Search Results (1,128)

The ongoing advancement of urbanization has significantly amplified its impacts on the water environment. Understanding the coupling relationships between urbanization and the water environment (UAWE) is crucial for Chinese policymakers aiming to promote sustainable urban development. In this study, a comprehensive UAWE evaluation model was developed to examine the development trajectories in Neijiang City from 2012 to 2022. Methodologically, a comprehensive evaluation approach was applied to assess urbanization and water resource trends over this period, followed by the development of a Coupling Coordination Degree Model (CCDM) to quantify their synergistic relationship. The results showed that the coupling between the comprehensive urbanization index and the water environment system evolved over time, as reflected in the following key findings: (1) Neijiang underwent three distinct stages from 2012 to 2022 in terms of coupling and coordination between urbanization and the water environment: Basic Coordination (2012–2015), Good Coordination (2016–2020), and Excellent Coordination (2020–2022). (2) Urbanization exerted varying impacts on subsystems of the water environment, with the pressure-response subsystems exhibiting marked volatility from 2012 to 2022. The impact intensity followed the order spatial urbanization > economic urbanization > social urbanization > population urbanization. These findings offer valuable theoretical and practical insights for aligning urban sustainability goals with effective water environment protection measures. This study provides essential guidance for policymakers in Neijiang and similar regions, enabling the development of tailored strategies for sustainable urbanization and enhanced water management. Full article

Autonomous underwater vehicles (AUVs) have obtained extensive application in the exploitation of marine resources. Terrain-aided navigation (TAN), as an accurate and reliable autonomous navigation method, is commonly used for AUV navigation. However, its accuracy degrades significantly in self-similar terrain features or measurement uncertainties. To overcome these challenges, we propose a novel terrain-aided navigation framework integrating an Improved Marine Predators Algorithm with Depth-First Search optimization (DFS-IMPA-TAN). This framework maintains positioning precision in partially self-similar terrains through two synergistic mechanisms: (1) IMPA-driven optimization based on the hunger-inspired adaptive exploitation to determine optimal trajectory transformations, cascaded with Kalman filtering for navigation state correction; (2) a Robust Tree (RT) hypothesis manager that maintains potential trajectory candidates in graph-structured memory, employing Depth-First Search for ambiguity resolution in feature matching. Experimental validation through simulations and in-vehicle testing demonstrates the framework’s distinctive advantages: (1) consistent terrain association in partially self-similar topographies; (2) inherent error resilience against ambiguous feature measurements; and (3) long-term navigation stability. In all experimental groups, the root mean squared error of the framework remained around 60 m. Under adverse conditions, its navigation accuracy improved by over 30% compared to other traditional batch processing TAN methods. Comparative analysis confirms superior performance over conventional methods under challenging conditions, establishing DFS-IMPA-TAN as a robust navigation solution for AUVs in complex underwater environments. Full article

Real-time wildlife monitoring on edge devices poses significant challenges due to limited power, constrained bandwidth, and unreliable connectivity, especially in remote natural habitats. Conventional object detection systems often transmit redundant data of the same animals detected across multiple consecutive frames as a part of a single event, resulting in increased power consumption and inefficient bandwidth usage. Furthermore, maintaining consistent animal identities in the wild is difficult due to occlusions, variable lighting, and complex environments. In this study, we propose a lightweight hybrid tracking framework built on the YOLOv8m deep neural network, combining motion-based Kalman filtering with Local Binary Pattern (LBP) similarity for appearance-based re-identification using texture and color features. To handle ambiguous cases, we further incorporate Hue-Saturation-Value (HSV) color space similarity. This approach enhances identity consistency across frames while reducing redundant transmissions. The framework is optimized for real-time deployment on edge platforms such as NVIDIA Jetson Orin Nano and Raspberry Pi 5. We evaluate our method against state-of-the-art trackers using event-based metrics such as MOTA, HOTA, and IDF1, with a focus on detected animals occlusion handling, trajectory analysis, and counting during both day and night. Our approach significantly enhances tracking robustness, reduces ID switches, and provides more accurate detection and counting compared to existing methods. When transmitting time-series data and detected frames, it achieves up to 99.87% bandwidth savings and 99.67% power reduction, making it highly suitable for edge-based wildlife monitoring in resource-constrained environments. Full article

Engineering innovations play a critical role in achieving the United Nations’ Sustainable Development Goals, especially in human–robotic interaction and precise engineering. For the robot, writing Chinese calligraphy with hairy brush pen is a form of precision operation. Existing writing trajectory control models mainly focus on writing trajectory models, and the fine-grained trajectory control model based on brush strokes is not studied. The problem of how to establish writing trajectory control based on brush stroke model needs to be solved. On the basis of the proposed composite-curve-dilation brush stroke model (CCD-BSM), this study investigates the control methods of intelligent calligraphy robots and proposed fine-grained writing trajectory control models that conform to the rules of brush calligraphy to reflect the local writing characteristics. By decomposing and refining each writing process, control models in the process of brush movement are analyzed and modeled. According to the writing rules, fine-grained writing trajectory control models of strokes are established based on the CCD-BSM. The parametric representations of the control models are built for the three stages of initiation, execution, and completion of strokes writing. Experimental results demonstrate that the proposed fine-grained control models can exhibit excellent performances in basic strokes and Chinese characters with better writing capabilities. Compared with existing models, the writing results demonstrate the advantages of our proposed model in terms of high average similarity with two quantitative indicators Cosine similarity (CSIM) and Structural similarity index measure (SSIM), which are 99.54% and 97.57%, respectively. Full article

The integration of radar and Automatic Dependent Surveillance–Broadcast (ADS-B) surveillance data is critical for increasing the accuracy of air traffic monitoring; however, effective track associations remain challenging due to inherent sensor discrepancies and computational constraints. To achieve accurate identification and association between radar tracks and ADS-B tracks, this study proposes an adaptive feature extraction method based on the longest common subsequence (LCSS) combined with classification theory to address the limitations inherent in traditional machine learning-based track association approaches. These limitations encompass challenges in acquiring training samples, extended training times, and limited model generalization performance. The proposed method employs LCSS to measure the similarity between two types of trajectories and categorizes tracks into three groups—definite associations, definite nonassociations, and fuzzy associations—using a similarity matrix and an adaptive sample classification model (adaptive classification model). Fuzzy mathematical techniques are subsequently applied to extract discriminative features from both definite association and nonassociation sets, followed by training a support vector machine (SVM) model. Finally, the SVM performs classification and association of trajectories in the fuzzy association group. The computational results show that, compared with conventional statistical methods, the proposed methodology achieves both superior precision and recall rates while maintaining computational efficiency threefold that of traditional machine learning algorithms. Full article

For the study and experimentation of physical systems, it is essential to measure the physical variables, which implies choosing the most convenient method that does not affect the natural behavior of the system. This work presents the modeling and sensing of the spherical pendulum, integrating a novel non-invasive measurement scheme based on infrared sensors arranged in a quadrature configuration. The proposed method enables the estimation of angles around two axes, leveraging light reflection on a perpendicular plane aligned with the pendulum bar. A mathematical model was developed to create simulations, and a prototype was constructed to perform experiments and validate the detection method. The values recorded by the sensors enable the reproduction of the pendulum’s trajectory, allowing for the correlation of real results with those of the simulations. The similarity of behavior between the simulations and the experimentation facilitates the validation of the proposal. Full article

Deep Reinforcement Learning (DRL) algorithms often exhibit significant performance variability across different training runs, even with identical settings. This paper investigates the hypothesis that a key contributor to this variability is the divergence in the observation spaces explored by individual learning agents. We conducted an empirical study using Proximal Policy Optimization (PPO) agents trained on eight Atari environments. We analyzed the collected agent trajectories by qualitatively visualizing and quantitatively measuring the divergence in their explored observation spaces. Furthermore, we cross-evaluated the learned actor and value networks, measuring the average absolute TD-error, the RMSE of value estimates, and the KL divergence between policies to assess their functional similarity. We also conducted experiments where agents were trained from identical network initializations to isolate the source of this divergence. Our findings reveal a strong correlation: environments with low-performance variance (e.g., Freeway) showed high similarity in explored observation spaces and learned networks across agents. Conversely, environments with high-performance variability (e.g., Boxing, Qbert) demonstrated significant divergence in both explored states and network functionalities. This pattern persisted even when agents started with identical network weights. These results suggest that differences in experiential trajectories, driven by the stochasticity of agent–environment interactions, lead to specialized agent policies and value functions, thereby contributing substantially to the observed inconsistencies in DRL performance. Full article

Risk zone delineation and mobility behavior control constitute critical measures in pandemic containment. Numerous studies utilize static demographic data or dynamic mobility data to calculate the high–risk zones present in cities; however, these studies fail to concurrently consider activity and mobility patterns of populations in both space and time, which results in many studies only being able to employ static geostatistical analytical methods, neglecting the transmission risks associated with human mobility. This study utilized the mobile phone signaling data of Shenzhen residents from 2019 to 2020 and developed a CP tensor decomposition algorithm to decompose the long-sequence spatiotemporal trajectory data to detect high risk zones in terms of detecting overlapped community structures. Tensor decomposition algorithms revealed community structures in 2020 and the overlapping regions among these communities. Based on the overlap in spatial distribution and the similarity in temporal rhythms of these communities, we identified regions with spatiotemporal co-location as high–risk zones. Furthermore, we calculated the degree of population mixing in these areas to indicate the level of risk. These areas could potentially lead to rapid virus spread across communities. The research findings address the shortcomings of currently used static geographic statistical methods in delineating risk zones, and emphasize the critical importance of integrating spatial and temporal dimensions within behavioral big data analytics. Future research should consider utilizing non-aggregated individual trajectories to construct tensors, enabling the inclusion of individual and environmental attributes. Full article

This study identifies and classifies resistance gene analogues (RGAs) in the genomes of Brassica nigra, Sinapis arvensis and Sinapis alba using the RGAugury pipeline. RGAs were categorised into four main classes: receptor-like kinases (RLKs), receptor-like proteins (RLPs), nucleotide-binding leucine-rich repeat (NLR) proteins and transmembrane-coiled-coil (TM-CC) genes. A total of 4499 candidate RGAs were detected, with species-specific proportions. RLKs were the most abundant across all genomes, followed by TM-CCs and RLPs. The sub-classification of RLKs and RLPs identified LRR-RLKs, LRR-RLPs, LysM-RLKs, and LysM-RLPs. Atypical NLRs were more frequent than typical ones in all species. Atypical NLRs were more frequent than typical ones in all species. We explored the relationship between chromosome size and RGA count using regression analysis. In B. nigra and S. arvensis, larger chromosomes generally harboured more RGAs, while S. alba displayed the opposite trend. Exceptions were observed in all species, where some larger chromosomes contained fewer RGAs in B. nigra and S. arvensis, or more RGAs in S. alba. The distribution and density of RGAs across chromosomes were examined. RGA distribution was skewed towards chromosomal ends, with patterns differing across RGA types. Sequence hierarchical pairwise similarity analysis revealed distinct gene clusters, suggesting evolutionary relationships. The study also identified homologous genes among RGAs and non-RGAs in each species, providing insights into disease resistance mechanisms. Finally, RLKs and RLPs were co-localised with reported disease resistance loci in Brassica, indicating significant associations. Phylogenetic analysis of cloned RGAs and QTL-mapped RLKs and RLPs identified distinct clusters, enhancing our understanding of their evolutionary trajectories. These findings provide a comprehensive view of RGA diversity and genomics in these Brassicaceae species, providing valuable insights for future research in plant disease resistance and crop improvement. Full article

To investigate the group behavioral characteristics of Schizothorax wangchiachii during the spawning period, we used acoustic telemetry to track 10 mature individuals (4 females, 12 males) in a semi-controlled stream section (28.1 m × 5.8 m) simulating natural spawning microhabitats from 23 to 26 January 2024. By integrating trajectory similarity analysis and wavelet transform, we examined the aggregation patterns and activity rhythms during natural spawning events. The population formed two relatively stable subgroups, with significantly shorter inter-individual distances during the day (1.69 ± 0.72 m) than at night (2.54 ± 0.85 m, p < 0.01). Aggregation behavior exhibited a dominant ultradian rhythm of 16.5 h, with stable clustering between 09:00 and 16:00 (spawning window: 13:40–14:20) and dispersal from 19:00 to 00:00. Group activity followed a decreasing-then-increasing trend, with higher nighttime activity. Males were more active than females (F = 51.89, p < 0.01); female activity peaked on the spawning day and was influenced by reproductive progression, while male activity was mainly driven by diel rhythms (p < 0.01). A weak positive correlation was found between active time and inter-individual distance in both sexes (r = 0.32, p < 0.05), indicating reduced activity when aggregated. These findings provide insight into the temporal coordination and spatial regulation of reproductive behavior under semi-controlled conditions. However, due to the short monitoring period and experimental setup, caution is warranted when generalizing to the full reproductive season or fully natural habitats. Full article

Pedicle screw fixation is a common spinal surgery technique, but concerns remain about stability when screws are malpositioned. Traditional in vitro pull-out tests assess anchorage but lack physiological accuracy. This study examined the stability of correctly placed and intentionally malpositioned pedicle screws on forty vertebrae from five cadavers. Optimal screw paths were planned via CT scans and applied using 3D-printed guides. Four malposition types—medial, lateral, superior, and superior-lateral—were created by shifting the original trajectory. A custom setup applied three consecutive cycles of tensile and compressive load from 50 N to 200 N. Screw inclination under load was measured with a 3D optical system. The results showed increasing screw inclination with higher forces, reaching about 1° at 50 N and 2° at 100 N, similar in both load directions. Significant differences in inclination were only found at 100 N tensile load, where malpositioned screws showed a lower inclination. Overall, malpositioning had no major effect on screw loosening. These findings suggest that minor deviations in screw placement do not significantly compromise mechanical stability. Clinically, the main concern with malpositioning lies in the potential for injury to nearby structures rather than reduced screw fixation strength. Full article

Technology roadmapping is conducted by systematic mapping of technological evolution through patent analytics to inform innovation strategies. This study proposes an integrated framework combining hierarchical Latent Dirichlet Allocation (LDA) modeling with multiphase technology lifecycle theory, analyzing 113,449 Derwent patent abstracts (2008–2022) across three dimensions: technological novelty, functional applications, and competitive advantages. By segmenting innovation stages via logistic growth curve modeling and optimizing topic extraction through perplexity validation, we constructed dynamic technology roadmaps to decode latent evolutionary patterns in AI-powered programmable manipulators (B25J classification) within an innovation trajectory. Key findings revealed: (1) a progressive transition from electromechanical actuation to sensor-integrated architectures, evidenced by 58% compound annual growth in embedded sensing patents; (2) application expansion from industrial automation (72% early stage patents) to precision medical operations, with surgical robotics growing 34% annually since 2018; and (3) continuous advancements in adaptive control algorithms, showing 2.7× growth in reinforcement learning implementations. The methodology integrates quantitative topic modeling (via pyLDAvis visualization and cosine similarity analysis) with qualitative lifecycle theory, addressing the limitations of conventional technology analysis methods by reconciling semantic granularity with temporal dynamics. The results identify core innovation trajectories—precision control, intelligent detection, and medical robotics—while highlighting emerging opportunities in autonomous navigation and human–robot collaboration. This framework provides empirically grounded strategic intelligence for R&D prioritization, cross-industry investment, and policy formulation in Industry 4.0. Full article

One of the most challenging problems in data analysis is visualizing patterns and extracting insights from multi-dimensional datasets that vary over time. The complexity of data and variations in the correlations between different features adds further difficulty to the analysis. In this paper, we provide a framework to analyze the temporal dynamics of such datasets. We use machine learning clustering techniques and examine the time evolution of data patterns by constructing the corresponding cluster trajectories. These trajectories allow us to visualize the patterns and the changing nature of correlations over time. The similarity and correlations of features are reflected in common cluster membership, whereas the historical dynamics are described by a trajectory in the corresponding (cluster, time) space. This allows an effective visualization of multi-dimensional data over time. We introduce several statistical metrics to measure duration, volatility, and inertia of changes in patterns. Using the Hamming distance of trajectories over multiple time periods, we propose a novel metric, the Hamming diversification index, to measure the spread between trajectories. The novel metric is easy to compute, has a simple machine learning implementation, and provides additional insights into the temporal dynamics of data. This parsimonious diversification index can be used to examine changes in pattern similarities over aggregated time periods. We demonstrate the efficacy of our approach by analyzing a complex multi-year dataset of multiple worldwide economic indicators. Full article

Fuel electro-hydraulic servo valves are core components in the fuel control system of aero-engines, and their performance directly affects thrust regulation and power output precision. Due to the combustibility of the working medium in fuel systems and the lack of effective circulation filtration, the retention of micron-sized particles within the valve gap can lead to valve spool jamming, which is a critical reliability issue. This study, based on fractal theory and the liquid–solid two-phase flow model, proposes a parametric model for non-ideal surface valve gaps and analyzes the dynamics of particles subjected to drag, lift, and buoyant forces on rough surfaces. By numerically analyzing flow field models with different roughness levels and comparing them with an ideal smooth gap model, the migration characteristics of particles were studied. To verify the accuracy of the model, an upscaled experimental setup was built based on similarity theory, and PIV experiments were conducted for validation. Experimental results show that the particle release position and valve surface roughness significantly affect particle migration time. The weight of the release position on particle migration time is 63%, while the impact of valve surface roughness is 37%. In models with different roughness levels, the particle migration time increases more rapidly for roughness values greater than Ra0.4, while for values less than Ra0.4, the increase in migration time is slower. Furthermore, the study reveals that particle migration trajectories are independent of flow velocity, with velocity only affecting particle migration time. This research provides theoretical support for enhancing the reliability of fuel electro-hydraulic servo valves and offers a new perspective for the design of highly reliable hydraulic components. Full article

The Segment Anything Model 2 (SAM2) has achieved state-of-the-art performance in pixel-level object segmentation for both static and dynamic visual content. Its streaming memory architecture maintains spatial context across video sequences, yet struggles with long-term tracking due to its static inference framework. SAM 2’s fixed temporal window approach indiscriminately retains historical frames, failing to account for frame quality or dynamic motion patterns. This leads to error propagation and tracking instability in challenging scenarios involving fast-moving objects, partial occlusions, or crowded environments. To overcome these limitations, this paper proposes SAM2Plus, a zero-shot enhancement framework that integrates Kalman filter prediction, dynamic quality thresholds, and adaptive memory management. The Kalman filter models object motion using physical constraints to predict trajectories and dynamically refine segmentation states, mitigating positional drift during occlusions or velocity changes. Dynamic thresholds, combined with multi-criteria evaluation metrics (e.g., motion coherence, appearance consistency), prioritize high-quality frames while adaptively balancing confidence scores and temporal smoothness. This reduces ambiguities among similar objects in complex scenes. SAM2Plus further employs an optimized memory system that prunes outdated or low-confidence entries and retains temporally coherent context, ensuring constant computational resources even for infinitely long videos. Extensive experiments on two video object segmentation (VOS) benchmarks demonstrate SAM2Plus’s superiority over SAM 2. It achieves an average improvement of 1.0 in J&F metrics across all 24 direct comparisons, with gains exceeding 2.3 points on SA-V and LVOS datasets for long-term tracking. The method delivers real-time performance and strong generalization without fine-tuning or additional parameters, effectively addressing occlusion recovery and viewpoint changes. By unifying motion-aware physics-based prediction with spatial segmentation, SAM2Plus bridges the gap between static and dynamic reasoning, offering a scalable solution for real-world applications such as autonomous driving and surveillance systems. Full article