Search Results (12,911)

To address the key issues in cooperative collision avoidance of multiple aircraft, such as unknown dynamics, external disturbances, and limited communication resources, this paper proposes a reference correction method based on the Artificial Potential Field-Control Barrier Function (APF-CBF) and combines it with a dynamic event-triggered mechanism to achieve efficient cooperative control. This paper adopts a Fuzzy Wavelet Neural Network (FWNN) to design a finite-time disturbance observer. By leveraging the advantages of FWNN, which integrates fuzzy logic reasoning and the time-frequency locality of wavelet basis functions, this observer can synchronously estimate system states and unknown disturbances, to ensure the finite-time uniformly ultimate boundedness of errors and break through the limitation of insufficient robustness in traditional observers. Meanwhile, the APF is embedded in the CBF framework. On the one hand, APF is utilized to intuitively describe spatial interaction relationships, thereby reducing reliance on prior knowledge of obstacles; on the other hand, CBF is used to strictly construct safety constraints to overcome the local minimum problem existing in APF. Additionally, the reference correction mechanism is combined to optimize trajectory tracking performance. In addition, this paper introduces a dynamic event-triggered mechanism, which adjusts the triggering threshold by real-time adaptation to error trends and mission phases, realizing “communication on demand”. This mechanism can reduce communication resource consumption by 49.8% to 69.8% while avoiding Zeno behavior. Theoretical analysis and simulation experiments show that the proposed method can ensure the uniformly ultimate boundedness of system states and effectively achieve safe collision avoidance and efficient formation tracking of multiple aircraft. Full article

Copper contamination in the environment poses significant risks to both soil and human health, making the need for reliable monitoring methods crucial. In this study, we report the use of the EmStat Pico module as potentiostat to develop a portable electrochemical biosensor for copper detection, utilizing yeast Saccharomyces cerevisiae cells immobilized on a polydopamine (PDA)-coated screen-printed electrode (SPE). By optimizing the sensor design with a horizontal assembly and the volume reduction in the electrolyte solution, we achieved a 10-fold increase in current density with higher range of copper concentrations (0–300 µM CuSO₄) compared to traditional (or previous) vertical dipping setups. Additionally, the use of genetically engineered copper-responsive yeast cells further improved sensor performance, with the recombinant strain showing a 1.7-fold increase in current density over the wild-type strain. The biosensor demonstrated excellent reproducibility (R² > 0.95) and linearity over a broad range of copper concentrations, making it suitable for precise quantitative analysis. To further enhance portability and usability, a Bluetooth-enabled electrochemical platform was integrated with a web application for real-time data analysis, enabling on-site monitoring and providing a reliable, cost-effective tool for copper detection in real world settings. This system offers a promising solution for addressing the growing need for efficient environmental monitoring, especially in agriculture. Full article

Neuropathic pain presents a persistent therapeutic challenge, arising from diverse etiologies such as trigeminal neuralgia, postherpetic neuralgia, post-amputation pain, painful polyneuropathy, peripheral nerve injury pain, and painful radiculopathy. Given the limitations and side effects associated with pharmacologic treatments, interest in interventional therapies has surged. Herein, ultrasound guidance provides real-time, radiation-free visualization that enhances procedural accuracy and safety. This narrative review synthesizes current evidence on ultrasound-guided techniques—including nerve blocks, pulsed radiofrequency, hydrodissection, and peripheral nerve stimulation—in the management of neuropathic pain. These minimally invasive approaches demonstrate potential in providing significant and durable pain relief, enhancing functional outcomes, and reducing reliance on systemic medications. Notably, much of the existing literature comprises small-scale or observational studies and larger randomized controlled trials are therefore essential to confirm efficacy, define optimal treatment parameters, and inform clinical guidelines for broader adoption. Full article

Simultaneous Localization and Mapping (SLAM) systems require accurate and globally consistent mapping to ensure the long-term stable operation of robots or vehicles. However, for the commercial applications of indoor sweeping robots, the system needs to maintain accuracy while keeping computational and storage requirements low to ensure cost controllability. This paper proposes a dual-point-cloud-registration SLAM based on line features for the mapping of a mobile robot, named DPCR-SLAM. The front-end employs an improved Point-to-Line Iterative Closest Point (PLICP) algorithm for point cloud registration. It first aligns the point cloud and updates the submap. Subsequently, the submap is aligned with the regional map, which is then updated accordingly. The back-end uses the association between regional maps to perform graph optimization and update the global map. The experimental results show that, in the application scenario of indoor sweeping robots, the proposed method reduces the map storage space by 76.3%, the point cloud processing time by 55.8%, the graph optimization time by 77.7%, and the average localization error by 10.9% compared to the Cartographer, which is commonly used in the industry. Full article

Urbanization and traffic congestion caused by the surge in car ownership have exacerbated energy consumption and carbon emissions, and dynamic traffic flow prediction and energy-saving route planning have become the key to solving this problem. Dynamic traffic flow prediction accurately captures the spatio-temporal changes of traffic flow through advanced algorithms and models, providing prospective information for traffic management and travel decision-making. Energy-saving route planning optimizes travel routes based on prediction results, reduces the time vehicles spend on congested road sections, thereby reducing fuel consumption and exhaust emissions. However, there are still many shortcomings in the current relevant research, and the existing research is mostly isolated and applies a single model, and there is a lack of systematic comparison of the adaptability, generalization ability and fusion potential of different models in various scenarios, and the advantages of heterogeneous graph neural networks in integrating multi-source heterogeneous data in traffic have not been brought into play. This paper systematically reviews the relevant global studies from 2020 to 2025, focuses on the integration path of dynamic traffic flow prediction methods and energy-saving route planning, and reveals the advantages of LSTM, graph neural network and other models in capturing spatiotemporal features by combing the application of statistical models, machine learning, deep learning and mixed methods in traffic forecasting, and comparing their performance with RMSE, MAPE and other indicators, and points out that the potential of heterogeneous graph neural networks in multi-source heterogeneous data integration has not been fully explored. Aiming at the problem of disconnection between traffic prediction and path planning, an integrated framework is constructed, and the real-time prediction results are integrated into path algorithms such as A* and Dijkstra through multi-objective cost functions to balance distance, time and energy consumption optimization. Finally, the challenges of data quality, algorithm efficiency, and multimodal adaptation are analyzed, and the development direction of standardized evaluation platform and open source toolkit is proposed, providing theoretical support and practical path for the sustainable development of intelligent transportation systems. Full article

Three-dimensional path planning is critical for the successful operation of unmanned aerial vehicles (UAVs), automated guided vehicles (AGVs), and robots in industrial Internet of Things (IIoT) applications. In 3D path planning, the standard Particle Swarm Optimization (PSO) algorithm suffers from premature convergence and a tendency to fall into local optima, leading to significant deviations from the optimal path. This paper proposes an improved PSO (IPSO) algorithm that enhances particle diversity and randomness through the introduction of logistic chaotic mapping, while employing dynamic learning factors and nonlinear inertia weights to improve global search capability. Experimental results demonstrate that IPSO outperforms traditional methods in terms of path length and computational efficiency, showing potential for real-time path planning in complex environments. Full article

Addressing the carbon footprint in pig production is a fundamental technical basis for achieving carbon neutrality and peak carbon emissions. Only by systematically studying the carbon footprint can the goals of carbon neutrality and peak carbon emissions be effectively realized. This study aims to reduce the carbon footprint through optimized feeding strategies based on minimizing carbon emissions. To this end, this study conducted a full-lifecycle monitoring of the carbon footprint during pig growth from December 2024 to May 2025, optimizing feeding strategies using a real-time pig weight estimation model driven by deep learning to reduce resource consumption and the carbon footprint. We introduce EcoSegLite, a lightweight deep learning model designed for non-contact real-time pig weight estimation. By incorporating ShuffleNetV2, Linear Deformable Convolution (LDConv), and ACmix modules, it achieves high precision in resource-constrained environments with only 1.6 M parameters, attaining a 96.7% mAP50. Based on full-lifecycle weight monitoring of 63 pigs at the Pianguan farm from December 2024 to May 2025, the EcoSegLite model was integrated with a life cycle assessment (LCA) framework to optimize feeding management. This approach achieved a 7.8% reduction in feed intake, an 11.9% reduction in manure output, and a 5.1% reduction in carbon footprint. The resulting growth curves further validated the effectiveness of the optimized feeding strategy, while the reduction in feed and manure also potentially reduced water consumption and nitrogen runoff. This study offers a data-driven solution that enhances resource efficiency and reduces environmental impact, paving new pathways for precision agriculture and sustainable livestock production. Full article

The increasing electrification of Ground Support Equipment (GSE) vehicles promotes sustainable airport operations but introduces new challenges in task scheduling, energy management, and hybrid fleet coordination. To address these issues, we develop an end-to-end Deep Reinforcement Learning (DRL) framework and evaluate it under three representative deployment scenarios with 30%, 50%, and 80% electric fleet proportions through case studies at Singapore’s Changi Airport. Experimental results show that the proposed approach outperforms baseline models, achieves more balanced state-of-charge (SoC) distributions, reduces overall carbon emissions, and improves real-time responsiveness under operational constraints. Beyond these results, this work contributes a unified DRL-based scheduling paradigm that integrates electric and fuel-powered vehicles, adapts Proximal Policy Optimization (PPO) to heterogeneous fleet compositions, and provides interpretable insights through Gantt chart visualizations. These findings demonstrate the potential of DRL as a scalable and robust solution for smart airport logistics. Full article

Drowning constitutes the leading cause of injury-related fatalities among adolescents. In swimming pool environments, traditional manual surveillance exhibits limitations, while existing technologies suffer from poor adaptability of wearable devices. Vision models based on YOLO still face challenges in edge deployment efficiency, robustness in complex water conditions, and multi-scale object detection. To address these issues, we propose YOLO11-LiB, a drowning object detection model based on YOLO11n, featuring three key enhancements. First, we design the Lightweight Feature Extraction Module (LGCBlock), which integrates the Lightweight Attention Encoding Block (LAE) and effectively combines Ghost Convolution (GhostConv) with dynamic convolution (DynamicConv). This optimizes the downsampling structure and the C3k2 module in the YOLO11n backbone network, significantly reducing model parameters and computational complexity. Second, we introduce the Cross-Channel Position-aware Spatial Attention Inverted Residual with Spatial–Channel Separate Attention module (C2PSAiSCSA) into the backbone. This module embeds the Spatial–Channel Separate Attention (SCSA) mechanism within the Inverted Residual Mobile Block (iRMB) framework, enabling more comprehensive and efficient feature extraction. Finally, we redesign the neck structure as the Bidirectional Feature Fusion Network (BiFF-Net), which integrates the Bidirectional Feature Pyramid Network (BiFPN) and Frequency-Aware Feature Fusion (FreqFusion). The enhanced YOLO11-LiB model was validated against mainstream algorithms through comparative experiments, and ablation studies were conducted. Experimental results demonstrate that YOLO11-LiB achieves a drowning class mean average precision (DmAP50) of 94.1%, with merely 2.02 M parameters and a model size of 4.25 MB. This represents an effective balance between accuracy and efficiency, providing a high-performance solution for real-time drowning detection in swimming pool scenarios. Full article

Global warming is attributed to anthropogenic emissions of CO₂ and the contribution from the transport sector is significant. Estimating on-road vehicle CO₂ emission factors is essential for guiding carbon-reduction efforts in transportation. In order to accurately calculate carbon emission factors from vehicles, this study built a multi-scenario model for open, semi-enclosed, and enclosed road environments based on Fick’s second law and the law of conservation of mass. During the model optimization phase, it was found that the model’s applicability domain effectively encompassed most urban roadway scenarios, making it suitable for estimating urban traffic CO₂ emissions. The spatiotemporal heterogeneity analysis of field measurements indicated that this method can effectively distinguish variations in CO₂ emission factors across different road types and time periods. The method proposed in this study offers an effective solution for the real-time monitoring of large-scale on-road vehicle carbon emissions. Full article

CD19-targeted therapies, including monoclonal antibodies, antibody–drug conjugates, and chimeric antigen receptor (CAR) T-cell products, have significantly improved outcomes in relapsed/refractory diffuse large B-cell lymphoma (R/R DLBCL). Despite their clinical efficacy, resistance and antigen modulation pose substantial challenges, especially in patients requiring sequential therapy. This review provides a comprehensive overview of CD19 biology and its relevance as a therapeutic target. We examine mechanisms of resistance such as antigen loss, epitope masking, and T-cell exhaustion, as well as the implications of tumor microenvironmental immunosuppression. Future efforts should prioritize the integration of real-time diagnostics, such as flow cytometry, immunohistochemistry, and transcriptomic profiling, and AI-assisted predictive models to optimize therapeutic sequencing and expand access to personalized immunotherapy. Full article

To address the dynamic characteristics of vehicle semi-active suspension systems under special operating conditions and multi-source excitations, this paper proposes a fuzzy adaptive proportional–integral–derivative model predictive control (PID-MPC) strategy aimed at enhancing ride comfort during vehicle operation. The proposed approach employs MPC as the primary controller to optimize suspension performance, incorporating a fuzzy adaptive PID compensation mechanism for real-time adjustment of PID parameters, thereby improving control efficacy. A half-car semi-active suspension model was established on the MATLAB/Simulink (2020b) platform, with simulation validation conducted across diverse road profiles, including speed bump road surface, Class B road surface, and Class C road surface. Simulation results demonstrate that the proposed strategy achieves a significant reduction in both vehicle vertical acceleration and vehicle pitch angle acceleration while maintaining appropriate suspension deflection and tire dynamic loads, effectively elevating occupant ride comfort. Research demonstrates that the fuzzy adaptive PID-MPC control strategy exhibits commendable performance under typical road operating conditions, possessing notable potential for practical engineering implementation. Full article

To foster the performance of wireless communication while saving energy, the integration of Intelligent Reflecting Surfaces (IRS) into autonomous vehicle (AV) communication networks is considered a powerful technique. This paper proposes a novel IRS-assisted vehicular communication model that combines Lagrange optimization and Gradient-Based Phase Optimization to determine the optimal transmission power, optimal interference transmission power, and IRS phase shifts. Additionally, the proposed model help increase the Signal-to-Interference-plus-Noise Ratio (SINR) by utilizing IRS, which leads to maximizes energy efficiency and the achievable data rate under a variety of environmental conditions, while guaranteeing that resource limits are satisfied. In order to represent dense vehicular environments, practical constraints for the system model, such as IRS reflection efficiency and interference, have been incorporated from multiple sources, namely, Device-to-Device (D2D), Vehicle-to-Vehicle (V2V), Vehicle-to-Base Station (V2B), and Cellular User Equipment (CUE). A Lagrangian optimization approach has been implemented to determine the required transmission interference power and the best IRS phase designs in order to enhance the system performance. Consequently, a one-dimensional convolutional neural network has been implemented for the optimized data provided by this framework as training input. This deep learning algorithm learns to predict the required optimal IRS settings quickly, allowing for real-time adaptation in dynamic wireless environments. The obtained results from the simulation show that the combined optimization and prediction strategy considerably enhances the system reliability and energy efficiency over baseline techniques. This study lays a solid foundation for implementing IRS-assisted AV networks in real-world settings, hence facilitating the development of next-generation vehicular communication systems that are both performance-driven and energy-efficient. Full article

Remote Sighted Assistance (RSA) systems provide visually impaired people (VIPs) with real-time guidance by connecting them with remote sighted agents to facilitate daily travel. However, unfamiliar environments often complicate decision-making for agents and can induce anxiety in VIPs, thereby reducing the effectiveness of the assistance provided. To address this challenge, this paper proposes a video-based map assistance method. By pre-recording pedestrian path videos and aligning them with geographic locations, the system enables route preview and enhances navigation guidance. This study introduces a factor graph optimization (FGO) algorithm that integrates Global Navigation Satellite System (GNSS) and pedestrian dead reckoning (PDR) data for pedestrian positioning. It incorporates road-anchor constraints, a turning-point-based anchor-matching method, and a coarse-to-fine optimization strategy to improve the positioning accuracy. GNSS provides global reference positions, PDR offers precise relative motion constraints through accurate heading estimation, and anchor factors further enhance localization accuracy by leveraging known geometric features. We collected data using a smartphone equipped with a four-camera module and conducted tests in representative urban environments. Experimental results demonstrate that the proposed anchor-aided FGO-GNSS/PDR algorithm achieves robust and accurate positioning, effectively supporting video-based map construction in complex urban settings. With anchor constraints, the mean horizontal positioning error was reduced by 42% to 65% and the maximum error by 38% to 76% across all datasets. In this study, the mean horizontal positioning error was 1.36 m. Full article

With the rapid growth of electric vehicles, the efficient and safe recycling of high-energy battery packs, particularly the removal of structural bolts, has become a critical challenge. This study presents a NeuroSymbolic robotic system for battery disassembly, driven by autonomous learning capabilities. The system integrates deep perception modules, symbolic reasoning, and action primitives to achieve interpretable and efficient disassembly. To improve adaptability, we introduce an offline learning framework driven by a large language model (LLM), which analyzes historical disassembly trajectories and generates optimized action sequences via prompt-based reasoning. This enables the synthesis of new action primitives tailored to familiar scenarios. The system is validated on a real-world UR10e robotic platform across various battery configurations. Experimental results show a 17 s reduction in average disassembly time per bolt and a 154.4% improvement in overall efficiency compared with traditional approaches. These findings demonstrate that combining neural perception, symbolic reasoning, and LLM-guided learning significantly enhances robotic disassembly performance and offers strong potential for generalization in future battery recycling applications. Full article