Search Results (1,167)

In complex urban traffic scenes, reliable pedestrian trajectory prediction is essential for Automated and Connected Electric Vehicles (ACEVs) and active safety systems. Despite recent progress, many existing approaches still suffer from limited long-term prediction accuracy, redundant temporal features, and high computational cost, which restricts their deployment on vehicles with constrained onboard resources. To address these issues, this paper presents a lightweight trajectory prediction framework named BiTraP-DGF. The model adopts parallel Gated Recurrent Unit (GRU) and Long Short-Term Memory (LSTM) temporal encoders to extract motion information at different time scales, allowing both short-term motion changes and longer-term movement tendencies to be captured from observed trajectories. A conditional variational autoencoder (CVAE) with a bidirectional GRU decoder is further employed to model multimodal uncertainty, where forward prediction is combined with backward goal estimation to guide trajectory generation. In addition, a gated sparse attention mechanism is introduced to suppress irrelevant temporal responses and focus on informative time segments, thereby reducing unnecessary computation. Experimental results on the JAAD dataset show that BiTraP-DGF consistently outperforms the BiTraP-NP baseline. For a prediction horizon of 1.5 s, CADE is reduced by 20.9% and CFDE by 22.8%. These results indicate that the proposed framework achieves a practical balance between prediction accuracy and computational efficiency for autonomous driving applications. Full article

Arctic-specific limitations, including a limited number of visible satellites with unfavorable distribution, and the fact that during Arctic navigation, Global Navigation Satellite System (GNSS) signals suffer from significant multipath interference caused by sea ice, icebergs, ship superstructures, and low-elevation satellite signals reflected off the sea surface, have rendered conventional positioning solutions inadequate for maritime navigation safety requirements. To address these challenges, this paper implements a vector tracking loop (VTL) architecture incorporating forward–backward Kalman filtering to improve the estimation accuracy of carrier and code phase errors while proposing a scalar sequential integrity monitoring algorithm that enables identification and exclusion of faulty satellite signals to further enhance position estimation accuracy. The faulty satellite signals refer to satellite signals containing significant deviations that cannot be corrected by conventional models. The experiment uses a navigation scheme with commercial receivers as a reference. To verify the effectiveness of the proposed method at different latitudes, it was tested with real-world data from the Arctic; two sets of tests were conducted at latitudes between 70 and 80° and above 80°. The results show that the optimized navigation method improved positioning accuracy by 65.9% and 56.8% compared with existing methods in the two test groups, respectively, effectively enhancing positioning accuracy in the Arctic environment. Full article

Background/Objectives: We aimed to evaluate the validity and reliability of the Korean version of the Rushton Moral Resilience Scale–16™ (RMRS-16™) for nurses. Methods: The RMRS-16™ was translated into Korean using a forward–backward translation process. Data were collected from 417 nurses working in five tertiary and three general hospitals in South Korea. Content validity was assessed using the content validity index. Construct validity was examined through exploratory and confirmatory factor analyses. Convergent validity was evaluated using Pearson correlation coefficients with resilience and known-groups validity was examined across burnout levels using analysis of variance and post hoc tests. Internal consistency reliability was assessed using Cronbach’s α. Results: Exploratory factor analysis identified four factors that explained 56.45% of the cumulative variance: response to moral adversity, relational integrity, personal integrity, and moral efficacy. Confirmatory factor analysis demonstrated an acceptable model fit (χ²/df = 1.77, standardized root mean square residual = 0.05, root mean square error of approximation = 0.06, goodness-of-fit index = 0.91, comparative fit index = 0.94, Tucker–Lewis index = 0.93), and both convergent and discriminant validity were supported. Moral resilience was positively correlated with resilience and differed significantly by burnout level. The total scale showed satisfactory internal consistency in the full sample (n = 417, Cronbach’s α = 0.86). Conclusions: The RMRS-16™ is a valid and reliable instrument for South Korean hospital practice. It can be used in intervention studies to assess and strengthen moral resilience in nursing practice. Full article

Background/Objectives: People with Parkinson’s disease (PwPD) exhibit impairments in postural responses to perturbations, increasing their risk of falls. While transcranial direct current stimulation (tDCS) has been shown to enhance postural responses in PwPD, its effects considering history of falls remain unclear. Thus, we aimed to analyse the effect of tDCS on postural responses after external perturbation in PwPD with and without a history of falls. Methods: Twenty-two PwPD were distributed into two groups—faller (n = 12) and non-faller (n = 10)—based on their history of falls over the 12 months preceding the experiment. A 20 min anodal tDCS was applied to the primary motor cortex (M1) under two conditions (2 mA and sham), performed on two different visits (at least 2 weeks apart) with a randomised order. Seven trials with temporally unpredictable external perturbation (i.e., backward translation of the support base) were performed after tDCS. Electromyographic (i.e., medial gastrocnemius (MG) onset latency, magnitude of muscle activation of MG and tibialis anterior (TA), and MG/TA coactivation index) and centre of pressure (CoP) parameters (i.e., range of CoP, peak of CoP velocity, and recovery time) were analysed to assess postural response. A two-way ANOVA (Group × Stimulation Condition) was performed. Results: Both groups had shorter recovery time (determined by CoP) and MG onset latency in the active vs. sham condition. Conclusions: The results of our pilot study suggest that a single 20 min tDCS session (2 mA) applied over M1 enhances postural responses similarly in PwPD with and without a history of falls in the past year. Full article

Background/Objectives: Diabetes is major metabolic disorder and rapidly increasing public health problem globally. The greatest way to reduce diabetic complications is adequate knowledge about the condition. Hence, the primary objectives of this study were to evaluate the psychometric properties of the Simplified Diabetes Knowledge Test—Arabic version (SDKT-A) among Iraqi insulin-dependent diabetic patients. Additionally, the secondary objectives were to assess the associated independent variables and the risk of atherosclerosis and cardiovascular risk event by using atherogenic indices and lipid ratios with the SDKT-A. Methods: A cross-sectional, descriptive study was conducted in primary healthcare clinics. The SDKT was translated into Arabic using forward–backward translation, reconciliation, and pilot testing. Thereafter, psychometric properties of the SDKT-A were evaluated depending on different criteria. Atherogenic indices of Castelli risk indices I and II (CRI-I and II), triglyceride/HDL ratio, non-HDL-C ratio, atherogenic coefficient (AC), and triglyceride–total cholesterol–body weight index (TCBI) were calculated using specific formulas. Results: The SDKT-A questionnaire showed acceptable readability and validity. Cronbach’s alpha test (95% confidence interval) was 0.662 (0.59–0.73). The Pearson correlation coefficient of reliability for test–retest was found to be 0.659. The item difficulty index for most items was between 0.237 and 0.877. The point biserial correlation values ranged from 0.028 to 0.535 with Ferguson’s sigma value equal to 0.962. The content validation results showed a significant content validity ratio (CVR) value for most of the questions, ranging from 0.8 to 1. The content validity index (CVI) value for SDKT-A was found to be 0.98, which showed good agreement between experts. In addition, the exploratory factor analysis with promax rotation identified four domains for the final 20 items of the SDKT-A that explained 41.83% of the scale total variance. The mean score of the SDKT-A was 11.09 ± 3.40. The total score of the SDKT-A was positively and significantly correlated with education level (r = 0.322, p < 0.01). In addition, the total scores of the SDKT-A were negatively and significantly correlated with glycemic control, age, CRI-I, CRI-II, triglyceride/HDL ratio, AC, non-HDL-C ratio, and TCBI. Furthermore, the glycemic control (HbA1c) was positively and significantly correlated with the preventive measures factor (r = 0.175, p < 0.05), and were negatively and significantly correlated with the lifestyle and modification factor (r = −0.169, p < 0.05), diet and monitoring factor (r = −0.158, p < 0.05), and awareness factor (r = −0.149, p < 0.05). Conclusions: This study showed acceptable psychometric properties for the SDKT-A, with low levels of knowledge of diabetic disease in the sample population. Finally, comprehensive and interactive educational programs regarding lifestyle and modification, diet, and monitoring and awareness in primary healthcare centers in Iraq are warranted. Full article

In this study, a three-dimensional (3D) model is developed based on an actual small forestry crawler tractor, to analyze its overturning and rollover behaviors, and a corresponding simulation model is constructed. The accuracy of the 3D model is validated by comparing its dimensions and center of gravity with those of the physical tractor, and the fidelity of the simulation model is verified using static sidelong falling angle, minimum turning radius, and driving tests. The developed simulation framework was employed to investigate the dynamic behavior of the small forestry crawler tractor, focusing on roll and pitch angular velocities across different obstacle heights, slope angles, and driving speeds. Backward rollover was not observed within the tractor’s realistic operating speed range, indicating that backward rollover is not the dominant risk mode. In contrast, lateral overturning occurs under all driving scenarios, and increases in driving speed and obstacle height lead to higher roll angular velocities, increasing the risk of lateral overturning. Across all conditions, the likelihood of lateral overturning surges when the roll angular velocity enters the 80–100°/s range, with obstacle height exerting the greatest influence. In conclusion, the small forestry crawler tractor is more prone to lateral overturning than backward rollover when driving on inclined surfaces. A distinct threshold roll angular velocity is identified as the onset point of lateral overturning, which will vary according to the tractor’s specifications. This study is a quantitative study of a small forestry crawler tractor and does not correlate with a full-scale tractor. While angular velocity values vary during lateral overturning and backward rollover, this study was conducted to identify trends under various driving conditions. Further work is required to apply the proposed analysis methodology to full-scale agricultural and forestry machinery and validate it with real-world operational data. Full article

In dialogue, laughter is a frequent non-verbal signal that can precede, follow, or overlap its antecedent—the laughable. Furthermore, the time alignment between the laughter and the laughable is dependent on who produces the laughable, whether laughter overlaps or not with speech and the communicative act performed. Laughter can interrupt either one’s own or one’s conversational partners’ utterances and, like other well-studied features of dialogue such as repair and split utterances, this interruption does not necessarily occur at phrase boundaries. Similarly, much like repair and other feedback like backchannels, laughters can be categorised as forward-looking or backward-looking. Given these parallels, we propose an analysis of how laughter can be processed and integrated using a Dynamic Syntax (DS) model, which already has well-motivated accounts of repair, split utterances, and feedback. We present a corpus study of laughter in dialogue, as well as a model using Dynamic Syntax and Theory of Types with Records (DS-TTR). Analogously to pronouns and ellipsis, our approach uses underspecification to account for laughter types that are different in processing terms as anaphoric or cataphoric, and demonstrates how laughter is processed incrementally as an utterance unfolds. Our analysis covers ≈87% of the annotated corpus data. Full article

This paper presents a dual four-port circularly polarized (CP) MIMO antenna based on substrate integrated waveguide (SIW) technology for sub-6 GHz applications. The design consists of two identical four-port SIW-based CP-MIMO antennas arranged in a mirror-symmetric configuration with an air gap of 15 mm. Each antenna employs four symmetrically arranged cross-shaped SIW patches excited by coaxial probes. Bidirectional radiation is achieved by applying a 180° phase difference between corresponding ports of the mirror symmetric configuration, referred to as the Backward-Radiating Unit (BRU) and the Forward-Radiating Unit (FRU). The bidirectional radiation mechanism is supported by array-factor-based theoretical modelling, which explains the constructive and destructive interference under phase-controlled excitation. To ensure high isolation and stable polarization performance, the antenna design incorporates defected ground structures, inter-element decoupling strips, and vertical metallic vias. Simulations indicate an operating band from 5.1 to 5.4 GHz. Measurements show a −10 dB bandwidth from 5.25 to 5.55 GHz, with the frequency shift attributed to fabrication tolerances and measurement uncertainties. The antenna achieves inter-port isolation better than −15 dB. A 3 dB axial-ratio bandwidth is maintained across the operating band. Measured axial-ratio values remain below 3 dB from 5.25 to 5.55 GHz, while simulations predict a corresponding range from 5.1 to 5.4 GHz. The proposed configuration achieves a peak gain exceeding 4 dBi and maintains an envelope correlation coefficient below 0.05. These results confirm its suitability for CP-MIMO systems with controlled spatial coverage. With a physical size of 0.733λ₀ × 0.733λ₀ per array, the proposed antenna is well-suited for vehicular and space-constrained wireless systems requiring bidirectional CP-MIMO coverage. Full article

For the first time, this paper introduces Nabla fractional calculus into the distributed Nash equilibrium (NE) seeking problem of aggregative games (AGs) with partial decision information in undirected communication networks, and proposes two novel fractional-order distributed algorithms. In the considered setting, each agent can access to only local information and collaboratively estimates the global aggregate through communication with its neighbors. Both algorithms adopt a backward-difference scheme followed by an implicit fractional-order gradient descent step. One updates local aggregate estimates via fractional-order dynamic tracking and the other uses fractional-order average dynamic consensus protocols. Under standard assumptions, convergence of both algorithms to the NE is rigorously proved using nabla fractional-order Lyapunov stability theory, achieving a Mittag-Leffler convergence rate. The feasibility of the developed schemes is verified via numerical experiments applied to a Nash-Cournot game and the coordination control of flexible robotic arms. Full article

Objectives: We aimed to assess sex differences in benefits from cardiac rehabilitation and the impact of comorbidities. Methods: We analyzed 3239 individuals with cardiovascular diseases (81.2% males) who participated in a three-week cardiac rehabilitation program at Bad Schallerbach center (Upper Austria). Training success was measured by maximal oxygen consumption (VO₂ max). Sex-specific differences in baseline characteristics were assessed using t-tests/chi² tests. Associations between covariates and the outcome were evaluated with baseline-adjusted univariate analysis of variance/linear regression models. Covariates significant at α = 0.05 were included in a multivariable linear regression model, which was refined by backward selection based on the best Akaike information criterion. The final model was used to test the relationship between sex and the outcome. Results: The mean age and BMI were 63.9 years and 27.5 kg/m² for males and 67.2 years and 27.4 kg/m² for females. Males had higher baseline VO₂ max compared to females (26.18 mL/min/kg vs. 23.55 mL/min/kg, p < 0.001), and a greater change in VO₂ max after rehabilitation was seen in males compared to females (3.64 mL/min/kg vs. 2.77 mL/min/kg, p < 0.001). Female sex was associated with a 1.4-point-lower change in VO₂ max after adjustment for comorbidities, sex, and training intensity (β coefficients = −1.409; CI 95% −0.410, −0.104; p < 0.001). Heart valve surgery (β coefficients = −0.90; CI 95% −1.444, −0.366; p < 0.001) and diabetes mellitus (β coefficients = −1.207; CI 95% −1.926, −0.488; p < 0.0001) were associated with lower changes in VO₂ max in both sexes. Conclusions: Our findings suggest that females and individuals with specific comorbidities benefit less from cardiac rehabilitation and support the creation of personalized rehabilitation programs. Full article

Automotive dashboard cameras are widely used to record driving events and often serve as critical evidence in accident investigations and insurance claims. However, the availability of free and low-cost editing tools has increased the risk of video tampering, underscoring the need for reliable methods to verify video authenticity. Temporal tampering typically involves manipulating frame order through insertion, deletion, or duplication. This paper proposes a computationally efficient framework that transforms high-dimensional video into compact one-dimensional temporal signals and learns tampering patterns using a shallow one-dimensional convolutional neural network (1D-CNN). Five complementary features are extracted between consecutive frames: frame-difference magnitude, structural similarity drift (SSIM drift), optical-flow mean, forward–backward optical-flow consistency error, and compression-aware temporal prediction error. Per-video robust normalization is applied to emphasize intra-video anomalies. Experiments on a custom dataset derived from D²-City demonstrate strong detection performance in single-attack settings: 95.0% accuracy for frame deletion, 100.0% for frame insertion, and 95.0% for frame duplication. In a four-class setting (non-tampered, insertion, deletion, duplication), the model achieves 96.3% accuracy, with AUCs of 0.994, 1.000, 0.997, and 0.988, respectively. Efficiency analysis confirms near real-time CPU inference (≈12.7–12.9 FPS) with minimal memory overhead. Cross-dataset tests on BDDA and VIRAT reveal domain-shift sensitivity, particularly for deletion and duplication, highlighting the need for domain adaptation and augmentation. Overall, the proposed multi-feature 1D-CNN provides a practical, interpretable, and resource-aware solution for temporal tampering detection in dashcam videos, supporting trustworthy video forensics in IoT-enabled transportation systems. Full article

In modern sports, straight-line sprinting alone is insufficient for assessing overall sprint performance, as athletes must also decelerate and change direction efficiently. Existing methods lack a single metric that integrates all abilities, enabling holistic assessment. This study aimed to develop a comprehensive and novel measurement of multidirectional sprinting ability. Fifty-four university athletes (21.0 ± 1.5 years; 69.6 ± 9.1 kg; 172.6 ± 7.8 cm) performed linear sprints, decelerations, and 45°, 90°, and 135° change of direction (COD) tests in both directions over 30 m. Sprint accelerations and decelerations were recorded using a Stalker ATS II radar gun, while COD times were measured with stationary time gates. Sprint velocities were used to generate a multidirectional sprint area (MDSA), which was divided into forward, backward, left, and right sections. The MDSA method is calculated as the area of the octagonal polygon created by plotting eight velocity vectors from different angles of sprints. Paired t-tests compared area differences across directions, and ANOVA tests were used to compare sporting codes and sex. The resulting model reported differences across sporting codes (p < 0.001), sex (p < 0.001), the total area value (p < 0.001), and total area percentage (p < 0.001). The results showed a significant difference between forward and backward accelerations (p < 0.001), but no significant difference between left and right movements (p = 0.244). The MDSA method offers a reliable, quantitative intra-session approach for assessing athletes’ multidirectional sprint abilities by calculating the octagonal area on the basis of velocity data. This holistic analysis identifies asymmetries and performance weaknesses, providing valuable insights for coaches. Full article

Vista landscapes of historic cities embody unique spatial order and cultural memory, and the scientific quantification of their visual quality presents a common challenge for both heritage conservation and urban renewal. Focusing on the Beijing Central Axis, this study integrates VR panoramic technology with the SBE-SD evaluation method to develop a visual quality assessment framework suitable for vista landscapes of historic cities, systematically evaluating sectional differences in scenic beauty and identifying their key influencing factors. Thirteen typical viewing places and 17 assessment points were selected, and panoramic images were captured at each point. The evaluation framework comprising 3 first-level factors, 11 secondary factors, and 24 third-level factors was established, and a corresponding scoring table was designed through which students from related disciplines were recruited to conduct the evaluation. After obtaining valid data, scenic beauty values and landscape factor scores were analyzed, followed by correlation tests and backward stepwise regression. The results show the following: (1) The scenic beauty of the vista landscapes along the Central Axis shows sectional differentiation, with the middle section achieving the highest scenic beauty value, followed by the northern section, with the southern section scoring the lowest; specifically, Wanchunting Pavilion South scored the highest, while Tianqiao Bridge scored the lowest. (2) In terms of landscape factor scores, within spatial form, color scored the highest, followed by texture and scale, with volume scoring the lowest; within marginal profile, integrity scored higher than visual dominance; within visual structure, visual organization scored the highest, followed by visual patches, with visual hierarchy scoring the lowest. (3) Regression analysis identified six key influencing factors, ranked in descending order of significance as follows: color coordination degree of traditional buildings, spatial openness, spatial symmetry, hierarchy sense of buildings, texture regularity of traditional buildings, and visual dominance of historical landmark buildings. This study establishes a quantitative assessment pathway that connects subjective perception and objective environment with a replicable process, providing methodological support for the refined conservation and optimization of vista landscapes in historic cities while demonstrating the application potential of VR panoramic technology in urban landscape evaluation. Full article

Background/Objectives: Chronic total occlusion (CTO) is one of the most complex forms of coronary artery disease, and myocardial perfusion in patients with CTO largely depends on the adequacy of coronary collateral circulation (CCC). Identifying simple and non-invasive electrocardiographic markers associated with impaired collateralization remains clinically important. The R-wave peak time (RWPT), a surface electrocardiography (ECG) marker representing the time to peak R-wave deflection and an electrocardiographic surrogate of early intraventricular conduction, may provide insight into ischemia-related ventricular activation delay. The aim of this study was to evaluate whether RWPT is associated with poor CCC in patients with CTO. Methods: This cross-sectional observational study included 92 consecutive patients with CTO and complete clinical, angiographic, and 12-lead ECG data. Patients were categorized according to CCC adequacy into good (n = 52) and poor (n = 40) CCC groups. Demographic, laboratory, angiographic, and ECG parameters were compared. Variables showing significant differences were subjected to univariate analysis, followed by multivariate logistic regression using a backward stepwise selection method. Statistical significance was set at p < 0.05. Results: Patients with poor CCC were significantly older and exhibited longer QRS duration and prolonged RWPT, whereas triglyceride levels were significantly lower. In multivariate analysis, both age (OR: 1.058; 95% CI: 1.005–1.114; p = 0.033) and RWPT (OR: 1.069; 95% CI: 1.013–1.128; p = 0.015) were significantly associated with poor CCC. Conclusions: RWPT may provide adjunctive, non-invasive information regarding collateral adequacy rather than serving as a definitive predictive marker. As an easily obtainable ECG parameter, RWPT may offer incremental diagnostic information when interpreted alongside clinical and angiographic findings in patients with CTO. Full article

Stick–slip piezoelectric actuators are widely used in high-precision positioning systems, yet their performance is limited by backward motion during the slip stage. Although the effects of preload force, driving voltage, and driving frequency have been extensively examined, the specific influence of mover mass and its coupling with these parameters remains insufficiently understood. This study aims to clarify the mass-dependent stepping behavior of stick–slip actuators and to provide guidance for structural design. A compact stick–slip actuator incorporating a lever-type amplification mechanism is developed. Its deformation amplification capability and structural reliability are verified through motion principle analysis, finite element simulations, and modal analysis. A theoretical model is formulated to describe the inverse dependence of backward displacement on the mover mass. Systematic experiments conducted under different mover masses, preload forces, voltages, and frequencies demonstrate that the mover mass directly affects stepping displacement and interacts with input conditions to determine motion linearity and backward-slip suppression. Light movers exhibit pronounced backward motion, whereas heavier movers improve smoothness and stepping stability, although excessive mass slows the dynamic response. These results provide quantitative insight into mass-related dynamic behavior and offer practical guidelines for optimizing the performance of stick–slip actuators in precision motion control. Full article