Search Results (468)

Due to the complex operating environment of tracked vehicles, experimental braking tests using real vehicles are typically costly and time-consuming. Furthermore, limitations in testing environments make it difficult to comprehensively evaluate a system’s braking performance across diverse operating scenarios. To overcome these limitations, this paper proposes the construction of a high-precision digital model to simulate the real braking process of tracked vehicles in a virtual environment and validates the model through experiments. The results show that braking pressure changes continuously and proportionally with the pedal angle, the system response time is less than 0.3 s, braking pressure builds up rapidly, and the output process is smooth, with no significant overshoot. Under different braking percentage conditions, the simulation accuracy of both braking pressure and response time exceeds 95%, indicating that the established model accurately reflects actual braking performance and provides a theoretical basis for optimizing tracked vehicle braking systems. Finally, by rationally designing the parameters of the accumulator and electro-hydraulic proportional valve and reducing the brake cylinder volume, it is possible to improve braking performance. This provides a theoretical basis for the optimization of tracked vehicle braking systems. Full article

This paper presents ANAID (Autonomous Naturalistic obstacle-Avoidance Interaction Dataset), a new multimodal dataset designed to support research on autonomous driving, particularly with regard to obstacle avoidance and naturalistic driver–vehicle interaction. Data were collected using a Hyundai Tucson Hybrid equipped with a Comma-3X autonomous-driving development kit, combining high-resolution front-facing video with detailed CAN-bus telemetry. The dataset comprises four data collection campaigns, each corresponding to a single continuous driving session, yielding a total of 208 videos and 240,014 synchronized frames. In addition to the video data, the dataset provides vehicle state measurements (speed, acceleration, steering, pedal positions, turn signals, etc.) and an additional annotation layer identifying evasive maneuvers derived from steering-related signals. Data were recorded across four driving campaigns on an urban circuit at Universidad Europea de Madrid, capturing diverse real-world scenarios such as roundabouts, intersections, pedestrian areas, and segments requiring obstacle avoidance. A multi-stage processing pipeline aligns telemetry and visual data, extracts frames at 20 FPS, and detects evasive maneuvers using threshold-based time-series analysis. ANAID provides a fully aligned and non-destructive representation of naturalistic driving behavior, enabling research on control prediction, driver modeling, anomaly detection, and human–autonomy interaction in realistic traffic conditions. Full article

Perhaps one of the most defining ‘techniques of the body’ for human beings is bi-pedal walking. This study brings together studies in socio-cultural anthropology to reflect on the nature of walking as a field method in different social-environmental contexts. The study offers an account of walking in relation to natural history, urban studies and contemporary conservation science. How has walking served as a field method in different knowledge-making contexts, and how does it afford an experiential way of being and belonging (or not) in urban and rural settings? By reflecting on such themes, this paper sheds light on the many ways that people walk, and the places, physical and metaphorical, that it takes them and allows them to discover, reveal, and understand. Full article

In recent years, electric cargo (e-cargo) bikes have been increasingly adopted as a sustainable alternative for urban logistics and last-mile delivery, particularly in densely populated areas where traditional vehicles face traffic congestion and access limitations. This study aims to develop a representative driving cycle for e-cargo bikes based on real-world cycling data. An instrumented Long John-type e-cargo bike was used to collect naturalistic data from four different riders covering a total of 50 km along a predefined route in the city center of Florence, selected in collaboration with the Italian postal service provider (i.e., Poste Italiane) to reflect typical delivery operations. The driving cycle was generated using a Markov chain Monte Carlo (MCMC) method, modeling the stochastic transitions of vehicle speed and acceleration values. The resulting driving cycle, defined as the Florence cargo bike driving cycle (FCBDC), achieved an error of 2.1% on the Speed Acceleration Probability Distribution (SAPD) root sum square difference; although minor losses in peak acceleration values were observed due to data smoothing and discretization, the synthesized driving cycle effectively reproduces the dynamic characteristics of e-cargo bike riding. While the study is limited to a single route and is equivalent to simulated postman behavior, it provides valuable insights to guide the future development and optimization of e-cargo bikes for sustainable mobility operations. Full article

This paper proposes an energy-based training assistance controller for a unicycle riding simulator inspired by Human Adaptive Mechatronics (HAM). We focus on sagittal plane (pitch) balance for beginners and derive a simplified longitudinal plane unicycle model, where pedaling is represented as an action–reaction torque between the wheel and the rider–saddle body. After time normalization, the saddle dynamics is expressed in a form suitable for energy analysis. Using the natural Hamiltonian of the uncontrolled system, we design a minimum-intervention pumping–damping controller that modifies the energy flow only when necessary. The assistance is smoothly activated outside a training core region defined by a saddle-angle bound: a damping term suppresses excessive motion, and a pumping term prevents trapping in a tilted posture when the energy becomes too small. The proposed framework offers physically interpretable, localized assistance while preserving the natural unicycle dynamics required for skill learning. Full article

Heavy-duty forklifts possess substantial kinetic energy during braking, which is currently wasted due to a lack of recovery in conventional systems. To ensure braking safety, an electro-hydraulic–mechanical compound braking system is necessary. However, the uncoordinated distribution between regenerative and mechanical braking torque leads to braking torque fluctuations, compromising safety, comfort, and recovery efficiency. This paper constructs a parallel hydraulic hybrid power system for heavy-duty forklifts based on a four-quadrant pump/motor, enabling braking energy recovery and reuse via the pump/motor and an accumulator. A compound braking strategy based on the ideal braking force distribution and multi-sensor information fusion is proposed. The system incorporates various sensors, including pressure, speed, flow, and pedal displacement sensors, to monitor system status and driver intention in real time, providing precise data for coordinated control. Feasibility is verified through AMESim simulation and real vehicle tests. The control system based on sensor feedback maximizes braking energy recovery while ensuring braking safety and comfort, achieving a 12.2% energy-saving rate and significantly improving the vehicle’s economy and range. Full article

Background: Postoperative wounds may arise from several etiologies, including open partial pedal amputation, postoperative infection, and dehiscence of surgical sites from wound failure or patient compliance issues. If negative pressure wound therapy is the gold standard, its application in the toes area could be challenging, and as a consequence, standard care is most likely used. The control of the wound microenvironment, both in terms of pH levels and presence of reactive oxygen species, is a key part of the normal wound-healing process. This study evaluated the effectiveness of an oxygen-enriched oil-based device (OEOd) in post-surgical diabetic foot ulcers (DFUs). Methods: This prospective controlled comparative pilot study enrolled 40 patients with diabetes mellitus and post-surgical foot wounds (narrow and deep lesions, including tunneling ulcers) treated at the Diabetic Foot Unit of San Donato Hospital, Arezzo (March 2024–April 2025). Patients were allocated into two groups: those treated by the standard wound care (n = 20) and those treated by OEOd (n = 20). The primary outcome was complete wound healing at 16 weeks; other exploratory endpoints were wound area reduction at 4 and 16 weeks, onset of infection, need for re-intervention, and adverse events. Results: Complete wound healing was achieved in 85.0% of OEOd patients versus 45.0% in the control group (p = 0.020). At 16 weeks, wound area reduction was significantly greater in the OEOd group compared with standard therapy (89.8% vs. 64.0%, p = 0.013). Although infection rates (10.0% vs. 35.0%, p = 0.130) and need for re-intervention (0% vs. 25.0%, p = 0.056) did not reach statistical significance, both favored the OEOd group. No adverse events were reported. Conclusions: OEOd significantly improved the chance of healing post-surgery and showed favorable trends in reducing complications, with an excellent safety profile. Larger randomized controlled trials are warranted to confirm these findings and assess long-term outcomes. Full article

Neuropeptide F (NPF), an invertebrate homolog of vertebrate neuropeptide Y (NPY), exerts pleiotropic functions through its interaction with the G protein-coupled receptor (GPCR) neuropeptide F receptor (NPFR). However, the role of the NPF/NPFR system in the Chinese common cuttlefish Sepiella japonica Sasaki, 1929—a commercially and scientifically important cephalopod species in East China Sea aquaculture—remains unclear. In the present study, SjNPF/SjNPFR genes were cloned from S. japonica. Multiple alignments demonstrated that SjNPF/SjNPFR exhibited a high identity with that of other cephalopods. Spatio-temporal expression patterns revealed that SjNPF and SjNPFR transcripts were relatively highly expressed in the central nervous and digestive systems across all developmental stages. In situ hybridization (ISH) monitored clear and stable positive signals of SjNPF and SjNPFR mRNA at the junction of the subvertical lobe and the vertical lobe, as well as in the brachial lobe, pedal lobe and the palleovisceral lobe. Subcellular localization studies showed that SjNPF was primarily localized in the cytoplasm, whereas SjNPFR was membrane-localized. Moreover, under feeding-regulatory conditions (5-day starvation followed by 3-day refeeding), mRNA expression levels of SjNPF and SjNPFR in the treated group were positively correlated with starvation and negatively correlated with refeeding. These findings provide valuable insights for future investigations into the pleiotropic functional roles of the NPF/NPFR system in S. japonica and the peptidergic regulation of this system in cephalopods. Full article

Brake-by-wire systems eliminate the mechanical linkage between the brake pedal and wheel actuators, resulting in the loss of the natural and familiar braking feel perceived by the driver. To address this issue, this study proposes an active brake pedal simulator based on a linear motor and springs, aiming to simulate the adaptive pedal feel and ensure safety performance. Firstly, this paper established a structural model of the pedal simulator and designed a force compensation strategy to reproduce the target pedal characteristic curve of the traditional hydraulic braking system. Subsequently, the system was verified through Adams simulation and real vehicle experiments under slow, normal, and emergency braking conditions. The experimental results show that the initial design exhibited a relatively “soft” pedal feel, with a brake feel index score of 62.31. By optimizing the spring stiffness and feedback force composition, the brake feel index score was significantly improved to 92.21. The optimized pedal simulator is capable of achieving precise pedal force tracking and adaptive adjustment of pedal feel, and still providing basic and reliable pedal force feedback, even in the event of motor failure. Therefore, the designed pedal simulator provides a practical and effective solution for improving the pedal feel of the brake-by-wire system, demonstrating strong application potential. Full article

Brake pedals and wheel braking units are mechanically decoupled in brake-by-wire systems. This causes the driver to lose the familiar pedal feel. To address this issue, this paper designed an active braking pedal simulator based on the long-travel Halbach-array linear motor. Firstly, this paper conducted both qualitative and quantitative analyses on the pedal characteristics of a traditional hydraulic braking system and used them as a reference. A dual-coil independent control strategy was designed in order to overcome the thrust instability at the junction of the Halbach-array magnetic field. This enables the linear motor to achieve smooth and continuous thrust output throughout the entire travel range. Secondly, this paper also designed a “linear motor + spring” solution to reduce energy consumption and peak motor thrust. By conducting a quantitative analysis of the relationship between the spring stiffness, motor work and peak thrust, the spring stiffness was optimized. The results show that when the spring stiffness is 3.73 N/mm, the motor work can be reduced to 5.92 Joules while significantly reducing the peak thrust. Finally, this paper also established a testing platform. It was used to verify the performance of the proposed pedal simulator under low-intensity, medium-intensity, and high-intensity braking conditions as well as an anti-lock braking system intervention. The testing results show that the pedal simulator can actively adjust the pedal characteristics according to the braking intensity, and it can provide clear vibration feedback during the anti-lock braking system intervention. Therefore, the proposed pedal simulator effectively simulates the pedal feel of hydraulic braking systems while improving energy efficiency and operational stability. It provides a feasible solution for enhancing the driver–vehicle interaction and the driving comfort of brake-by-wire systems. Full article

With the increasing adoption of regenerative braking technology in electric vehicles (EVs), one-pedal driving (OPD) mode has become a prevalent feature. While OPD offers technical advantages in energy efficiency, its implications for driver behavior and traffic safety remain unclear. To address the lack of human factors research in this domain, this study utilized a driving simulator to systematically compare driving performance between OPD and two-pedal driving (TPD) modes. Twenty-six participants engaged in car-following tasks under varying traffic densities (uncongested vs. congested) and cognitive load levels (normal vs. 1-back). Driving performance and safety were quantified using the absolute speed difference, distance headway, braking frequency, and Time-to-Collision at brake onset (TTC_brake). The results revealed a significant trade-off: while OPD simplified operation, it led to compromised driving performance compared to TPD in specific contexts. Specifically, OPD resulted in larger speed variations and reduced safety margins during the approach stage. Conversely, under high cognitive load, OPD demonstrated a protective effect by mitigating performance degradation. These findings suggest that while OPD can benefit drivers under mental pressure, its deployment requires adaptive safety strategies, such as the integration of Headway Monitoring Warning (HMW) and Forward Collision Warning (FCW), to compensate for performance deficits in complex traffic environments. Full article

Driving style recognition plays a crucial role in improving the operational safety, fuel efficiency, and intelligent control of commercial vehicles. Under real-world driving conditions, Controller Area Network (CAN) bus data from commercial vehicles simultaneously contain rapid transient variations induced by pedal and braking operations, as well as long-term behavioral trends reflecting driving habits, exhibiting pronounced multi-temporal characteristics. In addition, such data are typically affected by high noise levels, high dimensionality, and highly variable operating conditions, which makes it difficult for methods relying on single-scale features or handcrafted rules difficult to maintain robust and stable performance in complex scenarios. To address these challenges, this paper proposes a driving style classification network, termed the Multi-Scale Convolution and Efficient Channel Attention Network (MSCA-Net). By employing parallel convolutional branches with different temporal receptive fields, the proposed network is able to capture fast driver responses, local temporal dependencies, and long-term behavioral evolution, enabling unified modeling of cross-scale temporal patterns in driving behavior. Meanwhile, the Efficient Channel Attention mechanism adaptively emphasizes CAN signal channels that are highly relevant to driving style discrimination, thereby enhancing the discriminative capability and robustness of the learned feature representations. Experiments conducted on real-world multi-dimensional CAN time-series data collected from commercial vehicles demonstrate that the proposed MSCA-Net achieves improved classification performance in driving style recognition. Furthermore, the potential application of the recognized driving styles in adaptive Automated Manual Transmission shift strategy adjustment is discussed, providing a feasible engineering pathway toward behavior-aware intelligent control of commercial vehicle powertrains. Full article

Objective: This study aimed to compare thromboangiitis obliterans (TAO) and diabetic peripheral vascular disease (DPVD), the two major causes of distal limb ischemia, within a single analytical framework. The comparison was not limited to practical biomarkers that could support differential diagnosis but was based on multidimensional parameters that determine the clinical spectrum and prognosis. The two cohorts were systematically evaluated in terms of demographics and comorbidity burden, clinical presentation and limb involvement pattern, ulcer prevalence and localization, real-life treatment strategies (medical, endovascular, and surgical), and hard clinical endpoints (major/minor amputation, hospitalization, and all-cause mortality). DPVD was phenotyped according to the lesion level as isolated distal, isolated proximal, or multilevel. Within this framework, the isolated distal diabetic peripheral vascular disease (d-DPVD) subgroup was analyzed to determine how it differs from TAO in terms of clinical course, treatment patterns, and outcomes, despite the distal anatomical similarity. Methods: In this single-center retrospective cohort study, conducted between June 2019 and June 2025, 120 non-diabetic patients who met the angiographic TAO criteria were compared with 395 patients with DPVD with infrapopliteal/pedal atherosclerotic involvement. Clinical characteristics, ulcer topography, treatment strategies, and outcomes were recorded. The discriminatory value of the blood count and lipid-based inflammatory/atherogenic indices were evaluated using logistic regression and receiver operating characteristic (ROC) curve analyses. Additionally, a separate subgroup analysis was performed for the d-DPVD subgroup, which was considered the closest to the TAO phenotype in this study design. Results: Patients with DPVD were significantly older than those with TAO (61.1 ± 12.1 vs. 39.7 ± 7.9 years; p < 0.001), and male predominance was more pronounced in the TAO group (94.2% vs. 84.8%). Compared with TAO, DPVD was associated with a higher cardiometabolic comorbidity burden and increased inflammatory and atherogenic indices. Although the overall ulcer prevalence was comparable, DPVD more frequently presented with plantar or proximal ulcers confined to a single extremity, whereas TAO was characterized by bilateral or multi-extremity involvement and distal acral ulceration. Antiplatelet and statin therapy, revascularization, and rates of major amputation, all-cause mortality, and hospitalization were higher in patients with DPVD (all p < 0.05). On multivariate analysis, age, cumulative smoking exposure, SIRI, and CRI-I independently distinguished DPVD from TAO (all p < 0.05). In the isolated distal DPVD subgroup, despite similar distal anatomy, inflammatory/atherogenic burden, and overall clinical risk remained adverse. Conclusions: TAO and DPVD are two distinct phenotypes with different pathobiologies and prognoses, despite similar distal ischemia presentations. Simple inflammatory and atherogenic composite indices, evaluated in conjunction with clinical/ulcer patterns, may support the differential diagnosis and risk stratification of patients with peripheral arterial disease (PAD). However, prospective multicenter validation of these findings is required to confirm the results. Full article

Background: Advanced stages of peripheral arterial disease, particularly chronic limb-threatening ischemia, are characterized by unfavorable limb outcomes and a substantial risk of major amputation. Clinical evaluation traditionally focuses on arterial obstruction; however, venous dysfunction may coexist and contribute to local limb pathophysiology in advanced PAD, remaining insufficiently recognized in routine practice. Methods: We performed a retrospective cohort analysis of consecutive patients with advanced peripheral arterial disease managed at the First Surgical Clinic of the Emergency County Clinical Hospital of Craiova over a five-year period (January 2020 to December 2024). Venous disease was defined using a clinically oriented composite definition incorporating imaging-confirmed venous pathology, prior deep venous thrombosis, and persistent lower-limb edema attributable to venous dysfunction. Arterial disease severity was assessed using multimodal imaging. Analyses were performed at both patient and limb levels to evaluate associations between venous disease, arterial severity markers, and clinical outcomes. Results: Among 241 patients (482 limbs), concomitant venous disease was identified in 68.9% at the patient level and was predominantly unilateral. At the limb level, venous disease was significantly associated with markers of severe arterial involvement, including inflow disease, higher segment occlusion scores, impaired tibial runoff, and absence of a patent pedal arch. Despite greater arterial severity, patients with venous disease exhibited a lower unadjusted rate of major amputation compared with those without venous involvement. Conclusions: Concomitant venous disease is highly prevalent in patients with advanced PAD and is closely linked to arterial disease severity. These findings suggest that venous dysfunction represents an integral component of advanced limb-threatening ischemia rather than an isolated comorbidity. Incorporating clinically oriented venous assessment may improve understanding of limb pathophysiology and support a more integrated arterio-venous approach to advanced PAD management. Full article

Retinal transplantation offers promise for restoring vision in advanced retinal degeneration. However, manual delivery of retinal sheets is often hindered by imprecise placement and collateral tissue damage resulting from instrument instability. We introduce a novel, 3D-printed, motorized retinal sheet injector designed to enhance placement accuracy and minimize tissue injury. The motorized injector features an Arduino-controlled foot pedal with three discrete actuator positions (“Min”, “Mid”, “Max”). When compared via frame-by-frame motion analysis, the motorized system reduced tip variance by approximately threefold over manual methods. In addition, in in vitro gelatin trials, the motorized injector achieved significantly higher placement accuracy versus the manual injector, which suffered from occasional complete misplacements. The novel motorized retinal sheet injector markedly improves stability and placement accuracy relative to manual methods, potentially reducing complications associated with subretinal delivery. Safer subretinal delivery can pave the way for innovative research and advanced treatment for retinal disease. Full article