Unmanned Surface Vehicle Thruster Fault Diagnosis via Vibration Signal Wavelet Transform and Vision Transformer under Varying Rotational Speed Conditions.

Among unmanned surface vehicle (USV) components, underwater thrusters are pivotal in their mission execution integrity. Yet, these thrusters directly interact with marine environments, making them perpetually susceptible to malfunctions. To diagnose thruster faults, a non-invasive and cost-effective vibration-based methodology that does not require altering existing systems is employed. However, the vibration data collected within the hull is influenced by propeller-fluid interactions, hull damping, and structural resonant frequencies, resulting in noise and unpredictability. Furthermore, to differentiate faults not only at fixed rotational speeds but also over the entire range of a thruster's rotational speeds, traditional frequency analysis based on the Fourier transform cannot be utilized. Hence, Continuous Wavelet Transform (CWT), known for attributions encapsulating physical characteristics in both time-frequency domain nuances, was applied to address these complications and transform vibration data into a scalogram. CWT results are diagnosed using a Vision Transformer (ViT) classifier known for its global context awareness in image processing. The effectiveness of this diagnosis approach was verified through experiments using a USV designed for field experiments. Seven cases with different fault types and severity were diagnosed and yielded average accuracy of 0.9855 and 0.9908 at different vibration points, respectively.

Dynamics of Bacterial Communities on Eggshells and on Nest Materials During Incubation in the Oriental Tit (Parus minor).

Eggshell bacterial communities may affect hatching success and nestling's condition. Nest materials are in direct contact with the eggshells, but the relationships with the eggshell microbiome during incubation have not been fully elucidated. Here, we characterize eggshell and nest material bacterial communities and their changes during incubation in the Oriental Tit (Parus minor). Bacterial communities on the nest material were relatively stable and remained distinct from the eggshell communities and had higher diversity and greater phylogenetic clustering than the eggshell communities from the same nest, resulting in lower phylogenetic turnover rate of nest material microbiome during incubation than expected by chance. While the species diversity of both communities did not change during incubation, we found significantly greater changes in the structure of bacterial communities on the eggshell than on the nest material. However, eggshell microbiome remained distinct from nest material microbiome, suggesting independent dynamics of the two microbiomes during incubation. We detected an increase in the relative abundance of several bacterial taxa on the eggshell that likely come from the bird's skin, feathers, cloaca/intestine, or uropygial secretion which suggests some exchange of bacteria between the incubating bird and the eggshell. Furthermore, incubation appeared to promote the abundance of antibiotic producing taxa on the eggshell, which may hypothetically inhibit growth of many bacteria including pathogenic ones. Our results suggest that the future studies should focus on simultaneous monitoring of absolute abundance as well as relative abundance in communities on eggshells, nest materials, and the incubating bird's body.