Search Results (698)

Laser local forming is an effective method for reshaping optical glass, yet the deformation of the material during the cooling phase remains poorly understood. This study investigates the dynamic evolution of the molten pool, specifically focusing on the transition from an initial convex shape to a final “M-shaped” profile. A combined approach using thermal-fluid simulation and high-speed imaging experiments was employed to track the surface changes throughout the heating and cooling cycles. The results show that while the surface bulges outward during laser irradiation, the material redistributes after the laser is switched off due to non-uniform cooling and volumetric shrinkage. The specific roles of viscosity and surface tension in driving this reverse flow were identified. Furthermore, the study established a quantitative model linking laser parameters to the final surface dimensions, providing a reliable tool for predicting and controlling the precision of glass forming. Full article

HiRo-SLAM is a visual-inertial SLAM system developed to achieve high accuracy and enhanced robustness. To address critical limitations of conventional methods, including systematic biases from imperfect camera models, uneven spatial feature distribution, and the impact of outliers, we propose a unified optimization framework that integrates four key innovations. First, Precise Camera Projection Modeling (PCPM) embeds a fully differentiable camera model in nonlinear optimization, ensuring accurate handling of camera intrinsics and distortion to prevent error accumulation. Second, Visibility Pyramid-based Adaptive Non-Maximum Suppression (P-ANMS) quantifies feature point contribution through a multi-scale pyramid, providing uniform visual constraints in weakly textured or repetitive regions. Third, Robust Optimization Using Graduated Non-Convexity (GNC) suppresses outliers through dynamic weighting, preventing convergence to local minima. Finally, the Point-Line Feature Fusion Frontend combines XFeat point features with SOLD2 line features, leveraging multiple geometric primitives to improve perception in challenging environments, such as those with weak textures or repetitive structures. Comprehensive evaluations on the EuRoC MAV, TUM-VI, and OIVIO benchmarks show that HiRo-SLAM outperforms state-of-the-art visual-inertial SLAM methods. On the EuRoC MAV dataset, HiRo-SLAM achieves a 30.0% reduction in absolute trajectory error compared to strong baselines and attains millimeter-level accuracy on specific sequences under controlled conditions. However, while HiRo-SLAM demonstrates state-of-the-art performance in scenarios with moderate texture and minimal motion blur, its effectiveness may be reduced in highly dynamic environments with severe motion blur or extreme lighting conditions. Full article

Flow dynamics in strongly curved channels with submerged vegetation play a crucial role in riverine ecological processes and morphodynamics, yet the combined effects of sharp curvature and rigid submerged vegetation remain inadequately understood. This study presents a comprehensive experimental investigation into the influence of rigid submerged vegetation on the flow characteristics within a 180° strongly curved channel. Laboratory experiments were conducted in a U-shaped flume with varying vegetation configurations (fully vegetated, convex bank only, and concave bank only) and two vegetation heights (5 cm and 10 cm). The density of vegetation ϕ was 2.235%. All experimental configurations exhibited fully turbulent flow conditions (R_e > 60,000) and subcritical flow regimes (F_r < 1), ensuring gravitational dominance and absence of jet flow phenomena. An acoustic Doppler velocimeter (ADV) was employed to capture high-frequency, three-dimensional velocity data across five characteristic cross-sections (0°, 45°, 90°, 135°, 180°). Detailed analyses were performed on the longitudinal and transverse velocity distributions, cross-stream circulation, turbulent kinetic energy (TKE), power spectral density, turbulent bursting, and Reynolds stresses. The results demonstrate that submerged vegetation fundamentally alters the flow structure by increasing flow resistance, modifying the velocity inflection points, and reshaping turbulence characteristics. Vegetation height was found to delay the manifestation of curvature-induced effects, with taller vegetation shifting the maximum longitudinal velocity to the vegetation canopy top further downstream compared to shorter vegetation. The presence and distribution of vegetation significantly impacted secondary flow patterns, altering the direction of cross-stream circulation in fully vegetated regions. TKE peaked near the vegetation canopy, and its vertical distribution was strongly influenced by the bend, causing the maximum TKE to descend to the mid-canopy level. Spectral analysis revealed an altered energy cascade in vegetated regions and interfaces, with a steeper dissipation rate. Turbulent bursting events showed a more balanced contribution among quadrants with higher vegetation density. Furthermore, Reynolds stress analysis highlighted intensified momentum transport at the vegetation–non-vegetation interface, which was further amplified by the channel curvature, particularly when vegetation was located on the concave bank. These findings provide valuable insights into the complex hydrodynamics of vegetated meandering channels, contributing to improved river management, ecological restoration strategies, and predictive modeling. Full article

The Lunar Gateway is a planned small space station that will orbit the Moon and serve as a central hub for NASA’s Artemis program to return humans to the lunar surface and to prepare for Mars missions. This work presents a hybrid optimization strategy for designing minimum-fuel transfers from an Earth orbit to a Lunar Near-Rectilinear Halo Orbit. The corresponding optimal control problem—crucial for missions to NASA’s Lunar Gateway—is characterized by a high-dimensional, non-convex solution space due to the multi-body gravitational environment. To tackle this challenge, a two-stage hybrid optimization scheme is employed. The first stage uses a Genetic Algorithm heuristic as a global search strategy, to identify promising feasible trajectory solutions. Subsequently, the initial solution guess (or guesses) produced by GA are improved by a local optimizer based on a Sequential Quadratic Programming method: from a suitable initial guess, SQP rapidly converges to a high-precision feasible solution. The proposed methodology is applied to a representative cargo mission case study, demonstrating its efficiency. Our numerical results confirm that the hybrid optimization strategy can reliably generate mission-grade quality trajectories that satisfy stringent constraints while minimizing propellant consumption. Our analysis validates the combined GA-SQP optimization approach as a robust and efficient tool for space mission design in the cislunar environment. Full article

This work presents a straightforward procedure for constructing the solution to the steady-state energy-transfer process in a system of two convex, opaque, gray bodies, with the aim of determining the temperature distribution within these bodies when separated by a vacuum. The methodology proposed in this work combines a sequence of elements that are functions obtained from the solution of uncomplicated, well-known linear, uncoupled heat transfer problems, thereby enabling solutions to be obtained using tools found in basic engineering textbooks. Specifically, these well-known problems resemble classical conduction-convection heat transfer problems, in which the boundary condition is described by the noteworthy Newton’s law of cooling. The limit of sequences of elements that are solutions to straightforward linear problems corresponds to the original, complex, coupled nonlinear problem. The convergence of these sequences is mathematically proven. The phenomenon (considered in this work) encompasses those involving black bodies. Since each element of the sequence arises from a well-known linear problem, numerical approximations can be used to obtain it, yielding a simple and powerful tool for simulations. Some presented results highlight the importance of considering thermal interaction between the two bodies, even in the absence of physical contact. In particular, the alterations in the temperature distributions of two separate gray bodies are explicitly shown to result from their thermal interaction. Full article

The broadcast nature of wireless channels introduces significant security vulnerabilities in information transmission, particularly when the eavesdropper is close to the legitimate destination. In such scenarios, the eavesdropping channel often exhibits high spatial correlation with, or even superior quality to, the legitimate channel. This makes it challenging for traditional power optimization methods to effectively suppress the eavesdropping rate. To address this challenge, this paper proposes an optimization method for the secrecy capacity of unmanned aerial vehicle (UAV) relaying based on the dynamic adjustment of the power allocation factor. By injecting artificial noise (AN) during signal forwarding and combining it with real-time channel state information, the power allocation factor can be dynamically adjusted to achieve precise jamming of the eavesdropping link. We consider a four-node communication model consisting of a source, a UAV, a legitimate destination, and a passive eavesdropper, and formulate a joint optimization problem to maximize the secrecy rate. Due to the non-convexity of the original problem, we introduce relaxation variables and apply successive convex approximation (SCA) to reformulate it into an equivalent convex optimization problem. An analytical solution for the power allocation factor is derived using the water-filling (WF) algorithm. Furthermore, an alternating iterative optimization algorithm with AN assistance is proposed to achieve global optimization of the system parameters. Simulation results demonstrate that, compared to traditional power optimization schemes, the proposed algorithm substantially suppresses the eavesdropping channel capacity while enhancing transmission efficiency, thereby significantly improving both secrecy performance and overall communication reliability. Full article

Understanding the spatial structure of large mammals is critical for conservation planning, especially under increasing habitat fragmentation. This study applies an integrated spatial analysis combining the DBSCAN density-based clustering algorithm and the α-hull method to delineate non-convex geographic ranges of the maned wolf (Chrysocyon brachyurus) across South America. Using 454 occurrence records filtered for ecological reliability, we identified 11 geographically isolated α-populations distributed across five countries and multiple biomes, including the Cerrado, Chaco, and Atlantic Forest. The sensitivity analysis of the α parameter demonstrated that values below 2 failed to generate viable polygons, while α = 2 provided the best balance between geometric detail and ecological plausibility. Our results reveal a highly fragmented distribution, with α-populations varying in area from 43,077 km² to 566,154.7 km² and separated by distances up to 994.755 km. Smaller and peripheral α-populations are likely more vulnerable to stochastic processes, genetic drift, and inbreeding, while larger clusters remain functionally isolated due to anthropogenic barriers. We propose the concept of ‘α-population’ as an operational unit to describe geographically and functionally isolated groups identified through combined spatial clustering and non-convex hull analysis. This approach offers a reproducible and biologically meaningful framework for refining range estimates, identifying conservation units, and guiding targeted management actions. Overall, integrating α-hulls with density-based clustering improves our understanding of the species’ fragmented spatial structure and supports evidence-based conservation strategies aimed at maintaining habitat connectivity and long-term viability of C. brachyurus populations. Full article

Fontan patients experience anatomical remodeling over time, yet the mechanisms driving these changes remain unclear. This study aimed to characterize full-route Fontan remodeling and evaluate whether observed morphological changes arise from somatic growth alone or from the combined influence of conduit properties, surgical design, thoracic anatomy, and mechanical forces. Five Fontan patients (four extracardiac, one lateral tunnel) underwent analysis using two MRI-derived 3D models obtained between 1 and 4 years apart. Directional displacement was assessed using 3D shape overlays, surface geometry was quantified using the Koenderink Shape Index (KSI), and patient-specific growth mapping estimated localized tissue dynamics. Statistical analyses included a one-sample t-test for mean anterior displacement, the Grubbs’ test for outlier detection, and the Wilcoxon signed-rank test for KSI comparisons across time points. All patients exhibited anterior displacement of the Fontan route, with a mean shift of 0.29″ ± 0.33″ and one significant outlier (lateral tunnel, 0.87″). Four of five patients showed increased convexity over time. Growth mapping revealed minimal, heterogeneous native-tissue expansion, with localized growth up to 0.2 mm/year. Individual remodeling trajectories varied and did not consistently align with localized anterior growth, indicating that Fontan route remodeling is highly individualized and cannot be explained by somatic growth alone. This retrospective longitudinal case series study highlights the value of quantitative 3D geometric tools for assessing subtle Fontan route remodeling and supports the feasibility of growth-aware, patient-specific modeling frameworks in single-ventricle physiology. Full article

The goal of this paper is to use a Boole-type inequality framework to provide better estimates for differentiable functions. Using majorization theory, fractional integral operators are incorporated into a new auxiliary identity. The method establishes sharp bounds by combining the properties of convex functions with classical inequalities like the Power mean and Hölder inequalities, as well as the Niezgoda–Jensen–Mercer (NJM) inequality for majorized tuples. Additionally, the study presents real-world examples involving special functions and examines pertinent quadrature rules. This work’s primary contribution is the extension and generalization of a number of results that are already known in the current body of mathematical literature. Full article

In this study, we consider multi-pair user frequency division duplexing massive MIMO relay systems and design a two-stage combining and beamforming (TSCB) scheme based on statistical channel state information (S-CSI). By leveraging S-CSI to co-design the pre-combining matrix and the pre-beamforming matrix, the scheme reduces the equivalent channel matrix dimensions, thereby cutting the pilot overhead. In the first stage, the two matrices are constructed through a selection of beams from a discrete Fourier transform codebook and mathematically cast as a multivariate optimization problem. An alternative optimization algorithm is proposed by splitting it into three sub-problems. The first two are 0–1 integer programming problems solved by iterative beam selection, while the third is a convex problem that is solved using a convex optimization algorithm. In the second stage, the reduced-dimension equivalent matrices are then estimated with low overhead, and a digital precoding matrix is then designed using zero-forcing algorithms. Simulations confirm the TSCB scheme’s superior ESE performance over that of existing methods. Full article

Facial Expression Recognition (FER) is a critical component of affective computing, with deep learning models dominating performance metrics. In contrast, geometric approaches based on the Facial Action Coding System (FACS) offer explainability through using triangles aligned to facial landmarks. The notable points of these triangles capture the deformation of muscles. However, restricting the feature extraction to notable points may be suboptimal. This paper introduces a novel method for optimizing the extraction of features by searching for optimal inner points in 22 facial triangles applying three metaheuristics: Differential Evolution (DE), Particle Swarm Optimization (PSO), and Convex Partition (CP). This results in a set of 59 geometric-based descriptors that capture muscle deformation more accurately. The proposed method was evaluated using five machine learning classifiers on two benchmark databases: the Karolinska Directed Emotional Faces (KDEF) and the Japanese Female Facial Expression (JAFFE). Experimental results demonstrate significant performance improvements. The combination of DE with a Multi-Layer Perceptron (MLP) achieved an accuracy of $0.91$ on the KDEF database, while Support Vector Machine (SVM) optimized via CP attained an accuracy of $0.81$ on the JAFFE database. Statistical analysis confirms that optimized descriptors yield higher accuracy than previous geometric methods. Full article

Scene depth information is a key component of any robotic mobile application. Range sensors, such as LiDAR, sonar, or radar, capture depth data of a scene. However, the data captured by these sensors frequently presents missing regions or information with a low confidence level. These missing regions in the depth data could be large areas without information, making it difficult to make decisions, for instance, for an autonomous vehicle. Recovering depth data has become a primary activity for computer vision applications. This work proposes and evaluates an interpolation model to infer dense depth maps from a Lab color space reference picture and an incomplete-depth image embedded in a completion pipeline. The complete proposal pipeline comprises convolutional layers and a convex combination of the infinity Laplacian and non-local means model. The proposed model infers dense depth maps by considering depth data and utilizing clues from a color picture of the scene, along with a metric for computing differences between two pixels. The work contributes (i) the convex combination of the two models to interpolate the data, and (ii) the proposal of a class of function suitable for balancing between different models. The obtained results show that the model outperforms similar models in the KITTI dataset and outperforms our previous implementation in the NYU_v2 dataset, dropping the MSE by 34.86%, 3.35%, and 34.42% for 4×, 8×, 16× upsampling tasks, respectively. Full article

The rapid growth of wireless devices, the expansion of the Internet of Things, and the aggregate demand for Ultra-Reliable Low-Latency communications (URLLC) are driving the improvement of next-generation wireless systems. One promising emerging technology in this area is cell-free massive Multiple Input Multiple Output (maMIMO) networks. The distributed nature of Access Points presents unique security challenges that must be addressed to unlock their full potential. This paper studies the key security concerns in Cell Free Massive MIMO (CFMM) networks, including eavesdropping, Denial-of-Service attacks, jamming, pilot contamination, and methods for enhancing Physical Layer Security (PLS). We also provide an overview of security solutions specifically designed for CFMM networks and introduce a case study of a Reconfigurable Intelligent Surface (RIS)-aided secure scheme that jointly optimizes the RIS phase shifts with the artificial noise (AN) covariance under power constraints. The non-convex optimization problem is solved via the block coordinate descent (BCD) alternating optimization scheme. The combined RIS, AN, and beamforming configuration achieves a balanced trade-off between security and energy performance, resulting in moderate improvements over the individual schemes. Full article

The regulation of output voltage in power converters often demands nonlinear control techniques; however, their implementation is challenging when deployed on low-cost hardware with limited computational resources. To address this difficulty, the modeling via the sector nonlinearity technique is adopted to represent the converter dynamics as a convex combination of linear vertex models. Building on this representation, this article proposes a vertex-based convex PI controller that significantly reduces the required online computations compared to conventional convex controllers relying on full-state feedback. In the proposed scheme, the inductor current is used solely to evaluate the weighting functions, avoiding the need to compute control gains associated with this state. The effectiveness of the method is demonstrated through offline simulations and validated using hardware-in-the-loop experiments. Full article

To address the limitations of existing power system low-carbon dispatching studies—such as over-reliance on generation-side carbon mitigation, price-oriented demand response (DR) failing to guide carbon reduction, and the low solution efficiency of traditional carbon emission flow (CEF)-based two-stage models—this paper proposes a data-driven CEF framework integrated with a bi-level economic and low-carbon dispatching model. First, a data-driven CEF calculation method is developed: It eliminates the need for complex power flow post-processing while maintaining calculation accuracy through multiple linear regression. On this basis, a bi-level optimization model is constructed: The upper level focuses on optimizing the economic and low-carbon objectives of power grid operation, while the lower level regulates industrial, commercial, and residential load aggregators (LAs) via carbon-intensity-oriented DR strategies and economic compensation mechanisms. Finally, a sample-based optimization algorithm combined with convex relaxation is proposed to solve the model, avoid the static setting of power flow and carbon intensity, and improve solution efficiency. Case studies demonstrate the following: the proposed method reduces the calculation time of node carbon intensity from 5 min to less than 100 ms, with the coefficient of determination (R²) ranging from 0.969 to 0.998; compared with the two-stage method, it achieves a 4.26% reduction in total scheduling cost, a 3.80% decrease in total carbon emissions, a 53.27% drop in carbon trading cost, and a 21.6% shortening in iteration time. These results verify that the proposed method can effectively enhance the source−load interaction and improve the accuracy and efficiency of low-carbon scheduling. This study provides a feasible technical path for the low-carbon transition of new-type power systems. Full article