This paper presents a framework for the motion planning and control of redundant manipulators with the added task of collision avoidance. The algorithms that were previously studied and tested by the authors for planar cases are here extended to full mobility redundant manipulators operating in a three-dimensional workspace. The control strategy consists of a combination of off-line path planning algorithms with on-line motion control. The path planning algorithm is used to generate trajectories able to avoid fixed obstacles, detected before the robot starts to move; it is based on the potential fields method combined with a smoothing interpolation that exploits Bézier curves. The on-line motion control is designed to compensate for the motion of the obstacles and to avoid collisions along the kinematic chain of the manipulator; it is realized by means of a velocity control law based on the null space method for redundancy control. A term of the control law takes into account the speed of the obstacles as well as their position. In order to test the algorithms, a set of simulations are presented: the robot KUKA LBR iiwa is controlled in different cases, where fixed or dynamic obstacles interfere with its motion. Simulations are also used to estimate the required computational effort in order to verify the transferability to a real system.

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

The advancement of autonomous capabilities in maritime navigation has gained significant attention, with a trajectory moving from decision support systems to full autonomy. This push towards autonomy has led to extensive research focusing on collision avoidance, a critical aspect of safe navigation. Among the various possible approaches, Dynamic Programming is a promising tool for optimizing collision avoidance maneuvers. This paper presents a DP formulation for collision avoidance of autonomous vessels. We set up the problem framework, formulate it as a multi-stage decision process, define cost functions and constraints focusing on the actual requirements a marine maneuver must comply with, and propose a solution algorithm leveraging parallel computing. Additionally, we present a greedy approximation to reduce algorithm complexity. Through case studies, we demonstrate the effectiveness of the proposed approach in navigating complex scenarios, contributing to the future of autonomous maritime navigation. Through case studies, we show the efficacy of our approach in navigating complex scenarios.

Model predictive control (MPC) is a multi-objective control technique that can handle 2 system constraints. However, the performance of an MPC controller highly relies on a proper 3 prioritization weight for each objective, which highlights the need for a precise weight tuning 4 technique. In this paper, we propose an analytical tuning technique by matching the MPC 5 controller performance with the performance of a linear quadratic regulator (LQR) controller. The 6 proposedmethodology derives the transformation of LQRweightingmatrixwith a fixedweighting 7 factor using discrete algebraic Riccati equation (DARE) and designs MPC controller using the 8 idea of discrete time linear quadratic tracking problem (LQT) in the presence of constraints. 9 The proposed methodology ensures the optimal performance between unconstrained MPC and 10 LQR controller and provides a sub-optimal solution while the constraints are active during 11 transient operations. The resultingMPC behaves as the discrete time LQR by selecting appropriate 12 weighting matrix in the MPC control problem and ensures the asymptotic stability of the system. 13 In this paper, the effectiveness of the proposed technique is investigated in the application of 14 a novel vehicle collision avoidance system which is designed in the form of linear inequality 15 constraints within MPC. The simulation results confirm the potency of the proposed MPC control 16 technique in performing a safe, feasible and collision free path while respecting the inputs, states 17 and collision avoidance constraints.

As the number of ships for marine transportation increases with the advancement of global trade, encountering multiple ships in marine traffic becomes common. This situation raises the risk of collision of the ships; hence this paper proposes a novel Fuzzy-logic based intelligent conflict detection and resolution algorithm, where the collision courses and possible avoiding actions are analyzed by considering ship motion dynamics and the input and output fuzzy membership functions are derived. As a conflict detection module, the Collision Risk (CR) is measured for each ship by using a scaled nondimensional Distance to the Closest Point of Approach (DCPA) and Time to the Closest Point of Approach (TCPA) as inputs. Afterwards, the decisions for collision avoidance are made based on the calculated CR, encountering angle and relative angle of each ship measured from others. In this regard, the rules for the Fuzzy interface system are defined in accordance with the COLREGs, and the whole system is implemented on the MATLAB Simulink platform. In addition, to deal with the multiple ship encounters, the paper proposes a unique maximum-course and minimum-speed change approach for decision making, which has been found to be efficient to solve Imazu problems, and other complicated multiple-ship encounters.

Predicting human trajectories poses a significant challenge due to the complex interplay of pedestrian behavior, which is influenced by environmental layout and interpersonal dynamics. This complexity is further compounded by variations in scene density. To address this, we introduce a novel dataset from the Festival of Lights in Lyon 2022, characterized by a wide range of densities (0.2-2.2 ped/m2). Our analysis demonstrates that density-based classification of data can significantly enhance the accuracy of predictive algorithms. We propose an innovative two-stage processing approach, surpassing current state-of-the-art methods in performance. Additionally, we utilize a collision-based error metric to better account for collisions in trajectory predictions. Our findings indicate that the effectiveness of this error metric is density-dependent, offering prediction insights. This study not only advances our understanding of human trajectory prediction in dense environments but also presents a methodological framework for integrating density considerations into predictive modeling, thereby improving algorithmic performance and collision avoidance.

Air corridors are an integral part of the advanced air mobility infrastructure. They are the virtual highways in the sky for transportation of people and cargo in the controlled airspace at an altitude of around 1000 ft. to 2000 ft. above the ground level. This paper presents fundamental insights into the design of air corridors with high operational efficiency as well as zero collisions. It begins with the definitions of air cube, skylane or track, intersection, vertiport, gate, and air corridor. Then, a multi-layered air corridor model is proposed. Traffic at intersections is analyzed in detail with examples of vehicles turning in different directions. The concept of capacity of an air corridor is introduced along with the nature of distribution of locations of vehicles in the air corridor and collision probability inside the corridor are discussed. Finally, the results of simulations of traffic flows are presented.

The use of digital twins for the development of Autonomous Maritime Surface Vessels (AMSVs) has enormous potential to resolve the increasing need for water-based navigation and safety at the seas. Aiming at the problem of lack of broad and integrated digital twin implementations with live data along with the absence of a digital twin-driven framework for AMSV design and development, an application framework for the development of a fully autonomous vessel using an integrated digital twin in a 3D simulation environment has been presented. Our framework has four layers to ensure that the simulation and the real-world boat as well as the environment are as close as possible. Åboat, an experimental research platform for maritime automation and autonomous surface ship applications, equipped with two trolling electric motors, cameras, LiDARs, IMU and GPS has been used as the case study to provide a proof of concept. Åboat and its sensors, alongwith the environment have been replicated in a 3D simulation environment. Using the proposed application framework, we develop obstacle detection and path planning systems based on machine learning which leverage live data from a 3D simulation environment to mirror the complex dynamics of the real world.

Today, there are commercially available high-performance electric wheelchairs, capa-ble of responding to strong limitations. However, despite these advancements, there is a significant portion of the population with severe disabilities who cannot access this mobility solution due to safety reasons. Indeed, either due to motor issues preventing reliable control of the wheelchair's commands, or associated visual or cognitive pathologies, the use of an electric wheelchair by these individuals would put them at risk and could also constitute a danger to those around them. This is why our research team is working on the development of augmented wheelchairs that allow a greater autonomy. We are mainly developing a system compatible with all electric wheel-chairs on the market, capable of making them anti-collision and anti-fall on uneven ground (sidewalks, stairs, etc.). In this article, we present our solution regarding the anti-collision function, in particular the sensors used to do this, as well as the strategy. We will focus on the shortcomings and weaknesses of various types of sensors and demonstrate how, by combining them in a certain way, we can develop a collision avoidance device capable of managing the diversity of everyday life situations. The two types of sensors that will be combined here are an in-house developed special near infrared sensor from the laboratory and a commercially available ultrasonic sensor. We will present the internal operation of the sensors, their limitations, experimental tests involving integration with the wheelchair, and the structure of the complete device.

This paper proposes a high-performance and low-cost in-flight collision avoidance system based on background subtraction for unmanned aerial vehicles (UAVs). The pipeline of proposed in-flight collision avoidance system is as follows: (i) dynamic background subtraction to remove the background and to detect moving objects, (ii) denoise using morphology and binarization methods, (iii) Euclidean clustering to cluster the moving object and to remove noise blobs, (iv) distinguish independent objects and track the movement using Kalman filter, and (v) collision avoidance using proposed decision-making techniques. This work focuses on the design and the demonstration of a vision-based fast moving object detection and tracking system with decision-making capabilities to perform evasive maneuvers to replace high vision system such as event camera. The development of high-performance, low-cost unmanned aerial vehicles paired with rapid progress in vision-based perception systems herald a new era of autonomous flight systems with mission-ready capabilities. One of the key features of an autonomous UAV is a robust mid-air collision avoidance strategy. The novelty of our method lies in the motion-compensating moving object detection framework, which accomplishes the task with background subtraction via 2-D transformation approximation. Clustering and tracking algorithms process detection data to track independent objects, and stereo-camera-based distance estimation is conducted to estimate the 3-D trajectory, which is then used during decision-making procedures. The examination of the system is conducted with a quadrotor UAV test vehicle, and appropriate algorithm parameters for various requirements are deduced.

Ultrasonic sensors are inexpensive and can take measurements with high accuracy, even with simple hardware configurations, so they are used in various fields. When multiple ultrasonic sensors exist in the measurement space, crosstalk occurs due to other nodes, which causes measurement errors. Crosstalk includes not only receiving homogeneous signals from other nodes, but also overlap by other signals, and interference by heterogeneous signals. This paper proposes a method that uses frequency sweep keying modulation to be robust against overlap and a faster region-based convolutional neural networks (R-CNN)-based demodulator to reduce the interference caused by heterogeneous signals. The demodulator works by training faster R-CNN with the spectrograms of various received signals and classifying the received signals using a faster R-CNN. Experiments implementing an ultrasonic crosstalk environment showed that compared to on-off keying (OOK), phase-shift keying (PSK), and frequency-shift keying (FSK), the proposed method can implement CDMA even with shorter codes, and is robust against overlap. Compared to correlation-based frequency sweep keying, the time-of-flight error was reduced by approximately 75%. While existing demodulators did not consider heterogeneous signals, the proposed method ignored approximately 99% of the OOK and PSK signals, and approximately 79% of the FSK signals. The proposed method performs better than the existing methods and is expected to be used in various applications.

We address the unsolved question of how best to estimate the collision entropy, also called quadratic or second order Rényi entropy. Integer-order Rényi entropies are synthetic indices useful for the characterization of probability distributions. In recent decades, numerous studies have been conducted to arrive at their valid estimates starting from experimental data, so to derive suitable classification methods for the underlying processes, but optimal solutions have not been reached yet. Limited to the estimation of collision entropy, a one-line formula is presented here. The results of some specific Monte Carlo experiments give evidence of the validity of this estimator even for the very low densities of the data spread in high-dimensional sample spaces. The method strengths are unbiased consistency, generality and minimum computational cost.

As technologies such as eco-friendly ships, electric propulsion vessels, and multi-fuel propulsion systems advance, the scope of IoT applications in maritime field is expanding, resulting in increased complexity in control factors. The gradual progression towards Maritime Autonomous Surface Ships (MASS) is further driving the evolution of ship-based IoT applications. These advancements underscore the necessity for a platform capable of ensuring reliable connectivity between ships and onshore, while also being adaptable for deployment and operation to meet the demands of service availability. The limitations of the existing single cloud architecture become evident in this context. In response to these emerging challenges, this paper presents a cloud-based horizontal data platform structure anchored in the architecture of a Multi-Region Fog Cloud. This approach is tailored to fulfill the crucial requirement of maintaining robust and seamless connectivity for vessels navigating globally. Leveraging the capabilities of the Fog Cloud, the platform enhances service responsiveness by facilitating localized data collection and distribution, complemented by efficient data caching from the Cloud Center, serving users within the same geographical region. We outline a strategic framework for enhancing and executing key ship services within the proposed architecture. These services encompass data sharing between ships to elevate collision avoidance, disseminating weather data for optimized route planning, and constructing an operator training simulator (OTS) environment through the integration of digital twin technology. After, we implement an architecture using the AWS Cloud and gauges latency and Packet Loss Rate (PLR) through connections to Seoul, California, and Frankfurt regions. The test results reveal that latency in different regions is about 2-5 times higher than that in the same region for the payload. Furthermore, packet loss occurred at roughly 2-3 Hz packet generation rate (PGR) in different regions, whereas in the same region, it commenced at approximately 10-20 Hz PGR.

As global warming intensifies, the development of offshore wind farms is swiftly progressing, especially deep-water floating offshore wind turbines (FOWTs) capable of energy capture in deep-sea regions, which have emerged as a focal point of both academic and industrial interest. Although numerous researchers have conducted comprehensive and multifaceted studies on various components of wind turbines, less attention has been paid to the operational stage response of FOWTs to wind, waves, and currents, and the reliability of structural components. This study primarily employs theoretical analysis to establish mathematical models under a series of reasonable assumptions, examining the possibility of collisions between FOWT transport fleets and other vessels in the passage area during the towing process. Using the model, this paper takes the Wanning Offshore Floating Wind Farm (FOWF) project, which is scheduled to be deployed in the South China Sea, as the research object and calculates the probability of collisions between FOWTs and other vessels in three time periods from the total assembly pier in Hainan Wanning to the predetermined position 22 km away. The findings of the analysis suggest that the mathematical model has the capability to efficiently determine the frequency of collisions between vessels within the domain and the transport team during the transportation process. This holds substantial relevance for future risk assessment and disaster prevention and mitigation measures in the context of FOWT transportation.

Fragmentation processes of multiply charged ions of C10H8 isomers produced in fast proton collision (velocity between 1.41 and 2.4 a.u.) is discussed in view of their fundamental molecular dynamics. Especially so in the mechanisms to produce a variety of carbon clusters from such ions. This aspect is assessed with the help of a multihit analysis of daughter ions in coincidence with elimination of H+ and CHn+ (n = 0 to 3). The elimination of H+/C+ was found to be very different from CH3+ loss. The loss of CH3+ was found to be accompanied with the formation of heavy ions like C9H5+, C9H5++ and C7H3+ by a cascade of momentum correlated dissociations. The most probable structures of large fragment ions in the CH3+ loss cascade are predicted with the help of computed electronic energy and the multihit ToF correlations of second and third hit. In addition, we report observation of super-dehydrogenation of naphthalene and azulene targets, with evidence of complete dehydrogenation in a single collision.

When implementing a control system for a ground-based unmanned vehicle (UV) used in agri-culture, an important factor is the low cost of the equipment used, so the use of cameras without lidars for navigation, avoiding obstacles, and ensuring movement safety seems promising. En-suring the safety of movement of UV consists of developing methods and means that make it possible to bypass static and dynamic obstacles and make an emergency stop if it is impossible to bypass. The article describes methods and software that provide detection of objects surrounding the UV through the use of the YOLOv8 neural network, space free for movement through the use of se-mantic segmentation with the MobileNetV3 network architecture, tools for combining several data sources to build a local perception map, as well as linear and angular speed of the UV based on calculating the optimal direction of movement for avoiding obstacles. Testing of the developed methods and software was realized in the Webots simulation environment. Software is developed with ROS2.

This paper describes the development of a laser-based people detection and obstacle avoidance algorithm for a differential-drive robot, which is used for transporting materials along a reference path in hospital domains. Detecting humans from laser data is an important functionality for the safety of navigation in the shared workspace with people. Nevertheless, traditional methods normally utilize machine learning techniques on hand-crafted geometrical features extracted from individual clusters. Moreover, the datasets used to train the models are usually small and need to manually label every laser scan, increasing the difficulty and cost of deploying people detection algorithms in new environments. To tackle these problems, (1) we propose a novel deep learning-based method, which uses the deep neural network in a sliding window fashion to effectively classify every single point of a laser scan. (2) To increase the speed of inference without losing performance, we use a jump distance clustering method to decrease the number of points needed to be evaluated. (3) To reduce the workload of labeling data, we also propose an approach to automatically annotate datasets collected in real scenarios. In general, the proposed approach runs in real-time, performs much better than traditional methods, and can be straightforwardly extended to 3D laser data. Secondly, conventional pure reactive obstacle avoidance algorithms can produce inefficient and oscillatory behaviors in dynamic environments, making pedestrians confused and possibly leading to dangerous reactions. To improve the legibility and naturalness of obstacle avoidance in human crowded environments, we introduce a sampling-based local path planner, similar to the method used in autonomous driving cars. The key idea is to avoid obstacles by switching lanes. We also adopt a simple rule to decrease the number of unnecessary deviations from the reference path. Experiments carried out in real-world environments confirmed the effectiveness of the proposed algorithms.

Conventional models do not fully explain composition of the solar system—for example, the presence of such elements as certain post-post-$Fe$-nuclei remains not yet understood. We propose a mechanism which can explain appearance of non-native elements in the solar system. The hypothesis involves an explosive nuclear-fission-type event within the inner part of the solar system that resulted from the system’s path-crossing with a traveling-from-afar compact stellar object—a “giant nuclear drop” capable of phase-transitioning into unstable nuclear-fog state, which was triggered by the encounter. After the multitude of spontaneous reaction cascades and variety of nuclei transformations (such as nuclei fragmentation, fission, fusion, $n$-, $p$-, $\alpha$-, $\gamma$-capture, and various decays), the “debris” enriched the solar system and led to the eventual formation of the terrestrial planets that pre-event had not existed. Such scenario offers a possible explanation for the planets’ inner position and compositional differences within the predominantly hydrogen-helium rest of the solar system.

Remotely Piloted Aircraft Systems (RPAS) are increasingly becoming relevant actors flying through the airspace and will assume much more importance in the future perspective. In order to allow their safe integration with manned conventional traffic in non-segregated airspaces, in accordance with the overall Air Traffic Management (ATM) paradigm, specific enabling technologies are needed. As well known, among the enabling technologies identified as crucial for RPAS integration into the overall ATM system, the Detect and Avoid (DAA) technology is fundamental. In the meantime, to support extended surveillance, the universal introduction on-board of aircraft of cooperative Automatic Dependent Surveillance – Broadcast (ADS-B) is increasingly implemented, having the potential to allow coverage of the whole airspace also in remote areas not usually covered by conventional radar surveillance. In this paper, the experimental results are presented and discussed that have been obtained through the real-time validation, with hardware and human in the loop (RTS-HIL) simulations, of an automatic ADS-B based Separation Assurance and Collision Avoidance System aimed to support RPAS automatic operations as well as remote pilot decision making. In the paper, after an introductory outline of the Concept of Operations (ConOps) of the system and of its architectural organization, while also providing basic information about the main system functionalities, the description is reported of the tests that have been carried out and the obtained results are described and discussed, in order to emphasize the performances and limitations of the proposed system. In particular, not only the quantitative performances obtained are reported and commented but also the feedbacks received by the pilots in order to improve the system are described, for instance in terms of preferred typology of conflict resolution manoeuver elaborated by the system.

In current electric vehicles, the traction battery is intended to store energy. When designing this battery different parameters must be taken into account in order to arrange the battery/module/cells in the mechanically and thermally safest configuration. Moreover, the battery layout must have a correct dynamic behavior in possible collisions. In the present study, different battery configurations plus added energy absorbers are analyzed. In order to do that, an internal combustion vehicle modeled with finite elements is applied as the reference model. The structural behavior of the different battery configurations in the event of a side collision is examined. Firstly, the safest arrangement is stablished, both with respect to cabin intrusion and thermal runaway propagation. Secondly, the safest arrangement that guarantees the safety of the occupants in the event of a side collision is analyzed but using the MADYMO. This software includes experimentally validated dummies which allow have an insight in the stresses experienced by occupants. On the one hand, the analysis states that the battery pack inclusion in the vehicle increases the stiffness of the car floor, resulting in fewer intrusions in the passenger compartment. Therefore, a greater safety for the occupants is reached. On the other hand, none of the configurations analyzed has shown enough safety against the phenomenon of Thermal Runaway.

Kinematic control of redundant serial manipulators has been carried out for the past half century based primarily on a generalized inverse velocity formulation that is known to have mathematical deficiencies. A recently developed inverse kinematic position mapping is extended to an operational configuration space differentiable manifold formulation for kinematic control with obstacle avoidance is employed to resolve deficiencies in the generalized inverse velocity formulation. Output trajectory tracking with obstacle avoidance for four and twenty degree of redundancy manipulators is carried out to demonstrate the effectiveness of the differentiable manifold approach and that it resolves deficiencies of the conventional generalized inverse velocity formulation.

Cuticular waxes are a mixture of hydrophobic very-long-chain fatty acids and their derivatives accumulated in the plant cuticle. Most studies define the role of cuticular wax largely based on reducing non-stomatal water loss. The present study investigated the role of cuticular wax in reducing both low-temperature and dehydration stress in plants using Arabidopsis thaliana mutants and transgenic genotypes altered in the formation of cuticular wax. cer3-6, a known Arabidopsis wax-deficient mutant (with distinct reduction in aldehydes, n-alkanes, secondary n-alcohols, and ketones compared to wild type (WT)), was most sensitive to water loss; while dewax, a known wax overproducer (greater alkanes and ketones compared to WT), was more resistant to dehydration compared to WT. Furthermore, cold-acclimated cer3-6 froze at warmer temperatures, while cold-acclimated dewax displayed freezing exotherms at colder temperatures compared to WT. GC-MS analysis identified a characteristic decrease in the accumulation of certain waxes (e.g. alkanes, alcohols) in Arabidopsis cuticles under cold acclimation, which was additionally reduced in cer3-6. Conversely, the dewax mutant showed a greater ability to accumulate waxes under cold acclimation. FTIR spectroscopy also supported observations in cuticular wax deposition under cold acclimation. Our data indicate cuticular alkane waxes along with alcohols and fatty acids can facilitate avoidance of both ice formation and leaf water loss under dehydration stress, and are promising genetic targets of interest.

The design of water Vessel fender system can minimize impact energy, which could result in severe vessel or offshore structure damage during collision. In order to protect Offshore structures and vessels from damage after impact, a Fender design approach is proposed which uses Soft materials like rubber, sand, inflated rubber tube, etc. to reduce damage on impacted vessels as well as offshore structures like wind turbines, bridges, oil drilling platforms in water etc. The fender is designed in such a way that it can handle vessels made of different material, sizes, and weights.The proposed solution is a fender consisting of a number of layers of soft sandwich materials, each layer getting softer as it moves away from the structure i.e. Hard-Soft fender design which can absorb impact energy upon collision. To handle lighter vessels made of soft or brittle materials, the outer layer is made of inflatable or Very soft foam rubber; however, the inner layer covering the offshore structure is made of hard material to handle heavy vessels made of hard material such as steel. Furthermore, the use of sand as a natural fender along waterways such as narrow channels is also proposed to reduce the cost of fender installation and catastrophic vessel impact damage on rocky ground since it produces less deformation just like rubber fender as demonstrated in the simulation. Finite Element Analysis using ANSYS software, Explicit Dynamic Autodyn, was performed. The results showed a considerable decrease in the total deformation and internal energy of the vessel and fended structure when collision occurs. Furthermore, the result showed that Hard-Soft fender layer performs much better than Soft-Hard-Soft followed by Soft-Hard Fender layer design.

Obstacle-avoidance robots have become an essential field of study in recent years. This paper analyzes two cases that extend reactive systems focused on obstacle detection and its avoidance. The scenarios explored get data from their environments through sensors and generate information for the models based on artificial intelligence to obtain a reactive decision. The main contribution is focused on the discussion of aspects that allow comparing both approaches, such as the heuristic approach implemented, requirements, restrictions, response time, and performance. The first case presents a mobile robot that applies fuzzy logic to achieve soft turning basing its decision on depth image information. The second case introduces a mobile robot based on multi-layer perceptron and ultrasonic sensors to decide how to move in an uncontrolled environment. The analysis of both options offers perspectives to choose between reactive obstacle-avoidance systems based on ultrasonic or Kinect sensors, models that infer optimal decisions applying fuzzy logic or artificial neural networks, with key elements and methods to design mobile robots with wheels. Therefore, we show how AI or Fuzzy Logic techniques allow us to design mobile robots that learn from their “ experience ” by making them safe and adjustable for new tasks, unlike traditional robots that use large programs to perform a specific task.

In the rescue operations the full time of action plays important role. It is a sum of planning, travel, and manipulation (in the action place) phases times. The time minimization of first two phases by autonomous vehicle for remote action is considered in the paper. For known a priori map the path planning consists of local optimal decision collected next in the general algorithm of the optimal path. Such approach significantly reduces time of path planning. The robot features and known sparse obstacles reduce the allowable robot speeds. The time of travel is calculated from allowable velocity profile. So, it can be used to estimate the travel performance. Genetic algorithm and random search-based methods for path finding with travel time optimization are exploited and compared in the paper. All the proposed time optimisation solutions of rescue operation are checked during computer simulations and results of simulation are presented.

Road collisions are among the world’s critical issues causing many casualties, deaths, and economic losses. To deal with this scenario, precise analysis is required. In this paper, we use Machine Learning (ML) techniques to assess and predict road traffic collisions. An ensemble machine learning model with two layers was developed to analyze simulation data from the driving simulator. The first (base) layer integrates supervised learning techniques namely, k- Nearest Neighbors (k-NN) AdaBoost, Naive Bayes (NB), and Decision Trees (DT). The second layer predicts road collisions by combining the base layer outputs by employing the stacking ensemble method using logistic regression as a meta-classifier. The data for this study were imbalanced; therefore, we performed a SMOTE resampling strategy to handle the dataset imbalance. To simplify the model, the PSO algorithm was used to select the most important features in our dataset. The two-layer ensemble model proposed had the best outcomes with an accuracy of 88%, F1 score of 83%, and an AUC of 86% as compared with k-NN, DT, NB, and AdaBoost.

The grinding process by friction at the micro-scale in a mill with stones is considered a variable combination of contacts: with two-body (the asperities of lower millstone in direct contact with the asperities of upper millstone) and the three-body (micro-particles of ground seeds trapped between the asperities of lower and the upper stones of the mill). Three elements are described: (1) the mechanic contact of the asperities of the lower and upper millstone, to predict pressures on asperities, by modeling; (2) tests on a millstone sample covered with grinding particles, and (3) tests on a wafer sample formed by the millstones with the grinding particles between them. The paper highlights the combined effects of the micro-scale friction by individual measurements and to sum these effects an analytical model was used, and to validate the model, several experiments were performed. A suitable grind by friction assumes the grain’s movement and the interaction between the seeds and solid surfaces and is highlighted through theoretical and experimental studies. Topography analysis of the surface of the millstones revealed the model of microscopic frictional force. Endpoint measurements (the traces of the surface topography evolution), enable model verification in the grinding process.

The need for continuous research to refine the models used in accident reconstruction appears with the development of new car models that satisfy consumer complaints. The paper analyzed a sub-sequence of car and pedestrian accidents, from the perspective of the distance traveled by them in the contact phase, with the aim of improving the information regarding the reconstruction of road accidents. The research included the analysis of some accidents with pedestrian dummies, as well as the simulation of the impact between different classes of vehicles and pedestrians in two different walking positions. Specialized software was used with complex multibody models of pedestrians, modifying the speed and deceleration parameters at the time of the collision. The research results highlight the differences between bilinear models used in accident reconstruction and the proposed study. They can also be used to determine the distance traveled by the vehicle in the first phase of the collision with pedestrians.

Proposed in 1889 by Svante Arrhenius, the Arrhenius equation is an important result in physical chemistry which aims to find the relationship between temperature and reaction rates. It is also an essential equation for analytic chemistry which helps to determine the energy barrier for a given reaction. In this article, we will go through a detailed derivation of the exponential factor in the Arrhenius Equation based on the Boltzmann distribution of particle energy probability. Then, we will attempt to model the pre-exponential factor in accordance with the principles of collision theory for bi-molecular reaction with gaseous reactants. Understanding the basic principles of chemical reaction provides valuable tools to analyze complex reaction mechanisms in the perspective of optimizing existing industrial processes.

In a previous paper\cite{simplified}, a variation of the Collision-time Statistics method was applied to identify the relevant perturbers for line broadening under the action of a constant magnetic field. As discussed, that version was simplified and inadequate for low magnetic field and/or large perturber mass (ions). The purpose of the present work is to augment the previous work, so that such cases, corresponding to the Larmor radius exceeding the maximum impact parameter, can be handed efficiently. The results may also be used to construct analytic, i.e. impact/unified models under the usual assumptions in these models.

Astragaloside IV (AIV) – triterpenoid saponin from the Astragalus mongholicus roots with the proved acetylcholinesterase (AChE)-inhibitory capability was used as the substance with the potential to attenuate memory impairment. Scopolamine (SCOP), antagonist of muscarinic cholinergic receptors and lipopolysaccharide (LPS), neuroinflammation inducer were used to impair memory processes in the passive avoidance (PA) test in mice. This memory impairment in the SCOP-treated mice was attenuated by the earlier intraperitoneal (ip) administration of AIV in the dose of 25 mg/kg. The reduction of memory impairment by LPS was not observed, therefore AIV does not reverse memory impairments through the anti-inflammatory mechanisms. All the studied doses of AIV did not affect basic locomotor activity of mice. As a result of the post-mortem analysis of mice body tissues, the largest content of AIV was determined in the kidneys, then in the spleen, liver and the smallest one in brain by mass spectrometry.

Studies on crop response to light quality [red (R) to far-red (FR) light ratio] often recommend early weed removal to reduce the effects of shade avoidance responses on crop yield. However, it is unclear whether crops are able to distinguish reflected light quality of kin from that of non-kin. We evaluated the response of sugarbeet (Beta vulgaris L.) to reflected FR light from sugarbeet, common lambsquarters (Chenopodium album L.), Kentucky bluegrass (Poa pratensis L.), alfalfa (Medicago sativa L.), and bare soil (control) under outdoor conditions in 2016 and 2017. Treatments were completely randomized with 10 replications per treatment. The study methods ensured there was no direct resource competition. The reflected R:FR of plant species ranged from 0.06 (common lambsquarters) to 0.24 (sugarbeet) compared to 0.7 for the bare soil. In both 2016 and 2017, there were 2 to 4 more leaves in the sugarbeet surrounded by soil compared to sugarbeet surrounded by neighboring species. There was up to 47, 57, 43, and 23% reduction in sugarbeet leaf area, shoot dry weight, root diameter, and root dry weight, respectively, due to reflected R:FR light from neighboring species. Sugarbeet did not respond differently to reflected light quality of kin compared to non-kin.

Unmanned aerial vehicle (UAV) usage is increasing drastically worldwide as UAVs are used in various industries for many applications, such as inspection, logistics, agriculture, and many more. This is because performing a task using UAV makes the job more efficient and reduces the workload needed. However, for a UAV to be operated manually or autonomously, the UAV must be equipped with proper safety features. An anti-collision system is one of the most crucial and fundamental safety features that UAVs must be equipped with. The anti-collision system allows the UAV to maintain a safe distance from any obstacles. The anti-collision technologies are of crucial relevance to assure the survival and safety of UAVs. Anti-collision of UAVs can be varied in the aspect of the use of sensors and the system’s working principle. This article provides a comprehensive overview of anti-collision technologies for UAVs. It also presents drone safety laws and regulations that prevent a collision at the policy level. The process of anti-collision technologies is studied from three aspects: Obstacle detection, collision prediction, and collision avoidance. A detailed overview and comparison of the methods of each element and an analysis of their advantages and disadvantages have been provided. In addition, the future trends of UAV anti-collision technologies from the viewpoint of fast obstacle detection and wireless networking are presented.

In the case that ship operators may not be aware of the potential risks of environmental factors in situation of high causation probability during the initial stage of the geometric probability analysis process, it is likely that higher-grade collision accident measures will not be taken. However, if any risks is told to the ship operators, more effective and intentional measures can be taken in time. Moreover, if the causation probability corresponding to environmental factors is no less than the risk early warning critical value calculated based on historical collision accident data, there would be a high-risk level that a collision may occur. A new method is put forward based on quantitative analysis of environmental factors and previous collision statistics to provide early warning of any accident risk, and a risk early-warning critical value (REWCV) can be obtained based on this simple but highly operational and practical method. A case study of Three Gorges Reservoir in China indicates that the range of environmental factors where the probability of collision accident grows rapidly is consistent with environmental limits defined by Chinese maritime standards. In addition, the relationship between the risk early-warning critical value and the number of previous collision accident is also clarified.

When wildlife and motor vehicles collide, the result for the animals is often death (roadkill). A commercial roadkill Virtual Fence (VF) mitigation device (iPTE Traffic Solutions) was used in a field trial to test its effectiveness along a 4.9-km segment of road on Bruny Island, Tasmania. A total of 585 days of monitoring of roadkill by species was conducted, with six sections alternatively switched on or off, according to a variation of a Crossover and Multiple Before-After-Control-Impact (MBACI) experimental designs that divided monitoring into “off-on” then “on-off” blocks of periods with each “on” period followed by a 16 d “wash-out” period. For the six sections over the four periods that exclude wash-outs, the 24 aggregated values of daily counts of roadkill of Tasmanian pademelons (Thylogale billardierii), that gave a total count of 222, were modelled. Other species were killed in insufficient numbers for analysis to be informative. The statistical analysis exploited the MBACI design to estimate the VF effect using a log-odds ratio parameter (LORP) while accounting for local spatio-temporal effects. Both versions of the analysis, either averaging over the three spatial replicates (paired sections) or two temporal replicates (blocks) gave no statistically significant effect of the VF judged as a LORP estimate not sufficiently below zero. Corresponding percentage reduction estimates of 9% and 16% were derived from the LORP estimates and given parameter uncertainty estimates the power to detect as significant a LORP corresponding to a 50% reduction in rate were 0.5 and 0.6, respectively. This study confirms results from a similar field trial carried out in 2018 also in southern Tasmania and adds to the evidence that this VF is likely to give if anything only a minor reduction in roadkill for a commonly killed species for which researchers have the best chance of detecting any practically useful reduction.

The Transient Receptor Potential Ankyrin 1 (TRPA1) cation channels function as broadly-tuned sensors of noxious chemicals in many species. Recent studies identified four functional TRPA1 isoforms in Drosophila melanogaster (dTRPA1(A) to (D)), but their responses to non-electrophilic chemicals are yet to be fully characterized. Methods: We determined the behavioral responses of adult flies to the mammalian TRPA1 non-electrophilic activators citronellal and menthol, and characterized the effects of these compounds on all four dTRPA1 channel isoforms using intracellular Ca2+ imaging and whole-cell patch-clamp recordings. Results: Wild type flies avoided citronellal and menthol in an olfactory test and this behavior was reduced in dTrpA1 mutant flies. Both compounds activate all dTRPA1 isoforms in the heterologous expression system HEK293T, with the following sensitivity series: dTRPA1(C) = dTRPA1(D) > dTRPA1(A) ≫ dTRPA1(B) for citronellal and dTRPA1(A) > dTRPA1(D) > dTRPA1(C) > dTRPA1(B) for menthol. Conclusions: dTrpA1 was required for the normal avoidance of Drosophila melanogaster towards citronellal and menthol. All dTRPA1 isoforms are activated by both compounds, but the dTRPA1(B) is consistently the least sensitive. We discuss how these findings may guide further studies on the physiological roles and the structural bases of chemical sensitivity of TRPA1 channels.

The Sidi Bou Othmane (SBO) pegmatite district is in the Central Jebilet massif, Occidental Meseta domain, Morocco. The SBO district is hosted essentially in a volcano-sedimentary series composed of the Late-Devonian Sarhlef shales. Pegmatite bodies crop out as dykes, which are oriented from N-S to E-W and are generally variably deformed with ductile and/or brittle structures with ante, syn- or post kinematic criteria. Petrographic observations of pegmatite dykes show that feldspars (i.e., albite, microcline) are the most abundant mineral phases, followed by quartz, micas, with tourmaline and accessory mineral as garnet, and zircon and secondary minerals as clinochlore, sericite, and illite. The geochemical study indicates that, according to the major pegmatite elements dykes of SBO have mainly a S-type granitic composition and are peraluminous granite with calc-alkalic affinity. The study of trace elements pointed out that SBO pegmatite formed under post-orogenic syn-collision context during the Variscan orogeny, by the partial melting of argilliferous sediment and can be ascribed to the muscovite-bearing pegmatite; moreover, they have a good potential on ceramic and contain minerals, such as feldspar, recently assessed as Critical raw materials by European Union.

Pedestrians, bicyclists, scooterists are Vulnerable Road Users (VRU) in traffic accidents. The number of fatalities and injuries in traffic accidents involving vulnerable road users has been steadily increasing in the last two decades in the U.S. even though road vehicles now have perception sensors like camera to detect risk and issue collision warnings or apply emergency braking. Perception sensors like camera are highly affected by lighting and weather conditions. Camera, radar and lidar cannot detect vulnerable road users in partially occluded and occluded situations. This paper proposes the use of Vehicle-to-VRU communication to inform nearby vehicles of VRUs having trajectories with potential collision risk. An Android smartphone app with low energy Bluetooth (BLE) advertising is developed and used for this communication. The same app is also used to collect motion data of VRUs for training. VRU motion data is smoothed using a Kalman filter and an LSTM neural network is used for future motion prediction. This information is used in an algorithm comparing Time-To-collision-Zone (TTZ) for the vehicle and VRU and issue a driver warning with different severity levels. The warning severity level is based on analysis of real data from a smart intersection for close vehicle and VRU interactions. The resulting driver warning system is demonstrated using proof-of-concept experiments. The method can easily be extended to a VRU collision mitigation system.

Collision tumors, even uncommon, characterized by two distinctive (morphological, as well immunohistochemical) and spatially independent tumor components in the same location, are always puzzling for clinicians, pathologists and patients because they don’t fit in usual approaching schemes, neither diagnostic, nor therapeutic. Reviewing the specialized literature, until now, collision tumors have been reported in multiple locations such as the skin, esophagus, stomach, liver, kidney, bladder, adrenal gland or thyroid. We report a case of coexistence on the same site of a malignant tumor of ascending colon and a benign one emerging from peritoneal lining, thought initially by the surgeon to be right sided serosal carcinomatosis. But the histopatological examination reveals that those multiple serosal nodules were benign granular cell tumors collided with highly aggressive transparietal signet-ring colon carcinoma. These results put the patient's prognosis and therapeutic strategy in a different light than the clinical-imaging and intraoperative assessment.

Article contents the analytical model of the drift of a separate ice field under action of wind and current, which velocities and directions can vary during time. Model takes into account the mass of ice, added mass of sea water and the effects of the wind and current on the ice field in form the friction on its upper and underwater surfaces and frontal resistance on its end (forward and backward) surfaces. Results of performed the steady wind drift of the ice fields modelling show the drift velocity exceeds considerable known velocity of a compact ice cover wind drift. Drifting ice field has the certain kinetic energy that should be released when collision with unmovable obstacle and spent on brittle breakdown of part of the ice field. Volume of formed small ice pieces (fragments of ice field) was estimated by comparison of the specific energy of the sea ice brittle destruction and the kinetic energy of drifting ice field. Article presents the results of estimation of possible volume of the ice pieces and the scales of formed piles as result of collision with an obstacle depending on initial dimensions of ice field and wind speed. Developed models and the results of computer modelling can be used to estimate the ice pile sizes near the stationary platforms and terminals on the Arctic seas.

Prediction of the likely evolution in the traffic scenes is a challenging task because of high uncertainty of sensing technology and dynamic environment. It leads to failure of planning for intelligent agents like autonomous vehicles. In this paper, we propose a fluid-based physical model to present the influence of surrounding object's motion on driving safety. In our pipeline, the input sensor could be LiDAR, camera, or multi-modal data. We use a Kalman filter to estimate the state space of each detected object, and adopt the properties of stable fluid to build a riskmap based on the density field. The noisy state space are then modeled as the boundary conditions in the simulation of advection and diffusion process. We test our approach on the public KITTI dataset and find this model could handle the short-term prediction in case of misdetection and tracking failure caused by object occlusion, which shows promising in collision risk assessment on road scenes.

Let R be a commutative ring with identity and m, n be positive integers. In this paper, we introduce the class of (m,n)-prime ideals which lies properly between the classes of prime and (m,n)-closed ideals. A proper ideal I of R is called (m,n)-prime if for a,b∈R, a^{m}b∈I implies either aⁿ∈I or b∈I. Several characterizations of this new class with many examples are given. Analougus to primary decomposition, we define the (m,n)-decomposition of ideals and show that every ideal in an n-Noetherian ring has an (m,n)-decomposition. Furthermore, the (m,n)-prime avoidance theorem is proved.

Autonomous Underwater Vehicles (AUVs) are emerging as pivotal tools in underwater applications such as seafloor exploration and the inspection of pipelines or cables. Traditional land-based avoidance methods prove insufficient when applied to the complex underwater environment, largely due to the unique constraints presented by marine environments and the specific dynamics of AUVs. In this study, we introduce an improved stream function-based obstacle avoidance algorithm specifically tailored for autonomous underwater vehicles. The proposed algorithm is based on a stream function that is derived from the stream function. The stream function is characterized by a radial histogram for the cost function. In addition, constraints related to the maximum path curvature are discussed to optimize the utility of the path. Our exhaustive simulation cases validate the robustness and adaptability of the proposed algorithm, demonstrating its ability to produce feasible and optimized avoidance paths in a variety of scenarios.

Formation avoidance is one of the critical technologies for autonomous underwater vehicle (AUV) formations. To this end, a cooperative obstacle avoidance algorithm based on an improved artificial potential field and a consistency protocol is proposed in this paper. A cooperative obstacle avoidance algorithm based on the improved artificial potential field method and consistency protocol is proposed for the local obstacle avoidance problem of AUV formation. Firstly, for the disadvantage that the traditional artificial potential field method is easy to fall into local minima, an auxiliary potential field perpendicular to the AUV moving direction is designed to solve the problem that AUVs are easy to have zero combined force in the potential field and local minima. Secondly, the control law of AUV formation that keeps the speed and position consistent is designed for the problem that the formation will change during the local obstacle avoidance of the formation system. The control conflict problem of the combined algorithm of the artificial potential field law and the consistency protocol is solved by adjusting the desired formation of the consistency protocol through the potential field force. Finally, the bounded energy function demonstrates system convergence's stability. The simulation verification confirmed that the AUV formation could achieve the convergence of the formation state under local obstacle avoidance.

This study aimed to investigate the relationship between weight-bias internalization and eat-ing-disorder psychopathology in treatment-seeking patients with severe obesity using a network approach. Two thousand, one hundred and thirteen patients with obesity consecutively admitted to a specialist clinical unit for obesity were recruited from January 2016 to February 2023. Body mass index was measured, and each patient completed the Weight Bias Internalization Scale (WBSI) and the Eating Disorder Examination Interview (EDE). Network analysis showed that the most central and highly interconnected nodes in the network were related to the EDE items exposure avoidance, dissatisfaction with shape, and wanting an empty stomach. Bridge nodes were found, but the bootstrap difference test on expected bridge influence indicated non-significant centrality differences. Nevertheless, the eating-disorder psychopathology and weight-bias internalization network structure in patients seeking treatment for obesity indicate the prominent role of body dissatisfaction and control of eating and weight in these psychological constructs. This finding, if replicated, could pave the way for a new understanding of the psychological mechanisms operating in patients with obesity.

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

Background: Previous investigations have found a correlation between abnormal curvatures and a variety of patient complaints such as cervical pain and disability. However, no study has shown that loss of the cervical curve is a direct result of exposure to a motor vehicle collision (MVC). This investigation presents a retrospective consecutive case series of patients with both a pre-injury cervical lateral radiograph (CLR) and a post-injury CLR after exposure to a MVC. Computer analysis of digitized vertebral body corners on CLRs was performed to investigate the possible alterations in the geometric alignment of the sagittal cervical curve. Methods: Three spine clinic records were reviewed, over a 2-year period, looking for patients where both an initial lateral cervical x-ray and an examination were performed prior to the patient being exposed to a MVC; afterwards an additional exam and radiographic analysis were required. A total of 41 patients met the inclusion criteria. Examination records of pain intensity on numerical pain rating scores (NPRS) and neck disability index (NDI), if available, were analyzed. The CLRs were digitized and modeled in the sagittal plane using curve fitting and the least squares error approach. Radiographic variables included total cervical curve (ARA C2-C7), Chamberlain’s line to horizontal (skull flexion), horizontal translation of C2 relative to C7, segmental translations (retrolisthesis and anterolisthesis), and circular modelling radii. Results: There were 15 males and 26 females with an age range of 8-65 years. Most participants were drivers (28) involved in rear end impacts (30). The pre-injury NPRS was 2.7 while the post injury was 5.0; p < 0.001. The NDI was available on 24 /41 (58.5%) patients and was found to increase following exposure to the MVC: 15.7% to 32.8%, p < 0.001. An altered cervical curvature was identified following exposure to MVC, characterized by an increase in radius of curvature and an approximate 8° reduction of lordosis from C2-C7; p < 0.001. The mid cervical spine (C3-C5) showed the greatest curve reduction with localized mild kyphosis at these levels on average. Several participants developed segmental translations that approached the instability value of translation > 3.5mm. Conclusions: Abnormalities of cervical lordosis occurred following exposure to a MVC. The average loss of cervical curvature was 8° from C2-C7, with mild flexion of the mid cervical segments. Snap through type or dynamic buckling during the MVC may explain our findings. The primary contribution of this study to the motor vehicle collision literature is that altered cervical lordosis may result from MVC exposures and the consequences of an altered cervical alignment, in turn, may lead to future pain, disability and decreased health-related quality of life.

Commercial development of tidal stream energy is hampered by technical and financial challenges, and impeded by uncertainty about potential environmental effects that drive environmental risk assessments and permitting (consenting) processes. The effect of greatest concern for operational tidal stream energy devices is the potential for marine animals to collide with turbine blades, resulting in injury or death. Due to the turbulent and often turbid waters that frequently characterize tidal turbine sites, there is an absence of empirical evidence about collisions with marine animals. This paucity of observations often leads to risk-averse permitting decisions that further restrict the deployment of tidal energy devices that are needed to collect this evidence. This paper relies on the framework of stressors and receptors that is used widely in marine energy studies and outlines a stepwise probabilistic methodology that applies existing knowledge to further elucidate the risk to marine animals from operational tidal turbines. A case study using striped bass from the Bay of Fundy, Canada, accompanies the methodology, to partially demonstrate its application.

Kynurenic acid (KYNA) is an endogenous tryptophan (Trp) metabolite known to possess neuroprotective property. KYNA plays critical roles in nociception, neurodegeneration, and neuroinflammation. A lower level of KYNA is observed in patients with neurodegenerative diseases such as Alzheimer’s and Parkinson’s diseases or psychiatric disorders such as depression and autism spectrum disorders, whereas a higher level of KYNA is associated with the pathogenesis of schizophrenia. Little is known about the optimal concentration for neuroprotection and the threshold for neurotoxicity. In this study the effects of KYNA on memory functions were investigated by passive avoidance test in mice. Six different doses of KYNA were administered intracerebroventricularly to previously trained CFLP mice and they were observed following 24 hours. High doses of KYNA (i.e., 20-40 μg/2 μl) significantly decreased the avoidance latency, whereas a low dose of KYNA (0.5 μg/2 μl) significantly elevated it compared with controls, suggesting that the low dose of KYNA enhanced memory function. Furthermore, six different receptor blockers were applied to reveal the mechanisms underlying the memory enhancement induced by KYNA. The series of tests revealed the possible involvement of the serotonergic, dopaminergic, α and β adrenergic, and opiate systems in the nootropic effect. The study confirmed that a low dose of KYNA improved a memory component of cognitive domain, which was mediated by, at least in part, four systems of neurotransmission in an animal model of learning and memory.

Some wind farms have implemented automated camera\textendash based monitoring systems e.g. IdentiFlight to mitigate the impact of wind turbines on protected raptors. These systems have effectuated the collection of large amounts of data that can be used to describe flight behavior in a novel way. This data uniquely provides both flight trajectories and images of individual birds throughout their flight trajectories. The aim of this study was to evaluate how this unique data could be used to create a robust quantitative behavioral analysis, that could be used to identify risk prone flight behavior and avoidance behavior thereby in the future assess collision risk. This was attained through a case study at a wind farm on the Swedish island Gotland, where golden eagles (Aquila chrysaetos), white-tailed eagles (Haliaeetus albicilla), and red kites (Milvus milvus), were chosen as the selected bird species. The results demonstrate that flight trajectories and bird images can be used to identify high risk flight behavior and thereby also used to evaluate collision risk and avoidance behavior. This study presents a promising framework for future research, demonstrating how data from camera\textendash based monitoring systems can be utilized to quantitatively describe risk prone behavior and thereby assess collision risk and avoidance behavior.

Different toll collection types of vehicles and different distribution of tollbooths lead to the toll plaza diverging area becoming a typical vehicle weaving area with frequent crossing behaviors and conflicts on highways. This study aims to identify contributing factors to conflict risks of four vehicle-following patterns in a toll plaza diverging area by developing random parameters ordered logit models with heterogeneity in means and variances. The model can flexibly capture the unobserved heterogeneity of the contributing factors in different vehicle-following patterns. Real-world vehicle trajectory data obtained from the toll plaza diverging area in Nanjing, China, are used for model estimation. The results show that vehicle-following patterns with the same toll collection types have higher percentage of severe conflict risks. The average acceleration of the following vehicles, lane marking indicator, the initial lanes and lane-changes of vehicles are significantly associated with the collision risk levels. The standard deviation of surrogate safety measures of all vehicles in sub-segments are found differ significantly between vehicle-following patterns. Furthermore, a series of likelihood ratio tests are adopted to test the spatial dependence in sub-segments of the diverging area. The findings of this study could provide valuable information for safety improvement in toll plazas.

Autonomous systems require identifying the environment and it has a long way to go before putting it safely into practice. In autonomous driving systems, the detection of obstacles and traffic lights are of importance as well as lane tracking. In this study, an autonomous driving system is developed and tested in the experimental environment designed for this purpose. In this system, a model vehicle having a camera is used to trace the lanes and avoid obstacles to experimentally study autonomous driving behavior. Convolutional Neural Network models were trained for Lane tracking. For the vehicle to avoid obstacles, corner detection, optical flow, focus of expansion, time to collision, balance calculation, and decision mechanism were created, respectively.

Nowadays, mindfulness-based interventions (MBI) have experimented a remarkable development of studies among childhood and adolescent interventions. For this reason, dispositional mindfulness (DM) measures for children and adolescents have been developed to determine the effectiveness of MBI at this age stage. However, little is known about how key elements of DM (f. e., cognitive de/fusion or experiential avoidance that both conform psychological inflexibility) are involved in the mechanisms of the children and adolescents’ mental health outcomes. This research examined the mediating effect of cognitive fusion between DM and anxiety and other negative emotional states in a sample of 318 Spanish primary-school students (aged between 8 and 16 years, M=11.24, SD=2.19, 50.8% males). Participants completed the AFQ-Y, which is a measure of psychological inflexibility that encompasses cognitive defusion and experiential avoidance; CAMM (DM for children and adolescents), PANAS-N (positive and negative affect measure for children, the Spanish version of PANASC), and STAIC (an anxiety measure for children). The study accomplished ethical standards. As MBI relevant literature has suggested, cognitive defusion was a significant mediator between DM and symptoms of both negative emotions and anxiety in children and adolescents. However, experiential avoidance did not show any significant mediating relationship. Probably, it is needed improvement of the assessment of experiential avoidance. MBI programs for children and adolescents may include more activities for reducing the effects of the cognitive defusion on their emotional distress.

In this paper, we present a complete, flexible and safe convex-optimization-based method to solve speed planning problems over a fixed path for autonomous driving in both static and dynamic environments. Our contributions are five fold. First, we summarize the most common constraints raised in various autonomous driving scenarios as the requirements for speed planner developments and metrics to measure the capacity of existing speed planners roughly for autonomous driving. Second, we introduce a more general, flexible and complete speed planning mathematical model including all the summarized constraints compared to the state-of-the-art speed planners, which addresses limitations of existing methods and is able to provide smooth, safety-guaranteed, dynamic-feasible, and time-efficient speed profiles. Third, we emphasize comfort while guaranteeing fundamental motion safety without sacrificing the mobility of cars by treating the comfort box constraint as a semi-hard constraint in optimization via slack variables and penalty functions, which distinguishes our method from existing ones. Fourth, we demonstrate that our problem preserves convexity with the added constraints, thus global optimality of solutions is guaranteed. Fifth, we showcase how our formulation can be used in various autonomous driving scenarios by providing several challenging case studies in both static and dynamic environments. A range of numerical experiments and challenging realistic speed planning case studies have depicted that the proposed method outperforms existing speed planners for autonomous driving in terms of constraint type covered, optimality, safety, mobility and flexibility.

Traditional path planning algorithms have drawbacks in unmanned vehicle path planning, such as low efficiency, unsuitability for dynamic environments, and high computational complexity. To address these issues, this paper proposes a dynamic path planning method for unmanned vehicles that combines the A* algorithm with an improved Dynamic Window Approach (DWA). Firstly, a collision risk function is incorporated into the DWA algorithm to evaluate scores based on the braking distance corresponding to the current vehicle speed and the distance to obstacles, determining whether timely braking or obstacle avoidance is feasible. The earlier the braking or obstacle avoidance, the higher the score, thereby enhancing the evaluation algorithm of the DWA. Secondly, the key points extracted by the A* algorithm are used as temporary target points for the DWA algorithm, reducing the eight search directions to five. Finally, the key points of the A* algorithm’s path are set as the temporary end points for the DWA algorithm, integrating the two algorithms to plan a smoother curved path that can avoid unknown and dynamic obstacles. Simulation data demonstrates that compared to traditional artificial potential field methods, RRT, and Dijkstra’s algorithm, the new fusion algorithm reduces time by 11.71 seconds, a decrease of 6.9%, and shortens path length by 3.093 meters, a reduction of 4.16%, while increasing average linear velocity by 2.9%. The proposed algorithm ensures smoother paths while also making paths more rational and efficient

Digital enabled manufacturing systems require high level of automation for fast and low-cost production but should also present flexibility and adaptiveness to varying and dynamic conditions in their environment, including the presence of human beings; However, this presence of workers in the shared workspace with robots decreases the productivity as the robot is not aware about the human position and intention which leads to concerns about the human safety. This issue is addressed in this work by designing a reliable safety monitoring system for collaborative robots (Cobots). The main idea here is, to significantly enhance safety by a combination of recognition of human actions using visual perception and at the same time interpreting physical human-robot contact by tactile perception. Two datasets containing contact and vision data are collected by using different volunteers. The action recognition system classifies human actions using the skeleton representation of the latter when entering the shared workspace and the contact detection system distinguishes between intentional and incidental interactions if a physical contact between human and cobot takes place. Two different deep learning networks are used for human action recognition and contact detection which in combination, are expected to lead to the enhancement of human safety and an increase of the level of cobot perception about human intentions. The results show a promising path for future AI-driven solutions in safe and productive human–robot collaboration (HRC) in industrial automation.

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.

The Sun is a frame at relative rest in which sunlight travels at the emitted speed c. Earth travels at the revolving speed v in this frame. The reflection of light as a mechanical phenomenon applies to the modified Michelson interferometer employed by Miller in his experiments with light from the Sun. Unlike the Tomaschek experiments, which use light from stars that may travel in the Universe at velocities different from that of the Sun, the fringe shifts in the Miller experiments are predictable. Based on Michelson's derivation, Miller expected in his experiments at Mount Wilson a 1.12 fringe shift and observed a fringe shift of 0.08 in 1921 and 0.088 in 1925. The reflection of light as a mechanical phenomenon predicts zero fringe shift for Miller's experiment agreeing only with his observations at the Cleveland laboratory in 1924.

In order to reduce the large damage caused by train derailment, protective facilities of various shapes and conditions can be installed on railroad tracks. These protective facilities are referred to as derailment containment provisions (DCPs) and three different types are used worldwide. However, there are no clear standards for DCPs design such as installation location, size, and design load, and performance verification of DCPs installed in the actual railway field is not sufficiently performed. In this paper, the functionality of DCPs is analyzed through the full-scale derailment test. In order to propose a method for estimating the collision load acting on the DCP type I after derailment, the experimental results and simulation results are compared. The function of DCP type I according to the change of the vehicle's center of gravity is identified through comparative analysis of the post derailment behavior.

In this paper, we first discuss the research status and application progress of the finite element method and the smoothed particle method. By analyzing the advantages of the smoothed particle method and the finite element method, a new coupling algorithm, namely FEM-SPH algorithm, is proposed. By the method of comparison, it shows that finite element method and SPH method in the simulation of large deformation problems each have advantages and disadvantages, the finite element method smoothed particle coupling algorithm is effective to achieve the performance of high computational efficiency and can naturally simulate large deformation problems across. In the process of calculation, the large deformation unit can be freely into an algorithm to facilitate the calculation accuracy and efficiency of three methods of numerical simulation. Through the study found, FEM-SPH algorithm not only overcome the defect of smooth particle tensile instability, but also overcomes the problem of low efficiency of finite element computation. To further test the FEM-SPH algorithm has advantages in the practical engineering, we have carried out the actual test to the example of the super high speed collision, concluded that, since the target of most of the computational domain is always finite element, smoothed particle focused only in contact with the projectile and target of local area, particle number is not much, the whole calculation process just ten minutes, computational efficiency has been greatly improved, at the same time in the simulation of large deformation, the advantage is very obvious .This provides a criterion for the actual project, depending on the specific material deformation mode and choose a more appropriate conversion algorithm.

Humans are evolutionary-driven to adult mating and conceive social expectations on the quality of their affiliations. The genetic susceptibility to adverse environments in critical periods can alter close relationships. The current research investigates how the promoter region of the Serotonin Transporter Gene (5-HTTLPR) and perceived caregiving behavior in childhood could influence the social expectations on close adult relationships. For this purpose, 5-HTTLPR data was collected from the buccal mucosa of 65 Italian individuals (33 males). The participants filled a) the Parental Bonding Instrument (PBI) to provide the levels of care and overprotection from mother and father, and b) the Experience in Close Relationships-Revised (ECR-R) to report the social expectations on the intimate relationship assessed in terms of anxiety and avoidance from the partner. An interaction effect between 5-HTTLPR and PBI dimensions on the ECR-R scores was hypothesized. Results confirmed that the interplay between the genetic groups and history of maternal overprotection predicted avoidance experienced in romantic relationships in adulthood. Moreover, both adult anxiety and avoidance felt in an intimate relationship were found to covary as a function of maternal overprotection. The present work proposes further evidence of the genetic and parental mechanisms regulating social expectations involved in close relationships.

Nineteen million Americans have significant vision loss. Over 70% of these are not employed full-time, and more than a quarter live below the poverty line. Globally, there are 36 million blind people, but less than half use white canes or more costly commercial sensory substitutions. The quality of life for visually impaired people is hampered by the resultant lack of independence. To help alleviate these challenges this study reports on the development of a low-cost (<$24), open-source navigational support system to allow people with the lost vision to navigate, orient themselves in their surroundings and avoid obstacles when moving. The system can be largely made with digitally distributed manufacturing using low-cost 3-D printing/milling. It conveys point-distance information by utilizing the natural active sensing approach and modulates measurements into haptic feedback with various vibration patterns within the distance range of 3 m. The developed system allows people with lost vision to solve the primary tasks of navigation, orientation, and obstacle detection (>20 cm stationary, moving up to 0.5 m/s) to ensure their safety and mobility. Sighted blindfolded participants successfully demonstrated the device for eight primary everyday navigation and guidance tasks including indoor and outdoor navigation and avoiding collisions with other pedestrians.

Laser irradiation of metals is widely used in research and applications. In this work, we study how the material geometry affects electron-phonon coupling in nano-sized gold samples: an ultrathin layer, nano-rod, and two types of gold nanoparticles: cubic and octahedral. We use the combined tight-binding molecular dynamics Boltzmann collision integral method implemented within XTANT-3 code to evaluate the coupling parameter in irradiation targets at high electronic temperatures (up to Te~20,000 K). Our results show that the electron-phonon coupling in all objects with the same fcc atomic structure (bulk, layer, rod, cubic and octahedral nanoparticles) is nearly identical at electronic temperatures above Te~7000 K, independently of geometry and dimensionality. At low electronic temperatures, reducing dimensionality reduces the coupling parameter. Additionally, nano-objects under ultrafast energy deposition experience nonthermal damage due to expansion caused by electronic pressure, in contrast to bulk metal. Nano-object ultrafast expansion leads to ablation/emission of atoms, and disorder inside of the remaining parts. These nonthermal atomic expansion and melting are significantly faster than electron-phonon coupling, forming a dominant effect in nano-sized gold.

The authors determined mass concentrations of 12 elements (As, Cd, Cr, Cu, Mn, Ni, Pb, Se, Sr, Tl, V, Zn) in blood and urine taken from 100 rural children living in unremarkable condition in the West Ural region of the Russian Federation. We applied inductively coupled plasma mass spectrometry in conformity with Methodical Guidelines 4.1. 3230-14 (FR.1.31.2014.17064) designed by us and detailed in the paper. The article contains setting parameters for Agilent 7500cx quadrupole inductively coupled plasma mass spectrometer . The authors present grounds for an optimal scheme of samples preparation which helps to eliminate "matrix" effect and explain why it is advisable to use reaction/collision functioning mode as it enables interference overlaps suppression.To prepare whole blood samples for analysis, we used acid dissolution in concentrated nitric acid followed by centrifugation. The arithmetic mean (AM) of element content in blood amounted to 0.34 µg/l (As); 0.39 µg/l (Cd); 6.41 µg/l (Cr); 866.11 µg/l (Сu); 13.73 µg/l (Mn); 5.86 µg/l (Ni); 23.65 µg/l (Pb); 87.43 µg/l (Se); 33.54 µg/l (Sr); 0.04 µg/l (Tl); 0.16 µg/l (V); 4713.48 µg/l (Zn). The validity of the results was confirmed by means of SERONORM ^TM Whole Blood L2 standard samples (Norway). Urine samples were directly analyzed after 1/10 (V/V) dilution with 1% nitric acid solution. The arithmetic mean of element content of urine corresponded to 18.99 µg/l (As); 0.12 µg/l (Cd); 1.91 µg/l (Cr); 13.28 µg/l (Сu); 0.96 µg/l (Mn); 1.84 µg/l (Ni); 0.83 µg/l (Pb); 22.55 µg/l (Se); 239.09 µg/l (Sr); 0.16 µg/l (Tl); 0.68 µg/l (V); 270.56 µg/l (Zn). The validity of the results was confirmed by analyzing the SERONORM ^TM standard urine samples (Norway). Regional differences from levels found in other countries included higher concentrations of Cr, Mn and Ni in blood and lower levels of Se and Zn levels in West Ural children. Urine concentrations of West Ural children showed higher levels of As and Sr.

People have long had a problem: the equations of motion that reflect the laws of physics are invariance under time inversion, while there always are irreversible processes for gases compose of microscopic particles. This article solves this problem. The point is that we should distinguish between the concepts of the equation of motion and motion. We also need to distinguish between the concepts of time-inverse motion and reverse motion. The former is anticlockwise, which is a frictional motion, while the latter is clockwise. For the single-particle motions in classical mechanics and in quantum mechanics, we present mathematical expressions for time-inversion motion and reverse motion, respectively. We demonstrate that single-particle motion is irreversible. The definition of the reversibility of two-particle collisions is given. According to the definition, the two-particle collision as a microscopic motion processes is irreversible. Consequently, for a gas consisting of a large number of particles colliding with each other, its movement should be irreversible, unless the condition of detailed balance is met. We give a physical explanation for the detailed balance, which does not concern the meaning of microscopic reversibility. The detailed balance means that after a pair of reciprocal collisions occur, the distribution function of the particles remains unchanged. Therefore, microscopic two-particle collision events are irreversible, but the statistical average of a large number of collision events makes it possible for the macroscopic process of a gas to be reversible. Conclusively, we clarify the microscopic mechanism of the irreversible process of gases.

Among the possible improvements of Autonomous Emergency Braking (AEB) systems, reducing the intensity of the automatic braking process by studying the kinematics and general behavior of the pedestrian while crossing is crucial to determine the progressiveness of the braking, or replacing part of the braking process by an evasive maneuver when a collision is imminent. This paper proposes the integration of an autonomous avoidance system (Automatic Emergency Steering, AES) that acts directly on the steering system to generate an evasive maneuver and avoid a possible pedestrian collision (OPREVU-AES system), as well as the assessment of its effectiveness compared to a commercial AEB system. OPREVU and VULNEUREA are research projects in which INSIA and CEDINT have cooperated to improve driving assistance systems and the safety of pedestrians and cyclists through Virtual Reality (VR) techniques. The analysis of the kinematic and dynamic response of the OPREVU-AES system is conducted in CarSim© software. The effectiveness evaluation procedure is based on the reconstruction of a sample of road vehicle-to-pedestrian crashes (INSIA-UPM database), using the PCCrash® software, and taking as an indicator the probability of head injury severity (ISP). The results show that the AEB system would have prevented part of the collisions, especially after the incorporation of the OPREVU-AES system. In most of the cases where avoidance is not possible, a significant reduction of the ISP is achieved.

This study explores the application of numerical analysis and material models to predict ice impact loads on ships and offshore structures operating in polar regions. An explicit finite element analysis (FEA) approach was employed to simulate an ice and steel plate collision experiment conducted in a cold chamber. The pressure and strain history during the ice collision were calculated and compared with the experimental results. Various material model configurations were applied to the FEA to account for the versatile behavior of ice—whether ductile or brittle—its elastic-plastic yield criteria, and its dynamic strain rate dependency. In addition to the standard linear elastic perfectly plastic and linear elastic-plastic relationships, this study incorporated the crushable foam and Drucker-Prager models, based on the specific ice yield criteria. Considering the ice’s strain rate dependency, collision simulations were conducted for each yield criteria model to compute the strain and reaction force of the plate specimens. By comparing the predicted pressures for each material model combination with the pressures from ice collision experiments, our study proposes material models that consider the yielding, damage, and behavioral characteristics of ice. Lastly, our study proposes a combination of ice material properties that can accurately predict collision force.

The use of logistic regression models in data analysis and machine learning has expanded in recent years and has become the primary preference of researchers in risk assessment studies across a wide range of scientific fields. From the assessment of credit risk in financial institutions to the estimation of risk factors for traffic accidents or the identification of etiological factors for chronic diseases. All logistic models are natural extensions of the simple binary model, and their interpretation is based on it. Using the data of a cross-sectional study on the risk factors of traffic collisions, the two main extended models of logistic techniques, multinomial and ordinal logistic regression, are presented in the article in detail. Emphasis is placed on the use of ordinal regression since the outcome variable of the collision data is defined as ordinal measurement reflecting a latent continuous scale.

Derivation of light paths in the Michelson interferometer is based on the hypothesis that the speed of light does not change after reflection by a mirror in motion. The Michelson-Morley experiment predicts a fringe shift of 0.40. The same fringe shift is predicted for a particular Michelson interferometer in which the beam splitter of the interferometer makes an angle of 45° with the direction of light from the source. Light behaves like a wave and also as a particle. Thus, it is reasonable to consider the reflection of light as a mechanical phenomenon. With this hypothesis, the speed of light changes after reflection, and the predicted fringe shift for the particular Michelson interferometer is zero which is in accordance with the result of the Michelson-Morley experiment. Apparently, light travels in any inertial frame as if this particular interferometer belongs to a fixed frame. The velocity of light is considered independent of the velocity of its source, which is in accordance with astronomers’ observations of the binary stars, and the experiment performed at CERN, Geneva, in 1964.

Thunderstorm electrification has been studied for hundreds of years. Several mechanisms have been proposed to elucidate the electrification, including convective charging, inductive precipitation charging, and ice crystal-graupel collision charging. Field observations and model studies have demonstrated the vital roles that graupel and ice crystals play in the electrification, but the mechanism of the collision charging is still unclear. The fundamental essence of relative growth rate theory used for explaining the tripole charge structure in thunderclouds also needs a further exploration. We analyze the processes of ice crystal-graupel collision charging from charge migration inside hydrometeors to charge separation between two hydrometeors. The driving effects of temperature gradient and chemical potential gradient in charge migration are clarified, as well as the applicability of the relative growth rate theory, thermoelectric effect and surface tension gradient in different humidities. Based on the understanding from these electrification mechanisms, we propose that the essence of charge separation is driven by non-thermal equilibrium, and future studies on thunderstorm electrification should focus on the dynamical non-thermal equilibrium of cloud particles.

This paper responds to the research question, “can urban farming help Nepali cities become more sustainable”? Especially after the Covid-19 pandemic, urban residents have begun to realize that food transported from long distances could not always be reliable. Urban farming can help produce fresh food locally and avoid long-distance transportation, and refrigeration. This practice also helps reduce greenhouse gases through plant carbon use efficiency (CUE). Urban farming not only helps city-dwellers towards achieving self-reliance in food production but also in vegetation carbon dynamics (VCD) while supporting the circular economy. Urban farming consists of edible landscapes, which can also be an aesthetic public space. As urban lands command higher prices than agricultural land, urban farming usually happens on residential yards, roofs, balconies, community gardens, and dedicated areas in public parks. Rainwater harvesting, and redirecting can help irrigate urban farms which can be part of rain gardens. The national census of 2021 (CBS 2022, p5) identifies that 66 percent of Nepal’s population live in urban areas. However, the World Bank (2018), shows that only 21 of Nepal’s population was projected to live in urban areas in 2021. It is not debatable that the urbanization process in Nepal is on the rise. Thus, urban agriculture can play an important role to supplement the residents’ food needs. Many cities in Nepal have already successfully adapted to urban farming where residents grow food on their building site, balconies, and rooftop often growing plants on pots, vases, and other types of containers. The UN-Habitat, with the support of European Union and local agencies, has published a rooftop farming training manual (2014) showing the feasibility of urban farming in Nepal.The paper discusses how Public Private Partnership (PPP) can promote urban agriculture and make the process more effective and attractive to urban farming households. It also analyzes how a PPP approach also facilitates the use of better technology, advisory support, and use of research extension activities. This paper draws on literature review, secondary data (e.g., from National Census Nepal 2021) and authors’ professional experiences related to best practices in the areas to analyze the benefits and challenges related to urban farming in Arizona, USA. The paper will provide recommendations for Nepali cities to maximize the benefit provided by urban farming. It is expected to be useful to Nepali policy makers, and government agencies, and nonprofit organizations which promote sustainability, and organic farming.

Irritable bowel syndrome (IBS) is one of the most common gastrointestinal diseases in humans. It is characterized by visceral pain and/or discomfort, hypersensitivity and abnormal motor responses along with change in gut habits. Although the etio-pathogenesis of IBS is only partially understood, a main role has been attributed to psychosocial stress of different origin. Animals models such as neonatal maternal separation, water avoidance stress and wrap restraint stress have been developed as psychosocial stressors in the attempt to reproduce the IBS symptomatology and identify the cellular mechanisms responsible for the disease. The study of these models has led to the production of drugs potentially useful for IBS treatment. This review intends to give an overview on the results obtained with the animal models; to emphasize the role of the enteric nervous system in IBS appearance and evolution and as a possible target of drug therapies.

Multiple Gateways (GWs) provide network connectivity to Internet of Things (IoT) sensors in a Wide Area Network (WAN). The End Nodes (ENs) can connect to any GW by discovering and acquiring its periodic beacons. This provides GW diversity and hence improves coverage. If the GWs are within vicinity to each other, and they keep sending periodic beacons to be discovered, the result is interference and collisions. In this study, the impact of such intra-network interference is analyzed to determine the maximum number of GWs that can co-exist within a given urban neighborhood. The paper shows the relationship between beacon collisions and the resulting packet loss rates in a given urban environment. The expected collision rates are calculated for the Medium Access Control (MAC) layer. The eventual packet loss rates are calculated with the MAC and Physical (PHY) layers combined. For this purpose, a new co-channel interference model is presented. The model calculates the average Carrier to Interference ratio (C/I) averaged across all the colliding events. It takes into account the partial overlap durations and the relative power of each colliding signal. The model shows that a collision does not always cause a packet loss. Packet losses occur if there is a collision and if the C/I is below a threshold. The performance evaluation is presented using a combination of analytical and simulation methods. The analytical methods provide the theoretical foundation, and have been used to validate the simulation results. Furthermore, the system models are developed from experimental data obtained from measurements with real hardware. Numerical results are provided with a low bit rate Gaussian Frequency Shift Keying (GFSK) modulation at the PHY layer, which is derived from the IEEE 802.15.4 standard specification. This paper provides guidance on selecting the right GFSK modulation parameters for such low bit-rate and narrow bandwidth IoT applications. The analysis and simulation results show that larger beacon intervals help in reducing beacon loss rates, at the cost of larger beacon acquisition latency. On the flip side, the gateway discovery latency reduces with increasing GW density thanks to abundance of beacons.

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

Many academics are critical of the current publishing system, but it is difficult to create a better alternative. This review relates to the Sciences and Social Sciences, and discusses the primary purpose of academic journals as providing a seal of approval for perceived quality, impact, significance, and importance. The key issues considered include the role of anonymous refereeing, continuous rather than discrete frequency of publications, avoidance of time wasting, and seeking adventure. Here we give recommendations about the organization of journal articles, the roles of associate editors and referees, measuring the time frame for refereeing submitted articles in days and weeks rather than months and years, encouraging open access internet publishing, emphasizing the continuity of publishing online, academic publishing as a continuous dynamic process, and how to improve research after publication. Citations and functions thereof, such as the journal impact factor and h-index, are the benchmark for evaluating the importance and impact of academic journals and published articles. Even in the very top journals, a high proportion of published articles are never cited, not even by the authors themselves. Top journal publications do not guarantee that published articles will make significant contributions, or that they will ever be highly cited. The COVID-19 world should encourage academics worldwide not only to rethink academic teaching, but also to re-evaluate key issues associated with academic journal publishing in the future.

Low Power Wide Area Networks (LPWAN) enable a growing number of Internet-of-Things (IoT) applications with large geographical coverage, low bit-rate, and long lifetime requirements. LoRa (Long Range) is a well-known LPWAN technology that uses a proprietary Chirp Spread Spectrum (CSS) physical layer, while the upper layers are defined by an open standard - LoRaWAN. In this paper, we propose a simple yet effective method to improve the Quality-of-Service (QoS) of LoRa networks by fine-tuning specific radio parameters. Through a Mixed Integer Linear Programming (MILP) problem formulation, we find optimal settings for the Spreading Factor (SF) and Carrier Frequency (CF) radio parameters, considering the network traffic specifications as a whole, to improve the Data Extraction Rate (DER) and to reduce the packet collision rate and the energy consumption in LoRa networks. The effectiveness of the optimization procedure is demonstrated by simulations, using LoRaSim for different network scales. In relation to the traditional LoRa radio parameter assignment policies, our solution leads to an average increase of 6% in DER, and a number of collisions 13 times smaller. In comparison to networks with dynamic radio parameter assignment policies, there is an increase of 5%, 2.8%, and 2% of DER, and a number of collisions 11, 7.8 and 2.5 times smaller than equal-distribution, Tiurlikova's (SoTa), and random distribution, respectively. Regarding the network energy consumption metric, the proposed optimization obtained an average consumption similar to Tiurlikova's, and 2.8 times lower than the equal-distribution and random dynamic allocation policies. Furthermore, we approach the practical aspects of how to implement and integrate the optimization mechanism proposed in LoRa, guaranteeing backward compatibility with the standard protocol.