Plants characterized by a soft or weak steam, such as climbing plants, need to find a potential support (e.g., wooden trunk) to reach greater light exposure. Since Darwin’s research on climbing plants, several studies on their searching and attachment behaviors have demonstrated their unique ability to process different support features to modulate their movements accordingly. Nevertheless, the strategies underlying this ability are yet to be uncovered. The present research tries to fill this gap by investigating how the interaction between above- (i.e., stem, tendril, …) and belowground (i.e., the root system) plant organs influence the kinematics of the approach-to-grasp movement. With three-dimensional (3D) kinematical analysis, we characterized the movement of pea plants (Pisum sativum L.) towards a support with different thicknesses above and belowground (i.e., thin below, thick aboveground, or the opposite). As a control condition, the plants were presented to supports with the same thickness below- and aboveground (i.e., either entirely thin or thick). The results suggest an integration between the information from below- and aboveground for driving the reach-to-grasp behavior of the aerial plant organs. Information about the support conveyed by the root system seems particularly important to fulfil the end-goal of the movement.

The article presents the stages of modeling and simulation of a new design of a wheelchair with the option of moving up and down stairs. These analyzes were aimed at the synthesis of the de-sign parameters and parameters of the sensor and control systems. The simulation results were verified by experimentally testing the prototype.

Innovative interventions in the planning and design of stair and escalator facilities call for understanding their effects on stair use. This study considers five planning variables for the twinned stair and escalator facilities–stair pitch and width, angle of deviation, height and separating distance. Public sites were identified in 8 commercial districts in Beijing. Facilities (n=21) presenting heterogeneously across variables were sampled for simultaneous up and down pedestrian counts in 18 5-minute video segments middays, for a total of 1464 counts. Stair width accounts for 20% of the variance in ascending rate and 10% in descending. Plan angle accounts for 2% in ascending and 5% in descending, while pitch accounts for 1% in ascending and 5% in descending. The study confirms the effects of layout and design of stairway and escalator facilities on facility choice. The results point directly to interventions in support of higher stair-climbing rates.

The multi-objective optimization design of hydraulic climbing mechanism (the core mechanism of gantry crane) was realized by using the method of combining central composite design (CCD), Kriging and multi-objective genetic algorithm (MOGA). Firstly, the hydraulic climbing mechanism model was established and the appropriate design variables were selected. The mass, maximum deformation and maximum equivalent stress of the hydraulic climbing mechanism was taken as the optimization objectives. Through the comparative analysis of the parameters of wedge block, anchor block, anchor plate、baffle, the parameters that have the greatest impact on the optimization objectives are selected as geometric constraints. Then, according to the results of experimental design, Kriging model was used to establish the response surface optimization model of objective function. Finally, the optimal results were obtained by using MOGA method. The experimental results show that the optimization strategy is reliable, and the mass of the optimized model is reduced by 10.28%. While meeting the actual production requirements, the lightweight design of the hydraulic climbing mechanism is realized, which saves the design cost and improves the material utilization rate.

Adhesion systems are very important in robots for infrastructure inspection (especially in vertical walls). They present the challenge of optimizing the ratio vacuum/power consumption in battery-powered robots. In this paper a CFD (Computer Fluid Dynamics) modelling and optimization process of a robot adhesion system is carried out to determine the best performing configuration in terms of vacuum and power consumption. Analytical and numerical models were developed to predict the behaviour of the system for different configurations. The models were validated, using test rig measurements, by calibrating an arbitrary defined inlet height that simulates the leakage flow. Then, different geometric parameters were varied to determine the best performing configuration based on the vacuum/power consumption ratio value. The model presented in the paper was capable of predicting the behaviour of the system for different configurations, with a margin of error of 15% for the vacuum prediction and a 25% for the motor power calculation. Finally, the model was used to optimize parameters of the system, like the number of blades of the impeller. The adhesion system was conceived for the modular autonomous climbing legged robot ROMERIN.

Background: Therapeutic climbing (TC) has emerged as a prospective rehabilitation approach for individuals with Multiple Sclerosis (MS). Existing literature primarily focuses on the physical and psychological benefits of TC across diverse populations but is limited concerning its application and efficacy for patients with MS. Objectives: This study aimed to delineate the experiences, effects, and perceptions of both individuals with MS and therapists regarding TC, highlighting the potential benefits and challenges of this therapeutic approach. Methods: Using a qualitative design, structured interviews were conducted with patients living with MS (N=5) and therapists (N=7) involved in TC sessions at a rehabilitation facility. The interviews were recorded, transcribed verbatim, and subjected to thematic qualitative text analysis. Results: Our analysis resulted in the identification of five main categories: (1) motivational factors, (2) training conditions, (3) training content, (4) observed effects, and (5) safety protocols. Findings primarily centred around the motivational aspects of TC. Participants consistently reported experiencing feelings of accomplishment, success, enjoyment, and increased self-confidence. Furthermore, TC was often perceived as a comprehensive intervention, addressing endurance, strength, flexibility, neuromotor functions, cognition, and mental health while having a low-risk profile. However, due to the demanding nature of TC, careful fatigue management is crucial. This entails personalized intensity adjustments during sessions and coordinating TC with other physically demanding therapies when implementing TC within a rehabilitation environment. Conclusions: TC shows promise within MS rehabilitation and can be considered safe under certain framework conditions. This research sheds light on its potential benefits, facilitators and barriers and provides insights for practical integration into rehabilitation programmes.

(1) Background: Cardiorespiratory fitness (CRF) is a prognostic factor regarding long time morbidity and mortality. To assess CRF the well-known gold standard is cardiopulmonary exercise testing (CPET), which is a time consuming and expensive test. Therefore, alternative methods for routine evaluation of CRF are needed for the general population as well as for specific patient groups such as children and young adults with congenital heart disease. The Stair Climbing Test (SCT) is a simple and resource saving test reported in the current literature. This test is used in various settings to assess different health associated risk factors including cardiorespiratory fitness, muscular resilience, therapy effectiveness or pre- and postoperative morbidity and mortality.

Background: The popularity of climbing via ferratas (VF) in the European Alps has increased a lot. We have analysed the pattern of injuries from accidents, which have occurred on VF, and First Aid (FA) knowledge from the persons on such alpine routes. The aim was to create specific FA courses for those who climb VF. Material and Methods: Incidences and FA knowledge of the alpinists were investigated by a questionnaire. Data included details of the individual’s alpine experience, accidents or any kind of medical emergency they have ever experienced. FA knowledge was evaluated by 18 multiple choice questions with 5 answers each. The questionnaire was based on those of previous studies but was slightly adopted for VF. For this data from rescue operations on VF were used. Finally every participant was asked to judge his FA knowledge by a Likert scale (1 to 5). Results: The collective consisted of 391 participants (28.4% women) with an average age of 41 years. A significant portion did no regular fitness training and in most cases the last FA training was years ago. Nobody had joined a specific FA course for climbers or mountaineers. The most common causes of emergencies were: weather conditions (19%), stumble (18.6%), falls (13.4%), and weariness and deficiency in concentration (13.4%). FA questions most often answered correctly were cardiac emergencies (49.6%), high altitude cerebral edema (HACE) (43.2%), snow blindness (40.9%), injuries of the head (37.1%) and hemorrhagic shock (35.3%). Those most often wrong were injuries of the back (1.0%), injuries of the thorax (2.8%), frostbite (9.0%), acute mountain sickness (AMS) (4.1%) and strategy of rescue (4.1%). VF climbers show significant less FA knowledge than mountaineers in the Western Alps and trekkers. Conclusions: Data support the need of a specific FA training for VF climbers. Their FA knowledge does not fit with the demands in the mountains while some other knowledge they have is negligible on VFs (e.g. HACE). This is in accordance with earlier studies in “classic” alpine mountaineering and in trekking.

Evaluating the integrity of structures is an important issue in engineering applications. The use of vibration-based techniques has become a common approach to assessing cracks, which are the most often occurring damage in structural elements. When involving an inverse method, it is necessary to know the influence of the position and the geometry of the crack on the modal parameter changes. The geometry of the crack, both in size and shape, defines the damage severity (DS). In this study, we present a method (DS-SHC) used for estimating the DS for closed and open transverse cracks in beam-like structures by using the intact and damaged beam deflections under its weight and a Stochastic Hill Climbing (SHC) algorithm. After describing the procedure of applying DS-SHC, we calculate for a prismatic cantilever beam the severities for different crack types and depths. The results are tested by comparing the DS obtained with DS-SHC with those acquired from dynamic tests made using professional simulation software. We obtained a good fit between the severities determined in these two ways. Afterward, we performed laboratory experiments and find out that the severities obtained with the DS-SHC method can accurately predict the frequency changes due to the crack. Hence, these severities are a valuable tool for damage detection.

The continuously developing project aims to build an informatics system enabling analysis of spatial and temporal parameters of movement activities occurring in the sport of speed climbing. The monitoring system (climbing information speed system – CISS) is to be used for conducting comprehensive scientific research in the field of speed climbing. The system enables the evaluation of the training process of climbers at various levels of competition. The study analysis was based on video. The video recording with a camera positioned at a short distance (10 m) from the wall. The marker was positioned closest to the centre of mass (gravity) BMC. Results: development of a system for data collection and analysis of the climbing run based on video recording (application of the Kanade-Lucas-Tomasi (KLT) algorithm). Our results showed that used devices can measure a wide range of specific internal and external variables during speed climbing. Some of the analyzed parameters were significantly correlated with speed climbing time. These results could be a theoretical basis for future research and for training program’s preparation.