The advancement of autonomous driving technology is becoming increasingly vital in the modern technological landscape, promising notable enhancements in safety, efficiency, traffic management, and energy use. Despite these benefits, conventional deep reinforcement learning algorithms often struggle to navigate complex driving environments effectively. To tackle this challenge, we propose a novel network called DynamicNoise, designed to significantly boost algorithmic performance by introducing noise into the Deep Q-Network (DQN) and Double Deep Q-Network (DDQN). Drawing inspiration from the NoiseNet architecture, DynamicNoise uses stochastic perturbations to improve the exploration capabilities of these models, leading to more robust learning outcomes. Our experiments demonstrate a 57.25% improvement in navigation effectiveness within a 2D experimental setting. Moreover, by integrating noise into the action selection and fully connected layers of the Soft Actor-Critic (SAC) model in the more complex 3D CARLA simulation environment, our approach achieved an 18.9% performance gain, substantially surpassing traditional methods. These results confirm that the DynamicNoise network significantly enhances the performance of autonomous driving systems across various simulated environments, regardless of their dimensionality and complexity, by improving their exploration capabilities rather than just their efficiency.

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

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

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

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

Beliefs that maintain patriarchal principles may affect individuals’ willingness to avoid conflicts in their intimate partner relationships and eventually are likely to affect chances of intimate partner economic violence. Nonetheless, research has yet to fully explore these associations. This study used a sample of 321 adults in the ultra-Orthodox Jewish community—a patriarchal and traditional culture—to examine associations in beliefs supporting patriarchal principles at the micro (gendered domestic roles), meso, and macro ( institutional power of men and inherent inferiority of women) levels; conflict avoidance and economic violence; and sex differences in these factors. Descriptive statistics were used to explore gender differences in research variables, and path analysis examined the correlations between research variables for men and women. Beliefs in patriarchal ideologies were moderate at all levels, although slightly higher among men. Men tended to avoid conflict with their intimate partner significantly more than women did. Beliefs in support of patriarchal ideologies predicted conflict avoidance, especially among women. Finally, in opposition to prior research findings, this study revealed nonsignificant sex differences in the prevalence of economic violence victimization. These findings, however, do not suggest that economic violence victimization is not rooted in sex issues. We discuss the findings and the meanings assigned to conflict avoidance by men and women while considering gender disparities of power and control. We suggest that the contribution of men’s tendency to avoid conflict likely moderated their chances to perpetrate economic violence.

Anxiety-based cognitive distortions pertaining to somatic perception (ABCD-SPs)—primarily catastrophizing, fear avoidance, and kinesiophobia—have been repeatedly linked to worsening chronic, non-cancer pain (CNCP) outcomes of increased disability, amplified pain, ineffective opioid use, and opioid misuse. Several studies have suggested that treating ABCD-SPs can improve pain outcomes, yet identification and targeting of ABCD-SPs are not part of the standard medical pain assessment and treatment plan. Utilizing a narrative review of proposed mechanisms, published patient perspectives, and study correlations connecting these cognitive distortions with CNCP outcomes, an approach for better practice in the delivery of standard medical CNCP care can be deduced and formulated into a Belief and Behavior Action Plan (BBAP) for medical clinicians treating CNCP to implement into initial and maintenance care planning. These recommendations require relatively few resources to implement and have the potential to disseminate more effective CNCP treatment on a large scale now and in the future with the new frontier of cognitive computing in medicine.

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

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

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

Cats, including companion cats, inflict extensive harm on wildlife. Using a national survey of 2000 households in New Zealand, we investigated the influence of involvement (an indicator of motivation) on the willingness of cat owners to keep their cats indoors at night. We found that respondents’ intentions to protect wildlife, and the frequency with which respondents with cats kept them indoors at night, was influenced by their involvement with cat welfare and their involvement with protecting wildlife, in addition to their attitudes and subjective norms. We also found that keeping cats indoors at night could be characterised as involving approach-avoidance conflict. Our findings have implications for efforts to increase the adoption by cat owners of keeping cats inside at night regarding the attentiveness of cat owners to promotional activities. Our findings suggest that such activities will not be particularly effective in the absence of cat-friendly, inexpensive, practical, and easily maintained devices that enable cats to be kept inside. Importantly, when the adoption of keeping cats inside at night is appropriately characterised as approach-avoidance conflict, our results suggest that promotional activities seeking to persuade cat owners that pet cats cause much greater harm to wildlife than they might believe are most likely to have a limited and likely temporary effect and may even be counter-productive.

Autonomous mobile robots are essential to the industry, and human-robot interactions are becoming more common nowadays. These interactions require that the robots navigate scenarios with static and dynamic obstacles in a safely manner, avoiding collisions. This paper presents a physical implementation of a method for dynamic obstacle avoidance using a Long Short-Term Memory (LSTM) neural network that obtains information from the mobile robot’s LiDAR for it to be capable of navigating through scenarios with static and dynamic obstacles while avoiding collisions and reaching its goal. The model is implemented using a TurtleBot3 mobile robot within an OptiTrack Motion Capture (MoCap) system for obtaining its position at any given time. The user operates the robot through these scenarios, recording its LiDAR readings, target point, position inside the MoCap system, and its linear and angular velocities, all of which serve as the input for the LSTM network. The model is trained on data from multiple user-operated trajectories across five different scenarios, outputting the linear and angular velocities for the mobile robot. Physical experiments prove that the model is successful in allowing the mobile robot to reach the target point in each scenario while avoiding the dynamic obstacle, with a validation accuracy of 98.02%.

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

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

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

Autonomous underwater vehicles are not easily programmable such as autonomous vehicles. This is because route and motion planning for autonomous vehicles depend on a global map that considers the road's smoothness and traffic regulations in real time. However, this is not the case for underwater vehicles as we have to consider the external factors such as wind and tide that may pull autonomous underwater vehicles outside their route and affect the course of travel. This is where decision-making is important for autonomous underwater vehicles. An example is the avoidance of the loss of subsea vehicles as they can dynamically make routing decisions and return to their destinations.This paper exposes the decision-making process for autonomous underwater vehicles. Firstly, an analysis of internal factors such as buoyancy and the overall of the vehicle, and how they affect motion are conducted—secondly, the implementation of a design process that deals with the stages of motion and route planning. Finally, a survey is conducted on already implemented research for algorithms, to incorporate external factors for high-level decision-making.

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

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

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

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

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

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

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

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

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

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

Currently, many health workers have died of being infected by dangerous infectious diseases. One solution is to prevent the spread of transmissions by minimizing contact between patients and staff or others using a mobile robot for delivering logistics services. We propose an approach by applies a navigation system using a position driver and obstacle avoidance using a fuzzy controller and particle swarm optimization for path planning in an unknown environment for a holonomic mobile robot. A Fuzzy Controller was used for obstacle avoidance so that the mobile robot could avoid obstacles using existing proximity sensors as the perception of the robot. In the path planning section, Particle Swarm Optimization is used to find intermediate points that must be reached by the mobile robot to reach their target. First, we performed simulation under the condition that the simulation resolution was similar to that of real conditions. It was found that the Trigonometric Function Adaptive PSO (TFAPSO) was better for finding the optimal solution based on the safest, shortest path, and lowest time. Finally, the holonomic mobile robot is tested directly in an unknown environment with the trajectory path generated by TFAPSO in real condition.

Aiming at the APF algorithm in the collision-free path planning and LQR algorithm tracking process, there are problems such as unreachable target points, local optimization, low safety coefficient of autonomous lane change collision avoidance tracking control and poor stability, this paper proposes an optimized APF method, which solves the defects of the traditional artificial potential field method by adding the distance adjustment factor, the safety distance protection model and the sub-target virtual potential field, and at the same time generates the autonomous driving car collision-free path. The path tracking control system is designed based on feed-forward control and DLQR controller, in which the vehicle dynamics state space model is used as the basis, the model is linearized and discretized, and the corresponding constraint variables are set to minimize the control command objective cost function under the constraints, and the objective of the DLQR controller.The objective is to accurately determine the steering angle in order to achieve path tracking and eliminate the lateral error between the reference path and the actual path caused by external interference.Finally, the simulink model and CarSim parameter configuration joint simulation platform are built, and different obstacle scenarios and different speeds are selected for collision-free path planning and tracking motion simulation research and analysis, which verifies the accuracy and practicability of the algorithm, and shows more obvious advantages in obstacle avoidance ability, path smoothing degree, and collision avoidance safety stability. The ideas proposed in this paper are expected to be further extended and popularized to actual path planning problems, which has important practical significance and engineering value.

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

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

The adoption of Industry 4.0 technology is essential for achieving energy efficiency, a critical aspect of Sustainable Development Goal (SDG) no. 12 aimed at addressing climate change. Understanding the impact of Sustainable Attitudes, Digital Trust, and Uncertainty Avoidance is crucial in the decision-making process regarding the implementation of Industry 4.0 technology. The slow adoption of Industry 4.0 technology is attributed to non-technological factors or people, while the need to achieve energy efficiency targets necessitates examining the influence of Sustainable Attitudes and Digital Trust as supporting variables, along with Uncertainty Avoidance, on technology adoption. The study employed a quantitative explanatory research approach to investigate the relationships and impacts of variables. It centered on employees of Schneider Electric Indonesia, a global Industry 4.0 technology provider, with a sample of 189 employees selected through random sampling, incorporating a 5% margin error from Slovin formula. The analysis involved the use of Structural Equation Modeling (SEM) with AMOS version 26. Industry 4.0 technology is essential for fostering innovation and business expansion, leading to a sustainable environment by offering principles, guidance, and energy-efficient technologies for companies. The involvement of Sustainable Attitude, moderated by Uncertainty Avoidance, is vital in reaching energy efficiency goals through Industry 4.0 implementation.

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

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

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

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

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

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

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

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

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

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

The rapid development and integration of Autonomous Mobile Robots (AMRs) have 1 revolutionized industries by enhancing automation capabilities. A critical challenge in this evolution 2 is achieving effective navigation and obstacle avoidance, which are essential for deploying AMRs 3 seamlessly in varied environments. This paper presents a detailed exploration of AMR navigation 4 and obstacle avoidance advancements through the application of reinforcement learning, specifically 5 focusing on small-scale Sri Lankan manufacturing facilities. The study demonstrates the effectiveness 6 of Q-learning in managing dynamic obstacles within a factory environment. The AMR successfully 7 avoided obstacles in 36 out of 50 test runs, achieving a 72% success rate, and maintained an average 8 distance of 12 cm from each obstacle, underscoring the algorithm’s precision in maintaining safe nav- 9 igation paths while dynamically adapting to environmental changes. The continuous monitoring by 10 ultrasonic sensors, combined with iterative learning, enabled the robot to refine its decision-making 11 process and efficiently navigate through the environment. This paper also provides a comprehensive 12 examination of conventional methods, tracing their historical development and assessing their role in 13 addressing real-world challenges. The results highlight the significant improvements brought by rein- 14 forcement learning, particularly when integrated with sensor fusion and motor control technologies, 15 to enhance navigation and dynamic object collision avoidance. The study involves developing an 16 AMR prototype, refining algorithms, and assessing system performance in controlled environments. 17 By automating material transportation and addressing operational constraints in manufacturing 18 settings that predominantly rely on manual labor, this paper advances the practical deployment of 19 AMRs. Additionally, it discusses ethical considerations, potential limitations, and the importance 20 of real-world validation, offering valuable insights for the future development and integration of 21 autonomous mobile robotics in dynamic industrial environments.

This research introduces an Intelligent Robotic Arm with Adaptive Collision Avoidance, employing real-time current fluctuation analysis for human-proximity detection. Precision and versatility in motors and actuators are given top priority in the robotic arm setup. Motor power lines are continually monitored by integrated high-precision current sensors, and a real-time data processing system separates natural fluctuations from those caused by outside influences. When a human comes into contact with the surface of the robotic arm, the system excels at detecting their closeness by identifying unique patternsin the variations of current. This sets off an adaptive collision avoidance system, which quickly flips the main power supply’s kill switch to bring the vehicle to an emergency stop. A crucial component is adaptability, as the system dynamically modifies sensitivity in response to environmental condi- tions. Comparative studies show that this approach performs better than conventional static sensing techniques. Experiments under control confirm the great precision, accuracy, and low false positive rate. The use of a failsafe technique improves system integrity by preventing false alarms and enabling recovery after an emergency

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

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

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

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.

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