Search Results (15,501)

The low-cost Strapdown Inertial Navigation System (SINS)/Global Navigation Satellite System (GNSS) is widely used in autonomous vehicles for positioning and navigation. Initial alignment is a critical stage for SINS operations, and the alignment time and accuracy directly affect the SINS navigation performance. To address the issue that low-cost SINS/GNSS cannot effectively achieve rapid and high-accuracy alignment in complex environments that contain noise and external interference, an adaptive multiple backtracking robust alignment method is proposed. The sliding window that constructs observation and reference vectors is established, which effectively avoids the accumulation of sensor errors during the full integration process. A new observation vector based on the magnitude matching is then constructed to effectively reduce the effect of outliers on the alignment process. An adaptive multiple backtracking method is designed in which the window size can be dynamically adjusted based on the innovation gradient; thus, the alignment time can be significantly shortened. Furthermore, the modified variational Bayesian Kalman filter (VBKF) that accurately adjusts the measurement noise covariance matrix is proposed, and the Expectation–Maximization (EM) algorithm is employed to refine the prior parameter of the predicted error covariance matrix. Simulation and experimental results demonstrate that the proposed method significantly reduces alignment time and improves alignment accuracy. Taking heading error as the critical evaluation indicator, the proposed method achieves rapid alignment within 120 s and maintains a stable error below 1.2° after 80 s, yielding an improvement of over 63% compared to the backtracking-based Kalman filter (BKF) method and over 57% compared to the fuzzy adaptive KF (FAKF) method. Full article

Leptospirosis is a globally significant zoonosis affecting animal health, productivity, and the environment. While typically associated with tropical climates, its persistence in semi-arid regions such as La Laguna, Mexico—characterized by low humidity, high temperatures, and limited water sources—remains poorly understood. Although these adverse environmental conditions theoretically limit the survival of Leptospira, high livestock density and synanthropic reservoirs (e.g., rodents) may compensate, facilitating transmission. In this cross-sectional study, blood sera from 445 dairy cows (28 herds: 12 intensive [MI], 16 semi-intensive [MSI] systems) were analyzed via microscopic agglutination testing (MAT) against 10 pathogenic serovars. Urine samples were cultured for active Leptospira detection. Risk factors were assessed through epidemiological surveys and multivariable analysis. This study revealed an overall apparent seroprevalence of 27.0% (95% CI: 22.8–31.1), with significantly higher rates in MSI (54.1%) versus MI (12.2%) herds (p < 0.001) and an estimated true seroprevalence of 56.3% (95% CI: 50.2–62.1) in MSI and 13.1% (95% CI: 8.5–18.7) in MI herds (p < 0.001). The Sejroe serogroup was isolated from urine in both systems, confirming active circulation. In MI herds, rodent presence (OR: 3.6; 95% CI: 1.6–7.9) was identified as a risk factor for Leptospira seropositivity, while first-trimester abortions (OR:10.1; 95% CI: 4.2–24.2) were significantly associated with infection. In MSI herds, risk factors associated with Leptospira seropositivity included co-occurrence with hens (OR: 2.8; 95% CI: 1.5–5.3) and natural breeding (OR: 2.0; 95% CI: 1.1–3.9), whereas mastitis/agalactiae (OR: 2.8; 95% CI: 1.5–5.2) represented a clinical outcome associated with seropositivity. Despite semi-arid conditions, Leptospira maintains transmission in La Laguna, particularly in semi-intensive systems. The coexistence of adapted (Sejroe) and incidental serogroups underscores the need for targeted interventions, such as rodent control in MI systems and poultry management in MSI systems, to mitigate both zoonotic and economic impacts. Full article

To address the limitations of the existing cotton seedling growth prediction methods in field environments, specifically, poor representation of spatiotemporal features and low visual fidelity in texture rendering, this paper proposes an algorithm for the prediction of cotton seedling growth from images based on FCA-STNet. The model leverages historical sequences of cotton seedling RGB images to generate an image of the predicted growth at time t + 1 and extracts 37 phenotypic traits from the predicted image. A novel STNet structure is designed to enhance the representation of spatiotemporal dependencies, while an Adaptive Fine-Grained Channel Attention (FCA) module is integrated to capture both global and local feature information. This attention mechanism focuses on individual cotton plants and their textural characteristics, effectively reducing the interference from common field-related challenges such as insufficient lighting, leaf fluttering, and wind disturbances. The experimental results demonstrate that the predicted images achieved an MSE of 0.0086, MAE of 0.0321, SSIM of 0.8339, and PSNR of 20.7011 on the test set, representing improvements of 2.27%, 0.31%, 4.73%, and 11.20%, respectively, over the baseline STNet. The method outperforms several mainstream spatiotemporal prediction models. Furthermore, the majority of the predicted phenotypic traits exhibited correlations with actual measurements with coefficients above 0.8, indicating high prediction accuracy. The proposed FCA-STNet model enables visually realistic prediction of cotton seedling growth in open-field conditions, offering a new perspective for research in growth prediction. Full article

Ensuring software quality during development requires effective regression testing. However, test suites in open-source libraries often grow large, redundant, and difficult to maintain. Most traditional test suite optimization methods treat test cases as atomic units, without analyzing the utility of individual instructions. This paper presents an intelligent method for test case synthesis using a Q-learning agent. The agent learns to construct compact test cases by interacting with an execution environment and receives rewards based on branch coverage improvements and simultaneous reductions in test case length. The training process includes a pretraining phase that transfers knowledge from the original test suite, followed by adaptive learning episodes on individual test cases. As a result, the method requires no formal documentation or API specifications and uses only execution traces of the original test cases. An explicit synthesis algorithm constructs new test cases by selecting API calls from a learned policy encoded in a Q-table. Experiments were conducted on two open-source C++ libraries of differing API complexity and original test suite size. The results show that the proposed method can reach up to 67% test suite reduction while preserving branch coverage, confirming its effectiveness for regression test suite minimization in resource-constrained or specification-limited environments. Full article

European pig farmers are challenged by increasingly stringent EU regulations to protect the environment from pollution, to meet animal welfare standards and to make pig farming more sustainable. Economic sustainability is defined as the ability to achieve higher profits by respecting social and natural resources. This study is focused on the analysis of the economic resilience of intensive and extensive farming systems, based on data collected from 56 farms located in Denmark, Poland, Italy and Spain. Productive and economic performances of these farms are analyzed, and economic resilience is assessed through a survey including a selection of indicators, belonging to different themes: [i] resilience of resources, [ii] entrepreneurship, [iii] propensity to extensification. The qualitative data from the questionnaire allow for an exploration of how production systems relate to the three dimensions of resilience. Different levels of resilience were found and discussed for intensive and extensive farms. The findings suggest that intensive farms benefit from high standards and greater bargaining power within the supply chain. Extensive systems can achieve profitability through value-added strategies and generally display good resilience. Policies that support investment and risk reduction are essential for enhancing farm resilience and robustness, while strengthening farmer networks can improve adaptability. Full article

In distance learning environments, learner engagement directly impacts attention, motivation, and academic performance. Signs of fatigue, negative affect, or critical remarks can warn of growing disengagement and potential dropout. However, most existing approaches rely on a single modality, visual or text-based, without providing a general view of learners’ cognitive and affective states. We propose a multimodal system that integrates three complementary analyzes: (1) a CNN-LSTM model augmented with warning signs such as PERCLOS and yawning frequency for fatigue detection, (2) facial emotion recognition by EmoNet and an LSTM to handle temporal dynamics, and (3) sentiment analysis of feedback by a fine-tuned BERT model. It was evaluated on three public benchmarks: DAiSEE for fatigue, AffectNet for emotion, and MOOC Review (Coursera) for sentiment analysis. The results show a precision of 88.5% for fatigue detection, 70% for emotion detection, and 91.5% for sentiment analysis. Aggregating these cues enables an accurate identification of disengagement periods and triggers individualized pedagogical interventions. These results, although based on independently sourced datasets, demonstrate the feasibility of an integrated approach to detecting disengagement and open the door to emotionally intelligent learning systems with potential for future work in real-time content personalization and adaptive learning assistance. Full article

Glioblastoma (GBM) remains one of the most aggressive and treatment-resistant brain tumors, largely due to its profound intratumoral heterogeneity and immunosuppressive microenvironment. Various classifications of GBM subtypes were created based on transcriptional and methylation profiles. This effort, followed by the development of new technology such as single-nuclei sequencing (snRNAseq) and spatial transcriptomics, led to a better understanding of the glioma cells’ plasticity and their ability to transition between diverse cellular states. GBM cells can mimic neurodevelopmental programs to resemble oligodendrocyte or neural progenitor behavior and hitchhike the local neuronal network to support their growth. The tumor microenvironment, especially under hypoxic conditions, drives the tumor cell clonal selection, which then reshapes the immune cells’ functions. These adaptations contribute to immune evasion by progressively disabling T cell and myeloid cell functions, ultimately establishing a highly immunosuppressive tumor milieu. This complex and metabolically constrained environment poses a major barrier to effective antitumor immunity and limits the success of conventional therapies. Understanding the dynamic interactions between glioma cells and their microenvironment is essential for the development of more effective immunotherapies and rational combination strategies aimed at overcoming resistance and improving patient outcomes. Full article

The Santurbán paramo is a sensitive high-mountain ecosystem exposed to pressures from extractive and agricultural activities, as well as increasing tourism. In response, this study presents a context-aware recommendation system designed to support sustainable tourism through the integration of deep neural networks and ontology-based semantic modeling. The proposed system delivers personalized recommendations—such as activities, accommodations, and ecological routes—by processing user preferences, geolocation data, and contextual features, including cost and popularity. The architecture combines a trained TensorFlow Lite model with a domain ontology enriched with GeoSPARQL for geospatial reasoning. All inference operations are conducted locally on Android devices, supported by SQLite for offline data storage, which ensures functionality in connectivity-restricted environments and preserves user privacy. Additionally, the system employs geofencing to trigger real-time environmental notifications when users approach ecologically sensitive zones, promoting responsible behavior and biodiversity awareness. By incorporating structured semantic knowledge with adaptive machine learning, the system enables low-latency, personalized, and conservation-oriented recommendations. This approach contributes to the sustainable management of natural reserves by aligning individual tourism experiences with ecological protection objectives, particularly in remote areas like the Santurbán paramo. Full article

The utilization of Unmanned Aerial Vehicles (UAVs) in missions such as reconnaissance and surveillance has grown rapidly, underscoring the need for efficient path planning algorithms that ensure both optimality and collision avoidance. The A-star algorithm is widely used for global path planning due to its ability to generate optimal routes; however, its high computational cost makes it unsuitable for real-time applications, particularly in unknown or dynamic environments. For local path planning, the Artificial Potential Field (APF) algorithm enables real-time navigation by attracting the UAV toward the target while repelling it from obstacles. Despite its efficiency, APF suffers from local minima and limited performance in dynamic settings. To address these challenges, this paper proposes the A-star-Guided Potential Field (AGPF) algorithm, which integrates the strengths of A-star and APF to achieve robust performance in both global and local path planning. The AGPF algorithm was validated through simulations conducted in the Robot Operating System (ROS) environment. Simulation results demonstrate that AGPF produces smoother and more optimal paths than A-star, while avoiding the local minima issues inherent in APF. Furthermore, AGPF effectively handles moving and previously unknown obstacles by generating real-time avoidance trajectories, demonstrating strong adaptability in dynamic and uncertain environments. Full article

Agricultural production in southern Angola faces challenges due to unsustainable practices, including inefficient use of water, fertilizers, and machinery, resulting in low yields and environmental degradation. Therefore, clear and measurable indicators are needed to guide farmers toward more sustainable practices. The scientific literature insufficiently addresses this issue, leaving a significant gap in the evaluation of key performance indicators (KPIs) that can guide good agricultural practices (GAPs) adapted to the context of southern Angola, with the goal of promoting a more resilient and sustainable agricultural sector. So, the objective of this study is to identify and assess KPIs capable of supporting the selection of GAPs suitable for maize, potato, and tomato cultivation in the context of southern Angolan agriculture. A systematic literature review (SLR) was conducted, screening 2720 articles and selecting 14 studies that met defined inclusion criteria. Five KPIs were identified as the most relevant: gross margin, net profit, water use efficiency, nitrogen use efficiency, and machine energy. These indicators were analyzed and standardized to evaluate their contribution to sustainability across different GAPs. Results show that organic fertilizers are the most sustainable option for maize, drip irrigation for potatoes, and crop rotation for tomatoes in southern Angola because of their efficiency in low-resource environments. A clear, simple, and effective representation of the KPIs was developed to be useful in communicating to farmers and policy makers on the selection of the best GAPs in the cultivation of different crops. The study proposes a validated KPI-based methodology for assessing sustainable agricultural practices in developing regions such as southern Angola, aiming to lead to greater self-sufficiency and economic stability in this sector. Full article

Due to the effect of room acoustics on musical interpretation, a musician’s rehearsal may be greatly enhanced by leveraging virtual and augmented reality technology. This paper presents a preliminary study on a rehearsal tool designed for musicians, enabling practice in a virtual acoustic environment with audience-positioned playback. Fourteen participants, both professional and non-professional musicians, were recruited to practice with the rehearsal tool prior to performing in an unfamiliar venue. Throughout the rehearsal, the subjects either played in a virtual environment that matched the acoustics of the performance venue or one that was acoustically different. A control group rehearsed in an acoustically dry room with no virtual acoustic environment. The tool’s effectiveness was evaluated with two 16-item questionnaires that assessed quality, usefulness, satisfaction with the rehearsal, and aspects of the performance. Findings indicate that rehearsing in a virtual acoustic environment that matches the performance venue improves acoustic awareness during the performance and enhances ease and comfort on stage compared to practising in a different environment. These results support the integration of virtual acoustics in rehearsal tools to help musicians better adapt their performance to concert settings. Full article

The parameter identification of Autonomous Underwater Vehicles (AUVs) serves as a fundamental basis for achieving high-precision motion control, state monitoring, and system development. Currently, AUV parameter identification typically relies on the complete motion information obtained from onboard sensors. However, in practical applications, it is often challenging to accurately measure key state variables such as velocity and angular velocity, resulting in incomplete measurement data that compromises identification accuracy and model reliability. This issue is particularly pronounced in vertical motion tasks involving low-speed, large pitch angles, and highly maneuverable conditions, where the strong coupling and nonlinear characteristics of underwater vehicles become more significant. Traditional hydrodynamic models based on full-state measurements often suffer from limited descriptive capability and difficulties in parameter estimation under such conditions. To address these challenges, this study investigates a parameter identification method for AUVs operating under vertical, large-amplitude maneuvers with constrained measurement information. A control autoregressive (CAR) model-based identification approach is derived, which requires only pitch angle, vertical velocity, and vertical position data, thereby reducing the dependence on complete state observations. To overcome the limitations of the conventional Recursive Least Squares (RLS) algorithm—namely, its slow convergence and low accuracy under rapidly changing conditions—a Multi-Innovation Least Squares (MILS) algorithm is proposed to enable the efficient estimation of nonlinear hydrodynamic characteristics in complex dynamic environments. The simulation and experimental results validate the effectiveness of the proposed method, demonstrating high identification accuracy and robustness in scenarios involving large pitch angles and rapid maneuvering. The results confirm that the combined use of the CAR model and MILS algorithm significantly enhances model adaptability and accuracy, providing a solid data foundation and theoretical support for the design of AUV control systems in complex operational environments. Full article

This paper proposes a novel dual-functional radar-communication (DFRC) framework that integrates unmanned aerial vehicle (UAV) communications into an integrated sensing and communication (ISAC) system, termed the ISAC-UAV architecture. In this system, the UAV’s mobility is leveraged to simultaneously serve multiple single-antenna uplink users (UEs) and perform radar-based sensing tasks. A key challenge stems from the target position uncertainty due to movement, which impairs matched filtering and beamforming, thereby degrading both uplink reception and sensing performance. Moreover, UAV energy consumption associated with mobility must be considered to ensure energy-efficient operation. We aim to jointly maximize radar sensing accuracy and minimize UAV movement energy over multiple time steps, while maintaining reliable uplink communications. To address this multi-objective optimization, we propose a deep reinforcement learning (DRL) framework based on a long short-term memory (LSTM)-enhanced deep deterministic policy gradient (DDPG) network. By leveraging historical target trajectory data, the model improves prediction of target positions, enhancing sensing accuracy. The proposed DRL-based approach enables joint optimization of UAV trajectory and uplink power control over time. Extensive simulations validate that our method significantly improves communication quality and sensing performance, while ensuring energy-efficient UAV operation. Comparative results further confirm the model’s adaptability and robustness in dynamic environments, outperforming existing UAV trajectory planning and resource allocation benchmarks. Full article

Container liner shipping companies operate within a complex environment where they must balance profitability and service reliability. Meanwhile, evolving regulatory policies, such as surcharges imposed on ships of a particular origin or type on specific trade lanes, introduce new operational challenges. This study addresses the heterogeneous ship routing and demand acceptance problem, aiming to maximize two conflicting objectives: weekly profit and total transport volume. We formulate the problem as a bi-objective mixed-integer programming model and prove that the ship chartering constraint matrix is totally unimodular, enabling the reformulation of the model into a partially relaxed MIP that preserves optimality while improving computational efficiency. We further analyze key mathematical properties showing that the Pareto frontier consists of a finite union of continuous, piecewise linear segments but is generally non-convex with discontinuities. A case study based on a realistic liner shipping network confirms the model’s effectiveness in capturing the trade-off between profit and transport volume. Sensitivity analyses show that increasing freight rates enables higher profits without large losses in volume. Notably, this paper provides a practical risk management framework for shipping companies to enhance their adaptability under shifting regulatory landscapes. Full article

To improve collision risk prediction in high-traffic coastal waters and support real-time decision-making in maritime navigation, this study proposes a regional collision risk prediction system integrating the Computed Distance at Collision (CDC) method with an Adaptive Neuro-Fuzzy Inference System (ANFIS). Unlike Distance at Closest Point of Approach (DCPA), which depends on the position of Global Positioning System (GPS) antennas, Computed Distance at Collision (CDC) directly reflects the actual hull shape and potential collision point. This enables a more realistic assessment of collision risk by accounting for the hull geometry and boundary conditions specific to different ship types. The system was designed and validated using ship motion simulations involving bulk and container ships across varying speeds and crossing angles. The CDC method was used to define collision, almost-collision, and near-collision situations based on geometric and hydrodynamic criteria. Subsequently, the FIS–CDC model was constructed using the ANFIS by learning patterns in collision time and distance under each condition. A total of four input variables—ship speed, crossing angle, remaining time, and remaining distance—were used to infer the collision risk index (CRI), allowing for a more nuanced and vessel-specific assessment than traditional CPA-based indicators. Simulation results show that the time to collision decreases with higher speeds and increases with wider crossing angles. The bulk carrier exhibited a wider collision-prone angle range and a greater sensitivity to speed changes than the container ship, highlighting differences in maneuverability and risk response. The proposed system demonstrated real-time applicability and accurate risk differentiation across scenarios. This research contributes to enhancing situational awareness and proactive risk mitigation in Maritime Autonomous Surface Ship (MASS) and Vessel Traffic System (VTS) environments. Future work will focus on real-time CDC optimization and extending the model to accommodate diverse ship types and encounter geometries. Full article