esa-sceva/satcom-chunk-collection huggingface dataset:
# Open Loop Position Control of Soft Hydraulic Actuators for Minimally Invasive Surgery
## 3 Materials and Methods
### Positioning Test Setup
#### 3.3.1 Experimental Setup: One DOF  
A single actuator was clamped at its proximal end where the inlet tube entered it and was suspended from a rigid support aligned with the centre of a v-slot aluminium linear rail. An optical motion tracking system (OptiTrack, NaturalPoint) was used to track a pair of retro-reflective markers respectively placed on the rail and on the moving linear stage. The first marker was a stationary reference marker aligned with the centre of the linear rail. The second marker was placed at the centre of a linear stage gantry plate that had low friction wheels and was constrained to move along the linear rail, with the distance from the marker to the rail equal to that of the first marker. The placement was to ensure that the relative motion of the markers was along a straight line connecting the two. Figure 4A shows this setup.  
A block and tackle pulley delivers a mechanical advantage of 2, so the stroke of the actuator was doubled at the expense of half the force exertion. This was chosen because the hydraulic actuators were capable of exerting high forces and because their stroke is not large in proportion to their length.  
To implement a block and tackle pulley, one end of the cable was anchored to the structure, in this case the aluminium rail, while the other end remained attached to the end effector, the linear stage. The PTFE tubing conforming to the circular weld in the actuator therefore became a capstan, as a substitute for a rotating pulley, with the cable wrapped  
Figure 4: Diagrams of each of the test setups. (**A**) Single actuator. (**B**) Single actuator with pulley. (**C**) Two antagonistic actuators. (**D**) Planar parallel mechanism concept. (**E**) Planar parallel mechanism concept with pulleys. (**F**) Planar parallel mechanism setup with shaft coupling. (**G**) 3 DOF hybrid parallel mechanism with pulleys. (**H**) Force exertion setup. (1) Soft actuator. (2) Cables. (3) Retro-reflective marker. (4) Linear rail. (5) Linear stage. (6) Capstan on actuator. (7) Antagonistic actuators. (8) Entry point capstan. (9) Ideal workspace. (10) Shaft. (11) 2 DOF shaft coupling. (12) Telescopic shaft. (13) 3 DOF shaft coupling. (14) Rotary joint. (15) Bowden tube and flexible rod. (16) Force transducer.  
around it by 180\({}^{\circ}\). Due to the use of PTFE, the friction around the capstan was assumed to be zero. Figure 4B shows the pulley setup.  
In the antagonistic setup, two identical actuators were clamped to the linear rail at either side of the linear stage and coupled to the linear stage. Retro-reflective markers were again placed at fixed locations relative to the actuators, with one marker at the centre of the linear stage. The linear stage was free to move a distance equal to the actuators' stroke, and the actuators were spaced such that when one actuator was at its maximum contraction, the other would be at its minimum contraction. A diagram of the antagonistic setup is shown in Figure 4C.
## 4 Conclusions  
In the current study, composite polyvinyl alcohol (PVA):starch (60:40) films containing spherical-shaped CNPs (average diameter of 100 nm) are proposed as a promising alternative to the petroleum-based films traditionally used for food packaging applications in order to reduce their environmental impact. The influence of additional CNPs on the microstructural, chemico-physical, thermal, mechanical and antimicrobial properties of PVA-starch-based films was investigated. SEM observation revealed a compact surface for the nanocomposite films without the presence of cracks or holes. The addition of CNPs reduced both the glass transition (from 146 \({}^{\circ}\)C for neat starch-PVA to 130 \({}^{\circ}\)C for SP+5% CNPs) and the melting temperatures (from 180 \({}^{\circ}\)C for neat starch-PVA to 174 \({}^{\circ}\)C for SP+5% CNPs) and of the starch-PVA films. Mechanical analysis of the films evidenced a remarkable increment of the tensile strength from 35 MPa (control sample) to 47 MPa (5% CNPs loaded sample), associated with a reduction in the elongation at the break up to 40% due to the addition of the highest CNPs amount. On the other hand, no significant differences between control and nanocomposite films containing 1% CNPs were observed. As expected, the addition of CNPs into the films significantly reduced their WVP (from 0.41 g-mm/kPa\(\cdot\)h-m\({}^{2}\) for neat starch-PVA films to 0.28 g-mm/kPa\(\cdot\)h-m\({}^{2}\) for SP+5% CNPs), as well as the water solubility (from 79% for neat starch-PVA films to 71.8% for SP+5% CNPs), while the opacity (from 0.47 for neat starch-PVA films to 1.77 for SP+5% CNPs) increased. The color analysis of the films depicted that the lightness (L*) of films significantly reduced by increasing the CNPs concentration. This reduction in lightness was more significant for the higher CNP concentrations, i.e., 3 and 5% \(w/v\). The antimicrobial analysis of nanocomposite films against Gram-positive (_S. aureus_) and Gram-negative bacteria (_E. coli_ and _S. typhimurium_) confirmed a higher inhibitory effect of CNPs against Gram-positive than Gram-negative bacteria. All the collected results demonstrated the high potential of using CNPs as a reinforcement agent, improving the starch-PVA films in terms of physical and mechanical properties and making them promising candidates for the food packaging industry.  
Conceptualization, F.G. and A.T.-G.; methodology, Y.G.; software, Y.G.; validation, F.G., A.T.-G. and I.C.; formal analysis, D.K.; investigation, Y.G.; resources, F.S.; data curation, F.S.; writing--original draft preparation, Y.G. and D.K.; writing--review and editing, F.G. and I.C.; visualization, Y.G.; supervision, A.T.-G. and F.S.; project administration, F.G.; funding acquisition, A.T.-G. and I.C. All authors have read and agreed to the published version of the manuscript. This research received no external funding. The authors declare no conflict of interest.
# Resilient Consensus Control for Multi-Agent Systems: A Comparative Survey
## 3 Resilient Control for MASs
### Relevant Application Scenarios  
In some fields closely related to MASs, the above resilient control algorithms are gradually deployed. For example, in the field of intelligent transportation systems, ref. [101] develops a distributed control strategy based on event-triggered mechanism to deal with deception attacks on the sensor-controller channel and achieves the stability of the vehicle platoon system. Ref. [102] designs a resilient controller composed of observers using sliding mode and adaptive estimation theory, focusing on the detection of the vehicle platoon system under DoS attack. In the field of smart grid, ref. [103] establishes a distributed observer structure based on the principle of consensus control, so as to detect FDI attacks in Distributed Generation Units and isolate infected information channels in DC microgrids. Ref. [104] explores the security control of modern power generation systems under DoS attack and proposes an adaptive resilient control protocol based on event-triggered communication scheme. It applies Lyapunov-Krasovskii functional theory to prove the exponential stability of the smart grid system. More relevant studies can be found in [105]. In the field of sensor networks, ref. [106] discusses the \(H_{\infty}\) observation problem under the two-channel FDI attacks. It constructs a distributed observation model against the attack on the basis of the sensor's own information and neighbors' information. In the field of multi-robot systems, ref. [107] provides a distributed switching control protocol based on the consensus control theory for DoS attacks and deception attacks. On the one hand, it gives a coordination-free consensus protocol to adjust the weight of each robot under deception attack. On the other hand, based on the control theory of the leader-following system, it converts the robot compromised by DoS attack into a sub-robot following the specific leader.  
**Remark 1**: _It is worth mentioning that all the works reviewed in this survey are gathered in a systematic way: first connecting keywords such as DoS attacks and Byzantine attacks on Google  
\begin{table}
\begin{tabular}{c c c c c} \hline \hline
**Methodologies** & **Byzantine Attack Type** & **Centralized** & **Scalability** & **References** \\ \hline MSR algorithm & False data & & & \\ extensions & injection & Moderate & High & [85; 90; 91; 92] \\ \hline Set up trusted & False data & & & \\ decision-making agents & injection & Moderate & Moderate & [88; 89] \\ \hline Elastic control & False data & & & \\ injection & Moderate & Moderate & [82; 84; 86] \\ \hline \hline \end{tabular}
\end{table}
Table 4: Recent Work on Byzantine Attacks.  
scholar. Then, the reference list of the relevant articles were obtained, followed by narrowing and refining the searching results by year, authors and, finally, source type._
## 1 Introduction
Firstly, the sideband current harmonics and radial electromagnetic force introduced by the DPWM are characterized and analyzed. The MRCFM approach aims to improve the DPWM strategy by utilizing the three-state Markov chain algorithm and integrating it with the PSO algorithm for random parameter optimization. Secondly, a multi-physics co-simulation model is established to simulate and predict the suppression effect of the MRCFM approach on sideband vibro-acoustic response. The vibro-acoustic response of the experimental prototype is calculated based on the modal superposition and complete integration method. Finally, the validity of the MRCFM method and the accuracy of the co-simulation model are verified by experiments.
## 3 Results and Discussion
### Effects of Boundary Condition on SLJ  
An investigation was conducted to assess the impact of one-inch grips on the force-displacement response of single lap joints. By systematically adding and removing the grips in the finite element model, it was determined that both scenarios produced similar force-displacement curves and identical stress distributions in the overlap region, indicating that the grips do not affect the critical behavior being studied. The model with grips used 162,099 elements, while the model without grips used 122,409 elements, resulting in a significant reduction in computational cost. Parallel CPU usage and runtime for the two models further highlighted the efficiency gained by excluding the grips, with the model without grips running 20% faster. These findings support the decision to exclude grips for enhanced computational efficiency without compromising the accuracy of the results. The single-row cohesive element layer was employed to simulate the adhesive, integrating the traction-separation law to represent the adhesive behavior precisely.  
The simulations were carried out under displacement-controlled loading, with both the grip-inserted and grip-removed scenarios being subjected to identical loadings (Figure 6). Key parameters included the material properties of the adhesive and adherends and the geometry condition listed as follows: \(L_{\text{G}}\) = 25 mm, \(L_{\text{o}}\) = 25 mm, \(L_{\text{A}}\) = 100 mm, \(t_{\text{P}}\) = 2 mm, and \(t_{\text{A}}\) = 0.2 mm. Boundary conditions were applied to simulate the set-up accurately, with the displacement-controlled BC being incrementally applied until failure occurred. The force-displacement response was recorded for each scenario to facilitate a comparative analysis.  
Figure 5: Experimental and numerical force–displacement curves for reference study and 3D validation [28].  
The parametric study results revealed that the force-displacement curves for the grip-inserted and grip-removed scenarios were virtually identical, indicating that the presence of the 25 mm grips does not significantly affect the mechanical response of the single lap joint, as seen in Figure 7. This study suggests that the grips can be removed from the model without compromising the accuracy of the simulation results. By excluding the grips, the computational time and resources required for the simulations can be reduced, thereby enhancing the efficiency of the finite element analysis.
## 1 Introduction  
Malaria is a disease caused by mosquitoes through bites by female Anopheles mosquitoes. Different types of mosquito parasites infect humans because of these bites. These include Plasmodium Ovale, Plasmodium malariae, Plasmodium vivax, and Plasmodium falciparum. The world malaria report in 2020 [1] showed that these parasites are responsible for up to 229 million estimated cases of malaria and a total of 409,000 deaths worldwide. Children aged under 5 are the most vulnerable group, accounting for 67% of global deaths caused by malaria. Africa accounted for up to 94% of global cases, and six countries accounted for approximately half of the global deaths caused by malaria: Nigeria (23%), Burkina Faso (4%), Niger (4%), the Democratic Republic of Congo (11%), United Republic of Tanzania (5%), and Mozambique (4%). Other locations affected more by malaria include South-East Asia and the Eastern Mediterranean.  
Despite all the efforts and financial resources put in place, e.g., more than USD 3 billion was accumulated for malaria control and elimination in 2019, of which a USD 900 million contribution came from malaria-endemic countries, the disease is still ravaging and threatening lives.  
Light microscopy using blood films is currently the most popular technique for diagnosing malaria [2]. Diagnosing malaria under a microscope is conducted by applying a patient's blood drop on a glass slide, and subsequently immersing it in a staining solution to make the parasites visible. Thick and thin blood smears are prepared; thick smears allow the parasite to be detected more efficiently than thin smears. Thin smears, on the other hand, are not without advantages, since they allow the examiner to identify species and recognise parasite stages easily [3]. Light microscopy requires no complex tools but only human expertise which makes it cheaper, affordable, and readily available. However, the biggest disadvantages of using this technique include the requirement for extensive training of personnel to equip them with necessary skills to become proficient slide readers. Training and employing staff is highly expensive and involves a large volume of manual work.  
Therefore, this study proposes the use of a state-of-the-art automated technique to detect malaria parasites in blood-smear images. Our contributions include the design of automatic procedures using transfer learning to detect blood samples infected by malaria parasites. Secondly, several deep-learning models were used for feature extraction and four machine-learning algorithms for classification are comprehensively analysed. We also provided an in-depth analysis of the computational complexity in each case.  
The rest of the paper is organised as follows: Section 2 provides excerpts of related literature, Section 3 provides a detailed description of the methodology, Section 4 provides experimental results and discussion, and Section 5 provides the conclusion.
## 2 Related Work
### Challenges in UWSN Key Management  
Key management in UWSNs faces several challenges due to the harsh underwater environment. One of the main challenges is the dynamic and unpredictable nature of the underwater environment. The changes in water currents, temperature, and salinity levels can affect the communication channel's performance and lead to issues such as packet loss, signal attenuation, and interference, which can cause the loss of cryptographic keys [19]. Another significant challenge is the limited resources of the underwater sensor nodes, having less energy and limited computation power. These limitations make it challenging to use computationally expensive key management schemes such as asymmetric key encryption algorithms, which require more processing power and memory [20]. UWSNs are vulnerable to various security attacks, such as node capture, sinkhole, and wormhole attacks, which can compromise the network's security. For instance, node capture attacks can lead to the theft of cryptographic keys, while sinkhole attacks can redirect the communication flow to an attacker's node, making it difficult to establish a secure communication channel [21]. [PERSON] et al. [22] proposed an identity-based cryptographic scheme for secure communication with ECC based key distribution model to resist all known common attacks. Key issues to the identity-based cryptographic schemes are trust among sensor nodes, scalability, and key escrow. The sink node collects data and sends it to the cluster head and then communicates securely with the sink node as shown in Figure 2. [PERSON] et al. [23] presented a signature-based scheme for message verification in UWSNs. Traditional schemes are computationally not feasible for resource-constrained environments. ECC-based light-weight schemes reduce computation costs and resist attacks such as node compromise and message medication. Furthermore, the scalability of key distribution is another significant challenge in UWSN key management. Large-scale UWSNs with thousands of sensor nodes make it challenging to distribute unique keys to each node. Therefore, efficient key distribution and management schemes are necessary to reduce the overhead of key distribution and minimize the risk of key compromise [24]. To address these challenges, a secure and lightweight key management framework is required for UWSNs that can efficiently distribute and manage cryptographic keys, provide a high level of security, and overcome the limitations of existing key management schemes. The critical evaluation of existing techniques in UWSNs is summarized in Table 1.
# Effect of Rotational Speed Variation on the Flow Characteristics in the Rotor-Stator System Cavity
## 2 Physical Model and Numerical Method
### Computational Setup  
The flow field of rotor-stator system was solved using ANSYS-CFX in this article. The working medium in the computational domain was set as air at 298.15 K. According to the rotor-stator system experiment, the mass flow and turbulence intensity of 5% were imposed at the inlet, and the outlet was open. The rotating speed was gradually increased, and the numerical calculation was divided into four cases. The dimensionless parameters were presented in Table 2. All walls in the geometric model were set to the no-slip wall condition. The computational domain was set as a stationary part, and the disc was set as a rotating wall. The timestep selected for use is based on the size of the Courant  
Figure 4: Contour of y\({}^{+}\) value.  
Figure 3: Verification of grid independence.  
number. After verification, it was concluded that a rotation of one degree per step can ensure that the root mean square Courant number was below 5, which could improve the efficiency of the calculation and also make the data more stable. Taking \(Re_{\Phi}\) = 2.12 \(\times\) 10\({}^{6}\) as an example, the total time of the unsteady calculation was 0.1 s, the timestep was 2.78 \(\times\) 10\({}^{-5}\) s, and the process file was saved every five timesteps in the last four rotation cycles. The numerical simulation adopted the SST \(k\)-\(\omega\) and SAS-SST turbulence models, and unsteady calculations were performed for the flow coefficient \(C_{\mathrm{w}}\) = 3.41 \(\times\) 10\({}^{4}\). The average value of the torque coefficient \(C_{\mathrm{m}}\) of the last two rotation periods was processed. As Figure 5 shows, the calculation results of different turbulence models were compared with the torque coefficients of the experiment. The simulation results were compared with the experimental results based on the error analysis method. The relative error between the SAS-SST numerical calculation and the experimental result was 3.3%, and the relative error of the SST \(k\)-\(\omega\) model was 4.9%. Therefore, the SAS-SST turbulence model was selected for the calculations.
## 2 MIP Application
### Food Analysis  
Contaminants from the environment can enter the body through food or drinking water and have the potential to cause harmful effects on health [29]. For example, insecticide and herbicide contaminants used in agriculture include fruits, vegetables, and cereals. Effective analytical methods and technologies are needed to ensure food safety. Food is a complex matrix sample, so MIP can be used as a sorbent in the analysis process [30].  
[PERSON] et al. [31] assessed dimethoate spiked in olive oil using core-shell magnetic-photonic dual responsive molecularly imprinted polymers (magnetic-photonic DR-MIP) as sorbent. Sample preparation using a DR-MIP-based sorbent is superior to the MI-SPE technique in terms of the procedure and minimized processing time. As a result, DR-MIP was declared a promising sorbent for the analysis of spiked dimethoate olive oil in sample preparation because it produced a high percentage recovery of 83.5% \(\pm\) 0.3% with a low detection limit of 0.03 \(\upmu\)g/mL [31].  
Besides olive oil, MIP is also used for the analysis of macrolide antibiotics in honey, milk, and drinking water samples [32], porcine serum albumin in raw meat extract [33],-linomycin residue in pasteurized milk [34], triazine pesticides on cereals [35], fluoro-quinolones in fish samples [36], and so on.