Households and businesses are generating unprecedented levels of electrical and electronic wastes (e-waste), fueled by modernisation and rapid obsolescence. While the challenges imposed by e-waste are similar everywhere in the world, disparities in progress to deal with it exists; with developing nations such as South Africa lagging. The increase in e-waste generation increases the need to formulate strategies to manage it. This paper presents an overview of e-waste management on a global and South African scenarios with a specific case for Cathode Ray Tube (CRT) waste management practices in South Africa. CRTs present the biggest problem for recyclers and policy makers because they contain hazardous elements such as lead and antimony. Common disposal practices have been either landfilling or incineration. The research into the South African practices with regards to CRT waste management showed that there is still more to be done to effectively manage this waste stream. This is despite clear waste regulatory frameworks in the country. However, recent developments have placed e-waste as a priority waste stream, which should lead to intensified efforts in dealing with it. Overall, these efforts should aim to maximise diversion from landfilling and to create value-addition opportunities, leading to social and environmental benefits.

Wearable technology has been proposed as a potential tool to change the way of human life, such as the smart bracelet and the Google Glass. In the wearable technology, the inertial sensor has great significance in tracking the object movements. The paper focused on detecting the movements of user’s finger based on the inertial sensor to give the control signals. Firstly, the attitude matrix, which represented the transformation relation of carrier coordinate system and the navigation coordinate system, was obtained. Secondly, the attitude matrix was expressed based on the quaternions. Thirdly, the finger gesture was processed by the attitude matrix to get the attitude angle. Finally, the robot was controlled by attitude angle to make the moving action. The experimental results showed the detection of the finger movement is effective.

Dried blood spot (DBS) testing on confetti is one of the most common methods used to collect and extract DNA from field samples for molecular epidemiology of malaria studies. Here, we investigated whether ethanol or other solutions used to clean scissors are a source of sample contamination. DBS were prepared from 3 drops of blood from two Plasmodium falciparum cultures spotted on confetti, and 3 solutions (water, ethanol and DNase) were used to clean scissors between spots during DNA extraction. For each cleaning solution, two blank confetti were used as negative controls. Samples were analyzed by PCR-based genotyping of merozoite surface proteins 1 & 2 (msp-1 and msp-2), and P. falciparum chloroquine resistance transporter (Pfcrt). A total of 15 samples were analyzed. Based on msp-1 and msp-2 amplification, P. falciparum was detected on blank confetti when scissors were washed with ethanol. Based on Pfcrt amplification, DNA of P. falciparum was detected on blank confetti when scissors were cleaned with ethanol or water. No P. falciparum genes were detected on blank confetti when scissors were cleaned with DNase. Scissors cleaned with DNase prevented cross-contamination between samples during processing of dried blood spots, whereas ethanol (which is commonly used) fails to avert cross-contamination.

Local food has continued to become more popular in both the home and as featured ingredients in all segments of food service. Numerous studies have explored the motivating factors for consumer purchasing motivators. However, no known study has explored if there is a correlation between ego and intent to buy local foods. This study adopted a modified version of the Theory of Trying and surveyed a sample of 237 food service buying agents in South Carolina to examine their perceptions of buying local. Results suggest that ego is a predictor of trying to purchase local foods for restaurants. It was also found that the modified model is an acceptable model for predicting buyer intent. These findings support the majority of the studies looking at ego-centric behaviors with green purchases and could potentially help local food suppliers to better market their products to foodservice establishments. This study could also act as the foundation for future studies to explore the full extent of ego’s motivational effect on purchasing intentions in the food service industry.

With the rapid development of wind power generations, the inertial response of wind turbines (WTs) are widely concerned recently, which is important for grid frequency dynamic and stability. This paper recognizes and understands the inertial response of type-3 and type-4 WTs from the view of equivalent internal voltage, in analogy with typical synchronous generators (SGs). Due to the dynamic of the equivalent inertial voltage different from SGs, the electromechanical inertia of WTs is completely hidden. The rapid power control loop and synchronization control loop is the main reasons that the WT's inertial response is disenabled. On the basis of the equivalent internal voltage's dynamic, the existing inertia control method for WTs are reviewed and summarized as three approaches from the view of WT's control, i.e. optimizing the power control or synchronization control or both. At last, the main challenges and issues of these inertia controls are attempted to explain and address.

The multiphase motors due to their reliability find new areas of application in the industry and transportation. Developing of any system with multiphase motors at first requires elaborate model of the system, define control mode and controllers. The model of control system for the six-phase drive is based on its conventional d-q mathematical model and indirect field-oriented control. Simulink model of six-phase drive with indirect field-oriented control and simulated with two types PID and PID fuzzy controllers. The simulation results, reflecting step response and provided speed reference law as well as load application at constant speed, are presented and analyzed. Fuzzy controller with 49 rules is considered and applied. Six-phase electric drive with field-oriented control at well-tuned PID controller has good step response specifications: settling time 0.13 s at starting without load, step response has no overshoot, small about 1 % short time decrease of speed at load of 5 Nm application. The system employing PID fuzzy controller shows slightly better results in response to torque application: the decrease in speed 1 % is eliminated in shorter time. Simulation results indicate the robustness of both systems with six-phase drive to disturbance and provide high quality transient specifications at determined reference speed.

Diesel, gas oil, whole crudes, and bitumen samples were subjected to sulfoxidation, and then subjected to hydroxide attack in the presence of ethylene or propylene glycol. The resultant oils were analyzed by XRF for total sulfur and XANES spectroscopy for sulfur speciation at each stage. The combination of these analyses gave the total amount of sulfur as organic sulfide, sulfoxide, and sulfone at each stage of treatment so as to determine the effectiveness of the desulfonylation for sulfur compounds of different oxidation states.

Long gone was the time when tumors were thought to be insular masses of cells, residing independently at specific sites in an organ. Now, researchers gradually realize that tumors interact with the extracellular matrix (ECM), blood vessels, connective tissues and immune cells in their environment, which is now known as the tumor microenvironment (TME). It is found that the interactions between tumors and their surrounding promote tumor growth, invasion and metastasis. The dynamics and diversity of TME cause the tumors to be heterogeneous and thus pose a challenge for cancer diagnosis, drug design and therapy. As TME is significant in enhancing tumor progression, it is vital to identify the different components in the TME. This review explores how different factors in the TME supply tumors with the required growth factors and signaling molecules to proliferate, invade and metastasis. We also examine the development of TME-targeted nanotheranostics over the recent years for cancer therapy, diagnosis and anticancer drug delivery system. This review further discusses the limitations and future perspective of nanoparticle based theranostics when used in combination with current imaging modalities like Optical Imaging, Magnetic Resonance Imaging (MRI) and Nuclear Imaging (PET and SPECT).

WHO reported an estimated 249 million malaria cases and 608,000 malaria deaths in 85 countries in 2022. A total of 94% of malaria deaths occurred in Africa, 80 % of which were children under 5. In other words, one child dies every minute from malaria. The RTS,S/AS01 malaria vaccine, that uses the Plasmodium falciparum circumsporozoite protein (CSP) to target sporozoite infection of the liver, achieved modest efficacy. The Malaria Vaccine Implementation Program (MVIP), coordinated by the WHO and completed at the end of 2023, found that immunization reduced mortality by only 13%. To further reduce malaria death, development of a more effective malaria vaccine is a high priority. Three major malaria vaccine targets being considered are the level of sporozoite liver infection, merozoite red blood cell (RBC) infection, and mosquito midgut infection. These targets involve specific ligand-receptor interactions. However, current malaria vaccine candidates that target two major parasite population bottlenecks, liver infection and mosquito midgut infection, do not focus on such parasite ligands. Here we evaluate the potential of newly identified parasite ligands as novel malaria vaccine antigens.

We explore 3D printing modules for self-assembling spacecraft and robots – structure, actuators, electrics. Self-assembly has long been viewed as a highly desirable capability for autonomous construction of large space structures. We review self-assembly in space which focusses on the self-assembly of modules that demonstrate the range of applications. However, self-assembly may be synergised with 3D printing to offer an automated capability from raw material to modules for assembling new spacecraft or habitats. One application of 3D printing is using space debris on-orbit as an in-situ resource - defunct spacecraft may be salvaged as raw material for in-situ construction on demand. The common features of all self-assembling modules are that the modules constitute a structure housing a computer-controlled actuator internally and a reversible latching mechanism externally. We have demonstrated a 3D printed DC electric motor in which the only components that were not 3D printed are the wire coils. We have married our 3D printed motor prototype as an actuated joint between two 3D printed trigon-type panels developed as part of a trigon self-assembling system concept. The trigon concept underlies a modular approach to self-assembling and self-deploying structures. The 3D printed motorised panel system demonstrates that the motor aspect and structural aspects of robotic self-assembling machines are amenable to 3D printing. This has implications for self-assembling systems into modular satellites as a solution to space debris.

The use of the Google Scholar produces about 278 hits on the term ‘‘inertial propulsion.’’ If patents are also included, the number of hits increases to 536. This paper discusses, in a critical way, some characteristic aspects of this controversial topic. The review starts with the halteres of athletes in the Olympic games of ancient times and then continues with some typical devices which were developed or/and patented from the second fourth of the twentieth century till today.

Visual inertial odometry (VIO) has recently received much attention for efficient and accurate ego-motion estimation of unmanned aerial vehicle systems (UAVs). Recent studies have shown that optimization-based algorithms achieve typically high accuracy when given enough amount of information, but occasionally suffer from divergence when solving highly non-linear problems. Further, their performance significantly depends on the accuracy of the initialization of inertial measurement unit (IMU) parameters. In this paper, we propose a novel VIO algorithm of estimating the motional state of UAVs with high accuracy. The main technical contributions are the fusion of visual information and pre-integrated inertial measurements in a joint optimization framework, and the stable initialization of scale and gravity using relative pose constraints. To count for ambiguity and uncertainty of VIO initialization, a local scale parameter is adopted in the online optimization. Quantitative comparisons with the state-of-the-art algorithms on the EuRoC dataset verify the efficacy and accuracy of the proposed method.

Estimation and planning play a vital role in the construction of an autonomous navigation framework. However, these problems are often considered separately, while planning gives robot a free-collision path towards the desired goal, estimation algorithm presents the executed trajectory in the sense that it has to be closed to the ground truth path as much as possible. Recently, a unified probabilistic framework, which supports solving these problems simultaneously, dubbed STEAP has been proposed. Nevertheless, its current version is only designated for an omni wheels robot, which allows robot to move and turn in vertical direction. Differential drive robot, on the other hand, though limited to move along only one direction, has been used in various situations due to its flexibility and lower cost in hardware designing. Thus, in this extension, our aim is to control a differential drive robot via STEAP. Moreover, in a more complicated environment such as labyrinth or maze, the original STEAP sometimes fails to find a path. Indeed, this problem is mainly caused by the poor initialization and the non-linearity in optimizer constraints. In our implementation, instead of dealing with these constraints, we employ a global planner algorithm such as Dijkstra or RRT to treat STEAP as an effective local planner module that focus on following the global path. Consequently, the experimental results show that the extended STEAP not only able to navigate a differential drive robot but also in a more complicated and unstructured environment.

The reasons for the circular sense of human color perception generated by two sorts of color opponent neurons and three cone types are not well understood. Here we use geometrical analysis to examine the hypothesis that opponency, the recursive nature of color perception, and trichromacy arise as the most efficient ways of distinguishing spectrally different points on a plane using a minimum of color classes and receptor types.

In this paper, feasibility of the initial alignment of the gyro-free inertial navigation system (GF-INS) is investigated. Initial roll and initial pitch are obtained as the conventional INS since centripetal acceleration is very small. Relation between initial heading and accelerometers’ outputs of the gyro-free inertial measurement unit (GF-IMU) is derived. It is determined from the relation whether initial heading can be obtained in 15 GF-IMUs which have been presented in research literatures. The relationship between the accelerometer errors of GF-IMU and the initial heading error is derived. When gyros are additionally attached in one axis or two axes of the body frame, it is investigated that initial heading can be obtained. The initial heading error is also calculated from the accelerometer errors and the gyroscope errors. The results show that the initial heading from only accelerometer outputs of the GF-IMU cannot be used in the GF-INS since the error is too large. It can also be seen from the results that the initial heading can be used in the GF-INS if two gyroscopes are additionally attached to the roll and pitch axes of the body frame.

Inertial microfluidics offers high throughput, label-free, easy to design, and cost-effective solutions and is a promising technique based on hydrodynamic forces (passive techniques) instead of external ones, which can be employed in lab-on-a-chip and micro-total-analysis-systems for focusing, manipulation, and separation of microparticles in chemical and biomedical applications. The current work, studies the focusing behavior of microparticles in an asymmetric curvilinear microchannel. For this purpose, focusing behavior, including position and band width, of microparticles of diameters of 10, 15 and 20 µm, which served as representatives of different cells, in an asymmetric curvilinear microchannel with curvature angle of 280° was experimentally studied at flow rates from 400 to 2700 µL/min (corresponding to Reynolds numbers between 30 and 205). The results revealed that the largest distance between focusing bands of 20 µm and 10 µm microparticles as well as between focusing bands of 15 µm and 10 µm was obtained at Reynolds number of 121. For the case of microparticles of diameters 20 µm and 15 µm, the largest distance was seen at Reynolds number of 144. The focusing band width became smaller in the asymmetric microchannel so that focusing could be more clearly observed in this configuration.

Aiming at the defects of low precision and time cumulative error, an external wireless signal weighted centroid localization algorithm aided inertial positioning method is designed in this paper. According to the signal strength of each anchor node received at the test point, the distance between the anchor node and the anchor node is obtained by using the attenuation model of the wireless signal. Three anchor nodes are used to measure the distance between the anchor node and the measured point. We can obtain the area to be measured according to the actual situation, the position of the measured point is obtained by the weighted centroid localization algorithm and a combined model of wireless signal aided inertial navigation system is established. The simulation results show that the method can greatly improve the positioning accuracy and restrain the divergence of the longitude error and latitude error.

The Lorentz boost and rapidity for a radially falling frame are derived for the Schwarzschild metric in Kruskal-Szekeres coordinates. It is found through this analysis that the spacetime is radially length contracted toward the metric source in the falling frame as a result of the Lorentz boosting relative to the rest frame (which is shown to be consistent with the rest frame). When the falling frame reaches the event horizon, the Lorentz boost goes to infinity, causing the falling frame to become light-like, but trapped at the horizon. It is shown that in the falling frame at the horizon, the density of the source goes to infinity as a result of the length contraction.

The energy E takes the place of the gravitational mass m_G to produce gravity [1]. We wonder whether the inertial mass m_i in the inertial force is also replaced by E. The experiments to measure the inertial force and weight of a carrier are presented. Now we can test the principle of equivalence and study foundations of physics in condensed matter.

Insecurity, corruption, and rising unemployment have resulted in a mass exodus of young adult Afghans seeking asylum in western nations. This has depleted Afghanistan of generations of young people which are critical to rebuild the country. This study aimed to examine the characteristics of young adult Afghans with no immediate intentions of seeking international asylum; that is, individuals who intend to stay in Afghanistan. In a cross-sectional study conducted in Kabul, we surveyed 232 young adults between 18 and 35 years of age. Surveys included measures assessing standard socio-demographic and -economic factors, as well as health and psychological factors. Univariate logistic regression analyses suggest that participants with an intent to stay in Afghanistan are more likely to be financially stable, possess higher health-related quality of life, lower psychological distress, and higher levels of hope and optimism, as well as higher resilience. When controlling for all other variables in the model, only hope, optimism, and higher resilience remained as significant correlates of intending to stay. Our findings suggest that young people who intend to stay in their country look forward to a better future, which provides strong evidence for the need to strengthen the social contract by fostering resilience, hope and optimism in war-affected communities, in order to prevent a generation of talented young people from seeking asylum in western nations.

This review article aims to delve into several aspects of sweetpotatoes and their leaves, including their nutritional composition, health benefits, culinary uses, and potential future implications as a superfood. It suggests an in-depth exploration of sweet potatoes' history, status, and prospects, highlighting their significance and potential economic value. Sweetpotatoes, often referred to as a powerhouse of nutrients, have gained popularity recently due to their remarkable nutritional composition and versatile culinary uses. This starchy root vegetable comes from the Convolvulaceae family and is consumed worldwide, playing a significant role in diverse cultures and cuisines. Besides their vibrant colors ranging from orange to purple, sweetpotatoes offer many health benefits, making them an essential addition to a well-balanced diet. Its extraordinary nutritional profile and numerous health benefits make it a superfood. Incorporating it into the diet can improve digestion, strengthen immunity, and reduce the risk of chronic diseases. With their versatility in the kitchen, there is no deficiency of charming and healthy recipes to explore. So, make room for sweet potatoes on your plate and unlock their vast potential to enhance your overall health and well-being. Overall, the future of sweetpotatoes looks bright as research and innovation aim to improve their nutritional value, adapt them to changing climate conditions, develop new varieties and products, and promote sustainable production practices. These developments can contribute to food security, economic growth, and healthier diets. Future research should focus on nutritional composition, health benefits, sustainable farming practices, cultivar development, and industrial applications to ensure sustainable and efficient production. By prioritizing research in these areas, we can enhance the utilization of sweet potatoes in various fields and secure their future for the next century.

Background: Runners have high incidence of repetitive load injuries, and habitual runners often use smartwatches with embedded IMU sensors to track their performance and training. If accelerometer information from such IMUs can provide information about individual tissue loads, then running watches may be used to prevent injuries. Methods: We investigate a combined physics-based simulation and data-based method. 285 running trials from 76 real runners are subjected to physics-based simulation to recover forces in the Achilles tendon and patella ligament, and the collected data are used to train and test a data-based model using elastic net and gradient boosting methods. Results: Correlations up to 0.95 and 0.71 for the patella ligament and Achilles tendon forces, respectively, are obtained, but no single best predictive algorithm can be identified. Conclusions: Prediction of tissues loads based on body-mounted IMUs appears promising but requires further investigation before deployment as a general option for users of running watches to reduce running-related injuries.

In the aim of improving the positioning accuracy of monocular visual inertial simultaneous localization and mapping (VI-SLAM) system, an improved initialization method with faster convergence is proposed. This approach is classified as three parts: Firstly, in the initial stage, the pure vision measurement model of ORB-SLAM is employed to make all the variables visible. Secondly, the frequency of IMU camera was aligned by IMU preintegration technology. Thirdly, an improved iterative method is put forward for estimating the initial parameters of IMU faster. The estimation of IMU initial parameters is divided into several simpler sub-problems, containing direction refinement gravity estimation, gyroscope deviation estimation, accelerometer bias and scale estimation. The experimental results on the self-built robot platform show that our method can up-regulate the initialization convergence speed, simultaneously improve the positioning accuracy of the entire VI-SLAM system.

This study explores the intricate dynamics of customer-centric supply chains and the pivotal role of marketing innovations in enhancing efficiency and customer satisfaction. Employing a qualitative research methodology, semi-structured interviews were conducted with key stakeholders in supply chain management across various industries, providing rich insights into the practices and perceptions related to customer-centric strategies. The findings highlight the centrality of understanding and anticipating customer needs, which necessitates a cultural shift within organizations to prioritize customer satisfaction at all levels. Digital marketing tools, data analytics, e-commerce platforms, and social media emerged as critical enablers of these customer-centric supply chains, facilitating real-time insights, direct customer engagement, and personalized experiences. The integration of these technologies has led to more accurate demand forecasting, optimized inventory levels, and enhanced agility and responsiveness in operations. Furthermore, the study underscores the importance of collaboration and partnership within the supply chain network, emphasizing joint initiatives and strong relationships with stakeholders as key drivers of improved resource utilization and service levels. Sustainability, entrepreneurship, and emotional intelligence also play significant roles in shaping effective customer-centric supply chains. Sustainable practices meet growing consumer demands for environmental and social responsibility, while an entrepreneurial mindset fosters continuous innovation and competitiveness. Emotional intelligence among leaders and employees enhances trust, conflict resolution, and collaboration, contributing to a positive organizational culture and superior customer satisfaction. Overall, this study provides comprehensive insights and actionable recommendations for businesses seeking to navigate the complexities of customer-centric supply chain management and leverage marketing innovations to achieve sustainable competitive advantage.

Epidemiological studies point cholesterol as a possible key factor for both prostate cancer incidence and progression. So, it could represent a targetable metabolite as the most aggressive tumors also appear to be sensitive to therapies designed to decrease hypercholesterolemia, such as statins. However, whether and how cholesterol, through its dietary uptake and its metabolism, could be important for early tumorigenesis, remains unknown. Oncogene clonal induction in Drosophila melanogaster accessory gland allows to reproduce tumorigenesis from initiation to early progression, where tumour cells undergo basal extrusion to form extra-epithelial tumors. Here we show that these tumors accumulate lipids, and especially esterified cholesterol, as in human late carcinogenesis. Interestingly, high cholesterol diet displays limited effect on accessory gland tumorigenesis. On the contrary, cell-specific downregulation of cholesterol uptake, intracellular transport or metabolic response, impairs the formation of such tumors. Furthermore, in this context, high cholesterol diet suppresses this impairment. Taken together, these results reveal that during early tumorigenesis, tumour cells strongly increase their uptake and use of dietary cholesterol to specifically promote the step of basal extrusion. Interestingly, expression data from primary prostate cancer tissues indicate an early signature of redirection from cholesterol de novo synthesis to uptake. Altogether, these results suggest by which mechanism reduction of dietary cholesterol could lower the risk and slow down the progression of prostate cancer.

Alzheimer’s disease (AD) predominantly occurs as a late-onset form (LOAD), involving neurodegeneration and cognitive decline with progressive memory loss. Over time, risk factors and aging promote accumulation of well-known AD hallmarks in oxidative stress, amyloid-beta and tau protein pathology, as well as inflammation. Homeostatic glial functions regulate and suppress these AD hallmarks; however, other glial states involve increased pro-inflammatory cytokine release and further hallmark accumulation. Different stresses can additionally induce cellular senescence, or an irreversible differentiation process resulting in decreased supportive functions and increased, pro-inflammatory cytokine release. While these pathophysiological underpinnings all contribute to LOAD, they require temporal and mechanistic integration. This Perspective proposes that traditional AD hallmarks induce glial senescence in LOAD, where sufficient senescent glia exacerbate ongoing AD pathology and primarily drive LOAD into clinical, cognitive decline. We first explore age-related increases in pro-inflammatory glial activity, and then discuss emerging evidence linking oxidative stress, neurons containing tau pathology, and amyloid-beta to microglia, oligodendrocyte progenitor, and astrocyte senescence. Our evidence-based model mainly predicts that senescent astrocytes and oligodendrocyte progenitors together pressure microglia to phagocytose neurons containing tau pathology, where resulting senescent microglia create neuritic plaques and induce paracrine senescence transitioning into and progressing clinical, dementia presentation. This predictive model accounts for why medications used to treat LOAD fail, as previous treatments have not reduced senescent glial burden. It is also coherent with the predominant hypotheses surrounding LOAD involving the amyloid cascade, tau, glia and inflammation, creates testable hypotheses about LOAD, and increases rationale in testing senolytics as targeted treatments for LOAD arrest and reversal.

Drive tourism (DT) have become an attractive way of tourist destination for an increasing number of visitors along driving routes. This flow of visitors has made sustainability a major issue that is, the way by which tourism development ensure economic benefits for local communities and preserves local identity, along the route, without compromising the environmental resources. Many studies focused the topic of DT, mainly the analysis of a particular angle, either be economic sustainability, e.g., advantages of the ones related to economic and environment sustainability [e.g., 2,4,5,10], such as the impact of tourists along the route environment. Nevertheless, little attention has been paid to the social consequences of DT in the local entrepreneurial environment and ensuing over enhancing of their cultural representativeness in terms of authenticity. Our aim is to summon these points of view and achieve, through a systematic literature review, a clear and integrative picture of the driving tourism impacts in terms of sustainability along the routes throughout local communities. A systematic literature review was performed using the PRISMA (Preferred Reporting Items for Systematic Reviews and Meta-Analyses) methodology. This systematic literature review sought to consolidate knowledge on the subject. In order to illustrate the link between major categories and their corresponding trends, authors used VOSviewer scientific software. The gathering of existing knowledge around the three components of sustainability highlighted the importance of community involvement and collaboration among DT stakeholders to ensure a trade-off between the protection and promotion of DT routes. Opportunities for future studies are suggested.

This research proposed in this paper focuses on gathering evidence from devices with Windows 10 operating systems in order to discover and collect artifacts left by cloud storage applications that suggest their use even after the deletion of the Google client application. We show where and what type of data remnants can be found using our analysis which can be used as evidence in a digital forensic investigations.

Inertial navigation system (INS) is a basic component for obtaining a continuous navigation solution in various applications. The INS navigation solution suffers from a growing error over time. In particular, its navigation solution depends mainly on the quality and grade of the inertial measuring unit (IMU) that provides the INS with both accelerations and angular rates. However, low-cost small micro-electro-mechanical systems (MEMS) suffer from tremendous error sources such as bias, scale factor, scale factor instability, and highly non-linear noise. Therefore, MEMS-IMU measurements lead to drifted solutions when used as a control input to the INS. Accordingly, several approaches have been introduced to model and mitigate the errors associated with IMU. In this paper, a machine learning-based adaptive neuro-fuzzy inference system (ML-ANFIS) is proposed to leverage the performance of low-grade IMUs in two phases. The first phase is training 50% of the low-grade IMU measurements with a high-end IMU to generate a suitable error model. The second phase involved testing the developed model on the remaining low-grade IMU measurements. A real road trajectory was conducted to evaluate the performance of the proposed algorithm. The results show the effectiveness of utilizing the proposed ML-ANFIS algorithm in removing errors and improving the INS solution compared to the traditional one. An improvement of 70% in the 2D-positioning and 92% in the 2D-velocity INS solution is attained when the proposed algorithm was applied compared to the traditional INS solution.

The transportation sector is seeing an increased adoption rate of electric vehicles (EV), which comprise battery electric vehicles (BEV), hybrid electric vehicles (HEV) and plug-in hybrid electric vehicles (PHEV). This mode of transportation is likely to displace automobiles powered by internal combustion engines (ICE) in the nearest future, as indicated by the current trend. Each of the key EC components is home to a variety of technologies that are either currently in use or will be in the near future. Electric vehicles have the potential to have a significant impact on a variety of fields, including the economy, the energy infrastructure, and the natural environment. As a result of the production of carbon dioxide gas from the combustion of fossil fuels, transportation is the sector that is responsible for the second-highest amount of greenhouse gas emissions. Electric vehicles, often known as EVs, are getting a lot of attention as a potentially game-changing solution to this issue. It is possible for electric vehicles to produce fewer emissions of carbon dioxide (CO2) than conventional automobiles due to the fact that an electric motor serves as the vehicle's propeller rather than an internal combustion engine. EVs have the potential to become zero-emission vehicles if they are paired with renewable energy sources. This document presents an overview of the numerous types of EV drive circuits, covering their design as well as the benefits and drawbacks associated with each type. The current state of battery technology, particularly that pertaining to the batteries utilized in electronic vehicles, is discussed in this paper. This article also discusses electric motor efficiency, power density, fault tolerance, dependability, cost, and the best electric motor for EVs. Then, a thorough study of future EV implementation's obstacles and prospects is done. Charging times and battery performance are examples of technological challenges, but government regulation of EVs continues to be a substantial non-technical hurdle.

Improving the operational reliability of nuclear power plants, combined heat and power plants (CHP), as well as oil and gas pipelines is a priority task in the development of a variable-speed drive for lock valves used at these facilities. The paper analyzes technical requirements for such devices; the motor has been selected, its electrical equilibrium and moment equations have been obtained; recommendations for the selection of the kinematic drive scheme have been formulated. Based on the theoretical data obtained, a prototype has been developed, manufactured and tested.

A solution of general relativity is presented that describes an Alcubierre propulsion system in which it is possible to travel at superluminal speed while reducing the energy, by an arbitrary value.

In this paper, we consider a pursuit-evasion game of inertial players, where pursuer’s control is subject to integral constraint, and evader’s control is subject to geometric constraint. In the pursuit problem, the main tool is the strategy of parallel pursuit. Sufficient conditions are obtained for the solvability of pursuit-evasion problems. Also, the main lemma describing the monotonicity of an attainability domain of the evader is proved and an explicit analytical formula for this domain is given. As one of the important results of our paper, the Isaacs Life-line game is solved for a special case.

Solid-state LiDAR offers multiple advantages over mechanism mechanical LiDAR, including higher durability, improved coverage ratio, and lower prices. However, solid-state LiDARs typically possess a narrow field of view, making them less suitable for odometry and mapping systems, especially for mobile autonomous systems. To address this issue, we propose a novel rotating solid-state LiDAR system that incorporates a servo motor to continuously rotate the solid-state LiDAR, expanding the horizontal field of view to 360∘. Additionally, we propose a multi-sensor fusion odometry and mapping algorithm for our developed sensory system that integrates an IMU, wheel encoder, motor encoder and the LiDAR into an iterated Kalman filter to obtain a robust odometry estimation. Through comprehensive experiments, we demonstrate the effectiveness of our proposed approach in both outdoor open environments and narrow indoor environments.

The CoDRIVE solution builds on R&D in the development of connected and autonomous vehicles (CAVs). The mainstay of the system is a low-cost GNSS receiver integrated with a MEMS grade IMU powered with CoDRIVE algorithms and high precision data processing software. The solution integrates RFID (radio-frequency identification) localisation information derived from tags installed in the roads around the University of Nottingham. This aids the positioning solution by correcting the long-term drift of inertial navigation technology in the absence of GNSS. The solution is informed of obscuration of GNSS through city models of skyview and elevation masks derived from 360-degree photography. The results show that predictive intelligence of the denial of GNSS and RFID aiding realises significant benefits compared to the inertial only solution. According to the validation, inertial only solutions drift over time, with an overall RMS accuracy over a 300 metres section of GNSS outage of 10 to 20 metres. After deploying the RFID tags on the road, experiments show that the RFID aided algorithm is able to constrain the maximum error to within 3.76 metres, and with 93.9% of points constrained to 2 metres accuracy overall.

Centromeres are among the fastest evolving genomic regions in a diverse array of organisms. The evolutionary process driving this rapid evolution has not been unambiguously established. Here I integrate diverse information to motivate a model in which centromeres evolve rapidly because of their intrinsic molecular phenotype: they tightly bind centromeric proteins throughout the cell cycle. DNA-bound proteins have been shown to cause stalling and collapse of DNA replication forks in many genomic regions, including centromeres. Collapsed replication forks generate one-sided double strand breaks (DSBs) that are repaired by the Break-Induced Repair (BIR) pathway. Here I show why this repair is expected to generate tandem repeat structure and three key features at centromeres: i) increased nucleotide substitution mutation rates, ii) out-of- register re-initiation of replication that leads to indels spanning one or more repeat units, and iii) elevated rates of large and small transpositions within centromeres and between genomic regions. These phenotypes lead to: i) a rapid rate of nucleotide substitutions within a clade of centromeric sequences, ii) continual turnover of monomers within centromeres that fosters molecular-drift and molecular-drive, and iii) recurrent quantum leaps in centromere sequence due to the formation of mosaic monomers and new sequences transposed into non-homologous centromeres. These features are plausibly the major reason centromeres evolve so rapidly. I also speculate on how the DNA sequence of centromeres might perpetually coevolve with the protein sequence of histone CENH3 –the major epigenetic mark of centromeres.

Human motion analysis using inertial measurement units (IMUs) has recently been shown to provide accuracy similar to the gold standard, marker-based optical motion capture, but at much lower costs and while being less restrictive and time-consuming. However, IMU-based motion analysis requires precise knowledge of the orientation in which the sensor is attached to the body segments. This knowledge is commonly obtained via an anatomical calibration procedure based on precisely defined poses or motions, which is time-consuming and error-prone. In the present work, we propose a self-calibrating approach for magnetometer-free joint angle tracking that is suitable for joints with two degrees of freedom (DoF), such as the elbow, ankle, and metacarpophalangeal finger joints. The proposed methods exploit kinematic constraints to simultaneously identify the joint axes and the heading offset. The experimental evaluation shows that the proposed methods are able to estimate plausible and consistent joint axes from just ten seconds of arbitrary elbow joint motion. Comparison with optical motion capture shows that the proposed methods yield joint angles with similar accuracy as a conventional IMU-based method while being much less restrictive. Therefore, the proposed methods improve the practical usability of IMU-based motion tracking in many clinical and biomedical applications.

When dealing with galactic dynamics, or more specifically, with galactic rotation curves, one basic assumption is always taken: the frame of reference relative to which the rotational velocities are given is assumed to be inertial. In other words, fictitious forces are assumed to vanish relative to the observational frame of a given galaxy. It might be interesting, however, to explore the outcomes of dropping that assumption; that is, to search for signatures of non-inertial behavior in the observed data. In this work, we show that the very discrepancy in galaxy rotation curves could be attributed to non-inertial effects. We derive a model for spiral galaxies that takes into account the possible influence of fictitious forces and find that the additional terms in the new model, due to fictitious forces, closely resemble dark halo profiles. Following this result, we apply the new model to a wide sample of galaxies, spanning a large range of luminosities and radii. It turns out that the new model accurately reproduces the structures of the rotation curves and provides very good fittings to the data.

This study introduces a low-cost solution provided by a specialized source measure unit (SMU), offering an alternative to conventional source meter units. Through precise IV curve measurements for graphene-channel FETs, the SMU demonstrates its capability in accurately characterizing these devices with minimal noise and high accuracy. This cost-effective solution presents a promising avenue for researchers and developers seeking reliable tools for sensor development and characterization, providing valuable insights into the behavior of graphene-channel FETs and the effect of surface illumination without the need for expensive equipment. Additionally, the SMU was validated with known passive and active components, along with probe station integration for microscale connection, ensuring its effectiveness in capturing accurate measurements. The SMU’s focus on collecting IV curves, coupled with its ability to identify device defects, such as Schottky junctions, contributes to its utility in quality testing for semiconductor devices. Its low-cost nature makes it accessible for various research endeavors, enabling efficient data collection and analysis for graphene-based sensor applications.

(1) Background: There is insufficient empirical evidence on the correlates of health care utilization of irregular migrants currently living in Turkey. The aim of this study was to identify individual level determinants associated with health service and medication use. (2) Methods: 155 Afghans completed surveys assessing service utilization including encounters with primary care physicians and outpatient specialists in addition to the use of prescription and nonprescription medicines. Multivariate logistic regression analyses were employed to examine associations between service use and a range of predisposing, enabling, and perceived need factors. (3) Results: Health services utilization was lowest for outpatient specialists (20%) and highest for nonprescription medications (37%). Female gender and higher income predicted encounters with primary care physicians. Income, and other enabling factors such as family presence in Turkey predicted encounters with outpatient specialists. Perceived illness-related need factors had little to no influence on use of services; however, asylum difficulties increased the likelihood for encounters with primary care physicians, outpatient services, and the use of prescription medications. 4) Conclusion: This study suggests that health services use among Afghan migrants in Turkey is low considering the extent of their perceived illness-related needs, which may be further exacerbated by the precarious conditions in which they live.

The improvement of energy efficiency of hydraulic systems remains to be an essential challenge for the industry, and the demand for more sustainable solutions is increasing. A main focus in this endeavor is the ability to eliminate or strongly reduce the use of throttle control valves which have been the preferred control element in industrial hydraulic systems for decades. Components have been subject to continuous evolution, and current industrial grade hydraulic pumps and motors are both efficient and reliable. Even though few percentages of energy efficiency can still be achieved, the main achievements in terms of efficiency is associated with novel system designs rather than further development of components. An area subject to increasing attention is the field of variable-speed displacement control, allowing to avoid the main control valve throttle losses. Systems using this technology are, however, mainly developed as standalone drive systems, necessitating maximum force, speed and power installed in each axis, with limited hydraulic power distribution capability as compared to valve controlled systems. An emerging field addressing this challenge is so-called electro-hydraulic variable-speed drive networks which allow to completely eliminate the use of control valves and enables power sharing both electrically and hydraulically, potentially reducing the necessary installed power in many cases. The idea of such a technology was first proposed in 2022, and so far developments reported in literature have mainly been of theoretical nature. This article presents the first ever experimental results for a dual cylinder electro-hydraulic variable-speed drive network prototype. The prototype has been developed for an industrial application, but has initially been implemented in a laboratory testbench. Extensive data acquisition has been conducted while subject to the associated industrial motion cycle, under different load conditions. The data is further used in combination with models to predict the total efficiency of the drive network prototype under higher loads than what could be achieved in the laboratory, suggesting a total efficiency from the electric supply to the cylinder pistons of 68 %. Re-configuring the prototype to a known standalone drive system structure implies comparable efficiencies. Finally, the drive network is theoretically compared to a valve drive solution, generally suggesting the prototype drive network to provide efficiency improvements of at least 40 % in comparison.

The valve controlled cylinder drive system is the most common type among hydraulic applications. The nonlinear behaviour in such system is inevitable when the valve spool around its null position [1] , Leaney [2] utilised component linking method to investigate the nonlinearities in a Moog valve controlled asymmetric cylinder drive system by simulation in Fortran, in which a generalised concept is introduced and validated by comparing to the experimental results. An factor is proposed in the generalised concepts to describe the asymmetric cylinder state, which is a constant when the cylinder in extending or retracting, but numerically calculated when the valve spool in the underlap region [2]. This paper utilises the component linking method to simulate the Moog valve controlled asymmetric cylinder drive system in Matlab Simulink, and proposed an analytical solution for factor when the valve spool in the underlap region.

Visual inertial SLAM algorithms enable robots to autonomously explore and navigate in unknown scenes. However, most of the current SLAM systems highly rely on static environment assumptions, which fails in the exsitence of motional objects in the real environment. To improve the robustness and localization accuracy of SLAM systems in dynamic scenes, this paper proposes a visual-inertial SLAM framework that fuses semantic and geometric information, called DA-VINS. First, this paper presents a dynamic object classification method based on feature’s current motion state, which obtains temporary static features in the environment. Secondly, a features dynamics check module based on IMU prior and adjacent frame’s geometry constraint is designed to calculate dynamic factors. It also verifies the classification results of temporary static features. Finally, a dynamic adaptive bundle adjustment module based on the features’ dynamic factors is designed to adjust the weights of features in nonlinear optimization. We evaluated our method in public and our dataset. The results show that D-VINS is one of the most real-time, accurate, and robust systems in dynamic scenes.

Simultaneous Localization and Mapping (SLAM) is considered as a challenge in environments with many moving objects. This paper proposes a novel LiDAR Inertial Odometry framework, ID-LIO, for dynamic scenes that builds on LIO-SAM. To detect the pointclouds on the moving objects, a dynamic point detection method is integrated, which is based on pseudo occupancy along the spatial dimension. Then, we present a dynamic points propagation and removal algorithm based on indexed points to remove more dynamic points in the local map along the temporal dimension and update the status of the point features in keyframes. In the LiDAR odometry module, a delay removal strategy is proposed for history keyframes and the sliding window-based optimization includes the LIDAR measurement with dynamic weights to reduce error from dynamic points in keyframes. We perform the experiments both on the public low dynamic and highly dynamic data set. The results show that the proposed method greatly increases the localization accuracy in high dynamic environments. And the ATE(Absolute Trajectory Error) average RMSE((Root Mean Square Error) of our ID-LIO can be improved by 67% and 85% in the UrbanLoco-CAMarketStreet dataset and UrbanNav-HK-Medium-Urban-1 dataset respectively when compared with LIO-SAM.

Permanent magnet brushless DC motor (BLDCM) is usually controlled by six step commutation method, and flux-weakening method is used to make the motor run higher above the base speed. For now, it is considered that the weak magneto-electric angle range is 0-pi/3, and that of deep weakening is pi/3-pi/2. In the field- weakening control, the forward shift of commutation point will form inverter circulating current in the three-phase bridge of inverter and the stator winding of the motor. In this paper, the principle of inverter circulating current formed by inverter is analyzed. Through magnetic potential analysis and Simulink simulation, it is concluded that flux-weakening control will generate inverter circulating current in the inverter and motor stator winding. The inverter circulating current affects the magnetic potential of motor, and magnetic potential will move to the rotating direction of motor rotor. When the forward shift angle of inverter commutation point is 0-pi/6 electrical angle, the movement amplitude of current circulating current of inverter is less than pi/6, which plays the role of weakening magnetic field and driving effect; when the forward moving angle is pi/6-pi/3, the movement amplitude of inverter circulating current exceeds pi/6, which plays the role of magnetic weakening and braking. When the braking effect occurs, the reverse torque will appear, resulting in the decrease of motor torque and efficiency. Therefore, the range of weak magneto-electric angle should be between 0-pi/6.

This paper designed a new type of generator, transgenerator, that integrates the wind turbine and flywheel into one system, aiming to make the flywheel distributed energy storage (FDES) more modular and scalable than the conventional FDES. The transgenerator is a three-member dual-mechanical-port (DMP) machine with two rotating members (inner and outer rotors) and one stationary member (stator). The transgenerator-flywheel system is introduced with the system configuration, transgenerator overview, flywheel operation principle and power management strategies, and control system. Simulations are performed in MATLAB/ Simulink to verify the system viability, including control system verification and the flywheel storage performance evaluation. Results show that the inner and outer rotors can be controlled independently with accurate and fast control response, and the grid-side control works properly. The flywheel performs well with considerable charging power and storage capacity.

Gravity-aided inertial navigation system (GAINS) is an important development in autonomous underwater vehicle (AUV) navigation. An effective path planning algorithm plays an important role in the performance of navigation in long-term underwater missions. By combining the gravity information obtained at each position with the error information from the INS, the posterior Cram\'er-Rao bound (PCRB) of GAINS is derived in this paper. The PCRB is the estimated lower bound of position variance for navigation along the planned trajectory. And the sum of PCRB is used as the minimum cost from the initial state to the current state in the state space, and the position error prediction variance of inertial navigation system (INS) is used as the minimum estimated cost of the path from the current state to the goal state in the A* algorithm. Thus, a path planning method with optimal navigation accuracy is proposed. According to simulation results, traveling along the path planed by the proposed method can rapidly improve the positioning accuracy while consuming just slightly more distance. Even when measuring noise changes, the planned path can still maintain optimal positioning accuracy, and high positioning accuracy is possible for any trajectory located within a certain range of the planned path.

Road networks are monitored to evaluate their decay level and the performances regarding ride comfort, vehicle rolling noise, fuel consumption, etc. In this study, an Inertial Measurement Unit is proposed by using a low-cost three-axis Micro-Electro-Mechanical Systems accelerometer and a GPS instrument, which are connected to a Raspberry Pi Zero W board and embedded inside a vehicle to monitor indirectly the road condition. To assess the level of pavement decay, the comfort index awz defined by the ISO 2631 standard was considered. Considering 21 km of roads, with different levels of pavement decay, validation measures made using the proposed IMU, another pre-assembled IMU, and a Road Surface Profiler were performed. Therefore, comparisons between awz determined with accelerations measured on the two different IMU are made; in addition, also correlations between awz, International Roughness Index (IRI), and Ride Number (RN) were performed. The results were shown very good correlations between the awz calculated with the proposed IMU and ones in the other IMU. In addition, the correlations between awz and IRI and RN were showed promising results, considering the use and the costs of the proposed IMU as a reliable method to assess the pavements decay in road networks where the use of traditional systems is difficult and/or not cheap.

Inertial focusing conditions of fluorescent polystyrene spherical particles are studied at the pointwise level along their pathlines. This is accomplished by an algorithm that calculates a de-gree of spreading function of the particles' trajectories taking streaklines images as raw data. Different confinement ratios of the particles and flow rates are studied and the results are pre-sented in state diagrams showing the focusing degree of the particles in terms of their position within a curve of an asymmetric serpentine and the applied flow rate. In addition, together with numerical simulation results, we present empirical evidence that the preferred trajectories of inertially focused spheres are contained within Dean vortices' centerlines. We speculate about the existence of a new force, never postulated before, to explain this fact.

This exploration delves into the intricacies of decision-making in business management. It covers decision-making models, influencing factors, real-world case studies, and strategies for effectiveness. Emphasizing the role of data-driven approaches, the exploration highlights the transformative impact of effective decisions on organizational success. Challenges and pitfalls are addressed, providing insights for overcoming obstacles. The importance of mastering decision-making is underlined as a strategic advantage in the competitive landscape of business management. In summary, this exploration offers a nuanced understanding, empowering leaders to make informed choices that shape organizational destinies.

In horses, quantitative assessment of gait parameters, as the use of inertial measurement units system (IMUs), might help in the decision-making process. However, it requires financial investment, is time-consuming, and lacks accuracy if displaced. An innovative Artificial Intelligence marker-less Motion Tracking System (AI-MTS) may overcome these limitations in the field. Our aim was to compare the level of agreement and accuracy between both systems and visual clinical assessment. Twenty horses underwent locomotion analysis by visual assessment, IMUs and AI- MTS systems, in the following conditions: straight hard (SH), straight soft (SS), left and right circle hard (LCH, RCH) and soft (LCS, RCS). A greater number of horses were considered sound by clinical examination, compared to those identified as symmetric by the two gait analysis systems. More limbs were considered asymmetric by the AI-MTS compared to IMUs, suggesting its greater sensitivity. The greatest agreement between the two systems was found for the difference between two minima in vertical head position in SH, while the lowest for the difference between two minima in vertical pelvis position in SS, reflecting the difficulties in assessing asymmetry of hindlimbs. Some degree of asymmetry may be clinically relevant, suggesting its regular use in training horses.

Renewable jet fuel (RJF) production has been recognized as a promising approach for reducing the aviation sector's carbon footprint. Over the last decade, commercial production of RJF has piqued the interest of airlines and governments around the world. However, RJF production can be challenging due to its dispersed supply resources. Furthermore, the production of RJF is more costly compared to producing conventional jet fuel. In this study, using a mixed integer linear program (MILP), we design an RJF supply chain network in which we obtain an optimized configuration of the supply chain and determine operational decisions required to meet RJF demand at airports. To accelerate commercialization of RJF production, we considered four different monetary incentive programs, which could cover the supply chain’s costs. This study is validated by employing the model to design an RJF supply chain in the Midwestern US. Results from this study are promising as they show the supply chain can achieve commercialization with partial financial coverage from the incentive programs. Based on the findings of this study, policymakers can devise policies to commercialize RJF production and accelerate its adoption by industry.

Near Inertial Oscillations (NIOs) are ocean oscillations forced by intermittent winds. They are most energetic at mid-latitudes, particularly in regions of atmospheric storm tracks. Wind-driven, large-scale NIOs are quickly scattered by ocean mesoscale eddies (with sizes ranging from 100 to 400 km), causing a significant portion of the NIO energy to propagate into the ocean interior. This kinetic energy pathway illustrates that the wind energy input to NIO, estimated at 5 TeraWatts, is critical for maintaining deep ocean stratification and thus closing the total kinetic energy budget, as emphasized by numerous modelling studies. However, this wind energy input to NIO remains poorly observed on a global scale. A remote sensing approach, which observes winds and ocean currents co-located in time and space with high resolution, is necessary to capture the intermittent air-sea coupling. The current satellite observations do not meet these requirements. This study assesses the potential of a new satellite mission concept, Ocean DYnamics and Surface Exchange with the Atmosphere (ODYSEA), to recover wind-forced NIOs from co-located winds and currents. To do this, we use an Observation System Simulation Experiment (OSSE) based on hourly observations of ocean surface currents and surface winds from five surface moorings covering latitudes from 15∘ to 50∘. ODYSEA wind and current observations are expected to have a spatial resolution of 10 km with about 12-hour sampling frequency in mid-latitudes. Results show that NIOs can be recovered with high accuracy using the ODYSEA spatial and temporal resolution, only if observations are made in a wide-swath of 1,800 km. A narrower swath (1,000 km) may lead to significant aliasing.

Ecosystem physical structure, defined by the quantity and spatial distribution of biomass, influences a range of ecosystem functions. Remote sensing tools permit the non-destructive characterization of canopy and root features, potentially providing opportunities to link above- and belowground structure at fine spatial resolution in functionally meaningful ways. To test this possibility, we employed ground-based portable canopy lidar (PCL) and ground penetrating radar (GPR) along co-located transects in forested sites spanning multiple stages of ecosystem development and, consequently, of structural complexity. We examined canopy and root structural data for coherence at multiple spatial scales ≤ 10 m within each site using wavelet analysis. Forest sites varied substantially in vertical canopy and root structure, with leaf area index and root mass more evenly distributed by height and depth, respectively, as forests aged. In all sites, above- and belowground structure, characterized as mean maximum canopy height and root mass, exhibited significant coherence at a scale of 3.5-4 meters, and results suggest that the scale of coherence may increase with stand age. Our findings demonstrate that canopy and root structure are linked at characteristic spatial scales, which provides the basis to optimize scales of observation. Our study highlights the potential, and limitations, for fusing lidar and radar technologies to quantitatively couple above- and belowground ecosystem structure.

Keywords: Forest management; sustainability; FSC; PEFC; research; market share

Insect outbreaks are major drivers of natural disturbances in forest ecosystems. Outbreaks can have both direct and indirect effects on the composition of soil arthropod communities, through canopy opening, nutrient addition and predator-prey interactions. In this study, we aim to understand the effects of forest tent caterpillar (Malacosoma disstria; FTC) outbreaks on ant communities in both temperate and boreal forests in Canada. Using pitfall traps and Berlese funnels, we compared the ant communities as well as the surrounding arthropod communities between control and outbreak sites in boreal andboreal and temperate forests (in Québec, Canada). Using the Sørensen dissimilarity index, we determined the alpha and beta diversity of the ant community. Other arthropods collected in the traps were counted to evaluate the richness and abundance of potential prey for the ants and other potential predators of the FTC. We used an indicator species analysis to examine the species associated with sites defoliated by the outbreak. In the boreal forest, we found that FTC outbreaks caused decreases in species richness and increases in the evenness of ant communities in defoliated sites. In the boreal forest sites, species composition varied significantly between control and outbreak sites. This pattern was driven by the presence of other predators. We also saw no changes in beta diversity in the boreal forest but did see a significant decrease in the temperate forest between the outbreak sites and the control sites. A similar, but weaker pattern was observed in the temperate forest. Ant species in the boreal forest tended to exhibit a more marked preference for either control or previously defoliated sites than species in the temperate forest. Our study showed that disturbances like insect outbreaks can drive changes in the ant community. While we saw small effects of outbreaks, manipulation experiments using resource addition could help us validate the mechanisms behind these relationships.

Zebrafish have been found to be the premier model organism in biological and biomedical research, specifically offering many advantages in developmental biology and genetics. This unique aquatic species has been found to have the capacity to regenerate their spinal cord after injury. However, the complete molecular and cellular mechanisms behind glial bridge formation in the central and peripheral nervous systems upon glial cell injury remains unclear. This review paper focuses on the molecular mechanisms and cellular processes that underlie spinal cord regeneration in four initial phases: proliferation and initial migration; migration and differentiation; glial bridge formation; and remodeling. We propose that within these four phases the cellular mechanisms that underlie spinal cord regeneration each express a terminating signal that aborts one step of the process and initiates the next. Specifically, future studies would be devoted to investigate transmitting signals in the spinal cord injury micro-environment in hope to contribute to the understanding of underlying cellular mechanisms by connecting each process of spinal cord regeneration in zebrafish.

Chlamydia trachomatis (Ct) infections are the most common sexually-transmitted infection (STI). Despite effective antibiotics for Ct, undetected infections or delayed treatment can lead to infertility, ectopic pregnancies, and chronic pelvic pain. Besides humans, chlamydia poses similar health challenges in animals such as C. suis (Cs) in pigs. Based on the similarities between humans and pigs as well as their chlamydia species, we use pigs as a large biomedical animal model for chlamydia research. In this study, we use the pig model to develop a vaccine candidate against Ct. The vaccine candidate consists of TriAdj-adjuvanted chlamydial protease-like activity factor (CPAF) protein. We tested two weekly administration options – twice intranasal (IN) followed by twice intramuscular (IM), or twice IM followed by twice IN. We assessed the humoral immune response not only in serum by CPAF-specific IgG including antibody avidity determination but also in cervical and rectal swabs by CPAF-specific IgG and IgA ELISAs. The systemic T-cell response was analyzed upon in vitro CPAF-restimulation via IFN-γ and IL-17 ELISpots as well as intracellular cytokine staining flow cytometry. Our data demonstrate that while the IN/IM vaccination mainly led to non-significant systemic immune responses, the vaccine candidate is highly immunogenic if administered IM/IN. This vaccination strategy induced high serum anti-CPAF IgG levels with strong avidity as well as high IgA and IgG levels in vaginal and rectal swabs and in uterine horn flushes. In addition, this vaccination strategy prompted a pronounced cellular immune response: Besides inducing IL-17 production, the vaccine candidate induced a strong IFN-γ response by CD4 T cells. In the IM/IN vaccinated pigs, these cells also significantly downregulated their CCR7 expression – a sign for differentiation into peripheral tissue homing effector/ memory cells. Conclusively, this study demonstrates strong immunogenicity of the IM/IN administered TriAdj-adjuvanted Ct CPAF vaccine candidate. Future studies will test vaccine efficacy of this promising Ct vaccine candidate. In addition, this project demonstrates suitability of the Cs pre-exposed outbred pig model for Ct vaccine development. Thereby, we aim to open the bottleneck of large animal models to facilitate the progression of Ct vaccine candidates into clinical trials.

Application of toxic antibacterial agents is considered necessary to control prevalent fresh water microorganisms in evaporative cooling water systems, but these agents can adversely affect the environment and human health. Alternatively, natural antibacterial water chemistry has been applied in industrial cooling water systems for over 10 years with excellent results. The tower water chemistry method concentrates natural salts in highly-softened water to produce elevated pH and dissolved solids, with low calcium and magnesium. This practice conserves water while generating only a small volume of non-toxic natural salt concentrate for cost efficient separation and disposal if required. This review presents a novel perspective of natural antimicrobial chemistry for inhibiting parasitic microbiome functional relationships within the bio-triad of Legionella outbreaks, "Trojan Protozoans" and biofilms. The review further examines practical application and function of polyvalent metal ions in the inhibition of biofilms. Reducing global dependence on toxic antibacterial agents discharged to the environment is an emerging concern due to their impact on the natural microbiome, plants, animals and humans. Discharge of antibacterial agents also contributes to development of pathogen resistance. Use of natural antibacterial chemistry can play a key role in managing the cooling water environment in a more ecologically sustainable manner.

To enhance system reliability and mitigate vulnerabilities of the Global Navigation Satellite Systems (GNSS), it is common to fuse the Inertial Measurement Unit (IMU) and visual sensors with the GNSS receiver in the navigation system design, effectively enabling compensations with absolute position and reducing data gaps. To address shortcomings of traditional Kalman Filter (KF) such as sensor error, imperfect nonlinear system model, and KF estimation error, a GRU-aided ESKF architecture is proposed to enhance positioning performance. This study conducts Failure Mode and Effect Analysis (FMEA) to priories and identify the potential faults in the urban environment facilitating the design of improved fault-tolerant system architecture. The identified primary fault events are data association error and navigation environment error during fault conditions of feature mismatch, especially in the presence of multiple failure modes. A hybrid federated navigation system architecture is employed using a Gated Recurrent Unit (GRU) to predict state increments for updating the state vector in the Error Estate Kalman Filter (ESKF) measurement step. The proposed algorithm’s performance is evaluated in a simulation environment in MATLAB under multiple visually degraded conditions. Comparative results provide evidence that the GRU-aided ESKF outperforms standard ESKF and state-of-the-art solutions like VINS-Mono, End-to-End VIO, and Self-Supervised VIO, exhibiting higher efficiency in complex environments.

This work aims to develop an autonomous system for the unmanned aerial vehicle (UAV) to land on a moving platform such as the automobile or marine vessels, providing a promising solution for a long-endurance flight operation, a large mission coverage range, and a convenient recharging ground station. Different from most state-of-the-art UAV landing frameworks which rely on UAV’s onboard computers and sensors, the proposed system fully depends on the computation unit situated on the ground vehicle/marine vessel to serve as a landing guidance system. Such novel configuration can therefore lighten the burden of the UAV and computation power on the ground vehicle/marine vessel could be enhanced. In particular, we exploit a sensor fusion-based algorithm for the guidance system to perform UAV localization, whilst a control method based upon trajectory optimization is integrated. Indoor and outdoor experiments are conducted and the result shows that a precise autonomous landing on a 43 X 43 cm platform could be performed.

This paper describes the early-stage prototyping process developed to probe into the socio-cultural dimensions of the Co-Drive project, which is a new service concept for traveling and socializing by car between a real driver on a semi-automated car and a remote passenger connected via virtual reality from home. By focusing on the intertwining journeys of the two actors of the experience, the driver and the remote passenger, three key interactions have been isolated and addressed as separate prototyping interventions in the wild. Such a seamful prototyping strategy enabled the users to experiment the whole service although the technology was not yet completely developed, and more specifically it allowed them to accommodate and appropriate each part of the experience into their everyday activities, revealing initial evidences of the potential social impact drawn by a future deployment of the service.

High-precision inertial sensors or accelerometers can provide us references of free-falling motions in gravitational field in space, and serve as the key payloads for gravity recovery missions. In this work, a systematic method of electrostatic inertial sensor calibrations for gravity recovery satellites is introduced, which is applied to and verified with the Taiji-1 mission. Taiji-1 is the first technology demonstration satellite of the ``Taiji Program in Space'', which, in its final extended phase in 2022, could be viewed as a gravity recovery satellite operating in the high-low satellite-to-satellite tracking mode. Based on the calibration principles, swing maneuvers with time span about 200 s and rolling maneuvers for 19 days were conducted by Taiji-1 in 2022. The inertial sensor's operating parameters including the scale factors, the center of mass offset vector and the intrinsic biased acceleration are precisely re-calibrated and are updated to the Taiji-1 science team. Data from one of the sensitive axis is re-processed with the updated operating parameters, and the performance is found to be slightly improved compared with former results. This approach could be of high reference value for the accelerometer or inertial sensor calibrations of the GFO, the Chinese GRACE-type mission, and the planned Next Generation Gravity Missions. This could also shed some light on the in-orbit calibrations of the ultra-precision inertial sensors for future GW space antennas because of the technological inheritance between these two generations of inertial sensors.

Plastics play a pivotal role in the principles of a circular economy, where their effective recycling post-utilization, leading to economic value generation and minimal environmental harm, is crucial for achieving sustainable management. Extensive research has delved into the incorporation of waste plastics in concrete, showcasing promising outcomes with a myriad of advantages..The escalating volume of plastic waste is becoming a pressing issue, contributing to environmental pollution, particularly in densely populated cities and towns in Nigeria such as Delta, Aba, Port Harcourt, Onitsha, Enugu, Benue, and Ogun. These urban centers experience high consumption of goods packaged or sealed in plastic materials. Tourist destinations are also affected as large quantities of plastic waste are improperly disposed of or incinerated, resulting in environmental contamination and air pollution. Efforts to address this growing concern are crucial to safeguarding the environment and public health in these regions.Therefore, it is imperative to find effective ways to utilize these waste plastics. By cleaning low-density polyethylene bags and combining them with sand at specific proportions, high-strength bricks can be produced. These bricks not only exhibit thermal and sound insulation properties but also help in pollution control and cost reduction in construction projects. This innovative approach not only addresses the issue of accumulating plastic waste, a non-biodegradable pollutant, but also offers a sustainable solution to manage plastic waste while contributing to the construction industry's efficiency and environmental protection., By incorporating waste plastic and nylon into brick production, we not only reduce the amount of sand extracted from our natural resources like rivers and seas but also utilize the surplus plastic waste that is currently discarded. This research focuses on creating eco-friendly bricks by incorporating molten plastic, nylon, and plastic bottles in varying percentages (0 to 15% by weight) along with 5kg of fly ash. The experimental results from this study will shed light on the feasibility and benefits of using these materials in brick manufacturing, highlighting the potential of sustainable construction practices that minimize environmental impact and resource depletion, The experimental process involved utilizing cement and sand to complete the brick composition, with curing conducted underwater for 29 days followed by baking at temperatures between 100°C to 120°C for 2 hours. The resulting eco-friendly bricks exhibited key characteristics such as being lightweight, porous, having low thermal conductivity, and displaying appreciable mechanical strength. Interestingly, the compressive strengths of these bricks, post the addition of waste plastic and nylon, were found to be comparable to that of conventional bricks. Additionally, these eco-friendly bricks showcased reduced water absorption capacity compared to regular bricks, offering a promising alternative for sustainable and efficient construction practices.The eco-friendly bricks made from A, B, C, and D using 0%, 5%, 10%, and 15% plastic/nylon waste showed comprehensive strengths of 19.5 ,19.46, 20.3, and 21.1 respectively, with corresponding water absorption percentages of 0.34, 0.25, 0.22, 0.20, and 0.085. The efflorescence values were lower than those of normal bricks. These bricks are likely to enhance energy efficiency in buildings and provide economic value to manufacturers, thereby promoting a sustainable ecosystem for plastic waste management with the involvement of all stakeholders.

Liquid-liquid phase separation (LLPS) of proteins has been found ubiquitously in eukaryotic cells, critical in the controlling of many biological processes through forming a temporary condensed phase with different bimolecular components. TDP-43 is recruited to stress granules in cells and is the main component of TDP-43 granules and proteinaceous amyloid inclusions in patients with amyotrophic lateral sclerosis (ALS). TDP-43 low complexity domain (LCD) is able to demix in solution forming the protein condensed droplets. The molecular interactions regulating its LLPS were investigated at the protein fusion equilibrium stage, where the droplets stopped growing. We found the molecules in the droplet were still liquid-like but with enhanced intermolecular helix-helix interaction in the LCD. The protein would start to aggregate after about 200 minutes of lag time and aggregate slower than at the condition when the protein does not phase separate or the molecules have a reduced intermolecular helical interaction. A structural transition intermediate towards protein aggregation was also discovered involving a decrease of the intermolecular helix-helix interaction and a reduction in the helicity. Therefore, LLPS and the intermolecular helical interaction could help maintain the stability of TDP-43 LCD.

In this paper, we design two inertial-type subgradient extragradient algorithms with line-search process for solving the pseudomonotone variational inequality problems (VIPs) and common fixed-point problem (CFPP) of finite Bregman relatively nonexpansive mapping and a Bregman relatively demicontractive mapping in p-uniformly convex and uniformly smooth Banach spaces, which are more general than Hilbert spaces. Under mild conditions, we derive weak and strong convergence of the suggested algorithms to a common solution of the VIPs and CFPP, respectively. Additionally, an illustrated example is furnished to back up the feasibility and implementability of our proposed methods.

Adults with obesity experience high rates of disability and rapid functional decline. Identifying movement dysfunction early can direct intervention and disrupt disability development, however subtle changes in movement are difficult to detect with the naked eye. This study evaluated how a portable, inertial measurement unit (IMU)-based motion capture system compares to a laboratory-based optokinetic motion capture (OMC) system for evaluating gait kinematics in adults with obesity. Ten adults with obesity performed overground walking while equipped with the OMC and IMU systems. Fifteen gait cycles for each participant were extracted for 150 total cycles analyzed. Kinematics were compared between OMC and IMU across the gait cycles (coefficient of multiple correlations), at clinically significant time points (interclass correlations), and over clinically relevant ranges (Bland Altman plots). Sagittal plane kinematics were most similar between systems, especially at the knee. Sagittal plane joint angles at clinically meaningful timepoints were poorly associated except for ankle dorsiflexion at heel strike (ρ=0.38) and minimum angle (ρ=0.83). Most motions had more than 5° difference between systems across the range of angles measured. IMU-based motion capture shows promise for detecting subtle gait changes in adults with obesity. However, more work is needed before this method can replace traditional OMC.

The wind industry is looking for ways to accurately predict the reliability and availability of newly installed wind turbines. Failure modes, effects and criticality analysis (FMECA) is a technique utilized for determining the critical subsystems of wind turbines. There are several studies which applied FMECA for wind turbines in the literature, but no studies so far have considered different weather conditions or climatic regions. Furthermore, various design types of wind turbines have been analyzed applying FMECA but no study so far has applied FMECA to compare the reliability of geared and direct-drive wind turbines. We propose to fill these gaps by using Koppen-Geiger climatic regions and two different turbine models of direct-drive and geared-drive concepts. A case study is applied on German wind farms utilizing the WMEP database which contains wind turbine failure data from 1989 to 2008. This proposed methodology increases the accuracy of reliability and availability predictions and compares different wind turbine design types and eliminates underestimation of impacts of different weather conditions.

Abstract. This paper proposes a Second Order Terminal Sliding Mode (2TSM) approach to the trajectory tracking of Differential Drive Mobile Robot (DDMR). Within this cascaded control scheme, the 2TSM dynamic controller, at the inner most loop, tracks the robot’s velocity quantities; while a kinematic controller, at the outer most loop, regulates the robot’s positions. In this manner, chattering is greatly attenuated and finite time convergence is guaranteed by the second order TSM manifold which involves higher order derivatives of the state variables, resulting in inherently robust as well as fast and better tracking precision. The simulation results demonstrate the merit of the proposed control methods.

There has been growing interest in using permanent magnet synchronous motors (PMSMs) for pumping applications to improve energy efficiency. One promising approach for powering these motors in variable speed applications is using modular multilevel cascaded converters based on a Triple-Star Bridge Cell (M3C) due to their inherent fault tolerance capability. However, M3C converters require a more complex control system than simpler converters. For instance, A basic M3C control system for power transmission requires seventeen (17) PI controllers, whose adjustment depends on the M3C’s dynamical model parameters’ value knowledge needing extensive and time-consuming testing to obtain them. To solve this control system issue, we propose an adaptive M3C control system for variable speed drives powering multiple PMSM-driven centrifugal pumps that reduces the number of controllers to six (6). Furthermore, the proposal does not require knowledge of the converter, motor, or load parameters, making it more practical and versatile. The proposal introduces an ad-hoc hybrid passivity-based model reference adaptive controller in cascade with a passivity-based control. It has been validated through theoretical stability proof and comparative simulation results with a basic control system under normal and fault operations. As a result, the proposal effectively follows the required rotor speed while enhancing performance by decreasing the current consumption and recovering from a 10% input phase imbalance, a cell short circuit, and an open cell.

Culex quinquefasciatus is an important target for vector control because of its ability to transmit pathogens that cause disease. Most populations are resistant to pyrethroids and often to organophosphates, the two most common classes of active ingredients used by public health agencies. A knockdown resistance (kdr) mutation, resulting in a change from a leucine to phenylalanine in the voltage gated sodium channel, is one mechanism contributing to the pyrethroid resistant phenotype. Enzymatic resistance has also been shown to play a very important role. Recent studies have shown strong resistance in populations even when kdr is relatively low which indicates factors other than kdr may be larger contributors to resistance. In this study, we examined on a statewide scale (over 70 populations), the strength of the correlation between resistance in the CDC bottle bioassay and the kdr genotypes and allele frequencies. Spearman correlation analysis showed only moderate (-0.51) and weak (-0.29) correlation between the kdr genotype and permethrin and deltamethrin respectively. The frequency of the kdr allele was an even weaker correlate. These results indicate, in contrast to Aedes aegypti, assessing kdr in populations of Culex quinquefasciatus is not a good surrogate for phenotypic resistance testing.

ABSTRACT"In the realm of the industrial complex, a pressing concern lies in optimizing resource utilization and enhancing energy efficiency. This critical issue finds strong support from a variety of government programs, strategies, and regulatory documents. To effectively tackle this challenge and revolutionize petrochemical production, it is imperative to establish and develop innovative mechanisms. One such mechanism involves harnessing the power of automation and advanced Industry 4.0 technologies to streamline production processes. By doing so, we can unlock the full potential of these systems, driving operational efficiency, conserving valuable reserves, and propelling innovation within the petrochemical industry."The article delves into an in-depth analysis of the prominent trends in the application of the "Industry 4.0" concept within the petrochemical industry. It sheds light on the various factors that impact the efficiency of organizing production systems. Additionally, the article identifies the primary avenues that drive the advancement and enhancement of production organization practices. Moreover, the article explores the fundamental tools employed for process improvements and highlights the significance of process automation in petrochemical plants. By examining these key aspects, it aims to provide valuable insights and recommendations for leveraging Industry 4.0 technologies to optimize production processes in the petrochemical industry..The study focuses on examining and evaluating various systems and technologies that contribute to the optimization of production processes within the petrochemical industry. Specifically, it delves into the implementation and benefits of the just-in-time system, the 5S system for workplace rationalization, as well as different information systems including ERP systems and CALS-technologies. By exploring these systems and technologies, the article aims to identify the advantages of automating production processes within the petrochemical complex. This analysis will unveil the potential benefits such as improved efficiency, reduced waste, enhanced productivity, streamlined operations, and increased overall competitiveness. Through this research, we aim to shed light on the value of these automation solutions and their impact on driving the petrochemical industry towards greater success.

In studies of dynamic stability and power quality, it is necessary to know the mechanical parameters that determine the transient response of a wind turbine. The exact value of these parameters is not as decisive as the power curve can be, but an estimate that is far from reality can distort or even invalidate the simulation results. Despite its importance, this information, especially the inertia, but also the stiffness and damping constant of the drive-train, is hardly available for the turbine model under investigation. In this work, the different bibliographical sources that provide values of blade inertia in kg·m2 will be reviewed, and above all, those that provide a distribution of masses along the span of the blade. With this, different reliable relations will be obtained that allow calculating the inertia of the turbine rotor, based on the mass and length of the blade. When the center of gravity is also available, a very correlated expression is provided to obtain the inertia. The even rarer references to the stiffness and damping constant of the drive-train will also be reviewed.

Off-road vehicles and transportation are vital for agricultural economics, yet the transition to green energies is challenging. To make this application easier, a tool that enables the testing of heavy-duty off-road vehicles in various scenarios was created. Based on the methods of the World Harmonized Transient Cycle, a new Hybrid Operational Cycle that reflects the features of agricultural work was created and applied in a graphical model simulation. This was a newly developed methodology. The cycle and the model were based on gathered research data. A numerical model of a medium-power tractor with an internal combustion engine and a series-hybrid setup was created, and simulations were performed in Matlab and AVL Cruise. The research compared both diesel and hybrid vehicles in terms of their power production, fuel consumption, and efficiency in fieldwork and transportation scenarios. The research showed that a series-hybrid transmission can achieve an efficiency similar to that of tractors with a continuously variable transmission (CVT), but with the use of an electric powertrain, there is still an opportunity to exploit energy regeneration in transportation and under low-load conditions. The designed model also may be used for the development of control algorithms for hybrid drives and the improvement of the efficiency thereof.

Iberian holm oak meadows are savannah-like ecosystems that result from traditional silvo pastoral practices. However, such traditional uses are declining, driving changes in the typical tree – open grassland structure of these systems. Yet, there are no studies integrating the whole ecosystem — including the arboreal and the herbaceous layer — as drivers of greenhouse gas (GHG: CO2, CH4 and N2O) dynamics. Here we aim at integrating the influence of tree canopies and interactions among plant functional types (PFT: grasses, forbs, and legumes) of the herbaceous layer as GHG exchange drivers. For that purpose, we performed chamber based GHG surveys in plots dominated by representative canopy types of Iberian holm oak meadows, including Quercus species and Pinus pinea stands, the last a common tree plantation replacing traditional stands; and unravelled GHG drivers through a diversity interaction model approach. Our results show that the tree – open grassland structure especially drove CO2 and N2O fluxes, with higher emissions under the canopy than in the open grassland. Emissions under P. pinea canopies being higher than those under Quercus species. In addition, the inclusion of diversity and compositional terms of the herbaceous layer improve the explained variability, legumes enhancing CO2 uptake and N2O emissions. Changes in the tree cover and tree species composition, in combination with changes in the structure and composition of the herbaceous layer, will imply deep changes in the GHG exchange of Iberian holm oak meadows. These results may provide some guidelines to perform better management strategies of this vast but vulnerable ecosystem.

Epigenetic changes are a hallmark of short- and long-term transcriptional regulation, and hence instrumental in the control of cellular identity and plasticity. Epigenetic mechanisms leading to changes in chromatin structure, accessibility for recruitment of transcriptional complexes, and interaction of enhancers and promoters all contribute to acute and chronic adaptations of cells, tissues and organs to internal and external perturbations. Similarly, the peroxisome proliferator-activated receptor γ coactivator 1α (PGC-1α) is activated by stimuli that alter the cellular energetic demand, and subsequently controls complex transcriptional networks responsible for cellular plasticity. It thus is of no surprise that PGC-1α is under the control of epigenetic mechanisms, and constitutes a mediator of epigenetic changes in various tissues and contexts. In this review, we summarize the current knowledge of the link between epigenetics and PGC-1α in health and disease.

In this paper, by evaluating extreme value of the qth-power current, a torque sharing function (TSF) family for reducing the torque ripples in the switched reluctance motor (SRM) is proposed. The optimization criteria of the TSF has two secondary objectives, including the maximization of the torque-speed range and the minimization of copper loss. The evaluation indices in terms of the peak phase current, the rms phase current, and the torque ripple factor are compared between the proposed TSF family and four conventional TSFs including linear, sinusoidal, exponential, and cubic TSFs. An optimization objective function that combines the maximum absolute value of the rate-of-change of the flux linkage (MAV-RCFL) and the qth-power of current is proposed and a weighting factor is used to balance the influence of the two optimization objectives. An optimal TSF can be easily obtained by solving the optimization problem from the TSF family. The proposed TSF is validated by using simulations and experiments with a three-phase 6/4 SRM with 7.5 kW, 3000 rpm, and 270 V DC-link voltage. The dynamic simulation model is implemented in Matlab/Simulink. The results demonstrate the validity and superiority of the proposed control method; the optimal TSF provides better torque-speed performance, and a better reduction in copper loss and torque ripples at high speed compared to the conventional TSFs obviously.

The aim of this study was to adapt a treadmill-developed method for determination of inner-cycle parameters in cross-country roller ski skating for a field application. The method is based on detecting initial and final ground-contact of poles and skis during cyclic movements. Eleven athletes skied four laps of 2.5 km at low and high endurance-intensity, using two types of skis with different rolling coefficients. Participants were equipped with inertial measurement units (IMUs) attached to their wrists and skis, while insoles with pressure sensors and poles with force measurements were used as reference systems. The method based on IMUs was able to detect more than 97% of the temporal events compared to the reference system. The inner-cycle temporal parameters had a precision ranging from 49 to 59 ms, corresponding to 3.9% to 13.7% of the corresponding inner-cycle duration. Overall, this study showed good reliability of using IMUs on athlete’s wrists and skis to determine temporal events, inner-cycle parameters and the performed sub-techniques in cross-country roller ski skating in field-conditions.

The dynamics of a spherical particle in an asymmetric serpentine is studied by finite element method (FEM) simulations in a physically unconstrained system. The two-way coupled time dependent solutions illustrate the path of the particle along a curve where a secondary flow (Dean flow) has developed. The simulated conditions were adjusted to match those of an experiment for which particles were focused under inertial focusing conditions. The obtained rotational modes allowed to infer the influence of the local flow around the particle. We propose a new approach to find the decoupled secondary flow contribution employing a quasi-Stokes flow.

In recent years, exterior-rotor brushless DC motors have become increasingly popular in robotics applications due to their compact shape and high torque density. However, these motors were originally used for continuous operation in drones. For applications such as exoskeletons, prostheses, or legged robots, short bursts of high power are often required. Unfortunately, vendors do not typically provide data on the motors' performance under these conditions. This paper presents experimental data on the torque-speed relationship, efficiency, and thermal responses of one of the most widely used outrunner-type brushless motors across its full operating range, including high-power, short-duration operation. The results of this study can inform the selection and design of actuators for a range of robotics applications, particularly those that require high power output for brief periods of time.

The purpose of this study was to investigate the relationship between clinical outcomes and lateral thrust before and after unicompartmental knee arthroplasty (UKA) using inertial measurement sensor units. Eleven knees were evaluated with gait analysis. The varus angular velocity was used to evaluate lateral thrust. The femoro-tibial angle (FTA) and hip-knee-ankle angle (HKA) were used to evaluate lower limb alignment, and Oxford Knee Score (OKS) and Japanese Orthopaedic Association Score (JOA) were used to evaluate clinical outcomes. The mean pre-UKA peak varus velocity was 37.1 ± 9.8°/sec, and that of post-UKA was 28.8 ± 9.1°/sec (p=0.00003). Assuming the definition of lateral thrust is when varus angular velocity is more than 28.1°/sec, 81.8% of patients had lateral thrust preoperatively, but this decreased to 55.6% postoperatively. Both OKS and JOA improved after surgery. In addition, HKA was -7.9° preoperatively and -5.8° postoperatively (p=0.024), and FTA was 181.4° preoperatively and 178.4° postoperatively (p=0.012). There was a positive correlation between postoperative JOA and FTA, indicating that changes in postoperative alignment affected clinical outcomes. This study quantitatively evaluated the disappearance of lateral thrust by UKA, and it found that the stability can be achieved by UKA for unstable knees with lateral thrust.

In this paper, an extendable fuzzy robust speed controller suitable for induction motor drive system was proposed. Firstly, the two-degrees-of-freedom (2DOF) robust control technology with feedforward control and disturbance elimination method was adopted. Upon parameter variation and load disturbance, the motor drive system could utilize a robust controller to generate compensation signals and reduce the impact on controlling performance of the motor drive system. The magnitude of the compensation signal was adjusted via the weighting factor. However, should a fixed weighting factor be adopted, system instability might be generated easily when time delay and saturation of control force occur. Based on the above, the smart method of extendable fuzzy theory (EFT) was adopted in this paper to adjust adequate weighting factors, where the controlling performance of the induction motor drive system could be improved accordingly. The method divided the speed difference between motor speed command and actual speed of the induction motor, and the variation rate for such speed difference into 20 regional categories. The correlation degree between the speed difference of actual feedback, variation rate for speed difference and each regional category was then calculated, where more suitable weighting factor was selected. Therefore, the proposed extendable fuzzy robust 2DOF controller with variable weighting factor designed will allow better performance for response in speed tracking and load regulation. Lastly, the simulation software Matlab/Simulink was applied to simulate the utilization of the controlling method proposed for the induction motor drive system. For both the response in speed tracking and load regulation, the simulation results proved that the extendable fuzzy robust speed controller proposed provided better controlling performance than the conventional robust controller.

This article postulates that, in principle, it is possible (1) to develop linkages between the extractive sector and other economic sectors; (2) for such linkages to contribute to economic diversification; and (3) for economic diversification to potentially drive positive economic transformation. We argue that achieving this three-stepped pathway is impossible without also achieving some level of political and social transformation. Empirically, many resource-rich countries have failed to develop linkages. Or, if they have, the linkages built remain limited to the development of supply chains serving the extractive sector, contributing little to economic diversification. In this article, we refer to limited linkages and dependence on exporting unprocessed minerals as the centripetal force of the extractive sector. This implies that capital investments and economic activities are concentrated around the extractive sector. We propose an alternative theoretical model that strives to foster the centrifugal force of the extractive sector – a term we use to capture the three-stepped pathway. This model is underpinned by multiple factors and their interactions, which are within the purview of the complex state and market relationship (posing as a challenge) and the role of minerals in the global transformation towards a clean energy system (posing as an opportunity).

Based upon Maxwell's equations, it has long been established that oscillating electromagnetic (EM) fields incident upon a metal surface decay exponentially inside the conductor, leading to a virtual EM vacuum at sufficient depths. Magnetic resonance imaging (MRI) utilizes radiofrequency (r.f.) EM fields to produce images. Here we present the first visualization of a virtual EM vacuum inside a bulk metal strip by MRI, amongst several novel findings. We uncover unexpected MRI intensity patterns arising from two orthogonal pairs of faces of a metal strip, and derive formulae for their intensity ratios, revealing differing effective elemental volumes (voxels) underneath these faces. Further, we furnish chemical shift imaging (CSI) results that discriminate different faces (surfaces) of a metal block according to their distinct nuclear magnetic resonance (NMR) chemical shifts, which holds much promise for monitoring surface chemical reactions noninvasively. Bulk metals are ubiquitous, and MRI is a premier noninvasive diagnostic tool. Combining the two, the emerging field of bulk metal MRI can be expected to grow in importance. The fundamental nature of results presented here may impact bulk metal MRI and CSI across many fields.

In crank presses, an important role is played by the presence of actuators with dwell, in which, with continuous movement of the input links, the output working link remains stationary at some part of the work. The use of a high-class structural group (fourth class) expands the functionality of the crank press, including it can ensure the link dwell of the working link on a given section of movement during the required period of time. As a result of the conducted research, four variants of actuators of the crank knee press were designed. Due to the rational choice of the positions of racks and crosshead guide, the best layout of the dimensions of the press mechanism has been achieved, changing the coordinates of the racks accordingly allows to design a mechanism with upper or lower dwells of the working links. When synthesizing (selecting) parameters such as: l_2 and h, it is possible to obtain a height of different duration. All this is shown on the basis of a numerical experiment based on kinematic analysis. In addition, the complex structure of the mechanism makes it possible to ensure the exact link dwell, which cannot be achieved due to the well-known knee presses based on the second-class mechanism [21].

This study presents structural analysis and optimization for the lightweight design of a buoyant rotor-type permanent magnet (BRPM) generator, which was first presented in Bang (2010), and compares its structural performances to a conventional generator with a spoke arm-type rotor and stator. The main benefit of a BRPM is that it can be realized as a bearing-less drive system, free from the mechanical failure of rotor bearings, by using a buoyant rotor. Also, the deformation of a generator by blade vibration can be effectively suppressed using joint couplings between the blades and the rotor. For the design optimization, the objective is set as the mass of the rotor and the stator, and the maximum deformation of the airgap clearance between the rotor and the stator by external forces is constrained below 10% of the gap width. The commercial software Optistruct is used for the analysis and optimization. In this investigation, the analysis and optimization are conducted for a 10 MW wind turbine generator. However, the proposed methods can be extended to larger generator designs without requiring considerable modification. The mass of the opti-mized 10MW BRPM generator is 160.7 tons (19.3 tons for the rotor and 141.4 tons for the stator) while that of an optimized conventional spoke arm-type generator is obtained as 325.6 tons.

Ultrasonic imaging & NDE applications can greatly improve their signal-to-noise ratios (SNR) by driving each transducer (composing piezoelectric arrays) with a spike giving pulsed power of k-Watts, repetitively at a PRF = 5000 spikes/s, by using a HV capacitive-discharge generator. However very-high levels, of pulsed intensities (3-10 A) and voltages (300-700 V) must be considered for a rigorous spike modeling. Even though the consumed "average" power will be small, the intensity through each transducer achieves several amperes, so the pulsed powers delivered by each HV generator can attain levels higher than in CW high-power ultrasonic applications: e.g., up to 5 kW / spike. This is concluded here from a transient modeling of the loaded generator. Then, unforeseen phenomena rise: intense brief pulses of driving power & emitted force in transducers, and non-linearities in driver semiconductors, because their characteristic curves only include linear ranges. But fortunately, piezoelectric devices working in this intense regime do not show serious heating problems, because the average power remains being moderate. Intensity, power and voltage, driving a broadband transducer from a HV capacitive pulser, are calculated to drastically improve (in ≅ 40 dB) the ultrasonic net dynamic range available, with emitted forces ≅ 250 Newtons pp and E/R received pulses of 70 V pp.

Excitation-inhibition imbalance of GABAergic interneurons is predisposed to develop chronic temporal lobe epilepsy (TLE). We have previously shown that virtually every neuronal nitric oxide synthase (nNOS)-positive cell is a GABAergic inhibitory interneuron in the denate gyrus. The present study was designed to quantify the number of nNOS-containing hilar interneurons using stereology in pilocapine- and kainic acid (KA)-exposed transgenic adult mice that expressed GFP under the nNOS promoter. In addition, we studied the properties of miniature excitatory postsynaptic current (mEPSC) and paired-pulse response ratio (PPR) of evoked EPSC in nNOS interneurons using whole cell recording techniques. Results showed that there were fewer nNOS-immunoreactive interneurons of chronically epileptic animals. Importantly, patch-clamp recordings revealed reduction in mEPSC frequency, indicating diminished global excitatory input. In contrast, PPR of evoked EPSC following the granule cell layer stimulation was increased in epileptic animals suggesting reduced neurotransmitter release from granule cell input. In summary, we propose that impaired excitatory drive onto hippocampal nNOS interneurons may be implicated in the development of refractory epilepsy.

With the onset of the COVID19 pandemic, information technology has played a critical role in healthcare. A broad spectrum of information technology tools and applications played an essential role to create awareness of the COVID19 vaccination drive and its health benefits. We use the COVID-19 Global Beliefs, Behaviors, and Norms Survey for analysis of prevalence and factors associated with vaccination drives among men and women aged 20-80 years in 60 countries worldwide. Our analysis of the global survey offers a unique perspective about the role of information technology associated with vaccination drives involving social norms and human behavior among 437,236 respondents. The international survey was organized using a pre-registered randomized experiment demonstrating the role of technology in reaching out to people based in diverse communities and evaluating their beliefs, behavior, and social norms. The study shows that vaccine acceptance can vary due to descriptive norms. Our analysis shows 65.06% of people all over the globe are willing to get vaccinated and a large proportion of the population thinks that the COVID19 pandemic is a viable threat to the community and preventive measures need to be taken including vaccination drives.

The digital economy (DE) has become a major force driving the optimization and upgrading of industrial structures (ISOU), and research on the driving mechanism has yet to be verified. To this end, the driving influence of DE on the ISOU is targeted, and the role played by economic resilience (ER) and innovation is explored. Based on the panel data of 31 provinces in China from 2011 to 2020, the driving influence of the DE on the ISOU is analyzed using a two-way fixed-effects model. The empirical study finds that the DE presents a positive driving effect on both industrial structure advancement and rationalization, and the driving effect is still significant after the addition of control variables and the robust-type test with one period of lag; the DE presents regional differences in ISOU, with the driving effect of the DE on industrial structure advancement in the eastern region having a more significant performance than that of the central and western regions, and the driving influence on the rationalization of industrial structure in the eastern and western regions exceeds that in the central region; the impact of DE on the ISOU has a mediating role through innovation, ER has a moderating role in the process, and innovation as a partial mediator also has a threshold effect, and finally countermeasure suggestions are put forward.

J. C. Maxwell, B. Riemann and H. Poincar$\acute{e}$ have proposed the idea that all microscopic particles are sink flows in a fluidic aether. Following this research program, a previous theory of gravitation based on a mechanical model of vacuum and a sink flow model of particles is generalized by methods of special relativistic continuum mechanics. In inertial reference frames, we construct a tensorial potential which satisfies the wave equation. Inspired by the equation of motion of a test particle, a definition of a metric tensor of a Riemannian spacetime is introduced. Applying Fock's theorem, generalized Einstein's equations in inertial systems are derived based on some assumptions. These equations reduce to Einstein's equations in case of weak field in harmonic reference frames. There exist some differences between this theory and Einstein's theory of general relativity.

Inertial training is one of the most popular training methodologies in the last years and one of the objects of study in recent literature, however more studies are necessary to know its usefulness in young athletes. The aim of the current systematic review is to evaluate the current literature surrounding the chronic effect of inertial training on physical capacities of team sports through functional test. This systematic review was conducted in accordance with the Preferred Reporting Items for Systematic Reviews and Meta-Analyses Protocols (PRISMA). The results revealed the effectiveness of these tools for improving abilities such jumps, sprints, change of directions and power measure. In conclusion, inertial training can be an adequate stimulus for the better performance in young athletes on team sports.

Visual-inertial integrated navigation system (VINS) has been extensively studied over the past decades to provide accurate and low-cost positioning solutions for autonomous systems. Satisfactory performance can be obtained in an ideal scenario with sufficient and static environment features. However, there are usually numerous dynamic objects in deep urban areas, and these moving objects can severely distort the feature tracking process which is fatal to the feature-based VINS. The well-known method mitigates the effects of dynamic objects is to detect the vehicles using deep neural networks and remove the features belongs to the surrounding vehicle. However, excessive exclusion of features can severely distort the geometry of feature distribution, leading to limited visual measurements. Instead of directly eliminating the features from dynamic objects, this paper proposes to adopt the visual measurement model based on the quality of feature tracking to improve the performance of VINS. Firstly, a self-tuning covariance estimation approach is proposed to model the uncertainty of each feature measurements by integrating two parts: 1) the geometry of feature distribution (GFD), 2) the quality of feature tracking. Secondly, an adaptive M-estimator is proposed to correct the measurement residual model to further mitigate the impacts of outlier measurements, such as the dynamic features. Different from the conventional M-estimator, the proposed method effectively alleviates the reliance of excessive parameterization of M-estimator. Experiments are conducted in a typical urban area of Hong Kong with numerous dynamic objects, and the results show that the proposed method could effectively mitigate the effects of dynamic objects and improved accuracy of VINS is obtained when compared with the conventional method.

Under high-frequency operating conditions, the high-speed solenoid valve (HSV) experiences energy loss and heat generation, which significantly impact its operational lifetime. Reducing the energy loss of HSV without compromising its opening response characteristics poses a significant challenge. To address this issue, a finite element simulation model of HSV coupled with a current feedback model is constructed to investigate the synergistic effects of dynamic response and energy loss. Predictive models for the opening response time, HSV driving energy, and Joule energy using Back Propagation neural network (BPNN) are established. Furthermore, a multi-objective optimization study on the current driving strategy using Non-dominated Sorting Genetic Algorithm II (NSGA-II) is conducted. After optimization, although there was a 6.24% increase in the opening response time, both HSV drive energy and Joule energy were significantly reduced by 15.67% and 22.49%, respectively. The proposed multi-objective optimization method for HSV driving strategy holds great significance in improving its working durability.

The paper presents the measured values of tensile forces acting on transmission idlers in the upper and lower run of a conveyor belt placed on a laboratory machine designed at the Department of Machine and Industrial Design, Faculty of Mechanical Engineering, VSB-Technical University of Ostrava). The tensile forces detected by two strain gauge load cells and recorded using DEWESoft software were used to calculate the friction coefficient which acts on the surface of the driving drum casing and the conveyor belt. The friction coefficient at the slip point, or during the slippage of the conveyor belt on the rubber or steel casing of the driving drum was determined for two states of the surfaces which are in contact. Experimental measurements on a laboratory machine determined four values of friction coefficients, for two types of drum surfaces and for two states of contact surfaces, which were compared with the recommended standard values. The measured values reached higher values in comparison with the values given by the CSN standards. The highest deviation of 273.3% is achieved using a steel wet surface, and the lowest deviation of 106.3% is achieved when using a rubber dry lining for the driving drum casing. On the presented laboratory machine, it is possible to measure tensile forces for different speeds of movement, different belt angles on the driving drum, various types of belt surfaces, different types of drum casing linings and different sizes of tension forces for the endless loop of the conveyor belt. For these characteristics of the conveyor belt, the magnitude of the friction coefficient, acting between the belt and the drum surfaces, can be determined.

NPM interaction with tumor suppressor p53 is a part of a complex interaction network and considerably affects cellular stress response. An impact of characteristic AML-associated NPM mutations on interaction with p53 has not been investigated yet, although consequences of NPMmut-induced p53 export to the cytoplasm are important for understanding of leukemogenic potential of these mutations. We investigated p53-NPM interaction in live HEK-293T cells by FLIM-FRET and in cell lysates by immunoprecipitation. Results were confirmed in leukemia cell lines. eGFP lifetime-photoconversion was used to follow redistribution dynamics of NPMmut and p53 in Selinexor-treated cells. We confirmed the p53-NPMwt interaction in intact cells and newly documented that this interaction is not compromised by the NPM mutation causing displacement of p53 to the cytoplasm. Importantly, the interaction was not abolished for non-oligomerizing NPM variants with truncated oligomerization domain, suggesting that oligomerization is not essential for interaction of NPM forms with p53. Inhibition of the nuclear exporter XPO1 by Selinexor caused expected nuclear relocalization of both NPMmut and p53. However, significantly different return rates of these proteins indicate nontrivial mechanism of p53 and NPMmut cellular trafficking. We suggest that the altered p53 regulation in cells expressing NPMmut offers a new target for AML therapy.

Electromagnetic sensors have been used for inspecting small surface defects of metals. Based on the eddy-current thin-skin regime, a revised algorithm is proposed for a triple-coil drive-pickup eddy-current sensor scanning over long surface crack slots (10 mm) with different rotary angles. The method is validated by the voltage measurement of the designed EC sensor scanning over a benchmark (ferromagnetic) steel with surface defects of different depths and rotary angles. With an additional sensing coil for the designed EC sensor, the defect angle (or orientation) can be measured without spatially and coaxially rotating the excitation coil. By referring to the voltage change (due to the defect) diagram (voltage sum versus voltage different) of two sensing pairs, the rotary angle of the surface crack is retrieved with a maximum residual deviation of 3.5 %.

The purpose of this work is to present an adaptive sliding mode luenberger state observer with improved disturbance rejection capability and better tracking performance under dynamic conditions. The sliding hyperplane is altered by incorporating the estimated disturbance torque with the stator currents. Also, the effects of parameter detuning on the speed convergence is observed and compared with the conventional disturbance rejection mechanism. The entire drive system is first built in simulink environment. Then, the simulink model is integrated with RT-Lab blocksets and implemented in a relatively new real-time environment using OP4500 real-time simulator. Real-time simulation and testing platforms have succeeded offline simulation and testing tools due to their reduced development time. The real-time results validate the improvement in the proposed state observer and also correspond to the performance of the actual physical model.

Embryonic development proceeds through a series of differentiation events. The mosaic version of this process (binary cell divisions) can be analyzed by comparing early development of Ciona intestinalis and Caenorhabditis elegans. To do this, we reorganize lineage trees into differentiation trees using the graph theory ordering of relative cell volume. Lineage and differentiation trees provide us with means to classify each cell using binary codes. Extracting data characterizing lineage tree position, cell volume, and nucleus position for each cell during early embryogenesis, we conduct several statistical analyses, both within and between taxa. We compare both cell volume distributions and cell volume across developmental time within and between single species and assess differences between lineage tree and differentiation tree orderings. This enhances our understanding of the differentiation events in a model of pure mosaic embryogenesis and its relationship to evolutionary conservation. We also contribute several new techniques for assessing both differences between lineage trees and differentiation trees, and differences between differentiation trees of different species. The results suggest that at the level of differentiation trees, there are broad similarities between distantly related mosaic embryos that might be essential to understanding evolutionary change and phylogeny reconstruction. Differentiation trees may therefore provide a basis for an Evo-Devo Postmodern Synthesis.

Rotational jumps are crucial techniques in sports competitions. Estimating ground reaction forces (GRFs), one of the components constituting jumps, through a biomechanical model-based approach enables analysis even in environments where force plates or machine learning training data cannot be utilized. In this study, rotational jump movements involving twists on land were measured using inertial measurement units (IMUs) and estimated GRFs and body loads using a 3D forward dynamics model. Our estimation method, based on forward dynamics and optimization calculations, generated and optimized body movements using cost functions defined by motion measurements and internal body loads. To reduce the influence of the dynamic acceleration in the optimization calculation, the 3D orientation using sensor fusion composed of acceleration and angular velocity data obtained from IMUs and an extended Kalman filter was estimated. As a result, by generating movements based on the cost function, it was possible to calculate biomechanically valid GRFs while following the measured movements even if not all joints are covered by IMUs. This estimation method allows for 3D motion analysis independent of measurement conditions or training data.