esa-sceva/satcom-chunk-collection huggingface dataset:
# Vertex-Weighted Consensus-Based Formation Control with Area Constraints and Collision Avoidance
## 1 Introduction
Moreover, inspired by the area constraints from [24; 25], a signed triangle area term is considered to avoid local minimum stagnation and mitigate formation ambiguities. Thanks to area constraints, collision among agents is guaranteed even if not performing a fully consensus-based communication. The advantage of this approach is that virtual relabeling and broadcasting algorithms are not required, given the capacity to perform formation control in a completely decentralized manner. Plus, the desired formation pattern is achieved for any initial agent positions. Finally, a multi-robot system composed of four Turtlebot3(Turtlebot3 is a registered trademark of ROBOTIS Inc., Corona, CA, USA) Waffle Pi systems is considered for real-world experimentation, which is a non-holonomic robot. The contributions of this paper are summarized below:  
* The proposed signed triangle area term avoids local minimum stagnation and mitigates ambiguities within the formation. * The proposed vertex-tension function gives the capabilities of collision avoidance among agents, which is an inconvenience in formation control with distance and area constraints [24; 25]. * The proposed approach does not require virtual relabeling and broadcasting algorithms. Then, formation control can be performed in a completely decentralized manner. * The desired formation pattern is achieved for any initial agent positions, which is a drawback of edge-weighted formation [6]. This paper is organized as follows: The next section presents the kinematic model formulation of a non-holonomic differential-drive robot, along with the proposed formation control design. Then, simulation and real-world are presented in Section 3. An analysis of the reported results and future research directions is given in Section 4. Finally, the conclusions are provided in Section 5.
## 3 Materials and Methods
### Complexity Analysis  
The algorithm is structured into four essential procedures: \(TurnOn\), which repeatedly attempts to establish a WiFi connection; \(getData\), which regularly collects environmental data; \(sendData\), which ensures data is transmitted to a remote server through multiple attempts if needed; and a main program that coordinates these functions in a continuous loop, adjusting operations based on the outcomes of the data gathering and transmission efforts.  
* \(getData(N,t_{a})\) involves \(N\) sensing operations. Assuming each sensing operation takes constant time, the procedure operates with an \(O(N)\) complexity.
* \(turnOn(T,t_{c})\) iteratively attempts to activate the WiFi up to \(T\) times. Each attempt is considered to operate in constant time \(O(1)\), leading to a total complexity of \(O(T)\).
* \(sendData(data,K,t_{s})\) attempts to transmit \(data\) up to \(K\) times. With each transmission assumed to be \(O(1)\), the total complexity is \(O(K)\).
* Given that \(main\) orchestrates \(getData\), \(turnOn\), and \(sendData\) in a loop, the complexity of one iteration is the sum of the complexities of these three procedures: \(O(N+T+K)\).  
The proposed algorithm exhibits linear complexity, which is tied to the variables controlling WiFi connection attempts (\(T\)), data collection cycles (\(N\)), and data transmission efforts (\(K\)). This linear nature ensures predictability and scalability, although efficiency may differ due to implementation specifics and operational conditions. Future enhancements include optimizing these procedures or developing adaptive algorithms that dynamically adjust \(T\), \(N\), and \(K\) in response to real-time performance data to improve efficiency.
# Enhancement of Optical Chirality Using Metasurfaces for Enantiomer-Selective Molecular Sensing
## 2 Theory and Simulation Methods
Based on the equation, two crucial conditions have to be satisfied to achieve effective C enhancement: the overlap of electric and magnetic fields with the relative phase difference that affords the magnitude of \(\cos(\beta_{i\mathbf{E},\ \mathbf{H}})\) being close to unity, which implies the preservation of the circular polarization state.
# Temperature Effects on Vibration-Based Damage Detection of a Reinforced Concrete Slab
## 2 RC Slab and Vibration Testing
### Variations of Natural Frequencies  
In this paper, the modal parameters, natural frequencies, damping ratios and mode shapes, were acquired for the investigation of the dynamic characteristics of the RC slab which should be estimated by a monitoring system based on the output-only data. However, it is difficult to excite the structure with a known force and the environmental excitation may not easily cause vibrations, so a force hammer was used for the vibration testing. The acceleration history data was analyzed by fast Fourier transform (FFT), and the mode shapes of the RC slab were extracted and shown in Figure 6.  
During the one-year period, 30 separate days were selected for the vibration testing which included the lowest temperatures in January 2018 and the highest in July 2017 in a year. The vibration testing was carried out periodically, once every two hours, from 8:00 am to 6:00 pm each day, because the mean temperature changes slowly from 6:00 pm to 8:00 am of the next day.  
The first four natural frequencies vs. date are plotted as Figure 7 and the maximum and minimum frequencies are listed in Table 1. It can be seen that the highest temperatures and the lowest natural frequencies were in July 2017. The contrary phenomenon occurred in January 2018. The maximum variation range was 16.52% for the first natural frequency.  
Figure 5: Acceleration history and power spectral density. (**a**) Acceleration history. (**b**) Power spectral density.  
Figure 6: First four-order mode shapes. (**a**) 1 st mode. (**b**) 2 nd mode. (**c**) 3 rd mode. (**d**) 4 th mode.  
Figure 7: Frequencies vs. test date. (**a**) 1 st mode. (**b**) 2 nd mode. (**c**) 3 rd mode. (**d**) 4 th mode.  
The first four natural frequencies of the slab are plotted as functions of temperature in Figure 8 (degrees Celsius is specified in this paper) and it can be seen that temperature is one of the main factors affecting the eigenfrequency of the RC slab. When the temperature rises, the eigenfrequency decreases gradually, and there is a significant linear negative correlation between temperatures and natural frequencies. The linear fitting coefficients R2 of natural frequencies and temperatures for the first four modes of the RC slab are 0.898, 0.802, 0.817 and 0.800, respectively, implying that there is a good linear correlation between natural frequencies and temperatures.
# The Irrigation Water pH Has a Dominant Impact on the Growth and Stress Markers of Bigleaf Hydrangea
## 3 Results
### Impact of pH and EC of Irrigation Water and Hydrangea Varieties on Morpholayed Characteristics
#### 3.2.3 The Effect of Hydrangea Variety on Morphological Characteristics  
Morphological characteristics, except leaf number, differed significantly depending on the hydrangea variety (Table 3). The highest plant height (Figure 5a, 6.9 cm), leaf number (Figure 5d, \(n=87.5\)), flower diameter (Figure 5e, 14.8 cm), leaf weight (Figure 5g, 147.9 g) and GI (Figure 5h, 24.3 cm) values were recorded for Early Blue, while the highest stem number (Figure 5b, \(n=9.6\)), flower number (Figure 5c, \(n=9.5\)), and flower weight (Figure 5f, 180.09 cm) values were recorded for the Bianco variety.  
Figure 4: Average values of observed morphological characteristics: (**a**) plant height (cm), (**b**) stem number (n), (**c**) flower number (n), (**d**) leaf number (n), (**e**) flower diameter (cm), (**f**) leaf weight (g), (**g**) flower weight (g), and (**h**) growth index (GI, cm) of hydrangea in different irrigation water EC treatments (EC 1, EC 2, EC 3, and EC 4). Columns with the same letters are not significantly different.
## 3 Results
### Selection of the Reference Osmotic Dehydration Conditions  
Reference processing conditions of 55 \({}^{\circ}\)C and 120 min were selected for the osmotic dehydration of freshly cut pumpkin with the use of SY Whey or water (in the present study). Under these conditions, high rate of mass exchange was achieved, leading to a level of WL/SG that allows the product to retain optimum sensory characteristics. OD\({}_{\text{SY\;Whey}}\) and OD\({}_{\text{Water}}\) samples exhibited WL 9.99-10.86 g w/g i.d.m. and SG 1.47-1.79 g s/g i.d.m., and \(a_{w}\) decrease approximately from 0.98 to 0.89. At the same time, OD\({}_{\text{SY\;Whey}}\) and OD\({}_{\text{Water}}\) samples presented desired quality and sensory characteristics (based on the instrumentally measured color, texture, and the sensory scores for the total sensory quality) (\(p<0.05\)) (as presented in Table 2).  
\begin{table}
\begin{tabular}{c c c c} \hline  & **Temperature (\({}^{\circ}\)C)** & **OD\({}_{\text{Water}}\)** & **OD\({}_{\text{SY\;Whey}}\)** \\ \hline \multirow{3}{*}{\(D_{ew}\) (\(\times 10^{-9}\) m\({}^{2}\)/s) (Adj. R\({}^{2}\))} & 35 & 2.699 \({}^{\text{a}}\)\(\pm\) 0.157 (0.9948) & 2.777 \({}^{\text{a}}\)\(\pm\) 0.134 (0.9964) \\  & 45 & 3.108 ab \(\pm\) 0.216 (0.9927) & 3.150 ab \(\pm\) 0.264 (0.9896) \\  & 55 & 3.741 bc \(\pm\) 0.331 (0.9895) & 3.974 c \(\pm\) 0.397 (0.9871) \\ \hline \multirow{3}{*}{\(D_{ew,ref}\) (\(\times 10^{-9}\) m\({}^{2}\)/s) \(E_{a}\) (k/mol) (Adj. R\({}^{2}\))} & 35–55 & 2.914 \(\pm\) 0.215 & 2.759 \(\pm\) 0.245 \\  & & 13.69 \(\pm\) 1.29 (0.9913) & 19.42 \(\pm\) 2.12 (0.9608) \\ \hline \multirow{3}{*}{\(D_{es}\) (\(\times 10^{-9}\) m\({}^{2}\)/s) (Adj. R\({}^{2}\))} & 35 & 2.509 \({}^{\text{a}}\)\(\pm\) 0.283 (0.9805) & 3.115 ab \(\pm\) 0.517 (0.9554) \\  & 45 & 2.940 ab \(\pm\) 0.329 (0.9797) & 3.782 b \(\pm\) 0.386 (0.9863) \\ \cline{1-1}  & 55 & 3.991 b \(\pm\) 0.509 (0.9792) & 5.589 c \(\pm\) 0.753 (0.9820) \\ \hline \multirow{3}{*}{\(D_{es,ref}\) (\(\times 10^{-9}\) m\({}^{2}\)/s) \(E_{a}\) (k/mol) (Adj. R\({}^{2}\))} & 35–55 & 2.992 \(\pm\) 0.323 & 3.505 \(\pm\) 0.361 \\ \cline{1-1}  & & 15.00 \(\pm\) 1.86 (0.9650) & 24.45 \(\pm\) 2.80 (0.9567) \\ \hline \end{tabular} \(\pm\) represents the standard error. \(D_{ew}\) and \(D_{es}\) mean values with the same letter are not different (\(p<0.05\)), respectively.  
\end{table}
Table 1: Effective diffusion coefficients of water (\(D_{ew}\times 10^{-9}\) m\({}^{2}\)/s) and solids (\(D_{es}\times 10^{-9}\) m\({}^{2}\)/s) during osmotic treatment of pumpkin cuts for 240 min at 35, 45, and 55 \({}^{\circ}\)C. Samples: OD\({}_{\text{Water}}\), OD\({}_{\text{SY\;Whey}}\).  
Figure 1: (**a**) Water loss (\(WL\), g water/g i.d.m.), (**b**) solid gain (\(SG\), g solids/g i.d.m.), and (**c**) water activity (\(a_{w}\)) during osmotic dehydration of pumpkin cuts in solution of SY Whey or water (Index 1: OD\({}_{\text{SY\;Whey}}\) and Index 2: OD\({}_{\text{Water}}\)), at temperatures T 35, 45, 55 \({}^{\circ}\)C for times t up to 240 min (average \(\pm\) standard error or deviation).
###### Abstract
Also, the PEARL (Predictive Empowered Assignment for Reversible Lanes) system was tested on several congested expressway segments in the U.S., demonstrating that a notable improvement in traffic throughout and a reduction in travel times of over 9% can be achieved [16]. The authors in [17] evaluated a DLA-based Traffic Change system developed to improve traffic flow during roadworks on German highways. This system enables the DLA in the direction with higher demands, which can lead to a 10-15% increase in capacity in the direction of the construction site and a significant reduction in queue length. Another study on the Tsukamoto merge area of the Hanshin Area evaluated a DLA for CAVs, and it demonstrated that the system significantly reduced travel times and improved traffic flow efficiency [18]. Implementing the DLA concept in this context is designed to offer operational benefits with minimal infrastructural changes. This concept has the potential to significantly reduce congestion, improve travel times, and enhance overall network performance. Minimizing changes to existing infrastructure makes DLA a cost-effective and sustainable solution for cities facing similar challenges [19]. Our study is based on the presented research methodologies of applying a real-world microsimulation of DLA in an urban corridor with significant directional traffic variation. Vukovar Street in Zagreb was selected as a known critical corridor due to its spatial limitations and observed peak-hour congestion, making it a relevant setting for DLA development and testing. Using real-time collected traffic data, the PTV VISSIM simulation tool, and a Python environment, we created the first phase of a DLA model tailored to this corridor. This paper contributes to the field of advanced urban traffic control strategies and provides a practical framework for planners and engineers. After the Introduction, Section 2 presents a targeted review of the relevant literature and applications of advanced traffic control and DLA. Section 3 presents the methodology and model development process, while Section 4 presents the results gathered from the simulation models. Section 5 discusses the outcomes and results, and the paper concludes with key insights and future work opportunities.
## 6 Discussion
### Sun-Synchronous Orbits  
Now that SA and GA have been shown to produce very similar results, either method may be used per usage: SA for fast-prototyping and GA for fine-tuning, for example. Most traditional Earth  
\begin{table}
\begin{tabular}{c c c c c c} \hline \hline
**Design Variable** & \begin{tabular}{c} **Step** \\ **Size** \\ \(\triangle x\) \\ \end{tabular} & \begin{tabular}{c} **Optimal** \\ **Fitness** \\ **J(x*)** \\ \end{tabular} & \begin{tabular}{c} **Perturbed** \\ **Fitness** \\ **J(x* + \(\triangle x\))** \\ \end{tabular} & \
\begin{tabular}{c} **Partial** \\ **Derivative** \\ **Sensitivity** \\ \end{tabular} &
\begin{tabular}{c} **Normalized** \\ **Sensitivity** \\ \end{tabular} \\ \hline RGT ratio & 0.5 & & 2.343 & 1.922 & 20.87 \\ Altitude difference & 10 km & & 1.498 & 0.012 & \(-\)0.458 \\ Number of orbital planes & 1 & 1.382 & 1.681 & 0.299 & 1.083 \\ Number of satellites per plane & 1 & & 1.428 & 0.046 & 0.067 \\ Field of regard (FoR) & 5\({}^{\circ}\) & & 1.423 & 0.008 & 0.284 \\ \hline \hline \end{tabular}
\end{table}
Table 20: Sensitivity at the optimal design point.  
Figure 17: Normalized sensitivity of design variables (RGT ratio divided by 10).  
Figure 18: GA problem size and time taken for optimization.  
observation satellites have been using Sun-synchronous orbits (SSOs), although small-satellite swarms released from International Space Station have non-SSOs. Advances in image processing technologies also help the correction of nonhomogeneous solar illumination of satellite imagery provided by this type of swarms. One embodiment of the ReCon framework employs SSOs, and the SA results are summarized in Table 21. The number of planes is the same, but the satellite per plane has increased from 2 to 3 because a wider latitude band needs to be covered with near-polar SSOs. This has also resulted in higher altitudes than non-SSOs, as can been seen from the RGT altitude of 720 km in ROM and at the Walker altitude of 740 km (\(=720\) \(-\) (\(-\) 20)) in GOM. The optimizer achieved high GOM area coverage and short ROM revisit intervals at the expense of heavy constellation mass and long reconfiguration time. Weights of performance metrics may be adjusted to improve this ReCon design in terms of mass and reconfiguration time.
# An Authentication Method for AMBTC Compressed Images Using Dual Embedding Strategies
## 3 The Proposed Method
### The Authentication Procedures  
To authenticate whether the codes \(\{\widetilde{a}_{i},\ \widetilde{b}_{i},\ \widetilde{B}_{i}\}_{i=0}^{N-1}\) have been tampered with, we first regenerate the authentication code \(\widetilde{ac}_{i}\) using either Equations (3) or (5) according to the difference of \(\widetilde{a}_{i}\) and \(\widetilde{b}_{i}\). Then, extract the code \(\widetilde{ac}_{i}\) embedded in \((\widetilde{a}_{i},\ \widetilde{b}_{i},\ \widetilde{B}_{i})\), and compare \(\widetilde{ea}\widetilde{c}\) with \(\widetilde{ac}_{i}\). If \(\widetilde{ac}=\widetilde{ac}_{i}\), the code \((\widetilde{a}_{i},\ \widetilde{b}_{i},\ \widetilde{B}_{i})\) is untampered with; otherwise, it is tampered with. The detailed authentication procedures are listed as follows.  
* Input: To-be-authenticated codes \(\{\widetilde{a}_{i},\ \widetilde{b}_{i},\ \widetilde{B}_{i}\}_{i=0}^{N-1}\), key \(\mathcal{K}\), and parameters \(n\) and \(T\).
* Output: The detection result.
* Step 1: Scan each code \((\widetilde{a}_{i},\ \widetilde{b}_{i},\ \widetilde{B}_{i})\) in \(\{\widetilde{a}_{i},\ \widetilde{b}_{i},\ \widetilde{B}_{i}\}_{i=0}^{N-1}\) and calculate the difference of \(\widetilde{a}_{i}\) and \(\widetilde{b}_{i}\).
* Step 2: If \(\left|\ \widetilde{b}_{i}-\widetilde{a}_{i}\ \right|<T\), use Equation (3) to hash \(\{\widetilde{B}_{i,j}\}_{j=0}^{1}\widetilde{a}_{i}\), \(\widetilde{b}_{i}\) and \(i\) to regenerate 6-bit \(\widetilde{ac}_{i}\). The matrix encoding is employed to extract \(\widetilde{ea}\widetilde{c}_{i}\) from \(\{\widetilde{B}_{i,j}\}_{j=2}^{15}\).  
* Step 3: If \(\Big{|}\ \widetilde{b}_{i}-\widetilde{a}_{i}\ \Big{|}\geq T\), employ \(\mathcal{K}\) to generate \(\|_{i}\), and construct the \(R_{64}^{\|_{i}}\) by Equation (4). Besides, \(\widetilde{B}_{i}\) and \(i\) are employed to regenerate \(\widetilde{ac}_{i}\) by Equation (5). Then, use APPM to extract \(\widetilde{ac}_{i}\) embedded in \((\widetilde{a}_{i},\ \widetilde{b}_{i})\).
* Step 4: Compare \(\widetilde{ac}_{i}\) and \(\widetilde{ac}_{i}\) to judge whether the code \((\widetilde{a}_{i},\ \widetilde{b}_{i},\ \widetilde{B}_{i})\) has been tampered with. If \(\widetilde{ac}_{i}=\widetilde{ac}_{i}\), the code is untampered with. Otherwise, it is tampered with.
* Step 5: Repeat Steps 1-4 until all blocks have been detected, which refers to the coarse detection in our method.
* Step 6: The refined detection, described here, is used to improve detection accuracy. If the top and bottom, left and right, top left and bottom right, or top right and bottom left blocks of an untampered block have been determined as tampered with, the untampered block is redetermined to be a tampered one. Repeat this procedure until no other blocks are redetermined and we have finished the authentication procedures.
## 5 Conclusions  
Terpene synthases catalyze complex multistep reactions that generate hundreds of structurally diverse terpenoids of biological and commercial importance. In a previous study, we showed how defense mechanisms are triggered in _P. massoniana_ through a complex series of changes, including traumatic resin duct formation, which induce terpenoid accumulation, key enzyme activation, and TPS gene expression [18; 38]. In this study, we cloned six TPS genes from _P. massoniana_ involved in these protective responses. We then subjected these genes to bioinformatic analysis and in vitro activity tests. Phylogenetic analysis indicated that the evolutionary distance between TPSs of the same species was greater than that between the same products within _P. massoniana_. Furthermore, we uncovered the structural features that may be responsible for the functional attributes of TPSs through molecular docking, verifying our findings via in vitro activity tests of Pm TPSs. Studying the catalytic mechanism of TPS could aid in understanding the structure-function relationship of TPSs in _P. massoniana_ and provide a theoretical basis for resistant tree breeding through genetic modification.  
The following supporting information can be downloaded at: [[https://www.mdpi.com/article/10.3390/f15020244/s1](https://www.mdpi.com/article/10.3390/f15020244/s1)]([https://www.mdpi.com/article/10.3390/f15020244/s1](https://www.mdpi.com/article/10.3390/f15020244/s1)), Figure S1. Hydrophobicity or hydrophilicity prediction of six amino acid sequences of Pm TPSs. Figure S2. Motif analysis of 91 terpene synthase sequences. Figure S3. Ramachandran plot of _P. massoniana_ terpene synthases. Figure S4. SDS-PAGE of Pm mono-TPSs. Figure S5. The standard of four monoterrenes identified by GC-MS. Figure S6. Separation between the peaks of (+)-\(\alpha\)-pinene and (-)-\(\alpha\)-pinene in both authentic standards and the catalyzed productions. Table S1. Coding sequences of 85 monoterrene and sesquiterpene synthases from pine trees. Table S2. Features of TPS encoding sequences in _Pinus massoniana_. Table S3. Consensus sequence identified by MEME in TPSs of _Pinus massoniana_. Table S4. The secondary features of TPS encoding sequences in _Pinus massoniana_. Table S5. Terpene production content of Pm mono-TPSs.  
Methodology, R.C.; Formal analysis, Q.W.; Data curation, Q.W. and R.C.; Writing--original draft, Q.W.; Writing--review and editing, R.C., T.X. and D.H. All authors have read and agreed to the published version of the manuscript.  
This work was supported by the National Natural Science Foundation of China (No. 32001322), the Natural Science Foundation for Colleges and Universities in Jiangsu Province (No. 20 KJB220004), and the Science Foundation of Jiangsu Vocational college of Agriculture and Forestry (Nos. 2020 kj002 and 2021 kj90).  
Not applicable.  
All relevant data is contained within the article. The original contributions presented in the study are included in the article/Supplementary Material; further inquiries can be directed to the corresponding authors.  
The authors declare no conflicts of interest.
## 6 Conclusions  
This research offers an intelligent ship collision avoidance model based on IVO and improved MMG, which take full account of COLREGs and good seamanship. In order to avoid multi-ship collision, a CRI model is established on the basis of SCRI and TCRI. The dynamic feasible manoeuvring interval is determined by combining with IVO and COLREGs, which include all the decision-making for collision avoidance of ships. On this basis, the decision of optimisation is determined by the optimisation evaluation function, which includes altering course and changing speed. In addition, a series of scenarios including various encounter circumstances with multi-ships are shown to demonstrate the efficacy and viability of this methodology. Although the proposed methodology has some achievements, it also has some limitations. The telegraph about stern telegraphs and \"Stop\" is not considered in the speed alternation since ship manoeuvres at low speeds are difficult to predict and the lowest speed of the vessel should be maintained to keep the course in the navigation for safety. Furthermore, collision avoidance only considers changing both speed and course at the same moment, but in the real-world situation, additional judgments must be made. In order to improve the dependability and efficacy of the proposed strategy in a real-world environment, we plan to consider the ship motion model at low speeds to avoid collision in future work. Furthermore, adjusting the speed and course at different times and changing the course more than once is considered for future development. **Author Contributions:** Conceptualization, L.H. and Y.H. ; Methodology, X.Z. and Y.H. ; formal analysis, X.Z. and X.L. ; investigation X.Z. and Y.H. ; Writing original draft, X.Z. and Y.H. ; Writing review & editing, X.L. and K.Z. ; Visualization, X.Z. ; Supervision, Y.H. and J.M. ; funding acquisition, L.H. and Y.H. All authors have read and agreed to the published version of the manuscript. **Funding:** This work is partially supported by the National Key Research and Development Program (Grant number: 2019 YFB1600603) and the National Natural Science Foundation of China (Grant number: 52071249). This research was financially supported by \"Study on Decision-making Method of Ship Autonomous Navigation in Inland Typical Waterways\"(Item Number B2021519). **Institutional Review Board Statement:** Not applicable. **Informed Consent Statement:** Not applicable. **Conflicts of Interest:** The authors declare no conflict of Interest. **Nomenclature**