Patients with metastatic epidural spinal cord compression (MESCC) and favorable survival prognoses may benefit from radiation doses exceeding 10 x 3.0 Gy. In a multi-center phase 2 trial, patients receiving 15 x 2.633 Gy (41.6 Gy10) or 18 x 2.333 Gy (43.2 Gy10) were evaluated for local progression-free survival (LPFS), motor/sensory functions, ambulatory status, pain, distress, toxicity, and overall survival (OS). They were compared (propensity score adjusted Cox regression) to a historical control group (N=266) receiving 10 x 3.0 Gy (32.5 Gy10). In the phase 2-cohort, 50 (of 62 planned) patients were evaluable for LPFS. Twelve-month rates of LPFS and OS were 96.8% and 69.9%, respectively. Motor and sensory functions improved in 56% and 57.1% of patients, and 94.0% were ambulatory following radiotherapy. Pain and distress decreased in 84.4% and 78.0% of patients. Ten and two patients experienced grade 2 and 3 toxicities, respectively. Phase 2 patients showed significantly better LPFS than the control group (p = 0.039) and a trend for improved motor function (p = 0.057). Ambulatory and OS rates were not significantly different. Radiotherapy with 15 x 2.633 Gy or 18 x 2.333 Gy was well tolerated and appeared superior to 10 x 3.0 Gy.

The Brain-Computer Interface (BCI) technology has emerged as a groundbreaking innovation with profound implications across diverse domains, particularly in healthcare. By establishing a direct communication pathway between the human brain and external devices, BCI systems offer unprecedented opportunities for diagnosis, treatment, and rehabilitation, thereby reshaping the landscape of medical practice. However, despite its immense potential, the widespread adoption of BCI technology in clinical settings faces several challenges. These include the need for robust signal acquisition and processing techniques, ensuring user safety and privacy, addressing ethical considerations, and optimizing user training and adaptation. Overcoming these challenges is crucial to unleashing the complete potential of BCI technology in healthcare and realizing its promise of personalized, patient-centric care. This review work underscores the transformative potential of BCI technology in revolutionizing medical practice. This paper offers a comprehensive analysis of medical-oriented BCI applications by exploring the various uses of BCI technology and its potential to transform patient care.

Gaze tracking of high-speed moving targets is a novel application mode for low Earth orbit microsatellites. In this mode, small satellites are equipped with high-resolution narrow-field-of-view video cameras for stable gaze-tracking imaging of high-speed moving targets. This paper proposes a high-precision attitude adaptive integral sliding mode control method with a feedforward compensation disturbance observer to enhance the capability of a microsatellite attitude control system for gaze tracking of high-speed moving targets. Specifically, first, we present the attitude control system model for microsatellites and the calculation method for the desired attitude of target tracking based on image feedback. Then, an adaptive integral sliding mode attitude control algorithm with a feedforward compensation disturbance observer, which meets the requirements of high-precision tracking control, is designed. The developed algorithm utilizes the disturbance observer to observe the friction torque of the flywheel and compensates for it through feedforward control. It also employs the adaptive integral sliding mode control algorithm to reduce the impact of uncertain disturbances, decrease the steady-state error of the system, and enhance the attitude control precision. Simulation experiments demonstrated that the designed disturbance observer can successfully observe the frictional disturbance torque of the flywheel. The attitude Euler angle control precision for high-speed moving target tracking reached 0.009°, and the angular velocity control precision reached 0.005°/s, validating the effectiveness of the proposed approach.

Throughout this paper the impact of anxiety on adolescent athlete’s is highlighted through analyzing neurological and psychological aspects involved in sports performance. The neuroanatomy and neuropsychology of the human brain plays a major role in developing athlete’s that has only begun to be analyzed within recent years. Especially in young athletes, there are numerous factors that affect performance on the field that originate from the environment and training the adolescent athlete is involved in. Sports performance is viewed as a major physical factor such as training and lifting weights, however the psychological aspect of sports performance often goes unnoticed. Athletes can begin to develop mental fatigue and anxiety which inevitably can decrease their ability to perform. The athlete’s internal suffering begins to go unnoticed, as the only tangible factor is watching their performance decrease. This causes the athlete to push themselves further in training resulting in greater mental fatigue. This paper emphasizes the numerous factors neurologically that play a role in athletic performance which should be focused on in adolescent athletes as they navigate the challenges and competition that are apparent within athletics. It is critical to understand the processes and hormonal changes the body undergoes with training and playing a sport, this information can change the way adolescent sports are approached and advanced.

This paper proposed an optimal tracking control scheme through adaptive dynamic programming(ADP) for a class of partially unknown discrete-time nonlinear systems based on radial basis function neural network(RBF-NN). In order to acquire the unknown system dynamics, we use two RBF-NNs, the one is used to construct the identifier, and the another is used to directly approximate the steady-state control input, where a novel adaptive law is proposed to update neural network weights. While the optimal feedback control and the cost function are derived via feedforward neural networks approximating, it is proposed to regulate the tracking error, the critic network and the actor network are then trained online to obtain the solution of the associated Hamilton–Jacobi–Bellman (HJB) equation being built under the ADP framework. Simulations verify the effectiveness of the optimal tracking control technique using the neural networks.

Anaerobic digestion of waste material to biogas, with the remaining digestate slurry used as agricultural biofertilizer, is already a route of sustainable fuel production and its uptake will grow further. However, the foam layer that forms on top of the reacting mixture impedes the process and leads to liquid and solid material contaminating the gas product. Ideally, any effective foam repression should be low-cost, and react fast. Therefore, methods of optimizing anaerobic digestion need foam repression as one of the parameters in increasing gas yield. Foam can be repressed by pre-treating substrate which destroys filamentous bacteria and adding trace elements. The drawback to this method is the high cost of pre-treatment, the trace elements not being biodegradable and being toxic at high concentration; this method does not completely repress foam and is only effective under moderate organic loading

This research addresses the formidable challenge of achieving precise trajectory tracking for autonomous vehicle formations in uncertain environments. It introduces an adaptive control system tailored for autonomous vehicles, with a primary focus on ensuring prescribed performance in trajectory tracking within a leader-follower formation paradigm. The system incorporates a guidance law that allows the leader vehicle to dynamically adjust desired yaw angles and speeds for follower vehicles based on the established reference trajectory, enhancing tracking accuracy and responsiveness to environmental changes. To address practical external disturbances, the study utilizes Radial Basis Function Neural Networks (RBFNN) in conjunction with second-order filters for error approximation. This approach is further strengthened by a carefully formulated adaptive law. The innovative integration of a barrier Lyapunov function with the backstepping method significantly enhances the system’s adaptability and robustness, ensuring trajectory tracking performance meets predetermined standards. Simulation results illustrate the control system’s adept handling of various external disturbances, consistently maintaining trajectory tracking errors within predefined limits. This underscores the system’s potential to markedly enhance the operational reliability and efficiency of autonomous vehicle formations in unpredictable environmental conditions.

This paper presents a novel approach to power management techniques in energy storage system (ESS) interoperability with the energy power system (EPS) by inserting a SCADA controlled directional protection relay for improving the mode switching sequence. According with latest European standards, all necessary measures for re-synchronization and reconnection for health work of the system must be taken. The proposed approach intends to improve the “interface” between storage systems and electric power grid by using a directional relay which provides interoperability improvement by automatic recognizing and differentiating the switching sequence of the mode of operation from the fault mode. Simulated results from a small scale electrical generating system are provided. The results demonstrate that the proposed power management solution is technically ideal to achieve high quality energy while retaining the stability of the power grid network. The interoperability of PHS systems integrated with the electric power grid usually leads to perturbations in terms of frequency of the generated voltage, and for improving it we designed an automatic treating and re-connecting software module. This work regards the importance of producing electricity from green and renewable energy sources, while retaining the stability and reliability of the power grid. ESS systems are widely used to help balancing of intermittent forms of load demand on the electrical power grid at specific key moments. In this article, the pumped hydro storage (PHS) technologies are proposed as an economical way to utilize smoothly the off-peak energy or surplus energy, by pumping water to a reservoir at a higher level. During peak load periods, the stored water is discharged through the reversible pump-turbine to generate electricity to meet the peak demand controlled by designed SCADA application.

Environment pollution is the major problem for all the sectors. In environment pollution there are different types of pollution is included such as air pollution, water pollution, soil pollution etc. In these types of pollution most of it is air pollution. There are many reasons for pollution of air. Human advance in science but one of the major draw backs of science is the pollution of air rapidly. Air pollution is injurious to health. Every year a large number of people died for the effects of air pollution. It can be improved in many ways among these ways technology upgradation plays a major role here. There are various method that prevent air pollution. Many researchers tried and is trying to prevent the air pollution in many ways. In this review paper I summarise the existing research on different ways for preventing air pollution in addition I will discuss the gaps and future aspect on this topic.

Acute and chronic graft versus host disease (a/cGVHD) are major complications of allogeneic stem cell transplantation and a frequent cause of non relapse-mortality. The treatment of a/cGVHD consists of steroid administration at full dose. In the case of aGVHD, around 60 % of patients with grade III/IV fails to respond (steroid-resistant, SR), requiring a second line therapy. Extracorporeal photopheresis (ECP) represents a good option for second line treatment, leading to multiorgan response in several patients. Here, we have evaluated the performances of a cytofluorimetric quality control of the first ECP procedure in 29 patients with severe SR aGVHD who underwent ECP. The quality control represents a check control of in vitro cell apoptosis/death induction in collected and irradiated CD3+ cells by ECP. Our analysis shows that in more than 70 % quality controls a relevant apoptotosis/death of CD3+ cells was observed after cell irradiation, as compared to non-irradiated controls. Albeit observed in a small patients’ series, the occurrence of relevant in vitro effect after ECP relates to less procedures and/or to a better survival on ECP. Age, disease, gender, aGVHD grade and time from transplant to the first ECP had not impact on ECP efficacy in this patients’ series.

Dynamic systems which underly controlled systems are expected to increase in complexity as robots, devices, and connected networks become more intelligent. While classical stable systems converge to a stable point (a sink), another type of stability is to consider a stable path rather than a single point. Such stable paths can be made of saddles which draw in trajectories from certain regions, and then push the trajectory toward the next saddle point. These are chains of saddles are called stable heteroclinic channels (SHCs), and can be used in robotic control to represent time sequences. While we have previously shown that each saddle is visualizable as a trajectory waypoint in phase space, how to increase the fidelity of the trajectory was unclear. In this paper, we hypothesized that the waypoints can be individually modified to locally vary fidelity. Specifically, we expected that increasing the saddle value (ratio of saddle eigenvalues) causes the trajectory to slow to more closely approach a particular saddle. Combined with other parameters that control speed and magnitude, a system expressed with an SHC can be modified locally, point by point, without disrupting the rest of the path, supporting their use in motion primitives. However, even more complex trajectory shape modifications are possible. While some combinations can enable a trajectory to better reach into corners, other combinations can rotate, distort and round the trajectory in the region of a corner. In our example, modifying select saddle values produced a 32% decrease in the trajectory error of a complex trajectory produced using this system. This is an effect not visible in previous 1D studies, that can lead to different learnable and tunable representations of dynamic systems.

Knowledge of clinical approaches and barriers in managing childhood myopia is limited. This study explores optometrists' knowledge, attitude, and practice towards childhood myopia. A 26-item survey was circulated online among practising optometrists in India. The questionnaire assessed the demographics, knowledge, self-reported clinical practice behaviour, barriers, source of information guiding their management, and extent of adult caregiver engagement for childhood myopia. Of 393 responses, a significant proportion of respondents (32.6%–92.4%) were unaware of the ocular complications associated with high myopia, with less than half (46.5%) routinely measuring axial length in clinical practice. Despite the improved awareness of emerging myopia management options, the uptake remains generally poor, with single-vision distance full correction spectacles (70.3%) being the most common mode of vision correction. Barriers to adopting emerging evidence are medico-legal concerns and the absence of clinical practice guidelines. Original research articles were the primary source of information supporting clinical practice. Most (>70%) respondents considered involving the adult caregiver in their child's clinical decision-making process. While practitioner knowledge, perspective, and practice are improving, childhood myopia management evidence is constantly evolving and remains inconclusive. Evidence-based practice guidelines and continuing education on myopia control might be helpful for practitioners in improving their clinical decision-making skills.

We consider a constrained optimal control problem and an extension of it, in which the set of strict-sense trajectories is enlarged. Extension is a common procedure in optimal control, used to derive necessary and sufficient optimality conditions for the original problem from the extended one, which usually admits a minimizer and has a more regular structure. However, this procedure fails if the two problems have different infima. It is therefore relevant to identify such situations. Following on from earlier work by Warga but adopting perturbation techniques developed in non-smooth analysis, we investigate the relation between the occurrence of an infimum gap and abnormality of necessary conditions. For a notion of local minimizer based on control distance and an extension including the impulsive one, we prove that (i) a local extended minimizer which is not a local minimizer of the original problem and (ii) a local strict-sense minimizer which is not a local minimizer of the extended problem, both satisfy the extended maximum principle in abnormal form. The main novelty is result (ii), as until now it had only been shown that a strict-sense minimizer which is not an extended minimizer is abnormal for an `averaged version’ of the maximum principle.

In contemporary construction, the prevalence of vibration serviceability issues in lightweight and slender structures has become increasingly common, owing to advancements in building materials and construction methods. While these structures often meet the criteria for ultimate limit states, they can still elicit complaints due to excessive vibrations induced by human activity. To address this challenge, the Integral Resonant Control (IRC) technique has emerged as a favored approach for actively damping vibrations in various systems. This study introduces a fresh perspective on implementing a multi-input multi-output (MIMO) IRC scheme for active vibration control (AVC) specifically tailored for pedestrian structures utilizing inertial mass actuators. Building upon a common framework and design methodology outlined in previous research, this work presents a novel application of MIMO IRC for AVC. The designed controller is rigorously tested and implemented on a laboratory floor structure to validate its efficacy.

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

The purpose of this review is to elucidate the actual threat of the most prevalent mycotoxins in agricultural commodities and human/animal food/feed for appearance of foodborne ailments and diseases. The underestimated hazard of joint mycotoxin uptake of animals or humans is critically discussed with regards to synergistic or additive interaction between some target mycotoxins. The real toxicity of target mycotoxin combinations as it happens in practice is evaluated and possible lower limit values or control measures are suggested in such cases. Some critical points in adequate risk assessment, hygiene control and regulation of mycotoxns are discussed. The efficiency of current mycotoxin regulations and control measures is evaluated in regards to human/animal health hazard. The risk assessment in the case of multiple mycotoxin exposure of humans/animals via the food/feed or agricultural commodities is evaluated and some suggestions are proposed in such cases. Appropriate control measures and food safety issues throughout the food supply chain are proposed in order to prevent target foodborne diseases. Some preventive measures and possible veterinary hygiene control or risk assessment are proposed in some practical cases of foodborne diseases for preventing mycotoxin contamination of animal products designed for human consumption and to avoid possible public health issues.

Electromagnetic actuation can support many fields of technology, such as robotics or biomedical applications. In this context, fully understanding the system behavior and proposing a low-cost package for feedback control is challenging. Modeling the electromagnetic force is particularly tricky because it is a nonlinear function of the actuated object’s position and coil’s current. Measuring in real time the position of the actuated object with the precision required for accurate motion control is also nontrivial. In this study, we propose a novel, cost-effective electromagnetic set-up to achieve position control via visual feedback. We actuate vertically and under different experimental conditions a 10 mm diameter steel ball hanging on a low-stiffness spring, demonstrating good tracking performance (the position error remains within ±0.5 mm with a negligible phase delay in the best scenarios). The experimental results confirm the feasibility of the proposed set-up, which is characterized by minimum complexity and realized with off-the-shelf and cost-effective components. For these reasons, such a contribution helps to understand and apply electromagnetic actuation even further.

We propose a theoretical method for the deterministic shaping of quantum light via photon number state selective interactions. Nonclassical states of light are an essential resource for high precision optical techniques that rely on photon correlations and noise reshaping. Notable techniques include quantum enhanced interferometry, ghost imaging, and generating fault tolerant codes for continuous variable optical quantum computing. We show that a class of nonlinear-optical resonators can transform many-photon wavefunctions to produce structured states of light with nonclassical noise statistics. The devices, based on parametric down conversion, utilize the Kerr effect to tune photon number dependent frequency matching, inducing photon number selective interactions. With a high amplitude coherent pump, the number selective interaction shapes the noise of a two-mode squeezed cavity state with minimal dephasing, illustrated with simulations. We specify the requisite material properties to build the device and highlight the remaining material degrees of freedom which offer flexible material design.

Our goal was to determine the cellular immune response (CIR) among a random sample of the Borriana COVID-19 cohort (Spain) to identify its associated factors and their relationship with infection, reinfection and sequelae. We conducted a nested case-control study using a randomly selected sample of 225 individuals age 18 and older, including 36 individual naïve to SARS-CoV-2 infection, and 189 infected patients. We employed flow cytometry-based immunoassays for intracellular cytokine staining, utilizing Wuhan and BA.2 antigens and chemoluminescence microparticle immunoassay for detection SARS-CoV-2 antibodies. Logistic regression models were used. A total of 215 (95.6%) participants exhibited T-cell response (TCR) to at least one antigen. Positive responses of CD4+ and CD8+ T cells were 89.8% and 85.3% respectively. No difference in CIR was found for naïve and infected patients. Patients who experienced sequelae exhibited higher CIR than those without. A positive correlation was observed between TCR and Anti-Spike IgG levels. Factors positive associated with TCR included A-blood group, number of SARS-CoV-2 vaccine doses received, and Anti-N IgM; factors inversely related were the time elapsed since the last vaccine dose or infection, and B-blood group. These findings contribute valuable insights into the nuance immune landscape shaped by SARS-CoV-2 infection and vaccination.

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

Cercospora beticola Sacc. is an ascomycete pathogen that causes Cercospora leaf spot in sugar beets (Beta vulgaris L.) and other related crops. The disease symptoms are characterized by circular lesions with an ash-gray centre and dark brown to purple margins on the leaves. It can lead to significant yield losses if not effectively managed. This study aims to characterize and assess the impact of bacterial biological control agents against C. beticola. Following a dual-culture screening, 18 bacteria exhibiting over 50% inhibition were selected, with six of them demonstrating more than 80% control. Identification of the bacteria was carried out through sequencing of the16S rDNA, revealing potentially 12 species belonging to six genera including Bacillus which was represented by four species. Additionally, the bacteria underwent in-depth characterization of biochemical and molecular properties, as well as plant-growth promotion. PCR detection of genes responsible for producing antifungal metabolites revealed that 83%, 78%, 89%, and 56% of the selected bacteria possessed the bacillomycin, iturin, fengycin, and surfactin encoding genes, respectively. Infrared spectroscopy analysis confirmed the presence of lipopeptide structure in the bacteria supernatant filtrate. Subsequently, the bacteria were assessed for their effect on sugar beet plants in controlled conditions. The bacteria exhibited notable capabilities, promoting growth in both roots and shoots, resulting in significant increases in root length, weight, and shoot length. The field experiment with four bacterial candidates demonstrated good performance against C. beticola compared to difenoconazole fungicide. These bacteria played a significant role in disease control, achieving a maximum efficacy of 77.42%, slightly below the 88.51% efficacy attained by difenoconazole. Additional field trials are necessary to verify the protective and growth-promoting effects of these candidates, whether applied individually, combined in consortia, or integrated with chemical inputs in sugar beet crop production.

In the early 2000s, matrix-assisted laser desorption ionization-time of flight mass spectrometry (MALDI-TOF MS) emerged as a performant and relevant tool for identifying micro-organisms. Since then, it has become practically essential for identifying bacteria in microbiological diagnostic laboratories. In the last decade, it was successfully applied for arthropod identification allowing to distinguish vectors from non-vectors of infectious diseases. However, identification failures are not rare, hampering it widely use. Failure is generally attributed either to the absence of respective counter species MS spectra in the database, or to the insufficient quality of query MS spectra (i.e. lower intensity and diversity of MS peaks detected). To avoid matching errors due to non-compliant spectra, the development of a strategy for detecting and excluding outlier MS profiles became compulsory. To this end, we created MSProfileR, an R package leading to a bioinformatics tool through a simple installation, integrating the control quality system of MS spectra and an analysis pipeline including peak detection and MS spectra comparisons. MSProfileR can also add metadata concerning the sample that the spectra are derived from. MSProfileR has been developed in the R environment and offers a user-friendly web interface using the R Shiny framework. It is available on Microsoft Windows as a web browser application by simply navigation using the link of the package on the Github. MSProfileR is therefore accessible to non-computer specialists and is freely available to the scientific community. We evaluated MSProfileR using two datasets including exclusively MS spectra from arthropods. In addition to coherent sample classification, outlier MS spectra were detected in each dataset confirming the value of MSProfileR.

The aim of this research was to analyze the impact of implemented erosion control works (ECW) on soil erosion intensity in the watershed of the Ćelije reservoir (Rasina River) in the period between 1968 and 2022. The Erosion Potential Method was used to calculate the annual gross erosion (W), sediment transport (G), and erosion coefficient (Z) in the study area. As a result of the performed ECW there was a general decreasing trend in the intensity of soil erosion processes in the last 54 years. The specific annual gross erosion was 1189.12 m3/km-2/year-1 in 1968, while in 2022 it was 554.20 m3/km-2/year-1. The specific sediment transport was 540.18 m3/km-2/year-1 in 1968 and 253.55 m3/km-2/year-1 in 2022. Due to the changes in the intensity of erosion processes the specific annual gross erosion decreased by 634.92 m3/km-2/year-1, and the specific sediment transport by 286.63 m3/km-2/year-1. The erosion coefficient was reduced from Z=0.62 to Z= 0.35. A dependence between the slope of siltation and the natural bed slope was defined. The results show a significant correlation between erosion intensity and performed ECW, providing a basis for future watershed management and defining a strategy for soil erosion control in the Ćelije reservoir watershed.

Plant growth promoting rhizobacteria (PGPR) are a diverse group of microorganisms including genera such as Pseudomonas, Bacillus, Serratia, Enterobacter and Klebsiella. These bacteria have the ability to colonize roots externally and internally, and to directly enhance plant growth employing various mechanisms like phytohormone production and nutrient mineralization. These microbes can also promote plant growth indirectly by secreting antimicrobial compounds (e.g., siderophores, hydrogen cyanide) to antagonize root pathogens or by inducing defensive responses in the plant. Interestingly, there are also cases where production of antibiotic compounds such as 2,4-Diacetylphloroglucinol have the direct effect of enhancing plant growth and yield, irrespective of their biocontrol effects. The objective of this paper is to review publications showcasing PGPRs that have the capacity to both control root pathogens and stimulate plant growth, and to discuss what mechanisms might be involved.

In the last decade, robotic-mediated rehabilitation has emerged as a potential solution to improve repetitive task training. Each device in this field has a unique development history shaped by engineers’ expertise in specific programming languages or platforms. In this work we adopt an approach that tries to abstract from the final implementation with the aim to make control logic more shareable and understandable. The authors will present the outcomes of the application of a Rapid Control Prototyping strategy to an upper-limb robotic exoskeleton. A model-based design approach implemented on a real-time target machine is presented. This modern design approach was explored with several control strategies and was used to test the exoskeleton’s performances. The proposed method highlights how it is possible to develop the entire control architecture in a single programming environment.

This paper illustrates an experimental activity for the closed-loop position control of an actuator made using shape memory alloy (SMA) wire. A solution with the self-sensing effect was implemented to miniaturize the systems, i.e., without external sensors. A proportional control algorithm was initially used, demonstrating the idea's feasibility: the wire can behave simultaneously as an actuator and sensor. An experimental investigation was subsequently conducted for the optimization of the developed actuator. As for the material, a Flexinol wire, Ni-Ti alloy, with a diameter of 0.150 mm and a length of 200 mm, was used. Preliminarily, a characterization of the SMA wire at constant and variable loads was carried out: the characteristics detected are elongation vs. electric current and elongation vs. electrical resistance. The control system is PC-based with a data acquisition card (DAQ). A drive board has been designed and built to read the wire's electrical resistance and power it by pulse width modulation (PWM). A notable result is that the actuator works with good precision and in dynamic conditions, even when it is called to support a load up to 65% different from that for which the electrical resistance-length correlation has previously been experimentally obtained, on which the control is based. This opens up the possibility of using the actuator in a counteracting configuration with a spring, which makes hardware implementation and control management simple.

This analytical cross-sectional study was designed to evaluate the association between glycemic control and peripheral arterial disease in patients with diabetic foot with more than ten years of evolution of diabetes mellitus who attended the diabetic foot outpatient clinic of the Guillermo Almenara National Hospital between June 2015 and February 2017. Glycosylated hemoglobin (HbA1C) and ankle-brachial index (ABI) were used to diagnose glycemic control and peripheral arterial disease, respectively. A generalized Poisson log-linear regression model was used to calculate the crude (cPR) and adjusted (aPR) prevalence ratios, with 95% confidence intervals, and a significance level of p < 0.05. 226 patients were included in the study, finding 23% (n=52) with good glycemic control, and 44.7% (n=101) with peripheral arterial disease. The adjusted model found statistically significant associations for glycemic control, age, and sedentary lifestyle with peripheral arterial disease. Compared with patients with good glycemic control, those with poor glycemic control had a 34% higher probability of presenting peripheral arterial disease (aPR: 1.34, 95%CI: 1.01-1.79, p=0.045). The prevalence of good glycemic control in the population with diabetic foot is low. Poor glycemic control was found to be independently associated with the presence of peripheral arterial disease.

In recent years the number of available chemical pesticides has been significantly reduced and there have been an urgent need for discovery of alternative to chemical pesticides products, as among others the natural zeolites (zeolitic rocks). We determined the mineralogical and chemical composition of a specific and continuous layers of zeolitic rock sample (ZeotP) from Petrota, Ev-ros, Greece and evaluated its oviposition deterrent effect for the olive fruit fly Bactrocera oleae (Diptera: Terphritidae). The tested natural zeolite contained 70 wt. % Clinoptilolite, 18 wt. % Amorphous material, 7 wt. % Feldspars, 4 wt. % Cristobalite and 1 wt. % Quartz. We tested the oviposition deterrent effect of ZeotP mixed or not with an emulsifier adjuvant NU-FILM-P® in water and applied on the surface of olive fruits. The ZeotP oviposition deterrent effect for the ol-ive fly was very high under a series of tested temperatures (17°C, 20°C, 25°C and 30°C) and RHs (23%, 33%, 55%, 75%, 94%). In addition, the ZeotP residual deterrent effect after equable water spraying was high and similar to the respective effect of a pyrethroid insecticide (Decis®). Our results may contribute to an effective control of the olive fruit fly using an alternative to chemical pesticides natural zeolite (zeolitic rocks) product.

Edible oils have commercial and nutritional value due to the presence of essential fatty acids. They can be consumed fresh in the form of capsules known as nutraceuticals. The quality of such products is of interest to the consumer. In this context, this study describes a method based on high resolution nuclear magnetic resonance (NMR) and Fourier transform mid-infrared spectroscopic analysis (FTIR), combined with statistical analyzes to differentiate different edible oils used as nutraceuticals in Brazil by fatty acid content. Through the analysis of 1H NMR spectra, the levels of saturated and unsaturated fatty acids in edible oils were characterized and quantified. Statistical analysis of the data confirmed the real distinction between nutraceutical raw materials, with emphasis on ω-9, ω-6 and ω-3 fatty acids. The analytical approach presented also demonstrated potential to identify the origin (animal or vegetable) of edible oils used as nutraceuticals.

Some studies investigated the relationship between frequency domain analysis of heart rate variability and the cognitive performance at the Stroop task. We propose a combined assessment also of trunk mobility in 72 healthy women to investigate the relationship between cognitive, cardiac and motor variables based on a principal component analysis. We also assessed the change on this result after an intervention of two months aiming at improving the perception-action link. At baseline, the PCA correctly identified 3 components: one related to cardiac variables, one to trunk motion and one to the performance of Stroop task. After the intervention, only two components were found with trunk symmetry and range of motion, accuracy and time to complete the Stroop task and low frequency heart rate variability aggregated in a single component by PCA. It suggested that this protocol was effective in investigating the embodied cognition and we defined this approach as “embodimetrics”.

Simulated (sim) racing is an emerging esport that has garnered much interest in recent years and has been a relatively under-researched field in terms of expertise and performance. When examining expertise, visual attention has been of particular interest to researchers, with eye tracking technology commonly used to assess visual attention. In this study, we examined the visual attention allocation of high and low skilled sim racers during a time trial task using Tobii 3 glasses. Participants were allocated to either group according to their fastest lap times. Our results indicate that when eye tracking metrics were normalised to lap time, there was no difference in the relative length of attention allocation (fixation behaviour), although lower skilled racers did have significantly greater fixation counts and durations across laps overall. Interestingly, high and low skilled sim racers differed in where they allocated their attention during the task, with high skilled sim racers allocating significantly less attention to the track relative to other areas of the display. This would allow higher skilled racers to obtain relatively more information from heads-up display elements in-game, all whilst driving at faster speeds. This study provides evidence that high and low skilled sim racers show similar lap time-corrected fixation behaviour, but how they allocate attention while driving differs.

In the paper, a study of the performance of unmanned ground vehicle (UGV), establishes numerical simulation model of the chassis system by three-dimensional software and finite element analysis software. Based on the numerical modelling and analysis, the work focuses on study of the strength and stiffness of the vehicle's chassis and researched the distribution of stress and deformation under the extremal condition. The paper also presents an autopilot design with new cascade control system for an autonomous motion of an unmanned ground vehicle based on Proportional-Integral-Derivative (PID) and Feed-Forward (FF) control. The PID-FF controller is a part of dedicated for presented UGV used in a hybrid control system for precise control and stabilization, necessary to increase the vehicle motion stability and maneuvers precision. The hybrid PID-FF control system proposed for the ground vehicle model gives a satisfactory quality of control, while maintaining the simplicity of the control system. Presented tests performed in area of mechanical design and control analysis gives good results and proves usefulness of designed unmanned device.

Background: Diabetes mellitus (DM) and periodontitis are two chronic diseases that are interconnected. The coexistence of these conditions leads to increased severity of periodontitis and challenges in controlling blood glucose levels in diabetic patients. Objectives: The aim of this study was to evaluate both the influence of periodontal disease and its treatment in patients with DM in terms of a reduction in glycosylated hemoglobin levels at 3 and 6 months after treatment. Methods: A sequential, nonprobabilistic, controlled, prospective and longitudinal case−control study was carried out at the University Dental Clinic of the Morales Meseguer Hospital in Murcia, Spain. Thirty diabetic patients were divided into two groups: patients with periodontitis (test group) and patients without periodontitis (control group). The periodontal and endocrine-metabolic variables were measured at baseline and at 3 and 6 months after periodontal treatment for both groups. Results: Statistically significant differences were found at 3 and 6 months after periodontal treatment with respect to HbA1c levels in the group of periodontal patients. However, these differences were not observed in the control group. Conclusion: The presence of periodontal disease increased HbA1c levels in patients with DM. Nonsurgical periodontal treatment significantly decreased the degree of periodontal inflammation and the HbA1c level at 3 and 6 months after treatment.

Tail-sitters aim to combine the advantages of fixed-wing and rotor-craft, but demand a robust and fast stabilization strategy to perform vertical maneuvers and transitions to and from aerodynamic flight. The research conducted in this work intends to assess the performance of nonlinear control strategies to stabilize the attitude of a X-Vert VTOL aircraft when hovering, comparing existing solutions to applications of Nonlinear Dynamics Inversion (NDI) and its incremental version, INDI. Such controllers are implemented and tuned in simulation in order to stabilize a model of the tail-sitter , complemented by estimation methods that allow to feed back the necessary variables. These estimators and controllers are then implemented in a microcontroller, validating them in a Hardware-in-the-Loop (HITL) scenario, with simple maneuvers in vertical flight. Lastly, the developed control solutions are used to stabilize the aircraft in experimental flight, being monitored by a motion capture system. The experimental results allow to validate the model of the X-Vert and compare the effectiveness of the different control solutions in stabilizing it, with the INDI presenting itself as a more robust control strategy, with better tracking capabilities and less actuator demands.

In this paper, an adaptive proportional and integral (PI) controller for speed control of electric drives is developed. The adaptive PI controller is designed based on model reference adaptive identification and the Lyapunov function so that the system stability can be proved. To identify the inertia, the viscous friction torque coefficient, and the load torque simultaneously and smoothly, sinusoidal speed reference is usually employed. A modified motion equation considering the low-pass filter for feedback speed and the Coulomb friction torque is introduced and the relationship between the identified parameters and their actual values are clarified. A high-precision digital simulation model is built based on MATLAB/Simulink. The effectiveness of the proposed method is verified by simulations under various conditions.

In the full load operating range, wind turbines typically use pitch control to maintain rotor speed and output power at their rated values to guarantee the whole system’s safety. Blade pitch actuators are subject to physical limitations and safety requirements, which imposes strict constraints on pitch angle’s amplitude and rate of change. These constraints will bring windup problem to the integral part of the pitch controller. It leads to deterioration of the pitch control system’s performance or even the instability problem, especially for large-scale turbines operating in extreme uncertain wind conditions or suffering from cyber attacks. This paper designs an anti-windup robust pitch angle control strategy to deal with pitch rate constraint issue to enhance the security of control system. First, to facilitate controller design, a filtered tracking error technique is employed to transform the nonaffine form into an affine one. Subsequently, a feedback robust controller based on UDE is developed to handle the model’s uncertainty and external disturbances. To address the issue of integral saturation in the pitch system and guarantee its safety, an elliptical bounded constraint is integrated into the designed UDE strategy. This bounded UDE controller can improve the stability of power generation quality, reduces the mechanical loads on components and enhance the whole system’s safety. Finally, the effectiveness of the proposed scheme is verified on the Wind Turbine Blockset platform in Matlab/Simulink. It can achieve better performance than the traditional method.

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.

Salinity is one of the major factors responsible for the deterioration of soils, making them unsuitable for agriculture. The application of halotolerant and halophilic plant growth promoting bacteria (PGPR: Plant Growth Promoting Rhizobacteria) with biological control activities as an inoculant of cultivated plants offers a biological alternative to the use of agrochemicals, particularly when subjected to salt stress. In this perspective, 70 bacterial strains were isolated from saline soils (sebkha) in arid and semi-arid areas of eastern Algeria. Three isolates were selected based on their ability to produce bioactive molecules allowing them to promote plant growth, such as hydrolytic enzymes, indole acetic acid, HCN, NH3, etc. Two of these isolates belong to the genus Serratia and the third is a halophilic Halomonas bacteria. These bacteria were identified based on the 16S rDNA sequence. Antagonism tests against phytopathogenic fungi were carried out. The identification of the antifungal molecules produced by these bacteria was done by high performance liquid chromatography. These bacteria are capable of inhibiting mycelial development against phytopathogenic fungi with rates reaching 80.67% against Botrytis cinerea, 76.22% against Aspergillus niger and 66.67% against Fusarium culmorum for Serratia sp. The strain Halomonas sp. inhibited mycelial growth by production of volatile substances of Aspergillus niger at 71.29%, Aspergillus flavus at 75.49% and Penicillium glabrum at a rate of 72.22%. The identification by HPLC of the antifungal molecules produced by these three bacteria reveals that they are polyphenols, which makes these strains the first rhizobacteria capable of producing phenolic compounds. Finally, pot tests to determine the effectiveness of these strains in promoting wheat growth under salinity stress (125 mM, 150 mM and 200 mM) were carried out. The results revealed that a consortium of two isolates (Serratia sp. and Halomonas sp.) performed best at 125 mM. But, at higher concentrations it was the halophilic bacteria Halomonas sp which gave the best result. In all cases, there was a significant improvement in the growth of wheat seedlings inoculated with the bacteria, compared to non-inoculated controls.

The increased cultivation of high THC-containing Cannabis sativa L. (cannabis), particularly in greenhouses, has resulted in a greater incidence of diseases and molds that can negatively affect the growth and quality of the crop. Among them, the most important diseases are root rots (Fusarium and Pythium spp.), Botrytis bud rot (Botrytis cinerea), powdery mildew (Golovinomyces ambrosiae), cannabis stunt disease (caused by Hop latent viroid), and a range of microbes that reduce post-harvest quality. An integrated management approach to reduce the impact of these diseases/microbes requires combining different approaches that target the reproduction, spread and survival of the associated pathogens, many of which can occur on the same plant simultaneously. These approaches will be discussed in the context of developing an integrated plan to manage the important pathogens of greenhouse-grown cannabis at different stages of plant development. These stages include maintenance of stock plants, propagation through cuttings, vegetative growth of plants, and flowering. The cultivation of cannabis genotypes with tolerance or resistance to various pathogens is a very important approach, followed by the maintenance of pathogen-free stock plants. When combined with cultural approaches (sanitation, management of irrigation, and monitoring for diseases) and environmental approaches (greenhouse climate modification), a significant reduction in pathogen development and spread can be achieved. The use of preventive applications of microbial biological control agents and reduced risk biorational products can also reduce disease development at all stages of production in jurisdictions where they are registered for use. The combined use of promising strategies for integrated disease management on cannabis plants during greenhouse production will be reviewed. Future areas for research are identified.

Health communication has been highlighted as a cost-effective preventive intervention in Africa where prevalence of tobacco use is still relatively low compared to other World Health Organization (WHO) regions. This scoping review aims to examine tobacco control health communication interventions in Africa. The review was guided by the PRISMA-ScR checklist. Data was extracted from twenty peer-reviewed papers, WHO Global Health Observatory on Anti-tobacco mass media campaigns for 54 African countries, and six WHO Framework Convention on Tobacco Control reports on Article 12. Data extraction informed by JBI data extraction questions was used for peer review studies while a pre-determined template was used for the other sources. Narrative data synthesis informed by the JBI manual for evidence synthesis was employed. Lack of research that comprehensively address all areas of health communication and Inconsistent use of health communication campaigns was identified. Only an average of 6 countries had ever implemented effective mass media campaigns in a decade while an average of 33 countries consistently failed to conduct campaigns that lasted more than 3 weeks. Although the involvement of key populations was clearly vital to ensure content relevance and message clarity; a lack of health communication informed by young people was observed as they rarely participated in key decision-making despite reportedly being targets of interventions. Clear health communication for tobacco use prevention informed by young people is lacking in African countries. Active participation of young people in developing targeted campaigns is needed to facilitate content relevance and comprehension to ultimately contribute to tobacco use prevention.

The uncertainty in the secondary path of an Active Noise Control (ANC) headphone affects the waterbed effect and stability of the feedback system. This study focuses on the uncertainty of the secondary path when real users wear headphones, and proposes a new uncertainty constraint based on the measured results of the secondary path transfer function under different wearing conditions of dummy head and limited subjects. This constraint and a cascaded second-order infinite impulse response filter with fixed coefficients are used to formulate a control strategic function, which is optimized by the Improved Grey Wolf Optimizer (IGWO) algorithm to obtain the optimal controller with better noise reduction performance. The proposed method and simulation model are validated based on the experimental test results. The results demonstrate that the safety factor and waterbed suppressing factor contained in the proposed uncertainty constraint ensures more stable noise reduction and effective suppression of the waterbed effect for new subjects without a priori data.

The aim of this study is to investigate transient dynamic flow characteristics of the fluid flow through 5-way electric coolant valve (PCCV : Penta-Control Coolant Valve). To achieve this goal, the present paper attempts the three-dimensional dynamic simulation of the fluid flow through the valve using a commercial CFD solver with moving mesh technique to consider flow inertia and dynamic flow in the opening and closing stages of the ball valve rotating motion. Firstly, dynamic flow characteristics and the thermal mixing inside the PCCV ball valve during the opening and closing stage was analyzed. It is found that the discrepancies between dynamic and steady state simulation is remarkable when fluxes with different levels of enthalpy and momentum flow into the PCCV leads to strong flow interference and flow inertia, while the discrepancies are relatively small at low rotation speed and weak flow interference. Then, the effect of dynamic flow characteristics of the valve on dynamic thermal mixing characteristics at two different ball valve rotational speeds and rotational directions were investigated. It was found that the dynamic flow and thermal mixing characteristics inside the PCCV are greatly affected by the rotation speed, rotation direction, and degree of flow interference between fluxes. It is helpful for the design of the better coolant control strategies and the improvement of the FCEV thermal management system.

This paper presents the design and implementation of a remote supervision and control system for a gunpowder drum filling plant. The use of technologies such as SCADA (Ignition), IoT (Node-RED), ERP (Odoo) and digital twins (Factory I/O) to achieve remote monitoring and operation of the plant is described. The solution allows full control of the production process from any location through customized graphical interfaces. The challenges encountered in integrating multiple systems and platforms are discussed, along with the security measures implemented within the Azure cloud environment. The results demonstrate the effectiveness of 4.0 technologies in automating and digitizing critical industrial processes. This research will lay the groundwork for the adoption of these approaches in companies seeking greater efficiency, traceability and safety in their operations. The experience gained allows us to successfully face the digital transformation in modern manufacturing.

The use of natural raw substances for food preservation could provide a great contribution to food waste reducing, circular economy enhancing, and green processes application widening. Recent studies indicated that natural preservatives release kinetics significantly influenced the food preservation process. The use of porous materials as absorber for natural essential oils provided nanohybrids with excellent antioxidant and antimicrobial properties. In this study the well-known SBA-15 porous material was used to control the release of the natural preservative thyme oil on food surface and to extend the food shelf-life. Results indicated that the thyme oil loading was higher than other porous materials reported recently and the addition of SBA-15 to the LDPE increases the water/oxygen barrier. The film with the higher thyme-oil@SBA-15 nanohybrid content exhibited the slower release kinetic. The antioxidant activity of the final films ignited after 48 hours, was in the range of 60-70%, and was almost constant for 7 days. Finally, all tests indicated a sufficient improvement by the addition of thyme-oil@SBA-15 nanohybrids in the pure LDPE matrix and the concentration of wt. 10% of such nanocarriers provided the optimum final LDPE/10TEO@SBE-15 active packaging film. This material could be a potential future product for active packaging applications.

The protection of grapevine from the diseases is now particularly focused on the development of environmentally friendly strategies. Although sulphur is not in itself a toxic substance, a large use towards powdery mildew, in organic vineyards especially, may cause problems to environment, health and safety of viticultural workers and plant phytotoxicity. The activity on powdery mildew of sulphur applied at doses reduced up to 50% in tank mixtures with silicates and Equisetum arvense based products, never tested on grapevine, was assessed. Two-year trials were carried out applying the products every 7-9 days in the period of greatest risk for spring ascosporic infections, in two organic vineyards in the Abruzzo region, Italy. The effectiveness towards the disease of the mixtures was demonstrated, often to a greater extent than that of full-dose sulphur, normally used in the vineyards. Furthermore, in vines treated with the mixtures, increases in yield quantity and quality, such as higher contents of soluble solids and lower levels of total acidity, have been shown. Due to the strong efficacy demonstrated on the leaves, silicon-based products + sulphur mixtures can also be recommended in eradicative applications, aimed at reducing the inoculum of the disease. The great activity of the mixtures demonstrated in this study suggests confirmation through further investigations on different cultivars and vine-growing areas at different levels of infection, also testing the effectiveness of individual silicon products against the disease.

Exploring the fundamental mechanisms of locomotion extends beyond mere simulation and modeling. It necessitates the utilization of physical test benches to validate hypotheses regarding real-world applications of locomotion. This study introduces cost-effective modular robotic platforms designed specifically for investigating the intricacies of locomotion and control strategies. Expanding upon our prior research in Electric-Pneumatic Actuation (EPA), we present the mechanical and electrical designs of the latest developments in the EPA robot series. These include EPA Jumper, a human-sized segmented monopod robot, and its extension EPA Walker, a human-sized bipedal robot. Both replicate the human weight and inertia distributions, featuring co-actuation through electrical motors and pneumatic artificial muscles. These low-cost modular platforms, with considerations for degrees of freedom and redundant actuation, 1) provide opportunities to study different locomotor subfunctions— stance, swing, and balance; 2) help investigate the role of actuation schemes in tasks such as hopping and walking; and 3) allow testing hypotheses regarding biological locomotors in real-world physical test benches.

Background and Objectives: Place the question addressed in a broad context and highlight the purpose of the study. Materials and Methods: Describe briefly the main methods or treatments applied, including the study population description. Results: Summarize the article’s main findings. Conclusions: Indicate the main conclusions or interpretations. The abstract should be an objective representation of the article, it must not) results. Meanwhile, exclusion criterion is incomplete data in medical record. For the analysis of continuous variables, a General Linear Model (univariate) was employed, with the predictors included specific Personality Disorder. The outcome being the PB, and covariates encompassed age, sex, education, clinical diagnosis, and depression score. Results: Six personality disorders, namely Paranoid, Schizoid, Histrionic, Avoidant, Dependent, and Obsessive-Compulsive Personality Disorder, did not exhibit significant pathogenic beliefs. In contrast, the remaining four personality disorders demonstrated significant associations with specific pathogenic beliefs. Conclusions: While some personality disorders have specific beliefs, it's also common to have pathogenic beliefs that are not specific to their psychodynamic. It's essential to recognize specific pathogenic beliefs for each individual to be targeted for their psychotherapy.

Naturally-derived synthetic leather is a widely used and high-quality type of faux leather or synthetic leather. Many consumers prefer authentic leather goods due to their exceptional qualities, including high water vapor permeability and superior wearing comfort. Consequently, the exploration of artificial leather made from natural materials with exceptional qualities as an alternative to genuine leather has garnered significant interest and is now a highly studied subject. Synthetic leather, sometimes known as imitation leather, has gained popularity recently as a highly suitable alternative to genuine leather. Continuous advances in this area of research increase the range of uses for synthetic leather using natural fibers. Thus, this research aims to explore synthetic leather materials using orange peel waste, which can be applied to the fashion industry. This research applies several types of orange peel waste, such as Pomelo, Sweet orange, and Sunkist orange, to different compositions and strengthening materials, such as bandages and dacron. The resulting bio-composite materials' morphology, mechanics, and adhesive properties were evaluated following ASTM D 2209-00 and ASTM D 4533-04 standards. The results indicate that specimen 1A (Pomelo using bandage as reinforcement) has the most significant effects, with a tensile test value of approximately 472 N/cm2, an elongation of roughly 67.28 % was the highest value on sweet orange using bandage as reinforcement, and a tear resistance of around 14.28 N/cm2 for Pomelo with bandage as reinforcement. Furthermore, the test results also show that composition 2B still does not meet the standards of SNI 1294:2009 and ISO 3376 for tensile strength and ISO 3377-1 for tear strength. Additionally, statistical analysis showed no appreciable changes in the samples analyzed. Furthermore, statistical evaluations showed no significant alterations in the studied samples. The results of this experimental investigation can be explored further and used as a basic framework for the creation of bio-composites from orange peel waste for future fashion.

Fire blight, caused by the plant-pathogenic bacterium Erwinia amylovora, is a highly contagious and difficult-to-control disease due to the efficient dissemination, survival, and scarcity of effective control methods. Copper and antibiotics are the most used treatments but pose environmental and human health risks. Bacteriophages (phages) constitute an ecological, safe, and sustainable fire blight control alternative. The goal of this study was to search for specific E. amylovora phages from plant material, soil, and water samples in Mediterranean environments. A collection of phages able to specifically infect and lyse E. amylovora strains was generated from former fire blight-affected orchards in Eastern Spain. Following in vitro characterization, assays on immature fruit revealed that preventively applying some of the phages or their combinations delayed the onset of fire blight symptoms and reduced the disease severity, suggesting their biocontrol potential in Spain and other countries. Morphological and molecular characterization of the selected E. amylovora phages classified them as members of the class Caudoviricetes (former Myoviridae family) and genus Kolesnikvirus. This study reveals Mediterranean settings as plausible sources of E. amylovora-specific bacteriophages, and provides the first effective European phage cocktails in plant material for the development of sustainable fire blight management measures.

Using the potent tools of information geometry (IG), the current research analyses the information geometrics of the five-dimensional HTBFC Manifold. By enabling a unique revolutionary analysis for the performance of Human-Trust Based Feedback Control (HTBFC), the integration of information geometry into HTBFC facilitates the relativistic analysis of the five-dimensional HTBFC manifold. Both the two- and three-dimensional manifold subcases are investigated. This work provides a ground-breaking approach to IG unification of Human- Machine Interactions (HMIs). Some potential applications of HTBFC to robotics are presented.Conclusions are provided, along with some emerging open problems and recommendations for future research.

The fifth Industrial revolution (I5.0) prioritizes resilience and sustainability, integrating cognitive cyber-physical systems and advanced technologies to enhance machining processes. Numerous research studies have been conducted to optimize machining operations by identifying and reducing the sources of uncertainty and estimating the optimal cutting parameters. Virtual modeling and Tool Condition Monitoring (TCM) methodologies have been developed to assess the cutting states during machining processes. With a precise estimation of cutting states, the safety margin necessary to deal with the uncertainties can be reduced, resulting in improved process productivity. This paper reviews the recent advances in high-performance machining systems with a focus on the cyber-physical models developed for the cutting operation of difficult-to-cut materials using cemented carbide tools. An overview of the literature and background on the advances in the offline and online process optimization approaches have been presented. Process optimization objectives such as tool life utilization, dynamic stability, enhanced productivity, improved machined part quality, and reduced energy consumption and carbon emissions are independently investigated for the offline and online optimization methods. Addressing the critical objectives and constraints prevalent in industrial applications, the paper explores the challenges and opportunities inherent in developing a robust cyber-physical optimization system

In this paper, a class of coupled competitive neural networks, which subject to disturbance and discontinuous activation functions, is concerned. To realize the fixed-time quasi-bipartite synchronization, an aperiodic intermittent controller is initially designed. Subsequently, by combining the fixed-time stability theory and nonsmooth analysis, several criteria are established to ensure the bipartite synchronization in fixed time. Moreover, synchronization error bounds and settling time estimates are provided. Finally, numerical simulations are presented to verify the main results.

Artificial intelligence (AI) is revolutionizing approaches in plant disease management and phy-topathological research. This review analyzes current applications and future directions of AI in addressing evolving agricultural challenges. Plant diseases annually cause 10-16% yield losses in major crops, prompting urgent innovations. Artificial intelligence (AI) shows aptitude for auto-mated disease detection and diagnosis utilizing image recognition techniques, with reported accuracies exceeding 95% and surpassing human visual assessment. Forecasting models inte-grating weather, soil, and crop data enable preemptive interventions by predicting spa-tial-temporal outbreak risks weeks in advance at 81-95% precision, minimizing pesticide usage. Precision agriculture powered by AI optimizes data-driven, tailored crop protection strategies boosting resilience. Real-time monitoring leveraging AI discerns pre-symptomatic anomalies from plant and environmental data for early alerts. These applications highlight AI's proficiency in il-luminating opaque disease patterns within increasingly complex agricultural data. Machine learning techniques overcome human cognitive constraints by discovering multivariate correla-tions unnoticed before. AI is poised to transform in-field decision making around disease pre-vention and precision management. Overall, AI constitutes a strategic innovation pathway to strengthen ecological plant health management amidst climate change, globalization, and agri-cultural intensification pressures. With prudent and ethical implementation, AI-enabled tools promise to enable next-generation phytopathology, enhancing crop resilience worldwide.Artificial Intelligence, Phytopathology, Emerging Disease, Climate Change, Control diseases.

This work targets the development of a mobility control system for high-speed series hybrid electric tracked vehicles, which operate with independent traction motors for each track. The scope of the research encompasses the modeling of the series hybrid powertrain specific to military tracked vehicles, as well as an in-depth analysis of their dynamic behavior. Subsequently, the study conducts a critical review of the mobility control approaches sourced from literature, identifying key techniques relevant to high-inertia vehicular applications. Building on the foundational models, the study puts forward a robust closed-loop mobility control system aimed at ensuring precise and stable off-road vehicle operations. The system's resilience and adaptability to a variety of driving conditions are emphasized, with a particular focus on handling maneuvers such as steering and pivoting, which are challenging operations for tracked vehicle agility. The performance of the proposed mobility control system is tested through a series of simulations, covering a spectrum of operational scenarios. These tests are carried out in both offline simulation settings, which permit meticulous fine-tuning of system parameters, and real-time environments that replicate actual field conditions. The simulation results demonstrate the system's capacity to improve vehicular response and highlight its potential impact on the future designs of mobility control systems for the heavy-duty vehicle sector, particularly in defense applications.

Modern power systems are confronted with a spread concern on the frequency stability issue due to the widespread integration of randomly fluctuating renewable resources. To address the above concern, this work introduces a load frequency control (LFC) scheme based on a hydrogen based energy-storage unit and a parameter tuning strategy for fractional-order proportional-integral-derivative (FOPID) controller. Firstly, a two-area interconnected power system (IPS) model, including thermal, hydro, solar, wind, gas power generator, and hydrogen based energy-storage unit, is established. Then, a FOPID controller is designed for this IPS model, and an improved gradient-based optimizer (IGBO) is developed to adaptively regulate the parameters of the FOPID controllers. Finally, the effectiveness of the offered LFC scheme are tested through load disturbance and renewable energy fluctuations test scenarios, and provides comparison and robustness analysis among different schemes. The test results validated that the offered LFC scheme can effectively suppress the frequency fluctuations of IPS and has excellent robustness.

In this work, we conducted a numerical study on the cavitation flow around a circular cylinder through the implementation of a porous coating. The primary objective addressed the effectiveness of utilizing a porous surface to control cavitation. We analyzed the cavitation dynamics around the cylinder and the hydrodynamic performance at different permeability levels of the porous surfaces. The flow was governed by the density based homogeneous mixture model and the volume penalization method was used to deal with the porous layer. A high-order accurate numerical method was adopted for the simulation of the cavitating flow through solving the preconditioned multiphase equations. The results revealed that the application of porous layer led to effective suppression of the cavitation vortex shedding. In addition, a reduction of the shedding frequency was obtained which accompanied by thinner and elongated vortices in the wake region of the cylinder. With the proper porous layer, the inception of the cavitation on the cylinder was suppressed and the amplitude of pressure pulsations due to the cavitation shedding mechanism was mitigated.

Actually wide excision is recommended after the primary excision of any cutaneous melanomas. The definition of the margins of wide excision indicated by the guidelines has remained unchanged over the years, although the reported indications derived from fairly dated studies, in which melanomas tend to be thicker or in advanced stages at diagnosis. These indications may no longer be current; especially in those patients affected by in situ or thin melanoma, exposing patients to a possible overtreatment. A retrospective observational study was conducted in patients who had undergone surgery for melanoma in a single institution. In a univariate model a melanoma-positive wide excision resulted related with a worst progression free survival (PFS); but this association was not confirmed in the multivariable model. Moreover, logistic model were applied to estimate the probability to find a metastasis after wide local excision (WLE) in relation to demographic data of patients and histologic information of the melanoma. Results testified that the Breslow thickness was the only factor associated with the increase of the risk to found metastases in the WLE area. The ROC curve testified that the optimum cut-off value to differentiate patients with respect those without a tumor-positive wide excision, was a Breslow thickness of 2.31mm in women, and 2.4mm in men.

Fully mechanized mining face production involves complex geological conditions; mining pressure; gas, water, fire and other mining environments. The working face needs a shearer, hydraulic support, a scraper conveyor and other equipment for coordination. The deep integration of intelligent technology with factors such as "humans, machines, the environment, and management" in the workplace is the core content of intelligent coal mines. This paper puts forward an advanced framework for coal mining robot technology systems, including single robots, robotized equipment, robot clusters and unmanned systems. The framework clarifies the common key technologies of coal mining robot research and development and cross-integration with new technologies such as 5G, the industrial internet, big data, artificial intelligence, and digital twins to improve the autonomous and intelligent application of coal mining robots. By establishing a scientific and complete standard system for coal mining robots, we aim to achieve customized research and development and standardized production of various types of robots. A specific analysis was conducted on the research progress of common key technologies such as explosion-proof design, mechanical system innovation, power drive, intelligent sensing, positioning and navigation, and underground communication of coal mining robots. The current research and application status of various types of coal mining robots in China are summarized. A new direction for future coal mine robot research and development is proposed. Moreover, robotic mining systems should be promoted to enhance the overall intelligence level and mining efficiency of mining equipment. To develop human‒machine environment-integrated robots to improve the autonomy and collaboration level of coal mining robots. The digital twinning of the entire mine robot system should be accelerated, the normalized operation level of coal mine robots should be improved, research on coal mining robots, support robots, and transportation robots should be carried out, intelligence should be achieved in fully mechanized mining faces, and equipment support for fewer and unmanned fully mechanized mining faces should be provided. The practical process of implementing coal mining robotization has been summarized, and the technical and engineering feasibility of the coal mining machine population has been verified.

Background: To assess effectiveness, safety of computed tomography (CT)-guided cryoablation for treating adrenal metastases (AMs). Materials and Methods: This study involved 12 patients treated with 13 CT-guided cryoablation procedures for AMs between 2016 and 2020. Patients’ ineligible for surgery, with tumors ≤5 cm, and no significant health risks were included. The procedures, conducted by expert radiologists, included initial non-contrast CT scans to determine lesion morphology, followed by cryoablation with monitoring for complications. Post-treatment, patients underwent regular physical and laboratory checks, including hormonal analysis, and CT scans at specified intervals to assess the treatment's effectiveness and detect disease recurrence or progression. Results: In this study, 12 patients with AMs successfully underwent cryoablation, achieving a primary technical success rate of 91.7% and a secondary rate of 100% after a repeat procedure for one patient. All cryoablation sessions were completed without major complications, with ice ball formations extending 1 cm beyond tumor margins to ensure safety. Over an 8–24-month follow-up (average 16.3 months), six patients required further systemic therapy, with three developing extra-adrenal tumors. Local progression was noted in two patients (16.7%), one of whom underwent a repeat cryoablation. Systemic progression was observed in five patients, involving renal and NSCLC cancer recurrences and bone metastasis. The study reported five deaths due to tumor progression and heart failure, with an average overall survival duration of 32.4 ± 7.6 months.

The paper proposes a new implementation of the PID algorithm in digital hardware. The proposed circuit implements an advanced PID formula, containing a non ideal derivative component, and weighting coefficients, which enable reducing influence of setpoint changes in the proportional and derivative components. The implementation operates on standard single precision (32 bit) floating-point numbers. The proposed circuit structure is optimized for cost. It uses just one arithmetic block, performing the multiply-and-add operation. The calculations are carried out in a sequential manner. The circuit was implemented in a Cyclone V FPGA device from Intel, using the Quartus Prime software. Proper operation of the circuit was verified by simulation. The proposed solution is comparable in terms of speed with other hardware implementations of the PID algorithm operating on standard single precision floating-point numbers, while being significantly cheaper. However, it outperforms by several orders of magnitude the speed of any software-based implementation, including solutions using PLCs, and CPU/MCUs. The proposed circuit structure, together with the overall regulator device concept, suit well the SoC (System on Chip), or SoPC (System on Programmable Chip) idea, i. e. a device, that contains a CPU core immersed in “FPGA fabric” - logic resources characteristic for FPGA devices.

Artificial intelligence (AI) has found extensive applications in the sustainability domain. The municipal solid waste incineration (MSWI) process can achieve waste-to-energy (WTE) goals through the assistance of automation and information technologies. In theory, AI can facilitate the intelligent operation of the MSWI process, simultaneously achieving low pollution emissions and high production efficiency. This study provides an overview of AI applications in the MSWI process. Addressing fundamental challenges, the optimal control of the MSWI process is categorized into four aspects: modeling, control, optimization, and maintenance. Subsequently, this study conducts a detailed analysis and discussion of AI applications in each of these technological domains. In conclusion, this paper outlines the future research directions and provides an outlook on the fundamental issues pertaining to AI applications in the optimal control of the MSWI process.

Powered ankle prostheses have been proven to improve the walking economy of people with transtibial amputation. All commercial powered ankle prostheses that are currently available can only perform one-degree-of-freedom motion in a limited range. However, studies have shown that the frontal plane motion during ambulation is associated with balancing. In addition, as more advanced neural interfaces have become available for people with amputation, it is possible to fully recover ankle function by combining neural signals and a robotic ankle. Accordingly, there is a need for a powered ankle prosthesis that can have active control on not only plantarflexion and dorsiflexion but also eversion and inversion. We designed, built, and evaluated a two-degree-of-freedom (2-DoF) powered ankle-foot prosthesis that is untethered and can support level-ground walking. Benchtop tests were conducted to characterize the dynamics of the system. Walking trials were performed with a 77 kg subject that has unilateral transtibial amputation to evaluate system performance under realistic conditions. Benchtop tests demonstrated a step response rise time of less than 50 milliseconds for a torque of 40 N·m on each actuator. The closed-loop torque bandwidth of the actuator is 9.74 Hz. Walking trials demonstrated torque tracking errors (root mean square) of less than 7 N·m. These results suggested that the device can perform adequate torque control and support level-ground walking. This prosthesis can serve as a platform for studying biomechanics related to balance and has the possibility of further recovering the biological function of the ankle-subtalar-foot complex beyond the existing powered ankles.

Recent technological advancements such as IoT and Big Data have granted industries extensive access to data, opening up new opportunities for integrating Artificial Intelligence (AI) across various applications to enhance production processes. We can cite two critical areas where AI can play a key role in industry such as product quality control and predictive maintenance. This paper presents a survey of AI applications in the domain of Industry 4.0, with a specific focus on product quality control and predictive maintenance. Experiments were conducted using two datasets, incorporating different machine learning and deep learning models from the literature. Furthermore, this paper provides an overview of the AI solution development approach for product quality control and predictive maintenance. This approach includes several key steps, such as data collection, data analysis, model development, model explanation, and model deployment.

This paper explores the intricate world of microbial life, focusing on biofilm as a dynamic consortium of bacteria forming complex networks within a self-produced matrix of extracellular polymeric substances (EPS). Analogous to a bacterial house, these structures provide both shelter and support, playing a pivotal role in the microbial realm with dual effects on human and environmental contexts. Biofilm's significance extends beyond its microcosmic architecture, positively contributing to heavy metal removal, electricity generation through microbial fuel cells, and structural remediation, while also posing threats with detrimental formations implicated in conditions from lung to urinary tract infections. Control of biofilm becomes imperative to unlock its positive attributes and mitigate potential negatives, serving as a cornerstone for environmental remediation, sustainable energy, and infrastructure maintenance. Employing a comprehensive bibliographic approach, this study identifies keywords, countries, and organizations influencing biofilm research, proposing innovative avenues like machine learning for future exploration. The aim is not only to contribute to existing knowledge but to pioneer cutting-edge strategies for biofilm optimization and challenge mitigation, shaping its trajectory towards sustainable applications across diverse fields.

In recent years, the viability of employing multi-agent reinforcement learning technology for adaptive traffic signal control has been extensively validated. However, owing to restricted communication among agents and the partial observability of the traffic environment, the process of mapping road network states to actions encounters numerous challenges. To address this problem, this paper proposes a multi-agent deep reinforcement learning model with an emphasis on communication content (CMARL). The model decouples the complex relationships between multi-signal agents through centralized training and decentralized execution. Specifically, we first pass the traffic state through an improved deep neural network to achieve the extraction of high-dimensional semantic information and the learning of the communication matrix. Then the agents selectively interact with each other based on the learned communication matrix and generate the final state features. Finally, the features are inputted to the QMIX network to achieve the final action selection. We compare the CMARL model with 6 other baseline algorithms in real traffic networks. The results show that CMARL can significantly reduce vehicle congestion, and run stably in various scenarios.

There are many problems based on solving non-autonomous differential equations of the form x¨(t)+ω2(t)x(t)=0, where x(t) represents the coordinate of a material point and ω is the angular frequency. The inverse problem involves finding the bounded coefficient ω. Continuity of the function ω(t) is not required. The trajectory x(t) is unknown, but the initial and final values of the phase variables are given. The variation principle of minimum time for the entire dynamic process allows for the determination of the optimal solution {x(t),ω(t)}. Thus, the inverse problem is an optimal control problem. No simplifying assumptions were made.

The efficient and sustainable management of hospitals is an increasingly relevant challenge in the healthcare sector. With limited financial resources, regulatory pressures and increasing demands for quality services, hospitals are faced with the want to approve sound policies to certify financial and operational sustainability. Management accounting is critical in this instance. In Portugal the DL nº 284, of July 26, 1999, allow us to confirm the need to reinforcement of profitability and efficiency in the provision of healthcare. Management accounting is an essential tool for monitoring and controlling costs, making strategic decisions, efficiently allocating resources and evaluating performance in the hospital environment. It allows a comprehensive view of financial and operational aspects, providing valuable information for management and strategic planning. However, the sustainability of hospital management accounting is a critical and complex topic that deserves special attention. Hospitals face several challenges, such as the complexity of hospital costs, the integration of information systems and the measurement of healthcare value. These challenges can compromise the effectiveness of management accounting and its ability to provide relevant and reliable information for decision making. As a result, it is required to address the sustainability of hospital management accounting by identifying the specific challenges faced in this area and exploring opportunities to overcome them. By addressing these challenges and seizing opportunities, hospitals can strengthen their position in the healthcare sector, improve their operational efficiency, optimize resource allocation and ensure the provision of quality services to patients. In this article, the challenges faced by hospital management accounting will be analysed, such as the complexity of costs, the integration of information systems and the measurement of value in healthcare. Additionally, opportunities to improve financial and operational management will be highlighted through the adoption of advanced technologies, an emphasis on value-based management and collaborative partnerships. By exploring these themes, this essay aims to make a contribution. to the advancement of hospital management accounting and the sustainability of hospitals in the current healthcare scenario.

This study presents a novel kinematic tracking model, designed for a networked exoskeleton system that is asynchronously taught by a remote therapist. On the server side, the therapist’s rehabilitation exercises are quantitatively assessed using a monocular passive vision system. The resultant analytical metrics are then transmitted asynchronously over the network to patients equipped with exoskeletons. On the client side, the exoskeleton utilizes these analytical metrics as reference paths for exercises, complemented by electromyography (EMG) feedback. This work introduces a calibration approach aimed at estimating angular positions by utilizing EMG observations. The calibration model establishes real-time correlations between polynomial reference positions. This calibration mechanism is integrated into simulations of both upper and lower limb exoskeletons. We further explore redundant kinematics, incorporating an EMG observer for linear, time-variant rehabilitation tracking control. Our methodology is validated using vision-based metric data and experimental EMG measurements for various exercises, including shoulder flexion, elbow flexion, and rowing-like movements. This work also includes computer simulations for tracking the control of rehabilitation exercises, demonstrating the adaptability of the system in reliably, robustly, and effectively following desired trajectories.

The paper presents an implementation and numerical study of the nonlinear optimal-based vibration control solutions for the full-scale TLP – NREL 5MW wind turbine tower-nacelle model with an MR-damper-based 10 ton tuned vibration absorber (TVA) located at the nacelle, under excessive wave/wind polyperiodic excitations yielding continual transient vibration states. The MR damper operates simultaneously with an electromagnetic force actuator (forming a hybrid TVA), or independently (a semiactive TVA). The study includes both actuators’ nonlinearities and dynamics, whereby the former are embedded in the Hamilton-principle-based nonlinear control solutions. As a reference, the structure model with a passive TVA, with a modified ground-hook control law, and without any vibration reduction solutions is used. The TVA was tuned either to the NREL 5MW tower-nacelle 1st bending mode frequency (TVA-TN) or to the TLP surge frequency (TVA-TLP). The optimal control task, redeveloped here with regard to the TVA stroke amplitude minimisation, including the implementation of the protected structure’s acceleration (control case III / III-H) and relative displacement terms as well as nonzero velocity term in the quality index, is stated and solved, yielding optimal-based control propositions for both the MR damper current and the actuator force. On the basis of the obtained results, the TVA-TN solution is by far superior to the TVA-TLP one regarding the tower deflection amplitude / root-mean-square (RMS) and TVA stroke amplitude values. All the regarded TVA-TN solutions provide tower deflection safety factor of ca. 2, while a structure without any vibration reduction solutions or with a TVA tuned to the TLP surge frequency (especially passive and hybrid TVA-TLPs) are at risk of tower structural failure. The obtained TVA stroke amplitudes are reduced with regard to the previously developed approaches. Moreover, these reductions are obtained due to the sole control algorithm enhancement; thus, no additional resources are necessary, while this attainment is accompanied with a reduction in the MR damper force that is necessary for the TVA operation. The protected structure’s acceleration term utilisation produce the TVA stroke amplitude reduction more efficiently than the TVA relative displacement term usage, as in the previously developed approach (the latter being ineffective for the semiactive TVA implementation) which, in turn, efficiently reduces TVA stroke RMS values and the required mean actuator power for the hybrid TVA implementation. Concerning the limited TVA stroke, the most favourable vibration control solutions are the newly introduced semiactive control case III, providing favourable cumulative primary structure deflection indexes at the lowest obtained TVA travel distance, and possibly the hybrid control case III-H, providing even more favourable primary structure deflection qualities and reduced nacelle acceleration levels thanks to the utilisation of the force actuator of the relatively low power (ca. 6 kW); however, side effect of the latter is the increased TVA stroke amplitude as for all hybrid solutions tested (comparing to semiactive solutions). The analysed passive TVA systems along with the modified ground-hook hybrid TVA solution, utilising the assumed absorber mass, can hardly be implemented in the nacelle, especially along the demanding side-side direction, without enforcing end-stop collision bumpers, which result in the efficiency deterioration. The ground-hook control, well proven for the primary structure steady-state deflection minimisation, yielded unsatisfactory results, comparing to the newly implemented solutions. The results of the current study may be used during the design of the full-scale vibration reduction system for the real-world NREL 5MW-class floating, TLP-based, wind turbine structure.

The objective of this study is to evaluate how two varying amounts of sepiolite-based powder, infused with indigo extract, affect the appearance and durability of a water-based white primer. To examine the influence of this eco-friendly pigment on the coatings' overall appearance, assessments were performed for color, gloss, and surface roughness. Additionally, the coatings were investigated through optical and electron microscopic observations, to evaluate the distribution of the pigment within the polymer matrix. The effect of the pigment on the coating's durability was assessed through accelerated tests, including exposure in a salt spray chamber and a UV-B chamber. These tests aimed to evaluate the emergence of defects and changes in the appearance of the samples over time. Furthermore, the impact of different quantities of sepiolite-based powder on the coating's ability to act as a barrier was assessed using liquid resistance tests and contact angle measurements. These evaluations aimed to understand how the coating responded to various liquids and its surface properties concerning repellency or absorption. In essence, this study underscores the considerable influence of the eco-friendly pigment, demonstrating its capacity to introduce unique color and texture variations to the paint. Moreover, the inclusion of the pigment has enhanced the coating's color stability, its ability to act as a barrier, and overall durability when exposed to harsh environments.

Researchers are always looking to find ways to use energy more efficiently while keeping people comfortable at home. They've tried different methods like fuzzy logic and genetic algorithms to do this. In this paper, we introduce a novel model that combines different techniques like data smoothing, optimization, machine learning, and control algorithms to reach this goal in smart homes. The proposed model is made up of three main parts: smoothing, optimization, and control. The smoothing part uses the Kalman filter to get rid of any unnecessary noise and make sure the data used to predict energy use is clean and smooth. The optimization part uses both genetic with firefly algorithms and artificial neural networks to minimize the gap between the actual environmental conditions and the conditions users find comfortable. It adjusts the comfort settings in real-time using machine learning. The control part uses Mamdani fuzzy logic to make sure energy is delivered in the best way possible to the systems that control temperature, lighting, etc., making the home comfortable and saving energy at the same time. Comparative analyses demonstrate the superiority of the proposed model over existing algorithms, including the Particle Swarm Optimization (PSO) algorithm. Additionally, the paper discusses the importance of adaptive controllers in addressing issues associated with incorrect PID controller selection and highlights the benefits of using the FA-GA in energy optimization and comfort improvement. Overall, the proposed model offers an effective solution for efficient energy consumption optimization and enhanced user comfort in diverse settings through the integration of advanced algorithms and optimization modules.

To mitigate the interference of waves on offshore operation vessels, heave compensation systems find widespread application. The performance of heave compensation systems significantly influences the efficiency and safety of maritime operations. This paper establishes a mathematical model for winch-based active heave compensation system. It introduces a three-loop active disturbance rejection control (ADRC) strategy encompassing piston position control, winch speed control, and load displacement control, enabling real-time estimation and compensation of system disturbances, thereby enhancing the performance of the heave compensation system. To assess the effectiveness of this control strategy, the study employs Matlab/Simulink and AME Sim to construct a co-simulation model and conducts a comparative analysis with traditional PID control systems. The research findings indicate that the three-loop ADRC position control strategy consistently delivers superior compensation performance across various operational scenarios.

Carbon fiber reinforced polymer (CFRP) bending structure is widely used in the aviation field. The occurrence and propagation of delamination damage will reduce the safety of in-service bending structures. As a detection tool with high damage sensitivity, Lamb wave can effectively identify delamination damage. In this study, the signal difference coefficient (SDC) was introduced to quantify delamination damage and evaluate the sensitivity of A0 and S0 mode lamb waves to delamination damage. The simulation results show that compared with the S0 mode Lamb wave, the A0 mode Lamb wave exhibits higher delamination damage sensitivity. The delamination damage can be quantified based on the strong correlation between the SDC and the delamination damage size. The control effect of the linear array PZT phase time-delay method on Lamb wave mode was investigated by simulation. The phase time-delay method realizes the generation of a single-mode Lamb wave, which can separately excite the A0 mode and S0 mode Lamb wave to identify delamination damage of different sizes. The A0 mode Lamb wave was excited by the developed one-dimensional linear comb transducer (LCT), which was used to conduct the detection experiment on the CFRP bending plate with delamination damage sizes of Φ6.0 mm, Φ10.0 mm, and Φ15.0 mm. The experimental results verify the correctness of the simulation. According to the Hermite interpolation results of the finite-element simulation data, the relationship between the delamination damage size and the SDC was fitted by the Gaussian function, which can accurately quantify the delamination damage. The absolute error of the delamination damage quantification with fitting expression is not larger than 0.8 mm, and the percentage error is not more than 8%.

Due to the nonlinear stiffness and fractional-order damping characteristics of some real suspension systems, coupled with the presence of viscoelastic materials, fractional-order nonlinear suspension system modeling has become a focus of research in recent years. In this study, an electric oil and gas actuator based on fractional-order PID position feedback control is proposed, through which the damping coefficient of the suspension system is adjusted to realize the active control of the suspension. A fractional order PID algorithm is used to control the motor's rotational angle to realize the damping adjustment of the suspension system. In this process, the road roughness is collected by the sensors as the criterion of damping adjustment, and the particle swarm algorithm is utilized to find the optimal objective function under different road surface slopes, to obtain the optimal cornering value. According to the mathematical and physical model of the suspension system, the simulation model and the corresponding test platform of this type of suspension system are built. The simulation and experimental results show that the simulation results of the fractional-order nonlinear suspension model are closer to the actual experimental values than those of the traditional linear suspension model, and the accuracy of each performance index is improved by more than 18.5%. The designed active suspension system optimizes the body acceleration, suspension dynamic deflection, and tire dynamic load to 89.8%, 56.7%, and 73.4% of the passive suspension, respectively. Notably, the designed fractional order PID control circuit for the motor shows better control results compared to the conventional PID control circuit. This study provides an effective theoretical and empirical basis for the control and optimization of fractional-order nonlinear suspension systems.

In-wheel motor vehicles are gaining attention as a new type of electric vehicle due to their efficient power units located inside each wheel hub. However, they are more susceptible to wheel resonance due to the increase in unsprung mass caused by the motor's weight. This can result in decreased both the ride comfort and driving stability. To resolve this issue, this study aims to apply an optimal switching controller with a semi-active n actuator; magnetorheological (MR) damper. For the implementation of the optimal switching controller, a road type classification is also carried out. An acceleration sensor is used for road type classification, and control logics include a ride comfort controller; the linear quadratic regulator (LQR _Paved Road) and a wheel motion controller (LQR_Off Road) for improved driving stability. For paved roads, the LQR_Paved Road control input is applied to the MR damper. However, if a road type prone to wheel resonance is detected, the control logic switches to the LQR_Off Road. During the transition, a weighted average of both LQR_ Paved Road and LQR_Off Road control input is applied to the actuator. Computer simulations are undertaken to evaluate vibration control performance, including the ride comfort and driving stability at various road profiles.

The implementation of a progressive rehabilitation training model to promote patients’ motivation efforts can greatly restore the damaged central nervous system function in patients. The patients’ active engagement can be effectively stimulated by assist-as-needed (AAN) robot rehabilitation training. However, its application in robotic therapy has been hindered by a simple determination method of robot assisted torque which focuses on the evaluation only of the affected limb's movement ability. Moreover, the expected effect of assistance depends on the designer, which deviates from the patient's expectations, and its applicability to different patients is deficient. In this study, we propose a control method with personalized treatment features based on the idea of estimating and mapping the stiffness of the patient’s healthy limbs. This control method comprises an interactive control module in the task-oriented space based on the quantitative evaluation of motion needs and an inner loop position control module for the pneumatic swing cylinder in the joint space. An upper limb endpoint stiffness estimation model is constructed and a parameter identification algorithm is designed. The upper limb endpoint stiffness which characterizes the patient's ability to complete training movements is obtained by collecting surface electromyographic (sEMG) signals and human-robot interaction forces during patient movement. Then the motor needs of the affected limb when completing the same movement are quantified based on the performance of the healthy limb. A stiffness mapping algorithm is designed to dynamically adjust the rehabilitation training trajectory and auxiliary force of the robot based on the actual movement ability of the affected limb, achieving AAN control. Experimental studies were conducted on a self-developed pneumatic upper limb rehabilitation robot, and the results showed that the proposed AAN control method can effectively estimate the patient's movement needs and achieve progressive rehabilitation training. The rehabilitation training robot that simulates the movement characteristics of the patient's healthy limbs drives the affected limb, making the intensity of the rehabilitation training task more in line with the patient's pre-morbid limb use habits, and also beneficial for the consistency of bilateral limb movements.

A novel reinforcement learning deep deterministic policy gradient agent-based sliding mode control (DDPG-SMC) approach is proposed to suppress the chattering phenomenon in the attitude control for quadrotors, in the presence of external disturbances. First, the attitude dynamics model of the studied quadrotor is derived and the attitude control problem is described by formulas. Second, a sliding mode controller including its sliding mode surface and reaching law is selected for the nonlinear dynamic system, and the stability of the designed SMC system is supported by Lyapunov stability theorem. Third, a reinforcement learning (RL) agent based on deep deterministic policy gradient (DDPG) is trained to adjust the switching control gain adaptively. During the training process, the input signals of agent are the actual and desired attitude angles, and the output action is the time-varying control gain. Finally, the above trained agent is applied to the SMC as a parameter regulator, to implement the adaptive adjustment of the switching control gain related to reaching law, and the simulation results verify the robustness and effectiveness of the proposed DDPG-SMC method.

We use COMSOL Multiphysics software to model optical processes in media and the effects of light propagation in whispering gallery mode resonators (WGMRs). Although plane wave irradiating on resonator does not create resonances, it was shown that they can be obtained when focused tangentially on the perimeter of the resonator. We demonstrate that resonances can be excited in resonators by prism coupling when the incident angle of the light is larger than the angle of total internal reflection. We determined the optimal distance between the prism and the resonator to get the strongest resonances. Bio-sensing principle of WGMRs is shown by demonstrating that the shift of resonances increases with a larger number of "bio-molecules" attached to the surface of WGMR. Surface functionalization and surface roughness were explored.

Benzimidazole fungicides are a class of highly effective, low-toxicity, systemic broad-spectrum fungicides developed in the 1960s and 1970s, based on the fungicidal activity of the benzimidazole ring structure. They exhibit biological activities including anticancer, antibacterial, and antiparasitic effects. Due to their particularly outstanding antibacterial properties, they are widely used in agriculture to prevent and control various plant diseases caused by fungi. The main products of benzimidazole fungicides include benomyl, carbendazim, thiabendazole, albendazole, thiophanate, thiophanate-methyl, fuberidazole, carbamic acid, and carbendazim salicylate. This article mainly reviews the physicochemical properties, toxicological properties, and disease control efficacy, and pesticide residue and detection technologies of the aforementioned nine benzimidazole fungicides and their main metabolite (2-aminobenzimidazole). On this basis, a brief outlook on the future research directions of benzimidazole fungicides is presented.

This review delves into the critical role of automation and sensor technologies in optimizing parameters for thermal treatments within electricity power generation. The demand for efficient and sustainable power generation has led to a significant reliance on thermal treatments in power plants. However, ensuring precise control over these treatments remains challenging, necessitating the integration of advanced automation and sensor systems. This paper evaluates the pivotal aspects of automation, emphasizing its capacity to streamline operations, enhance safety, and optimize energy efficiency in thermal treatment processes. Additionally, it highlights the indispensable role of sensors in monitoring and regulating crucial parameters such as temperature, pressure, and flow rates. These sensors enable real-time data acquisition, facilitating immediate adjustments to maintain optimal operating conditions and prevent system failures. It explores the recent technological advancements, including machine learning algorithms and IoT integration, which have revolutionized automation and sensor capabilities in thermal treatment control. Incorporating these innovations has significantly improved the precision and adaptability of control systems, resulting in heightened performance and reduced environmental impact. This review underscores the imperative nature of automation and sensor technologies in thermal treatments for electricity power generation, emphasizing their pivotal role in enhancing operational efficiency, ensuring reliability, and advancing sustainability in power generation processes.

Recent advancements have revolutionized interplanetary spacecraft missions by combining low-thrust propulsion systems with planetary Gravity-Assist (GA) maneuvers. This study investigates/improved a novel dual-step efficient-robust homotopy algorithm, grounded in indirect optimal control principles, to analyze fuel-optimal bang-bang control problems. The methodology integrates efficient techniques, including the homotopic method, compatible normalization, and improved switching function detection, aimed at enhancing optimal convergence in solving low-thrust gravity-assist spacecraft missions. To illustrate practical application, an Earth-to-Jupiter interplanetary scenario utilizing Mars-GA is examined. Results demonstrate the algorithm's superior efficacy in achieving fuel efficiency, robust convergence, and remarkable accuracy compared to existing solutions.

The use of autonomous Unmanned Aerial Vehicles (UAVs) has been increasing, and the autonomy of these systems and their capabilities in dealing with uncertainties is crucial. Autonomous landing is pivotal for the success of an autonomous mission of UAVs. This paper presents an autonomous landing system for quadrotor UAVs with the ability to perform smooth landing even in undesirable conditions like obstruction by obstacles in and around the designated landing area and inability to identify or the absence of a visual marker establishing the designated landing area. We have integrated algorithms like version 5 of You Only Look Once (YOLOv5), DeepSORT, Euclidean distance transform, and Proportional-Integral-Derivative (PID) controller to strengthen the robustness of the overall system. While the YOLOv5 model is trained to identify the visual marker of the landing area and some common obstacles like people, cars, and trees, the DeepSORT algorithm keeps track of the identified objects. Similarly, using the detection of the identified objects and Euclidean distance transform, an open space without any obstacles to land could be identified if necessary. Finally, the PID controller generates appropriate movement values for the UAV using the visual cues of the target landing area and the obstacles. To warrant the validity of the overall system without risking the safety of the involved people, initial tests are performed, and a software-based simulation is performed before executing the tests in real life. A full-blown hardware system with an autonomous landing system is then built and tested in real life. The designed system is tested in various scenarios to verify the effectiveness of the system.

Background. The markerless motion capture system (MLS) is a new technology that uses deep learning to detect body segments from digital images. This study tested the agreement between the MLS and a force-plate based system (FPS, “gold standard”) to quantify stability control and motor performance (MP) during gait initiation (GI). Methods. Healthy adults (young and elderly) and patients with Parkinson’s disease (PD) performed GI series at spontaneous and maximal velocity on an FPS while being filmed by an MLS. Signals from both systems were used to compute the peak of forward center-of-mass velocity (indicator of MP) and the braking index (BI, indicator of stability control). Results. Descriptive statistics indicated that both systems detected between-groups differences and velocity effects similarly, while a Bland-Altman (BA) plot anal-ysis showed that BI and MP mean biases were virtually zero in all groups and conditions. Bayes factor 01 indicated strong (for BI) and moderate (for MP) evidence that both systems provided equivalent values. However, trial-by-trial analysis of BA plots revealed the possibility of differ-ences > 10% between the two systems. Conclusion. Although non-negligible differences do occur, MLS appears to be as efficient as FPS in detecting PD and velocity condition effects on BI and MP

Data security in the Internet of things (IoT) is often implemented by means of encryption, which can be burdensome for some entities. We propose in this paper a solution based on routing, by which data are forwarded only to entities that are intended to receive them. An IoT network can be seen as a partial order of equivalence classes of entities, and each entity can be labeled according to the position of its equivalence class in the partial order. The partial order can be constructed according to requirements of secrecy (or confidentiality), integrity and conflicts. Routing tables among entities can be compiled by using the labels. The method is demonstrated in this paper for Software defined networking (SDN) routers and controllers. We propose a centralized IoT architecture with a cloud structure using SDN as networking infrastructure, where storage entities (i.e. cloud servers) are associated with application entities. A small ‘hospital’ example is shown for illustration. Procedures for network reconfigurations are discussed. We also demonstrate the method for the normal case where different partial orders coexist among a set of entities. The method proposed does not impose an overhead on the normal functioning of an SDN network, since it requires calculations only when the network must be reconfigured, because of administrative intervention or policies.

Flooding during the rainy season poses a significant threat to the city of Hargeisa, impacting the well-being of both its residents and the local ecosystems. This research focuses on urban flood control, with a specific emphasis on finding sustainable solutions for managing large stream in Hargeisa. The study identifies five key dimensions, including infrastructure, transportation, environmental soil, life, and property, as critical factors in addressing the issue. By employing a comparative method and collecting data through closed-ended questions, the research aims to analyze and weigh eleven potential solutions, seeking to identify the most effective approaches. The findings of the study indicate that constructing a dam emerges as a promising and sustainable solution, with a weightage of 70 percent. This highlights the potential of a dam in mitigating the impact of floods in the region. Additionally, considering the government's economic capacity, the implementation of check dams is identified as another viable option, with a weightage of 95 percent for reducing the flood power of the stream. These solutions offer practical and effective measures to address the recurring problem of flooding in Hargeisa. To support future decision-making and planning, the research underscores the need for establishing a comprehensive rainfall data database. This database would store relevant information on rainfall patterns, enabling better understanding and prediction of flood events. The study emphasizes the importance of collaboration between local government authorities, environmental organizations, and stakeholders to develop and implement effective flood control strategies. This research provides a systematic approach that can inform and benefit regional and global researchers, policymakers, and municipal governments in their efforts to address urban flood control challenges, not only in Hargeisa but also in similar contexts worldwide.

It is unavoidable that the characteristics of the robot system alter inexactly or cannot be correctly determined during movement and are impacted by external disturbances. There are many adaptive control methods, such as sliding control or neural control, to improve the quality of trajectory tracking for robot motion systems. Still, those methods require a large amount of computation related to solving the problem of constrained nonlinear optimization problem. The article presents some techniques for determining an intelligent controller's online learning function parameters, including two circuits: the inner circuit is a state feedback linearized controller, and the outer course is an Interactive learning controller and does not use the robot's mathematical mode with function parameters online optimal learning and intelligent online learning closely following the joint model to stabilize the robot system. Finally, the 2-DOF planar robot simulation is performed on Matlab software R2022b. The findings indicate that outstanding tracking performance is achievable.

In Active Flow Control (AFC) applications, to activate the boundary layer the use of pulsating flow has notorious energy advantages versus constant blowing/suction jet injections. For a given AFC application, five parameters, jet location and width, inclination angle, frequency of injection and momentum coefficient need to be tuned. Two main devices are nowadays capable of injecting pulsating flow with the sufficient momentum coefficient to delay the boundary layer separation, these are the Zero Net Mass Flow actuators (ZNMFA) and the Fluidic Oscillators (FO). In the present research, a novel FO configuration is analyzed for the first time at relatively high Reynolds numbers, fluid is considered as incompressible. After obtaining the typical linear correlation between the incoming Reynolds number and the outlet flow oscillating frequency, the effect of outlet width and mixing chamber wedge inclination angle dimensional modifications is addressed, modifications of the outlet width are observed to create large variations on the FO performance. The origin of the self-sustained oscillations is also analyzed in the present manuscript and greatly helps in clarifying the forces acting on the jet inside the mixing chamber. In fact we can conclude saying that the current FO configuration is pressure driven although the mass flow forces appear to be a much more relevant than in previous FO configurations studied.

This study introduces a cybernetic control and architectural framework for a robotic fish avatar operated by a human. The behavior of the robot fish is influenced by the electromyographic (EMG) signals of the human operator, triggered by stimuli from the surrounding objects and scenery. An deep artificial neural network (ANN) with perceptrons classifies EMG signals, discerning the type of muscular stimuli generated. The research unveils a fuzzy-based oscillation patterns generator (OPG) designed to emulate functions akin to a neural central pattern generator, producing coordinated fish undulations. The OPG generates swimming behavior as an oscillation function, decoupled into coordinated step signals, right and left, for a dual electromagnetic oscillator in the fish propulsion system. Furthermore, the research presents an underactuated biorobotic mechanism of the subcarangiform type, comprising a two-solenoid electromagnetic oscillator, an antagonistic musculoskeletal elastic system of tendons, and a multi-link caudal spine composed of helical springs. The biomechanics dynamic model and control for swimming, as well as the ballasting system for submersion and buoyancy, are deduced. Experimental results encompass EMG pattern recognition, OPG, and coordinated fish locomotion, with additional topics illustrated through numerical simulations.

Experimental investigations were conducted to uncover the impact of cavitation control - through the use of riblets (mesoscale surface structuring) - on cavitating flows around a circular cylinder. First, the dynamics of cavitation in the flow behind a finite cylinder (without riblets) was unveiled by visualizing the cavitation clouds and measuring the lift force fluctuations acting on the cylinder. Second, as a significant step forward, a comprehensive explanation was provided for the mechanism of cavitation control using two bio-inspired riblet morphologies positioned in different orientations and locations on the cylinder. For the first time, the effects of these tiny structures on the flow dynamics and the associated cavitation process were scrutinized. This showed that scalloped riblets, with their curved design, induced secondary vortices near their tips and distorted primary streamwise vortices, and that high velocity gradients near the jagged pattern peaks of sawtooth riblets delayed flow separation, which affected cavitation.

Background: This study aimed to examine the obesity¬ stress, weight control behavior, and self-control in overweight and obese female university students, and identify the mediating effect of self-control in the relationship between obesity stress and weight control behavior. Methods: This study employed a descriptive correlational design. A total of 109 female university students who were overweight and obese participated in the study. Data were analyzed using descriptive statistics, Pearson's correlation coefficient analysis, and Bootstrapping using Hayes' PROCESS macro for mediation. Results: Significant relationships between obesity stress and weight control behavior (r=0.25, p<0.001), obesity stress and self-control (r=-0.36, p<0.001), and weight control behavior and self-control (r=.26, p<.001) were observed. Self-control showed indirect mediating effect on the relationship between obesity stress and weight control behavior. Conclusion: Therefore, development of programs and strategies for improving self-control is necessary in order to decrease obesity among female university students.

Tea infusions are the most consumed beverages in the world after water, their pleasant yet peculiar flavor profile drives consumer choice and acceptance and becomes a fundamental benchmark for industry. Any qualification method capable of objectifying the product's sensory features effectively supports industrial quality control laboratories guaranteeing high sample throughputs even without the human panel intervention. The current study presents an integrated analytical strategy acting as an Artificial Intelligence decision tool for black tea infusion aroma and taste blueprinting. Key markers validated by sensomics are accurately quantified in a wide dynamic range of concentrations. Thirteen key aromas are quantitatively assessed by standard addition with in-solution solid-phase microextraction sampling followed by GC-MS. On the other hand, nineteen key taste and quality markers are quantified by external standard calibration and LV-UV/DAD. The large dynamic range of concentration for sensory markers is reflected in the selection of seven high-quality teas from different geographical areas (Ceylon, Darjeeling Testa Valley and Castleton, Assam, Yunnan, Azores, and Kenya). The strategy acts as an AI smelling and taste machine predicting teas sensory features without the human panel intervention.

Sustainable agriculture has become increasingly important in Tunisia due to the drought that has been affecting the country's climate in recent years. This has become a major threat to the economy, making it necessary to explore alternative methods of agriculture that are more sustainable. Moreover, smart hydroponic cultivation based on renewable energies has become increasingly widespread, promoting the quality and efficiency of agricultural production despite weather parameters variations and global warming. This work aims to create a sustainable agriculture system in Tunisia through the design and implementation of a smart photovoltaic (PV) hydroponic greenhouse. The greenhouse will utilize advanced technology to optimize plant growth and reduce water usage, while also incorporating solar panels to generate renewable energy. The end goal is to create a self-sufficient and eco-friendly agricultural system that can provide fresh produce to local communities year-round. In this work, we are interested to the automation of the hydroponic greenhouse (HG)’s thermal conditioning system based on an asynchronous motor pump and powered by a PV generator. In the first stage, we analyzed the mathematical modeling of a stand-alone PV-HG system that consists of a PV generator, a three-phase inverter, an asynchronous motor pump, and a hydroponic system. After that, we developed a Field Oriented Control based on proportional integral (PI) regulators to adjust the rotation speed of the asynchronous motor pump, which aimed to provide the cooling and heating needs of the plant. The simulation results demonstrated the effectiveness of the proposed system . Additionally, we designed and implemented a smart system based on the internet of things (IoT) to enable remote control of internal and external parameters of the HG. This intelligent solution utilizes sensors, microcontrollers, and other devices and ensures the monitoring and the maintaining of the ideal growing conditions for our plants, guaranteeing that they receive the proper amount of temperature, humidity, and lighting. This type of system can be an invaluable tool for maximizing yields and achieving optimal results. With the right approach and attention to detail, we can create a sustainable and efficient growing environment that will help our plants flourish year-round.

Recent development for synthesis of bio-based long chain aliphatic polyesters by acyclic diene metathesis (ADMET) polymerization of α,ω-dienes, derived from plant oils and bio-based chemicals, like bis(10-undecenoate) with isosorbide, using ruthenium-carbene catalysts have been reviewed. Development of subsequent (one-pot) tandem hydrogenation afforded saturated polyesters under mild conditions. The polymerizations under bulk (without solvent, 80-90 ºC) or in ionic liquids (50 ºC) under vacuum conditions enabled synthesis of high molar mass polymers (Mn &gt;30,000 g/mol). The polymerization by molybdenum-alkylidene catalyst afforded the highest molecular weight polyesters (44000‒49400 g/mol, in toluene at 25 ºC) exhibiting promising tensile properties (strength and elongation at break) beyond polyethylene, polypropylene. Depolymerizations of these polyesters including closed loop chemical recycling were also demonstrated. Catalyst developments (more active, under mild conditions) play a key role for the efficient synthesis.

In 2019, due to the global pandemic of the new coronavirus (SARS-CoV-2), lockdown was imposed in Greece. Children with Type 1 Diabetes (T1D) during that period had to maintain a good level of glycemic control despite the subversive changes in their lives. The aim of this study was to assess the impact of lockdown on glycemic control and lifestyle changes of children with type 1 diabetes. The present cross-sectional study included 59 children with T1D who measured their glucose levels through glucose monitoring systems (Continuous Glucose Monitoring, CGM) and Flash Glucose Monitoring (FGM)). Their glycemic profile and demographic data were recorded in three different periods (before, during and after the lockdown). The changes in their daily routine were farther investigated through a short questionnaire which assesses changes in lifestyle-related behavior during COVID 19 pandemic. A significant improvement was noted in the glycemic control of children with T1D during the restrictive measures. Boys scored higher on scale of lifestyle behavior changes during the pandemic (-0.1 vs. -0.3, p=0.015). The results of this study highlight the need for continuous education and insistence on children's adherence with the treatment plan and the beneficial effects of using the new technology for easier monitoring.

To address the trajectory tracking issue for quadrotors working under the influence of external disturbances, a control scheme is designed for position and attitude trajectory tracking. Firstly, the quadrotor dynamic model is derived for control design. Secondly, adaptive integral backstepping control (AIBS) is employed in the position loop in which adaptive estimation is used to estimate the upper bounds of disturbances. Subsequently, a new adaptive backstepping fast nonsingular integral terminal sliding mode control (ABFNITSM) is proposed to follow desired Euler angles. The intro-duction of fast nonsingular terminal sliding mode and integral element is to realize fast convergence and accurate tracking. Dead zone technique is applied to minimize estimation errors. Besides, a saturation function is utilized to eliminate chattering phenomenon. Finally, simulation experiments are conducted under the Simulink environment. The proposed control is verified by comparing it with traditional integral terminal sliding mode control (ITSM) and integral backstepping control (IBS).

The thermal degradation of brakes has a significant impact on the stability of pure electric commercial vehicles during long downhill braking. Based on road slope and using fuzzy control method, design strategies for motor regenerative braking force and friction braking force distribution, with the aim of reducing friction braking force, improving braking stability, and recovering braking energy. By establishing driving conditions on roads with different slopes and using numerical analysis methods to verify the proposed control strategy. the results show that under the 6% constant slope driving condition, the vehicle maintains a constant speed of 30km/h downhill driving, and the braking energy recovery rate reaches 50.93%; Under the condition of 3% -6% gradient driving, the vehicle speed fluctuates slightly, but it can still be maintained at a constant speed of 30km/h for downhill driving through the adjustment of the motor's reverse drag characteristic, with a braking energy recovery rate of 49.97%; During the process of driving downhill at a constant speed, the frictional braking force does not participate in braking; The braking energy recovery rate is determined by the slope and braking deceleration.

This study outlines a comprehensive examination of risks and hazards in three egg sorting and packing stations, covering the entire process from supplier selection and evaluation to egg delivery in chain stores. The analysis is conducted within the framework of Codex Alimentarius and GFSI-integrated food safety programs. Salmonella is the greatest significant threat. To enhance the Hazard Analysis of Critical Control Points (HACCP), preparatory programs were incorporated into the quality management system (QMS) by monitoring and assessing the biological, chemical, and physical threats according to Code Alimentarius and further integrated into GFSI food safety programs, including food authenticity and food defense. The procedure offered sophisticated preventive tools, hand-on at any time, for eliminating, reducing, or mitigating the risks encountered in egg packing and sorting facilities.

Usually, the vector control of the induction machine (IM) is done by using cascade control structures with conventional linear PI controllers, the inner loop being designed for current control, and the outer loop for rotor flux and speed control. In this paper, starting from the dq model of the IM with the rotor magnetic flux space vector aligned along the d axis, advanced control algorithms are proposed for the two control loops of the cascade structure. For the current inner loop, after the decoupling control of the two dq currents, predictive algorithms with constraints are used to control and limit the currents. Since the outer loop has a nonlinear affine multivariable plant model, a homotopy-based variant of feedback linearization is used to obtain a non-singular decoupling matrix of the feedback transformation even when the rotor flux is zero at the start-up of the motor. During the continuous variation of the homotopy parameter, the model of the plant is variable, in which case the model free algorithms are properly used to control the flux and speed of the IM. The comparative analysis obtained for the cascade structure with conventional PI controllers and advanced algorithms, respectively, shows that the last lead to improve the dynamical performance of the IM.

The human-centric approach is a leading trend for future production processes, and collaborative roboticists are key to its realization. This article addresses the challenge of designing a new cus-tom-made non-conventional machine or robot involving toolpath control (interpolated axes) with collaborative functionalities but by using “general-purpose standard" safety and motion control technologies. This is done on a non-conventional Cable-Driven Parallel Robot (CDPR). Safety is assured by safe commands to individual axes, known as Safe Motion Monitoring Functionalities, which limits the axes speed in the event of human intrusion. At the same time, the robot's Motion Controller applies an override to the toolpath speed to accommodate the robot's path speed to the axis’s limitations. The implementation of a new Pre-Warning Zone, prevent unnecessary stops due to the approach of the human operator. The article also details a real experiment that validates the effectiveness of the proposed strategy.

This article describes the study and digital implementation of a system onboard a TMS 3208F28335 ® DSP for vector control of the bearing motor speed with 4 poles split winding with 250W of power. Smart techniques: ANFIS and Neural Networks were investigated and computationally implemented to evaluate the bearing motor performance under the following conditions: operating as an estimator of uncertain parameters and as a speed controller. Therefore, the MATLAB program and its toolbox were used for the simulations and the parameter adjustments involving the structure ANFIS (Adaptive-Network-Based Fuzzy Inference System) and simulations with the Neural Network. The simulated results showed a good performance for the two techniques applied differently: the estimator and a speed controller using both a model of the induction motor operating as a bearing motor. The experimental part for velocity vector control uses three control loops: current, radial position, and speed, where the configurations of the peripherals, that is, the interfaces or drivers for driving the bearing motor.