esa-sceva/satcom-chunk-collection huggingface dataset:
# Robotic Systems and Navigation Techniques in Orthopedics: A Historical Review
## 3 Computer-Aided Navigation Systems (CANSs)  
Computer-aided navigation systems (CANSs) can be taken as a parallel category to RS. The CANS focuses on navigation with the help of computers. It can be either integrated with an RS or independent from an RS. When integrated together, all the coordinates of the CANS (e.g., CT image frame, and external camera frame) are registered into the coordinates of the RS, then for navigation. When independent from an RS, i.e., no robots appear in surgery, all the coordinates are registered into the digital patient's model/image or the camera frame, then for navigation.  
In the category of computer-aided navigation systems (CANSs), three basic elements are included, i.e., 3D modeling, registration, and navigation. Strictly, the CANS are computer-assisted systems rather than robot-assisted systems. However, a robot-assisted system (here equivalent to RS) usually includes a CANS system implicitly or explicitly. Implicitly means that an RS itself can be viewed as a special navigation system since any point in the robot workspace can be tracked based on robot kinematics [17]. Explicitly means that a CANS can be integrated with a robotic system to enhance the system's ability (e.g., tracking and visualization). Therefore, a CANS can be used either independently or  
Figure 14: Robotic systems (RSs) in the timeline.  
integrated with an RS, which means a CANS can be an essential part of assisting surgeons in surgery, no matter whether a robot is involved or not. This also means that the CANS has wider and more general applications than RS in orthopedics and beyond.  
In CAOS tripartite categories, the term of passive systems is equivalent to the CANS here [17; 25]. The CANS does not perform any actions on patients, thus having no relevant safety concerns. Instead, the CANS only collects intraoperative data and provides visualized information and guidance to the surgeons, thus helping them to better achieve their surgical objectives accurately and precisely.  
A large amount of case studies have shown that the CANS can offer more accurate surgical outcomes, such as placement of the components in UKA, alignment of the femoral and tibial components, tibial slope, and the mechanical axis [17; 25].
## 2 Adaptive Streaming Algorithm for Internet of Autonomous Vehicles
### Real-Time Vehicle Speed Calculation at a RSU
\(\overrightarrow{y}_{t-1}\) denotes the output state from the prior instance of forward propagation along the timeline, while \(\overleftarrow{y}_{t-1}\) represents the output state from the preceding moment of backward propagation along the timeline. \(\text{OL}(\cdot)\) denotes the activation function of the output layer. \(W_{\overrightarrow{y}_{t}}\) and \(W_{\overleftarrow{y}_{t}}\) stand for the weight matrices of the calculated output result \(y{{}_{t}}\), and \(b_{y^{\prime}}\) is the output bias. As mentioned above, a BILSTM is employed, consisting of a dual-layered LSTM structure that simultaneously transmits information in both the forward and backward directions. Finally, the two output state variables are concatenated to form the ultimate output. To be specific, the BILSTM takes input sequences \(x_{t-1}\), \(x_{t}\), and \(x_{t+1}\), and feeds them into the forward and backward LSTMs. In this study, the average velocity time series at time slots \((t-1)\), \(t\), and \((t+1)\) are utilized as inputs to acquire the outputs from the LSTM in different directions. These outputs are then merged to obtain the final prediction result. The overall time complexity of training a BILSTM network over a fixed number of epochs is typically O(\(E\cdot L\cdot N\cdot M\)), where \(E\) denotes the number of training epochs, \(L\) stands for the number of layers, \(N\) represents the sequence length, and \(M\) is the number of cells per layer [27].
_Applied_  
_sciences_  
**Removal of Algae, and Taste and Odor Compounds**  
**by a Combination of Plant-Mineral Composite**  
**(PMC) Coagulant with UV-AOPs: Laboratory**  
**and Pilot Scale Studies**  
**[PERSON] 1,2, [PERSON] 1, [PERSON] 1, [PERSON] 1, [PERSON] 1, [PERSON] 1, [PERSON] 1 and [PERSON] 1,***  
1 Department of Environmental Engineering (YIEST), Yonsei University, 1 Yonseidae-gil, Wonju, Gangwon-do 26493, Korea; [EMAIL_ADDRESS] (Y.W.A.); [EMAIL_ADDRESS] (H.K.); [EMAIL_ADDRESS] (M.K.); [EMAIL_ADDRESS] (D.L.); [EMAIL_ADDRESS] (K.K.); [EMAIL_ADDRESS] (Y.J.); [EMAIL_ADDRESS] (Y.A.)  
2 Department of Land Resource Management and Environmental Protection, Mekelle University, P.O. Box 231, Mekelle, Ethiopia  
* Correspondence: [EMAIL_ADDRESS]; Tel.: +82-33-760-2436; Fax: +82-33-760-2571  
Received: 3 August 2018; Accepted: 27 August 2018; Published: 1 September 2018  
**Featured Application: The proposed combined plant-mineral composite coagulant with UV-AOPs can be applied to remove taste and odor compounds and its precursor (algae) in the drinking water system.**  
**Abstract:** The seasonal occurrence of algae blooms in surface waters remains a common problem, such as taste and odor (T&Os), the risk of disinfection by-products (DBPs), and disturbance to water treatment systems. The coagulation efficiency of plant-mineral composite (PMC) coagulant followed by UV-based advanced oxidation processes (UV-AOPs; UV/H\({}_{2}\)O\({}_{2}\) and UV/Cl\({}_{2}\)) was evaluated for removal of algae, turbidity, dissolved organic matters, and taste and odor compounds in lab-scale and pilot-scale tests. In the lab-scale test, coagulation process with 20 mg/L of PMC shows high removal efficiency of turbidity (94%) and algae (99%) and moderate removal efficiency of UV\({}_{254}\) (51%) and geosmin (46%). The pilot test results also show good removal efficiency of turbidity (64%), chlorophyll-a (96%). After PMC coagulation process, the major water factors, which affected the performance of UV-AOPs (i.e., UV transmittance (85-94%), and scavenging factor (64,998-28,516 s\({}^{-1}\))), were notably improved, and further degradation of geosmin and 2-methylisoborneol (2-MIB) was achieved in both lab-and pilot-scale tests of the UV-AOPs. The UV/H\({}_{2}\)O\({}_{2}\) process shows higher removal efficiency of geosmin and 2-MIB than the UV/Cl\({}_{2}\) process because of the pH effect. The results confirmed that the PMC-based coagulation followed by UV/H\({}_{2}\)O\({}_{2}\) process could be an effective process for the removal of algae, geosmin, and 2-MIB.  
**Keywords:** advanced oxidation process; algae; coagulation; geosmin; 2-MIB; plant-mineral composite coagulant
# Research on Construction Sequencing and Deformation Control for Foundation Pit Groups
## 4 Discussion
### Comparison of Adjacent Foundation Pit Deformation Under Different Excavation Sequences  
The analysis of adjacent pit deformation under different sequences directly addresses the interaction mechanisms (L  
direction, induced by asymmetric unloading, aligns qualitatively with field observations of adjacent pit interactions [20]. Therefore, the synchronous excavation method is superior to sequential excavation, reducing maximum wall displacements by 19-32% and effectively minimizing this disruptive multi-directional loading, a significant advantage over sequential methods noted in practice but less rigorously quantified previously.  
Further comparing the excavation sequences of \"smaller-section first\" and \"larger-section first\", Table 4 shows that the additional displacements induced by the subsequent excavation of the adjacent pit after the initial excavation of the main pit are as follows: 0.06 mm for wall 1#, 0.118 mm for wall 2#, 0.072 mm for wall 3#, and 0.037 mm for wall 4#. This indicates that the sequence of excavating the larger-section shallow pit first results in relatively smaller displacement and deformation of the diaphragm walls in the main pit. Therefore, when the distance between the pits is within the influence range of excavation, adopting the sequence of excavating the larger-section shallow pit first, followed by the smaller-section deep pit, can reduce the disturbance to the retaining structure of the main pit caused by subsequent excavation.  
In summary, this study elucidates the critical impact of adjacent foundation pit spacing on excavation sequence selection through comparative experimental investigations, providing quantitative evidence for strategies previously discussed more qualitatively. Accordingly, the following principles are proposed for engineering practice: (1) Prioritize the simultaneous excavation scheme, which reduces maximum wall displacements by 19-32% compared to sequential excavation methods. (2) When synchronous construction is constrained, adopt the \"larger-section-first followed by smaller-section\" sequence under limited spacing conditions (specific critical thresholds will be quantitatively addressed in the following subsection). This strategy exploits the pre-deformation of large-section pits to establish isolation zones. (3) For spacing beyond the interaction range, prioritize schedule efficiency and cost-effectiveness in selecting excavation sequences. These findings systematically translate the deformation mechanisms identified in preceding analyses into actionable guidelines for construction methodology optimization.
## 5 Experimental Results
### Experiments on the Temperature of the Dc-Link Capacitor Current  
In this experiment, both PMSMs operated with 2000 rpm and 9 Nm load torque with and without the phase shifting method, and the temperature of the capacitors is measured. As the current of the capacitor increases, the temperature of the capacitor increases due to the ESR of the capacitor. The experimental test was implemented at room temperature, and the temperature of the dc-link capacitor was 27 \({}^{\circ}\)C at the start. At the end of 10 min, the capacitor temperatures reached 54 \({}^{\circ}\)C in the system without the phase shifting method and 36 \({}^{\circ}\)C in the system with the phase shifting method, as shown in Figure 20. There is an almost 20 \({}^{\circ}\)C difference between the temperature of the dc-link capacitor, hence the proposed method increases the lifetime of the dc-link capacitor and reduces the FIT of the capacitors.
# A Remote Sensing Image Target Detection Algorithm Based on Improved YOLOv8
## 3 Improvement of YOLOv8  
### Additional Detection Layer for Small Targets  
Due to the small size of the small targets in the remote sensing images, their main feature information is mostly distributed in the shallow feature map; the original YOLOv8 network downsampling multiplier is larger, making the feature maps generated by the initial downsampling small in size. After the completion of three downsamplings, the  
Figure 1: The structure of the YOLOv8 network.  
feature information for the small targets is difficult to fully retain. For this reason, we add an additional detection layer applicable to small targets on the basis of the original YOLOv8 network. The specific improved network structure is shown in Figure 2. After the FPN module in the neck structure generates an 80 \(\times\) 80 feature map by upsampling, an additional upsampling operation is added to obtain a feature map with a larger size of 160 \(\times\) 160, which is fused with the 160 \(\times\) 160 feature map generated by the first C2f module in the backbone structure, then input into the head structure for classification and detection to achieve the extraction of feature information of the small targets in the shallower feature map.
###### Abstract  
This study examined the implementation of rate-splitting multiple access (RSMA) in a multiple-input single-output system using simultaneous wireless information and power transfer (SWIPT) technology. The coexistence of a base station and a power beacon was considered, aiming to transmit information and energy to two sets of users. One set comprises users who solely harvest energy, whereas the other can decode information and energy using a power-splitting (PS) structure. The main objective of this optimization was to minimize the total transmit power of the system while satisfying the rate requirements for PS users and ensuring minimum energy harvesting (EH) for both PS and EH users. The non-convex problem was addressed by dividing it into two subproblems. The first subproblem was solved using a deep learning-based scheme, combining principal component analysis and a deep neural network. The semidefinite relaxation method was used to solve the second subproblem. The proposed method offers lower computational complexity compared to traditional iterative-based approaches. The simulation results demonstrate the superior performance of the proposed scheme compared to traditional methods such as non-orthogonal multiple access and space-division multiple access. Furthermore, the ability of the proposed method to generalize was validated by assessing its effectiveness across several challenging scenarios.  
simultaneous wireless information and power transfer; SWIPT; power beacon; rate-splitting multiple access; RSMA; deep neural network; DNN; semidefinite relaxation; SDR Article
## 3 Results and Discussion
### ABTS Activity of GV Extracts  
ABTS activity is widely used to evaluate the antioxidant activity of samples, and the reduction rate of the ABTS radical caption was analyzed by monitoring absorbance [56]. ABTS is highly soluble in water and organic solvents, making it easy to measure the antioxidant activities of lipophilic and hydrophilic compounds [57]. The ABTS activity of the GV extracts in different extraction solvents was examined. The ABTS activity of GV extracts ranged from IC\({}_{50}\) = 53 to 277 \(\upmu\)L, with the GVE exhibiting the highest value (IC\({}_{50}\) = 53.5 \(\pm\) 1.2 \(\upmu\)g/\(\upmu\)L) (Table 3). The ABTS activity of the GVW (276.2 \(\pm\) 20.7 \(\upmu\)g/\(\upmu\)L) was 5.2- and 4.1-fold lower than that of the GVM and GVE, respectively. These results are similar to the previously analyzed DPPH activity of GV organic solvent extracts.  
In another study, the antioxidant activities of Malaysian _Gracilaria marilaensis_ extracts were as follows: ethanol > methanol > hot water, and the antioxidant activity was inversely proportional to the polarity of the extraction solvents [58]. [PERSON] et al. [59] reported that phenolic compounds dissolve more easily in polar organic solvents than in water. Consequently, this study demonstrated the high polyphenol contents of GVE and GVM, which appeared to contribute to their high ABTS activity.
###### Abstract  
Gait initiation (GI) over an obstacle to be cleared is a functional task that is highly challenging for the balance control system. Two swing-foot strike patterns were identified during this task--the rearfoot strike (RFS), where the heel strikes the ground first, and the forefoot strike (FFS), where the toe strikes the ground first. This study investigated the effect of the swing-foot strike pattern on the postural organisation of GI over an obstacle to be cleared. Participants performed a series of obstacle clearance tasks with the instruction to strike the ground with either an FFS or RFS pattern. Results showed that anticipatory postural adjustments in the frontal plane were smaller in FFS than in RFS, while stability was increased in FFS. The vertical braking of the centre of mass (COM) during GI swing phase was attenuated in FFS compared to RFS, leading to greater downward centre of mass velocity at foot contact in FFS. In addition, the collision forces acting on the foot were smaller in FFS than in RFS, as were the slope of these forces and the slope of the C7 vertebra acceleration at foot contact. Overall, these results suggest an interdependent relationship between balance control mechanisms and foot strike pattern for optimal stability control.  
anticipatory postural adjustments; balance control; foot strike pattern; gait initiation; obstacle clearance; biomechanics Article
## 2 Fronthaul Solutions for 4G/5G
### Combined Fiber-Optic and FSO-Based 5G Fronthaul
Likewise, the received 400 MHz bandwidth signal at 26 GHz was within the 3 GPP recommendations, providing 2.4 Gbit/s throughput. The increased EVM\({}_{\text{RMS}}\) value (5%) for mm-wave transmission was due to the RF cables, SD-MZM, and photodetector frequency responses at the mm-wave band. Overall, the proposed hybrid RoF/FSO fronthaul provided 3 Gbit/s of total throughput, which is within the 3 GPP requirements for EVM\({}_{\text{RMS}}\), thereby enabling further network reach by wireless access. The second analysis consisted of evaluating the combined fiber-optic and FSO-based 5G fronthaul followed by the 8 m wireless access, as reported in Figure 4b. As expected, the wireless channel impaired the transmitted signal in both phase and magnitude as could be observed by the received symbols in the RoF/FSO/wireless constellations. Nevertheless, the 5G NR signal attained the EVM\({}_{\text{RMS}}\) requirements with 3.2% margin, which may be explored for either increasing the signal data rate or extending the wireless reach. In contrast, the propagation conditions at 26 GHz critically impaired the 400 MHz bandwidth signal, and hence the EVM\({}_{\text{RMS}}\) did not meet the 3 GPP recommendations. As an alternative, we employed a 200 MHz bandwidth under 16-QAM to overcome this performance shortcoming. With this bandwidth reduction, the hybrid dual-band 5G NR system achieved an EVM\({}_{\text{RMS}}\) value of around 12%, which is still within the 3 GPP limit for 16-QAM (12.5%), due to the severe propagation impairments at mm-waves. In spite of the bandwidth reduction at 26 GHz, the hybrid RoF/FSO/wireless 5G NR system was able to provide 1.4 Gbit/s total throughput, thus fulfilling the Release 15 recommendations and demonstrating feasibility of the system while giving the remarkable additional advantage of FSO fronthaul flexibility.
## 3 Selected Research Results
### Analysis in the Domain of Amplitudes  
The functional, dimensionless, and point estimates can be determined in this type of analysis. Most point estimates are determined for a (single) instantaneous signal or successive sequences of signals. Due to the random component in the observed vibroacoustic process, each measure is averaged over the corresponding dynamic time interval \(\tau\), with the segment \(T\) (Hann window) called the observation time.  
In the amplitude domain, point estimates were determined for recorded instantaneous time waveforms of vibration acceleration signals: root-mean-square _rms_, average _aver_, and peak-to-peak (_p-p_) values. The formulas for these global point measures for \(0\leq\tau\leq T\) are as follows:  
* Root-mean-square value: \[\widetilde{a}(\theta)=\left[\frac{1}{T}\int_{0}^{T}a^{2}(\tau,\theta)d\tau \right]^{\frac{1}{2}}=a_{rms}(\theta)\] (6)
* Average value: \[\widetilde{a}(\theta)=\frac{1}{T}\int_{0}^{T}\lvert a(\tau,\theta)\rvert d \tau=a_{aver}(\theta)\] (7)
* Peak-to-peak value: \[a_{p-p}(\theta)=\left\{max[+a(t,\theta)]-max[-a(t,\theta)]\right\}\] (8) where \(\tau\) is the dynamic time, \(T\) is the observation time, and \(\theta\) is the object existence time.  
Examples of the signal analysis results in the amplitude domain (peak-to-peak values, root-mean-square values, and average values) are shown in Figure 5a. Figure 5b displays the _rms_ values of the vibration acceleration signals measured in the injection subsystem around the estimated limit values. As shown in Figure 5b, for the developing damage, the frequency of the component amplitudes shifted toward lower frequencies, which affected the value of the correlation coefficient \(k=0.0974\) between the spectra for cylinders No. 1 and No. 5. Cylinder No. 5 exceeded an upper limit value just before failure, but No. 4 also exhibited a value less than the lower limit value. Only upper limits are often determined in the literature, whereas lower limits were also determined in this study. For the obtained average values of diagnostic parameters, the limit values were found with a probability of 99.7%, which are deviations upward and downward from the mean-squared errors of the arithmetic means. The author's contribution was employed instead of the \(\pm\)3 standard deviations found in the literature, i.e., the \(\pm\)3\(\sigma_{s}\) (mean-squared error of the arithmetic mean) was used. The time waveforms of Figure 4 clearly show the pulses originating from fuel injection.  
The analysis of the signals in the amplitude domain demonstrated the usefulness of point amplitude estimates for detecting damage development.
# Single-Parameter-Tuned Attitude Control for Quadrotor with Unknown Disturbance
## 6 Conclusions  
In this paper, we present a single-parameter-tuned attitude control for a quadrotor in the presence of an unknown disturbance, which is, only one tuning parameter is required for each axis. The method is a combination of RL and ADRC. The critical parameters of the system are extracted as CGPs and used to extend the RL state list to improve the robustness of the RL controller. The introduction of mirror sampling and reward shaping eliminate steady-state errors that are incurred using the RL algorithm during continuous control and considerably accelerate the training process. ESOs are designed to estimate external disturbances. A CMA-ES algorithm is developed to automatically tune the ESO parameters, which successfully optimizes the controller performance for both a simulation environment and a real quadrotor platform. The complete controller exhibits excellent performance and remains robust for quadrotors with different physical parameters. When compared to model-based algorithms, such as BS, sliding mode, and H-infinity control algorithms, the method in this paper can be applied on quadrotors with unknown models and parameters meanwhile remain good performance. When compared to PID-based algorithms, our method greatly simplify the parameter tuning work and show better performance.  
In our future work, more quadrotor platforms will be tested in order to verify the effectiveness of this single-parameter-tuned quadrotor attitude control system. We will also focus on the improvement of rapidity and stability of the quadrotor attitude control system, and the network training details will be modified further. Moreover, the methods will be tested in quadrotor position control systems.  
Conceptualization, D.H., Z.P. and Z.T.; methodology, D.H.; software, D.H.; validation, D.H.; formal analysis, D.H.; investigation, D.H.; resources, D.H.; data curation, D.H.; writing-original draft preparation, D.H.; writing-review and editing, D.H., Z.P. and Z.T.; visualization, D.H.; supervision, Z.P. and Z.T. All authors have read and agreed to the published version of the manuscript.  
This research received no external funding.  
The authors declare no conflict of interest.