esa-sceva/satcom-chunk-collection huggingface dataset:
# Stochastic Modeling for Intelligent Software-Defined Vehicular Networks: A Survey
## 7 Conclusions  
The survey on stochastic modeling in intelligent SDVNs has provided valuable insights into various aspects of software-defined vehicular networks. The findings highlight the challenges and opportunities in resource allocation, routing, scheduling, data dissemination, and performance analysis in VANETs and SDVNs. The survey emphasizes the impact of high mobility and dynamic network topology on resource allocation and response time in VANETs. It identifies the need for proper coordination and scheduling mechanisms to optimize data traffic flows and service provisioning in cooperative communication scenarios. A comparative study of VANETs and SDVNs highlights the importance of collision avoidance, data forwarding, connectivity, mobility, load balancing, and network utilization. It provides a comprehensive overview of existing techniques and solutions in SDN-oriented vehicular networks. However, the survey acknowledges the current limitations and challenges in implementing SDN in vehicular networks. The need for off-the-shelf SDN controllers and switches tailored to vehicular environments is a barrier to SDVN adoption. The survey calls for further research and innovation to address these challenges and develop mature solutions and protocols for SDVNs. In this survey, we point out the promising potential of incorporating digital twin technology into software-defined networking to enhance network management. SDVN infrastructures can be made more efficient and resilient because the digital twin delivers real-time insights, predictive analysis, and resource optimization. For SDVNs to fully take advantage of the benefits of digital twins, further research and experimentation will be necessary. In conclusion, this survey is a valuable resource for understanding the current state of stochastic modeling in intelligent SDVNs. It provides a foundation for future research and development in intelligent SDVNs. It also highlights the need for practical solutions and protocols tailored to vehicular networks' unique requirements.  
Conceptualization, B.R. and P.K.D.; data curation, C.K.D.; formal analysis, B.R., C.K.D. and S.N.S.; funding acquisition, P.K.D.; investigation, B.R. and S.N.S.; methodology, B.R., I.M., P.K.D., C.K.D. and S.N.S.; project administration, B.R.; resources, P.K.D.; software, I.M.; supervision, B.V., S.D. and S.N.S.; validation, B.R., B.V. and C.K.D.; visualization, B.R.; writing--original draft, B.R. and I.M.; writing--review and editing, B.V., P.K.D., S.D. and S.N.S. All authors have read and agreed to the published version of the manuscript.  
This work is partially supported by SERB, India, through grant CRG/2021/003888. We also thank financial support to UoH-IoE by MHRD, India (F11/9/2019-U3(A)).  
Not applicable.  
**Data Availability Statement:** Not applicable  
**Conflicts of Interest:** The authors declare no conflict of interest.
## 3 Results and Discussions
### Permeability Coefficient of Pervious Concrete  
Figure 9 illustrates the permeability coefficient of the pervious concrete and its relationships versus the effective porosity. As shown in Figure 9, the permeability coefficient of pervious concrete increased from 0.67 to 8.2 mm/s as the effective porosity increased from 5.2% to 27.2%. According to the literature [4; 34; 35; 36], the relationship between the permeability coefficient and effective porosity of pervious concrete can be divided into four functions: (1) the classical Kozeny-Carman function; (2) the power function; (3) the exponential function; and (4) monotonic linear function. Comparing the fitting results of the different functions, the exponential function had the highest relevance of fit. This result was also consistent with previous studies [37]. Therefore, it is reasonable and relatively accurate to use the exponential function, displayed as \(\mathrm{k}=0.57\times\mathrm{e}^{0.98\mathrm{P}}\), to analyze the relationship between the permeability coefficient of pervious concrete using iron tailings as coarse aggregate. The boundaries of applicability for the compressive strength and permeability coefficient functions obtained in Figures 8 and 9 can be summarized as following: (1) P.O. 42.5 grade Portland cement is used as cementitious materials, (2) the water to cement mass ratio is about 0.23 (3) the compaction method is a compact effort of five drops of Proctor hammer per layer for two layers in the molds, and (4) the aggregate size is 4.75-9.5 mm.  
Figure 8: The 28 d compressive strength of the pervious concrete and its relationships versus the effective porosity.
## 2 Background and Related Concepts
### Security Technologies  
Security technologies encompass control policies across various technological components to fulfil privacy and security requirements within the BYOD organizational environment. These technologies cover devices, information, applications, and communication. Each layer of the BYOD security architecture incorporates access policies and technologies that address specific security and privacy needs. For instance, the identification access control policy employs a variety of mechanisms, such as authentication algorithms or other technologies, to carry out authentication and authorization functions. Section 3.2 will comprehensively explain these techniques, where the control policies and techniques associated with each access control policy will be discussed.
# Design and Development of an Omnidirectional Three-Wheeled Industrial Mobile Robot Platform
## 5 Mechatronic Design
### Electronic and Electrical System
#### 5.3.1 Stepper Motor  
Actuator selection plays a crucial role in the design of mobile robots. Two of the most commonly used motors in these applications are compared below (Table 4).  
The stepper motor (Figure 28) is selected basically due to its ease for control. This ease for control is beneficial since the positioning of three motors must be controlled in parallel. The prototype uses three motor, driver, and source assemblies. The implementation of these motors in our application is performed by working together with the speed reduction system.  
When controlling any stepper motor, it is necessary to generate a certain sequence of pulses [33]. The present controller performs that sequence by means of two inputs, pulse and direction, where each rising edge on the pulse pin means an angular variation according to a pulse configuration given in the driver.  
DQ860 MA (Figure 29) is a two-phase hybrid stepper motor controller [34]. Its driving voltage ranges from 24 VDC to 80 VDC. The circuit it adopts is similar to a servo control circuit, which enables the motor to run smoothly, almost without noise and vibration.  
\begin{table}
\begin{tabular}{p{113.8 pt} p{113.8 pt}} \hline
**Stepper Motor** & **Servomotors** \\ \hline No feedback required (open loop control). & Feedback (potentiometer, encoders, etc.) is essential. \\ \hline Poor power-to-volume ratio, which is why they are larger. & Better power-to-volume ratio. \\ \hline Robust, they age very slowly. & They show brush aging (if brushed motor). \\ \hline Good blocking characteristics. & Extra brakes (mechanical devices) typically required for blocking. \\ \hline Prone to resonance—noise. & Smooth movement. \\ \hline No ventilation system, prone to overheating. & The ventilation system may be easily contaminated. \\ \hline Low cost and widely available. & Higher cost and specialized availability. \\ \hline \end{tabular}
\end{table}
Table 4: Comparison between stepper motors and servomotors.  
Figure 28: Stepper motor coil identification [32].  
Figure 29: Stepper motor controller.  
Features:  
* High performance, low price.
* Opto-isolation I/O signal.
* Over-voltage, under-voltage, over-current and short-circuit protection.
* Motor torque is related to speed, but not related to step/revolution.
* High starting speed.
* High holding torque.
# Precise Channel Estimation Approach for a mmWave MIMO System
## 7 Simulation Results and Discussion  
In this section, the numerical results are explained to showcase the accomplishment and performance of the proposed algorithm (Ex-ADMM) with different standard algorithms.
## 2 Materials and Methods
### Analytical Methods  
#### 2.2.1 Reaction Vessel and Vacuum Line  
The CaCO\({}_{3}\)-1 was placed at the bottom of a reaction vessel made of Pyrex glass, and 1 mL of 100% H\({}_{3}\)PO\({}_{4}\) was placed in the bottom of a branch arm (Figure 1). The sample size of the CaCO\({}_{3}\)-1 used for the reaction was approximately 20 mg, which corresponds to 0.0002 mol of evolved CO\({}_{2}\). H\({}_{3}\)PO\({}_{4}\) corresponding to 20 mg of calcite in stoichiometry is 0.02 mL; however, excess H\({}_{3}\)PO\({}_{4}\) is necessary because of its sticky nature. A ground glass joint of a Pyrex glass-made stopcock was attached to the reactor body with grease, and the reaction vessel was attached to a vacuum line with an interchangeable ground joint. The spherical bottom of the stopcock was first evacuated, followed by the reaction vessel. The reaction vessel with CaCO\({}_{3}\)-1 and H\({}_{3}\)PO\({}_{4}\) was evacuated to a vacuum of <0.5 Pa using a two-stage rotary vane pump. After evacuation, the vessel was removed from the line and placed in a water or oil bath, and the bottom 10 cm of the reaction vessel, which was supported by a stand, was submerged. The water bath, equipped with cooling and heating systems, was used in the experiments for temperatures between 1 \({}^{\circ}\)C and 40 \({}^{\circ}\)C. The oil bath, filled with silicone oil, was used in the experiments above 40 \({}^{\circ}\)C. The temperature of the water/oil was precisely controlled to a preset temperature between 1 \({}^{\circ}\)C and 150 \({}^{\circ}\)C. Thereafter, the reaction vessel was tilted for the phosphoric acid to drop to the bottom. The reaction time of the experiments for temperatures between 25 \({}^{\circ}\)C and 150 \({}^{\circ}\)C was 1 h. However, the time for temperatures below 25 \({}^{\circ}\)C was >15 h. After the reaction, the reaction vessel was reattached to the vacuum line and evacuated. The CO\({}_{2}\) gas from the reaction vessel was frozen in a liquid nitrogen trap of the vacuum line, and the impurity gas was evacuated. Then, the liquid nitrogen trap was replaced with a dry ice-ethanol trap, and vaporized pure CO\({}_{2}\) was collected in another liquid nitrogen trap, leaving water in the dry ice-ethanol trap.
## 3 Results
### BSA Patterning and Feature Size Characterization  
As mentioned in the introduction, BSA is widely used because of its abundance and stability [17], and it has already been reported for applications such as pH-actuation [9; 12; 13] and waveguides [13; 14]. Studying the integration of BSA is therefore an appropriate step for utilizing it for such applications within microfluidics.  
First, we examined the width of line pattern, denoted \(w\), as a feature size in microchannels and on glass surfaces fabricated with 100 mg/mL BSA and 100 mM MBS in water. Figure 2a shows a BSA line fabricated with a 200-kHz laser of 522-nm wavelength at a laser power of 0.79 mW and scanning speed of 5 \(\upmu\)m/s in the microchannel. The line width of pattern formed along the path of the focused laser beam was in situ observed using a CCD camera (see Supplementary Material for Video S1). The fabrication at the ceiling of the microchannel was successfully demonstrated, while fabrication at the bottom was not achieved with a water-dissolved protein solution. Furthermore, the location of successful fabrication at the ceiling also could be limited by a curved surface, as shown in Figure 2, where the central area of the channel ceiling is heavily curved. The dependence of feature sizes on total accumulated fluence is shown with fitting based on a two-photon polymerization scheme (Figure 2b), (see Supplementary Material for Equations (1)-(14) and Figure S1). Total accumulated fluence is calculated as the product of the fluence per pulse and the effective number of laser pulses. We observed an approximately 3-fold increase of line width for in-channel fabrication as compared with on-surface fabrication. By cutting the microchannel, we confirmed that the BSA line pattern was indeed located at the ceiling of the microchannel (Figure 2c,d).  
Figure 2: Bovine serum albumin (BSA) line pattern inside glass microchannel. (**a**) In situ CCD camera image of a BSA line pattern written with 0.79 mW and 5 \(\upmu\)m/s by a 200 kHz, 522 nm laser focused inside the glass channel. Inset shows an optical microscope image of the top view of the glass channel with two inlets, with an arrow indicating the position of the fabricated line and view direction in SEM observation. (**b**) Line width \(w\) vs. total accumulated fluence for line pattern on the glass surface as well as the inside of the glass channels. Solid and dashed lines indicate fitting based on a two-photon polymerization scheme with mean square deviations R\({}^{2}\) = 0.972 (surface) and R\({}^{2}\) = 0.987 (channel), respectively. These line widths were observed for laser powers of 0.0935–6.4 mW with scanning velocities of 0.2–10 \(\upmu\)m/s (\(n\) = 3 for on-surface, \(n\) = 3 for in-channel fabrication). (**c**) SEM image in a tilted view inside the microchannel after cutting through the inlet. The point of view is indicated in (**a**), and a dashed ellipse highlights the area of magnification in (**d**). (**d**) SEM image inside the microchannel of the BSA line pattern, highlighted by arrows.
## 3 Results
### \(\mu\)TBS, Degree of Conversion, and Failure Analysis
\begin{table}
\begin{tabular}{c c c} \hline \multicolumn{1}{c}{**Experimental Groups**} & \multicolumn{1}{c}{**Degree of Conversion \%**} \\ \hline Group 1: Unmodified SE (Control) & 69.85 \(\pm\) 8.37  \\ \hline Group 2: 0.15 wt\% ZrO\({}_{2}\)/Ag\({}_{3}\)PO\({}_{4}\) + SE adhesive & 41.89 \(\pm\) 8.11  \\ \hline Group 3: 0.25 wt\% ZrO\({}_{2}\)/Ag\({}_{3}\)PO\({}_{4}\) + SE adhesive & 43.74 \(\pm\) 6.91  \\ \hline Group 4: 0.5 wt\% ZrO\({}_{2}\)/Ag\({}_{3}\)PO\({}_{4}\) + SE adhesive & 49.68 \(\pm\) 6.59  \\ \hline \end{tabular}
\end{table} 
Table 4: Degree of conversion of unmodified SE (Control) and adhesives loaded with ZrO\({}_{2}\)/Ag\({}_{3}\)PO\({}_{4}\) at different percentages. \begin{table}
\begin{tabular}{c c c} \hline \multicolumn{1}{c}{**Investiged Groups**} & \multicolumn{1}{c}{**Mean \(\pm\) SD (MPa)**} & \multicolumn{1}{c}{\(p\)**-Value**} \\ \hline Group 1: Unmodified SE (Control) & 15.28 \(\pm\) 0.22  \\ \hline Group 2: 0.15 wt\% ZrO\({}_{2}\)/Ag\({}_{3}\)PO\({}_{4}\) + SE adhesive & 19.16 \(\pm\) 0.45  \\ \hline Group 3: 0.25 wt\% ZrO\({}_{2}\)/Ag\({}_{3}\)PO\({}_{4}\) + SE adhesive & 19.85 \(\pm\) 0.57  \\ \hline Group 4: 0.5 wt\% ZrO\({}_{2}\)/Ag\({}_{3}\)PO\({}_{4}\) + SE adhesive & 20.12 \(\pm\) 0.79  \\ \hline \end{tabular}
\end{table} 
Table 2: Micro-tensile bond strength (\(\mu\)TBS) at the CAD restoration interface following the application of modified self-etch adhesives containing ZrO\({}_{2}\)/Ag\({}_{3}\)PO\({}_{4}\) NPs.
# Motion Deblurring for Single-Pixel Spatial Frequency Domain Imaging
## 2 Materials and Methods
### Sampling Strategy for Single-Pixel SFDI  
FSI inherently has a high sampling efficiency because the energy of natural images is normally concentrated at low frequencies in the Fourier domain. The sampling strategy along a circular path is the most effective for a natural image [35]. In single-pixel SFDI, the energy of the reflected images is concentrated at the zero frequency (DC component) and the modulation frequency (AC component), as shown in Figure 2a. To maximize the sampling efficiency for single-pixel SFDI, a modified circular path is employed, as shown in Figure 2b.  
Because SFDI uses both the DC and AC diffuse reflectances to extract the optical properties, it is essential to design the measuring priority of the Fourier coefficients to ensure the synchronous updates of the DC and AC components in the dynamic reconstructions. The measuring priority is determined according to the minimum Euclidean distance of each Fourier coefficient from the two center frequencies, zero frequency and \(f\). The Fourier coefficients with smaller distances normally contribute more to the recovery of the DC or AC component, and therefore have higher measuring priority, as shown in Figure 2b.
# Energy-Efficient Check-and-Spray Geocast Routing Protocol for Opportunistic Networks
###### Abstract  
Opportunistic networks (OppNets) are a type of challenged network where there is no guaranteed of end-to-path between the nodes for data delivery because of intermittent connectivity, node mobility and frequent topology changes. In such an environment, the routing of data is a challenge since the battery power of the mobile nodes drains out quickly because of multi-routing activities such as scanning, transmitting, receiving, and computational processing, effecting the overall network performance. In this paper, a novel routing protocol for OppNets called Energy-Efficient Check-and-Spray Geocast Routing (EECSG) is proposed, which introduces an effective way of message distribution in the geocasting region to all residing nodes while saving the energy consumption by restricting the unnecessary packet transmission in that region. A Check-and-Spray technique is also introduced to eliminate the overhead of packets in the geocast region. The proposed EECSG is evaluated by simulations and compared against the Efficient and Flexible Geocasting for Opportunistic Networks (GSAF) and the Centrality- Based Geocasting for Opportunistic networks (CGOPP) routing protocols in terms of average latency, delivery ratio, number of messages forwarded, number of dead nodes, overhead ratio, and hop count, showing superior performance.  
Keywords:geocast; routing protocol; opportunistic network; check-and-spray +
Footnote †: journal: Information Information
## 3 S-Shaped Feed Rate Profile Generation and Dynamic Speed Adjustment
### Dynamic Speed Control Planning  
Since this paper is based on the simplification of the problem with zero initial and final accelerations, the \(S\)-shaped method cannot achieve real-time transitions from any motion state to another. Therefore, this paper proposes a dynamic speed control planning that ensures speed changes and an acceleration reset in the shortest possible time within the original S-shaped feed rate profile framework.  
First, when the initial acceleration is not zero and acceleration replanning is required, the maximum jerk \(J\) needs to be applied in order to make the acceleration become zero. By planning with the maximum jerk, we can calculate the time \(t_{a0}\) and the corresponding velocity \(v_{a0}\) needed to change the initial acceleration \(a_{s}\) to zero.  
\[t_{a0}=\left|\frac{a_{s}}{J}\right| \tag{14}\]  
\[v_{a0}=v_{s}+a_{s}t_{a0}+\frac{lt_{a0}^{2}}{2} \tag{15}\]  
The formulas for interpolating position, feed rate, and acceleration based on jerk are as follows:  
\[\left\{\begin{array}{l}S(t)=S(0)+(v_{s}+(\frac{a_{s}}{2}+\frac{lt}{6})t)t\\ v(t)=v_{s}+(a_{s}+\frac{lt}{2})t\\ a(t)=a_{s}+Jt\end{array}\right. \tag{16}\]  
At this point, the acceleration is reduced to zero, but there is still a nonzero feed rate. In the second step, it is necessary to replan the acceleration to ensure that the feed rate changes to the desired state with acceleration also being zero.  
\[S_{a}(v_{s},v_{e})=\left\{\begin{array}{l}(v_{s}+v_{e})\sqrt{\frac{v_{s}-v_{ s}}{I_{\max}}}\;\;v_{e}-v_{s}\leq\frac{{A_{\max}}^{2}}{I_{\max}}\\ \frac{1}{2}(v_{s}+v_{e})\Big{[}\frac{{A_{\max}}}{I_{\max}}+\frac{(v_{e}-v_{s} )}{A_{\max}}\Big{]}\;\;v_{e}-v_{s}>\frac{{A_{\max}}^{2}}{I_{\max}}\end{array}\right. \tag{17}\]  
\[S_{d}(v_{s},v_{e})=\left\{\begin{array}{l}(v_{s}+v_{e})\sqrt{\frac{v_{s}-v_{ e}}{I_{\max}}}\;\;v_{s}-v_{e}\leq\frac{{A_{\max}}^{2}}{I_{\max}}\\ \frac{1}{2}(v_{s}+v_{e})\Big{[}\frac{{A_{\max}}}{I_{\max}}+\frac{(v_{s}-v_{ e})}{A_{\max}}\Big{]}\;\;v_{s}-v_{e}>\frac{{A_{\max}}^{2}}{I_{\max}}\end{array}\right. \tag{18}\]  
Figure 5: The flowchart of S-shaped feed rate profile generation.  
In the formula, \(A_{\max}\) represents the maximum acceleration, and \(J_{\max}\) represents the maximum jerk. Based on the current \(v_{s}\) and the desired \(v_{e}\), a determination is made whether to accelerate or decelerate. If acceleration is required, Equation (17) is employed. Conversely, if deceleration is needed, Equation (18) is used. \(S_{a}\) and \(S_{d}\) denote the displacement for acceleration and deceleration, respectively. By ensuring an adequate length of displacement for feed rate lookahead, smooth braking can be achieved. Figure 6 illustrates these two scenarios.
# Privacy-Preserving Electricity Trading for Connected Microgrids
## 3 System and Attacker Models
### Communication Channel  
All the actors communicate through a shared broadcast channel. The substation and the meters are continuously monitoring the transmitted data and process those messages which are of their concern. Figure 1 shows the channel modelled as a shared bus. It can be implemented using wired (Ethernet or PLC) or wireless technology.  
This channel allows both connection-oriented and connectionless communications. Connection-oriented communications are employed when authentication is needed for meters. That is the case for wallet loading (Section 5.4.1) and e-coin deposit at the end of a billing period (Section 5.4.4). Connectionless communications are used for the rest of communications in which meters act in an unidentified fashion.  
In order to avoid external malicious interference, the messages sent through the channel are authenticated. All the meters and the substation share a secret key used for the HMAC authentication of messages at the data-link level. This mechanism prevents outsiders from disturbing the system by injecting fake data, while a shared-key mechanism authenticates the sender as a member of the microgrid without disclosing its identity. Store and reply attacks are prevented by appending a sequence number to messages. Throughout the paper, we do not refer to this underlying message authentication mechanism.  
We also require the channel to be untraceable in the sense that it is not possible to determine the source of datagrams (unless some identifying data were included in them).  
As for authenticated connection-oriented communications, an underlying secure protocol such as TLS is needed. It has to provide both sender and receiver authentication, data encryption and session hijacking avoidance.  
Smart meters must include some sort of tamper-proof hardware preventing unauthorized access to the secret key material stored in them. The communication channel does not need to be connected to the global Internet. In this way, illegal access is much more difficult to achieve and limited in scope in case of success.