Search Results (769)

Most neural architectures model time as a one-dimensional real-valued variable, constraining temporal reasoning to sequential propagation along a single axis. We introduce Complex-Time Neural Networks (CTNN), a new class of architectures in which temporal coordinates are elements of the complex plane T = t + iτ ∈ ℂ, where Re(T) preserves chronological ordering and Im(T) encodes an orthogonal experiential dimension. Within this geometry, Im(T) < 0 defines a memory domain enabling retrospective retrieval, Im(T) = 0 corresponds to present-moment computation, and Im(T) > 0 defines an imagination domain for prospective projection. We prove the Expressive Separation Theorem (Theorem 1), establishing that, within the temporally coupled function class G_TCP and under explicit Assumptions A1–A4 (in particular the bounded projection Assumption A3), CTNN accesses temporally coupled functions at O(1) cost with respect to temporal distance Δ₁, Δ₂, while real-time architectures incur Ω(Δ₁ + Δ₂) sequential steps. For layered compositions, this yields an exponential composition gap within G_TCP under A1–A4. These advantages hold under the stated assumptions and may not directly generalize to broader function classes or large-scale settings where A3 cannot be maintained. Therefore, Theorem 1 provides a formal separation result for G_TCP, while CTNN more broadly defines a geometric framework for temporal computation. As the first concrete instantiation of this framework, we develop Complex-Time Convolutional Neural Networks (CTCNN). CTCNN achieves state-of-the-art performance on Something-Something V2 (70.2 ± 0.4%, +1.1% over VideoMAE v2, p < 0.01), strong performance on Kinetics-400 (78.4 ± 0.3%), and substantial gains on Long Range Arena Path-X (87.3% vs. 79.6%, +7.7%), using 3.4× fewer parameters than VideoMAE v2. Learnable angular parameters α and β provide computationally interpretable parameters related to memory-access span and prospection breadth, with values varying systematically across task families. Full article

Unmanned Aerial Vehicle (UAV) tracking of ground moving targets holds significant applications in domains such as intelligent transportation, logistics distribution, and environmental monitoring, placing greater demands on efficient and stable path-planning methods for vehicular tracking. This study investigates a UAV path tracking approach based on a deep reinforcement learning algorithm, Proximal Policy Optimization (PPO). Starting from the kinematic characteristics of UAVs and ground vehicles, a 3D path planning model was constructed that considers spatial coordinates, velocity, and attitude constraints. A well-designed objective function—including tracking error minimization, energy optimization, and safety distance constraints—was incorporated. By designing the state space, action space, and reward function, the PPO algorithm is capable of adaptive learning in complex environments. Compared with traditional Artificial Potential Field (APF), Q-learning, and TD3 algorithms, PPO better balances exploration and exploitation and demonstrates stronger learning stability and global optimization capability in dynamic multi-obstacle scenarios. Simulation results show that PPO-based UAV path planning outperforms Q-learning and other comparative algorithms in terms of tracking accuracy, convergence speed, and robustness. In specific scenarios, Q-learning achieves a trajectory error of approximately 1 m, TD3 and APF exhibit errors around 0.3 m with noticeable oscillations, and PPO achieves an error of about 0.2 m. The UAV can follow the vehicle trajectory smoothly, with a more continuous path and rapidly converging, stable error curves, indicating the promising application potential of PPO in intelligent UAV control. The PPO-based UAV-tracking path planning method effectively enhances the UAV’s intelligent decision-making and path optimization capabilities, providing new technical approaches and a research foundation for intelligent UAV traffic and cooperative control systems. Full article

Autonomous task assignment in multi-unmanned aerial vehicle (UAV) systems operating in dynamic and safety-critical airspace environments is highly challenging due to complex spatial interactions and rapidly changing relative geometries. This paper proposes a hierarchical decision-making framework that bridges individual maneuvering behaviors with cooperative task allocation in multi-agent aerial systems. First, a high-fidelity single-agent maneuver model is learned using a physics-consistent simulation environment, where spatial advantage is evaluated based on relative distance and angular relationships within a kinematically feasible interaction zone (KIZ). Subsequently, a Geometry-Aware Graph Attention Network (GA-GAT) is developed to address scalable multi-agent assignment problems. Unlike conventional approaches that rely on flat feature representations, the proposed method explicitly incorporates kinematic feasibility constraints into the attention mechanism via a novel gating module, enabling efficient relational reasoning under dynamic conditions. The proposed framework is applicable to a range of civilian and safety-oriented scenarios, including UAV swarm coordination, emergency response monitoring, infrastructure inspection, and autonomous airspace management. Simulation results demonstrate that the GA-GAT-based approach significantly outperforms heuristic baselines in terms of coordination efficiency and overall system performance in complex multi-agent environments. This study highlights that decoupling maneuver-level control from high-level coordination provides a scalable and computationally efficient solution for real-time multi-UAV decision-making in safety-critical applications. The proposed framework is designed for general multi-agent coordination problems in civilian aerial applications. Full article

Rural hospitals are essential access points for healthcare delivery in the United States, yet they continue to experience disproportionate rates of closure and service disruption that threaten community health, economic stability, and equity. This rapid systematic review synthesizes recent peer-reviewed evidence examining rural hospital closures and service disruptions, with emphasis on financial, policy, workforce, and performance-related factors and their downstream impacts. Guided by PRISMA methodology, four databases were searched for U.S.-based studies published between January 2024 and June 2025. Following screening and consensus-based review, 59 articles met inclusion criteria. Across studies, financial vulnerability, characterized by revenue instability, low patient volumes, unfavorable payer mix, and reliance on non-operating revenue, emerged as a dominant precursor to closure and service reductions. Policy context, particularly Medicaid expansion status, telehealth and broadband infrastructure, and reimbursement adequacy, strongly shaped hospital sustainability. Closures and service disruptions were consistently associated with increased travel distances, reduced access to maternal, surgical, mental health, and chronic care services, higher prices at surviving hospitals, and increased strain on remaining providers. Workforce shortages further compounded these challenges. Collectively, findings demonstrate that rural hospital closures reflect interconnected structural weaknesses rather than isolated organizational failure. Coordinated policy action, targeted financial stabilization, workforce development, and technology-enabled care models are necessary to mitigate continued erosion of rural healthcare access. Full article

Communication latency is one of the main factors limiting the practical scalability of unmanned aerial vehicle (UAV) swarms operating with distributed formation control. In real-time UAV missions, such as coordinated swarm navigation, autonomous inspection, and aerial monitoring, delayed information exchange directly affects formation stability and operational safety. In practical aerial networks, inter-UAV communication latency is influenced by stochastic effects including jitter, burst delays, and multi-hop propagation, which are rarely captured by the simplified deterministic delay assumptions commonly adopted in analytical formation-control studies. This paper introduces a measurement-informed stochastic delay model and a communication–control delay-feasibility framework that jointly account for per-link latency behavior, multi-hop delay accumulation, and controller-level delay tolerance. The proposed framework is evaluated using an attractive–repulsive distance-based potential field (ARD–PF) formation controller, for which the maximum admissible end-to-end delay is quantified as a function of swarm size and inter-UAV separation. The delay model is calibrated and validated using more than 15,000 in-flight communication delay samples collected from a multi-UAV LoRa platform operating under realistic flight conditions. The results show that different mechanisms limit swarm operation under different operating scenarios. In some configurations, stochastic communication latency becomes the dominant constraint, whereas in others, formation geometry or network load determines the feasible operating region. Based on these elements, the proposed framework characterizes delay-feasible operating regions and predicts the maximum feasible swarm size under distributed formation control and realistic multi-hop communication latency. Full article

Mobile crane repositioning and on-site logistics coordination constitute a highly coupled, nonlinear decision problem in constrained construction environments. Existing approaches largely decouple these tasks, limiting achievable system-level efficiency. This study introduces EVCrane, a kinematics-informed evolutionary optimization framework that simultaneously optimizes crane stopping positions, stockpile deployment, and task allocation within a unified mixed continuous–binary formulation. Unlike distance-based approximations, the proposed model propagates geometric decisions through coordinated crane motion components—including radial boom adjustment, slewing rotation, and vertical hoisting—ensuring physically consistent cycle-time estimation. A real industrial case study was used to benchmark five optimization algorithms under identical MATLAB R2026a implementations. The Genetic Algorithm (GA) achieved the lowest total crane engaged time (34.516 h), reducing operational duration by 6.45% and utilization cost by 6.32% compared with a deterministic nonlinear programming baseline. Comparative analysis reveals that recombination-based evolutionary search exhibits superior compatibility with assignment-driven non-convex landscapes, outperforming swarm-based and trajectory-based alternatives. Sensitivity analysis confirms structural robustness of optimal spatial configurations under parametric perturbations. The proposed framework advances crane planning from decoupled geometric heuristics toward integrated, physics-consistent, and computationally robust optimization, supporting intelligent and sustainable construction site management. Full article

This paper develops an extended Cucker–Smale model that integrates nonlinear velocity alignment with state-dependent binding forces to achieve stable, collision-free flocking in multi-agent systems. Our framework introduces two dedicated control mechanisms: a velocity-dissipative term $\left(K_1\right)$ for accelerated convergence, and a distance-regulating term $\left(K_2\right)$ for formation cohesion and collision avoidance, which collectively ensure stable flocking. Rigorous Lyapunov analysis establishes provable guarantees for asymptotic velocity alignment and collision safety under verifiable initial energy conditions. Numerical simulations validate the theoretical predictions for a 20-agent swarm; scalability analysis demonstrates effective coordination in systems of up to 100 agents and reveals that velocity synchronization improves substantially—with errors decreasing by nearly two orders of magnitude—as $K_2$ increases from 0.05 to 0.50. A Pareto-optimal parameter region ($K_2\in [0.15,0.30]$) is identified, which achieves sub-centimeter-per-second alignment accuracy while maintaining energy consumption below 35% of the baseline. The proposed framework provides a theoretically rigorous yet practically viable solution for applications demanding guaranteed safety and precise coordination, such as UAV formations, robotic swarms, and autonomous vehicle platoons. Full article

Background: Tartary buckwheat (Fagopyrum tataricum) serves as an excellent model for studying plant water adaptation mechanisms due to its exceptional drought tolerance. While aquaporins (AQPs) mediate the transmembrane transport of water and solutes in plants, their fine-tuned regulatory networks underlying stress resilience in Tartary buckwheat remain largely elusive. Methods: Here, we combined bioinformatics and transcriptomics to systematically identify 30 highly conserved FtAQP genes at the genome-wide level. Results: Cross-validated by qRT-PCR, our analysis revealed their distinct expression patterns across different organs. Based on our transcriptomic data, we hypothesize that FtAQP family members potentially participate in a coordinated whole-plant water management network through differential spatiotemporal expression. Specifically, the robust transcription of FtAQP8, FtAQP12, and FtAQP28 in roots is associated with the initial water uptake process. As water undergoes long-distance transport, the synergistic upregulation of FtAQP13, FtAQP17, FtAQP20, and FtAQP29 in the stem suggests a potential role in facilitating critical lateral water flow. Furthermore, during reproductive development, FtAQP27 exhibits extreme tissue specificity in floral organs, implying its possible involvement in maintaining local osmotic homeostasis. Furthermore, the promoter regions of FtAQPs are highly enriched with cis-acting elements responsive to light, abscisic acid (ABA), and cold stress, suggesting they are intimately regulated by a coupling of endogenous phytohormones and environmental cues. Conclusions: Ultimately, this study provides valuable insights into the potential molecular basis of multidimensional water regulation in Tartary buckwheat, and identifies candidate genetic targets for improving water use efficiency in dryland agriculture through the precise manipulation of aquaporins. Collectively, while these observational findings provide valuable predictive models, future in vivo experimental validations are required to confirm their exact biological functions. Full article

Assessing individual animal health is essential for detecting early ecological stress that may scale to population-level impacts. Yet, conventional capture-based methods are invasive and logistically challenging, particularly for large mammals. This study evaluates the accuracy of drone-based morphometric measurements as a non-invasive approach for estimating elephants’ Body Condition Index (BCI). Research was conducted in Way Kambas National Park, Sumatra, using a DJI Matrice 300 RTK equipped with a multisensor camera to acquire aerial imagery, primarily from a top-down perspective. Morphometric parameters were extracted through image preprocessing, segmentation, and edge detection using an OpenCV-based Canny algorithm, followed by coordinate and Euclidean distance analyses. Drone-derived measurements were validated against field-based morphometry in captive Sumatran elephants. Linear regression revealed strong agreement between methods, with R² values ranging from 0.91 to 0.97. Mid-body width showed the highest accuracy (R² = 0.97, MAPE = 2.66%, RMSE = 2.36), while other body dimensions also performed consistently well. BCI-related morphometric ratios exhibited minimal differences between drone and field measurements, confirming methodological reliability. As an exploratory extension, a preliminary allometric scaling framework was applied to estimate body condition proxies in free-ranging wild elephants except for mid-body width; however, these estimates are model-derived from total body length and should be interpreted as indicative rather than as direct morphometric assessments of body condition. These findings demonstrate that drone-based photogrammetry provides a validated, practical, and non-invasive method for morphometric measurement in captive elephants, with promising but as yet incompletely validated potential for application to wild populations. Full article

Air–ground collaborative systems leverage the complementary strengths of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) and hold significant potential for logistics in complex, unstructured environments. However, trajectory planning in infrastructure-free mountainous regions remains challenging owing to the need for continuous tight coupling, obstacle avoidance, and reliable communication-link maintenance. To address these challenges, this study proposes a cooperative trajectory planning framework that enforces strict inter-vehicle distance constraints to maintain communication connectivity. By formulating the coordination problem in terms of relative configurations between air and ground vehicles, the proposed framework exhibits translational invariance, reflecting an underlying symmetry with respect to global position shifts. This symmetry-aware formulation reduces reliance on absolute coordinates and promotes consistent cooperative behavior under environmental variability. The trajectory planning problem is mathematically formulated as a constrained multi-objective nonlinear programming (MONLP) model that balances energy consumption and trajectory smoothness. An adaptive inertia weight particle swarm optimization (AIWPSO) algorithm is developed to efficiently solve the resulting optimization problem. Simulation results demonstrate that the proposed approach generates smooth, collision-free trajectories while maintaining stable air–ground coordination, demonstrating improved feasibility and robustness over conventional planning methods in unstructured mountainous environments. Full article

Transit connectivity is a critical indicator for evaluating the transfer efficiency and network performance of hub airports within integrated transport systems. However, conventional connectivity models primarily rely on flight frequency and schedule coordination, while passenger path choice behavior and multimodal competition effects are often overlooked. To address this limitation, this study develops an enhanced transit connectivity evaluation framework that incorporates passenger path choice preferences and air–rail intermodal effects. A novel air–rail intermodal gain coefficient is introduced to capture the context-dependent interplay between aviation and high-speed rail, quantifying synergistic effects when HSR complements air transfer and substitution effects when it competes with it. The proposed model integrates direct transfer connectivity ($C^{\mathrm{d}}$) and indirect transfer connectivity ($C^{\mathrm{i}\mathrm{n}\mathrm{d}}$) within a unified quantitative framework, embedding transfer time compliance and detour factor constraints to improve behavioral realism and operational applicability. A case study of Xi’an Xianyang International Airport demonstrates that the introduction of the intermodal gain mechanism increases overall transit connectivity from 3606.3 to 3664.1, with the gain concentrated in the 500 to 800 km distance band where HSR journey times are most competitive with door-to-door air travel. The results reveal strong polarization in direct transfer connectivity and the limited effectiveness of indirect transfer routes due to transfer time constraints. The proposed framework offers a replicable assessment tool for hub airport network connectivity and multimodal transport planning, with potential for broader application across hub airports operating within integrated air–rail networks. Full article

The growing density of space debris in Low Earth Orbit poses significant risks to Distributed Space Systems (DSSs), where multiple satellites operate in close proximity. Conventional single-satellite collision avoidance maneuvers do not account for internal formation safety and may induce secondary conjunction risks. This work presents a formation-level trajectory optimization framework for short-term conjunction mitigation that jointly addresses external debris avoidance and inter-satellite collision prevention. The proposed Space-Debris Evasion with Internal-Collision-Avoidance (SDEICA) method formulates the problem as a sequential convex programming scheme. A probabilistic debris keep-out region is modeled as an elliptical collision tube derived from the relative position covariance at the Time of Closest Approach (TCA) and convexified via tangent-plane approximation. Internal safety constraints are incorporated through successive linearization of inter-satellite separation conditions. The framework is evaluated on 1197 conjunction scenarios derived from ESA Collision-Avoidance Challenge data for a three-satellite formation. Results demonstrate a systematic reduction in the probability of collision below the operational threshold of ${10}^{-5}$ in all cases, within numerical tolerance, eliminating intersatellite distance violations, maintaining bounded formation deviation, and requiring only moderate control effort. The median computational time is 17.12 s per scenario. These findings indicate that sequential convex optimization provides a practical approach for coordinated, fuel-efficient collision avoidance in satellite formations operating in increasingly congested orbital environments. Full article

Reconciling hydropower development with aquatic biodiversity conservation is a central challenge for sustainable river management worldwide. Cascade dam configurations, in which multiple impoundments are arranged in series along a single channel, impose longitudinal environmental gradients that restructure biological communities across trophic levels. Whether the resulting multi-trophic responses are independently driven by shared abiotic gradients (environmental filtering) or mechanistically coupled through direct food-web interactions (trophic cascading) remains unresolved. We surveyed phytoplankton, zooplankton, and benthic macroinvertebrates simultaneously at seven stations along a 430 km gradient downstream of Danjiangkou Dam in the Hanjiang River, the largest tributary of the Yangtze River and the source of China’s South-to-North Water Diversion Middle Route, over eight seasonal campaigns (2015–2017). Variance partitioning, piecewise structural equation modeling, Mantel tests, and co-occurrence network analysis were applied to partition environmental and trophic pathways. Environmental filtering dominated community restructuring at all three trophic levels, while the biotic proxy for direct trophic interactions explained less than 0.4% of community variation, consistent with weak detectable trophic coupling at seasonal resolution. Distance from Danjiangkou Dam shaped downstream transparency and turbidity gradients that mediated trophic-level-specific responses along distinct environmental axes (pH and water temperature for phytoplankton, conductivity for zooplankton, and transparency for benthic macroinvertebrates). Benthic macroinvertebrates were systematically decoupled from the pelagic analytical framework, absent from the cross-trophic co-occurrence network and structured more by spatial configuration than by water-column variables. Hub species in the network were associated with downstream mineralized conditions, confirming that network architecture reflects shared environmental preferences rather than biotic interactions. These findings support a management shift from single-dam mitigation toward cascade-scale coordination of environmental flow regimes, sediment connectivity, and substrate restoration as integrated strategies for sustaining multi-trophic biodiversity in regulated rivers. Full article

This paper presents an onboard, markerless perching system for a quadrotor UAV, validated in outdoor flight experiments, to reduce hovering energy during long-endurance unmanned missions. Existing autonomous landing research predominantly focuses on planar surfaces, cooperative environments with visual markers, or specialized hardware, limiting scalability to scenarios requiring detection and perching on thin rod-like targets in uncooperative outdoor settings. This study proposes a markerless perching system for autonomously perching a drone on a hurdle’s horizontal bar. The system employs a single-axis gimbal camera, altitude LiDAR, and ToF sensor, integrating perception, post-processing, and control. On the perception side, we augment a YOLOv12n-based segmentation model with a high-resolution P2 pathway for small-object detection and apply module compression for real-time inference on edge devices. Robustness is improved by jointly utilizing the full hurdle and horizontal bar while constructing negative samples to suppress false positives. On the control side, a state machine controller leverages centroid coordinates, orientation, and distance measurements to achieve a stable long-range approach and precise close-range alignment. Experiments on a Jetson Orin NX-based system demonstrate successful perching in all six outdoor flight tests. Ablation studies quantitatively analyze each component’s contribution to perching success rate and completion time. This research validates perching technology’s practical applicability through outdoor markerless perching on thin 3D structures. Full article

This study presents a simulation-based evaluation of a wall-following and mapping framework for autonomous underwater vehicles (AUVs) equipped with a single-line laser, targeting structured environments such as rectangular tanks and dam interiors. A hardware-in-the-loop (HIL) simulation platform is developed to integrate sensor emulation, vehicle dynamics, and image-based control while preserving the onboard data formats, update rates, and communication protocols of the AUV system. Using a single camera–laser pair, the framework estimates yaw angle and lateral wall distance from laser image geometry to support real-time wall-following and frontal obstacle avoidance. Wall mapping is performed by transforming laser image features into spatial coordinates and estimating the dimensions of geometric protrusions. The framework is evaluated on simulated walls with protruding features under two navigation conditions: ideal-motion and dynamic-control operation. Simulation results show stable wall-following performance, with lateral distance errors typically below 0.1 m. Under ideal-motion conditions, mapping errors range from 1% to 13%, while under dynamic-control navigation they increase to 10–35% due to attitude fluctuations and control-induced motion. Frontal obstacle avoidance maintains a minimum clearance of 1.04 m. The results demonstrate the feasibility of using a single-line laser and a unified image stream for both real-time wall-following control and post-mission geometric mapping within the defined simulation conditions. While the evaluation is limited to simulation and assumes idealized optical conditions without modeling hydrodynamic disturbances or optical degradation effects, the framework provides a system-level reference for laser-guided inspection strategies in confined underwater environments such as tanks, reservoirs, and dams. Full article