esa-sceva/satcom-chunk-collection huggingface dataset:
## Dynamic Key Sharing and Fuzzy Adaptive Route Selection
### Problem Definition
#### 3.1.2 False Data Injection and False MAC Injection  
Injection of false votes by the adversaries is intended to deplete the energy of the intermediate relay nodes. Similarly, legitimate data endorsed by compromised nodes are corrupted by attaching bogus MACs and are dropped en-route during en-route verification. This prevents true event information from reaching the BS.
## 2 Positioning in the Forest
### Global Navigation Satellite Systems (GNSS)
#### 2.1.2 Glonass  
Following the recent years' vigorous maintenance and reformation efforts, Russia's satellite navigation system GLONASS is again fully operational. GLONASS differs from GPS especially as regards the scheme used for signal transmissions; each GLONASS satellite has its own transmission frequency and they orbit at an altitude of about 19,000 km. Currently, GLONASS has 24 operational satellites. GLONASS, like GPS, was originally designed for military purposes, but nowadays its applications have spread to uses such as land and sea traffic, and gradually to other consumer products. GLONASS continues to undergo modernization, and in the future GLONASS will also use code division technology in its signal transmissions like GPS (_i.e._, all of the satellites will transmit on the same carrier frequency). New signals and codes are also being added to GLONASS in order to enable improved accuracy and interoperability with other systems [20].
## 2 Optimized Geometric and Operational Design of an Induction Motor
### Preliminary Design Stage
The magnetizing inductance \(\mathrm{L_{M}}\) was a function of the stator flux linkage \(\mathrm{\Lambda_{s}}\) and the total leakage inductance \(\mathrm{L_{2D}}\) and the rotor resistance \(\mathrm{R_{r2D}}\) were functions of the rotor frequency, which was a function of slip s. The stator winding resistance \(\mathrm{R_{s}}\), the end-winding leakage inductance \(\mathrm{Ls}\), 3D, and the rotor parameters \(\mathrm{R_{r}}\), 3D, \(\mathrm{L_{r}}\), 3D, which take into account the rotor rings and the bar skewing, were considered constant and were computed analytically according to the method described in [39]. Once all the parameters had been found, it was possible to predict the motor performance under different operating conditions. * Loss Calculation and Efficiency  
In the last step, an assessment of different loss components was conducted to evaluate their impact on overall efficiency, providing insights into performance optimization. Losses in the motor consisted of copper losses in the windings of the stator and rotor, iron losses in the core due to hysteresis and eddy currents, and mechanical and stray losses. Stator and rotor copper losses \(\mathrm{P_{scu}}\) and \(\mathrm{P_{rcu}}\), were calculated using Equations (7)-(9), respectively, where \(I_{ph}\) is the nominal phase current, \(\mathrm{R_{s}}\) is the stator resistance, \(\mathrm{P_{m}}\) is the air-gap power, and \(s\) is the slip. \[\mathrm{P_{scu}}=3\;I_{ph}^{2}\times\mathrm{R_{s}} \tag{7}\]  
\[\mathrm{P_{rcu}}=s\times\mathrm{P_{m}} \tag{8}\]  
\[\mathrm{P_{m}}=\frac{\mathrm{P_{out}}}{1-s} \tag{9}\]  
Iron losses in the stator core depended on the core material and operating frequency and were calculated using [PERSON]'s Equation (10). \[\mathrm{P_{core}}=k_{h}B_{m}^{2}fV+k_{e}B_{m}^{2}f^{2}V \tag{10}\]  
where \(k_{h}\) and \(k_{e}\) are material-specific constants, \(B_{m}\) is the maximum flux density, \(V\) is the core volume, and \(f\) is the frequency. The efficiency rate is given by Equation (11):  
\[\text{D}\ =\sqrt{\frac{\text{P}_{\text{out}}}{\text{C}_{d}\ \text{L}^{\prime}_{ \text{g}}\text{n}}} \tag{2}\]0  
Equation (11) can be written as a function of slip s; thus, the efficiency of the induction motor depends on the value of the slip, as shown in Equation (12). \[\text{D}\ =\sqrt{\frac{\text{P}_{\text{out}}}{\text{C}_{d}\ \text{L}^{\prime}_{ \text{g}}\text{n}}} \tag{2}\]1  
Figure 2 shows the efficiency vs. slip curve for the induction motor under nominal and off-nominal operating conditions. As expected, the efficiency decreased as slip increased, with the motor operating most efficiently at lower slips. The curve highlights the peak efficiency zone near the rated slip (0.02-0.05) with a notable decline in performance at higher slip values due to increased rotor copper losses. This behavior is critical in marine applications where partial-load operation is frequent. \[\text{D}\ =\sqrt{\frac{\text{P}_{\text{out}}}{\text{C}_{d}\ \text{L}^{\prime}_{ \text{g}}\text{n}}} \tag{2}\]2 Equivalent circuit of the three-phase induction motor.
## 2 Data Acquisition  
### Design of the Greenhouse Mobile Robot  
This greenhouse mobile robot with a four-wheel-drive (4 WD) platform has a dimension of 684 mm \(\times\) 561 mm \(\times\) 343 mm, the wheel diameter is 260 mm and the underpan height is 81 mm. Figure 1 shows the greenhouse working condition of the mobile robot. The robot has a 110 kg maximum pay load and maximum velocity of 1.8 m/s. The mobile robot is composed of the control unit, walking unit and navigation unit.  
The STM32F407 microcontroller is used to control the whole system, which offers the performance of the CortexTM-M4 core running at 168 MHz. The 36V-20 AH lithium battery is used as the power supply, which can provide protection functions such as over charge, over discharge, short circuit and over current. The four direct-current motors (60 AIM25C) are selected as the driving motors with a torque of 2 N-M, with a rated speed of 1000 r/min and a maximum speed of 1500 r/min. The 15-bit magnetoelectric encoder equipped with single-ring 32,768 pulse can accurately obtain the real-time speed information of the vehicle system and realize complete motion control.  
As shown in Figure 2, the navigation path of a greenhouse is relatively constant, thus the electromagnetic tracking method is used in this greenhouse mobile robot. First, the navigation signal wire is disposed under the ground between tomato rows, which is an enameled wire with a diameter of 1 mm, and an alternating current (frequency-20 kHz, amplitude-100 mA) flows through the wire. In addition, six electromagnetic sensors (each constitutes a resonance by a 10 mH inductor and 6.8 nF capacitance) are installed in front of the greenhouse mobile robot, with three on each side. Then, when the current in the wire changes according to a certain law, the magnetic field around the wire will also change, which induces a certain electromotive force in the coil. Finally, the signals obtained by the electromagnetic sensors are amplified and rectified by the LMV358 operational amplifier and transmitted to the analog-digital-converter interface of the STM32F407 microcontroller. According to the signal difference between two sides, the steering control is carried out to make sure the robot is moving along the navigation path.  
Figure 1: The (**a**) internal components and (**b**) working condition diagram of the greenhouse mobile robot.
## 4 Measurement Setup and Results
### Measurement Procedure  
Measurements were performed across three target distances (1.2 m, 1.6 m, and 2.0 m) with and without metallic reflectors positioned around the tag to emulate multipath environments. For each configuration, 500 measurement iterations were conducted to obtain statistically reliable results. The beat frequency was extracted from the received signal's power spectral density using zero-padded FFT and Kaiser windowing. The peak corresponding to the beat frequency was used to compute the estimated range, as defined in Equation (20) in [34].
# Pico-Sat to Ground Control: Optimizing Download Link via Laser Communication
## 4 Results
### Link Budget for FSO Nano-Satellite
#### 4.1.1 Photon-Counting Laser Link-Budget Analysis  
* A standard 1 mW laser induces about \(C_{1}=3.2\times 10^{15}\) photons per second.
* Existing sensitive detectors, i.e., avalanche photodiode (APD), have a ratio threshold of 100-300 photons per bit [40]. In such ratio, a bit error rate of \([10^{-3},10^{-4}]\) is expected (without forward error correction).
* Assuming the transmitter has a bit rate of 10 Mbps and power of \(Tx_{power}=100\) mW, the transmitter emits \(C_{1}\times 10^{2}\times 10^{-7}=3.2\times 10^{10}\) photons per bit.
* Based on the geometric ratio of \(Geo_{rt}=10^{-7}\), the telescope is expected to receive 3200 photons per bit in optimal conditions.
* The atmospheric losses (\(Atm_{loss}\)) and the telescope losses (\(Rx_{loss}\)) are bounded by 50%, allowing about 800 photons per bit; this should be sufficient for a robust and high-bandwidth FSO link between a nano-satellite and a ground station.  
In order to reduce the \"light-pollution\" (or the \"photon-noise\") in the ground stations, 1500 nm lasers can be used. In such frequencies, there is a low light pollution and there are available (COTS) sensitive existing photon detectors. We refer the readers to the CLICK [15], NODE [40], and DeMi [41] projects related to satellite laser communication. These projects simulate and demonstrate the main two challenges of lasercom: pointing (tracking) and optical link optimization.
# HiGoReg: A Hierarchical Grouping Strategy for Point Cloud Registration
## 6 Conclusions  
This study presented HiGoReg, a point cloud registration framework that integrates the Gauss-Helmert model with a hierarchical grouping strategy. By dividing observations into manageable subsets, the method avoids the high-dimensional matrix computations characteristic of traditional batch approaches. Experimental results on both synthetic and real-world datasets demonstrate that HiGoReg not only maintains the accuracy of batch solutions but also significantly reduces computation time, particularly for large-scale point clouds. This study also explored the impact of stochastic models and group sizes on performance. It was found that grouping around 100 observations per segment generally offers an optimal trade-off between accuracy and efficiency.  
Despite these advantages, HiGoReg currently depends on accurately matched correspondences, which may reduce its robustness in noisy or low-overlap scenarios. Future improvements will focus on integrating robust feature-matching techniques and accommodating correlated data. While the current implementation runs on CPUs, migrating to GPU platforms is expected to significantly enhance runtime performance. Leveraging parallel computing architectures will be crucial to unlocking HiGoReg's full potential for real-time, high-throughput 3D processing. Future work will also explore extensions in the areas of multi-view registration and multi-source data fusion.  
Conceptualization, T.Z. and Z.D.; methodology, T.Z., J.G., and Z.D.; software, T.Z.; validation, T.Z., J.G., and Z.D.; formal analysis, T.Z. and Z.D.; investigation, T.Z.; resources, T.Z., J.G., and Z.D.; data curation, T.Z., J.G., and Z.D.; writing--original draft preparation, T.Z. and Z.D.; writing--review and editing, T.Z., J.G., and Z.D.; visualization, T.Z. and Z.D.; supervision, J.G. and Z.D.; project administration, Z.D.; funding acquisition, Z.D. All authors have read and agreed to the published version of the manuscript.  
This research was funded by the National Key Research and Development Program of China, grant number 2023 YFF0725200.  
The data that support the findings of this study are openly available at [[http://graphics.stanford.edu/data/3](http://graphics.stanford.edu/data/3) Dscanrep/]([http://graphics.stanford.edu/data/3](http://graphics.stanford.edu/data/3) Dscanrep/) (accessed on 17 March 2025) and [[https://github.com/WHU-USI3](https://github.com/WHU-USI3) DV/WHU-TLS]([https://github.com/WHU-USI3](https://github.com/WHU-USI3) DV/WHU-TLS) (accessed on 20 March 2025), and additional data related to this study are available upon reasonable request to the corresponding author.  
The authors declare no conflicts of interest.
## 3 Results and Discussion
### Characterization of Asphalt Concrete Mixtures' Empirical Properties
#### 3.1.4 Permanent Deformation Resistance  
The results obtained in the WTT method to assess the susceptibility of the AC14-NA and AC14-RCA mixtures to permanent deformation at high temperatures (under a given rolling load) are described in Figure 7 and Table 12 (average values for both mixtures).  
In these WT tests, the results of the AC14-RCA were better than those achieved with the reference mixture. In fact, the WTS\({}_{\text{AIR}}\) (0.10 mm/10\({}^{3}\) cycles) is even substantially better than that observed in the AC14-NA (0.15 mm/10\({}^{3}\) cycles).  
Comparing all the most relevant results of the tests described, it can be concluded that AC14-RCA has very similar empirical properties to those exhibited by AC14-NA, as shown in the summary graphs in Figure 8. Although these values cannot be directly compared with the results found in the available literature on this subject (because the RCA used, the percentages of its incorporation, the types of bitumen, and the job mix formulae are  
\begin{table}
\begin{tabular}{l l l c c c} \hline \multicolumn{2}{c}{**Test Method**} & \multicolumn{1}{c}{**Standard**} & **AC14-NA** & **AC14-RCA** & **Specific. 1**  \\ \hline \multirow{3}{*}{Marshall test} & Stability, S (kN) & & 20.9 & 20.2 & S\({}_{\text{min\,7.5}}\)–S\({}_{\text{max\,21}}\)2  \\ \cline{2-5}  & Flow, F (mm) & EN 12697-30 & 3.1 & 2.9 & F\({}_{\text{min\,2}}\)–F\({}_{\text{max\,4}}\) \\ \cline{2-5}  & Marshall quotient, Q (kN/mm) & & 6.7 & 7.0 & Q\({}_{\text{min\,3}}\) \\ \hline Maximum density, \(\rho_{\text{mh}}\) (Mg/m\({}^{3}\)) & EN 12697-5 [70] & 2.461 & 2.394 & DV 3  \\ \hline Bulk density, \(\rho_{\text{bssd}}\) (Mg/m\({}^{3}\)) & EN 12697-6 [71] & 2.386 & 2.310 & DV 3  \\ \hline Air voids content, V\({}_{\text{a}}\) (\%) & EN 12697-8 [72] & 3.1 & 3.3 & V\({}_{\text{min\,3}}\)–V\({}_{\text{max\,5}}\) \\ \hline Void in the mineral aggregate, VMA (\%) & EN 12697-8 & 15.1 & 14.7 & VMA\({}_{\text{min\,14}}\) \\ \hline Voids filled with binder, VFB (\%) & EN 12697-8 & 76.3 & 77.5 & - \\ \hline \end{tabular}
\end{table}
Table 11: AC 14 surf 35/50 with NA/RCA—Marshall test results and void characteristics.  
different), they are in line with the general trends pointed out there (for mixtures with some similarities).  
In addition to these empirical properties, two functional parameters of the surface layer were also determined: the pendulum test value (PTV), in accordance with EN13036-4:2011 [73], and the surface macrotexture depth using a volumetric patch technique (through the mean texture depth, MTD, respecting the EN 13036-1:2010 [74]). Although these results only represent specific areas, they provide helpful information on the immediate friction of the layer. The average results obtained in the AC14-RCA layer (PTV = 56 and MTD = 0.72 mm) were similar to those achieved in a reference surface layer applied on the same date.
###### Abstract  
Remote sensing is often used to assess rangeland condition and biophysical parameters across large areas. In particular, the relationship between the Normalized Difference Vegetation Index (NDVI) and above-ground biomass can be used to assess rangeland primary productivity (seasonal carbon gain or above-ground biomass \"yield\"). We evaluated the NDVI-yield relationship for a southern Alberta prairie rangeland, using seasonal trends in NDVI and biomass during the 2009 and 2010 growing seasons, two years with contrasting rainfall regimes. The study compared harvested biomass and NDVI from field spectrometry to NDVI from three satellite platforms: the Aqua and Terra Moderate Resolution Imaging Spectroradiometer (MODIS) and Systeme Pour I'Observation de la Terre (SPOT 4 and 5). Correlations between ground spectrometry and harvested biomass were also examined for each growing season. The contrasting precipitation patterns were easily captured with satellite NDVI, field NDVI and green biomass measurements. NDVI provided a proxy measure for green plant biomass, and was linearly related to the log of standing green biomass. NDVI phenology clearly detected the green biomass increase at the beginning of each growing season and the subsequent decrease in green biomass at the end of each growing season due to senescence. NDVI-biomass regressions evolved over each growing season due to end-of-season senescence and carryover of dead biomass to the following year. Consequently, mid-summer measurements yielded the strongest correlation (\(R^{2}\) = 0.97) between NDVI and green biomass, particularly when the data were spatially aggregated to better match the satellite sampling scale. Of the three satellite platforms (MODIS Aqua, MODIS Terra, and SPOT), Terra yielded the best agreement with ground-measured NDVI, and SPOT yielded the weakest relationship. When used properly, NDVI from satellite remote sensing can accurately estimate peak-season productivity and detect interannual variation in standing green biomass, and field spectrometry can provide useful validation for satellite data in a biomass monitoring program in this prairie ecosystem. Together, these methods can be used to identify the effects of year-to-year precipitation variability on above-ground biomass in a dry mixed-grass prairie. These findings have clear applications in monitoring yield and productivity, and could be used to support a rangeland carbon monitoring program.  
NDVI; prairie yield; biomass; productivity; drought; MODIS; SPOT 2016 872; doi:10.3390/rs8100872
# An Analytical Model for Interference Alignment in Broadcast Assisted VANETs
## 1 Introduction
### Goals of This Paper and Main Contributions  
The main contributions of this article are as follows:  
* Depending on analyzing communication flow between base station and vehicles in VANETs, we construct V2V and V2I broadcast model. In this model, IA technology is adopted in upload transmission for V2I in VANETs.
* Combining characteristics of safety-related information, we build a data-driven assisted transmission model to improve link reuse rate.
* We propose an optimization problem of minimizing total number of time slots required for safety information sharing in VANETs. In order to solve this problem, we reform constraints in optimization problem by transforming quadratic items into multiple linear constraints, which simplify the optimization problem.  
Based on this model, solution results of the optimization problem show that data-driven assisted transmission-based IA Application can effectively improve link reuse rate and reduce communication delay in VANETs.
## 3 Materials and Methods  
### Chemicals and Materials  
All organic solvents (acetonitrile, ethyl acetate, methanol, and 2-propanol) are pesticide-grade analytical solvents supplied by Fisher Scientific (Ottawa, ON, Canada). Water for SPE and LC-MS/MS was distilled-deionized water (18 M\(\Omega\)cm resistivity) and was prepared in the lab using a Nanopure DiamondTM System (Barnstead International, Dubuque, IA, USA). Aqueous ammonia (21% _w/o_) and glacial acetic acid (EMD chemical Inc.) were purchased from VWR Scientific (West Chester, PA, USA). The SPE format cartridges of Oasis HLB, MAX, and MCX (500 mg, 6 mL) were purchased from Waters Limited (Milford, MA, USA). C18 SPE cartridges (1000 mg, 6 mL) were purchased from Canadian Life Science (Peterborough, ON, Canada). All qualitative filter papers (glass microfiber filters 934-AHTM and Filter papers 113 TM) were purchased from Whatman (Florham Park, NJ, USA).  
Standards of bisphenol-A, BPA, (97.0%), 4-octylphenol, 4 OP, (99.0%), and diethylstilbestrol, DES, (99.6%), were purchased in solid form from Sigma-Aldrich (Oakville, ON, Canada), while 4-nonylphenol, 4 NP, (99%), in solid form, was obtained from Fluka (St. Louis, MO, USA). Other natural and synthetic hormonal standards were obtained in solution. Estrone (E1), 17B-estradiol (E2), estriol (E3) and 17\(\alpha\)-ethinyl estradiol (EE) (>90% purity) at 1.0 mg/mL standards in methanol (MeOH) were purchased from Cerilliant (Round Rock, TX, USA). Prednisone (PRDN) and prednisolone (PRNL), (>90% purity) 100 ug/mL in acetonitrile (MeCN) were supplied by Cerilliant (Round Rock, TX, USA). Bisphenol A-d\({}_{16}\), (BPA-d\({}_{16}\), 99.0%D), 4-nonylphenol 2,3,5,6-d\({}_{4}\), (4-NPd\({}_{4}\), (98.9%D) and gemfibrozil-d\({}_{6}\) (2,2-dimethyl-d\({}_{6}\)) were purchased from C/D/N isotopes (Pointe-Claire, QC, Canada) in solid forms. Estrone 2,4,16,16-d\({}_{4}\), (E1-d\({}_{4}\), 97%D) was obtained in liquid form (5 mg/100 mL) from Cambridge isotopes laboratories (Tewksbury, MA, USA).
## 6 Simulation Results and Discussions
### Flat Rayleigh Fading Channel Simulation Results  
In the following, the performance of classical OFDM, GFDM, WHT-GFDM [18] and WHT-LWT-GFDM methods are compared on flat Rayleigh fading channel. In this work, the influences of varied wavelet families as an example of bior2.6, bior3.5, Haar, db8, sym3, sym4, lazy, and sym7 on the performance of the offered scheme are examined. The performance of the proposed waveform with various mother wavelets is shown in Figure 7.  
The best performance of the waveform proposed is obtained using the Haar mother wavelets and the worst performance is obtained using the sym7 mother wavelets. The performance obtained using another mother wavelet is between the performance obtained using Haar or sym7 mother wavelets. Hence, in the rest of this sub-section, the proposed waveform is implemented using the Haar mother wavelets.  
In Figure 8, we compare the performance of classical OFDM, GFDM, WHT-GFDM [18] and proposed waveform, implemented using Haar mother wavelets on flat Rayleigh fading channel, using the BER-SNR metric.  
As Figure 8 shows, the BER-SNR curve which corresponds to the GFDM waveform converges slightly below the \(1\times 10^{-3}\) floor after 35 dB of SNR value. Although the WHT-GFDM waveform performs better than GFDM and conventional OFDM at low SNR values, it converges to the floor error of \(1\times 10^{-2}\) after 20 dB. The conventional OFDM waveform is better than GFDM and has not an error floor. However, the proposed waveform overcomes both the classical OFDM, WHT-GFDM [18] and the GFDM waveforms, eliminating the error floor and providing an approximately 10 dB of SNR gain versus the conventional  
Figure 7: A comparison of the performance of the proposed waveform in case of flat Rayleigh fading channel obtained using different mother wavelets.  
OFDM for the \(1\times 10^{-3}\) BER value. Achieving a roughly 10 dB of SNR enhancement on the frequency flat Rayleigh fading channel with the proposed scheme is extremely satisfactory. Additionally, this improvement can be explained by the fact that LWT has good time-frequency localization features, ICI and ISI suppression, and flexibility. It can also be explained by the fact that this improvement meets the excellent reconstruction feature since the wavelets have orthonormal structure.