A number of Unidentified Aerial Phenomena (UAP) encountered by military, commercial, and civilian aircraft have been reported to be structured craft that exhibit 'impossible' flight characteristics. We consider a handful of well-documented encounters, including the 2004 encounters with the Nimitz Carrier Group off the coast of California, and estimate lower bounds on the accelerations exhibited by the craft during the observed maneuvers. Estimated accelerations range from almost 100g to 1000s of g's with no observed air disturbance, no sonic booms, and no evidence of excessive heat commensurate with even the minimal estimated energies. In accordance with observations, the estimated parameters describing the behavior of these craft are both anomalous and surprising. The extreme estimated flight characteristics reveal that these observations are either fabricated or seriously in error, or that these craft exhibit technology far more advanced than any known craft on Earth. In many cases, the number and quality of witnesses, the variety of roles they played in the encounters, and the equipment used to track and record the craft favor the latter hypothesis that these are indeed technologically advanced craft. The observed flight characteristics of these craft are consistent with the flight characteristics required for interstellar travel. That is, if these observed accelerations were sustainable in space, then these craft could easily reach relativistic speeds within a matter of minutes to hours and cover interstellar distances in a matter of days to weeks, proper time.

The present grievous situation of the tuberculosis disease can be improved by efficient case management and timely follow-up evaluations. With the advent of digital technology this can be achieved by quick summarization of the patient-centric data. The aim of our study was to assess the effectiveness of the ODK Scan paper-to-digital system during testing period of three months. A sequential, explanatory mixed-method research approach was employed to elucidate technology use. Training, smartphones, application and 3G enabled SIMs were provided to the four field workers. At the beginning, baseline measures of the data management aspects were recorded and compared with endline measures to see the impact of ODK Scan. Additionally, at the end, users’ feedback was collected regarding app usability, user interface design and workflow changes. 122 patients’ records were retrieved from the server and analysed for quality. It was found that ODK Scan recognized 99.2% of multiple choice bubble responses and 79.4% of numerical digit responses correctly. However, the overall quality of the digital data was decreased in comparison to manually entered data. Using ODK Scan, a significant time reduction is observed in data aggregation and data transfer activities, however, data verification and form filling activities took more time. Interviews revealed that field workers saw value in using ODK Scan, however, they were more concerned about the time consuming aspects of the use of ODK Scan. Therefore, it is concluded that minimal disturbance in the existing workflow, continuous feedback and value additions are the important considerations for the implementing organization to ensure technology adoption and workflow improvements.

Based on the demographic shift and the related challenges resulting from the growing number of elderly and persons with chronic diseases, the idea of smart home that supports its inhabitants in the daily life, gains importance. The purpose of this paper was to examine in a prototypic Ambient Assisted Living environment if users after interaction with different health-supporting applications intend to use such in the future. Two experimental studies exemplary show possible applications of home-integrated technology that can support, assist and accompany the target group in different contexts, and examine to what extent participants are willing to future use such sophisticated technology at home. The results show that people in general, but especially the old and chronically ill ones are quite fascinated of health-supporting ambient technology and the majority intends to use such ambient assistance in the future (study I). Moreover, serious games for healthcare are shown as a hedonic use of technology in smart homes that have a great potential to retain or improve the physical health, mobility and the overall well-being of the inhabitants (study II). The article provides two examples of ambient technology to leverage the demographic change and presents important user factors for facilitating high user acceptance.

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

This study was designed for the first time to improve phenolic yield and antioxidant activity of ultrasonic-assisted extraction from Acer truncatum leaves (ATL) using response surface methodology, and phenolic composition in ATL extracted under the optimized condition were characterized by UPLC-QTOF-MS/MS. Solvent and extraction time were selected based on preliminary experiments, and a four-factors-three-levels central composite design was conducted to optimize solvent concentration (X₁), material-to-liquid ratio (X₂), ultrasonic temperature (X₃) and power (X₄) for an optimal total phenol yield (Y₁) and DPPH• antioxidant activity (Y₂). The results showed that the optimal combination was ethanol: water (v:v) 66.21%, material-to-liquid ratio 1:15.31 g/mL, ultrasonic temperature 60 °C, power 267.30 W, and time 30 min with three extractions, giving a maximal total phenol yield of 7593.62 mg gallic acid equivalent /100 g d.w. and a maximal DPPH• antioxidant activity of 74241.61 μmol Trolox equivalent/100 g d.w.. Furthermore, 22 phenolics were first identified in ATL extract obtained under the optimized conditions, indicating that gallates, gallotannins, quercetin, myricetin and chlorogenic acid derivatives were the main phenolic composition in ATL. What’s more, a gallotannins pathway existing in ATL from gallic acid to penta-O-galloyl-glucoside was interpreted. All these results provided practical information aiming at full utilization of phenolics in ATL, together with fundamental knowledge for further research.

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

In this paper, a novel permanent magnet-assisted synchronous reluctance machine (PMASynRM) with rare-earth PMs and ferrite magnets is proposed. The performance of PMASynRM is discussed with respected to the different magnet ratio of rare-earth PMs and ferrite magnets. Some characteristics including the flux density, output torque, cogging torque, output power, power factor, torque ripple, loss, efficiency, and demagnetization are calculated by 2-D finite element analysis (FEA). The analysis results show that the excellent performance can be obtained by using hybrid magnet of rare-earth PMs and ferrite magnets with the suitable magnet ratio, and provide some desirable cost-performance trade-off.

Road surface monitoring more specifically crack detection on the surface of the road pavement is a complicated task which is found vital due to critical nature of roads as elements of transportation infrastructure. Cracks on the road pavement is detectable using remotely sensed imagery or car mounted platforms. UAV’s are also considered as useful tools for acquiring reliable information about the pavement of the road. In This paper, an automatic method for crack detection on the road pavement is proposed using acquired videos from UAV platform. Selecting key frames and generating Ortho-image, violating non road regions in the scene are removed. Then through an edge based approach hypothesis crack elements are extracted. Afterwards, through SVM based classification true cracks are detected. Developing the proposed method, the generated results show 75% accuracy in crack detection while less than 10% of cracks are omitted.

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

The chemical graph theory is a subfield of mathematical chemistry which applies classic graph theory to chemical entities and phenomena. Chemical graphs are main data structures to represent chemical structures in cheminformatics. Computable properties of graphs lay the foundation for (quantitative) structure activity and structure property predictions - a core discipline of cheminformatics. It has a historic relevance for natural sciences, such as chemistry, biochemistry and biology, and is in the heart of modern disciplines, such as cheminformatics and bioinformatics. This review first covers the history of chemical graph theory, then provides an overview of its various techniques and applications for CASE, and finally summarises modern tools using chemical graph theory for CASE.

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

Not a lot is known about either death or the dying process. Politicians and many in the medical profession in the UK tend to shy away from interfering with it by not allowing euthanasia as an end of life option for the patient. This is the first paper in a series of two, comparing the situation in human medicine and veterinary medicine, in which euthanasia is well practiced for relieving suffering at the end of an animal’s life. This first part takes the form of a literature review including best practice around end of life care, its deficiencies and the need for assisted dying. Veterinary surgeons are well trained in the ethics of euthanasia and put it to good use in the best interest of their animal patients. In countries which have legalized physician assisted suicide for the terminally ill reporting indicates that it works well, without increases in involuntary euthanasia and most importantly without intimidation of the vulnerable. However, there is still an ever increasing tendency to overuse sedation and opioids at the end of life, which merits further investigation. With advances in medical science able to significantly prolong the dying process, patient autonomy demands a review of the law in the UK.

This paper addresses a wildlife monitoring problem using a team of UAVs for efficient monitoring of wildlife. The state-of-the-art technology using UAVs has been an increasingly popular tool to monitor wildlife compared to the traditional methods such as satellite imagery-based sensing or GPS trackers. However, there still exist unsolved problems as to how the UAVs need to cover a spacious domain to detect animals as many as possible. In this paper, we propose the optimal transport-based wildlife monitoring strategy for a multi-UAV system, to prioritize monitoring areas while incorporating complementary information such as GPS trackers and satellite-based sensing. Through the proposed scheme, the UAVs can explore the large-size domain effectively and collaboratively with a given priority. The time-varying nature of wildlife due to their movements is modeled as a stochastic process, which is included in the proposed work to reflect the spatio-temporal evolution of their position estimation. In this way, the proposed monitoring plan can lead to efficient wildlife monitoring with a high detection rate. Various simulation results including statistical data are provided to validate the proposed work.

Background and Objectives: Acute compartment syndrome (ACS) is an emergency condition of the lower limb in which prophylactic fasciotomy is required to prevent complications. A negative pressure wound therapy (NPWT) used to the treatment of fasciotomy wounds provide beneficial clinical results. This study aimed to exchange the authors’ experience of using the NPWT installation system on the lower limb wounds after fasciotomy in ACS. Materials and Methods: This is a retrospective study enrolled consecutive patients with ACS, who underwent fasciotomy and was treated with the NPWT installation system at Department of Vascular Surgery, Provincial Hospital in Kielce from April 2016 to July 2017. Results: The study enrolled 15 patients with a diagnosis of ACS (87% men, mean age 65 years old). An open four-compartment fasciotomy (87%) or two-compartment fasciotomy (13%) was performed. The NPWT was applied on the first day after fasciotomy in 87% of patients. Therapy was initiated by the negative pressure of 125 mm Hg, which maintained at this level until the therapy was finalized. In 80% of patients, the vacuum-assisted wound closure (VAC) dressing changes were performed every 3 days. The first approximation of fasciotomy wounds margins occurred on the 4th day after surgery among 67% of individuals. The average time of using VAC on fasciotomy wounds was 9 days. The average time to definitive closure edges of fasciotomy wounds was 12 days. The average time of hospital stay was 17 days. Conclusions: Our experience indicates the legitimacy of using NPWT in wound treatment after fasciotomy in ACS. The NPWT enables faster primary closure of wounds, reduces edema, as well as decreases hospitalization time.

Unmanned aerial vehicles (UAVs)-based communication system is a promising solution to meet coverage and capacity requirements of future wireless networks. However, UAV-enabled communications is constrained with its coverage, energy consumption, and flying regulations, and the number of works focusing on the sustainability aspect of UAV-assisted networking has been limited in the literature so far. In this paper, we propose a solution to this limitation; particularly, we design a $Q$-learning-based UAV positioning scheme for sustainable wireless connectivity considering key constraints, that are, altitude regulations, non-flight zones, and transmit power. The objective is to find the optimal position of the UAV base station (BS) and minimize the energy consumption while maximizing the number of users covered. Moreover, a weighting mechanism is developed, where the energy consumption and number of users covered can be prioritized according to network/battery conditions. The proposed Q-learning-based solution is compared to the baseline k-means clustering method, where the UAV BS is positioned at the centroid location that minimizes the cumulative distance between the UAV BS and the users. The results demonstrate that the proposed solution outperforms the baseline k-means clustering-based method in terms of the number of users covered while achieving the desired minimization of the energy consumption.

There are currently around 78 Nuclear Power Plants (NPP) in the world based on Boiling Water Reactors (BWR). The current parameter to assess BWR instability issues is the linear Decay Ratio (DR). However, it is well known that BWRs are complex non-linear dynamical systems that may even exhibit chaotic dynamics that normally preclude the use of the DR when the BWR is working at a specific operating point during instability. In this work a novel methodology based on an adaptive Shannon Entropy estimator and on Noise Assisted Empirical Mode Decomposition variants is presented. This methodology was developed for real-time implementation of a stability monitor. This methodology was applied to a set of signals stemming from several NPPs reactors (Ringhals-Sweden, Forsmark-Sweden and Laguna Verde-Mexico) under commercial operating conditions, that experienced instabilities events, each one of a different nature

Infertility affects approximately 15% of couples worldwide, an estimated 30% of which is related to male factor infertility. Application of low level laser therapy (LLLT) to improve fertility status is a rapidly growing discipline in medicine. Laser therapy triggers a variety of biological processes through interaction with primary cellular photoacceptors. The present review aims at evaluating the literature available in the MEDLINE/ PubMed on cellular and molecular mechanisms of photobiomodulation in the domains of reproductive and veterinary medicine. We primarily focused on the clinical application of laser treatment on seminal quality, in particular its role in promoting spermatozoa motility, as well as the role of phototherapy in modulating assisted reproduction (ART). Additionally, we investigated the strength of evidence in support of the positive impact of photobiomodulation on facilitating ART.

This is the second of a series of two papers comparing the end of life issues in human and veterinary medicine. We outline the main differences between human and animal patients such as patient communication, finance and ‘conflicts of interest’ between animal, owner and veterinarian. We discuss striking similarities between human and veterinary issues such as assessing quality of life and the primary role of the attending veterinarian or doctor being the welfare and care of the patient. This paper takes the form of an ethical argument in favour of allowing euthanasia in human medicine, by providing insights into end of life issues for humans from an independent veterinary perspective. Veterinary surgeons are well trained in the ethics of euthanasia and put it to good use in the best interest of their animal patients. Doctors in the UK are limited and unwilling to put forward a case for the option of euthanasia for those patients who face a slow and agonizing death. With advances in medical science being able to significantly prolong the dying process, autonomy for the patient demands a review of the law regarding patient choice in the UK.

This article proposes the use of a multi-scale and multi-sensor approach to collect and modelling 3D data concerning wide and complex areas in order to obtain a variety of metric information in the same 3D archive, based on a single coordinate system. The employment of these 3D georeferenced products is multifaceted and the fusion or integration among different sensors data, scales and resolutions is promising and could be useful for the generation of a model that could be defined as hybrid. The correct geometry, accuracy, radiometry and weight of the data models are hereby evaluated comparing integrated processes and results from Terrestrial Laser Scanner (TLS), Mobile Mapping System (MMS), Unmanned Aerial Vehicle (UAV), terrestrial photogrammetry, using Total Station (TS) and Global Navigation Satellite System (GNSS) as topographic survey. The entire analysis underlines the potentiality of the integration and fusion of different solutions and is a crucial part of the “Torino 1911” project whose main purpose is mapping and virtually reconstructing the 1911 Great Exhibition settled in the Valentino Park in Turin (Italy).

The ectoparasitic mite Varroa destructor is the most significant pathological threat to the western honey bee, Apis mellifera, leading to the death of most colonies if left untreated. An alternative approach to chemical treatments is to selectively enhance heritable honey bee traits of resistance or tolerance to the mite through breeding programs, or select for naturally surviving untreated colonies. We conducted a literature review of all studies documenting traits of A. mellifera populations either selectively bred or naturally selected for resistance and tolerance to mite parasitism. This allowed us to conduct an analysis of the diversity, distribution and importance of the traits in different honey bee populations that can survive V. destructor throughout the globe. In a second analysis, we investigated the genetic bases of these different phenotypes by comparing ’omics studies (genomics, transcriptomics, and proteomics) of A. mellifera resistance and tolerance to the parasite. Altogether, this review provides a detailed overview of the current state of the research projects and breeding efforts against the most devastating parasite of A. mellifera. By highlighting the most promising traits of varroa-surviving bees and our current knowledge on their genetic bases, this work will help direct future research efforts and selection programs to control this pest. Additionally, by comparing the diverse populations of honey bees that exhibit the traits, this review highlights the consequences of anthropogenic and natural selection on the interactions between hosts and parasites.

The use of small Unmanned Aircraft Systems (sUAS ) as platforms for data capture has rapidly increased in recent years. However, while there has been significant investment in improving the aircraft, sensors, operations, and legislation infrastructure for such, little attention has been paid to supporting the management of the complex data capture pipeline sUAS involve. This paper reports on the outcomes of a four-year-long community-engagement-based investigation into what tools, practices, and challenges currently exist for particularly researchers using sUAS as data capture platforms. The key results of this effort are: (1) sUAS captured data – as a set that is rapidly growing to include data in a wide range of Physical and Environmental Sciences, Engineering Disciplines, and many civil and commercial use cases – is characterised as both sharing many traits with traditional remote sensing data and also as exhibiting – as common across the spectrum of disciplines and use cases – novel characteristics that require novel data support infrastructure. And (2), given this characterization of sUAS data and its potential value in the identified wide variety of use case, we outline eight challenges that need to be addressed in order for the full value of sUAS captured data to be realized. We then conclude that there would be significant value gained and costs saved across both commercial and academic sectors if the global sUAS user and data management communities were to address these challenges in the immediate to near future, so as to extract the maximal value of sUAS captured data for the lowest long-term effort and monetary cost.

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

Dislocation is one of the major challenges in unmanned aerial vehicle (UAV) image stitching. In this paper, we propose a new dynamic programming for seamlessly stitching UAV images using optical flow. Our solution consists of two steps: Firstly, an image-matching algorithm is used to correct the images so that they are in the same coordinate system. Secondly, a new dynamic programming algorithm is develop based on the concept of a stereo dual-channel energy accumulation using optical flow. A new energy aggregation and traversal strategy is adopted in our solution, which can find a more optimal seam line for adjacent image stitching. Our algorithm overcomes the theoretical limitation of the classical Duplaquet algorithm. Experiments show that the algorithm can effectively solve the dislocation problem in UAV image stitching. Beyond that, our solution is also direction-independent, which has more adaptability and robustness for UAV images.

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

The precise prediction of air contaminant dispersion is essential to the air quality monitoring and the emergency management of the contaminant gases leakage incidents in the chemical industry park. The conventional atmospheric dispersion models can seldom give precise prediction due to inaccurate input parameters. In order to improve the prediction accuracy of dispersion model, two data assimilation methods (i.e. one is merely based on the typical particle filter while the other is a combination of particle filter and expectation-maximization algorithm) are proposed to assimilate the UAV observations into the atmospheric dispersion model. Two emission cases are taken into consideration, the difference between which is the different dimensions of state variables. To test the performances of the proposed methods, experiments corresponding to the two emission cases are designed and implemented. The results show that the particle filter can effectively estimate the model parameters and improve the accuracy of model prediction when the dimension of state variables is low. In contrast, when the dimension of state variables becomes higher, the method of particle filter combining expectation-maximization algorithm performs better in the parameter estimation accuracy and warm-up time. Therefore, the data assimilation methods are able to effectively support the air quality monitoring and emergency management in chemical industry parks.

In this paper, a new design of a helium-assisted hybrid drone is proposed for flight time enhancement. As is widely known, most of the drones with a VTOL (vertical take-off and landing) feature have a short operation time, limiting their capability to carry out sustainable operations for the given missions. Thus, with the clear goal of enhancing the flight time, this study aims to develop a hybrid drone system, where a helium balloon is used to provide a lifting force for this purpose. The proposed design for the hybrid drone has several benefits including easiness to manufacture and relatively small size when compared to other types of hybrid drones. Various analyses are conducted for the design of the hybrid drone system including the balloon shape and size, buoyant force, flight time, and connector design. Since stability and performance are one of the most important issues for the new design, the pole location analysis is conducted based on the control theory. This rigorous analysis provides that the proposed hybrid drone design is stable as well as robust against swinging motions. To validate the effectiveness of the proposed design and flight time enhancement, simulations were conducted and experimental results are also provided using the manufactured hybrid drone system. Through the real experiments, it is proved that the hybrid drone can increase the flight time more than 2.5 times while guaranteeing stable motions.

Cannabis is a flowering plant that has long been used for medicinal, therapeutic, and recreational purposes. Cannabis contains more than 500 different compounds, including a unique class of terpeno-phenolic compounds known as cannabinoids; Δ9-tetrahydrocannabinol (THC) and cannabidiol (CBD) are the most prevalent cannabinoids and have been associated with the therapeutic and medicinal properties of the cannabis plant. In this paper, continuous flow microwave assisted extraction (MAE) is presented and compared with other methods for commercial cannabis extraction. The practical issues of each extraction method are discussed. The main advantages of MAE are: continuous-flow method which allows for higher volumes of biomass to be processed in less time than existing extraction methods, improved extraction efficiency leading to increased final product yields, improved extract consistency and quality because the process does not require stopping and restarting material flows, and ease of scale-up to industrial scale without the use of pressurised batch vessels. Moreover, due to the flexibility of changing the operation conditions, MAE eliminates additional steps required in most extraction methods, such as biomass decarboxylation, winterisation, which typically adds at least a half day to the extraction process. Another factor that sets MAE apart is the ability to achieve high extraction efficiency even at the industrial scale. Whereas the typical recovery of active compounds using supercritical CO¬2 remains around 70-80%, via MAE up to 95% of the active compounds from cannabis biomass can be recovered at the industrial scale.

Alfalfa (Medicago sativa L.) is a perennial, outcrossing legume crop predominantly grown for hay, silage, or pasture. Intensive selection has resulted in dramatic improvement in fitness traits, including winter survival and disease resistance. However, there has been minimal improvement in other economically important traits, such as hay yield, which is still comparable to 30 years ago. Intensive phenotyping costs on this type of trait hinder high selection pressure to identify superior outcross individuals. Severe inbreeding depression inhibits the development of inbred lines with accumulated favorable alleles that exhibit heterosis. This review highlights the outcomes of inbreeding depression as well as the causes, including unmasking deleterious alleles and triggering self-incompatibility. We tracked the research efforts that unveil the genetic bases underlying deleterious alleles and self-incompatibility. The magnitudes of inbreeding depression were compared with the rate of heterozygous halved time in diploid and tetraploid organisms. To fill in the gaps between the controversy and existing hypotheses, we theorized a dosage dominant model of inheritance. The dosage dominant model is similar to the Mendelian dominance model, in which a genotype exhibits a dominant phenotype if there is a dominant allele (alphabet dominant). The difference is that in the dosage dominant model, a genotype will result in a dominant phenotype if the number of dominant alleles is equal to or greater than the number of recessive alleles. This review also includes a discussion on the development of pseudo inbreds and a hypothesis to identify deleterious alleles using bulked segregant analysis and consequently to purge deleterious alleles using marker-assisted selection, to progress toward the successful development of pure inbred lines in alfalfa.

This paper proposes a hybrid medium access control (MAC) protocol for wireless sensor network (WSN) data gathering, employing unmanned aerial vehicles (UAV). The UAV sends a beacon frame periodically to inform sensor nodes regarding its presence. Afterward, each sensor node which receives beacon frame contends to send registration frame to the UAV. The UAV will transmit the second beacon frame to the registered nodes to notify their transmission schedule. The time-slot scheme is used for the transmission schedule. The transmission schedule of each sensor is determined based on their priority. Specifically, the priority of each sensor is determined during the registration process. Furthermore, the architecture of UAV-WSN data gathering system is introduced in this paper. Simulations are performed, showing that the proposed MAC protocol achieves fairness while enhancing network performance.

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

Low-cost miniature hyperspectral and thermal cameras onboard lightweight unmanned aerial vehicles (UAV) bring new opportunities for monitoring land surface variables at unprecedented fine spatial resolution with acceptable accuracy. This research applies hyperspectral and thermal imagery from a drone to quantify upland rice growth and water use efficiency (WUE) after biochar application in a Costa Rican dry region. The field flights were conducted over two experimental groups with bamboo biochar and sugarcane biochar amendments and one control group without biochar application. Rice canopy biophysical variables were estimated by inversion of a canopy radiative transfer model on hyperspectral reflectance. Variations in gross primary production (GPP) and WUE across treatments were estimated from the normalized difference vegetation index (NDVI), canopy chlorophyll content (CCC), and evapotranspiration. We found that GPP was increased by 41.9±3.4 % when using bamboo biochar and 17.5±3.4 % when using sugarcane biochar, which was probably due to higher soil moisture in the biochar-amended plots and led to significantly higher WUE by 40.8±3.5 % in bamboo biochar and 13.4±3.5 % in sugarcane biochar. This study demonstrated the use of hyperspectral and thermal imagery from drone to provide indicators for quantifying biochar effects on tropical dry cropland by integrating with ground point samples and physical models.

Unmanned aerial vehicles (UAV) provide an unprecedented capacity to monitor the development and dynamics of tree growth and structure through time. It is generally thought that the pruning of tree crops encourages new growth, has a positive effect on fruiting, makes fruit-picking easier, and may increase yield, as it increases light interception and tree crown surface area. To establish the response of pruning in an orchard of lychee trees, an assessment of changes in tree structure, i.e. tree crown perimeter, width, height, area and Plant Projective Cover (PPC), was undertaken using multi-spectral UAV imagery collected before and after a pruning event. While tree crown perimeter, width and area could be derived directly from the delineated tree crowns, height was estimated from a produced canopy height model and PPC was most accurately predicted based on the NIR band. Pre- and post-pruning results showed significant differences in all measured tree structural parameters, including an average decrease in tree crown perimeter of 1.94 m, tree crown width of 0.57 m, tree crown height of 0.62 m, tree crown area of 3.5 m², and PPC of 14.8%. In order to provide guidance on data collection protocols for orchard management, the impact of flying height variations was also examined, offering some insight into the influence of scale and the scalability of this UAV based approach for larger orchards. The different flying heights (i.e. 30, 50 and 70 m) produced similar measurements of tree crown width and PPC, while tree crown perimeter, area and height measurements decreased with increasing flying height. Overall, these results illustrate that routine collection of multi-spectral UAV imagery can provide a means of assessing pruning effects on changes in tree structure in commercial orchards, and highlight the importance of collecting imagery with consistent flight configurations, as varying flying heights may cause changes to tree structural measurements.

There is great importance and need of improving existing carbon materials fabrication methods. As such, this work proposes to discuss, interrogate, and propose viable hydrothermal, solvothermal, and other advanced carbon materials synthetic methods. The advanced carbon materials to be interrogated will include the synthesis of carbon dots, carbon nanotubes, nitrogen/titania-doped carbons, graphene quantum dots, and their nanocomposites with solid/polymeric/metal oxide supports. This will be done with special mind to microwave-assisted solvothermal and hydrothermal synthesis due to their favourable properties such as rapidity, low cost, and green/environmentally-friendliness. Thus, these methods are important during the current and future synthesis and modification of advanced carbon materials for application in energy, gas separation, sensing, and water treatment. Simultaneously, the work will pay special cognizance to methods reducing the fabrication costs and environmental impact while enhancing the properties as a direct result of the synthesis methods. As a direct result, the expectation is to impart a significant contribution to the scientific body of work regarding the improvement of the said fabrication methods.

MAPLE (matrix assisted pulsed laser evaporation) depositions of Candida Rugosa lipase were carried out from ice matrices whose composition is optimized in order to minimize conformational damage of the protein, which strongly influences its catalytic activity. To induce lid opening and to protect lipase during the MAPLE process, pentane and m-DOPA amino acid were added to the liquid matrix giving a target formed by a frozen water-lipase-pentane microemulsion. FTIR and AFM were used to investigate the structure of MAPLE deposited lipase films. The ability of MAPLE films to promote transesterification was determined by thin layer chromatography. It was shown that m-DOPA has influence on the aggregation but not on the unfolding of lipase induced by MAPLE, while the microemulsion formed by the addition of pentane to the target composition is effective in protecting lipase during the MAPLE process. MAPLE deposited lipases showed a modified specificity.

Mapping short-term wetland vegetation and water storage changes is valuable for monitoring the biogeochemical processes of wetland systems. Old Woman Creek National Estuarine Research Reserve is a dynamic freshwater estuary that experiences intermittent changes in water level over the course of a year. Small unmanned aerial systems (sUAS) are useful tools in monitoring changes as they are rapidly deployed, repeatable, and high-resolution. In this study, commercial quadcopters were paired with a red/green/near-infrared MAPIR Survey 3W camera to produce normalized difference vegetation index (NDVI) and normalized difference water index (NDWI) maps to observe short-term changes at OWC. Orthomosaics were produced for flights on 8 days throughout 2018 and early 2019. The orthomosaics were calibrated to bottom-of-atmosphere reflectance using the Empirical Line Correction method and NDVI and NDWI maps were created. The NDVI pixel values were used to generate maps of vegetation extent showing density changes over time. Identifying dominant vegetation in these maps allowed for the application of the National Estuarine Reserve System (NERRS) Classification Codes to zones of interest. NDWI provided water extent at different water levels and when paired with LiDAR and bathymetric data yielded water volume and residence time estimates. The produced maps contribute to the overall understanding of habitats affected by water inundation variations.

Spherical microparticles of TiO₂ were synthesized by the ionic liquid-assisted solvothermal method at different reaction time (3, 6, 12 and 24h). The properties of the prepared photocatalysts were investigated by means of UV-vis diffuse-reflectance spectroscopy (DRS), BET surface area measurements, scanning electron microscopy (SEM), X-ray diffraction analysis (XRD), and X-ray photoelectron spectroscopy (XPS). The results indicated that the efficiency of phenol degradation was related with a time of the solvothermal synthesis as determined for TiO₂_EAN(1:1)_24h sample. Microparticles of TiO₂_EAN(1:1)_3h formed during the only 3h of synthesis time revealed really high photoactivity under visible irradiation – 75%. This value increased to 80% and 82% after 12h and 24h, respectively. The photoactivity increase was accompanied by the increase of the specific surface area thus pores size, as well as ability to absorb UV-vis irradiation. The high efficiency of phenol degradation of IL-TiO₂ photocatalysts was ascribed to the interaction between the surface of TiO₂ and ionic liquid components (carbon and nitrogen).

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

The persistent issue of bacterial and fungal colonization of artificial implantable materials and decreasing efficacy of conventional systemic antibiotics used to treat implant-associated infections has led to the development of a wide range of antifouling and antibacterial strategies. This article reviews one such strategy where inherently biologically active renewable resources, i.e. secondary plant metabolites (SPMs) and their naturally occurring combinations (i.e. essential oils) are used for surface functionalization and synthesis of polymer thin films. With a distinct mode of antibacterial activity, broad spectrum of action and diversity of available chemistries, secondary plant metabolites present an attractive alternative to conventional antibiotics. However, their conversion from liquid to solid phase without significant loss of activity is not trivial. Using select examples, this article shows how plasma techniques provide a sufficiently flexible and chemically reactive environment to enable the synthesis of biologically-active polymer-coatings from volatile renewable resources.

The increased availability of high resolution remote sensor data for precision agriculture 1 applications permits users to aquire deeper and more relevant knowledge about crops states that lead 2 inevitably to better decisions. The algorithm libraries being developed and evolved around these 3 applications rely on multi-spectral or hyper-spectral data acquired by using manned or unmanned 4 platforms. The current state of the art makes thorough use of vegetational indicies to guide the 5 operational management of agricultural land plots. One of the most challenging sub-problems is 6 to correctly identify and separate crop from soil. Thresholding techniques based on Normalized 7 Difference Vegetation Index (NDVI) or other such similar metrics have the advantage of being simple, 8 easy to read transformations of the data packed with useful information. Obvious difficulties arise 9 when crop/tree and soil have similar spectral responses as in case of grass filled areas in vineyards. 10 In this case grass and canopy are close in terms of NDVI values and thresholding techniques will 11 generally fail. Radiometric approaches could be integrated or replaced by a geometric approach that 12 is based on terrain data like Digital Surface Models (DSMs). These models are one of the ouputs 13 of orthorectification engines usually present in data acquired by using unmanned platforms. In 14 this paper we present two approaches based on DSM that are able to segment crop/tree from soil 15 while over gradient terrain. The DSM data are processed through a two dimensional data slicing or 16 reduction technique. Each slice is separately processed as a one dimensional time series to derive the 17 terrain and tree structures separately, here interpreted as object probability densities. In particular 18 the first approach is a Cartesian grid rasterization (CARSCAN) of the terrain and the second is its 19 immediate generalisation or radial grid rasterization of the DSM model (FANSCAN). The FANSCAN 20 recovers information from the original image at greater frequencies on the Fourier plane. These 21 approaches enable the identification of crop/tree from soil in case of slopes or hilly terrain without 22 any constraint on the displacement / direction of plant/tree row. The proposed algorithm uses pure 23 DSM information even if it is possible to fuse its output with other classifiers.

In this paper, firstly, some questionable formulas and conceptual oversights of previous reduced sigma set unscented transformation (UT) methods are revised through theoretical analysis. Then the revised UT methods based Kalman filters are used in a GPS/INS tightly-coupled system. The Kalman filter flows are the kind of square-root, since the square-root unscented Kalman filters (SRUKFs) can guarantee the stability of the system. By using the reduced sigma set SRUKFs (which contain simplex sigma set square-root unscented Kalman filter (S-SRUKF), spherical simplex sigma set square-root unscented Kalman filter (SS-SRUKF) and minimum sigma set square-root unscented Kalman filter (M-SRUKF)), the computation cost is greatly saved compared with the standard SRUKF, while the accuracy of the GPS/INS tightly-coupled system still maintained. The structure of the GPS/INS tightly-coupled system is in the form of error state, and the time updates of the state and the state covariance of SRUKFs are directly estimated without using UT, thus the computational time is also greatly saved. The pseudo-satellite is introduced to aid the system when the observation information is deficient, for example, when the GPS signal is deficient in the maneuver environment. By using the pseudo-satellite, the optimal performance of the system is guaranteed. Experiment of unmanned aerial vehicle (UAV) showed that the pseudo-satellite aided mechanism worked well.

Rice (Oryza sativa L.) supplies nourishment to about half of the population of the world's inhabitants. Of them, more than 2 billion people suffer from "hidden hunger" in which they are unable to meet the recommended nutrients or micronutrients from their daily dietary intake. Bio-fortification refers to developing micronutrient-rich diet foods using traditional breeding methods and modern biotechnology, a promising approach to nutrition enrichment as part of an integrated strategy for food systems. To improve the profile of rice grain for the biofortification related traits, understanding the genetics of important biofortification traits is required. Moreover, these attributes are quantitative in nature and are influenced by several genes and environmental variables. In the course of past decades, several endeavours such, as finding the important quantitative trait loci (QTLs) for improving the nutrient profile of rice seeds were successfully undertaken. In this review, we have presented the information regarding the QTLs identified for the biofortification traits in the rice.

Study question: What are the current trends of research in Human Assisted Reproduction around the world? Summary answer: USA is the leading country, followed by the UK, China, France and Italy. The largest research area is “laboratory techniques”, although other areas such as “public health”, “quality, ethics and law” and “female factor” are gaining ground worldwide. What is known already: Scientific research, especially in health and medical sciences, aims at addressing specific needs that society (and, especially, patients) perceives as pressing. One of the main challenges for policymakers and research funders alike is therefore to align research priorities to societal needs. We can thus think of research agendas in terms of a demand side (societal needs) and a supply side (research outputs). Research output in Human Assisted Reproduction has expanded in the past years, as indicated by the increasing number of scientific publications in indexed journals in this area. Nevertheless, no map of research related to assisted reproduction has been produced so far, hindering the identification of potential areas of improvement and need. Study design, size, duration: 26,000+ scientific publications (articles, letters, and reviews) on Human Assisted Reproduction produced worldwide between 2005 and 2016 were analyzed. These publications were indexed in PubMed or obtained from reference list of indexed publications included in the analysis.Participants/materials, setting, methods: The corpus of publications was obtained by combining the MeSH terms: “Reproductive techniques”, “Reproductive medicine”, “Reproductive health”, “Fertility”, “Infertility”, and “Germ cells”. Then it was analyzed by means of text mining algorithms (Topic Modeling (TM) based on Latent Dirichlet Allocation (LDA)), in order to obtain the main topics of interest. Finally, these categories were analyzed across world regions and time. Main results and the role of chance: We identified 44 main topics, which were further grouped in 11 macro categories, form larger to smaller: “laboratory techniques”, “male factor”, “quality, ethics and law”, “female factor”, “public health and infectious diseases”, “basic research and genetics”, “pregnancy complications and risks”, “general infertility and ART”, “psychosocial aspects”, “cancer”, and “research methodology”. The USA was the leading country in number of publications, followed by the UK, China, France and Italy. Interestingly, research contents in high income countries is fairly homogeneous across macro-categories, and it is dominated by “laboratory techniques” in Western and Southern Europe, and by “quality, ethics and law” in North America, Australia and New Zealand. In middle income countries we observe that research is mainly performed on “male factor”, and noticeably less on “female factor”. Finally, research on “public health and infectious diseases” predominates in low-income countries. Regarding temporal evolution of research, “laboratory techniques” is the most abundant topic on a yearly basis, and relatively constant over time. However, since production in most of the other categories is increasing, the relative contribution of this research category is actually decreasing. Publication is especially increasing in “public health and infectious diseases” (in all world regions, but especially in low income countries), “quality, ethics and law” (high income countries), and “female factor” (middle income countries). Limitations, reasons for caution: Three main factors might limit the robustness of our work: the textual corpus analyzed is based on abstract and titles, the reproducibility of the stochastic algorithms applied, which may produce slightly differing results at each run, and the interpretation of the topics obtained. Wider implications of the findings: This study should prove beneficial in the design of research strategies and policies that foster the alignment between supply (assisted reproduction research) and demand (society). Study funding/competing interest(s): PTQ-14-06718 of the Spanish MINECO Torres Quevedo programme (FAM).

Visual inertial odometry (VIO) has recently received much attention for efficient and accurate ego-motion estimation of unmanned aerial vehicle systems (UAVs). Recent studies have shown that optimization-based algorithms achieve typically high accuracy when given enough amount of information, but occasionally suffer from divergence when solving highly non-linear problems. Further, their performance significantly depends on the accuracy of the initialization of inertial measurement unit (IMU) parameters. In this paper, we propose a novel VIO algorithm of estimating the motional state of UAVs with high accuracy. The main technical contributions are the fusion of visual information and pre-integrated inertial measurements in a joint optimization framework, and the stable initialization of scale and gravity using relative pose constraints. To count for ambiguity and uncertainty of VIO initialization, a local scale parameter is adopted in the online optimization. Quantitative comparisons with the state-of-the-art algorithms on the EuRoC dataset verify the efficacy and accuracy of the proposed method.

Objective: The study aimed to explore the experiences of women undergoing Assisted Reproductive Technologies namely; Invitro Fertilization and Intracytoplasmic Sperm Injection at the Finney Hospital and Fertility Centre, New Bortianor, Ghana. Method: A qualitative research design was employed to analyse and describe the experiences of the women seeking Assisted Reproductive Technologies. Fifteen women were invited and interviewed using a semi-structured interview guide. The responses were transcribed verbatim and analysed using content analysis. Results: Three themes emerged from the study: the women’s experiences, challenges and the roles and contributions of significant others. The women were anxious, stressed-up, exhausted and financially burdened. Spouses and health professionals played significant roles by providing social, emotional and financial support for these women. Significant others such as spouses and close relatives were supportive and provided encouragement to the women. Conclusion: The experiences of women undergoing Assisted Reproductive Technologies are multi-dimensional. Thus psychosocial intervention as part of ART services with health insurance cover may be client-centered and more appropriate for these group of women.

Due to the increasing importance of mangroves in climate change mitigation projects, more accurate and cost-effective aboveground biomass (AGB) monitoring methods are required. However, field measurement of AGB may be a challenge because of its remote location and the difficulty to walk in these areas. This study is based on the Livelihoods Fund’ Oceanium project of 10,000 hectare mangrove plantations monitoring. In a first step, the possibility of replacing traditional field measurements of sample plots in a young mangrove plantation by a semiautomatic processing of UAV-based photogrammetric point clouds was assessed. In a second step, Sentinel-1 radar and Sentinel-2 optical imagery were used as auxiliary information to estimate AGB and its variance for the entire study area under a model-assisted framework. AGB was measured using UAV imagery in a total of 95 sample plots. UAV plot data was used in combination with non-parametric Support Vector Regression (SVR) models for the estimation of the study area AGB using model-assisted estimators. Purely UAV-based AGB estimates and their associated standard error (SE) were compared with model-assisted estimates using (1) Sentinel-1, (2) Sentinel-2 and (3) a combination of Sentinel-1 and Sentinel-2 data as auxiliary information. The validation of the UAV-based individual tree height and crown diameter measurements showed a root mean square error (RMSE) of 0.21 m and 0.32 m respectively. Relative efficiency of the three model-assisted scenarios ranged between 1.61 and 2.15. Although all SVR models improved the efficiency of the monitoring over UAV-based estimates, the best results were achieved when a combination of Sentinel-1 and Sentinel-2 data was used. Results indicated that the methodology used in this research can provide accurate and cost-effective estimates of AGB in mangrove young plantations.

This paper presents a system developed for the assistance with a collaborative robot in hand-assisted laparoscopic surgery (HALS). The system includes a sensing glove with piezoresistive sensors which capture continuously the flexion degree of the surgeon's fingers. These data are analyzed using an algorithm that detects and recognize the selected movements. This information is sent as commands to the collaborative robot throughout the surgical operation. The bending patterns, speed and execution times of the movements are modelled in a pre-phase in which it will extract all the necessary information for later detection during the motion execution. The results obtained with 10 different volunteers show a high degree of accuracy and a low false discovery rate.

Stripe rust ​​(caused by Puccinia striiformis f. sp. tritici) is one of the most devastating diseases of wheat and causes large-scale epidemics and severe yield loss. Applying fungicides during early epidemic development is crucial to controlling the disease but is often challenged by resource-limited human visual scouting. Deep learning has the potential to process images and videos captured from affordable devices to empower high-throughput phenotyping for early detection of stripe rust for timely application of fungicides and improve control efficiency. Here, we developed RustNet, a neural network-based image classifier, for efficiently monitoring fields for stripe rust. RustNet was built on a ResNet-18 architecture pre-trained with ImageNet Large-Scale Visual Recognition Challenge (ILSVRC) dataset using transfer learning. RGB images and videos of multiple wheat fields with different wheat types (winter and spring wheat), conditions (irrigated and non-irrigated), and locations were acquired using smartphones or unmanned aerial vehicles near the canopy. A semi-automated image labeling approach was conducted to improve labeling efficiency by combining automated machine labeling and human correction. Cross-validations across multiple categories (sensor platforms, wheat types, and locations) achieved Area Under Curve from 0.72 to 0.87. Independent validation on a published dataset from Germany achieved accuracies ranging from 0.79 to 0.86. The visualization of the last convolutional layer of RustNet demonstrated the identification of pixels with stripe rust. RustNet is freely available at https://zzlab.net/RustNet.

A graph based path planning method consisting of off-line part and on-line part for multi-UAV system in windy condition is proposed. In the off-line part, the task area is divided into grids. When two nodes is close enough, they are connected and weighted by the cost, obtained by solving an optimization problem based on difference method, between them. In order to ensure the accuracy of the difference method, the adjacent radius is set to be small enough. In order to ensure the generated paths close to analytical solution, the grid size is set to be much smaller than the adjacent radius. The shortest path algorithm is used to update the adjacent matrix and path matrix. In the on-line part, the target position assignment and optimal velocity can be obtained by accessing the adjacent matrix and path matrix. At the end of this paper, some numerical examples are taken to illustrate the validity of our method and the influence of the parameters.

Background: We assess locoregional drug targeting effectiveness of intraoperative (IO) cryoprobe-assisted injection of blue dye (BD) and cytotoxic-tracer mixture (TTM), in VX2 tumor model, and its translational value to cryo-assisted breast tumor surgery with BD alone. Methods: Under computed tomography (CT) guidance, we injected two ml TTM in five aliquots in the margin of 16 frozen or normothermic VX2 tumors. We evaluated the IO and post-operative drug targeting and therapeutic efficacy in tumor-host interface (T-HI) by CT, gross examination, and histopathology. In twenty-six T1 to T4 primary breast cancer (BRCA) we performed ultrasound-guided (US) cryoprobe-assisted tumor freezing, BD guided lymphatic mapping, and surgery. We evaluated, IO and in freshly resected specimen, BD distribution pattern in T-HI, lymph node(s), breast parenchyma, and resection cavity. Results: Fluids-impervious frozen VX2 or breast tumor transported drug(s) an arc-like pattern at T-HI regardless of freeze dose, number of freeze-thaw cycles, drug dose fractionation, tumor characteristics or dimensions. During melting, TTM spread within fifty percent VX2 tumor mirrored that of T-HI; it was massive in normothermia. In VX2 twenty percent focal margin necrosis at pathology coincided with CT gap; in both studies, BD dose-staining spread in T-HI and tumor was linear. Eighty-four patients had one to twelve stained axillary lymph nodes; sixty-nine percent and all respectively, had another quadrant and resection cavity stained. Conclusion: Intraoperative freezing-assisted drug delivery and targeting techniques during cryoablation of VX2 tumor translate successfully to locoregional BD targeting, lymphatic mapping during cryo-assisted surgery of breast cancer.

This paper first discusses a fractional-order Liu system of order as low as 2.7 and shows its chaotic characteristics by carrying out numerical simulations such as Lyapunov exponents, bifurcation diagrams and phase portraits. Then, by using the topological horseshoe theory and computer-assisted proof, the existence of chaos in the system is verified theoretically. Finally, the fractional-order system is implemented on a Field Programmable Gate Array (FPGA) and the results obtained show that the fractional-order Liu system is indeed chaotic.

Abstract: The use of IVF and related procedures has offered opportunities for couples to conceive who otherwise would remain childless. This technology is often viewed as the only option but is very expensive and not highly effective. ln an effort to improve access to care, governments are attempting to provide funding. In Ireland for example the Health Service Executive (HSE) has recently made IVF funding available through Regional Fertility Hubs. for couples who qualify. However, this policy has threatened a less invasive approach available in Ireland that can help many couples before IVF is employed. We propose that a newly emerging “medical treatment process” called Restorative Reproductive Medicine (RRM), combined with methods or apps that track biomarkers of the menstrual cycle as a prerequisite option for appropriate patients. To illustrate the effectiveness, we compared live birth rates from an established Irish RRM clinic that uses the ChartNeo app to HFEA (Human Fertilization and Embryology Authority) data, both from 2019. RRM treatment had a live birth rate of 40.4% compared to 24.4% per treatment cycle for IVF (P>0.0001). RRM twin pregnancy rate was 2.5% compared to 7% for IVF. RRM babies were usually full term and normal birth weight. Therefore, RRM is less expensive, less invasive, and more effective than IVF for most patients. This merits further evaluation and support by the HSE and other global authorities guiding health policy.

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

Unmanned Aerial Vehicles (UAVs) have gained significant attention in recent times due to their suitability to a wide variety of civil, military and societal missions. Development of an unmanned amphibious vehicle integrating the features of a multi-rotor UAV and a hovercraft is focus of the present study. Components and subsystems of the amphibious vehicle are developed with due consideration on aerodynamic, structural and environmental aspects. Finite element analysis (FEA) on static thrust conditions and skirt pressure are performed to evaluate the strength of structure. For diverse wind conditions and angles of attack (AOA), computational fluid dynamic (CFD) analysis is carried out to assess the effect of drag and suitable design modification is suggested. A prototype is built with a 7 kg payload capacity and successfully tested for stable operations in flight and water-borne modes. Internet of Things (IoT) based water quality measurement is performed in a typical lake and water quality is measured using pH, dissolved oxygen (DO), turbidity and electrical conductivity (EC) sensors. The developed vehicle is expected to meet functional requirements of disaster missions catering to the water quality monitoring of large water bodies.

Aim: To develop an index for quantitative assessment of the upper limb motor function in children with cerebral palsy before and after robot-assisted therapy. Method: An upper limb motor function index was developed using kinematic, surface electromyography and three-axis inertial measurements unit data collected from 15 children with cerebral palsy (CP) and 15 typically developed children. Children with CP underwent 18 robot-assisted therapy sessions with the REAplan device. All children were evaluated, using kinematic data from the REAplan, electromyography and three-axis inertial measurements unit readings from its accelerometer. A principal component analysis was conducted to produce an evaluation index, which is able to detect the deviation from the upper limb motor function of typically developing children group. Children with CP were evaluated twice before and after the intervention with Box and Blocks test and Finger-To-Nose test. The discriminative and concurrent validity of the upper limb motor function index were investigated. Results: The upper limb motor function index was higher in children with CP post therapy (p<0.001). Finger-To-Nose test values improved after robot-assisted therapy (p<0.03). A weak but positive correlation was observed between upper limb motor function index and clinical tests (r=0.012, p=0.95 and r=0.13, p= 0.54 for Box and Blocks test and Finger-To-Nose test respectively). Interpretation: The upper limb motor function index successfully differentiated between the typically developing children and children with CP and was effective in assessing the improvement of the upper limb motor function after robot-assisted therapy. The upper limb motor function index could be extended to assess and monitor rehabilitation therapies of other populations, such as those with stroke and Parkinson’s disease.

Unmanned Aerial Vehicles (UAVs) severing as the relay is an effective technology method to extend the coverage. It can also alleviate the congestion and increase the throughput, especially applied in UAV networks. However, since the energy of UAVs is limited and the resources in UAV networks are scarce, how to optimize the network delay performance under these constraints should be well investigated. Besides, the relationship among different resources, e.g. power and bandwidth, is coupled which makes the optimization more complex. This article investigates the problem of joint power and bandwidth allocation in UAV backhaul networks, which considers both the delay performance and the resource utilization efficiency. Considering the heterogeneous locations characteristics of different UAVs, we formulate the optimization problem as a Stackelberg game. The relay UAV acts as the leader and extended UAVs act as followers. Their utility functions take both the delay durance and the resource consumption into account. To capture the competitive relationship among followers, the sub-game is proved to be an exact potential game and exists Nash equilibriums (NE). The Stackelberg Equilibrium (SE) is proved afterwards. We utilize a hierarchical learning algorithm (HLA) to find out the best resource allocation strategies, which also reduces the computational complexity. Simulation results demonstrate the effectiveness of the proposed method.

This paper questions the potential shift of reproduction towards assisted reproductive technologies due to benefits provided by genetic manipulation of embryos. In order to examine the viability of such a shift and its implications from a regulatory perspective, we relied on two panels of experts from Israel and Spain, using the Delphi method and a series of in-depth interviews. We anticipate, at a first stage, a continuous-steady growth in the use of IVF, supplemented by preimplantation genetic diagnosis and the introduction of CRISPR/Cas. At a second stage, attracting a growing share of fertile people would require developments in genomics. While it is unclear whether these developments will fully materialize, they could be replaced by technoscientific imaginaries generating perceived benefits. We conclude that the regulation of reproductive genetics is becoming more critical and complex. The aim should be to ensure good practices and equity, while providing more information to the public. A broad and inclusive societal debate may overcome the difficulty of drawing a clear line between medical uses and non-medical uses of genetic selection and engineering and may contribute to finding the right balance between allowing autonomous decisions of patients and protecting the public interest.

The location and number data of individual fruit trees are critical for planting area investigation, fruit yield prediction, and smart orchard management and planning. These data are conventionally obtained through manual investigation and statistics with time-consuming and laborious effort. Object detection models in deep learning used widely in computer vision could provide an opportunity for accurate detection of individual fruit trees, which is essential for rapidly obtaining the data and reducing human operations errors. This study proposes an approach to detecting individual fruit trees and mapping their spatial distribution by integrating deep learning with unmanned aerial vehicle (UAV) remote sensing. UAV remote sensing collected high-resolution true-color images of fruit trees in the experimental pomelo tree orchards in Meizhou city, South China. An image dataset of deep learning samples of individual pomelo trees (IPTs) was constructed through visual interpretation and field investigation based on the fruit tree images captured by UAV remote sensing. Four different scales of YOLOv5 (YOLOv5s, YOLOv5m, YOLOv5l, and YOLOv5x) for object detection were selected to train, validate, and test on the image dataset of pomelo trees. The results show that the average precision (AP@0.5) of the four YOLOv5 models for validation reach 87.8%, 88.5%, 89.1%, and 90.7%, respectively. The larger the model scale, the higher the average accuracy of the detection result of validation. It suggests that YOLOv5x is a preferred high-accuracy model among the YOLOv5 family and is suitable to realize the detection of IPTs. The number of the IPTs in the study area was counted using YOLOv5x, and their spatial distribution map was made using the non-maximum suppression method and ArcGIS software. This study will provide primary data and technical support for smart orchard management in Meizhou city and other fruit-producing areas.

The urban mangrove of the Vitória Bay, Espírito Santo, Southern Brazil suffers from anthropogenic impacts, which interfere in the foliar spectral response of its species. Identifying the spectral behavior of these species and creating regression models to indirectly obtain structure data like the Leaf Area Index (LAI) are powerful environmental monitoring tools. In this study, LAI was obtained in 32 plots distributed in four stations. In situ LAI regression analysis with the SAVI resulted in significant positive relationships (r² = 0.58). Forest variability regarding the degree of maturity and structural heterogeneity and LAI influenced the adjustment of vegetation indices (VIs). The highest regression values were obtained for the homogeneous field data, represented by R. mangle plots, which also had higher LAI values. The same field data were correlated with SAVI of a RapidEye image for comparison purposes. The results showed that, images obtained by a UAV have higher spatial resolution than the Rapideye image, and therefore had a greater influence of the background. Another point is that the statistical analysis of the field data with the IVs obtained from the RapidEye image did not present high regression coefficient (r² = 0.7), suggesting that the use of VIs applied to the study of urban mangroves needs to be better evaluated, observing the factors that influence the leaf spectral response.

The objective of this paper is to present an electromagnetic sensor that generates pulse inductance [1], integrated on an Unmanned Aerial Vehicle (UAV) which complements the current technology in this area, adding equipment to the detection of landmines. The electromagnetic sensor developed, locates landmines deployed during armed conflicts, which daily kill innocent people, block economic and social development, hinder the displacement of people, causing serious social and economic problems for many years. Flights can be made over mined areas allowing the identification of the exact location of each land mine.

This paper describes and demonstrates an autonomous robotic team that can rapidly learn the characteristics of environments that it has never seen before. The flexible paradigm is easily scalable to multi-robot, multi-sensor autonomous teams, and is relevant to satellite calibration/validation and the creation of new remote sensing data products. A case study is described for the rapid characterisation of the aquatic environment, over a period of just a few minutes we acquired thousands of training data points. This training data allowed our machine learning algorithms to rapidly learn by example and provide wide area maps of the composition of the environment. Along side these larger autonomous robots two smaller robots that can be deployed by a single individual were also deployed (a walking robot and a robotic hover-board), observing significant small scale spatial variability.

Many corner detector techniques have already been used in extracting information from UAV images to perform various photogrammetric and mapping activities. Among these techniques is the Feature from Accelerated Segment Test (FAST) and the Harris corner detector. It is widely agreed that the evaluation of detectors is of great importance because it evaluates and enhances the accuracy of the detected features. This research evaluates the performance of FAST-9 and FAST-12 as well as the Harris detector in terms of the repeatability rate, completeness, and correctness under different threshold values. Each method is evaluated in terms of its ability for detection UAV objects (crowd and cars features). Then the common detected features between both FAST versions and the Harris detector are extracted. This is to determine which method performs best under different image conditions (e.g., illumination variations, camera position and orientation, and image noise). The results show that the size of the threshold plays a crucial role in determining the number of detected feature points. An increase in the threshold value leads to a decrease in the number of detected points and vice versa. Thus, the correctness decreases whereas the completeness increases as a function of the threshold values. Furthermore, the relationship between the FAST-9 and the Harris detector is slightly better than those between the FAST-12 and the Harris detector. This is because the number of common features between the FAST-9 and the Harris detector are relatively higher than those between the FAST-12 and the Harris detector.

Cultural heritage is the most important resource providing communication between the past and future. The societies utilizing this resource in the best way, have had an inventory of cultural heritage and contributed to world culture. The efforts made for being able to the accurate and healthy data in the documentation of cultural heritage led the new techniques to emerge other than documentation and, together with the developing technology, documentation with traditional method replaced with modern documentation techniques using new technological devices. One of these documentation techniques is the use of Unmanned Aerial Vehicles (UAVs) in the documentation studies. In this study, the usability of unmanned aerial vehicles in the studies of cultural heritage was studied.

The preparation of new materials based on starch for the development of biodegradable packaging is increasing, however, the poor properties of this biopolymer for this application causes an area of opportunities for the improvement of water vapour permeability (WVP), mechanical properties, thermal properties, hydrophilicity, water absorption, among others. Hence, starch has been combined with other polymers such as polyvinyl alcohol, which has shown an improvement in the mechanical properties of starch, also, the use of clays suggests that the properties of response to water can be improved. Therefore, in this work, the preparation and characterization of starch-PVA-nanoclay films prepared by solvent casting is reported. The results obtained suggest that the sonication of nanoclay is necessary to reach a good dispersion, which promotes a strong interaction among starch-PVA-nanoclay. In addition, the properties of WVP and mechanical properties of films improved with incorporation of nanoclay, the concentration of 0.5% w/v of nanoclay showed to be the best concentration due to concentrations of 1.0 and 1.5% w/v were poorer than 0.5% w/v. Accordingly, the successful incorporation of nanoclays into the matrix starch-PVA suggests that this material is a good candidate for use as packaging.

Fatty acids (FAs) represent an important class of metabolites, impacting on membrane building blocks and cellular regulatory networks. In nature, prokaryotes are characterized with the most impressing FA structural diversity and the highest relative contents of free fatty acids (FFAs). Thereby, nitrogen-fixing bacteria (order Rhizobiales), often found in symbiosis with legumes, attract a special interest. Indeed, FAs impact on the structure of rhizobial nodulation factors, required for successful infection of plant root. Although the FA patterns can be addressed by GC- and LC-MS, these methods are time-consuming and suffer from compromised sensitivity, low stability of derivatives and artifacts. In contrast, MALDI-TOF-MS represents an excellent platform for high-efficient metabolite fingerprinting, also applicable to FFAs. Therefore, here we propose a simple and straightforward protocol for high-throughput relative quantification of FFAs in rhizobia by the combination of Langmuir technology and MALDI-TOF-MS, which is featured with high sensitivity, accuracy and precision of quantification. Here we propose a step by step procedure comprising rhizobia culturing, pre-cleaning, extraction, sample preparation, mass spectrometric analysis, data processing and post-processing. To demonstrate the analytical potential of the protocol we illustrate it by a case study – comparison the FFA metabolomes of two rhizobia species - Rhizobium leguminosarum and Sinorhizobium meliloti.

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.

The objective of this study is to evaluate the effects of the 3D point cloud density derived from unmanned aerial vehicle (UAV) photogrammetry and structure from motion (SfM) and multi-view stereopsis (MVS) techniques, the interpolation method for generating a digital terrain model (DTM), and the resolution (grid size) of the derived DTM on the accuracy of estimated heights in small areas, where a very accurate high spatial resolution is required. A UAV-photogrammetry project was carried out on a bare soil of 13 × 13 m with a rotatory wing UAV at 10 m flight altitude (equivalent ground sample distance = 0.4 cm). The 3D point cloud was derived, and five sample replications representing 1, 2, 3, 4, 5, 10, 15, 20, 30, 40, 50, 60, 70, 80 and 90% of the original cloud were extracted to analyze the effect of cloud density on DTM accuracy. For each of these samples, DTMs were derived using four different interpolation methods (Inverse Distance Weighted (IDW), Multiquadric Radial Basis Function (MRBF), Kriging (KR), and Triangulation with Linear Interpolation (TLI)) and 15 DTM grid size (GS) values (20, 15, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0.67, 0.5, and 0.4 cm). Then, 675 DTMs were analyzed. The results showed, for each interpolation method and each density, an optimal GS value (most of the cases equal to 1 cm) for which the Root Mean Square Error (RMSE) is minimum. IDW was the interpolator which yielded best accuracies for all combination of densities and GS. Its RMSE, considering the raw cloud, was 1.054 cm. The RMSE increased 3% when a point cloud with 80% extracted from the raw cloud was used to generate the DTM. When the point cloud included the 40% of the raw cloud, RMSE increased 5%. For densities lower than 15%, RMSE increased exponentially (45% for 1% of raw cloud). The grid size minimizing RMSE for densities of 20% or higher was 1 cm, which represents 2.5 times the ground sample distance of the pictures used for developing the photogrammetry project.

Our wellbeing is greatly influenced by our childhood and adolescence, and the relationships that we form during those phases of our development. The human-dog bond started thousands of years ago. The higher prevalence of dog ownership around the world, especially in households including children along with the growing number of people studying dogs most likely explain the growing literature focusing on child-dog interactions. We review the potential effects of child-dog interactions on the physical, mental, and social wellbeing of both species. A scoping search of the SCOPUS database found several hundred documents meeting selection criteria. It allowed us to define the numerous ways in which children and dogs can interact, be it neutral (e.g., sharing a common area), positive (e.g., petting), or negative (e.g., biting). Then, we found evidence for an association between interacting with dogs during childhood and an array of health and mental benefits like stress relief and the development of empathy. Walking a dog and playing with one are perfect physical activity opportunities. Additionally, interacting with a dog can help lower stress and may have a role in the development of empathy. Nonetheless, a number of detrimental outcomes have also been identified in both humans and dogs. Children are the most at-risk population regarding dog bites and dog-borne zoonoses, which may lead to a subsequent fear of dogs or even death. Moreover, pet bereavement is generally inevitable when living with a canine companion and should not be trivialized. In terms of dogs, children sometimes take part in caretaking behaviors toward them which include going on walks. They are opportunities for dogs to relieve themselves outside, but also to exercise and socialize. In contrast, a lack of physical activity can lead to the onset of obesity. Dogs may present greater levels of stress when in the presence of children. Finally, the welfare of assistance, therapy, and free-roaming dogs remains underexplored. Overall, the study of the effects, positive as well as negative, on both species still requires further development. We call for more longitudinal studies and hope for cross-cultural research in the future in order to better understand the impact child-dog interactions might have.

Background: Gastric cancer (GC) is one of the leading malignancy diseases worldwide, especially in Asian. CAST is a potential oncogene in GC carcinogenesis process. The character of macrophage infiltration in GC microenvironment was also unaddressed. Methods: We first applied machine searching in gene candidate evaluation of GC. CAST expression was analyzed via the Human Protein Atlas (HPA) and Gene Expression Profiling Interactive Analysis 2 (GEPIA2) database. Protein-protein interaction (PPI) network was downloaded from STRING. We investigated the impact of CAST on clinical prognosis using Kaplan-Meier plotter. The correlations between CAST and Lgr5 and macrophage infiltration in GC was surveyed via TIMER 2.0. Finally, GeneMANIA was also used to evaluate the possible functional linkage between genes. Results: After machine-assisted searching, CAST expression was found signicant difference in the overall survival of GC patients. STRING revealed CAST related proteomics and transcriptomics associations, mainly about CAPN family. Moreover, CAST significantly impacts the prognosis of GC from other datasets validation. Notably, high CAST expression was correlated with worse overall survival in GC patients (hazard ratio = 1.59; logrank P = 9.4 x 10-8). CAST and Lgr5 expressions were both positively correlated with WNT 2 and WNT 2B. Among GC patients in several datasets, CAST and macrophage infiltration evaluated together showed no obvious trend toward poor clinical overall survival. Conclusion: CAST plays an important role in GC clinical prognosis and is associated with WNT 2/WNT 2B/Lgr5. Our study denmostrated that CAST in GC overall survival is regulated by macrophage infiltration.

The ever-burgeoning growth of autonomous unmanned aerial vehicles (UAVs) has demonstrated a promising platform for utilization in real-world applications. In particular, UAV equipped with a vision system could be leveraged for surveillance applications. This paper proposes a learning-based UAV system for achieving autonomous surveillance, in which the UAV can be of assistance in autonomously detecting, tracking, and following a target object without human intervention. Specifically, we adopted the YOLOv4-Tiny algorithm for semantic object detection and then consolidated it with a 3D object pose estimation method and Kalman Filter to enhance the perception performance. In addition, a back-end UAV path planning for surveillance maneuver is integrated to complete the fully autonomous system. The perception module is assessed on a quadrotor UAV, while the whole system is validated through flight experiments. The experiment results verified the robustness, effectiveness, and reliability of the autonomous object tracking UAV system in performing surveillance tasks. The source code is released to the research community for future reference.

Miscanthus holds a great potential in the frame of the bioeconomy and yield prediction can help improving Miscanthus logistic supply chain. Breeding programs in several countries are attempting to produce high-yielding Miscanthus hybrids better adapted to different climates and end-uses. Multispectral images acquired from unmanned aerial vehicles (UAVs) in Italy and in the UK in 2021 and 2022 were used to investigate the feasibility of high-throughput phenotyping (HTP) of novel Miscanthus hybrids for yield prediction and crop traits estimation. An intercalibration procedure was performed using simulated data from the PROSAIL model to link vegetation indices (VIs) derived from two different multispectral sensors. Random forest algorithm estimated with good accuracy yield traits (light interception, plant height, green leaf biomass and standing biomass) using VIs time series and predicted yield using peak descriptor derived from VIs time series with 2.3 Mg DM ha-1 of RMSE. The study demonstrates the potential of UAVs multispectral in HTP applications and in yield prediction for providing important information needed to increase sustainable biomass production.

Karst wetlands are being seriously damaged, and protecting it has become an important matter. Karst vegetation is the essential component of wetland and plays an important role in in the ecological functions of wetland ecosystems. Classifying karst vegetation is important for karst wetlands protection and management. This paper addressed to classify karst vegetation in Huixian National Wetland Park, located in China using the improved SegNet Deep-Learning Algorithm and UAV images. This study proposed a method to fuse single-class SegNet models using the maximum probability algorithm for karst vegetation classification, and compared with object-based RF classification and multi-class SegNet classification, respectively. This paper evaluated the performance of multi-class SegNet model and fusion of single-class SegNet model with different EPOCH values for mapping karst vegetation. A new optimized post-classification algorithm was proposed to eliminate the stitching traces caused by SegNet model prediction. The specific conclusions of this paper include the followings:(1) fusion of four single-class SegNet models produced better classification for karst wetland vegetation than multi-class SegNet model, and achieved the highest overall classification accuracy (87.34%); (2) The optimized post-classification algorithm was able to improve prediction accuracy of SegNet model, and it could eliminate splicing traces; (3) The karst wetland vegetation classifications produced by single-class SegNet model outperformed multi-class SegNet model, and improved classification accuracy(F1-Score) between 10%~25%;(4)The EPCOH values and textural feature important impact on karst wetland vegetation classifications. The SegNet model with EPCOH 15 achieved greater classification accuracy(F1-Score) than the model with EPOCH 5 or 10. The textural feature improved improves the capability of the SegNet model for mapping karst vegetation;(5) Fusion of single-class SegNet models and object-based RF model could provide high classifications results for karst wetland vegetation, and both achieved greater 87% overall accuracy.

This research was presented the special designed microfluidic device generated for sperm separation based on assumption of different surface electrical charged of sperms X and Y. However, to avoid ethical problem, the microfluidic chip has been tested with the mimic electrical charged particles, TiO₂-coated Polystyrene beads, (TiO₂-coated Ps-beads), instead of spermatozoa. The work has been separated into three main parts. Firstly, the simply but efficient fabrication of negatively charged TiO₂-coated Ps-beads has been presented. In addition, various characterization techniques such as X-ray diffraction (XRD), Tungsten Scanning Electron Microscopy (W-SEM) with energy-dispersive X-ray spectroscopy (EDS) mode, and X-ray Absorption Spectroscopy (XAS), have been reported in this work to elucidate the reasons behind the persistence of negatively charged on the surface of TiO₂-coated Ps-beads. Results show that the fabricated TiO₂-coated Ps-beads was partly coated in the mixed forms of amorphous Ti⁴⁺ and had caused a negatively charge to appear on the surface after fabrication and had sustained its electrical charged for long. Secondly, process of simulation and fabrication of microfluidic device was presented. Finally the negatively charged TiO₂-coated Ps-beads were tested in this microfluidic devices. For design of microfluidic devices integrated with a couple of microelectrodes, the simulated structures were fabricated by photolithographic technique and tested with the Ps-beads. Percentage of validation for Ps-beads separation indicated that the 100 mm-distance-between-electrodes microfluidic device exhibits to be the highest performance prototype at 86.96%. For further confirmation, another model so called the single path prototype has been established. It is confirmed by 92.59% of validation for the utilization of the device. The successfully designed microfluidic devices can be examined with actual spermatozoa later. Furthermore, process to fabricate the negatively charged TiO₂-coated Ps-beads can be established as testified samples for development of other microfluidic devices.

We attempted to establish an objective method to accurately evaluate the motility of bull sperm and examined the effects of media for sperm suspensions and frame rates on data of computer-assisted sperm motility analysis (CASA). Sperm incubated in Brackett and Oliphant medium (BO) more clearly showed hyperactivation-like motility than those in synthetic oviductal fluid. Sperm images captured at 150 frames per second (fps) showed a trajectory that was closer to the real pathway than those at other frame rates (30, 50, and 75 fps). We then examined the characteristics of sex-sorted and non-sorted semen using a cluster analysis followed by a discriminant analysis of sperm motility in BO at 150 fps. The results indicated that sex-sorted semen contained sperm with hyperactivation-like motility as the main subpopulation immediately after thawing and this subpopulation decreased after 2-h incubation. The main subpopulation in non-sorted semen had progressive motility that was maintained during incubation. In conclusion, usage of BO for sperm suspensions and capturing sperm motility at 150 fps by CASA were appropriate for evaluating bovine sperm motility. A discriminant analysis using data from a cluster analysis of motile sperm has the ability to accurately describe differences in the structures of sperm motility subpopulations.

myfood24 is a comprehensive self-completed online 24-hour dietary recall tool currently used for nutritional assessments in epidemiological research. However, its clinical application has been unexplored. This mixed methods prospective observational study explores the acceptability and usability of myfood24 in a clinical population, women with gestational diabetes (GDM). Women were recruited at their first diabetes antenatal clinic appointment. To assess acceptability and usability, they were asked to complete five 24-hour dietary recalls using myfood24 over two weeks and a user experience questionnaire; with a subset invited to participate in a one-to-one semi-structured interview. Of the 199 participants, mean maternal age was 33 years, mean booking BMI 29.7kg/m2, 36% primiparous, 57% White, 33% Asian. Of these 121 (61%) completed myfood24 at least once and 73 (37%) completed the user questionnaire; 15 were interviewed. Usability of myfood24 was measured using the System Usability Scale (SUS) and found to be good (mean 70.9, 95%CI 67.1, 74.6). Interviews identified several areas for improvement, including optimising its use for mobile devices. myfood24 appears to be acceptable and have potential to support self-management and behaviour change for women with GDM but requires adaptation to record blood glucose results alongside real-time tracking of diet.

Remote sensing is one of the modern methods that have significantly developed over the last two decades and nowadays provides a new means for forest monitoring. High spatial and temporal resolutions are demanded for accurate and timely monitoring of forests. In this study multi-spectral Unmanned Aerial Vehicle (UAV) images were used to estimate canopy parameters (definition of crown extent, top and height as well as photosynthetic pigment contents). The UAV images in Green, Red, Red-Edge and NIR bands were acquired by Parrot Sequoia camera over selected sites in two small catchments (Czech Republic) covered dominantly by Norway spruce monocultures. Individual tree extents, together with tree tops and heights, were derived from the Canopy Height Model (CHM). In addition, the following were tested i) to what extent can the linear relationship be established between selected vegetation indexes (NDVI and NDVIred edge) derived for individual trees and the corresponding ground truth (e.g., biochemically assessed needle photosynthetic pigment contents), and ii) whether needle age selection as a ground truth and crown light conditions affect the validity of linear models. The results of the conducted statistical analysis show that the two vegetation indexes (NDVI and NDVIred edge) tested here have a potential to assess photosynthetic pigments in Norway spruce forests at a semi-quantitative level, however the needle-age selection as a ground truth was revealed to be a very important factor. The only usable results were obtained for linear models when using the 2nd year needle pigment contents as a ground truth. On the other hand, the illumination conditions of the crown proved to have very little effect on the model’s validity. No study was found to directly compare these results conducted on coniferous forest stands. This shows that there is a further need for studies dealing with a quantitative estimation of the biochemical variables of nature coniferous forests when employing spectral data acquired by the UAV platform at a very high spatial resolution.

A new generation of nano-technologies is expanding solid propulsion capabilities and increasing their relevance for versatile and manoeuvrable micro-satellites with safe high-performance propulsion. We propose the innovative concept, connected with application of new synergistic effect of the energetic materials performance enhancement and reaction zones programming for the next generation small satellite multimode solid propulsion system. The main idea of suggested concept is manipulating by the self-organized wave patterns excitation phenomenon, by the properties of the energetic materials reaction zones and by localization of the energy release areas. This synergistic effect can be provided through application of the functionalized carbon-based nanostructured metamaterials as a nano-additives along with simultaneous manipulating by their properties through the electrostatic field. Mentioned effect will be controlled through predictive programming both by the spatial structure and physics-chemical properties of the functionalized carbon-based nano-additives and through the electromagnetic control of the self-organized wave pattern excitation and micro- and nano- scale oscillatory networks in the energetic material reaction zones. Suggested new concept makes it possible to increase the energetic material regression rate and increase the thrust of the solid propulsion system with minimal additional energy consumption.

Background: Animal-assisted therapy has positive effects on cognitive function, depression, performance ability, and social functioning in elderly patients. The aim of this study was to evaluate the effects of rearing pet insects on the cognitive function of healthy elderly participants, with fMRI (functional magnetic resonance imaging) being used for this purpose. Methods: Community-dwelling elderly women (≥60 years) with normal cognitive function were enrolled during April 2015. They were randomized at a 1:1 ratio into two groups: insect-rearing and control (n=16) groups, with the insect-rearing group being further classified into two groups for analysis according to the subjects’ scores in the Wisconsin Card Sorting Test, WCST) at the first fMRI: insect-rearing group I with a relatively high score (n=13), and insect-rearing group II with a relatively low score (n=6). All subjects were educated on a healthy lifestyle for better cognitive function at every visit, and the insect-rearing groups received and reared crickets as pet insects. The fMRI was performed at baseline and after 8 weeks using the WCST as a stimulus. The WCST consisted of two variations, a high level baseline (HLB) and semi-WCST version. Results: There were no significant differences in the baseline characteristics among the three groups. There was a significant difference accuracy of the HLB–semi-WCST (p<0.05) in insect-rearing group II after 8 weeks from the baseline test. In the fMRI analysis involving the WCST reaction test, increased activation was observed in the right dorsal lateral prefrontal cortex and parietal cortex in insect-rearing group II when the semi-WCST, rather than the HLB, was performed. There were no significant differences in the other groups. Conclusion: The rearing of pet insects as an animal-assisted therapy is cost-effective, easy, and occupies little space. In this study, it showed positive effects on executive functions and performance improvement in elderly women. Further larger studies on the effects of pet insects on cognitive function are warranted.

Structural self-organizing and pattern formation are universal and key phenomena observed during growth and cluster-assembling of the carbyne-enriched nanostructured metamaterials at the ion-assisted pulse-plasma deposition. Fine tuning these universal phenomena opens access to designing the properties of the growing carbyne-enriched nano-matrix. The structure of bonds in the grown carbyne-enriched nano-matrices can be programmed by the processes of self-organization and auto-synchronization of nanostructures. We propose the innovative concept, connected with application of the universal Cymatics phenomena during the predictive growth of the carbyne-enriched nanostructured metamaterials. We also propose the self-organization approach for increase stability of the long linear carbon chains. The main idea of suggested concept is manipulating by the self-organized wave patterns excitation phenomenon and their distribution by the spatial structure and properties of the nanostructured metamaterial grows region through the new synergistic effect. Mentioned effect will be provided through the vibration-assisted self-organized wave patterns excitation along with simultaneous manipulating by their properties through the electric field. We propose to use acoustic activation of the plasma zone of nano-matrix growing. Interaction between the inhomogeneous electric field distribution generated on the vibrating layer and the plasma ions will serve as the additional energizing factor controlling the local pattern formation and self-organizing of the nano-structures. Suggested concept makes it possible to provide precise predictive designing the spatial structure and properties of the advanced carbyne-enriched nanostructured metamaterials.

Sustainable agricultural production is endangered by several ecological factors such as drought, extreme temperatures, excessive salts, parasitic ailments, and insect pest infestation. These challenging environmental factors may have adverse effects on future agriculture production in many countries. In modern agriculture, conventional crop breeding techniques alone are inadequate for achieving the increasing population’s food demand on a sustainable basis. The advancement of molecular genetics and related technologies are promising tools for the selection of new crop species. Gene pyramiding through marker assisted selection (MAS) and other techniques have accelerated the development of durable resistant/tolerant lines with high accuracy in the shortest possible period of time for agricultural sustainability. Gene stacking has not been fully utilized for biotic stress resistance development and quality improvement in most of the major cultivated crops. This review emphasizes on gene pyramiding techniques that are being successfully deployed in modern agriculture for improving crop tolerance to abiotic and biotic stresses for sustainable crop improvement.

In order to integrate genomics in breeding and development of drought tolerant groundnut genotypes, identification of genomic regions/genetic markers for drought surrogate traits is essential. We used SNP markers for a genetic analysis of the ICRISAT groundnut minicore collection for genome wide marker-trait association for some physiological traits and to determine the magnitude of linkage disequilibrium (LD) present in the genetic resources. The LD analysis showed that about 36% of loci pairs were in significant LD (P < 0.05 and r2 > 0.2) and 3.14% of the pairs were in complete LD. There was rapid decline in LD with distance and the LD was <0.2 at a distance of 41635 bp. The marker trait association (MTAs) studies revealed 20 significant MTAs (p <0.001) with 11 markers for leaf area index (4), canopy temperature (13), chlorophyll content (1) and NDVI (2). The markers explained 2 to 21% of the phenotypic variation observed. Most of the MTAs identified on the A subgenome were also identified on the respective homeologous chromosome on the B subgenome. The duplications of effect observed could be due to common ancestor of the A and B genome which explains the linkage detected between markers lying on different chromosomes seen in the current study. The present study identified a total of 20 highly significant marker trait associations with 11 markers for four physiological traits of importance in groundnut; LAI, CT, SCMR and NDVI. The markers identified in this study can serve as useful genomic resources to initiate marker-assisted selection and trait introgression of groundnut for drought tolerance. The identified markers in this study may be useful for marker assisted selection after further validation.

Animal-assisted interventions (AAI) use human-animal interactions to positive effect in various contexts including cancer care. This systematic literature review is the first part of a two-part paper series focusing on the research methods and quantitative results of AAI studies in oncology. We find methodological consistency in the use of canines as therapy animals, in the types of high-risk patients excluded from studies, and in the infection precautions taken with therapy animals throughout cancer wards. The investigated patient endpoints are not significantly affected by AAI, with the exceptions of improvements in oxygen consumption, quality of life, depression, mood, and satisfaction with therapy. The AAI field in oncology has progressed significantly since its inception and has great potential to positively impact future patient outcomes. To advance the field, AAI research in oncology should consistently improve the methodological design of studies, report data more completely, and focus on the therapy animal’s well-being.

With the development of Internet technology, teachers are constantly seeking innovative teaching methods to match the potential of enhanced technology. Although many studies have been performed before , they aren’t enough in this field. The purpose of this paper is to explore innovative teaching designs and examine the impact of Internet-assisted English teaching of reading based on constructivism. The case is carried out in NO.9 middle school of Bengbu, a underdeveloped area of China, most of students aren’t interested in learning English .We compared Internet-assisted with traditional textbook literature methods to improve the reading proficiency of students, using a questionnaire survey,pre-test and post-tests comparisons. The result showed Internet-assisted English reading teaching is better than textbook. It can arouse students' interest and motivation,reading proficiency and exam result of students have been improved significantly, created a positive learning situation.

Shallow bathymetry inversion algorithms have long been applied in various types of remote sensing imagery with relative success. However, this approach requires that imagery with increased radiometric resolution in the visible spectrum is available. The recent developments in drones and camera sensors allow for testing current inversion techniques on new types of datasets. This study explores the bathymetric mapping capabilities of fused RGB and multispectral imagery, as an alternative to costly hyperspectral sensors. Combining drone-based RGB and multispectral imagery into a single cube dataset, provides the necessary radiometric detail for shallow bathymetry inversion applications. This technique is based on commercial and open-source software and does not require input of reference depth measurements in contrast to other approaches. The robustness of this method was tested on three different coastal sites with contrasting seafloor types. The use of suitable end-member spectra which are representative of the seafloor types of the study area and the sun zenith angle are important parameters in model tuning. The results of this study show good correlation (R2>0.7) and less than half a meter error when they are compared with sonar depth data. Consequently, integration of various drone-based imagery may be applied for producing centimetre resolution bathymetry maps at low cost for small-scale shallow areas.

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

Age-in-place can reduce the progress of dementia syndrome and improve the quality of life of the sufferers and their families. This work proposes an innovative information home support system to be established at the houses of people suffering from dementia. The main innovation of the system are its transparent character that overcomes the need for training of the sufferer, as well as the exploitation of a well-known technique for dementia, namely music therapy. It addresses the need of people suffering from dementia as well as their familiars to be recognized by them and have better interaction and collaboration. The system offers a ubiquitous recognition system, just by using smart devices like smart-phones or smart-wristbands. When a familiar person is detected in the house, then a sound file is reproduced on smart speakers placed in the house, in order to trigger the memory, based on the principles of music therapy. The system reproduced the appropriate time at 100% of the cases and the benefits of music therapy are evident daily. To the best of the authors' knowledge, this is the first system of its kind ever reported in the literature.

: The effect that the microstructure exerts on the TRIP phenomenon and on the mechanical properties in a multiphase steel was studied. Samples of an initially cold-rolled ferrite-pearlite steel underwent different intercritical annealing treatments at 750 °C until an equal fractions of austenite/ferrite was reached; the intercritical treatment was followed by isothermal bainitic treatments before cooling the samples to room temperature. Samples in the first treatment were heated directly to the intercritical temperature, whereas other samples were heated to either 900 or 1100 °C to obtain a fully homogenized, single phase austenitic microstructure prior to the conducting the intercritical treatment. The high temperature homogenization of austenite resulted in the decrease in its stability, so a considerable austenite fraction transformed into martensite by cooling to room temperature after the bainitic heat treatment. Most of the retained austenite transformed during the tensile tests, and as a consequence, the previously homogenized steels showed the highest UTS. In turn, the steel with a ferritic-pearlitic initial microstructure, exhibited higher ductility than the other steels and texture components that favor forming processes.

The objective of this study was to develop an ultrasonic-assisted procedure for the extraction of total phenolics from Citrus aurantium L. blossoms (CAB) and evaluate the free radical scavenging activity, anti-HMG-CoA reductase activity of total phenolics. In this work, a Box-Behnken design based on the single-factor experiments was used to explore the optimum extraction process. Under the optimum conditions (extraction solvent 70.31% ethanol, extraction temperature 61.94 °C, extraction time 51.73 min and liquid-to-solid ratio 35.63 mL/g), the extraction yield of total phenolics was 95.84 mg gallic acid equivalents (GAE)/g dry matter (DM), which was highly consistent with the theoretical value (96.12 mg GAE/g DM). The total phenolic extract showed excellent free radical scavenging properties against DPPH·, ABTS+·, ·OH and ·O2-, with the IC50 values of 197.007, 83.878, 218.643 and 158.885 μg/mL, respectively, and the extracts also showed good inhibition of HMG-CoA reductase activity, with the IC50 value of 117.165 μg/mL. Total phenolics from CAB could be a potential source of natural free radical scavenger and HMG-CoA reductase inhibitor.

One-step reactive melt processing (REx) via radical reaction was evaluated with the aim of improving the rheological properties of poly(ε-caprolactone) (PCL). In particular, a water-assisted REx was designed under the hypothesis of increasing crosslinking efficiency with water as a low viscous medium in comparison with a slower PCL macroradicals diffusion in the melt state. To assess the effect of dry vs. water-assisted REx on PCL, its structural, thermo-mechanical and rheological properties were investigated. Water-assisted REx resulted in increased PCL gel fraction compared to dry REx (from 1 to 34 %), proving the rationale under the formulated hypothesis. From dynamic mechanical analysis and tensile tests, the crosslink did not significantly affect the PCL mechanical performance. Dynamic rheological measurements showed that higher PCL viscosity was reached with increasing branching/crosslinking and the typical PCL Newtonian behavior was shifting towards a progressively more pronounced shear thinning. A complete transition from viscous- to solid-like PCL melt behavior was recorded, demonstrating that higher melt elasticity can be obtained as a function of gel content by controlled REx. Improvement in rheological properties offers the possibility of broadening PCL melt processability without hindering its recycling by melt processing.

Sweet cherry pomace is a by-product that can be a source of bioactive phenolic compounds. Usually, polyphenols have been extracted using conventional extraction methodologies. However, a significant fraction, called non-extractable polyphenols (NEPs), remains retained in the conventional extraction residues. Therefore, this work is aimed, for the first time, to investigate the release of NEPs from cherry pomace combining pressurized liquid extraction (PLE) and enzyme-assisted extraction (EAE) using Promod enzyme. A response surface methodology was employed to study the influence of temperature, time, and pH on the NEPs extraction. The response variables were the total phenolic content (TPC) measured by Folin-Ciocalteu method, total proanthocyanidin (PA) content evaluated by vanillin, DMAC, and butanol/HCl assays, and total antioxidant capacity determined by Trolox equivalent antioxidant capacity and inhibition of hydroxyl radical assays. The results indicated that PLE-EAE was more suitable and selective to obtain NEPs from sweet cherry pomace than PLE alone. In fact, the extracts obtained by PLE-EAE displayed higher TPC, PA content, and bioactivity than the extracts obtained by PLE under the same extraction conditions, and those obtained by conventional methods. Moreover, size-exclusion chromatography profiles showed that the combination of PLE and EAE enabled the recovery of NEPs with higher molecular weight than PLE without EAE treatment.

Worldwide, there is a significant increase in the use of unmanned aerial vehicles (UAVs) by emergency services. They offer a lot of possibilities during the rescue operation. Such a wide application for various purposes and environments causes many threats related to their use. To minimize the risks associated with conducting air operations with UAVs, the SORA methodology will be important. Due to its level of detail, it is a methodology adapted to civilian use. In this article, the authors' team will try to develop guidelines and directions for adapting SORA to the requirements of the operational work of emergency services. Thus following article aims to present the most important risks related to conducting operations with the use of UAVs by First Responders (FRs) and to show the sample risk analysis performed for this type of operation on the example of the ASSISTANCE project. The paper describes, on the one hand, possibilities offered by UAVs in crisis or disaster management and step-by-step Specific Operations Risk Assessment (SORA) and on the other hand, presents possible threats, consequences and methods of their mitigation during FRs missions.

Optical biopsy describes a range of medical procedures in which light is used to investigate disease in the body, often in hard-to-reach regions via optical fibres. Optical biopsies can reveal a multitude of diagnostic information to aid therapeutic diagnosis and treatment with higher specificity and shorter delay than traditional surgical techniques. One specific type of optical biopsy relies on Raman spectroscopy to differentiate tissue types at the molecular level and has been used successfully to stage cancer. However, complex micro-optical systems are usually needed at the distal-end to optimise the signal-to-noise properties of the Raman signal collected. Manufacturing these devices remains a critical challenge, particularly in a way suitable for large scale adoption. In this paper, we describe a novel fibre-fed micro-optic system designed for efficient signal delivery and collection during a Raman spectroscopy based optical biopsy. Crucially, we fabricate the device using a direct-laser-writing technique known as ultrafast laser assisted etching which is scalable and allows components to be aligned passively. The Raman probe has a sub-millimetre diameter and offers confocal signal collection with 71.3 ± 1.5% collection efficiency over a 0.8 numerical aperture. Proof of concept spectral measurements were performed on mouse intestinal tissue and compared with results obtained using a commercial Raman microscope.

Objectives: Studies evaluating machine learning (ML) algorithms on cross-lingual RadLex® mappings for developing context-sensitive radiological reporting tools are lacking. Therefore, we investigated whether ML-based approaches can be utilized to assist radiologists in providing key imaging biomarkers – such as The Alberta stroke programme early CT score (APECTS). Material and Methods: A stratified random sample (age, gender, year) of CT reports (n=206) with suspected ischemic stroke was generated out of 3997 reports signed off between 2015-2019. Three independent, blinded readers assessed these reports and manually annotated clinico-radiologically relevant key features. The primary outcome was whether ASPECTS should have been provided (yes/no: 154/52). For all reports, both the findings and impressions underwent cross-lingual (German to English) RadLex®-mappings using natural language processing. Well-established ML-algorithms including classification trees, random forests, elastic net, support vector machines (SVMs) and boosted trees were evaluated in a 5 x 5-fold nested cross-validation framework. Further, a linear classifier (fastText) was directly fitted on the German reports. Ensemble learning was used to provide robust importance rankings of these ML-algorithms. Performance was evaluated using derivates of the confusion matrix and metrics of calibration including AUC, brier score and log loss as well as visually by calibration plots. Results: On this imbalanced classification task SVMs showed the highest accuracies both on human-extracted- (87%) and fully automated RadLex® features (findings: 82.5%; impressions: 85.4%). FastText without pre-trained language model showed the highest accuracy (89.3%) and AUC (92%) on the impressions. Ensemble learner revealed that boosted trees, fastText and SVMs are the most important ML-classifiers. Boosted trees fitted on the findings showed the best overall calibration curve. Conclusions: Contextual ML-based assistance suggesting ASPECTS while reporting neuroradiological emergencies is feasible, even if ML-models are restricted to be developed on limited and highly imbalanced data sets.

This work is part of an ongoing research project to develop an unmanned flying social robot to monitor dependants at home in order to detect the person’s state and bring the necessary assistance. In this sense, this paper focuses on the description of a virtual reality (VR) simulation platform for the monitoring process of an avatar in a virtual home by a rotatory-wing autonomous unmanned aerial vehicle (UAV). This platform is based on a distributed architecture composed of three modules communicated through the Message Queue Telemetry Transport (MQTT) protocol: the UAV Simulator implemented in MATLAB/Simulink, the VR Visualiser developed in Unity, and the new emotion recognition (ER) System developed in Python. Using a face detection algorithm and a convolutional neural network (CNN), the ER System is able to detect the person’s face in the image captured by the UAV’s on-board camera and classify the emotion among seven possible ones (surprise, fear, happiness, sadness, disgust, anger or neutral expression). The experimental results demonstrate the correct integration of this new computer vision module within the VR platform, as well as the good performance of the designed CNN, with around 85% in the F1-score, a mean of the precision and recall of the model. The developed emotion detection system can be used in the future implementation of the assistance UAV that monitors dependent people in a real environment, since the methodology used is valid for images of real people.

Electroless etching of semiconductors was elevated to an advanced micromachining process by the addition of a structured metal catalyst. Patterning of the catalyst by lithographic techniques facilitates the patterning of crystalline and polycrystalline wafer substrates. Galvanic deposition of metals on semiconductors has a natural tendency to produce nanoparticles rather than flat uniform films. This characteristic makes possible the etching of not only wafers but also particles with arbitrary shape. While it has been widely recognized that spontaneous deposition of metal nanoparticles can be used in connection with etching to porosify wafers, it is also possible to produced nanostructured powders. MACE can be controlled to produce (1) etch track pores with shapes and sizes closely related to the shape and size of the metal nanoparticle, (2) hierarchically porosified substrates exhibiting combinations of large etch track pores and mesopores, and (3) nanowires with either solid or mesoporous cores. This review discussed the mechanisms of porosification, processing advances and the properties of the etch product with special emphasis on the etching of silicon powders.

A novel adaptive neural network-based fault-tolerant control scheme is proposed for six-degree freedom nonlinear helicopter dynamic. The proposed approach can detect and mitigate sensors' faults in real-time. An adaptive observer-based on neural network (NN) and extended Kalman filter (EKF) is designed, which incorporates the helicopter's dynamic model to detect faults in the navigation sensors. Based on the detected faults, an active fault-tolerant controller, including three loops of dynamic inversion, is designed to compensate for the occurred faults in real-time. The simulation results showed that the proposed approach is able to detect and mitigate different types of faults on the helicopter navigation sensors, and the helicopter tracks the desired trajectory without any interruption.

This paper deals with a non-contact method to identify the aerodynamic propeller parameters of the Parrot AR.Drone quadrotor. The experimental set consists in a camera recording the vehicle flights, the audio signal is extracted and is used a spectrogram analysis to estimates the propeller velocity. First, the aerial vehicle takes off and starts a hovering maneuver. The experiment is repeated with different additional masses attached to its rigid body. If the weight over the UAV increases/decreases, then the propeller must rotates faster/slower to produce a higher/lower thrust, and consequently, the sound frequency increases/decreases. Finally, this proposition is validated experimentally, and the estimated velocity is used to identify the quadrotor thrust parameters.

STRAS (Single access Transluminal Robotic Assistant for Surgeons) is a flexible robotic system based on the Anubis® platform of Karl Storz for application to intra-luminal surgical procedures. It consists of three cable-driven systems, one endoscope serving as guide and two inserted instruments. The flexible and bendable instruments have three degrees of freedom and can be teleoperated by a single user via two specially designed master interfaces. In this research, a pair of specific sensor gloves, which ergonomically fit to the master handles of the system was designed and the forces applied by one expert and one novice user during system-specific task execution in a simulator task (4-step-pick-and-drop) were compared. The results show that user expertise is not only reflected by shorter task execution times but also, more importantly, by specific differences in handgrip force profiles for specific sensor locations on anatomically relevant parts of the fingers and hand controlling the surgical instruments of the robotic master/slave system.

Autonomous driving systems are increasingly becoming a necessary trend towards building smart cities of the future. Numerous proposals have been presented in recent years to tackle particular aspects of the working pipeline towards creating a functional end-to-end system, such as object detection, tracking, path planning, sentiment or intent detection. Nevertheless, few efforts have been made to systematically compile all of these systems into a single proposal that effectively considers the real challenges these systems will have on the road, such as real-time computation, hardware capabilities, etc. This paper has reviewed various techniques towards proposing our own end-to-end autonomous vehicle system, considering the latest state on the art on computer vision, DSs, path planning, and parallelization.

In laser-assisted milling, higher temperature in shear zone softens the material potentially resulting in a shift of mean residual stress, which significantly affects the damage tolerance and fatigue performance of product. In order to guide the selection of laser and cutting parameters based on the preferred mean residual stress, inverse analysis is conducted by predicting residual stress based on guessed process parameters, which is defined as the forward problem, and applying iterative gradient search to find process parameters for next iteration, which is defined as the inverse problem. An analytical inverse analysis is therefore proposed for the mean residual stress in laser-assisted milling. The forward problem is solved by analytical prediction of mean residual stress after laser-assisted milling. The residual stress profile is predicted through the calculation of thermal stress, by treating laser beam as heat source, and plastic stress by first assuming pure elastic stress in loading process, then obtaining true stress with kinematic hardening followed by the stress relaxation. The variance-based recursive method is applied to solve inverse problem by updating process parameters to match the measured mean residual stress. Three cutting parameters including depth of cut, feed per tooth, and cutting speed, and two laser parameters including laser-tool distance and laser power, are updated with respected to the minimization of resulting residual stress and measurement in each iteration. Experimental measurements are referred on the laser-assisted milling of Ti-6Al-4V grade 5 and ELI. The percentage difference between experiments and predictions is less than 5% for both materials, and the selection is completed within 50 loops.

UAV cooperative control has been an important issue in UAV-assisted sensor network, thanks to the considerable benefit obtained from cooperative mechanism of UAVs being applied as a flying base station. In coverage scenario, the tradeoff between coverage performance and transmission performance often makes deployment of UAVs fall into a dilemma, since both indexes are related to the distance between UAVs. To address this issue, UAV coverage and data transmission mechanism is analyzed in this paper, then an efficient multi-UAV cooperative deployment model is proposed. The problem is also modeled as a coalition formation game (CFG). The CFG with Pareto order is proved to have a stable partition. Then, an effective approach consisting of coverage deployment and coalition selection is designed, wherein UAVs can decide strategies cooperatively to achieve better coverage performance. Combining analysis of game approach, a coalition selection and position deployment algorithm based on Pareto order (CSPDA-PO) is designed to execute coverage deployment and coalition selection. Finally, simulation results are shown to validate the proposed approach based on efficient multi-UAV cooperative deployment model.