The rate constants of elementary processes in the atom-diatom system O(³P)+H₂(v), including the processes of vibrational relaxation and dissociation, were studied using the quasi-classical trajectory method. All calculations were carried out along the ground potential energy surface (PES) ³A′′ that was approximated by a neural network. Approximation data were obtained using ab initio quantum chemistry methods at the extended multi-configuration quasi-degenerate second-order perturbation theory XMCQDPT2 in a basis set limit. The calculated cross sections of the reaction channels are in good agreement with the literature data. A complete set of state-to-state rate constants was obtained for the metathesis reaction, the dissociation and VT relaxation of the H₂ molecule upon collision with an O atom. According to this data Arrhenius approximations over a wide temperature range were obtained for the thermal rate constants of considered processes. Data obtained on the dissociation constants and VT relaxation of vibrationally excited H₂ molecules can be used in constructing kinetic models describing the oxidation of hydrogen at high temperatures or highly nonequilibrium conditions.

The tsscds method, recently developed in our group, discovers chemical reaction mechanisms with minimal human intervention. It employs accelerated molecular dynamics, spectral graph theory, statistical rate theory and stochastic simulations to uncover chemical reaction paths and to solve the kinetics at the experimental conditions. In the present review, its application to solve mechanistic/kinetics problems in different research areas will be presented. Examples will be given of reactions involved in photodissociation dynamics, mass spectrometry, combustion chemistry and organometallic catalysis. Some planned improvements will also be described.

Predicting human trajectories poses a significant challenge due to the complex interplay of pedestrian behavior, which is influenced by environmental layout and interpersonal dynamics. This complexity is further compounded by variations in scene density. To address this, we introduce a novel dataset from the Festival of Lights in Lyon 2022, characterized by a wide range of densities (0.2-2.2 ped/m2). Our analysis demonstrates that density-based classification of data can significantly enhance the accuracy of predictive algorithms. We propose an innovative two-stage processing approach, surpassing current state-of-the-art methods in performance. Additionally, we utilize a collision-based error metric to better account for collisions in trajectory predictions. Our findings indicate that the effectiveness of this error metric is density-dependent, offering prediction insights. This study not only advances our understanding of human trajectory prediction in dense environments but also presents a methodological framework for integrating density considerations into predictive modeling, thereby improving algorithmic performance and collision avoidance.

Aiming at the problem of model error and tracking dependence in the process of intelligent vehicle motion planning, an intelligent vehicle model transfer trajectory planning method based on deep reinforcement learning is proposed, which obtain an effective control action sequence directly. Firstly, an abstract model of the real environment is extracted. On this basis, Deep Deterministic Policy Gradient (DDPG) and vehicle dynamic model are adopted to jointly train a reinforcement learning model, and to decide the optimal intelligent driving maneuver. Secondly, the actual scene is transferred to equivalent virtual abstract scene by transfer model, furthermore, the control action and trajectory sequences are calculated according to trained deep reinforcement learning model. Thirdly, the optimal trajectory sequence is selected according to evaluation function in the real environment. Finally, the results demonstrate that the proposed method can deal with the problem of intelligent vehicle trajectory planning for continuous input and continuous output. The model transfer method improves the model generalization performance. Compared with the traditional trajectory planning, the proposed method output continuous rotation angle control sequence, meanwhile, the lateral control error is also reduced.

With the rapid spread of built-in GPS handheld smart devices, the trajectory data from GPS sensors has grown explosively. Trajectory data has spatio-temporal characteristics and rich information. Using trajectory data processing techniques can mine the patterns of human activities and the moving patterns of vehicles in the intelligent transportation systems. A trajectory similarity measure is one of the most important issues in trajectory data mining (clustering, classification, frequent pattern mining, etc.). Unfortunately, the main similarity measure algorithms with the trajectory data have been found to be inaccurate, highly sensitive of sampling methods, and have low robustness for the noise data. To solve the above problems, three distances and their corresponding computation methods are proposed in this paper. The point-segment distance can decrease the sensitivity of the point sampling methods. The prediction distance optimizes the temporal distance with the features of trajectory data. The segment-segment distance introduces the trajectory shape factor into the similarity measurement to improve the accuracy. The three kinds of distance are integrated with the traditional dynamic time warping algorithm (DTW) algorithm to propose a new segment–based dynamic time warping algorithm (SDTW). The experimental results show that the SDTW algorithm can exhibit about 57%, 86%, and 31% better accuracy than the longest common subsequence algorithm (LCSS), and edit distance on real sequence algorithm (EDR) , and DTW, respectively, and that the sensitivity to the noise data is lower than that those algorithms.

Reasonable trajectory planning is the precondition for the parafoil airdrop system to achieve autonomous accurate homing and safe landing. In order to successfully realize the self-homing of the parafoil airdrop system, a new trajectory optimization design scheme is proposed in this paper. The scheme is based on the parafoil's unique flight and control characteristics and adopts a segmented homing design. Compared with the current common trajectory design method, its core feature is to avoid the problem that the straight-line flight distance before landing is limited by the radius of the height-reducing area and ensure landing accuracy and safety. Firstly, the different starting states of the parafoil airdrop system and the landing requirements were comprehensively considered, and the homing trajectory is reasonably segmented. Based on the requirements of energy control, stable flight, and landing accuracy, the optimal objective function of the trajectory was established, and the trajectory parameters, calculation methods, and constraints were given. Secondly, the cuckoo search algorithm was applied to optimize the objective function to obtain the final home trajectory. Finally, the trajectory planning under different airdrop conditions was simulated and verified. The results showed that the planned trajectories could reach the target point accurately and meet the flight direction requirements, proving the proposed scheme's correctness and feasibility.

Clubhouse is an auditory app that allows users to host various rooms surrounding a diverse range of topics from Artificial Intelligence to Philosophy. Along with its educational and serene approach, it is known for its popularity amongst celebrities, including Elon Musk, Mark Zuckerburg, CEO of Shopify, and its elusive invite and ios-only pass into gaining access into Clubhouse. Waiting lists are available in the case of not achieving an invite, but to further speed the process, various sellers on eBay, Reddit, Twitter, etc., charging invites from $10-$200. This research paper covers the phenomenon of Clubhouse and the emergence of audio-only rooms, along with a hypothesis of why Clubhouse and other apps of a similar kind are experiencing a harsh downfall despite its seemingly successful business model.

Although Eulerian approaches are standard in computational acoustics, they are less effective for certain classes of problems like bubble acoustics and combustion noise. A different approach for solving acoustic problems is to compute with individual particles following particle motion. In this paper, a Lagrangian approach to model sound propagation in moving fluid is presented and implemented numerically, using three meshfree methods to solve the Lagrangian acoustic perturbation equations (LAPE) in the time domain. The LAPE split the fluid dynamic equations into a set of hydrodynamic equations for the motion of fluid particles and perturbation equations for the acoustic quantities corresponding to each fluid particle. Then, three meshfree methods, the smoothed particle hydrodynamics (SPH) method, the corrective smoothed particle (CSP) method, and the generalized finite difference (GFD) method, are introduced to solve the LAPE and the linearized LAPE (LLAPE). The SPH and CSP methods are widely used meshfree methods, while the GFD method based on the Taylor series expansion can be easily extended to higher orders. Applications to modeling sound propagation in steady or unsteady fluids in motion are outlined, treating a number of different cases in one and two space dimensions. A comparison of the LAPE and the LLAPE using the three meshfree methods is also presented. The Lagrangian approach shows good agreement with exact solutions. The comparison indicates that the CSP and GFD method exhibit convergence in cases with different background flow. The GFD method is more accurate, while the CSP method can handle higher Courant numbers.

This paper describes the development of a controller that enables trajectory control and vibration control. The controller performance was verified the using a 3D 2-link, flexible manipulator. On trajectory control using inverse kinematics, it was confirmed that the deflection due to its own weight deteriorated the track following performance. The vibration component of the resonance frequency of the flexible manipulator was generated, and the tip position accuracy is deteriorated. Using the results of control experiments based on the inverse kinematics, the system is identified and then created an inverse system for simultaneous control of trajectory control and vibration control. The target trajectories were the three joint angles. Finally, it was demonstrated through experiments on actual manipulator, that the system could sufficiently follow the ideal trajectory and suppress link vibrations.

The branch prediction units (BPUs) generally have security vulnerabilities, which can be used by attackers to obtain the execution status, jump directions, and jump address of conditional branches, and the existing protection methods cannot defend against these attacks. Therefore, this article proposes a hardware security protection method for conditional branches of embedded systems. This method calculates the number of updates to the branch target buffer (BTB). When it exceeds the threshold, BTB is locked to prevent attackers from analyzing the execution status of branches based on the time difference of whether BTB is updated. Moreover, the hybrid physical unclonable function (PUF) circuit is designed to provide confidentiality protection for the jump directions, jump addresses, and their indexes, preventing attackers from stealing these critical data. If these mechanism fails and attackers successfully tamper with conditional branches, this paper proposes a control flow integrity (CFI) protection mechanism based on branch labels to timely detect tampering with instruction codes, jump addresses, and jump directions. The proposed method is implemented and tested on FPGA. The experimental results show that this method can achieve fine-grained security protection for conditional branches, with about 5.4% resource overhead and less than 5.5% performance overhead.

Rapid and accurate detection of road cracks is of great significance for road health monitoring, but currently this work is mainly completed through manual site surveys. Low-altitude UAV remote sensing can obtain images with centimeter or even subcentimeter ground resolution, which provides a new efficient and economical approach for rapid crack detection. Nevertheless, crack detection networks face challenges such as edge blurring and misidentification due to the heterogeneity of road cracks and the complexity of the background. To address these issues, we propose a real-time edge reconstruction crack detection network (ERNet) which adopts multi-level information aggregation to reconstruct crack edges and improve the accuracy of segmentation between the target and background. To capture global dependencies across spatial and channel levels, we propose an efficient bilateral decomposed convolutional attention module (BDAM) that combines depth separable convolution and dilated convolution to capture global dependencies across spatial and channel levels. To enhance the accuracy of crack detection, we use a coordinate-based fusion module that integrates spatial, semantic, and edge reconstruction information. In addition, we propose an automatic measurement of crack information for extracting the crack trunk and its corresponding length and width. Experimental results demonstrate that our network achieves the best balance between accuracy and inference speed.

Abstract In order to solve the problem that it is difficult to obtain the accurate trigger signal moment when using the time difference of UAV flight acoustic signals collected by acoustic sensors arranged in advance to locate the position of UAVs when they cannot be tracked by radar and are difficult to be observed by the human eye, an acoustic source localisation method with improved empirical modal decomposition (REMD) under an adaptive frequency window is proposed. Firstly, the collected UAV flight signals are smoothed and filtered, then the robust empirical modal decomposition (REMD) is used for IMF modal decomposition and spectral analysis of the collected signals, and a panning frequency window with variable bandwidth is introduced for corresponding frequency locking and extracting the IMFs; the GWO optimisation is used and the sliding metrics are set to determine the position of the panning frequency window automatically; finally, the extracted Finally, the extracted IMF components are reconstructed according to the criterion, and the trigger signal moments in the reconstructed IMF components are resolved and recorded, and the algorithm is used to calculate the difference between the reception moments of different sensors; for the traditional sound source localisation algorithms with a small detection range, which are prone to fall into the no-solution or false-solution, i.e., unable to achieve the localisation, a weighted least-squares-based Chan-Taylor algorithm is proposed for the localisation computation, and a weighted least-squares algorithm is proposed for the localisation computation, through the Inputting the sensor delay parameter and solving the linear equation system to get the target position information; finally, this paper verifies the robustness and performance of the design method with simulated and actual signals. The results show that the maximum positioning error is no more than 5% in an area with a side length of 15m in the measurement area. With the improved accuracy of time delay estimation, the positioning simulation results meet the positioning requirements even though the positioning error is further expanded when the measurement area is further expanded.

Identifying human actions in complex scenes is widely considered as a challenging research problem due to the unpredictable behaviors and variation of appearances and postures. For extracting variations in motion and postures, trajectories provide meaningful way. However, simple trajectories are normally represented by vector of spatial coordinates. In order to identify human actions, we must exploit structural relationship between different trajectories. In this paper, we propose a method that divides the video into N number of segments and then for each segment we extract trajectories. We then compute trajectory descriptor for each segment which capture the structural relationship among different trajectories in the video segment. For trajectory descriptor, we project all extracted trajectories on the canvas. This will result in texture image which can store the relative motion and structural relationship among the trajectories. We then train Convolution Neural Network (CNN) to capture and learn the representation from dense trajectories. . Experimental results shows that our proposed method out performs state of the art methods by 90.01% on benchmark data set.

The segmentation of abnormal regions is vital in smart manufacturing. However, the existing segmentation system for detecting sauce-packet leakage on intelligent sensors encounters an issue of imaging blurring caused by uneven illumination. This issue adversely affects segmentation performance, thereby impeding the rapid production of industrial assembly lines. To alleviate this issue, we propose the two-stage Illumination-aware Sauce-packet Leakage Segmentation (ISLS) method for intelligent sensors. The ISLS comprises two main stages: Illumination-aware region enhancement and leakage region segmentation. In the first stage, YOLO-Fastestv2 is employed to capture the Region of Interest (ROI), which reduces redundancy computations. Additionally, we propose an image enhancement to relieve the impact of uneven illumination, enhancing the texture details of ROI. In the second stage, we propose a novel feature extraction network. Specifically, we propose the Multi-scale Feature Fusion Module (MFFM) and the Sequential Self-Attention Mechanism (SSAM) to capture discriminative representations of leakage. The multi-level features are fused by MFFM with a small number of parameters, which capture leakage semantics at different scales. The SSAM realizes the enhancement of valid features and the suppression of invalid features by adaptive weighting of spatial and channel dimensions. Furthermore, we generated a self-built dataset of sauce-packets, including 606 images with various leakage areas. Comprehensive experiments demonstrate that our ISLS method shows better results than several state-of-the-art methods, with additional performance analyses deployed on intelligent sensors to affirm the effectiveness of our proposed method. Our code is available at https://github.com/LSJ5106/SauceDetect.

This study presents a novel kinematic tracking model, designed for a networked exoskeleton system that is asynchronously taught by a remote therapist. On the server side, the therapist’s rehabilitation exercises are quantitatively assessed using a monocular passive vision system. The resultant analytical metrics are then transmitted asynchronously over the network to patients equipped with exoskeletons. On the client side, the exoskeleton utilizes these analytical metrics as reference paths for exercises, complemented by electromyography (EMG) feedback. This work introduces a calibration approach aimed at estimating angular positions by utilizing EMG observations. The calibration model establishes real-time correlations between polynomial reference positions. This calibration mechanism is integrated into simulations of both upper and lower limb exoskeletons. We further explore redundant kinematics, incorporating an EMG observer for linear, time-variant rehabilitation tracking control. Our methodology is validated using vision-based metric data and experimental EMG measurements for various exercises, including shoulder flexion, elbow flexion, and rowing-like movements. This work also includes computer simulations for tracking the control of rehabilitation exercises, demonstrating the adaptability of the system in reliably, robustly, and effectively following desired trajectories.

We propose a neural-network-based watermarking method that introduces the quantized activation function that approximates the quantization of JPEG compression. Many neural-network-based watermarking methods have been proposed. Conventional methods have acquired robustness against various attacks by introducing an attack simulation layer between the embedding network and the extraction network. The quantization process of JPEG compression was replaced by the noise addition process in the attack layer of the conventional methods. In this paper, we propose a quantized activation function that can simulate the JPEG quantization standard as it is in order to improve the robustness against the JPEG compression. Our quantized activation function consists of several hyperbolic tangent functions and is applied as an activation function for neural networks. Our network was introduced in the attack layer of ReDMark proposed by Ahmadi et al. to compare it with their method. That is, the embedding and extraction networks had the same structure. We compared the usual JPEG compressed images and the images applying the quantized activation function. The results showed that a network with quantized activation functions can approximate JPEG compression with high accuracy. We also compared the bit error rate (BER) of estimated watermarks generated by our network with those generated by ReDMark. We found that our network was able to produce estimated watermarks with lower BERs than those of ReDMark. Therefore, our network outperformed the conventional method with respect to image quality and BER.

As argued by ‘Declaration of Concrete Environment (2010)’ of Korea and ‘Declaration of Asian Concrete Environment (2011)’ of six Asian countries, concrete as a single material has lately shown extremely large impact on environmental issues such as climate change. Assessment of environmental impact from concrete material and production has considerable importance. Concrete is a major material used in the construction industry that emits a large amount of substances with environmental impacts during its life cycle. Accordingly, technologies for the reduction in and assessment of the environmental impact of concrete from the perspective of Life Cycle Assessment must be developed. At present, the studies in relation to greenhouse gas emission from concrete are being carried out globally as a countermeasure against climate change. In this study, a sustainable concrete mix design algorithm was designed using correlation analyses, and its carbon emission and cost reduction performances were assessed. Using correlation analyses, the concrete strength, w/b and s/a ratios, and CO₂ emissions were identified as major variables of concrete mix design that influenced other variables. Also, this study aims to evaluate the CO₂ emission reduction performance of the algorithm-deduced sustainable concrete mix design, and therefore, the CO₂ emissions of the sustainable concrete mix design are compared with those of the actual concrete mix design applied to the construction of the office building A in South Korea.

The accompanying mechanical behavior during the flow of ore-rock dispersion is an important factor leading to the instability and failure of the orepass in the ore storage section. It is of great significance to accurately understand the instability characteristics of the well wall in the ore section, during the ore drawing process by understanding the flow characteristics and internal mechanical transfer mechanism of ore-rock dispersion. Using the discrete element method to analyze the flow characteristics, contact compactness, stress distribution characteristics and contact force probability distribution of the ore-rock dispersion, it realizes the quantitative characterization of the damage degree of ore-rock flow, and reveals the damage mechanism of mine storage wall. The results show that: (1) The friction between ore-rock particles, between ore-rock and well wall is an important reason for the change of the macroscopic flow form of ore-rock from “one” to “V” type. (2) The compactness and stress concentration of ores are increasing with the increase of storage depth, which is shown that with the increase of storage depth, the greater the probability of well wall instability. (3) The probability distribution of contact force strength between particles decreases exponentially in the whole process of ore drawing, in which the strong chain plays a major role in the stability of the dispersion system. (4) The number of overpressure and the overpressure coefficient can be used to quantitatively characterize the wall damage degree under the action of ore-rock flow. The dynamic side pressure decreases periodically in the form of exponential fluctuations, and the dynamic load formed by the ore-rock flow mainly played a role in the lower area of the ore storage section.

With the integrated development of the Internet, wireless sensor technology, cloud computing, and mobile Internet, there has been a lot of attention given to research about and applications of the Internet of Things. A Wireless Sensor Network (WSN) is one of the important information technologies in the Internet of Things; it integrates multi-technology to detect and gather information in a network environment by mutual cooperation, using a variety of methods to process and analyze data, implement awareness, and perform tests. This paper mainly researches the localization algorithm of sensor nodes in a wireless sensor network. Firstly, a multi-granularity region partition is proposed to divide the location region. In the range-based method, the RSSI (Received Signal Strength indicator, RSSI) is used to estimate distance. The optimal RSSI value is computed by the Gaussian fitting method. Furthermore, a Voronoi diagram is characterized by the use of dividing region. Rach anchor node is regarded as the center of each region; the whole position region is divided into several regions and the sub-region of neighboring nodes is combined into triangles while the unknown node is locked in the ultimate area. Secondly, the multi-granularity regional division and Lagrange multiplier method are used to calculate the final coordinates. Because nodes are influenced by many factors in the practical application, two kinds of positioning methods are designed: the unknown node is in the positioning unit or not. When the unknown node is on the side of the positioning unit, we use the method of vector similarity. Moreover, we use the centroid algorithm to calculate the ultimate coordinates of unknown node. When the unknown node is not on the side of the positioning unit, we establish a Lagrange equation containing the constraint condition to calculate the first coordinates. Furthermore, we use the Taylor expansion formula to correct the coordinates of the unknown node. In addition, this localization method has been validated by establishing the real environment.

The development of computational acoustics allows simulation of sound generation and propagation in complex environment. In particular, meshfree methods are widely used to solve acoustics problems through arbitrarily distributed field points and approximation smoothness flexibility. As a Lagrangian meshfree method, smoothed particle hydrodynamics (SPH) method reduce the difficulty in solving problems with deformable boundaries, complex topologies, or multiphase medium. The traditional SPH method has been applied in acoustic simulation. This study presents the corrective smoothed particle method (CSPM), which is a combination of SPH kernel estimate and Taylor series expansion. The CSPM is introduced as a Lagrangian approach to improve accuracy in solving acoustic wave equations in the time domain. Moreover, a boundary treatment technique based on the hybrid meshfree and finite difference time domain (FDTD) method is proposed to represent different acoustic boundaries with particles. To model sound propagation in pipes with different boundaries, soft, rigid, and absorbing boundary conditions are built with this technique. Numerical results show that the CSPM algorithm is consistent and demonstrates convergence with exact solutions. Main computational parameters are discussed, and different boundary conditions are validated to be effective for benchmark problems in computational acoustics.

The wellness economy has developed rapidly recently, particularly in wellness tourism. Wellness tourism transforms sustainable strategy through the availability of extended multi-actor engagement in service innovation to further the tourism experience. Therefore, when operating a wellness tourism destination, it is necessary to encourage multi-actor engagement in service innovation to achieve sustainable development. This paper introduces a mixed research method with the SWOT-AHP-QSPM, as it qualitatively analyzes the advantages, disadvantages, opportunities, and threats, constructs an evaluation index system, conducts quantitative analysis using the analytic hierarchy process, determines the index weight and weighted score, and calculate the sustainable development strategy, which is appropriate for wellness development of Chongqing Tea Mountain and Bamboo Forest National Forest Park. Purposive field surveys and personal interviews were conducted in Chongqing forest tourism destinations, involving 356 effective respondents. The research reveals that multi-actor engagement significantly enhances sustainable development. These findings bridge service innovation knowledge gaps and provide valuable insights for forest tourism destination management and sustainable policy strategies to elevate multi-actor engagement in forest sites.

By repeated unloading and loading of the excavation dynamic and static loads, repeated train dynamic and static loads of multi-factors, the underpass tunnel, cross tunnel engineering influence area rock layer, the existing tunnel structure of the three constitutes a multifaceted structure, multi-factor interaction system. Existing tunnels into the prediction theory model of the new tunnel excavation process of dynamic and static loads, dynamic and static loads of existing tunnels are mostly analyzed individually, the results of synergistic analysis needs to be improved. Based on the theory of the current layer method, the paper comprehensively considers the stiffness of the existing tunnel, the stiffness of the new tunnel, the excavation method load and the existing tunnel load, coupled with Peck's empirical formula, the theoretical model of deformation prediction for excavation of a two-lane highway tunnel under the tunnel through the existing railroad is proposed, and verified and optimized by numerical calculations and monitoring data, which proves the applicability and reliability of the theoretical model in the similar strata and the project promotion.

A large amount of data is produced every day by stakeholders of the Air Traffic Management (ATM) system, in particular airline operators, airports, and air navigation service provider (ANSP). Most data is kept private for many reasons, including commercial and security concerns. More than data, shared information is precious, as it leverages intelligent decision-making support tools designed to smooth daily operations. We present a framework to detect, identify and characterise anomalies in past aircraft trajectory data. It is based on an open source of ADS-B based aircraft trajectories, and extracted information can benefit a wide range of stakeholders: Air Traffic Control (ATC) training centres could play more realistic simulations; ANSP may improve capacity indicators; academics improve safety models and risk estimations; and commercial stakeholders, like airlines and airports, may use such information to improve short-term predictions and optimise their operations. The technique is based on autoencoding artificial neural networks applied on flows of trajectories, which provide a useful reading grid associating cluster analysis with quantified level of abnormality. In particular, we find that the highest anomaly scores correspond to poor weather conditions, whereas anomalies with a lower score relate to ATC tactical actions.

Positioning based on wireless signals such as mobile communication networks has become an important means to provide high-precision location services in environments where satellite signals are blocked. In complex environments such as indoor and underground, wireless signal propagation is obstructed and non-line-of-sight (NLOS) phenomena appears due to serious occlusion and reflection. The time delay caused by NLOS effects has little impact on communication system but can significantly increase positioning errors in positioning systems. Therefore, effective suppression of NLOS errors is crucial to improving 5G positioning accuracy. To address the insufficient feature extraction of existing NLOS error suppression methods, the neglect of residual NLOS measurement errors, and poor stability of position estimation results, this paper innovatively proposes a NLOS mitigation and location estimation method for 5G positioning terminals. Simulation and experimental test results demonstrate that the proposed method outperforms the comparative methods both theoretically and practically, achieving an average positioning accuracy of 1.85 meters in complex indoor NLOS environments. The method proposed in this paper provides a new strategy for NLOS error suppression in indoor 5G positioning, which can significantly contribute to high-precision location services based on commercial 5G networks.

Since 2019, the SARS-CoV-2 virus has caused a global pandemic, resulting in widespread infections and ongoing mutations. Analysing these mutations is essential for predicting future impacts. Unlike influenza mutations, SARS-CoV-2 mutations displayed distinct selective patterns that were concentrated in the spike protein and small ORFs. In contrast to the gradual accumulation seen in influenza mutations, SARS-CoV-2 mutations lead to the abrupt emergence of new variants and subsequent outbreaks. This phenomenon may be attributed to their targeted cellular substances; unlike the influenza virus, which has mutated to evade acquired immunity, SARS-CoV-2 appeared to mutate to target individuals who have not been previously infected. The Omicron variant, which emerged in late 2021, demonstrates significant mutations that set it apart from previous variants. The rapid mutation rate of SARS-CoV-2 has now reached a level comparable to 30 years of influenza variation. The most recent variant, JN.1, exhibits a discernible trajectory of change distinct from previous Omicron variants.

Robots in space are necessarily extremely light and lack structural stiffness resulting in natural frequencies of resonance so low as to reside inside the attitude controller’s bandwidth. A variety of input trajectories can be used to drive a controller’s attempt to ameliorate the control-structural interactions where feedback is provided by low-quality, noisy sensors. Traditionally, step functions are used as the ideal input trajectory. However, step functions are not ideal in many applications, as they are discontinuous. Alternative input trajectories are explored in this manuscript and applied to an example system that includes a flexible appendage attached to a rigid main body. The main body is controlled by a reaction wheel. The equations of motion of the flexible appendage, rigid body, and reaction wheel are derived. A feedback controller is developed to account for the rigid body modes. Additional filters are added to compensate for the system’s flexible modes. Sinusoidal trajectories are autonomously generated to feed the controller. Whiplash compensation is additionally implemented for comparison. The control method without random errors with the smallest error is the sinusoidal trajectory method, which showed a 97.39% improvement when compared to the baseline response when step trajectories were commanded, while the sinusoidal method was inferior to traditional step trajectories when sensor noise and random errors were present.

This paper discusses the use of networks of Inertial Measurement Units (IMU) for the reconstruction of trajectories from sensor data. Logistics is a natural application domain, to verify the quality of the handling of goods. This is a mass application and the economics of logistics impose that IMUs to be used must be low cost and use basic computational devices. The approach in the paper converts a strategy from the literature, used in the multi-target following problem, to reaching a consensus in a network of IMUs. The paper presents results on how to achieve the consensus in trajectory reconstruction, along with covariance intersection data fusion of the information obtained by all nodes in the network.

In this paper, we analyzed the live fish trajectory recorded from an experiment in an experimental vertical slot fishway. Combined with a numerical simulation, we demonstrated that randomness shown in fish trajectory might not merely be attributed to fish's random choices in its swimming, also could be an adaption consequence to the bulk unsteady turbulent flow structure. Simple superposing the fish trajectory on the time-averaged flow field obtained either by interpolating on discrete point measurements or numerical simulation is not an ideal method for fish movement description in fishway engineering. How to model the fish paths in transient flow and the necessity of simultaneous recording of the flow field and the fish locomotion are challenging topics. The suggested spectrum analysis of the flow field may provide a new general method to reproduce the fish trajectory in a complex turbulent flow.

One of the industries with the fastest rate of growth is healthcare, and this industry's enormous data requires extensive cloud storage. The cloud may offer some protection, but there is no assurance that data owners can rely on it for refuge and privacy amenities. Therefore, it is essential to offer security and privacy protection. Increased customer satisfaction with security and privacy preservation is crucial since healthcare big data and its sources are stored in the cloud and contain increasingly private and sensitive information. However, maintaining privacy and security in an untrusted green cloud environment is difficult, thus the data owner should have complete data control. A new work SecPri-BGMPOP(security and privacy of Boost graph Convolutional Network -Pinpointing-Optimization Performance) is suggested that can offer a solution that involves several different steps in order to handle the numerous problems relating to security and protecting privacy. Initially Boost Graph Convolutional Network Clustering (BGCNC) algorithm, which reduces computational complexity in terms of time and memory measurements, is first applied to the input dataset to begin the clustering process. Second, enlarge by employing a piece of the magnifying bit string to generate a safe key, pinpointing based encryption avoids amplify leakage even if a rival or attacker decrypts the key or asymmetric encryption. Finally, to determine the accuracy of the method, an optimal key was created using a meta-heuristic algorithmic framework called Hybrid fragment horde bland lobo Optimization (HFHBLO). Our proposed method currently kept in a cloud environment, allowing analytics users to utilize it without risking their privacy or security.

As the natural resources are getting exhausted, the concept of sustainable development of region has received increasing attentions, especially for resource-dependent cities. In this paper an innovative method that emergy analysis and IPAT (Human Impact Population Affluence Technology) model were combined in order to analyze the quantitative relationship of economic growth and energy consumption and further to evaluate its overall sustainability level. Taiyuan, a traditional, resource-dependent city in China, is selected as the case study region. The main results show that total emergy of Taiyuan increased from 9.023× 1023 sej in 2007 to 9.116× 1023sej in 2014, with 38% reduction on non-renewable emergy and 125% growth on imported emergy. Regional emergy money ratio (RMB) was reduced by 48% from 5.31× 1013sej/$ in 2007 to 2.74× 1013sej/$ in 2014, indicating that the increasing speed of consuming resources and energy was faster than the increase of GDP, and that Taiyuan’s money purchasing power declined. The lower emergy sustainability index (ESI) indicates that Taiyuan was explored and produced large quantities of mineral resources, which puts more stress on the environment as a consequence, and that this is not sustainable in the long run. The IPAT analysis demonstrates that Taiyuan sticks to the efforts of energy conservation and environmental protection, in order to promote regional sustainable development, it is necessary to take an integrated effort. Policy insights suggest that resourceful regions should improve include energy and resource efficiency, optimizing energy and resourceful structure.

Mass hauling operations play central roles in construction projects. They typically use many haulers that consume large amounts of energy and emit significant quantities of CO₂. However, practical methods for estimating the energy consumption and CO₂ emissions of such operations during project planning are lacking. This paper presents a detailed model for estimating the energy consumption and CO₂ emissions of mass haulers that integrates the mass hauling plan with a set of predictive equations. The mass hauling plan is generated using a planning program such as DynaRoad in conjunction with data on the productivity of selected haulers and the amount of material to be hauled during cutting, filling, borrowing, and disposal operations. This plan is then used as input for estimating the energy consumption and CO₂ emissions of the selected hauling fleet. The proposed model will help planners to assess the energy and environmental performance of mass hauling plans, and to select hauler and fleet configurations that will minimize these quantities. The model was applied in a case study, demonstrating that it can reliably predict energy consumption, CO₂ emissions, and hauler productivity as functions of the hauling distance for individual haulers and entire hauling fleets.

The Internet of Things (IoT) is a concept based on the integration of various devices and methods of communication to exchange information in order to contribute to the improvement of everyday life, business and environment. This paper focuses on the establishment of a modern Internet of Things platform to ensure secure collection, processing and storage of data, under unexpected events. This platform establishes reliable connectivity which enhance system uptime; the key to success when implementing an IoT strategy. For this purpose, we proposed a hybrid approach combining different connectivity technologies to ensure the availability and smooth operation of the system and the prevention of data loss in unforeseen cases.

Space exploration presents vast prospects for scientific, industrial, and economic progress. This paper introduces the MeSat mission as a pioneering approach to Mars exploration. MeSat aims to deepen our understanding of Martian conditions and resources by employing an optimized Earth-to-Mars trajectory, enabling a comprehensive study of the Martian atmosphere and surface. The mission comprises a Cargo Microsatellite hosting three 6U CubeSats and two 3U CubeSats, deployed into four separate Mars orbits forming a constellation. Each CubeSat carries distinct payloads: a THz radiometer for water detection, a high-resolution surface camera, a top-tier spectrometer, and a Fourier Transform Spectrometer (FTS) for wind speed readings. This paper focuses on two pivotal innovations: the development of a 183GHz radiometer payload for detecting water on Mars and a optimal mission design algorithm that analyzes a fuel-efficient low-thrust trajectory from Earth to Mars. Regarding the THz payload for water detection, a subharmonic Schottky diode-based mixer is meticulously designed to efficiently down-convert radio signals. The down-converted signals are carefully analyzed using a customized Do-It-Yourself (DIY) spectrum meter, which facilitated the capture and processing of acquired data. To provide the necessary Local Oscillator signals for the mixer, a Tripler employing three-anode Schottky diodes is developed. Additionally, the Tripler requires a signal generator for its entry frequency, which is addressed by developing a DIY signal generator. Together, these components, comprising the Schottky diode mixer, Tripler, and DIY circuits, collectively form the complete THz payload, demonstrating exceptional power efficiency with a total consumption of only 3.7W. The study employs a dual-step hybrid optimization algorithm (PSO-Homotopy) to analyze fuel-efficient low-thrust trajectories from Earth to Mars, incorporating the Ephemeris dynamics model to account for gravitational perturbations in the entire solar system. In practical mission design, crucial factors like hyperbolic excess velocity, diverse opportunities for Earth launch and Mars rendezvous, varied propulsion systems, and Time of Flight (TOF) play vital roles in trajectory optimization.

Delta parallel robot has been widely used in precision parts processing, handling, sorting, and precision assembly, with high efficiency and motion stability being its important performance indexes. Any small line segment corner in trajectory planning causes tangential discontinuous trajectory abrupt change, and the process vibration and shock caused by it seriously affect its high-speed and high-precision performance. In this paper, a trajectory planning method combining Cartesian space and joint space is proposed. Firstly, the vector method and micro-element integration method are used to establish the complete kinematics and dynamics equations of the Delta parallel robot, and the inverse kinematics/dynamics model-solving program is written based on Matlab software. Secondly, the end-effector trajectory of the Delta parallel robot is planned in Cartesian space, and the data points and inverse control points of the end-effector trajectory are obtained by the normalization method. Finally, the data points and control points are mapped to the joint space through the inverse kinematics equation, and the fifth-order B-spline curve is adopted for quadratic trajectory planning, which realizes the high-order continuous smoothing of trajectory planning. The simulation and experiment results show that the trajectory smoothing performance of continuous high-order curvature change can be improved using the proposed method, the tracking error of the end-effector is reduced by 21.12%, and the peak torques change of three joints is reduced by 3.5%, 11.6% and 1.6%, respectively.

In recent decades, with the ever-growing scale of video data, near-duplicate videos continue to emerge. Data quality issue caused by near-duplicate videos is becoming more and more prominent, which has affected the application of normal videos. Although current studies on near-duplicate video detection can be helpful to uncover data quality issues for videos, they still lack a process of automatic merging for the video data represented by high-dimensional features, which are difficult to automatically clean the near-duplicate videos to improve data quality for video datasets. At present, there are few studies on near-duplicate video data cleaning. The existing studies have the sensitive problems of video data orderliness and clustering initial center under a condition that prior distribution is unknown, which seriously affect the accuracy of near-duplicate video data cleaning. To address the above issues, an automatic near-duplicate video data cleaning method based on a consistent feature hash ring is proposed in this paper. First, a residual network with convolutional block attention modules, a long short-term memory deep network, and an attention model are integrated to construct an RCLA deep network with the multi-headed attention mechanism to extract spatiotemporal features of video data. Then, a consistent feature hash ring is constructed, which can effectively alleviate the sensitivity of video data orderliness while providing a condition of near-duplicate video merging. To reduce the sensitivity of the initial cluster centers to results of near-duplicate video cleansing, an optimized feature distance-means clustering algorithm is constructed by utilizing a mountain peak function on a consistent feature hash ring, which can implement automatic cleaning of near-duplicate video data. Finally, experiments are conducted based on a commonly used dataset named CC_WEB_VIDEO and a coal mining video dataset. Compared with some existing works, simulation results demonstrate that the performance of the proposed method.

Pedestrian Dead Reckoning (PDR) is a promising algorithm for indoor positioning. However, the accuracy of PDR degrades due to the accumulated error, especially in multi-floor buildings. This paper introduces a three-dimensional (3D) positioning method based on terrain feature matching to reduce the influence of accumulated error in multi-floor scene. The proposed method involves two steps: motion pattern recognition and position matching calibration. The motion pattern recognition aims to detect different motion states, i.e., taking the stairs or horizontal walking, from the streaming data. Then, stair entrances and corridor corners are matched with transition points of motion states and pedestrian turning points, respectively. After matching, calibration is performed to eliminate the accumulated errors. By carrying out experiments on a two-floor closed-loop path with a walking distance about 145 m, it is shown that this method can effectively reduce the accumulated error of PDR , achieving accurate 3D positioning . The average error is reduced from 6.60 m to 1.83 m.

Trajectory Optimization (TO) is the sequence of processes that are considered in order to produce the best path that mends the overall performance or reduces the consumption of the resources where the restriction system remains maintained. In this survey, an inclusive review of the latest advancements in modeling and optimization of trajectory generation in robotic applications will be discussed broadly. In recent times, numerous studies have employed optimal control techniques involving direct and indirect methods in order to convert the authentic Trajectory Optimization problem into a constrained parameter optimization problem. Moreover, a huge variety of optimization algorithms such as Genetic Algorithms (GA), Simulated Annealing (SA), Sequential Quadratic Programming (SQP), and Particle Swarm Optimization (PSO) are used aiming to find the optimal solutions for trajectory planning. It is observable that, minimizing the jerk, energy consumption, and execution time among the most widely used design objectives, on the other hand, the robot’s joints configurations and the motor torques are the most used design variables. This paper aims to review the fundamental techniques and their coincident robotic applications in the field of trajectory optimization aiming to afford some steering for related researchers.

In this paper, first the Self-Written Waveguide (SWW) process in wet photopolymer media (liquid solutions), are examined for three examples: single-, counter-, and co-fibers exposure. Then the SWWs formed inside solid material are examined including the effects of manipulating the alignment of the fibers. In all cases high precision measurements are used to position the fiber optic cables (FOCs) before exposure using a microscope. The self-writing process is indirectly monitored by observing (imaging) the light emerging from the side of the material sample during SWW formation. In this way the optical waveguide trajectories formed in an Acrylamide/Polyvinyl Alcohol (AA/PVA) a photopolymer material (sensitized at 532 nm) are examined. First the transmission of light by this material is characterized. Then the bending and merging of the waveguides which occur are investigated. The predictions of our model are shown to qualitatively agree with the observed trajectories. The largest index changes taking place at any time during the exposure, i.e. during SWW formation, are shown to take place at the positions where the largest exposure light intensity is present. Typically, such maxima exist close to the input face and the first maximum is referred to as the location of the Primary Eye. Other local maxima also appear further along the SWW and are referred to as Secondary Eyes, i.e. deeper within the material.

In Brazil, during the four last administrations of Worker’s Party (PT) 2003-2015, the support to the agrarian reform seems to have stagnated, even with the influence of landless workers' movements. Thus in 2016, the impeachment President Dilma Roussef have marked a brutal stop in the agrarian reform process. How to explain that which seems at first to be a contradiction and has become a decadence of an important federal public policy?. Furthermore, how can we evaluate the debates within Brazilian society and the federal government on this theme? The article analyzes the tensions, debates, advances and impasses of the past fifteen years of agrarian reform policy in Brazil looking at the interaction between social movements and public policies. The method associates bibliography, official statistic synthesis and research results in Northeast, Amazônia and Cerrado regions among several projects. The first part results put on evidence the crescent reduction of agrarian reform settlements and beneficiary families since 2006. The second part presents the main reasons offering an analysis of government and society debates in Brazil about land reform. The analysis conclude to the less of power and representation in the society of the pro agrarian reform large and popular coalition.

Objective: The aim of this study was to optimize the fermentation process of Radix Ranunculi ternate via microbial fermentation and analyze the changes in the contents of the main components, the antioxidant and hypoglycemic capacities of the extract before and after fermentation. Methods: The solid-state fermentation process was optimized using single-factor tests and the response surface method, with the yield of the alcohol extract of R. ternate as an evaluation index. Results: The best fermentation process was optimized using solid-state endophytic fungus fermentation technology as follows: strain addition ratio of Chaetomium globosum/Fusarium equiseti =1:1, fermentation for 5 d, sieve size of 40 mesh, liquid/material ratio of 0.8:1 mL·g−1, fermentation temperature of 31 °C, and inoculation amount of 7.5%. Under the optimized conditions, the contents of the water-soluble extract and total polysaccharides decreased by 12.71% and 12.95%, respectively, in the fermentation, The contents of ethanol-soluble-extract, flavonoids, saponins, polyphenols, organic acids, and total amino acids of fermented R. ternate increased by 19.77%, 57.14%, 79.67%, 14.29%, 17.63% and 3.82%, respectively, and the scavenging rate for DPPH, ABTS+, ·OH free radicals and inhibitory rate for α-amylase also increased by 19.02%, 14.17%, 7.53% and 34.54%, respectively, compared with unfermented R. ternate. Conclusions: Solid-state fermentation opens new avenues for the development and application of R. ternate as natural antioxidant and hypoglycemic food.

This study proposes an innovative pharmacovigilance approach, VIGI-4, leveraging ChatGPT Teams Pro version. Our method involves aggregating data from all phase 4 studies published in February 2024 to identify adverse reactions. These results are categorized by disease state alphabetically, demonstrating the method's capacity to generate structured and easily navigable outputs. The results section is tailored to exemplify the valuable, actionable insights attainable through our workflow. This research emphasizes the game-changing potential of integrating advanced technologies such as ChatGPT into pharmacovigilance, signaling a new era in safeguarding drug safety.

Fire detection from satellite sensors relies on an accurate estimation of the unperturbed state of a target pixel, from which an anomaly can be isolated. Methods for estimating the radiation budget of a pixel without fire depend upon training data derived from the location's recent history of brightness temperature variation over the diurnal cycle, which can be vulnerable to cloud contamination and the effects of weather. This study proposes a new method that utilises the common solar budget found at a given latitude in conjunction with an area's local solar time to aggregate a broad-area training dataset, which can be used to model the expected diurnal temperature cycle of a location. This training data is then used in a temperature fitting process with the measured brightness temperatures in a pixel, and compared to pixel-derived training data and contextual methods of background temperature determination. Results of this study show similar accuracy between clear-sky medium wave infrared upwelling radiation and the diurnal temperature cycle estimation compared to previous methods, with demonstrable improvements in processing time and training data availability. This method can be used in conjunction with brightness temperature thresholds to provide a baseline for upwelling radiation, from which positive thermal anomalies such as fire can be isolated.

This paper aims to provide a comprehensive review of the historical trajectory of deforestation in Ethiopia, spanning an extensive timeframe and exploring its major driving factors. Over the span of three millennia, Ethiopia has experienced persistent deforestation, resulting in a significant reduction of its once-large forest and woodland resources. Currently, small, degraded forests and woodlands exist in isolated patches, located in remote areas such as the southwest and southeast. Major deforestation in Ethiopia unfolded progressively, first along a north-south axis and more recently shifting from the highlands to the lowlands. The northern and central highlands lost most of their natural forests before the turn of the 20th century, while significant loss in the southern highlands occurred over the past 150 years, and in the lowlands over the past 50 years. This deforestation is primarily attributed to the expansion of ox-plow agriculture and population pressure resulting from natural birth and internal migration. Despite efforts to counter deforestation and promote restoration, mostly since the 1970s, successes remain limited. A noteworthy exception in this regard is the introduction of Eucalyptus during the turn of the 20th century and the subsequent expansion of it, mainly in the form of small-scale farmer-led farm forestry. Today, Eucalyptus become the most preferred, well-adapted, widely planted, and the major supplier of wood materials in Ethiopia. The limited success in restoration is attributed to the reliance on campaign-based strategy, lack of private sector involvement, the intertwining of restoration with political agenda, and poorly defined property rights on land, forests, and trees. The consequences of deforestation and resultant environmental degradation have profoundly influenced the socio-economic dynamics of Ethiopia, giving rise to issues such as food insecurity, poverty, migration, and political instability.

This article addresses the trajectory tracking between two non-identical systems with chaotic properties. We employ the Rossler chaotic and RCL-shunted Josephson junctions model in similar phase space to study trajectory tracking. In order to achieve the goal tracking, we afford two stages to approximate the target tracking. The first stage utilizes the active control technique to transfer the output signal from the RCLs-J system into the quasi-Rossler system. Then next, the RCLs-J system employs the proposed the iterative learning control scheme and the control signal from the drive system to trace the trajectory of Rossler system. The numerical results demonstrate the proposed method and the tracking system is asymptotically stable.

Driving factors of smart city construction are exploratively studied by grounded theory method based on text sources from journal papers in SCI and CSSCI databases. Initial scale of driving factors about smart city construction is obtained on the basis of above analyses. This paper modifies measuring items of the initial scale with a small sample pretest and reliability test, then forms final items by exploratory factor analysis. According to the above scale, questionnaires are designed to obtain empirical data, and confirmatory factor analysis is used to verify further validity and reliability of the scale. The results show that driving factors of smart city construction include three main dimensions: problem-oriented factors, business- or technology-driven factors and endogenous development requirements.

Pedestrian trajectories are crucial for self-driving cars to plan their paths effectively. The sensors implanted in these self-driving vehicles, despite being state-of-the-art ones, often face inaccuracies in the perception of surrounding environments due to technical challenges for adverse weather conditions, interference from other vehicles sensors and electronic devices, and signal reception failure, leading to incompleteness in trajectory data. But for real-time decision making for autonomous driving, the trajectory imputation is no less crucial. Previous attempts to address this issue such as statistical inference and machine learning approaches have shown promise. Yet, the landscape of deep learning is rapidly evolving with new and more robust models emerging. In this research, we have proposed an encoder-decoder architecture, Human Trajectory Imputation Model, coined as HTIM, to tackle these challenges. This architecture aims to fill in the missing parts of pedestrian trajectories. The model has been evaluated using the Intersection drone inD dataset, containing trajectory data at suitable altitudes preserving naturalistic pedestrian behavior with varied dataset sizes. To assess the effectiveness of our model, we have utilized L1, MSE, Quantile and ADE loss. Our experiments have demonstrated that HTIM outperforms the majority of the state-of-the-art methods in this field, thus indicating its superior performance in imputing pedestrian trajectories.

Due to constraints in launch platform and cost, the maneuverability of gliding-guided projectiles is limited, necessitating a rational design of their trajectory schemes. To reduce the sensitivity of trajectory schemes to uncertainties while ensuring compatibility between flight schemes and guidance control systems, and fully exploiting the control capability of the projectile, a closed-loop robust trajectory planning method is proposed. Models of major uncertain factors and states deviation at the control-start point are established. Based on the NIPCE method, the stochastic dynamic model is transformed into a high-dimensional deterministic model with PCE coefficients as state variables, and the uncertainty propagation law is obtained. A PID algorithm is employed to design a tracking guidance law based on position error feedback, and open-loop and closed-loop robust trajectory planning models are established accordingly. The optimal control problem is solved by transforming it into a nonlinear programming problem using the direct shooting method. Simulation results indicate that the NIPCE method can significantly improve the computational efficiency of uncertainty propagation while ensuring accuracy. Open-loop robust planning can effectively mitigate the sensitivity of gliding trajectories to uncertainties but cannot completely eliminate terminal dispersion. Closed-loop robust planning effectively improves control effort consumption on the basis of open-loop planning.

This paper proposes training improvement methods of artificial neural networks (ANN) trajectory predictors. First, a dynamic power system time-series trajectory is split into several different segments to simplify the original ANN training problem. Moreover, the time-derivative of the trajectory is included to obtain an augmented loss function. Compared to previous studies which mainly focused on increasing the prediction accuracy, the aim of these novel techniques is to reduce the computational burden where the ANN output performance is still acceptable. The effectiveness of the developed methods is validated based on the WSCC three-machine nine-bus and IEEE 39-bus system models. The mean absolute error (MAE) and trajectory prediction results are analyzed, in which the numbers of neurons, hidden layers, and training epochs are constrained during the ANN training process. Rotor-angle difference between generators and the system frequency are investigated as the dynamic trajectories of the power system models. It is revealed that when the ANN architecture and epochs are constrained, the MAE results can be reduced, and the ANN training results can better reflect the original trajectory using the improvement approaches.

This research investigates the utilization of human driving models in autonomous vehicles, particularly in scenarios with minimal or no interactions with other vehicles. Human driving models provide valuable insights into driver behavior and play a crucial role in shaping the behavior of autonomous vehicles, enhancing their performance and user experience. The primary focus of the study is the creation of a planning model for autonomous vehicles when navigating roundabouts in the absence of traffic. This model seeks to emulate human driving behavior, ensuring predictability, safety, optimization of traffic flow, and adaptation to various roundabout geometries. To achieve this, the research introduces a trajectory model that takes into account geometric attributes and speed variations within roundabouts. The model is calibrated using empirical data and generalizes parameters through statistical regression methodologies. This model is referred to as "MRoundabout" and is evaluated for its consistency in generating plans that closely mimic human driving behavior within roundabouts. While the study presents a promising approach, it acknowledges limitations related to the model's reliance on geometric attributes and its inability to account for external factors like weather conditions. This research underscores the importance of bridging the gap between theoretical research and practical application, with the aim of enhancing safety and the overall user experience in real-world driving scenarios.

The River Habitat Survey (RHS) is a method for assessing the conditions of a river channel and valley, taking into account hydromorphological factors, and assessing the degree of naturalness or the degree of anthropogenic alteration within the channel and valley based on physical and landscape data. The hypothesis tested in this study was that the quality of river habitats demonstrated using the RHS should translate into the composition of their fauna. We investigated aquatic bugs (Heteroptera Aquatica), which are a group with considerable dispersal abilities and, at the same time, composed of stenotopic species associated with a particular environment as well as of eurytopic elements inhabiting a wide range of environments (REF). The research was carried out in a small lowland river, the River Krąpiel (north-western Poland) at 6 sites with 43 sub-sites included. Our analyses suggest the RHS method can predict the composition and quality of the aquatic bug fauna inhabiting a given river. Indicators of river habitat quality (HQA and RHQ) will be associated with different habitat types depending on the geographic location and type of river, once indicating habitats associated with the mainstream river and mineral substrate (mountain and small lowland rivers) and at other times habitats covered by vegetation with relatively slow water flow (large and medium lowland rivers). Therefore, RHS may be a good method for estimating the water bug fauna, linking it to the size and character of the river.

There are rich proper noun derivative semantic relationships in geographic entity vector data. The identification of traditional proper noun derivative semantic relationships usually requires toponym researchers to examine the source of derived toponyms by consulting a large number of toponym documents. This method cannot adapt to the mining of proper noun derivative semantic relationships for large-scale geographical entity. In this regard, this paper proposes a method of identifying the proper noun derivative semantic relationships for geographical entity by combining prompt learning and XGBoost model. This method transforms the extraction problem of proper noun derivative semantic relationships into a binary classification problem by analyzing the characteristics of the derivation relationship of toponyms in the form of toponyms and the spatial and temporal distribution of geography. Firstly, prompt learning and gaussian mixture model are used to extract and cluster the derivation words of toponyms, so as to realize the recognition of derived toponyms collections. Then, enumerate the possible proper noun derivations in the toponym set, and then the XGBoost model is used to identify the semantic relations derived from the proper noun of geographical entities. In the experiment, the recognition method of proper noun derivative semantic relationships based on prompt learning and XGBoost proposed in this paper has achieved good relationship recognition effect in the experiment. This method has certain practical value in the fields of toponym management and toponym translation.

Natural vegetation restoration can take decades to achieve and requires information on species composition and trend to inform management strategies. Here we demonstrate the potential and portability of drone, dove and Sentinel-2 imagery for species level classification and trajectory monitoring using three study sites with different revegetation histories. Drone imagery (4 cm) was classified using random forests. Dove (3 m) and Sentinel-2 (10 m) images were acquired close to the anniversary of the drone flights and converted into fractional cover maps showing the proportion of exotics, natives and other land covers using ordinary least squares (OLS) and geographically weighted regression (GWR). The time series of fractional cover maps were converted into positive and negative slope and second-order curvature and summarised as one RGB composite to illustrate trend and observe exotic expansion. Drone classification accuracies ranged from 73%-76% when applied to the full plant species list and between 93% and 97% when grouped into natives, exotics, and other land covers. GWR outperformed OLS for all fractional cover mapping and GWR with dove imagery was more accurate than with Sentinel imagery. The combination of very high-resolution drone acquired imagery with the versatility of dove acquired imagery arms land managers with highly accurate species composition and their spatio-temporal dynamics to promote timely intervention.

By using Modified simple equation method, we study the Cahn Allen equation which arises in many scientific applications such as mathematical biology, quantum mechanics and plasma physics. As a result, the existence of solitary wave solutions of the Cahn Allen equation is obtained. Exact explicit solutions interms of hyperbolic solutions of the associated Cahn Allen equation are characterized with some free parameters. Finally, the variety of structure and graphical representation make the dynamics of the equations visible and provides the mathematical foundation in mathematical biology, quantum mechanics and plasma physics.

A co-curing resin system consisting of 9368 epoxy resin for prepreg and 6808 epoxy resin for resin transfer molding (RTM) was developed. A corresponding preparation method of novel polymer composite bolted T-joint with internal skeleton and external skin was proposed based on prepreg-RTM co-curing process, and novel T-joints were fabricated. A series of conventional configuration T-joints based on RTM process and T-joints made of 2A12 aluminum alloy were prepared simultaneously. Bending performances were studied on these T-joints experimentally. The results indicate that 9368 epoxy resin and 6808 epoxy resin exhibit good compatibility in rheological and thermophysical properties. The novel T-joints prepared with prepreg-RTM co-curing process show no obvious fiber local winding or resin-rich regions inside, and the interface quality between internal skeleton and external skin is excellent. The main failure modes of the novel T-joint under bending load include separation of skin and skeleton and fracture along the thickness on the base panel; the skeleton carries the main bending load, but there is still load transfer between external skin and internal skeleton through their interface. The internal damages of the novel T-joint are highly consistent with surface damages observed visually, facilitating the detection and timely discovery of damages. The initial stiffness, damage initiation load, and ultimate load of the novel T-joint are 1.65 times, 5.89 times, and 3.45 times that of conventional T-joint, respectively. When considering the influence of density, the relative initial stiffness and relative ultimate load of the novel T-joint are 1.44 times and 2.07 times that of aluminum alloy T-joint, respectively.

Water networks are critical infrastructure components, ensuring the continuous supply of high-quality drinking water to consumers. To secure such water supply, regular maintenance, including the replacement of deteriorating pipelines, is essential. In this study, a methodology has been developed for determining optimal pipeline replacement solutions in water supply systems at water utilities with limited data availability. Hydraulic analysis has been conducted on the segment of 25 km of the water supply network using the free software EPANET. Applying water network optimization, eight pipeline replacement projects according to 13 pre-defined criteria have been identified and evaluated. The paper outlines the methods for evaluating the criteria, including defining specific quantitative limits. The Analytical Hierarchical Process (AHP) method was used in the paper to determine the weights of the criteria. The reason for applying this method refers to problems that involve a set of criteria with a mixed structure, including both quantitative and qualitative aspects. Also, the paper describes the steps of the multi-criteria optimization method VIKOR, used to select the optimal project. This paper, considered as case studie, describes a method, i.e. application of a new principles and an innovative way to solve a problem for developing countries.

This paper proposed three-dimensional numerical simulation method by coupling of electrostatic and fluid fields to evaluating the performance of electrical sensor in the concentration measurement of gas/solid two-phase flow. Compared with the static numerical simulation, this real-time dynamic 3-D simulation method can research on a designed capacitance sensor combining the dynamic characteristics of the two-phase flows for concentration measurement. Several fluid-electrostatic models of transmission pipes with different sensor structures are built. Under different test positions and different particle concentrations, the flow characteristics and the corresponding electric signals can be obtained, and the correlation coefficient between the concentration values and the capacitance values are used for performance evaluation of the sensors. The effects of flow regimes on concentration measurement are also been investigated in this paper. To validate the results of simulation, an experimental platform with horizontal straight pipe for phase volume concentration measurement of solid/air two-phase flow is built, and the experimental results agree well with simulation conclusions. The simulation and test results show that the coupling models can give constructive reference opinions for the sensor design and collection of installation position in different transmission pipelines, which are very important for the practical process of pneumatic conveying system.

The Global Carbon Budget is the cumulative carbon emissions that human activities can generate while limiting the global temperature increase to less than 2°C. On this basis, most countries ratified the Paris Agreement 2015, pledging to reduce national emissions and the impacts of climate change. The European Union has planned to reduce emissions by 80% of their 1990 value by 2050 but such a target needs to be coupled with a further constraint on the cumulative greenhouse gases released along the path to 2050. The aim and the novelty of this study are to propose, for the first time, a carbon budget for the European Union, which represents the most significant physical characteristic to assess the feasibility of current EU-28 greenhouse gas reduction objectives under the goals of the 2015 Paris treaty

The presence of antibiotic residues in honey has recently become a growing public health concern due to the overuse of these products in beekeeping and their transfer to the food industry. The aim of this study was to develop and validate a simple, selective and sensitive method for the simultaneous identification and quantification of residues of twenty-two sulfonamides, trimethoprim and dapsone in honey using a rapid and reliable liquid chromatography–tandem mass spectrometry (LC–MS/MS) method. The developed method showed good linearity, specificity, precision (repeatability and intra-laboratory reproducibility) and recovery. The decision limit (CCalpha) ranged between 2.16-22.12 µg/kg for CCα, while the detection capability (CCbeta) was between 2.16- 2.67-27.36 µg/kg. The method proved to be rapid, reliable and effective for the determination of sulfonamides, trimethoprim and dapsone from honey samples. The average recoveries were estimated to be between 70 and 106%. The relative standard deviations (RSDs) were between 6-18%. In practice, the method is essential to check the honey sold on the market and ensure its safety before it reaches the consumer.

Based on the Flashing Ratchet Potential (FRP) and Electro-Spectroscopy detection techniques, a new detection method was experimentally examined. This method allows the detection of sub-micro particles in the human exhaled air such as viral particles and other biological agents. The detection signal created by this method is carried out by electron current buildup forming an Electric Current-Spectrum (ECS) distinguishing the contents of the exhaled air samples. The detection method was developed based on FRP and a beam of free charges passing through the electrodes of the FRP. The ECS is characterized by low-energy free charges interacting with the medium through which they pass, where numerous free charges are scattered (delayed) as a result of these interactions. The resulting ECS is characterized by FRP's capacity to drift back the delayed free charges to their original starting positions. By comparing the ECS of two exhale air samples, this new technology can be utilized to identify the presence of viral and microorganisms’ particles. The time-escalating ECS difference quickly indicates the presence of such particles. Moreover, the FRP's optimal operating settings was experimentally defined, in addition to the experimental evaluation of its functionality to confirm the FRP's promising sensing capabilities, which were statistically examined several times to ensure the reproducibility of the results.

In modern warfare, the diversified tasks can sometimes be challenging to fulfill with a single projectile, necessitating the incorporation of cooperation constraints in trajectory planning. Limited by the stringent requirements of the launch platform and lower costs, the maneuverability and ability to adjust the flight time range of projectiles are weak. Therefore, the rationality of performance indicators and flight time coordination strategies is especially critical. To fully exploit the control capabilities of projectiles, a battlefield area segmentation method is proposed, differentiated performance indicators and a cooperative trajectory planning model that considers the entire range of projectiles are established. Considering the limitations of existing flight time coordination strategies in applications, targeted improvements have been made in different cooperation scenarios, and a bi-level adaptive cooperation strategy(BACS) with both optimality and flexibility is proposed. To rapidly determine feasible conditions, a simple and universal method for obtaining the capability ranges of cooperation is introduced. The multi-phase optimal control problems are transformed into nonlinear programming problems using the Radau pseudo-spectral method, and simulation results show that the proposed methods are capable of handling trajectory planning tasks in different cooperation scenarios. The improved strategies effectively enhance the planning success rate under relatively harsh conditions and BACS demonstrates good compatibility with the problems studied.

Recent advancements have revolutionized interplanetary spacecraft missions by combining low-thrust propulsion systems with planetary Gravity-Assist (GA) maneuvers. This study investigates/improved a novel dual-step efficient-robust homotopy algorithm, grounded in indirect optimal control principles, to analyze fuel-optimal bang-bang control problems. The methodology integrates efficient techniques, including the homotopic method, compatible normalization, and improved switching function detection, aimed at enhancing optimal convergence in solving low-thrust gravity-assist spacecraft missions. To illustrate practical application, an Earth-to-Jupiter interplanetary scenario utilizing Mars-GA is examined. Results demonstrate the algorithm's superior efficacy in achieving fuel efficiency, robust convergence, and remarkable accuracy compared to existing solutions.

In this paper, a swarm trajectory planning method is proposed for multiple autonomous surface vehicles (ASVs) in an unknown and obstacle-rich environment. Specifically, based on the point cloud information of the surrounding environment obtained from local sensors, a kinodynamic path searching method is used to generate a series of waypoints in the discretized control space at first. Next, after fitting B-spline curves to the obtained waypoints, a nonlinear optimization problem is formulated to optimize the B-spline curves based on gradient-based local planning. Finally, a numerical optimization method is used to solve the optimization problems in real-time to obtain collision-free, smooth and dynamically feasible trajectories relying on a shared network. Simulation results demonstrate the effectiveness and efficiency of the proposed swarm trajectory planning method for a network of ASVs.

This paper presents a new adaptive and optimal algorithm for the trajectory tracking control of a quadrotor using iterative learning algorithm (ILA) and enumerative learning algorithm. Ordinarily the ILA, as an adaptive method, can perform well with PID control to improve the controller’s performance for a nonlinear system. Quadrotors are considered as non-linear and unstable systems which the use of an adaptive and optimal controller can increase its stability and decrease error level. In this method, a PID controller is proposed for the outer and inner control loops of a quadrotor and the ILA is used to adapt PID control gains. Subsequently, an enumerative learning algorithm is used to optimize the learning rates of the ILA. For this purpose, at first, the dynamic model of the quadrotor is acquired. After that, the structure of the inner and outer control loops is defined. In the end, the simulation results for the trajectory tracking control of a quadrotor are demonstrated. Through simulation, it is concluded that as time increases, the performance of the suggested control method in trajectory tracking control becomes better and better and error signals convergence to zero.

Human milk is recommended for feeding preterm infant. Yet the potential impact of specific breast-milk lipid components on the initial growth rate of very-preterm infants has received scant attention. The current pilot study aims to determine whether breast-milk lipidome had any impact on the early growth pattern of preterm infants fed their own mother’s milk. A prospective monocentric observational birth cohort was established, enrolling 147 preterm infants, who received their own mother’s breast-milk throughout hospital stay. Among that cohort, infants who experienced slow (n=15) or fast (n=11) growth were selected, based on the change in their weight Z-score between birth and hospital discharge (-1.54± 0.42 and -0.48± 0.19 Z-score, respectively). Liquid chromatography-high resolution-mass spectrometry was used to obtain lipidomic signatures in breast-milk. Multivariate analyses made it possible to identify breast-milk lipid species that allowed clear-cut discrimination between the 2 infants’ groups. Validation of the selected biomarkers was performed by means of various multidimensional statistical techniques, false-discovery rate and ROC curve computation. Breast-milk associated with fast growth contained more medium chain-saturated fatty acid and -sphingomyelin, dihomo-γ-linolenic acid (DGLA)-containing phosphethanolamine, and less oleic acid-containing triglyceride and DGLA-oxylipin. Their predictive ability of preterm early-growth rate was validated in presence of confounding clinical factors.

Acute and chronic graft versus host disease (a/cGVHD) are major complications of allogeneic stem cell transplantation and a frequent cause of non relapse-mortality. The treatment of a/cGVHD consists of steroid administration at full dose. In the case of aGVHD, around 60 % of patients with grade III/IV fails to respond (steroid-resistant, SR), requiring a second line therapy. Extracorporeal photopheresis (ECP) represents a good option for second line treatment, leading to multiorgan response in several patients. Here, we have evaluated the performances of a cytofluorimetric quality control of the first ECP procedure in 29 patients with severe SR aGVHD who underwent ECP. The quality control represents a check control of in vitro cell apoptosis/death induction in collected and irradiated CD3+ cells by ECP. Our analysis shows that in more than 70 % quality controls a relevant apoptotosis/death of CD3+ cells was observed after cell irradiation, as compared to non-irradiated controls. Albeit observed in a small patients’ series, the occurrence of relevant in vitro effect after ECP relates to less procedures and/or to a better survival on ECP. Age, disease, gender, aGVHD grade and time from transplant to the first ECP had not impact on ECP efficacy in this patients’ series.

Robotic systems have been widely used in various industries, so the security of communication between robots and their components has become an issue that needs to be focused on. As a framework for developing robotic systems, the security of ROS2 can directly affect the security of the upper-level robotic systems. Therefore, it is a worthwhile research topic to detect and analyze the security of ROS2. In this paper, we adopt a formal approach to analyze the security of the communication mechanism of ROS2. First, we use a state transition system to model the potential vulnerabilities of ROS2 based on the ROS2 communication mechanism and the basic process of penetration testing. Secondly, we introduce the CIA model on the basis of the established vulnerability model and use LTL to define its security properties. Then, we design and implement a vulnerability detection tool for ROS2 applications based on the vulnerability model and security properties. Finally, we experimentally test some ROS2-based applications, and the results show that ROS2 has vulnerabilities without additional protection safeguards.

This paper presents research on the application of trajectory design, optimization, and control to an orbital transfer from Mars-Phobos Distant Retrograde Orbits to the surface of Phobos. Given a Distant Retrograde Orbits and a landing location on the surface of Phobos, landing trajectories for which total Δv for a direct 2-burn maneuver is minimized are computed. This is accomplished through the use of Particle Swarm Optimization in which the required Δv and time of flight are optimization parameters. The non-uniform gravitational environment of Phobos is considered in the computation. Results show how direct transfers can be achieved with Δv in the order of ∼30 m/s.

In this paper, a voice coil motor (VCM) actuated fast tool servo (FTS) system is developed for diamond turning. To guide motions of the VCM actuator, a crossed double parallelogram flexure mechanism is selected featuring totally symmetric structure with high lateral stiffness. To facilitate the determination of the multi-physical parameters, analytical models of both electromagnetic and mechanical systems are developed. The designed FTS with balanced stroke and natural frequency is then verified through the finite element analysis. Finally, the prototype of the VCM actuated FTS is fabricated and experimentally demonstrated to have a stroke of ±59.02 μm and a first natural frequency of 253 Hz. By constructing a closed-loop control using PID controller with the internal-model based resonant controller, the error for tracking a harmonic trajectory with ±10 μm amplitude and 120 Hz frequency is obtained to be ±0.2 μm, demonstrating the capability of the FTS for high accuracy trajectory tracking.

In this paper, we compile the fractional power series method and the Laplace transform to design a new algorithm for solving the fractional Volterra integro-differential equation. For that, we assume the Laplace power series (LPS) solution in terms of power q=1m,m∈Z+, where the fractional derivative of order α=qγ for which γ∈Z+. This assumption will help us to write the integral, the kernel, and the nonhomogeneous terms as a LPS with the same power. The recurrence relations for finding the series coefficients can be constructed using this form. To demonstrate the algorithm's accuracy, the residual error is defined and calculated for several values of the fractional derivative. Two strongly nonlinear examples are discussed to provide the efficiency of the algorithm. The algorithm gains powerful results for this kind of problem. Under Caputo meaning the obtained results are illustrated numerically, and graphically. Geometrically, the behavior of the solution declares that the changing of the fractional derivative parameter values' in their domain alters the style of the attained solution in a symmetrical meaning and fully coinciding to the ordinary derivative value'. From these simulations, the results report that the recommended novel algorithm is a straightforward, accurate, and superb tool to generate analytic-approximate solutions for Integral, and integro-differental equations of fractional order.

Buckling defect will appear on the outer surface of the deformed ring during constrained ring rolling (CRR) of aluminum alloy thin wall conical ring with inner high ribs (AATWCRIHR), if the geometrical dimension of the ribs doesn't match the wall thickness. To avoid the buckling defect, a quantitative method for characterizing the degree of the buckling defect is proposed using the area of buckling profile. Then an orthogonal experimental scheme was designed taking the width of the middle rib, thickness of wall, and height of the middle rib as design variables and defining the area of buckling profile as optimization objective. Subsequently, a quadratic polynomial response surface model was established by combining the optimization algorithm with the finite element method (FEM), and the geometrical dimension of the middle ribs of the deformed AATWCRIHR is optimized. Also the optimal parameter combination to minimize the area of buckling profile is obtained and verified using FE simulation. Results show that the AATWCRIHR after optimization doesn’t generate the buckling defect during constrained ring rolling, and it is proved that the quantitative buckling defect representation method and the optimization design method based on the response surface model and the finite element simulation results are feasible for the constrained ring rolling process of the AATWCRIHR.

A novel determination method using flow-through cartridge purification and ultra-high-performance liquid chromatography coupled to tandem mass spectrometry (UPLC-MS/MS) was developed for the identification and quantification of 30 mycotoxins (aflatoxin B1, B2, G1, G2, sterigmatocysin, T-2 toxin, diacetoxyscirpenol, roquefortine C, methylergonovine, ergocornine, lysergol, enniatin A, enniatin A1, enniatin B, enniatin B1, beauvericin, deoxynivalenol, 3-acetylDeoxynivalenol, 15-acetylDeoxynivalenol, patulin, verruculogen, neosolaniol, gliotoxin, HT-2 toxin, wortmannin, zearalenone, α-zearalenol, β-zearalenol, α-zearalanol, and β-zearalanol) in feedstuffs. Mycotoxins were extracted from sample by 0.1% formic acid aqueous solution/acetonitrile (16/84 v/v), then purified by a Cleanert® MC clean-up column. As a result, the pigments and other matrices were efficient removed from the sample extract solution. The purified eluate was collected, then evaporated and redissolved by 0.1% formic acid aqueous solution/acetonitrile (70:30 v/v) for UPLC-MS/MS detection. A BEH Shield RP18 chromatographic column was employed for separation of 30 mycotoxins in a total of 14 min. Multiple-reaction monitoring (MRM) mode was applied for qualitative and quantitative analysis, and matrix calibration curves obtained with the external-standard method was used for quantitation of target analytes. Under optimized conditions, the linearity range was from 2 to 1000 ng/g, and the limit of quantification of the developed method was from 2 to 50 ng/g. The recoveries of 30 mycotoxins spiked in urine samples were from 72.0% to 118.5%, and the relative standard deviation was below 20%. The method was also well approved by certified reference sample, and applied on the real feedstuff samples testing successfully.

Over the past decade and a half, dynamic functional imaging has revolutionized the neuroimaging field. Since 2009, it has revealed low dimensional brain connectivity measures, has identified potential common human spatial connectivity states, has tracked the transition patterns of these states, and has demonstrated meaningful alterations in these transition and spatial patterns in neurological disorders, psychiatric disorders, and over the course of development. Recently, researchers have begun to analyze this data from the perspective of dynamic system and information theory in the hopes of understanding how these dynamics support less easily quantified processes, such as information processing, cortical hierarchy, and consciousness. Consciousness, in particular, appears to be strongly linked to entropy production in the brain. Little attention has been paid to the effects of psychiatric disease on entropy production in the human brain, however. Even disorders characterized by substantial changes in conscious experience have not been widely analyzed from this perspective. We begin to rectify this by examining the complexity of subject trajectories in state space through the lens of information theory. Specifically, we identify a basis for the dynamic functional connectivity state space and track subject trajectories through this space over the course of the scan. The dynamic complexity of these trajectories is assessed along each dimension of the proposed basis space. Using these estimates, we demonstrate that schizophrenia patients display substantially simpler trajectories than demographically matched healthy controls, and that this drop in complexity concentrates along specific dimensions. We also demonstrate that entropy generation in at least one of these dimensions is linked to cognitive performance. Overall, results suggest great value in applying dynamic systems theory to problems of neuroimaging and reveal a substantial drop in the complexity of schizophrenia patients’ brain function.

The development and use of highly automated vehicles (HAV) in agriculture is a highly important task because of the lack of machine drivers and unsatisfactory level of their qualifications, reducing the impact of harmful factors on employees of agricultural enterprises. HAVs allow to avoid these problems: increase productivity and the efficiency of seasonal use of equipment, and reduce the impact of harmful factors on people. Modern HAVs in agriculture are based on the following methods: parallel driving according to geo coordinates without automatic turning and without obstacles tracking, and on technical vision without the use of a geographic information system (for example Cognitive AgroPilot) and a digital field map, which makes it impossible to generate the optimal path around the field.

The motion of Unmanned Surface Vehicles (USVs) is frequently disturbed by the ocean wind, wave and current. A poorly designed controller will lead to failures and even safety problems during actual navigation. In order to obtain satisfied control performance of the motion for the USVs, a Model Predictive Control (MPC) based on improved Nonlinear Disturbance Observer (NDO) is proposed. Firstly, the USV model is approximately linearized and MPC is designed for the multivariable system with constraints. In order to compensate the influence of disturbances, an improved NDO is designed, with which the calculation time for the MPC saved a lot. Finally, comparison experiments are conducted between the MPC with NDO and the MPC with improved NDO, and the results show that they have similar performance to the USVs. However, the proposed method has less parameter to be tuned and it is much more time-saving compared to the MPC with traditional NDO.

Deploying UAVs as aerial base stations is an exceptional approach to reinforce terrestrial infrastructure owing to their remarkable flexibility and superior agility. However, it is essential to design their flight trajectory effectively to make the most of UAV-assisted wireless communications. This paper presents a novel method for improving wireless connectivity between UAVs and terrestrial users through effective path planning. This is achieved by developing a goal-directed trajectory planning method using active inference. First, we create a global dictionary using TSPWP instances executed on various training examples. This dictionary contains letters representing available hotspots, tokens representing local paths, and words depicting complete trajectories and hotspot order. By using this world model, the UAV can understand the TSPWP’s decision-making grammar and how to use the available letters to form tokens and words at various levels of abstraction and time scales. With this knowledge, the UAV can assess encountered situations and deduce optimal routes based on the belief encoded in the world model. Our proposed method outperforms traditional Q-learning by providing fast, stable, and reliable solutions with good generalization ability.

In this paper, we investigated the trajectory of the massive particle in the vicinity of a general spherical symmetric black hole. Also, in the framework of general sphericalily symmetric black hole, Pseudo-Newtonian potential (PNP) and effective potentials has been investigated. As an example, static spherically symmetric black hole in f(R) gravity is considered and presented the brief discussion on the structure of spacetime and horizons. We calculated energy and angular momentum in the framework of general relativity as well as in Pseudo-Newtonian theory. A graphical comparison of angular momentum in this both framework has been studied.

This article addresses the question how the religious narrative identity and subjective religiosity change over the course of 15 years. The cases portrayed are deconverts who have changed their religious affiliations multiple times. It will be carved out what led to their deconversion and what remains as a core of their faith after they have turned away from organized religion for good. Interviews have been conducted at three time points and are analyzed using content analysis. It will become clear that the needs and expectations of the two individuals differ highly, as well as the reasons for turning away from a religious community; yet what is a common core in this joint faithful journey is their need to live their religiosity, now in a private setting.

In a previous paper\cite{simplified}, a variation of the Collision-time Statistics method was applied to identify the relevant perturbers for line broadening under the action of a constant magnetic field. As discussed, that version was simplified and inadequate for low magnetic field and/or large perturber mass (ions). The purpose of the present work is to augment the previous work, so that such cases, corresponding to the Larmor radius exceeding the maximum impact parameter, can be handed efficiently. The results may also be used to construct analytic, i.e. impact/unified models under the usual assumptions in these models.

Keyhole neurosurgery implies reaching a target area inside the brain through an entry point specified by the neurosurgeon. In order to avoid complications, a risk assessment procedure must be done to establish the minimum risk trajectory from the entry point to the target area. The neurosurgeon establishes the risk values for the brain structure according to the type of intervention. The preset brain structure risk value is used to assess the risk value for each voxel of the brain. This paper proposes an improved risk assessment methodology based on the sum of N maximum risk values for each voxel. Then, risk assessment for a trajectory is done by adding the risk of all voxels that are part of the path. The safest trajectory is defined as the trajectory with the lower risk. Our proposed search trajectory methodology includes a Genetic Algorithm (GA) for finding the safest trajectories. The use of a GA drastically reduces the number of trajectories to analyze, speeding up the planning procedure. The achieved results were qualified by expert neurosurgeons as satisfactory. Our proposed method allows neurosurgeons to calibrate the surgical planning system by allowing them to establish the risk brain structure and the risk value for each structure.

The adulteration of goat milk powder occurs frequently, cattle-derived and soybean-derived ingredients are common adulterants in goat milk powder. However, simultaneously and rapidly detecting cattle-derived and soybean-derived components is still a challenge. high throughput and efficient screening method for adulteration detection is need. In this study, a rapid method was developed to detect the adulteration of common cattle-derived and soybean-derived components simultaneously in goat milk powder by combining the CRISPR/ Cas12a system with recombinant polymerase amplification (RPA). A dual DNA extraction method was employed, primers and crRNA for dual detection were designed and screened, and a series of condition optimizations were carried out in this experiment. The optimized assay can rapidly detect cattle-derived and soybean-derived components in 40 min. The detection limits of both cattle-derived and soybean-derived components were 1% (w/w) for the mixed adulteration models. The established method was applied into a blind survey of 55 commercially available goat milk powder products. The results showed that 36.36% of the samples contained cattle-derived or soybean-derived ingredients, which revealed the noticeable adulteration situation in the goat milk powder market. This study realizes a fast flow of dual extraction, dual amplification and dual detection of cattle-derived and soybean-derived components in goat milk powder for the first time. It can be used for high-throughput and high-efficiency on-site primary screening of goat milk powder adulterants, and provide a technical reference for combating with food adulteration.

Microwave radiation diagnosis technology can detect thermal changes in skin tissue earlier than anatomical changes, but its detection accuracy is limited by non-target radiation interference in the measurement environment, additional measurement errors of system units, and energy scattering and transmission between skin tissues. This paper aims to address the scientific challenges of analyzing the forward and inversion modelling detection mechanism of layered accurate temperature measurement of human skin tissue based on multi-band. The study focuses on the construction of a pencil beam antenna optimization system, the optimization strategy of high-sensitivity correlated radiometer architecture, and the high-precision multi-band forward and inversion modelling detection algorithm. The key technologies include: (1) A new method of integrated modeling and multi-index optimization of antenna with high directivity and small aperture is proposed, and a priori knowledge-guided neural network of pencil beam distribution is constructed to realize the inversion model of antenna structural parameters; (2) The influence mechanism of high sensitivity correlated radiometer architecture error is analyzed, and a periodic phase shift error correction algorithm based on uniform polar circle is designed; (3) Combining deep learning theory and hyperparameter optimization framework, an iterative model is established, and the objective function modified by the penalty factor is defined to realize a new detection method combining forward and inversion. This paper presents a theoretical foundation for the industrialization of microwave radiation diagnostic technology.

(1) Background: Although diagnostic criteria for massive hemorrhage with organ dysfunction such as disseminated intravascular coagulation associated with delivery have been empirically established based on clinical findings, strict logic has yet to be used to establish numerical criteria. (2) Methods: A dataset of 107 deliveries with ≥2,000 g of blood loss, among 13,368 deliveries from nine national perinatal centers in Japan between 2020 and 2023 was obtained. Twenty-three patients had fibrinogen levels <170 mg/dl, which is the initiation of coagulation system failure per our previous reports. Three of these patients had hematuria. We used six machine learning methods to identify the borderline criteria dividing the fibrinogen/fibrin/fibrinogen degradation product (FDP) planes, using 15 coagulation fibrinolytic factors. (3) Results: The boundaries of hematuria development on a two-dimensional plane of fibrinogen and FDP were obtained. If the FDP–fibrinogen/3–60 (mg/dl) value is positive, this indicates hematuria; otherwise, the case is non-hematuria, as demonstrated by the support vector machine method that seemed the most appropriate. (4) Conclusions: The borderline criterion dividing the fibrinogen/FDP plane for patients with hematuria that could be considered organ dysfunction in massive hemorrhage during delivery was obtained using artificial intelligence, and this method seemed to be useful.

Abstract. This paper proposes a Second Order Terminal Sliding Mode (2TSM) approach to the trajectory tracking of Differential Drive Mobile Robot (DDMR). Within this cascaded control scheme, the 2TSM dynamic controller, at the inner most loop, tracks the robot’s velocity quantities; while a kinematic controller, at the outer most loop, regulates the robot’s positions. In this manner, chattering is greatly attenuated and finite time convergence is guaranteed by the second order TSM manifold which involves higher order derivatives of the state variables, resulting in inherently robust as well as fast and better tracking precision. The simulation results demonstrate the merit of the proposed control methods.

This article explores the intricate journey of neural progenitor cells from the ventricular zones of the embryonic brain, focusing on their pivotal role in the formation of rich club networks, which are integral to the brain's functional architecture. Initially, the ventricular zones, particularly the cerebral ventricular zone, serve as the primary sites for the proliferation and differentiation of neural progenitors, giving rise to various types of neurons and glial cells. We delve into the sequential migration patterns of these cells, emphasizing how early-migrating neurons, destined to form deeper cortical layers, establish extensive and robust connections, potentially evolving into rich club nodes. These nodes are characterized by their high-degree connectivity and serve as crucial hubs for integrating and disseminating information across disparate brain regions.The article further discusses the implications of this developmental pathway in the context of brain network efficiency, resilience, and cognitive function. We highlight how disruptions in early cell migration can lead to anomalies in rich club formation, drawing connections to various neurodevelopmental disorders such as autism, ADHD and schizophrenia. Additionally, the significance of rich club nodes in maintaining efficient information transfer and network resilience is elucidated, underscoring their role in supporting complex cognitive processes and overall brain dynamics.In summary, this article offers a comprehensive overview of the developmental trajectory from the ventricular zones to the establishment of rich club networks, providing insights into the fundamental processes that shape the brain's intricate connectivity and functional capabilities. Ric

To address the trajectory tracking issue for quadrotors working under the influence of external disturbances, a control scheme is designed for position and attitude trajectory tracking. Firstly, the quadrotor dynamic model is derived for control design. Secondly, adaptive integral backstepping control (AIBS) is employed in the position loop in which adaptive estimation is used to estimate the upper bounds of disturbances. Subsequently, a new adaptive backstepping fast nonsingular integral terminal sliding mode control (ABFNITSM) is proposed to follow desired Euler angles. The intro-duction of fast nonsingular terminal sliding mode and integral element is to realize fast convergence and accurate tracking. Dead zone technique is applied to minimize estimation errors. Besides, a saturation function is utilized to eliminate chattering phenomenon. Finally, simulation experiments are conducted under the Simulink environment. The proposed control is verified by comparing it with traditional integral terminal sliding mode control (ITSM) and integral backstepping control (IBS).

The goal of this study was to characterize the initial growth trajectory of Epicrates assisi, 1 Epicrates cenchria, and Epicrates crassus snakes raised in captivity. An exponential model with 2 parameters for birth weight (A) and growth rate (k) was fitted for each animal. There was a significant 3 difference A and k among the three species, the means (standard error) for A and k parameters were 4 31 (0.3) g and 0.0027 (0.00006) for E. assisi, 27.6 (0.6) g and 0.0046 (0.00013) for E. cenchria and 25.9 5 (1.4) g and 0.0033 (0.00027) for E. crassus. We showed a significative variability between species for 6 initial growth trajectory. In addition, we also demonstrated the existence of variability within species, 7 which can be used to change the growth trajectory of snakes, being a tool for selection and genetic 8 improvement.9

As the problem of air pollution becomes more urgent, the precise determination of the characteristics of air pollution and the associated mechanisms of transport of pollutants becomes an increasingly urgent task. The simulation results of the Copernicus Atmospheric Monitoring Service (CAMS) [18] were used as initial data sets. The area of the Crimean Peninsula (within coordinates 44.50 latitude, 33.50 longitude) in 23 - 26 January, 2019 was chosen for the study. That time concentrations of pollutants (aerosol particles with a diameter of 2.5 (PM2.5) and 10 micrometers (PM10)) steadily increased and reached the maximum value. Four kinds of meteorological data sets were used in the work. The first and second data sets were the global NCEP/NCAR and (ERA-5) re-analyses. The third and fourth meteorological data sets were obtained using the Weather tracking and Forecasting model (WRF) as domains on high-resolution grids: 9 km and 2 km. The analysis of meteorological data sets was carried out to analyze the nature of the air masses movement in the studied region. Using the HYSPLIT model simulation was carried out to determine area of the sources of negative impact. The emissions transfer from the supposed sources of negative impact on the Crimea region is analyzed. The sensitivity of simulation the inverse and direct trajectories of air masses transfer was studied based a set of simulation results. On the basis of HYSPLIT model the simulation was carried out separately using meteorological data sets having different spatial and temporal resolutions. In general, the simulation results allowed us to conclude that the HYSPLIT model in combination with high-resolution meteorological input data of the WRF model are good to identify the sources of possible negative effects on atmospheric air located at long distances from the study site.

Traffic congestion and frequent traffic accidents have become main problems affecting urban traffic. Effective location prediction of vehicle trajectory can help alleviate traffic congestion, reduce the occurrence of traffic accidents, and optimize the urban traffic system. Vehicle trajectory is closely related to the surrounding Points of Interest (POI). POI can be considered as the spatial feature and can be fused with trajectory points to improve prediction accuracy. A Local Dynamic Graph Spatiotemporal- Long Short-Term Memory (LDGST-LSTM) is proposed in this paper to extract and fuse the POI knowledge and realize next location prediction. POI semantic information is learned by constructing the traffic knowledge graph, and spatial and temporal features are extracted by combining Graph Attention Network (GAT) and temporal attention mechanism. Moreover, the weights of POI that influence location prediction are visualized to improve the interpretability of the proposed model. The effectiveness of LDGST-LSTM is verified on two datasets, including Chengdu taxi trajectory data in October 2018 and August 2014. The accuracy and robustness of the proposed model are significantly improved compared with the benchmark models.

Reducing the construction time for large logistics buildings can result in reduced construction management costs and economic gains from early operation. A large logistic building with a heavy load and long spans was constructed as a precast concrete (PC) structure, which requires the use of a sizable crane to lift heavy PC members. A basic analytical approach is employed to resolve potential errors in the planning of PC member erection and to build a systematic erection plan. Calculation techniques for the trajectory distance, which use the crane location, are applied to select an erection plan that minimizes crane work. A crane trajectory distance calculation algorithm for sustainable PC member erection in large logistic buildings with heavy loads and long spans has been developed. The developed model aids in creating simulation and optimization models to ensure minimal usage of cranes in the future and determining cost, construction time, CO2 emissions, and energy use for each erection plan.

The mRNA vaccines for SARS-CoV-2 have demonstrated efficacy and immunogenicity in the re-al-world setting. However, most of the research on vaccine immunogenicity has been centered on characterizing the antibody response, with limited exploration into the persistence of spike-specific memory B cell response. Here we monitored the durability of the memory B cell response and characterize the trajectory of spike-specific B cell phenotypes in healthy individuals who have received two doses of the BNT162b2 vaccine up to 9 months post-vaccination. To profile the spike-specific B cell response we applied the tSNE and Cytotree automated approaches. Our data showed the induction of spike-specific IgA+ and IgG+ plasmablasts and IgA+ activated cells 7 days after the second dose which disappeared 3 months later, while subsets of spike-specific IgG+ resting memory B cells became predominant 9 months after vaccination, and they were capable to differentiate into spike-specific IgG secreting cells when in vitro restimulated. Other subsets of spike-specific B cells, such as IgM+ or unswitched IgM+IgD+ or IgG+ double negative/atypical cells, were also elicited by the BNT162b2 vaccine and persisted up to month 9. The analysis of circulating spike-specific IgG, IgA and IgM was in line with the plasmablasts observed. The longitudinal analysis of the antigen-specific B cell response elicited by mRNA-based vaccines provides valuable insights into our understanding of the immunogenicity of this novel vaccine platform destined to a future widespread use, and it is crucial in guiding future decisions and vaccination schedules.

With the great development of intelligent transportation systems (ITS), travel time prediction has attracted the attentions of many researchers and a large number of prediction methods have been developed. However, as an unavoidable topic, the predictability of travel time series is the basic premise for travel time prediction has received less attention than the methodology. Based on the analysis of the complexity of travel time series, this paper defines travel time predictability to express the probability of correct travel time prediction and proposes an entropy-based method to measure the upper bound of travel time predictability. Multiscale entropy is employed to quantify the complexity of travel time series, and the relationships between entropy and the upper bound of travel time predictability are presented. Empirical studies are made with vehicle trajectory data in an express road section. The effectiveness of time scales, tolerance, and series length to entropy and travel time predictability are analysis, and some valuable suggestions about the accuracy of travel time predictability are discussed. Finally, the comparisons between travel time predictability and actual prediction results from two prediction models, ARIMA and BPNN, are conducted. Experimental results demonstrate the validity and reliability of the proposed travel time predictability.

The present study aims to develop an efficient numerical method for computing the diffraction and radiation of water waves with horizontal long cylindrical structures, such as floating breakwaters. A higher-order scheme is used to discretize geometry of the structure as well as the relevant physical quantities. As the kernel of this method, Wehausen’s free-surface Green function is calculated by a newly-developed Gauss-Kronrod adaptive quadrature algorithm after elimination of its Cauchy-type singularities. To improve computational efficiency, a Chebyshev approximation approach is applied to a fast calculation of the Green function that needs evaluation thousands of times. In addition, OpenMP parallel technique is used to the formation of influence coefficient matrix, which significantly reduces CPU time. Finally, computations are performed on wave exciting forces and hydrodynamic coefficients for the long cylindrical structures, either floating or submerged. Comparison with other numerical and analytical methods demonstrates good performance of the present method.

In this work we looked for a stable and accurate procedure to perform feature selection in datasets with a much higher number of predictors than individuals, as in Genome-Wide Association Studies. Due to the instability in feature selection when many potential predictors are measured, a variable selection procedure is proposed that combines several replications of shrinkage regression models. A weighted formulation is used to define the final predictors. The procedure is applied to investigate Single Nucleotide Polymorphisms (SNPs) predictors associated to Alzheimer’s disease in the Alzheimer’s disease Neuroimaging Initiative (ADNI) dataset. Two data scenarios are investigated: one considering only the set of SNPs and another with the covariates age, sex, educational level and APOE4 genotype. The SNP rs2075650 and the APOE4 genotype are given as risk factors for AD, which is in line with the literature, and other four new SNPs are pointed, opening new hypotheses for in vivo analyses. These experiments demonstrate the potential of the new method for stable feature selection.

In this paper we describe a method which combines sentiment analysis with machine learning techniques and/or multivariate statistical analysis. By applying this methodology it is possible to classify a collection of texts into two or more groups or clusters. On the basis of a number of previously defined clusters, the novelty of the outlined approach is the use of the sentiment analysis results as input to the machine learning model or multivariate statistical analysis. Once the classifier has been obtained, we can assign a given text into one of the pre-established clusters. The groups or clusters can represent different time periods, classes of texts transcribed from different conversations, etc. The method is illustrated through an example taken from one of the two studies in which we have applied this methodology. In one of the studies, the method was used to classify press news of a volcanic eruption, while in the other study it was used to classify the conversations recorded between a chatbot with different kinds of speakers (humans or chatbots). This last study was the seminal work in which we introduced this methodology.

The thesis proposes a argument that a mass point moving in a horizontal circle on the Earth's surface can generate a radial centrifugal force of the Earth's center of mass, thus realizing an unconventional anti-gravity path. And through the theoretical analysis of the difference in the distribution of gravitational acceleration at different latitudes caused by the rotation of the earth, and the centrifugal force of a mass point moving in a horizontal circle on the earth's surface is analyzed, the validity of the argument is demonstrated. At the same time, the paper puts forward two possible basic principles, and makes theoretical analysis and demonstration. Conceive of the concrete experimental verification of principle two is proposed. Four technical schemes for antigravity ascent are proposed and basic analysis is made. On the premise of not fully considering the practical technical ability, it is theoretically proved that three of them have realistic operability and development potential. In theory, this paper opens up a different way of anti-gravity for human beings, which will bring new ideas and prospects for human beings to get rid of the bondage of gravity.

Brushless Synchronous Machines (BSM) are replacing conventional synchronous machines with static excitation in generation facilities due to the absence of sparking and lower maintenance. However, this excitation system makes challenging measuring electric parameters in the rotor. This fact highly difficult the detection of ground faults, which are the most common type of electrical fault in electric machines. In this paper, a ground fault detection method for BSM is proposed. It is based on an inductive AC/DC rotating current sensor installed in the shaft. In case of a ground fault in the rotating parts of the BSM, a fault current will flow through the rotor’s sensor, inducing voltage in its stator. Analyzing the frequency components of the induced voltage the detection of a ground fault in the rotating elements is possible. The ground faults detection method proposed covers the whole rotor and discern between DC and AC sides. To corroborate the detection method, experimental tests have been performed using a prototype of this sensor connected to laboratory synchronous machines achieving satisfactory results.

Cobalt oxide nanoparticles are promising candidates for various kinds of practical application. The interest of researchers and scientists in these nanoparticles is due to their unique physical and chemical properties such as density, melting point, magnetic characteristics and band gap. The need to develop high performance and low-cost technologies for obtaining Co3O4 nanoparticles is a major reason in research in this area. The widespread commercial use of Co3O4 nanoparticles will open doors for numerous novel cost effective technologies, which are mostly dependent on the type of synthesis method and raw materials. A possible solution to this problem is to use Cobalt nitrates as a cost-effective precursor using the solution combustion method. Solution combustion synthesis method is one of the best candidate methods that have the potential for high performance and is also cost-effective. This review examines recent progress in the synthesis of Co3O4 nanoparticles by solution combustion method and underscores their significance across various fields, highlighting the need for further research and exploration of their multifaceted applications. In addition, the most recent advancements in the applications of Co3O4 nanoparticles in sensitive sensing, catalysis, supercapacitors/batteries and water treatment/pollutants removal are reviewed and described, focusing on current trends, challenges, and future outlooks.

Hybrid forecasting methods have emerged as a solution surpassing the limitations of both statistical and deep learning approaches. While the first emphasize the significance of variables, they often produce worse forecasting results when compared to newer techniques. In contrast, deep learning models remain enigmatic "black boxes" in terms of interpretability, although achieving better results in forecasting. This article introduces the Comprehensive Cross-Correlation and Lagged Linear Regression Deep Learning (CCLR-DL) framework, designed to harness the best of both approaches, enhancing forecasting accuracy while retaining model interpretability through a feature selection process. CCLR-DL blens cross-correlation analysis, lagged multiple linear regression and granger's causality procedures with deep learning architectures based on LSTM. In a practical demonstration, CCLR-DL was applied to a real database of clinical visits associated to diagnoses in Catalonia, Spain (tracking a population of 6.3 million patients during 10 years). Predicting visits enables the healthcare managers to be ready for future demand shifts. Results demonstrate a consistent and substantial improvement over standalone statistical and deep learning methods when predicting healthcare demand. This hybrid approach not only showcases its efficacy but also offers a promising solution to the challenge of balancing predictive accuracy with model explicability. In this context, this work aims to design and validate a method for feature selection and forecasting of multivariate high dimensional time series datasets not only to improve prediction accuracy but also to model transparency by identifying a subset of variables that improve predictions and G-cause the target variable.

In view of the problem that the output thrust of solenoid actuator is affected by various factors and is difficult to calculate in actual working conditions, this paper proposes a semi-analytical model constructed by magnetic field subdomain method with internal and external boundary conditions in cylindrical coordinate system for calculation, and the general solution equations of magnetic vector potential for each subdomain are derived and solved by MATLAB. Taking a push-pull electromagnet as an example, the finite element simulation and experimental comparative analysis are carried out. The correctness and applicable conditions of the subdomain method are illustrated by comparing the gradient plot of magnetic vector potential, inductance curve and electromagnetic force. By calculating the output thrust after considering the core gravity, spring force and electromagnetic force, it is shown that this method has the advantage of computational flexibility compared with the finite element method, and it is easier to write special algorithms according to various working conditions to calculate the important parameters in engineering applications.

The present study analyzed the effect of temperature, pH, retention time, pretreatment and mixing ratio on the anerobic digestion process. The parameters during the anaerobic co digestion of cow manure and food waste were then optimized using the Taguchi experimental design method. ANOVA is carried out to find the significant parameters which influence the biogas production. Experimental tests were carried out at laboratory scale reactors kept at different temperatures (28 °C, 35 °C, and 50 °C). The specific methanogenic Performance (SMP) during anerobic digestion at higher temperatures was characterized with the analysis of acetate, propionate, butyrate, hydrogen, glucose, and formate. The improvement of biogas production with different pre-treatment i.e., ultrasonic, autoclave, and microwave techniques also analysed. The results showed that reactor that maintained at 35 °C showed the highest biogas production. While the reactor that maintained at lower temperature (28 °C) produced the lower volume of biogas. As the retention time increases, the amount of biogas produced increases. Methanogenic activities of microorganisms reduced at higher temperature conditions (65 °C). Biogas production increased by 28.1%, 20.23%, and 13.27 % when the of substrates treated with ultrasonic, autoclave, and microwave, respectively, compared to the untreated substrate. The optimized condition for the highest biogas production during anaerobic co digestion of food waste and cow manure is temperature of 35 °C, pH of 7 and mixing ratio (CM: FW=1.5:0.5). ANOVA showed that temperature is the most important input parameter affecting biogas production, followed by mixing ratio.