Search Results (2,730)

Atlantic salmon (Salmo salar) is an important dietary source of health-promoting long-chain polyunsaturated fatty acids (PUFAs). As rearing conditions significantly influence fillet quality, this study evaluated the effects of warm and cool rearing temperature and photoperiod regimes on salmon growth, lipid profiles, and antioxidant capacity. Atlantic salmon (210 days old) were reared for 92 days under low temperature (14 °C, 12 h light) or high temperature (21 °C, 24 h light) conditions to simulate relevant seasonal conditions, winter and summer respectively. At day 302, conditions were reversed to create low-to-high (L→H) and high-to-low (H→L) treatments, continuing until day 362. Growth parameters, muscle lipid content, fatty acid profile, and antioxidant activity were measured at 302 and 362 days. Lipid content and fatty acid profile were also measured based on fillet location and fish sex. High rearing temperatures accelerated weight gain and increased total and neutral lipid contents, but elevated saturated fatty acids (SFA) and decreased PUFAs in structural polar lipids. High temperatures also significantly increased antioxidant activity, indicating elevated oxidative stress. Conversely, low temperatures suppressed growth but preserved essential PUFAs and maintained oxidative stability. Following the temperature shift, the H→L group had enriched polar lipids with PUFAs and maintained oxidative stability. On the other hand, L→H group showed lower PUFAs accumulation in polar lipid and enhanced oxidative stress. Total lipid content was higher in the head region, followed by the middle and tail sections of the fillet. However, fatty acid composition remained largely uniform across all three sections of the fillet. There were no significant differences in total lipid content between fish sexes. In conclusion, production efficiency and nutritional quality can be optimized by initially rearing salmon at high temperatures to promote rapid growth, followed by low temperature finishing phase to increase essential PUFA content and maintain oxidative stability. Full article

To investigate the influence of working fluid composition on the thermo-hydraulic performance of plate heat exchangers (PHEs) under single-phase sensible heat transfer conditions, a three-dimensional steady-state numerical model was developed for a transverse corrugated channel with a chevron angle of 60°. The governing equations were solved using the finite volume method implemented in ANSYS Fluent, in conjunction with the standard k–ε turbulence model. The analysis considered pure refrigerants R134a and R245fa, as well as their mixtures with mass ratios of 0.2, 0.5, and 0.8, with thermophysical properties assumed to be temperature-independent constants. The results indicate that as the mass fraction of R134a decreases from 1.0 to 0, the heat transfer coefficient (h) decreases from 1025 to 815 W/(m²·K), primarily attributed to the combined effects of reduced thermal conductivity and increased viscosity. Among the investigated cases, the R134a/R245fa mixture with a mass ratio of 0.8 provides the most favorable performance trade-off, exhibiting a heat transfer coefficient only 3.0% lower than that of pure R134a while achieving a 12.5% reduction in flow resistance compared with pure R245fa. Furthermore, the heat transfer coefficient is found to be weakly affected by heat flux in the range of 8000–20,000 W/m²; in contrast, increasing the mass flow rate from 0.001 to 0.005 kg/s enhances heat transfer coefficient by 65.1%, accompanied by a significant increase in pressure drop. Comparisons with established single-phase correlations for corrugated channels show average deviations of 6.5% for the Nusselt number and 3.8% for the friction factor. The present study provides useful guidance for working fluid selection and operational optimization of PHEs in applications dominated by sensible heat transfer, such as specific stages of heat pump cycles and medium-temperature waste heat recovery. Full article

Rhodesain is a cysteine protease that plays a key role in the life cycle of Trypanosoma brucei rhodesiense, an endemic parasite in sub-Saharan Africa and responsible for Human African Trypanosomiasis (HAT), a disease that can be fatal if not treated promptly. Due to the limitations associated with current HAT pharmacological therapy, the search for new targets for the development of antitrypanosomal agents is urgently needed; in this context, rhodesain represents a promising therapeutic target. In this study, new chalcones were synthesized and tested against rhodesain. Given their affinity for the trypanosomal cysteine protease (K_i values in the micromolar range), chalcone 1a was selected to evaluate its effect in combination with the nutraceutical curcumin. The Combination Index (CI) was calculated using Chou and Talalay’s method. The analysis of the CI calculated at different f_a values of enzyme inhibition for the combination curcumin + 1a showed promising results. For all f_a values, the CI is less than one, indicating a synergistic effect when chalcone 1a is combined with curcumin. In particular, at the most significant f_a value (0.90), corresponding to 90% of enzyme inhibition, the CI value is 0.1781, indicating a strong synergism between the synthetic drug and the nutraceutical. The combined use of curcumin and chalcone 1a led to an enhancement of rhodesain inhibitory activity, resulting in a strong synergistic effect and supporting further investigation of this combination. Full article

Microbial oil production has gained attention as a sustainable and cost-effective alternative to conventional vegetable and fish oils. Among oleaginous microorganisms, Yarrowia lipolytica is notable for its ability to accumulate lipids exceeding 20% of its dry weight. This study aimed to evaluate semi-continuous cultivation as a strategy for sustainable microbial oil production by Y. lipolytica, while also assessing the potential utility of the spent supernatant. Three different feeding frequencies were evaluated. In the 24 h feeding regime, the maximum oil concentration reached 11.22 g/L, decreasing to 8.43 g/L by the 88th hour. In the 6–6–12 h feeding strategy, crude protein content peaked at 43.75% of dry mass at 22 h. Fatty acid profiling revealed consistently low saturated fatty acid (SFA) levels (4.93–10.30%), while unsaturated fatty acids (UFA) dominated (89.69–95.05%). Monounsaturated fatty acids (MUFA) were predominant, reaching up to 81.24%, whereas polyunsaturated fatty acids (PUFA) ranged from 20.78% to 29.98%. Oleic acid was the most abundant fatty acid across all conditions. This composition supports the potential of microbial oil from Y. lipolytica as a sustainable alternative edible lipid ingredient for human food applications, complementing conventional plant-based oils. The favorable unsaturated fatty acid profile indicates its potential suitability for incorporation into food formulations requiring nutritionally desirable lipid sources. As part of the sustainability-oriented approach of the study, the freeze-dried post-culture supernatant was also evaluated for its potential further utilization. With a calorific value of 10.43 kJ/g and significant phosphorus and potassium levels, it shows potential as a biofuel feedstock and as a biofertilizer or biostimulant. Full article

This study aimed to assess whether hemp or buckwheat flour, and the replacement of water with cistus infusion, can simultaneously improve the nutritional value and antioxidant potential of wheat–chia bread while maintaining acceptable sensory quality. Control bread (WCh) and variants with hemp flour (WChH) or buckwheat flour (WChB), prepared with either water or cistus infusion (Cis), were baked. The chemical composition, amino acid profile and protein quality (AAS), fatty acid profile, phenolic compounds and antioxidant properties (TPC, FRAP), color (CIELAB), and texture were determined. E-tongue and e-nose analyses, as well as consumer evaluation, were also performed. Hemp flour most significantly increased the protein and dietary fiber content of bread and improved the PUFA content and PUFA/SFA ratio. Buckwheat flour shifted the lipid profile toward MUFA and yielded the highest lysine AAS, although lysine remained the limiting amino acid in all variants. Cistus infusion increased the polyphenol pool and antioxidant activity, with the strongest effect observed in the combined WChH/Cis and WChB/Cis systems. Electronic nose and an electronic tongue analyses confirmed significant differentiation of the flavor and aroma profiles among variants. Consumer evaluation showed a decrease in acceptance following hemp flour addition, which was partially mitigated by cistus infusion, while buckwheat variants maintained good sensory acceptance. Full article

The increasing occurrence of antibiotic residues in poultry meat represents a serious food safety concern associated with antimicrobial resistance and potential risks to human health. This study investigated the effects of electron beam irradiation on antibiotic residues and nutritional quality parameters of poultry meat. All experiments and data collection were carried out in 2025. Fresh poultry samples were irradiated using an ILU-10 pulsed linear electron accelerator at doses of 2, 4, 6, 8, and 10 kGy. Antibiotic residues were determined by HPLC-DAD, amino acid composition was analyzed using HPLC, and fatty acid profiles were evaluated by gas chromatography. Electron beam irradiation produced significant dose-dependent changes in the chemical composition of poultry meat. Total amino acid content decreased progressively with increasing irradiation dose, with reductions of up to 60–73% at 10 kGy depending on tissue type. Branched-chain and essential amino acids showed similar trends. Fatty acid analysis revealed a shift toward higher proportions of saturated fatty acids and a decline in monounsaturated and polyunsaturated fatty acids. The PUFA/SFA ratio decreased from 0.48 in control samples to 0.25 at 10 kGy. Tetracycline residues were not detected in any samples, whereas chloramphenicol residues were present in control meat but were progressively reduced after irradiation and became undetectable at doses ≥ 8 kGy. These results demonstrate that electron beam irradiation can effectively reduce antibiotic residues in poultry meat; however, higher irradiation doses may significantly alter amino acid and lipid composition. Therefore, optimization of irradiation parameters is necessary to balance improvements in food safety with the preservation of nutritional quality for the production of safe and sustainable food products. Optimization of irradiation parameters is therefore necessary to balance food safety benefits with preservation of nutritional quality. Furthermore, this research contributes to the achievement of Sustainable Development Goal (SDG) 2, while the obtained results also support SDG 3 by promoting safer food systems and protecting public health. Full article

This experiment investigated the effects of dietary Artemisia ordosica Krasch. (AOK) supplementation on the n3-polyunsaturated fatty acid (n3-PUFA) profile of subcutaneous adipose tissue (SADT) in Arbas cashmere goats and explored the underlying transcriptional mechanisms. Forty healthy, weaned kids (120 ± 10 days of age; similar body weight) were randomly allocated to two groups (n = 20): a control group (CON, basal diet) and an AOK group (AOK, basal diet with 3% of the roughage replaced by AOK). The feeding trial spanned 104 days, consisting of a 14-day adaptation period and 90 days of data acquisition. Compared with the CON group, AOK significantly reduced the content of saturated fatty acids (SFAs) and n6-polyunsaturated fatty acids (n6-PUFAs)/n3-PUFAs (n6/n3). In contrast, the levels of n3-PUFAs in the SADT of cashmere goats increased markedly (p < 0.05). Compared with the CON group, AOK exhibited significantly higher activities of hormone-sensitive lipase (HSL) (p = 0.027), adenylyl cyclase 2 (ADCY2) (p = 0.010), adenylyl cyclase 5 (ADCY5) (p = 0.046), cluster of differentiation 36 (CD36) (p = 0.013), solute carrier family 27 member 4 (SLC27A4) (p = 0.021), and fatty acid binding protein 4 (FABP4) (p = 0.040), along with significantly lower activities of fatty acid synthase (FAS) (p = 0.002), lipoprotein lipase (LPL) (p = 0.048), and stearoyl-coa desaturase (SCD) (p = 0.026) in SADT. Compared with the CON group, the activities of superoxide dismutase (SOD) (p = 0.032), catalase (CAT) (p = 0.010), glutathione peroxidase (GSH-PX) (p = 0.029), and total antioxidant capacity (T-AOC) (p = 0.002) were significantly increased in the AOK group. Transcriptomic profiling revealed that AOK supplementation downregulated mRNA levels of ADCY2, ADCY5, LPL, FAS, SCD, stearoyl-CoA desaturase 1 (SCD1), stearoyl-CoA desaturase 2 (SCD2), glycogen synthase 1 (GYS1), acyl-CoA oxidase 1 (ACOX1), acetyl-CoA carboxylase (ACC), diacylglycerol acyltransferase 1 (DGAT1), fatty acid desaturase 1 (FADS1), solute carrier family 27 member 2 (SLC27A2), erythroblastic leukemia viral oncogene homolog 4 (ERBB4), and carnitine palmitoyltransferase 1B (CPT1B) (p < 0.05). It also markedly induced acyl-CoA synthetase long-chain family member 4 (ACSL4) (p < 0.01) in SADT. Genes significantly enriched in the adenosine-monophosphate-activated protein kinase (AMPK) signaling pathway included LPL, SCD1, CPT1B, and GYS1 (p = 0.010). Genes significantly enriched in the phosphatidylinositol 3-kinase-akt (PI3K-Akt) signaling pathway included GYS1 and ERBB4 (p = 0.015). CPT1B, ADCY2, and GYS1 were identified as the genes significantly enriched in the insulin resistance signaling pathway (p = 0.048). LPL was the only gene significantly enriched in the cholesterol metabolism pathway (p = 0.049). Genes showing a tendency toward significant enrichment in the peroxisome-proliferator-activated receptor (PPAR) signaling pathway included ACSL4, CPT1B, SCD1, and LPL (p = 0.051). These interconnected cascades improve insulin sensitivity, stimulate triglyceride (TG) hydrolysis, and modulate n3-PUFA levels. Supplementation with AOK enhances n3-PUFA content by accelerating TG breakdown while simultaneously restraining FA oxidation in SADT. Consequently, AOK supplementation can be effectively used to enhance the nutritional value of cashmere goat meat through improved n3-PUFA deposition in SADT. Full article

Multispectral object detection addresses the limitations of single-modal approaches by fusing complementary information from visible and infrared images, thereby improving robustness in complex environments. However, the inter-modal representations are inherently misaligned due to sensing discrepancies, and the complementary cues they provide are often imbalanced, making it difficult to exploit modality-specific information effectively. Moreover, directly merging features from different modalities can introduce noise and artifacts that deteriorate the detection performance. To this end, this paper proposes a patch-aware enhancement and fusion network for multispectral object detection (PMDet). This method employs a dual-stream backbone equipped with the patch-aware Feature Enhancer (FE) module for cross-modal features alignment and enhancement. FE not only reinforces the feature representation of key regions but also helps to suppress local noise and enhance the model’s perception of fine textures and differences. Building on these enriched features, the patch-based Feature Aggregator (FA) module allows for efficient inter-modal feature interaction and semantic fusion with noise resistance. Specifically, both FE and FA modules leverage the shifted-patch design to preserve computational efficiency while enabling long-range modeling. In this regard, PMDet couples multi-scale cross-modal semantic enhancement with deep semantic fusion to form a stable and discriminative multimodal representation pipeline. Experiments on FLIR, LLVIP, and VEDAI demonstrate that the method outperforms mainstream approaches in detection accuracy and robustness, and ablation studies further verify the effectiveness of each module. Full article

Climate-induced migration is increasingly recognized as a major demographic consequence of environmental change, yet projections vary widely due to differences in spatial scale, hazard coverage, and modeling approaches. This study introduces the First Street Global Climate Migration Model (FS-GCMM), a globally consistent, multi-hazard framework that estimates climate-driven population redistribution at a 12.5 km resolution across all countries through 2100. The model integrates high-resolution global climate hazard datasets, including flood (GloFAS), wind (IBTrACS and ERA5), drought (ERA5), wildfire (Global Fire Atlas), and extreme heat and cold (ERA5-LAND) datasets, with gridded population data from NASA SEDAC’s Gridded Population of the World (GPWv4) and Shared Socioeconomic Pathway (SSP) projections. To identify climate-related migration effects, we applied within-country propensity score matching to construct balanced samples of exposed and unexposed grid cells with similar socioeconomic, demographic, geographic, and governance characteristics. Hazard-specific impacts on annualized population change from 2000 to 2020 were then estimated using mixed-effects ridge regression with country-level random effects to account for cross-national heterogeneity and multicollinearity. These empirically derived coefficients were applied to SSP1-2.6, SSP2-4.5, and SSP5-8.5 scenarios to project future climate-driven outmigration, which was subsequently redistributed using a spatial attractiveness framework incorporating economic opportunity, population density, climate safety, and geographic proximity. Results indicate statistically significant negative effects of all modeled hazards on population retention globally, with approximately 199.5 million people projected to experience climate-driven displacement by 2055 under SSP2-4.5. Full article

White-backed and Ash-grey cows yielded an average of 6212 kg and 6078 kg of milk per year, with 4.25–4.28% fat and 3.37–3.40% protein, while Holsteins averaged 10,694 kg with 4.47% fat and 3.45% protein. The study aimed to analyse the fatty acid (FA) profile of milk from two local cow breeds, compare them with that of Holstein cows, and evaluate the influence of lactation number, productivity indicators and milk colour. The study was carried out with White-backed (n = 40), Ash-grey (n = 49), and Holstein (n = 51) cows. Based on lactation number, cows were divided into two groups. Composite milk samples from all quarters of each cow were collected. Two additional milk samples were taken: 1st to assess milk colour and the second to determine the fatty acids profile. Productivity data of cows were provided from the Livestock Information System. Statistical analysis included calculating means and standard deviations or standard errors of the mean. One-way and two-way ANOVA (breed and lactation) were used, and Duncan’s test was applied to compare mean values between groups. White-backed cows contained greater proportions of C17:0, C17:1, C18:3 ω3, and C20:0 (p < 0.05), as well as higher total omega-3 and polyunsaturated fatty acid (PUFA) contents. Parity did not have a significant effect on productivity indicators, but parity influenced the FA profile. Milk from 1st-lactation Ash-grey cows showed higher levels of PUFA and omega-6 fatty acids (p < 0.05). Milk from Ash-grey cows has more favourable visual attributes, indicating improved suitability for dairy processing, where colour uniformity is important for technological quality. Full article

Background: Alzheimer’s disease (AD) remains an incurable disorder with severe clinical consequences. The type 3 diabetes hypothesis posits that AD may constitute a neuroendocrine disorder driven by disrupted insulin and insulin-like growth factor signaling. Amyloid pathogenesis in AD is characterized by the accumulation of beta-amyloid (Aβ) monomers, their subsequent oligomerization, and amyloid deposition. One of the causes of Aβ accumulation is disruption of amyloid precursor protein (APP) processing due to imbalance in ADAM10 and BACE1 expression. In recent years, increasing attention has been devoted to investigating the role of environmental factors in AD pathogenesis. The receptor for advanced glycation end products (RAGE) serves as a key molecular link between environmental exposure and neuroinflammatory pathology. Formaldehyde (FA) is one of the most widespread environmental pollutants. Its involvement in amyloid plaque formation has been previously reported; however, the molecular mechanisms underlying this process remain insufficiently understood. Moreover, most available data are based on prolonged FA exposure, whereas industrial FA emissions are often short-term. The objective of this study was to determine whether brief intranasal administration of FA, modeling episodic industrial pollution, induces RAGE-mediated neuroinflammation and amyloid deposition in CD1 mice. Methods: Mice received intranasal FA at environmentally relevant 0.02 mg/day or 0.2 mg/day doses for seven days; an additional group was co-treated with insulin. Cognitive function was assessed using passive avoidance (PA) and radial arm maze (RAM) tests, and synaptic plasticity was evaluated by electrophysiology. Hippocampal tissue was analyzed for RAGE expression, ADAM10/BACE1 gene balance, Aβ42 monomer levels, and amyloid deposits using optimized Thioflavin-S (Th-S) staining. Results: We observed cognitive decline in mice receiving intranasal FA administration. Elevated blood glucose levels were also observed following intranasal FA exposure. Sustained impairment of glucose metabolism led to overexpression of the RAGE in the hippocampus. There was also an imbalance of ADAM10 and BACE1 expression in the hippocampus. This was caused by overexpression of RAGE, as the enhanced interaction of the ligand and RAGE is a key factor disrupting this balance. Finally, Th-S staining confirmed amyloid deposition in mice subjected to intranasal FA exposure. Conclusions: This study provides new insights into the RAGE-mediated mechanisms by which FA contributes to the pathogenesis of AD. Full article

This study explores the potential of seeds from fruit and vegetable processing waste as feedstocks for biodiesel biocomponent production. Fatty acid methyl esters (FAMEs), obtained through a transesterification reaction, were extracted using ultrasound-assisted extraction and identified by gas chromatography–mass spectrometry (GC–MS) in selected ion monitoring (SIM) mode. A total of 31 to 34 individual FAME compounds were identified across all samples. The fatty acid profiles varied both quantitatively and qualitatively depending on the raw material; however, unsaturated FAMEs predominated over saturated ones in all cases. The highest proportions were observed for γ-linolenic acid (C18:3n6), particularly in apple, melon, lemon, and pumpkin seeds. Substantial contributions of oleic acid (C18:1n9c) were found in apple, quince, cherry, and melon seeds, while linolelaidic acid (C18:2n6t) dominated in melon, pumpkin, quince, and cherry seeds. The highest total FAME contents were recorded for apple, melon, lemon, and pumpkin seeds, while the lowest values were observed in apricot and pepper seeds. Among the materials studied, grape seeds proved to be the most promising feedstock, exhibiting a favorable cetane number and a beneficial fatty acid profile characterized by high monounsaturated fatty acid (MUFA) content, low polyunsaturated fatty acid (PUFA) content, and a moderate fraction of saturated fatty acids (SFAs). Plum and peach seeds also showed significant potential, but their higher PUFA levels may compromise oxidative stability and could require antioxidant supplementation or blending with MUFA-rich feedstocks. Full article

This article presents a performance assessment of an electrical power and cooling system powered by a parabolic dish collector and using refrigerants with low global warming potential. The study was conducted using energy and mass balances for each component and system. The simulation includes various parameters, such as solar radiation, the focal temperature of the solar collector, the ambient temperature, the power cycle pressure ratio, and the chiller’s evaporation temperature. The results show that the efficiency of the organic Rankine cycle with the refrigerant R1233zd(E) is similar to that of the refrigerants R123 and R245fa and is up to 11 and 50 times lower than with R290 and R744, respectively. The solar absorption chiller using the refrigerant R717 can achieve cooling with a supply temperature up to 5 °C lower than that of R718. The dynamic simulation results show that the energy efficiency of the proposed solar-powered generator–chiller is 14% higher than that of a standard solar-powered absorption chiller. Furthermore, the same solar-powered generator–chiller reduces the primary energy required by a conventional system by 60% (PESr = 0.60). The presented results may be useful for the design of sustainable generator–chillers for rural areas or for autonomous housing in tropical climates. Full article

With the increasing consumer demand for high-quality lamb, crossbreeding has become a key technology for improving the production performance and meat quality of sheep. To evaluate the meat quality advantages and characteristics of Suffolk (SFK) and Hu sheep (HH) and their F₁ crossbreds (SH), thirty-six 3-month-old male lambs of SFK (n = 12), HH (n = 12), and SH (n = 12) were selected and raised in individual pens under the same nutritional and management conditions. After standardized feeding until 6 months of age, the Longissimus dorsi muscle was collected to determine meat quality traits, amino acid and fatty acid profiles, and volatile flavor compounds. The results indicated that the L*, a* and b* values of the SH group were significantly lower than those of the parental breeds (p < 0.05), with tenderness being intermediate between the two parent breeds. Notably, drip loss and cooking loss were significantly lower in the SH group (p < 0.05), indicating superior water-holding capacity. In terms of amino acid profiles, the contents of non-essential amino acids (NEAAs) and sweet-tasting amino acids in the SH group were significantly higher than those of the parent breeds (p < 0.05), with the overall profile meeting the FAO/WHO ideal protein pattern. Analysis of fatty acid profiles revealed that the SH group had significantly lower total saturated fatty acids (SFAs) (p < 0.05) and significantly higher levels of functional fatty acids (such as CLA), resulting in a significantly higher UFAs (unsaturated fatty acids)/SFAs (saturated fatty acids) ratio (p < 0.05) and superior nutritional value of fat. Furthermore, 32 volatile flavor compounds were detected in the SH group; among them, key aroma-active compounds such as isoamyl formate, 3-methyl-1-butanol, and acetoin were significantly higher than in the parental breeds (p < 0.05), contributing to a unique flavor profile. Consequently, this study systematically reveals the advantages of Suffolk × Hu F₁ crossbreds in terms of meat quality, nutritional value, and flavor characteristics, providing fundamental data for the optimization of crossbreeding systems, breeding selection, and the quality improvement of sheep meat products. Full article

To enhance the trajectory tracking accuracy and lateral stability of distributed-drive electric vehicles, a hierarchical cooperative control strategy optimized by the Genetic–Firefly Algorithm (G-FA) is proposed. First, bottom-level controllers for trajectory tracking utilizing a Linear Quadratic Regulator (LQR) and stability relying on Sliding Mode Control (SMC) are jointly optimized offline using the G-FA to address the limitations of empirical parameter tuning and effectively mitigate chattering. Compared to traditional Nonlinear Model Predictive Control (NMPC), which relies on computationally demanding dynamic programming, the proposed G-FA acts as an efficient approximate optimization method that significantly reduces the online computational burden while maintaining high control accuracy. Second, an adaptive cooperative mechanism based on desired yaw rate correction is introduced. By constructing two reference benchmarks—“tracking-oriented” and “stability-oriented”—a cooperative weighting coefficient adapts the fusion of control objectives based on the vehicle’s stability state. Hardware-in-the-loop (HIL) simulation results demonstrate that, under high-adhesion double lane change maneuvers, the proposed strategy reduces peak lateral error and sideslip angle by 31.53% and 28.08%, respectively, compared to traditional LQR. In low-adhesion S-curve limit maneuvers, where traditional LQR fails, the proposed strategy outperforms the NMPC benchmark, further reducing these indices by 61.98% and 8.33%, respectively, significantly improving control performance under extreme conditions. Full article