple electronic channels. Aiming to achieve the requirement of ultra-high speed measurement of 22 km/s, the requirement of the original signal frequency as high as 28 GHz electrical bandwidth is reduced to the acquisition and recording system with only 8 GHz bandwidth. A complete velocity profile of up to 11.47 km/s is measured on a three-stage light gas gun with velocity measurement accuracy of 1%. Full article

Intrauterine growth restriction (IUGR), the failure of the fetus to achieve his/her growth potential, is a common and complex problem in pregnancy. Clinically, IUGR is usually monitored using Doppler ultrasound of the umbilical artery (UA). The Doppler waveform is generally divided into three typical patterns in IUGR development, from normal blood flow (Normal), to the loss of end diastolic blood flow (LDBF), and even to the reversal of end diastolic blood flow (RDBF). Unfortunately, Doppler ultrasound hardly provides complete UA hemodynamics in detail, while the present in silico computational fluid dynamics (CFD) can provide this with the necessary ultrasound information. In this paper, CFD is employed to simulate the periodic UA blood flow for three typical states of IUGR, which shows comprehensive information on blood flow velocity, pressure, and wall shear stress (WSS). A new finding is the “hysteresis effect” between the UA blood flow velocity and pressure drop in which the former always changes after the latter by 0.1–0.2 times a cardiac cycle due to the unsteady flow. The degree of hysteresis is a promising indicator characterizing the evolution of IUGR. CFD successfully shows the hemodynamic details in different development situations of IUGR, and undoubtedly, its results would also help clinicians to further understand the relationship between the UA blood flow status and fetal growth restriction. Full article

Background: This study aims to verify whether the blood flow velocity and the diameter size, measured through intra-carotid artery Doppler measurements performed on sepsis patients visiting the emergency department, are useful as tools for predicting the risk of early death. Methods: As a prospective study, this research was performed on sepsis patients who visited a local emergency medical center from August 2021 to February 2023. The sepsis patients’ carotid artery was measured using Doppler imaging, and they were divided into patients measured for the size of systolic and diastolic mean blood flow velocity and diameter size: those measured for their qSOFA (quick sequential organ failure assessment) score and those measured using the SIRS (systemic inflammatory response syndrome) criteria. By measuring and comparing their mortality prediction accuracies, this study sought to verify the usefulness of blood flow velocity and the diameter size of the intra-carotid artery as tools to predict early death. Results: This study was conducted on 1026 patients, excluding 45 patients out of the total of 1071 patients. All sepsis patients were measured using systolic and diastolic blood flow velocity and diameter by Doppler imaging of the intra-carotid artery, assessed using qSOFA and evaluated using SIRS criteria. The results of the analysis performed to compare the mortality prediction accuracy were as follows. First, the hazard ratio (95% CI) of the intra-carotid artery was significant (p < 0.05), at 1.020 (1.004–1.036); the hazard ratio (95% CI) of qSOFA was significant (p < 0.05), at 3.871 (2.526–5.931); and the hazard ratio (95% CI) of SIRS showed no significant difference, at 1.002 (0.995–1.009). After 2 h of infusion treatment, the diameter size was 4.72 ± 1.23, showing a significant difference (p < 0.05). After 2 h of fluid treatment, the blood flow velocity was 101 m/s ± 21.12, which showed a significant difference (p < 0.05). Conclusions: Measuring the mean blood flow velocity in the intra-carotid arteries of sepsis patients who visit the emergency department is useful for predicting the risk of death at an early stage. And this study showed that Doppler measurement of the diameter size of the carotid artery significantly increased after performing fluid treatment after early recognition. Full article

An acoustic Doppler current profiler (ADCP) installed on a platform produces rotational tangential velocity as a result of variations in the platform’s attitude, with both the tangential velocity and radial orientation varying between each pulse’s transmission and reception by the transducer. These factors introduce errors into the measurements of vessel velocity and flow velocity. In this study, we address the errors induced by dynamic factors related to variations in attitude and propose an ADCP attitude dynamic error correction method based on angular velocity tensor and radius vector estimation. This method utilizes a low-sampling-rate inclinometer and compass data and estimates the angular velocity tensor based on a physical model of vessel motion combined with nonlinear least-squares estimation. The angular velocity tensor is then used to estimate the transducers’ radius vectors. Finally, the radius vectors are employed to correct the instantaneous tangential velocity within the measured velocities of the vessel and flow. To verify the effectiveness of the proposed method, field tests were conducted in a water pool. The results demonstrate that the proposed method surpasses the attitude static correction approach. In comparison with the ASC method, the average relative error in vessel velocity during free-swaying movement decreased by 20.94%, while the relative standard deviation of the error was reduced by 17.38%. Full article

Many mathematical models have been proposed to estimate vertical tidal current profiles. However, as previous studies have shown that tidal current energy sites have different characteristics in their vertical tidal current profiles, it is necessary to estimate the profiles from field-measured data for practical purposes. In this study, we measured layered tidal currents over two months using an acoustic Doppler current profiler (ADCP) to analyze the characteristics of vertical tidal current profiles at the Jangjuk Strait, a candidate site for tidal current energy. As a result, the power law parameter $\alpha$ and bed roughness $\beta$ were estimated as 4.51–12.41 and 0.38–0.42, respectively. Additionally, the maximum roughness length representing seabed roughness in the logarithmic profile was estimated as 0.221 m, and the estimated friction velocity was 0.038–0.194 m/s. Furthermore, a high correlation was observed between the depth-averaged tidal current velocity and friction velocities at all sites during flood and ebb tide conditions. A high correlation was also found between the bed roughness, roughness length, and power law exponent at relatively deeper sites. Tidal current energy sites display distinct characteristics compared to other sea areas. Therefore, it is essential to account for field conditions when conducting numerical modeling and design. Full article

Background: Decreased cerebral oximetry (rSO₂) in cardiac surgery is associated with postoperative delirium (POD). However, interventions optimizing intraoperative rSO₂ are inconclusive. Methods: In this prospective observational cohort study, the relationship between rSO₂, middle cerebral artery blood flow velocity (MCAV), and processed EEG was assessed in cardiac surgery patients with and without POD. MCAV was continuously recorded by transcranial Doppler sonography (TCD), together with continuous rSO₂ and bispectral index (BIS) monitoring. Cardiopulmonary bypass (CPB) flow rate was adjusted according to body surface area. The cohort was divided into the POD and control groups, according to the postoperative results of the confusion assessment method (CAM/CAM-ICU), the 4A’s test (4AT), and the Delirium Observation Scale (DOS). A mixed model analysis was performed for intraoperative raw data. The cerebral autoregulation index was calculated from TCD, rSO₂, and arterial pressure values. Differences in impaired autoregulation were compared using the Mann–Whitney U test. Results: A total of 41 patients were included in this study. A total of 13 patients (36.11%) developed postoperative delirium. There were no significant differences in the baseline characteristics of patients with or without POD. Patients with POD had lower BIS values during CPB (adjusted mean difference −4.449 (95% CI [−7.978, −0.925])). RSO₂ was not significantly reduced in POD, (adjusted mean difference: −5.320, 95% CI [−11.508, 0.874]). In contrast, MCAV was significantly increased in POD (10.655, 95% CI [0.491, 20.819]). The duration of cerebral autoregulation impairment did not differ significantly for TCD and cerebral oximetry-derived indices (p = 0.4528, p = 0.2715, respectively). Conclusions: Our results suggest that disturbed cerebral metabolism reflects a vulnerable brain which may be more susceptible to overperfusion during CPB, which can be seen in increased MCAV values. These phenomena occur irrespectively of cerebral autoregulation. Full article

Background: Necrotizing enterocolitis (NEC) is the most frightening gastrointestinal emergency in newborns. Despite being primarily a disease of premature infants, neonates with congenital heart disease (CHD) are at increased risk of development. Acute and chronic hemodynamic changes in this population may lead to mesenteric circulatory insufficiency. Objectives: In this narrative review, we describe monitoring tools, alone or in multimodal use, that may help in the early recognition of patients with CHD at major risk of NEC development. Methods: We focused on vital parameters, echocardiography, Doppler flowmetry, abdominal near-infrared spectroscopy (aNIRS), and abdominal ultrasound (aUS). Results: The number of studies on this topic is small and includes a wide range of patients’ ages and types of CHD. Peripheral oxygen saturation (SpO₂) and certain echocardiographic indices (antegrade and retrograde velocity time integral, cardiac output, etc.) do not seem to differentiate infants with further onset of NEC from those not developing it. Hypotensive events, persistent diastolic flow reversal in the descending aorta, and low mesenteric oxygen saturation (rsSO₂) measured by aNIRS appear to occur more frequently in infants who later develop NEC. aUS may be helpful in the diagnosis of cardiac NEC, potentially showing air contrast tracked to the right atrium in the presence of pneumatosis. Conclusions: This narrative review describes the current knowledge on bedside tools for the early prediction of cardiac NEC. Future research needs to further explore the use of easy-to-learn, reproducible instruments to assist patient status and monitor patient trends. Full article

Nowadays it has become particularly valuable to control the Particulate Matter (PM) emissions from the road transport sector, especially in vehicle powertrains with an Internal Combustion Engine (ICE). However, almost no publication has focused on a comparison of the microscopic characteristics of gasoline and ethanol spray under injection pressure conditions of more than 30 MPa, except in the impingement process. By using a Phase Doppler Particles Analyser (PDPA) system, the microscopic characteristics of gasoline and ethanol spray from a Gasoline Direct Injection (GDI) injector under injection pressure ($P_I$) up to 50 MPa was fully explored in this research. The experimental results demonstrate that under the same $P_I$, the second peak of the probability ($p_d$) curves of droplet normal velocity for gasoline is slightly higher than that of ethanol. Moreover, gasoline spray exceeds ethanol by about 5.4% regarding the average droplet tangential velocity at 50 mm of jet downstream. Compared to ethanol, the $p_d$ curve’s peak of droplet diameter at (0, 50) for gasoline is 1.3 percentage points higher on average, and the overall Sauter mean diameter of gasoline spray is slightly smaller. By increasing $P_I$ from 10 MPa to 50 MPa, $p_d$ of the regions of “100 ≤ Weber number ($We$) < 1000” and “$We$ ≥ 1000” increases by about 23%, and the $p_d$ of large droplets over 20 μm shows a significant reduction. This research would provide novel insights into the deeper understanding of the comparison between gasoline and ethanol spray in microscopic characteristics under ultra-high $P_I$. Additionally, this research would help provide a theoretical framework and practical strategies to reduce PM emissions from passenger vehicles, which would significantly contribute to the protection and sustainability of the environment. Full article

The availability of Global Navigation Satellite System (GNSS) raw observations in smartphones has driven research into low-cost GNSS solutions, especially in challenging urban environments, which have garnered significant attention from scholars in recent years. This study proposes an improved smartphone-based velocity-aided positioning method and conducts vehicle-mounted experiments in urban roads representing typical scenarios. The results show that when transitioning from low- to high-multipath environments, the number of visible satellites and carrier phase observations are highly sensitive to environmental factors, with frequent multipath effects. The introduction of robust pre-fit and post-fit residual algorithms has proven to be an effective quality control method. Additionally, using more refined observation models and appropriate parameter estimation algorithms led to a slight 6% improvement in velocity performance. The improved Kalman filter position estimation model (KFSPP-P) strategy, by incorporating velocity uncertainty into the state estimation process, overcomes the limitations of conventional velocity-aided smartphone positioning methods (KFSPP-V) in complex urban environments. In low-multipath environments, the accuracy of the KFSPP-P strategy is comparable to that of KFSPP-V, with an approximate 8% improvement in horizontal accuracy. However, in more challenging environments, such as tree-lined roads and urban environments, the KFSPP-P strategy shows significant improvements, particularly enhancing horizontal positioning accuracy by approximately 50%. These advancements demonstrate the potential of using smartphones to provide reliable positioning services in complex urban environments. Full article

This research presents a novel fuzzy-logic-based algorithm aimed at detecting and removing interference lines from Micro Rain Radar (MRR-2) data. Interference lines, which are non-meteorological echoes with unknown origins, can severely obscure meteorological signals. Leveraging an understanding of interference line characteristics, such as temporal continuity, we identified and utilized eight key variables to distinguish interference lines from meteorological signals. These variables include radar moments, Doppler spectrum peaks, and the spatial/temporal continuity of Doppler velocity. The algorithm was developed and validated using data from MRR installations at three sites (Seoul, Suwon, and Incheon) in South Korea, from June to September 2021–2023. While there is a slight tendency to eliminate some weak precipitation, results indicate that the algorithm effectively removes interference lines while preserving the majority of genuine precipitation signals, even in complex scenarios where both interference and precipitation signals are present. The developed software, written in Python 3 and available as open-source, outputs in NetCDF4 format, with customizable parameters for user flexibility. This tool offers a significant contribution to the field, facilitating the accurate interpretation of MRR-2 data contaminated by interference. Full article

Background: A reversal of time difference between the onset of early diastolic velocity (e’) during tissue Doppler imaging and the onset of mitral inflow (E) has been observed in cases of elevated left atrial pressure. Whether this interval (T_e’-E) may be useful to assess right atrial pressure has never been investigated, neither in healthy subjects nor in pulmonary hypertension patients. Methods: Right ventricular T_e’-E was assessed in patients with pre-capillary pulmonary hypertension and compared with healthy volunteers who underwent comprehensive echocardiography examination. T_e’-E is the difference between the interval from R wave at the superimposed electrocardiogram to the e’ wave during right ventricular tissue Doppler imaging and the interval from the R wave to transtricuspid E wave during pulsed wave Doppler imaging. Right atrial pressure was invasively measured in pulmonary hypertension patients. Results: Fifty-six patients were enrolled. T_e’-E was prolonged in pulmonary hypertension subjects compared with healthy subjects (p < 0.001). Amongst the pulmonary hypertension patients, strong correlations were found between T_e’-E and right atrial pressure (r = −0.885, p < 0.001), systolic pulmonary pressure (r = −0.85, p < 0.001) and the duration of tricuspid regurgitation (r = 0.72, p < 0.001). The area under the receiver operating characteristic curve of T_e’-E in identifying right atrial pressure higher than 15 mm of mercury was 0.992 (sensitivity 100%, specificity 83%). Conclusions: In contrast to the left ventricle, there is a delay in the proto-diastolic filling in pulmonary hypertension patients, which correlates with the increase in systolic pulmonary arterial pressure, right atrial pressure, tricuspid regurgitation duration and restrictive diastolic pattern. Full article

Positioning systems are integral to Unmanned Underwater Vehicle (UUV) operation, enabling precise navigation and control in complex underwater environments. This paper comprehensively reviews the key technologies employed for UUV positioning, including acoustic systems, inertial navigation, Doppler velocity logs, and GPS when near the surface. These systems are essential for seabed mapping, marine infrastructure inspection, and search and rescue operations. The review highlights recent technological advancements and examines the integration of these systems to enhance accuracy and operational efficiency. It also addresses ongoing challenges, such as communication constraints, environmental variability, and discrepancies between theoretical models and field applications. Future trends in positioning system development are discussed, with a focus on improving reliability and performance in diverse underwater conditions to support the expanding capabilities of UUVs across scientific, commercial, and rescue missions. Full article

Background: Erectile dysfunction (ED) can stem from various organic and functional causes but is often linked to vascular health and cardiovascular disease. Limited data exist on how cardiovascular disease markers correlate with objective ED tests like the Nocturnal Penile Tumescence and Rigidity (NPTR) test and Penile Color Doppler Ultrasound (PCDU). Methods: A prospective observational study was performed, and 58 men with ED were assessed using the International Index of Erectile Function-15 (IIEF-15), NPTR test, and PCDU. Peripheral vascular health was evaluated through carotid intima-media thickness (cIMT) and brachial flow-mediated dilation (FMD). Results: Out of the participants, 44 had normal NPTR results, while 14 had abnormal results. The group with abnormal NPTR results was significantly older and had higher rates of hypertension and diabetes. Although the IIEF-15 scores were similar between the two groups, those with abnormal NPTR results had a lower peak systolic velocity (PSV) and a higher prevalence of impaired PSV. Correlations between the IIEF, NPTR, PCDU, and peripheral vascular markers lost significance after the age adjustment. Conclusions: This study suggests that abnormal NPTR results, combined with cardiovascular risk factors, may signal vascular ED and generalized vasculopathy, highlighting the need for cardiovascular assessment. An accurate ED diagnosis should integrate clinical evaluation with multiple tests while considering aging as a key risk factor. Full article