This paper represents the first investigation into the consensus problem of linear time-varying multi-agent systems utilizing an event-triggered communication scheme. First, a general event-triggered consensus control scheme is proposed for a general category of linear time-varying multi-agent systems. Under some suitable assumptions, it is demonstrated that all agents’ states will converge exponentially, with Zeno behaviour being ruled out. Second, the consensus problem in a network of linear time-varying multi-agent systems with a spanning tree is investigated using the proposed control strategy. It demonstrates that the consensus issue for the specified system can be reformulated as a stabilization problem for an error system through a time-varying linear transformation. Then, the event-triggered consensus problem is just a special instance of the general event-triggered consensus problem mentioned above. Finally, to illustrate the efficacy of the event-triggered method proposed in this study, simulation results are shown.

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

A total of 473 metabolites were identified from 4 sour cherry genotypes using UPLC-TOF-MS. Untargeted metabolomics revealed the dominant chemical groups present in sour cherries. PCA showed that the diversity in sour-cherry metabolites was due to the genotype differences indicating iditol, malic acid, chlorobenzene, 2-mercaptobenzothiazole, and pyroglutamic acid as the predominant contributors. The variable importance in the projection (VIP > 1.0) in partial least-squares–discriminant analysis described 20 biomarker metabolites, representing the cherry metabolome profiles. A heatmap of Pearson’s correlation analysis between the 20 biomarker metabolites and antioxidant activities identified seven antioxidant determinants that displayed the highest correlations with different types of antioxidant activities. This study of correlating metabolomics and antioxidant activities elucidated that the higher nutritional value and biological functions of select sour cherry genotypes can be useful for the development of nutraceutical and functional foods.

Unmanned aerial vehicle (UAV) photogrammetry allows the generation of orthophoto and digital surface model (DSM) rasters of a terrain. However, DSMs of water bodies mapped using this technique often reveal distortions in the water surface, thereby impeding the accurate sampling of water surface elevation (WSE) from DSMs. This study investigates the capability of deep neural networks to accommodate the aforementioned perturbations and effectively estimate WSE from photogrammetric rasters. Convolutional neural networks (CNNs) were employed for this purpose. Two regression approaches utilizing CNNs were explored: direct regression employing an encoder and solution based on prediction of the weight mask by an encoder-decoder architecture, subse-quently used to sample values from the photogrammetric DSM. The dataset employed in this study comprises data collected from five case studies of small lowland streams in Poland and Denmark, consisting of 322 DSM and orthophoto raster samples. Each sample corresponds to a 10 by 10 meter area of the stream channel and adjacent land. A grid search was employed to identify the optimal combination of encoder, mask generation architecture, and batch size among multiple candidates. Solutions were evaluated using two cross-validation methods: stratified k-fold cross-validation, where validation subsets maintained the same proportion of samples from all case studies, and leave-one-case-out cross-validation, where the validation dataset originates entirely from a single case study, and the training set consists of samples from other case studies. The proposed solution was compared with existing methods for measuring WSE in small streams using a drone. The results indicate that the solution outperforms previous photogrammetry-based methods and is second only to the radar-based method, which is considered the most accurate method available. The solution is characterized by a high degree of explainability and generalization.

Animal-based measures are the measure of choice in animal welfare assessment protocols as they can often be applied completely independently to the housing or production system employed. Although there has been a small body of work on potential animal-based measures for farmed crocodilians [1-3], they have not been studied in the context of an animal welfare assessment protocol. Potential animal-based measures, that could be used to reflect the welfare state of farmed crocodilians, were identified and aligned with the Welfare Quality® principles of good housing, good health, good feeding and appropriate behaviour. A consultation process with a panel of experts was used to evaluate and score the potential measures in terms of validity and feasibility. This resulted in a toolbox of measures being identified for further development and integration into animal welfare assessment on the farm. Animal-based measures related to ‘good feeding’ and ‘good health’ received the highest scores for validity and feasibility by the experts. There was less agreement on the animal-based measures that could be used to reflect ‘appropriate behaviour’. Where no animal-based measures were deemed to reliably reflect a welfare criterion nor be useful as a measure on the farm, additional measures of resources or management were suggested as alternatives. Future work in this area should focus on the reliability of the proposed measures and involve further evaluation of their validity and feasibility as they relate to different species of crocodilian and farming system.

This paper studies the maximum reliability of multi-hop relay UAV, in which UAV provides wireless services for remote users without direct communication link on the ground as a coded cooperative relay. In this paper, the analytical expressions of total power loss and total bit error rate are derived as reliability measures. Firstly, based on the environmental statistical parameters, a LOS probability model is proposed. Then the problem of minimizing the bit error rate of static and mobile UAVs is studied. The goal is to minimize the total bit error rate by jointly optimizing the height, elevation, power and path loss, and subject to the maximum allowable path loss con-straints, transmission power allocation constraints and UAV height and elevation constraints. At the same time the total path loss is minimized to achieve maximum ground communication cov-erage. However, the formulated joint optimization problem is non-convex and generally difficult to solve. Therefore, we decomposed the problem into two subproblems and proposed an effective joint optimization iteration algorithm. Finally, the simulation results are given, and the analysis shows that the optimal height of different reliability measures is slightly different, and using the mobility of UAVs can improve the reliability of communication performance.

Docking the tail of lambs is a standard husbandry procedure and is achieved through several techniques including clamps, hot or cold knives and latex rings, the last of which is the most popular. All tail docking methods cause acute pain which can be reduced by application of local anesthetic, however precise anatomical injection for optimal efficacy requires considerable skill. This pen trial evaluated the ability of local anesthetic delivered with a dual function ring applicator / injector to alleviate acute tail docking pain. Thirty ewe lambs were assigned to one of three treatment groups (n = 10 per group): ring plus local anesthetic (Ring LA), ring only (Ring) and sham handled control (Sham). Lambs were videoed and behavior categorized every 5 minutes for the first hour and every 10 min for the subsequent 2 hours after treatment. There was a significant effect (p < 0.001) of treatment on total active pain related behaviors in the first hour, with Ring lambs showing higher counts compared to Ring LA or Sham. Ring lambs also displayed a significantly higher count of combined abnormal postures (p < 0.001) than Ring LA or Sham lambs. Delivery of 1.5ml of 2% lignocaine via the dual action device abolished abnormal behaviors and signs of pain in Ring LA lambs. However, lambs in the Ring LA group spent less time attempting to suckle compared to Ring and Sham lambs, suggesting that some residual discomfort remained.

This paper proposes a compact planar Wi-Fi antenna with optimized radiation patterns for small uncrewed aerial vehicle (UAV) applications in both urban and open areas. It is suitable for mounting on the outermost side of the non-metallic wing of small UAVs. It has small dimensions of 16.5 mm (L) by 30.3 mm (W) by 1.6 mm (h), and the measured results of its prototype are in agreement with simulated data. Its impedance bandwidths over the two frequency ranges are 2.11 to 2.58 GHz and 5.06 to 7.5 GHz ( ). At 5.8 GHz, it has stronger radiation below the small UAV to reduce interference from rare-use directions. Its maximum radiations, the directions of the maximum radiation in each elevation plane, are below the UAV and between 14° and 29° from the horizontal plane. At 2.4 GHz, it has quasi-omnidirectional radiation to ensure a stable link in all directions, and its maximum radiations are near the horizontal plane. The optimized radiation patterns at 5.8 and 2.4 GHz can provide more antenna gain when the small UAV flies farther in urban and open areas, respectively. In addition, it has good vertically polarized radiation for long-distance applications.

Insulator defect detection is of great significance to compromise the stability of the power transmission line. The state-of-the-art network of object detection, YOLOv5, has been widely used on insulator and defect detection. However, YOLOv5 network has some limitations like poor detection rate and high computational loads in detecting small insulator defects. To solve these problems, we proposed a light-weight network for insulator and defect detection. In this network, we introduced Ghost module into YOLOv5 backbone and neck to reduce the parameters and model size to enhance the performance in unmanned aerial vehicles (UAVs). Besides, we added small object detection anchors and layers for small defect detection. In addition, we optimized the backbone of YOLOv5 by applying convolutional block attention module (CBAM) to focus on critical information for insulator and defect detection and suppress uncritical information. The experiment result shows the mean average precision (mAP) 0.5 and the mAP0.5:0.95 of our model can reach 99.4% and 91.7%, the parameters and model weight are reduced to 3807372 and 8.79M, which can easily deploy to embedded devices like UAVs. And the speed of detection can reach 10.9ms/image, which can meet the real-time detection requirement.

This report elucidates the first surgical correction of an infundibular muscular ventricular septal defect (VSD) in a one-year-old Ragdoll cat via cardiac arrest using cardiopulmonary bypass, a method that is rarely used in feline cardiac surgery. VSDs can lead to congestive heart failure and pulmonary hypertension, particularly in patients with large shunts. This case involved a VSD that was atypically located and classified under the Soto classification instead of the standard Kirklin classification. Detailed echocardiography revealed that the defect required intervention owing to left heart and main pulmonary artery enlargement. Despite the VSD being located on the contralateral side, as anticipated in the preoperative examinations, the choice of median sternotomy allowed for successful closure of the defect. Conversely, the insertion of two cannulas into the ascending aorta resulted in damage to the adjacent thoracic duct, causing transient chylothorax, which resolved with conservative treatment. Cardiac arrest induced by a cardioplegic solution facilitated the surgical procedure, although it has led to anemia in cats. However, on postoperative day 490, the patient exhibited only minor residual shunting with normalized heart size, and remained healthy. This technique appears to be a viable treatment option for congenital heart disease in cats.

Road cracks significantly affect the serviceability and safety of roadways, especially in mountainous terrain. Traditional inspection methods, such as manual detection, are excessively time-consuming, labor-intensive, and inefficient. Additionally, multi-function detection vehicles equipped with various sensors are expensive and not suitable for mountainous roads due to poor conditions. To address these challenges, this study proposes a customized Unmanned Aerial Vehicles (UAV) inspection system designed for automatic crack detection. The system focuses on enhancing autonomous capabilities in mountainous terrains by incorporating embedded algorithms for route planning, autonomous navigation, and automatic crack detection. The slide window method is proposed to enhance the autonomous navigation of UAV flights by generating path planning in mountainous roads. This method compensates for GPS/IMU positioning errors, particularly in GPS-denied or GPS-drift scenarios. Moreover, the YOLOv8 algorithm is introduced to conduct autonomous crack detection from UAV imagery in the offboard module. To validate our UAV inspection system's performance, we conducted several experiments to assess its accuracy, robustness, and efficiency. The experimental results demonstrate that our UAS inspection system accurately estimates the flight trajectory along the mountainous road for autonomous navigation. Furthermore, the experimental detection results also demonstrate that the YOLOv8 algorithm achieves higher recognition accuracy compared to the YOLOv5, and YOLOv7-tiny algorithms, exceeding 3.1%,and 6.8% of mAP, respectively. In summary, the UAV inspection system proposed in this study can provide a useful tool and technological guidance for the regular inspection of mountainous roads.

The trigeminal nerve is responsible for innervating the periorbita. Ultrasound-guided trigeminal block is employed in humans for trigeminal neuralgia or periorbital surgery. There are no studies evaluating this block in dogs. This study aims to evaluate and compare two approaches (coronoid and temporal) of the trigeminal nerve block. We hypothesized superior staining with the coronoid approach. Thirteen dog heads were used. After a preliminary anatomical study, two ultrasound-guided injections per head (right and left, coronoid and temporal approach, randomly assigned), with an injectate volume of 0.15 mL cm-1 of cranial length were performed (iodate contrast and tissue dye mixture). The ultrasound probe was placed over the temporal region, visualizing the pterygopalatine fossa. For the temporal approach, the needle was advanced from the medial aspect of the temporal region in a dorsoventral direction. For the coronoid approach, it was advanced ventral to the zygomatic arch in a lateromedial direction. CT scans and dissections were conducted to assess and compare the position of the needle, spread of injectate, and nerve staining. No significant differences were found. Both approaches demonstrated effective interfascial distribution of injectate, with some minimal intracranial spread. Although the coronoid approach did not yield superior staining as hypothesized, it presents a viable alternative to the temporal approach. Studies in live animals are warranted to evaluate clinical efficacy and safety.

Traditional photodynamic therapy (PDT), a clinical cancer therapeutic approach using light in killing cancer cells, is often limited by insufficient light penetration, inefficient photosensitizer energy transfer, and inadequate oxygen in hypoxic tumors. Employing X-ray to activate photosensitizer in PDT can potentially overcome these limitations. Here, we compared protocols to synthesize a novel nano-photosensitizer composed of a europium-doped yttrium oxide core with a silica shell (Y₂O₃:Eu@SiO₂) which can be utilized in such therapeutic method, i.e., X-ray activated PDT (XPDT). Transmission electron microscopy (TEM) and dihydroethidium (DHE) were utilized to evaluate the effects of various synthesis conditions on the characteristics of Y₂O₃:Eu@SiO₂ and their ability to generate reactive oxygen species (ROS). The in vivo tumor suppression effects of the Y₂O₃:Eu@SiO₂ were assessed by ¹⁸F-fluorothymidine position emission tomography (¹⁸F-FLT PET) in human ovarian cancer xenografts using radiation sensitive CAOV3 and radiation resistant SKOV3 cell lines. Our data revealed a positive correlation between nanoparticle condensation time and core size as well as a negative correlation between urea concentrations and core size. Addition of cetyltrimethylammonium bromide (CTAB) during core synthesis enhanced particle dispersion. Two silica coating conditions showed the greatest efficiency in the enhancement of ROS generation. Furthermore, our in vivo study revealed suppression of tumor growth by Y₂O₃:Eu@SiO₂ administration when compared to non-treated control. Silica shell provides flexibility to conjugate moieties that specifically target to cancers. This nano-photosensitizer demonstrates the significant promise for overcoming limitations of conventional PDT and combating various cancers in clinical applications.

We propose a novel unsupervised semantic segmentation method for fast and accurate flood area detection utilizing color images acquired from Unmanned Aerial Vehicles (UAVs). To the best of our knowledge, this is the first fully unsupervised method for flood area segmentation in color images captured by UAVs, without the need of pre-disaster images. The proposed framework addresses the problem of flood segmentation based on parameter-free calculated masks and unsupervised image analysis techniques. First, a fully unsupervised algorithm gradually excludes areas classified as non-flood utilizing calculated masks over each component of the LAB colorspace, as well an RGB vegetation index and the detected edges of the original image. Unsupervised image analysis techniques, such as distance transform, are then applied, producing a probability map for the location of flooded areas. Finally, flood detection is obtained by applying the hysteresis thresholding segmentation. The proposed method is tested and compared with variations, and other supervised methods in two public datasets, consisting of 953 color images in total, yielding high-performance results, with 87.4% and 80.9% overall accuracy and F1-Score, respectively. The results and computational efficiency of the proposed method show that it is suitable for on board data execution and decision-making during UAVs flight.

Use of local anesthesia at the time of ring castration and tail docking can improve lamb welfare. However, few local anesthetics are registered for sheep, and data on their duration of effect is limited. Three studies were conducted to evaluate the efficacy of procaine (P), lidocaine (L) and bupivacaine (B) in terms of observed alleviation of behavioral responses to castration and/or tail docking in 10-min blocks in the first 60 min post treatment. In each study, comparisons were made between two groups of lambs castrated and/or tail docked with rubber rings and either receiving the agent using the NUMNUTS® instrument (N) or receiving no anesthetic agent (RR). Acute pain behavior was lower in NL (n = 28) than RRL (n = 15) males in the first 10 min post procedure (P < 0.05); lower in NB (n = 16) than RRB (n = 16) males in periods 10-20 min (0.05 < P < 0.01), 20-30 min (P < 0.05) and 40-50 min (0.05 < P < 0.01); lower in NB (n = 16) than RRB (n = 16) females between 20 and 40 min post-procedure (0.05 < P < 0.01); lower in NP (n = 8) than RRP (n = 7) males in period 10-20 min (0.05 < P < 0.01), and lower in NP (n = 9) than RRP (n = 9) females in periods 0-10 min (0.05 < P < 0.01), and 10-40 min (P < 0.05). Analgesic benefits were modest, and the effects of procaine appear to last longer than lidocaine, while bupivacaine is slower to take effect than either procaine or lidocaine but may provide longer lasting analgesia. The duration of action of local anesthetics is short in sheep, and detailed behavioral evaluations are required in the first hour post procedure to establish efficacy.

Abstract In order to solve the problem that it is difficult to obtain the accurate trigger signal moment when using the time difference of UAV flight acoustic signals collected by acoustic sensors arranged in advance to locate the position of UAVs when they cannot be tracked by radar and are difficult to be observed by the human eye, an acoustic source localisation method with improved empirical modal decomposition (REMD) under an adaptive frequency window is proposed. Firstly, the collected UAV flight signals are smoothed and filtered, then the robust empirical modal decomposition (REMD) is used for IMF modal decomposition and spectral analysis of the collected signals, and a panning frequency window with variable bandwidth is introduced for corresponding frequency locking and extracting the IMFs; the GWO optimisation is used and the sliding metrics are set to determine the position of the panning frequency window automatically; finally, the extracted Finally, the extracted IMF components are reconstructed according to the criterion, and the trigger signal moments in the reconstructed IMF components are resolved and recorded, and the algorithm is used to calculate the difference between the reception moments of different sensors; for the traditional sound source localisation algorithms with a small detection range, which are prone to fall into the no-solution or false-solution, i.e., unable to achieve the localisation, a weighted least-squares-based Chan-Taylor algorithm is proposed for the localisation computation, and a weighted least-squares algorithm is proposed for the localisation computation, through the Inputting the sensor delay parameter and solving the linear equation system to get the target position information; finally, this paper verifies the robustness and performance of the design method with simulated and actual signals. The results show that the maximum positioning error is no more than 5% in an area with a side length of 15m in the measurement area. With the improved accuracy of time delay estimation, the positioning simulation results meet the positioning requirements even though the positioning error is further expanded when the measurement area is further expanded.

Rapid and accurate detection of road cracks is of great significance for road health monitoring, but currently this work is mainly completed through manual site surveys. Low-altitude UAV remote sensing can obtain images with centimeter or even subcentimeter ground resolution, which provides a new efficient and economical approach for rapid crack detection. Nevertheless, crack detection networks face challenges such as edge blurring and misidentification due to the heterogeneity of road cracks and the complexity of the background. To address these issues, we propose a real-time edge reconstruction crack detection network (ERNet) which adopts multi-level information aggregation to reconstruct crack edges and improve the accuracy of segmentation between the target and background. To capture global dependencies across spatial and channel levels, we propose an efficient bilateral decomposed convolutional attention module (BDAM) that combines depth separable convolution and dilated convolution to capture global dependencies across spatial and channel levels. To enhance the accuracy of crack detection, we use a coordinate-based fusion module that integrates spatial, semantic, and edge reconstruction information. In addition, we propose an automatic measurement of crack information for extracting the crack trunk and its corresponding length and width. Experimental results demonstrate that our network achieves the best balance between accuracy and inference speed.

Abstract: In this paper we describe how the administration of drone brood homoge-nate (DBH) influenced intestinal secretion of IgA, MUC-2, morphometric parameters, peripheral blood values, and expression of cytokines. A total of 12 pigs were divided into three groups, two experimental, first fed with 100 mg DBH.kg-1 (E1), second with 200 mg DBH.kg-1 (E2) of body weight, and a control (C) group without DBH in the di-et. Animals didn't show significant changes in average weight gains and feed conver-sion among evaluated groups. Feeding a diet containing 200 mg DBH.kg-1 of body weight in the E2 group produced an increase (p < 0.05) in the red cell distribution width, the percentage of metabolic activity of blood phagocytes in the peripheral blood, as well as splenic cell subpopulations CD4+ and CD21+. The villi height and their cutting surface were increased in the E2 group (p < 0.01), together with a gradual decrease in the concentration of MUC-2 and sIgA (p < 0.001). Upregulation of IL-8 (p < 0.0001), IL-10 (p < 0.05), and IL-18 (p < 0.001) was found mainly in E2 group. Results suggest, that supplementation of DBH in the feed of pigs formed optimal intestinal homeostasis.drone

Unmanned aerial vehicles (UAVs) have increasingly become integral to multi-access edge computing (MEC) due to their flexibility and cost-effectiveness, especially in the B5G and 6G eras. This paper aims to enhance the Quality of Experience (QoE) in large-scale UAV-MEC networks by minimizing the shrinkage ratio through optimal decision-making in computation mode selection for each user device (UD), UAV flight trajectory, bandwidth allocation, and computing resource allocation at edge servers. However, the interdependencies among UAV trajectory, binary task offloading mode, and computing/network resource allocation across numerous IoT nodes pose significant challenges. To address these challenges, we formulate the shrinkage ratio minimization problem as a mixed-integer nonlinear programming (MINLP) problem and propose a two-tier optimization strategy. To reduce the scale of the optimization problem, we first design a low-complexity UAV partition coverage algorithm based on the Welzl method and determine the UAV flight trajectory by solving a Traveling Salesman Problem (TSP). Subsequently, we develop a coordinate descent (CD) based method and an alternating direction method of multipliers (ADMM) based method for network bandwidth and computing resource allocation in the MEC system. The CD-based method is simple to implement and has a low computational complexity, while the ADMM-based method can further enhance the optimization result through joint optimization. Extensive simulations demonstrate that our proposed algorithms perform well in large-scale edge networks and outperform other representative benchmark methods.

Small peptides (SPs), ranging from 5 to 100 amino acids, play integral roles in plants due to their diverse functions. Despite their low abundance and small molecular weight, SPs intricately regulate critical aspects of plant life, including cell division, growth, differentiation, flowering, fruiting, maturation, and stress responses. As vital mediators of intercellular signaling, SPs have garnered significant attention in plant biology research. This comprehensive review delves into SPs' structure, classification, and identification, providing a detailed understanding of their significance. Additionally, we summarize recent findings on the biological functions and signaling pathways of prominent SPs that regulate plant growth and development. The review also offers a forward-looking perspective on future research directions in peptide signaling pathways.

Precise monitoring of individual crop growth and health status is crucial for precision agriculture practices. However, traditional manual inspection methods are time-consuming, labor-intensive, and often lack the spatial resolution required for detailed analysis. This research addresses the need for efficient and high-resolution crop monitoring by leveraging Unmanned Aerial Vehicle (UAV) imagery and advanced computational techniques. The primary objective was to develop a methodology for precise identification, extraction, and monitoring of individual corn crops throughout their growth cycle. This was achieved by integrating UAV-derived data with image processing, computational geometry, and machine learning techniques. UAV imagery was ac-quired bi-weekly at altitudes of 40m and 70m, capturing the entire growth cycle of a corn crop from planting to harvest. A time-series Canopy Height Model (CHM) was generated by analyzing the differences between the Digital Terrain Model (DTM) and the Digital Surface Model (DSM) derived from the UAV data. Local spatial analysis and image processing techniques were em-ployed to determine the local maximum height of each crop. Subsequently, a Voronoi data model was developed to delineate individual crop canopies, successfully identifying 13,000 out of 13,050 corn crops in the study area. For enhanced accuracy in canopy size delineation, vegetation indices were incorporated into the Voronoi model segmentation, refining the initial canopy area esti-mates by eliminating interference from soil and shadows. The proposed methodology enables precise estimation and monitoring of crop canopy size, height, biomass reduction, lodging, and stunted growth over time, providing valuable insights for precision agriculture practices. This work contributes to the scientific community by demonstrating the potential of integrating UAV technology, computational geometry, and machine learning for accurate and efficient crop mon-itoring at the individual plant level.

Water scarcity is a worldwide concern, considering that water is a limited resource and essential for life. In Brazil, approximately 30% of its population lives in one of the areas that most suffer from lack of water, the semi-arid region covering about 20% of the country's territorial extension. The lack of water, mainly in the northeast of the country, has been a problem for years, where people who live in this territory have been suffering for months from the lack of water and the poor distribution of the resource, which increases the degree of inequality between the regions of the country. The research aims to show the effect of the hydrological cycle on the quality of vegetation and how such processing can end up affecting people's lives and the environment. The municipality of Floresta is within the scope of sub-basin 73, the territory is part of the municipalities benefited from the PISF- São Francisco River integration project works, and the study has raised discussion on the part of the scientific community regarding the effectiveness of the population project and the possible risks caused to the environment. This study carried out a temporal analysis, 1961-2021, to investigate water availability and how the hydrological system can affect society, raising the degree of its importance for a better quality of life and consequently reducing hydric inequalities. It was also evaluated how climate changes can interfere with these environmental changes and the quality of life at the local scale. The hydrological model system used to assess water availability was the Pernambuco Hydrological Response Units SUPer-System. In addition, this system helped to understand the changes that occurred in the studied sub-basin. Yet was used UAV-Unmanned Aerial Vehicles to view relationship between lives in house and environment conditions. The study can obtain accurate and necessary information to understand the dynamics of the hydrological system and the possible changes of social hydric inequalities. Thus, it is concluded that climate change will have different impacts on small scales and lives conditions due to different characteristic's environment. It is very important to carry out studies on a detailed scale to provide better public policies for mitigating the effects of climate change on people's lives.

Over the years, the need for autonomous systems such as drones, also known as unmanned aerial vehicles (UAVs), has significantly increased in popularity across several industries, including the military. The Internet of Battlefield Things (IoBT) represents a modern technological advancement that significantly enhances the operational efficacy of defense systems. It establishes an integrated military force by connecting individuals to intelligent technology in drones, radios, equipment, antennas and ground stations. This is achieved through the utilization of cloud and edge computing, sensors, mobile devices, embedded systems, and IoT-based systems. However, IoBT security is significantly compromised by enemies that exploit the vulnerabilities and malicious intrusions that specifically target the external environment or to obtain sensitive data. In addition, a comprehensive understanding of cyberattacks and countermeasures is essential for assuring the security of IoBT. On the other hand, as cyber threats get more complicated, trust becomes increasingly important for the security of digital systems. Within this context, the zero trust architecture contends that the security of a complex network is inherently vulnerable to internal and external threats. In defense, UAV security system applications, for example, the primary purpose of the zero trust architecture is to limit the vulnerability of military UAV systems to cyberattacks, hence reducing the possibility of data breaches and illegal entry. This study conducts a systematic review aimed at identifying different aspects of cybersecurity strategies for protecting UAV systems within the IoBT domain. Furthermore, zero trust architecture is presented in the study as an effective prospective solution to the security issues that develop in defense UAV systems.

The Hepatitis B virus, chronically infects over 240 million persons worldwide. The Hepatitis B vaccine is 90% effective in preventing perinatal transmission if the first dose is given within the first 24 hours of life followed by a minimum of 2 subsequent doses. In October 2021, Antigua and Barbuda, through it’s only public hospital - the Sir Lester Bird Medical Centre, instituted a hospital based Hepatitis B vaccine birth dose policy. Timely birth dose coverage was 72% and total birth dose coverage 81%. 10.5% of parents refused the hepatitis b – birth dose, of which 76% either felt uncomfortable or preferred to wait. 100% of babies born before arrival received timely vaccine administration, likewise 100% of Hepatitis B exposed babies were vaccinated, with 83% of them receiving the Hepatitis B Immunoglobulin. A maternal Hepatitis B surface antigen result was available for 90.4% of mothers. Barriers to timely birth dose administration included vaccination hesitancy, gaps in healthcare worker knowledge, and the consistent supply of Hepatitis B vaccine. Instituting a quality improvement team, health information system, robust educational efforts, and addressing barriers will make achieving the WHO programmatic targets of eliminating mother to child transmission of hepatitis B by 2030 possible.

Precision agriculture is a farm management technology that involves sensing and then responding to the observed variability in the field. Remote sensing is one of the tools of precision agriculture. The emergence of small unmanned aerial vehicles (sUAV) have paved the way to accessible remote sensing tools for farmers. This paper describes the comparison of two popular off-the-shelf sUAVs: 3DR Iris and DJI Phantom 2. Both units are equipped with a camera gimbal attached with a GoPro camera. The comparison of the two sUAV involves a hovering test and a rectilinear motion test. In the hovering test, the sUAV was allowed to hover over a known object and images were taken every second for two minutes. The position of the object in the images was measured and this was used to assess the stability of the sUAV while hovering. In the rectilinear test, the sUAV was allowed to follow a straight path and images of a lined track were acquired. The lines on the images were then measured on how accurate the sUAV followed the path. Results showed that both sUAV performed well in both the hovering test and the rectilinear motion test. This demonstrates that both sUAVs can be used for agricultural monitoring.

In this paper, we present a method for estimating GPS signals from visual information captured by a monocular camera mounted on a fixed-wing Unmanned Aerial Vehicle. The main challenge in visual odometry from aerial images is the computation of scale due to irregularities in the elevation of the terrain. That is, it is not possible to accurately convert from pixels in the image to meters in space, and the error accumulates. The contribution of this work is to reduce the accumulated error by comparing the images from the camera with satellite images. The algorithm has been tested in real-time experiments, and the results show that it is possible to eliminate the accumulated error using satellite images.

YOLOv8, as an efficient object detection method, can swiftly and precisely identify objects within images. However, traditional algorithms encounter difficulties when detecting small targets in remote sensing images, such as missing information, background noise, and interactions among multiple objects in complex scenes, which may affect performance. To tackle these challenges, we propose an enhanced algorithm optimized for detecting small objects in remote sensing images, named HP-YOLOv8. Firstly, we design the C2f-D-Mixer (C2f-DM) module as a replacement for the original C2f module. This module integrates both local and global information, significantly improving the ability to detect features of small objects. Secondly, we introduce a feature fusion technique based on attention mechanisms, named Bi-Level Routing Attention in Gated Feature Pyramid Network (BGFPN). This technique utilizes an efficient feature aggregation network and reparameterization technology to optimize information interaction between different scale feature maps, and through the Bi-level Routing Attention (BRA) mechanism, it effectively captures critical feature information of small target objects. Finally, we propose the Smooth Mean Perpendicular Distance Intersection over Union (SMPDIoU) loss function. The method comprehensively considers the shape and size of detection boxes, enhances the model's focus on the attributes of detection boxes and provides a more accurate bounding box regression loss calculation method. To demonstrate our approach's efficacy, we conduct comprehensive experiments across the RSOD, NWPU VHR-10, and VisDrone2019 datasets. The experimental results show that the HP-YOLOv8 achieves 95.11%, 93.05%, and 53.49% in the [email protected] metric, and 72.03%, 65.37%, and 38.91% in the more stringent [email protected]:0.95 metric, respectively.

Stallion mules have been used as working equids in several countries. Aggressiveness, under the influence of testosterone, resulted in the necessity for surgical castration before work training. The gonadotropin-releasing hormone (GnRH) vaccine may be an alternative method for immunocastration in mules. The objectives were to evaluate the effect of GnRH vaccine on anti-GnRH antibody production, serum testosterone level, clinical adverse effects, and behavior toward human manipulation. Twenty-five mules were separated into 3 groups: Control-intact, Control-castrated, and Treatment. Treatment was further divided into subgroups according to condition (intact or unilateral cryptorchid) and age. Treatment received 195 µg GnRH vaccine intramuscularly at week 0, 4, and 8. Anti-GnRH antibody increased at week 6 and 10, then gradually decreased to baseline at week 22. Treatment-intact-young had the highest anti-GnRH antibody, resulting in lower serum testosterone levels during week 2-6 and 12-16 compared to Control-intact. Subcutaneous edema adjacent to the injection site was detected only in Treatment-intact after booster vaccination. During week 6-22, the behavioral scores of Treatment significantly changed toward at ease with human contact compared to a score before vaccination. In conclusion, mules responded to GnRH vaccine, which could temporarily suppress testosterone for up to 16 weeks.

This article summarizes the results of a research conducted to create an intelligent platform supporting small farmers growing vegetables. In Bulgaria, many farmers use relatively small areas for their production. Considering this situation, the platform is designed for regional use, trying to make maximum use of the specific climatic features of the monitored microdistrict. Consequently, special attention is paid to the possibilities of adapting the platform to the specific environment in which the observed plants grow. Thus, the platform is implemented as an agent-oriented system providing needed flexibility. The core of the platform is a personal assistant, which is responsible for tracking the vegetation cycle of the monitored crop and, upon detection of anomalies, preparing warnings to the farmer. The general architecture of the platform is also presented. In a distributed knowledge base, agriculture-specific knowledge are stored. Furthermore, a standardized interface for receiving data from the sensor networks located in the production areas is briefly described. Currently, the platform is being tested for monitoring four varieties of tomatoes grown on the territory of the national research center for potato breeding. Special attention is paid to the measurements carried out. Conclusions have been drawn that will help improve the platform.

Statistical denoising techniques have been well studied, however many challenges still remain. This 9 article focuses on determining the least necessary number of significant samples in a statistical pop-10 ulation sampling, while minimizing the impact on the statistical detection of the fiber Bragg grating 11 (FBG) power spectra. This is achieved by using Bayesian decision making, small population statis-12 tics while excluding false detection. First, we investigate the impact of two-sided sliding window 13 technique applied near the cell under the test. The window size varies from 8 to 60 samples. The 14 considered maximum size of population sampling is connected with the number of wavelength 15 samples within the bandwidth of the symmetrical FBG power spectra peaks. Regarding the sym-16 metry of FBG power spectra peaks and the possible reduction of computational demands, we inves-17 tigate the impact of a one-sided sliding window. This enables to achieve less processing latency for 18 real time applications thus brings benefits to FBG-based fiber optical sensing. Both, two- and one-19 sided small population sampling techniques are then experimentally verified. Detection results are 20 analyzed in depth via calculating detection thresholds by using the small size window sliding along-21 side the waveband. From results achieved, it was found that the normality three-sigma rule does 22 not need to be followed while using the small population sampling. Experimental demonstrations 23 and analyses showed that the proposed concept of denoising and statistical threshold detection 24 based on the sliding window does not depend on the prior knowledge of probability distribution 25 functions of the FBG power spectra peaks level and background noise. We have also found that the 26 thresholds’ adaptability mainly depends on the statistical numerical characteristics of the above ad-27 ditive mixture of the FBG power spectra peaks signals and background noise.

This paper presents a system for identification of wind features, such as gusts and wind shear. These are of particular interest in the context of energy-efficient navigation of Small Unmanned Aerial Systems (UAS). The proposed system generates real-time wind vector estimates and a novel algorithm to generate wind field predictions. Estimations are based on the integration of an off-the-shelf navigation system and airspeed readings in a so-called direct approach. Wind predictions use atmospheric models to characterize the wind field with different statistical analyses. During the prediction stage, the system is able to incorporate, in a big-data approach, wind measurements from previous flights in order to enhance the approximations. Wind estimates are classified and fitted into a Weibull probability density function. A Genetic Algorithm (GA) is utilized to determine the shaping and scale parameters of the distribution, which are employed to determine the most probable wind speed at a certain position. The system uses this information to characterize a wind shear or a discrete gust and also utilizes a Gaussian Process regression to characterize continuous gusts. The knowledge of the wind features is crucial for computing energy-efficient trajectories with low cost and payload. Therefore, the system provides a solution that does not require any additional sensors. The system architecture presents a modular decentralized approach, in which the main parts of the system are separated in modules and the exchange of information is managed by a communication handler to enhance upgradeability and maintainability. Validation is done providing preliminary results of both simulations and Software-In-The-Loop testing. Telemetry data collected from real flights, performed in the Seville Metropolitan Area in Andalusia (Spain), was used for testing. Results show that wind estimation and predictions can be calculated at 1 Hz and a wind map can be updated at 0.4 Hz. Predictions show a convergence time with a 95% confidence interval of approximately 30 s.

Field of ResearchThis research study investigates the role of distributed leadership and culture within small enterprises in Malta, an area in which there has been very limited research. It focuses on the interaction between these two elements and their impact on organizational behaviour and effectiveness. Several studies (Jardon et al 2019; Cope et al., 2011; de Oliveira et al., 2015; Mohanty et al., 2012;) suggest that effective leadership and culture are vital elements in the successful endeavours of small organizations. Schein (2006) further asserts that they are two different faces on the same coin and the dyadic interaction characterizes “how leaders create culture and how culture defines and creates leaders”. Distributed Leadership is a systematic practice of interactions and synergies between leaders, followers, and the situation (Spillane 2013). It is different from traditional leadership, which involves top-down management because it tends to be more democratic and participatory, whereby influence and decision-making are shared among multiple individuals rather than being controlled by a single leader. (Xhemajli et al. 2022) MethodologyAdopting a naturalistic approach and guided by an interpretivist, constructivist epistemological stance, this research delves into the intricate interplay between leadership and culture within small businesses. The chosen research methodology employs Grounded Theory, recognized for its robust and systematic process facilitating the observation of patterns through intensive iterative and highly analytical procedures (Charmaz, 2015).In the initial stages of field research, characterized by 'responsive interviewing' (Rubin and Rubin, 2012), data sampling commenced with convenience sampling. This initial phase gradually evolved into a refined strategy incorporating selective sampling and theoretical sampling (Corbin and Strauss, 2015). The shift in sampling approaches reflects a deliberate focus on collecting data based on its specific contribution to the development and comprehension of the dimensions, properties, and characteristics of key concepts.The induction of theory is a product of successive comparative analyses, involving the systematic comparison of data points to identify both similarities and variations. Abductive reasoning is integral throughout the analytical process, with particular emphasis during constant comparative analysis of categories, leading to theoretical integration (Charmaz, 2006). This meticulous approach aligns with the assertion of Strauss and Corbin (2015) that grounding theory in data enhances the likelihood of deriving theories that authentically reflect reality.The key advantage of using this approach is that the analysis carried out goes beyond deep exploration and rich description and actually develops a framework that explains the phenomena observed (Parker and Roffey, 1997, p.218). This is very important if the findings are to contribute to the knowledge enhancement of any field of practiceThe culmination of this research effort is the presentation of a set of interconnected concepts, intricately woven together into an emergent parsimonious model (Corbin and Strauss, 2015). This model serves to explain the dynamic interplay between leadership and culture, elucidating its tangible impact on the effectiveness of small enterprises. Research Contribution:Implications for PracticeThis research contributes to the literature on leadership and organizational culture in small enterprises, particularly in the context of Malta where such studies are scarce. By providing an initial exploration of these phenomena and their impact on organizational behavior, this paper lays the groundwork for further inquiry into this important area. Furthermore, the study offers practical insights for leaders of small enterprises by elucidating leadership behaviors observed in established organizations. Through applied cases, it demonstrates how the abstract concept of culture can be translated into a practical instrument that supports leadership and organizational development. This not only enriches the understanding of leadership dynamics but also provides tangible strategies for implementation. Moreover, the research contributes empirical evidence on the development of leadership functions within small enterprises, emphasizing the potential of shared and distributed leadership models. By grounding its findings in data, the study equips leaders with a deeper understanding of how these leadership approaches can shape organizational development, fostering more effective management practices in small businesses. Methodologically, the adoption of Grounded Theory methodology showcases its efficacy in exploring complex management phenomena. By employing this approach, the researchers were able to gather rich descriptions and develop an explanatory framework, highlighting its applicability in studying nuanced organizational dynamics. Implications for Policy and TheoryThis research also holds significant implications for policymakers, academic researchers and institutions involved in supporting small businesses. By providing insights into distributed leadership and cultural influences on organizational effectiveness, it offers a basis for informed policy formulation and support mechanisms. The conceptual model emerging from this study serves as a foundation for designing more targeted policies that cater to the unique needs of small enterprises. By understanding the intricacies of leadership dynamics and cultural contexts, policymakers can develop interventions that foster a conducive environment for small business growth and sustainability. Additionally, academic researchers can use these findings to further refine theoretical frameworks and empirical studies in the field, contributing to ongoing scholarly dialogue and knowledge advancement.

Brucellosis is a zoonoses caused by bacteria of the genus Brucella, which causes economic losses in livestock and threatens public health. A cross-sectional study was conducted to determine the prevalence of Brucella species and risk factors in smallholder dairy cattle in six regions of Tanzania from July 2019 to October 2020. Dairy cattle (n=2048) were sampled from 1371 farms. DNA ex-tracted from blood and vaginal swabs was tested for Brucella using qPCR targeting the IS711 gene and positives were tested for the alkB marker for B. abortus and BMEI1172 marker for B. melitensis. The molecular prevalence was 3.5% (95% CI: 2.8-4.4) with the highest prevalence 8.1% (95%CI: 4.6-13.0) in Njombe region. B. melitensis was the predominant species detected (66.2%). Logistic regression revealed PCR positivity in dairy cattle was higher in the animals with a history of abortion (OR: 3.17, 95%CI: 1.05-9.62) and farms without dogs around (OR: 2.68, 95%CI: 1.12-5.90). Further studies are recommended to understand the source of B. melitensis and the implications to veterinary public health. Livestock keepers should be informed of the risks and biosecurity practices to reduce introduction and control Brucella. Cattle and small ruminant vaccination pro-grams could be implemented to control brucellosis in high-risk populations in the country.

Accurate forecasting of crop yields holds paramount importance in guiding decision-making processes related to breeding efforts. This study focused on the application of multi-sensor data fusion and machine learning algorithms based on unmanned aerial vehicles (UAVs) in wheat yield prediction. Five machine learning (ML) algorithms namely random forest (RF), partial least squares (PLS), ridge regression (RR), K-Nearest Neighbor (KNN) and eXtreme Gradient Boosting Decision Tree (XGboost) were utilized for multi-sensor data fusion, and three ensemble methods including the second-level ensemble methods (stacking and feature-weighted) and the third-level ensemble method (simple average) for wheat yield prediction. The 270 wheat hybrids were used as planting materials under full and limited irrigation treatments. A cost-effective multi-sensor UAV platform, equipped with red–green–blue (RGB), multispectral (MS), and thermal infrared (TIR) sensors, was utilized to gather remote sensing data. The results revealed that the XGboost algorithm exhibited outstanding performance in multi-sensor data fusion, with the RGB+MS+Texture+TIR combination demonstrating the highest fusion performance (R2=0.660, RMSE= 0.754). Compared with the single ML model, the employment of three ensemble methods significantly enhanced the prediction accuracy of wheat yield. Notably, the third-layer simple average ensemble method demonstrated superior performance (R2 = 0.733, RMSE= 0.668 t ha-1). It significantly outperformed both the second-layer ensemble methods of Stacking (R2= 0.668, RMSE= 0.673 t ha-1) and feature-weighted (R2= 0.667, RMSE= 0.674 t ha-1), thereby exhibiting superior predictive capabilities. This finding demonstrated that the third-layer ensemble method not only augments the predictive ability of the model but also fine-tuned the accuracy of wheat yield prediction through the employment of simple average ensemble learning. Consequently, it offers a novel perspective for crop yield prediction and breeding selection.

One of the major concerns in structural health management (SHM) is the early detection of a growing crack. Using this, future damage due to crack propagation can be mitigated or eliminated by implementing proper repair and maintenance. Acoustic Emission (AE) is a non-destructive testing (NDT) method with potential applications for locating and monitoring fatigue cracks. The research presented in this paper focuses on SHM using AE. A novel AE signal analysis approach was proposed in order to detect crack initiation and assess small crack lengths. Experimental investigation indicated that initiation of a crack could be identified through the statistical analysis of the resulting features of the AE signals. A probabilistic AE-based model for small fatigue crack sizing was developed and the uncertainties of the model were estimated. In addition, a probabilistic model validation approach was implemented to confirm accurate estimation of the results. The outcome of this research can be used to evaluate the integrity of structures under fatigue loading. The proposed approach can also be applied as an approach to manage health and assess prognosis of structures.

In recent years, unmanned aerial vehicles (UAVs) have become a valuable platform for many applications, including communication networks. UAV-enabled wireless communication faces challenges in complex urban and dynamic environments. UAVs can suffer from power limitations and path losses caused by non-line-of-sight connections, which may hamper better communication performance. To address these issues, reconfigurable intelligent surfaces (RIS) have been proposed as a helpful tool to enhance UAV communication networks. However, due to the high mobility of UAV, complex channel environments, and dynamic RIS configurations, it is challenging to estimate the link quality of ground users. In this paper, we propose a link quality estimation model using a gated recurrent unit (GRU) to assess the link quality of ground users for a multi-user RIS-assisted UAV-enabled wireless communication system. Our proposed framework uses a time series of user channel data and RIS phase shift information to estimate the quality of the link for each ground user. Simulation results showed that the proposed GRU model effectively and accurately estimates the link quality of the ground users in the RIS-assisted UAV-enabled wireless communication network.

Idiopathic pulmonary fibrosis [IPF] is a chronic progressive disease characterised by the accumulation of scar tissue in the lung parenchyma. It primarily occurs in middle-aged and elderly adults and results in significant morbidity and mortality worldwide. The disease occurs due to repetitive lung epithelial injury, subsequent fibroblast activation and myofibroblast differentiation, resulting in excessive extracellular matrix deposition. This leads to scar formation and subsequent loss of lung function. Current treatment options for patients with IPF include the two anti-fibrotic drugs, pirfenidone and nintedanib, which can slow disease progression; however, there are currently no known cures for the disease. As such, novel methods and drug targets are warranted. In this review, we provide an up-to-date account of the importance of specific cytokines and the potential role of regulatory immune cells. We discuss their role in the pathogenesis of IPF and address some of the key gaps in knowledge.

Direct and indirect effects after mine operations cease must ideally be subject to perpetual monitoring routines in order to detect possible risks or avoid adverse effects on the surrounding ecosystems at an early stage. In this contribution, mining subsidence lakes created inside the nature reserve Kirchheller Heide and Hilsfeld Forest are subjected to analysis for a long-term monitoring scheme. For this purpose, we employ high-resolution unmanned aerial system (UAS)-based multispectral and thermal mapping tools to provide a fast, non-invasive and multitemporal environmental monitoring method. Specifically, we propose to monitor vegetation evolution through multispectral analysis, biotypes identification using machine learning algorithms, and water surface extent detection, together with their thermal behavior. The aim of this contribution is to present the proposed workflow and first results to establish a baseline for future analyses and subsequent surveys for longterm multi-temporal monitoring

In this paper, a new relay system that uses the UAV as a relay station between the tethered UAV and ground user (TU2U2G) is proposed. The TU2U2G system replaces the base station (BS) in the cellular system with a tethered UAV (TUAV). The TUAV is a UAV that receives power over a cable from a ground control station. It has advantages of high and variable altitude up to (100m) compared to BS. In addition, it overcomes the UAV drawback of the batteries' limited capacity. After that, a 3D placement Algorithm of the UAV as a relay station in the TU2U2G system is proposed. It is presented to maximize the coverage by jointly optimizing the transmitting power and relaying distance. The TU2U2G system shows better results than the traditional cellular system in terms of optimum UAV height, maximum coverage radius, and maximum distance between BS and UAV.

The article proposes to use a radio holography for the detection and identification of unmanned aerial vehicles (UAVs).

This paper present a platform for airborne sensor applications using low-cost, open-source components carried by an easy-to-fly unmanned aircraft vehicle (UAV). The system, available in open-source [1], is designed for researchers, students and makers for a broad range of their exploration and data-collection needs. The main contribution is the extensible architecture for modularized airborne sensor deployment and real-time data visualisation. Our open-source Android application provides data collection, flight path definition and map tools. Total cost of the system is below 800 dollars. The flexibility of the system are illustrated by mapping the location of Bluetooth beacons (iBeacons) on a ground field and by measuring water temperatures in a lake.

The rapid development of multicopters has led to many security problems. In order to prevent multicopters from invading restricted areas or famous buildings, an Anti-UAV Defense System (AUDS) has been developed and become a research topic of interest. Topics under research in relation to this include electromagnetic interference guns for unmanned aerial vehicles (UAVs), high-energy laser guns, US military net warheads, and AUDSs with net guns. However, these AUDSs use either manual aiming or expensive radar to track UAVs. This paper proposes a dual-axis rotary platform with UAV automatic tracking. The tracking platform uses visual image processing technology to track and lock the dynamic displacement of a UAV. When a target UAV is locked, the system uses a nine-axis attitude meter and laser rangefinders to measure its flight altitude and calculates its longitude and latitude coordinates through sphere coordinates to provide UAV monitoring for further defense or attack missions. Tracking tests of UAV flights in the air were carried out using a DJI MAVIC UAV at a height of 30 meters to 100 meters. It was set up for UAV image capture and visual recognition for tracking under various weather conditions by a thermal imager and a full-color camera respectively. When there was no cloud during the daytime, the images captured by the thermal imager and full-color camera provide a high-quality image recognition result. However, under dark weather, black clouds will emit radiant energy and seriously affect the capture of images by a thermal imager. When there is no cloud at night, the thermal imager performs well in UAV image capture. When the UAV is tracked and locked, the system can effectively obtain the flight altitude and longitude and latitude coordinate values.

Lung cancer (LC) continues to be an important public health problem being the most common form of cancer and a major cause of cancer deaths worldwide. Despite the great bulk of research to identify genetic susceptibility genes by genome-wide association studies, only few loci associated to nicotine dependence have been consistently replicated. Our previously published study in few phenotypically discordant sib-pairs identified a combination of germline truncating mutations in known cancer susceptibility genes in never smoker early-onset LC patient does not present in their healthy sib. These results firstly demonstrated the presence of an oligogenic combination of disrupted cancer predisposing genes in non-smokers patients, giving experimental support to a model of a “private genetic epidemiology”. Here, we used a combination of whole-exome and RNA sequencing coupled with a discordant sib’s model in a novel cohort of pairs of never-smokers early-onset LC patients and in their healthy sibs used as controls. We selected rare germline variants predicted as deleterious by CADD and SVM bio-informatics tools and absent in the healthy sib. Overall, we identified an average of 200 variants per patient, about 10 of which in cancer predisposing genes. In most of them, RNA sequencing data reinforced the pathogenic role of the identified variants showing: i) downregulation in LC tissue (indicating “second hit” in tumor suppressor genes); ii) upregulation in cancer tissue (likely oncogene); iii) downregulation in both normal and cancer tissue (indicating transcript instability). The combination of the two techniques demonstrates that each patient has an average of six (with a range from four to eight) private mutations with functional effect in tumor predisposing genes. The presence of a unique combination of disrupting events in the affected subjects may explain the absence of familial clustering of non-small cell lung cancer. In conclusion, these findings indicate that each patient has his/her own “predisposing signature” to cancer development and suggest the use of personalized therapeutic strategies in lung cancer.

Severe inherited alpha-1 antitrypsin deficiency (AATD) is an autosomal genetic condition linked to chronic obstructive pulmonary disease (COPD). The significance of heterozygous, milder deficiency variants (Pi*M, Pi*S, Pi*Z) is less clear. We studied AATD genotypes in 145 children (up to 72 months old) with assessed wheezing severity using the Pediatric Respiratory Assessment Measure (BCCH PRAM score). A control group of 74 children without airway obstruction was included. AAT concentration and Pi phenotype were determined from dry blood spot samples using nephelometry and real-time PCR; PiS and PiZ alleles were identified by isoelectrofocusing. Among the wheezers, the Pi*S allele incidence was 2.07% (3 cases) and Pi*Z allele was 6.9% (10 cases). The Pi*Z allele frequency was higher in wheezers compared to controls (44.8% vs. 20.27%) and the general Lithuanian population (44.8% vs. 13.6%) and was similar to adult COPD patients in Lithuania: Pi*S 10.3% vs. 15.8% and Pi*Z 44.8% vs. 46.1%. No association was found between AAT genotypes and wheezing severity. Finding that wheezer children exhibit a frequency of Z* and S* alleles like that found in adults with COPD suggests a potential genetic predisposition that links early wheezing in children to the development of COPD in adulthood. Larger cohort studies are needed to confirm this finding.

Questions：SAP in mountainous cities of China serve as crucial carriers for species and wild food, constituting potential green infrastructure. These patches should be recognized as locally specific resources. This study investigates the transformation characteristics of the landscape patterns of SAP, along with their elements, across urban-rural gradients, providing foundational support for the planning of conservation and utilization strategies. Location: Yongchuan area of Chongqing in southwest China. Methods: The study investigated urban-rural gradient-based transformation of SAP. A four-direction transect space was selected and divided into uniform sample squares. Fragstats 4.3 calculated the landscape index of SAP, and Spearman correlation coefficients in SPSS were used to evaluate the influence of landform and artificial factors on agroforestry patch transformation. Results: 1) Patch area (PA), Plaque density (PD), and CLUMPY of SAP systematically transform, showing increased SAP areas and higher connectivity with greater distance from the city, resulting in reduced patch fragmentation. However, Edge density (ED) and Largest plaque index (LPI) exhibit irregular transformation patterns. 2) With increased distance from the city, woodland patch area and connectivity increase, leading to decreased fragmentation, dispersal, and lower fractal dimensions. Conversely, Cultivated land follows the opposite trend. garden land patch area, fractal dimension, fragmentation, and dispersal all increase, while connectivity decreases. 3) Landscape pattern transformations of SPA are significantly influenced by artificial factors. Woodland patches are influenced similarly by landform and artificial factors. In contrast, cultivated land and garden land patches are more significantly impacted by artificial factors. Conclusions: SAP exhibit differentiated conservation and utilization measures across urban-rural gradients. Small patches located far from urban centers may benefit from systematic conservation measures to prevent further fragmentation and erosion in peri-urban areas.

Unmanned Aerial vehicles (UAVs) can transmit critical Intelligence, surveillance, and reconnaissance data right from drones when operators need real-time access to information and find it hard to wait for the return of aircraft. Artificial satellites are applied in offering communication links between different points on earth. Satellite communication can be helpful in telecommunication systems globally. SATCOM is the data and voice service that allows aircraft to communicate using satellite using air traffic control and airline operations centers at high-frequency stations and when covering the conventional ground radar. Unmanned Aerial Vehicles Satcom are applied in different aspects of real-life applications like traffic monitoring, play load delivery, surveillance, and seemingly dangerous areas. They can go where one cannot go and experience experiences that were never seen before. UAV Satcom is used when transmitting the ISR, Intelligence, and reconnaissance data right from drones, especially in situations in which the decision-makers need near real-time. All current signs show the exciting and bright future for using unmanned aerial vehicle Satcom technology. The future generations are projected to feature enhanced autonomy and improve safety standards. SATCOM can be the future communication link for UAVs. SATCOM is being used increasingly in surveys in the aftermath of any disaster.

Undernutrition and micronutrient deficiencies such as anemia are considered significant public health challenges in Bangladesh, which enhancing fish consumption is a well-established food-based intervention to address these. This paper documents the establishment of community-based fish chutney production and reports the impact of its consumption on mid-upper arm circumference (MUAC) and hemoglobin (Hb) levels among targeted 150 pregnant and lactating women (PLW) in rural Bangladesh. A fish chutney was developed using locally available ingredients followed by a series of laboratory tests, including nutrient composition, shelf-life and food safety. A community-based fish chutney production process was designed to: 1) supply locally available ingredients for processing; 2) establish two fish drying sites; 3) initiate a community-based production site, and 4) distribute fish chutney to PLW by six women nutrition field facilitators for one year. Then a pre- and post-intervention study was designed for a selected 150 PLW to receive 30g of fish chutney daily for 12 months. Differences in mean mid-upper arm circumference (MUAC) and hemoglobin (Hb) levels pre- and post-consumption were analyzed using one-way analysis of variance. Consumption of 30g of fish-chutney resulted in significant increases of the mean values of Hb levels and MUAC among the targeted PLW.

Bartonella species, intracellular parasitic zoonotic pathogens, has drawn increasing attention for their diverse host range and associated human diseases. This study investigates Bartonella infection in small mammals in Yunnan Province, China, focusing on tissue tropism. 333 small mammals were sampled from 13 species, 3 orders, 4 families, and 4 genera in Heqing and Gongshan Counties. Conventional PCR and real-time quantitative PCR (qPCR) were utilized for detection and quantification, followed by bioinformatic analysis of obtained DNA sequences. Results show a 31.5% detection rate, varying across species. Notably, Apodemus chevrieri, Eothenomys eleusis, Niviventer fulvescens, Rattus tanezumi, Episoriculus leucops, Anourosorex squamipes, and Ochotona Thibetana exhibited infection rates of 44.4%, 27.7%, 100.0%, 6.3%, 60.0%, 23.5%, and 22.2%, respectively. Genetic analysis identified 30, 10, and 5 strains based on ssrA, rpoB, and gltA genes, with nucleotide identities ranging from 92.1% to 100.0%. Bartonella strains were assigned to B. grahamii, B. rochalimae, B. sendai, B. koshimizu, B. phoceensis, B. taylorii, and a new species identified in the Episoriculus leucops (GS136). Tissue distribution analysis revealed varied copy numbers across different tissues, with the highest load in spleen. These findings underscore Bartonella's diverse species and host range in Yunnan Province, highlighting its broad tissue tropism in small mammals.

Distributed/semi-distributed models are considered to be sensitive to the spatial resolution of the data input. In this paper, we take a small catchment in high urbanized Yangtze River Delta, Qinhuai catchment as study area, to analyze the impact of spatial resolution of precipitation and the potential evapotranspiration (PET) on the long-term runoff and flood runoff process. The data source includes the TRMM precipitation data, FEWS download PET data, and the interpolated metrological station data. GIS/RS technique was used to collect and pre-process the geographical, precipitation and PET series, which were then served as the input of CREST (Coupled Routing and Excess Storage) model to simulate the runoff process. The results clearly showed that, the CREST model is applicable to the Qinhuai catchment; the spatial resolution of precipitation had strong influence on the modelled runoff results and the metrological precipitation data cannot be substituted by the TRMM data in small catchment; the CREST model was not sensitive to the spatial resolution of the PET data, while the estimation fourmula of the PET data was correlated with the model quality. This paper focused on the small urbanized catchment, suggesting the influential explanatory variables for the model performance, and providing reliable reference for the study in similar area.

Metabarcoding of prokaryotic and fungal ribosomal DNA was used to describe the microbial communities in soils of remnant equatorial rainforest, maize-bean intercrop, and sugarcane in western Kenya. Cropping systems influenced the microbial community composition and functional traits (energy source and nutrient cycling) of bulk soil in each crop. Microbial richness and diversity tended to increase with cultivation intensity. Soil of maize-bean intercrop had lower percentages and sugarcane had higher percentages of unique amplicon sequence variants of both bacteria and fungi compared to the remnant forest. Functional traits were altered by cultivation intensity. Compared to remnant forest soils, maize-bean intercrop soil had lower percentages of aerobic chemoheterotrophic bacteria and higher percentages of N-cycling bacteria, while sugarcane had higher percentages of aerobic chemoheterotrophic bacteria and lower percentages of N-cycling bacteria. In the face of increasing forest loss and pressures for agricultural productivity, this landscape provides a rich site for studying the impacts of cropping systems on soil health.

In response to the issues of sensor noise and accumulated motion errors that lead to low positioning accuracy and insufficient robustness during large maneuvers or continuous flight of small unmanned aerial vehicles (UAVs) in complex environments, this paper proposes a multi-source and multimodal data fusion method. Initially, it employs a multimodal data fusion of various sensors including GPS (Global Positioning System), IMU (Inertial Measurement Unit), and visual sensors to complement the strengths and weaknesses of each hardware component, thereby eliminating motion errors to enhance accuracy. To mitigate the impact of sudden changes in sensor data, the method introduces a digital twin UAV data source. By utilizing the Extended Kalman Filter algorithm, it fuses data from both the real UAV and its digital twin, and the filtered positional information is fed back into the control system of the real UAV. This enables real-time correction of UAV positional deviations caused by sensor noise and environmental disturbances. The multi-source multimodal fusion Kalman filter method proposed in this paper significantly improves the positioning accuracy of UAVs in complex scenarios and the overall stability of the system. This method holds significant value in maintaining high-precision positioning in variable environments and has important practical implications for enhancing UAV navigation and application efficiency.

Non-coding RNAs have been described as crucial regulators of gene expression and guards for cellular homeostasis. Some recent papers are focused on vault RNAs, one of the classes of non-coding RNA, and their role in cell proliferation, tumorigenesis, apoptosis, cancer response to therapy, and autophagy, which made them potential therapy targets in oncology. In the human genome, four vault RNA paralogues can be distinguished. They are associated with vault complexes, considered the largest ribonucleoprotein complex. The protein part of these complexes consists of a major vault protein (MVP) and two minor vault proteins (vPARP and TEP1). The name of the complex, as well as vault RNA, comes from the hollow barrel-shaped structure that reminds a vault. Their sequence and structure are highly evolutionary conserved and show many similarities in comparison with different species, but vault RNAs show various roles. Vaults were discovered in 1986, and their functions remained unclear for many years. Although not much is known about their contribution to cell metabolism, it has become clear that vault RNAs are involved in various processes and pathways associated with cancer progression and modulating cell functioning in normal and pathological stages. In this review, we discuss known functions of the human vault RNAs in the context of cellular metabolism, emphasizing processes related to cancer and cancer therapy efficacy.

Introduction: Atrial fibrillation (AF) is a common cardiac arrhythmia whose prevalence rises with age and is linked to increased morbidity and mortality due to the risk of thromboembolism. Management typically involves anticoagulation and rhythm control, but the treatment of elderly patients with multiple comorbidities requires careful consideration of drug side effects and interactions. Cibenzoline, a Vaughan-Williams class IA antiarrhythmic, is effective against AF but has risks of toxicity, especially in older people and those with renal impairment, due to its renal excretion and prolonged half-life in these populations. Discussion: This paper presents a case of an 80-year-old woman with paroxysmal AF who suffered cardiac arrest due to cibenzoline toxicity despite receiving standard adjusted dosages. The patient's cibenzoline blood concentration was significantly higher than the therapeutic range, leading to cardiotoxicity, which was exacerbated by drug interactions with bisoprolol and edoxaban, both metabolized by the CYP3A4 enzyme. Venoarterial extracorporeal membrane oxygenation (V-A ECMO) and intra-aortic balloon pump (IABP) successfully managed the cardiac arrest. This case emphasizes the unpredictable pharmacokinetics of cibenzoline in elderly patients with renal impairment and the need for vigilant therapeutic drug monitoring to avoid adverse events. Conclusions: Cibenzoline can pose a significant risk of severe toxicity in elderly patients with renal impairment, and drug interactions may potentiate this risk. The paper underscores the importance of careful dose adjustment and monitoring of drug levels in this population. In cases of cibenzoline-induced cardiac arrest, V-A ECMO and IABP are effective treatment modalities. The case study serves as a critical reminder for clinicians to remain vigilant for drug-induced complications and to apply aggressive supportive treatments when necessary.

This study aimed to develop a state-of-the-art method for assessing chemical risks. The method combined desk research findings and the authors' practical knowledge to identify the major shortcomings in performing risk assessments at the workplace. Data were collected from nine SMEs across three sectors: agriculture, laboratory research, and conservation and restoration laboratories. The results of the discussions with the workers and on-site observations were used to develop the method to assess chemical risks. The method uses numerical factors to account for the level of conformity and the duration of exposure to support an estimation of the probability of an incident. The developed method was designed to enhance risk assessment practices and tackle common issues encountered by enterprises, including SMEs.

Blockchain technology (BCT) has the potential for sustainable development, enhancing business efficiency, reducing costs, and strengthening data security. Despite its potential, adoption among small and medium-sized enterprises (SMEs) is low due to the need for significant changes in technology infrastructure and the challenge of interoperability. A cross-sectional survey was done with 226 Hong Kong SMEs. The PLS-SEM results highlighted favorable transformation conditions as the most critical factor for SMEs considering the adoption of BCT. These conditions address both internal and external readiness for adopting the disruptive strategy. Other contributing factors to BCT adoption include trust in BCT developers, perceived usefulness and ease of use, government support, and perceived security. The research results contributed to the literature on disruptive technology acceptance, adoption, transformation conditions, technology readiness, and SMEs’ technology adoption. Government-supported policies and initiatives can promote BCT adoption, including educational programs, case studies, and resources for readiness. Financial support and regulatory frameworks can further encourage adoption. BCT developers can demonstrate the value of their systems, effectively communicate potential ROI and cost savings, and provide user-friendly interfaces to increase SMEs’ intention to adopt BCT.

Simple Summary: This review explores the origin of Leukemic Stem-Like Cells (LSLCs) from (Very) Small Leukemic Stem-Like Cells ((V)SLSLCs) and Cancer Stem Cells (CSCs) from trans-formed Very Small Embryonic-Like Stem Cells (VSELSCs). Understanding this relation is a step toward uncovering the mechanisms behind cancer and leukemia initiation and development. We explore how these very small precursor cell stages might contribute to the initiation and progres-sion of cancer as well as leukemia with a focus on Acute Myeloid Leukemia (AML) as a model. Abstract: Recent experimental findings indicate that CSCs originate from transformed VSELSCs, which are early precursor stages of healthy stem cells. This discovery marks a crucial step in understanding the mechanisms that drive cancer development and initiation. Our team's follow-up studies on leukemia, lung cancer, and healthy embryonic kidney cells have, for the first time, identified stag-es resembling very small precursor stem cells in continuously growing cell lines. These findings suggest the existence of (Very) Small Cancer Stem Cells ((V)SCSCs) or (V)SLSCs within respective subpopulations of CSCs and LSCs in vivo. In this review, we explore theoretical examples of how leukemia progresses through various stages, highlighting the role of these very small precursor cells as fundament primitive stages. We also discuss the potential implications of further research into these unique cellular stages for advancing cancer and leukemia treatment and prevention strategies.

Object of this work is the design and the simulation of a hybrid UAV with VTOL capabilities that has been designed for landing on naval moving platforms. The work is focused on the innovative propulsion layout adopted on the UAV. Authors discuss how adopted low level control strategies can exploit the innovative features of the proposed system assuring a good rejection of transversal wind disturbances. Particular attention is dedicated to low level modelling and control of the system emphasizing how choices regarding low level actuation and control should improve performances and robustness of the system.

The evolution in imaging technologies and artificial intelligence algorithms, coupled with improvements in UAV technology, has enabled the use of unmanned aircraft in a wide range of applications. The feasibility of this kind of approach for cattle monitoring has been demonstrated by several studies, but practical use is still challenging due to the particular characteristics of this application, such as the need to track mobile targets and the extensive areas that need to be covered in most cases. The objective of this study was to investigate the feasibility of using a tilted angle to increase the area covered by each image. Deep Convolutional Neural Networks (Xception architecture) were used to generate the models for the experiments, which covered aspects like ideal input dimensions, effect of the distance between animals and sensor, effect of classification error on the overall detection process, and impact of physical obstacles on the accuracy of the model. Experimental results indicate that oblique images can be successfully used under certain conditions, but some practical limitations need to be addressed in order to make this approach appealing.

Despite the recent availability of immune checkpoint inhibitors, not all patients affected by Non-Small Cell Lung Cancer (NSCLC) benefit from immunotherapy. The reason for this variability relies to a variety of factors which may allow the identification of novel biomarkers. Presently, a variety of biomarkers are under investigation, including the PD1/PDL1 axis, the tumor mutational burden, and the Microbiota. This latter is made by all bacteria and other microorganisms hosted in our body. The gut microbiota is the most represented and has been involved in different physiological and pathological events, including cancer. In this light, it appears that all conditions modifying gut microbiota can influence cancer, its treatment, and its treatment-related toxicities. The aim of this review is to analyze all conditions influencing the gut microbiota and, therefore, affecting response to immunotherapy, iRAEs and their management in NSCLC patients. The investigation of the landscape of these biological events can allow novel insights for optimal management of NSCLC immunotherapy.

(Background) Canine mammary tumors (CMT) have emerged as an important model for understanding pathophysiological aspects of human disease. Liquid biopsy (LB), which relies on blood-borne biomarkers and offers minimal invasiveness, holds promise for reflecting the disease status of patients. Small extracellular vesicles (SEVs) and their protein cargo have recently gained attention as potential tools for disease screening and monitoring. (Objectives) This study aimed to isolate SEVs from canine patients and analyze their proteomic profile to assess their diagnostic and prognostic potential. (Methods) Plasma samples were collected from female dogs grouped into CMT (malignant and benign), healthy controls, relapse, and remission groups. SEVs were isolated and characterized using ultracentrifugation (UC), nanoparticle tracking analysis (NTA) and transmission electron microscopy (TEM). Proteomic analysis of circulating SEVs was conducted using Liquid Chromatography–Mass Spectrometry (LC–MS). (Results) While no significant differences were observed in the concentration and size of exosomes among the studied groups, proteomic profiling revealed important variations. Mass spectrometry identified exclusive proteins that could serve as potential biomarkers for mammary cancer. These included Inter-alpha-trypsin inhibitor heavy chain (ITIH2 and ITI4), phosphopyruvate hydratase or alpha enolase (ENO1), eukaryotic translation elongation factor 2 (eEF2), actin (ACTB), transthyretin (TTR), beta-2-glycoprotein 1 (APOH) and gelsolin (GSN) found in female dogs with malignant tumors. Additionally, Vitamin D-binding protein (VDBP), also known as group-specific component (GC), was identified as a protein present during remission. (Conclusion) The results underscore the potential of proteins found in SEVs as valuable biomarkers in CMT. Despite the lack of differences in vesicle concentration and size between the groups, the analysis of protein content revealed promising markers with potential applications in CMT diagnosis and monitoring. These findings suggest a novel approach in the development of more precise and effective diagnostic tools for this challenging clinical condition.

In the ground-based infrared optical remote sensing system, the target signal is very weak due to the dynamic strong light background and the movement of small and small targets. In order to improve the limit detection capability, the background suppression and target enhancement methods are required to be more suitable for this scene. To solve this problem, we first analyze the image features in the current scene, and propose a more perfect point target and noise model. Then, we propose a new WY distribution function based on the Fermi Dirac distribution function, and propose an anisotropic filtering method based on this function, and further suppress the back-ground through the difference results of two steps. Then, based on the distribution function, we further designed an energy concentration accumulation strategy in 9 scale directions, through which the SNR of the target is effectively improved and the suppression ability of the background is enhanced. Through quantitative and qualitative experimental analysis, compared with the same type of algorithms, the proposed method has better robustness against extremely weak targets and dynamic backgrounds.

Depressions containing partially molten rocks were investigated in Quaternary pebbly sedi-ments in Alpine foreland in Bavaria, Germany. Ruins of limekilns from 18-19th centuries are abundant around Seeshaupt. They are usually associated with earthworks for fuel feeding and protection from wind. Depressions contain partially molten stones from furnace walls, with lime and burnt loam remnants. On the surface of pebbles (typically gneisses), green glass formed with chemical composition possibly affected by moderately volatile components of wood biomass, mainly K and Cu. Thermoplastic deformation of pebbles is limited and the sur-face melt deformation points to slow flow. At Emmerting, on the other hand, two walled circu-lar depressions which lack additional earthworks have been identified as possible impact cra-ters. Thermally affected pebbles show much more intense deformation. Colorless to greenish glass, also K and Cu enriched, usually forms only thin surface coatings, in places covered by younger melt extruded from pebble interior. Burnt loam is missing. At Grabenstätt-Kaltenbach, a depression of unclear origin was investigated. Morphologically, it matches craters rather than limekilns, but anthropogenic contamination (brick-like material) is probable. The rare molten samples do not display extreme deformation features. The thermally affected stones, mainly those from Emmerting, have elevated magnetic susceptibility.

Small and Medium Enterprises (SMEs) are recognized as the main drivers of economic growth and development in many countries throughout the world. SMEs represent about 90% of the manufacturing sector and contribute about 14% of the total manufacturing contribution to GDP. Despite SMEs’ potential to change Nigeria’s status from a consumer economy to a production economy, policies that will ensure that environmentally- friendly manufacturing processes and production technology are not implemented or complied with. SMEs’ operational activities may be deleterious to human health and the ecosystem if environmental management practices are not adopted or prioritized. This paper evaluated the perception and adoption of the Environmental Management System, mainly ISO 14001, by SMEs in Nigeria. One hundred and fifty (150) SMEs in the manufacturing sector in Lagos and Ogun State, Southwestern Nigeria, were randomly selected for this study. The paper posits that environmental management literacy and advocacy should be carried out in SMEs. Environmental management practices involve engaging both industries and product end-users in sustainable practices. The paper concludes that the implementation of environmental management practices and culture by SMEs will abate environmental pollution and its concomitant health risks to humans, the environment, flora, and fauna. Mandatory and voluntary environmental measures are suggested as a means of engendering eco-friendly innovation for sustainable development, triggering employment, job security, and gross domestic product.

Utilizing unmanned aerial vehicles (UAVs) to facilitate wireless communication has emerged as a viable and promising strategy aimed at enhancing both current and prospective wireless systems. This approach offers many advantages by establishing line-of-sight connections, optimizing operational efficiency, and enabling flexible deployment capabilities in various terrains. Thus, in this paper, we investigate UAV communication in a relaying network in which a UAV helps communication between a source and two destination users while flying to a location. To have a complete view of our proposed system, we consider both orthogonal multiple access as OFDM and non-orthogonal multiple access (NOMA) scenarios. Moreover, we apply successive convex optimization (SCO) and the Block-coordinate gradient descent (BCGD) for the sum-rate optimization problems to improve the system performance under constraints of total bandwidth and total power at the ground base station and UAV. The experimental results validate that the achievable secrecy rates are notably enhanced by using our proposed algorithms and show optimal trends for critical parameters, such as transmit powers, the flight trajectory and speed of UAV, and resource allocation of OFDM and NOMA.

Drones are being used more and more frequently and in various ways to attack people and critical infrastructures, which increases their level of danger and makes early detection and risk assessment even more difficult. There is no ultimate drone sensor. Rather, drones can only be effectively detected, if suitable sensor technologies are integrated within a system. Among the best suited sensorics for this purpose are radar and optical sensors, because the advantage of the radar, given by the long detection range, can be well combined with the additional visual-based information gained from a camera in the mid- and short-range, where usually the radar fails detecting micro drones. In this paper, a modular drone detection and assistance system MODEAS is presented, which can be used to automatically detect and track drones within a range up to some kilometers on the sky, but also in complex urban environments, where buildings and vegetation offer a perfect background for camouflage. The system provides an early detection of flying objects as potential drones, when those are not at all or only as small dots visible for the human eye. Main strengths of the system are the robust AI detection to differentiate such an object against clutter (birds, clouds) and its further classification by model and payload recognition, the latter aspect being considered as an indication of dangerousness. Moreover, once a drone is detected, the system follows it automatically, precisely and smoothly with a high-resolution pan-tilt-camera, measuring the distance to the sensor station with a laser rangefinder, compute the geocoordinates and visualize them live on a map. To improve the precision of the detection, a multisensorial fusion of all sensor detections is performed. Furthermore, alarms may be generated when a drone enters a restricted area.

This study explores the dependence of drone acoustic detection systems performance on distance, using learning machines with different complexities, from simple linear discriminants, to deep neural networks, such as YAMNet, which exploits transfer learning. Other machine learning systems studied are the multilayer perceptron, support vector machines and random forest. These methods have been evaluated with a meticulously selected database that includes a wide variety of drone and interference sounds, previously processed by array signal processing and affected by ambient noise. Two strategies for training learning machines are considered. In the first one, they are trained with unattenuated signals, trying to preserve the information generated by the sound sources, but they are tested considering the attenuation with distance, achieving effective detection at distances up to 200 metres with some methods, especially linear discriminant. In all cases, the existence of interferences that hinder detection is considered. In the second strategy, the systems are trained and tested with attenuated signals as a function of distance. The effective detection range increases up to 300 metres for most methods and up to 500 metres for the YAMNet based detector. In addition, this second approach raises the possibility of developing specialised detectors for each distance range, thus significantly extending the effective detection range. These results underline the promising potential of acoustic detection of drones at various distances, encouraging further exploration in this research area.

It is a challenging and meaningful task to carry out drone-based livestock monitoring in high-altitude and cold regions. The purpose of AI is to execute automated tasks and to solve practical problems in actual applications by combining the software technology with the hardware carrier to create integrated advanced devices. Only in this way, the maximum value of AI could be realized. In this paper, a real-time tracking system with dynamic target tracking ability is proposed. It is developed based on the tracking-by-detection architecture using YOLOv7 and DeepSORT algorithms for target detection and tracking, respectively. To address the existing problems of the DeepSORT algorithm, the following two optimizations are made: (1) Optical flow is used to compensate the Kalman filter for improvement of the prediction accuracy; (2) A low-confidence trajectory filtering method is adopted to reduce the influence of unreliable detection on target tracking. In addition, an visual servo controller for the UAV is designed to enable the automated tracking task. Finally, the system is tested using the Tibetan yaks living in the Tibetan Plateau as the tracking targets, and the results reveal the real-time multiple tracking ability and the ideal visual servo effect of the proposed system.

Unmanned Aerial Vehicle (UAV) based remote sensing (RS) studies in glaciology are mainly focusing on obtaining accurate high-resolution data from UAV images. Studies for identifying and minimising the challenges faced during the UAV-based RS data acquisition survey on inaccessible and harsh terrains of mountain glaciers is limited. This study aims to examine the practical challenges faced during UAV surveys of glaciers and derive strategies to minimize them. To the authors' knowledge, this is the first study that addresses such problems over the Himalayan region. Here, the UAV surveys were conducted using a fixed-wing commercial-grade off-the-shelf UAV (eBee plus, SenseFly) on three glacier sites (East Rathong, Hamtah and Panchinala-A) located in different zones and climate regimes lying within the Indian part of Himalayas. From UAV collected photos, the study was able to generate ultra-high-resolution ortho-mosaicked images and Digital Elevation Models (DEMs) at 0.1m GSD. UAV-derived DEMs was able to achieve vertical (horizontal) accuracy of 0.45 and 0.21 m (0.15 and 0.1 m) with 3 and 6 ground control points (GCPs) for an area of 0.75 km2 and 1.38 km2. Accuracy assessment of UAV DEMs generated with and without GCPs indicate that GCPs are must to obtain decimetre level accurate DEM especially on glaciers with steep-valleyed terrains. The utility of the obtained ultra-high-resolution ortho-mosaicked images was demonstrated by generating glacier surface feature maps. Based on the challenges observed during UAV surveys, the study identifies and recommends best-suited locations on a glacier and its adjacent regions for conducting UAV surveys efficiently in the glaciated terrain of Himalayas and possibly beyond. Recommendations reported in this article shall minimise the challenges faced and involved risks for data acquisition and thus enable UAVs to cover more glaciated area successfully.

Despite polycarbonate (PC) being a widely used engineering plastic, its notch and crack sensitivity pose challenges in critical applications. To address this, PC was blended with elastomeric polymers to explore the improvement in toughness. This study systematically investigates the toughening mechanisms of PC blended with acrylonitrile-butadiene-styrene (ABS), copolyether ester elas-tomer (COPE), and ABS and styrene-ethylene-butylene-styrene (SEBS) copolymer grafted with maleic anhydride (MA). The morphology and mechanical behavior were evaluated under qua-si-static and high-speed tensile tests and Charpy impact tests using optical, electronic, and atomic force microscopy and Raman spectroscopy. The morphological analysis reveals cavitation and crazing phenomena for COPE and SEBS-g-MA systems, and mostly debonding for ABS, indicating an improvement in toughening. While the addition of ABS improves the PC plastic deformation, modifying ABS with maleic anhydride enhances the elastic modulus. Blending PC with SEBS-g-MA increases the strain at break, and the addition of COPE significantly improves the deformation behavior of PC (by around 115%). This comparative study provides valuable insights into the performance of different PC-elastomer blends under similar conditions, supporting the selection of appropriate materials for given applications.

The question of the relevance of human and natural capital, as well as the potential adverse effect of natural capital on economic growth, has gained increased attention in development economics. The aim of this paper is to theoretically and empirically assess the relevance of several forms of capital on economic growth in small economies that are dependent upon tourism or natural resources. The empirical framework is based on Impulse Response Functions obtained from Vector Autoregressive models in which we focus on the model where economic growth is the dependent variable for ten small economies that are dependent upon either tourism or natural resources. We find that there is evidence of the ‘’natural resource curse’’, especially in the economies that have a strong dependence on resources that are easily substitutable and whose prices constantly fluctuate. We further find that in the majority of observed cases the type of capital these small economies are most dependent on for their economic growth causes negative impulses in the majority of the observed periods. The main policy recommendation should be to assure that even these small economies should strive towards further diversification and avoid dependence on only one segment of their economy.

Addressing real-time aircraft target detection in microsatellite-based visible light remote sensing video imaging requires considering the limitations of imaging payload resolution, complex ground backgrounds, and the relative positional changes between the platform and aircraft. These factors lead to multi-scale variations in aircraft targets, making high-precision real-time detection of small targets in complex backgrounds a significant challenge for the detection algorithms. Hence, this paper introduces a real-time aircraft target detection algorithm for remote sensing imaging using an improved lightweight attention mechanism that relies on the YOLOv7 framework (SE-CBAM-YOLOv7). The proposed algorithm replaces the standard convolution (Conv) with a lightweight convolutional SEConv to reduce the computational parameters and accelerate the detection process of small aircraft targets, thus enhancing real-time onboard processing capabilities. Besides, the SEConv-based SPPCSPC (Spatial Pyramid Pooling and Connected Spatial Pyramid Convolution) module extracts image features. It improves detection accuracy while the feature fusion section integrates the CBAM hybrid attention network, forming the CBAMCAT module. Furthermore, it optimizes small aircraft target features in channel and spatial dimensions, improving the model's feature fusion capabilities. Experiments on public remote sensing datasets reveal the proposed SE-CBAM-YOLOv7 improves detection accuracy by 3% and mAP value by 4.2% compared to YOLOv7, significantly enhancing the detection capability for small-sized aircraft targets in satellite remote sensing imaging.

This paper proposes a methodology for the development and its Verification and Validation(V&amp;V) of safety-rated software. The development methodology is based on the structured analysis and structured design methodology, which has been proven in the field of safety software development during long period. The suggested the development and the V&amp;V methodology additionally focuses on the quality attributes 3C+T (completeness, Correctness, Consistency and traceability), which are important criteria in IEC international standards. The software development life cycle is compiled from IEC international standardization, which are of the requirements analysis phase, design phase, implementation phase, testing phase, installation/commissioning phase, and operation &amp; maintenance phases. The activities of the development process method were defined from requirements analysis to implementation, and the activities of the verification and validation were defined to include the scope of the developer's activities and then to include the test phase, installation/commissioning phase, and operation phases additionally. In other words, testing phase performed by the developer was defined as informal testing, and testing performed by the verifier according to test criteria, test plans, and test procedures was defined as formal testing. According to proposed methodology, the requirements phase defines the sequence of Entity Relationship Diagram (ERD)-Context Diagram-Data Flow Diagram (DFD), functional decomposition process and defines operational scenario. In the design phase, module design such as task analysis and task allocation were defined. In the implementation phase, we listed the coding guidelines that must be followed for safety-related system. The test phase defined the test criteria, test plan, test procedure, and test result report activities. In the installation/commissioning and operation phases, recommendations for improving reliability, quality, and safety were proposed for deliverables such as user documentation and technical documentation.

In the context of precision agriculture (PA), geomatic surveys exploiting UAV platforms allow the trees’ dimensional characterization and crown identification. This paper focuses on the use of low-cost UAV photogrammetry to estimate the trees’ height, as part of a project for the phytoremediation of contaminated soils. Two study areas (Area 1; Area 2) have been chosen, having different characteristics in terms of mean trees’ height (5 m; 0.7 m), to test the procedure even in a challenging context. Three campaigns have been performed in Area 1 at different altitudes (30 m, 40 m, 50 m), and one UAV flight is available in Area 2 (42 m of altitude). The implemented workflow involves the elaboration of the UAV point clouds and DSMs using the standard SfM approach, the vegetation filtering, the generation of the DTM and a GIS-based analysis to obtain the CHMs for the extraction of the trees’ heights based on a local maxima approach. UAV-derived heights have been compared with in-field measurements obtaining promising results in Area 1, confirming the applicability of the procedure for trees’ height extraction, while the application in the context of low trees was more problematic.

Drone navigation is critical, particularly during the initial and final phases, such as the initial ascension, where pilots may fail due to strong external disturbances that could lead to a crash. In this ongoing work, a drone has been successfully trained to perform an ascent of up to 6 meters with external disturbances simulating wind pushing it up to 24 mph, with the DQN algorithm managing external forces affecting the system. It has been demonstrated that the system can control its height, position, and stability in all three axes (roll, pitch, and yaw) throughout the process. The learning process is carried out in the Gazebo simulator, which emulates interferences, while ROS is used to communicate with the agent.

The majority of investigations on microbial communities from various environments are presently built on culture-independent methods. Many studies point to the pivotal, selective role of primers targeting hypervariable regions of 16S rRNA in the metabarcoding of bacteria, including cyanobacterial communities. The selectivity of primers designed to amplify targeted regions of the 16S rRNA gene, which has been highlighted by many authors, limited effective amplification. Moreover, the type and specificity of the studied material can also negatively influence the results of 16S metabarcoding. Most of the studies of cyanobacterial communities have been performed for planktonic microbial communities that are often represented by common, well-studied species. In this study, we present the results of 16S metabarcoding analysis using three primer pairs - two already well-known and a third designed in this study - that amplify divergent regions of the 16S rRNA gene (V3-V4, V4-V6, V6) for benthic, microbial mat-forming cyanobacteria communities. Such communities can be a source of toxigenic cyanobacterial taxa and should be monitored with adequate primers. The comparison of three primer pairs suggested that those designed within the present study describe the structure and composition of highly heterogeneous cyanobacterial mats’ communities better than the others

: To improve the efficiency of rhizobial inoculation operations and address the current situation of rhizobial inoculation being labor-intensive, a spraying and control system for variable rate application (VRA) of liquid rhizobia was developed. The system can accurately regulate the spraying rate of liquid rhizobia according to the desired rate of rhizobia by incremental Proportional Integral Derivative (PID) closed-loop control algorithm, making it particularly suitable for precise spraying with small amounts. In the laboratory experiment of precise flow control, variation coefficient of spraying nozzle from 0.10 MP to 0.20 MP pressure were no more than 1.2%. A clear linear relationship was observed between the spraying rate and pressure. The maximum response time was 1.93 seconds, while the average response time was 1.62 seconds when controlling the spraying system for small amounts. Field trial was conducted in Heilongjiang Agricultural Xianghe Farm of China. Average seeds number and 100-seed weight of soybean plant with rhizobia inoculation treatment were better than control group, and average yield of spraying liquid rhizobia agent with full base fertilizer increased by 232.5 kg/hm2, representing a significant 7.4% improvement over the control group. The results of these trails clearly showed the positive effect of the spraying and control system for liquid rhizobial inoculation, which has superior to existing inoculation manners, and provides an important technical support for the widespread adoption of rhizobia technology.

Based on non-invasive neuroimaging techniques and graph theory-based network analyses, many researchers have tried to use small-world network model to elucidate sex differences in the brain. This manuscript aims to compile the related research findings from the past few years and summarize the sex differences in human brain networks from the perspective of small-world properties. We reviewed published reports examining altered small-world properties in both the functional and structural brain networks between males and females. Based on four patterns of altered small-world properties proposed--randomization, regularization, stronger small-worldization and weaker small-worldization, we found that current results point to a significant trend toward more regularization in females and more randomization in males in the functional brain networks. As for particular topological properties, the most consistent findings include a significant shift toward higher global efficiency in males and higher local efficiency in females in the functional network studies. On the other hand, there seems to be no consensus to date on the sex differences in small-world properties of the structural brain networks. Nevertheless, we noticed that the sample sizes in many published studies are limited, and future studies with larger samples are warranted to obtain more reliable results. We anticipate that the conclusions in this manuscript will contribute to a deeper understanding of neurobiological mechanisms underlying the sex differences in the brain.

Phenology is one of the ubiquitous fingerprints of climate change on our ecosystems. Monitoring the spatiotemporal patterns of vegetation phenology is thus critical. A wide range of sensors have been used to monitor vegetation phenology. Sensor point of view and resolution can potentially impact estimates of phenology. We compared three different sensors from three different remote sensing platforms—a UAV mounted RGB camera, an under canopy, upward facing hemispherical camera with R, G and NIR capabilities, and a tower mounted RGB PhenoCam—to estimate spring phenological transition in a mixed-species temperate forest in central Virginia, USA. Our study had two objectives: 1) to compare the above- and below- canopy inference of canopy greenness (green chromatic coordinate and normalized difference vegetation index) and canopy structural attributes (leaf area and gap fraction) by matching under-canopy hemispherical photos with high spatial resolution (0.03 m) drone imagery to find the appropriate spatial coverage and resolution for comparison; 2) to compare how each sensor performed in estimating the temporality of the spring phenological transition. We find that a spatial buffer of 20 m radius for UAV imagery is most closely comparable to under-canopy imagery in this system. Sensors and platforms agree within +/- 5 days of when canopy greenness stabilizes from the spring phenophase into the growing season. This work has implications for paring UAV imagery with both tower-based observation platforms, as well as plot-based studies (e.g. long-term monitoring, existing research networks, permanent plots).

This paper investigates the problem of the optimal arrangement for both UAVs’ caching contents and service locations in UAV-assisted networks based on the context awareness, which considers the influence between users and environment. In the existing work, users within the coverage of UAVs are considered to be served perfectly, which ignores the communication probability caused by line-of-sight (LOS) and non- line-of-sight (NLOS) links. However, the links are related to UAV deployment. Moreover, the transmission overhead should be taken into account. To balance the tradeoff between these two factors, we design the ratio of users’ probability and transmission overhead as the performance measure mechanism to evaluate the performance of UAV-assisted networks. Then, we formulate the objective for maximizing the performance of UAV-assisted networks as a UAV-assisted caching game. It is proved that the game is an exact potential game with the performance of UAV-assisted networks serving as the potential function. Next, we propose the log-linear caching algorithm (LCA) to achieve the Nash equilibrium (NE). Finally, related simulation results reflect the great performance of the proposed algorithm.

Taeniid infections pose a significant threat to both animal and public health, as certain tapeworms within this group can also infect humans, potentially leading to severe health conditions. Therefore, this calls for preventive and control measures, such as regular deworming of dogs. While the efficacy of deworming has been established in developed countries, there is a paucity of reported deworming practices in rural areas of developing countries, such as Tanzania. This study aims to understand determinants for helminth treatment-seeking behavior towards control of cestodial taeniid infections in rural settings in northern Tanzania. A cross-sectional study was undertaken in agropastoral and pastoral areas of northern Tanzania. Comprehensive data from household surveys in selected sub-villages were collected to ascertain dog ownership, dog deworming practices, and the availability of dewormers. Analytical methods were employed to discern how various determinants influenced deworming practices among dog owners in these communities. Awareness of dewormers specifically formulated for dogs emerged as a pivotal factor affecting dog deworming practices. Dog owners who were informed about appropriate dog dewormers were nearly two times more likely to engage in deworming compared to those with limited knowledge (OR = 1.78, 95% CI 1.77 - 4.18, p < 0.001). A majority 32(51.6%, 95% CI: 38.7-64.3) acknowledged accessing dewormers for livestock within their wards. Praziquantel a potent dewormer on cestodes was least known to most dog owners 2(13%, 95% CI: 2.3-41.6). Praziquantel, a potent and common dewormer effective against cestodial taeniid infections, remains relatively unknown in rural areas of northern Tanzania. Therefore, more awareness on appropriate deworming agents against taeniids in dogs should be raised in rural dog-keeping communities.

Small scale carp polyculture plays a key role for food supply in Bangladesh, however, factors including water pollution, limited infrastructure and inadequate disease management hinder its sustainability. This paper reports on a survey of 231 farmers across the 6 major carp producing regions in Bangladesh, analyzing factors including, farmers’ social aspects, farm characteristics, information on disease and approaches adopted to combat them, and biosecurity practices. Almost half (46.8%) of the farms surveyed experienced disease in carp species, with clear regional variations. Eighty four percent of farms reported carp mortalities during disease outbreak, with an average mortality level 10.23±11.81%. Clinical signs during outbreaks lasted between a week and a month, and there was a peak in disease outbreaks in two seasonal periods between June to July and October to December. Disease incidence was related to a range of factors including the farmer experience, ponds/farm type, stocked species, and biosecurity practice. A combination of disinfecting measures during pond preparation and measures during stocking, including discarding fingerling transport water off-farm, fingerling disinfection and check the health of fingerlings before stocking significantly reduced disease occurrence. Treatments involving the antibiotics, ciprofloxacin, erythromycin, and azithromycin were reported as ineffective, raising concerns about non-prudent use, inadequate dosing (perhaps without appropriate veterinary guidance) and the potential for further driving antimicrobial resistance in the environment. The research unveils a concerning pattern of disease high disease incidence across small-scale carp farms in Bangladesh and the significant potential for disease spread highlights the need for responsible disposal practices. The study emphasizes the need for improving training and awareness programs are vital for addressing biosecurity and disease management challenges, ensuring sustainable aquaculture and community well-being.

Current trends in systemic risk literature provide new insights into multi-hazard risks that interact and compound with built environments, creating more significant impacts on socio-economic and human systems. Recurrent natural hazards and extreme weather events are more likely to compound and cascade into more impactful events, especially in vulnerable societies. In small-island communities (SICS), including large archipelagos and Small Island Developing States (SIDS), the long-term impact of multi-, compounding-, and cascading-hazards (MCC hazards) can result in persistent vulnerability and residual risks. This is due to delayed responses, limited resources, poverty, fewer evacuation options, and inadequate markets and infrastructure. Using Ternate, a densely populated small volcanic island in North Maluku, Indonesia, as a case study, this paper assesses the impacts of seven types of natural hazards: flash floods, landslides, extreme weather, extreme waves and abrasion, earthquakes, tsunamis, and volcanic eruptions. The research focuses on the multi-hazard impact on population, land use, and infrastructure exposures in 60 villages in Ternate. The findings highlight population density, land use, and infrastructure exposure to multi-hazard risks, providing valuable information on potential losses in future hazard events.

The proliferation of Unmanned Aerial Vehicle (UAV) networks is increasing, driven by their capacity to deliver automated services tailored to the varied demands of numerous smart city applications. Trust, security, and privacy remain paramount in the public domain. Traditional centralized network designs fall short of ensuring device authentication, data integrity, and privacy within UAV networks’ highly dynamic and adaptable environments. Decentralized reputation systems emerge as a promising solution to enhance the reliability and trustworthiness of data and communications within these networks while safeguarding UAV security. This paper presents an exhaustive survey of trust and reputation systems, exploring existing frameworks and proposed innovations alongside their inherent challenges. It highlights the crucial role of reputation systems in strengthening trust, security, and privacy throughout these networks and discusses various strategies to mitigate existing vulnerabilities. As a useful resource for researchers and practitioners seeking to advance the state of the art in UAV network security, we hope this survey will spark further community discussion and stimulate innovative ideas in this burgeoning field.

Aiming at the problem of UAV cluster configuration reconstruction, in order to obtain the cluster reconstruction method, the theory and simulation of cluster reconstruction control strategy is studied by simplifying the model，deducing the theoretical formula and analyzing the example. Taking 10 UAVs cluster as an example, the distribution of UAVs in different configurations was analyzed. According to the change of cluster configuration, the principle of formation reconstruction and the execution ability of configuration, the cluster capability was analyzed. The group behavior is modeled by group behavior rules, reconfiguration topology analysis and reconfiguration cost measurement. Based on the cluster parameters and configuration characteristics, simulation experiments were carried out to obtain the change curve of the reconstruction cost and time and the trajectory movement diagram of the UAV in different configurations.

The demands for high power and low emissions put focus on energy efficiency when developing new engines. An important part is the UAV engine cooling system, which cools the engine structure below damaging temperatures. For high temperatures in the cooling system there is a risk that boiling occurs and while the initial nucleate boiling enhances the cooling effect, the subsequent Film boiling decreases the heat transfer drastically. It is important to understand the benefits and limitations of various fluids when designing a two-phase cooling system. This paper proposes an alternative organic coolant. Its normal application range is 15°C to 400°C, and its pressure range is from atmospheric to 10.6 bar. DOWTHERM A fluid possesses unsurpassed thermal stability at temperatures of 400°C. This fluid, in both the liquid and vapor form, is noncorrosive toward common metals and alloys. Even at the high temperatures involved, the equipment usually exhibits excellent service life. Original equipment in many systems is still being used after 30 years of continuous service. The numerical results, described in this paper, show the potential of DOWTHERM A as a good alternative for cooling a UAV engine. It will extend the working temperature range of the Diesel engine and will maintain the structural integrity of the piston, cylinder and the piston rings.

When the distance between an obstacle and a power line is less than the discharge distance, a discharge arc can be generated, resulting in interruption of power supplies. Therefore, regular safety inspections are necessary to ensure safe operations of power grids. Tall vegetation and buildings are the key factors threatening the safe operation of extra high voltage transmission lines within a power line corridor. Manual or LiDAR based-inspections are time consuming and expensive. To make safety inspections more efficient and flexible, a low-altitude unmanned aerial vehicle remote-sensing platform equipped with optical digital camera was used to inspect power line corridors. We propose a semi-patch matching algorithm based on epipolar constraints using both correlation coefficient and the shape of its curve to extract three dimensional (3D) point clouds for a power line corridor. Virtual photography was used to transform the power line direction from approximately parallel to the epipolar line to approximately perpendicular to epipolar line to improve power line measurement accuracy. The distance between the power lines and the 3D point cloud is taken as a criterion for locating obstacles within the power line corridor automatically. Experimental results show that our proposed method is a reliable, cost effective and applicable way for practical power line inspection, and can locate obstacles within the power line corridor with measurement accuracies better than ±0.5 m.

This article presents a low-cost insurance system developed for small-hold farms in disaster-prone regions, primarily using free Earth Observation (EO) data and Free Open Source Software (FOSS) – collectively termed sustainable geoinformatics - with a proprietary mobile phone app that enables verification. The study examined 30 farms in Risaralda department, Colombia. A Digital Elevation Model (12.5m pixels) from the ALOS PALSAR satellite sensor was used with a Geographical Information System (GIS) to map the terrain, drainage and geohazards of each farming district. Google Earth Engine (GEE) was used to carry out Time Series Analysis of 15 EO and weather datasets for 1998 to 2020. This analysis enabled the levels of risk from hydrometeorological hazards to be determined for each farm of the study, providing key data for the setting of insurance premiums. A parametric insurance product was piloted using GPS-tagged, time-stamped mobile phone photos to verify crop health. Key features of this insurance system are its low operational cost and rapid damage verification, relative to conventional approaches to farm insurance. It is an affordable form of insurance for small-scale farmers, with the rapid verification and payment of claims. This relatively fast, low-cost and affordable approach to insurance for small-scale farming enhances sustainable development by enabling policy-holder farmers to recover more quickly from disasters.

Human detection from Unmanned Aerial Vehicles (UAV) is gaining popularity in the field of disaster management, crowd counting, people monitoring. Real time human detection from UAV is a challenging task, because of many constraints involved. This study proposes a system for real time detection of humans on videos captured from UAVs addressing three of these constraints namely, flying height, computation time and scale of viewing. The proposed method integrated an android application with a binary classifier based on Haar-features to automatically detect human / non-human class from UAV images. The video frames were parsed and detected humans from image frames were geo-localized and visualized on Google Earth. The performance was evaluated for geo-localization accuracy, computation time and detection accuracy, considering human coverage – pixel size relationship for various heights and scale factor. Based on flying height - human size relationship and tradeoff between detection accuracy vs computation time, the study came up with optimal parameters for OpenCV’s cv2.cascadeClassifier. detectMultiScale function. This paper establishes a strong ground for further research relating to real time human detection from UAV.

Despite UAV multi-target detection exhibits considerable developmental potential worldwide, it suffers distinct challenges compared with traditional tasks in this field. These challenges include insufficient feature extraction capabilities for small targets, limited capabilities for multi-dimensional feature fusion, as well as constraints on hardware computation parameters. Especially in mission scenarios such as disaster detection, these challenges will be further amplified. Consequently, this paper introduces SSE-YOLO, an innovative YOLO framework algorithm specially designed to address these challenges. To enhance the model's feature extraction capability, we employ the SPDConv module to replace the original Conv in the backbone section, utilizing depth-separable convolution instead of traditional convolution pooling. Concurrently, we eliminate the SPPF module at the bottom and address a new Separate Kernel Attention Pyramid Pooling (SKAPP) module, substantially enhancing the feature fusion capability at the model's core. Moreover, to address the challenge of multi-dimensional feature fusion, we replace the Concat module of the neck and head with E-BiFPN, transmitting feature information from the backbone to the lower network through four CBS blocks, which effectively resolves the issue of lost contextual information in the model. Meanwhile, SSE-YOLO undergoes ablation experiments on the VisDrone2019 dataset to evaluate its effectiveness against alternative methods, and experimental results illustrate the model's exceptional precision in detecting UAV targets. In comparison to models with comparable experimental accuracy, SSE-YOLO requires remarkably fewer parameters. On the VisDrone2019-DET-test-dev dataset, SSE-YOLO enhances mAP by 17.3%, with a 42.5% reduction in the parameter amounts. Therefore, the proposed method effectively tackles the challenge of reconciling low parameters and high accuracy, presenting a novel pathway for deep learning-based UAV multi-target detection.

: 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.

Automation of forest field reference data collection has been an intensive research objective for laser scanning scientists ever since the invention of terrestrial laser scanning more than two decades ago. Recently, it has been proposed that such automated data collection providing both the tree heights and stem curves would require a combination of above-canopy UAV point clouds and terrestrial point clouds. In this study, we demonstrate that an under-canopy UAV laser scanning system utilizing a rotating laser scanner can alone provide accurate estimates of the canopy height and the stem volume for the majority of the trees in a boreal forest. To this end, we mounted a rotating laser scanner based on a Velodyne VLP-16 sensor onboard a manually piloted UAV. The UAV was commanded with the help of a live video feed from the onboard camera of the UAV. Since the system was based on a rotating laser scanner providing varying view angles, all important elements such as treetops, branches, trunks, and ground could be recorded with laser hits. In an experiment including two different forest structures, namely sparse and obstructed canopy, we showed that our system can measure the heights of individual trees with a bias of -20 cm and a standard error of 40 cm in the sparse forest and with a bias of -65 cm and a standard error of 1 m in the obstructed forest. The accuracy of the obtained tree height estimates was equivalent to airborne above-canopy UAV surveys conducted in similar forest conditions. The higher underestimation and higher inaccuracy in the obstructed site can be attributed to three trees with a height exceeding 25 m and the applied laser scanning system VLP-16 that had a limited height measurement capacity when it comes to trees taller than 25 m. Additionally, we used our system to estimate the stem volumes of individual trees with a standard error at the level of 10%. This level of error is equivalent to the error obtained when merging above-canopy UAV laser scanner data with terrestrial point cloud data. Future research is needed for testing new sensors, for implementing autonomous operation inside canopies through collision avoidance and navigation through canopies, and for developing robust methods that work also with more complex forest structure. The results show that we do not necessarily need a combination of terrestrial point clouds and point clouds collected using above-canopy UAV systems in order to accurately estimate the heights and the volumes of individual trees.

The aim of this research was to test recent developments in the use of Remotely Piloted Aircraft Systems or Unmanned Aerial Vehicles (UAV) to map pasture biomass yield and nutrient status, across a selected range of field sites throughout the rangelands of Queensland. Improved pasture management begins with an understanding of the state of the resource base, UAV based methods can potentially achieve this at improved spatial and temporal scales. This study developed predictive models of both pasture yield and pasture nutrient status. An automated pasture height surface modelling technique was developed, tested and used along with field site measurements of pasture yields, to predict further estimates across each field site. Both prior knowledge and automated predictive modelling techniques were employed to predict pasture yield and nutrition. Pasture height surface modelling was assessed against field measurements using a rising plate meter, results reported correlation coefficients (R2) ranging from 0.2 to 0.4 for both woodland and grassland field sites. Accuracy of the predictive modelling was determined from further field measurements of pasture yield and on average indicated an error of 0.8 t ha-1 in grasslands and 1.3 t ha-1 in mixed woodlands across both modelling approaches. Correlation analyses between measures of pasture quality, acid detergent fibre and crude protein (ADF, CP), and spectral reflectance data indicated the visible red (651 nm) and red-edge (759 nm) regions were highly correlated (ADF R2 = 0.9 and CP R2 = 0.5 mean values). These findings agreed with previous studies linking specific absorption features with grass chemical composition. These results conclude that the practical application of such techniques, to efficiently and accurately map pasture yield and quality, is possible at the field site scale, however further research is needed, in particular further field sampling of both yield and nutrient elements across such a diverse landscape, with the potential to scale up to a satellite platform for broader scale monitoring.

This study presents a detailed computational investigation aimed at identifying and evaluating potential small organic molecular scaffolds as inhibitors targeting the Pks13 protein, a critical enzyme in tuberculosis (TB) drug discovery. Our approach integrates multiple computational techniques, including quantitative structure-activity relationship (QSAR) modelling, compound library generation, molecular docking, biological activity prediction, re-evaluation of screened compounds, molecular dynamics (MD) analysis, and binding free energy estimation using the MM-GBSA approach. We developed a robust QSAR model using multiple linear regression (MLR) techniques, specifically tailored to predict the minimum inhibitory concentration (MIC) values of potential anti-TB agents. This model demonstrated excellent predictive performance, validated through rigorous internal and external validation procedures. Through molecular docking simulations, we identified five promising inhibitors Ethyl (R,Z)-2-(2-((2-chlorobenzyl) oxy)benzylidene)-5-(4-chlorophenyl)-7-methyl-3-oxo-2,3-dihydro-5H-thiazolo [3,2-a] pyrimidine-6-carboxylate (PKD1), (7R,9aR)-7-(2-hydroxyphenyl)-4-(2-methoxyphenyl)-3-methyl-7,8,9,9a-tetrahydroisoxazolo[5,4-b]quinolin-5(6H)-one (PKD2), (7-(4-methoxy phenyl)-2-methyl-3-phenylpyrazolo[1,5-a]pyrimidin-5-yl)(4-(3-(trifluoromethyl)phenyl) piperazin-1-yl)methanone (PKD3), (8S,10S)-10-(((2R,4S,5S,6S)-4-amino-5-hydroxy-6-methyl tetrahydro-2H-pyran-2-yl)oxy)-6,8,11-trihydroxy-8-(2-hydroxyacetyl)-1-methoxy-7,8,9,10-tetra-hydrotetracene-5,12-dione (PKD4), 3-(3,4-dimethylphenyl)-5-((2-(4-fluorophenyl)-2-oxoethyl) thio)-6-phenyl-2-thioxo-2,3,5,7a-tetrahydrothiazolo[4,5-d]pyrimidin-7(6H)-one (PKD5)with high binding affinities, prioritizing them based on their binding energies. These selected compounds were further assessed for their biological activity predictions, guiding the selection of candidates for experimental validation. Subsequent re-evaluation using absolute binding free energy estimation and MD simulations provided insights into the stability and dynamics of the protein-ligand complexes over time. Our findings highlighted the potential of identified compounds as stable binders within the Pks13-TE domain binding pocket, underscoring their viability as drug candidates. Additionally, binding free energy analysis using MM-GBSA reaffirmed the strong affinity of the proposed compounds towards Pks13. Our integrated computational approach offers a systematic and detailed framework for the identification and characterization of potential Pks13 inhibitors with specific relevance to TB drug discovery.

We develop the theory of Heyting locally small spaces, including Stone-like dualities such as a new version of Esakia duality and a system of concrete isomorphisms and equivalences. In such a way, we continue building tame topology, realising Grothendieck's ideas. We use up-spectral spaces and define the standard up-spectralification of a Kolmogorov locally small space. This research gives more understanding of locally definable spaces over structures with topologies.

In this paper, a multirotor UAV platform based on the PX4 ecosystem was discussed, which in combination with the MATLAB Simulink programming environment enables utilization in various aspects of mechatronic engineering education. Extensive testing of the UAV platform control module was performed, in order to enable implementation in engineering education. In the design phase of the educational platform, take-off-the-shelf components were selected and tested, and airframe parts were manufactured using rapid prototyping technologies. The proposed educational platform with four rotors was presented and tested. The learning outcomes of the undergraduate mechatronics professional study program according to the Croatian Qualifications Framework and related to the considered platform are shown. A preliminary framework of laboratory exercises for the field of mechatronic systems control is investigated.

Driven by the rapidly growing demand for information security, covert wireless communication conceived as one of the essential technology has attracted tremendous attention. However, traditional wireless covert communication is continuously exposing the inherent limitations that challenge deploying in environments with a large number of obstacles, such as cities with high-rise buildings. In this paper, we propose an intelligent reflecting surface (IRS) assisted covert communication system (CCS) with a friendly UAV, where the UAV generates artificial noise (AN) to interfere with the monitors. Furthermore, we model the power of AN emitted by UAV as an uncertainty model, with which the closed-form detection error probability (DEP) on the covert wireless communication for the monitor is derived. Under the derived DEP, we formulate the optimization problem to maximize the covert rate, and an iterative algorithm is designed to solve the optimization problem to obtain the optimal covert rate by using Dinkelbach method. Simulation results show that the proposed system achieves the maximum covert rate when the phase of the IRS units, the trajectory, and the transmit power of the UAV are jointly optimized.

UAV has become powerful devices for both practitioners and researchers. In recent years, there has been a substantial growth in the usage of UAV for a wide range of applications in research and engineering. UAV are mostly utilized for image capturing techniques due to their time savings, low cost, minimum field work, and high precision. The purpose of this study is to generate an accurate and reliable 3D modelling process using UAVs photogrammetric technology; hence this study allows the techniques to evaluate the practicability of modelling and mapping inaccessible tunnels using images recorded by UAVs and photogrammetry. As a result, the approach was always employed to depict the true state of the place. This research incorporates three experiments. The first experiment is to build a 3D model using only one-directional light source and evaluate the accuracy of 3D photogrammetric model and conducted at the concrete tunnel. The second one is to build a 3D model of underground sewer tunnel using different light sources one-directional and omni-directional. The last experiment was to build 3D model using an UAV system which is developed based on first and second experiment’s result, evaluate an accuracy of 3D photogrammetric model and conducted at the tunnel named in the research as a “pedestrian tunnel. There is certain limitation in this study such as Adding a payload to a drone changed its weight distribution, which affected its stability. If the payload was not properly balanced, it caused the drone to fly unevenly, making it more difficult to control.

With the rapid development of the Internet of Things (IoT), there are dramatic increasing number of devices in the network, which causes the challenge that only using infrastructure such as based station cannot provide service with all devices with high quality. Therefore, due to their flexibility and economy, unmanned aerial vehicles (UAV) are widely used to increase the performance of IoT networks. UAVs can not only provide communication services for IoT devices in the absence of a network, but they can also perform video surveillance, cargo transportation, pesticide spraying, and other specialized tasks. However, due to the complexity of the scenario and the need for real-time decision making, it is challenging to schedule UAVs in the network using traditional optimization methods, and growing attention has focused on using AI to optimize UAVs in the network. In this paper, we focus on the AI-enabled UAV optimization method in IoT networks and give a comprehensive scope on what and how to use AI-enabled methods to increase the performance of UAV-assisted IoT networks. Moreover, a brief analysis of the challenges of using AI methods in IoT networks and some potential research directions are given.

The capabilities of a quadcopter in the hover mode for low-altitude sensing of atmospheric turbulence with high spatial resolution in urban areas characterized by complex orography are investigated. The studies were carried out in different seasons (winter, spring, summer, and fall), and the quadcopter hovered in the immediate vicinity of ultrasonic weather stations. The DJI Phantom 4 Pro quadcopter and AMK-03 ultrasonic weather stations installed in different places of the studied territory were used in the experiment. The smoothing procedure was used to main regularities in the behavior of the longitudinal and lateral spectra of turbulence in the inertial and energy production ranges. The longitudinal and lateral turbulence scales were estimated by the least-square fit method with the von Karman model as a regression curve. It is shown that the turbulence spectra obtained with DJI Phantom 4 Pro and AMK-03 generally coincide with minor differences observed in the high-frequency region of the spectrum. In the inertial range, the behavior of the turbulence spectra shows that they obey the Kolmogorov-Obukhov “5/3” law. In the energy production range, the longitudinal and lateral turbulence scales and their ratio measured by DJI Phantom 4 Pro and AMK-03 agree to a good accuracy. Discrepancies in the data obtained with the quadcopter and the ultrasonic weather stations at the territory with complex orography are explained by the partial correlation of the wind velocity series at different measurement points and the influence of the inhomogeneous surface.

Deployment of unmanned aerial vehicles (UAVs) as aerial base stations (ABSs) has been considered to be a feasible solution to provide network coverage in scenarios where the conventional terrestrial network is overloaded or inaccessible due to an emergency situation. This article studies the problem of optimal placement of the UAVs as ABSs to enable network connectivity to the users in a coverage free zone. The main contributions of this work include two approaches to position the UAVs and to assign user equipment (UE) to each UAV, such that the sum-rate and the coverage probability of the network is maximized. An approach can be selected depending on the prevailing scenario. The first approach uses clustering algorithm to determine the 2D positioning of the UAV and a matching algorithm is used for UE assignment by considering the characteristics of the air-to-ground propagation channels as well as the impact of co-channel interference from ABSs. Then it uses exhaustive search on different altitudes to find the optimal altitude. In the second approach, 2D positioning and UE assignment are done similarly to the first approach. However, the sub-optimal altitude is estimated using particle swarm optimization (PSO). The first approach is suitable for a system which has computational resource constraints or lower probability of line of sight (LoS) links. In contrast, the second approach is suitable for data rate greedy systems or a higher probability of LoS links.