Track Formation Research Articles

Radiation Damage in the Structure of the CR-39 Nuclear Detector Material as A Result of the Alpha's Energy Loss

In this work, the damage caused by the passage of alpha particles inside the CR-39 nuclear detector material on its chemical structure was studied. All samples at room temperature using a 241Am-Be neutron source with a flux of 5^10 neutrons.cm-2.s-1 were neutron-irradiated. In the CR-39 nuclear track detectors, chemical etching is a critical step in expanding latent tracks. At 70 °C, a NaOH in 6.25N etchant was found to be useful in expanding alpha traces in the CR-39 detector. The track depths of the Alpha particle as a function of etching time for the various energies were increased as etching time increases. The current study uses the nuclear track detector technique to estimate the range of alpha particles. Track etch rates are frequently determined using 2-dimensional photographs of track openings (diameter) or etching time data. The chemical structure along latent tracks and the track formation process were investigated in PADC(poly allyl diglycol carbonate). The findings showed that the measurement of bulk etch rate values by the weight method was 1.42 ± 0.02 μm/h. In addition, the results for the alpha particle range from 4.47 ± 0.05 and 5.8 ± 0.19 μm for alpha energy1.2 MeV and1.47MeV,respectively

Evaluation of threshold conditions for latent track formation in nanocrystalline Y2Ti2O7

We present the first report on the structural effects induced by swift xenon ions in nanocrystalline pyrochlore Y2Ti2O7 (outside the metal matrix) studied using high resolution transmission electron microscopy. Latent amorphous tracks were observed in the range of electronic stopping powers 4.8–23.2 keV/nm. Obtained results enabled estimation of the threshold energy loss values for formation of continuous and not continuous (surface) tracks at ≈ 8 keV/nm and 3.5 keV/nm, respectively.

PML Alternative Splice Products Differentially Regulate HAdV Productive Infection.

ABSTRACTPromyelocytic leukemia nuclear bodies (PML-NBs) were considered to maintain antiviral capacity, as these spherical complexes are antagonized by viruses. Actual work provides evidence, that PML-NB-associated factors might also be beneficial for distinct viral processes indicating why genomes and replication centers of nuclear replicating viruses are often found juxtaposed to PML-NBs. Several early HAdV proteins target PML-NBs, such as E4orf3 that promotes redistribution into track-like structures. PML-associated dependency factors that enhance viral gene expression, such as Sp100A remain in the nuclear tracks while restrictive factors, such as Daxx, are inhibited by either proteasomal degradation or relocalization to repress antiviral functions. Here, we did a comprehensive analysis of nuclear PML isoforms during HAdV infection. Our results show cell line specific differences as PML isoforms differentially regulate productive HAdV replication and progeny production. Here, we identified PML-II as a dependency factor that supports viral progeny production, while PML-III and PML-IV suppress viral replication. In contrast, we identified PML-I as a positive regulator and PML-V as a restrictive factor during HAdV infection. Solely PML-VI was shown to repress adenoviral progeny production in both model systems. We showed for the first time, that HAdV can reorganize PML-NBs that contain PML isoforms other then PML-II. Intriguingly, HAdV was not able to fully disrupt PML-NBs composed out of the PML isoforms that inhibit viral replication, while PML-NBs composed out of PML isoforms with beneficial influence on the virus formed tracks in all examined cells. In sum, our findings clearly illustrate the crucial role of PML-track formation in efficient viral replication.IMPORTANCE Actual work provides evidence that PML-NB-associated factors might also be beneficial for distinct viral processes indicating why genomes and replication centers of nuclear replicating viruses are often found juxtaposed to PML-NBs. Alternatively spliced PML isoforms I-VII are expressed from one single pml gene containing nine exons and their transcription is tightly controlled and stimulated by interferons and p53. Several early HAdV proteins target PML-NBs, such as E4orf3, promoting redistribution into track-like structures. Our comprehensive studies indicate a diverging role of PML isoforms throughout the course of productive HAdV infection in either stably transformed human lung (H1299) or liver (HepG2) cells, in which we observed a multivalent regulation of HAdV by all six PML isoforms. PML-I and PML-II support HAdV-mediated track formation and efficient formation of viral replication centers, thus promoting HAdV productive infection. Simultaneously, PML-III, -IV,-V, and -VI antagonize viral gene expression and particle production.

Complexation-mediated surface modification of polyamide-66 textile to enhance electroless copper deposition

A key element for the development of electronic textiles is the formation of conductive tracks and circuits on fibres and textile structures. For achieving a reliable conductive structure during the entire usage lifetime, the modification of the substrate is often indispensable to improve the adhesion between the textile substrate the conductive structure.In this work, we have further developed the complexation mediated surface treatment technique using CaCl2/EtOH/H2O solution (CEW) for the modification of PA66 fibre and fabric which were subsequently coated with copper by currentless deposition. As a result of the treatment, a porous shell layer was formed at the fibre surface. Apart from the topographical change of the fibre/fabric surface, there was no further significant influence on other polymer parameters. Compared to untreated and state-of-the-art plasma modified samples, CEW modification resulted in the highest abrasion resistance as a result of the better migration of metal ions into the thin porous shell structure, allowing stronger anchoring of the metal layer to the substrate. After 10 000 abrasion cycles, 90% copper still remained on CEW modified coated fabric, exhibiting very low resistance. Thus, CEW complexation mediated modification technique is proven to be simple to implement, but efficient to enhance the polymer/metal interface in copper coated PA66 fibre.

Piezospectroscopic analysis of mechanical stresses in Si3N4 and AlN irradiated with high-energy bismuth ions

Depth-resolved Raman piezospectroscopy was used to study residual mechanical stress profiles in polycrystalline silicon and aluminum nitrides irradiated with 710 MeV bismuth ions to fluences of 1×1012, 2×1012, and 1×1013 cm-2. It was found that stress fields of opposite signs are formed in the irradiated Si3N4 layer, separated by a buffer zone located at a depth coinciding with the thickness of the sample layer, amorphized at high ion fluences due to multiple overlapping of track regions. At great depths, tensile stresses witch magnitude reaches their maximum value in the region of the end of the ion range are detected. In contrast to Si3N4, radiation-stimulated changes in mechanical stresses in AlN were within the measurement error throughout the entire thickness of the irradiated layer, except of the near-surface region. The observed effect is associated with the different structural sensitivity of silicon and aluminum nitrides to high-density ionization - the formation of amorphous latent tracks in Si3N4 and their absence in AlN.

Producing Ti5Mo-Fused Tracks and Layers via Laser Powder Bed Fusion

The principal optimum process parameters for printing Ti5Mo fused tracks and layers were determined. The laser power, scanning speed and hatch distance were varied to study their influence on fused track and layer formation. The morphology, geometry, homogeneity, surface roughness, solidification structure, microstructure and microhardness of the fused tracks and layers were analysed. It was observed that, based on the laser energy density, different fused tracks and layers can be achieved. It is only at a certain critical threshold that optimum process parameters could be obtained. Laser power of 200 W with a corresponding scanning speed of 1.0 m/s at a hatch distance of 80 µm was obtained as the optimum process parameter set. As opposed to previous research by the authors, the Mo powder particles in the current investigation melted completely in the Ti5Mo alloy matrix due to the small Mo powder particle size (1 µm). A 50% offset rescanning strategy also improved the surface quality of the layers. The solidification front is predominantly cellular, and the microhardness values obtained fall within the values reported in the current literature.

On the role of pre- and post-contour scanning in laser powder bed fusion: Thermal-fluid dynamics and laser reflections

Despite of the promising advantages of laser powder bed fusion (LPBF), the surface quality control of the LPBF-produced parts has been a critical challenge for this technique to have a successful application in the industry. Different from the majority of literatures that pay attention to the effects of process parameters on the surface quality, this work has uniquely explored the influence of the contour scan sequence on the surface roughness magnitude in the LPBF of copper alloy. The experimental results present that the pre-contour scan strategy gives rise to lower roughness magnitude than the common post-contour scan strategy under the majority of contour process parameters. To investigate the underlying mechanisms of this phenomenon, a high-fidelity CFD model with a ray-tracing method is utilized to model the laser-matter interactions and melt pool dynamics in the contour scan. Given this, the multiple laser reflection behaviors are well visualized and discussed and the different laser reflection mechanisms in the different contour scan strategies are correlated with the melt flow behaviors. It is suggested that the presence of powders deposited on the infill region helps enhance the laser absorption during the pre-contour scan, and by extension, improve the melting behavior. On the contrary, the flat surface of the infill region that has solidified prior to the contour scan weakens the absorption of laser energy by metal materials to some extent, which is responsible for the poor wettability and defect formation of the contour track.

Investigation and correlation between surface modifications and field emission properties of laser-induced silicon plasma ion irradiated stainless steel

Laser-induced silicon (Si) plasma has been used as a source of ion irradiation for modifications in surface, structural and field emission properties of Stainless Steel (SS). Nd:YAG (532 nm, 10 ns) laser at irradiance of 15 GW/cm2 was used to generate Si-plasma ions which were detected by solid-state nuclear track detector (CR-39) and Faraday Cup (FC). Both the energy and fluence of Si ions were measured by FCs. In response to a stepwise increase in the number of laser pulses from 3000 to 12000, the ion fluence varies from 4.6 × 1014 to 18.3 × 1014 ions/cm2 with constant energy of 30 keV. Fourier Transformation Infrared (FTIR) spectroscopy analysis revealed that irradiated silicon makes the stretch band with oxygen Si–O–Si. X-Ray Diffraction (XRD) analysis confirmed the identification of new phase of Si (111) with an anomalous trend in crystallite size, dislocation line density and induced stresses in response to the irradiation with various Si ion fluences. Optical microscopy analysis showed the formation of pits, voids and tracks. Scanning electron microscope (SEM) analysis revealed the formation of nanoscale surface features including pores, craters, embedded particulates and protruded disk-like structures with multiple ablative layers at the fluence of 4.6 × 1014 to 13.7 × 1014 ions/cm2. At the highest ion fluence of 18.3 × 1014 ions/cm2, the flake/flower-like morphology is observed. Field emission (FE) properties were studied under ultra-high vacuum condition in a parallel plate configuration using planar virgin SS as an anode and structured SS as a cathode. The Fowler–Nordheim plots were obtained from I–V characteristics to evaluate the turn-on field, field enhancement factor β and a maximum current density ranging 1.5–4.5 V/µm, 5008–12807 and 96–454 nA/cm2, respectively. The variation in the FE properties is attributed to the different morphological features at varying silicon ion fluences.

Modeling fission spikes in nuclear fuel using a multigroup model of electronic energy transport

In fission based nuclear reactors the fuel is subject to an intense neutron environment that drives the fission chain reaction. Due to this process fission fragments are created with energies reaching 1 MeV/amu that lose energy primarily through inelastic interactions with the electronic structure producing electronic excitations. Subsequently, these excitations thermalize through electron-phonon interactions resulting in the formation of a high temperature thermal spike and associated pressure spike. This process promotes atomic mobility that is expected to evolve lattice defects, including the annealing of latent ion tracks. In this work, a multigroup model for electron energy transport is developed and applied to molecular dynamics simulations in the LAMMPS code to examine fission energy deposition and fission effects in nuclear fuel. This technique utilizes MCNP Monte Carlo electron transport calculations to determine the initial injection of fission energy. To provide a more predictive approach than semi-empirical two-temperature models, the electron-phonon interactions are defined to include multiphonon energy transfer as a function of atomic and electron temperature, and are evaluated from electronic structure calculations using the VASP density functional theory code and PHONON lattice dynamics code. Application of this model to fission energy deposition in uranium dioxide predicts ion track formation and fission enhanced atomic mobility behavior within reasonable agreement of experimental trends. Furthermore, simulations of fission fragment interactions with latent ion tracks demonstrate an annealing effect due to this enhanced mobility.

Structural Analysis and Evolution Model of the Longmaxi Formation in the Yanjin–Junlian Area of the Southern Sichuan Basin, China

The Longmaxi Formation in the southern Sichuan Basin is an important target for shale gas exploration and development. The characteristics and stages of structural development significantly impact shale gas preservation and enrichment. Taking the Longmaxi Formation in the Yanjin–Junlian area of the southern Sichuan Basin as an example and based on the results of surface and underground structural analysis, fluid inclusion tests, apatite fission track experiments, and burial-thermal evolution history analysis, a comprehensive study of the development characteristics and structural stages of the Longmaxi Formation was carried out, and an evolution model was developed. (1) The Longmaxi Formation of the Yanjin–Junlian area has been affected by multistage structural movements and exhibits structural compounding and superposition corresponding to different stages. The formation of surface tracks of the folds and faults has been affected by multidirectional extrusion stresses of the near SN, NE, and near EW. There are three stages of underground faults in the Longmaxi Formation, and the strikes are nearly EW, NE, and nearly SN. (2) Three distribution intervals for the homogenization temperature ranges of fracture fillings are 161–195°C, 121–143°C, and 74–105°C. The apatite thermal history simulation reveals that the Longmaxi Formation experienced three stages of tectonic movement after its formation. (3) There were clearly three stages in the structural development of the Longmaxi Formation in this area: the late Jurassic–Palaeocene (55 ± 5–38 ± 2 Ma), Eocene–early Miocene (38 ± 2–15.5 ± 3.5 Ma), and late Miocene-present (15.5 ± 3.5 Ma–present). Thus, a compound fracture system with superimposed structural deformations in different directions and at different stages formed in the study area. (4) A model for the stages and development of structural tracks in the Longmaxi Formation was established in conjunction with structural analysis and geomechanical theory. The results have guiding significance for the evaluation of shale gas preservation conditions and accumulation in the study area.

GEANT4 modeling of alpha particles detection efficiency for polycarbonate SSNTD

In this paper, a simple model based on the GEANT4 simulation toolkit is presented to determine the detection efficiency of polycarbonate detectors. Different alpha energies obtained by traveling of 241Am source alpha particles through different air columns are considered. Experimental measurement are also carried out using two different solutions and electrochemical etching conditions. The thicknesses of the bulk and the electrochemical etching layers extracted from the etching process are assumed as the key parameters. When the vertical range of an alpha particle corresponding to a linear energy transfer above the threshold required for forming the tracks lies between the two above thicknesses, the model counts a track. Fitting the modeled and the experimental efficiencies in the energy range 0.2 to 5 MeV shows that the threshold for forming the tracks in polycarbonate is 240 keV μm−1. Finally, the linear energy transfer threshold as well as the model for track formation presented here can be utilized for future investigations on the polycarbonate detector.

Методика подготовки экспериментальных данных для информационно-интеллектуальной системы проектирования сетей лесовозных дорог

The article describes a technique for obtaining experimental data for the purpose of optimal distribution of the forest transport network on a specific terrain model. Particular attention was paid to the issue of the operability of primary forest transport routes, in particular, the requirements for the strength of trunk lines, which is of fundamental importance when establishing the optimal distance between long-term roads. The operability of the trunk lines was experimentally investigated, while the scheme of the movement of tractors along the ring was used. Based on experimental data, certain values of track depth, relative humidity, density and the number of impacts depending on the number of passes were obtained. In the course of the experimental study, functional dependences of the increase in the depth of the track on the number of passages were established and calculated, taking into account the physical and mechanical properties of forest soils. During the tests, some fundamental differences were recorded in the process of track formation during the movement of wheeled and tracked tractors. It is important for the development of measures to reduce the seasonality of forest transport, especially during the autumn-spring thaw. Comparative tests of tracked and wheeled tractors when they move along a reinforced track have shown that a reinforced track when moving a wheeled tractor is able to withstand a significantly greater number of passes than when moving a tracked tractor. For the statistical evaluation of the experiments carried out, it was determined what errors could be caused by replacing the parameter with its point estimate. Analysis of statistical processing of the observation results showed that all the series, as a rule, correspond to the law of normal definition, which is determined by the ratio of the symmetry and kurtosis indicators to their average errors. These relations are determined within the limits of permissible deviations, therefore, asymmetry and kurtosis in this case do not matter significantly.

Laser-powder bed fusion of silicon carbide reinforced 316L stainless steel using a sinusoidal laser scanning strategy

Laser-powder bed fusion was identified as a promising technique for manufacturing metal matrix composites. However, over a decade later, little progress has been made in addressing the persisting issues hindering the wider exploitation and industrial usage of metal matrix composites. Therefore, the present study proposes the implementation of a feasible solution to accomplish research advancements in metal matrix composites. Where, the issues concerning their performance and cost have driven this study towards the development of a novel scanning strategy. A hatching system based on a sine wave was successfully developed and employed in the printing of metal matrix composites. Composites printed using the sinusoidal hatching exhibited an enhanced yield strength and ductility owing to the resultant grain refinement and texture. The dabber mode formation of material tracks promoted the growth of highly oriented intragranular cellular structures. Apart for playing an important role at the obtained hardness, this control over the cellular growth could also be used towards improving composite toughness. Additionally, besides improving composite performance, the sinusoidal hatching was also effective in reducing manufacturing lead time and process energy consumption.

Time-varying formation tracking for noisy multi-agent systems with unknown leader trajectory

In this article, time-varying formation tracking problem for multi-agent systems is investigated. It is assumed the number of agents is changing and obstacles should be avoided along the trajectory. In addition, the tracking formation should be reached while the leader trajectory is unknown and communication data are noisy. To reach the desired formation tracking, first, a virtual leader is constructed using the local neighbouring data. Second, the reference signal is created based on the virtual leader and the leader data (which is available for some agents). The data fusion at this stage is done based on Kalman filtering to reduce the effect of communication noise. Third, an integral state feedback controller as a new consensus formation controller based on the relative position and velocity vectors of the agents and the estimated (virtual) leader are proposed to achieve the time-varying formation tracking. Next, closed-loop stability of the system under the proposed control law is investigated using the Lyapunov stability theorem. In order to implement the proposed control strategy, an extended state observer is designed to estimate the required velocity and accelerations. Finally, an obstacle avoidance strategy would be embedded to the controller via a repelling strategy. That is, once the leader identifies the obstacle and enters a repulsion region, its reference trajectory is modified to keep a safe distance from the obstacle. The agents modify their reference trajectory according to the new leader trajectory while trying to keep their formation. As an illustrative example, various simulations are performed for formation tracking of a unmanned aerial vehicle multi-agent system to evaluate its performance.

Tightly Focused Femtosecond Laser Radiation Induces DNA Double-Strand Breaks in Human Tumor Cells.

We studied the formation of double-strand DNA breaks (DNA DSB) induced by femtosecond laser radiation in A549 human lung adenocarcinoma cells using immunocytochemical staining of the resulting tracks of a specific DSB marker protein phosphorylated ATM kinase (phospho-ATM). Additionally, colocalization of phospho-ATM tracks with γH2AX protein tracks was studied. The results of immunocytochemical analysis showed that 30 min after irradiation of cells with femtosecond pulses with energies of 1 and 2 nJ (radiation power density 2×1011 and 4×1011 W×cm-2, respectively), the formation of tracks consisting of phospho-ATM and γH2AX proteins located in sites where the laser beam passes through the cell nuclei was observed. The presence of phospho-ATM tracks co-localized with γH2AX allows us to conclude that exposure to focused femtosecond infrared laser radiation with a pulse energy of 1-2 nJ leads to the formation of DNA DSB in irradiated cells.

Surface nanostructures on Nb-doped SrTiO3 irradiated with swift heavy ions at grazing incidence

A single crystal of SrTiO3 doped with 0.5 wt% niobium (Nb-STO) was irradiated with 200 MeV Au32+ ions at grazing incidence to characterize the irradiation-induced hillock chains. Exactly the same hillock chains are observed by using atomic force microscopy (AFM) and scanning electron microscopy (SEM) to study the relation between irradiation-induced change of surface topography and corresponding material property changes. As expected, multiple hillocks as high as 5–6 nm are imaged by AFM observation in tapping mode. It is also found that the regions in between the adjacent hillocks are not depressed, and in many cases they are slightly elevated. Line-like contrasts along the ion paths are found in both AFM phase images and SEM images, indicating the formation of continuous ion tracks in addition to multiple hillocks. Validity of preexisting models for explaining the hillock chain formation is discussed based on the present results. In order to obtain new insights related to the ion track formation, cross-sectional transmission electron microscopy (TEM) observation was performed. The ion tracks in the near-surface region are found to be relatively large, whereas buried ion tracks in the deeper region are relatively small. The results suggest that recrystallization plays an important role in the formation of small ion tracks in the deep region, whereas formation of large ion tracks in the near-surface region is likely due to the absence of recrystallization. TEM images also show shape deformation of ion tracks in the near-surface region, suggesting that material transport towards the surface is the reason for the absence of recrystallization.

Wheel track rutting problems on highways

The evenness of the road pavement is one of the main road safety factors. Along with the automobile boom, to the numerous problems that arise on our roads, another one has been added — intensive wear-out, leading to the tracing ruts formation, which negatively affects road safety, the tracing rut causes accidents, and with quite serious consequences. In recent decades, the wheel track rutting problem on road pavement has come to the fore among all pavement defects. This type of deformation reduces the traffic safety level on roads, negatively affects road durability, and also causes significant damage to the country's economy. Wheel track rutting on roads is caused by numerous and diverse factors associated with operational loads, natural and climatic influences, and surface wear-out peculiarities by vehicles. The article defines the main types (forms) of the wheel track rutting formation of roads. It has also been established that under conditions of an increase in the traffic load intensity and magnitude, an increase in the wheel tracking size is observed, up to irreversible deformations of the pavement structural layers. It is necessary to study the wheel track rutting problems for a better understanding of the destruction process and a more accurate constructive solutions design for highways. Identification of the formation reasons and analysis of the wheel tracking formation causes and mechanisms is a necessary tool for improving the preventing methods and combating the considered defect in road pavements. The tracing ruts appearance on the roads leads to a decrease in the efficiency of the financial resources use allocated to the road industry, since it becomes necessary to repair the road surface much more often than it is provided for by regulatory documents.

Detection efficiency of alpha particles using CR-39 nuclear detector- etched with BSW

In this study a new etchingsolution has been used to register alpha particles. The etching characteristics for the detection of alpha particles in CR-39 nuclear track detector using a new etching solution have been investigated. Several important parameters that control the track formation such as, the bulk etch rate, the track etching rate, and the critical angle have been measured. The dependence of etching efficiency and sensitivity upon the volume of 1- Butanol and temperature has been studied. The effect of etching time, the volume of 1-Butanol and the temperature upon the etching parameters have been investigated. Also, the enhancement in the etching efficiency with the decrease in the volume of 1-Butanol is more pronounced. The new etching solution has been demonstrated to be a fast etching solution. Results of irradiation of CR-39 detector with alpha particles and the etching characteristics, along with recording alpha particles tracks in the detector are also addressed and thoroughly discussed.

Depth-resolved thermal conductivity and damage in swift heavy ion irradiated metal oxides

We investigated thermal transport in swift heavy ion (SHI) irradiated insulating single crystalline oxide materials: yttrium aluminum garnet- Y3Al5O12 (YAG), sapphire (Al2O3), zinc oxide (ZnO) and magnesium oxide (MgO) irradiated by 167 MeV Xe ions at 1012 – 1014 ions/cm2 fluences. Depth profiling of the thermal transport on nano- and micro- meter scales was assessed by time-domain thermoreflectance (TDTR) and modulated thermoreflectance (MTR) methods, respectively. This combination allowed us to isolate the conductivities of different sub-surface damage-regions characterized by their distinct microstructure evolution regimes. Thermal conductivity degradation in SHI irradiated YAG and Al2O3 is attributed to formation of ion tracks and subsequent amorphization, while in ZnO and MgO it is mostly due to point defects. Additionally, notably lower conductivity when probed by very low penetrating thermal waves is consistent with surface hillock formation. An analytical model based on Klemens-Callaway method for thermal conductivity coupled with a simplified microstructure evolution capturing saturation in defect concentration was used to obtain depth dependent damage across the ion impacted region. The studies showed that YAG has the highest damage profile resulting in the less dependence of thermal conductivity with the depth, while MgO on the contrary has the strongest dependence. The presented work sheds new light on how SHI induced defects affect thermal transport degradation and recovery of oxide ceramics as promising candidates for next generation nuclear reactor applications.

Intelligent multiframe detection aided by Doppler information and a deep neural network

Multiframe detection can be effective for the detection of targets with low signal-to-noise ratios by integrating the target information in several consecutive frames. Traditional methods usually suffer from high computational complexity and insufficient use of available information. In this paper, we propose solving the multiframe detection problem through two sequential steps: Doppler-aided track formation (DTF) and data-driven track detection (DTD). By using the DTF, which considers the coupling relationship between the location measurements and Doppler measurements, the potential tracks can be extracted without introducing too many false tracks. Using DTD, which fuses multiple features along the extracted tracks through a deep neural network, the detection can be sequentially declared. Simulation results show that the detection performance of the proposed method is better than that of the traditional methods for weak targets, and that false alarms can be handled well. Both theoretical analysis and experimental studies corroborate the computational efficiency of the proposed method in real-time implementation.