esa-sceva/satcom-chunk-collection huggingface dataset:
# Robot Navigation Based on Human Trajectory Prediction and Multiple Travel Modes
## 2 Methods
### Navigation Based on Multiple Travel Modes and Predicted Pedestrians' Positions
#### 2.3.1 Follow Target Detection and Follow Mode Switching Method for Smooth and Slow-Moving States
Then, for all candidate follow-up targets, according to the \(U_{total}(p_{i})\) order from low to high, the reachability detection is performed as follows: Select the following point (the point at 1.2 m behind the pedestrian in this paper); judge whether a feasible trajectory from the robot's current position to the following point exists via the method in Section 2.2; if yes, it is reachable, stop detecting and set the current detected pedestrian to be a followable target, then move to the following point along the selected trajectory; if no, it is unreachable, determine whether the next candidate target is reachable. In the process of following the pedestrian, \(p_{i}\), the speed in the next 0.5 s is predicted, and the variation of \(U_{total}(p_{i})\) based on the pedestrian's future 0.5 s is monitored. When \(U_{total}(p_{i})\) increases from a value less than 2 to a value greater than 2, or increasing from a value in the interval (2, 12) to a value greater than 12, the travelling mode changes, and the current following target is discarded and the next candidate following target will be detected.
## 2 Matrix-Based Object Representation
### Nonlinear Constraints
#### 3.3.2 Overlap Avoidance  
When an object is placed into the domain, the matrices representing the new object and the domain with previous objects are simply summed together. An overlap is detected for the matrix elements with values higher than 1. Therefore, for \(O\) total objects, the constraint for the overlap avoidance can be written as  
\[g_{2}=\sum_{k=2}^{O}N_{k} \tag{18}\]  
While maximizing total ones or adjacent ones as the performance metrics, explicit collision constraints may not be necessary since the improvement in the objective function and reduction in the overlaps are correlated in certain problems.
## 5 Experiment and Analyses
### Prediction Performances under Different Scenarios
It is worth noting that due to the insufficient extraction of vehicle-vehicle interaction features for the model without a potential field, it judges that the vehicle will first continue to move according to the historical motion trend, and implement the lane change operation later when it is too close to the preceding vehicle. In comparison, the proposed model predicts the lane change trend of the target vehicle earlier under the effect of the repulsive force, resulting in smoother prediction trajectories and lower prediction errors. In Figure 6b, there is no obstacle in the current lane of the target vehicle, and the other vehicles in the adjacent lanes have no lane-changing tendencies, meaning they have no obvious impact on the target vehicle. The prediction of the future trajectory for the target vehicle at this time relies more on its historical motion state. When analyzing its historical trajectory, it is predicted that the target vehicle will change lanes to the right. Note that the predicted trajectory is not directly offset to the right lane, but keeps going straight for a period of time and then moves to the right. Particularly for the proposed model in this paper, by precisely considering the potential threat of the obstacle vehicle in front and to the right of the object vehicle at the predicted moment, it generates a more conservative lane change trajectory that leaves a larger safety distance than the model without a potential field module. It can be seen that both for the vehicle lane-keeping and lane-changing scenarios, the predicted trajectories and the real trajectories maintain a high degree of consistency. Therefore, it seems that by using the prediction model proposed in this paper, autonomous vehicles can accurately predict the future trajectories of surrounding vehicles in front or in adjacent lanes by capturing their historical motion information, so as to make the best corresponding decisions and thus ensure driving safety.
## 3 Results and Discussion
### Vertical Line
#### 3.2.3 Effect of Patterning Width  
As seen from the previous experiments, when the patterning width A was 50 \(\upmu\)m, a conductive deposited structure with a line width of about 185 \(\upmu\)m was obtained. Therefore, the experiment was conducted to obtain a conductive structure with a narrower width by reducing the patterning width A of Figure 4a, which directly affects the deposited line width to 10 \(\upmu\)m.  
As shown in Figure 6a, when the pattering width was reduced to 10 \(\upmu\)m while the patterning space was kept at 12.5 \(\upmu\)m, deposition structure was observed in only a few areas. This is because the horizontal feed rate of the line structure increased more than four times compared to the previous experiment as the laser scanning length decreased due to the decrease in the patterning width. That is, the reduction reaction was unstable because of the insufficient heat energy. Therefore, for selective heat energy supply and  
Figure 5: Vertical scan result according to laser frequency: **(a)** 25 kHz; **(b)** 100 kHz; **(c)** 250 kHz; **(d)** 500 kHz; **(e)** CW mode.  
stable reduction reaction, the experiment was conducted by reducing the patterning space B to 2.5 \(\upmu\)m, a fifth of the previous one. When the pattering space B was reduced, since the laser patterning length is increased, the horizontal feed rate of the line structure becomes 0.124 mm/s, the same value as when a stable deposition structure was formed in the previous experiment. However, even though the horizontal feed rate was kept at a low level by reducing the pattering space B in this way, a deposition structure was connected to each other only at the edge region, as shown in Figure 6b. The middle region of the line was deposited in a discontinuous structure. This was because the high-powered laser beam was excessively overlapped due to the reduced pattering space. The deposited copper thin layer was ablated in the middle region where the energy density was high, thereby preventing the formation of the stable deposited structure.
## 2 Experimental Methodology
### Test Model  
The model used in this study was a 2 D NACA0012 airfoil model with a sweep angle of 15\({}^{\circ}\), as shown in Figure 3a. The NACA0012 airfoil is frequently utilized in aerodynamics research. Its upper and lower surfaces' symmetrical characteristics facilitate comparative analysis of these regions. Therefore, it sees widespread employment in the research shown above. The model had a chord of 500 mm and a span of 600 mm, suspended in the test section. This model size was selected based on the maximum allowable size within the FL-61 icing wind tunnel. As shown in Figure 3b, five electric heating sheets were installed chordwise within the leading edge of the model to simulate the thermoelectric protection system, with each sheet's heating power controlled separately via voltage control. All sheets covered the whole spanwise area. White lines drawn in the leading edge signified the position of the heating sheets. Additionally, lines were drawn in the rear spaced 2 cm apart, serving as a visual measure of icing extent, as shown in Figure 3a. The parameters of each sheet are shown in Table 1. Sheets A, B and C covered the droplet impingement area analyzed using numerical simulation methods during the initial stage, while sheets D and E were reserved for further heating purposes. The heating sheet distribution, with a narrow sheet in the leading edge and large sheets in the rear, was designed referencing aircraft ice protection system layout. In order to measure the model surface temperature, 9 thermocouples were arranged in the leading edge of the middle section spanwise of the model with the positions of each thermocouple detailed in Table 2. Due to possible significant temperature variations near the stagnation point of the leading edge, three thermocouples were arranged on sheet A. As the temperature gradient changed continuously after the leading edge, two thermocouples were positioned approximately 1/3 and 2/3 along sheet B and C, respectively, with one additional thermocouple on each of the sheets D and E. These thermocouples measured temperature fluctuations twice a second, with an accuracy of approximately \(\pm\)0.5 \({}^{\circ}\)C after calibration.  
Superhydrophobic coatings (Figure 4) were fabricated with laser sources on aluminum (AI) alloy foils (from BondHus, 6061 AI) with a thickness of 300 \(\upmu\)m. A fs laser having  
\begin{table}
\begin{tabular}{c c c} \hline
**No.** & **Arc Length (mm)** & **Thermocouples Number** \\ \hline A & 12 & 4\# 5\# 6\# \\ B & 35 & 2\# 3\# \\ C & 80 & 7\# 8\# \\ D & 20 & 1\# \\ E & 20 & 9\# \\ \hline \end{tabular}
\end{table}
Table 1: Heating sheets parameters.  
Figure 3: Test model. (**a**) Test model (top view), (**b**) Heating sheets and thermocouples layout.  
a wavelength of 1030 nm, a pulse length of 800 fs, average power up to 40 W and beam diameter of around 30 um was used as the laser source. SEM-image is shown in Figure 3b. Contact-angle 150.14\({}^{\circ}\) and roll-off-angle 6.63\({}^{\circ}\) were measured using a video-based optical contact-angle measurement device.
## 1 Introduction
The developed system is tested through numerical simulations to verify its validity. In the next section of this paper, we will start by defining the required fractional operators and their Laplace transforms. We then formulate the **F-M** synchronization problem with index \(d\). In Section 3, we present two different theorems that cover the two distinct synchronization cases with \(d=m\) and \(d<m\), respectively. Finally, in order to show the applicability of the developed schemes, Section 4 considers the **F-M** synchronization of a three-dimensional fractional chaotic system and a four-dimensional fractional hyperchaotic system subject to synchronization indices \(d=4\) \begin{table}
\begin{tabular}{l} \hline \hline
**Synchronization Schemes** \\ \hline Inverse full state hybrid projective synchronization [3] \\ Matrix projective synchronization [4]. \\ Generalized synchronization [5]. \\ Inverse generalized synchronization [6]. \\ Hybrid synchronization [7]. \\ \(\Phi\)–\(\Theta\) synchronization [8]. \\ \(Q\)–\(S\) synchronization [9]. \\ Reduced order synchronization [10]. \\ Increased order generalized synchronization [11]. \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Synchronization schemes for integer-order systems with different dimensions. \(d=3\), and \(d=2\). Section 5 presents the proposed MIMO communications system based on \(\mathbf{F}\)-\(\mathbf{M}\) synchronization along with simulation results. Finally, concluding remarks are given in Section 6.
# Synthesis of Mesoporous MWCNT/HKUST-1 Composite for Wastewater Treatment
###### Abstract  
Metal-organic frameworks (MOFs) (Hong Kong University of Science and Technology (HKUST)-1) have been widely studied using the hydrothermal method. Recently, efforts have also been geared toward the incorporation of multiwalled carbon nanotubes (MWCNTs) into the HKUST-1 MOF to advance its applications for gas storage as well as pollutant removal in wastewater. However, a significant reduction in the MWCNT/HKUST-1 composite surface area has limited its applications. We therefore synthesized HKUST-1 and HKUST-1 impregnated with acid-treated multiwalled carbon nanotubes (FMWCNTs). A large surface area of 1131.2 m\({}^{2}\)g\({}^{-1}\) was obtained after acid treatment of the as-received MWCNTs. HKUST-1 was found to have an average particle diameter of 6.5 to 8 \(\upmu\)m with a BET surface area of 1176.66 m\({}^{2}\)g\({}^{-1}\). The FMWCNT/HKUST-1 composites had a BET surface area of 1108.85 m\({}^{2}\)g. The addition of FMWCNTs was found to increase the parent MOF pore volume from 0.76 to 1.93 cm\({}^{3}\)g\({}^{-1}\). A BJH desorption cumulative pore size of 6.97 nm was obtained in a composite sample. The maximum adsorption capacity of the composites was found to be greater than 100 mg/g at 298 K. The results obtained indicate that FMWCNT/HKUST-1 nanocomposites are a potential adsorbent for methylene blue (MB) removal in dye synthetic water.  
HKUST-1 MOF; carbon nanotubes; methylene blue; characterization; adsorption +
Footnote †: journal: Applied
## 4 Clinical Experimental and Validation
### Experiment Setup  
As shown in Figure 5, circular trajectory tracking, which can reflect the coordination of multiple muscles in the shoulder and elbow joints, was selected as a training task. To reduce the discomfort of the subject's joint movement, the two points of a circle diameter were determined by the patient's therapist according to the patient's passive maximum freedom of shoulders and elbows. The nearest point was determined when the patient sat in front of the robot with his/her shoulder abduction 75\({}^{\circ}\) and shoulder flexion 40\({}^{\circ}\), and elbow flexion 90\({}^{\circ}\). The farthest point was determined when the patient's upper limb was fully extended following the original posture. The circular trajectory tracking training has two directions, including clockwise and counterclockwise. The direction of the circular track is mainly determined according to the lesion sides of the subjects. The clockwise circular trajectory training is mainly suitable for patients with an injury to the left hemisphere, while the counterclockwise circular trajectory training is mainly suitable for the patients with injury to the right hemisphere.  
Before the experiment, the appropriate circular trajectory was selected according to the height of the subjects. As shown in Figure 6, the height of the seat for each subject was adjusted in order to keep the subjects' upper limbs with a shoulder abduction of 75\({}^{\circ}\) and a shoulder flexion of 40\({}^{\circ}\), and an elbow flexion of 90\({}^{\circ}\), with the robot end handle being held in front of the body. Each subject was required to carry out eight rounds of circular trajectory training, from the near end point to the far end point and then to the near end  
\begin{table}
\begin{tabular}{c c c c c c} \hline \hline \multirow{2}{*}{**Number**} & \multirow{2}{*}{**Years**} & \multirow{2}{*}{**Gender**} & \multicolumn{2}{c}{**Lesion Location**} & \multirow{2}{*}{**Days Since**} & \multirow{2}{*}{**FMU**} \\  & & & **(Left or Right Hemisphere)** & & \\ \hline S1 & 36 & Male & Left & 45 & 10 \\ S2 & 29 & Male & Right & 157 & 36 \\ S3 & 68 & Male & Left & 56 & 50 \\ S4 & 37 & Male & Right & 283 & 35 \\ S5 & 33 & Female & Left & 151 & 57 \\ S6 & 50 & Male & Right & 57 & 27 \\ S7 & 82 & Female & Left & 55 & 48 \\ S8 & 35 & Male & Right & 35 & 64 \\ S9 & 58 & Female & Left & 172 & 15 \\ \hline \hline \end{tabular}
\end{table}
Table 1: The clinical characteristics of stroke patients.  
Figure 5: The movement pattern of the upper limb.  
point for a trial. All the subjects were requested to perform circular trajectory tracking training with five different admittance parameters. Their values of K1, K2, K3, K4, and K5 were set at 0 N/m, 10 N/m, 30 N/m, 60 N/m, 90 N/m, respectively. The values of stiffness parameters were chosen in active training to explore the effects of different K values on the training performance of patients.  
During the training, the movement trajectory and interactive force of the handle were recorded by the sensor to calculate the characteristic parameters.
## 3 Enhanced Mathematical Model with Atmospheric and Environmental Effects
### Effect of Satellite Height on Received Power  
Figure 4 illustrates the relationship between satellite height and received power over a range of distances in the two-ray model. In this model, received power is influenced by the path length and ground reflection effects. As the height of the satellite increases from 300 km to 1000 km, the received power generally decreases, particularly at shorter distances. This is due to the increased path length associated with higher altitudes, which leads to greater free-space path loss and a reduced influence of ground reflections.  
As distance increases, the received power values for different satellite heights converge. Beyond 2000 km, the differences between satellite heights become less noticeable, with all curves following a similar decreasing trend. For instance, at a distance of 2500 km, the received power for a satellite height of 300 km is approximately \(-153\) dBm, while it is about \(-154\) dBm for a satellite height of 700 km. This indicates that at greater distances, the dominant factor influencing received power is the path length, and the impact of satellite height diminishes. This trend suggests that for applications requiring connectivity over very long distances, the choice of satellite height has a smaller effect on received power compared to applications with shorter ranges.  
Figure 5 provides a closer examination of received power at shorter distances (up to 100 km) across different satellite heights. Here, the differences in received power due to satellite height are particularly evident. For instance, at a distance of 50 km, the received power for a satellite height of 300 km is approximately \(-115\) dBm, while it is around \(-124\) dBm, \(-129\) dBm, and \(-136\) dBm for satellite heights of 500 km, 700 km, and 1000 km, respectively. This detailed view highlights that lower satellite altitudes provide substantially higher received power at short distances, making them preferable for applications where high power levels and signal strength are critical over short ranges.  
These findings suggest that lower satellite altitudes are advantageous for applications requiring robust signal strength at shorter distances, such as IoT deployments, remote sensing, and certain emergency communications, where reliable connectivity is required within a limited area. However, for applications focused on wide-area coverage over long distances, higher satellite altitudes may be sufficient, as the effect of height on received power becomes less significant at extended ranges.  
Figure 6 provides a heatmap of received power across varying distances and satellite heights. As the satellite height increases, received power decreases, with more pronounced losses at longer distances. This heatmap offers a comprehensive visualization, supporting system design decisions regarding optimal satellite height based on coverage area and power requirements.  
Figure 4: Effect of satellite height on received power in two-ray model.
## 3 Results and Discussion
### pH of Outflow Solution  
The acidity of phosphogypsum can be adjusted by the alkaline modification solution used in MICP. The pH of the outflow solution was measured with time. The result is shown in Figure 9. The pH of S1 gradually decreased in the initial 30 min, but the decrease rate was increased after that. The amount of loss was small in the early period of scouring, and the scouring liquid was not mixed with phosphogypsum particles, so the pH of the outflow was neutral. However, after 30 min, the amount of loss sharply increased and mixed with water to form a soil mixture, meaning that the resulting pH of the outflow solution decreased and showed weak acidity. The pH of modified slopes S2, S3, and S4 was maintained at 7-8. The pH values of the bacteria solution and cementation solution were 8 and 10, respectively. The loss increased with time, but the pH did not show alkalinity. Previous studies had shown that the optimal pH environment for CaCO\({}_{3}\) formation was 6-9 [26; 54]. In the process of urea hydrolysis that leads to the production of NH\({}_{3}\) and CO\({}_{3}\)\({}^{2-}\), NH\({}_{3}\) was hydrolyzed to produce OH\({}^{-}\), providing favorable conditions for the nucleation and deposition of CaCO\({}_{3}\)[55]. It could be inferred that the alkalinity of the solution could neutralize the acidity of phosphogypsum, and the OH\({}^{-}\) produced by NH\({}_{4}\)\({}^{+}\) hydrolysis was immobilized to form calcium carbonate. The pH of the effluent of treated phosphogypsum is neutral, which eliminates the environmental impact caused by the acidity of untreated phosphogypsum.  
Figure 8: Erosion velocity with time.  
Figure 7: Accumulative erosion weight with time.
# Model Test Research on the Propagation of Tsunamis and Their Interaction with Navigating Ships
## 6 Discussion and Conclusions  
The experimental investigation described herein aimed at modeling landslide-induced tsunamis. A three-dimensional research project was conducted on a river channel model to study the propagation characteristics of landslide-induced tsunamis and the characteristics of landslide-induced tsunamis around ships are further studied through experiments. The following conclusions have been drawn.  
1. A landslide-induced tsunami is complicated. An oscillation wave coexists with the wave and the landslide enters the water to slide into the water points by scatter propagation. The propagation speeds of different directions vary and the maximum speed spreads in the cross section with the landslide maximum speed.
2. The water level of the first wave has a maximum, and then rapidly decreases. The energy of the landslide-induced tsunami by high-speed water in rock masses increases with the increase in landslide amount. Under the single-variable condition, landslide width exerts the greatest influence on the change in water level, followed by the thickness of the landslide body.
3. This analysis is useful to investigate how a ship undergoes resistance during tsunami propagation. The influence of the landslide-induced tsunami of the rock body on the major degrees of freedom of a sailing ship is simultaneous. The roll of the ship reaches its peak in 5 s after the landslide  
Figure 19: Sway curve of the ship in case 7.  
Figure 18: Yaw curve of the ship in case 7.  
body enters the water. This is also dependent on the relative location of the ship and the entry point. The motion amplitude meets the rules for the construction and technical regulation for the statutory survey of a river vessel.
* 4 Landslide-induced tsunamis act on the middle of a fixed-speed navigation ship, which causes swaying amplitude of the ship, acts on the ship bow, and changes the ship's swaying amplitude. The crest of the first wave and the second wave becomes more important, and for a certain distance it induces the largest degree of damage to the ship.  
Conceptualization, Y.Z.; Data Curation, P.Y. and Y.Z.; Formal Analysis, P.W. and P.Y.; Methodology, P.W.; Investigation, P.Y.; Writing--Original Draft, P.Y.  
This paper is supported by the National Natural Science Foundation (51479015) and the Social Science and Technology Innovation Program for People's Liveblood in Chongqing (CSTC 2018 jscx-msybX0233, cstc2018 jszx-zdyfkmX0013, cstc2017 shms-zdyfX0026, cstc2018 jszx-cyzdX0019).  
The authors declare no conflicts of interest.