Search Results (793)

The rapid evolution of modern vehicles into intelligent and interconnected systems presents new complexities in both functional safety and cybersecurity. In this context, ensuring the reliability and integrity of critical sensor data, such as wheel speed inputs for anti-lock brake systems (ABS), is essential. Effective detection of wheel speed sensor faults not only improves functional safety, but also plays a vital role in keeping system resilience against potential cyber–physical threats. Although data-driven approaches have gained popularity for system development due to their ability to extract meaningful patterns from historical data, a major limitation is the lack of diverse and representative faulty datasets. This study proposes a novel dual learning model, based on Temporal Convolutional Networks (TCN), designed to accurately distinguish between normal and faulty wheel speed sensor behavior within a hardware-in-the-loop (HIL) simulation platform implemented on an FPGA. To address dataset limitations, a TruckSim–MATLAB/Simulink co-simulation environment is used to generate realistic datasets under normal operation and eight representative fault scenarios, yielding up to 5000 labeled sequences (balanced between normal and faulty behaviors) at a sampling rate of 60 Hz. Two TCN models are trained independently to learn normal and faulty dynamics, and fault decisions are made by comparing the reconstruction errors (MSE and MAE) of both models, thus avoiding manually tuned thresholds. On a test set of 1000 sequences (500 normal and 500 faulty) from the 5000 sample configuration, the proposed dual TCN framework achieves a detection accuracy of 97.8%, a precision of 96.5%, a recall of 98.2%, and an F1-score of 97.3%, outperforming a single TCN baseline, which achieves 91.4% accuracy and an 88.9% F1-score. The complete dual TCN architecture is implemented on a Xilinx ZCU102 FPGA evaluation kit (AMD, Santa Clara, CA, USA), while supporting real-time inference in the HIL loop. These results demonstrate that the proposed approach provides accurate, low-latency fault detection suitable for safety-critical ABS applications and contributes to improving both functional safety and cyber-resilience of braking systems. Full article

To address flight safety risks from rotor defects in rotorcraft drones operating in complex low-altitude environments, this study proposes a high-precision diagnostic model based on the Multimodal Data Input and Spatio-Temporal Feature Fusion Network (MDI-STFFNet). The model uses a dual-modality coupling mechanism that integrates vibration and air pressure signals, forming a “single-path temporal, dual-path representational” framework. The one-dimensional vibration signal and the five-channel pressure array are mapped into a texture space via phase space reconstruction and color-coded recurrence plots, followed by extraction of transient spatial features using a pre-trained ResNet-18 model. Parallel LSTM networks capture long-term temporal dependencies, while a parameter-free 1D max-pooling layer compresses redundant pressure data, reducing LSTM parameter growth. The CSW-FM module enables adaptive fusion across modal scales via shared-weight mapping and learnable query vectors that dynamically assign spatiotemporal weights. Experiments on a self-built dataset with seven defect types show that the model achieves 99.01% accuracy, improving by 4.46% and 1.98% over single-modality vibration and pressure inputs. Ablation studies confirm the benefits of spatiotemporal fusion and soft weighting in accuracy and robustness. The model provides a scalable, lightweight solution for UAV power system fault diagnosis under high-noise and varying conditions. Full article

In precision agriculture, accurate, non-destructive estimation of fruit volume is crucial for quality grading, yield prediction, and post-harvest management. While vision-based methods provided some usefulness, fruits with complex geometry—such as mangosteen (Garcinia mangostana L.)—are difficult due to their large calyx, which may lead to difficulties in solving using traditional form-modeling methods. Traditional geometric solutions such as ellipsoid approximations, diameter–height estimation, and shape-from-silhouette reconstruction often fail because the irregular calyx generates asymmetric protrusions that violate their basic form assumptions. We offer a novel study framework employing both multi-view instance segmentation and hybrid geometrical feature modeling to quantitatively model mangosteen volume with traditional 2D imaging. A You Only Look Once (YOLO)-based segmentation model was employed to explicitly separate the fruit body from the calyx. Calyx inclusion resulted in dense geometric noise and reduced model performance ($R^2<0.40$). We trained eight regression models on a curated and augmented 900 image dataset ($N=720$, test $N=180$). The models used single-view and multi-view geometric regressors ($V\propto A^{1.5}$), polynomial hybrid configurations, ellipsoid-based approximations, as well as hybrid feature formulations. Multi-view models consistently outperformed single-view models, and the average predictive accuracy improved from $R^2=0.6493$ to $R^2=0.7290$. The best model is indeed a hybrid linear regression model with side- and bottom-area features—($A_s^{1.5}$, $A_b^{1.5}$)—combined with ellipsoid-derived volume estimation—($V_{\mathrm{ellipsoid}}$)—which resulted in $R^2=0.7290$, a Mean Absolute Percentage Error (MAPE) of 16.04%, and a Root Mean Square Error (RMSE) of 31.9 ${\mathrm{cm}}^3$ on the test set. These results confirm the proposed model as a low-cost, interpretable, and flexible model for real-time fruit volume estimation, ready for incorporation into automated sorting and grading systems integrated in post-harvest processing pipelines. Full article

As an important marginal sea in the western Pacific, sea-level changes in the South China Sea not only respond to global warming but are also regulated by regional ocean dynamics and climate modes, exerting profound impacts on the socioeconomic development and engineering safety of coastal regions. To address the widespread issues of low accuracy and robustness in existing sea-level prediction models when handling nonlinear, multi-scale sequences, as well as the complexity of sea-level change mechanisms in the South China Sea, this study constructs a hybrid model combining Singular Spectrum Analysis and Long Short-Term Memory neural networks (SSA-LSTM). The coral skeletal oxygen isotope ratio (δ¹⁸O) used in this study is a key indicator for characterizing the marine environment, defined as the per mille difference in the ¹⁸O/¹⁶O ratio of a sample relative to a standard. Based on coral δ¹⁸O data from the South China Sea, the sea level from 1850 to 2015 is reconstructed. SSA is then applied to decompose the sea-level data into trend and periodic components. The trend component, accounting for 37.03%, and components 2 to 11, containing major periodic information, are extracted to reconstruct the sea-level series. The reconstructed series retains 95.89% of the original information. The trend component is modeled through curve fitting, while the periodic components are modeled using an LSTM neural network. Optimal hyperparameters for the LSTM are determined through parameter sensitivity analysis. An integrated SSA-LSTM model is constructed to predict sea level in the South China Sea, and its predictions are compared with those from a Singular Spectrum Analysis-Autoregressive Integrated Moving Average (SSA-ARIMA) model. The results indicate that from 1850 to 2015, sea level in the South China Sea exhibits periodic fluctuations with a significant overall upward trend. Specifically, the growth rate from 1921 to 1940 reaches 5.49 mm/yr. Predictions from the SSA-LSTM model are significantly higher than those from the SSA-ARIMA model. The SSA-LSTM model projects that from 2016 to 2035, sea level in the South China Sea will continue to rise at a fluctuating rate of 0.75 mm/yr, with a cumulative rise of approximately 15 mm. This study provides a novel methodology for investigating the mechanisms of sea-level change in the South China Sea and offers a scientific basis for coastal risk management. Full article

Terahertz Synthetic Aperture Radar (THz-SAR) is highly sensitive to platform vibrations and trajectory deviations, which introduce severe phase errors and limited resolution. Typically, platform vibrations and trajectory deviations are investigated individually, and vibrations are modeled as a stationary sine term. In this work, a hybrid motion compensation (MOCO) scheme is proposed to address both platform vibrations and trajectory deviations simultaneously, achieving improved imaging quality. The scheme initiates with a parameter self-adaptive quadratic Kalman filter designed to resolve severe phase wrapping. Then, platform vibration is modeled as a non-stationary multi-sine term, whose components are accurately extracted using an improved signal decomposition algorithm enhanced by a dynamic noise adjustment mechanism. Subsequently, the trajectory deviation is parameterized following subaperture division, estimated using a hybrid optimizer that combines particle swarm optimization and gradient descent. Additionally, a composite modulated waveform application ensures low sidelobes and a low probability of intercept (LPI). Extensive simulations on point targets and complex scenes under various signal-to-noise-ratio (SNR) conditions are applied for SAR image reconstruction, demonstrating robust suppression of motion errors. Under identical simulated error conditions, the proposed method achieves an azimuth resolution of 4.28 cm, which demonstrates superior performance compared to the reported MOCO techniques. Full article

Against the backdrop of electricity market liberalization and deregulation, accurate electricity price forecasting is critical for optimizing power dispatch and promoting the low-carbon transition of energy structures. However, electricity prices exhibit inherent complexities such as seasonality, high volatility, and non-stationarity, which undermine the efficacy of traditional forecasting methodologies. To address these challenges, this study proposes a four-stage Decomposition-Reconstruction-Optimization-Integration (DROI) framework, coupled with an econometric breakpoint test, to evaluate forecasting performance across distinct time segments of Spanish electricity price data. The framework employs CEEMDAN for signal decomposition, decomposing complex price sequences into intrinsic mode functions to retain essential features while mitigating noise, followed by frequency-based data reconstruction; integrates the Improved Sparrow Search Algorithm (ISSA) to optimize initial model parameters, minimizing errors induced by subjective factors; and leverages Convolutional Neural Networks (CNN) for frequency-domain feature extraction, enhanced by an attention mechanism to weight channels and prioritize critical attributes, paired with Long Short-Term Memory (LSTMs) for temporal sequence forecasting. Experimental results validate the method’s robustness in both interval forecasting (IPCP = 100% and IPNAW is the smallest, Experiment 1.3) and point forecasting tasks (MAPE = 1.3758%, Experiment 1.1), outperforming naive approaches in processing stationary sequence clusters and demonstrating substantial economic utility to inform sustainable power system management. Full article

Realizing real-time dense 3D reconstruction on resource-limited mobile platforms remains a significant challenge, particularly in low-texture environments that demand robust multi-frame fusion to resolve matching ambiguities. However, the inherent tight coupling of pose estimation and mapping in traditional monolithic SLAM architectures imposes a severe restriction on integrating high-complexity fusion algorithms without compromising tracking stability. To overcome these limitations, this paper proposes MDR–SLAM, a modular and fully decoupled stereo framework. The system features a novel keyframe-driven temporal filter that synergizes efficient ELAS stereo matching with Kalman filtering to effectively accumulate geometric constraints, thereby enhancing reconstruction density in textureless areas. Furthermore, a confidence-based fusion backend is employed to incrementally maintain global map consistency and filter outliers. Quantitative evaluation on the NUFR-M3F indoor dataset demonstrates the effectiveness of the proposed method: compared to the standard single-frame baseline, MDR–SLAM reduces map RMSE by 83.3% (to 0.012 m) and global trajectory drift by 55.6%, while significantly improving map completeness. The system operates entirely on CPU resources with a stable 4.7 Hz mapping frequency, verifying its suitability for embedded mobile robotics. Full article

While the root architecture of potted crop seedlings directly determines subsequent crop productivity and adaptability, these root systems remain challenging to quantify using conventional methods due to their structural complexity. To investigate the microscopic characteristics of the root systems of pepper seedlings within pots, Micro-CT was employed to scan the seedling pots. After three-dimensional (3D) reconstruction was conducted on the data acquired from the pot scans, the 3D model of the root system was segmented and extracted using the watershed algorithm. Vertically, the three-dimensional root model was divided from top to bottom into four equally spaced regions (a, b, c, and d), showing the volumetric distribution characteristics of pepper seedling roots within the pots. The results showed that region a had the largest average root volume proportion (29.72%), primarily due to the substantial volume contribution of the taproot. Region d followed with an average proportion of 27.26%, resulting from root coiling and entanglement at the pot bottom caused by the spatial constraints of the seedling tray. The middle regions of the pot, b and c, showed average root volume proportions of 23.14% and 19.89%, respectively. To further investigate the influence of root system characteristics on root injury during seedling gripping, the seedlings were categorized into three types based on their taproot growth positions. A gripping experiment was conducted on these three seedling types using spatula-equipped needles. The results showed that the greatest root injury (12.67%) was observed in Type 1 seedlings, which had taproots located closest to the needle insertion point. In contrast, the least injury (4.09%) was found in Type 3 seedlings, characterized by centrally positioned taproots. Type 2 seedlings, with their taproots growing on the side (laterally away from the insertion point), sustained intermediate injury (5.45%). This was because their lateral positioning led to an uneven distribution of mechanical stress during gripping compared with Type 3 seedlings. A validation experiment conducted on an automated seedling retrieval platform confirmed the root injury analysis. The experimental results showed maximum root injury in Type 1 seedlings (14.16%), followed by Type 2 (6.03%) and Type 3 (4.82%) seedlings, with a successful retrieval rate of 95.29%. These findings were consistent with the Micro-CT analysis. This study could provide a theoretical foundation for low-injury seedling gripping in fully automated seedling transplanters. Full article

Research on interference suppression technology for enhanced long-range navigation (eLoran) signals is crucial for enhancing receiver performance. To address the zero-point drift phenomenon in eLoran signals during adaptive filtering, we propose a segmented inaction algorithm based on normal time–frequency transform (NTFT), which is designed for challenging environments, such as low signal-to-noise ratio (SNR) and complex noise conditions. The algorithm splits the 20 kHz frequency band of the eLoran signal into 200 equal sub-bands, then applies the inaction algorithm sequentially to each sub-band, which exhibits strong noise resistance and high robustness. It is regarded as a pre-filter of the adaptive filter, ensuring a cleaner input signal for subsequent processing. Simulation results indicate that, when processing low-SNR eLoran signals affected by multi-frequency narrow-band interference and band-limited Gaussian noise, the combined algorithm significantly improves root mean square error (RMSE) by 33.3% and relative root mean square error (R-RMSE) by 39.1% compared to the single VSS-LMS method. Additionally, it compensates for zero-point drift (the deviation observed in the time series between the positive zero-crossing point of the third period of the reconstructed signal and that of the original signal) by 79.3% and maintains third-week forward over-zero error at a very low level. The effectiveness of the combined algorithm was further validated through actual measurement experiments. Full article

Monitoring the condition of belt conveyor idlers is critical for ensuring safe and efficient operation of industrial conveying systems. However, existing methods often suffer from limited scalability and delayed fault detection, particularly under variable environmental conditions. In this work, we propose MIRA, a transformer-based framework for monitoring idler roller anomalies, which detects and localizes faults using acoustic and vibration signals collected from low-cost sensors. MIRA employs a masked transformer-based autoencoder trained in an unsupervised manner to reconstruct normal patterns and detect deviations via reconstruction error. MIRA can also infer the fault location, enabling spatially aware anomaly detection without the need for labeled data. We validated the system on a custom-built conveyor belt testbed equipped with sensor units, each measuring sound and two-axis vibration signals. We evaluated MIRA on four types of idler faults across 14 roller locations and 6 belt speeds. The results show that MIRA achieves an anomaly detection accuracy of 98.70% and a fault localization accuracy of 96.09%, demonstrating its robustness and practical applicability in complex operational settings. Full article

The Upper Permian marine shale of the inter-platform basin in the Nanpanjiang Basin are rich in organic matter, widely distributed, and relatively thick, indicating abundant resource potential for hydrocarbon exploration. To clarify the sedimentary condition and the variability of reservoir properties, the paleo-environment was reconstructed by using geochemical, mineralogical, rock-property, and pore-structure data. Building on a lithofacies classification, the development patterns of different shale lithofacies were revealed. Reservoir characteristics among lithofacies were compared using scanning electron microscopy (SEM), nuclear magnetic resonance (NMR), and low-temperature Nuclear Magnetic Resonance Cryoporometry (NMRC) experiments. A fractal analysis was performed based on NMR and NMRC data to quantify pore-scale heterogeneity, calculate fractal dimensions (D₁, D₂, and D_c), and evaluate the complexity of pore systems across lithofacies. Correlation analysis and redundancy analysis were applied to further explore the controlling factors of reservoir heterogeneity. The results showed that organic-rich shale in the Permian Linghao Formation occurred mainly in the 1st Member, with average total organic carbon (TOC) content of 2.57%, and the lower part of the 3rd Member (average TOC content 2.88%). In the 1st Member, high-carbon shale was deposited under humid conditions with intense weathering, abundant fine-grained clastic input from basin margins, strongly reducing (anoxic) bottom waters, vigorous phosphorus recycling, and moderate to low primary productivity. Using TOC and mineral composition, seven shale lithofacies were identified in the Linghao Formation, and their development patterns were established based on depositional paleo-environment characteristics and evolution. In the 1st Member, organic-rich shale was dominated by mixed lithofacies with moderate to high TOC. The paleo-environment exerted a primary control on reservoir properties, gas content, pore structure, and heterogeneity. The high-carbon lithofacies had the most favorable rock properties—higher porosity, greater pore volume, and higher gas content—and contained a larger proportion of well-developed organic pores. Fractal analysis revealed that seepage pores exhibited greater structural complexity than adsorption-related pores, with the high-carbon lithofacies showing the highest overall fractal dimensions and thus the strongest heterogeneity. Across the formation, higher clay content and TOC were the primary drivers of increased pore-scale heterogeneity, whereas greater feldspar and quartz contents tended to diminish it. Carbonates exerted a minor effect. Heterogeneity in adsorption pores exerted the strongest influence on differences among lithofacies. These results highlighted the utility of fractal analysis in quantitatively linking shale mineralogy and organic content to multiscale heterogeneity in inter-platform basin settings. Full article

Tunnel seismic advanced prediction is a widely used technique in geotechnical engineering due to its non-destructive characteristics and deep detection capability. However, limitations in acquisition space and complex on-site conditions often result in missing traces, damaged channels, and low-resolution data, thereby hindering accurate geological interpretation. Although deep learning models such as U-Net have shown promise in seismic data reconstruction, their emphasis on local features and fixed parameter configurations limits their capacity to capture global and long-range dependencies, thereby constraining reconstruction accuracy. To address these challenges, this study proposes a novel deep unrolling network, TSISTA-Net (Tunnel Seismic Iterative Shrinkage–Thresholding Algorithm Network), specifically designed to improve seismic data quality. Built upon the ISTA-Net architecture, TSISTA-Net incorporates three distinct innovations. First, reflection padding is utilized to minimize boundary artifacts and effectively recover edge information. Second, multi-scale dilated convolutions are employed to extend the receptive field, thereby facilitating the extraction of long-range and multi-scale features from seismic signals. Third, a lightweight and patch-based processing strategy is adopted, guaranteeing high computational efficiency while maintaining reconstruction quality. The effectiveness of the proposed method was validated on both synthetic and real tunnel seismic datasets. On synthetic data, TSISTA-Net achieved a PSNR of 37.28 dB, an SSIM of 0.9667, and an LCCC of 0.9357, outperforming U-Net (35.93 dB, 0.9480, 0.9087) and conventional ISTA-Net (34.04 dB, 0.9167, 0.8878). These results demonstrate superior signal fidelity, structural similarity, and local correlation relative to established baselines. Consistent improvements were also observed on real tunnel datasets, indicating that TSISTA-Net provides an efficient, data-driven solution for tunnel seismic data processing with strong potential for practical engineering applications. Full article

Background: Complex diabetic foot ulcers (DFUs) are a leading cause of morbidity and lower-limb amputation, and their management is profoundly challenging. Microvascular free tissue transfer is a primary limb salvage strategy, with the anterolateral thigh (ALT) free-flap recognized as a workhorse reconstructive solution. However, a quantitative summary of its performance specifically within this high-risk patient population is lacking. Methods: A systematic review and single-arm meta-analysis was conducted in accordance with PRISMA (Preferred Reporting Items for Systematic Reviews and Meta-Analyses) guidelines. Five electronic databases (PubMed/MEDLINE, Embase, Scopus, Cochrane, and Web of Science Core Collection) were searched up to 9 September 2025 to identify studies reporting on outcomes of ALT free-flaps for diabetic foot reconstruction. The risk of bias was assessed using the Methodological Index for Non-Randomized Studies (MINORS) criteria. Primary outcomes were set as the complete and partial flap necrosis rate. Secondary outcomes included functional recovery status and complication rates. All data were synthesized using a random-effects model. Results: Six retrospective cohort studies met the inclusion criteria, including a total of 162 patients. The pooled rate of total flap failure was 5.2% (95% CI: 2.5–10.6%), a finding that was highly consistent across all studies (I² = 0%). The pooled incidence of partial flap necrosis was 13.0% (95% CI: 6.3–25.1%), resulting in an overall weighted flap success rate of 81.8%. Notably, the pooled rate of return to ambulation was 95.2% (95% CI: 88.5–98.1%), which also demonstrated no statistical heterogeneity (I² = 0%). Conclusions: The anterolateral thigh free-flap appears to be a robust and highly reliable strategy for diabetic foot reconstruction, associated with low failure rates, minimal long-term complications, and excellent functional recovery. However, the current evidence is limited to a small number of poor-to-moderate-quality retrospective studies. High-quality, prospective, and comparative multicenter trials are necessary to confirm these findings and establish the ALT flap’s effectiveness in high-risk cohorts. Full article

In response to the challenges of low computational efficiency, insufficient detail restoration, and dependence on multiple GPUs in 3D Gaussian Splatting for large-scale UAV scene reconstruction, this study introduces an improved 3D Gaussian Splatting framework. It primarily targets two aspects: optimization of the partitioning strategy and enhancement of adaptive density control. Specifically, an adaptive partitioning strategy guided by scene complexity is designed to ensure more balanced computational workloads across spatial blocks. To preserve scene integrity, auxiliary point clouds are integrated during partition optimization. Furthermore, a pixel weight-scaling mechanism is employed to regulate the average gradient in adaptive density control, thereby mitigating excessive densification of Gaussians. This design accelerates the training process while maintaining high-fidelity rendering quality. Additionally, a task-scheduling algorithm based on frequency-domain analysis is incorporated to further improve computational resource utilization. Extensive experiments on multiple large-scale UAV datasets demonstrate that the proposed framework can be trained efficiently on a single RTX 3090 GPU, achieving more than a 50% reduction in average optimization time while maintaining PSNR, SSIM and LPIPS values that are comparable to or better than representative 3DGS-based methods; on the MatrixCity-S dataset (>6000 images), it attains the highest PSNR among 3DGS-based approaches and completes training on a single 24 GB GPU in less than 60% of the training time of DOGS. Nevertheless, the current framework still requires several hours of optimization for city-scale scenes and has so far only been evaluated on static UAV imagery with a fixed camera model, which may limit its applicability to dynamic scenes or heterogeneous sensor configurations. Full article

The Qingshankou Formation shale in the Changling Sag of the Songliao Basin represents a typical lacustrine pure-shale reservoir, characterized by high organic matter abundance, high maturity, high clay mineral content, and strong heterogeneity. To elucidate the pore structure and heterogeneity of this shale, a comprehensive suite of analytical techniques—including X-ray diffraction (XRD), scanning electron microscopy (SEM), high-pressure mercury intrusion porosimetry (MICP), and low-temperature nitrogen adsorption—was employed to investigate its pore types and fractal characteristics systematically. On this basis, lithofacies classification and FHH fractal modeling were conducted to quantitatively assess the complexity of pore–throat structures and their influence on reservoir properties. The results indicate that shale-dominated lithofacies (Types A–C) exhibit higher surface fractal dimensions (D₁ = 2.51–2.58) and structural fractal dimensions (D₂ = 2.73–2.81), corresponding to low porosity, low permeability, and high displacement pressure. In contrast, carbonate- and clastic-dominated lithofacies (Types D–G) display lower fractal dimensions, suggesting more regular pore–throat structures and better connectivity. Overall, both D₁ and D₂ show negative correlations with porosity and permeability but positive correlations with displacement pressure, and are negatively correlated with TOC content, reflecting the intrinsic coupling among pore–throat complexity, reservoir capacity, and organic matter abundance. These findings reveal that the Qingshankou shale reservoir has undergone a geometric evolutionary pathway of “shale compaction → siltstone transition → carbonate porosity reconstruction.” The fractal dimensions effectively characterize the reservoir heterogeneity and pore–throat connectivity, providing a new theoretical basis for the quantitative characterization, classification, and potential prediction of continental shale oil reservoirs. Full article