esa-sceva/satcom-chunk-collection huggingface dataset:
# Non-Cooperative Spacecraft Pose Measurement with Binocular Camera and TOF Camera Collaboration
## 3 Detailed Description of the Proposed Method
### Binocular Initial Pose Acquisition
#### 3.2.1 Feature Point Association  
Common feature point extraction methods include the scale-invariant feature transform (SIFT) operator, speeded-up robust features (SURF) operator, and oriented FAST and rotated BRIEF (ORB) operator [26]. Compared with the ORB operator, the SURF operator has better robustness. Compared with the SIFT operator, it has the advantages of easier real-time processing and implementation. Overall, the SURF operator was implemented to extract the feature points in this paper. The SURF feature point response value is defined in the feature point extraction process, which represents the robustness of the feature point. The point with a small response value will be removed by calculating the response values of the feature points and sorting them.  
A relatively complete feature point association criterion is proposed when tracking the target satellite in our study. As presented in Figure 6, a diagram of the feature point extraction and tracking is proposed.  
The optical flow and epipolar constraint method are combined to track the feature points at the front and back moments in order to ensure the accuracy of the feature point association. In addition, the depth map obtained by the TOF camera is introduced to guide the feature point association. The depth map is projected to the left camera coordinate system through the joint calibration in Section 3.1. The disparity map of the TOF camera can be calculated with Equation (11):  
\[D_{\text{T}}=\frac{f_{1}}{Z_{\text{T}}}\cdot B \tag{11}\]  
where \(D_{\text{T}}\) is the disparity of the TOF camera, \(Z_{\text{T}}\) represents the depth value, \(f_{1}\) is the focal length of the left camera, and \(B\) represents the baseline of the camera system.  
Finally, the feature points \(P_{l}(u_{l},v_{l})\) and \(P_{r}(u_{r},v_{r})\) matched by the left and right cameras must meet the following condition:  
\[|D_{1}(p)-D_{\text{T}}(p)|\leq\text{T}_{1} \tag{12}\]  
where \(D_{1}(p)=u_{1}-u_{r}\), which represents the disparity of the left camera. \(\text{T}_{1}\) is usually set to 2. The threshold represents the disparity of the feature points.
# Operation State Evaluation of Miter Gate Based on On-Line Monitoring and Finite Element Analysis
## 3 Finite Element Analysis of the Miter Gate
### Setting of Load and Boundary Conditions  
The finite element simulation boundary conditions are set based on the gate operation force situation in Figure 5. Because the surge and the friction of the top pivot and bottom pivot on the gate operation are relatively small, we ignored them in the analysis process. There is no corresponding support for the gate shaft column and tilt joint column during the opening process, therefore no constraints are set. The forces of the miter gate under different working conditions are shown in Figure 5.  
Load setting: (1) Considering the effect of the gravity of the gate, gravitational acceleration g = 9.8 m/s\({}^{2}\) is applied at the center of the gate weight along the negative direction of the gate axis. (2) Wind pressure 159.7 kN, blowing from downstream to upstream. (3) The upstream water level is 5 m when the door is opened, and the dynamic water pressure is 191.1 kN.  
Figure 4: Middle section of thin plate in rectangular coordinate system.  
Figure 5: Schematic diagram of the force under the operation of the herringbone door under different working conditions: (**a**) closed condition, (**b**) filling water condition, (**c**) opening condition.  
Boundary conditions: According to the operation and components of the herringbone gate, the top pivot, bottom pivot, push-pull rod, and gate body are set with constraints. (1) The top pivot is constrained with 5 degrees of freedom, and the Z-direction movement is not constrained. (2) The bottom pivot is constrained with 6 degrees of freedom. (3) Push-pull rod on the door body role part of the constraint 6 degrees of freedom. The above is the load and constraints under the gate opening condition. The other three states can be obtained in Table 1. At rest, the gate is in a closed state, and the fixed restraint of the inclined joint column is increased within 6 degrees of freedom.
## 2 Sample Preparation Methods
### Solid-Phase Extraction
#### 2.1.3 Molecularly Imprinted Polymers  
The selectivity of the sorbent can also be achieved through the development of selective extraction phases that were obtained by molecularly imprinted polymers (MIPs), which are synthesized by the polymerization of functional and crosslinking monomers around a template analyte. After the elimination of template by extraction or chemical reaction, the cavities (binding sites) are exposed in the polymeric matrix. These cavities are complementary to the template in size, shape, and position of functional groups of the template analyte and its structurally related analytes [112; 131; 132].  
The MIPs that are associated to SPE are also known in literature as MIP-SPE or MISPE, and they have been applied to the analysis of antidepressants, antibiotics, and beta-blockers [110; 132; 133]. To date, the potential of MISPE is still poorly explored in the analysis of PhACs in the environmental analysis.  
It is difficult to separate MIPs with small particle sizes from aqueous samples when they are applied as the sorbent in SPE or SPME. Therefore, surface molecular imprinting polymerization onto MNPs to form magnetic MIPs (MMiPs) is usually applied to increase the number of imprinting or recognition sites (because of the high surface to volume ratio of MNPs) and mass transfer kinetics of the MIPs, as well as their simple magnetic separation from the sample solution [112].  
Some MMIPs have been used for the specific recovery of estrogenic compounds and antibiotics from water matrices [118; 134].  
This molecular imprinting technology has also been applied in electrochemical MIP sensors [135]. Some of them were constructed on different sensing platforms for the detection of pharmaceuticals in water samples [136].
# The ConTAD Project: Detection of Multi-Container Loss for Safety of Navigation +
## 5 Discussion  
The accident on the MSC Zoe in the North Sea showed that there are several ways to reduce the environmental and economic impact of container losses. This paper proposes the development of a CTD that can automatically detect the loss of containers overboard, inform the carrying ship that and which containers were lost, warn ships in the vicinity to avoid collisions with floating containers, and inform authorities and cargo owners of the accident. The benefits of such a device are as follows:  
* An immediate alarm at the time of the accident allows for a fast reaction of the crew to avoid further container losses.
* Ships in the vicinity of the accident are immediately notified. Ship owners benefit from increased safety at sea, since collisions with floating containers and debris can easily be avoided.
* With the information on which containers were lost, authorities can quickly assess the situation and take appropriate action. Especially, the tracking of containers with DG allows for targeted salvage operations. Salvage costs are reduced, since complicated localization operations can be avoided. A fast cleanup will also be beneficial for the reputation of the shipping companies, as their names are in focus in the event of an accident.
* Cargo owners are immediately notified about the loss of their containers and can take appropriate measures to replace important goods. This is especially important for just-in-time deliveries and strengthens the supply chain.  
Table 1 lists the specific problems in the MSC Zoe accident and explains how they are addressed in the ConTAD project.  
\begin{table}
\begin{tabular}{c c c} \hline \hline
\begin{tabular}{c} The actual number of containers lost could \\ only be determined by completely \\ unloading the ship more than two weeks \\ after the accident. \\ \end{tabular} \\ \hline \hline \end{tabular}
\end{table}
Table 1: Problems identified in the MSC accident and how they are addressed in ConTAD.  
Economic feasibility of CTDs like these is difficult to achieve. Only a very small fraction of all containers transported at sea each year is lost. Therefore, hardware costs need to be low and comparable to existing devices. The success of the proposed tracking unit relies also on legislation aspects. Coastal states might want to keep their coasts clean and their nature reserves undamaged. Therefore, they could enforce the use of a mandatory tracking unit with accident detection, especially on cargos carrying DG.
# A Numerical Study of the Vibration Characteristics of a Haptic Actuator for a Dial Gear Shifter
###### Abstract
Currently, many haptic technologies are commercially available, and HMI with haptics is no longer a new field. Haptic actuators are typically installed on steering wheels, dashboards, seats, and pedals [23, 24, 25, 26]. Despite the increasing importance of tactile sensing, haptic functions have rarely been considered for gear shifter modules. For example, inexperienced drivers could dangerously maneuver gear shifters, directly shifting from the 'D' (drive) to the 'R' (reverse or to the 'P' (park) mode. In traditional gear shifters, there are no physical warning tools for the driver to notice incorrect manipulation of the car. Moreover, the most recent design of a gear shifter transformed from a stick to a dial type in compact dimensions [27]. The disc-type gear shifter exhibited aesthetic superiority in addition to efficient use of space compared to traditional gear sticks. However, because the gear modes are controlled in a rotary manner, it increases the potential for a crude maneuver of the gear. Thus, considering the application of haptics to dial-type gear shifters is worthwhile for ensuring car safety as it alerts the driver of the incorrect manipulation of the gears. This study aims to analyze the vibration levels in a dial-type gear shifter induced by a haptic actuator and deduce an optimal design for the actuator integration to deliver the most efficient level of tactile vibrations to users. The haptic actuator installed in the gear shifter used for the experiment was an electromagnetic linear resonant actuator (LRA). Although it has a very narrow frequency bandwidth, the LRA is known to produce a relatively high vibration output compared to the voltage input [28]. An efficient vibration output and a compact design are critical for the application of a dial gear-shifting module with a geometric size of approximately 8 cm. We hypothesized that the input vibrational force generated by the electromagnetic effect could be indirectly estimated by comparing the experiment and simulation results. Following the confirmation of the numerical model, the results of the finite element analysis (FEA) determined the optimal design of the gear shifter and predicted the vibration level at the gripping positions with the required voltage level in the haptic actuator. This study provides an efficient method for estimating the input force caused by the electromagnetic effect and presents a comprehensive evaluation of the design to validate the performance of the haptic device.
## 4 Global Navigation Satellite System (GNSS) Measurements
### Data Processing and Results  
At KNMI, data are automatically processed in 24 h batches, using the Bernese software version 5.2 [38], first using rapid, and later, final satellite orbits from the Center of Orbit Determination in Europe (CODE). We applied ocean-loading parameters using the FES2014b model [39], obtained from the Onsala ocean-loading provider (holt.oso.chalmers.se/loading), and S1 and S2 atmospheric tide loading values from the Global Geophysical Fluid Center (geophy.uni.lu/ggfc-atmosphere/tide-loading-calculator.html). We followed the \"RNX2 SNX\" Bernese processing chain, which conducts a double difference-based analysis of RINEX GNSS observation data from a regional network.  
Daily solutions are tied to the ITRF2008 reference frame by processing a set of International GNSS Service (IGS) sites as references. Currently, 10 IGS stations are used as references: ABMF, RDSD, and CRO1 on the Caribbean Plate (CP), BRMU, GODE, and MDO1 on the North American Plate (NAP), and KOUR, POVE, RIOP, and SALU on the South American Plate (SAP). A variable seasonal signal can be detected in all GNSS time series [40], and when a sufficiently long time series exists, the parameters necessary to correct this signal can be estimated. As in the time series for GNSS stations SABA and SEUT only 4 months of data are present so far, no seasonal corrections are applied yet. Figure 13 shows the preliminary results of data processing for newly set-up stations.  
Figure 12: First continuous GNSS stations on St. Eustiatius (**left**) with The Quill in the background and on Saba (**right**) in front of Mt. Scenery.  
Figure 13: Time series showing the east, north, and vertical components of GNSS stations SABA (**left**) and SEUT (**right**).
# An Approach for Deployment of Service-Oriented Simulation Run-Time Resources
## 4 System Model and Problem Formulation
### Problem Formulation  
The object of deploying SRR jointly is to minimize the overall time cost of the training simulation system while minimizing the resource consumption rate of edge servers. At the same time, constraints of resource capacities of edge servers, deploying rules, and variable properties should be satisfied. The joint deployment problem \(\mathcal{P}\), which has been proven to be NP-Hard [13], is formally defined as follows:  
\[min f(DS)=(f_{1}(DS),f_{2}(DS)) \tag{13}\] \[s.t. max(B_{i}/R_{i})<1,\quad\forall R_{i}\in R\] (14) \[(DS_{i}^{R}-DS_{f}^{R})^{2}>0,\quad\forall i,j=1,\cdots,k\quad and \quad i\
eq j\] (15) \[\sum_{i=1}^{k}DS_{i}^{M}=1\] (16) \[\sum_{j=1}^{k}DS_{ij}^{C}=1,\quad\forall C_{i}\in C\] (17) \[DS_{i}^{R}\in\{1,\cdots,q\},\quad\forall i=1,\cdots,k\] (18) \[DS_{i}^{M}\in\{0,1\},\quad\forall i=1,\cdots,k\] (19) \[DS_{ij}^{S}\in N,\quad\forall i=1,\cdots,n\quad and\quad j=1, \cdots,k\] (20) \[DS_{ij}^{C}\in\{0,1\},\quad\forall i=1,\cdots,h\quad and\quad j=1,\cdots,k \tag{21}\]  
The related constraint formula is as follows: Equation (14) means that the software resources deployed on an edge server cannot exceed the server's capacity limit. Equation (15) indicates that one BS can only deploy one edge server at most, that is, the BSs where two edge servers are deployed are different. Equations (16) and (17), respectively, specify that the middleware service and a constructive member must and can only be deployed on one edge server. Equations (18)-(21) specify the range of values for various decision variables, which must all be integers.  
Obviously, \(\mathcal{P}\) is a nonlinear integer optimization problem that requires finding the Pareto optimal solution of the training simulation system's time cost and edge servers' resource occupancy while not violating constraints, e.g., Equations (15)-(21).
## 4 Results and Analysis
### Response Characteristics and Parameter Influence Analysis
#### 4.2.2 Influence Analysis of NES Damping  
This section further discusses the impact of damping. \(\kappa=367.38\) and \(\rho_{2}=0.02\) were chosen, and the damping parameters \(\xi_{2}\) were different. The results are shown in Figures 10 and 11.  
Figure 11: Amplitude frequency response curve when \(\kappa=367.38\), \(\delta_{2}=0.0117\), \(\rho_{2}=0.02\), (**a**) pipe displacement amplitude and (**b**) relative displacement amplitude.  
Figure 10: Amplitude frequency response curve when \(\kappa=367.38\), \(\delta_{2}=0.0044\), \(\rho_{2}=0.02\), (**a**) pipe displacement amplitude and (**b**) relative displacement amplitude.  
Figure 9: Comparison of amplitude–frequency response curves of the pipe.  
Compared with Figure 7, when \(\xi_{2}=0.0044\), the range of the unstable region of the system motion expands greatly, as shown in Figure 10a. Saddle-node bifurcation occurs in the range of \(\sigma=[-0.34,-0.088]\), and multiple equilibrium points appear. The maximum response amplitude of the pipe is approximately 0.075 at \(\sigma=-0.1\). When \(\sigma=0\), the pipe motion is quasi-periodic motion, the response amplitude is basically the same as when \(\xi_{2}=0.0085\), and there is only one unstable equilibrium point. There are still saddle-node bifurcations and Hopf bifurcations in the wider range of \(\sigma=[0.056,0.288]\). Due to the existence of multiple solutions, the system response may jump under different initial conditions, but the displacement of the pipe on the right side of the curve remains below 0.02.  
When \(\xi_{2}=0.0117\), the saddle-node bifurcation on the left half of the amplitude-frequency response curve disappears, as shown in Figure 11a. The region of multiple solutions in the right half of the curve is smaller than that in Figure 9. There are still saddle-node bifurcations and Hopf bifurcations, and the range of motion instability of the system is reduced to \(\sigma=[-0.016,0.084]\). The motion of the system at \(\sigma=0\) is quasi-periodic, and the overall displacement response is less than 0.02. Compared with the results of \(\xi_{2}=0.0044\), when \(\xi_{2}=0.0117\), the overall stability is better, and the vibration suppression effect is similar.  
The amplitude-frequency response curves of the pipe with different stiffnesses and damping are shown in Figure 12. The results show that when \(\kappa=\)367.38, with the increase in damping, the range of the unstable region of the pipe decreases, as shown in Figure 12a. This is beneficial for vibration suppression. For a smaller nonlinear stiffness of \(\kappa=24.425\), unstable motion does not occur, and the overall vibration suppression of the NES is unsatisfactory, as shown in Figure 12b. Therefore, the nonlinear stiffness of an NES has a great influence on whether the nonlinear motion of the pipe occurs, and the damping mainly affects the range of the unstable motion region. In the real design of an NES, a reasonable combination of nonlinear stiffness and damping should be chosen.
# The Current Development Status of Agricultural Machinery
## 4. Chassis Leveling Systems of Agricultural Machinery
### Mechanisms and Methods for Leveling
[132] developed an H-configuration variable-geometry power chassis tailored for mountainous agricultural applications. This system integrates balance rocker suspensions, hydraulic adjustment systems, and dual-drive axles to enable real-time adaptation of ground clearance, track width, and chassis posture. In summary, continuous design and optimization of chassis leveling mechanisms can significantly improve the adaptability of agricultural machinery in complex terrains such as hilly and mountainous regions. Although considerable progress has been made in existing research and widely applied in operational equipment, current systems still face challenges related to insufficient adaptability, limited intelligent capabilities, and inadequate reliability under complex working conditions--particularly in areas such as multi-dimensional coordinated leveling, lightweight structural design, and high-precision dynamic response. Future research should focus on three key directions: (1) conducting strength analysis and structural optimization of core components; (2) developing modularized lightweight chassis systems that consider dynamic operational characteristics; and (3) designing intelligent leveling mechanisms with adaptive compensation functions. These improvements require optimizing the kinematic models and control logic of actuation systems to shorten posture adjustment cycles and achieve millisecond-level real-time feedback control. Moreover, it is essential to establish a comprehensive multi-dimensional testing framework that covers typical agricultural scenarios. This framework should rigorously assess system performance in terms of durability during continuous operation, stability under extreme loads, and human-machine interaction genomics, thereby ensuring the reliability necessary for the engineering application of leveling systems.
# Blockchain Based Secure Routing and Trust Management in Wireless Sensor Networks +
## 4 System Model
### Trust Evaluation Mechanism
#### 4.4.1 Delayed Transmission  
This is the time required to send the data packets from the source to the destination. It is computed by the following equation [19]:  
\[DT=\frac{\mathit{Tsensor_{id}}}{T_{1}}*100\%,\quad 0<\frac{\mathit{Tsensor_{id}}}{T_{1 }}<1, \tag{1}\]  
where \(\mathit{Tsensor_{id}}\) and \(T_{1}\) denote the time required to forward the data packets after receiving them and the time interval in which the data packet is sent from the source to the destination, respectively.  
```
1 begin
2/*\(\mathit{PUB}\) is public blockchain*/
3/*\(\mathit{SP_{PUB}}\) is the smart contract of public blockchain*/
4 Each \(\mathit{SN_{i}}\) broadcasts its (\(\mathit{SN_{ID}}\), \(\mathit{x_{i}}\), \(\mathit{y_{i}}\) and corresponding \(\mathit{AN_{i}}\)
5\(\mathit{AN_{i}}\) computes the trust value of the \(\mathit{SN_{i}}\)
6 The trust value of each \(\mathit{SN_{i}}\) is stored on \(\mathit{PUB}\) through \(\mathit{SP_{PUB}}\)
7 Total trust evaluation
8 for\(\mathit{SN_{i}}\) = 1, 2, 3,..., \(\mathit{n}\)do
9\(\mathit{DT}\) of \(\mathit{SN_{i}}\) is computed by Equation (1)
10\(\mathit{FR}\) of \(\mathit{SN_{i}}\) is computed by Equation (2)
11\(\mathit{RT}\) of \(\mathit{SN_{i}}\) is computed by Equation (3)
12\(\mathit{NCQ_{i}}\) is computed by Equation (4)
13 Numbers of successful and unsuccessful communications are calculated on the basis of the \(\mathit{NCQ}\)
14 Trust value (\(\eta\)) of \(\mathit{SN_{i}}\) is computed by Equation (6)
15 The (\(\eta\)) of each \(\mathit{SN_{i}}\) is stored on \(\mathit{PUB}\) through \(\mathit{SP_{PUB}}\)
16 if\(\eta_{i}\geq\mathit{threshold}\)then
17 Legitimatenode++;
18 The final list of legitimate nodes is stored on \(\mathit{PUB}\) through \(\mathit{SP_{PUB}}\)
19 else
20 Maliciousnode++;
21 The final list of malicious nodes is stored on \(\mathit{PUB}\) through \(\mathit{SP_{PUB}}\)
22 end if
23
24 end for
```  
**Algorithm 3**Trust value evaluation of sensor nodes
## 3 Results and Analysis
### BDS Only PPP
Considering that the positioning accuracy in east direction is highly related to the ambiguities, the continuous IGSO tracking by sites in Asia-Pacific region results in relative longer sessions of ambiguity parameters and sufficient geometric changes. Therefore, the corresponding ambiguities are relatively easier to be separated with other parameters, resulting in improvement of the positioning accuracy in the east direction. For TUVA, MEO satellites still play the most important role in PPP processing, and the noticeable degradation (about 3.46 cm) in vertical component has been observed when MEO observations are not used. The above conclusions are similar as that revealed by the analysis of convergence time in Figure 3.