esa-sceva/satcom-chunk-collection huggingface dataset:
# Interpreted Petri Nets Applied to Autonomous Components within Electric Power Systems
## 6 Discussion  
### Possibilities of Interpreted Petri Nets  
Interpreted Petri nets take the benefits of ordinary Petri nets as a mathematical formalism with all available analysis and verification methods. Additionally, they are equipped with input and output signals that allow communication with the environment. When considering the control algorithms of autonomous components within power and energy systems, such a formal specification can be easily verified before implementation. This allows us to detect such problems as deadlocks or indeterminism, which was shown in the case study, and to adjust the structure so that the important properties hold.  
Moreover, based on a formal specification in the form of a previously verified interpreted Petri net, we can automatically generate a program in a hardware description language (e.g., VHDL or Verilog). Therefore, the implementation of a prototype can be obtained in a short time.  
To summarize, the benefits for applying interpreted Petri nets are as follows. Firstly, an autonomous component in an electrical power system is formally specified. Secondly, the prepared model can be formally verified in order to check some basic properties, e.g., determinism or liveness. Behavioral properties can also be verified using a model checking technique. Thirdly, code in a hardware description language can be automatically generated. These advantages of interpreted Petri nets also make them suitable for the modeling of autonomous components within power and energy systems.
## 3 Results
Table 7 presents the intensity parameter values of the potential field computed through the locations of obstacles in the simulation using DE algorithm for 30 individuals and 50 generations. Figure 12 shows the lines and trajectory of the APF together with the collision-free path, in the Cartesian space for the simulation performed using the aforementioned parameters. Figure 11: DE effecting with 30 individuals and 50 generations. Figure 10: Step response of the UR5 robot for the two configurations of Joint 3. Finally, Figure 14 represents the trajectories of UR5 manipulator in three cases, the first case is with PDC-PID controller to obtain circular contour, the second case is with APF to obtain collision free-path and the third case is with PDC-APF modified by DE which combines the two merits of the above two cases. Figure 15 shows the trajectory of UR5 manipulator in these three cases, when it moves from the starting position and avoids the obstacle in the contour path to reach the final position. In the first case, the manipulator moved from the starting to the final position but the distance between obstacle and manipulator was larger than in the second case and the distance in the second case was larger than the in third case which means that manipulator is following the desired contour path. \begin{table}
\begin{tabular}{c c c c} \hline \hline
**Parameter** & \(\mathbf{k_{r}}\) & \(\mathbf{k_{a}}\) & \(\mathbf{k_{o}}\) \\ \hline Intensity & 1829 & 4230 & 2389 \\ \hline \hline \end{tabular}
\end{table} 
Table 7: Parameter values and intensities obtained by the DE. Figure 12: Trajectory and collision-free path performed by the APF for the parameters in Table 6.  
Figure 13: Potential surface obtained from the DE-APF scene in Figure 12.  
As noted, to compare this paper with Ref. [8], we showed that the DE algorithm enhances the parameters of the APF approach and control on the PDC-PID controller. This was completed by helping a fitness function. The result of this study gave linear and nonlinear contour tracking with obstacle avoidance to the UR5 manipulator robot.
## 6 Challenges and Future Works
### Implementation of SMP into Mobility as a Service  
The conventional approach, such as adding the number of routes, trains, and parking garages, can no longer solve the problem of our congested urban areas. With the advancement of technology, Mobility as a Service (MaaS), as an emerging concept, can be another new direction and challenge to implement in reducing vehicle ownership on-road [124].  
This concept integrates the new modes (private transport) and other conventional modes (public transport) in achieving seamless mobility. It is a business service that aims to create a cooperative and interconnected between different modes of transport such as public and private transport in fulfilling customers' mobility need with a common interface [125]. In the real-life scenario, travellers not only choose a route but also the types of transportation modes to travel. MaaS takes away users' trouble in making their own transport decision and allows them freedom of movement. There is a study that performed synchronisation of the ridesharing concept and tour planning (in the form of MaaS). Research related to MaaS is still limited. The lack of a transparent market to test the appeal of integrated multi-modal mobility service offerings is a challenge for future research. Without sizeable trials, noticeable outcomes of MaaS aligned with sustainability objectives may be unlikely to be achieved. Furthermore, the authors of [126] introduced a novel rideshare-oriented MaaS model in route planning and activity scheduling with rideshare concepts to enhance the mobility of people. However, its implementation and sizeable trials are still limited. Therefore, the assimilation of shared mobility services into the MaaS can be further extended.
# Cable-Driven Exoskeleton for Ankle Rehabilitation in Children with Cerebral Palsy
## 2 Exoskeleton Development and Control Methodology
### Discover2 Walk Overview
#### 2.1.1 Pelvic Module  
The pelvic module consists of a suspended CDPR designed to provide body weight support and assist the pelvic motion during the gait cycle. The patient's pelvis is supported by a modified commercial hip orthosis (PRIM, Madrid, Spain), which functions as the system's EE. To enhance structural rigidity and prevent the deformation of the original plastic components, the orthosis is reinforced with two additional rigid metallic elements.  
Each Kevlar cable of the CDPR is independently actuated by a Dynamixel XH540-W150-T servomotor (ROBOTIS, Corona, CA, USA) mounted at the top vertices of the Discover2 Walk (D2W) prismatic frame. The system integrates multiple sensors to ensure accurate control and safe operation, as follows:  
* Inertial measurement unit (IMU): allows the monitoring of the pelvis angular position, velocity, and linear acceleration. The model used is BNO055 IMU (BoschSensortec, Reutlingen, Germany).
* Motor absolutes encoders: to measure the length of the cables. The model used is AMT102-V encoders (CUI Devices, Oswego, OR, USA).
* Load cells: to control partial body weight support. The model used is DYMH-103 load cells with a maximum capacity of 20 kg (CALT Sensor, Shanghai, China).
# A Lightweight and Practical Anonymous Authentication Protocol Based on Bit-Self-Test PUF
###### Abstract  
Physical unclonable function (PUF), a cryptographic primitive, has recently been used in protocol design because it can ensure a tamper-evident feature. In many PUF-based protocol schemes, helper data algorithms (HDA) or fuzzy extractors (FE) are used to generate strong keys from unreliable PUF responses. However, these methods inevitably introduce complex error correction techniques, which not only increase the overhead of embedded devices but also pose some security risks. We propose a novel HDA technology, which does not use any high-overhead error correction mechanism, greatly reducing the implementation complexity and execution overhead. The novel HDA exploits the strategy of bit-self-test (BST) and the PUF can extract the robust responses by using the real-time generated reliable flags, and then an entropy extractor is used to generate the reliable and random key with high entropy. Based on this novel HDA, we design a lightweight anonymous authentication protocol. The protocol uses pseudo-random function (PRF) and XOR operation instead of the traditional hash function and symmetric encryption algorithm, which ensures security while reducing the overhead. Moreover, the proposed protocol does not require the server to store a large number of challenge-response pairs (CRPs), which reduces the storage overhead on the server while avoiding the risk of leakage of CRPs. Moreover, the device identity ID is updated during each round of the authentication process, which prevents the device from being tracked and protects the privacy of the device. The implementation and performance analysis of the protocol prototype on a Zynq-7000 SoC XC7Z010 FPGA shows that the proposed scheme solves the problems encountered with existing schemes and has additional security properties.  
BST-PUF; HDA; authentication protocol; lightweight Article
# Augmented Reality: Mapping Methods and Tools for Enhancing the Human Role in Healthcare HMI
## 3 Results
### Intraoperative Solution
#### 3.3.1 Lower and Upper Limbs
An optical pose tracking system was used to superimpose images onto the arthroscopic video view, and markers were placed to allow distinction between several different instruments. They believe that arthroscopic elbow surgery, in which many complications related to nerve damage can arise, will benefit from AR technology. [PERSON] et al. [38] presented a proof-of-concept AR-based guidance system for Kirschner wires placement of the glenoid component placement in total shoulder arthroplasty (TSA). In their solution, the orthopedic surgeon had to manually align the virtual hologram with the target anatomy using the Microsoft HoloLens 2, even though the manual alignment is considered extremely subjective and prone to human error process. The use of AR for assisted glenoid component placement in TSA was demonstrated only in one previous study [34]. Some groups have sought markerless computer vision-based solutions to eliminate the need for rigidly fixed markers. These techniques require the acquisition of the patient's anatomy preoperatively to create a 3D model and then obtain the registration intraoperatively by scanning the surface of the model with a probe [33]. Although the techniques were different, both studies [33,38] obtained comparable results in terms of input point accuracy, while [PERSON] et al. [33] reported a lower mean orientation error, which could be justified by the automatic registration method used, based on the glenoid surface scanning. [PERSON] et al. [31], instead, provided a markerless image-based registration approach to guide TSA using the Microsoft HoloLens 1. They used the depth managing sensors of HoloLens 1 to obtain the intra-operatively alignment with the patient anatomy via image-based registration. However, although their results were promising, the system did not meet surgical accuracy requirements yet.
# Optimized-Based Fault-Tolerant Control of an Electro-Hydraulic System with Disturbance Rejection
## 4 Simulation Results
### Evaluation Result
The accurate estimation of the matched, mismatched disturbances, and the bias fault using two Dos, are shown in Figure 7. Meanwhile, compared with the BSMCDO control method, the proposed controller combines the robustness properties of the NTSMC and the optimal performance of the optimized force controller. Therefore, the FTC proposed approach obtained the better performance and stronger robustness even though the bias fault appears. Figure 8 illustrates the norms of critic and actor NN weight estimations, respectively, and the \(\hat{\phi}_{c},\hat{\phi}_{a}\) converge eventually. Table 3 presents the results of three performance indices of three controllers. It indicates that the \(e_{RMS}\) of the proposed controller is reduced by 73.9%, and 48.4%; the \(e_{a}\) of the proposed controller is reduced by 79.8%, and 60.8%, in comparison with DBC, BSMCDO for VFS demand, respectively. The performance indices for ramp demand also reflect similar results in Table 3. This clearly validates the effectiveness of the proposed method. Figure 6: Comparison of three control methods in Case study 2: (**a**) Ramp response. (**b**) VFS response. (**c**) Tracking error for ramp demand. (**d**) Tracking error for VFS demand. Figure 7: Lumped disturbances estimation of the proposed method in Case study 2: (**a**) \(\hat{\sigma}_{1}\) for ramp demand. (**b**) \(\hat{\sigma}_{1}\) for VFS demand. (**c**) \(\hat{\sigma}_{2}\) for ramp demand. (**d**) \(\hat{\sigma}_{2}\) for VFS demand. According to the comparative simulation studies in Figure 3 above, it is verified that the proposed FTC can obtain the desired control goal. Moreover, it provides the excellent tracking performance in the face of the matched, mismatched disturbances, the internal leakage fault, among three controllers.
## 3 Solving the Time-Jerk Optimal Problem  
In industrial applications, the actual operating trajectory of a manipulator is typically divided into two categories: point-to-point discrete trajectory and continuous trajectory. The continuous working trajectory needs to be segmented and realized by trajectory interpolation. In this paper, the trajectory planning of the manipulator and worktable is conducted in the joint space. The joint position \(q_{ij}\) of each joint \(i\) at each path point \(j\) is obtained through the inverse kinematics solution, where \(i=1,2,...,7,j=1,2,3\), and \(t_{j}\) is the movement time of the joints from the path point \(j-1\) to path point \(j\).  
This paper presents a multi-objective optimization model with the objectives of time and smoothness. The specific optimization objective function is as follows:  
\[S_{1}=T=\sum_{j=1}^{3}t_{j} \tag{5}\]  
\[S_{2}=\sum_{i=1}^{7}\sqrt{\frac{1}{T}\int_{0}^{T}[j_{i}(t)]^{2}dt} \tag{6}\]  
where \(S_{1}\) represents the total running time of the trajectory, and \(S_{2}\) represents the sum of jerk.  
In order to guarantee the safety of the manipulator and worktable in practical applications, it is essential to impose constraints on the movements of their respective moving parts which are as follows:  
\[\left\{\begin{array}{l}|v(t)|\leq v_{m}\\ |a(t)|\leq a_{m}\\ |j(t)|\leq j_{m}\\ \end{array}\right. \tag{7}\]  
where \(v(t)\), \(a(t)\), and \(j(t)\) represent the joint velocity, acceleration, and jerk, respectively. Similarly, \(v_{m}\), \(a_{m}\), and \(j_{m}\) denote the limit values of velocity, acceleration, and jerk, respectively.
# Lightweight CoAP-Based Bootstrapping Service for the Internet of Things
## 1 Introduction
The main reason for using CoAP is that it has recently been standardized as the application protocol for exchanging information between smart objects and, therefore, is specifically designed for devices with small memory and computational resources, such as those expected in IoT networks. In fact, our proposal stems from the (realistic) assumption that the smart objects will generally ship a CoAP implementation. Our service also assumes the presence of a centralized entity, the _controller_ (such as, e.g., the coordinator in ZigBee IP [23]) which manages the access to a particular security domain and interacts with a smart object to perform the bootstrapping. That is, the controller authenticates and authorizes the smart object to become a member of the security domain. To achieve this, both entities use CoAP to transport EAP packets for the authentication and to carry authorization. The controller can interface with a backend AAA infrastructure to complete the EAP authentication, perform the authorization steps related with the bootstrapping service and, optionally, account for the activity of the smart object in the security domain. In this paper, we present our bootstrapping service, named _CoAP-EAP_, its architecture, the design and the performance evaluation with implementation in the Contiki OS Cooja simulator [24], as well as comparison with PANATIKI [25], which represents the best case of bootstrapping solutions also using EAP and AAA. The rest of this paper is divided as follows. Section 2 gives the background and state of the art, in order to understand our solution. Section 3 details the proposed bootstrapping service architecture and operation. In Section 4, we show performance evaluation including message size, bootstrapping time, memory footprint, the probability of finishing a bootstrapping (success percentage) and energy consumption. Finally, we provide some conclusions and future work lines in Section 5.
## 2 Esophageal Cancers  
Esophageal cancers (ECs) are the eighth most frequent cancer worldwide. Moreover, EC is characterized by its aggressive progression and a poor five-year survival rate of about 20% [4,5]. The most frequently-characterized forms of EC are squamous cell carcinomas (ESCCs) and adenocarcinomas (EACs) [4]. Even though both ECs share similar key risk factors, for example, smoking, alcohol overuse, unhealthy diet, and obesity [6], the incidence and etiology vary significantly between ESCC and EA.  
For a long time, ESCC accounted for about 87% esophageal cancers; however, in the last few years, adenocarcinoma has become the leading cause of esophageal cancer [7,8]. ESCC arises from the flat cells of the esophagus mucosa and its incidence is strongly related with age, socioeconomic status, alcohol and tobacco overuse, obesity, and human papillomavirus virus (HPV) infection [7]. Mutations connected with ESCC include mainly amplifications of ccnd1 and sox2 and/or tp63 [3,4].  
Even though genetic factors influence EAC outcome, that is, amplification of erbb2, vega, and gata4 and gata6 [3], this malignancy is the most strongly correlated with the occurrence of gastroesophageal reflux disease (GERD). It has been demonstrated that the odds ratio for esophageal adenocarcinoma was 7.7 (95 percent confidence interval (CI), 5.3 to 11.4) among persons with recurrent symptoms of reflux compared with people without such symptoms and 43.5 (95 percent confidence interval, 18.3 to 103.5) among persons with long-standing and severe symptoms of reflux [9]. GERD leads to persistent inflammation of esophagus tissues. Chronic esophagitis leads to the development of metaplastic lesions, which can result in Barrett's esophagus (BE), that is, metaplastic changes in the esophagus mucosa. [3,6]. BE is strongly connected with EAC outcome; [PERSON] et al. reported that patients with BE exhibited a 30- to 60-fold increase in the incidence of EAC [7].
# Assessment of GNSS Galileo Contribution to the Modernization of CROPOS's Services
## 2 Materials and Methods
### Preparation and Execution of the Field Activities
\begin{table}
\begin{tabular}{c c c c c} \hline
**Session** & **Series** & **Start Time (CET)** & **PDOP** & **Number of SV** \\ \hline  & VPPS (GGG) & 07:53:08 & 1.2 & 18 \\ \cline{2-5}  & VPPS (GGG) & 07:53:42 & 1.2 & 18 \\ \cline{2-5}  & VPPS (GGG) & 07:54:18 & 1.2 & 18 \\ \cline{2-5}
1. (A-1) & VPPS (GAL-only) & 07:56:53 & 3.9 & 5 \\ \cline{2-5}  & VPPS (GAL-only) & 07:58:38 & 3.9 & 5 \\ \cline{2-5}  & VPPS (GAL-only) & 07:59:24 & 3.8 & 5 \\ \cline{2-5}  & STATIC (GGGB) & — & — & — \\ \hline  & VPPS (GGG) & 08:10:54 & 1.6 & 15 \\ \cline{2-5}  & VPPS (GGG) & 08:12:06 & 1.6 & 15 \\ \cline{2-5}  & VPPS (GGG) & 08:12:43 & 1.6 & 17 \\ \cline{2-5}
2. (A-2) & VPPS (GAL-only) & 08:20:50 & 3.3 & 5 \\ \cline{2-5}  & VPPS (GAL-only) & 08:21:34 & 3.3 & 5 \\ \cline{2-5}  & VPPS (GAL-only) & 08:22:10 & 3.3 & 5 \\ \cline{2-5}  & STATIC (GGGB) & 08:25-08:47 & & \\ \hline  & VPPS (GGG) & 09:31:01 & 1.4 & 16 \\ \cline{2-5}  & VPPS (GGG) & 09:31:47 & 1.4 & 16 \\ \cline{2-5}  & VPPS (GGG) & 09:32:24 & 1.4 & 16 \\ \cline{2-5}
3. (A-3) & VPPS (GAL-only) & 09:34:55 & 2.4 & 6 \\ \cline{2-5}  & VPPS (GAL-only) & 09:35:32 & 2.4 & 6 \\ \cline{2-5}  & VPPS (GAL-only) & 09:36:11 & 2.4 & 6 \\ \cline{2-5}  & STATIC (GGGB) & 09:38–10:00 & & \\ \hline  & VPPS (GGG) & 10:31:14 & 1.3 & 18 \\ \cline{2-5}  & VPPS (GGG) & 10:31:52 & 1.4 & 18 \\ \cline{2-5}
4. (A-4) & VPPS (GAL-only) & 11:02:30 & 3.0 & 6 \\ \cline{2-5}  & VPPS (GAL-only) & 11:03:06 & 2.4 & 6 \\ \cline{2-5}  & VPPS (GAL-only) & 11:03:43 & 2.4 & 6 \\ \cline{2-5}  & STATIC (GGGB) & 11:05-11:27 & & \\ \hline  & VPPS (GGG) & 11:53:50 & 1.3 & 20 \\ \cline{2-5}  & VPPS (GGG) & 11:54:25 & 1.4 & 19 \\ \cline{2-5}  & VPPS (GGG) & 11:55:00 & 1.4 & 19 \\ \cline{2-5}
5. (A-5) & VPPS (GAL-only) & 11:56:50 & 2.4 & 6 \\ \cline{2-5}  & VPPS (GAL-only) & 11:57:26 & 2.4 & 6 \\ \cline{2-5}  & VPPS (GAL-only) & 11:58:01 & 2.4 & 6 \\ \cline{2-5}  & STATIC (GGGB) & 12:01–12:23 & & \\ \hline \end{tabular}
\end{table} 
Table 2: Observation sessions and series of VPPS and GPPS (STATIC) as they were carried out.
# Research Status and Prospects of High-Voltage Pulse Plasma Rock-Fracturing Technology
## 4 Feasibility Analysis of Pulsed Discharge Plasma Rock-Fracturing Technology in Tunnel Boring  
With the rapid development of national economy, a large amount of infrastructure construction has been generated in national transportation, water conservancy, coal mining and other industries, especially with the rise of roads and railways in China in the past 20 years, and a large amount of tunnel construction has occurred in mountain road tunnels and urban rail transit [72], as shown in Figure 10. At present, in tunnel engineering construction, most of the methods of drilling and blasting and mechanical excavation are used. Mechanical methods often use mechanical equipment for tunneling, mainly the shield/TBM (Tunnel-Boring Machine) method [73]. Due to the high cost of mechanical equipment-related purchasing and transportation, assembly, parts consumption, etc., and the need to design mechanical equipment according to the specific tunnel project, the designing and manufacturing of mechanical equipment takes a long time and costs are high, resulting in a high initial investment, so the shield tunneling method and TBM method are not suitable for mountain short-tunnel projects. Because of the existing problems and objective requirements of mechanical construction, the drilling and blasting method has the advantages of simple construction, wide application range, strong geological adaptability, and low excavation cost, so the drilling and blasting method is still the mainstream construction method in mountain tunnel engineering.  
In the excavation process for the drilling and blasting method, the energy of fractured rock mainly comes from the stress wave released within a short time after the explosion [74]. However, harmful gasses may be released during the use of explosives [1], the control of explosives by the state is very strict, and the preservation of explosives in the project also has certain security risks. Pulsed discharge plasma rock-fracturing technology has the advantages of controllable energy release, small flying stone production, light equipment weight, and low cost, and has been rated as one of the most promising non-explosive rock-breaking methods by many foreign institutions, such as the National Science Foundation of the United States.  
According to the above summary, at present, there is a relatively solid theoretical research basis for plasma rock-fracturing technology. The influencing factors of this technology applied in the rock-fracturing process of tunnel excavation have been analyzed to a certain extent, and a qualitative analysis has been carried out on how to achieve greater shockwaves. Therefore, it is feasible to apply this technology in the field of tunnel excavation engineering.  
Figure 9: Crack distribution on the upper surface of the specimen under different ground stresses [71].