This work focuses on the research area of energy generation and harvesting for its transformation into electrical energy with the primary use of energy independent sensor systems in the power range P=10-10000W. These systems are applied in sensing quantities in the transport sector (bridge structures, transport infrastructure, and the others ). The proposed theoretical harvester models describing the transformation of motion energy into electrical energy, also provides theoretical and experimental models. Results obtained in the design and construction of a robust motion generator with primarily linear geometry system technology are presented. The expected output electrical power of the harvester is variable and is designed based on the linear motion generated by the engine- compressed air, small fuel system, etc. The fundamental design of the generator core has been continuously numerically modeled and an experimental setup has been developed to analyze specific parts and variations in order to validate the concept and achieve the most suitable parameters with the selected construction materials. A scaled down version of the model principle was tested in experiments and then the parameters and results were compared with the predicted theoretical analyses.

Bionic robotic hand can perform many movements similar to human hand. But there is still a significant gap in manipulation between robot and human hand. It is necessary to understand the finger kinematics and motion patterns of human hand to improve the performance of robotic hand. This study aimed to comprehensively investigate normal hand motion patterns by evaluating the kinematics of hand grip and release in healthy individuals. The data corresponding to rapid grip and release were collected from the dominant hand of 22 healthy people by sensory glove. The kinematics of 14 finger joints were analyzed, including the dynamic range of motion (ROM), peak velocity, joint sequence and finger sequence. The results show that the proximal interphalangeal (PIP) joint had a largest dynamic ROM than metacarpophalangeal (MCP) and distal interphalangeal (DIP) joints. Besides, the PIP joint had the highest peak velocity, both in flexion and extension. For joint sequence, the PIP joint moved prior to the DIP or MCP joints during flexion, while extension started in DIP or MCP joints, followed by PIP joint. Regarding the finger sequence, the thumb started to move before four fingers, and stopped moving after the fingers during both grip and release. This study explored the normal motion patterns in hand grip and release, which provided kinematic reference for the design of robotic hand and thus contribute to its development.

Optical motion capture is a mature contemporary technique for the acquisition of motion data, alas it is non-error-free. Due to technical limitations and occlusions of markers, gaps might occur in such recordings. The article reviews various neural network architectures applied for gap filling problem in motion capture sequences within FBM framework providing the representation for body kinematic structure. The results are compared with interpolation and matrix completion methods. We found out, that for longer sequences simple linear feedforward neural networks can outperform the other, sophisticated architectures. We were also able to identify, that acceleration and monotonicity of input sequence are the parameters that have a notable impact on the obtained results.

Einstein’s theory of general relativity describes the gravitational field around massive objects ( like Earth) as a curvature in the spacetime. But it leaves the following question unanswered; why is the spacetime curved by a mass? Through a theory that has been introduced recently, regarding a medium for a light propagation, a simple answer is introduced. It depends on redefining the rest energy for a massive object ( like a planet) as new form of kinetic energy. For a static and spherically symmetric object, with a specific radius(

We present the hardware of a cheap multi-sensor magnetometric setup, where a relatively large set of magnetic field components is measured in several positions by calibrated magnetoresistive detectors. The setup is developed to map the (inhomogeneous) field generated by a known magnetic source, which is measured and then discerned from the background (homogeneous) geomagnetic field. The data output from this hardware can be successfully and reliably used to retrieve the position and orientation of the magnetic source with respect to the sensor frame, together with the orientation of the frame with respect to the environmental field. Possible applications of the setup are briefly discussed, and a synthetic description of the methods of data elaboration and analysis is provided.

Driving simulators are widely used for understanding human-machine interaction, driver behavior and in driver training. The effectiveness of simulators in these process depends largely on their ability to generate realistic motion cues. Though the conventional filter-based motion cueing strategies have provided reasonable results, these methods suffer from poor workspace management. To address this issue, linear MPC-based strategies have been applied in the past. However, since the kinematics of the motion platform itself is non-linear and the required motion varies with the driving conditions, this approach tends to produce sub-optimal results. This paper presents a nonlinear MPC-based algorithm which incorporates the nonlinear kinematics of the Stewart platform within the MPC algorithm in order to increase the cueing fidelity and utilize maximum workspace. Further, adaptive weights-based tuning is used to smoothen the movement of the platform towards its physical limits. Full-track simulations were carried out and performance indicators were defined to objectively compare the response of the proposed algorithm with classical washout filter and linear MPC-based algorithms. The results indicate a better reference tracking with lower root mean square error and higher shape correlation for the proposed algorithm. Lastly, the effect of the adaptive weights-based tuning was also observed in the form of smoother actuator movements and better workspace utilization.

Hand tracking enables controller-free interaction with virtual environments, which can, compared to traditional handheld controllers, make virtual reality (VR) experiences more natural and immersive. As naturalness hinges on both technological and user-based features, fine-tuning the former while assessing the latter can be used to increase usability. For a grab-and-place use case in immersive VR, we compared a prototype of a camera-based hand tracking interface (Leap Motion) with customized design elements to the standard Leap Motion application programming interface (API) and a traditional controller solution (Oculus Touch). Usability was tested in 32 young healthy participants, whose performance was analyzed in terms of accuracy, speed and errors as well as subjective experience. We found higher performance and overall usability as well as overall preference for the handheld controller compared to both controller-free solutions. While most measures did not differ between the two controller-free solutions, the modifications made to the Leap API to form our prototype led to a significant decrease in accidental drops. Our results do not support the assumption of higher naturalness for hand tracking but suggest design elements to improve the robustness of controller-free object interaction in a grab-and-place scenario.

In this paper, we study the Parisian time of a reflected Brownian motion with drift on a finite collection of rays. We derive the Laplace transform of the Parisian time using a recursive method, and provide an exact simulation algorithm to sample from the distribution of the Parisian time. The paper is motivated by the settlement delay in the real-time gross settlement (RTGS) system. Both the central bank and the participating banks in the system are concerned about the liquidity risk, and are interested in the first time that the duration of settlement delay exceeds a predefined limit, we reduce this problem to the calculation of the Parisian time. The Parisian time is also crucial in the pricing of Parisian type options; to this end, we will compare our results with the existing literature.

Animal welfare remains a very important issue in the livestock sector but monitoring animal welfare in an objective and continuous way remains a serious challenge. Monitoring animal welfare based upon physiological measurements instead of audio-visual scoring of behaviour would be a step forward. One of the obvious physiological signals related to welfare and stress is heart rate. The objective of this research was to measure heart rate (beat per minutes) on pigs with technology that soon will be affordable. Affordable heart rate monitoring is done today at large scale on humans using the Photo Plethysmography (PPG) technology. We used PPG sensors on pig’s body to test whether it allows getting reliable heart rate signal. A continuous wavelet transform (CWT)-based algorithm is developed to decouple the cardiac pulse waves from the pig. Three different wavelets, namely 2^nd, 4^th and 6^th order Derivative of Gaussian (DOG, are tested. We show results of the developed PPG-based algorithm against electrocardiograms (ECG) as a reference measure for heart rate and this for an anesthetized versus a non-anesthetised animal. We tested three different anatomical body positions (ear, leg and tail) and give results for each body position of the sensor. In summary, it can be concluded that the agreement between PPG-based heart rate technique and reference sensor goes from 91 to 95 percentage. In this paper we showed the potential of using the PPG-based technology to assess pig’s hear rate.

Solid particles immersed in a fluid can be found in many engineering, environmental or medical fields. Applications are suspensions, sedimentation processes or procedural processes in the production of medication, food or construction materials. While homogenized behavior of these applications is well understood, contributions in the field of pore-scale fully resolved numerical simulations with non-spherical particles are rare. Using Smoothed Particle Hydrodynamics (SPH) as a simulation framework, we therefore present a modelling approach for Direct Numerical Simulations (DNS) of single-phase fluid containing non-spherically formed solid aggregates. Notable and discussed model specifications are the surface-coupled fluid-solid interaction forces as well as the contact forces between solid aggregates. The focus of this contribution is the numerical modelling approach and its implementation in SPH. Since SPH presents a fully resolved approach, the construction of arbitrary shaped particles is conveniently realizable. After validating our model for single non-spherical particles, we therefore investigate the motion of solid bodies in a Newtonian fluid and their interaction with the surrounding fluid by analyzing velocity fields of shear flow with respect to hydromechanical and contact forces. Results show a dependency of the motion and interaction of solid particles on their form and orientation. While spherical particles move to the centerline region, ellipsoidal particles move and rotate due to vortexes formation in the fluid flow in between.

In this paper we develop from first principles a unique law pertaining to the flow of fluids through closed conduits. This law, which we call “Quinn’s Law”, may be described as follows: When fluids are forced to flow through closed conduits under the driving force of a pressure gradient, there is a linear relationship between the normalized dimensionless pressure gradient, P_Q, and the normalized dimensionless fluid current, C_Q. The relationship is expressed mathematically as: P_Q = k₁ +k₂C_Q. This linear relationship remains the same whether the conduit is filled with or devoid of solid obstacles. The law differentiates, however, between a packed and an empty conduit by virtue of the tortuosity of the fluid path, which is seamlessly accommodated within the normalization framework of the law itself. When movement of the fluid is very close to being at rest, i.e., very slow, this relationship has the unique minimum constant value of k₁, and as the fluid acceleration increases, it varies with a slope of k₂ as a function of normalized fluid current. Quinn’s Law is validated herein by applying it to the data from published classical studies of measured permeability in both packed and empty conduits, as well as to the data generated by home grown experiments performed in the author’s own laboratory.

An idea expressed in the paper [Entropy 2017, 19, 345] about the deductive formulation of a physical theory resting on explicitly- and universally-introduced basic concepts is developed. An entropic measure of time with a number of properties leading to an analog of the Galilei–Einstein relativity principle is considered. Using the introduced measure and a simple model, a kinematic law relating the size, time, and number of particles of a system is obtained. Corollaries of this law are examined. In particular, accelerated increase of the system size and, if the system size remains unchanged, decrease of the number of particles are found. An interesting corollary is the emergence of repulsive and attractive forces inversely proportional to the square of the system size for relatively dense systems and constant for sufficiently rarefied systems.

High electricity demand for consumption at current supply level in Indonesia led to the rising cost of electricity bills. This factor is compounded by the fact that many electric generators in Indonesia still use fossil fuels, which contributes to the high basic generation cost. UBL is one of the universities that aim to be a green campus. Our research explores the possibility of installing motion sensor to contribute on the energy efficiency. Although mostly common in developed countries, the use of motion sensor for energy efficiency is still rare, especially in Indonesia. despite rising cost and supply shortages, Indonesian buildings are still of high energy consumption. our experiment shows that simple installation of commercially available motion sensors can contribute to reduce the electricity bill from the increase of energy efficiency. One of the efforts to lower energy demand in consumer side is to use the electricity efficiently, such as turning off lights in a room when it's not in use. This method can be simply done by turning the light switches for office and classrooms, but difficult to do in public spaces such as toilets and corridors. Our experiment shows that simple installation of commercially available motion sensors can contribute to reduce the electricity bill from the increase of energy efficiency. Automatic light switches experimentally installed in sample toilet room prove that electricity consumption from the lamps can contribute to the reduction of total weekly energy that translates into Green House Gas emission reduction.

Clinical rehabilitation and sports performance analysis both require the objectification of movement. Kinovea^© is a free 2D motion analysis software that enables the establishment of kinematics parameters. This low-cost technology has been used in sports sciences, as well as clinical field and research work. Although it has been validated as a tool with which to assess time-related variables, this is not yet the case regarding angular and distance variables. The main objective of this study was to determine the validity and reliability of the Kinovea software in obtaining angular and distance data at different perspectives of 90°, 75°, 60° and 45°. For this purpose, a figure with 29 points was designed (in AutoCAD) and 24 frames analysed. Each frame was examined by three observers who each made two attempts. For each export data item, 20 angles and 20 distance variables were calculated, with intra- and inter-observer reliability also analysed. To evaluate Kinovea reliability and validity a multiple approach was applied involving the following analysis: -systematic error with a two-way ANOVA 2x4; -relative reliability with ICC and CV (95% confidence interval); -absolute reliability with Standard Error. The results thus obtained indicate that the Kinovea software is a valid and reliable tool that is able to measure accurately at distances up to 5 m from the object and at an angle range of 90°–45°. Nevertheless, for optimum results an angle of 90° is suggested.

At room temperature, the indentation morphologies of crystalline copper with different grain size including nanocrystalline (NC), ultrafine-grained (UFG) and coarse-grained (CG) copper were studied by nanoindentation at the strain rate of 0.04/s without holding time at indentation depth of 2000 nm. As the grain size increasing, the height of the pile-up around the residual indentation increases and then has a slightly decrease in the CG Cu, While the area of the pile-up increases constantly. Our analysis has revealed that the dislocation motion and GB activities in the NC Cu, some cross- and multiple-slips dislocation insides the larger grain in the UFG Cu, and forest dislocations from the intragranular Frank-Read sources in the CG Cu, would directly induce these distinct pile-up effect.

Experiments to measure a single molecule/particle, i.e. an individual molecule/particle, at room temperature or under physiological conditions without immobilization, for example on a surface, or without significant hydrodynamic flow have so far failed. This failure has given impetus to the underlying theory of Brownian molecular motion towards its stochastics due to diffusion. Quantifying the thermodynamic jitter of molecules/particles inspires many and forms the theoretical basis of single-molecule/single-particle biophysics and biochemistry. For the first time, our simulation results for a live cell (cytoplasm) show that the tracks of individual single molecules are localized in Brownian motion, while there is fanning out in fractal diffusion (anomalous diffusion).

In the last decade, the integration of robots into agricultural tasks has significantly transformed food production from planting to harvest. The precision and efficiency of a robot allow for specialized crop management in cases such as; plant disease identification, optimization of water and fertilizer use, monitoring of environmental and soil conditions, among others. That is, the adoption of robots in agricultural practices through intelligent automation increases crop yields and decreases environmental impact. Intelligent automation faces contemporary challenges such as climate change and population growth, promoting sustainable food security. Therefore, this article presents a review of the state of the art of modular robots and their applications in agriculture. Modular robots have the ability to reconfigure and adapt to different tasks, promoting versatile solutions for the agricultural sector. These solutions are linked to the robot's control systems, which can be centralized, decentralized, and hybrid. Firstly, centralized control allows for unified management and coordination in high-precision tasks. Secondly, the decentralized approach offers flexibility and robustness in changing environments where adaptability is required. Thirdly, hybrids incorporate features of both control types balancing control and autonomy to increase efficiency and effectiveness in practical applications. In some cases, control systems incorporate bio-inspired motion control techniques, where the robot mimics natural movements and behaviors to improve its adaptability in performing a task. For example, the chemosynthesis model, which is a biological process where bacteria convert an inorganic compound into energy, has been adapted for individual robots to explore and navigate their environment. Therefore, this article presents an overview of modular robots, the incorporation of bio-inspired motion control techniques, and their convergence towards the sustainable solution of contemporary problems in the agro-industry.

Introduction: Increases in contralateral range of motion (ROM) have been shown following acute high-intensity and high-duration static stretching (SS) with no significant change in contralateral force, power, and muscle activation. There are currently no studies comparing the effects of a high-intensity, low-duration (HILD) or low-intensity, high-duration (LIHD) SS on contralateral performance. Purpose: The aim of this study was to examine how HILD and LIHD SS of the dominant leg hamstrings influence contralateral limb performance. Methods: Sixteen trained participants (8 females, 8 males) completed three SS interventions of the dominant leg hamstrings; 1) HILD (6x10s at maximal point of discomfort (POD)), 2) LIHD (6x30s at initial POD), and 3) control. Dominant and non-dominant ROM, maximal voluntary isometric contraction (MVIC) forces, muscle activation (electromyography (EMG)), unilateral CMJ and DJ heights were recorded pre-test and 1-minute post-test. Results: There were no significant contralateral ROM or performance changes. Following the HILD condition, the post-test ROM for the stretched leg (110.612.60) exceeded the pre-test (106.09.00) by 4.2% (p=0.008). Similarly, with LIHD, the stretched leg post-test (112.216.50) also exceeded (p=0.06) the pre-test ROM (109.316.20) by 2.6%. There were large magnitude impairments, evidenced by main effects for testing time for force, instantaneous strength, and associated EMG. A significant ROM interaction (p=0.02) showed that with LIHD, the stretched leg significantly (p=0.05) exceeded the contralateral leg by 13.4% post-test. Conclusion: The results showing no significant increase in contralateral ROM with either HILD or LIHD SS suggesting the interventions may not have been effective in promoting crossover effects.

The paper investigates the accuracy of the angular velocity estimation based on measurements of the components of the induction vector of the Earth's magnetic field. A comparative analysis of angular velocity estimates using the Boer formula, the derivative of the induction vector of the Earth's magnetic field and direct measurements of the components of the angular velocity vector using a gyroscopic sensor for the ISOI small spacecraft (SXC3-219) is carried out. The results obtained make it possible to investigate the accuracy of estimates of the angular velocity of a small spacecraft in various ways to improve the quality of its target tasks.

In this work, we introduce the first pipeline that combines a refraction-aware Structure-from-Motion (SfM) method with a deep learning model specifically designed for airborne bathymetry. We accurately estimate the 3D positions of the submerged points by integrating refraction geometry within the SfM optimization problem. This way, no refraction correction as post-processing is required. Experiments with simulated data that approach the real-world capturing conditions demonstrate that SfM with refraction correction is extremely accurate, with submillimeter errors. We integrate our refraction-aware SfM within a deep learning framework that also takes into account radiometrical information, developing a combined spectral and geometry-based approach, with further improvements on accuracy and robustness to different seafloor types, both textured and textureless. We conducted experiments with real-world data at 2 locations in the southern Mediterranean Sea, with varying seafloor types which demonstrate the benefits of refraction correction for the deep learning framework. We open-source our refraction-aware SfM, providing researchers in airborne bathymetry with a practical tool to apply SfM in shallow water areas.

This research presents a novel algorithmic implementation to improve the analysis of visually controlled interception and accompanying motor action through the computational application of harmonic ratios and stimulation invariants. Unlike traditional models that focus mainly on psychological aspects, our approach integrates the relevant constructs into a practical mathematical framework. This allows for dynamic prediction of interception points with improved accuracy and real-time perception-action capabilities, essential for applications in neurorehabilitation and virtual reality. Our methodology uses stimulation invariants as key parameters within a mathematical model to quantitatively predict and improve interception outcomes. The results demonstrate the superior performance of our algorithms over conventional methods, confirming their potential for ad-vancing robotic vision systems and adaptive virtual environments. By translating complex theo-ries of visual perception into algorithmic solutions, this study provides innovative ways to im-prove motion perception and interactive systems. This study aims to articulate the complex inter-play of geometry, perception, and technology in understanding and utilizing cross-ratios at infin-ity, emphasizing their practical applications in virtual and augmented reality settings.

The article presents investigations of rail vehicle bogie of Y25 type. The Y25 bogie family is one of the most commonly used freight car bogie designs. In addition to several significant advantages characterising this design, it also has several disadvantages observed since the beginning of more than fifty years of operation in several types of cargo vehicles. One of these defects observed in real systems is "unsatisfactory running stability", particularly at long straight tracks. The article used commercial engineering software VI-Rail to create a model of the gondola car (type 412W Eaos) with two Y25 bogies. The car model was tested empty and loaded (maximum permissible load). Motion along straight and curved tracks with different radii values was analysed. The vehicle velocity was changed from a few m/s to the maximum values for which stable solutions of the model existed. For each route, a non-linear critical velocity was determined, defining the maximum operating velocity of the modelled car. The model solutions were recorded, while just one was selected to present the results - the first wheelset lateral displacement ylw. The opinion about the "imperfect running quality" in curved tracks was confirmed. The possible appearance of self-exciting wheelset vibrations in the modelled car's operating velocity range in the laden state was also observed. The research results on the impact of the bogie suspension parameters change on the vehicle model stability are presented. The crucial parameter in the bogie suspension was indicated. Reducing its value by several percent about the nominal value increases the critical velocity of the car to values higher than the maximum operating velocity of the modelled vehicle.

The application of space robotic manipulators and heightened autonomy for ios represents a paramount pursuit for leading space agencies, given the substantial threat posed by space debris to operational satellites and forthcoming space endeavors. This work presents a guidance algorithm based on drl to solve for the space manipulator path-planning during the motion synchronization phase with the mission target. The goal is the trajectory generation and control of a spacecraft equipped with a 7-dof robotic manipulator, such that its end effector remains stationary with respect to the target point of capture. The ppo drl algorithm is used to optimize the manipulator’s guidance law, and the autonomous agent generates the desired joints rates of the robotic arm, which are then integrated and passed to a model-based feedback linearization controller. The agent is first trained to optimize its guidance policy and then tested extensively to validate the results against a simulated environment representing the motion synchronization scenario of an ios mission.

The ubiquitous problem of electrical energy waste is driven by human error, in which people regularly forget to turn off appliances when they leave a room, resulting in excessive consumption. The paper presents an energy-efficient TRIZ-inspired (EETRIZ) paradigm to automate consumer electronic devices in order to address this problem. Employing motion detection at entry and exit points, the system discerns room occupancy, effectively managing electrical appliances like lamps, fans, and air conditioners. The integration of theory of inventive problem solving (TRIZ) principles guides the ideation and design of an efficient switching mechanism. The system demonstrates that it is flexible by controlling multiple electronic consumer devices simultaneously. This paradigm can be used in a variety of environments, such as homes, offices, schools, and universities, and its goal is to reduce excessive energy use that results from human negligence. With an emphasis on economic viability and environmental impact, the proposed EETRIZ paradigm not only offers enhanced energy efficiency but also lays the groundwork for long-term sustainability practices, aligning with global efforts towards greener and smarter energy management. The proposed EETRIZ is implemented on C platform with support of MPLAB, Nuvoton 8051 Serie MCU Programming, GMPLibrary (GMP-5.1.1) and, Miracl Library. The proposed EETRIZ outperforms current state-of-the-art methods in terms of energy efficiency, cost-effectiveness, precision, and user-friendliness, according to hardware testing.

This paper proposes the application of force-projecting bilateral control to a master-follower teleoperation system with a pneumatic manipulator on the follower side, and evaluates its effectiveness. The proposed method directly projects the operating force on the master side to the driving force on the follower side, eliminating the need for both position control and external force detection on the follower side, thereby solving the problem of low rigidity and response delay of pneumatic manipulators and providing highly stable sensor-less force presentation against variable environments. In this study, dynamic response analyses of a 1-DOF master-follower system were performed by numerical simulation using a linear system model, followed by experimental verification by implementing an actual system with an external force estimator. The results showed that the proposed force-projecting bilateral control has significantly higher positioning rigidity and better force control stability than the conventional force-reflecting bilateral control. A theoretical consideration was also given using equivalent transformation of force transfer functions to provide evidence for the high stability.

Fiber-based flexible sensors have promising applications potential in human motion and healthcare monitoring, owing to their merits of lightweight, flexibility, and easy processing. Now, high-performance elastic fiber-based strain sensors with high sensitivity, large working range and excellent durability are in great demand. Herein, we have easily and quickly prepared a highly-sensitive, durable fiber-based strain sensor by dip-coating of highly-stretchable polyurethane (PU) elastic fiber in MXene/ waterborne polyurethane (WPU) dispersion solution. Benefiting from the electrostatic repulsion force between the negatively charged WPU and MXene sheets in the mixed solution, very homogeneous and stable MXene/WPU dispersion was successfully obtained and the interconnected conducting networks were correspondingly formed in coated MXene/WPU shell layer, which makes as-prepared strain sensor exhibit a gauge factor of over 960, a large sensing range of over 90% and detection limit as low as 0.5% strain. As elastic fiber and mixed solution have the same polymer constitute, tight bonding of MXene/WPU conductive composite on PU fibers was achieved, enabling the as-prepared strain sensor endure over 2500 stretching-releasing cycles and thus show good durability. Full-scale human motion detection was also performed by the strain sensor, and a body posture monitoring, analysis, and correction prototype system was developed via embedding the fiber-based strain sensors into sweater, strongly indicating the great application prospect in exercise, sports and healthcare.

Colorectal liver metastases (CRLM) patients combined with hepatic lymph node metastases was a negative prognostic factor associated with outcomes. Up to now, there was still lack of a reliable method to identify the status of hepatic lymph nodes. The aim of this study was to investigate the predictive ability of mono-exponential, bi-exponential, and stretched-exponential diffusion-weighted imaging (DWI) models to distinguish between benign and malignant hepatic lymph nodes in CRLM patients who underwent neoadjuvant chemotherapy prior to surgery. In total, 97 CRLM patients with pathologically proved hepatic lymph node status were included. Various quantitative parameters, including the apparent diffusion coefficient (ADC) from mono-exponential model, D, D*, and f derived from intravoxel incoherent motion (IVIM) model, as well as DDC and α from stretched-exponential model (SEM), were measured. Multivariate analysis revealed that the pre- treatment DDC value and the short diameter of the largest lymph node after treatment were independent predictors of metastatic hepatic lymph nodes. A nomogram combining these two factors demonstrated excellent performance in distinguishing between benign and malignant lymph nodes in CRLM patients, with an area under the curve (AUC) of 0.873. Therefore, the nomogram can serve as a preoperative assessment tool for determining the status of hepatic lymph nodes and aiding in the decision-making process for surgical treatment in CRLM patients.

The diamagnetic levitation technique can be applied to non-destructive testing for identifying cracks and defects in magnetic materials. Pyrolytic graphite is a material that can be leveraged in micromachines due to its no-power diamagnetic levitation on a permanent magnet (PM) array. However, the damping force applied to pyrolytic graphite prevents it from maintaining con-tinuous motion along the PM array. This paper investigates the in-plane motion and damping characteristics of pyrolytic graphite sheets on the PM array. The centroid of pyrolytic graphite will maintain a stable levitation when positioned on the intersecting point of the PM array. Fur-thermore, the in-plane motion of two different pyrolytic graphite sizes - PG10 (10×10×0.5mm3) and PG20 (20×20×0.5mm3) - has revealed that the in-plane forces applied to them are approximately 61.4μN and 28.2μN, respectively. The smaller sheet has a shorter oscillation time while oscillating before it stabilizes. The damping ratio of the oscillation was between 0.1-0.2. The in-plane force and the stable time of pyrolytic graphite are related to its size ratio in comparison with the PM. This relationship is believed to promote stability, as the force acting on the graphite sheet will be distributed over a larger area when the sheet size increases. During the fixed-axis rotation process, the study found that the friction coefficient and friction force decreased as the rotational speed decreased. The diamagnetic levitation of pyrolytic diamagnetic levitation is also unable to maintain long-term axial rotation. Finally, friction force was tested using PG10 during fixed-axis rotation above a circular PM array. The results showed that the order of the friction coefficient is 10-3, and the friction force is about 0.8μN, decreasing with graphite rotation speed. We hope this technique will be used in crack detection, magnetic detection and other micromachine.

The aim of this study was to investigate the impact of Process Oriented Guided Inquiry Learning (POGIL)-based instruction versus lecture-based instruction on Grade 12 students’ performance in circular motion unit. A quasi-experimental, pretest-posttest design, the impact of POGIL-based instruction versus lecture-based instruction on students’ performance as measured by three types of cognitive outcomes: Knowing, Applying and Reasoning (KAR). The total number of participants was approximately 110 students (N=110); 54 were assigned to treatment groups (25 girls and 29 boys) and 56 were assigned to control groups (27 girls and 29 boys). The treatment group was taught a unit of circular motion in physics using POGIL-based instruction while the control group was taught the unit using lecture-based instruction. The findings of the study showed statistically significant differences between students of the control group and the treatment group in favor of the later regarding their circular motion performance, suggesting the superiority of the POGIL in enhancing student understanding of the circular motion.

When presenting special relativity, it is customary to single out the so-called paradoxes. One of these paradoxes is the formal occurrence of speeds exceeding the speed of light. An essential part of such paradoxes arises from the incompleteness of the relativistic calculus of velocities. In special relativity, the additive group is used for velocities. However, the use of only group operations imposes artificial restrictions on possible computations. Naive expansion to vector space is usually done by using non-relativistic operations. We propose to consider arithmetic operations in the special theory of relativity in the framework of the Cayley–Klein model for projective spaces. We show that such paradoxes do not arise in the framework of the proposed relativistic extension of algebraic operations.

The goal of background reconstruction is to recover the background image of a scene from a sequence of frames showing this scene cluttered by various moving objects. This task is fundamental in image analysis, and is generally the first step before more advanced processing, but difficult because there is no formal definition of what should be considered as background or foreground and the results may be severely impacted by various challenges such as illumination changes, intermittent object motions, highly cluttered scenes, etc. We propose in this paper a new iterative algorithm for background reconstruction, where the current estimate of the background is used to guess which image pixels are background pixels and a new background estimation is performed using those pixels only. We then show that the proposed algorithm, which uses stochastic gradient descent for improved regularization, is more accurate than the state of the art on the challenging SBMnet dataset, especially for short videos with low frame rates, and is also fast, reaching an average of 52 fps on this dataset when parameterized for maximal accuracy using GPU acceleration and a Python implementation.

Cerebrospinal fluid (CSF)-contacting neurons (CSF-N) located in the surface of both brain ventricles and the central canal (cc) in the spinal cord. The cc and CSF maintain a proliferative niche for neural progenitor cells and play a vital role in development of the brain. The CSF circulates in the ventricles and the subarachnoid spaces with the CSF rhythmic flow: cardiac pulsation and respiratory fluctuation. A new concept of CSF motion may be contrary to the classical one that the direction of CSF motion may vary in direction and may be dynamic in its location. The CSF pressure may also depend on the body position. Moderate music-making has been considered a potential approach for rehabilitative and restorative therapy of brain dysfunctions. Recently, we find that the CSF-Ns are present in both the interior CFS in the cc and also exterior CSF around the surface of the spinal cord. We hypothesize that CSF-N as mechanical sensors in the spinal cord could sense motion of the spinal cord. The myodural bridge is a ligament connecting a pair of deep, upper-neck muscles to the dura mater, which envelops the arachnoid mater and contains the CSF surrounding the brain and the spinal cord. We figure out the term “CSF-static compartment” and classify CSF storage location as rostral pool and caudal pool to demonstrate our hypothesis. We presume that the somatic body movement with music-making and rehabilitation-based interventions would orchestrate the CSF motion with head movement, myodural bridge stretching and puling as well as spinal bending.

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 paper investigates a distributed, coordinated motion control network based on multiple direct-drive, linear switched reluctance machines (LSRMs). A hierarchical, two-level synchronization control strategy is proposed for the four LSRMs based motion control network. The high-level, reference signals agreement algorithm is first employed to correct the asynchronous behaviors of the position commands. Then, the low-level tracking synchronization method is applied for the collaborative position control of the four LSRMs. The proposed two-level, fault-tolerant control strategy eliminates the asynchrony of the reference signals and it also guarantees the coordinated tracking control performance of the four LSRMs. Experimental results demonstrate that effective coordinated tracking control can be ensured, based on successful agreement of reference signals and an absolute tracking error falling within 2 mm can be achieved.

The current study characterizes the transient M/M/1 queue manifold info-geometrically, through devising Fisher Information matrix(FIM) and its inverse(IFIM). Additionally, the impact of stability on the existence of IFIM and explore the geodesic equations of motion has been revealed. More potentially, the paper discusses some info-geometric applications to Machine Learning are highlighted. Closing remarks with some challenging open problems combined with the next phase of research are given.

Background/Objectives: Stroke patients generally have balance and gait dysfunction due to decreased range of motion (ROM) and muscle strength of the ankle joint. A therapist can apply a floss band to enhance ROM, pain control, jumping performance, strength, myofascial release, and recovery from fatigue. This study compared the immediate effects of floss band application on ankle ROM, balance, and gait ability in stroke patients.; Methods: This study randomized 40 chronic stroke patients to either the floss (n = 20) or sham (n = 20) band group. Outcome measures were ankle ROM, weight bearing lunge test (WBLT) performance, standing balance, and gait ability. Outcome measures were assessed at baseline and immediately after applying the floss or placebo band.; Results: There were significant improvements in dorsiflexion (DF), WBLT, static balance, and foot strike in those who used the floss band compared to the sham group (all p < 0.05).; Conclusions: The floss band improved ankle DF, balance, and gait, indicating that it is a feasible therapeutic method for improving ankle DF, balance, and gait in chronic stroke patients.

This paper introduces the improvements in the natural frequency based Structural Health Monitoring (SHM) by applying bio-inspired optimization methods and the vision-based monitoring system for the effective damage detection. This paper proposes a natural frequency extraction method using the motion magnification based vision monitoring system with bio-inspired optimization techniques to estimate the damage location and depth in a cantilever beam. The proposed optimization techniques are inspired by natural processes and biological evolution including Genetic Algorithms, Particle Swarm Optimization, Sea Lion Optimization, and Coral Reefs Optimization. To verify the performances of each bio-inspired optimization methods, the eigenvalues of a two-bay truss structure are used for estimating the damaged elements. Then, using the proposed video motion magnification method, the natural frequency for each of undamaged and damaged cantilever beam have been extracted and compared with the LDV sensor to verify the proposed vision-based monitoring system. The performance of each bio-inspired optimizer for the damage detection has been compared. As a result, Coral Reefs Optimization has showed the lowest average error, around 1%, in the damage detection using natural frequency.

Jump rope is a widely-applied basic training in various sports, yet it is understudied biomechanically. This study investigates the impact of cycle-tempo-induced motor control changes in elite jump rope athletes, addressing the biomechanical gap of cyclic skill control. The hypothesis posited two accelerations per jump cycle—one in front of and one behind the body—and anticipated that increased cycle frequency would alter the distribution of acceleration time within a cycle. Using 3D motion analysis, kinematic parameters were obtained and analyzed. The results confirmed the presence of two distinct accelerations per cycle. As tempo increased, the percentage of rear acceleration time increased while front acceleration time decreased, along with peak velocities increasing significantly (p<0.01). Rope trajectory analysis indicated a consistent movement pattern across tempos, primarily in the sagittal plane. Variations in skill control showed shorter contact phases and reduced vertical range of motion for the center of gravity and feet at higher tempos (p<0.05), along with significant reductions in joint range of motion for the lower limbs (p<0.01). These findings enhance the understanding of motor control adaptations to different tempos and have practical implications for developing coaching programs aimed at optimizing performance, stability, and efficiency in jump rope training.

Earthquake-triggered landslides are one of the most significant hazards worldwide. These landslides, involving small or large volumes, can develop in debris flow or avalanche with high mobility and long-runout distance. The motion processes of this kind of landslide also quite complicated. This study reproduced the motion processes of two landslides using the LS-RAPID program. The Aso Bridge landslide occurred on April 16, 2016, with rapid and long-runout distance characteristics. The Kataragai landslide occurred on April 9, 2018, travelling with flow-like behavior. Through field investigations and laboratory experiments, features and mechanical parameters of these two landslides were obtained. In the LS-RAPID program, the pre-failure models and motion processes of these two landslides were established and reproduced. Results indicated that sliding speed and travelling morphology at different intervals were considered as two indicators to describe their motion process. However, while sliding speed of these two landslides have significant differences with sliding speeds of actual landslides, the final morphologies after failure were consistent with those observed in the field investigation.

In volleyball, the jump serve is a fundamental and crucial skill that is one of the most commonly used serving techniques. This study aimed to examine the kinematic differences between straight line (SL) and diagonal line (DL) in volleyball jump serves by focusing on torso and attack arm joint motions. Three-dimensional coordinate data were captured using a motion capture system (200 Hz) in 14 right-handed male professional volleyball players who performed SL and DL jump serves. This result suggests that the pelvis and torso backward rotation angles during the arm-clocking phase were smaller when performing DL serves. During ball contact, the servers exhibited greater forward rotation angles of the pelvis and torso to control the upper body facing the diagonal direction of the target zone. In addition, lowering the forward tilt angle of the trunk helped the servers maintain body balance in the air and increased their wrist flexion angle, preventing the ball from flying out of bounds when performing DL. These findings highlight the importance of controlling pelvic and torso rotations in the transverse plane when adjusting for different serving lines. These insights can guide volleyball athletes and coaches in refining their serving techniques.

Atomic force microscopes are used, beside their principal function as surface imaging tools, in surface manipulation and measurement of interfacial properties. In particular, they can be modified to measure lateral friction forces that occur during the sliding of the tip against the underlying substrate. However, the shape, size, and deformation of the tips profoundly affect the measurements in a manner that is difficult to predict. In this work, we investigate the contribution of these effect to the magnitude of the lateral forces during sliding. The surface substrate is chosen to be few-layer AB-stacked graphene surface whereas the tip is initially constructed from face-centered cubic gold. In order to separate the effect of deformation from shape, rigid tips of three different shapes were considered first, namely a cone, a pyramid and a hemisphere. The shape was seen to dictate all aspects of the interface during sliding, from temperature dependence to stick-slip behavior. Deformation was investigated next by comparing a rigid hemispherical tip to one of identical shape and size but with all but the top three layers of atoms free to move. The deformation, as also verified by an indentation analysis, occurs by means of the lower layers collapsing on the upper ones, thereby increasing the contact area. This collapse mitigates the friction force and decreases it with respect to the rigid tip for the same vertical distance. Finally, the size effect is studied by means of calculating the friction forces for a much larger hemispherical tip whose atoms are free to move. In this case, the deformation is found to be much smaller but the stick-slip behavior is much more clearly seen.

Upper limb paresis is very common after stroke. An important tool to assess motor recovery is to use marker-based motion capture systems to measure the kinematic characteristics of patients’ movements in ecological scenarios. These systems are, however, very expensive and, as such, not readily available for many rehabilitation units. Here, we explored whether the markerless hand motion capabilities of the cost-effective Oculus Quest head-mounted display could be used to provide clinically meaningful measures. 14 stroke patients executed ecologically relevant upper limb tasks in an immersive virtual environment. During task execution, we recorded their hand movements simultaneously by means of the Oculus Quest’s and a marker-based motion capture system. Our results showed that the markerless estimates of the hand position and peak velocity provided by the Oculus Quest were in very close agreement with those provided by a marker-based commercial system with their regression line having a slope close to 1. Furthermore, the Oculus Quest had virtually the same sensitivity as that of a commercial system in distinguishing healthy from pathological kinematic measures. The Oculus Quest was as accurate as a commercial marker-based system in measuring clinically meaningful upper limb kinematic parameters in stroke patients.

In this paper, we discussed the motion of neutral and charged particles in Schwarzschild black hole immersed in an electromagnetic universe (SEBH). The SEBH represents a mass M coupled to an external electromagnetic field that was derived from the metric of colliding electromagnetic waves with double polarization. Our study examine how the external electromagnetic field affects the trajectory of neutral and charged particles. First, the trajectories of both photon and test particle are studied. Then, the exact solutions for the trajectories are obtained in terms of the Jacobi-elliptic integrals for all possible energy and angular momentum of test particle and photon. We have also discussed the motion of charged particle and obtained the radius of the innermost circular orbit (ISCO). It is especially interesting when the charge sign is positive since this creates a conflict between gravitational (attraction force) and electric (repulsion force). Furthermore, we discuss the Lyapunov exponent and the effective force influencing particles in SEBH spacetime.

In particle physics, spin is an intrinsic form of angular momentum carried by the elementary particles. It is believed that spin is a solely quantum-mechanical phenomenon, which does not have a counterpart in classical mechanics. We have derived the simplest equations of spin and magnetic moment of a charged elementary particle. These formulas enable us to understand the physical nature of the spin and the structure of elementary particles. It is shown that the electron and muon are in the shape of a thin ring with a circular cross section (torus), and the proton is in the form of a ring with a non-circular cross section (toroid). The connection between the photon’s spin of and the propagation of electromagnetic waves is considered.

Electrical impedance tomography (EIT) can monitor the real-time hemodynamic state of a conscious and spontaneously breathing patient noninvasively. However, cardiac volume signal (CVS) extracted from EIT images has a small amplitude and is sensitive to motion artifacts (MAs). This study aimed to develop a new algorithm to reduce MAs from the CVS for more accurate heart rate (HR) and cardiac output (CO) monitoring in patients undergoing hemodialysis based on the source consistency between the electrocardiogram (ECG) and the CVS of heartbeats. Two signals were measured at different locations on the body through independent instruments and electrodes, but the frequency and phase were matched when no MAs. As the number of motions per hour (MI) increased over 30, the proposed algorithm had a correlation of 0.83 and a precision of 1.65 beats per minute (BPM) compared to the conventional statical algorithm of a correlation of 0.56 and a precision of 4.04 BPM. For CO monitoring, the precision and upper limit of the mean ∆CO were 3.41 and 2.82 liters per minute (LPM), respectively, compared to 4.05 and 3.82 LPM of the statistical algorithm. The developed algorithm could reduce MAs and improve HR/CO monitoring accuracy and reliability, particularly in high-motion environments.

To validate the accuracy and reliability of onboard sensors for object detection and localization in driver assistance, as well as autonomous driving applications under realistic conditions (indoors and outdoors), a novel tracking system is presented. This tracking system is developed to determine the position and orientation of a slow-moving vehicle (e.g. car during parking maneuvers), independent of the onboard sensors, during test maneuvers within a reference environment. One requirement is a 6 degree of freedom (DoF) pose with a position uncertainty below 5 mm (3σ), an orientation uncertainty below 0.3° (3σ) at a frequency higher than 20 Hz, and a latency smaller than 500 ms. To compare the results from the reference system with the vehicle’s onboard system, a synchronization via Precision Time Protocol (PTP) and a system interoperability to Robot Operating System (ROS) is implemented. The developed system combines motion capture cameras mounted in a 360° panorama view set-up on the vehicle with robotic total stations. A point cloud of the test site serves as a digital twin of the environment, in which the movement of the vehicle is simulated. Results have shown that the fused measurements of these sensors complement each other, so that the accuracy requirements for the 6 DoF pose can be met, while allowing a flexible installation in different environments.

The aim of this research is to expand recent developments in the mapping of pasture yield with remotely piloted aircraft systems to that of satellite-borne imagery. Up to date, spatially explicit and accurate information of the pasture resource base is needed for improved climate-adapted livestock rangeland grazing. This study developed deep learning predictive models of pasture yield, as total standing dry matter in tonnes per hectare (TSDM(tha−1)), from field measurements and both remotely piloted aircraft systems and satellite imagery. Repeated remotely piloted aircraft system structure measurements derived from structure from motion photogrammetry, provided measures of pasture biomass from many overlapping high-resolution images. Repeated remotely piloted aircraft system measures throughout a growing season, were modelled with persistent photosynthetic pasture responses from various Planet Dove high spatial resolution satellite image-derived vegetation indices. Pasture height modelling as an input to the modelling of yield was assessed against terrestrial laser scanning and reported correlation coefficients (R2) from 0.3 to 0.8 for both a coastal grassland and inland woodland pasture. Accuracy of the predictive modelling from both the remotely piloted aircraft system and the Planet Dove satellite image estimates of pasture yield ranged from 0.8 to 1.8 TSDM(tha−1). These results indicated that the practical application of repeated remotely piloted aircraft system derived measures of pasture yield can, with some limitations, be scaled-up to satellite-borne imagery to provide more temporally and spatially explicit measures of the pasture resource base.

Background. Shoulder in CrossFit should have a balance between mobility and stability. Glenohumeral internal rotation deficit and posterior shoulder stiffness are risk factors for overhead shoulder injury. Objective. To determine the effectiveness of instrument assisted soft tissue mobilization and horizontal adduction stretch in CrossFit practitioners’ shoulders. Methods: Twenty-one regular CrossFitters were allocated to experimental (stretching with isometric contraction and instrument assisted soft tissue mobilization) or control group (instrument assisted soft tissue mobilization). Each session lasted 5 minutes, 2 days a week, over a period of 4 weeks. Shoulder internal rotation and horizontal adduction (digital inclinometer), and posterior shoulder stretch perception (Park scale) were evaluated. Shapiro-Wilk test was used to analyze the distribution of the sample. Parametric student's t-test was used to obtain the intragroup differences. The inter- and intra-rater differences were calculated using a repeated measures ANOVA. Results. Changes were found in the experimental group following intervention (p < 0.05), and when comparing baseline and follow-up assessments (p < .05) in all variables. Significant differences were found in the control group following intervention (p < 0.05), in right horizontal adduction and left internal rotation. When comparing perception of internal rotation and horizontal adduction in both groups in the three assessments significant differences were found. Conclusions. Instrument assisted soft tissue mobilization can improve shoulder horizontal adduction and internal rotation. An instrument-assisted soft tissue mobilization technique yields the same results alone as those achieved in combination with post-isometric stretch with shoulder adduction.

Atmospheric Motion Vectors (AMVs) calculated by six different institutions (Brazil Center for Weather Prediction and Climate Studies/CPTEC/INPE, European Organization for the Exploitation of Meteorological Satellites/EUMETSAT, Japan Meteorological Agency/JMA, Korea Meteorological Administration/KMA, Unites States National Oceanic and Atmospheric Administration/NOAA and the Satellite Application Facility on Support to Nowcasting/NWCSAF) with JMA’s Himawari-8 satellite data and other common input data are here compared. The comparison is based on two different AMV input datasets, calculated with two different image triplets for 21 July 2016, and the use of a prescribed and a specific configuration. The main results of the study are summarized as follows: (1) the differences in the AMV datasets depend very much on the “AMV height assignment” used and much less on the use of a prescribed or specific configuration; (2) the use of the “Common Quality Indicator (CQI)” has a quantified skill in filtering collocated AMVs for an improved statistical agreement between centers; (3) JMA AMV algorithm has the best overall performance considering all validation metrics, most likely due to its height assignment: “optimal estimation using observed radiance and NWP wind vertical profile”.

The increasing use of renewable energies as a source of electricity has led to a fundamental transition of the power supply system. The integration of fluctuating weather-dependent energy sources into the grid already has a major impact on the load flows of the grid. As a result, the interest in forecasting wind and solar radiation with a sufficient accuracy over short time horizons grew. In this study the short-term forecast of the effective cloud albedo based on optical flow estimation methods are investigated. The optical flow method utilized here is TV-L¹ from the open source library OpenCV. This method uses a multi-scale-approach to capture cloud motions on various spatial scales. After the clouds are displaced the solar surface radiation will be calculated with SPECMAGIC NOW which computes the global irradiation spectrally resolved from satellite imagery. Due to a high temporal and spatial resolution of satellite measurements the effective cloud albedo and thus solar radiation can be forecasted from 5 minutes up to 4 hours with a resolution of 0.05°. In the following there will be a brief description of the method for the short-term forecast of the effective cloud albedo. Subsequently evaluation results will be presented and discussed. Finally an outlook of further developments will be given.

In this paper, a semi-empirical model of air waves induced by falling rock is described. The model is composed of a uniform motion phase (velocity close to 0 m·s^-1) and an acceleration movement phase. The uniform motion phase was determined based on experimentally and the acceleration movement phase was derived by theoretical analysis. A series of experiments were performed to verify the semi-empirical model and elucidated the law of the uniform motion phase. The acceleration movement phase accounted for a larger portion with a greater height of the falling rock. Experimental results of different falling heights of the goaf showed close agreement with theoretical analysis values. The semi-empirical model could accurately and conveniently estimate the velocity of air wave induced by falling rock. Thus, the semi-empirical model can provide a reference and basis for estimating the speed of air waves and designing protective measures in mines.

In the present study, we derive a new B-spline technique namely trigonometric B-spline collocation algorithm to solve some initial boundary value problems for the nonlinear Klein-Gordon equation. In order to carry out the time integration with Crank-Nicolson implicit method, the order of the equation is reduced to give a coupled system of nonlinear partial differential equations. The collocation approximation based on trigonometric cubic B-splines for spatial discretization is followed by the linearization of the nonlinear term. The efficiency and accuracy of the present method are validated by measuring the error between the numerical and analytical solutions when exist. The conservation laws representing momentum and energy are also computed for all problems.

This paper examines the control challenges faced by underactuated Autonomous Underwater Vehicles (AUVs) under ocean current disturbances. It proposes a Backstepping Integral Sliding Mode Control (BISMC) strategy to enhance their adaptability and robustness. The BISMC strategy integrates the system decomposition capability of the Backstepping Control method with the rapid response and robustness advantages of the Sliding Mode Control method, enabling the design of a heading controller and a double closed-loop depth controller. By introducing an integral component, the strategy eliminates steady-state errors caused by ocean currents, accelerating system convergence and improving accuracy. Furthermore, a saturation function is employed to mitigate output chattering issues. Simulation results demonstrate that the BISMC controller significantly enhances the control precision and anti-disturbance capabilities of AUVs under low-frequency ocean current disturbances, showcasing exceptional adaptive and self-disturbance rejection performance.

This study profiled morphological and laboratory-derived performance biomechanics by position of American style football players training for the National Football League draft. Fifty-five players were categorized into Big (e.g., lineman; n=17), Big-skill (e.g., tight end; n=11), and Skill (e.g., receiver; n=27) groups. Body fat (BF%), lean body mass (LBM), total body mass, running force and ground contact time (GCT), countermovement jump height (CMJ-JH), CMJ normalized peak power (CMJ-NPP), and reactive strength were measured in a laboratory. Asymmetry was calculated for running force, GCT, and CMJ eccentric and concentric impulse (IMP). MANOVA determined between-group differences, and radar plots for morphological and performance characteristics were created using Z-scores. There was a significant between-group difference, F(26,80)=5.70, p&lt;0.001;Wilk’s Λ=0.123, partial η2=0.649. Fisher’s least squares difference post-hocs showed Skill had greater JH, CMJ-NPP, reactive strength, and running force versus Big but not Big-skill, p&lt;0.05. Big had greater BF%, LBM, total body mass, and GCT than Skill and Big-Skill, p&lt;0.05. Big-skill had greater GCT asymmetry than Skill and Big, p&lt;0.05. Asymmetries in running forces, and CMJ eccentric and concentric IMP were not different, p&gt;0.05. Morphological and performance biomechanics differences are pronounced between Skill and Big. Big-skill possess characteristics from both groups. Laboratory-derived results provide specialized profiles of draft trainees.

Structural biology has a strong interest in ion channels, a diverse group of membrane proteins. This group has long remained difficult to study, but much progress has been made in recent decades with improvements in biochemical methods and computational procedures. Voltage-gated ion channels undergo conformational changes upon functioning, and multiple models of activation mechanisms were proposed based on experimental data. This review focuses on the structural studies of the functioning of voltage-gated ion channels, which are accompanied by conformational changes in proteins, and the methodological advances that allow their observation. Modern experimental methods that allow obtaining ion channel proteins in specific functional states are discussed, including cryoelectron microscopy and cryoelectron tomography. Finally, new algorithms for studying the conformational mobility of proteins have been developed, which help to better understand the mechanisms of ion channel domain movements.

Various short-range radars, such as impulse-radio ultra-wideband (IR-UWB) and frequency-modulated continuous-wave (FMCW) radars, are currently employed to monitor vital signs, including respiratory and cardiac rates (RR and CR). However, these methods do not consider the motion of an individual, which can distort the phase of the reflected signal, leading to inaccurate estimation of RR and CR because of a smeared spectrum. Therefore, motion compensation (MOCOM) is crucial for accurately estimating these vital rates. This paper proposes an efficient method incorporating MOCOM to estimate RR and CR with super-resolution accuracy. The proposed method effectively models the radar signal phase and compensates for motion. Additionally, applying the super-resolution technique to RR and CR separately further increases the estimation accuracy. Experimental results from the IR-UWB and FMCW radars demonstrate that the proposed method successfully estimates RR and CR even in the presence of body movement.

Hamstring injuries present a notable challenge to the performance and durability of soccer athletes, particularly those situated in rural areas where access to specialized training facilities may be scarce. This literature review delves into the amalgamation of resistance and flexibility training as a holistic strategy for averting hamstring injuries among rural-based soccer athletes. Utilizing existing scholarly works, this review underscores the significance of resistance training in enhancing hamstring strength, power, and stamina, while flexibility training augments muscle pliability and range of motion, thus diminishing the likelihood of injuries. Furthermore, it scrutinizes a range of resistance and flexibility routines customized to meet the specific requirements of soccer and the limitations of rural settings. Through the amalgamation of evidence-based methodologies, this review puts forth the mechanisms of injury and pragmatic suggestions for coaches, trainers, and athletes to implement efficient injury prevention protocols. Highlighting the collaborative advantages of resistance and flexibility training, this methodology strives to enhance performance and shield against hamstring injuries in rural-based soccer athletes.

Exoskeletons designed to assist patients with activities of daily living are becoming increasingly popular, but still are subject to research. In order to gather requirements for the design of such systems, long-term gait observation of the patients over the course of multiple days in an environment of daily living are required. In this paper a wearable all-in-one data acquisition system for collecting and storing biomechanical data in everyday life is proposed. The system is designed to be cost efficient and easy to use, using off-the-shelf components and a cloud server system for centralized data storage. The measurement accuracy of the system was verified, by measuring the angle of the human knee joint at walking speeds between 3 and 12 km/h in reference to an optical motion analysis system. The acquired data was uploaded to a cloud database via a smartphone application. Verification results showed that the proposed toolchain works as desired. The system reached an RMSE from 2.9° to 8°, which is below most of the comparable system. The system provides a powerful, scalable platform for collecting and processing biomechanical data, which can help to automize the generation of an extensive database for human kinematics.

Background: Olecranon fractures are common injuries of the upper limb in adults. Simple dis-placed trasverse fractures are generally surgically treated with tension-band wiring (TBW) or plate fixation (PF). The purpose of this retrospective study is to compare the clinical-functional outcome, complications and reoperation rates between TBW and PF for Mayo IIA fractures. Methods: 72 patients treated with PF or TBW at our institution, completed our survey and clinical evaluation and their demographic and clinical data were recorded and analysed. The clini-cal-functional outcomes were evaluated assessing ROMs and three validated scoring systems: the Disabilities of the Arm, Shoulder, and Hand (DASH), the Mayo Elbow Performance Score (MEPS) and the Patient American Shoulder and Elbow Surgeons Standardized Elbow Assess-ment score (pASES-e). Results: 38 patients (53%) underwent TBW and 34 (47%) PF. The mean DASH, MEPS and pASES-e scores were respectively 14.5±17.2, 80.5±14.7 and 83.6±12.4 in the TBW group and 21±21.7, 75.6±15.3 and 75.1±19.2 in the PF group (p=0.16, p=0.17 and p=0.03). The mean duration of surgery and hospitalisation period were longer in the PF group (p=0.002, p=0.37) whereas the complication and reoperation rates were higher after TBW (p=0.15, p=0.24). Conclusion: According to the literature, both TBW and PF resulted comparable valid surgical op-tions for the treatment of simple isolated displaced olecranon fractures, revealing that they both provide good/excellent outcomes with no significant differences.

Unmanned agricultural tractor (UAT) represents the advanced stage of autonomous navigation and serves as a core technology in agricultural production. It reduces the operator’s workload, and improves operational accuracy and efficiency. This article reviews three aspects of key autonomous navigation technologies for UATs: perception, path planning and tracking, and motion control. The advantages, and shortages of these key technologies on UATs are clarified by analyzing technical principles and the current research status. We conducted summaries and analyses of existing unmanned navigation solutions for different application scenarios in order to identify current bottleneck issues. Based on the analysis of the applicability of key autonomous navigation technologies on UATs, it can be seen that fruitful research progresses have been achieved. The review also summarizes the common problems in current technologies. The application research on sharing and integrating multi-source data for autonomous navigation are relatively weak. There is an urgent need of high-precision, and high-stability sensing equipment. The universality of path planning methods, and the efficiency and precision of path tracking need to be improved. It is necessary to develop high reliability electrical control modules to enhance motion control performance. Overall, advanced sensors, high-performance intelligent algorithms, and reliable electrical control hardware are key factors in promoting the development of UAT technology.

We analyze the information that can be retrieved from the tracking parameters produced by an innovative wearable eye tracker. The latter is based on a permanent-magnet marked corneal lens and by an array of magnetoresistive detectors that measure the magnetostatic field in several positions in the eye proximity. We demonstrate that, despite missing information due to the axial symmetry of the measured field, physiological constraints or measurement conditions make possible to infer complete eye-pose data. Angular precision and accuracy achieved with the current prototypical device are also assessed and briefly discussed. The results show that the instrumentation considered is suitable as a new, moderately invasive medical diagnostics for the characterization of ocular movements and associated disorders.

In general, isolators and dampers used in seismically isolated buildings are designed to be isotropic in any horizontal direction. However, in the case of buildings with plan irregularities, their nonlinear responses depend on the direction of seismic loading. To discuss the influence of the angle of seismic incidence (ASI) on the nonlinear response of irregular building structures, it is important to define the angle of the critical axis of the horizontal ground motion. One possible choice is the “principal axis of ground motion” proposed by Arias (1970). However, because this principal axis is independent of the natural period of a structure, it could be complicated to use for seismically isolated structures with long natural periods. In this study, the influence of the ASI of long-period pulse-like seismic input on an irregular base-isolated building is investigated. First, the angle of the principal axis of ground motion is defined in terms of the cumulative energy input. Then, a nonlinear time-history analysis of a five-story irregular base-isolated building is performed using 10 long-period pulse-like ground motion records considering various ASIs. The results show that, compared with the principal axis of ground motion proposed by Arias, defining the principal axis of ground motion in terms of the cumulative energy input is more suitable for discussions concerning the influence of the ASI on the response of an irregular base-isolated building.

Precise and fast position tracking is essential for the correct operation of many industrial robots and CNC machine tools. This subject is also important in the control of the mount of the astronomical telescope, especially for the tracking of artificial satellites. As system parameters can change, a control method that is robust to changes in parameters must be used. Such a method is the sliding control, which, however, ensures the robustness only after reaching the sliding surface. Therefore, a new method was proposed in the paper, which eliminates the phase of reaching the sliding surface. The method consists of using a reference trajectory generator and determining the generalized error in relation to this trajectory. The procedure for designing the control system is presented. Next, the proposed method was verified on the laboratory stand. The described control method provides a robust system operation and can be easily implemented in the control system.

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

Optical motion capture systems are state-of-the-art in motion acquisition, however as any measurement systems they are not error free -- noise is their intrinsic feature. The works so far mostly employ simple noise model, expressing the uncertainty as a simple variance. In the work we prove the existence of several types of noise and demonstrate how to quantify them using Allan variance. For the automated readout of the noise coefficients we solve the multidimensional regression problem using sophisticated metaheuristics in exploration-exploitation scheme. Besides classic types of noise we identified the presence of the correlated noises and periodic distortion in our facility. We had also opportunity to observe the influence of camera failure to the overall performance.

The “NWCSAF High Resolution Winds (NWC/GEO-HRW)” software is developed by the EUMETSAT’s “Satellite Application Facility on support to Nowcasting and very short range forecasting (NWCSAF)”, inside its stand-alone software package for calculation of meteorological products with geostationary satellite data (NWC/GEO). The whole NWC/GEO software package can be obtained after registration at the NWCSAF Helpdesk, www.nwcsaf.org. It is easy to get, install and use. The code is easy to read and fully documented. And in the NWCSAF Helpdesk, users find support and help for its use. “NWCSAF High Resolution Winds” provides a detailed calculation of Atmospheric Motion Vectors (AMVs) and Trajectories, locally and in near real time, using as input NWP model data and geostationary satellite image data. The latest version of the software, v2018, is able to process MSG, Himawari-8/9, GOES-N and GOES-R satellite series images, so that AMVs and Trajectories can be calculated all throughout the planet Earth with the same algorithm and quality. In the “2014 and 2018 AMV Intercomparison Studies”, “NWCSAF High Resolution Winds” has shown to be one of the two best AMV algorithms for both MSG and Himawari-8/9 satellites. And the “Coordination Group for Meteorological Satellites (CGMS)” has recognized in its “2012 Meeting Report”: 1. “NWCSAF High Resolution Winds” fulfills the requirements to be a portable stand-alone AMV calculation software due to its easy installation and usability. 2. It has been successfully adapted by some CGMS members and serves as an important tool for development. It is modular, well documented, and well suited as stand-alone AMV software. 3. Although alternatives exist as portable stand-alone AMV calculation software, they are not as advanced in terms of documentation and do not have an existing Helpdesk. Considering this, a full description and validation of the “NWCSAF/High Resolution Winds” is shown here for the first time in a peer-reviewed paper. The procedure to obtain the software for operational meteorology and research is also explained.

Due to the limitations on the capabilities of current robots regarding task learning and performance, imitation is an efficient social learning approach that endows a robot with the ability to transmit and reproduce human postures, actions, behaviors, etc., as a human does. Stable whole-body imitation and task-oriented teleoperation via imitation are challenging issues. In this paper, a novel comprehensive and unrestricted real-time whole-body imitation system for humanoid robots is designed and developed. To map human motions to a robot, an analytical method called geometrical analysis based on link vectors and virtual joints (GA-LVVJ) is proposed. In addition, a real-time locomotion method is employed to realize a natural mode of operation. To achieve safe mode switching, a filter strategy is proposed. Then, two quantitative vector-set-based methods of similarity evaluation focusing on the whole body and local links, called the Whole-Body-Focused (WBF) method and the Local-Link-Focused (LLF) method, respectively, are proposed and compared. Two experiments conducted to verify the effectiveness of the proposed methods and system are reported. Specifically, the first experiment validates the good stability and similarity features of our system, and the second experiment verifies the effectiveness with which complicated tasks can be executed. At last, an imitation learning mechanism in which the joint angles of demonstrators are mapped by GA-LVVJ is presented and developed to extend the proposed system.

The paper presents a study of two novel visual motion onset stimulus-based brain–computer interfaces (vmoBCI). Two settings are compared with afferent and efferent to a computer screen center motion patterns. Online vmoBCI experiments are conducted in an oddball event–related potential (ERP) paradigm allowing for “aha–responses” decoding in EEG brainwaves. A subsequent stepwise linear discriminant analysis classification (swLDA) classification accuracy comparison is discussed based on two inter–stimulus–interval (ISI) settings of 700 and 150 ms in two online vmoBCI applications with six and eight command settings. A research hypothesis of classification accuracy non–significant differences with various ISIs is confirmed based on the two settings of 700 ms and 150 ms, as well as with various numbers of ERP response averaging scenarios.The efferent in respect to display center visual motion patterns allowed for a faster interfacing and thus they are recommended as more suitable for the no–eye–movements requiring visual BCIs.

Recently, due to the miniaturization of electronic products, printed circuit boards (PCBs) have also become smaller. This trend has led to the need for high-precision electrical test equipment to check PCBs for disconnections and short circuits. The purpose of this study is to improve the position repeatability of the platform unit up to ±2.5 μm in a linear stage type test equipment. For this purpose, the causes of position errors of the platform unit are analyzed. The platform unit holding the PCB is driven by a single-axis linear ball screw drive system offset from its geometric center due to design constraints. The yaw rotation of the platform is found to have a dominant effect on position repeatability. To address this problem, the methods of adding balancing weights to the platform unit and adjusting the stiffness of LM Guides are proposed. This reduces the yaw rotation by moving the centers of mass and stiffness closer to the linear ball screw actuator. In the verification tests, the position repeatability was decreased to less than ±1.0 μm.

The paper deals with the Model Predictive Control (MPC) algorithm as applied to the sensorless control of a Permanent Magnet Synchronous Motor (PMSM). The proposed estimation strategy, based on the unscented Kalman filter (UKF), uses only the measurement of the motor current for the online estimation of speed, rotor position and load torque. Information about the system state feeds the MPC. Results verify the effectiveness and applicability of the proposed sensorless control technique. An implementation in low speed direct drive astronomy telescope mount systems is investigated.

The article outlines a creative approach by fusing ideas from fuzzy contractions, graph mappings, and Kannan mappings to create a brand-new notion known as "Kannan-graph-fuzzy contraction." This combination of concepts makes it possible to create a unique framework for resolving real-world issues controlled by nonlinear models. It is anticipated that using Kannan-graph-fuzzy contractions will offer a fresh approach to discussing solution existence in situations where these ideas overlap. This strategy might have a significant impact on a lot of real-world applications, proving how practical multidisciplinary techniques are for tackling issues in the real world originating from technology and engineering. The article includes several illustrated examples based on computer simulations, making the results more explicit.

Robot workpiece machining is interesting in industry since it offers some advantages, such as higher flexibility in comparison with the conventional approach based on the CNC technology. However, in recent years we have been facing a strong progressive shift to custom based manufacturing and low volume/high mix production, which require a novel approach to automation by the employment of collaborative robotics. However, collaborative robots feature only limited motion capability, to provide safety in cooperation with human workers. Thus, it is highly necessary to perform more detailed robot task planning to ensure its feasibility and optimal performance. In this paper, we deal with the problem of studying kinematic robot performance in the case of such manufacturing tasks, where the robot tool is constrained to follow the machining path embedded on the workpiece surface at a prescribed orientation. The presented approach is based on the well-known concept of manipulability, although the latter suffers from physical inconsistency due to mixing different units of linear and angular velocity in a general 6 DOF task case. Therefore, we introduce the characteristics of the workpiece surface constraint in the robot kinematic analysis, that enables evaluation of its available velocity capability in a reduced dimension space. Such constrained robot kinematics transform the robot`s task space to a two-dimensional surface tangent plane, and the manipulability analysis may be limited to the space of linear velocity only. Thus, the problem of physical inconsistency is avoided effectively. We show the theoretical derivation of the proposed method, which was verified by numerical experiments.

The research methods were used to investigate the following questions: Does a mobility training intervention change tissue stiffness, joint range of motion, and compensate for possible imbalances? Do the interventions influence the pressure pain threshold and the overall well-being?

The response of structures under pulse-like ground motions is characterized by the large amount of energy input in a few cycles. Consequently, structures with insufficient strength may suffer severe damage owing to excessive deformation. In a previous paper, the energy-based prediction procedure for the peak and cumulative response of a reinforced concrete (RC) frame building with steel damper columns was proposed (Fujii and Shioda, 2023). Although this procedure was verified by comparison to the nonlinear time-history analysis (NTHA) results, the performance of the proposed procedure with pulse-like ground motion records has not been verified yet. In this study, the accuracy of the energy-based prediction procedure for an RC frame building with steel damper columns was investigated by considering pulse-like ground motions. The numerical analysis results reveal that the accuracy of the predicted peak response is satisfactory, which agrees with the results of the author’s previous study. However, the accuracy of the predicted total input energy to the building model depends on the ratio of the pulse period of the ground motion to the effective fundamental period of the building model. The reasons for this underestimation of the total input energy are discussed in this paper.

This paper presents designing an attitude motion control strategy for a half-car model using an anti-jerk predictive controller. Anti-jerk predictive controller based on active aerodynamics surfaces is employed to deal with the anticipated future road maneuvers and improve vehicle ride performance by canceling out external jerks acting on the vehicle body. The body jerks are produced during vehicle traversing on a double lane-change maneuver, acceleration, or braking. The control strategy helps the vehicle to achieve a realistic operation of the active aerodynamic surface to improve the vehicle’s ride performance, i.e., ride comfort and road holding during cornering, acceleration, or braking. The anti-jerk predictive controller is developed based on the predictive control strategy, which predicts future road inputs and uses them to compensate for the vehicle’s attitude motion. The simulation results show that the proposed control strategy effectively reduces the effects of vehicle body jerks transmitted to the passengers, improving ride comfort without degrading vehicle handling. The anti-jerk predictive controller successfully tracks the desired attitude position by canceling the external body jerks.

This study compares the effects of lecture-based instruction and process-oriented guided inquiry learning (POGIL)-based instruction on the self-efficacy performance of Grade 12 students. A quasi-experimental, pretest-posttest design was adopted to investigate and assess the impact of POGIL-based instruction versus lecture-based instruction on students’ performance as measured by three types of cognitive outcomes; Knowing, Applying and Reasoning (KAR). Two government high schools in Alain were selected as research sites, one for the boys and one for the girls. The total number of participants was approximately 110 students (N=110); 54 were assigned to treatment groups (25 girls and 29 boys), and 56 were assigned to control groups (27 girls and 29 boys). The treatment group was taught a circular motion unit in physics using POGIL-based instruction, while the control group was taught the unit using lecture-based instruction. The study's findings showed statistically significant differences between students of the control group and the treatment group in favour of the latter regarding their science performance, self-efficacy and science-related attitudes. Moreover, positive correlations were found between participants’ performance at the KAR test, self-efficacy and scientific attitudes towards scientific inquiry after the intervention. In conclusion, it is recommended to shift teaching towards POGIL-based instruction due to its positive impact on students’ performance and self-efficacy. It is also suggested to replicate the study to include government and private schools, elementary and high schools, teachers and advisors.

Under optimal conditions, just 3–6 ms of visual stimulation suffices for humans to see motion. Motion perception on this time scale implies that the visual system under these conditions reliably encodes, transmits, and processes neural signals with near-millisecond precision. Motivated by in vitro evidence for high temporal precision of motion signals in the primate retina, we investigated how neuronal and perceptual limits of motion encoding relate. Specifically, we examined the correspondence between the time scale at which cat retinal ganglion cells in vivo represent motion information and temporal thresholds for human motion discrimination. The time scale for motion encoding by ganglion cells ranged from 4.6–91 ms, depended nonlinearly on temporal frequency but not on contrast. Human psychophysics revealed that minimal stimulus durations required for perceiving motion direction were similarly brief, 5.6–65 ms, similarly depended on temporal frequency but, above ~10%, not on contrast. Notably, physiological and psychophysical measurements corresponded closely throughout (r = 0.99), despite more than a 20-fold variation in both human thresholds and optimal time scales for motion encoding in the retina. These results demonstrate that neural circuits for motion vision in cortex can maintain and make use of the high temporal fidelity of the retinal output signals.

Many empirical and theoretical studies indicate that Brownian motion and diffusion models as its mean field counterpart provide appropriate modelling techniques for individual insect movement. However, this traditional approach has been challenged and conflicting evidence suggests that an alternative movement pattern such as Lévy walks can provide a better description. Lévy walks differ from Brownian motion since they allow for a higher frequency of large steps, resulting in a faster movement. Identification of the ‘correct’ movement model that would consistently provide the best fit for movement data is challenging and has become a highly controversial issue. In this paper, we show that this controversy may be superficial rather than real if the issue is considered in the context of trapping or, more generally, survival probabilities. In particular, we show that almost identical trap counts are reproduced for inherently different movement models (such as the Brownian motion and the Lévy walk) under certain conditions of equivalence. This apparently suggests that the whole ‘Levy or diffusion’ debate is rather senseless unless it is placed into a specific ecological context, e.g. pest monitoring programmes.

UAV photogrammetry development during the last decade has allowed to catch information at a very high spatial and temporal resolution from terrains with very difficult or impossible human access. This paper deals with the application of these techniques to study and produce information of very extreme topography which is useful to plan works on this terrain or monitoring it over the time to study its evolution. The methodology stars with the execution of UAV flights on the cut slope studied, one with the cam vertically oriented and other at 45º respect that orientation. Ground control points (GCPs) and check points (CPs) were measured for georeference and accuracy measurement purposes. Orthophoto was obtained projecting on a fitted plane to a studied surface. Moreover, since a digital surface model (DSM) is not able to represent faithfully that extreme morphology, information to project works or monitoring it has been derived from the point cloud generated during the photogrammetric process. An informatics program was developed to generate contour lines and cross sections derived from the point cloud, which was able to represent all terrain geometric characteristics, like several Z coordinates for a given planimetric (X, Y) point. Results yield a root mean square error (RMSE) in X, Y and Z directions of 0.053 m, 0.070 m and 0.061 m respectively. Furthermore, comparison between contour lines and cross sections generated from point cloud with the developed program on one hand and those generated from DSM on other hand, shown that the former are capable of representing terrain geometric characteristics that the latter cannot. The methodology proposed in this work has been shown as an adequate alternative to generate manageable information, as orthophoto, contour lines and cross sections, useful for the elaboration, for example, of projects for repairing or maintenance works of cut slopes with extreme topography.

A simple bounded stochastic motion is employed for modelling equity price dynamics under shocks, where the prices are constrained to lie between two positive bounds. While the stochastic process has an inaccessible boundary, the other boundary is quasi-bounded, implying that the boundary can be breached if the probability leakage condition is met. The quasi-boundedness of the process at the boundary can thus provide an indicator of possible risk of equities under price shocks. Empirical calibration of model parameters of the proposed process for equities can be performed easily due to the availability of an analytically tractable probability density function which generates fat-tailed distributions consistent with empirical observations. The volatility and mean-reversion of the S&P500 dynamics calibrated by the process is positively and negatively co-integrated respectively with the VIX index representing the level of market distress. The process captures the high likelihood of Hertz’s default about two months earlier, using only information until that point, and before the firm filed for Chapter 11 bankruptcy in May 2020 as a result of the Covid-19 pandemic. Empirical calibration of the process for GameStop’s stock price shows that the short squeeze of the stock occurred when the condition for breaching an upper boundary was met on 14 January 2021, i.e., about two weeks before major short sellers closed out their positions with significant losses. The trading volume of the stock was positively co-integrated with the probability leakage ratio.

Background: Given that VR is applied in multiple domains, understanding the effects of cybersickness on human cognition and motor skills and the factors contributing to cybersickness gains urgency. This study aimed to explore the predictors of cybersickness and its interplay with cognitive and motor skills. Methods: 30 participants, 20-45 years old, completed the MSSQ and the CSQ-VR, and were immersed in VR. During immersion, they were exposed to a roller coaster ride. Before and after the ride, participants responded to CSQ-VR and performed VR-based cognitive and psychomotor tasks. Post VR session, participants completed the CSQ-VR again. Results: Motion sickness susceptibility, during adulthood, was the most prominent predictor of cybersickness. Pupil dilation emerged as a significant predictor of cybersickness. Experience in videogaming was a significant predictor of both cybersickness and cognitive/motor functions. Cybersickness negatively affected visuospatial working memory and psychomotor skills. Overall cybersickness’, nausea and vestibular symptoms’ intensities significantly decreased after removing the VR headset. Conclusions: In order of importance, motion sickness susceptibility and gaming experience are significant predictors of cybersickness. Pupil dilation appears as a cybersickness’ biomarker. Cybersickness negatively affects visuospatial working memory and psychomotor skills. Cybersickness and its effects on performance should be examined during and not after immersion.

In autonomous driving systems, high-speed and real-time image processing, along with object recognition, are crucial technologies. This paper builds upon the research achievements in in-dustrial item sorting systems and proposes an object recognition and sorting system for auton-omous driving. In industrial sorting lines, goods sorting robots often need to work at high speeds to efficiently sort large volumes of items. This poses a challenge to the robot's real-time vision and sorting capabilities, making it both practical and economically viable to implement a real-time and low-cost sorting system in a real-world industrial sorting line. Existing sorting systems have limitations such as high cost, high computing resource consumption, and high power consump-tion. These issues lead to the fact that existing sorting systems are typically used only in large industrial plants. In this paper, we design a high-speed, low-cost, low-resource-consumption FPGA (Field-Programmable Gate Array) based item sorting system that achieves similar perfor-mance to current mainstream sorting systems at a lower cost and consumption than existing sorting systems. The recognition part employs a morphological recognition method, which segments the image using a frame difference algorithm and then extracts the color and shape features of the items. To handle sorting, a six-degree-of-freedom robotic arm is introduced in the sorting segment. The improved cubic B-spline interpolation algorithm is employed to plan the motion trajectory and consequently control the robotic arm to execute the corresponding actions. Through a series of experiments, this system achieves an average recognition delay of 25.26ms, ensures smooth operation of the gripping motion trajectory, minimizes resource consumption, and reduces implementation costs.

The multivariate Gaussian random fields with matrix-based scaling laws are widely used for inference in statistics and many applied areas. In such contexts interests are often in symmetry and in the rates of change of spatial surfaces in any given direction. This article analyzes the almost sure sample function behavior for operator fractional Brownian motion, including multivariate fractional Brownian motion. We obtain the estimations of small ball probability and the strongly locally nondeterministic for operator fractional Brownian motion in any given direction. Applying these estimates we obtain Chung's laws of the iterated logarithm for spatial surfaces of operator fractional Brownian motion. Our results show that the precise rates of change of spatial surfaces are completely determined by the self-similarity exponent.

Equipped with an early social predisposition immediately post-birth, humans typically form associations with mothers and other family members through exposure learning, canalized by a spontaneous predisposition to biological motion, face configuration, and other cues of animacy. If impaired, reduced social preferences can lead to social interaction impairments such as autism spectrum disorder (ASD) via misguided canalization. Despite being taxonomically distant, domestic chicks also follow a homologous developmental trajectory toward adaptive socialization through imprinting, which is guided via predisposed preferences that are homologous to those of humans, thereby suggesting that chicks are valid animal models of ASD. In addition to the convergent similarities in predisposition with human newborns, accumulating evidence suggests the construct validity of the chick model. Considering the recent progress in the evolutionary neurobiology of vertebrates, we reviewed the advantages and limitations of the chick model of developmental mental diseases in humans.

(1) Background: A set of relevant Police Ergonomics Parameters (PEP) has been used for the assessment and prevention of occupational risks involved in Police Physical Interventions (PITs). Through this set of PEPs, a comparison has been made between 2 traditional PITs against 2 novel OTPs (Operational Tactical Procedures). (2) Method: The data have been collected by means of a motion capture suit fitted with 19 Inertial Measurement Units, IMUs. A specific and powerful software package specific for ergonomic analysis has been used to manage the large amount of data registered and to generate a series of 3-dimensional plots. Traditional PITs and newer OTPs have been performed for their analysis. Specifically, the PEPs corresponding to the implementation of 4 PITs have been analyzed by collecting the measurements provided by a set of IMUs installed on a motion capture suit and their occupational risk assessments have been compared against those corresponding to newer OTPs. (3) Results: For the 4 PITs, the PEPs have been analyzed with the measured values from the IMUs, throughout the duration of each technique. The two traditional intervention techniques have scored higher than the new OTPs in the REBA system, the Assymetry angle, L5-Pelvis Shear and Joint Contac Forces, and the Total Muscle Power measurements. (4) Conclusions: It has been confirmed that the new OPTs minimize the risk of injuries, since their PEPs reached lower values than those corresponding to the traditional PITs, which are still being taught at Police academies.

The first years of an infant’s life represent a sensitive period for neurodevelopment and see the emergence of nascent forms of executive function (EF), which are required to support complex cognition. Few tests exist for measuring EF during infancy, and the available tests require painstaking manual coding of infant behaviour. In modern clinical and research practice, human coders collect data on EF performance by manually labelling video recordings of infant behaviour during toy or social interaction. Besides being extremely time-consuming, video annotation is known to be rater-dependent and subjective. To address these issues, starting from existing cognitive flexibility research protocols, we developed instrumented toys as a new task instrumentation and data collection tool suitable for infant use. A commercially available device comprising a Barometer and Inertial Measurement Unit (IMU) embedded in a 3D-printed lattice structure was used to detect when and how the infant interacts with the toy. The data collected using the instrumented toys provides a rich dataset describing the sequence of toy interaction and individual toy interaction patterns, from which EF-relevant aspects of infant cognition may be inferred. Such a tool potentially provides an objective, reliable, and scalable method of collecting early developmental data in socially interactive contexts.

A problem with synthetic aperture radar (SAR) is that, due to the poor penetrating action of electromagnetic waves inside solid bodies, the capability to observe inside distributed targets is precluded. Under these conditions, imaging action is provided only on the surface of distributed targets. The present work describes an imaging method based on the analysis of micro-movements on the Khnum-Khufu Pyramid, which are usually generated by background seismic waves. The results obtained prove to be very promising, as high-resolution full 3D tomographic imaging of the pyramid's interior and subsurface was achieved. Khnum-Khufu becomes transparent like a crystal when observed in the micro-movement domain. Based on this novelty, we have completely reconstructed internal objects, observing and measuring structures that have never been discovered before. The experimental results are estimated by processing series of SAR images from the second-generation Italian COSMO-SkyMed satellite system, demonstrating the effectiveness of the proposed method.

Maxwell’s equations are valid only for a stationary observation point, therefore, to adequately describe real processes so far we have had to move to a moving reference frame. This paper presents the equations of electrodynamics for the moving observation point, it is shown that plane and spherical electromagnetic waves are their solutions, while the spherical wave propagates only outward, which cannot be said about Maxwell’s equations. The fields of uniformly moving charges are also solutions of the equations. Now there is no need to move to a moving reference frame, to use four-dimensional space and covariant form of equations. The question of finding a universal form of the equations that allows a solution in the form of the field of an arbitrarily moving charge remains open. This raises the question of the existence of a two-parameter group of transformations of electromagnetic fields along with the known one-parameter group has been posed. The phenomena derived from the equations, which make an additional contribution to the phase overrun in the Aharonov-Bohm effect are considered. The equation of motion of a charged particle in an electromagnetic field without simplifying approximations is considered, which allows us to take into account the radiation effects. It is shown that the fields in a moving observation point depend on its velocity and acceleration. In particular, although in a constant uniform electric field a force qE acts on a motionless charged particle, but on the same motionless but not fixed particle the force 4/3qE acts already, because it has a nonzero acceleration and the electric field at this point is larger. As the speed increases, the field decreases, and when it reaches the speed of light, when the particle stops accelerating, the force again becomes equal to qE The principle of operation of an unconventional alternator in a constant electric field and its corresponding engine, as well as new types of direct and impulse current generators, predicted by the equations, are described.

This paper presents an Edge-based color image segmentation derived from the method of Particle Motion in a Vector Image Fields (PMVIF) that could previously be applied only to monochrome images. Instead of using an edge vector field derived from a gradient vector field and a normal compressive vector field derived from a Laplacian-gradient vector field, two novel orthogonal vector fields, directly computed from a color image, one parallel and another orthogonal to the edges, were used in the model to force a particle to move along the object edges. The normal compressive vector field is derived from the center-to-centroid vectors of local color distance images. Next, the edge vector field is derived by taking the normal compressive vector field, multiplied by differences of auxiliary image pixels to obtain a vector field analogous to a Hamiltonian gradient vector field. Using the PASCAL Visual Object Classes Challenge 2012 (VOC2012) and the Berkeley Segmentation Data Set and Benchmarks 500 (BSDS500), the benchmark score of the proposed method is provided in comparison with those of the traditional PMVIF, Watershed, SLIC, K-means, Mean shift, and JSEG. The proposed method yields better RI, GCE, NVI, BDE, Dice coefficients, faster computation time, and noise resistance.

In this paper, optimum parameters of Tuned Mass Dampers (TMD) are considered to control the responses of 10-story shear building under harmonic loading and 22 set of seismic records of FEMA-P695. The criterion used to obtain the optimum parameters is to select mass ratio, the frequency (tuning) and damping ratio that would result in smallest lateral displacements. State-space equations of motion are presented to compute the structural responses by developing a MATLAB file. A 10-story shear building is presented as a case study to assess the effects of TMDs on the multi-story structures. The results indicate that using TMD can reduce structural responses up to the average 20% under earthquake excitation and up to 90% under harmonic loadings. TMDs are not always effective under any type of ground motion; therefore, being aware of the given location is significant to design TMDs properly.

Natural calamities observation, study and simulation has always been a prime concern for disaster management agencies. Billions of dollars are spent annually to explore geo-seismic movements especially earthquakes but it has always been a unique accident. The real-time study of seismic waves, ground motions, and earthquakes always needed a programmable mechanical structure capable of physically producing the identical geo-seismic motions with seismology domain definitions. A programmable multi-parametric five degrees of freedom electromechanical seismic wave events simulation platform to study and experiment seismic waves and earthquakes realization in the form of geo-mechanic ground motions is exhibited in this work. The proposed platform was programmed and interfaced through an IoT cloud-based Web application. The geo-mechanics was tested in the range of i) frequencies of extreme seismic waves from 0.1Hz to 178Hz; ii) terrestrial inclinations from -10.000° to 10.000°; iii) velocities of 1km/s to 25km/s iv) variable arrival times 1us to 3000ms; v) magnitudes M1.0 to M10.0 earthquake; vi) epi-central and hypo-central distances of 290+ and 350+ kilometers. Wadati and triangulation methods have been used for entire platform dynamics design and implementation as one of key contributions in this work. This platform is as an enabler for a variety of applications such as training self-balancing and calibrating seismic-resistant designs and structures in addition to studying and testing seismic detection devices as well as motion detection sensors. Nevertheless, it serves as an adequate training colossus for machine learning algorithms and event management expert systems.

In this paper, at first, a color image of a car is taken. Then the image is transformed into a grayscale image. After that, the motion blurring effect is applied to that image according to the image degradation model described in equation 3. The blurring effect can be controlled by a and b components of the model. Then random noise is added in the image via Matlab programming. Many methods can restore the noisy and motion blurred image; particularly in this paper Inverse filtering as well as Wiener filtering are implemented for the restoration purpose. Consequently, both motion blurred and noisy motion blurred images are restored via Inverse filtering as well as Wiener filtering techniques and the comparison is made among them.

This paper presents a novel method of restoring the electron beam (EB) measurements that are degraded by linear motion blur. This is based on a Fuzzy Inference System (FIS) and Wiener inverse filter, together providing autonomy, reliability, flexibility and real-time execution. This system is capable of restoring highly degraded signals without requiring the exact knowledge of EB probe size. The FIS is formed of three inputs, eight fuzzy rules and one output. The FIS is responsible to monitor the restoration results, grade their validity and choose the one that yields to a better grade. These grades are produced autonomously by analyzing results of Wiener inverse filter. To benchmark the performance of the system, ground truth signals obtained using an 18 um wire probe are compared with the restorations. Main aims are therefore a) Provide unsupervised deblurring for device independent EB measurement; b) Improve the reliability of the process; c) Apply deblurring without knowing the probe size. These, further facilitates the deployment and manufacturing of EB probes and probe independent and accurate EB characterization. It also makes restoration of previously collected EB measurements easier, where the probe sizes are not known or recorded.

The separation of sister chromatids during anaphase is the culmination of mitosis and one of the most strikingly beautiful examples of cellular movement. It consists of two distinct processes: Anaphase A, the movement of chromosomes toward spindle poles via shortening of the connecting fibers, and anaphase B, separation of the two poles from one another via spindle elongation. I focus here on anaphase A chromosome-to-pole movement. The chapter begins by summarizing classical observations of chromosome movements, which support the current understanding of anaphase mechanisms. Live cell fluorescence microscopy studies showed that poleward chromosome movement is associated with disassembly, or ‘melting’ of the kinetochore-attached microtubule fibers that link chromosomes to poles. Microtubule-marking techniques established that kinetochore-fiber disassembly often occurs through a ‘pac-man’ mechanism, where tubulin subunits are lost from kinetochore-attached plus ends and the kinetochore appears to consume its microtubule track as it moves poleward. In addition, kinetochore-fiber disassembly in many cells occurs partly through ‘flux’, where the microtubules flow continuously toward the poles and tubulin subunits are lost from minus ends. Molecular mechanistic models for how load-bearing attachments are maintained to disassembling microtubule ends, and how the forces are generated to drive pac-man and flux-based movements, are discussed.

We developed a sensor optimized for joint motion monitoring by exploring the effects of stitch pattern, yarn thickness, and NP number on the performance of knitted strain sensors. We conducted stretching experiments with basic weft-knit patterns to select the optimal stitch pattern and analyze its sensitivity and reproducibility. The plain stitch with a conductive yarn located on the reverse side exhibited the highest gauge factor value (143.68) and achieved excellent performance, with a stable change in resistance even after repeated sensing. For in-depth analysis, we developed six sensors using the aforementioned pattern with different combinations of yarn thickness (1-ply, 2-ply) and NP number (12, 13, 14). Based on bending experiments, the GF across all sensors was 60.2–1092, indicating noticeable differences in sensitivity. However, no significant differences were observed in reproducibility, reliability, and responsiveness, confirming that all the sensors are capable of joint motion monitoring. Therefore, the plain-patterned plating stitch structure with conductive yarn on the reverse side is optimal for joint motion monitoring, and the yarn thickness and NP numbers can be adjusted to suit different purposes. This study provides basic data for developing knitted strain sensors and offers insights into how knitting methods impact sensor performance.

The pathology of idiopathic intracranial hypertension (IIH), a disease characterized by papillary edema and increased intracranial pressure (IICP), is not yet understood; this disease significantly affects quality of life due to symptoms, including vision loss, headache, and pulsatile tinnitus. By contrast, superficial siderosis (SS), a disorder in which hemosiderin is deposited on the surface of the cerebral cortex and cerebellum, potentially causes cerebellar ataxia or hearing loss. So far, no cases of IIH with infratentorial and supratentorial cortical SS have been reported. Herein, we report a case of a 31-year-old woman with obesity who developed this condition. The patient suddenly developed headache and dizziness, had difficulty walking, and subsequently became aware of diplopia. Fundus examination revealed bilateral optic nerve congestive papillae and right eye abducens disturbance. Head magnetic resonance imaging (MRI) showed prominent SS on the cerebellar surface and cerebral cortex. Lumbar puncture revealed IICP of 32 cmH2O, consistent with the diagnostic criteria for IIH, and treatment with oral acetazolamide was started; subsequently, the intracranial pressure decreased to 20 cmH2O. Her abduction disorder disappeared, and the swelling of the optic papilla improved. She was now able return to her life as a teacher without any sequelae. SS is caused by persistent slight hemorrhage into the subarachnoid space. In this case, both infratentorial and supratentorial cortical superficial SS was observed. Although cases of IIH complicated by SS are rare, it should be kept in mind that a causal relationship between IIH and SS was inferred from our case. Our findings also suggest that cerebrospinal fluid dynamic analysis using MRI is effective in diagnosing IIH and in determining the efficacy of treatment.

Information geometry (IG) is a fascinating combination of differential geometry and statistics where a Riemannian manifold's structure is applied to a statistical model. It may find numerous fascinating uses in the domains of theoretical neurology, machine learning, complexity, and (quantum) information theory, among others. (IG) aims to provide a differential-geometric perspective on statistical geodesic models' structure. In this case, IG, KD, and J-divergence (JD) are used to define the manifold of the Generalised Brownian Motion (GBM). Consequently, the geodesic equations (GEs) are devised, and GB information matrix exponential (IME) is presented. Moreover, for first time ever, the necessary and sufficient mathematical requirement that characterizes the developability of Generalized Brownian Motion(GBM) manifold is devised. Also, a novel sufficient and necessary conditions which characterizes the regions where the surface describing GBM is minimal is determined. Also, it is shown that GBM has a non-zero 0-Gaussian and Ricci curvatures. Consequently, this advances the establishment of a unified GBM- Relativistic Info-Geometric based analysis.

The power-generation capacity of grid-connected photovoltaic (PV) power systems is increasing. As output power forecasting is required by electricity market participants and utility operators for the stable operation of power systems, several methods have been proposed using physical and statistical approaches for various time ranges. A short-term (30 min ahead) forecasting method has been previously proposed by our laboratory for geographically distributed PV systems using motion estimation. This study focuses on an important parameter for estimating the proposed motion and optimizing the parameter. This parameter is important because it is associated with the smoothness of the vector field, which is the result of motion estimation and influences the forecasting accuracy. In the periods with drastic power output changes, the evaluation was conducted on 101 PV systems located within a circle of 15-km radius in the Kanto region of Japan. The results indicate that the absolute mean error of the proposed method with the optimized parameter is 10.3%, whereas that of the persistent prediction method is 23.7%. Therefore, the proposed method is effective in forecasting for periods when PV output changes drastically in a short time.

Tracking the kinematics of human movement usually requires the use of equipment that constrains the user within a room (e.g., optical motion capture systems), or requires the use of a conspicuous body-worn measurement system (e.g., inertial measurement units (IMUs) attached to each body segment). This paper presents a novel Lie group constrained extended Kalman filter to estimate lower limb kinematics using IMU and inter-IMU distance measurements in a reduced sensor count configuration. The algorithm iterates through the prediction (kinematic equations), measurement (pelvis height assumption/inter-IMU distance measurements, zero velocity update for feet/ankles, flat-floor assumption for feet/ankles, and covariance limiter), and constraint update (formulation of hinged knee joints and ball-and-socket hip joints). The knee and hip joint angle root-mean-square errors in the sagittal plane for straight walking were 7.6±2.6∘ and 6.6±2.7∘, respectively, while the correlation coefficients were 0.95±0.03 and 0.87±0.16, respectively. Furthermore, experiments using simulated inter-IMU distance measurements show that performance improved substantially for dynamic movements, even at large noise levels (σ=0.2 m). However, further validation is recommended with actual distance measurement sensors, such as ultra-wideband ranging sensors.

Global wind observations are fundamental for studying weather and climate dynamics. Most wind measurements come from atmospheric motion vectors (AMVs) by tracking the displacement of cloud or water vapor features. These AMVs generally rely on thermal infrared (IR) techniques for their height assignments, which are subject to large uncertainties in the presence of weak or reversed vertical temperature gradients around the planetary boundary layer (PBL) and with tropopause folding. Stereo imaging can overcome the height assignment problem using geometric parallax for feature height determination. In this study we develop a stereo 3D-Wind algorithm to simultaneously retrieve AMV and height from geostationary (GEO) and low Earth orbit (LEO) satellite imagery and apply it to collocated Geostationary Operational Environmental Satellite (GOES) and Multi-angle Imaging SpectroRadiometer (MISR) imagery. The new algorithm improves AMV and height relative to products from GOES or MISR alone, with an estimated accuracy of <0.5 m/s in AMV and <200 m in height with 2.2 km sampling. The algorithm can be generalized to other LEO-GEO or GEO-GEO combinations for greater spatiotemporal coverage. The technique demonstrated with MISR and GOES has important implications for future high-quality AMV observations, for which a low-cost constellation of CubeSats can play a vital role.