esa-sceva/satcom-chunk-collection huggingface dataset:
# An Adaptive Fast Incremental Smoothing Approach to INS/GPS/VO Factor Graph Inference
## 2 Materials and Methods
### Factor Graph Model of INS/GPS/VO Integrated Navigation System
#### 2.1.5 Loop Factor  
In general, VO encapsulates the relative relationship between the carrier's positional state at consecutive time points. When the carrier retraces its path to a prior position over a defined duration, constraints can be defined for these temporal state variables. Techniques like loop closure detection [30; 31; 32] offer a means to establish these constraints. This process is analogous to introducing a closed-loop factor node into the factor graph.  
The Loop measurement equation is given by  
\[z_{ij}^{Loop}=h^{Loop}\big{(}x_{i},x_{j}\big{)}+n^{Loop} \tag{12}\]  
where \(n^{Loop}\) represents the measurement noise, \(h^{Loop}\big{(}x_{i},x_{j}\big{)}\) denotes the measurement function, \(z_{ij}^{Loop}\) signifies the measurement. The Loop factor equation is defined by a binary factor  
\[f^{Loop}\big{(}x_{i},x_{j}\big{)}=d\Big{(}z_{ij}^{Loop}-h^{Loop}\big{(}x_{i}, x_{j}\big{)}\Big{)} \tag{13}\]  
Figure 3d shows a factor graph in a multi-sensor and asynchronous scenario. The factor graph includes Loop, VO, GPS, IMU, bias, and prior factors. The IMU factor is replaced by the equivalent IMU factor as shown in Figure 2.
## 1 Introduction  
Aquaculture farming of sturgeon was initiated globally at the end of the 20 th century. By 2017, a total of 2329 commercial sturgeon farms were reported, with biomass production of 102,327 tons [1]. The present sturgeon aquaculture industry generates a large quantity of by-products. The primary commercial product is the ovary (cavitar), with the meat often being discarded as a by-product of cavitar processing [1]. The suitable utilization of all parts of sturgeon by-products could enhance the profits of the aquaculture farming and processing industry, while concurrently contributing to the Sustainable Development Goals adopted by all United Nations Member States in 2015.  
Fish by-products are tissues and organs that are not directly used as foods [2] but are rich in collagen or gelatin. A preliminary study showed that by-products of commercial sturgeon (>2 kg) include approximately 1.9% notochord, 2.1% digestive tract, 4.2% fins, 5.7% vertebrae, 6.1% skin, 0.54% swim bladder, and 17.1% head of the total body weight. There are some earlier reports on the utilization of sturgeon skin for gelatin extraction [3; 4; 5; 6]. However, no study exists on the utilization of the surgeon head, despite it representing a substantial part of the by-products. Consequently, the present study focused on extracting gelatin from the head of Kalamtra sturgeon, which is a hybrid species of _Huso dauricus x Acipenser scherenkii x Acipenser transmontanus_, for which aquaculture production is currently expanding in Hokkaido, Japan.  
The properties and functionality of fish gelatin depend on the sources of fishes, organs, pretreatments, and extraction conditions. Typically, alkali- or acid-treated fish tissues are used to extract gelatin under a hot-water extraction process. When acid is used in the final pretreatment of tissues, the extracted gelatin is known as type A. Alternatively, if alkali is used in the last pretreatment step, the gelatin is called type B [7]. Both acid and alkali pretreatments are required to remove the unwanted smell and color, swell the tissues by weakening the triple helix of collagen molecules, and reduce extraction time [8; 9]. However, it is difficult to use the sturgeon head directly for gelatin extraction using conventional methods because of its large size, hardness, and complexity of the multiple tissue composition. Thus, to utilize the sturgeon head, it is first necessary to develop a new method that makes the head soft and manipulatable for tissue separation. After that, suitable pretreatment and extraction processes are required to obtain the desired properties and functionalities of head gelatin. Therefore, the present study aimed to develop suitable: (1) tissue separation and pretreatment techniques and (2) extraction processes by manipulating pH, temperature, and processing time for the head of Kalamtra sturgeon fish.
# Improved Duplication-Transfer-Loss Reconciliation with
## 2 Definitions and Preliminaries  
We follow basic definitions and notation from [7; 11]. Given a tree \(T\), we denote its node, edge, and leaf sets by \(V(T)\), \(E(T)\), and \(Le(T)\), respectively. If \(T\) is rooted, the root node of \(T\) is denoted by \(rt(T)\), the parent of a node \(v\in V(T)\) by \(pa_{T}(v)\), its set of children by \(Ch_{T}(v)\), and the (maximal) subtree of \(T\) rooted at \(v\) by \(T(v)\). If two nodes in \(T\) have the same parent, they are called _siblings_. The set of _internal nodes_ of \(T\), denoted \(I(T)\), is defined to be \(V(T)\setminus Le(T)\). We define \(\leq_{T}\) to be the partial order on \(V(T)\) where \(x\leq_{T}y\) if \(y\) is a node on the path between \(rt(T)\) and \(x\). The partial order \(\geq_{T}\) is defined analogously, that is, \(x\geq_{T}y\) if \(x\) is a node on the path between \(rt(T)\) and \(y\). We say that \(v\) is an _ancestor_ of \(u\), or that \(u\) is a _descendant_ of \(v\) if \(u\leq_{T}v\) (note that, under this definition, every node is a descendant as well as an ancestor of itself). We say that \(x\) and \(y\) are _incomparable_ if neither \(u\leq_{T}v\) nor \(v\leq_{T}u\). Given a nonempty subset \(L\subseteq Le(T)\), we denote by \(lax_{T}(L)\) the least common ancestor (LCA) of all the leaves \(L\) in tree \(T\); that is, \(lax_{T}(L)\) is the unique smallest upper bound of \(L\) under \(\leq_{T}\). Given \(x,y\in V(T)\), \(x\to_{T}y\) denotes the unique path from \(x\) to \(y\) in \(T\). Throughout this work, unless otherwise stated, the term \"tree\" refers to a rooted binary tree.  
Throughout this work, we use \(G\) and \(S\) to denote the input gene tree and species tree, respectively. We assume that each leaf of the gene tree \(G\) is labeled with the species from which that gene was sampled. This labeling defines a _leaf-mapping_\(\mathcal{L}_{G,S}:\,Le(G)\to Le(S)\) that maps a leaf node \(g\in Le(G)\) to that unique leaf node \(s\in Le(S)\), which has the same label as \(g\). We will implicitly assume that \(\mathcal{L}_{G,S}(g)\) is well defined. Note that a gene tree may have more than one gene sampled from the same species, i.e., gene trees can be multi-labeled. We also point out that \"species\" in a species tree can, in fact, also represent distinct strains or genomes from the same species.
## 5 Evaluation and Testing
### Ontop SPARQL Endpoint with Ontop CLI  
In this section, we describe setting up an Ontop SPARQL endpoint with an Ontop CLI ([[https://github.com/ontop/ontop/releases/](https://github.com/ontop/ontop/releases/)]([https://github.com/ontop/ontop/releases/](https://github.com/ontop/ontop/releases/)) (accessed on 21 May 2025)) environment. For this setup, we followed specific structured steps: (i) download and extract CLI; (ii) copy the database JDBC ([[https://dev.mysql.com/downloads/connector/j/](https://dev.mysql.com/downloads/connector/j/)]([https://dev.mysql.com/downloads/connector/j/](https://dev.mysql.com/downloads/connector/j/))) driver to Ontop_CLI_DIR; (iii) initialize the database (e.g., _MySQL_); (iv) prepare and download input files, including an OWL ontology file, a mapping file, and a database properties file, which are downloaded and organized within the input directory; (v) start the Ontop endpoint, enabling interactions with the knowledge graph data, and access the SPARQL  
Figure 11: Bar chart illustrating the comparative synthesis of Ontop vs SQL query execution time using three sample queries.  
endpoint web interface (e.g., at http://localhost:8080/ (accessed on 21 May 2025)). SPARQL also helps with various CQ queries executed to verify the functionality of the setup and information retrieval from the FVKG (see Figure 12). This systematic approach ensured the successful deployment of the Ontop SPARQL endpoint for data querying and exploration.  
**CQ:**_What roles are involved in examining cardiac diseases, performing medical tests, and recommending medicine for effective treatment?_  
The main advantages of developing a SPARQL endpoint server, particularly in the context of semantic web technologies, knowledge graphs, and data integration use cases, are as follows: (i) centralized access to structured data, (ii) semantic data querying, (iii) interoperability and data integration, (iv) supporting linked data and open data, (v) enabling advanced analytics, (vi) flexibility and extensibility, (vii) supporting federated querying and empowering developers and researchers in various domains such as healthcare (e.g., enabling semantic querying across patient records, clinical trials, and research datasets to improved interoperability and patient care).
## 4 Experiments
### Camera Configuration and Calibration  
The cameras were positioned approximately 900 mm away from the container, and their geometric relationship was precisely determined by capturing a standard calibration board (chessboard pattern) using calibration tools. This calibration process ensured accurate spatial alignment and synchronization between the cameras, which are critical to the subsequent 3D trajectory reconstruction. The videos were captured in a cubic transparent acrylic box of size 40 \(\times\) 40 \(\times\) 40 cm using two geometrically calibrated and temporally synchronized high-speed monochrome CMOS cameras (Manufacturer: IO Industries Inc. Country: Canada, City: London, Ontario, Device name: Flare 4M 180-CL).  
To capture the rapid movements of drosophilas, the cameras were set to a frame rate of 100 frames per second. Synchronization between the cameras was achieved through hardware pulses, ensuring that each frame captured by both cameras corresponded to the same instant in time. The resolution of each camera was set to 2048 \(\times\) 2048 pixels, and the frame rate was set to 100 FPS, providing the high-detail imagery necessary for the accurate detection and tracking of the small and fast-moving drosophilas.
# Force Sensation Induced by Electrical Stimulation of the Tendon of Biceps Muscle
## 3 Materials and Methods
### Measuring the Magnitude of Force Sensation  
In the experiment, the arm was pulled horizontally by weight through a pulley using the apparatus shown in Figure 1b,c. The force applied to the left arm was fixed at 400 gf (\(\simeq\) 3.92 N), and the weight applied to the right arm was changed. The weights were adjusted to give the same force sensation as that given to the left arm by PEST [42] adaptive physical experiment method. The participants were not told which weight connecting the right or the left arm would be changed. PEST can be regarded as a type of staircase method, in which the step (stimulus intensity: the weight pulling the right arm) is changed according to the participant's answer as to which weight is heavier. The rule of the change is as follows:  
1. Initial condition: 400 gf traction force on the left arm and stimulation of one of the three conditions on the upper arm. A force of 1200 gf (\(\simeq\) 11.8 N) is applied to the right arm.
2. In each step, the stimulus was given four times under the same condition in the same step. If the participant answered that the force sensation on the right/left side was stronger more than two times, the force presented to the right arm was made lighter/heavier according to the rule of 3. When the answer was 2:2, the fifth stimulus was performed in the same step, changing the step according to the answer.
3. The step size was reduced by half every time the participant's response was reversed (e.g., the participant responded that the force perception on the right side was greater at the n-th step, and the participant responded that the force perception on the left side was greater at the n+1 th step). Conversely, when the stimulus increased or decreased in the same direction more than three times, the step size was doubled after the third time. The maximum step size was 400 gf, and the step size was halved if the force presented to the right side would become less than 0 gf (\(=\) 0 N).
4. Termination condition: we terminated when the step size reached 25 gf (\(\simeq\) 0.245 N) and used the result as an estimate.  
We ran all the estimation procedures for all the three conditions in parallel, and each trial of the three conditions was conducted randomly in a step, e.g., Figure 2 shows a typical example of one subject. In the experiment, participants were allowed to move their arms slowly within the range where the strings were considered to be parallel to the ground. The range was instructed as \(10^{\circ}\sim 20^{\circ}\), but we did not measure or feedback the exact angle. The maximum experimental duration per participant was two and a half hours, and the maximum duration of one trial was less than two minutes. There was a 10-30 s interval between two consecutive trials. Every time a step (12-15 trials) had been conducted, a five minute interval was inserted.
# Method and Test Course for the Evaluation of Industrial Exoskeletons
## 4 Results
### Applicability and Effectiveness of Exoskeleton Types
#### 4.2.3 Effectiveness  
* As the evaluation of all operational requirements assigned to the secondary activities (OR09 to OR15) as well as industrial tasks (IT01 to IT09) proves, exoskeletons are differently suited to support system users performing main and secondary activities (e.g., OR11, OR13) or to continue to operate working aids such as industrial trucks (e.g., IT09).
* As the test course application of operational requirements and industrial tasks confirms, exoskeletons are primarily designed for one use case and to support the system user in one specific application, correspondingly. Secondary activities are often limited, e.g., the arms are still pushed up when bending forward in passive shoulder exoskeletons. If designed correctly, active systems with situation recognition have more far-reaching possibilities for adapting their support without hindering secondary activities.
* Even though exoskeletons are capable of supporting system users by their functionality, the morphological structure or operating principle can potentially restrict the suitability (e.g., inertial active exoskeletons following or performing dynamic movements) of exoskeletons, as high-dynamic movements might be hindered (e.g., OR08, OR12, IT06, IT07).
# Negotiation-Free Encryption for Securing Vehicular Unicasting Communication
## 6 Performance Evaluation
### Performance Evaluation of NFEM  
Here, we evaluate the performance of our proposed NFEM. In this paper, the key negotiation process is canceled by using the vehicle attribute as a message encryption key stored in the cloud to replace the key negotiation process. Therefore, throughout the transmission, we can divide the whole process into two parts. One is the transmission process between the vehicle and the cloud, and the other is the transmission process between vehicles. Then, we focus on these two parts to analyze the performance of the whole transmission process.
## 2 Materials and Methods
### Characterization of KKD-ZnO-NPs  
The KKD-ZnO-NPs were first examined using ultraviolet-Visible (UV-Vis) spectroscopy in the 200-700 nm range on an Ultraspectm 2100 pro with a 10 mm path length quartz cuvette (2100 Pro, Amersham Biosciences Corp., Piscataway, NJ, USA). The FTIR spectra were obtained using a PerkinElmer Spectrum 100 spectrometer (PerkinElmer Inc., Waltham, MA, USA). KKD-ZnO-NPs powders were scanned in the range 4000-450 cm\({}^{-1}\) at a resolution of 4 cm\({}^{-1}\) on KBr pellets. The size distribution and zeta potential of KKD-ZnO-NPs in water data were determined on particle size analyzer ELS-Z2 series (Otsuka Electronics Cp. Ltd., Osaka, Japan) at 25 \({}^{\circ}\)C. A JEM-2100F was used to capture the images of field emission-transmission electron microscopy (FE-TEM) (JeOL, Akishima, Tokyo, Japan). A few drops of sample were placed on a carbon grid and dried at 60 \({}^{\circ}\)C. To obtain topographical and elemental mapping we used a field emission-scanning electron microscopy (FE-SEM) by LEO SUPRA 55, GENESIS 200 (Carl Zeiss, Jena, Germany); gun: thermal field emission type; resolution: 1.0 nm @ 15 kV 1.7 nm @ 1 kV 4.0 nm @ 0.1 kV; magnification: 12\(\times\) to 900,000\(\times\)). The XRD analyzer was performed on an energy-dispersive X-ray spectrophotometer (D8 Advance, Hannover, Germany), operated at 40 kV, 40 mA, with a CuK\(\alpha\) radiation of 1.54 A, over the 20 range of 10-80\({}^{\circ}\) at 6 min with a sampling interval of 0.02 in room temperature. The crystal size diameter could be calculated using the Scherrer equation:  
\[\mathrm{D}=\frac{0.9\lambda}{\beta\cos\theta} \tag{1}\]  
In this equation, D denotes the crystalline size in nanometers (nm), \(\lambda\) is the X-ray wavelength of CuK\(\alpha\) radiation in nm, the full width at half maximum (FWHM) is in radians, and \(\theta\) is the half of the Bragg angle in radians.
# Research on SWIM Services Dynamic Migration Method +
## 5 Experimental Results and Analysis
### Services Invulnerability Analysis
Therefore, the services invulnerability of the TOKEN model will continue to decrease, as shown in Figure 9, when \(n_{0}=n-1\), \(n_{0}=n-2\) and \(n_{0}=n-3\), the TOKEN model services invulnerability as shown in the change curve; in the SWIM service dynamic migration model, as the size of the migration cluster increases, the SSM model's services invulnerability increases continuously and is significantly better than the SASS and TOKEN models. Although, when \(n=2\), the SWIM service dynamic migration model's services invulnerability is lower than the SSAS and TOKEN models at the time, SWIM is a large-scale distributed system. There are not only two SWIM services providers with the same services topic. the SWIM service dynamic migration model's invulnerability performance can meet the requirements of the SWIM network. In the SWIM service dynamic migration method, the size of the time interval is \(L\), which will affect the services invulnerability. The relationship between the time interval length and the services invulnerability is shown in Figure 12. In the same \(L\), the probability of the SWIM service dynamic migration method triggering is the same. The larger of the cluster size is, the greater the randomness of the servers being selected, and the higher the services invulnerability is; With the increase of \(L\), the services invulnerability rate does not increase, but rises to a certain point and then drop, this point  
Figure 11: Comparison of services invulnerability. is the optimal value for the size of the migration cluster. In this case, the migration cluster can achieve the maximum degree of invulnerability. Through experimental analysis, the SWIM service dynamic migration method can adapt to the requirements of the SWIM large-scale network. At the same time, according to the size of the migration cluster, the value of the \(L\) change can maximize the system's invulnerability and ensure that the SWIM network is maintained reliable secure services capabilities in a complex network environment and enhance the survivability of SWIM. Through experimental analysis, the SSM model can adapt to the requirements of SWIM large-scale network, and at the same time, according to the size of the migration cluster, by changing the value of L, the system service damage resistance is optimized. Compared with the SASS model and the TOKEN model, it is proved that the SSM model has certain advantages in service damage resistance. The following is a verification of whether the SSM method can meet the performance requirements of SWIM from both throughput and service delay.
# Enhanced Spectral Amplitude Coding OCDMA System Utilizing a Single Photodiode Detection
###### Abstract  
In this paper, the performance of a spectral amplitude coding-optical code division multiple access (SAC-OCDMA) system is investigated utilizing a single photodiode (SPD) detection technique. The proposed system uses enhanced double weight (EDW) codes as signature codes with three simultaneous users to overcome both phase-induced intensity noise (PINN) and multiple access interference (MAI). In addition, a dispersion compensating fiber (DCF) is used in order to decrease the group velocity dispersion (GVD) caused in the single mode fiber. An erbium-doped fiber amplifier (EDFA) is used to overcome the attenuation. The use of both DCF and EDFA leads to an appreciable enhancement in the system performance. The system performance is evaluated through its bit error rate (BER), Q-factor, and received power. A comparison between the EDW codes and modified double weight (MDW) codes on the SAC-OCDMA system is demonstrated. Simulation is carried out through Optisystem ver. 7. The simulation results show that: (a) using an avalanche photodiode (APD) over PIN photodiode allows data transmission over longer distances; (b) the use of DCF improves the system BER(c) using MDW codes gives better BER than using EDW codes.  
bit error rate; codes; computer simulation; photodetectors; dispersion compensating fiber; single photodiode detection; avalanche photodiode; erbium-doped fiber amplifier +
Footnote †: journal: Applied Physics Letters
## 1 Introduction  
The current trend of the automotive industry focuses not only on maximizing the vehicle's performance, but also in minimizing the emissions and fuel consumption of the vehicle [1; 2]. Several technologies have been developed since the 1990s, when worldwide emissions standards started to impose boundaries on the levels of acceptable emissions of vehicles, which resulted in ever-reducing levels of emissions, as well as fuel consumption [3; 4]. These technologies include the adoption of forced induction with the use of a supercharger and/or a turbocharger, usage of electric energy through high-capacity batteries, and combinations of both [5; 6; 7]. This study aims to examine vehicle technology that uses the combination of the above technologies, which are known as electric hybrid vehicles, and they use an internal combustion engine (ICE) combined with an electric powertrain as part of the propulsion architecture of the vehicle. As a significant amount of fuel energy used to move any vehicle equipped with an ICE is lost as heat, several systems are developed to exploit the energy of this wasted heat in order to offer it back to the engine or vehicle in the form of increased power or as an additional source of electrical energy [8; 9; 10]. The organic Rankine cycle (ORC), which is examined in this work, uses the exhaust gases of the engine to heat an organic fluid and pass it through a series of devices in order to produce mechanical or electrical power, which can be employed to enhance various aspects of engine or vehicle performance. The final stage of the current study includes the evaluation of the developed hybrid model through three driving cycles: the New European Driving Cycle (NEDC) and two EPA federal tests (FTP-75, US06) used in USA.  
The motivation for this particular project arises from the fact that limited research has been conducted for the use of ORC waste heat recovery in combination with gasoline engine-equipped light hybrid electric vehicles. The ORC system is a new technology that is not yet implemented in lightweight vehicles, not only because the cost is fairly high, but also because there is lack of evidence proving that this subsystem could operate efficiently with smaller capacity engines [11; 12; 13; 14]. This study intends to assess the merits of implementing an ORC waste heat recovery system as part of a hybrid vehicle's powertrain, in particular its fuel consumption reduction potential. For this purpose the implementation of the ORC system is tested through two widely-used current drive cycles to further the utility of this assessment, thus increasing its value.