esa-sceva/satcom-chunk-collection huggingface dataset:
# Tutorial Review on Space Manipulators for Space Debris Mitigation
## 9 Freeflyer Manipulator Control Systems
The Kalman-Bucy continuous time filter yields optimal estimates of the state x(t) and the error variance \(P(t)\):  
\[\frac{d\hat{x}(t)}{dt}=F(t)\hat{x}(t)+P(t)H^{T}(t)R^{-1}(t)[z(t)-H(t)\hat{x}(t)] \tag{107}\]  
\[\frac{dP(t)}{dt}=F(t)P(t)+P(t)F^{T}(t)+G(t)Q(t)G^{T}(t)-P(t)H^{T}(t)R^{-1}(t)H(t )P(t) \tag{108}\]  
Hence, estimated parameters are employed in a PD control law:  
\[\tau=\hat{D}(\hat{\theta})[\hat{\theta}^{d}+k_{v}(\hat{\theta}^{d}-\hat{\hat{ \theta}})+k_{p}(\theta^{d}-\hat{\theta})+\hat{C}(\hat{\theta},\hat{\hat{\theta }})] \tag{109}\]  
The extended Kalman filter is an approach which offers adaptability to structural uncertainties in space manipulators assuming that parameters vary slowly with time [216]. Stable adaptive control methods may be applied directly to a PID control law for a space-based manipulator employing attitude control however [217]. More advanced robust adaptive control uses a weighted bank of extended Kalman filters as a mixture-of-experts [218]. Reinforcement learning may also be used to implement adaptive controllers to respond to changes in payload [219]. SSRMS used fixed control gains rather than adaptive gains due to the latter's computational complexity.
## 3 Case Study Analysis
### Effects of Soil Parameter Spatial Variability on Failure Probability  
[PERSON] (2010) [37] employed the random limit equilibrium method to investigate the influence of spatial variability in soil parameters on the reliability of 2D slopes. Building on this framework, this study extends the analysis to a 3D slope, calculating the \(P_{f}\) and average \(F_{s}\) while incorporating key aspects of soil spatial variability, including coefficients of variation (\(Cov_{c}\), \(Cov_{\varphi}\)), cross-correlation coefficient (\(\rho\)(\(c\), \(\varphi\))) and correlation lengths (\(L_{h}\), \(L_{\varphi}\)). These parameters are systematically evaluated to quantify their influence on failure mechanisms and probabilistic stability in 3D contexts. The geometric model and calculation parameters for Case II are depicted in Figure 4.  
For MCS, 10,000 random samples (\(N\) = 10,000) with 100 truncated terms (\(M\) = 100) are employed. The truncation term number \(M\) critically influences random field discretization accuracy: increasing \(M\) enhances precision but reduces computational efficiency. Following established criteria [38; 39], \(M\) is selected to achieve an energy threshold (\(\varepsilon\)) exceeding 95%. In this specific case, \(M\) = 100 ensures \(\varepsilon\) > 0.99, meeting rigorous accuracy requirements.
## 2 Neural Network Architecture
### Building Blocks of the Network
#### 2.2.2 Synchronizing Layer  
Due to the time multiplexed CDL's output, the incorporation of a Synchronization Layer is imperative. When a Convolutional Layer processes an area of the input image, all spikes associated with this area must have a common time reference (frame) in order to properly apply the convolution function. In our case, each pixel has its contrast encoded in  
Figure 4: Output power of the CDL for different input cases. Black boxes represent black pixels of the scanning window (SW) (no light input) while white boxes represent white pixels of the image (presence of light). While C-neurons receive input the latency is decreased. However, the activation of S-neurons augments the latency. On the contrary, when all S-neurons receive light but C-neurons do not, the latency is increased, while the activation of fewer S-neurons accelerates the produced spike.  
the timing of the generated spike events and is fitted inside a specific time slot of period \(T_{ep}\). So, the first spike, which encodes the contrast of the first pixel of the image, will be in the 0-T\({}_{\text{ep}}\) time slot, the second spike associated with the second pixel will be in the \(T_{ep}\)-2\(T_{ep}\) and in general the \(k\)th spike which encodes the contrast of the \(k\)th pixel will be inside the \((k-1)\)\(T_{ep}\) -\(kT_{ep}\) time slot. Consequently, the time reference for every spike is the beginning of each time slot (\(T_{ep}\) = \((k-1)\)\(T_{ep}\)). However, as mentioned before, spikes corresponding to different pixels should have a common time reference when they coincide at the next neural layer. Therefore, a synchronization layer is necessary: its role is to impose a (_m-l_) \(T_{ep}\) delay for the \(k\)th spike, where \(m\) is the size of the convolutional window (CW) in each layer and \(l\) is the remainder of \(k\) divided by \(m\). Using this technique, a common time reference is applied to the spikes and proper convolutional processing is enabled. The synchronization layer, in the case of electro-optic synapses (see Figure 1c) can be easily implemented through a predetermined static electrical delay line.
## 1 Introduction
The aims of our paper were firstly to quantify the glacier elevation changes derived from topographic map from 1955, SRTM-C band from 2000, LiDAR from 2009 and 2015. Additionally, we used TanDEM-X data from 2013. Secondly, to report changes in glacier area using satellite images and aerial photographs over the same period. Our final aim was to relate the observed glacial changes with the local meteorological conditions.
## 2 Materials and Methods
### Data Sources  
Information was compiled through a comprehensive review of scientific, technical, and regulatory documents. The primary platforms and databases consulted include the following:  
* Climate-ADAPT: The European Commission's platform on climate adaptation, which provides structured information on national policies, strategies, and measures implemented across EU member states.
* Climate Law Database: A repository of legislative and regulatory instruments at the European and national levels related to climate change mitigation and adaptation.
* Government and institutional publications: Reports and strategic documents issued by national ministries of environment, climate, and coastal affairs, as well as relevant government agencies.  
* LIFE Projects Database: European Union-funded projects focused on environment and climate action, particularly those addressing coastal adaptation, nature-based solutions, and risk management. These were used to complement national strategies with practical, implemented examples.
* Coastal knowledge repositories: Specialized technical platforms such as Coastal Wiki were consulted. Coastal Wiki is a collaboratively developed encyclopedia that provides an up-to-date, expert-validated database on integrated coastal zone management, regulatory frameworks, adaptation strategies, and relevant case studies. The information obtained was used to contextualize and complement the analysis of national measures, incorporating a comparative and technical-scientific perspective.  
To ensure the relevance and validity of the information, the temporal scope of the review covered the period from 2014 to 2024, beginning with the publication of the IPCC Fifth Assessment Report (AR5), which for the first time established a differentiated framework for managing climate risks and introduced the classification of adaptation responses by type and function.
## 2 Modeling Methodology and Estimation of Input Parameters  
There are several approximating methods used in numerical modeling; the two most common are the finite-element and finite-difference methods. Both are widely utilized in many fields and have advantages and disadvantages. Compared with the finite-element method, the finite-difference method has an advantage in predicting and evaluating dynamic soil-pile-structure interactions under earthquakes because the explicit method commonly used in the finite-difference method is appropriate for solving the problems in nonlinear, high-strain, and physically unstable conditions. In addition, mixed discretization, which is widely applied in finite-difference method, is known as a more rational approach than reduced integration in the finite-element method for treating such problems (Itasca Consulting Group, 2006 [21]). In this study, numerical modeling of the dynamic soil-pile-structure interaction observed in centrifuge tests based on finite-difference approximation was performed. FLAC3D, which is a commonly used finite-difference code in geotechnical engineering, was applied. Detailed modeling methodologies and estimation methods of dynamic soil propertieswere proposed and determined by repetitive analysis and parametric study based on the theoretical basis of soil dynamics.
# A Framework to Model Bursty Electronic Data Interchange Messages for Queueing Systems +
## 2 Materials and Methods
When initially analysed, \"Queue 8\" displayed similar results to that of \"Queue 7\", leading us to focus on one of the two queues. Figure 3: Message traversal through the supply chain network. We can observe from the image the timestamp of when the message traversed along each path of its life journey. Our enterprise dataset consisted of log files that were both structured and unstructured. The supply chain organization processes, on average, around two million messages per day, and we have around 830 customers within our dataset. In an initial inspection of the data, we observed an extended time when the number of messages queued was always bigger than zero and growing. We termed this period as a _busy period_. Anything outside of this condition was classified as a normal period. We analysed a 12.5 h normal period. We wanted to focus our efforts on how a system behaves under normal conditions before investigating a busy period. Table 2 shows a brief summary of both our busy and normal periods and the number of messages per period. The supply chain organisation processed just over one million messages between busy and normal periods. When we analysed the service and inter-arrival times, we noted that the average processing time was 0.04 s, which means that, on average, the messages were arriving at the same rate at which they were being processed. From the log dataset, we need to establish how we retrieve the relevant information for transactional modelling. Section 2.1 gives an overview of how we will accomplish this via our proposed framework.
# Influence of Different Fibers on Performance of Bitumen Binders and Thin-Overlay Bitumen Mixtures
## 2 Materials and Methods
### Methods
#### 2.2.6 The Semi-Circular Bending Test  
The medium-temperature semi-circular bending test (SCB), as outlined in AASHTO TP 124-16 [51], was employed to assess the properties of the bitumen mixture at ambient temperature. This process involved measuring the \(G_{\textit{f}}\), along with introducing parameters such as fracture toughness (\(K_{\text{IC}}\)), \(FI\), and toughness index (\(TI\)) [52]. A thorough analysis was conducted to evaluate the impact of fiber reinforcement on the toughness of the mixture. The test was carried out at a loading rate of 50 mm/min and a temperature of 25 \({}^{\circ}\)C.  
\[K_{IC}=Y_{\textit{f}(0.8)}\sigma_{0}\sqrt{\pi a} \tag{6}\]  
\[\sigma_{0}=F/2\text{rt} \tag{7}\]  
\[Y_{\textit{f}(0.8)}=4.782+1.219(a/r)+0.063e^{7.045(a/r)} \tag{8}\]  
where \(K_{\text{IC}}\) is fracture toughness (MPa\(\cdot\)m\({}^{0.5}\)), \(\sigma_{0}\) is the stress corresponding to the peak load (MPa), \(F\) is the maximum load (kN), and \(Y_{\textit{f}(0.8)}\) is the standard dimension gravitational intensity factor.  
\[FI=\frac{G_{\textit{f}}}{|m|}A \tag{9}\]  
where \(FI\) is a dimensionless flexible index, \(G_{\textit{f}}\) is fracture energy (J/m\({}^{2}\)), \(A\) is the unit scaling factor (taken as 0.01), and \(m\) is the slope of the post-peak inflection point of the curve.  
\[TI=G_{\textit{f},Post-peak}(\Delta mdp-\Delta P_{\text{max}})\cdot 10^{-3} \tag{10}\]where \(T\)I is a dimensionless toughness index, \(G_{f,\text{Post-peak}}\) is the post-peak fracture energy (\(\text{$/$m^{2}$}\)), \(\Delta mdp\) is the displacement (m) at 50% of the peak load after the peak, and \(\Delta P_{\text{max}}\) is the displacement at the peak load (m).  
The overall flow of this study is referred to in Figure 2.
# A Photonic Label-Free Biosensor to Detect _Salmonella_ spp. in Fresh Vegetables and Meat
## 2 Materials and Methods
### Functionalization Process  
The optical PICs designed for this study were fabricated in a controlled cleanroom environment, specifically, a class 10-100 cleanroom. These PICs were created by a simple process based on an electron beam fixed on top of a positive resist layer composed of polymethyl methacrylate (PMMA) with a thickness of 100 nm [44].  
Different batches and wafers were used to extract a total of 100 photonic biosensors (PIC), which were subsequently functionalized to detect _Salmonella_ spp., following the procedure described by [PERSON] et al. [44]. The functionalization process commenced by oxidizing the PIC surface by immersing it in 5 mL of a 0.1 M hydrochloric acid solution (Scharlab) for a duration of 30 min. This oxidation step was carried out using an orbital shaker working at 30 rpm. Later, the surface was washed with deionized water (DIW) and  
Figure 3: Descriptive image of the immunosensory surface. Eight ring resonators were distributed across two sensing areas, with four ring resonators per channel. The figure shows enlarged detail of each ring resonator functionalized with an antibody on its surface and its evanescent response.  
Figure 2: Descriptive image of a common coupling process. The red arrows indicate the path that the light follows when incident from the laser entrance, passing through the grating couplers and optica modulator until reaching the optical ring resonators. They also indicate the passage of light through the optical waveguides coupled to the photonic system.  
then dried. Oxidation was carried out using an orbital shaker that works at 30 rpm. Later, the surface was washed with deionized water (DIW) and then dried.  
Following the oxidation process, the PIC's surfaces were subjected to silanization employing carboxylethylsilanetriol (CTES) for 2 h. Simultaneously, the carboxylic group within the CTES organosilane on the surface was activated by introducing a mixture of carbodiimide and N-hydroxysuccinimide (EDC/NHS), followed by 30 min of incubation at room temperature. The surface was then rinsed and dried under an airflow.  
Covalent immobilization of anti-_Salmonella_ antibodies was carried out on the biosensor surface. Specifically, the anti-_Salmonella_ rabbit polyclonal antibody from Invitrogen and the anti-_Salmonella_ mouse monoclonal antibody were immobilized by orienting their residues to bind to the target antigen.  
Later, the surfaces were washed with PBS, dried, and blocked by incubating them overnight with a solution containing 1% GFS (cold water fish skin gelatin) in PBS. This blocking step ensured that non-specific binding sites on the surface were effective.
## 2 Regulatory Aspects  
### Europe--Food Contact Materials  
Commission Directive 2002/72/EC published in August 2002 authorized the use of BPA as a plastic monomer in the manufacturing of food contact materials ([PERSON] et al., 2010). The European framework regulation (EC) No 1935/2004 subsequently provided guidelines for any material coming into direct or indirect contact with food substances. It specifies that materials should be sufficiently inert so as not to lead to health-related issues in consumers, bring any unacceptable changes in the composition of foods or alter its organoleptic properties [24]. In 2006, EFSA stated that the highest level of BPA exposure in infants aged between 3 and 6 months old occurred via feeding from polycarbonate bottles, although the level of exposure was still below the tolerable daily intake (TDI) [25]. Despite EFSA's statement of obtaining no harmful evidence of BPA for all groups of the population below the TDI, some questions regarding the possible toxicological relevance of BPA were raised. As a result, Commission Directive (2011/8/EU) amended directive 2002/72/EC relating to the use of BPA in food contacting materials. Specifically, Commission Directive 2011/8/EU, as a precautionary measure, restricted the use of BPA in the manufacturing of infant feeding bottles [26]. This amendment was subsequently added to Commission Regulation (EU) No 10/2011 for all plastic materials coming into contact with foods following the implementation of Commission Regulation (EU) No 321/2011. A further amendment to Regulation (EU) No 10/2011 was made regarding the use of BPA in coatings and varnishes coming into contact with foods. This change, reducing the specific migration limit for BPA from 60 to 50 \(\upmu\)g BPA per kg of food, was published in Commission Regulation (EU) 2018/213 [27].
###### Abstract
Among exemplary review articles, there are a few focused on challenge analysis [2; 10; 11], collision avoidance methods [12; 13; 14], path planning [14; 15; 16] and control and autonomy [17; 18]. However, according to the search results of WoS, there is a notable absence of a systematic literature review and featured bibliometric analysis regarding USVs in the context of the new technology applied in automation development, with a specific emphasis on assessing the development of the automation and future developments. Therefore, this paper aims to provide a comprehensive overview of the literature relevant to USVs, with a focus on the technological developments, operational automation and the current state of research in the field. Through a meticulous analysis of existing scholarly works, this paper seeks to identify key trends, challenges and future prospects for the integration and proliferation of USVs in maritime applications. By examining the trajectory of the research and technological advancements in this domain, this paper aims to contribute to the collective understanding of the evolving field of USVs and their potential implications for the maritime industry and related fields. In contrast with previous studies, this paper has three contributions. It is the first attempt at a bibliometric-based review of USVs, which comprehensively examines the basic features of the literature and identifies the current hotspots. Second, the focus is more concentrated on the new technologies and new methods utilized in USVs. Third, the future research directions and detailed analysis of different angles are highlighted to advance the knowledge in this area. The paper is structured as follows: in Section 2, the methods used in the study are described. Section 3 presents the results showing, respectively, the bibliographic and comparative analyses. A discussion is provided in Section 4, while Section 5 summarizes and concludes the paper.
## 4 Conclusions  
The adsorption reactions and work functions of NO\({}_{2}\) and H\({}_{2}\)S on ZnGa\({}_{2}\)O\({}_{4}\)(111) surfaces were studied using first-principles DFT-GGA calculations. Our results showed that the bonding of the nitrogen (sulfur) atom from a single NO\({}_{2}\) (H\({}_{2}\)S) molecule to the Ga atom of Ga-Zn-O-terminated ZnGa\({}_{2}\)O\({}_{4}\)(111) surfaces exhibited the highest work function change of +0.97 eV (-1.66 eV). Experiments on the resistance responses of ZnO(Ga) samples to NO\({}_{2}\) (H\({}_{2}\)S) molecules revealed that sensitivity responses to NO\({}_{2}\) (H\({}_{2}\)S) molecules of ZnGa\({}_{2}\)O\({}_{4}\)-based thin-film sensors exhibit the same trend as that of positive (negative) work function differences [11]. In our favorable configuration, both NO\({}_{2}\) and H\({}_{2}\)S molecules preferred bonding with the Ga\({}_{3c}\) atom of Ga-Zn-O-terminated ZnGa\({}_{2}\)O\({}_{4}\)(111) surfaces. The results demonstrate the sensitivity responses to NO\({}_{2}\) and H\({}_{2}\)S molecules of ZnGa\({}_{2}\)O\({}_{4}\)-based thin-film sensors, which concur with experimental observations of ZnGa\({}_{2}\)O\({}_{4}\)-based gas sensors. The thin-film pretreatment technology, such as the thin-film coatings resulting in a Ga-terminated surface, could enhance the sensitivity responses of future gas-sensing devices.  
Conceptualization, [PERSON]-C.T. and P.-L.L.; methodology, [PERSON]-H.C. and [PERSON]-Y.W.; validation, [PERSON]-H.C. and D.-Y.W.; formal analysis, [PERSON]-C.T., [PERSON]-[PERSON], [PERSON]-Y.W., and [PERSON]-L.L.; investigation, [PERSON]-H.C. and [PERSON]-Y.W.; writing--original draft preparation, [PERSON]-C.T. and P.-L.L.; writing--review and editing, [PERSON]-C.T. and P.-L.L.; supervision, P.-L.L. All authors have read and agreed to the published version of the manuscript. This research was funded by the Ministry of Science and Technology (MOST), Taiwan, grant numbers 109-2221-E-005-042 and 108-2221-E-005-001. Computational studies were performed using the resources of the National Center for High Performance Computing, Taiwan. This manuscript was edited by Wallace Academic Editing. The authors declare no conflict of interest.
## 4 Conclusions  
The following conclusions can be made:  
1. Analysis from the perspective of grouted strength: The method of grouting reinforcement can improve the residual strength of the specimens to a certain extent, and the residual strength enhancement coefficient varies depending on the grouting material used; the residual strength of the ultra-fine cement grouting specimen was increased by 16.931%, the residual strength of the C-S grouting specimen was increased by 13.075%, and the residual strength of the MARITHAN(r) routing specimen was increased by 39.998%. However, the peak strengths of the three types of grouted specimens were still reduced compared to the intact specimens, and their peak strength enhancement coefficients were negative, indicating that there is a limit to the increase in strength depending on the grouting method.
2. Analysis from the perspective of damage patterns: The damage pattern of the ultra-fine cement grouting specimen and the C-S grouting specimen showed shear-slip damage along the original rupture surface. The MARITHAN(r) grouting specimen was cracked from a position near the end of the specimen, and the grouting body was not damaged. This indicates that the ultra-fine cement slurry and C-S slurry do not exert very good reinforcing effects due to their low adhesion and permeability and that MARITHAN(r) can effectively improve the stress concentration caused by the crack, weaken the influence of prefabricated cracks on the macro-damage of the specimen, and exert a better reinforcing effect.
3. Analysis from the perspective of AE energy: The cumulative AE energy curves of grouted specimens showed obvious stage characteristics, and the distribution characteristics differed depending on the grouting material used. The AE energy value of the ultra-fine cement grouting specimen and the C-S grouting specimen increased sharply in Stage III, and there was a maximum value for the slope of the cumulative AE energy curve. The MARITHAN(r) grouting specimen and the intact specimen produced a large number of AE signals in Stage IV, and the maximum value for the slope of the cumulative AE energy curve was in this stage. This indicates that a large number of cracks were generated in the ultra-fine cement grouting specimen and C-S grouting specimen in Stage III, and the ultra-fine cement slurry and C-S slurry exert limited effects on the repair of internal damage to the specimen.