Search Results (814)

Accurate localization in canopy-occluded, GNSS-challenged environments is critical for autonomous robots and intelligent vehicles. This paper presents a coarse-to-fine trajectory estimation framework using millimeter-wave radar as the primary sensor, leveraging its foliage penetration and robustness to low visibility. The framework integrates short- and long-term temporal feature enhancement to improve descriptor distinctiveness and suppress false loop closures, together with adaptive OpenStreetMap-derived priors that provide complementary global corrections in scenarios with sparse revisits. All constraints are jointly optimized within an outlier-robust backend to ensure global trajectory consistency under severe GNSS signal degradation. Evaluations conducted on the MulRan dataset, the OORD forest canopy dataset, and real-world campus experiments with partial and dense canopy coverage demonstrate up to 55.23% reduction in Absolute Trajectory Error (ATE) and a minimum error of 1.83 m compared with baseline radar- and LiDAR-based SLAM systems. The results indicate that the integration of temporally enhanced radar features with adaptive map constraints substantially improves large-scale localization robustness. Full article

Modern cryptographic systems increasingly depend on certified hardware modules to guarantee trustworthy key management, tamper resistance, and secure execution across Internet of Things (IoT), embedded, and cloud infrastructures. Although numerous FIPS 140-certified platforms exist, prior studies typically evaluate these solutions in isolation, offering limited insight into their cross-domain suitability and practical deployment trade-offs. This work addresses this gap by proposing a unified, multi-criteria evaluation framework aligned with the FIPS 140 standard family (including both FIPS 140-2 and FIPS 140-3), replacing the earlier formulation that assumed an exclusive FIPS 140-3 evaluation model. The framework systematically compares secure elements (SEs), Trusted Platform Modules (TPMs), embedded Systems-on-Chip (SoCs) with dedicated security coprocessors, enterprise-grade Hardware Security Modules (HSMs), and cloud-based trusted execution environments. It integrates certification analysis, performance normalization, physical-security assessment, integration complexity, and total cost of ownership. Validation is performed using verified CMVP certification records and harmonized performance benchmarks derived from publicly available FIPS datasets. The results reveal pronounced architectural trade-offs: lightweight SEs offer cost-efficient protection for large-scale IoT deployments, while enterprise HSMs and cloud enclaves provide high throughput and Level 3 assurance at the expense of increased operational and integration complexity. Quantitative comparison further shows that secure elements reduce active power consumption by approximately 80–85% compared to TPM 2.0 modules (<20 mW vs. 100–150 mW) but typically require 2–3× higher firmware-integration effort due to middleware dependencies. Likewise, SE050-based architectures deliver roughly 5× higher cryptographic throughput than TPMs (∼500 ops/s vs. ∼100 ops/s), whereas enterprise HSMs outperform all embedded platforms by two orders of magnitude (>10 000 ops/s). Because the evaluated platforms span both FIPS 140-2 and FIPS 140-3 certifications, the comparative analysis interprets their security guarantees in terms of requirements shared across the FIPS 140 standard family, rather than attributing all properties to FIPS 140-3 alone. No single architecture emerges as universally optimal; rather, platform suitability depends on the desired balance between assurance level, scalability, performance, and deployment constraints. The findings offer actionable guidance for engineers and system architects selecting FIPS-validated hardware for secure and compliant digital infrastructures. Full article

This study analyzes how sustainability research in the textile and apparel industry is structured and argues that technological innovation—while essential for sustainable transformation—cannot generate meaningful impact when pursued in isolation. Its effectiveness depends on alignment with environmental assessment, ethical and institutional mechanisms, and circular strategies. A review of 133 publications (2020–2024) examining titles, keywords, abstracts, and conclusions identified these four thematic axes as the core framework shaping current research. Findings show that technological innovation is the most extensively addressed dimension, yet its industrial and policy influence remains limited when not connected to standardized assessment tools, governance systems, or consumer use-phase behaviors. When the four dimensions operate collectively, technological advances achieve stronger empirical validation, institutional coherence, and circular-system integration. By addressing a key gap in prior literature—which has typically examined these dimensions separately rather than as an integrated system—this study clarifies how their coordinated interaction conditions sustainability transition pathways. The integrated framework provides a theoretical basis for understanding constraints and mediators within sustainability transitions and suggests that future research and policy should adopt system-level strategies that intentionally strengthen linkages across the four dimensions to accelerate sustainable transformation. Full article

This study examines Lean 4.0, defined as the integration of Lean soft practices (LSPs) and Industry 4.0 technologies (I4Ts), from a socio-technical systems perspective. While prior research has mainly linked Lean and I4Ts to operational and cost-based performance indicators, far less is known about how their human and technological elements interact as one socio-technical system during digital transformation. We investigate how LSPs and I4Ts combine to form social and technical subsystems, how their interaction reshapes work systems, and how these configurations relate to organisational performance. An inductive qualitative design was used. Fifteen managers and professionals with direct experience in continuous improvement and digital transformation completed an open-ended online questionnaire. Data were analysed using Braun and Clarke thematic analysis, guided by socio-technical systems theory and complemented by a cross-case synthesis. The findings identify four interrelated subsystems, social, technical, work, and outcomes, that co-evolve in Lean 4.0 initiatives. LSPs such as training, empowerment, and stakeholder involvement constitute a social system that enables the adoption and effective use of I4Ts in the technical system. When both subsystems are strong, their combined operation drives more extensive digital transformation of operational processes and customer facing activities, and in some cases business models, and is associated with broader improvements in efficiency, quality, customer satisfaction, employee engagement, and financial performance than medium or unbalanced configurations. The analysis also highlights recurrent integration challenges, including skill gaps, legacy system constraints, resistance to change, and data security concerns. Overall, the study conceptualises Lean 4.0 as an integrated socio-technical configuration and extends socio-technical systems theory by showing how LSPs mediate and amplify the value created by I4Ts, providing an empirically grounded framework and configuration-based insights for future testing. Full article

Mercury hosts widespread smooth plains that are concentrated in the Caloris impact basin, in an annulus surrounding the Caloris basin, and in the adjacent northern smooth plains. The origins of these smooth plains are uncertain, although prior work suggests these plains in the northwestern Caloris annulus might reflect volcanic activity, impact ejecta, or a combination of the two. Deciphering the timing and mode of emplacement of these plains would provide a critical constraint on regional late-stage volcanism or impact effects. In this work, the region northwest of Caloris was investigated using geomorphological and color-based mapping, crater counting techniques, and spectral analyses with the goal of placing constraints on the source of the observed units and identifying the primary emplacement mechanism. Mapping and spectral analyses confirm previous findings of two distinct, yet intermingled, units within these plains, each with similar crater count model ages that postdate the formation of the Caloris impact basin. Mapping, spectra analysis, ages, and the identification of potential flow pathways are more consistent with a predominantly volcanic origin for the smooth plains materials, although these data do not rule out contributions from impact ejecta or impact melt. We propose several hypothetical scenarios, including post-emplacement modification by near-surface volatiles, to explain these observations and clarify the emplacement mechanism for these specific smooth plains regions. Further observations from the BepiColombo mission should provide data to potentially address the outstanding questions from this work. Full article

Limited workspace and singularities are major challenges for parallel mechanisms. This article addresses these issues for a 4-DOF 1-SPS/3-RRRRR parallel mechanism with a circular rail, proposed in our prior work. The mechanism has a 3R1T motion type with a movable center of spherical motion. The paper begins with a detailed description of the mechanism design. A closed-form solution of the inverse kinematics follows next, which computes the active joint coordinates and determines the spatial positions of all joints and links. Based on this solution, an iterative approach is applied to analyze the workspace for three different heights of the spherical motion center. The analysis reveals the regions of a full twist about the platform symmetry axis, bounded by maximum tilt angles of 51°, 38°, and 23°, respectively. Introducing joint constraints significantly reduces the workspace, limiting the tilt angles to 21°, 26°, and 0° at the same heights. Subsequently, screw theory is applied to identify serial, parallel, and constraint singularities, and an iterative approach is used to find the boundary of the singularity-free workspace. The analysis shows that the full-twist tilt angles are limited to 33°, a value determined solely on the platform geometry and independent of the spherical motion center height. These results establish a foundation for the design optimization and prototyping of the mechanism. Full article

Transistor-level Integrated Circuit (IC) design is fundamental to modern electronics, yet it remains one of the most expertise-intensive and time-consuming stages of chip development. As circuit complexity continues to rise, the need to automate this low-level design process has become critical to sustaining innovation and productivity across the semiconductor industry. This study presents a fully automated methodology for transistor-level IC design using a novel framework that integrates Grammatical Evolution (GE) with Cadence SKILL code. Beyond automation, the framework explicitly examines how symmetry and asymmetry shape the evolutionary search space and resulting circuit structures. To address the time-consuming and expertise-intensive nature of conventional integrated circuit design, the framework automates the synthesis of both digital and analogue circuits without requiring prior domain knowledge. A specialised attribute grammar (AG) evolves circuit topology and sizing, with performance assessed by a multi-objective fitness function. Symmetry is analysed at three levels: (i) domain-level structural dualities (e.g., NAND/NOR mirror topologies and PMOS/NMOS exchanges), (ii) objective-level symmetries created by logic threshold settings, and (iii) representational symmetries managed through grammatical constraints that preserve valid connectivity while avoiding redundant isomorphs. Validation was carried out on universal logic gates (NAND and NOR) at multiple logic thresholds, as well as on a temperature sensor. Under stricter thresholds, the evolved logic gates display emergent duality, converging to mirror-image transistor configurations; relaxed thresholds increase symmetric plateaus and slow convergence. The evolved logic gates achieve superior performance over conventional Complementary Metal–Oxide–Semiconductor (CMOS), Transmission Gate Logic (TGL), and Gate Diffusion Input (GDI) implementations, demonstrating lower power consumption, a reduced Power–Delay Product (PDP), and fewer transistors. Similarly, the evolved temperature sensor exhibits improved sensitivity, reduced power, and Integral Nonlinearity (INL), and a smaller area compared to the conventional Proportional to Absolute Temperature (PTAT) or “gold” circuit, without requiring resistors. The analogue design further demonstrates beneficial asymmetry in device roles, breaking canonical structures to achieve higher performance. Across all case studies, the evolved designs matched or outperformed their manually designed counterparts, demonstrating that this GE-based approach provides a scalable and effective path toward fully automated, symmetry-aware integrated circuit synthesis. Full article

To address the inefficiency of collaborative scheduling of heterogeneous Unmanned Aerial Vehicles under resource constraints, particularly in large-scale multi-tasking scenarios, an improved Flexible Combinatorial Auction Algorithm is proposed, leveraging the bidding mechanism of simultaneous ascending auctions. This algorithm is designed with a candidate solution generation mechanism and an addition mechanism, which collectively reduce the number of candidate solutions generated prior to combinatorial auctions. It allows tasks to flexibly combine resources and submit bids. By calculating each candidate solution’s benefit based on real-time resource prices, it dynamically adjusts their priorities to search for the overall optimal multi-task scheduling scheme. It effectively addresses the inability of traditional auction algorithms to dynamically form resource clusters via flexible resource combination to collaboratively complete tasks. Meanwhile, it overcomes the technical bottleneck that existing heuristic algorithms struggle to handle highly complex heterogeneous resource scheduling cases. Simulation experiments show that in small-scale multi-tasking scenarios, the FCAA achieves a scheduling success rate of over 88%, with the maximum solution benefit proportion reaching 83.9%; in multi-tasking scenarios, it achieves a scheduling success rate of 98%, with the maximum solution benefit proportion reaching 93%. Its time efficiency and solution quality are significantly superior to those of traditional algorithms, providing an efficient and stable solution for heterogeneous resource scheduling problems in complex operational environments. Full article

Accurate co-registration between on-scalp Optically Pumped Magnetometer (OPM)–Magnetoencephalography (MEG) sensors and anatomical Magnetic Resonance Imaging (MRI) remains a critical bottleneck restricting the spatial fidelity of source localization. Optical Scanning Image (OSI) methods can provide high spatial accuracy but depend on surface visibility and cannot directly determine the internal sensitive point of each OPM sensor. Coil-based magnetic dipole localization, in contrast, targets the sensor’s internal sensitive volume and is robust to occlusion, yet its accuracy is affected by coil fabrication imperfections and the validity of the dipole approximation. To integrate the complementary advantages of both approaches, we propose a hybrid co-registration framework that combines Rigid Coil Structures (RCS), magnetic dipole-based sensor localization, and optical orientation constraints. A complete multi-stage co-registration pipeline is established through a unified mathematical formulation, including MRI–OSI alignment, OSI–RCS transformation, and final RCS–sensor localization. Systematic simulations are conducted to evaluate the accuracy of the magnetic dipole approximation for both cylindrical helical coils and planar single-turn coils. The results quantify how wire diameter, coil radius, and turn number influence dipole model fidelity and offer practical guidelines for coil design. Experiments using 18 coils and 11 single-axis OPMs demonstrate positional accuracy of a few millimeters, and optical orientation priors suppress dipole-only orientation ambiguity in unstable channels. To improve the stability of sensor orientation estimation, optical scanning of surface markers is incorporated as a soft constraint, yielding substantial improvements for channels that exhibit unstable results under dipole-only optimization. Overall, the proposed hybrid framework demonstrates the feasibility of combining magnetic and optical information for robust OPM–MEG co-registration. Full article

Background and Objectives: Vaginal uterine manipulators facilitate laparoscopic hysterectomy but are limited by cost and anatomical constraints. The Boztosun method offers a cost-effective intra-abdominal alternative. This study evaluated the clinical performance and safety of this technique. Materials and Methods: This single-center, retrospective descriptive study analyzed 40 patients who underwent laparoscopic hysterectomy using the Boztosun method at Akdeniz University Hospital between October 2021 and June 2022. Clinical characteristics and perioperative outcomes were assessed. Results: The mean operative time was 78.5 ± 20.6 min, and the mean colpotomy time was 8.05 ± 3.57 min. Conversion to laparotomy occurred in 3 patients (7.5%), primarily due to extensive adhesions or large uterine size. No intraoperative complications, organ injuries, or blood transfusions were recorded. All patients were discharged within two days. Patients with prior abdominal surgery had significantly longer operative and colpotomy times (p < 0.05). Conclusions: The Boztosun method is a safe, efficient, and low-cost alternative to vaginal manipulators in laparoscopic hysterectomy. It may be particularly useful in resource-limited settings or when vaginal manipulation is not feasible. Full article

Background: Antimicrobial resistance (AMR) is now a critical issue in South Africa, enhanced by considerable inappropriate prescribing of antibiotics. There is currently variable dispensing of antibiotics without a prescription. Where this occurs, it is principally for urinary tract infections (UTIs) and sexually transmitted infections (STIs). Consequently, there is a need to comprehensively evaluate antibiotic dispensing patterns and factors influencing this to reduce AMR. Methods: A previously piloted questionnaire was administered to patients exiting three different categories of community pharmacies in a rural province. The questionnaire included data on the prevalence of antibiotics dispensed, whether without a prescription, and the rationale for this. Results: A total of 465 patients leaving community pharmacies with a medicine were interviewed. 54.4% of interviewed patients were dispensed at least one antibiotic, with 78.7% dispensed these without a prescription from either independent or franchise pharmacies. Metronidazole (36.1%) and azithromycin (32.7%) were the most dispensed antibiotics. STIs were the most common infectious disease for which an antibiotic was dispensed (60.1%), with 99.6% dispensed without a prescription. Upper respiratory tract infections (URTIs) were the most common infection where antibiotics were dispensed with a prescription (60.0%), with little dispensing without a prescription (7.1%). The most frequently cited reasons for obtaining antibiotics without a prescription were prior use (56.8%), long waiting times at PHC clinics (15.6%), and financial constraints (6.0%). Conclusions: There is an urgent need to review community pharmacists’ scope of practice, including allowing them to prescribe antibiotics for infectious diseases such as UTIs, similar to other countries. Concomitantly, utilise trained community pharmacists to engage with prescribers to improve future antibiotic use, especially for URTIs. Full article

Detecting aircraft in Airport Surface Movement Radar (SMR) imagery presents a unique challenge rooted in the conflict between object symmetry and data asymmetry. While aircraft possess strong structural symmetry, their radar signatures are often sparse, incomplete, and highly asymmetric, leading to target loss and position jitter in traditional detection algorithms. To overcome this, we introduce SWCR-YOLO, a keypoint detection framework designed to learn and enforce the target’s implicit structural symmetry from its imperfect radar representation. Our model reconstructs a stable aircraft pose by localizing four keypoints (nose, tail, wingtips) that define its symmetric axes. Based on YOLOv11n, SWCR-YOLO incorporates a MultiScaleStem module and wavelet transforms to effectively extract features from the sparse, asymmetric scatter points, while a Multi-Scale Convolutional Attention (MSCA) module refines salient information. Crucially, training is guided by a Geometric Regularized Keypoint Loss (GRKLoss), which introduces a symmetry-based prior by imposing angular constraints on the keypoints to ensure physically plausible pose estimations. Our symmetry-aware approach, on a real-world SMR dataset, achieves an mAP50 of 88.2% and reduces the trajectory root mean square error by 51.8% compared to MTD-CFAR pipeline methods, from 8.235 m to 3.968 m, demonstrating its effectiveness in handling asymmetric data for robust object tracking. Full article

The eastern and southwestern sub-basins of the South China Sea (SCS) display starkly contrasting magnetic lineation patterns, yet quantitative 3-D mapping of the subsurface magnetic architecture—essential for deciphering basin evolution—remains challenging due to the dominance of remanent magnetization. We introduce a joint workflow that integrates anomaly separation with Magnetization-Vector Clustering Inversion (MVCI) to resolve this challenge. A low-rank Hankel matrix filter first disentangles co-located seamount and stripe anomalies in the ocean basin; each component is then inverted using MVCI to recover 3-D magnetization intensity and direction without prior orientation constraints, while simultaneously deriving cluster statistics. Synthetic tests replicating the SCS crustal setting demonstrate that seamount-signal removal dramatically enhances inversion fidelity for both anomaly sources. Application to the SCS reveals two distinct vector clusters in the eastern sub-basin, with mean declinations indicating 10–24° counter-clockwise rotation relative to the southwestern sub-basin. Magnetization intensities are slightly stronger in the southwestern sub-basin, where NE-trending magnetic stripes exhibit narrow spacing, whereas the eastern sub-basin shows wider and more variable NE–W to E–W trending stripes. This study provides the first basin-scale quantification of along-strike magnetic heterogeneity, offering new quantitative constraints on late-stage seafloor spreading and the dynamic evolution of the SCS, while delivering a robust, transferable methodology for other remanence-dominated marginal seas. Full article

Improved maternal experiences and outcomes have been widely linked to the presence of birth companions. However, cultural norms, institutional constraints, and privacy concerns frequently restrict women’s choice of birth companions in many Middle Eastern countries, including Jordan. This study investigated Jordanian women’s beliefs and barriers about the presence of companions in the labour room. A qualitative descriptive study design was conducted using Braun and Clarke’s framework for thematic analysis. Thirteen women (ages 21 to 38 years) with prior pregnancy and childbirth experience were chosen from a free health awareness event in Irbid, Northern Jordan in July 2025, to participate in semi-structured interviews. The responses were recorded on audio tapes and subsequently stored in their original format. Data were coded, transcribed, and then thematically analyzed to identify beliefs and perceived barriers. The most significant beliefs were: (i) emotional and psychological support, wherein companionship was thought to alleviate fear and provide reassurance; (ii) strengthening family ties, as women saw shared childbirth experiences as improving family bonds; and (iii) cultural and religious interpretations, wherein female relatives were frequently seen as more acceptable than husbands. Women reported two barriers to allowing companions in the labour room: (i) privacy and modesty issues, where they feared embarrassment, exposure, and judgment, and (ii) institutional and policy restrictions, such as restrictive hospital regulations. Although Jordanian women recognized the emotional and interpersonal benefits of having company during childbirth, they encountered numerous substantial institutional, cultural, and privacy-related barriers. Improving women’s birth experiences and promoting respectful maternity care may be achieved by addressing these issues through culturally sensitive education, privacy-enhancing infrastructure, and regulatory reform. Full article

The proliferation of Internet of Things (IoT) devices has amplified botnet risks, while traditional network-based intrusion detection systems (IDSs) struggle under encrypted and/or sparse traffic. Power consumption offers an effective side channel for device-level detection. Yet, prior studies typically focus on a single model family (often a convolutional neural network (CNN)) and rarely assess generalization across devices or compare broader model classes. In this paper, we conduct unified benchmarking and comparison of classical (SVM and RF), deep (CNN, LSTM, and 1D Transformer), and hybrid (CNN + LSTM, CNN + Transformer, and CNN + RF) models on the CHASE’19 dataset and a newly curated three-class botnet dataset, using consistent preprocessing and evaluation across single- and cross-device settings, reporting both accuracy and efficiency (latency and throughput). Experimental results demonstrate that Random Forest achieves the highest single-device accuracy (99.43% on the Voice Assistant with Seed 42), while CNN + Transformer shows a strong accuracy–efficiency trade-off in cross-device scenarios (94.02% accuracy on the combined dataset at ∼60,000 samples/s when using the best-performing Seed 42). These results offer practical guidance for selecting models under accuracy, latency, and throughput constraints and establish a reproducible baseline for power-side-channel IDSs. Full article