In this paper, effects of sensor location and measurement errors on path tracking control of a mobile robot pulling a trailer are reported. A model for a two-wheeled robot towing a trailer is presented, followed by a state feedback controller designed to position the trailer along a path consisting of lines and circular arcs. An incremental encoder is used to measure the hitch angle between the robot and trailer. A combined GPS/IMU system is used to measure position and orientation of either the robot or the trailer (but not both). The choice of mounting location for the GPS/IMU system, and consequent effects on trailer path tracking performance are explored. The sensitivity of the system to hitch angle errors is also examined for both cases. It is shown that the system is less sensitive to errors in the hitch angle measurement when the GPS/IMU system is located on the trailer.

Mode reversal is an advanced technique that can effectively improve the performance of the Coriolis vibratory gyros (CVGs). In this article, we propose and demonstrate a modified mode reversal scheme to reduce the measurement dead zone limitations of state-of-the-art mode switching in CVGs. The dynamic model and working principle of the mode reversal gyro are first reviewed. Theoretical analysis and experimental verification are conducted to describe nonlinearity, mode coupling, and time-varying characteristics. A reversal scheme based on iterative learning control (ILC) is then presented. The experimental results showed 145% improvement in reversal speed and 90% reduction in overshoot when compared to other popular controllers and robustness to environmental variations.

The authors present a large area collision detection sensor utilizing the piezoelectric effect of polyvinylidene fluoride film. The proposed sensor system provides high dynamic range for touch sensation, as well as robust adaptability to achieve collision detection on complex-shaped surfaces. The design allows for cohabitation of humans and robots in cooperative environments that require advanced and robust collision detection systems. Data presented in the paper are from sensors successfully retrofitted onto an existing commercial robotic manipulator.

An 8-electrode capacitance tomography (ECT) sensor was built and used to measure moisture content (MC) and mass flow of pine chip flows. The device was capable of directly measuring total water quantity in a sample but was sensitive to both dry matter and moisture, and therefore required a second measurement of mass flow to calculate MC. Two means of calculating the mass flow were used: the first being an impact sensor to measure total mass flow, and the second a volumetric approach based on measuring total area occupied by wood in images generated using the capacitance sensor’s tomographic mode. Tests were made on 109 groups of wood chips ranging in moisture content from 14% to 120% (dry basis) and wet weight of 280 to 1100 g. Sixty groups were randomly selected as a calibration set, and the remaining were used for validation of the sensor’s performance. For the combined capacitance/force transducer system, root mean square errors of prediction (RMSEP) for wet mass flow and moisture content were 13.42% and 16.61%, respectively. RMSEP using the combined volumetric mass flow/capacitance sensor for dry mass flow and moisture content were 22.89% and 24.16%, respectively. Either of the approaches was concluded to be feasible for prediction of moisture content in pine chip flows, but combining the impact and capacitance sensors was easier to implement. In situations where flows could not be impeded, however, the tomographic approach would likely be more useful.

A low cost solution for controlling trailer lateral position in a robotic tractor-trailer system is being considered. In this paper, several practical issues involved in the implementation of such a system are presented. Instruments for navigation and control consist of a single GPS receiver and a hitch-mounted sensor for the measurement of the angle between robot (tractor) and trailer. In previous work, the authors examined the effects of errors in the hitch-angle measurement on path tracking performance. This analysis was expanded to include the effects of noise in the GPS measurements. The relative merits of mounting the GPS receiver on the robot or trailer are considered.

Acute MI (AMI) is a leading cause of mortality globally. Swift diagnosis is imperative, with timely reperfusion crucial to minimise adverse outcomes. Revascularisation strategies include culprit-vessel-only therapy, staged complete revascularisation or immediate complete revascularisation. Evidence from randomised trials strongly favours complete revascularisation in ST-elevation MI (STEMI). Data regarding immediate complete revascularisation compared to a staged approach are limited, with uncertainties regarding the advantages of physiology-guided treatment compared to angiographic assessment alone. Non-STEMI (NSTEMI) patients with multivessel disease are often complex and current guidelines offer limited recommendations for this patient group, emphasising the need for individualised treatment. Observational studies have sought to find the optimal approach, yet conflicting data prevails. Dedicated trials for this issue in NSTEMI patients are currently unavailable. To enhance the decision-making processes for patients with AMI, future trials should consider the inclusion of functional health status and health-related quality of life outcomes. The existing gaps in knowledge underscore the intricacies of managing AMI and the ongoing necessity for comprehensive research to refine treatment strategies.