Search Results (3,211)

In robotic grinding of complex curved surfaces, the low stiffness of serial robots causes tool tip deflection and degrades surface quality. The axial symmetry of grinding discs introduces a free rotational parameter at each waypoint, converting a standard 6-DOF robot into a functionally redundant system. However, this redundancy has not been systematically exploited for stiffness optimization along the trajectory. This paper proposes a hierarchical dynamic programming framework to optimize the redundancy angle sequence over the entire grinding trajectory. A kinematic transformation parameterizes the flange target by the redundancy angle, enabling enumeration of feasible candidate configurations over a discretized grid. A composite stiffness index that accounts for the normal, feed, and cross-feed grinding force components is formulated at the contact point. Hierarchical constraint filtering removes configurations that violate posture, singularity, velocity, acceleration, and stiffness constraints. The Viterbi algorithm then recovers the minimum-cost path that balances stiffness performance and joint motion smoothness. Finally, a post-processing step based on a cubic smoothing spline generates $C^2$-continuous joint trajectories. Simulations on a UR5 robot grinding a curved surface evaluate the proposed framework against fixed-angle, greedy, and flange-stiffness baselines. The proposed method improves the mean composite stiffness by 31.7% and 17.9% over the fixed-angle and flange-stiffness baselines, respectively, and reduces the maximum joint jump by two orders of magnitude compared with the greedy strategy. Experimental validation on a UR5 robot confirms that the smoothed trajectory is accurately tracked while the stiffness threshold is preserved. A multi-trajectory analysis further shows that the stiffness threshold is maintained across all grinding trajectories. These results demonstrate the effectiveness of the proposed framework for redundancy optimization in robotic grinding with tool spin symmetry. Full article

Despite being fundamental to modern infrastructure, the cement and concrete industry is a major contributor to global carbon emissions, necessitating urgent decarbonisation strategies to mitigate climate change and achieve net-zero targets by 2050. This review explores technological pathways and innovations essential for lowering carbon emissions, including low-carbon materials, energy-efficient processes, carbon capture, utilization and storage (CCUS), and advanced production technologies. It also highlights the importance of supportive policy frameworks, financial incentives, and international collaboration in accelerating the transition to a low-carbon industry. While challenges such as high initial costs, resistance to change, and knowledge gaps persist, these can be addressed through innovation, education, and robust financial mechanisms. Furthermore, circular economy principles, sustainable procurement practices, and continued research and development are emphasized as critical enablers of the industry’s transformation. The paper concludes with recommendations for future actions, highlighting the role of cross-sector cooperation, research funding, and knowledge sharing in achieving a sustainable and decarbonised cement and concrete sector that can “go green” for eco-constructions. Full article

Introduction: Placental malaria increases the risk of adverse birth outcomes. Current preventive measures are undermined by poor coverage, growing resistance to chemo-preventive and therapeutic drugs, and vector eliminating insecticides. Candidate placental malaria (PM) vaccines (PAMVAC and PRIMVAC) have shown safety and immunogenicity in Phase I trials, but empirical evidence on their potential population-level value is lacking. This study modelled the expected cost-effectiveness of a PM vaccine administered before pregnancy. Methods: A decision-analytic model compared two strategies from the provider’s perspective: vaccinating women of childbearing age versus no vaccination. The model incorporated gravidity-specific risks of PM, neonatal mortality and the malaria attributable fractions from the literature. Since the efficacy of a PM vaccine for malaria prevention is unknown, we assumed a 40% efficacy and varied this estimate widely in sensitivity analyses. Primary outcomes were incremental cost-effectiveness ratios (ICERs) per perinatal disability adjusted life years (DALYs) averted. Baseline, best-case, and worst-case scenarios were analysed. One-way and probabilistic sensitivity analyses were used to assess parameter uncertainty. Cost-effectiveness was defined as an ICER below half of sub- Saharan Africa’s 2025 GDP per capita ($1556). Results: The vaccine was most cost-effective among primigravidae. Under baseline assumptions (40% efficacy; 30% uptake; $5 dose price), the ICER was $321 per perinatal DALY averted for primigravidae versus $4444 for multigravidae. Best-case assumptions further improved cost-effectiveness ($225 vs. $3148). Sensitivity analyses showed robust cost-effectiveness for primigravidae across all plausible parameter ranges, while ICERs in multigravidae were highly sensitive to programme costs and vaccine efficacy. Cost-effectiveness acceptability curves demonstrated that vaccination becomes favourable for primigravidae at relatively low willingness-to-pay thresholds. Conclusions: A placental malaria vaccine delivered before pregnancy has high potential to be cost-effective in endemic areas when targeted to protect primigravidae. These findings support prioritised deployment strategies and highlight the value of early economic modelling to inform vaccine development and policy planning. Full article

The widespread deployment of unmanned aerial vehicles (UAVs) in civil and commercial airspace has raised significant safety concerns, driving the demand for reliable and real-time Anti-UAV visual detection systems. However, existing deep learning-based detectors face substantial challenges in complex low-altitude environments, including drastic scale variations, severe background clutter, and weak feature representation of small UAV targets. Moreover, handcrafted Transformer-based architectures often lack adaptability across diverse scenarios and struggle to balance detection accuracy with computational efficiency. To address these limitations, this paper proposes AutoUAVFormer, a super-resolution guided neural architecture search framework for Anti-UAV detection. In contrast to conventional manually designed approaches, AutoUAVFormer leverages joint optimization of a Transformer-based detection objective and a super-resolution reconstruction objective to automatically identify a task-specific optimal network architecture for detecting UAV targets. Specifically, a unified search space is formulated by jointly embedding Transformer hyperparameters and Feature Pyramid Network (FPN) structures, facilitating end-to-end co-optimization of multi-scale feature fusion and global context modeling. To efficiently locate architectures that balance accuracy and computational cost, a three-stage pipeline, combining supernetwork training with evolutionary search, is employed. Additionally, we design a super-resolution auxiliary branch that operates only during training to enhance the model’s ability to learn fine-grained textures and sharpen edge representations of small targets, without introducing any inference overhead. Extensive experiments on three challenging Anti-UAV detection benchmarks, namely DetFly, DUT Anti-UAV, and UAV Swarm, confirm the superiority of AutoUAVFormer over current state-of-the-art methods, with mAP@0.5 scores reaching 98.6%, 95.5%, and 89.9% on the respective datasets while sustaining real-time inference speed. These results demonstrate that AutoUAVFormer achieves strong generalization and maintains robust Anti-UAV detection performance under challenging low-altitude conditions. Full article

Achieving Great Britain’s 2050 net-zero target requires strategic integration of hydrogen into the national energy system. This study evaluates the system-wide impacts of hydrogen blending (0–100%) using a bi-level optimisation framework that combines long-term cooperative investment planning with short-term operational Optimal Power and Gas Flow (OPGF) simulation. The strategic layer models infrastructure investment decisions under a cooperative game-theoretic structure, where system value is allocated among electricity, hydrogen production, and storage technologies using the Shapley-value payoff mechanism. Contrary to traditional centralised cost-minimisation models, our findings demonstrate that a cooperative planning structure identifies superior transition pathways. Comparative results reveal that at 100% hydrogen penetration, the cooperative framework reduces total system CO${}_2$ emissions by 31%, lowers operational costs by 26%, and decreases total electricity supply requirements by 8% relative to centralised planning. Furthermore, the cooperative approach significantly enhances economic resilience, yielding a more robust Net Present Value (NPV) across all blending levels compared to centralised planning, while ensuring project profitability at lower blending thresholds (20%) where traditional models remain loss-making. Simulation results indicate that hydrogen blending up to 20% maintains operational stability with manageable increases in operational cost. Full hydrogen conversion (100%) increases peak electricity supply requirements by approximately 30% relative to low-blending scenarios due to electrolysis-driven load expansion and conversion losses. The findings demonstrate that hydrogen blending represents a viable transitional pathway when supported by integrated infrastructure development and cooperative stakeholder coordination, enabling a more efficient and economically sustainable phased progression towards Great Britain’s 2050 net-zero target. Full article

The simulation of synthetic aperture radar (SAR) echo signals usually relies on complex hardware equipment and a large amount of scene data, which results in high costs and low efficiency. In order to simulate SAR echo signals of ship targets in the sea quickly and accurately in complex environments at a lower cost, this paper proposes a SAR echo simulation method based on model segmentation and electromagnetic scattering characteristic simulation. This method first implements the simulation of sea models under different sea conditions based on PM wave spectrum model and the Monte Carlo method, and segments them according to the requirements of simulation resolution. Then, it uses Python API 3.11 in Blender 4.5 to segment the ship model automatically and optimize the visible surface elements and mesh for each sub-model. Next, it uses Lua API in Feko to simulate the electromagnetic scattering characteristics of each sub-model of the sea and the ship target automatically, and obtains the required radar cross section (RCS) data of the ship target in the sea after processing. Finally, SAR echo simulation is realized through dual-channel technology. To further verify the simulation result, the chirp scaling (CS) algorithm is used for imaging processing. The results show that this method can realize SAR echo simulation of various ship targets under different sea conditions in a quick, accurate and cost-effective manner without the need for any hardware equipment. Full article

We developed an automated system to address orchard crop damage caused by Formosan macaques, a problem where traditional deterrent methods have proven to be ineffective. The system integrates an Internet Protocol camera with a You Only Look Once version 5 (YOLOv5) object detection model, which was trained on an augmented 6000-image dataset featuring a simulated monkey puppet in an indoor setting to validate its real-time identification capability through simulation. Upon target detection, a high-power laser, controlled via the Message Queuing Telemetry Transport protocol, is actuated to perform dynamic and non-invasive repelling. A web-based Human–Machine Interface (HMI) is provided, allowing users to remotely monitor and adjust strategies. This system offers a low-cost, highly efficient, and scalable solution for smart agriculture, with potential for expansion to other scenarios requiring a high degree of security and defense, such as warehouses and construction sites. Full article

Cancer has become a major global health threat due to its high incidence and mortality. However, the development of anti-cancer drugs is limited by high costs, long cycles, and low success rates, slowing the progress of new treatments. As a method that simulates human cognitive functions, artificial intelligence (AI) has greatly improved the efficiency of drug development. Machine learning is a core part of AI and supports applications such as natural language processing and computer vision. This paper reviews recent advances in AI for optimizing anti-cancer drug discovery, development, and medication therapy management. First, we highlight the applications of AI in target identification, druggability assessment, drug screening, and repurposing. Second, we detail how AI optimizes drug combination therapy and clinical trial design. Finally, we describe the role of AI in treatment management, including nanoparticle delivery systems, personalized dosing, and adaptive therapy. AI greatly streamlines anti-cancer drug development and provides new directions for precision cancer therapy. Full article

Automated fruit harvesting is crucial for alleviating labor shortages and enhancing agricultural productivity. In this context, it is crucial to obtain information on fruit poses before picking in order to avoid damaging the fruit and/or the plant. However, the complex and unstructured orchard environment poses significant challenges regarding the pose estimation task. In this study, a dragon fruit pose estimation (DFPE) framework using a single RGB image is proposed for dragon fruit automated harvesting, which includes three key components: dataset annotation processing, keypoint detection, and geometric pose estimation. First, a multi-source dataset consisting of 8467 images is constructed to enhance the estimation model’s generalizability. A pseudo four-keypoint annotation strategy is designed to fit the annotation rules of mainstream single-class keypoint detection models and mitigate the inherent limitations of multi-target keypoint detection in agricultural scenarios. This strategy implicitly encodes the fruit’s orientation using bounding box group IDs, while preserving geometric information for pose inference. Then, the fruit body and its two core keypoints (navel and stem) are detected via a real-time keypoint detection model. Notably, the proposed DFPE framework is detector-agnostic: other mainstream keypoint detection models can also be plugged into the subsequent geometric pose inference stage, which guarantees the generality and scalability of the framework. Finally, a dragon fruit pose estimation algorithm based on customized geometric constraints is designed, which takes the detected pose information as the input and outputs the posture of dragon fruit. The results of experiments conducted in natural orchard and laboratory environments demonstrate that the ellipses fitted using the proposed DFPE framework closely aligned with fruit contours, even under foliage occlusion conditions. In the laboratory environment, roll errors reached a maximum of 14.8°, whereas yaw errors peaked at 13.4°. Crucially, all roll and yaw errors remained consistently below 15°, which is well within the tolerance threshold required for non-destructive picking operations using a harvesting robot. In summary, this work presents a low-cost solution for dragon fruit pose estimation from a single RGB image, which can potentially be extended to other ellipsoid crops and is suitable for implementation in harvesting robots operating in orchards. Full article

This paper presents a low-cost retrofitting pipeline for a legacy industrial robot that uses a single RGB webcam and monocular 2D keypoint tracking to estimate human-arm posture angles ${\mathit{\theta }}^{\left(\mathrm{h}\right)}$ and map them to robot-axis joint targets ${\mathbf{q}}_{\mathrm{cmd}}^{\left(\mathrm{r}\right)}$ for A1–A3 on a KUKA KR5-2 ARC HW, while keeping the wrist orientation (A4–A6) fixed. Rather than targeting full six-DoF manipulation, the main contribution is an experimental characterization of how far monocular 2D posture-to-axis mapping can be used reliably for coarse placement and safeguarded low-speed demonstrations on a legacy robot platform. Vision-side accuracy was evaluated per axis against goniometer-based reference angles ${\mathit{\theta }}_{\mathrm{ref}}^{\left(\mathrm{h}\right)}$, showing low errors for A2–A3 within the tested range and larger errors for A1 due to monocular yaw/depth ambiguity and occlusions. The study also analyzes failure modes during simultaneous multi-joint motion, where performance degrades notably, especially for A2 and A3, and reports practical mitigation directions such as improved viewpoints, multi-view/depth sensing, and stricter dropout handling. Runtime behavior is additionally characterized through a loop timing budget, with an end-to-end latency of 185.44 ms and an effective loop frequency of 5.39 Hz, which is consistent with low-speed online operation within the demonstrated scope. The system was implemented in a fenced industrial cell with restricted access and emergency stop; no collaborative operation is claimed. Full article

Multi-window map interfaces are widely used in geospatial monitoring systems and map-based analytical environments, where users must rapidly locate task-relevant information across multiple spatial displays. Designing visual cues and display conditions that effectively support visual search in such environments remains an important challenge for map interface design. This study examines how luminance contrast and highlighting influence visual search performance in multi-window map interfaces. A within-subject eye-tracking experiment was conducted using five highlighting conditions (No Highlighting as the control condition, Outer Border Highlighting, Text Highlighting, Title-Bar Highlighting, and Background Highlighting) and three luminance-contrast levels (low, medium, and high). Behavioral performance (accuracy and reaction time) and eye-movement measures (total viewing duration, fixation count, saccade count, and time to first fixation) were analyzed to evaluate how perceptual visibility and visual cue structures affect spatial information search. Results show that higher luminance contrast improved accuracy and reduced reaction time, although differences between medium and high contrast were small, suggesting that performance stabilized once a sufficient visibility threshold was reached. All highlighting conditions facilitated search relative to the control condition, with background and title-bar highlighting producing the most efficient gaze behavior and earlier target acquisition. A significant interaction between luminance contrast and highlighting was also observed, indicating that structured highlighting mitigates the performance costs associated with low contrast. Eye-movement evidence further indicates that region-based cues guide attention at the level of spatial interface regions rather than simply increasing local salience. These findings provide empirical guidance for improving spatial information retrieval efficiency in multi-window geospatial interfaces. Full article

This paper studies how European low-cost carriers (LCCs) adjust and mitigate in response to environmental taxation over the past decade. Global and EU frameworks—most prominently the Emissions Trading System (EU-ETS) and CORSIA—have raised carbon-related compliance costs, while several European states have introduced or increased aviation-specific taxes. Given their cost-sensitive business models, LCCs are especially responsive to tax-induced cost shocks. The paper is structured in three parts: an overview of global aviation taxation, a review of national initiatives in selected European countries and an analysis of how LCCs respond to mitigate these impacts. We assemble a hand-collected panel of ten European LCCs and conduct qualitative documentary analysis of annual and sustainability reports (2020–2024), triangulated with regulatory and policy documents. The findings indicate consistent adaptation via selective airfare price pass-through, capacity reallocation away from higher-tax, price-elastic short-haul routes and efficiency gains through fleet renewal and operational measures. We also document targeted stakeholder messaging and advocacy—public campaigns, legal challenges, and, in some jurisdictions, legal disputes—aimed at softening tax design burden. Full article

In remote sensing image oriented object detection tasks, weakly supervised learning methods based on horizontal bounding boxes have attracted much attention due to their lower annotation costs compared to fully supervised methods. However, remote sensing images, characterized by complex backgrounds, exhibit a wide range of target scales and diverse geometric characteristics across target categories. Existing methods exhibit inadequate exploitation of background and angular information under weak supervision, resulting in compromised perception of dense and high-aspect-ratio targets. Neglecting the imbalance in angle estimation samples further leads to excessively low detection accuracy for few-shot categories. To address the aforementioned issues, this paper proposes a Geometry-Aware Enhancement Network (WSOOD-GAEN) for weakly supervised oriented object detection tasks. First, in the backbone network stage, a channel-space deformable attention module (DAE-ResNet) was constructed. Through deformable sampling and screening of key regions, feature extraction has both morphological adaptability to complex shapes and semantic discriminability of key features in complex backgrounds. Secondly, in the feature pyramid stage, an Angle-Guided Feature Pyramid Network (AG-FPN) is proposed. This module dynamically applies rotation transformation to the sampling offsets of deformable convolutions, thereby enhancing the feature representation of objects with different orientations and scales. Furthermore, an adaptive geometric perception loss (AGL) was designed. Based on the geometric characteristics of different categories, it automatically learns differentiated rotation and flip consistency weights, thereby improving the prediction accuracy of small sample categories. Experiments on the DOTA-v1.0, HRSC, and RSAR datasets validate our approach. Specifically, under the AP75 evaluation metric, the proposed method outperforms existing weakly supervised methods by 1.51%, 9.86%, and 3.28%, respectively. Full article

The development of a green hydrogen industry is a strategic priority for Russia’s energy transition, yet the dynamics of scaling up this nascent sector remain poorly understood. This study uses agent-based modeling (ABM) to simulate the co-evolution of Russia’s electricity, hydrogen, and electrolyzer sectors over 2024–2050. The model incorporates three types of heterogeneous agents (power producers, hydrogen producers, and electrolyzer manufacturers) operating under bounded rationality. Four scenarios are examined across 50 Monte Carlo runs each, varying the electrolyzer learning rate (10–25%), willingness to pay for green hydrogen (2–6 $/kg), and government support intensity. The results reveal an endogenous three-phase development pattern: Phase I (2024–2028) dominated by renewable capacity build-up reaching ~30 GW; Phase II (2029–2040) characterized by rapid electrolyzer deployment scaling to 14.5 GW; and Phase III (2041–2050) marked by stabilization at approximately 30 GW producing 1.12 Mt/year at 3.1 $/kg. Two critical thresholds are identified: renewable capacity exceeding 30–38 GW and low-cost electricity above 4–7 TWh/year. The electrolyzer learning rate emerges as the most influential parameter, while the pessimistic scenario confirms market failure without a green premium (WTP < 2 $/kg). Strategic investment losses of 2–6 billion USD are necessary catalysts for industry emergence. Russia’s 2030 production target (0.55 Mt) is found structurally infeasible under all scenarios. Full article

The European Union’s Carbon Border Adjustment Mechanism (CBAM), the world’s first system to impose tariffs on the carbon emissions of imported products, commenced its transition period in October 2023 and is scheduled for full implementation in January 2026. This mechanism exerts a profound impact on the global trade landscape and corporate environmental management practices. Taking the CSI All Share Index constituent companies as a research sample, this paper empirically evaluates the impact of the CBAM transition period on the environmental scores of Chinese export enterprises utilizing the Propensity Score Matching Difference-in-Differences (PSM-DID) method. The results indicate that the CBAM transition period significantly inhibits the short-term environmental performance of regulated enterprises. Mechanism analysis reveals that increased financing constraints serve as a core mediating channel, wherein escalated compliance costs and compressed cash flows crowd out resources for low-carbon investments. Furthermore, heterogeneity analysis demonstrates that the negative impact is more pronounced among state-owned enterprises, firms with lower audit quality, and firms with a higher proportion of female executives. Accordingly, the study recommends establishing targeted green transition financing mechanisms, accelerating domestic carbon market reforms, and strengthening international technical harmonization to build corporate resilience against global climate governance shocks and promote sustainable growth. Full article