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20 pages, 9428 KB  
Article
Effect of Hydroxyapatite Nanoparticles on the Ultrastructure, Developmental Competence, and Expression of ZP3, MFN1, and NPM2 in Vitrified Bovine GV Oocytes
by Xiao-Xia Li, Shi-Yu Zhang, Jun Wang, Yi-Hang Wang, Jia-Hao Zhang, Shi-Han Zhao, Ping-Hua Cao, Yu-Mei Liu, Chen Zhou, Zhen Zhang, Qiao-Ting Shi, Waleid Mohamed EL-Sayed Shakweer, Ibrahim Mohamed EL-Sayed Shakweer and Zhi-Qian Xu
Biology 2026, 15(6), 506; https://doi.org/10.3390/biology15060506 (registering DOI) - 21 Mar 2026
Abstract
To improve the vitrification efficiency of bovine germinal vesicle (GV) oocytes, the use of hydroxyapatite (HA) nanoparticles as a novel cryopreservation additive represents a promising approach. This study aimed to investigate the effects of HA nanoparticles and permeable cryoprotective agents (CPAs) on the [...] Read more.
To improve the vitrification efficiency of bovine germinal vesicle (GV) oocytes, the use of hydroxyapatite (HA) nanoparticles as a novel cryopreservation additive represents a promising approach. This study aimed to investigate the effects of HA nanoparticles and permeable cryoprotective agents (CPAs) on the ultrastructure, developmental competence, and gene expression of bovine GV oocytes following vitrification. Oocytes were vitrified in vitrification solutions containing HA nanoparticles of different sizes (20, 40, or 60 nm) and concentrations (0.01%, 0.05%, or 0.1%) to determine the optimal conditions based on survival rate, mitochondrial membrane potential (MMP) level, and developmental competence. Subsequently, the synergistic effects of HA nanoparticles and permeable CPAs (VS: 20% EG + 20% DMSO; VS1: 17.5% EG + 17.5% DMSO) were further evaluated. The optimal treatment (40 nm 0.05% HA nanoparticles) significantly increased MMP level, and improved developmental competence compared with the vitrified control group (p < 0.05). Among the vitrified groups, vitrified oocytes in the VS1-HA group (combining HA nanoparticles with reduced concentrations of permeable CPAs) exhibited the highest MMP level (1.89), maturation rate (50.39%), cleavage rate (27.07%), and blastocyst rate (10.53%) (p < 0.05). Ultrastructural analysis further revealed that the VS1-HA group maintained more intact zona pellucida structures and showed reduced mitochondrial swelling compared with the vitrified control group. Moreover, the expression levels of genes associated with zona pellucida formation (ZP3), mitochondrial fusion (MFN1), and chromatin remodeling (NPM2) were significantly upregulated in the VS1-HA group relative to the vitrified control group. Overall, these findings indicate that the combination of HA nanoparticles with lower concentrations of permeable CPAs enhances MMP level, alleviates vitrification-induced ultrastructural damage, and upregulates the expression of key developmental genes, thereby improving the developmental competence of vitrified bovine GV oocytes. Full article
(This article belongs to the Section Developmental and Reproductive Biology)
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24 pages, 2465 KB  
Article
Electric Two-Wheelers: A Low-Hanging Fruit Solution for Sustainable Transport?
by Arthit Champeecharoensuk, Peerawat Saisirirat, Phumanan Niyomna, Tawan Champeecharoensuk, Nuwong Chollacoop and Pimpa Limthongkul
Sustainability 2026, 18(6), 3099; https://doi.org/10.3390/su18063099 (registering DOI) - 21 Mar 2026
Abstract
The recent expansion of mass public transit in Bangkok has increased demand for public motorcycle taxis as a first- and last-mile solution for sustainable urban mobility. This study presents the results of a real-world demonstration project that transitioned 50 conventional public motorcycle taxis [...] Read more.
The recent expansion of mass public transit in Bangkok has increased demand for public motorcycle taxis as a first- and last-mile solution for sustainable urban mobility. This study presents the results of a real-world demonstration project that transitioned 50 conventional public motorcycle taxis into electric motorcycles supported by a battery-swapping system. The project evaluated vehicle performance, operational patterns, electricity consumption, and greenhouse gas (GHG) emissions under actual traffic conditions. Electric motorcycles deployed in taxi services must accommodate additional passenger load, provide sufficient acceleration for dense urban traffic, and sustain high daily travel distances. The findings show that participating riders accumulated a total driving distance of 759,354 km during the project period, demonstrating the technical and operational feasibility of electrification in high utilization fleets. Based on measured electricity consumption and Thailand’s grid emission factor, the transition resulted in an estimated reduction of approximately 1708.4 metric tons of CO2 equivalent emissions, excluding additional benefits associated with modal shifts to mass public transit. The results further indicate that battery-swapping infrastructure is a critical operational enabler, as daily travel distances frequently exceed the single-charge range of typical electric motorcycles. Scenario projections aligned with Thailand’s 30-by-30 electric vehicle policy target suggest that large-scale electrification of motorcycle fleets could contribute substantially to national mitigation efforts, supporting the country’s accelerated goal of net-zero emissions target by 2050. Full article
27 pages, 1036 KB  
Review
A Practical Diagnostic Approach to Non-Drowning Asphyxia in Animals: Forensic Pathology and Biomarkers
by Vittoria Romano, Davide De Biase, Valeria Russo, Evaristo Di Napoli, Orlando Paciello and Giuseppe Piegari
Vet. Sci. 2026, 13(3), 296; https://doi.org/10.3390/vetsci13030296 (registering DOI) - 21 Mar 2026
Abstract
The term asphyxia refers to a disruption in brain function due to rapid and persistent cerebral hypoxia or anoxia as a consequence of accidental or non-accidental injury. Considering the different mechanisms that may determine asphyxiation, such injuries can be referred to different categories: [...] Read more.
The term asphyxia refers to a disruption in brain function due to rapid and persistent cerebral hypoxia or anoxia as a consequence of accidental or non-accidental injury. Considering the different mechanisms that may determine asphyxiation, such injuries can be referred to different categories: strangulation (death by hanging, ligature or manual strangulation), suffocation (smothering, choking, confined spaces and vitiated atmosphere), mechanical asphyxia (positional and traumatic asphyxia) and drowning (submersion or immersion in liquid). In both human and veterinary forensic practice, fatal asphyxia is considered among the most diagnostically challenging categories of sudden death, as it often produces only subtle and non-pathognomonic macroscopic signs, which can be easily covered by post-mortem alterations. Therefore, a wide range of information is often needed for the diagnosis of asphyxiation, including medical history, crime scene analysis, testimonies and physical evidence, along with the macroscopic and histological findings. The following review addresses the main lesions, ancillary tests and diagnostic issues associated with non-drowning asphyxia in veterinary forensic pathology. Full article
(This article belongs to the Special Issue Advances in Morphology and Histopathology in Veterinary Medicine)
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32 pages, 7914 KB  
Article
UAV Target Detection and Tracking Integrating a Dynamic Brain–Computer Interface
by Jun Wang, Zanyang Li, Lirong Yan, Muhammad Imtiaz, Hang Li, Muhammad Usman Shoukat, Jianatihan Jinsihan, Benjun Feng, Yi Yang, Fuwu Yan, Shumo He and Yibo Wu
Drones 2026, 10(3), 222; https://doi.org/10.3390/drones10030222 (registering DOI) - 21 Mar 2026
Abstract
To address the inherent limitations in the robustness of fully autonomous unmanned aerial vehicle (UAV) visual perception and the high cognitive workload associated with manual control, this paper proposes a human-in-the-loop brain–computer interface (BCI) control framework. The system integrates steady-state visual evoked potential [...] Read more.
To address the inherent limitations in the robustness of fully autonomous unmanned aerial vehicle (UAV) visual perception and the high cognitive workload associated with manual control, this paper proposes a human-in-the-loop brain–computer interface (BCI) control framework. The system integrates steady-state visual evoked potential (SSVEP) with deep learning techniques to create a spatio-temporally dynamic interaction paradigm, enabling real-time alignment between visual targets and frequency stimuli. At the perception level, an enhanced YOLOv11 network incorporating partial convolution (PConv) and shape intersection over union (Shape-IoU) loss is developed and coupled with the DeepSort multi-object tracking algorithm. This configuration ensures high-speed execution on edge computing platforms while maintaining stable stimulus coverage over dynamic targets, thus providing a robust visual induction environment for EEG decoding. At the neural decoding level, an enhanced task-discriminant component analysis (TDCA-V) algorithm is introduced to improve signal detection stability within non-stationary flight conditions. Experimental results demonstrate that within the predefined fixation task window, the system achieves 100% success in maintaining target identity (ID). The BCI system achieved an average command recognition accuracy of 91.48% within a 1.0 s time window, with the TDCA-V algorithm significantly outperforming traditional spatial filtering methods in dynamic scenarios. These findings demonstrate the system’s effectiveness in decoupling human cognitive intent from machine execution, providing a robust solution for human–machine collaborative control. Full article
(This article belongs to the Section Artificial Intelligence in Drones (AID))
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20 pages, 46980 KB  
Article
Reservoir Characteristics and Main Controlling Factors of Tight Sandstone in the First Sub-Member of the First Member of Shaximiao Formation in the Zhongjiang Block of Tianfu Gas Field, Sichuan Basin
by Xiaoli Zhang, Rongrong Zhao, Xiaojuan Wang, Lin Qiao, Hang Li, Xiaoting Pang, Hualing Ma, Xu Guan, Shuangling Chen and Jiang He
Processes 2026, 14(6), 994; https://doi.org/10.3390/pr14060994 (registering DOI) - 20 Mar 2026
Abstract
The Tianfu Gas Field in the Sichuan Basin is a core block for the large-scale, economic development of Jurassic tight gas in China. The first sub-member of the first member of the Shaximiao Formation in the Zhongjiang Block hosts typical low-porosity and low-permeability [...] Read more.
The Tianfu Gas Field in the Sichuan Basin is a core block for the large-scale, economic development of Jurassic tight gas in China. The first sub-member of the first member of the Shaximiao Formation in the Zhongjiang Block hosts typical low-porosity and low-permeability tight sandstone reservoirs. Based on detailed field geological surveys and core observations, this study employed multiple technical methods, including cast thin sections, scanning electron microscopy, computed tomography (CT) scanning, and nuclear magnetic resonance (NMR) to investigate sedimentary microfacies' characteristics, analyze key reservoir properties (e.g., reservoir space types and pore structure), and clarify the main controlling factors of reservoir development. The results indicate the following: (1) The sedimentary period of the first sub-member of the first member of the Shaximiao formation (Es11) was controlled by a subtropical humid climate, with widespread gray mudstones and bedding-parallel plant fossil fragments. The main sedimentary environment was a shallow-water delta front, where the underwater distributary channel microfacies was the dominant facies belt. (2) Reservoir lithology is dominated by lithic arkose and feldspathic litharenite, with low compositional and structural maturity. Residual primary intergranular pores are the dominant reservoir space type, followed by intragranular dissolved pores in feldspar and lithic fragments. (3) The pore structure is characterized by a small pore-throat radius, poor sorting, and strong heterogeneity. Reservoirs can be subdivided into three categories, with Types II and III being the main types developed in this block. (4) Underwater distributary channels of the shallow-water delta are the main occurrence of reservoir sand bodies. During the burial diagenetic stage, calcite and laumontite cementation and filling led to reservoir densification. Meanwhile, early-formed chlorite rim cement effectively protected primary pores by inhibiting grain compaction and quartz overgrowth. Superimposed with the dissolution and alteration of feldspar, lithic fragments, and other components by late acidic fluids, effective pores were further expanded. The synergistic coupling of these sand-controlling factors and the “densification–protection–alteration” diagenetic process jointly constitutes the formation mechanism of high-quality reservoirs. This mechanism can provide a reliable theoretical basis for the accurate prediction of reservoir “sweet spots” and the optimal selection of horizontal well targets in the Zhongjiang Block of the Tianfu Gas Field. Full article
20 pages, 3750 KB  
Article
Effects of Edible Mushroom Cultivation on Fiber Degradation and Feed Quality of Highland Barley Straw
by Junjuan Yang, Shitao Wang, Sifan Chen, Jie Zhao, Gang Lin, Hang Yang, Zhi Li, Zhiwangjia Dan, Yajiao Zhao and Tao Shao
Agronomy 2026, 16(6), 659; https://doi.org/10.3390/agronomy16060659 - 20 Mar 2026
Abstract
This study used highland barley straw from the Tibetan Plateau to cultivate Pleurotus ostreatus, Pholiota nameko, Lentinula edodes, Pleurotus eryngii, and Hericium erinaceus, addressing straw waste, forage shortages, and underutilized barley straw. The results showed that highland barley [...] Read more.
This study used highland barley straw from the Tibetan Plateau to cultivate Pleurotus ostreatus, Pholiota nameko, Lentinula edodes, Pleurotus eryngii, and Hericium erinaceus, addressing straw waste, forage shortages, and underutilized barley straw. The results showed that highland barley straw was suitable for cultivating P. ostreatus and P. nameko, with P. ostreatus yielding significantly more. After fruiting, spent mushroom substrates (SMS) from both species had higher crude protein, fat, and ash, with reduced fiber content compared to raw straw. P. ostreatus SMS showed greater protein accumulation and fiber degradation, offering better feed quality than P. nameko. Fungal communities were more concentrated under P. ostreatus, while P. nameko had higher diversity. Multivariate analyses showed that fungal community structure correlated with protein, fat, and feed quality, while bacterial communities were linked to fiber content. Functional predictions indicated that P. ostreatus enriched carbohydrate and energy metabolism pathways, while P. nameko was more associated with biosynthetic functions. Overall, cultivating mushrooms on barley straw improved SMS feed quality, with P. ostreatus showing greater potential for feed use. Full article
(This article belongs to the Special Issue Innovative Solutions for Producing High-Quality Silage)
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9 pages, 270 KB  
Article
Moduli Spaces of Arrangements of 12 Projective Lines with a Sextic Point
by Meirav Amram, Eran Lieberman, Sheng-Li Tan, Mina Teicher and Xiao-Hang Wu
Mathematics 2026, 14(6), 1052; https://doi.org/10.3390/math14061052 - 20 Mar 2026
Abstract
In this paper, we classify moduli spaces of arrangements of 12 lines with a sextic point. We show that these moduli spaces can consist of more than two connected components. We also present defining equations of arrangements whose moduli spaces are not irreducible, [...] Read more.
In this paper, we classify moduli spaces of arrangements of 12 lines with a sextic point. We show that these moduli spaces can consist of more than two connected components. We also present defining equations of arrangements whose moduli spaces are not irreducible, and after taking quotients by complex conjugation, we obtain potential Zariski pairs. Full article
(This article belongs to the Special Issue Computational Geometry: Theory, Algorithms and Applications)
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17 pages, 5350 KB  
Article
Dynamic Accumulation and Transcriptional Regulation of Alkylamides in Developing Zanthoxylum planispinum var. Dintanensis Fruits
by Hang Zhang, Ning Lv, Xinglin Wang, Huan Tian, Lunxian Liu, Tie Shen and Qingxiong Yang
Horticulturae 2026, 12(3), 386; https://doi.org/10.3390/horticulturae12030386 - 20 Mar 2026
Abstract
The accumulation dynamics and regulatory mechanisms of the alkylamides, the key pungent compounds in the fruits of Sichuan peppers, remain poorly understood. Using fruits of the Zanthoxylum planispinum var. dintanensis (Dintan) harvested at five key developmental stages, we comprehensively mapped the accumulation of [...] Read more.
The accumulation dynamics and regulatory mechanisms of the alkylamides, the key pungent compounds in the fruits of Sichuan peppers, remain poorly understood. Using fruits of the Zanthoxylum planispinum var. dintanensis (Dintan) harvested at five key developmental stages, we comprehensively mapped the accumulation of numbering compounds and their underlying molecular drivers by integrating HPLC-based metabolite profiling and de novo transcriptomics. Total alkylamide content increased during development, with hydroxyl-α-sanshool (HαSS) being predominant. The contributions of hydroxyl-β-sanshool (HβSS) and hydroxyl-ε-sanshool (HεSS) increased in later stages. Cluster and correlation analyses identified 51 candidate genes strongly correlated (|r| ≥ 0.6) with HαSS accumulation, predominantly enriched in fatty acid and branched-chain amino acid metabolism pathways. The expression patterns of five stearoyl-CoA desaturase (SCD) genes, one long-chain acyl-CoA synthetase (ACSL/fadD), and one S-(hydroxymethyl)glutathione dehydrogenase/alcohol dehydrogenase (frmA) gene closely mirrored HαSS accumulation. In contrast, 3-oxoacyl-[acyl-carrier-protein] synthase II (fabF) and one β-ketoacyl-CoA synthase (KCS) gene exhibited a negative correlation. Accordingly, a positive regulatory network was constructed for HαSS accumulation. These findings revealed key candidate targets for deciphering the molecular basis of its unique flavor and for breeding high-pungency cultivars. Full article
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15 pages, 21867 KB  
Article
Enabling Scalable and Efficient Low-Altitude Airspace Utilization for Dense Urban Operations
by Yamin Zhang, Rong Xu, Bin Hu, Kaiyu Nie, Hang Zhao, Bo Chen and Qinglei Kong
Aerospace 2026, 13(3), 294; https://doi.org/10.3390/aerospace13030294 - 20 Mar 2026
Abstract
The rapid growth of low-altitude air traffic demands airspace evaluation frameworks that are scalable, flexible, and efficient. However, existing airspace partitioning strategies, primarily designed for sparse, long-distance civil aviation, are ill-suited to the dense and complex low-altitude environment. Moreover, the heterogeneous nature of [...] Read more.
The rapid growth of low-altitude air traffic demands airspace evaluation frameworks that are scalable, flexible, and efficient. However, existing airspace partitioning strategies, primarily designed for sparse, long-distance civil aviation, are ill-suited to the dense and complex low-altitude environment. Moreover, the heterogeneous nature of low-altitude conditions cannot be adequately captured. To address this challenge, we propose a novel low-altitude airspace evaluation framework centered on a hierarchical voxel-based partitioning strategy. This strategy explicitly accommodates the diverse operational requirements of drones across different airspace layers. We couple this with an efficient multi-resolution airspace unit encoding mechanism that dynamically aggregates and evaluates airspace availability. To demonstrate the practical utility of our framework, we further develop an energy-aware, multi-scale route-planning algorithm that operates seamlessly across the hierarchical representation. Simulation results show that our method significantly improves computational efficiency in airspace evaluation, while the proposed planner achieves higher energy efficiency compared to conventional approaches like A*. Full article
(This article belongs to the Section Air Traffic and Transportation)
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25 pages, 6486 KB  
Article
ECO-DEAU: An Ecologically Constrained Deep Learning Autoencoder for Sub-Pixel Land Cover Unmixing in Arid and Semi-Arid Regions
by Leixuan Zhou, Long Li, Dehui Li, Yong Bo, Hang Li, Kai Liu and Shudong Wang
Remote Sens. 2026, 18(6), 941; https://doi.org/10.3390/rs18060941 - 19 Mar 2026
Abstract
Arid and semi-arid regions are critical to terrestrial ecosystems and regional carbon cycle regulation, directly contributing to peak carbon and carbon neutrality goals. However, the fragmented landscapes in these regions pose significant challenges to conventional pixel-based classification, which often struggles with mixed pixel [...] Read more.
Arid and semi-arid regions are critical to terrestrial ecosystems and regional carbon cycle regulation, directly contributing to peak carbon and carbon neutrality goals. However, the fragmented landscapes in these regions pose significant challenges to conventional pixel-based classification, which often struggles with mixed pixel issues and lacks biophysical interpretability. To address these limitations, this study develops an Ecologically Constrained Deep Learning Autoencoder (ECO-DEAU) framework for sub-pixel land cover mapping by integrating biophysical constraints. Specifically, ECO-DEAU employs spectral indices to extract standard spectral signatures for five primary land cover types, which serve as initial weights to guide the autoencoder in estimating fractional abundances. The model was trained across ten representative landscape zones in the Inner Mongolia section of the Yellow River Basin and validated against high-resolution Gaofen-2 data. Results demonstrated that ECO-DEAU yielded an average R2 of 0.687, reaching a maximum R2 of 0.749 in spatially heterogeneous transition zones, representing a substantial improvement over the baseline unconstrained Deep Autoencoder (DEAU). By effectively resolving the blind source separation problem and improving decomposition accuracy, ECO-DEAU serves as a robust tool for addressing mixed pixel challenges in heterogeneous environments, thereby facilitating large-scale, high-resolution carbon sink monitoring. Full article
(This article belongs to the Special Issue Remote Sensing for Landscape Dynamics)
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19 pages, 3132 KB  
Article
Inorganic–Organic Hybrid Polymer for Fine-Rich Coal Slime Water Treatment: Performance and Interfacial Adsorption Mechanism on Kaolinite Aluminol Surface
by Jing Chang, Hang Zhao, Shizhen Liang, Xihao Feng, Jia Xue and Wei Zhao
Separations 2026, 13(3), 99; https://doi.org/10.3390/separations13030099 - 19 Mar 2026
Abstract
High-ash coal slime water, characterized by its stable colloidal suspension of fine kaolinite particles, poses a significant challenge in the coal preparation industry because it is hard to achieve efficient solid–liquid separation. While traditional coagulants and flocculants often suffer from limited bridging capabilities [...] Read more.
High-ash coal slime water, characterized by its stable colloidal suspension of fine kaolinite particles, poses a significant challenge in the coal preparation industry because it is hard to achieve efficient solid–liquid separation. While traditional coagulants and flocculants often suffer from limited bridging capabilities and distinct pH sensitivity, novel molecular architectures offer potential solutions. In this study, a star-shaped inorganic–organic hybrid flocculant (Al-PAM) was synthesized via in situ polymerization. Its flocculation performance and interfacial adsorption mechanism on the specifically targeted aluminol basal plane of kaolinite were systematically investigated and compared with Polyaluminum Chloride (PAC), Non-ionic Polyacrylamide (NPAM), and their combination (PAC + NPAM). Settling tests revealed that Al-PAM exhibited superior performance at a significantly lower dosage (10 mg∙L−1) compared to the PAC + NPAM binary reagent system. It achieved a rapid initial settling velocity and reduced the supernatant turbidity to 48.45 NTU, while maintaining a near-neutral pH favorable for water recycling. Furthermore, Quartz Crystal Microbalance with Dissipation (QCM-D) monitoring confirmed that Al-PAM forms a thick, viscoelastic, and irreversible adsorption layer on the Al2O3 substrate. The dissipation shifts (ΔD) revealed that the star-shaped architecture promotes distinct bridging and electrostatic adsorption, overcoming the limitation of linear polymers. This work elucidates the specific contribution of the alumina-surface interaction with flocculants and proposes an efficient strategy for treating refractory coal slime water. Full article
(This article belongs to the Special Issue Separation Technology in Mineral Processing)
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17 pages, 4939 KB  
Article
Fatigue Life Prediction of TC4 Titanium Alloy Bolted Structures in Thermal Environments Below 400 °C Using an Enhanced DFR Method
by Hang Peng, Bintuan Wang, Jianbo Qin, Shiyu Li, Yan Zhou and Shancheng Cao
Materials 2026, 19(6), 1210; https://doi.org/10.3390/ma19061210 - 19 Mar 2026
Abstract
TC4 titanium alloy bolted structures are extensively utilized in aerospace engineering, particularly within the heat-affected zones of aircraft engines. However, current studies have predominantly focused on fatigue fracture of titanium alloys at temperatures exceeding 400 °C, leaving a gap in accurate fatigue life [...] Read more.
TC4 titanium alloy bolted structures are extensively utilized in aerospace engineering, particularly within the heat-affected zones of aircraft engines. However, current studies have predominantly focused on fatigue fracture of titanium alloys at temperatures exceeding 400 °C, leaving a gap in accurate fatigue life prediction for TC4 bolted structures subjected to moderate elevated temperatures up to 400 °C. To address this limitation, this study proposes an enhanced detail fatigue rating (DFR) method that is applicable to fatigue life prediction of TC4 bolted structures under thermal environments not exceeding 400 °C. Firstly, fatigue life data were acquired from base material specimens of TC4 titanium alloy tested at 20 °C, 200 °C, and 400 °C. Secondly, an enhanced DFR method that considered the temperature-dependent thermal influence was established based on the experimental results. The enhanced DFR approach was then applied to predict the fatigue life of double-shear TC4 bolted structures, and the results were compared with those obtained via the conventional DFR method. The findings demonstrate that the enhanced DFR method improves the average fatigue life estimation accuracy by 9.29% over the conventional DFR method within the 20~400 °C range. This establishes the proposed model as a highly promising tool for evaluating the fatigue performance of TC4 bolted structures under elevated thermal conditions below 400 °C. Full article
(This article belongs to the Special Issue Fatigue, Damage and Fracture of Alloys)
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25 pages, 6368 KB  
Article
Comfort-Oriented Pothole Traversal Using Multi-Sensor Perception and Fuzzy Control
by Chaochun Yuan, Shiqi Hang, Youguo He, Jie Shen, Long Chen, Yingfeng Cai, Shuofeng Weng and Junxian Wang
Sensors 2026, 26(6), 1925; https://doi.org/10.3390/s26061925 - 19 Mar 2026
Abstract
Potholes are typical negative road obstacles that can significantly compromise vehicle safety and ride comfort when traversed at inappropriate speeds. To address this issue, this paper proposes a pothole-detection-based, comfort-oriented pothole traversal algorithm that integrates multi-sensor fusion perception, comfort-constrained speed planning, and fuzzy [...] Read more.
Potholes are typical negative road obstacles that can significantly compromise vehicle safety and ride comfort when traversed at inappropriate speeds. To address this issue, this paper proposes a pothole-detection-based, comfort-oriented pothole traversal algorithm that integrates multi-sensor fusion perception, comfort-constrained speed planning, and fuzzy control. A camera and a single-point ranging LiDAR are first fused to extract key geometric features of potholes, including contour, area, and depth. Based on these features, a vehicle–pothole dynamic model is developed in ADAMS to quantify the influence of pothole area and depth on vehicle vertical vibration. The vertical frequency-weighted root-mean-square (RMS) acceleration is adopted as the ride comfort indicator, based on which the maximum allowable traversal speed under different pothole geometries is determined. Furthermore, a longitudinal pothole traversal control strategy based on fuzzy theory is designed to regulate vehicle acceleration, enabling the vehicle to reach the comfort-constrained limiting speed within a finite preview distance while ensuring braking safety. The proposed method is validated through multi-scenario co-simulations using MATLAB/Simulink and CarSim, as well as real-vehicle experiments. Results demonstrate that the proposed strategy can effectively adjust vehicle speed before pothole traversal, satisfying comfort constraints and improving ride comfort without sacrificing driving safety. Full article
(This article belongs to the Section Vehicular Sensing)
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18 pages, 2241 KB  
Article
Efficacy and Safety of Stereotactic Body Radiation Therapy Modalities for >5 cm Advanced Unresectable Hepatocellular Carcinoma: A Network Meta-Analysis
by Henry W. C. Leung, Shyh-Yau Wang, John Hang Leung, Yun-Sheng Tai and Agnes L. F. Chan
Cancers 2026, 18(6), 988; https://doi.org/10.3390/cancers18060988 - 18 Mar 2026
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Abstract
Objective: Radiotherapy remodels the tumor microenvironment (TME) and may enhance the efficacy of immunotherapy in cancer treatment, particularly in patients with large, unresectable hepatocellular carcinoma (HCC) complicated by portal vein tumor thrombus (PVTT). Because of these unique effects, a growing body of [...] Read more.
Objective: Radiotherapy remodels the tumor microenvironment (TME) and may enhance the efficacy of immunotherapy in cancer treatment, particularly in patients with large, unresectable hepatocellular carcinoma (HCC) complicated by portal vein tumor thrombus (PVTT). Because of these unique effects, a growing body of research has found that stereotactic body radiation therapy (SBRT) combined with transcatheter arterial chemoembolization (TACE) or programmed death protein 1 (PD-1) inhibitors has a synergistic impact on unresectable advanced hepatocellular carcinomas (HCCs) larger than 5 cm in diameter. We aim to explore the efficacy of these treatment modalities through a network meta-analysis (NMA). Methods and Analysis: We evaluated the efficacy and safety of different SBRT-based treatment modalities for large advanced HCCs with PVTT (tumor diameter ≥ 5 cm), with primary endpoints including overall survival (OS), progression-free survival (PFS), and grade 3–4 severe adverse events (SAEs). Results: Eighteen studies comprising 2303 patients were included. SBRT combined with transcatheter arterial chemoembolization (SBRT + TACE) demonstrated significantly superior overall survival compared with other monotherapy or combination strategies. Most other treatment regimens showed comparable PFS outcomes. Notably, SBRT alone and SBRT combined with PD 1 inhibitors (SBRT + PD 1) were associated with significantly lower incidences of severe adverse events compared with other treatment modalities; all of these reported SAEs were manageable with appropriate clinical intervention. Conclusions: For patients with large (≥5 cm) advanced HCC with PVTT, SBRT combined with TACE was associated with superior OS and PFS compared with other treatment strategies. These findings suggest potential synergistic interactions between SBRT and TACE or immunotherapy. Further high-quality prospective trials are warranted to validate these observations and clarify the underlying molecular mechanisms. Our results provide evidence to inform therapeutic decision-making in advanced HCC. Full article
(This article belongs to the Section Methods and Technologies Development)
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21 pages, 1946 KB  
Article
An Interpretable Spatial–Nonlinear Learning Framework for Provincial Traffic Accident Analysis
by Yuwei Wang, Zhihai Li, Hang Yuan, Zitong Pei and Yi Lei
Symmetry 2026, 18(3), 522; https://doi.org/10.3390/sym18030522 - 18 Mar 2026
Viewed by 76
Abstract
Inspired by the concept of symmetry in functional representation, complex nonlinear relationships can be decomposed into combinations of lower-dimensional functions, providing an interpretable framework for modeling high-dimensional systems. With the continuous growth of road traffic volume in China and the rapid acceleration of [...] Read more.
Inspired by the concept of symmetry in functional representation, complex nonlinear relationships can be decomposed into combinations of lower-dimensional functions, providing an interpretable framework for modeling high-dimensional systems. With the continuous growth of road traffic volume in China and the rapid acceleration of urbanization, traffic safety issues have become increasingly prominent. To address the limitations of traditional traffic accident prediction models—including insufficient spatial information representation, weak nonlinear fitting capability, and poor interpretability—this study proposes an improved Kolmogorov–Arnold Networks (KANs) model. Specifically, a spatial embedding module, a multi-scale spline mechanism, and a residual connection structure are incorporated into the original KAN framework to enhance its ability to capture spatial heterogeneity and complex nonlinear relationships in traffic accident data. Experimental results demonstrate that the improved KAN model achieves a 2.38% increase in the coefficient of determination, while reducing the mean absolute deviation and mean squared prediction error by 24.89% and 34.69%, respectively, indicating a significant improvement in both prediction accuracy and model stability. Furthermore, the proposed model enhances interpretability by visualizing variable relationships through spline functions, enabling intuitive analysis of nonlinear effects. Overall, the improved KAN model exhibits strong capability in modeling spatially non-stationary and nonlinear structures, making it a promising tool for macroscopic traffic safety modeling with substantial application potential and practical value. Full article
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