Search Results (8,479)

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

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

Background: Pain is a complex phenomenon characterized by unpleasant experiences with profound heterogeneity influenced by biological, psychological, and social factors. According to the National Health Interview Survey, 50.2 million U.S. adults (20.5%) experience pain on most days, with the annual cost of prescription medication for pain reaching approximately USD 17.8 billion. Theranostic pain nanomedicine therefore emerges as an attractive analgesic strategy with the potential for increased efficacy, reduced side-effects, and treatment personalization. Theranostic nanomedicine combines drug delivery and diagnostic features, allowing for real-time monitoring of analgesic efficacy in vivo using molecular imaging. However, clinical translation of these nanomedicines are challenging due to complex manufacturing methodologies, lack of standardized quality control, and potentially high costs. Quality by Design (QbD) can navigate these challenges and lead to the development of an optimal pain nanomedicine. Our lab previously reported a macrophage-targeted perfluorocarbon nanoemulsion (PFC NE) that demonstrated analgesic efficacy across multiple rodent pain models in both sexes. Here, we report PFC-free, biphasic nanoemulsions formulated with a biocompatible and non-immunogenic plant-based coconut oil loaded with a COX-2 inhibitor and a clinical-grade, indocyanine green (ICG) near-infrared fluorescent (NIRF) dye for parenteral theranostic analgesic nanomedicine. Methods: Critical process parameters and material attributes were identified through the FMECA (Failure, Modes, Effects, and Criticality Analysis) method and optimized using a 3 × 2 full-factorial design of experiments. We investigated the impact of the oil-to-surfactant ratio (w/w) with three different surfactant systems on the colloidal properties of NE. Small-scale (100 mL) batches were manufactured using sonication and microfluidization, and the final formulation was scaled up to 500 mL with microfluidization. The colloidal stability of NE was assessed using dynamic light scattering (DLS) and drug quantification was conducted through reverse-phase HPLC. An in vitro drug release study was conducted using the dialysis bag method, accompanied by HPLC quantification. The formulation was further evaluated for cell viability, cellular uptake, and COX-2 inhibition in the RAW 264.7 macrophage cell line. Results: Nanoemulsion droplet size increased with a higher oil-to-surfactant ratio (w/w) but was no significant impact by the type of surfactant system used. Thermal cycling and serum stability studies confirmed NE colloidal stability upon exposure to high and low temperatures and biological fluids. We also demonstrated the necessity of a solubilizer for long-term fluorescence stability of ICG. The nanoemulsion showed no cellular toxicity and effectively inhibited PGE2 in activated macrophages. Conclusions: To our knowledge, this is the first instance of a celecoxib-loaded theranostic platform developed using a plant-derived hydrocarbon oil, applying the QbD approach that demonstrated COX-2 inhibition. Full article

The logistics industry faces challenges from evolving consumer expectations, technological advances, sustainability demands, and market disruptions. Logistics collaboration is in theory perceived as one of the most promising solutions to solve these issues, but here are still a lot of challenges that needs to be better understood and addressed. While vertical collaboration among supply chain actors is well advanced, horizontal collaboration among competing service providers remains under-explored. This study developed a novel methodology based on the COM-B behaviour-change framework to better understand the main challenges, opportunities, capabilities and drivers that would motivate competing companies to exploit the potential of horizontal logistics collaboration. A survey was designed and conducted among 71 logistics service providers in Slovenia, chosen for its fragmented market and low willingness to collaborate. Statistical analysis reveals cost reduction (M = 4.21/5) and improved vehicle utilization (M = 4.29/5) as the primary motivators. On the other hand, maintaining company reputation (M = 4.64/5), fair resource sharing (M = 4.20/5), and transparency of logistics processes (M = 4.17/5) all persist as key enabling conditions. These findings underscore the pivotal role of behavioural drivers and suggest strategies that combine economic incentives with targeted trust-building measures. Future research should employ experimental designs in diverse national contexts and integrate vertical–horizontal approaches to validate causal pathways and advance theory. Full article

The Set Coverage Problem (SCP) is an important combinatorial optimization problem known to be NP-complete. The use of metaheuristics to solve the SCP includes different algorithms. In particular, binarization techniques have been explored to adapt metaheuristics designed for continuous optimization problems to the binary domain of the SCP. In this work, we present a new approach to solve the SCP based on the Secretary Bird Optimization Algorithm (SBOA). This algorithm is inspired by the natural behavior of the secretary bird, known for its ability to hunt prey and evade predators in its environment. Since the SBOA was originally designed for optimization problems in continuous space and the SCP is a binary problem, this paper proposes the implementation of several binarization techniques to adapt the algorithm to the discrete domain. These techniques include eight transfer functions and five different discretization methods. Taken together, these combinations create multiple SBOA adaptations that effectively balance exploration and exploitation, promoting an adequate distribution in the search space. Experimental results applied to the SCP together with its variant Unicost SCP and compared to Grey Wolf Optimizer and Particle Swarm Optimization suggest that the binary version of SBOA is a robust algorithm capable of producing high quality solutions with low computational cost. Given the promising results obtained, it is proposed as future work to focus on complex and large-scale problems as well as to optimize their performance in terms of time and accuracy. Full article

Electromagnetic acoustic resonance (EMAR) is a well-established non-contact method for ultrasonic thickness measurement, typically operated at frequencies above 1 MHz using an electromagnetic acoustic transducer (EMAT). This study successfully extends EMAR into the sub-MHz range, allowing supply voltages below 60 V and thus offering safer and more cost-effective operation. Experiments were conducted on copper blocks approximately 20 mm thick, where a relative thickness accuracy of better than 0.2% is obtained. Regarding this result, the research identifies a critical design principle: Stable thickness resonances and subsequently accurate thickness measurement are achieved when the ratio of ultrasonic wavelength to EMAT track width ($\lambda$/w) falls below 1. This minimizes the excitation and interactions with structural eigenmodes, ensuring consistent measurement reliability. To support this, the study introduces a system-based model to simulate the EMAR method. The model provides detailed insights into how wave propagation affects the accuracy of EMAR measurements. Experimental results align well with the simulation outcome and confirm the feasibility of EMAR in the sub-MHz regime without compromising precision. These findings highlight the potential of low-voltage EMAR as a safer, cost-effective, and highly accurate approach for industrial ultrasonic thickness measurements. Full article

The Jinbaoshan Pt-Pd deposit is China’s largest independent PGM deposit. However, the deposit has not been utilized until now because of the low grade of precious metals, the complex mineral composition, and, notably, the presence of precious metals in the microgranular material disseminated to other minerals. Its high MgO content, in particular, is regarded as a challenge for efficiently recovering precious metals via mature pyrometallurgical methods. In this research, the feasibility of a smelting process to recover precious metals from Jinbaoshan Pt-Pd concentrates at a conventional smelting temperature (1350 °C) with the addition of iron ore as a metal collector and SiO₂ and CaO as fluxes was verified on the basis of thermodynamic slag design and experimental analyses. Under the optimal conditions of 100 g of the Pt-Pd concentrates, 32.5 g of SiO₂, 7.5 g of CaO, and 30 g of iron ore at 1350 °C for 1 h, the extraction efficiencies of Au, Pt, and Pd were 94.66%, 96.75%, and 97.28%, respectively. This strategy enables the rapid collection of PGMs from Jinbaoshan Pt-Pd concentrates at the conventional temperature within a short time and minimizes the use of fluxes and collectors, contributing to energy and cost conservation. Full article

In marine engineering applications, substituting conventional crushed stone coarse aggregates with coral aggregates offers dual advantages: reduced terrestrial quarrying operations and minimized construction material transportation costs. However, the inherent characteristics of coral aggregates—low bulk density, high porosity, and elevated water absorption capacity—adversely influence concrete workability and mechanical performance. To address these limitations, this investigation employed microbial-induced carbonate precipitation (MICP) for aggregate modification. The experimental design systematically evaluated the impacts of substrate concentration (1 mol/L) and mineralization period (14 days) on three critical parameters, mass gain percentage, water absorption reduction, and apparent density enhancement, across distinct particle size fractions (4.75–9.5 mm, 9.5–20 mm) and density classifications. Subsequent application trials assessed the performance of MICP-treated aggregates in marine concrete formulations. Results indicated that under a substrate concentration of 1 mol/L and mineralization period of 14 days, lightweight coral aggregates and coral aggregates within the 4.75–9.5 mm size fraction exhibited favorable modification effects. Specifically, their mass gain rates reached 11.75% and 11.22%, respectively, while their water absorption rates decreased by 32.22% and 34.75%, respectively. Apparent density increased from initial values of 1764 kg/m³ and 1930 kg/m³ to 2050 kg/m³ and 2207 kg/m³. Concrete mixtures incorporating modified aggregates exhibited enhanced workability and strength improvement at all curing ages. The 28-day compressive strengths reached 62.1 MPa (11.69% increment), 46.2 MPa (6.94% increment), and 60.1 MPa (14.91% increment) for the 4.75–9.5 mm, 9.5–20 mm, and continuous grading groups, respectively, compared to untreated counterparts. Full article

Carbon monoxide (CO) is a major toxic gas emitted from vehicle exhaust, industrial processes, and incomplete fuel combustion, posing serious environmental and health risks. Catalytic oxidation of CO into less harmful CO₂ is an effective strategy to reduce these emissions. In this study, we investigated the catalytic performance of platinum (Pt) single atoms doped on C₃N monolayers with various vacancy defects, including single carbon (C_V) and nitrogen (N_V) vacancies, using density functional theory (DFT) calculations. Our results demonstrate that Pt@N_V-C₃N exhibited the most favorable catalytic properties, with the highest O₂ adsorption energy (−3.07 eV). This performance significantly outperforms Pt atoms doped at other vacancies. It can be attributed to the strong binding between Pt and nitrogen vacancies, which contributes to its excellent resistance to Pt aggregation. CO oxidation on Pt@N_V-C₃N proceeds via the Eley–Rideal (ER2) mechanism with a low activation barrier of 0.41 eV for the rate-determining step, indicating high catalytic efficiency at low temperatures. These findings suggest that Pt@N_V-C₃N is a promising candidate for CO oxidation, contributing to developing cost-effective and environmentally sustainable catalysts. The strong binding of Pt atoms to the nitrogen vacancies prevents aggregation, ensuring the stability and durability of the catalyst. The kinetic modeling further revealed that the ER2 mechanism offers the highest reaction rate constants over a wide temperature range (273–700 K). The low activation energy barrier also facilitates CO oxidation at lower temperatures, addressing critical challenges in automotive and industrial pollution control. This study provides valuable theoretical insights for designing advanced single-atom catalysts for environmental remediation applications. Full article

Carbon dots (CDs) have attracted much attention as new types of luminescent carbon nanomaterials in recent years because of their tunable fluorescence, good biocompatibility, high stability, and low cost. In this review, the classification of CDs is overviewed based on their differences in structure. Subsequently, the latest research progress of CDs in fluorescence sensing is systematically summarized and various sensing principles are elucidated in detail, including fluorescence resonance energy transfer, aggregation-induced emission, aggregation-caused quenching, electron transfer, and the inner filter effect. Finally, the challenges and future direction of CD fluorescent probes are discussed in detail. The purpose of this review is to stimulate the design of advanced CD fluorescent probes and achieve the accurate and reliable measurement of analytes in complex samples. Full article

Monitoring crop damage caused by wildlife remains a significant challenge in agricultural management, particularly in the case of large-scale monocultures such as maize. The given study presents a semi-automated process for detecting wildlife-induced damage using RGB imagery acquired from unmanned aerial vehicles (UAVs). The method is designed for non-specialist users and is fully integrated within the QGIS platform. The proposed approach involves calculating three vegetation indices—Excess Green (ExG), Green Leaf Index (GLI), and Modified Green-Red Vegetation Index (MGRVI)—based on a standardized orthomosaic generated from RGB images collected via UAV. Subsequently, an unsupervised k-means clustering algorithm was applied to divide the field into five vegetation vigor classes. Within each class, 25% of the pixels with the lowest average index values were preliminarily classified as damaged. A dedicated QGIS plugin enables drone data analysts (Drone Data Analysts—DDAs) to adjust index thresholds, based on visual interpretation, interactively. The method was validated on a 50-hectare maize field, where 7 hectares of damage (15% of the area) were identified. The results indicate a high level of agreement between the automated and manual classifications, with an overall accuracy of 81%. The highest concentration of damage occurred in the “moderate” and “low” vigor zones. Final products included vigor classification maps, binary damage masks, and summary reports in HTML and DOCX formats with visualizations and statistical data. The results confirm the effectiveness and scalability of the proposed RGB-based procedure for crop damage assessment. The method offers a repeatable, cost-effective, and field-operable alternative to multispectral or AI-based approaches, making it suitable for integration with precision agriculture practices and wildlife population management. Full article

Background: Artificial intelligence (AI) and machine learning (ML) have been reshaping maternal, fetal, neonatal, and reproductive healthcare by enhancing risk prediction, diagnostic accuracy, and operational efficiency across the perinatal continuum. However, no comprehensive synthesis has yet been published. Objective: To conduct a scoping review of reviews of AI/ML applications spanning reproductive, prenatal, postpartum, neonatal, and early child-development care. Methods: We searched PubMed, Embase, the Cochrane Library, Web of Science, and Scopus through April 2025. Two reviewers independently screened records, extracted data, and assessed methodological quality using AMSTAR 2 for systematic reviews, ROBIS for bias assessment, SANRA for narrative reviews, and JBI guidance for scoping reviews. Results: Thirty-nine reviews met our inclusion criteria. In preconception and fertility treatment, convolutional neural network-based platforms can identify viable embryos and key sperm parameters with over 90 percent accuracy, and machine-learning models can personalize follicle-stimulating hormone regimens to boost mature oocyte yield while reducing overall medication use. Digital sexual-health chatbots have enhanced patient education, pre-exposure prophylaxis adherence, and safer sexual behaviors, although data-privacy safeguards and bias mitigation remain priorities. During pregnancy, advanced deep-learning models can segment fetal anatomy on ultrasound images with more than 90 percent overlap compared to expert annotations and can detect anomalies with sensitivity exceeding 93 percent. Predictive biometric tools can estimate gestational age within one week with accuracy and fetal weight within approximately 190 g. In the postpartum period, AI-driven decision-support systems and conversational agents can facilitate early screening for depression and can guide follow-up care. Wearable sensors enable remote monitoring of maternal blood pressure and heart rate to support timely clinical intervention. Within neonatal care, the Heart Rate Observation (HeRO) system has reduced mortality among very low-birth-weight infants by roughly 20 percent, and additional AI models can predict neonatal sepsis, retinopathy of prematurity, and necrotizing enterocolitis with area-under-the-curve values above 0.80. From an operational standpoint, automated ultrasound workflows deliver biometric measurements at about 14 milliseconds per frame, and dynamic scheduling in IVF laboratories lowers staff workload and per-cycle costs. Home-monitoring platforms for pregnant women are associated with 7–11 percent reductions in maternal mortality and preeclampsia incidence. Despite these advances, most evidence derives from retrospective, single-center studies with limited external validation. Low-resource settings, especially in Sub-Saharan Africa, remain under-represented, and few AI solutions are fully embedded in electronic health records. Conclusions: AI holds transformative promise for perinatal care but will require prospective multicenter validation, equity-centered design, robust governance, transparent fairness audits, and seamless electronic health record integration to translate these innovations into routine practice and improve maternal and neonatal outcomes. Full article

Despite significant advancements in indoor navigation technology over recent decades, it still faces challenges due to excessive dependency on external infrastructure and unreliable positioning in complex environments. This paper proposes an autonomous localization system that integrates advanced adaptive pedestrian dead reckoning (APDR) and binocular vision, designed to provide a low-cost, high-reliability, and high-precision solution for rescuers. By analyzing the characteristics of measurement data from various body parts, the chest is identified as the optimal placement for sensors. A chest-mounted advanced APDR method based on dynamic step segmentation detection and adaptive step length estimation has been developed. Furthermore, step length features are innovatively integrated into the visual tracking algorithm to constrain errors. Visual data is fused with dead reckoning data through an extended Kalman filter (EKF), which notably enhances the reliability and accuracy of the positioning system. A wearable autonomous localization vest system was designed and tested in indoor corridors, underground parking lots, and tunnel environments. Results show that the system decreases the average positioning error by 45.14% and endpoint error by 38.6% when compared to visual–inertial odometry (VIO). This low-cost, wearable solution effectively meets the autonomous positioning needs of rescuers in disaster scenarios. Full article

Wheat is one of the important grain crops, and spike counting is crucial for predicting spike yield. However, in complex farmland environments, the wheat body scale has huge differences, its color is highly similar to the background, and wheat ears often overlap with each other, which makes wheat ear detection work face a lot of challenges. At the same time, the increasing demand for high accuracy and fast response in wheat spike detection has led to the need for models to be lightweight function with reduced the hardware costs. Therefore, this study proposes a lightweight wheat ear detection model, CML-RTDETR, for efficient and accurate detection of wheat ears in real complex farmland environments. In the model construction, the lightweight network CSPDarknet is firstly introduced as the backbone network of CML-RTDETR to enhance the feature extraction efficiency. In addition, the FM module is cleverly introduced to modify the bottleneck layer in the C2f component, and hybrid feature extraction is realized by spatial and frequency domain splicing to enhance the feature extraction capability of wheat to be tested in complex scenes. Secondly, to improve the model’s detection capability for targets of different scales, a multi-scale feature enhancement pyramid (MFEP) is designed, consisting of GHSDConv, for efficiently obtaining low-level detail information and CSPDWOK for constructing a multi-scale semantic fusion structure. Finally, channel pruning based on Layer-Adaptive Magnitude Pruning (LAMP) scoring is performed to reduce model parameters and runtime memory. The experimental results on the GWHD2021 dataset show that the ${\mathrm{AP}}_{50}$ of CML-RTDETR reaches 90.5%, which is an improvement of 1.2% compared to the baseline RTDETR-R18 model. Meanwhile, the parameters and GFLOPs have been decreased to 11.03 M and 37.8 G, respectively, resulting in a reduction of 42% and 34%, respectively. Finally, the real-time frame rate reaches 73 fps, significantly achieving parameter simplification and speed improvement. Full article

The hydrostatic guideway has been widely used in ultra-precision machine tools. The flow stability of the hydrostatic guideway has a significant impact on its bearing characteristics, and the flow controller is critical to safeguard the flow stability of the hydrostatic guideway. Currently, most engineering applications use fixed, fluid-resistance flow controllers, which have a simple structure, low cost, and high reliability. However, when facing complex working conditions, the fixed, fluid-resistance flow controller cannot maintain the flow stability of the hydrostatic guide. In this study, a membrane-type flow controller with variable fluid resistance is designed, and a theoretical model of the flow controller’s bearing characteristics is established, which is verified by fluid–solid coupling simulation and flow rate experiments. Analyzing the influence of the design parameters of the membrane-type flow controller on the performance according to the theoretical model, the design guidelines of the membrane-type flow controller are established, the key structure of the flow controller is clarified, and the design range of the key structure dimensions is given. The results show that the gasket thickness of the membrane-type flow controller has the greatest impact on the performance of the hydrostatic guideways, which should be ensured to have a machining error of less than 0.005 mm. This study is a guide for the design and manufacture of flow controllers, as well as for engineering applications. Full article