The review discusses the possibilities of different driving mechanisms and sensors of spherical robots, and a special kind of mobile robots is introduced and discussed. The sensors discussed can expand robots’ sensing capabilities which are typically very limited. Most spherical robots have holonomic characteristics and protect the inner environment using a shell. Today, there are a diversity of driving mechanisms. Therefore, this article provides a review of all of them and identifies their basic properties. Accordingly, many spherical robots have only inner sensors for moving, balancing, driving, etc. However, a few of them are also equipped with sensors that can measure environmental properties. Therefore, in this paper, we propose the possibility of using such sensors as cameras, LiDARs, thermocouples, and gas sensors, which can be used for special purposes underground, for example, in mines, underground tunnels, or road tunnels. After combining all components are combined, it is possible to design a special type of spherical robot designed for underground exploration, such as accidents in mines or road tunnels.
Spin-dependent transport phenomena due to relativistic spin-orbit coupling and broken space-inversion symmetry are often difficult to interpret microscopically, in particular when occurring at surfaces or interfaces. Here we present a theoretical and experimental study of spin-orbit torque and unidirectional magnetoresistance in a model room-temperature ferromagnet NiMnSb with inversion asymmetry in the bulk of this half-Heusler crystal. Aside from the angular dependence on magnetization, the competition of Rashba-and Dresselhaus-type spin-orbit couplings results in the dependence of these effects on the crystal direction of the applied electric field. The phenomenology that we observe highlights potential inapplicability of commonly considered approaches for interpreting experiments. We point out that, in general, there is no direct link between the current-induced nonequilibrium spin polarization inferred from the measured spin-orbit torque and the unidirectional magnetoresistance. We also emphasize that the unidirectional magnetoresistance has not only longitudinal but also transverse components in the electric field: current indices which complicate its separation from the thermoelectric contributions to the detected signals in common experimental techniques. We use the theoretical results to analyze our measurements of the on-resonance and off-resonance mixing signals in microbar devices fabricated from an epitaxial NiMnSb film along different crystal directions. Based on the analysis we extract an experimental estimate of the unidirectional magnetoresistance in NiMnSb.
The main goal of this paper is to present new possibilities for the detection and recognition of different categories of electric and conventional (equipped with combustion engines) vehicles using a thermal video camera. The paper presents a draft of a possible detection and classification system of vehicle propulsion systems working with thermal analyses. The differences in thermal features of different vehicle categories were found out and statistically proved. The thermal images were obtained using an infrared thermography camera. They were utilized to design a database of vehicle class images of passenger vehicles (PVs), vans, and buses. The results confirmed the hypothesis that infrared thermography might be used for categorizing the vehicle type according to the thermal features of vehicle exteriors and machine learning methods for vehicle type recognition.
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