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The process of converting very light nuclei into heavier nuclei is also accompanied by the conversion of mass into large amounts of energy, a process called fusion. The principal source of energy in the sun is a net fusion reaction in which four hydrogen nuclei fuse and ultimately produce one helium nucleus and two positrons.
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In the middle of the nineteenth century, it was observed that two trains passing each other at a high relative speed get pulled towards each other. The same occurs when two cars pass each other at a high relative speed. The reason is that the fluid pressure drops in the region where the fluid speeds up. As the air between the trains or the cars increases in speed, its pressure reduces. The pressure on the outer parts of the vehicles is still the atmospheric pressure, while the resultant...
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Bernoulli's Principle01:01

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Bernoulli's equation incorporates how fluid pressure changes across a static, incompressible fluid by equating the kinetic energy contribution to zero. It is also helpful in analyzing horizontal flows in which the gravitational energy density is constant throughout. The latter equation is so useful that it is called Bernoulli's principle. According to Bernoulli's principle, the fluid pressure drops if the speed increases and vice versa.
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Passive Filters01:27

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Passive filters are utilized to shape the frequency spectrum of signals across a diverse array of applications. These filters, using only passive elements like resistors (R), inductors (L), and capacitors (C), are capable of selectively allowing or blocking certain frequency ranges without the need for external power sources.
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Bernoulli's Principle: Applications01:17

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There are many devices and situations in which fluid flows at a constant height and so can be analyzed using Bernoulli's principle. These devices include, but are not limited to, entrainment devices and fluid flow measuring devices.
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Bernoulli's Equation: Problem Solving01:16

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A Venturi meter is essential for measuring fluid flow rates in pipelines. It utilizes the relationship between fluid velocity and pressure described by Bernoulli's equation. When installed in a sewage system, the Venturi meter accurately determines the wastewater flow rate by measuring pressure differences.
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Related Experiment Video

Updated: Jan 25, 2026

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect
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Information Fusion for Industrial Mobile Platform Safety via Track-Before-Detect Labeled Multi-Bernoulli Filter.

Tharindu Rathnayake1, Ruwan Tennakoon2, Amirali Khodadadian Gostar3

  • 1School of Engineering, RMIT University, Melbourne, VIC 3000, Australia. tharindu.rathnayake@rmit.edu.au.

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|May 1, 2019
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Summary

This study introduces a new Track-Before-Detect (TBD) filter for industrial safety, fusing color and shape data for better human detection. The Kullback-Leibler average (KLA) method proved most effective for visual tracking.

Keywords:
BayesianKullback–Leibler divergencelabeled multi bernoullimulti-target trackingrandom finite setstrack-before-detect

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Area of Science:

  • Computer Vision
  • Robotics
  • Industrial Safety Systems

Background:

  • Accurate tracking of human targets is crucial for safety in industrial environments with mobile platforms.
  • Existing visual tracking methods often struggle with occlusions, varying lighting conditions, and distinguishing between workers and equipment.

Purpose of the Study:

  • To develop a novel Track-Before-Detect (TBD) Labeled Multi-Bernoulli (LMB) filter for enhanced safety in industrial mobile platform applications.
  • To fuse color and edge information effectively for robust visual tracking of human targets wearing safety vests.

Main Methods:

  • Derivation of an application-specific separable likelihood function capturing human geometric shape.
  • Development of two Bayesian update steps for fusing shape and color information: a sequential approach and a weighted Kullback-Leibler average (KLA) approach.
  • Utilizing both geometric shape and color likelihoods within the TBD-LMB filter framework.

Main Results:

  • The Kullback-Leibler average (KLA) based fusion method demonstrated superior performance compared to the sequential update method.
  • The proposed KLA-based algorithm outperformed a state-of-the-art method in standard computer vision performance metrics.
  • The filter effectively captures the geometric shape of human targets, particularly those wearing safety vests.

Conclusions:

  • The novel TBD-LMB filter with KLA-based fusion offers a significant advancement for industrial mobile platform safety.
  • Fusion of color and geometric shape information provides a robust approach to visual tracking in complex industrial settings.
  • The developed filter enhances the reliability and accuracy of human detection, contributing to improved workplace safety.