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Path planning and trajectory tracking are very meaningful for the field of autonomous driving, but currently path planning still has problems such as non-optimal paths and insufficiently accurate paths. This paper addresses the issue of path planning by proposing a improved A-star algorithm and locally zooming on the map technique to achieve precise path planning. Compared with the conventional method, this method reduces the time by 23% and the path length by 21% in the scenarios shown in the paper, respectively, and provides a reference for related research. Moreover, trajectory tracking was achieved using the improved LQR control. Compared with the conventional method, the improved LQR control algorithm reduces the average error by 80% in the scenario shown in the paper. Firstly, the A-star algorithm is enhanced by incorporating an unknown path cost estimation function, thereby improving the effect of its path planning in complex environments. Additionally, the method of locally zooming on the map is incorporated, effectively enhancing the accuracy and safety of path planning. Building upon the path planning, further improvements are made to the LQR control algorithm, enabling autonomous deceleration in complex sections, which facilitates better trajectory tracking and enhances the motion control performance of the robot during practical operations. [ABSTRACT FROM AUTHOR]

The current flat-plate solar collectors perform best when their absorbers rotate around their axis. However, with their concentrators, reflectors, and tracking mechanisms, they take up a lot of space and are thus commercially speaking, not the best solutions. This paper proposes a novel solar collector design which employs the (relative) rotation of absorbers, but strives to combine the benefits of fixed and (absolute) tracking solar systems, i.e. volume occupancy from the former and thermal performance from the latter. The findings of our numerical analysis show that, the solar irradiance efficiency of this novel design is 20% higher than that of a fixed flat-plate collector during clear-sky days, and it is equally lower than that of an absolute tracking collector. This paper also introduces a new criterion for describing single-axis tracking solar collectors which should be included in the classifications of solar collectors. Finally, the article, which represents a continuation of our research in the field of solar energy utilization, can contribute to the future development of solar technologies and solve some of the current challenges. [ABSTRACT FROM AUTHOR]

With the rapid development of today's society, the traffic environment has become more and more complex. As an essential part of intelligent vehicles, trajectory tracking has attracted significant attention for its stability and safety. It is prone to poor accuracy and instability in extreme working conditions like high speed. In this paper, a trajectory tracking control strategy to ensure lateral stability at a high speed and low attachment limit conditions is proposed for distributed drive vehicles. The model predictive controller (MPC) was used to control the front wheel angle, and the particle swarm optimization (PSO) algorithm was designed to optimize the MPC control parameters adaptively. The sliding mode controller controls the rear wheel angle, and the vehicle instability degree is judged by analyzing the β − β ˙ phase plane. The controllers of different instability degrees are designed herein. Finally, a torque divider is designed to consider the actuation anti-slip. The designed controller is verified by Carsim and MATLAB-Simulink co-simulation. The results show that the trajectory tracking controller designed in this paper effectively improves the tracking accuracy under the premise of ensuring stability. [ABSTRACT FROM AUTHOR]

Adaptive sampling and situational awareness are key features of modern autonomous underwater vehicles (AUVs) since data quality can be improved while operation time and cost can be reduced. An example for adaptive sampling in the marine environmental context is thermocline detection and tracking. The thermocline as horizontal ocean layer separates warm and cold water and is a key feature in many marine disciplines. For example, it influences the distribution and exchange of nutrients and is a habitat for many organisms. In this paper we use an unscented Kalman Filter (UKF) based extremum seeking control (ESC) to find and follow ocean layers such as the thermocline. Computer simulations and real-world tests show that the method is able to find and track non-trivial real-world ocean layers with sensors subject to hysteresis and delay effects. [ABSTRACT FROM AUTHOR]

In visual tracking, the target always undergoes appearance variations due to a variety of challenging situations, such as deformation and rotation. In this paper, we propose the target-guided feature modulation network based on siamese network to extract the more target-relevant features, which is guided by a template to modulate the search features that can be directly used for classification and localization. Specifically, we customize two target-guided feature modulation subnetworks for visual tracking, which are called template-guided spatial-attention modulation subnetwork and template-guided channel-attention modulation subnetwork, to achieve this proposal. The former controls the discriminative region based on the correlation of each search feature position with all template feature positions, whereas the latter readjusts the importance of each channel based on the response value of each channel feature of the template feature and the response value of each channel of the search feature. Extensive experiments on multiple datasets have demonstrated the effectiveness of the proposed approach in this paper. [ABSTRACT FROM AUTHOR]

Commutation failure is still one of the most common faults in LCC-UHVDC (line commutated converter-based, ultra-high voltage direct current) systems, and if the inverter side, extinction angle, and rectification value remain constant during the fault, it may lead to commutation failure or even continuous commutation failure. Therefore, this paper first analyzes the structure of the LCC-UHVDC system and the mechanism of commutation failure and, on this basis, proposes a commutation failure suppression method based on dynamic tracking of the extinction angle rectification value. The desired DC voltage of the system under fault conditions is calculated based on key state quantities such as the AC voltage RMS value, the extinction angle, and the leading angle during the fault process. The compensation amount is obtained by comparing the desired DC voltage with the actual DC voltage and superimposition on the extinction angle rectification value in the inverter extinction angle control. When there is a risk of commutation failure, dynamically adjusting the extinction angle setting value according to the compensation value is beneficial for the rapid and stable recovery of the extinction angle, reducing the probability of commutation failure. A bipolar neutral ground LCC-UHVDC testing model system is established in PSCAD/EMTDC for simulation verification to show that the proposed improved control strategy effectively reduces the probability of commutation failure and significantly improves the stable operation characteristics of the LCC-UHVDC system. [ABSTRACT FROM AUTHOR]

The fusion tracking of RGB and thermal infrared image (RGBT) has attracted widespread interest within target tracking by leveraging the complementing benefits of information from both visible and thermal infrared modalities, but achieving robustness while operating in real time remains a challenge. Aimed at this problem, this paper proposes a real-time tracking network based on the attention mechanism, which can improve the tracking speed with a smaller model, and at the same time, introduce the attention mechanism in the module to strengthen the attention to the important features, which can guarantee a certain tracking accuracy. Specifically, the modal features of visible and thermal infrared are extracted separately by using the backbone of the dual-stream structure; then, the important features in the two modes are selected and enhanced by using the channel attention mechanism in the feature selection enhancement module (FSEM) and the Transformer, while noise is reduced by using gating circuits. Finally, the final enhancement fusion is performed by using the spatial channel adaptive adjustment fusion module (SCAAM) in both the spatial and channel dimensions. The PR/SR of the proposed algorithm tested on the GTOT, RGBT234 and LasHeR datasets are 90.0%/73.0%, 84.4%/60.2%, and 46.8%/34.3%, respectively, and generally good tracking accuracy has been achieved, with a speed of up to 32.3067 fps, meeting the model's real-time requirement. [ABSTRACT FROM AUTHOR]

This paper investigates the problem of the adaptive neural network tracking control of nonlinear cyber–physical systems (CPSs) subject to unknown deception attacks with prescribed performance. The considered system is under the influence of unknown deception attacks on both actuator and sensor networks, making the research problem challenging. The outstanding contribution of this paper is that a new anti-deception attack-prescribed performance tracking control scheme is proposed through a special coordinate transformation and funnel function, combined with backstepping and bounded estimation methods. The transient performance of the system can be ensured by the prescribed performance control scheme, which makes the indicators of the controlled system, such as settling time and tracking accuracy, able to be pre-assigned offline according to the task needs, and the applicability of the prescribed performance is tested by selecting different values of the settling time (0.5 s, 1 s, 1.5 s, 2 s, 2.5 s, and 3 s). In addition, to save the computational and communication resources of the CPS, this paper uses a finite-time differentiator to approximate the virtual control law differentiation to avoid "complexity explosion" and a switching threshold event triggering mechanism to save the communication resources for data transmission. Finally, the effectiveness of the proposed control strategy is further verified by an electromechanical system simulation example. [ABSTRACT FROM AUTHOR]

Between 2014 and 2018, the National Oceanic and Atmospheric Administration conducted the NOAA Satellite Observing System Architecture (NSOSA) study to plan for the next generation of operational environmental satellites. The study generated some important questions that could be addressed by observing system simulation experiments (OSSEs). This paper describes a series of OSSEs in which benefits to numerical weather prediction from existing observing systems are combined with enhancements from potential future capabilities. Assessments include the relative value of the quantity of different types of thermodynamic soundings for global numerical weather applications. We compare the relative impact of several sounding configuration scenarios for infrared (IR), microwave (MW), and radio occultation (RO) observing capabilities. The main results are 1) increasing the revisit rate for satellite radiance soundings produces the largest benefits but at a significant cost by requiring an increase in the number of polar-orbiting satellites from 2 to 12; 2) a large positive impact is found when the number of RO soundings per day is increased well beyond current values and other observations are held at current levels of performance; 3) RO can be used as a mitigation strategy for lower MW/IR sounding revisit rates, particularly in the tropics; and 4) smaller benefits result from increasing the horizontal resolution along the track of the satellites of MW/IR satellite radiances. Furthermore, disaggregating IR and MW instruments into six evenly distributed sun-synchronous orbits is slightly more beneficial than when the same instruments are combined and collocated on three separate orbits. SIGNIFICANCE STATEMENT: The results of this paper are significant because they inform decision-makers about the future configuration of the NOAA's environmental satellite constellation, which serves millions of diverse users. [ABSTRACT FROM AUTHOR]

In the realm of intelligent transportation, pedestrian detection has witnessed significant advancements. However, it continues to grapple with challenging issues, notably the detection of pedestrians in complex lighting scenarios. Conventional visible light mode imaging is profoundly affected by varying lighting conditions. Under optimal daytime lighting, visibility is enhanced, leading to superior pedestrian detection outcomes. Conversely, under low-light conditions, visible light mode imaging falters due to the inadequate provision of pedestrian target information, resulting in a marked decline in detection efficacy. In this context, infrared light mode imaging emerges as a valuable supplement, bolstering pedestrian information provision. This paper delves into pedestrian detection and tracking algorithms within a multi-modal image framework grounded in deep learning methodologies. Leveraging the YOLOv4 algorithm as a foundation, augmented by a channel stack fusion module, a novel multi-modal pedestrian detection algorithm tailored for intelligent transportation is proposed. This algorithm capitalizes on the fusion of visible and infrared light mode image features to enhance pedestrian detection performance amidst complex road environments. Experimental findings demonstrate that compared to the Visible-YOLOv4 algorithm, renowned for its high performance, the proposed Double-YOLOv4-CSE algorithm exhibits a notable improvement, boasting a 5.0% accuracy rate enhancement and a 6.9% reduction in logarithmic average missing rate. This research's goal is to ensure that the algorithm can run smoothly even on a low configuration 1080 Ti GPU and to improve the algorithm's coverage at the application layer, making it affordable and practical for both urban and rural areas. This addresses the broader research problem within the scope of smart cities and remote ends with limited computational power. [ABSTRACT FROM AUTHOR]

Most of the existing trackers based on discriminative correlation filters use only one feature or a simple linear fusion of multiple features for object tracking, and most of them lack a mechanism to handle occlusions. This leads to poor tracking performance in rapidly changing and easily occluded scenarios, especially on unmanned aerial vehicle (UAV) platforms. To address this issue, this paper proposes an anti-occlusion visual tracking algorithm for UAVs with multi-feature adaptive fusion named multi-feature adaptive fusion and anti-occlusion tracker (MAFAOT). It introduces a novel approach for implementing an adaptive fusion of multiple features. This method transforms the multi-feature fusion problem into a maximization issue by designing a tracking quality evaluation index. It successfully achieves an adaptive fusion of gradient direction histogram and color histogram feature responses. MAFAOT also introduces an anti-occlusion update pool strategy, enabling the tracker to adapt dynamically to various complex scenarios, including occlusion and motion blur. The experimental results on the OTB100 and UAV123 datasets confirm the significant advantages of MAFAOT in terms of precision and success rate compared to other correlation filter-based algorithms. The proposed methods further enhance the expressiveness of the features and effectively avoid the problem of tracker contamination caused by occlusion. Furthermore, this paper applies the proposed methods to the kernelized correlation filters (KCF) algorithm. On the OTB100 dataset, the improved KCF algorithm shows an improvement of 10.94% in precision and 11.11% in success rate. On the UAV123 dataset, it shows an improvement of 14.53% in precision and 16.62% in success rate, further verifying the effectiveness and versatility of the proposed methods. [ABSTRACT FROM AUTHOR]

In this paper, we are concerned with the tracking performance and antidisturbance ability of the widely used proportional-integral-derivative (PID) controllers in practice. Towards this end, we consider a basic class of second-order nonlinear stochastic control systems subject to model uncertainties and external disturbances, and focus on the ability of the classical PID controller to track time-varying reference signals. First, under some suitable conditions on the system nonlinear functions, reference signals, and external disturbances, we show that such control systems can be stabilized in the mean square sense, provided that the three PID gains are selected from a stability region constructed in the paper. Besides, it is shown that the steady-state tracking error has an upper bound proportional to the sum of the varying rates of reference signals, the varying rates of external disturbances, and the intensity of random noises. Meanwhile, its proportional coefficient depends on the selection of PID gains, which can be made arbitrarily small by choosing suitably large PID gains. Finally, by introducing a desired transient process which is shaped from the reference signal, a new PID tuning rule is presented, which can guarantee both the expected steady state and transient tracking performance. [ABSTRACT FROM AUTHOR]

To overcome the possible gimbal lock problem of the dual-axis satcom-on-the-move (SOTM) antenna, a three-axis tracking satellite SOTM antenna structure appears. The three-axis SOTM antenna is realized by adding a roll axis to the azimuth axis and pitch axis in the dual-axis SOTM structure. There is coupling among the azimuth axis, pitch axis and roll axis in the mechanical structure of the three-axis SOTM antenna, which makes the kinematic modeling of the antenna difficult. This paper introduces a three-axis SOTM antenna kinematic modeling method based on the modified Denavit–Hartenberg (MDH) method, named the new modified Denavit–Hartenberg (NMDH) method. In order to meet the modeling requirements of the MDH method, the NMDH method adds virtual coordinate systems and auxiliary coordinate systems to the three-axis SOTM antenna and obtains the kinematic model of the three-axis SOTM antenna. During the motion of the carrier, the SOTM antenna needs to adjust the antenna pointing in real time according to the changes of the location and attitude of the moving carrier. Therefore, this paper designs a servo control system based on the active disturbance rejection controller (ADRC), introducing a smooth and continuous ADRC f a l function to enhance the tracking speed of the servo control system and reduce the overshoot of the output response. Finally, system experiments were carried out with a 60 cm caliber three-axis SOTM antenna. The experiment results show that the proposed servo control method achieves higher antenna tracking satellite accuracy and better communication effects. [ABSTRACT FROM AUTHOR]

Nowadays, vehicle tracking and location identification are necessary for safety. With vehicle tracking, it is also important to record the arrival and departure timings of vehicles. This recorded data will be helpful in different aspects like identifying the stolen vehicle, to observing the transportation system functionality in an organization or any other place. Implementing a smart vehicle monitoring system that combines tracking and data collection is the main goal of the current paper. Additionally, a mobile warning is delivered to the driver's phone when the car arrives late. We can also access this data through mobile applications from anywhere. RFID technology is applied to this system's implementation. Radio Frequency Identification is what RFID stands for. It is a wireless technology which consists of a Tag and Reader as major components. To store the data on the website IoT technology is used. Such systems are simple to construct at a minimal cost when IoT (Internet of Things) and RFID technologies are combined. [ABSTRACT FROM AUTHOR]

This paper proposes a fixed-time prescribed performance control technique to address the challenge of precise trajectory tracking control for unmanned surface vessels (USVs) in the presence of external time-varying disturbances and input saturation. To begin with, a fixed-time disturbance observer is created to handle the time-varying external interference. The observer can accurately estimate and compensate for the disturbance in a fixed time, which effectively improves the robustness of the system. Furthermore, to guarantee both the transient and steady-state response of the system, we employed a specific control technology that ensures the trajectory tracking error remains within a preset bounded range. Then, combined with the fixed-time disturbance observer, the command filter, the prescribed performance control technology, and the fixed-time stability theory, a fixed-time trajectory tracking control law is designed to make the trajectory tracking error of the system converge in a fixed time. Finally, an experiment was designed to validate the suggested control scheme. The results show that under the same conditions, compared with the nonlinear controller and the finite-time controller, the absolute error tracking index of this paper is the lowest, which means that the presented control scheme has higher accuracy. [ABSTRACT FROM AUTHOR]

The study of satellite performance evaluation can reveal the ability of satellite systems to fulfil corresponding tasks in the space environment, and provide information support for the resource allocation and mission scheduling of in-orbit satellites. In this paper, we took the satellite attitude control system in attitude tracking mode as the research object. In accordance with the system's mission requirements, the control performance evaluation indicator set, characterized by a generalized grey number, is constructed to tackle the uncertainty and inadequacy of information contained in flight status data resulting from the complex space operating environment and sensor measurement noise. An improved principal component analysis method based on generalized grey number is proposed to solve the weight amplification caused by the correlation between performance indicators and realize the weight allocation of the indicators. Finally, the grey-target decision model is established to determine the weights of the performance indicators, and the performance evaluation model is established under the tracking mode. The feasibility of the grey-target decision-evaluation model based on the improved principal component is confirmed through comparative experiments. [ABSTRACT FROM AUTHOR]

The increasing popularity of vehicles has led to traffic congestion and frequent traffic accidents. Intelligent transportation technology is an effective solution to this problem. In order to improve the accuracy and effectiveness of vehicle detection and tracking, this paper combined the improved YOLOv5s model with the optimized DeepSORT tracking algorithm to detect and track vehicles on traffic roads. Firstly, in the detection model of YOLOv5s, the Attention-based Intra-scale Feature Interaction (AIFI) module is introduced to detect vehicles more quickly and accurately. Secondly, the Kalman filtering (KF) algorithm of DeepSORT is optimized to improve the accuracy of predictions of the vehicle state by using the width to replace the length-to-width ratio of the vehicle prediction box in the original KF algorithm. Finally, in the re-recognition network of DeepSORT, the original Convolutional Neural Network (CNN) model is replaced by an improved ResNet36 as the backbone network for feature extraction. The experimental results show that, compared with the original algorithm, when examining the performance of the improved algorithm in terms of target detection, the recall rate, average accuracy (mAP), and detection speed, are increased by 7.7%, 15.5%, and 14.2%, respectively; in terms of multi-object tracking performance, such as multi-object tracking precision (MOTP) and multi-object tracking accuracy (MOTA), improvements of 14.84% and 9.62%, respectively, are obtained and the total number of times a trajectory is fragmented (Frag) is reduced by 32.52%.These results indicate that the proposed algorithm can meet the requirements of accuracy, real-time detection, and stable vehicle detection and tracking on traffic roads. [ABSTRACT FROM AUTHOR]

The variability of Mars exosphere over monthly to solar‐cycle scales at 251 and 412 km altitude is quantified by analysis of 41‐Ls mean densities derived from precise orbit determination of the Mars Reconnaissance Orbiter (MRO) and Mars Odyssey (MO) satellites, respectively. The data encompass 2006–2020 (MRO) and 2002–2020 (MO). At both altitudes, most of the variance is captured by cos(Ls–ϕ), where ϕ ≈ 258°. This term represents the effects of solar heating changes due to the eccentricity of Mars orbit around the Sun, and climatological changes in heating due to lower‐atmosphere dust loading, which does not play a significant role. The remaining variability is connected with the "irregular" variability of solar flux over monthly time scales. For MO, the presence of Helium disrupts a clean correlation with these sources. Plain Language Summary: The force of continuous bombardment of atmospheric particles on a satellite slowly changes its orbit. By tracking the satellite, changes in its orbit can in turn be used to infer atmospheric particle densities. In this paper, we use tracking from NASA's Deep Space Network, an international array of giant antennas, to measure minute orbital changes of the Mars Reconnaissance Orbiter and Mars Odyssey satellite orbits (and thereby atmospheric densities) around Mars during the 2002–2020 time frame. These data are used to study how the outer regions of Mars atmosphere respond to changes in heating due to solar radation absorption by various chemical species, and by dust that is elevated into the atmosphere by strong winds near the surface. The major finding of this paper is that the variability of Mars outer atmosphere is mainly controlled by solar heating changes due to the eccentricity of Mars orbit around the Sun. Key Points: Densities from precise orbit determination of Mars Reconnaissance Orbiter and Mars Odyssey are used to quantify long‐term variability of Mars' exosphereThe annual term is the greatest contributor to total variance, followed by the irregular component of EUV/UV fluxDust‐induced inter‐annual variability is small, but the analysis method does suppress potentially important regional‐scale events [ABSTRACT FROM AUTHOR]

With the evolution of Global Navigation Satellite System (GNSS), new generation GNSS signals have adopted the dual-frequency multiplexing modulation techniques, which jointly modulate multiple signals located on multiple sub-frequencies into a Wideband Multiplexed Signal (WMS). Although WMSs were proposed initially to reduce the complexity of satellite transmitters and improve the transmission efficiency of signals, their multi-component structures and wide root mean square bandwidths introduced by high-frequency subcarriers also provide the possibility to improve the GNSS ranging precision. Therefore, this paper proposes a Dual-assisted Multi-component Tracking (DMT) technique, which can not only fully use high-frequency subcarriers in WMSs, but also effectively track carrier, subcarrier, and code by jointly utilizing all components in WMS. In this paper, the tracking and ranging performances of DMT are comprehensively analyzed theoretically and by simulation and real experiments. The results show that compared with existing WMS tracking methods, DMT can achieve tracking results with lower tracking jitters and ranging results with higher precision, providing a highly advantageous solution for new generation GNSS signal processing. [ABSTRACT FROM AUTHOR]

Autonomous Underwater Vehicles (AUVs) are widely used for the inspection of seabed pipelines. To address the issues of low trajectory tracking accuracy in AUV inspection processes due to uncertain ocean current disturbances, this paper designs a new dual-loop controller based on Model Predictive Control (MPC) and Variable Universe S-plane algorithms (S-VUD FLC, where VUD represents Variable Universe Discourse and FLC represents Fuzzy Logic Control) to achieve three-dimensional (3-D) trajectory tracking of an over-actuated AUV under uncertain ocean current disturbances. This paper uses MPC as the outer-loop position controller and S-VUD FLC as the inner-loop speed controller. The outer-loop controller generates desired speed instructions that are passed to the inner-loop speed controller, while the inner-loop speed controller generates control input and uses a direct logic thrust distribution method that approaches optimal energy consumption to distribute the thrust generated by the propellers to the over-actuated AUV, achieving closed-loop tracking of the entire trajectory. When designing the outer-loop MPC controller, the actual control input constraints of the system are considered, and control increments are introduced to reduce control model errors and the impact of uncertain external disturbances on the actual AUV model parameters. When designing the inner-loop S-VUD FLC, the strong robustness of the variable universe fuzzy controller and the easy construction characteristics of the S-plane algorithm are combined, and integral action is introduced to improve the system's tracking accuracy. The stability of the outer loop controller is proven by the Lyapunov method, and the stability of the inner loop controller is verified by simulation. Finally, simulations show that the over-actuated AUV has fast tracking processes and high tracking result accuracy under uncertain ocean current disturbances, demonstrating the effectiveness of the designed dual-loop controller. [ABSTRACT FROM AUTHOR]

This paper presents a novel method for identifying and tracking PocketQube satellites: the MRC-100 satellite is a model, and this method is based on a resonant radar reflector. The resonant reflector’s basic concept is that the resonant reflector uses a VHF/UHF communication subsystem antenna; there is no radiated RF signal, which means the power consumption is only some Milliampere (mA). The continuous wave (CW) illuminator RF source is on the ground, and the onboard antenna receives the CW RF signal from the Earth. The microcontroller (uC) periodically switches PIN diode forming BPSK modulated signal reflection so that another Earth station can receive the backscattered Binary Phase Shift Keying (BPSK) modulated signal. Also, it can detect the satellite if the ground station receiver can use a matched filter like a correlation receiver. If the ground station receiver knows the BPSK code of the satellite, it can detect it. If not, there is no way to detect the satellite. This method is similar to Radio Frequency Identification (RFID) applications, but the reader is the ground station, and the tag is the satellite. [ABSTRACT FROM AUTHOR]

• Designed affordable 3DOF attitude simulator. • In–house built 3-axis Helmholtz coil cage. • Identified CubeSat demonstrator parameters. • Demonstrated CubeSat self-actuation & detumbling. Spacecraft attitude determination and control systems (ADCS) stand as a pivotal factor for ensuring the success of missions. As satellite sizes continue to decrease, the need for more intelligent and efficient control algorithms becomes increasingly pronounced. In response to this imperative, we propose the development of a scaled-down testbed specifically designed for evaluating satellites (ACDS). This testbed will demonstrate effective control of a CubeSat through the use of Helmholtz coils, magnetic torquer solenoids, reaction wheels and inexpensive student-made components and available components off the shelf (COTS) in the San Diego State University SPACE Lab. Referred to as the Spacecraft Attitude Testbed (SAT), this custom-designed 3-DoF experimental attitude platform replicates the conditions experienced by a weightless satellite in space. The objective of this research paper is to improve the understanding of how to manufacture a testbed and components like those within this paper, expose some of the issues encountered and improve the outcomes for future academic testbeds. Within this study, the testbed employs torque application to magnetic torquers and reaction wheels to regulate attitude. In summary, this research endeavors to establish a comprehensive and cost-effective testbed platform dedicated to the assessment of spacecraft attitude control and determination systems. It not only seeks to enhance our understanding of advanced control algorithms but also aims to contribute valuable insights into fault detection and adaptive control strategies, ultimately bolstering the efficiency and robustness of satellite operations. [ABSTRACT FROM AUTHOR]

As the world is moving towards the Internet of Things (IoT), more data rate is required with wider coverage and small delay. While the 5G supports the needed increased data rate, it suffers from a decreased coverage per tower. In contrast, the low population areas such as deserts, oceans, forests, and mountains contain most of the world's transportation such as highways, ships, and planes as well as large areas of agricultural lands that are all not supported by 5G. Consequently, LEO satellite constellations have been introduced to cover the earth's surface with a high-speed data rate. Each LEO satellite constellation requires 4000 + satellites and at least one ground base station (BS) for control, tracking, telemetry, and remote sensing functions. However, to support the needed downlink high-speed data rate demand, the LEO satellite constellation must add many BSs to increase the uplink data rate. As a result, the GEO communication satellites face great competitors in their market. This paper introduces the hybrid LEO-GEO satellite communication system to change this competition into cooperation that benefits both systems. In the hybrid LEO-GEO satellite communication system, this paper proposes maximizing the downlink utilization of both LEO and GEO satellites by the traffic-aware Artificial Expectation Detection (AED) technique. In such a technique, the trending multicast data choose the GEO link while the unicast data and control data choose the LEO link to maximize the downlink utilization efficiency. Our results show that using AED is power efficient and delay efficient while increasing the data rate by (100)x to (100k)x or decreasing the needed number of LEO BSs. [ABSTRACT FROM AUTHOR]

This paper introduces a feedforward control method for physical systems that can be described with linear parameter-varying (LPV) models. The proposed feedforward controller structure is consequently derived from a generic LPV representation and is shown to be identifiable directly from noisy measurement data. The identified structure is advantageous for feedforward control, as using a simple least squares algorithm allows to parameterise basis functions representing the required input trajectory to follow a given output trajectory. Also, with the proposed regularisation, the input trajectory remains bounded even when the physical system exhibits non-minimum phase behaviour. Additionally, the proposed controller structure does not possess states but only considers the inputs and outputs signals and their derivatives, leading to a unique physical interpretation of each controller's parameter. Multiple feedforward controllers identified at various operating points can therefore be directly merged to create a parameter-varying controller. A nonlinear and locally non-minimum phase system is considered in this study, i.e. an engine air path, to evaluate the performances of the proposed feedforward strategy. The controller parameters are first identified from noisy measurement data, and then the proposed feedforward controller is implemented with a feedback controller to track the exhaust pressure and $ \mathrm {NO}_{\mathrm {x}} $ NO x concentration. Using a detailed physical simulation of the engine air path, the proposed feedforward strategy showed encouraging output tracking performances compared to state-of-the-art control methods. The presented feedforward method is shown to be straightforward to identify and calibrate while guaranteeing a contained computational complexity and being applicable to many physical systems thanks to its modularity. [ABSTRACT FROM AUTHOR]

This paper presents a novel vision impairment assistive device to improve mobility and independence. This device consists of Arduino Nano microcontroller technology that powers the Satellite/GPS-based stick, which tracks and navigates in real-time. Arduino Nano's adaptability and compactness enable our portable, affordable white cane replacement. Satellite signals let the stick locate the user, compute the best routes, and provide aural navigation cues through speakers or headphones. The obstacle detection sensors notify users of adjacent risks, improving safety. The proposed device is a stable and user-friendly technology that delivers a potential answer to visually impaired navigation issues after rigorous development and testing. [ABSTRACT FROM AUTHOR]

Construction project delays can stem from a myriad of factors and pose significant challenges for owners and contractors. While numerous methods for analyzing delays exist, the majority are designed for network scheduling, lack contemporaneous tracking (i.e., do not allow for identifying and tracking delays as they occur), and struggle with attributing delays to specific stakeholders. Therefore, this paper introduces a novel graphical approach to monitor delays by comparing as-planned and as-built schedules at the activity level. Distinguished by its contemporaneous nature, the new method allows real-time tracking and quantification of delays. This facilitates identifying their origin and potential causes. Rules for constructing the graphs of various delay scenarios are demonstrated for typical activity combinations. The effectiveness of the proposed method is validated via a case study that showcases its practical application. Implementing it is straightforward, and while the method could be applied to network schedules, its relevance lies in linear and repetitive schedules. The cyclic nature of tasks in such schedules underscores the importance of contemporaneous delay tracking to facilitate swift remedial actions and pinpoint liability. Practical Applications: In this study, the authors present a new way to track delay using graphs by comparing starts, productivities, and finishes of as-planned and as-built schedules at the activity level. Because it is contemporaneous, the new approach tracks and measures delays in real time, currently manually, but easily implemented as computer code. This method makes it easier to find the source and possible causes of activity and project delays. Detailed rules are derived for common activity scenarios and interactions on how to create the respective graphs. A real-world study demonstrates how the proposed method can be used to substantiate its potential value to practitioners in industry. The proposed approach is practical, and while it could be used for network schedules, it is especially useful for linear and repetitive schedules. [ABSTRACT FROM AUTHOR]

The paper presents a prototype setup for detecting and tracking transmission line faults using Internet of Things (IoT) technology. This system automatically detects, analyzes and classifies the transmission line faults, while also tracking the location of fault. The setup uses a combination of ESP32, display, potential transformers, current transformers and GSM module to sense, process and transmit data. The instrument transformers accurately sense data and send to ESP32. Comparing with reference value, it analyzes fault and sends information via GSM module to a designated number and server. This prototype ensures fast processing of data and detects faults accurately in different scenarios. [ABSTRACT FROM AUTHOR]

Siamese trackers based on classification and regression have drawn extensive attention due to their appropriate balance between accuracy and efficiency. However, most of them are prone to failure in the face of abrupt motion or appearance changes. This paper proposes a Siamese-based tracker that incorporates spatial-semantic-aware attention and flexible spatiotemporal constraint. First, we develop a spatial-semantic-aware attention model, which identifies the importance of each feature region and channel to target representation through the single convolution attention network with a loss function and increases the corresponding weights in the spatial and channel dimensions to reinforce the target region and semantic information on the target feature map. Secondly, considering that the traditional method unreasonably weights the target response in abrupt motion, we design a flexible spatiotemporal constraint. This constraint adaptively adjusts the constraint weights on the response map by evaluating the tracking result. Finally, we propose a new template updating the strategy. This strategy adaptively adjusts the contribution weights of the tracking result to the new template using depth correlation assessment criteria, thereby enhancing the reliability of the template. The Siamese network used in this paper is a symmetric neural network with dual input branches sharing weights. The experimental results on five challenging datasets show that our method outperformed other advanced algorithms. [ABSTRACT FROM AUTHOR]

The paper is devoted to the adaptive tracking control based on the mismatched disturbance observer for motor‐driven robotic manipulators. A novel mismatched disturbance observer is introduced, which does not make bounded derivative assumptions on mismatched disturbances in the robotic manipulator system. Additionally, a new adaptive tracking controller for a motor‐driven robotic manipulator based on the mismatched disturbance observer is designed, which guarantees that all closed‐loop signals are globally uniformly bounded and the tracking error is asymptotic stable. Finally, the simulation comparisons are carried out between the proposed and existing control strategies to demonstrate the superiority of the developed controller. [ABSTRACT FROM AUTHOR]

The scale factor serves as a ruler for converting raw phase measurements into physical displacements and significantly impacts the preprocessing of data from the Laser Ranging Interferometer (LRI) in laser ranging systems. In the current GRACE Follow-On (GRACE-FO) mission for low–low tracking gravity satellites, most of the existing LRI scale factor estimation algorithms heavily rely on cross-calibration between instantaneous/biased ranges from the Ka-Band Ranging Interferometer (KBR) and the LRI. However, due to the nonlinearity of the objective function (which includes terms involving the product of scale and time shifts), the scale factor estimation may absorb errors from timing noise. Moreover, future gravity missions or gravity detection tasks may no longer incorporate KBR ranging instruments. To address these challenges, this paper proposes an energy-based method for scale factor estimation using inter-satellite baseline solutions. Comparative analysis indicates that the proposed method effectively disentangles two parameters in the objective function and can be applied in scenarios where KBR data are unavailable, demonstrating promising prospects for practical application. The experimental results show that when the KBR validation residuals are lower than 0.8 mm, the SYSU LRI1B V01 products exhibit residuals below the payload design accuracy thresholds in the frequency band of 2 mHz to 0.1 Hz. Additionally, the stability of the scale factors obtained from the baseline can reach 10−7. Although this is still below the required precision of better than 10−8 for the laser frequency stability in next-generation gravity satellites, advancements in orbit determination technology and the enhanced stability of GPS receivers offer potential for future precision improvements. Currently, this method appears suitable for roughly extracting the scale factor as a stochastic mean over several months or serving as a backup validation strategy for future missions, but it is not well suited to measure day-to-day variations. [ABSTRACT FROM AUTHOR]

Accurate modeling of facial hair is crucial not only for reconstructing a clean-shaven face but also for enhancing realism when creating digital human avatars. Previous methods have primarily focused on reconstructing sparse facial hairs from static scans, and more recently, efforts have been made to track facial performances. However, there is still room for improvement in reconstructing thick hairs. In this paper, we address the challenges of facial hair reconstruction and tracking, enhancing the realism and detail of facial hair in digital human avatars. For facial hair reconstruction, we propose a method that combines line-based multi-view stereo with line segment matching to recover a dense hair point cloud. From this point cloud, hair strands are extracted using the forward Euler method. For tracking, we introduce a space-time optimization method that registers the reference facial hair strands to subsequent frames, taking into account both the global shape and the motion between frames. After capturing the facial hair structures, we refine the underlying skin meshes by replacing the noisy hair region points with strand roots. We conducted experiments on various examples captured under different systems, demonstrating that our facial hair capture method outperforms previous methods in terms of accuracy and completeness. Our method provides a comprehensive and accurate solution for capturing and modeling facial hair in various facial performance scenarios. [ABSTRACT FROM AUTHOR]

This paper studies the bipartite consensus tracking problems of fractional-order multi-agent systems on directed signed graphs. Each agent is modelled as a second-order fractional-order dynamics with the order belonging to $ (0,1] $ (0 , 1 ] , and the cooperative and competitive interactions between the agents coexist in the systems. Two distributed bipartite consensus tracking protocols are proposed for the systems based on continuous information and sampled information, respectively. Under the assumption that the directed signed graph is structurally balanced, it is shown that the second-order fractional-order multi-agent systems can achieve the bipartite consensus tracking if the feedback coefficients are chosen appropriately. Finally, several simulations are provided to verify the effectiveness of the theoretical results. [ABSTRACT FROM AUTHOR]

Accurate object tracking in low-light environments is crucial, particularly in surveillance, ethology applications, and biometric recognition systems. However, achieving this is significantly challenging due to the poor quality of captured sequences. Factors such as noise, color imbalance, and low contrast contribute to these challenges. This paper presents a comprehensive study examining the impact of these distortions on automatic object trackers. Additionally, we propose a solution to enhance the tracking performance by integrating denoising and low-light enhancement methods into the transformer-based object tracking system. Experimental results show that the proposed tracker, trained with low-light synthetic datasets, outperforms both the vanilla MixFormer and Siam R-CNN. [ABSTRACT FROM AUTHOR]

Recently, discriminative correlation filters (DCF) have been successfully applied for visual tracking. However, traditional DCF trackers tend to separately solve boundary effect and temporal degradation problems in the tracking process. In this paper, a variational online learning correlation filter (VOLCF) is proposed for visual tracking to improve the robustness and accuracy of the tracking process. Unlike previous methods, which use only first-order temporal constraints, this approach leads to overfitting and filter degradation. First, beyond the standard filter training requirement, our proposed VOLCF method introduces a model confidence term, which leverages the temporal information of adjacent frames during filter training. Second, to ensure the consistency of the temporal and spatial characteristics of the video sequence, the model introduces Kullback–Leibler (KL) divergence to obtain the second-order information of the filter. In contrast to traditional target tracking models that rely solely on first-order feature information, this approach facilitates the acquisition of a generalized connection between the previous and current filters. As a result, it incorporates joint-regulated filter updating. Through quantitative and qualitative analyses of the experiment, it proves that the VOLCF model has excellent tracking performance. [ABSTRACT FROM AUTHOR]

The performance of an uncrewed aerial system (UAS) operating nominally in an indoor/outdoor environment depends upon the available power, and how well the system reacts to disturbances and nonlinear dynamic effects. This paper focuses on development of approaches to compensate for nonlinear dynamic effects due to aerodynamics, gyroscopic coupling, and rotor induced rolling effects in deriving aggressive multi-copter trajectories. A thrust constrained multi-copter is adopted for verifying the compensation, that is achieved through an optimal trajectory synthesis formulation. It is shown that the compensation approach yields precise and aggressive trajectory tracking for the multi-copter flight in and out of indoor environments, such as windows and other constrained openings. [ABSTRACT FROM AUTHOR]

Convolutional neural networks (CNNs) have been the dominant architectures for feature extraction tasks, but CNNs do not look for and focus on some specific image features. Correlation operations play an important role in visual tracking. However, the correlation operation reserves a large amount of unfavorable background information. In this paper, we propose an effective feature recognizer including channel and spatial attention modules to focus on important object feature information. Thus, the representation power of the feature extraction network is improved. Further, we design a multi-scale feature fusion network. The fusion network performs feature fusion on template feature and encoded feature branches to establish connections between features at different scales. Experiments on six benchmarks demonstrate that the proposed tracker outperforms the state-of-the-art trackers. In particular, the proposed tracker achieves an 80.4% AUC on TrackingNet and a 68.4% AUC on GOT-10k while running at a real-time speed. [ABSTRACT FROM AUTHOR]

Aiming at the lack of adaptability of vehicle parameters under extreme conditions, this paper proposes an integrated control method for path tracking and lateral stability of distributed drive electric vehicles based on tire cornering stiffness adaptive model predictive control (MPC) scheme. The control method integrates active front steering and direct yaw control to improve the path tracking and lateral stability performance of distributed drive electric vehicles. Firstly, considering the influence of vertical load transfer, the tire cornering stiffness is estimated based on the extended Kalman filter (EKF) algorithm. Then, using this online updated tire cornering stiffness value, an adaptive MPC controller for path tracking and lateral motion stability of distributed drive electric vehicles is constructed. Meanwhile, a fuzzy sliding mode control (Fuzzy-SMC)–based longitudinal velocity controller is established to ensure the accuracy of velocity tracking. Also, according to the distributed driving characteristics of the controlled system, a tire torque distributor based on weighted pseudo-inverse (WPI) is designed with the minimum tire load rate as the optimization objective, where the road adhesion condition and the maximum output torque of the motor are considered as constraints. The simulation results show that the proposed integrated control method based on tire cornering stiffness adaptive model predictive control is robust and effective. Compared with constant cornering stiffness model predictive control–based control method, it can improve the vehicle path tracking accuracy and lateral motion stability under extreme conditions. [ABSTRACT FROM AUTHOR]

With the rapid growth of satellite Internet of Things (SIoT) services, existing frequency band resources are insufficient to meet future business demands. To effectively address this issue, it is necessary to enhance the utilization of existing frequency resources. However, idle frequency resources are typically scattered across multiple bands and vary in bandwidth size. Direct Spectrum Division Transmission (DSDT), dividing a complete signal into sub-spectrum signals for transmission in idle frequency bands, can take the use of fragmented spectrum resources for satellite communication. Nevertheless, the performance of DSDT depends heavily on accurate synchronization toward multiple sub-spectrums. In this paper, an algorithm for error synchronization tracking and compensation is proposed by utilizing the focusing nature of constellation. All sub-spectrums are weighed by the minimum Euclidean distance of the constellation to compensate for amplitude–frequency–phase errors simultaneously. Simulations and experimental verification demonstrate synchronization performance and feasibility of proposed method in a multi-radio frequency channels environment. [ABSTRACT FROM AUTHOR]

Active sonar can usually only directly measure the distance and bearing information of underwater targets, and cannot directly obtain target velocity, acceleration and other information. Therefore, the amount of information is relatively small, making it difficult to support the construction of complex motion models. At the same time, the motion state of underwater maneuvering targets is changeable. In response to the problem of detecting and tracking underwater moving targets by active sonar, this paper proposes a target transient model correction (TMC) filtering tracking method. Based on the conventional Kalman filter (KF) estimation, residual covariance is used as a signal quantity. When there is a large change in it, a transient filter with constant gain is adopted to filter the measurement value. The filtered output is used to correct the KF gain matrix and the target motion state model, to avoid the problem of increasing or even diverging KF estimation errors caused by changes in process noise. Using this method can solve the problem of maintaining stability and filtering estimation accuracy of active sonar tracking of underwater maneuvering targets with less computational and engineering costs. [ABSTRACT FROM AUTHOR]

Aiming to the sudden change of the system actual output constraint, a novel safe tracking control strategy is investigated for a class of non-strict feedback nonlinear systems with unknown initial tracking condition in this paper. A secure boundary protection method (SBPM) based on prescribed performance and a new prescribed finite-time performance function (PFTPF) are proposed. The SBPM can automatically construct two adjustable secure boundaries, so that the system output meets both the control performance prescribed by the PFTPF and the secure boundary constraint. In order to solve the problem of the excessive control input jitter caused by the sudden change of output constraint, a bidirectional filtering smoothing mechanism (BFSM) is proposed. The proposed SBPM can effectively ensure the safe tracking control of the system with unknown initial tracking condition when the actual output constraint changes suddenly, and ensure that the system has the prescribed finite-time control performance given by the PFTPF. Differently from the existing works, the system output will be strictly constrained into the actual output constraint without the prediction for the system output value. Finally, the effectiveness of this proposed method is verified by simulations. [ABSTRACT FROM AUTHOR]

The increasing rate of minimally invasive procedures and the growing prevalence of cardiovascular disease have led to a demand for higher-quality guidance systems for catheter tracking. Traditional methods for catheter tracking, such as detection based on single points and applying masking techniques, have been limited in their ability to provide accurate pose information. In this paper, we propose a novel deep learning-based method for catheter tracking and pose detection. Our method uses a Yolov5 bounding box neural network with postprocessing to perform landmark detection in four regions of the catheter: the tip, radio-opaque marker, bend, and entry point. This allows us to track the catheter's position and orientation in real time, without the need for additional masking or segmentation techniques. We evaluated our method on a dataset of fluoroscopic images from two distinct datasets and achieved state-of-the-art results in terms of accuracy and robustness. Our model was able to detect all four landmark features (tip, marker, bend, and entry) used to generate a pose for a catheter with 0.285 ± 0.143 mm, 0.261 ± 0.138 mm, 0.424 ± 0.361 mm, and 0.235 ± 0.085 mm accuracy. We believe that our method has the potential to significantly improve the accuracy and efficiency of catheter tracking in medical procedures that utilize bi-plane fluoroscopy guidance. [ABSTRACT FROM AUTHOR]

The traditional receiver employs scalar tracking loops, resulting in degraded navigation performance in weak signal and high dynamic scenarios. An innovative design of a vector tracking receiver based on nonlinear Kalman filter (KF) tracking loops is proposed in this paper, which combines the strengths of both vector tracking and KF-based tracking loops. First, a comprehensive description of the vector tracking receiver model is presented, and unscented Kalman filter (UKF) is applied to nonlinear tracking loop. Second, to enhance the stability and robustness of the KF tracking loop, we introduce square root filtering and an adaptive mechanism. The tracking loop based on square root UKF (SRUKF) can dynamically adjust its filtering parameters based on signal noise and feedback Doppler error. Finally, the proposed method is implemented on a software-defined receiver (SDR), and the field vehicle experiment demonstrates the superiority of this method over other tracking methods in complex dynamic environments. [ABSTRACT FROM AUTHOR]

Simple Summary: Simple Summary: Pig tracking provides strong support for refined management in pig farms and can assist in realizing customized, automated, and intellectualized management. However, there are many complex factors in actual production that result in pigs not being tracked consistently over time. To address this issue, we proposed a long-term video tracking method for group-housed pigs based on improved StrongSORT. The experimental results proved that our study demonstrates high practicality, catering to the needs of practical production. It improved the efficiency of farming personnel and lays the foundation for the automated monitoring of pigs. Additionally, it is worth mentioning that we have also released a dataset specifically designed for long-term pig tracking in this paper. Pig tracking provides strong support for refined management in pig farms. However, long and continuous multi-pig tracking is still extremely challenging due to occlusion, distortion, and motion blurring in real farming scenarios. This study proposes a long-term video tracking method for group-housed pigs based on improved StrongSORT, which can significantly improve the performance of pig tracking in production scenarios. In addition, this research constructs a 24 h pig tracking video dataset, providing a basis for exploring the effectiveness of long-term tracking algorithms. For object detection, a lightweight pig detection network, YOLO v7-tiny_Pig, improved based on YOLO v7-tiny, is proposed to reduce model parameters and improve detection speed. To address the target association problem, the trajectory management method of StrongSORT is optimized according to the characteristics of the pig tracking task to reduce the tracking identity (ID) switching and improve the stability of the algorithm. The experimental results show that YOLO v7-tiny_Pig ensures detection applicability while reducing parameters by 36.7% compared to YOLO v7-tiny and achieving an average video detection speed of 435 frames per second. In terms of pig tracking, Higher-Order Tracking Accuracy (HOTA), Multi-Object Tracking Accuracy (MOTP), and Identification F1 (IDF1) scores reach 83.16%, 97.6%, and 91.42%, respectively. Compared with the original StrongSORT algorithm, HOTA and IDF1 are improved by 6.19% and 10.89%, respectively, and Identity Switch (IDSW) is reduced by 69%. Our algorithm can achieve the continuous tracking of pigs in real scenarios for up to 24 h. This method provides technical support for non-contact pig automatic monitoring. [ABSTRACT FROM AUTHOR]

Most multi-target movements are nonlinear in the process of movement. The common multi-target tracking filtering methods directly act on the multi-target tracking system of nonlinear targets, and the fusion effect is worse under the influence of different perspectives. Aiming to determine the influence of different perspectives on the fusion accuracy of multi-sensor tracking in the process of target tracking, this paper studies the multi-target tracking fusion strategy of a nonlinear system with different perspectives. A GM-JMNS-CPHD fusion technique is introduced for random outlier selection in multi-target tracking, leveraging sensors with limited views. By employing boundary segmentation from distinct perspectives, the posterior intensity function undergoes decomposition into multiple sub-intensities through SOS clustering. The distribution of target numbers within the respective regions is then characterized by the multi-Bernoulli reconstruction cardinal distribution. Simulation outcomes demonstrate the robustness and efficacy of this approach. In comparison to other algorithms, this method exhibits enhanced robustness even amidst a decreased detection probability and heightened clutter rates. [ABSTRACT FROM AUTHOR]

In this paper, a matching method for altimeter and transponder signals in Sub-optimal Maximum Likelihood Estimate (SMLE) tracking mode is proposed. In the in-orbit calibration of the altimeter in SMLE tracking mode using the reconstructive transponder, it is necessary to separate the forwarding signal from the ground echo signal. At the same time, the fluctuations in the received signal of the altimeter, which are caused by the forwarding signal of the transponder, can be eliminated. The transponder generates a bias when measuring the arrival time of the transmitting signal from the altimeter and embeds this bias in both the transponder-recorded data and the altimeter-recorded data. Therefore, the two sets of data have one-to-one correspondence, and they are superimposed using the sliding sum method. Moreover, the distance between the altimeter and the transponder is a parabolic geometric relationship, and the outliers are eliminated by the fitting error minimization decision, and the transponder signal is separated from the ground echo. The final altimeter transmitting–receiving signal path is obtained. Furthermore, the principles underlying this method can be used for any transponder that can adjust the response signal delay during calibration. [ABSTRACT FROM AUTHOR]

A tracking control scheme is proposed for complex dynamic network (CDN), where the CDN is regarded wholly as a dynamic composite system which consists of two mutually coupled subsystems. One subsystem consists of all nodes and the other consists of all links, and consider the weights of the links to be state variables in the latter subsystem. There are two parts in the structure of the proposed tracking control scheme: the designed controller of nodes and the synthesis of the coupling term in links. These two parts can guarantee two subsystems to asymptotically track the given reference targets, respectively. This approach originates from the communication transmission network (CTN). In CTN, for the network optimization management, the reference network topology (NT), such as the star topology, is required as a target for tracking in communication transmission (links) when each node in network needs to track its own target. The control scheme provided of this paper coincides with above requirement. And finally, a comparative simulation example is given for illustrating the effectiveness of the provided control scheme. • The dynamic equations of nodes and NT are represented by the matrix differential equations, this can contain many models in other papers and simplify the control scheme, which is rarely discussed. • The tracking targets of nodes and NT given in this paper are independent of each other, which is novel. • When all nodes track the reference targets, the eventual network layout is shown by the desired NT, which is novel. [ABSTRACT FROM AUTHOR]

This paper proposes an adaptive robust control scheme to deal with the uncertainty problem of unmanned combat platform. Under the constraint of the controller, the rescue vehicle aims to follow the trajectory of the reconnaissance vehicle and avoid obstacles (e.g., craters and destroyed tanks), while they eventually reach the defined target location (an accident area). First, for the control objective, the original constraints are innovatively separated into two parts: arrival constraint and tracking‐avoidance constraint. An approximate constraint‐following control substitutes for the triple problem, and the constraint‐following error is subsequently established. Second, for the control strategy, a β‐measure is introduced to measure the constraint‐following error. To ensure the tracking‐avoidance constraint and the arrival constraint can be fully satisfied by the system, an adaptive robust control is designed. Finally, for the fast time‐varying uncertainty with unknown boundary, an adaptive law is introduced to evaluate the triple tracking‐avoidance‐arrival performance. In conclusion, the main contribution of this paper is to achieve triple tracking‐avoidance arrival for unmanned combat platform, and the problem of military detection and rescue on complex battlefields can be eliminated. [ABSTRACT FROM AUTHOR]

Habitat selection has been a central focus of animal ecology, with research primarily concentrating on habitat choice, utilization, and evaluation. However, studies confined to a single scale often fail to reveal the habitat selection needs of animals fully and accurately. This paper investigates the wintering whooper swan (Cygnus cygnus) in Manas National Wetland Park, Xinjiang, using satellite tracking to determine their locations. The Maximum Entropy model (MaxEnt) was applied to explore the multi-scales habitat selection needs of Manas National Wetland Park's wintering whooper swans across nighttime, daytime, and landscape scales. This study showed that the habitat selection of the wintering whooper swans varied in different scales. At the landscape scale, wintering whooper swans prefer habitats with average winter precipitations of 6.9 mm and average temperatures of −6 °C, including water bodies and wetlands, indicating that climate (precipitation and temperature) and land type (wetlands and water bodies) influence their winter habitat selection. During daytime, whooper swans prefer areas close to wetlands, water bodies, and bare land, with a more dispersed distribution of water bodies. For nighttime, they tend to choose areas within the wetland park where human disturbance is minimal and safety is higher. This study can provide scientific basis and data support for habitat conservation and management of wintering waterbirds like whooper swans, recommending targeted conservation measures to effectively manage and protect the wintering grounds of whooper swans. [ABSTRACT FROM AUTHOR]