This study presents a comprehensive approach to mapping local magnetic field anomalies with robustness to magnetic noise from an unmanned aerial vehicle (UAV). The UAV collects magnetic field measurements, which are used to generate a local magnetic field map through Gaussian process regression (GPR). The research identifies two categories of magnetic noise originating from the UAV's electronics, adversely affecting map precision. First, this paper delineates a zero-mean noise arising from high-frequency motor commands issued by the UAV's flight controller. To mitigate this noise, the study proposes adjusting a specific gain in the vehicle's PID controller. Next, our research reveals that the UAV generates a time-varying magnetic bias that fluctuates throughout experimental trials. To address this issue, a novel technique is introduced, enabling the map to learn these time-varying biases with data collected from multiple flights. The compromise map circumvents excessive computational demands without sacrificing mapping accuracy by constraining the number of prediction points used for regression. A comparative analysis of the magnetic field maps' accuracy and the spatial density of observations employed in map construction is then conducted. This examination serves as a guideline for best practices when designing trajectories for local magnetic field mapping. Furthermore, the study presents a novel intended to determine whether predictions from a GPR magnetic field map should be retained or discarded during state estimation. Empirical evidence from over 120 flight tests substantiates the efficacy of the proposed methodologies. The data are made publicly accessible to facilitate future research endeavors.
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http://dx.doi.org/10.3390/s23083897 | DOI Listing |
Chem Commun (Camb)
January 2025
Physics Department & Shanghai Key Laboratory of Magnetic Resonance, School of Physics and Electronic Science, East China Normal University, North Zhongshan Road 3663, Shanghai 200062, P. R. China.
This study employs a low-field NMR (LF-NMR) method to investigate Cr(VI) adsorption and reduction in solid-liquid systems, focusing on three cellulose-based amine adsorbents. NMR revealed the effects of molecular structure on adsorption and reduction processes, providing insights into adsorbent design and mass transfer advantages for high-performance Cr(VI) adsorbents.
View Article and Find Full Text PDFPhysiol Res
December 2024
Department of Physiology, Faculty of Medicine, Masaryk University, Brno, Czech Republic.
Myocardial remodelling involves structural and functional changes in the heart, potentially leading to heart failure. The deoxycorticosterone acetate (DOCA)/salt model is a widely used experimental approach to study hypertension-induced cardiac remodelling. It allows to investigate the mechanisms underlying myocardial fibrosis and hypertrophy, which are key contributors to impaired cardiac function.
View Article and Find Full Text PDFSoft Matter
January 2025
Department of Applied Mechanics and Biomedical Engineering, Indian Institute of Technology Madras, Chennai, 600036, Tamil Nadu, India.
Bioinspired shape-morphing soft magnetic actuators have potential applications in medicine, robotics, and engineering due to their soft body, untethered control, and infinite degrees of freedom. The shape programming of the soft magnetic actuators (consisting of soft ferromagnetic CI particles in a soft matrix) is an involved task, as it requires a moulding process severely limiting the capability to program complex shapes. The current study explores a shape programming technique that architects the particle pattern configuration in the actuator, mimicking the pattern found in the mould-programmed actuator, thereby eliminating the need for a mould and providing a greater capability of programming complex shapes.
View Article and Find Full Text PDFJ Mater Chem B
January 2025
Department of General Surgery, Heilongjiang Provincial Hospital, Harbin, China.
There has been considerable interest in the recent advances in synthetic micro/nanomotors in diverse biofluids due to their potential biomedical applications. However, the propulsion of existing micro/nanomotor platforms for delivery in the gastrointestinal (GI) tract is inefficient. Herein, we present a magnetically and chemically actuated micromotor-tableted pill that can be actively retained in the GI tract .
View Article and Find Full Text PDFLangmuir
January 2025
Research Focus Area for Chemical Resource Beneficiation, Catalysis and Synthesis Research Group, North-West University, 11 Hoffman Street, Potchefstroom 2522, South Africa.
This study investigates the surfactant properties and efficiency of linear and Guerbet-type amino acid surfactants. Utilizing a Wilhelmy plate method, we assessed the colloidal efficiency of these surfactants, with the lowest observed critical micelle concentration at 0.046 mmol L, significantly reducing surface tension to as low as 25.
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