Sergio Sánchez de la Fuente^*, Luis Prieto-López, Miguel Á González-Santamarta, Vicente Matellán-Olivera, Ángel Manuel Guerrero-Higueras

CMES-Computer Modeling in Engineering & Sciences, Vol.147, No.2, 2026, DOI:10.32604/cmes.2026.080739 - 27 May 2026

Abstract The development and testing of autonomous agricultural robots requires realistic simulation environments that accurately represent field conditions and terrain features. Traditional manual scenario creation is time-consuming, expensive and limits the diversity of testing conditions. This paper presents an integrated two-stage system for semi-automated generation of realistic 3D simulation scenarios. The first stage transforms publicly available geospatial data into high-fidelity 3D terrain models, supporting 23 discrete levels of detail (LoD), from 0 to 22, and generating simulation-ready models compatible with the Gazebo robotics simulator. The second stage provides a web-based tool that enables users to populate… More >

Natalia Prieto-Fernández¹, Martín Bayón-Gutiérrez^1,*, Sergio Fernández-Blanco¹, Álvaro Fernández-Blanco¹, Francisco Carro-De-Lorenzo², José Alberto Benítez-Andrades¹

CMES-Computer Modeling in Engineering & Sciences, Vol.147, No.2, 2026, DOI:10.32604/cmes.2026.080540 - 27 May 2026

Abstract Feature-based Simultaneous Localization and Mapping (SLAM) using 2D Light Detection and Ranging (LiDAR) in structured indoor environments commonly relies on the extraction of straight segments and corners from raw scan data. The quality of these landmarks depends not only on the fitting algorithm, but also on how uncertainty is modeled and propagated from line estimates to derived corner features. Although the magnitude of LiDAR uncertainty has been widely studied, the influence of line parameterization and geometric conditioning on uncertainty propagation has received less attention. In particular, the scale ambiguity inherent to implicit line representations can… More >

Qilong Wang¹, Ning Wang¹, Shuhan Luo¹, Xiang Gao², Yuqian Lu³, Min He^4,*

CMES-Computer Modeling in Engineering & Sciences, Vol.147, No.2, 2026, DOI:10.32604/cmes.2026.080372 - 27 May 2026

Abstract Tunnel environments often suffer from GPS denial, uneven illumination, and structural uniformity, which lead to feature degradation, loop closure failure, and long-distance drift in SLAM systems. To solve these problems, this study aims to propose a high-precision SLAM method suitable for tunnel structural health monitoring. Firstly, an ABA-CLAHE image enhancement algorithm is proposed, which adopts cascaded processing of nonlinear brightness adjustment in HSV space and CLAHE local contrast optimization to improve low-light image quality and enhance feature stability. Then, SURF feature matching combined with the RANSAC algorithm is used to ensure feature matching accuracy. Finally, More >

Tanveer Ahmad^1,*, Tahani Alsubait², Amina Salhi³, Amani Ibraheem⁴, Muhammad Asim Saleem⁵

CMES-Computer Modeling in Engineering & Sciences, Vol.147, No.2, 2026, DOI:10.32604/cmes.2026.080285 - 27 May 2026

Abstract The rapid adoption of Edge-AI in smart edge-IoT environments has dramatically led to an augmented vulnerability to cyber risks arising from distributed learning, data heterogeneity, and adversarial manipulation. This paper proposes a new risk-aware adaptive learning model that federated Edge-AI systems explicitly simulates cyber risk in the process of local training and global aggregation. The proposed solution combines stochastic optimization and adversarial risk bounding with adaptive gradient correction to develop strong learning in non-IID data distributions and malicious client behavior. Convergence guarantees are defined by the theoretical analysis in the case of limited adversarial perturbations.… More >

Menahil Rahman¹, Waqas Ishtiaq², Amerah Alabrah^3,*, Arif Mehmood⁴, Rana Faraz Ahmed⁴, Iqra Khalid⁵, Farhan Amin^6,*

CMES-Computer Modeling in Engineering & Sciences, Vol.147, No.2, 2026, DOI:10.32604/cmes.2026.078549 - 27 May 2026

Abstract Access to safe drinking water is a fundamental determinant of global health. The presence of contaminated water affects the citizens’ health. Per- and polyfluoroalkyl substances (PFAS) are often referred to as forever chemicals. They pose a persistent and growing threat to drinking water. In the literature, machine learning methods are used to identify the forever chemicals in water. However, traditional methods are not efficient and scalable. Thus, to solve this issue. This study develops a large-scale machine-learning framework for PFAS risk screening in US public water systems. The proposed framework incorporates data ingestion, preprocessing, and More >

Elizeu Monteiro Pereira Júnior, Lorena de Souza Cunha, Andreza Sousa Carmo, Ana Clara Lucarini, Ynglety Cascaes Pereira Matos, Allan Klynger da Silva Lobato, Elaine Maria Silva Guedes Lobato^*

Phyton-International Journal of Experimental Botany, Vol.95, No.5, 2026, DOI:10.32604/phyton.2026.072138 - 27 May 2026

Abstract Nickel (Ni) is an essential metallic micronutrient for optimal plant growth and development, regulator of essential metabolic processes, but its interaction with other essential nutrients can result in differences in the absorption of these nutrients, which can disrupt the ionic balance. The objective of this research was to evaluate the physiological performance and growth of soybean plants subjected to Ni levels applied via soil under Fe (iron) excess, determining the behavior of redox metabolism, gas exchange, and photosynthetic pigments. The experiment was conducted in a completely randomized design with a factorial 2 × 3, with… More >

Eun-Jeong Jeong^1,2,#, Yeon Soo Kim^2,#, Yujin Lee³, Jae-Sung Ryu⁴, Yung Hyun Choi^5,6, Eunjeong Kim^3,7,*

Oncology Research, Vol.34, No.6, 2026, DOI:10.32604/or.2026.078376 - 21 May 2026

Abstract Objective: The systematic evaluation of expansive genomic databases facilitates the discovery of clinically vital biomarkers. While Sideroflexin 3 (SFXN3) consistently displays elevated expression in head and neck squamous cell carcinoma (HNSCC), its specific pathobiological functions and prognostic value remain insufficiently characterized. This study aims to delineate the clinical and functional significance of SFXN3 in HNSCC. Methods: We interrogated SFXN3 expression patterns, patient survival outcomes, and immune cell infiltration characteristics utilizing multiple independent repositories, including the cancer genome atlas (TCGA) and gene expression omnibus (GEO). The prognostic independence of SFXN3 was verified via multivariate Cox regression. These… More > Graphic Abstract

Wei Jiang¹, You Zheng¹, Zhouhong Jing², Xiangling Yu¹, Huiying Fang^2,*

Oncology Research, Vol.34, No.6, 2026, DOI:10.32604/or.2026.078278 - 21 May 2026

Abstract Background: Breast cancer treatment is often hampered by the immunosuppressive tumor microenvironment (TME). To improve therapeutic efficacy, this study developed a folic acid-chitosan (FA-CS)-modified liposomal formulation co-delivering doxorubicin (DOX) and resiquimod (R848) for combined chemotherapy and immune modulation. Methods: The FA-CS-R848/DOX@Lip liposomes were prepared by rotary evaporation and characterized for morphology, particle size, zeta potential, drug encapsulation efficiency (EE), drug loading (DL) capacity, and drug release profiles. Cellular uptake and cytotoxicity were determined to assess the biological effects of the formulation. Antitumor efficacy and biosafety were assessed in an EO771 tumor-bearing mouse model. The macrophage phenotype,… More >

Pei-Yu Kao¹, Jie-Hong Chen², Kuo-Hu Chen^1,3,*

Oncology Research, Vol.34, No.6, 2026, DOI:10.32604/or.2026.078219 - 21 May 2026

Abstract Cervical cancer remains a major global health challenge despite advances in human papillomavirus (HPV) vaccination, screening, and treatment. Persistent infection with high-risk HPV types, particularly HPV16 and HPV18, is a necessary cause of cervical cancer; however, only a small fraction of infections progress to malignancy, indicating the importance of additional cofactors. Increasing evidence identifies estrogen signaling as a critical modifier of HPV-driven carcinogenesis. Estrogen acts synergistically with HPV oncogenes E6 and E7 to promote genomic instability, immune evasion, and tumor progression, largely through effects on the tumor microenvironment (TME). This review aims to clarify and… More >

Elena Matei^1,*, Ionuț Ciprian Iorga^2,3, Mariana Deacu^2,4, Georgeta Camelia Cozaru^1,4, Gabriela Isabela Băltățescu^1,4,#, Manuela Enciu^2,4,#

Oncology Research, Vol.34, No.6, 2026, DOI:10.32604/or.2026.072421 - 21 May 2026

Abstract Objectives: Deregulated plasticity is involved in initiation, progression, metastasis, and resistance to therapy of various cancers. Our study aimed to present new checkpoints involved in complex biological processes that sustain epithelial-mesenchymal transition (EMT) variability and heterogeneity in prostate tumor cell plasticity. Methods: Dysregulated cell signaling pathways involved in prostate EMT heterogeneity were analyzed by intrinsic and extrinsic factors such as cell cycle phases by propidium iodide (PI) stain, apoptosis by caspase-3/7 biochemical cascade DEVDase enzyme activity by Magic Red stain (DEVD-MR)/propidium iodide stain, autophagy and nuclear shrinkage by Hoechst/acridine orange stain, evasion of immune surveillance by… More >