Satellite clock bias (SCB) prediction is a crucial technology for satellite navigation systems, holding significant importance for Global Navigation Satellite System. This paper proposes a deep learning model for SCB prediction based on the fusion of the Beluga Whale Optimization (BWO), Convolutional Neural Network (CNN), Bidirectional Gated Recurrent Unit (BiGRU), and an attention mechanism. The CNN is utilized to extract the spatiotemporal characteristic information from the clock bias sequence, while the BiGRU fully extracts relevant features through forward and backward propagation. The introduction of an attention mechanism aims to preserve essential features within the clock bias sequence to enhance feature extraction by both CNN and BiGRU networks. Additionally, the BWO is employed to optimize parameter selection in order to improve model accuracy. Experimental verification demonstrates that for the BeiDou Navigation Satellite System's (BDS) hydrogen-maser atomic clocks, the predicted clock bias for 6 hours, 3 days, and 15 days are 0.078 ns, 0.475 ns, and 2.130 ns respectively - representing improvements of 31%, 45%, and 66% over CNN-BiGRU-Attention; 6%, 51%, and 56% over CNN-BiGRU; and 32%, 35%, and 73% over BiGRU, respectively.

Classifying spinal tumors can be challenging due to nonspecific clinical and radiological qualities, and a precise biopsy is crucial for an accurate diagnosis and treatment planning. This study aimed to enhance the accuracy and efficiency of spinal biopsies integrating Cone Beam Computed Tomography (CBCT) and magnetic resonance imaging (MRI) modalities using an O-arm CT navigation system. Eighteen patients with diverse spinal lesions underwent 18 biopsies following the Stealth Station navigation system Spine 8 protocol. Preoperative MRI scans were merged with intraoperative CT navigation systems for continuous monitoring during the biopsy process. The combined imaging technique accurately identified the diseased lesion type in all biopsies, demonstrating 100% sensitivity and specificity. In conclusion, combining MRI and CT imaging modalities significantly improved spinal biopsy accuracy and efficiency, differentiating between pathological entities. However, large-scale studies are desired to validate these findings and investigate potential benefits in different clinical scenarios. Although this method requires general anesthesia, its potential profits in avoiding misdiagnosed lesions and decreasing the need for further invasive procedures make it a promising approach for improving spinal biopsy accuracy and efficiency.

The invasion of ship domain stands out as a significant factor contributing to the risk of collisions during vessel navigation. However, there is a lack of research on the mechanisms underlying collision risks specifically related to merchant and fishing vessels in coastal waters. This study proposes an assessment method for collision risks between merchant and fishing vessels in coastal waters and validated through a comparative analysis through visualization. First of all, the operational status of fishing vessels is identified. Collaboratively working fishing vessels are treated as a unified entity, expanding their ship domain during operation to assess collision risks. Secondly, to quantify the collision risk between ships, a collision risk index (CRI) is proposed and visualized based on the severity of collision risk. Finally, taking the high risk area of merchant and fishing vessels collision in the Minjiang River Estuary as an example, this paper conduct the analysis involves classifying ship collision scenarios, extracting risk data under different collision scenarios, and visually analyzing areas prone to danger. The results indicate that this method effectively evaluates the severity of collision risk, and the identified high-risk areas resulting from the analysis is verified by accidents occurred in the recent three years.

It is vital to analyze ship collision risk for preventing collisions and improving safety at sea. This paper takes Ningbo-Zhoushan Port, a typical complex navigable water, as the research object, propose a probabilistic conflict detection method to estimate the potential collision risk by using a dynamic domain model driven by AIS data. Combined with the algorithm of fast modularity optimization and spectral clustering, a ship group extraction method from the perspective of water navigation management was proposed. Aiming at ship traffic characteristics in complex navigable waters, conduct dynamic calculation of ship collision risk from individual, regional and local multi-scale perspectives. The results show that the proposed method can detect the collision risk in a timely, reliable and effective manner under complex dynamic conditions. As such, they provide valuable insights for ship collision risk prediction and the development of risk mitigation measures.

Spinal metastatic tumors are common and often cause debilitating symptoms. Image-guided percutaneous thermal ablation (IPTA) has gained significant recognition in managing spinal column tumors due to its exceptional precision and effectiveness. Conventional guidance modalities, including computed tomography, fluoroscopy, and ultrasound, have been important in targeting spinal column tumors while minimizing harm to adjacent critical structures. This study presents a novel approach utilizing a fusion of Cone Beam Computed Tomography with Magnetic Resonance Imaging to guide percutaneous thermal ablation for four patients with secondary spinal column tumors. The visual analog scale (VAS) evaluated procedure effectiveness during an 18-month follow-up. Percutaneous vertebroplasty was performed in two cases, and a thermostat was used during all procedures. Imaging was performed using the Stealth Station navigation system Spine 8 (SSS8) and a 1.5T MRI machine. The fusion of CBCT with MRI allowed precise tumor localization and guidance for thermal ablation. Initial results indicate successful tumor ablation and symptom reduction, emphasizing the potential of CBCT-MRI fusion in spinal column tumor management. This innovative approach is promising in optimizing therapy for secondary spinal column tumors. Further studies are necessary to validate its efficacy and applicability.

To address the challenge of recognizing ship states accurately amidst the complexities of marine environments, this study proposes a novel ship state recognition approach leveraging a graph convolutional neural network (GCNN). Initially, the method extracts canonical and efficient ship motion trajectories from AIS data. Subsequently, a state recognition network tailored for ship motion trajectories is devised and implemented employing graph convolution. Notably, the accuracy of this model is enhanced through the introduction of novel weights and optimization of the Adj parameter. Experimental evaluations conducted on a ship state dataset demonstrate significant performance improvements. Specifically, the proposed recognition network achieves a recognition accuracy of 98.3% for regulated ship trajectories, marking an impressive 8.4% enhancement over traditional convolutional neural networks. This advancement holds promise for enhancing ship state recognition accuracy across diverse maritime applications including maritime supervision, navigation safety, and ship management.

Extracellular vesicles represent a large heterogeneous class of near and long-distance intercellular communication mediators, released by both prokaryotic and eukaryotic cells. Specifically, the scientific community has shown a growing interest in exosomes, which are nano-sized vesicles with an endosomal origin. Not so long ago, the physiological goal of exosome generation was largely unknown and required more investigation; at first, it was hypothesized that exosomes are able to remove excess, rejects and unnecessary constituents from cells to preserve cellular homeostasis. However, thanks to recent studies, the central role of exosomes in regulating cellular dialogue has emerged. Exosomes act as vectors on cell-cell signaling by their cargo, proteins, lipids, and nucleic acids, and influence physiological and pathological processes. The findings on exosomes are widespread in a large spectrum of biomedical applications from diagnosis and prognosis to thera-pies. In this review, we describe exosome biogenesis and the current methods for their isolation and characterization, emphasizing the role of their cargo in female reproductive processes, from gametogenesis to implantation, and the potential involvement in human female disorders.

Anonymous communications networks were born to protect the privacy of our communications, preventing censorship and traffic analysis. The most famous anonymous communication network is Tor. This anonymous communication network provides some interesting features, among them, we can mention user’s IP location or Tor Hidden Services (THS) as a mechanism to conceal the location of servers, mainly, web servers. THS is an important research field in Tor. However, there is a lack of reviews that sump up main findings and research challenges. In this article we present a systematic literature review that aims to offer a comprehensive view on the research made on Tor Hidden services presenting the state of the art and the different research challenges to be addressed. This review has been developed from a selection of 57 articles and present main findings and advances regarding Tor Hidden Services, limitations found, and future issues to be investigated.

Mitochondrial DNA copy number (mtDNAcn) is associated with mitochondrial function contributing various diseases. Understanding of the association between mtDNAcn and infant neurodevelopment, as well as the role of racial disparities, remains unknown. A cohort study was conducted with 55 preterm infants and a single blood sample was collected from each infant during their NICU stay to measure mtDNAcn. NICU Network Neurobehavioral Scale (NNNS) and Bayley Scale of Infant Developmental testing Edition III was assessed during NICU until 2 years of corrected age (CA). Linear regression models were performed to investigate the relationship between the clinical characteristics, neurobehavioral outcomes and mtDNAcn. Majority of our subjects were male, White, non-Hispanic, had C-section, and without preterm premature rupture of membrane (PPROM). Increased mtDNAcn was found associated with younger birth gestational age (GA), nonoptimal neurodevelopment. However, the opposite associations between mtDNAcn and neurodevelopmental outcomes were observed between Black and White infants up to 1 year of CA. Adverse early life experience, together with increased mtDNAcn in White infants, and decreased mtDNAcn in Black infants may be considered as significant positive predictors of poor early life neurodevelopmental outcomes in infants.

This paper aims to explore the relationship between airfoil deformation and airfoil aerial-aquatic adaptation. The form of “flexible skin and rigid drive structura” holds immense potential for various applications. In this study, we utilize the B-spline method to parametrically describe the airfoil shape. An airfoil deformation parameterization method is proposed based on the isogeometric method. This method allows us to depict airfoil deformation as the position and displacement of the driving point, enabling an expression of the flexible skin's deformation driven by the internal structure. We utilize the Xfoil application and Gaussian regression method to elucidate the relationship between driving point position and displacement and the airfoil's dynamic performance. Additionally, we employ the Sobol method to assess the sensitivity of the driving point variables to the airfoil's dynamic performance. Our findings indicate that the attack angle of the airfoil exhibits the highest sensitivity index to the airfoil's dynamic performance. Furthermore, variables of the driving point situated at the leading and trailing edges of the lower surface significantly impact the airfoil lift coefficient, those located at the mid-section of the upper surface have a considerable effect on the airfoil drag coefficient.

Construction and demolition waste (CDW) represents 1/3 of the weight of all-waste produced. Increasing their recycling and reutilization with recycled aggregates (RA) means closing the life cycle of construction materials. Research has been carried out on artificial aggregates from the exclusive crushing of structural concrete waste in selective demolitions (CDWRConc). This study analyses the use of recycled concrete as graded aggregate (GARConc) and in cement soil (CSRConc). The material complies with the requirements as a road base, although due to the low values of resistance to fragmentation these materials are adequate for use in sensitive road systems and other places such as urban roads and car parks. The sensitive road systems are infrastructures in places of great natural wealth and low traffic intensity, with an annual average of heavy vehicle traffic (AADTh) below 50 vhp/d. As soluble salt contents have been detected, additional waterproofing or drainage measures must be adopted to prevent water infiltration into the layers made up of CDWRHorm. Finally, the high initial values of UCS allow the temporary passage of light vehicles over CSRConc after 3 days.

The foot-mounted inertial navigation system is an important application of pedestrian navigation as it in principle does not rely any external assistance. A real-time range decomposition constraint method is proposed in this paper to combine the information of dual foot-mounted inertial navigation systems. It is well known that low-cost inertial sensors with ZUPT (zero-velocity update) and range decomposition constraint perform better than in either single way. This paper recommends that the distance of separation between the position estimates of feet-mounted inertial navigation systems be restricted in the ellipsoidal constraint which relates to the maximum step and leg height. The performance of the proposed method is studied utilizing experimental data. The results indicate that the method can effectively correct the dual navigation systems’ position over the existing spherical constraint.

53% of adults in the US acknowledge racial bias as a significant issue, 23% of Asian adults experience cultural and ethnic bias, and more than 60% conceal their cultural heritage after racial abuse. AI models like ChatGPT and Google Bard, trained on historically biased data, inadvertently amplify racial and ethnic bias and stereotypes. This paper addresses the issue of racial bias in AI models using scientific, evidence-based analysis and auditing processes to identify biased responses from AI models and develop a mitigation tool. The methodology involves creating a comprehensive database of racially biased questions, terms, and phrases from thousands of legal cases, Wikipedia, and surveys, and then testing them on AI Models and analyzing the responses through sentiment analysis and human evaluation, and eventually creation of an 'AI-BiasAudit,' tool having a racial-ethnic database for social science researchers and AI developers to identify and prevent racial bias in AI models.

In order to make full use of the complementarity of existing navigation systems to improve the navigation and positioning accuracy, this paper investigates the visual/INS integrated navigation system based on the factor graph optimization (FGO) algorithm. In the traditional visual/INS integrated navigation system, there is often the problem of image blurring due to the rapid change of light and shadow captured by the vision sensor and the attitude change of the carrier, which leads to the decrease of the positioning accuracy of the combined navigation system. Therefore, this paper firstly introduces Retinex algorithm and BID algorithm to carry out the design of image de-blurring method; then implements the visual/INS integrated navigation algorithm based on the factor graph optimization method; finally, the experimental scheme is designed, comparative experiments are carried out, and the researched method is verified by using the public dataset. The experimental results show that the combined navigation algorithm realized in this paper has high accuracy, and its positioning accuracy is improved by 40% compared with visual positioning.

3D-printed models with high anatomic fidelity are an increasingly viable tool in simulation-based medical education. One advantage of 3D models is they provide enhanced tactile and spatial understanding of complex anatomy to develop technical skills used in minimally invasive procedures. We propose that 3D anatomical models can improve the development of Interventional Radiology vascular access skills – first described in the 1950s as the Seldinger Technique – for pre-clerkship medical students. Early adoption of 3D-printed technology in pre-clinical medical education can lead to improved student engagement and satisfaction when learning procedural techniques. This study involved creating a 3D model of the upper extremity vasculature from an anonymized CT angiogram, using it as a medical education tool for 31 pre-clinical medical students practicing the Seldinger Technique on a prefabricated venipuncture arm, and assessing student satisfaction with this form of learning. Overall, attendees responded positively to the incorporation of the 3D model in medical education to improve their anatomic understanding and application to the Seldinger Technique. These results indicate that the use of 3D models in simulation-based medical education can provide benefits to acquiring technical skills and the potential to decrease training costs without harming a patient.

To further enhance the intelligence level of coal mining faces and achieve autonomous derivation, learning, and optimization of shearer navigation cutting, this paper proposes the methods of shearer digital twin navigation cutting motion planning based on the concept of shearer autonomous navigation cutting technology and intelligent coal mining face digital twins. The study includes the digital twin theory and the construction method of the shearer digital twin navigation cutting motion planning system based on this theory. Based on the digital twin theory, a shearer digital twin navigation cutting motion planning system was constructed. This system supports the service functions of shearer cutting digital twin, dynamic navigation map digital twin, reinforcement learning environment construction, and motion planning through the physical perception layer, comprehensive data layer, and digital-model fusion analysis layer. Finally, by comparing the effects of the DQN-NAF and DDPG deep reinforcement learning algorithms in the shearer motion planning task within the constructed digital twin environment, the results show that the DQN-NAF algorithm demonstrates better performance and stability in solving the shearer digital twin motion planning task.

The electronic structure of 7/9-AGNR superlattices with up to eight unit cells has been studied by means of state of the art Density Functional Theory (DFT) and also by two model Hamiltonians, the first one including only local interactions (Hubbard model, Hu) while the second one is extended to allow long-range Coulomb interactions (Pariser, Parr and Pople model, PPP). Both are solved within mean field approximation. At this approximation level, our calculations show that 7/9 interfaces are better described by spin non-polarized solutions than by spin-polarized wavefunctions. Consequently, both Hu and PPP Hamiltonians lead to electronic structures characterized by a gap at the Fermi level that diminishes as the size of the system increases. DFT results show similar trends although a detailed analysis of the density of states around the Fermi level shows quantitative differences with both Hu and PPP models. Before improving model Hamiltonians, we interpret the electronic structure obtained by DFT in terms of bands of topological states: topological states localized at the system edges and extended bulk topological states which interact between them due to the long-range Coulomb terms of Hamiltonian. After careful analysis of the interaction among topological sates, we find that the discrepancy between ab initio and model Hamiltonians can be resolved considering a screened long-range interaction that is implemented adding an exponential cutoff to the interaction term of PPP model. In this way, an adjusted cutoff distance λ = 2 allows a good recovery of DFT results. In view of this, we conclude that the correct description of the density of states around the Fermi level (Dirac point) needs the inclusion of long-range interactions well beyond Hubbard model but not completely unscreened as is the case for the PPP model.

A configurable design of a microstrip square spiral RFID tag antenna, for a wide range of microwave frequencies in S- and C-band, is presented. The design is parameterized in dimensions, and hence changing the design frequency (or frequencies) is easy, by changing only an initial value for the spiral geometry. A tag specimen was fabricated using Cu electroplating technique according to the design for frequencies of interest in the areas of 2.4 and 5.8 GHz. The substrate material is a 320 μm high resistivity Si and the bridge dielectric is a 15μm polyimide PI2525. The microfabrication process involves steps of metallic structure pattern transfer techniques with optical UV lithography procedures. The reflection coefficient and gain of the specimen were measured inside an anechoic enclosure using a vector network analyzer (VNA) and a TEM horn test antenna over a frequency range of up to 6 GHz. Simulated and measured results are presented and discussed, exhibiting reasonable agreement.

Motivation is essential in education, with highly motivated learners engaging more deeply with content and more ably transferring knowledge to new contexts. However, the validity of scales to measure motivation has been underexplored in pre-clerkship medical education. This study evaluates the validity of the Situational Motivation Scale (SIMS) for measuring motivation among pre-clerkship medical students in post-situational and short-term contexts. Using a sample of n = 156 students from the Frank H. Netter MD School of Medicine at Quinnipiac University, SIMS was tested for construct validity with attention paid to content, response process, internal structure, relationships to other variables, and consequences of use evidence. Small modifications from present to past tense in English were made for clarity following focus group feedback, and content validity was ensured via expert consultation. SIMS demonstrated strong internal consistency with a satisfactory Cronbach’s alpha for all subscales and anticipated patterns of correlations. Factor analysis confirmed appropriate factor loadings, with a stronger model fit for the short-term context, and no observed adverse effects on student engagement. These findings support the robustness of SIMS in capturing intrinsic, extrinsic, and amotivation in pre-clerkship medical students, highlighting its applicability for short-term and situational motivational assessment.

This paper examines the correlation between numbers of computer cores in parallel genetic algorithms. The objective to determine the linear polynomial complementary equation in order represent the relation between number of parallel processing and optimum solutions. Model this relation as optimization function (f(x)) which able to produce many simulation results. F(x) performance is outperform genetic algorithms. Compression results between genetic algorithm and optimization function is done. Also the optimization function give model to speed up genetic algorithm. Optimization function is a complementary transformation which maps a TSP given to linear without changing the roots of the polynomials.

Plato defined a quality as “some degree of perfection” [49]. Studies on quality have unveiled the internal and external quality factors [17] that significantly impact product quality [4]. Internal factors are invisible to the end customer and are dependent on overall work organisation by the development team [17]. This work organisation is called “the process” [11],[33]. In this article, we will discuss how to address the drone-dedicated software development process to support system verification and ensure product quality by supporting quality characteristics and therefore increase software development awareness and control. We will discuss the process's influence on overall work activities and relationships between those activities by addressing the software development process utilised in the drone-dedicated GNSS-denied navigation system development project. The result was observable after three weeks of starting the software development. It was focused on better team awareness, faster task completion, lower number of development mistakes, and better and faster change response than we observed in other projects that didn’t follow the predefined process.

Background: SARS-CoV-2 Omicron JN.1 has the highest number of amino acid mutations in its receptor binding domain (RBD) and has acquired a hallmark L455S mutation. The immune evasion capability of JN.1 is a subject of scientific investigation. The US CDC used RT-qPCR SGTF as the proxy indicator of JN.1 infections for evaluation of the effectiveness of updated monovalent XBB.1.5 COVID-19 vaccines against JN.1 and recommended that all persons aged ≥6 months should receive an updated COVID-19 vaccine dose. Objective: Recommend Sanger sequencing for diagnosis of JN.1 infections to generate the data based on which guidelines are made to direct vaccination policies. Methods: The RNA in nasopharyngeal swab specimens from patients with clinical respiratory infection was subjected to nested RT-PCR, targeting a 398-base segment of the N-gene and a 445-base segment of the RBD of SARS-CoV-2 for amplification. The DNA sequences were analyzed for amino acid mutations. Results: The N-gene sequence showed Q229K, usually associated with Omicron BA.2.86 (+JN.1). The RBD sequence showed 24 amino acid mutations, including the hallmark L455S mutation for JN.1 and the V483del for BA.2.86 lineage. Conclusions: The CDC should consider Sanger sequencing of the RBD to diagnose JN.1 infections for statistical analysis in making vaccination policies.

Lane detection is a foundational technology for autonomous driving systems. It involves identifying the boundaries of lanes on the road and ensuring the vehicle stays within these boundaries. Accurate lane detection is crucial for safety, navigation and traffic management. This paper presents an artificial intelligent based autonomous road lane detection and navigation system for vehicles. The system can detect and analyze road lanes accurately and efficiently in real-time, with frame rates of up to 17 FPS. By utilizing image processing techniques, the system can identify the location and boundaries of road lanes and obstacles on the road and provide accurate and reliable navigation guidance to the driver. The system is integrated with sensors and actuators to provide comprehensive autonomous navigation. The efficiency of the proposed system is demonstrated using accuracy of lane detection on straight and curve lanes covering frames per second and motor of the speed as parameters for assessment. Results show that the proposed system detects lane as entire lane detection, partial lane detection and no detection status on different settings.

The coevolution of species drives diversity in animals and plants and contributes to natural selection, whereas in host–parasite coevolution, a parasite may complete an incomplete evolutionary/developmental function by utilizing the host cell’s machinery. Analysis of related older data suggests that Plasmodium falciparum (P. falciparum), the pathogen of malaria tropica, cannot survive outside its human host because it is unable to perform the evolutionarily first protein glycosylation of serologically A-like, O-GalNAcα1-Ser/Thr-R, Tn antigen (“T nouvelle”) formation, owing to its inability for synthesizing the amino sugar N-acetyl-d-galactosamine (GalNAc). This parasite breaks the species barrier via hijacking the host's physiological A-like/Tn formation through abundantly expressing serine residues and creating hybrid A-like/Tn structures, which in the human blood group O(H) are attacked by the germline-encoded nonimmune polyreactive immunoglobulin M (IgM), exerting the highly anti-A/B/H-aggressive isoagglutinin activities. These activities physiologically undergo the ABO(H) blood group phenotype formation, occurring on the surfaces of red blood cells (RBC), epithelial and endothelial cells and on plasma proteins by identical glycosylation, performed by the ABO(H)-allelic glycotransferases, phenotypically downregulating the anti-A/B/H-reactive IgM (isoagglutinin) activities in the non-O blood groups. ABO(H) phenotype diversity, this way glycosidically linked and molecularly connected to humoral immunity, becomes exposed to the evolution.

Autonomous navigation in dynamic environments poses a significant challenge in the field of ro-botics with the primary goals of ensuring both smooth and safe movement. This study introduces control strategy based on an Adaptive Neuro-Fuzzy Inference System (ANFIS) to enhance au-tonomous robot navigation in dynamic environments, emphasizing on collision-free path plan-ning. This strategy employs, a path planning technique to develop a trajectory that allows the ro-bot to navigate smoothly while avoiding collisions with both static and dynamic obstacles. The developed control system incorporates four ANFIS controllers: two are tasked with guiding the robot toward its end point, and the other two are activated for obstacle avoidance. The experi-mental setup conducted in CoppeliaSim involves a mobile robot equipped with ultrasonic sensors navigating in an environment with static and dynamic obstacles. Simulation experiments are conducted to demonstrate the model's capability in ensuring collision-free navigation, employing a path planning algorithm to ascertain the shortest route to the target destination. The simulation results highlight the superiority of the ANFIS-based approach over conventional methods, partic-ularly in terms of computational efficiency and navigational smoothness.

Particle size can pose a challenge to random embankment compaction control methods, where practical techniques have hardly been developed and procedural control is used instead. In order to develop new quality control procedures for slate random fill, the necessary fieldwork and laboratory tests were carried out. This involved the revision of certain methods such as the wheel-tracking or topographic settlement tests. More than four thousand five hundred in-situ density and moisture content measurements were carried out for this research. In addition, more than five hundred and eighty topographic settlements and nine hundred and sixty wheel-tracking carriage tests were performed. The quality control processes were completed with more than one hundred and thirty plate bearing tests. Possible evidence of statistical correlations between compaction control tests were identified. An analysis of variance (ANOVA) was performed. When testing proved relationships between them, the replacement of one of them by the other was assessed by deduction. Finally, the study suggests new procedures for compaction quality control of random slate fill used in core area.

Several disruptive attacks against companies in the maritime industry have led experts to consider the increased risk imposed by cyber threats as a major obstacle to undergoing digitization. The industry is heading toward increased automation and connectivity, leading to reduced human involvement in the different navigational functions and increased reliance on sensor data and software for more autonomous modes of operations. To meet the objectives of increased automation under the threat of cyber attacks, the different software modules that are expected to be involved in different navigational functions need to be prepared to detect such attacks utilizing suitable detection techniques. Therefore, we propose a systematic approach for analyzing the navigational NMEA messages carrying the data of the different sensors, their possible anomalies, malicious causes of such anomalies as well as the appropriate detection algorithms. The proposed approach is evaluated through two use cases, traditional Integrated Navigation System (INS) and Autonomous Passenger Ship (APS). The results reflect the utility of specification and frequency-based detection in detecting the identified anomalies with high confidence. Also, the analysis is found to facilitate the communication of threats through indicating the possible impact of the identified anomalies against the navigational operations. Moreover, we have developed a testing environment that facilitates conducting the analysis. The environment includes a developed tool, NMEA−Manipulator that enables the invocation of the identified anomalies through a group of cyber attacks on sensor data. Our work paves the way for future work in the analysis of NMEA anomalies toward the development of an NMEA intrusion detection system.

In this study, the olive pomace was considered because of its importance in the environment. So, this study carried out to estimate the total nitrogen content and the fatty acids profile of olive pomace. The olive pomace samples were collected from Irbid, Jarash, Ajloun and Mafraq during the harvesting season 2014 to study the biochemical characteristics of fatty acid composition and the total nitrogen (TN) content. The total nitrogen content was determined by standard Kjeldahl method and the fatty acid profile was detected by gas chromatography (GC). The results show that the total nitrogen content ranged from (0.39 ± 0.0) to (0.62 ± 0.02) with statistically significant difference suggesting that the composition of matrices and their percentage may be responsible for composition of amendments. The calculated total protein percentage ranged between (2.43 ± 0.00) to (3.87 ± 0.17). Also, 13 different fatty acids were quantitatively profiled and quantitated. Oleic acid (C 18:1) was found to be the highest percentage of all other fatty acids and ranged between (59.03%) and (63.81%), moreover the C 18:1/C 18:2 (oil quality) was calculated and C.V% showed variation meaning that nutritional implication could affect the oxidative stability of oils. In conclusion, OP by-product could give a sustainable and alternative-cheap source for fertilizers, pharmaceutical industries, cosmetics and other industries.

Weight-bearing computed tomography (WBCT) enables acquisition of three dimensional bony structure images in a physiological weight-bearing position, which is fundamental in under-standing the pathologic lesions and deformities of the ankle joint. Over the past decade, re-searchers focused on validating and developing WBCT measurements, which has significantly enhanced our knowledge of common foot and ankle disease. Consequently, understanding the application of WBCT in clinical practice is becoming more important to produce improved out-comes in the treatment of disease around the ankle joint. This review will describe an overview of what is currently being evaluated in the foot and ankle surgery using WBCT and where the course of research will be heading in the future.

In GNSS/IMU integrated navigation systems, factors such as satellite occlusion and non-line-of-sight conditions can lead to degradation of satellite positioning results, Subsequently affecting the overall accuracy of the integrated navigation system. To address this issue and ef-fectively utilize historical pseudorange information from satellites, this paper proposes a graph optimization-based GNSS/IMU model with virtual constraints. These virtual constraints are con-structed using satellite ‘s position from previous time step, the rate of change of pseudoranges, and ephemeris data. This virtual constraint can serve as an alternative solution for individual satellites in case of signal anomalies, ensuring the integrity and continuity of the graph optimi-zation model. Additionally, this paper conducts an analysis of the graph optimization model constructed using these virtual constraints, comparing it with traditional integrated navigation graph optimization model, and analyzes and reconstructs the marginalization process based on these virtual constraints. The experimental results, compared with tightly coupled Kalman fil-tering and the original graph optimization method on a set of real-world data, demonstrate that the introduction of virtual pseudoranges maintains high positioning accuracy. The RMSE error between it and the original graph optimization remains within 5%, affirming the high feasibility of this approach.

As part of our ongoing silybin project, this study aims to introduce a basic nitrogen-containing group to 7-OH of 3,5,20-O-trimethyl-2,3-dehydrosilybin or 3-OH of 5,7,20-O-trimethyl-2,3-dehydrosilybin via an appropriate linker for in vitro evaluation as potential anti-prostate cancer agents. The synthetic approaches to 7-O-substituted-3,5,20-O-trimethyl- 2,3-dehydrosilybins through a five-step procedure and to 3-O-substituted-5,7,20-O-trimethyl-2,3- dehydrosilybins via a four-step transformation have been developed. Thirty-two nitrogen-containing derivatives of silybin have been achieved through these synthetic methods for the evaluation of their antiproliferative activities towards both androgen-sensitive (LNCaP) and androgen-insensitive prostate cancer cell lines (PC-3 and DU145) using WST-1 cell proliferation assay. These derivatives exhibited greater in vitro antiproliferative potency than silybin. Among them, 11, 29, 31, 37, and 40 were identified as five optimal derivatives with IC50 values in the range of 1.40–3.06 µM, a 17- to 52-fold improvement in potency as compared with silybin. All these five optimal derivatives can arrest the PC-3 cell cycle in the G0/G1 phase and promote PC-3 cell apoptosis. Derivatives 11, 37, and 40 are more effective than 29 and 31 in activating PC-3 cell apoptosis.

Introduction Blunt carotid injuries (BCI) in pediatric trauma are quite rare. Due to the low number of cases, only a few reports and studies have been conducted on this topic. This review will discuss how frequent BCI/ BCVI on pediatric patients after blunt trauma is, what routine diagnostics look like, if a CT/ CTA scan on pediatric patients after blunt trauma is always necessary and if there are any negative health effects? Methods This literature review includes reviews, systematic reviews, case reports and original studies in english language between 1999 and 2020 that have dealt with pediatric blunt trauma and the diagnostics of BCI and BCVI. Furthermore, publications on the risk of radiation exposure on children were included in the study. For literature research, Medline (PubMed) and the Cochrane library were used. Results Pediatric BCI/ BCVI, shows an overall incidence between 0.03 – 0.5% of confirmed BCI/ BCVI cases due to pediatric blunt trauma. 1.1 – 3.5% of pediatric blunt trauma patients underwent CTA to detect BCI. Only 0.17 – 1.2% of all CTA scans shows a positive diagnosis for BCI. In children, the median volume CT dose index on a non-contrast head CT is 33 milligray, a computed tomography angiography needs at least 138 mGy. A cumulative doses of about 50 mGy almost triples the risk of leukemia, and doses of about 60 mGy triples the risk of brain cancer. Discussion Knowing that a BCI could have extensive neurologic consequences for children, it is necessary to evaluate routine pediatric diagnostics after blunt trauma. Computed tomography scans (CT) and computed tomography angiography (CTA) are mostly used in routine BCI diagnostics. However, since radiation exposure in children should be as low as reasonably achievable, it should be asked if other diagnostic methods could be used to identify risk groups. Trauma guidelines and clinical scores like the McGovern score are reflect established BCI screening options, as well as using duplex ultrasound.

We have repeated the experiment performed recently by Krasznahorkay et al., (Phys. Rev. Lett. 116, 042501 (2016)), which may indicate a new particle called X17 in the literature. In order to get a reliable, and independent result, we used a different type of electron-positron pair spectrometer which have a more simple acceptance/efficiency as a function of the correlation angle, but the other conditions of the experiment were very similar to the published ones. We could confirm the presence of the anomaly measured at the Ex=18.15 MeV resonance, and also confirm their absence at the Ex=17.6 MeV resonance, and at Ep= 800 keV off resonance energies.

Lung involvement in rheumatic diseases is a major determinant of patient morbidity and mortality; however, its diagnosis depends on the detection methods used. We compared the incidence of pulmonary involvement in newly diagnosed treatment-naive patients with rheumatic diseases, as assessed by pulmonary function tests (PFTs) and chest high-resolution computed tomography (HRCT). This retrospective study reviewed the symptoms, spirometry results, and HRCT scans of 22 newly diagnosed, treatment-naïve patients and age-matched controls from the University General Hospital “Attikon”, Athens, Greece, between January 2021 and December 2023. Correlations between clinical findings and spirometry parameters were tested. HRCT scans revealed lung abnormalities in all patients, including peribronchial wall thickening (61.5%), ground glass opacities (59.1%), parenchymal bands (54.5%), air-trapping (50%), reticular patterns (45.5%), bronchiectatic changes (40.9%), and parenchymal opacities (31.8%). PFTs, performed in 17/22 (77.3%) patients, revealed definite pathology in 5 patients (restrictive: N=4; obstructive: N=1). No association was found between spirometric indices and clinical parameters. The results indicate a higher prevalence of abnormal chest CT than of PFT abnormalities, suggesting that HRCT is more sensitive in detecting early lung involvement in pediatric patients with rheumatic disease and should be considered in the routine evaluation of these patients.

Protein degradation is a biological phenomena essential for cellular homeostasis and survivor. Selective protein degradation is performed by the ubiquitination system which selectively target proteins that need to be eliminated and lead them to proteasome degradation. In this review, we focus on the ubiquitin-conjugating enzyme E2 O (UBE2O) and highlight the role of UBE2O in many biological and physiological process. We further discuss the UBE2O implications in various human diseases, particularly in leukemias and solid cancers and suggest how UBE2O targeting could be novel strategy in the treatment of different human neoplasia.

Objectives: In recent years, ear endoscopy has gradually become an important tool in ear surgery. This study further explored its application in ear surgery, to establish a surgical approach for semicircular canal obstruction (SOC) via the ear canal to control vertigo in Meniere's disease. Methods: With the approval of the ethics committee, recruitment started in June 2019. ​Four patients with Meniere's disease who had been treated conservatively for more than six months received SCO via an external ear canal approach under otoendoscopy and were followed for two years after surgery to assess the safety and efficacy of the procedure. Results The control of vertigo after the operation was satisfactory (100%), and the frequency and degree of vertigo were significantly improved. Tinnitus improved in 1 case (25%) and did not progress in the other 3 cases. Hearing loss did not progress in all patients. Postoperative walking instability occurred in 1 patient (25%), and there were no obvious complications. All patients reported significant improvements in their quality of life. Conclusions: SCO via the external auditory canal approach is safe, effective, easy to accept, and an alternative to conservative treatment of Meniere's disease with no actual hearing for more than 6 months.

Penile cancer (PeCa) is a rare urological malignancy characterized by significant geographic variations in both incidence and mortality rates. Due to its rarity and the consequent lack of randomized trials, current management is based on retrospective studies and small prospective trials. In addition, the diagnostic pathways and treatment strategies exhibit substantial heterogeneity, differing significantly between less developed and well-developed countries. The prognosis of PeCa is determined by the presence and extent of regional lymph node (LN) involvement. Therefore, early detection and treatment of LN metastasis is paramount to ensure better outcomes. In recent decades, the overall survival for PeCa has increased, mainly due to advancements in imaging techniques and risk stratification. We aim to provide an overview of the current role of PET CT imaging in the management of patients with PeCa.

Calculating a minimum-time trajectory requires the solving of a boundary value problem resulting from invocation of necessary conditions of optimality to set up a set of ordinary differential equations to solve the trajectory between the initial position and desired ending position with set constraints on the path between the two. This manuscript expresses the minimum time optimum trajectory between a satellite in a geosynchronous orbit and a target set on earth’s surface utilizing a non-rotating earth centric coordinate system. Expressing motion in coordinates of rotating reference frames necessitates transformation between reference frames, and one such transformation is embodied in the Direction Cosine Matrices (DCM) formed by a sequence of three successive frame rotations. Rotation about the local wing of an aerospace vehicle is almost never the pitch angle, yet modern application of kinematics often assumes such (with accompanying angular error). The same assertion is usually true about the nature of roll and yaw angles. This manuscript evaluates which sequence is the most advantageous for an object starting in space and then travels through the atmosphere to a target on the Earth’s surface. Simulation precision (validated by the quaternion normalization condition) reveals the so-called 132 rotation is the most accurate with an average error of 0.14° and a computational time of 0.013 seconds: resulting in a 97.95% increase in accuracy over the ubiquitous 321 “aerospace” rotation sequence and a 99.84% increase over the so-called 313 “orbital” rotation sequence. Utilizing the proposed optimal trajectory candidate yields a total flight time of 2 hours, 34 minutes and 46 seconds, or an average velocity of 3.85 kilometers per second, while impacting the target with a velocity of 11.54 kilometers per second.

In this paper, we introduce a novel controlled quantum communication protocol utilizing a quantum random walk involving one sender, one receiver, and multiple controllers. Inspired by classical random walk theory, quantum random walk serves as the foundation of our proposed protocol. With this protocol, we demonstrate the ability to transfer any n- dimensional quantum state to any party facilitated by any m number of controllers. Furthermore, any of the (m+1) individuals has the freedom to accept the role of the receiver. Rigorous testing of the protocol’s performance is conducted through quantum state tomography. We have run different variations of the circuits in IBMQ QASM simulator. Additionally, we explore the effectiveness of a weak measurement-based protocol designed to mitigate amplitude-damping noise’s detrimental effects on quantum states. By analyzing fidelity versus amplitude damping noise-strength plots for scenarios with and without the weak measurement protocol, we provide valuable insights into its protective capabilities across various levels of noise. These find- ings illuminate the protocol’s potential applications in quantum information processing

Abstract: This study investigates the transition to sustainable shipping industry within the framework of the IMO's 2050 carbon neutrality objective, focusing on socio-technical systems analysis. The research delves into the sustainable paradigm shift towards alternative marine fuels such as LNG, methanol, ammonia, and hydrogen from a socio-technical transition perspective, analyzing the multi-level per-spective challenges and opportunities. Specifically, it scrutinizes the implications of adopting these al-ternative fuels for global shipping, identifying technical uncertainties, financial constraints, and infra-structure needs. Through a comprehensive review of existing literature on ship emissions and alterna-tive fuels, coupled with socio-technical transition theory, the study addresses the multifaceted chal-lenges and opportunities in meeting the IMO's environmental objectives. It emphasizes the necessity of collaborative governance, innovative niche strategies, and a holistic approach to leverage the current window of opportunity in facilitating the maritime industry's transition to sustainable fuel options. Fi-nally, this research enhances our understanding of the intricate interplay between technological, social, industrial, and cultural dynamics in the greening of shipping and offers insights into the strategic adop-tion of environmentally friendly marine fuels for a sustainable future.

Machine learning has gained significant recognition within healthcare organizations as a potent technology for medical image analytics. Among various medical image modalities, Contrast-Enhanced CT (CECT) is widely utilized to acquire additional diagnostic information that can help to better visualize and evaluate certain structures or abnormalities in the human body. Accordingly, there is an increasing demand for machine learning systems for disease analytics using CECT. However, developing such systems presents two significant challenges: high technical complexity and high development effort. This paper presents a software platform that can effectively remedy these challenges. This platform embodies a unified software process for CECT-specific disease diagnosis including oncological diseases, cardiovascular diseases, and gastrointestinal diseases. It integrates multiple types of machine learning models into the disease diagnosis process, where the models can diagnose lesions, malignancies, tumors, medical features of tumors, temporal transitions with a contrast agent, and disease progress. The platform has been implemented in Python using Scikit-learn and TensorFlow libraries. To validate its applicability and reusability, a Hepatocellular Carcinoma (HCC) diagnosis system has been implemented.

The rapid development and integration of Autonomous Mobile Robots (AMRs) have 1 revolutionized industries by enhancing automation capabilities. A critical challenge in this evolution 2 is achieving effective navigation and obstacle avoidance, which are essential for deploying AMRs 3 seamlessly in varied environments. This paper presents a detailed exploration of AMR navigation 4 and obstacle avoidance advancements through the application of reinforcement learning, specifically 5 focusing on small-scale Sri Lankan manufacturing facilities. The study demonstrates the effectiveness 6 of Q-learning in managing dynamic obstacles within a factory environment. The AMR successfully 7 avoided obstacles in 36 out of 50 test runs, achieving a 72% success rate, and maintained an average 8 distance of 12 cm from each obstacle, underscoring the algorithm’s precision in maintaining safe nav- 9 igation paths while dynamically adapting to environmental changes. The continuous monitoring by 10 ultrasonic sensors, combined with iterative learning, enabled the robot to refine its decision-making 11 process and efficiently navigate through the environment. This paper also provides a comprehensive 12 examination of conventional methods, tracing their historical development and assessing their role in 13 addressing real-world challenges. The results highlight the significant improvements brought by rein- 14 forcement learning, particularly when integrated with sensor fusion and motor control technologies, 15 to enhance navigation and dynamic object collision avoidance. The study involves developing an 16 AMR prototype, refining algorithms, and assessing system performance in controlled environments. 17 By automating material transportation and addressing operational constraints in manufacturing 18 settings that predominantly rely on manual labor, this paper advances the practical deployment of 19 AMRs. Additionally, it discusses ethical considerations, potential limitations, and the importance 20 of real-world validation, offering valuable insights for the future development and integration of 21 autonomous mobile robotics in dynamic industrial environments.

Indoor navigation systems must deal with absence of GPS signals, since they are only available in outdoor environments. Therefore, indoor systems have to rely upon other techniques for positioning users. Recently various indoor navigation systems have been designed and developed to help visually impaired people. In this paper an overview of some existing indoor navigation systems for visually impaired people are presented and they are compared from different perspectives. The evaluated techniques are ultrasonic systems, RFID-based solutions, computer vision aided navigation systems, ans smartphone-based applications.

Computed tomography (CT) is a widely employed imaging modality with diverse clinical applications in pediatric and adult populations, offering numerous advantages. Despite several alternatives to imaging modalities with ionising radiation, CT scans have demonstrated persistent global popularity, contributing to a substantial amount of effective radiation doses for patients. This exposure results in hazards, including stochastic effects that amplify the radiation-induced cancer risk proportionally to the radiation dose received. CT-related radiation comprises a substantial portion of cumulative effective doses within diagnostic radiology, specifically impacting younger patient cohorts undergoing repeated investigations for chronic diseases over time. Scientific literature over recent decades has explored various methods to mitigate radiation doses during medical imaging. One notable strategy involves implementing low-dose and ultralow-dose CT protocols, maintaining diagnostic efficacy in acute and non-acute medical and surgical conditions. Utilising innovative image reconstruction algorithms, such as iterative reconstruction and emerging deep-learning algorithms based on artificial intelligence, plays a pivotal role in achieving an approximately 80% reduction in patient radiation compared to standard doses. This review article discusses the significance of low-dose protocols across a spectrum of acute and chronic medical conditions affecting different body systems.

This paper assessed rice farmers' perceptions of agricultural and irrigation practices through their choices. A survey was carried out among 278 rice farmers on five irrigation schemes in three agro-ecological zones of Togo, viz. the savannah region, the forest region and the coastal region. The sample of random respondents was selected from a list of rice farmers provided by the managers of these irrigated schemes. Data collected through face-to-face interviews using kobocollect software were analyzed with R 4.2 software, and the Pearson test was validated at the 5% level. The results showed that the socio-economic characteristics of the rice growers, such as access to agricultural credit, experience, non-agricultural activities, membership of a rice growers' cooperative, gender, level of education and training in growing irrigated rice, and farm labor, significantly influenced the choice of agronomic practices and irrigation management. Characteristics such as experience, training and hired farm labor enhanced paddy yields, while access to agricultural credit was unproductive. Chemical clearing combined with stump removal, tiller ploughing, transplanting and high plant density are the agricultural practices that increased paddy yields, while tiller mudding and basal mineral fertilization were inefficient. In the same way, water distribution by demand, water depth above the soil of less than 5 cm, use of water-saving technologies and farmer's knowledge of how to improve water and fertilizer use-efficiency also helped to boost paddy yields. For sustainable rice production in the context of labor shortages and the financial resources required, future studies will focus on the effectiveness of motorized mudding and agricultural credits for rice farmers. Furthermore, considering the crucial role of training in the adopting of good agricultural and irrigation practices, future research will study strategies for wide diffusion of knowledge to rice producers.

A new two-step method for developing a nanocomposite of polypropylene (PP) decorated with photocatalytically active TiO2 nanoparticles (nTiO2) is proposed. This method involves low-temperature plasma functionalization of polypropylene followed by ultrasound-assisted anchoring of nTiO2. The nanoparticles, polymeric substrate, and resultant nanocomposite were thoroughly characterized using nanoparticle tracking analysis (NTA), microscopic observations (SEM, TEM, EDX), spectroscopic investigations (XPS, FTIR), thermogravimetric analysis (TG/DTA), and water contact angle (WCA) measurements. The photocatalytic activity of the nanocomposites was evaluated through the degradation of methyl orange. The individual TiO2 nanoparticles ranged from 2-6 nm in size. Oxygen plasma treatment of PP generated surface functional groups (mainly -OH and -C=O), transforming the surface from hydrophobic to hydrophilic, which facilitated efficient deposition of nTiO2. Optimized plasma treatment and sonochemical deposition parameters resulted in an active photocatalytic nTiO2/PP system, degrading 80% of methyl orange under UVA irradiation in 200 minutes. The proposed approach is considered versatile for the functionalization of polymeric materials with photoactive nanoparticles and, in a broader perspective, can be utilized for the fabrication of self-cleaning surfaces.

In the field of robotics education, introductory courses would ideally utilize heavy industrial arms for hands-on learning. This would provide students with valuable experience in joint programming, which involves direct control of each joint motor in the arm to accomplish desired path planning and differential movements. This practice requires consideration of the physical dynamics of the arm. However, the use of heavy industrial arms has several drawbacks. They are large and expensive, require specialized maintenance, can pose safety risks, and they typically do not allow for direct control of the joint motors. One solution is to use a small, lightweight, toy-like arm. While these are cost-effective and provide direct access to the joint motors without posing safety risks, their lightweight construction means they exhibit minimal dynamic behavior, which limits their educational value. Another solution involves a robotic arm simulator that uses a virtual arm. However, a virtual arm doesn't offer the same level of hands-on engagement and excitement as a physical arm. We propose a hybrid solution that combines a small physical arm with a virtual arm. This approach provides students with the experience of working with an industrial arm, but without the associated difficulties. We demonstrate how this approach successfully improved the completion rate of joint programming assignments, offering a promising solution for practical robotics education.

In the last decade, the objectives outlined by the needs of personal robotics have led to the rise of new biologically-inspired techniques for arm motion planning. This paper presents a literature review of the most recent research on the generation of human-like arm movements in humanoid and manipulation robotic systems. Search methods and inclusion criteria are described. The studies are analysed taking into consideration the sources of publication, the experimental settings, the type of movements, the technical approach, and the human motor principles that have been used to inspire and assess human-likeness. Results show that there is a strong focus on the generation of single-arm reaching movements and biomimetic-based methods. However, there has been poor attention to manipulation, obstacle-avoidance mechanisms, and dual-arm motion generation. For these reasons, human-like arm motion generation may not fully respect human behavioural and neurological key features and may result restricted to specific tasks of human-robot interaction. Limitations and challenges are discussed to provide meaningful directions for future investigations.

In order to enhance the accuracy of the relative velocity measurement for the Mars explorer formation flight, we develop a relative velocity measurement method. In this method, the spectrometers at two Mars explorers are adopted to measure the starlight frequency shift and to estimate the velocity with respect to the star. Unfortunately, the instantaneous velocity of star can not be predicted accurately, which results in a large error in the velocity measurement. The difference of these two velocities, which does not include the proper motion of star, is the relative velocity between a pair of Mars explorers at the direction of the star. However, this navigation method can not work alone because of unobservability. To make the navigation system observable and improve the accuracy of both absolute and relative navigation for the Mars explorer formation flight, we combine it with X-ray pulsar navigation and the inter-satellite links, and propose an autonomous integrated navigation method with observability. In this integrated navigation scheme, the extended Kalman filter is adopted to deal with the relative velocity, the inter-satellite links and the pulse time-of-arrival, and estimate the absolute and relative navigation information for the Mars explorer formation flight. The simulation results demonstrate that both absolute and relative navigation accuracy of the proposed method are higher than that of the pulsar navigation, especially the relative one.

BACKGROUND: Qu-aroma is a critical quality indicator for medium-high temperature Daqu (MT-Daqu), significantly influencing the aroma profile of strong-aroma Baijiu (SAB). SAB is produced across various regions in China, each with unique environmental conditions and production techniques. These regional differences are likely to cause variations in the Qu-aroma of MT-Daqu. Despite this, comprehensive research on the variations in Qu-aroma across different regions has been lacking. This study aims to address this gap by utilizing Gas Chromatography-Olfactometry-Mass Spectrometry (GC-O-MS) and electronic nose (E-nose) technology, combined with sensory evaluation, to analyze the differences in Qu-aroma characteristics and volatile compound profiles of MT-Daqu from seven distinct production areas.RESULTS: Sensory analysis identified seven broad aroma categories and 25 specific aromas characterizing the Qu-aroma of MT-Daqu samples. Chen aroma and roasted aroma were notably more prevalent in MT-Daqu samples from Sichuan compared to those from other regions (P < 0.05), while the fermentation aroma was less prominent in Sichuan samples. In total, 123 volatile compounds were detected in MT-Daqu, with 46 classified as aroma-active compounds. Among these, 21 aroma-active compounds were identified as markers distinguishing Sichuan MT-Daqu from those produced in non-Sichuan regions, showing significant differences in their concentrations (P < 0.05). Additionally, six major aroma-active compounds-ethyl isovalerate, ethyl heptanoate, hexanal, 1-nonanal, (E)-2,4-decadienal, and 2,3-dimethyl-5-ethylpyrazine-were found to significantly contribute to the aroma differences between Sichuan and non-Sichuan MT-Daqu.CONCLUSION: This study delineates the distinct Qu-aroma characteristics of MT-Daqu from various SAB production areas and identifies the aroma-active compounds responsible for these differences. The insights gained from this research offer valuable guidance for optimizing flavor profiles in MT-Daqu production, potentially enhancing the overall quality and regional distinctiveness of the product.

The increasing prevalence of obesity and sedentary lifestyles has led to an increased incidence of metabolic syndrome (MetS) worldwide. In Taiwan, middle-aged women are at a greater risk of MetS, type 2 diabetes, and cardiovascular disease than men are because they have more subcutaneous fat and larger waist circumferences compared to men with equal visceral fat levels. This study investigated the effects of calorie restriction supplemented with fish oil (CRF) in middle-aged women with MetS. For 12 weeks, 75 eligible participants were randomly assigned either calorie restriction (CR) or CRF. Both dietary intervention groups were further divided into two age groups: ≤45 and >45 years. The changes in MetS severity, inflammatory status, iron status, and red blood cell fatty acid profile were evaluated. Seventy-one participants completed the trial. Both dietary interventions significantly ameliorated MetS and improved the participants’ inflammatory status. CR significantly increased total iron binding capacity, whereas CRF increased hepcidin levels. Furthermore, CRF significantly increased the n-6/n-3 and arachidonic acid/docosahexaenoic acid ratios. In conclusion, CR and CRF improved the anthropometric and MetS characteristics of early-middle aged women, including body weight, blood glucose levels, triglyceride levels, as well as the scores for the homeostasis model assessment of insulin resistance and quantitative insulin sensitivity cheque index. Dietary intervention was more effective in >45-year-old women than ≤45-year-old women.

Our starting point is the covariant coordinate transformation equation of a relativistic positioning system in Minkowski space-time, which maps the receiver’s emission coordinates (proper times broadcast by the emitters) to its coordinates in some inertial reference frame. Bancroft’s analytical (closed-form) solution to the basic pseudorange navigation equations with four emitters is recovered and the subjacent elements are geometrically interpreted. The case of four static beacons is analized as a clarifying situation.

Agricultural product like cassava produces huge amounts of waste when processed to consumable goods. The waste generated is generally considered to contribute largely to environmental pollution. This study therefore investigates the waste management practice that is adopted by cassava processors in Ogun State, Nigeria. Five (5) Local Government Areas (LGAs) dominant in processing cassava were selected for the study on the basis of spatial location distribution; landmass and population. The survey involved the use of structured questionnaires administered to cassava processors of the selected LGAs. The Statistical Package for Social Sciences (SPSS) software application and descriptive statistics were used for data analysis. Results of the analysis show that majority (70%) of the cassava processors are females. Cassava peel constitutes 10% of the waste produced, of which 91% are heaped at refuse dump in most communities. Results also reveal that 86.3% of cassava residues are used for animal feeds. Other findings show that the peels when dried are used as bio-fuel for cooking and there is a significant potential for biogas production. From the data captured from respondent during the study, most processors are willing to pay for an improved waste management system. The study therefore suggests proper waste management of cassava waste to minimize environmental pollution.

Designing and development of agricultural robot is always a challenging issue, because of robot intends to work an unstructured environment and at the same time, it should be safe for the surrounded plants. Therefore, traditional robots cannot meet the high demands of modern challenges, such as working in confined and unstructured workspaces. Based on current issues, we developed a new tomato harvesting wire-driven discrete continuum robot arm with a flexible backbone structure for working in confined and extremely constrained spaces. Moreover, we optimized a tomato detaching process by using newly designed gripper with passive stem cutting function. Moreover, by designing the robot we also developed ripe tomato recognition by using machine learning. This paper explains the proposed continuum robot structure, gripper design, and development of tomato recognition system.

Automated machine classifications of galaxies are necessary because the size of upcoming surveys will overwhelm human volunteers. We improve upon existing machine classification methods by adding the output of SpArcFiRe to the inputs of a machine learning model. We use the human classifications from Galaxy Zoo 1 (GZ1) to train a random forest of decision trees to reproduce the human vote distributions of the Spiral class. We prefer the random forest model over other black box models like neural networks because it allows us to trace post hoc the precise reasoning behind the classification of each galaxy. We find that, across a sample of 470,000 Sloan galaxies that are large enough that details could be seen if they were there, the combination of SpArcFiRe outputs with existing SDSS features provides a better machine classification than either one alone on comparison to Galaxy Zoo 1. We suggest that adding SpArcFiRe outputs as features to any machine learning algorithm will likely improve its performance.

The blue sepal color of hydrangea is due to a metal complex anthocyanin composed of 3-O-glucosyldelphinidin (1) and an aluminum ion with the co-pigments 5-O-caffeoylquinic acid (2) and/or 5-O-p-coumaroylquinic acid (3). The three components, namely, anthocyanin, Al³⁺ and 5-O-acylquinic acids, are essential for blue color development, but the complex is unstable and only exists in aqueous solution. Furthermore, the complex did not give analyzable NMR spectra or crystals. Therefore, many trials to determine the detailed chemical structure of the hydrangea-blue complex have failed to date. Instead, via experiments mixing 1, Al³⁺ and 2 or 3 in a buffered solution at pH 4.0, we obtained the same blue solution derived from the sepals. However, the ratio was not stoichiometric but fluctuated. To determine the composition of the complex, we tried direct observation of the molecular ion of the complex using electrospray-ionization mass spectrometry. In a very low-concentration buffer solution (2.0 mM) at pH 4.0, we reproduced the hydrangea-blue color by mixing 1, 2 and Al³⁺ in ratios of 1:1:1, 1:2:1 and 1:3:1. All solution gave the same molecular ion peak at m/z = 843, indicating that the blue solution has a ratio of 1:1:1 for the complex. By using 3, the observed mass number was m/z = 827 and the ratio of 1, 3 and Al³⁺ was also 1:1:1. A mixture of 1, 3-O-caffeoylquinic acid (4) and Al³⁺ did not give any blue color but instead was purple, and the intensity of the molecular ion peak at m/z = 843 was very low. These results strongly indicate that the hydrangea blue-complex is composed of a ratio of 1:1:1 for 1, Al³⁺ and 2 or 3.

Introduction of Cl- and O- atoms into C4-vinyl carbocations was studied by X-ray diffraction analysis and IR spectroscopy. Chlorine atoms are weak electron acceptors in ordinary molecules, but within vinyl carbocations, manifest themselves as strong electron donors that accept a positive charge. The attachment of a Cl atom directly to a C=C bond leads to an increase in the e-density on it, exceeding that of the common double bond. The positive charge should be concentrated on the Cl atom, and weak δ- may appear on the C=C bond. More distant attachment of the Cl atom—to a C atom adjacent to the C=C bond—has a weaker effect on it. If two Cl atoms are attached to the Сγ atom of the vinyl cation, as in Cl2СγСδHСαHCH3, then the cation switches to the allyl type with two practically equivalent and almost uncharged СγСδСα bonds. When such a strong nucleophile as the O atom is introduced into the carbocation, a protonated ester molecule with a C-O(H+)-C group and a C=C bond forms. Nonetheless, in the future, there is still a possibility of obtaining carbocations with a non-protonated C-O-C group.

The objective was to analyze the effects of adding anthocyanin delphinidin-3-O-sambubioside and cyanidin-3-O-sambubioside of Hibiscus sabdariffa L. in animal diets. Scientific articles published before 2021 in clinics, pharmacology, nutrition, and animal production were included. The grains/concentrate, metabolic exigency, and caloric stress contribute to increasing the reactive oxygen species (ROS); the excess of ROS unbalance the oxidants and antioxidants. Cyanidin-3-O-sambubioside and delphinidin-3-O-sambubioside have antioxidant, antibacterial, antiviral, and anthelmintic activities. In the rumen, anthocyanin might show interactions and/or synergisms with substrates, microorganisms, and enzymes which could reduce the fiber degradability, but increase the potential methane (CH4) emissions; since anthocyanin interferes in the biohydrogenation of fats, they increase the fat milk and meat quality. Anthocyanins reduce plasma oxidation and deposit in tissues, increasing the milk and meat antioxidant activities. Cyanidin-3-O-sambubioside and delphinidin-3-O-sambubioside act as inhibitors of the angiotensin-converting enzyme (ACEi) and rennin expression which may improve milk yield (there is not enough evidence in ruminants, though). Polyphenols affect the reproductive potential. Sub products of HS contain as many amounts of polyphenols as calyces, and their inclusion in diets would positively affect the average daily gain and fat meat quality. Including HS in ruminant diets can improve the meat and milk quality.

Abstract: Giant Cell Arteritis (GCA) is an autoimmune/autoinflammatory disease affecting large vessels in patients over 50 years old. The disease presents as an acute inflammatory response with two phenotypes, cranial-GCA and Large Vessel Vasculitis (LV)-GCA, involving the thoracic aor-ta and its branches. 18F-fluorodeoxyglucose positron emission tomography-computed tomogra-phy (18F-FDG PET-CT) is among the imaging techniques contributing to diagnosis of patients with systemic disease. However, its association with soluble inflammatory markers is still elu-sive. This proof-of-concept study aims to identify novel soluble serum biomarkers in PET/CT pos-itive patients with LV-GCA and associate them with active (0 months) and inactive disease (6 months following treatment), in sequential samples. The Most-Disease-Segment Target-to-Background Ratio (TBRMDS) was calculated for 9 LV-GCA patients, while 12 cranial-GCA and 7 Polymyalgia Rheumatica patients with negative initial PET/CT served as disease controls. Serum macrophage-related cytokines were evaluated by Cytometric Bead Array (CBA). Finally, previously published NMR-metabolomics data acquired at the same blood sampling were associated with PET/CT findings. TBRMDS was significantly increased in active versus inactive disease (3.45 vs. 2.55, p=0.008). The analysis identified 6 serum metabolites, as more sensitive to change from the active to inactive state. Among them, choline levels were exclusively altered in the LV-GCA group, but not the disease controls. Cytokine levels were not associated with PET/CT activity. Combining with CRP, ESR, and TBRMDS a composite index was generated to depict well the differences between active and inactive systemic LV-GCA (25.45 vs 11.45, p=0.0039). These preliminary results could pave the way for more extensive studies integrating serum metabolomic parameters with PET/CT imaging data to extract sensitive composite disease indexes useful for the everyday clinical practice.

Silybin is a natural compound extensively studied for its hepatoprotective, neuroprotective and anti-cancer properties. Envisioning the enhancement of silybin potential by suitable modifications in its chemical structure, here, a series of new 7-O alkyl silybins derivatives were synthesized by Mitsunobu reaction starting from the silybins and tyrosol-based phenols, such as tyrosol (TYR, 3), 3-methoxytyrosol (MTYR, 4) and 3-hydroxytyrosol (HTYR, 5). This research sought to explore the antioxidant and anticancer properties of new eighteen derivatives and their mechanisms. In particular, the antioxidant properties of new derivatives outlined by DPPH assay, showed a very pronounced activity depending on the tyrosyl moiety (HTYR&gt;MTYR&gt;&gt;TYR). A significant contribution of the HTYR moiety was observed for silybins and 2,3-dehydro-silybin based derivatives. According to the very potent antioxidant activity, 2,3-dehydro-silybin derivatives 15ab, 15a and 15b exerted the most potent anticancer activity in human prostate cancer PC-3 cells. Furthermore, flow cytometric analysis for cell cycle and apoptosis revealed that 15ab, 15a and 15b induce strong G1 phase arrest and increase late apoptotic population in PC-3 cells. Additionally, western blotting for apoptotic marker cleaved caspase-3 confirmed apoptosis induction by these silybin derivatives in PC-3 cells. These findings hold significant importance in the investigation of anticancer properties of silybin derivatives and strongly encourage swift investigation in pre-clinical models and clinical trials.

In this paper, a modular wire-actuated robotic arm was designed to improve the safety and adaptability of service robots during human-robot interaction. To raise the stiffness adjustment range of the robotic arm, a symmetric variable-stiffness unit was designed based on flexure, which had compact and simple structure, and lowly nonlinear stiffness-force relationship. In this paper, we focused on the research of the symmetric 1-DOF joint module. Based on the kinematics and stiffness analysis, the pose of the joint module could be adjusted by controlling the length of the wires, and the stiffness of the joint module could be adjusted by controlling the tension of the wires. Because of the actuation redundancy, the pose and stiffness of the joint module could be controlled synchronously. Furthermore, a directly method was proposed for the stiffness-oriented wire tension distribution problem of the 1-DOF joint module. A simulation was carried out to verify the proposed method.

To improve efficacy and safety of sunscreen emulsions, UV‐filter skin permeation could be kept as low as possible by reducing UV‐filter content or changing emulsion composition. In this work, different lipid phase ratio (12, 14 and 16% w/w) were assessed for their ability to affect the technological and sensory properties of O/W emulsions in which bemotrizinol (BMTZ), a broad spectrum sunscreen agent, was incorporated free or loaded into nanostructured lipid nanocarriers (NLC) to reduce its release from the vehicle and, hence, its skin permeation. The following technological properties were evaluated in vitro by suitable methodologies: spreadability, viscosity, pH, occlusion factor, BMTZ release, sun protection factor (SPF). Sensory attributes were assessed by trained panelists in three different phases: before/during pick‐up, rub‐in, after application. Raising the lipid phase ratio led to an increase of viscosity and to a corresponding drop of spreadability while the incorporation of BMTZ‐loaded NLC determined a decrease of occlusion factor and an increase of SPF. No BMTZ release was observed from all emulsions. Sensory attributes were mainly affected by lipid phase ratio. These results suggest that lipid phase ratio and BMTZ incorporation into NLC could contribute to determine technological and sensory properties of O/W emulsions.

TeamIndus’ Lunar Logistics vision includes multiple lunar missions over the coming years to meet requirements of science, commercial and efforts towards building readiness for crewed missions to Mars in the global exploration roadmap. TeamIndus is the only Indian team that participated in the Google Lunar X Prize. The challenge called for privately funded spaceflight teams to be the first to land a robotic spacecraft on the Moon, travel 500 meters, and transmit back high-definition video and images. The first mission is expected to have a net landed payload capacity of 50 kg. The prime objective is to demonstrate autonomous lunar landing, and operations for a Surface Exploration Rover - to collect data in the vicinity of the landing site. The rover is designed to execute the commands given by the operations manager autonomously. The rover software architecture relevant to the navigation and control is described in detail. The functional modes are defined to functionally distinguish the rover drive. Among the various operations performed by the rover are execution of simple drive steps through navigation and control algorithms. The kinematic model of the rover is studied in the hardware locomotion tests performed. The Kalman filter formulation to estimate the sensor bias and to get attitude estimate is discussed. The structural model and the frame definitions are described in a relevant section. A simple heading control algorithm is designed to control the heading direction of the rover according to the operations requirement. The path planning process and visual odometry processes are described. Finally the SIMULINK$^{\textregistered}$ model is tested on the prototype rover and the test experience results are discussed in the last section.

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.

Unlike aerial or terrestrial navigation, the Global Navigation satellite system (GNSS) is not available underwater. This is a big challenge for underwater navigation. The inertial navigation system (INS) aided by the single-beacon acoustic positioning system (APS) provides one solution, but the long-range case is limited by low SNR conditions. Inspired by passive synthetic aperture detection, we proposed a new tightly coupled navigation algorithm based on spatial synthesis and one-way-travel-time (OWTT) range measurement. We design two estimators: the DOA/Range estimator using the model-based method and the tightly coupled INS/APS navigation estimator. Based on the improved UKF, all information is combined. Simulation is carried out in MATLAB. Compared with range-only tightly coupled INS/APS navigation, synthetic long baseline (SLBL) algorithm and Doppler velocity logger (DVL) aided centralized extended Kalman filter (CEKF) based single beacon INS/OWTT navigation, the proposed method's performance is proven. The main contributions of this work are: 1. Propose a new architecture of underwater integrated navigation; 2. Apply the passive acoustic detecting method in the navigation to improve accuracy. 3. Apply the tightly coupled method to improve availability.

Automatic methods for constructing navigation routes do not fully meet all requirements. The aim of this study was to modify the methodology for generating indoor navigation models based on the Medial Axis Transformation (MAT) algorithm. The simplified method for generating corridor axes relies on the Node-Relation Structure (NRS) methodology. The axis of the modeled structure (corridor) is determined based the points of the middle lines intersecting the structure (polygon). The proposed solution involves a modified approach to the segmentation of corridor space. Traditional approaches rely on algorithms to construct Triangulated Irregular Networks (TINs) by Delaunay triangulation or algorithms for generating Thiessen polygons known as Voronoi diagrams (VDs). In this study, both algorithms were used in the segmentation process. The edges of TINs intersect structures. Selected midpoints on TIN edges, which are located in the central part of the structure, are used to generate VDs. Polygon VDs segment corridor structures. The identifiers or structure nodes are the midpoints on TIN edges rather than the calculated centroids. The generated routes are not zigzag lines, and they approximate natural paths. The main advantage of the proposed solution is its simplicity which can be attributed to the use of standard tools for processing spatial data in a geographic information system.

Autonomous aerial refueling technology is an effective solution to extend flight duration of unmanned aerial vehicles, and also a great challenge due to its high risk. For autonomous probe-and-drogue refueling tasks, relative navigation to provide relative position between the receiver aircraft and the refueling drogue is the first and essential step, and vision-based method is the most frequently used. A new monocular vision navigation sensor with image processing strategy consisting of the drogue detection method and the tracking method is developed for autonomous aerial refueling in this paper. In the drogue detection method, thresholding and mathematical morphology method are adopted to eliminate image interference, and contours extraction method is applied to obtain all contours, which are then subsequently checked to achieve target contour of drogue. In the tracking method, a rectangle of interest (ROI) of current frame image is determined by positioning results of last frame, and then processed by the previous drogue detection method. Finally, the proposed image processing strategy in monocular vision navigation sensor is validated using real flight images, which are captured from an autonomous aerial refueling testbed using a micro six-rotor aircraft as receiver aircraft.

Classically the walk in biped robotics was obtained controlling balance during the whole step, i.e. guaranteeing that the pressure point under the soles always stayed in the polygon of the supporting feet. However, this assumed that the feet were able to transfer torque to the ground during the whole gait cycle. In spite of the fact that the amount of transferrable torque in the feet-ground contact is limited, it is possible only during some phases of the step, and the overall process is energetically inefficient. On the other side, starting from the passive motion of the rimless wheel falling on an inclined surface, and ending to the inverted pendulum with a compass, balance in the whole was proven in spite of dynamical instability inside each step. Along this line results of Foot Placement Estimation (FPE) in 2-D and 3-D showed how energy efficient walk was possible, emulating the human walk with a free fall on the swing foot and energy restitution at the foot collision with the ground for the next step. This model assumes pointy feet, so without torque transfer to the ground. In the realm of FPE, in previous papers the present author adopted the 3-D inverted pendulum in polar coordinates (Spherical Inverted Pendulum - SIP) to introduce omnidirectional walks with arbitrarily changing characteristics. No torque control was used during the step, i.e the pendulum was always in free fall at each step, the only control actions were at the beginning of the next step. These actions are: the change of angular velocities at the start of a new step, with respect to those given after the collision (emulating the torque action in the brief double stance period), to recover for the losses, and the preparation of the position in the frontal and sagittal planes of the swing foot for the next collision. The present paper improves this paradigm, proposing a general model to account for all characteristics of the biped and of the gait, with adding a minimum of dynamical complexity with respect to the SIP. This model allows, not only to walk omnidirectionally on a flat surface, but also to go up and down staircases.

Robotic odor source localization (OSL) is a technology that enables mobile robots or autonomous vehicles to find an odor source in unknown environments. An effective navigation algorithm that guides the robot to approach the odor source is the key to successfully locating the odor source. While traditional OSL approaches primarily utilize an Olfaction-only strategy, guiding robots to find the odor source by tracing emitted odor plumes, our work introduces a fusion navigation algorithm that combines both vision and olfaction-based techniques. This hybrid approach addresses challenges such as turbulent airflow, which disrupts olfaction sensing, and physical obstacles inside the search area, which may impede vision detection. In this work, we propose a hierarchical control mechanism that dynamically shifts the robot’s search behavior among four strategies: crosswind maneuver, Obstacle-avoid Navigation, Vision-based Navigation, and Olfaction-based Navigation. Our methodology includes a custom-trained deep-learning model for visual target detection and a moth-inspired algorithm for Olfaction-based navigation. To assess the effectiveness of our approach, we implemented the proposed algorithm on a mobile robot in a search environment with obstacles. Experimental results demonstrate that our Vision and Olfaction Fusion algorithm significantly outperforms Vision-only and Olfaction-only methods, reducing average search time by 54% and 30%, respectively.

By constructing a static map, the library robot can navigate and access documents autonomously, which greatly improves efficiency; however, for libraries where shelves can be moved, map changes do not allow for direct navigation, and also sensors such as radar and camera are relatively expensive, so we propose a low-cost navigation algorithm based on real-time ranging data and map matrices, and designed a mobile archive access robot. In order to obtain real-time distance data, nine near/long range sensors were mounted on the chassis and a composite digital filtering algorithm was designed based on different moving area characteristics; then the access task matrix and map matrix were designed based on the archive access task and the location characteristics of the archive shelf placement, the robot can rely on the range data to update the map matrix during the moving process, complete its own positioning, and use the task matrix The robot can use the task matrix to complete autonomous navigation and access to multiple files. Experiments show that the filtered positioning accuracy can reach 1cm, while the robot can move to the target shelf autonomously, which is more practical and less costly.

Since it was proposed, the Robot Operating System (ROS) has fostered solutions for various problems in robotics in the form of ROS packages. One of these problems is Simultaneous Localization and Mapping (SLAM), a problem solved by computing the robot pose and a map of its environment of operation at the same time. The increasingly availability of robot kits ready to be programmed and also of RGB-D sensors often pose the question of which SLAM package should be used given the application requirements. When the SLAM subsystem must deliver estimates for robot navigation, as is the case of applications involving autonomous navigation, this question is even more relevant. This work introduces an experimental analysis of GMapping and RTAB-Map, two ROS compatible SLAM packages, regarding their SLAM accuracy, quality of produced maps and use of produced maps in navigation tasks. Our analysis aims ground robots equipped with RGB-D sensors for indoor environments and is supported by experiments conducted on datasets from simulation, benchmarks and from our own robot.

Background and Objectives: C-arm free MIS techniques can offer significantly reduced rates of postoperative complications such as blood loss and hospitalization time. Another advantageous long-term aspect is the notably diminished exposure to radiation which is known to cause ma-lignant changes. This study emphasizes that, in some cases of spinal conditions which require a procedural intervention, C-arm free MIS techniques hold stronger indications than open surgeries guided by image intensifier. Materials and Methods: In this research, a retrospective analysis and review of various cervical and thoracic spinal procedures, performed in our hospital, by applying C-arm free techniques. The course of the study explains the basic steps of the procedures and demonstrating postoperative or intra-operative results. For anterior cervical surgery, we performed OPLL resection, while for posterior cervical surgery, we performed posterior fossa decompression for Chiari malformation, minimally invasive cervi-cal pedicle screw fixation (MICEPS) and modified Goel technique with C1 lateral mass screw for atlantoaxial subluxation. Re-garding the thoracic spine, we performed anterior correction for Lenke type 5 scoliosis, and transdiscal screw fixation for DISH fractures. Results: C-arm free techniques are safe procedures that offer precise and high-quality postoperative results by offering sufficient spine alignment and adequate decompression depending on the case. Blood loss, postoperative pain and wound infection are other important aspects of spine surgery that must be always taken into consideration. Conclusions: Navigated C-arm free techniques are safe and precise procedures implemented in the treatment of surgically demanding conditions. They can significantly increase accuracy while decreasing the operative time. They represent the advancement in the field spine surgery and are hailed as the future of the same

In contemporary design practices, there is a disconnect between the design techniques used for early-stage design experimentation and performance analysis, and those used for the manufacture and construction. This study addresses the problems in developing an integrated digital design workflow and provides a research framework for integrating environmental performance requirements with robotic manufacturing processes on a construction site. The proposed method enables the user to import a design surface, identify design parameters, set several environmental performance goals, and thereafter simulate and select a robotic building strategy. Based on these inputs, design alternatives are developed and evaluated, considering their robotically simulated constructibility, in terms of their performance criteria. To validate the proposed method, the design is evaluated in an experiment wherein a double-skin facade perforation is generated using the proposed methodology. Initial results suggest a heuristic feature to improve the simulated robotic constructibility. Moreover, the functionality of the prototype is demonstrated.

Histones display a wide variety of post-translational modifications, including acetylation, methylation, and phosphorylation. These epigenetic modifications can influence chromatin structure and function without altering the DNA sequence. Histones can also undergo post-translational O-GlcNAcylation, a rather understudied modification that plays critical roles in almost all biological processes and is added and removed by O-linked N-acetylglucosamine transferase and O-GlcNAcase, respectively. This review provides a current overview of our knowledge of how O-GlcNAcylation impacts the histone code both directly and by regulating other chromatin modifying enzymes. This highlights the pivotal emerging role of O-GlcNAcylation as an essential epigenetic marker.

The aim of this paper is to investigate the amenability modulo an ideal of Banach algebras with emphasis on applications to homological algebras. In doing so, we show that amenability modulo an ideal of A^** implies amenability modulo an ideal of A. Finally, for a large class of semigroups, we prove that l¹(S)^** is amenable modulo Iσ^** if and only if an appropriate group homomorphic image of S is finite where Iσ is the closed ideal induced by the least group congruence σ.

Accurate forecasting and efficient management of commodities are crucial for stakeholders in the industry, given the volatile nature of these markets. This study addresses these needs by leveraging advanced forecasting techniques and machine learning models to predict prices and enhance supply chain efficiency. TThe focus is on utilizing ARIMA, SARIMAX, and LSTM models to analyze historical trading data for commodities such as cocoa, coffee, and sugar sourced from Kaggle’s comprehensive dataset. The research applies ARIMA and SARIMAX models to forecast price trends, overcoming initial challenges related to data index frequency and seasonality. LSTM models are employed for more nuanced demand forecasting, particularly for random-length lumber, demonstrating the model's capability to predict future market trends accurately. The study highlights significant improvements in prediction accuracy and supply chain management through meticulous feature engineering and model optimization, offering valuable insights for strategic decision-making in the supply chain sector.

Understanding pollen and ovule fertility as factors influencing fruit and seed set is important in cassava breeding. Red light (RL) and plant growth regulators (PGRs) have been used to induce or enhance flowering and fruit set in cassava without any reference to effects on pollen viability or ovule fertilizability. This study investigated effects of field-applied RL and PGR on pollen viability and ovule fertilizability. Panels of cassava genotypes, with early or moderate flowering responses were used. RL was administered from dusk to dawn. Two PGRs, a cytokinin (6-benzyl adenine, BA) and an anti‑ethylene (silver thiosulphate, STS) were applied. Pollen viability was assessed basing on pollen grain diameter, in vitro stainability, in vivo germinability, ovule fertilizability and ploidy level. Treating flowers with RL led to increased pollen diameter from 143.6 to 148.5µm, stainability from 82.9 to 93.0%, ovule fertilizability from 52.0 to 56.9% in treated female flowers and 47.7 to 64.3% on using pollen from treated male flowers. Fruit set increased from 51.5 to 71.8% in RL-treated female flowers and from 53.7 to 71.1% when pollen from RL-treated male flowers was used. Seed set followed a trend similar to that of fruit set. Ploidy level of pollen from RL-treated flowers increased slightly and positively correlated with pollen diameter (R2 = 0.09*), ovule fertilization (R2 = 0.20*), fruit (R2 = 0.59*) and seed set (R2 = 0.60*); but negatively correlated with pollen stainability. Treating flowers with PGR did not affect pollen diameter and stainability, but increased ovule fertilizability from 42.9 to 64.9% and fruit set from 23.2 to 51.9% in treated female flowers and 31.3 to 54.7% when pollen from treated male flowers was used. Application of combined BA+STS on male flowers caused the highest ovule fertilizability, fruit and seed set efficiency, though this varied among study genotypes. These results show that RL and PGR treatment of flowers increases pollen viability and ovule fertilizability. This is important for planning pollination strategies in cassava breeding programmes.

This paper thoroughly assesses the ARM and RISC-V architectures in the context of High-Performance Computing (HPC). It includes an analysis of Docker, Kubernetes, and KVM virtualization integration. Our study aims to evaluate and compare these systems' performance, scalability, and practicality in a general context and then assess the impact that might have on special use cases, like HPC. ARM-based systems exhibited better performance and seamless integration with Docker and Kubernetes, underscoring their advanced development and effectiveness in managing high-performance computing workloads. On the other hand, despite their open-source architecture, RISC-V platforms presented considerable intricacy and difficulties in coordinating with Kubernetes, which hurt their overall effectiveness and ease of management. The results of our study offer valuable insights into the practical consequences of implementing these architectures for HPC, highlighting ARM's preparedness and the potential of RISC-V while acknowledging the increased complexity involved and significant trade-offs at this point.

: In this paper, we examine potential methods for autonomously tracking and landing multi-rotor unmanned aerial vehicles (UAVs), a complex yet essential problem. Autonomous tracking and landing control technology utilizes visual navigation, relying solely on vision and landmarks to track targets and achieve autonomous landing. This technology improves the UAV's environment perception and autonomous flight capabilities in GPS-free scenarios. In particular, we are researching tracking and landing as a cohesive unit, devising a switching plan for various UAV tracking and landing modes, and creating a flight controller that has an inner and outer loop structure based on relative position estimation. The inner and outer nested markers aid in the independent monitoring and touchdown of UAV. Optimal parameters are determined via optimized experiments on the measurements of the inner and outer markers. An indoor experimental platform for tracking and landing UAV was established. Tracking performance was verified by tracking three trajectories of unmanned ground vehicle (UGV) at varying speeds, and landing accuracy was confirmed through static and dynamic landing experiments. The experimental results show that the proposed scheme has good dynamic tracking and landing performance.

Robotic systems are crucial in modern manufacturing. Complex assembly tasks require the collaboration of multiple robots. Their orchestration is challenging due to tight tolerances and precision requirements. In this work we set up two Franka Panda robots performing a peg-in-hole insertion task. We structure the control system hierarchically, planning the robots’s trajectories feedback-based with a central policy trained with reinforcement learning. These trajectories are executed by a low-level impedance controller on each robot. To enhance training convergence, we use reverse curriculum learning incorporating domain randomization, varying initial configurations of the task. After training, we test the system in a simulation, studying the impact of curriculum parameters on emerging process characteristics like process time and variance. Finally, we transfer the trained model to a real-world setup, comparing results with simulation as well as classical path planning and control approaches.

Autonomous navigation of a mobile robot in dynamic environments presents a significant challenge in the field of robotics. The primary objective for mobile robot navigation is to ensure both smoothness and safety of movement. A path planning is applied to generate a trajectory that allows the robot to move smoothly while avoiding collisions with both stationary and moving obstacles. This study aims to introduce an Adaptive Neuro-Fuzzy Inference System (ANFIS)-based control strategy for a mobile robot navigating in dynamic environments, with a significant focus on ensuring collision-free path planning. The developed control strategy incorporates four ANFIS controllers, each regulating the robot's responsive behaviors. The experimental scene includes a mobile robot moving in an environment with static and dynamic obstacles without colliding with the obstacles. The experimental tests confirm the model's capability to facilitate collision-free motion, employing a path planning algorithm for determining the shortest route to the target destination. Simulations are conducted to show the effectiveness of the proposed algorithm, highlighting the mobile robot's efficiency in navigating without collisions while avoiding both stationary and moving obstacles using the integration of ultrasonic sensors.

Surgical navigation has evolved as a vital tool in maxillofacial surgery, offering precise and patient-specific data. This study explores the clinical applications and accuracy of intraoperative tool tracking in maxillofacial surgery. The research includes 37 patients with various pathologies who underwent surgery assisted by a surgical navigation system using tracked instruments. The study showcases two representative cases: one involving coronoid hyperplasia with mouth opening deficit and another addressing nose-orbital-ethmoidal-frontal ossifying fibroma resection. The results indicate that surgical navigation with tracked instruments provides high precision (<1.5 mm error), reduced surgical time, and less invasive approaches. The study highlights the potential for reproducible outcomes and increased safety, especially in complex cases. Despite some limitations, the synergy between surgical navigation and tracked instruments offers a promising approach in maxillofacial surgery, expanding its applications beyond current practices.

For a mobile robot, navigation in a densely crowded space can be a challenging and sometimes impossible task, especially with traditional techniques. In this paper, we present a framework to train neural controllers for differential drive mobile robots which must safely navigate a crowded environment while trying to reach a target location. To learn the robot’s policy, we train a convolutional neural network using two reinforcement learning algorithms, Deep Q-Networks (DQN) and Asynchronous Advantage Actor Critic (A3C), and develop a training pipeline that allows to scale the process to several compute nodes. We show that the asynchronous training procedure in A3C can be leveraged to quickly train neural controllers and test them on a real robot in a crowded environment.

Study design :Technical note. Objectives : To present a new unilateral biportal endoscopic technique for lumbar disc herniation without C-arm . Background : Lumbar disc herniation requires surgical intervention when conservative methods fail. Shifts towards minimally invasive percutaneous endoscopic lumbar discectomy, including uniportal and biportal approaches, have been hindered by challenges such as steep learning curves and reliance on radiation-intensive C-arm guidance. Our study introduces the use of standard intraoperative navigation in unilateral biportal endoscopy (UBE) to reduce radiation exposure and increase surgical acuracy. Materials and Methods : A 24-year-old man with low back and bilateral leg pain with gait disturbance was referred to our hospital. He had have conservative treatment for 12 months in another hospital before admission. However, the conservative treatment did not work for him. He had low back pain (VAS 4/10) and bilateral leg pain (VAS 8/10), muscle waekness of bilateral legs (Manual muscle testing ;MMT of extensor hullusis longs 4 4), and numbness of bilateral lower leg. Preoperative lumbar MRI showed L4/5 large central disc herniation. Results: He underwent C-arm free unilateral biportal endoscopic discectomy under the guidance of O-arm navigation. The patient was successfully treated surgically. Postoperative lumbar MRI showed good decompression of dural sac and bilateral L5 nerve roots. MMT and sensory function of both leg had recovered fully on final follow-up at one year. Conclusions/Level of Evidence: The new unilateral biportal endoscopic technique under navigation guidance is useful technique for lumbar disc herniation. This innovative technique proved to be safe, accurate, and minimized radiation exposure for surgeons for the treatment of lumbar intervertebral disc herniation. Level V.

The paper presents the conceptualization and realization of a novel platform for additive manu-facturing, an industrial robot arm-based system for additive manufacturing applications. Tradi-tional 3D printers, especially those employing fused deposition modelling (FDM) processes, are restricted to depositing material in a single toolpath plane (e.g. x-y plane). The focus of this study was to explore the feasibility of integrating commercial off the shelf (COTS) additive manufac-turing technologies with a six degree of freedom industrial robot arm to yield a 3D additive manufacturing system with the capability to perform free-form six degree of freedom fused deposition modelling. The present paper presents the development of a platform from stage 0, i.e. materials to its use, and finally a printed product with the developed extruder.

The research is devoted to the problem of noise generation during flights of supersonic civil aircrafts. The effect of a thermally stratified energy source used to control the flow past a pointed cylinder aerodynamic models on the nearfield and ground pressure signatures, as well as on the perceived loudness in decibels (PLdB) on the ground is evaluated. The fields of parameters and the dynamics of the drag forces are studied for different values of temperature in the layers of the thermally stratified energy source and for different number of layers in it. It has been shown that when performing the flow control at freestream Mach numbers 1.5-2 using thermally stratified energy sources with the number of layers from 2.5 to 7.5 and rarefaction parameters in the layers from 0.15 to 0.3, no additional noise impact on the ground is introduced. Thus, the simulations showed that changing the surface pressure signature due to drag reduction does not necessarily imply a change in the PLdB on the ground.

Although ladybirds of European Russia and the Caucasus have been the subject of numerous ecological and faunistic investigations, there is an evident lack of appropriate identification key for them. All previous keys have been published in Russian. The most modern key was published more than 50 years ago and included only about 60 % of species. Guides for identification of Coccinellidae of other countries are not appropriate for European Russia, since do not include many species occurring in the regions. New, original key to subfamilies, genera, and species of ladybirds (Coccinellidae) of the European Russia and Russian Caucasus is presented. All native species recorded in the region and all alien species introduced to this region are included. Some species from the adjacent regions are added. In total, 110 species are keyed and illustrated with line drawings. Photographs of rare and endemic species are provided. Information on the distribution of species within the region under consideration is provided. Synonymy of Chilocorus kuwanae with Ch. renipustulatus is presented and discussed.

Vaccination is one of the best approaches to control and eradicate foot-and-mouth disease (FMD). To achieve this goal, vaccines with inactivated FMD virus antigen in suitable adjuvants are being used in addition with other control measures. However, only a limited number of vaccine strains are commercially available which often have a restricted spectrum of activity against the different FMD virus strains in circulation. As a result, when new strains emerge, it is important to measure the efficacy of the current vaccine strains against these new variants. This is important for countries where FMD is endemic but also for countries that hold an FMD vaccine bank to be prepared for emergency vaccination. The emergence and spread of the O/ME-SA/Ind-2001 lineage of viruses posed a serious threat to countries which had OIE-endorsed FMD control plans and had not reported FMD for many years. In vitro vaccine matching results showed a poor match (r1-value &lt;0.3) to the more widely used vaccine strain O Manisa and less protection in a challenge test. This paper describes the use of O3039 vaccine strain as an alternative either alone or in combination with the O Manisa vaccine strain with virulent challenge by a O/ME-SA/Ind-2001d sub-lineage virus from Algeria (O/ALG/3/2014). The experiment included challenge at 7 days post vaccination (to study protection and emergency use) and 21 days post vaccination (as would be done in standard potency studies). The results indicated that the O3039 vaccine strain alone as well as the combination with O Manisa is effective against this strain of the O/ME-SA/Ind/2001d lineage offering protection from clinical disease even after 7 days post vaccination and with reduction in viraemia and virus excretion.

The reaction of berberine derivatives containing at O-9 position N,N-disubstituted acetamide fragments with sodium borohydride in methanol at 0 °C leads to a mild reduction of the "C" cycle with the formation of corresponding tetrahydroberberine derivatives with moderate to good yields.

Synchrotron radiation computed tomography (SRCT) allows more accurate calcified plaque and coronary stenosis assessment as a result of its superior spatial resolution, however, typical micro-computed tomography (micro-CT) systems have even higher resolution. The purpose of this study was to compare performance of high-resolution micro-CT with SRCT in the assessment of calcified plaques and a previously published dataset of coronary stenosis assessment. This experimental study involved micro-CT scanning of three-dimensional printed coronary artery models with calcification in situ used in our previously published SRCT study on coronary stenosis assessment. Measurements of coronary stenosis utilizing both modalities were compared using a paired sample t-test. The degrees of stenosis measured on all but one micro-CT dataset were statistically significantly lower than the corresponding SRCT measurements reported in our previous paper (p&lt;0.0005-0.05). This indicates that the superior spatial resolution of micro-CT was able to further reduce over-estimation of stenosis caused by extensive calcification of coronary arteries and hence false positive results. This study shows that high-resolution micro-CT outperforms SRCT in both calcified plaque and coronary stenosis assessment. This finding will become clinically important for cardiovascular event prediction and enable reclassification of individuals with low and intermediate risk into appropriate risk categories when the technical challenges of micro-CT in clinical practice such as the small field of view and demanding on image processing power are addressed.

With the global objectives of achieving a ‘carbon peak’ and ‘carbon neutrality’, along with the implementation of carbon reduction policies, China’s industrial structure has undergone significant adjustments, resulting in constraints on high-energy consumption and high-emission industries while promoting the rapid growth of green industries. Consequently, these changes have led to an increasingly complex power system structure and presented new challenges for electricity demand forecasting. To address this issue, this study proposes a 24-step multivariate time series short-term load forecasting algorithm model based on KNN data imputation and BiTCN bidirectional temporal convolutional networks combined with BiGRU bidirectional gated recurrent units and attention mechanism. The Kepler adaptive optimization algorithm (KOA) is employed for hyperparameter optimization to effectively enhance prediction accuracy. Furthermore, using real load data from a wind farm in Xinjiang as an example, this paper predicts the electricity load from January 1st to December 30th in 2019. Experimental results demonstrate that our comprehensive short-term load forecasting model exhibits lower prediction errors and superior performance compared to traditional methods, thus holding great value for practical applications.

The IPAT equation provides a simple but powerful model for understanding sustainability, particularly from the challenge posed by the Anthropocene—how to reduce personal or societal impact. Impact is calculated by multiplying population, affluence and technology, and a ‘reduction coefficient’ e is used to explore targeted reductions in impact of different entities to cap total (summed) impact. The model offers two solutions. First, that all three factors are essential in determining total impact; a focus on just one or two is not justifiable without credibly addressing the other(s). Second, by presenting reduction of impact as a proportion of current activity, the solution becomes accessible to an individual actor (e.g., an individual, family, organization, or country). Application of the model is illustrated based on household weekly food consumption from cultures around the world. The model helps unify a) disparate perspectives on population, affluence and technology, which currently oppose one another from a basis of belief or dogma, and b) different sectors (e.g., food production, energy, climate impacts and others), as well as actors, so they can jointly identify strategies to resolve their contributions to approaching larger scale sustainability.

This paper gives an overview of the large-scale tectonic styles encountered in orogens worldwide. Thin-skinned and thick-skinned tectonics represent two end member styles recognized in mountain ranges. Both styles are encountered in former passive margins of continental plates. Thick-skinned style including the entire crust and possibly the lithospheric mantle are associated with intracontinental contraction. Delamination of subducting continental crust and horizontal protrusion of upper plate crust into the opening gap occurs in the terminal stage of continent-continent collision. Continental crust thinned prior to contraction is likely to develop relatively thin thrust sheets of crystalline basement. A true thin-skinned type requires a detachment layer of sufficient thickness. Thickness of the décollement layer as well as the mechanical contrast between décollement layer and detached cover control the style of folding and thrusting within the detached cover units. In subduction-related orogens, thin- and thick-skinned deformation may occur several hundreds of kilometers from the plate contact zone. Basin inversion resulting from horizontal contraction may lead to the formation of basement uplifts by the combined reactivation of pre-existing normal faults and initiation of new reverse faults. In most orogens thick-skinned and thin-skinned structures both occur and evolve with a pattern where nappe stacking propagates outward and downward

Pain is a natural bioassay for detecting and quantifying biological activities of venoms. The painfulness of stings delivered by ants, wasps, and bees can be easily measured in the field or lab using the stinging insect pain scale that rates the pain intensity from 1 to 4, with 1 being minor pain, and 4 being extreme, debilitating, excruciating pain. The painfulness of stings of 96 species of stinging insects and the lethalities of the venoms of 90 species was determined and utilized for pinpointing future promising directions for investigating venoms having pharmaceutically active principles that could benefit humanity. The findings suggest several under- or unexplored insect venoms worthy of future investigations, including: those that have exceedingly painful venoms, yet with extremely low lethality – tarantula hawk wasps (Pepsis) and velvet ants (Mutillidae); those that have extremely lethal venoms, yet induce very little pain – the ants, Daceton and Tetraponera; and those that have venomous stings and are both painful and lethal – the ants Pogonomyrmex, Paraponera, Myrmecia, Neoponera, and the social wasps Synoeca, Agelaia, and Brachygastra. Taken together, and separately, sting pain and venom lethality point to promising directions for mining of pharmaceutically active components derived from insect venoms.

Cheap licit and artisanal illicit spirit drinks have been associated with numerous outbreaks of alcohol poisoning especially with methanol. This study aimed to evaluate the quality of cheap spirit drinks in Kibera slums in Nairobi County, Kenya. The samples consisted of cheap licit spirits (n=11) and the artisanal spirit drink, ‘chang’aa’, (n=28). The parameters of alcoholic strength and volatile composition were used as indicators of quality and were determined using GC-FID and GC-MS respectively. The pH of chang’aa was 3.3-4.2 and 4.4-8.8 for licit spirit drinks while ranges for alcoholic strength were 42.8-85.8 % vol. and 28.3-56.7% vol. for chang’aa and licit spirit drinks respectively. The majority of volatiles were found in artisanal spirits and they included higher alcohols, ethyl esters and carbonyl compounds. The alcoholic strength of all the artisanal spirits (100%) and 91% of the licit spirits was above the 40% vol. of standard spirits such as vodka. The high ethanol content of the alcohol products was the only element of public health significance in this study.

An H-bond involves the sharing of a hydrogen atom between an electronegative atom to which it is covalently bound (the donor) and another electronegative atom serving as an electron acceptor. Such bonds represent a critically important geometrical force in biological macromolecules and, as such, have been characterized extensively. H-bond formation invariably leads to a weakening within the acceptor moiety due to the pulling exerted by the donor hydrogen. This phenomenon can be compared to a spring connecting two masses; pulling one mass stretches the spring, similarly affecting the bond between the two masses. Herein, we describe the opposite phenomenon when investigating the energetics of the C-H...O=C bond. This bond underpins the most prevalent protein transmembrane dimerization motif (GxxxG) in which a glycine C-H on one helix forms a hydrogen bond with a carbonyl in a nearby helix. We use isotope-edited FT-IR spectroscopy and corroborating computational approaches to demonstrate a surprising strengthening of the acceptor C=O bond upon binding with the glycine C-H. We show that electronic factors associated with the C-H bond strengthen the C=O oscillator by increasing the s-character of the -bond, lowering the hyperconjugative disruption of the -bond. In addition, a reduction of the acceptor C=O bond’s polarity is observed upon the formation of the C-H...O=C bond. Our findings challenge the conventional understanding of H-bond dynamics and provide new insights into the structural stability of inter-helical protein interactions.

With the advancement of technology, signal modulation types are becoming increasingly diverse and complex. The phenomenon of signal time-frequency overlap during transmission poses significant challenges for the classification and recognition of mixed signals, including poor recognition capabilities and low generality. This paper presents a recognition model for fine-grained analysis of mixed signal characteristics, proposing a Geometry Coordinate attention mechanism and introducing a low-rank bilinear pooling module to more effectively extract signal features for classification. The model employs a residual neural network as its backbone architecture and utilizes the Geometry Coordinate attention mechanism for time-frequency weighted analysis based on information geometry theory. This analysis targets multiple-scale features within the architecture, producing time-frequency weighted features of the signal. These weighted features are further analyzed through a low-rank bilinear pooling module, combined with the backbone features, to achieve fine-grained feature fusion. This results in a fused feature vector for mixed signal classification. Experiments were conducted on a simulated dataset comprising 39,600 mixed signal time-frequency plots. The model was benchmarked against a baseline using a residual neural network. The experimental outcomes demonstrated an improvement of 9% in the exact match ratio and 5% in the Hamming score. These results indicate that the proposed model significantly enhances the recognition capability and generalizability of mixed signal classification.

Some of the barriers preventing Virtual Reality (VR) from being widely adopted are the cost and unfamiliarity of VR systems. Here we propose that in many cases the specialized controllers shipped with most VR head-mounted displays can be replaced by a regular smartphone, cutting the cost of the system, and allowing users to interact in VR using a device they are already familiar with. To achieve this, we developed SmartVR Pointer, an approach that uses smartphones as a replacement for the specialized controllers for two essential operations in VR: selection and navigation by teleporting. In SmartVR Pointer a camera mounted on the head-mounted display (HMD) is tilted downwards so that it points to where the user will naturally be holding their phone in front of them. SmartVR Pointer supports three selection modalities: tracker-based,gaze-based, and combined/hybrid. In the tracker-based SmartVR pointer selection we use image-based tracking to track a QR code displayed on the phone screen and them map the phone’s position to a pointer shown within the field of view of the camera in the Virtual Environment. In the gaze-based selection modality the user places the pointer using their gaze and taps on the phone for selection. The combined technique is a hybrid between head-gaze-based interaction in VR and smartphone-based Augmented Reality. It allows the user to control a VR pointer that behaves like a mouse pointer by moving their smartphone to select objects within the virtual environment, and to interact with the selected objects using the smartphone’s touch screen. The touchscreen is used for selection and dragging. SmartVR Pointer is simple and requires no calibration and no complex hardware assembly or disassembly. We demonstrate successful interactive applications of SmartVR Pointer in a VR environment with a demo where the user navigates in the virtual environment using teleportation points on the floor and then solves a Tetris-style key-and-lock challenge.

This study aims to evaluate the patient’s dose exposure from Computed Tomography Pulmonary Angiography (CTPA) examination and to estimates the cancer risk induced from the examinations based on the patient’s size. One hundred patients were recruited, and data information was collected retrospectively. A multi-detector (MDCT) (Philips Brilliance 128, USA) scanner were utilized for the CTPA examination, and dose data were obtained from the system. The effective diameter of each subjects’ image was measured for the Size-specific dose estimates (SSDEs). All subjects divided into Group 1 (19 – 25 cm), Group 2 (25-28 cm) and Group 3 (28-38 cm), where the association between gender were analysed. Effective dose (E), SSDE, organ dose and cancer risk of each group were evaluated and compared statistically using independent t-test and one-way ANOVA. The range of mean CTDI_vol, DLP and E values were (6.44 – 17.42 mGy), (239 – 631 mGy), (5.19 – 13.90 mSv), respectively. In respective with the patient’s effective diameter, the mean SSDE value for Group 1, Group 2 and Group 3 were 9.93 ± 3.89 mGy, 13.70 ± 9.04 mGy and 22.29 ± 7.35 mGy. The organ dose and cancer risk attained for breast, lung and liver were 17.05 ± 10.40 mGy (194 per one million procedure), 17.55 ± 10.86 mGy (192 per one million procedure) and 15.04 ± 9.75 mGy (53 per one million procedure), respectively. Lung and breast with more massive patient’s effective diameter received the highest dose exposure which increases the probability of the cancer risk. CTDI_vol was found to be underestimated, and SSDE provides more accurate in describing the radiation dose and cancer risk. Body effective diameter found to be significant on the estimation except for gender. Therefore, it is essential to apply optimised protocols in order to reduce patient’s exposure during CTPA examination.

Introduction: It may be feasible to detect episodic memory change in preclinical Alzheimer’s disease (AD) to indicate navigational risks and AD prior to mild cognitive impairment. The establishment of episodic memory signatures may allow for biomarker mapping to inform diagnostic research and practiceMethods: Retrospective longitudinal mixed methods and cross-sectional effect size, to compare group differences, are applied to the Craft-21 memory scores from the preclinical years of persons who later developed AD (pre-AD) dementia , n = 175 with 112 females and 63 males. Their scores are compared to cognitively normal controls (non-AD) n = 6,814 with 4,232 females and 2,582 males. Pre-AD and non-AD groups are further analyzed by biological sex. The dataset is from the National Alzheimer’s Coordinating Center funded by NIA/NIH Grant U24 AG072122. Results: The pre-AD episodic memory scores decreased an average of -.510, p < .001 versus (vs.) the non-AD annual increase by .127, p < .001. The first Cohen’s d = .482 and last Cohen’s d = 976, p < .001. The pre-AD females had an average annual decreased of -.762, p < .001 vs. non-AD females increase of .117, p < .001. The first Cohen’s d = .576 and last Cohen’s d = 1.133, p <.001. The pre-AD males increased every year by .185, p = .996 vs. the non-AD males annual increase of .185, p < .001. The first Cohen’s d = 1.054 decreased by the last year to Cohen’s d = .680, p <.001Discussion: Distinct decline in episodic memory occurs for pre-AD females, but there is not a significant change in pre-AD males. However, the effect size difference between both pre-AD and non-AD groups suggests biomarker mapping in conjunction with memory trajectories may be feasible to determine potential navigational risks as well as biological and cognitive preclinical AD.