The giant challenge breeding flood-irrigated rice is to identify superior genotypes that present high-yielding with specific grain qualities, resistance to abiotic and biotic stresses, excellent adaptation to the target environment. Thus, the objectives of this study were to propose a bayesian multi-trait model, estimate genetic parameters, and select flood-irrigated rice genotypes with better genetic potentials in different evaluation environments. For this, twenty-five rice genotypes belonging to the flood-irrigated rice improvement program were evaluated. The grain yields, grain length, width and thickness, grain length, and grain width and weight of 100 grains in the agricultural year 2016/2017. The experimental design used in all experiments was a randomized block design with three replications. The Monte Carlo Markov Chain algorithm estimated genetic parameters and genetic values. The grain thickness trait was considered highly heritable, with a credibility interval ranging from: h^2: 0.9480; 0.9440; 0.8610, in environments 1, 2, and 3, respectively. The grain yields showed a low correlation estimate between grain thickness and 100-grain weight, in all environments, with a credibility interval ranging from (ρ= 0.5477; 0.5762; 0.5618 and 0.5973; 0.5247; 0.5632, grain thickness and 100-grain weight, in environments 1, 2, and 3, respectively). The Bayesian multi-trait model proved to be an adequate strategy for the genetic improvement of flood-irrigated. Genotypes 2 and 15 had similar potential in the three environments, they should be selected as high-performance multi-trait genotypes for the genetic breeding of flood-irrigated rice in the program.

The adoption of algorithms based on Artificial Intelligence (AI) has been rapidly increasing during the last years. However, some aspects of AI techniques are under heavy scrutiny. For instance, in many use cases, it is not clear whether the decisions of an algorithm are well-informed and conforming to human understanding. Having ways to address these concerns is crucial in many domains, especially whenever humans and intelligent (physical or virtual) agents must cooperate in a shared environment. In this paper, we introduce an application of an explainability method based on the creation of a Policy Graph (PG) based on discrete predicates that represent and explain a trained agent’s behaviour in a multi-agent cooperative environment. We show that from these policy graphs, policies for surrogate interpretable agents can be automatically generated. These policies can be used to measure the reliability of the explanations enabled by the PGs, through a fair behavioural comparison between the original opaque agent and the surrogate one. The contributions of this paper represent the first application of policy graphs in the context of explaining agent behaviour in collaborative multi-agent scenarios and presents experimental results that sets this kind of scenario apart from previous application in single-agent scenarios: when requiring collaborative behaviour, predicates that allow representing observations about the other agents are crucial to replicate the opaque agent’s behaviour and increase the reliability of explanations.

Ensuring safe and continuous autonomous navigation in long-term mobile robot applications is still challenging. To ensure a reliable representation of the current environment without the need for periodic re-mapping, updating the map is recommended. However, in case of incorrect estimation of robot pose, updating the map can lead to errors that prevent the robot localisation and jeopardize map accuracy. In this paper, we propose a safe LIDAR-based occupancy grid map updating algorithm for dynamic environments taking into account the uncertainties in the estimation of the robot’s pose. The proposed approach allows robust long-term operations as it can recover the robot’s pose, even when it gets lost, to continue the map update process providing a coherent map. Moreover, the approach is robust also to temporary changes in the map due to the presence of dynamic obstacles such as humans and other robots. Results highlighting map quality, localisation performance, and pose recovery, both in simulation and experiments, are reported.

The introduction of the Internet of Things (IoT), i.e. the interconnection of embedded devices over the Internet, has changed the world we live in from the way we measure, make calls, print information and even the way we get energy in our offices or homes. The convenience of IoT products, like CCTV cameras, IP phones, and oscilloscopes, is overwhelming for end-users. In parallel, however, security issues have emerged and it is essential for infrastructure providers to assess the associated security risks. In this paper, we propose a novel method to detect IoT devices and identify the manufacturer, device model, and the firmware version currently running on the device using the page source from the web user interface. We performed automatic scans of the large-scale network at the European Organization for Nuclear Research (CERN) to evaluate our approach. Our tools identified 233 IoT devices that fell into eleven distinct device categories and included 49 device models manufactured by 26 vendors from across the world.

In recent years, due to the advancement of machine learning, object detection has become a mainstream task in the computer vision domain. The first phase of object detection is to find the regions where objects can exist. With the improvement of deep learning, traditional approaches such as sliding windows and manual feature selection techniques have been replaced with deep learning techniques. However, object detection algorithms face a problem when performing in low light, challenging weather, and crowded scenes like any other task. Such an environment is termed a challenging environment. This paper exploits pixel-level information to improve detection under challenging situations. To this end, we exploit the recently proposed hybrid task cascade network. This network works collaboratively with detection and segmentation heads at different cascade levels. We evaluate the proposed methods on three complex datasets of ExDark, CURE-TSD, and RESIDE and achieve an mAP of 0.71, 0.52, and 0.43, respectively. Our experimental results assert the efficacy of the proposed approach.

The world’s human population is reaching record longevities. Consequently, our societies are experiencing the impacts of prolonged longevity, such as increased retirement age. A major hypothesised influence on ageing patterns is resource limitation, formalised under calorie restriction theory. This theory predicts extended organismal longevity due to reduced calorie intake without malnutrition. However, several challenges face current calorie restriction (CR) research and, although several attempts have been made to overcome these challenges, there is still a lack of holistic understanding of how CR shapes organismal vitality. Here, we conduct a literature review of 222 CR peer-reviewed publications to summarise the state-of-the-art in the field. We use this summary to highlight challenges of CR research in our understanding of its impacts on longevity. Our review demonstrates that experimental research in this field is biased towards short-lived species (98.2% of studies examine species with <5 years of mean life expectancy) and lacks realism in key areas, such as stochastic environments or interactions with other environmental drivers such as temperature. We argue that only by considering a range of short- and long-lived species and by taking more realistic approaches can the impacts of CR on longevity be examined and validated in natural settings. We conclude by proposing experimental designs and study species that will allow the discipline to gain a much-needed understanding of how restricting caloric intake affects long-lived species in realistic settings. Through incorporating more experimental realism, we anticipate crucial insights that will ultimately shape the myriad of socio-bio-economic impacts of senescence in humans and other species across the Tree of Life.

In this study a method for predicting the preferred pleasantness induced by different forest environments, represented by virtual photographs, was proposed and evaluated using a novel Anti-Environmental Forest Experience Scale psychometric test. The evaluation questionnaire contained twenty-one items divided into four different subscales. The factor structure was assessed in two separate samples collected online (sample 1: N = 254, sample 2: N = 280). The internal validity of the four subscales was confirmed using an exploratory factor analysis. Discriminant validity was tested and confirmed using the Amoebic Self Scale (Spatial-Symbolic domain). Concurrent validity was confirmed using the Connectedness to Nature Scale. Predictive validity was based on assessment of pleasantness induced by nine different photographs (control – urban landscapes, forest landscapes, dense forest landscapes), with subscales differently correlated with the level of pleasantness assessed for each photograph. This evaluation instrument is appropriate for predicting preferred pleasantness induced by different forest environments.

With the evolution of technology over the years, it has become possible to develop intelligent environments based on the concept of the Internet of Things, distributed systems, and machine learning. Such environments are incorporated with various solutions to solve user demands from services. One of these solutions is UBIPRI middleware, whose central concept is to maintain privacy in smart environments and to receive notifications as one of its services. However, this service is freely performed, disregarding the privacy that the environment employs. Another consideration is that based on the researched related works, it was possible to identify that the authors do not use statistical hypothesis tests in their solutions developed in the presented context. This work proposes an architecture for notification management in smart environments, composed by a notification manager named PRIPRO to assign it to UBIPRI and to aim to perform tests and comparisons between classification algorithms to delimit which one is most feasible to implement in the PRINM decision-making mechanism. The experiments showed that the J48 algorithm obtained the best results compared to the other algorithms tested and compared.

The traditional Simultaneous Localization and Mapping (SLAM) systems are based on the 1 strong static assumption, and their performance will degrade significantly due to the presence of 2 dynamic objects located in dynamic environments. To decrease the effects brought by the dynamic 3 objects, based on ORB-SLAM2 system framework, a novel dynamic semantic SLAM system called 4 MOR-SLAM is presented using mask repair method, which can accurately detect dynamic objects 5 and realize high-precision positioning and tracking of the system in dynamic indoor environments. 6 First, an instance segmentation module is added to the front end of ORB-SLAM2 to distinguish 7 dynamic and static objects in the environment and obtains a preliminary mask. Next, to overcome the 8 under-segmentation problem in instance segmentation, a new mask inpainting model is proposed to 9 ensure that the integrity of object masks, which repairs large objects and small objects in the image 10 with depth value fusion method and morphological method respectively. Then, a reliable basic matrix 11 can be obtained based on the above repaired mask. Finally, the potential dynamic feature points 12 in the environment are detected and removed through the reliable basic matrix, and the remaining 13 static feature points are input into the tracking module of the system to realize the high-precision 14 positioning and tracking in dynamic environments. The experiments on the public TUM dataset 15 show that, compared with ORB-SLAM2, the MOR-SLAM improves the absolute trajectory accuracy 16 by 95.55%. In addition, compared with DynaSLAM and DS-SLAM on the high-dynamic sequences 17 (fr3/w/rpy and fr3/w/static), the MOR-SLAM improves the absolute trajectory accuracy by 15.20% 18 and 59.71%, respectively

The main characteristics of blockchains, such as security and traceability, have enabled their use in many distinct scenarios, such as the rise of new cryptocurrencies and decentralized applications (dApps). However, part of the information exchanged with the typical blockchains is public, which can lead to privacy issues. To avoid or mitigate these issues, some blockchains are applying mechanisms to deal with data privacy. Trusted Execution Environments, the basis of confidential computing, and secure Multi-party Computation are two technologies that can be applied in that sense. In this paper, we analyzed seven blockchain technologies that apply mechanisms to improve data privacy. We defined seven technical questions related to common requirements for decentralized applications and, to answer each question, we reviewed the available documentation and gathered information from chat channels. We briefly present each blockchain technology and the answers to each technical question. Finally, we present a table summarizing the information and showing which technologies are more prominent.

The goal of this short communication is to analyze a published discussion that states that long-term residing at a thermoneutral indoor temperature condition hinders human thermal acclimation capacities. According to current research, human thermal acclimation and acclimatization capacities can be easily gained through repeated heat and cold exposures mixed with physical activity over a period of days (often 3–21 days). Furthermore, heat and cold adaptations are not permanent, and heat acclimation would progressively fade away if frequent heat exposures (associated with physical work/exercise) were discontinued. People who have been heat acclimatized for a long period and live in tropical places may progressively lose their physiological and perceptual benefits when they shift to temperate zones. On the other hand, the decay of cold acclimation and cold acclimatization has not been well examined, demanding future research on this area. To summarize, there is no evidence to support the claim that extended exposure to thermoneutral conditions impairs human acclimatization abilities.

Consumer food environments have transformed dramatically in the last decade. The number of food outlets has increased, and a large proportion of the UK population now purchase food from a takeaway or restaurant at least once a week. Despite these developments, national spending on food control has reduced and many Local Authorities struggle to meet health inspection targets. This work presents a data driven approach to enhance current inspection processes with a view to reduce consumer risk of foodborne illness whilst eating outside the home. We explore the utility of three machine learning algorithms to predict non-compliant food outlets in England and Wales as defined by Food Hygiene Rating Scheme scores >= 2. Using socio-demographic, business type and urbanness features we experiment with under and over sampling strategies at five ratios to address problems of class imbalance in the dataset prior to analysis. We find that Synthetic Minority Over Sampling Technique alongside a Random Forest algorithm with a 1:1 sampling strategy provides the best predictive power. Our final model retrieves 84% of total non-compliant outlets in a test set of 92,595 (sensitivity=0.843, specificity=0.745, precision=0.274). We discuss the utility of machine learning algorithms to prioritise high risk establishments for inspection by Local Authority officials and make recommendations for weighting outcomes to improve their appropriateness in an applied setting.

Flowering time is a critical stage for crop development as it regulates the ability of plants to adapt to an environment. To understand the genetic control of flowering time, a genome wide association study (GWAS) was conducted to identify the genomic regions associated with the control of this trait in durum wheat (Triticum durum Desf.). A total of 96 landraces and 288 modern lines were evaluated for days to heading, growing degree days, and accumulated day length at flowering across 13 environments spread across Morocco, Lebanon, Mauritania, and Senegal. These environments were grouped into four pheno-environments based on temperatures, day length and other climatic variables. Genotyping with 35K Axiom array generated 7,652 polymorphic SNPs in addition to 3 KASP markers associated to known flowering genes. In total, 34 significant QTLs were identified in both landraces and modern lines. Some QTLs had strong association with already known regulatory photoperiod genes, Ppd-A and Ppd-B and vernalization genes Vrn-A1, and Vrn3. However, these loci explained only 5 to 20% of variance for days to heading. Seven QTLs overlapped between the two germplasm groups in which Q.ICD.Eps-03 and Q.ICD.Vrn-17 consistently affected flowering time in all the pheno-environments, while Q.ICD.Eps-11 and Q.ICD.Ppd-12 were significant only in two pheno-environments and the combined analysis across all environments. These results help clarify the genetic mechanism controlling flowering time in durum wheat and show some clear distinctions to what is known for common wheat (Triticum aestivum L.)

The Upper Jurassic (Oxfordian Age) Smackover Formation is a significant source for hydrocarbon production in southwest Alabama. Brooklyn Field is in southeast Conecuh County, Alabama and has been a major producer of oil and natural gas for the state. The Smackover is a carbonate formation that is divided into seven distinct lithofacies. In southwest Alabama, the Smackover Formation is heavily influenced by paleotopography from the underlying Paleozoic rocks of the Appalachian system. The goal of this study is to determine elemental ratios in rock core within the Smackover Formation using a X-ray fluorescence (XRF) handheld scanner, to correlate between lithofacies in the Smackover Formation and elementally characterize the upper oolitic grainstone reservoir and the lower thrombolite boundstone. Eight wells were used for the study within Brooklyn Field and Little Cedar Creek fields. Cores from the eight wells were scanned on six-inch intervals. Chemical logs were produced to show elemental weights in relation to depth and lithofacies. Well data collected for chemical signatures within producing zones were correlated to reservoir lithofacies and porosity. Aluminum, silicon, calcium, titanium, and iron were the most significant (>95% confidence level) predictors of porosity and is related to the depositional environment and subsequent diageneses of the strata. XRF data suggests relative enrichments in iron, titanium, and potassium may be related to deposition in relatively restricted marine waters.

Recent progress in deep learning has led to accurate and efficient generic object detection networks. Training of highly reliable models depends on large datasets with highly textured and rich images. However, in real-world scenarios, the performance of the generic object detection system decreases when (i) occlusions hide the objects, (ii) objects are present in low-light images, or (iii) they are merged with background information. In this paper, we refer to all these situations as challenging environments. With the recent rapid development in generic object detection algorithms, notable progress has been observed in the field of object detection in challenging environments. However, there is no consolidated reference to cover state-of-the-art in this domain. To the best of our knowledge, this paper presents the first comprehensive overview, covering recent approaches that have tackled the problem of object detection in challenging environments. Furthermore, we present the quantitative and qualitative performance analysis of these approaches and discuss the currently available challenging datasets. Moreover, this paper investigates the performance of current state-of-the-art generic object detection algorithms by benchmarking results on the three well-known challenging datasets. Finally, we highlight several current shortcomings and outline future directions.

According to the wide variety of internet of things (IoT) devices within smart environments, many challenges face conventional digital forensic investigation (DFI) in smart environments. Challenges in this environment include heterogeneity, distribution, and massive amounts of data, which exceed digital forensic (DF) investigators’ human capabilities to deal with all of these challenges within a short period of time. Furthermore, it significantly slows down or even incapacitates the conventional DFI process. With the increasing frequency of digital crimes, better and more sophisticated DFI procedures are desperately needed, particularly in such environments. Since machine learning (ML) techniques might be a viable option in certain situations, this paper presents the integration of ML into DF. It also explores the potential further use of ML techniques in DF in smart environments to reduce the hard work of human beings, as well what to expect from future ML applications to the conventional DFI process.

About 90% of the Ataulfo mango (Mangifera indica L.) crops in Mexico are in the south of the country. This variety has significant amounts of antioxidant compounds. All the trees come from a small group of parents, however, the possible intravarietal variations and the micro-environments where it is grown can influence the compounds that contribute to the antioxidant capacity. The objective of this study was to quantify the antioxidant compounds of Ataulfo mango fruits of trees grown in Soconusco, Chiapas, Mexico (origin denomination), as well as fruits of the parent trees. In addition, possible associations between the contents of these compounds and the micro-environmental conditions collected were sought. In total, 465 fruits from 155 trees planted in 13 municipalities (locations) were analyzed. Fruits were collected at physiological maturity and stored at 25 °C until reaching commercial maturity. The contents of total phenolic compounds (TPC), antioxidant capacity (AC by DPPH, ABTS and FRAP methods), total anthocyanins (TA) and ascorbic acid (AA) were determined. The fruits from Huehuetán, presented the highest contents of PC (0.89 mg GAE g-1); however, the highest AC was found in the fruits harvested in Frontera Hidalgo, with 128.29 µmol TE g-1 (ABTS). The fruits obtained from the parents are within the average range of total TPC and AC, without significant differences between their fruits and those cultivated. The micro-environments where the Ataulfo mango trees are grown do not have a significant effect on antioxidant compounds (TPC, AC, TA and AA) and the only variables that allow segregation by localities are relative humidity, environmental temperature and altitude.

Distance learning has assumed a relevant role in the Educational scenario. The use of Virtual Learning Environments contributes to obtain a substantial amount of educational data. In this sense, the analyzed data generate knowledge used by institutions to assist managers and professors in strategic planning and teaching. The discovery of students’ behaviors enables a wide variety of intelligent services for assisting in the learning process. This article presents a literature review in order to identify the intelligent services applied in distance learning. The research covers the period from January 2010 to May 2021. The initial search found 1,316 articles, among which 51 were selected for further studies. Considering the selected articles, 33% (17/51) focus on learning systems, 35% (18/51) propose recommendation systems, 26% (13/51) approach predictive systems or models, and 6% (3/51) use assessment tools. This review allowed to observe that the principal services offered are recommendation systems and learning systems. In these services, the analysis of student profiles stands out to identify patterns of behavior, detect low performance and identify probabilities of dropouts from courses.

Many classic visual monocular SLAM systems have been developed over the past decades, however, most of them will fail when dynamic scenarios dominate. DM-SLAM is proposed for handling dynamic objects in environments based on ORB-SLAM. The article mainly concentrates on two aspects. Firstly, DLRSAC is proposed to extract static features from the dynamic scene based on awareness of nature difference between motion and static, which is integrated into initialization of DM-SLAM. Secondly, we design candidate map points selection mechanism based on neighborhood mutual exclusion to balance the accuracy of tracking camera pose and system robustness in motion scenes. Finally, we conduct experiments in the public dataset and compare DM-SLAM with ORB-SLAM. The experiments verify the superiority of the DM-SLAM.

A key concern in an ageing society is citizens’ mobility. As populations age, disability impairments can affect active ageing, health-related wellbeing and quality of life. In this paper, we present the on-going research project SeriousGiggle—Game-based learning for triggering active ageing. Its goal is to assess the potential of game-based learning for active ageing and contribute to a sense of wellbeing and quality of life. It also seeks to improve the mobility of older adults by creating a set of journey plans with route guidance that are rated in terms of safety, community support, environment and age-friendliness. Drawn on our field work with 33 co-designers, 40 end users and 10 semi-structured interviews with Subject Matter Experts, we identify a set of necessary design requirements to an Age-friendly Playable City. This study recommends the use of gamification and playful techniques to engage the end-users to provide information about local traffic signs, pavement conditions, wayfinding and, therefore, help to create route guidance and walking assistance that are personalized to older adults’ context in terms of location, travel fitness, mobility impairments and motivations.

: Pearl millet (Pennisetum glaucum L) R. Br) is a subtropical grain and forage crop. It is privileged with several desirable forage attributes. Nevertheless, research on pearl millet is limited especially as a forage crop in the developing countries. Therefore, the objectives of this study were to investigate the field performance and stability of pearl millet genotypes for forage yield across seven environments. The study was conducted in seven environments (combination of locations and seasons) during 2016/2017-2018/2019 seasons. Twenty-five pearl millet genotypes, selected based on forage yield from a core collection of 200 accessions, were arranged in alpha lattice design with three replications. The parameters measured were fresh forage yield, days to flowering, plant height, number of culms m-2, leaf to stem ratio, and stem girth. The combined analysis revealed that environments, genotypes and their interaction had significant effects on all traits studied except the genotypic effect on stem girth. Across the seven environments, four genotypes (G14, G01, G12, and G22) out-yielded the check genotype in fresh matter yield by 20.7, 16.5, 11.0 and 9.8%, respectively. The additive main effects and multiplicative interaction (AMMI) analysis showed that the genotype, environment and their interaction were highly significant (P≤0.001) for fresh matter yield. The results of AMMI Stability Values (ASV) and the genotype selection index (GSI) combined with the AMMI estimate-based selection showed that genotypes G14, G22 and G01 were the most stable and adapted genotypes and were superior to the check genotype. These results indicate that forage pearl millet varieties could be developed directly through evaluation of the wealth available collections or indirectly through hybridization in crop breeding programs.

Visual inertial SLAM algorithms enable robots to autonomously explore and navigate in unknown scenes. However, most of the current SLAM systems highly rely on static environment assumptions, which fails in the exsitence of motional objects in the real environment. To improve the robustness and localization accuracy of SLAM systems in dynamic scenes, this paper proposes a visual-inertial SLAM framework that fuses semantic and geometric information, called DA-VINS. First, this paper presents a dynamic object classification method based on feature’s current motion state, which obtains temporary static features in the environment. Secondly, a features dynamics check module based on IMU prior and adjacent frame’s geometry constraint is designed to calculate dynamic factors. It also verifies the classification results of temporary static features. Finally, a dynamic adaptive bundle adjustment module based on the features’ dynamic factors is designed to adjust the weights of features in nonlinear optimization. We evaluated our method in public and our dataset. The results show that D-VINS is one of the most real-time, accurate, and robust systems in dynamic scenes.

The prevalence of obesity in Korean adults was 56.1% in 2019. This study aimed to find obesity phenotypes from the KNHANES(2015–2019) and determine the risk factors associated with each type. In 15,179 participants, three obesity phenotypes, high BMI (short heavy obesity, n=1,685), high waist circumference (WC) (tall abdominal obesity, n=549), and BMI/WC combination (heavy abdominal obesity, n=3,538), were compared to non-OB (n=9,425). Marital status, lower income and education levels were highly associated with abdominal obesity. Insufficient exercise or skipping breakfast were associated with the WC or BMI/WC obesity type. The BMI/WC risk was 3.25 times higher in males with high TG and 4.6–4.8 times higher in females with high FAS or TG, and the risk increased to 7-8 times higher in three combinations (HYP+HDLc+FBS) compared to the control. The K-Score to test balanced diets was lower in BMI/WC than in others. Low intakes of FI-4(fruits) in men and FI-2(meat), FI-3 (vegetables), and FI-5 (milk/milk products) in women with BMI/WC and WC types, but BMI type was not associated with diets. Compared to BMI, the BMI/WC or WC obesity type was an indicator of metabolically unhealthy obesity associated with obesogenic environments including food/diets pattern and unhealthy behaviors.

Often yam varieties grown in different agro-ecologies show differential responses across production environments, a term known as genotype-by-environment interaction. Genotype-by-environment interaction makes selecting the best genotypes under varied production environments more complex. This study tested twenty yam genotypes evaluated in six test environments to assess genotype, environment, and the interaction between genotypes and environmental effect for tuber yield, yam mosaic virus, and dry matter content. The experiments were conducted in two seasons across three locations in Uganda using a randomized complete block design with three replications. The results showed a significant effect (p ≤ 0.001) for genotype (G), environment (E), and genotype by environment interaction for all the traits. Serere 2021 and Namulonge 2021 were identified as the most discriminating and representative environments for testing the yam mosaic virus, respectively. Serere 2021 was recognized as the most discriminating environment, whereas Arua 2021 was identified as the closest to an ideal environment for assessing yam tuber yields. The tested genotypes also exhibited high resistance to yam mosaic virus disease, high tuber yields, and high dry matter content. Genotypes UGY16020, UGY16034, UGY16042, and UGY16080 demonstrated great resistance to yam mosaic virus disease, high yielding, and considerable dry matter content and are thus potential parents for yam improvement. Further evaluation of the four genotypes should be done under farmers' production systems for selection, improvement, and release as new yam varieties for Uganda

Understanding extremophiles and their usefulness in biotechnology involves studying their habitat, physiology and biochemical adaptations , as well as their ability to produce biocatalysts, in environments that are still poorly explored. In northwestern Peru, which saline lagoons of marine origin Pacific Ocean, the other site from the coast of Brazil of the Atlantic Ocean. Both environments are considered extreme. The objective of the present work was to compare two different strains isolated from these extreme environments at the metabolic level using molecular network methodology through the Global Natural Products Molecular Social Network (GNPS). In our study, the MS/MS spectra from the network were compared with GNPS spectral libraries, where the metabolites were annotated. Differences were observed in the molecular network presented in the two strains of Streptomyces spp. coming from these two different environments. Within the annotated compounds from marine bacteria, the metabolites characterized for Streptomyces sp. B-81 from Peruvian marshes were lobophorins A (1) and H (2), as well as divergolides A (3), B (4) and C (5). Streptomyces sp. 796.1 produced different compounds, such as glucopiericidin A (6) and dehydro-piericidin A1a (7). The search for new metabolites in underexplored environments may therefore reveal new metabolites with potential application in different areas of biotechnology.

Fruit and vegetable (FV) consumption benefits the health of populations, particularly those in East and Southeast Asian countries, which have undergone an unprecedented change in their food environments in the last decade. This current systematic review is the first to study determinants—facilitators, barriers, and moderators—associated with FV consumption in East and Southeast Asia. In a search of the literature, we consulted five electronic academic databases of English peer-reviewed papers published between 2010 and 2020 and found 31 studies. Results of these studies show that individuals strongly perceive FVs as being higher quality and safe and trust in their benefits, and food businesses with modernized systems have significantly fostered the consumption of FVs. A main barrier to FV consumption, however, is financial concerns, exacerbated by food businesses with FV unavailability and urbanization-induced FV price inflation and dietary patterns. Further hindering FV consumption are demographics and shopping patterns. The fragmented and conditionalized findings of the 31 studies require standardized FV consumption measurements. Unlike the impact of FV consumption determinants and their interactions in Western countries, those in Asia, particularly countries other than China, have been substantially understudied. Therefore, as the research gaps in studies of food environments and FV consumption in East and Southeast Asia urgently demand scholarly attention, this paper proposes recommendations that favour the consumption of FVs.

This paper presents a system based on pedestrian dead reckoning for localization of networked mobile users, which relies only on sensors embedded in the devices and device- to-device connectivity. The user trajectory is reconstructed by measuring step by step the user displacements. Though step length can be estimated rather accurately, heading evaluation is extremely problematic in indoor environments. Magnetometer is typically used, however measurements are strongly perturbed. To improve the location accuracy, this paper proposes a cooperative system to estimate the direction of motion based on a machine learning approach for perturbation detection and filtering, combined with a consensus algorithm for performance augmentation by cooperative data fusion at multiple device. A first algorithm filters out perturbed magnetometer measurements based on a-priori information on the Earth's magnetic field. A second algorithm aggregates groups of users walking in the same direction, while a third one combines the measurements of the aggregated users in a distributed way to extract a more accurate heading estimate. Extensive indoor experiments show that the heading error is highly reduced by the proposed approach thus leading to noticeable enhancements in localization performance.

As education becomes more and more important in creating improved societies, many people who do not have access to it are falling behind. To help them catch up, many people, especially those in rural areas and developing countries, are turning to different methods of self-learning, especially those that utilize cheap technology and use interactive methods to teach. Our empirical study tests the effectiveness of an e-learning system that utilizes newer, less tested forms of interactivity and could potentially be used in these areas as a self-learning system and compares it to non-interactive video and textbook self-learning in two different topics. The results of the experiment showed that the increased interactivity provided by the e-learning system achieved significantly better learning performance over both non-interactive video and textbook self-learning. It was also found that students who learned through non-interactive video performed significantly better than those who used textbooks for self-learning.

In daily travel and activities, pathfinding is a significant process. They are often used in transportation routes calculation. They have now evolved to be able to solve most situations of the pathfinding and its related problems. This review describes previous and recent studies on the pathfinding algorithms. It reviews the development of pathfinding algorithms in a classification base on their usage. The aim is to summarize the application of the pathfinding algorithms for the readers interested in the subject that can be used as a supplement.

Multi-Faith Spaces (MFS) are a relatively recent invention that quickly gained in significance. On the one hand, they offer a convenient solution for satisfying needs of people with diverse beliefs in the institutional context of hospitals, schools, airports, etc. On the other hand, as Andrew Crompton pointed out, they are politically significant because the multi-faith paradigm “is replacing Christianity as the face of public religion in Europe” (2012, p. 493). Due to their ideological entanglement, MFS are often used as the means to promote either a more privatised version of religion, or a certain denominational preference. Two distinct designs are used to achieve these means: negative in the case of the former, and positive in the latter. Neither is without problems, and neither adequately fulfils its primary purpose of serving diverse groups of believers. Both, however, seem to follow the biases and main problems of secularism. In this paper, I analyse recent developments of MFS to detail their main problems and answer the question, whether the MFS, and the underlying Multi-Faith Paradigm, can be classified as a continuation of secularism.

To enhance system reliability and mitigate vulnerabilities of the Global Navigation Satellite Systems (GNSS), it is common to fuse the Inertial Measurement Unit (IMU) and visual sensors with the GNSS receiver in the navigation system design, effectively enabling compensations with absolute position and reducing data gaps. To address shortcomings of traditional Kalman Filter (KF) such as sensor error, imperfect nonlinear system model, and KF estimation error, a GRU-aided ESKF architecture is proposed to enhance positioning performance. This study conducts Failure Mode and Effect Analysis (FMEA) to priories and identify the potential faults in the urban environment facilitating the design of improved fault-tolerant system architecture. The identified primary fault events are data association error and navigation environment error during fault conditions of feature mismatch, especially in the presence of multiple failure modes. A hybrid federated navigation system architecture is employed using a Gated Recurrent Unit (GRU) to predict state increments for updating the state vector in the Error Estate Kalman Filter (ESKF) measurement step. The proposed algorithm’s performance is evaluated in a simulation environment in MATLAB under multiple visually degraded conditions. Comparative results provide evidence that the GRU-aided ESKF outperforms standard ESKF and state-of-the-art solutions like VINS-Mono, End-to-End VIO, and Self-Supervised VIO, exhibiting higher efficiency in complex environments.

The COVID-19 pandemic has led to the growth of hybrid and online learning environments and the trend to introduce more technology into the classroom. One such change would be the use of smart synchronous hybrid learning environments (SSHLE), which are settings with both in-person and online students concurrently, and in which technology plays a key role in sensing, analyzing, and reacting throughout the teaching and learning process. These changing environments and the incorporation of new technologies can place a greater orchestration load on participants and a reduction in teacher agency. In this context, the aim of this paper is to analyse the orchestration load and teacher agency in different SSHLEs. The NASA-TLX model was used to measure the orchestration load in several scenarios. Questionnaires and interviews were used to measure teacher agency. The results obtained indicate that the orchestration load of the teacher tends to be high (between 60 and 70 points out of 100 of the NASA-TLX workload), especially when they lack experience in synchronous hybrid learning environments, and the orchestration load of the students tends to have average values (between 50 and 60) in the SSHLEs analysed. Meanwhile, the teacher agency does not appear to be altered but shows potential for improvement.

This study demonstrates the possibility of growing green walls in normal commercial building environments with lighting designed primarily for aesthetic reasons, rather than the promotion of plant growth. Lighting is a key resource required for the growth and maintenance of robust green walls within interior environments. The study evaluated the appearance and growth of green walls with electric lighting used primarily for aesthetic reasons. Three identical green walls with six different plants were illuminated using three different white LED light sources for a period of five months. Plant health was monitored and documented in terms of growth patterns. One hundred and six subjects appraised the appearance of the walls using questionnaires. Findings of this study indicate that it is indeed possible to grow and maintain green walls in normal commercial building environments with lighting designed for aesthetic reasons. Further, it was observed that the selection of the correct plant species for the green walls is important to ensure plant health.

The Covid-19 pandemic caused a shift in teaching practice towards blended learning for many Higher Education institutions. This led to the rapid adoption of certain digital technologies within existing teaching structures as a means to meet student access needs and facilitate learning. Integration of these technologies caused numerous challenges for practitioners and often provided mixed results. This paper is an attempt to summarise and extend pre-Covid pedagogical research to leverage digital immersive technologies for blended teaching in the post-pandemic era. Focus is given towards the evolution of Virtual Learning Environments through elements of immersive audio-visual technologies, which are shown to be effective when coupled in a blended approach. It is both a review of these methodologies and a case study of the I-Ulysses: Virtual Learning Environment as a point of comparison for evaluating the review.

Multi-channel and multi-parameter near-infrared spectrometers (NIRS) have gradually become a new research direction and hot spot due to their ability to provide real-time, continuous, comprehensive indicators of multiple parameters. However, multi-channel and multi-parameter detection may lead to crosstalk between signals. There is still a lack of benchmarks on the evaluation of reliability, sensitivity, stability and response consistency of the NIRS instrument. In this study, a set of test methods (the ink drop test, multi-channel crosstalk test and multi-parameter crosstalk test) for analysis crosstalk and verifying the reliability of NIRS were conducted to test experimental verification on a multi-channel (8-channel), multi-parameter (4-parameter) NIRS instrument independently developed by our team. Results show that these tests can be used to analyze the signal crosstalk and verify the reliability, sensitivity, stability and response consistency in the NIRS instrument. This study contributes to the establishment of benchmarks for the NIRS instrument crosstalk and reliability testing. These novel tests have the potential to become the benchmark for the NIRS instrument reliability testing.

Although there are several access control systems in the literature for flexible policy management in multi-authority and multi-domain environments, achieving interoperability &amp; scalability, without relying on strong trust assumptions, is still an open challenge. We present HMBAC, a distributed fine-grained access control model for shared and dynamic multi-authority and multi-domain environments, along with Janus, a practical system for HMBAC policy enforcement. The proposed HMBAC model supports: (a) dynamic trust management between different authorities; (b) flexible access control policy enforcement, defined at domain and cross-domain level; (c) a global source of truth for all entities, supported by an immutable, audit-friendly mechanism. Janus implements the HMBAC model and relies on the effective fusion of two core components. First, a Hierarchical Multi-Blockchain architecture that acts as a single access point that cannot be bypassed by users or authorities. Second, a Multi-Authority Attribute Based Encryption protocol that supports flexible shared multi-owner encryption, where attribute keys from different authorities are combined to decrypt data distributedly stored in different authorities. Our approach was implemented using Hyperledger Fabric as the underlying blockchain, with the system components placed in Kubernetes Docker container pods. We experimentally validated the effectiveness and efficiency of Janus, while fully reproducible artifacts of both our implementation and our measurements are provided.

Analyses of the three predominant types of sedimentation – clastic, carbonate and black shale – revealed their discontinuity/continuity in different facies environments of the Middle and Late Devonian of the central part of the Volga-Urals petroleum province, namely (1) in depressions, both condensed and non-condensed, (2) on the slopes of depressions and (3) in shallow water environments represented by tectonic arches or localised biohermal uplifts. The regional zonation of conodonts, correlated with the global chronostratigraphic scheme, substantiates the stratigraphic completeness of the general Devonian sequence in this area. In particular, the sedimentation of organic-rich black shales, traditionally considered as source rocks, lasted more than 29 million years, starting from the Late Eifel and ending at the Devonian-Carboniferous boundary. There was only one hiatus in the deposition of both black shales and carbonate sediments, lasting about 2.5 million years at the end of the Frasnian. That interval is dominated by clastic sediments, which are considered to be the most productive reservoirs of the Volga-Ural province. In the time interval from the beginning of the Eifel to the end of the Frasnian (about 17 Ma), (a) clastic sediments show the highest accumulation rates; (b) the most complete sequences occur in depressions; and (c) arches and uplifts show the most significant gaps in the geological record. During Famennian, (a) clastic sedimentation has completely ceased; (b) differences between the slopes of troughs and shallow-water environments have diminished, resulting in stable accumulation of carbonate sediments in both settings; (c) the decrease in sequence thickness (up to 50 m) in depressions suggests reduced accumulation rates of deep-water organic-rich black shales. The results help to understand the complex spatial relationship between different coexisting sedimentation types and focus attention to the incompleteness of the geological record in different environments.

The concept of collecting data of people using a domestic space is not novel. However, the methods and processes used to decipher this raw data and transform it into useful and appropriate information (i.e., sequence, duration, and timing derived from domestic activities) have been challenging and the focus of many research groups. But how are the results of the decoded transposition received, interpreted and used by the various professionals (e.g., occupational therapists and architects) who consume the information? This paper describes the inclusive evaluation process undertaken, which involved architects, engineers and end-users (not the occupant, but the care team managing the occupant). Finally, our study evidence the importance of making accessible to a multidisciplinary audience spatial, temporal and sequential aspects derived from people's domestic routines. Shedding light on how a systematic approach to collecting, processing and mapping low-level sensor data into higher forms and representations can be a valuable source of knowledge for improving the domestic living experience.

This paper investigates the physical/virtual dynamics when constructing an immersive environ-ment for medieval courtyard houses in Historic Cairo. Using a VR Lab at a university campus, the paper analyzes a courtyard that symbolizes social resilience and community bonding at the newly rehabilitated Bayt Yakan. The courtyard is reconstructed as a Mixed Object through 3D documentation and scanning the space to develop a photogrammetry and VR experience. The results show that the sense of presence is perceived through a combination of factors and juxta-positions of the real and the virtual including: 1) architectural aesthetics, 2) intangible elements and 3) socio-cultural activities in space. Based on the pilot case study, the paper concludes with proposing a “Geospatial Framework for Immersive Environments and Social Sustainability” that is transdisciplinary, pluralistic and expansive in nature to encompass the multiple narratives of the contested past, and overlay the material and immaterial sustainable features embedded in historical contexts, where the Mixed Reality paradigm becomes an enabler for multiple voices, tools and mediums.

In the trend of transforming existing systems and services into non-face-to-face models, the concert industry is also showing movements toward transitioning to virtual formats. Physical concerts in the real world require venues that can accommodate hundreds to tens of thousands of spectators, but non-face-to-face methods that can accommodate large audiences face various limitations. Moreover, to elevate the satisfaction level of virtual concert attendees to that of real-world concerts, it's important to implement interaction between performers and audiences. Modern metaverse platforms apply cutting-edge network technologies to accommodate numerous users within a single channel. Many researchers are adopting network technologies such as SDN (Software Defined Networking) and CDN (Content Delivery Network) to set up a virtual concert that can accommodate large audiences. In this paper, we propose a network framework to be designed for the composition of virtual concerts. In particular, we separate a channel dedicated to interaction in order to provide an immersive experience of exchanging interactions between performers and audiences. As massive audiences transmitting interaction data to the performer in a 1:N format can lead to problems with acceptance and latency, this study introduces a concept of a channel form called 'Zone' and proposes an interaction data channel network framework that does not compromise immersion. The proposed framework supports tasks for effectively transmitting interaction data using network technologies for metaverse platforms like XDN and clustering algorithms like fuzzy c-means. We also suggest a CDN-based architecture that can ensure low latency for performers to transmit interaction data to the audience.

We report on the field testing datasets and performance evaluation results obtained from a commercial property-based visually-clear solar window installation site in Perth-Australia. This installation was fitted into a refurbished shopping centre entrance porch, and showcases the potential of glass curtain wall-based solar energy harvesting in built environments. In particular, we focus on photovoltaic (PV) performance characteristics such as the electric power output, specific yield, day-to-day consistency of peak output power, and the amounts of energy generated and stored daily. The dependencies of the generated electric power and stored energy on multiple environmental and geometric parameters are also studied. An overview of the current and future application potential of high-transparency, visually-clear solar window-based curtain wall installations suitable for practical building integration is provided.

High mountain areas are an appropriate indicator of anthropogenic lead (Pb), which can reach the remote mountain ranges through long distance atmospheric transport. We compared the content of Pb in ecologically equivalent rodent species from Tian-Shan with European mountain ranges Tatra, Vitosha and Rila mountains. We used bone tissues from terminal tail vertebrae of small rodents for detection of Pb levels by using electrothermal atomic absorption spectroscopy (AAS). The tail bones of Tian-Shan rodents had significantly lower Pb levels than snow voles from Tatra mountains, but there was no significant difference in comparison with Vitosha and Rila mountains. We can conclude that Tian-Shan shows lower pollution by Pb than Tatra mountains, what may be a reason of longer lasting industrialization of north-western Europe and strongly prevailing west winds in Tatra mountains.

The fatigue crack growth rate (FCGR) of aluminium alloys under the combined influence of temperature and humidity remains a relatively unexplored area, receiving limited attention due to its intricate nature and challenges in predicting the combined impact of these factors. The challenge was to investigate and address the specific mechanisms and interactions between temperature and humidity, as in coastal environment conditions, on the FCGR of aluminium alloy. The present study conducts a comprehensive investigation on the combined influence of temperature and humidity on the FCGR of Al6082 alloy. The fatigue pre-cracked compact tension specimens were corroded for 7 days and then subjected to various temperature and humidity conditions in a thermal chamber for 3 days to simulate coastal environments. The obtained data were analysed to determine the influence of temperature and humidity on the FCGR of Al6082 alloy. An empirical model was also established to predict fatigue life cycle values under these environmental conditions precisely. The correlation between FCGR and fracture toughness models was also examined. The Al6082 alloy exhibits a 34% increase in the Paris constant C, indicating reduced FCGR resistance due to elevated temperature and humidity levels. At the same time, fatigue, corrosion, moisture-assisted crack propagation, and hydrogen embrittlement lead to a 27% decrease in threshold fracture toughness. The developed model exhibited accurate predictions for fatigue life cycles, and the correlation between fracture toughness and FCGR showed less than 10% error, indicating a strong relationship between these parameters.

Different types of pockmarks, including single pockmarks, circular pockmarks, elongated pockmarks, chain-type pockmarks and compound pockmarks, were identified in coastal areas around Fujian, China. The sediments associated with pockmarks were mainly silty clay to clay, with a small quantity of silt with fine sand. The sulfate content in the pore water in the sedimentary layers associated with pockmarks decreased with depth from the surface, whereas the free methane content increased with depth. The interaction between sulfate and methane is well known, but differences in the sulfate-methane transitional zone (SMTZ) were observed in different areas with different hydrologic characteristics. The sedimentary SMTZ of the offshore Zhe-min mud wedge was shallow, at 50–70 cm below the seafloor. The sedimentary SMTZ was moderately deep (90–115 cm) in the central bay area and deep (180–200 cm) in the sandy area offshore. This variability in SMTZ depth reflects different amounts of free methane gas in the underlying formations, with a shallower SMTZ indicating a higher free methane content. The free methane had δ13C values of -26.47‰ to -8.20‰ and a biogenic-hybrid genetic type. The flux of sedimentary gas from the pockmark surfaces, calculated according to Fick’s formula, was 2.89 to 18.85 l/m2·a. The shape, size and scale of the pockmarks are directly related to the substrate type and the gas production of the underlying strata and thus vary with the sedimentary environment and development stage. Therefore, different types of pockmarks, in various phases of development, are associated with different sedimentary and dynamical conditions. A single circular pockmark forms by strong methane flux. As the intensity of methane flux weakens, the pockmark becomes elongated in the direction of the water flow because of long-term erosion induced by regular hydrodynamic forces. Finally, under weak intensity of methane flux and the influence of complex hydrodynamic conditions, pockmarks merge to form large-scale, compound pockmarks.

The paper proposes TOPSIS method for solving multi-objective multi-level programming problem (MO-MLPP) with fuzzy parameters via fuzzy goal programming (FGP). At first, - cut method is used to transform the fuzzily described MO-MLPP into deterministic MO-MLPP. Then, for specific , we construct the membership functions of distance functions from positive ideal solution (PIS) and negative ideal solution (NIS) of all level decision makers (DMs). Thereafter, FGP based multi-objective decision model is established for each level DM for obtaining individual optimal solution. A possible relaxation on decisions for all DMs is taken into account for satisfactory solution. Subsequently, two FGP models are developed and compromise optimal solutions are found by minimizing the sum of negative deviational variables. To recognize the better compromise optimal solution, the concept of distance functions is utilized. Finally, a novel algorithm for MO-MLPP involving fuzzy parameters is provided and an illustrative example is solved to verify the proposed procedure.

We develop an interactive likelihood (ILH) for sequential Monte-Carlo (SMC) methods for image-based multiple target tracking applications. The purpose of the ILH is to improve tracking accuracy by reducing the need for data association. In addition, we integrate a recently developed deep neural network for pedestrian detection along with the ILH with a multi-Bernoulli filter. We evaluate the performance of the multi-Bernoulli filter with the ILH and the pedestrian detector in a number of publicly available datasets (2003 PETS INMOVE, AFL, and TUD-Stadtmitte) using standard, well-known multi-target tracking metrics (OSPA and CLEAR MOT). In all datasets, the ILH term increases the tracking accuracy of the multi-Bernoulli filter.

In response to new developments of work and employment in high-income countries (HICs), psychosocial aspects of work and health received increased attention. In contrast, middle-income countries (MICs) are mainly concerned with severe challenges of noxious and dangerous material work environments, poor employment conditions, and deficient social policies, leaving psychosocial aspects in a marginal role at best. More recently, differences between these two worlds were even aggravated by the COVID-19 pandemic. Yet, with economic globalisation and growing worldwide interconnectivity, the world of work in MICs is being rapidly transformed, sharing several concerns with modern Western societies. In this process, psychosocial occupational health will become an increasingly pressing issue. This contribution explores to what extent psychosocial aspects of work and health are already addressed in research originating from MICs. A selective focus on recent findings from two regions, Asia Pacific and Latin America, reveals a high degree of awareness of, and inquiry into, work-stress related problems within these countries. Importantly, in addition to incorporating research progress from HICs, these analyses identify new aspects within specific cultural and socio-economic environments, thus enriching the international state of art.

The central coast is one of the importantly livable regions in China, and green land plays a meaningful role in improving human settlements through regulating ecosystem services. However, the research on spatiotemporal heterogeneity of green land in different urbanized areas are still lacking in this region, which limits the timeliness of reporting on the land-surface thermal properties of residential environment from green land perspective. To address this issue, the synergistic methodology of “artificial numerical technology -- urban interior mixed pixel classification -- surface radiation energy balance model” was applied to investigate the green land change and its impact on human settlements in Rizhao region, which is known for its coastal ecology and greenery in China and obtained the United Nations habitat award. Main conclusions of this study are below: (1) Although total green land decreased by 474.05 km2, resulting in a decrease of 9.17% in its share of the entire study area from 2000-2022 during the urbanization process, but the greening levels improved within the built-up area, with the greening proportion of 25.34% in 2000 and 42.98 km2 in 2022. (2) Differences in green land at different urbanized regions were first observed, namely, urban greening rate was 37.78% in the old urban areas of 2022, while it was up to 46.43% in new urban areas. More attention was paid to the construction of urban green space during urban expansion, which will inevitably bring better visual and comfort experience to residents. (3) Thermal comfort indicators for urban residents were evaluated in latent heat flux (0-457.83 W/m2), sensible heat flux (0-645.09 W/m2), total available energy (254.07-659.42 W/m2) and others. (4) The lowered cooling temperature effect in the middle, high green land density region was 1.05 ℃ and 2.12 ℃ compared to the low-density region, and the average air temperature was 25.86 ℃. Also, spatial patterns of hot and cold uncomfortable areas were displayed in this study. Overall, this study provides the meaningfully practical reference for exploring the spatiotemporal heterogeneity of green land and its impact on residents' environments from the perspective of land-surface thermal properties in coastal areas of China and around the world.

While many in-steam tidal energy resource studies have been carried out globally, very few studies have assessed the effect of seabed changes on tidal energy resources. For coastal regions in particular, where the seabed is generally more mobile than in deep waters, bathymetric evolution could have a significant effect on tidal energy production. Here two high-resolution models, one purely hydrodynamic and one morphodynamic, are used to analyse the potential effect of natural morphodynamic evolution on tidal energy resources at two macro-tidal sandy bays, Adaír Bay and San Jorge Bay, in the Upper Gulf of California, Mexico. The high-resolution models are validated using a low-resolution model and ADCP observations to assess the agreement between model predictions and observations of tides at three ADCP moorings within the domain of interest. The models’ skill is evaluated using several error statistics such as the mean relative error, the root mean square error (RMSE), and the correlation coefficient. It was found that the regions with the largest bed changes, and also the largest renewable energy resources, were near the shore. Moreover, the results indicated a good correlation between a) regions with the most significant depth changes, and b) the regions where the difference in annual energy production with and without depth change was largest. Finally, the morphodynamic model was run for two years, and the evolution of a zonal profile (in the west-east direction) off the coast at the southeastern corner of Adaír Bay was inspected. This profile evolved towards a featureless equilibrium profile, in good agreement with the morphological classification for macro-tidal sandy environments and with the model assumptions. But most importantly, this natural evolution would not be detrimental to tidal energy exploitation at the site.

To conduct a precise impact assessment of marine diesel engines, a 200t floating impact platform was utilized to simulate realistic testing conditions. The testing generated the acceleration time curve and the impact response spectrum for the diesel engine. According to the applicable standards, the spectral velocity was chosen as the evaluation index, and an evaluation of the longitudinal, transverse, and vertical impact environment of the diesel engine was conducted. The shock factor interpolation method was corrected using the confidence interval based on normal distribution, and the interpolated confidence interval of the shock factor was determined. The findings reveal that: The 200t-class floating shock platform is capable of providing a reliable shock environment for diesel engine tests. The shock wave serves as the primary external force during the experiment, and the impact of bubble pulsation can be disregarded when assessing using the floating shock platform. To more accurately describe the experimental shock intensity when presented with dispersed data, the confidence interval can be utilized, and the resulting prediction formula provides a higher level of impact safety. The obtained conclusions can serve as a reference for predicting the shock environment of large shipboard equipment using the shock platform.

A cross-sectional study was applied to investigate the influence of food systems and food environments on food choices and nutrition transition of households in Limpopo province, South Africa. A sample of 429 households were systematically selected using a paper selection draw from three districts. Food systems, food environments, food choices, and nutritional measurements of the households and informants were assessed, using a validated questionnaire. Most of the household informants responsible for food procurement were females (80.4%). There was a significant association (p < 0.001) between proximity to food stores and dietary diversity of the households. Staple foods were available in almost all surveyed households (95.6%). More than half of the households (59.8%) had home gardens in their yards. Almost half of the households (48.4%) had a low Dietary Diversity Score. The study revealed that 46.0% of households were food secure. Over a third (36.2%) of households’ informants were obese and 32.5% were diabetic. The mean total blood cholesterol was 3.69 ± 0.74 mmol/L. A high percentage of both females (89.6%) and males (91.5%) had normal haemoglobin levels. Most of the informants had normal systolic blood pressure levels (63%), with just over half who had high diastolic levels (57%). The 25 coping strategies were applied during food shortages periods. Even though the food environments provided both obesogenic and protective foods, the consumption of unhealthy foods was high.

The capabilities of autonomous mobile robotic systems have been steadily improving due to recent advancements in computer science, engineering, and related disciplines such as cognitive science. In controlled environments, autonomous robots have been able to achieve relatively high levels of autonomy. In more unstructured environments, however, the realisation of autonomous mobile robots remains challenging due to limitations in the robots’ external environment understanding. Many autonomous mobile robots use classical, learning-based or hybrid approaches for navigation. The classical navigation approach typically includes robot perception, localisation, environmental mapping, path planning and motion control stages. More recent learning-based methods may replace the complete navigation pipeline or selected stages of the classical approach. For effective deployment, autonomous robots need to be able to understand their external environments at a sophisticated level according to their intended applications. Therefore, in addition to robot perception, scene analysis and higher-level scene understanding (e.g., traversable/non-traversable, and rough or smooth terrain) are required for autonomous robot navigation in unstructured outdoor environments. A wide number of alternative approaches have been proposed in recent years to attempt to address these scene understanding requirements. This paper provides a comprehensive review and critical analysis of these methods in the context of their applications to the problems of robot perception and scene understanding in unstructured environments, and the related problems of localisation, environment mapping and path planning. State-of-the-art sensor fusion methods and multimodal scene understanding approaches are also discussed and evaluated within this context. The paper concludes with an in-depth discussion regarding the current state of the autonomous ground robot navigation challenge in unstructured outdoor environments and the most promising future research directions to overcome these challenges.

Large-scale crowd phenomena are complex to model because the behaviour of pedestrians needs to be described at both strategic, tactical, and operational levels and is impacted by the density of the crowd. Microscopic models manage to mimic the dynamics at low densities, whereas mesoscopic models achieve better performances in dense situations. This paper proposes and evaluates a novel agent-based architecture to enable agents to dynamically change their operational model based on local density. The ability to combine microscopic and mesoscopic models for multi-scale simulation is studied through a use case of pedestrians at the Festival of Lights, Lyon, France. Pedestrian outflow data is extracted from video recordings of exiting crowds at the festival. The hybrid model is calibrated and validated using a genetic algorithm that optimizes the match between simulated and observed outflow data. Additionally, a local sensitivity analysis is then conducted to identify the most sensitive parameters in the model. Finally, the performance of the hybrid model is compared to different models in terms of density map and computation time. The results demonstrate that the hybrid model has the capacity to effectively simulate pedestrians across varied density scenarios while optimizing computational performance compared to other models.

One of the most important applications in the wireless sensor networks (WSN) is to classify mobile targets in the monitoring area. In this paper, a multi-DBN weighted voting classification algorithm is proposed on the basis of the Deep Belief Network (DBN) classifier and combined with the idea of voting method, which is implemented on the nodes of the WSN monitoring system by means of "upper training, lower transplantation" appraoch. The performance of the algorithm is verified by using real-world experimental data, and the results show that the proposed method has a higher accuracy in classifying the target signal features, achieving an average classification accuracy of 84.63% across four different types of moving targets. The experiment reveals that the multi-DBN weighted voting algorithm enhances the target classification accuracy by approximately 5% in comparison to the single DBN classifier, but the memory and computation time required for the algorithm to run are also increased at the same time. Compared to the FFNN classifier, which exhibited the highest classification accuracy among the four selected methods, the algorithm achieves an improvement of approximately 8.8% in classification accuracy. However, it incurs greater time overhead to run.

Unmanned Aerial Vehicles (UAVs) image object detection has great application value in military and civilian fields. However, the objects in the captured images from UAVs have problems of large scale variation, complex backgrounds, and a large proportion of small objects. To resolve these problems, a multi-scale object detector based on coordinate and global information aggregation is proposed, named CGMDet. Firstly, a Coordinate and Global Information Aggregation Module (CGAM) is designed by aggregating local, coordinate, and global information, which can obtain features with richer context information. Secondly, a Multi-Feature Fusion Pyramid Network (MF-FPN) is proposed, which can better fuse features of different scales and obtain features containing more context information through repeated use of feature maps, to better detect multi-scale targets. Moreover, more location information of low-level feature maps is integrated to improve the detection results of small targets. Furthermore, we modified the bounding box regression loss of the model to make the model more accurately regress the bounding box and faster convergence. Finally, the proposed CGMDet was tested on VisDrone and UAVDT datasets and mAP0.5 of 50.9% and 48% was obtained, respectively. At the same time, our detector achieved the best results compared to other detectors.

Rapid assessment of maize yields in smallholder farming system is important to understand its spatial and temporal variability and for timely agronomic decision-support. Imageries acquired with unmanned air vehicles (UAV) offer opportunity to assess agronomic variables at field scale, however, it is not clear if this can be translated into reliable yield assessment on smallholder farms where field conditions, maize genotypes, and management practices vary within short distances. In this study, we assessed the predictability of maize grain yield using UAV-derived vegetation indices (VI), with(out) biophysical variables, in smallholder farms. High-resolution images were acquired with UAV-borne multispectral sensor at 4 and 8 weeks after sowing (WAS) on 31 farmers’ managed fields (FMFs) and 12 nearby Nutrient Omission Trials (NOT), all distributed across 5 locations within the core maize region of Nigeria. The NOTs included non-fertilized and fertilized plots (with and without micronutrients), sown with open-pollinated or hybrid maize genotypes. Acquired multispectral images were post-processed into several three (s) vegetation indices (VIs), normalized difference vegetation index (NDVI), normalized difference red-edge (NDRE), green-normalized difference vegetation index (GNDVI). Biophysical variables, plant height (Ht) and percent canopy cover (CC), were measured with the georeferenced plot locations recorded. In the NOTs, the nutrient status, not genotype, influenced the grain yield variability and outcome. The maximum grain yield observed in NOTs was 9.3 tha^-1, compared to 5.4 tha^-1 in FMF. Without accounting for between- and within-field variations, there was no relationship between UAV-derived VIs and grain yield at 4WAS (r<0.02, P>0.1), but significant correlations were observed at 8WAS (r≤0.3; p<0.001). Ht was positively correlated with grain yield at 4WAS (r=0.5, R²=0.25, p<0.001), and more strongly at 8WAS (r=0.7, R²=0.55, p<0.001), while relationship between CC and yield was only significant at 8WAS. By accounting for within- and between-field variations in NOTs and FMF (separately) through linear mixed-effects modeling, predictability of grain yield from UAV-derived VIs was generally (R²≤0.24), however, the inclusion of ground-measured biophysical variable (mainly Ht) improved the explained yield variability (R² ≥0.62, RMSEP≤0.35) in NOTs but not in FMF. We conclude that yield prediction with UAV-acquired imageries (before harvest) is more reliable under controlled experimental conditions (NOTs), than in actual farmer-managed fields where various confounding agronomic factors can amplify noise-signal within the vegetation canopy.

In this work, we show that a late fusion approach to multi-modality in sign language recognition improves the overall ability of the model in comparison to the singular approaches of Computer Vision (88.14%) and Leap Motion data classification (72.73%). With a large synchronous dataset of 18 BSL gestures collected from multiple subjects, two deep neural networks are benchmarked and compared to derive a best topology for each. The Vision model is implemented by a CNN and optimised MLP and the Leap Motion model is implemented by an evolutionary optimised deep MLP topology search. Next, the two best networks are fused for synchronised processing which results in a better overall result (94.44%) since complementary features are learnt in addition to the original task. The hypothesis is further supported by application of the three models to a set of completely unseen data where a multi-modality approach achieves the best results relative to the single sensor method. When transfer learning with the weights trained via BSL, all three models outperform standard random weight distribution when classifying ASL, and the best model overall for ASL classification was the transfer learning multi-modality approach which scored 82.55% accuracy.

Urgent environmental challenges and emerging additive manufacturing (AM) technologies push research towards more performant and new materials. In the field of metallurgy, high entropy alloys (HEAs) have recently represented a topic of intense research because of their promising properties, such as high temperature strength and stability. Moreover, this class of multi-principal element alloys (MPEAs) have opened up researcher community to unexplored compositional spaces, making prosper literature of high-throughput methodologies and tools for rapidly screening large number of alloys. However, none of the methods has been aimed to design new MPEAs for AM process known as selective laser melting (SLM) so far. Here we conducted nanoindentation testing on single scan tracks of elemental powder blends and pre-alloyed powders after ball milling of AlTiCuNb and AlTiVNb. Results show that nanoindentation can represent an effective technique to gain information about phase evolution during laser scanning, contributing to accelerate the development of new MPEAs.

The study’s objective is to analyse the mechanical properties of steel pipe piles as a part of a trestle bridge subjected to five years of natural marine corrosion degradation. Sixteen tensile specimens were extracted from the steel pipe piles in the splash, tidal, and immersion zones. The experimental tensile test results are used to establish regression equations defining elastic modulus, yield strength, strain hardening index, and strength coefficient for the true stress-strain curves of the three regions. A non-linear time-dependent mathematical model is exploited to identify the corrosion degradation using the data from one single corrosion degradation measurement campaign. The analysis indicated that the splash zone experiences the most severe corrosion degradation, and there are progressive losses in the mechanical properties of each zone as the corrosion degradation progresses. The established relationships of the mechanical properties, as a function of the ratio of corroded plate thickness to the as-built one, can be used as a fast-engineering approach to identify the mechanical properties of severely corroded piles. The corrosion degradation allowance is also defined using the First Order Reliability Method, accounting for existing uncertainties covered by the partial safety factors. By examining the impact of marine corrosion on the mechanical properties of marine structures and developing predictive models to assess the corrosion’s effect on material strength and corrosion allowance, the study aims to improve offshore structures’ safety, design, and maintenance.

Crisis environments, which are becoming systemic, pose significant challenges to smart government strategies. The paper aims to contribute to academic debate by proposing an analytical framework for examining the institutional capacities of smart government systems in addressing local crises. The paper focuses on the recent approach of robust governance and highlights a set of variables that promote effective smart government: contingency planning capacity, analytical capacity, organizational management capacity, and collaborative capacity. The study presents an analytical model for evaluating the robustness and effectiveness of local smart government systems in crises. One of the significant findings of this study has been the identification of critical indicators that inform institutional capacities of smart government systems. By analyzing these indicators, the proposed analytical framework provides a comprehensive approach to assess the preparedness of smart government systems in dealing with crises. Moreover, it can be used to benchmark the performance of local smart government systems in similar contexts and identify best practices for improving crisis management.

This paper presents Mathematical Formulation for Neutrino-Fission of a heavy nuclei in Neutrino-environments. It has been proposed that neutrino fission is a dynamic two-process reaction, where more than one neutrino can be captured by target nucleus. A quantity named Neutrino-Zeta with units of eV^-1 has been defined to represent Neutrino-environments. Neutrino-zeta with assumed excited energy states for heavy nuclei A∼230-270 is estimated to be 0.0212 MeV^-1, with the probability of fission Barrier energy state P(E_x,f)= 0.169064014 with E_x,f =6MeV. P(E_x,f)=0.222664 is highest at zeta=0.1MeV^-1 . It has been shown that probabilities of certain excitation energy states and their corresponding decay reactions at those excitation energies can be equal for two neutrino-zetas. Neutron induced fission for different neutrinos hypothesize that probability of symmetric fission channels is higher at low neutrino-zetas, which can be tested experimentally.

We present a review of the current state of the field for a rapidly evolving group of technologies related to solar energy harvesting in built environments. In particular, we focus on recent achievements in enabling the widespread distributed generation of electric energy assisted by energy capture in semi-transparent or even optically clear glazing systems and building wall areas. Whilst concentrating on the cutting-edge recent results achieved in the integration of traditional photovoltaic device types into novel concentrator-type windows and glazings, we compare the main performance characteristics reported with these achievable using more conventional (opaque or semi-transparent) solar cell technologies. A critical overview of the current status and future application potential of multiple existing and emergent energy harvesting technologies for building integration is provided.

Smart Internet of Vehicles (IoVs) combined with Artificial Intelligence (AI) will contribute to vehicle decision-making in the Intelligent Transportation System (ITS). Multi-Vehicle Pursuit games (MVP), a multi-vehicle cooperative ability to capture mobile targets, is becoming a hot research topic gradually. Although there are some achievements in the field of MVP in the open space environment, the urban area brings complicated road structures and restricted moving spaces as challenges to the resolution of MVP games. We define an Observation-constrained MVP (OMVP) problem in this paper and propose a Transformer-based Time and Team Reinforcement Learning scheme (T3OMVP) to address the problem. First, a new multi-vehicle pursuit model is constructed based on decentralized partially observed Markov decision processes (Dec-POMDP) to instantiate this problem. Second, by introducing and modifying the transformer-based observation sequence, QMIX is redefined to adapt to the complicated road structure, restricted moving spaces and constrained observations, so as to control vehicles to pursue the target combining the vehicle’s observations. Third, a multi-intersection urban environment is built to verify the proposed scheme. Extensive experimental results demonstrate that the proposed T3OMVP scheme achieves significant improvements relative to state-of-the-art QMIX approaches by 9.66%~106.25%. Code is available at https://github.com/pipihaiziguai/T3OMVP.

Abstract: Thermal desalination is yet a reliable technology in the treatment of brackish water and seawater; however, its demanding high energy requirements have lagged it compared to other non-thermal technologies such as reverse osmosis. This review provides an outline of the development and trends of the three most commercially used thermal or phase change technologies worldwide: Multi Effect Distillation (MED), Multi Stage Flash (MSF), and Vapor Compression Distillation (VCD). First, state of water stress suffered by regions with little fresh water availability and existing desalination technologies that could become an alternative solution are shown. The most recent studies published for each commercial thermal technology are presented, focusing on optimizing the desalination process, improving efficiencies, and reducing energy demands. Then, an overview of the use of renewable energy and its potential for integration into both commercial and non-commercial desalination systems is shown. Finally, research trends and their orientation towards hybridization of technologies and use of renewable energies as a relevant alternative to the current problems of brackish water desalination are discussed. This reflective and updated review will help researchers to have a detailed state of the art of the subject and to have a starting point for their research, since current advances and trends on thermal desalination are shown.

Water area segmentation in remote sensing is of great importance for flood monitoring. To overcome some challenges in this task, we construct the Water Index and Polarization Information (WIPI) multi-modality dataset and propose a multi-Modality Fusion and Gated multi-Filter U-Net (MFGF-UNet) convolutional neural network. The WIPI dataset enhances the water information and reduces the data dimension. In particular, the Cloud-Free label provided in the database effectively mitigates the issue of scarcity of labeled samples Since a single form or uniform kernel size cannot handle the variety in size and shape of water bodies, we proposed the gated multi-filter inception (GMF-Inception) module in our MFGF-UNet. Moreover, we utilize the attention mechanism by introducing the Gated Channel Transform (GCT) skip connection and integrating GCT into GMF- Inception to further improve model performance. Extensive experiments on three benchmarks, including WIPI, Chengdu and GF2020 datasets demonstrate that our method achieves favorable performance with lower complexity and better robustness against six competing approaches. For example, on WIPI, Chengdu and GF2020 datasets, the proposed MFGF-UNet model achieves F1 of 0.9191, 0.7410, and 0.8421, respectively, which average F1 on three datasets is 0.0045 higher than the U-Net model and reduces 62% average GFLOPs. New WIPI dataset, code and trained models have been released on GitHub

Real-world optimization problems are often governed by one or more constraints. Over the last few decades, extensive research has been performed in Constrained Optimization Problems (COPs) fueled by advances in computational intelligence. In particular, Evolutionary Algorithms (EAs) are a preferred tool for practitioners for solving these COPs within practicable time limits. We propose an ensemble of multi- method hybrid EA framework with four mutation operators, two crossover operators, multi-search [Differential Evolution (DE) & Gaining Sharing Knowledge (GSK)] optimization algorithm, and ensemble of constraint handling techniques to solve global real- world constrained optimization problem. The proposed frame- work FEPEA has an ascendancy of multiple adaptation strategies concerning the control parameters, search mechanisms, two sub-populations as well as uses knowledge sharing mechanism between junior and senior phases. The algorithm also combines the power of four popular constraint handling techniques (CHT) and uses a voting mechanism to select any particular CHT. On top of that, this algorithm also uses both linear and non- linear population size reduction in every step of the evolutionary process. We test our method on 57 real-world problems provided as part of the CEC 2020 special session & competition on real- world constrained optimization benchmark suite. Experimental results indicate that FEPEA is able to achieve state-of-the- art performance on real-world constrained global optimization when compared against other well-known real-world constrained optimizers.

The hybrid bond graph has been studied in depth for scalar bond graphs, but how does this translate to the multi-bond graph? Here, the controlled junction – used to model structural switching such as contact – is extended to the multi-bond case. This is a simple process, assuming that all bonds switch simultaneously (which makes physical sense). A controlled 0-junction is applied to multi-bond graph of a car, which can lose contact with the ground in cornering. Dynamic causality features, but this can be accommodated using an equational submodel in 20-Sim (in a manner similar to that used with scalar bond graphs). The junction is proposed for subsequent work to develop a validated multi-body dynamics car model in cornering.

The quality of digital elevation models (DEMs) is inevitably affected by the limitations of the imaging modes and the generation methods. One effective way to solve this problem is to merge the available datasets through data fusion. In this paper, a fusion-based global DEM dataset (82°S-82°N) is introduced, which we refer to as GSDEM-30. This is a 30-m DEM mainly reconstructed from the unfilled SRTM1, AW3D30, and ASTER GDEM v2 datasets combining the multi-source and multi-scale fusion techniques. A comprehensive evaluation of the GSDEM-30 data, as well as the 30-m ASTER GDEM v2 and AW3D30 DEM, was presented. Global ICESat GLAS data and the local National Elevation Dataset (NED) were used as the reference for the vertical accuracy validation, while GlobeLand30 was introduced for the landscape analysis. Furthermore, we employed the maximum slope approach to detect the potential artefacts in the DEMs. The results show that the GDEM data are seriously affected by noise and artefacts. With the advantage of the multiple datasets and the refined post-processing, the GSDEM-30 are contaminated with fewer anomalies than both ASTER GDEM and AW3D30. The fusion techniques used can also be applied to the reconstruction of other fused DEM datasets.

The framework of product life cycle (PLC) cost analysis is one of the most important evaluation tools for a contemporary high-tech company in an increasingly competitive market environment. The PLC-purchasing strategy provides the framework for a procurement plan and examines the sourcing strategy of a firm. The marketing literature emphasizes that ongoing technological change and shortened life cycles are important elements in commercial organizations. From a strategic viewpoint, the vendor has an important position between supplier, buyer and manufacturer. The buyer seeks to procure the products from a set of vendors to take advantage of economies of scale and to exploit opportunities for strategic relationships. However, previous studies have seldom considered vendor selection (VS) based on PLC cost (VSPLCC) analysis. The purpose of this paper is to solve the VSPLCC problems considering the situation of a single-buyer-multiple-supplier. For this issue, a new VSPLCC procurement model and solution procedure are derived by this paper to minimize net cost, rejection rate, late delivery and PLC cost subject to vendor capacities and budget constraints. Moreover, a real case in Taiwan is provided to show how to solve the VSPLCC procurement problem.

In this paper, a new approach to the sliding-mode control of single-phase inverters under linear and non-linear loads is introduced. The main idea behind this approach is to utilize a non-linear, flexible and multi-slope function in controller structure. This non-linear function makes the controller possible to control the inverter by a non-linear multi-slope sliding surface. In general, this sliding surface has two parts with different slopes in each part and the flexibility of the sliding surface makes the multi-slope sliding-mode controller (MSSMC) possible to reduce the total harmonic distortion, to improve the tracking accuracy, and to prevent overshoots leading to undesirable transient-states in output voltage which are occurred when the load current sharply rises. In order to improve the tracking accuracy and to reduce the steady-state error, an integral term of the multi-slope function is also added to the sliding surface. The improved performance of the proposed controller is confirmed by simulations and finally, the results of the proposed approach are compared with a conventional SMC and a SRFPI controller.

The prolonged lockdown imposed to contain the COVID-19 pandemic prevented many people from direct contact with nature and greenspaces, raising alarms for a possible worsening of mental health. This study investigates the effectiveness of a simple and affordable remedy for improving psychological well-being, based on audio-visual stimuli brought by a short computer video showing forest environments, with an urban video as a control. Randomly selected participants were assigned the forest or urban video, to look at and listen early in the morning, and filled questionnaires. In particular, the State-Trait Anxiety Inventory (STAI) Form Y, collected in baseline condition and at the end of the study, and the Part II of the Sheehan Patient Rated Anxiety Scale (SPRAS), collected every day immediately before and after watching the video. The virtual exposure to forest environments showed effective to reduce perceived anxiety levels in in people forced by lockdown in limited spaces and environmental deprivation. Although significant, the effects were observed only in the short term, highlighting the limitation of the virtual experiences. The reported effects might also represent a benchmark to disentangle the determinants of health effects due to real forest experiences, for example, the inhalation of biogenic volatile organic compounds (BVOC).

In emergency scenarios service vehicles must identify potential route(s) and use the best available route. However, route identification requires intelligent decision-support systems which generally use non-traditional approaches with tools characterised by flexible non-hierarchical structures. Conventional models using group decision-support systems have been applied; however, when used in smart urban environments, emergency response services have limitations in their ability to identify unobstructed paths (routes) in dynamic operating environments. In this paper we introduce a novel path planning method for autonomous vehicle control in emergency situations. The proposed model uses self-organizing maps in an integrated Spiral STC algorithm termed the: Hybrid SOM-Spiral STC model which uses hedge algebras and \emph{Kansei} evaluation in group decision-support. The proposed model has been designed to quantify qualitative factors using sensor derived data processed with human sensibilities and preferences in emergency decision support. The experimental results show that the proposed model achieves significant improvements in group decision-support under dynamic uncertainty. We posit that our novel approach holds the prospect of improvements in the provision of emergency services.

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

This paper proposes a multi-terminal adaptive collaborative operation method to solve the problem of unstable internal force tracking in clamping and handling unknown objects by multi-terminal robots. In the proposed method, the internal command force changes the complex internal force control problem into an internal force tracking problem from multi-slave to master. Moreover, we develop an algorithm for multi-slave setups to estimate object stiffness and motion uncertainty in the direction of the internal command force according to Lyapunov theory. Finally, the impedance control generates a reference trajectory for the multi-slave to maintain the desired internal force and track the master’s motion. Several experiments are conducted on a self-made robot equipped. The experimental results show that the oscillation amplitude of each slave end is less than 1 mm, the directional oscillation amplitude is less than 1 degree during the tracking of the desired commanded internal force. For objects with low stiffness, the error of the commanded internal force is less than 1 N (6%) per slave. The error in tracking the commanded internal force for objects with high stiffness is less than 2 N (8%). The results prove the feasibility and effectiveness of the proposed method.

In gravitational theory and astrophysical dynamics, singular initial value problems (IVPs) are frequently encountered. Finding the solutions to this class of IVPs can be challenging due to their complex nature. This study strives to circumvent the complexity by proposing a numerical method for solving such problems. The approach proposed in the current research seeks solutions to the IVP by partitioning the domain [0,L] of the problem into two intervals and solving the problem on each domain. The study seeks a closed-form solution to the IVP in the interval containing the singular point. A linearization technique and piecewise partitioning of the domain not containing the singularity are applied to the nonlinear IVP. The resulting linearized differential equation is solved using the Chebyshev spectral collocation method. Some examples are presented to illustrate the efficiency of the proposed method. Numerical analysis of the solution and residual errors are shown to ascertain convergence and accuracy. The results suggest that the technique gives accurate convergent solutions using a few collocation points.

Dracunculiasis (also known as Guinea worm disease) is caused by Dracunculus medinensis parasite and it spreads by drinking water containing Larvae of Guinea worm. The lack of safe water facilities, preventions and treatments resulted in highly dangerous consequences in its endemic regions. The economy of the affected regions totally falls down due to less production which is the result of agricultural field worker’s bad health. In this study, a multi epitope vaccine was designed against Dracunculus medinensis by using immune-informatics. The vaccine was designed by using T-Cell and B-Cell epitopes derived from Dracunculus medinensis proteins (Lactamase-B domain-containing protein, G-Domain containing protein and Ferrochelatase) in addition to Adjuvants and Linkers. The tertiary structure, physiochemical properties and immunogenic elements of vaccine were achieved. The validation of tertiary structure was accessed, and quality was achieved. In addition, the world coverage of parasite’s CTL and HTL epitopes is 95.61%. The stability of the chimeric vaccine was achieved through disulfide engineering. The molecular docking with Toll Like Receptor 4 (TLR-4) of vaccine showed its binding efficiency followed by Molecular Dynamic Simulation. The immune simulation suggested the mediated cell immunity and repeated antigen clearance. At the end, the optimized codon was used in in silico cloning to ensure vaccine’s higher exposure in bacterium E. coli strain K12. With further assessments, it is believed that the proposed multi epitope vaccine has strong immunogen to control Dracunculus medinensis which may result in better social and economic conditions of endemic regions.

Introduction Tuberculosis is common in Pakistan. Due to various factors including socioeconomic factors, compliance is poor to anti-tuberculosis drugs, leading to resistance. We aim to determine the prevalence of Multidrug resistance (MDR) tuberculosis in Pakistani population.Methods A prospective observational study was conducted from April 1, 2019, to December 31, 2019, in the Pulmonology department of a tertiary care hospital in Pakistan. Culture and sensitivity were assessed using a sputum sample or, in cases of an absent sputum sample, from Broncho alveolar lavage.ResultsApproximately 71.3% percent patients who had tuberculosis were found to be resistant to Isoniazid and around 48.6% did not respond to Rifampin. Multi-drug resistant was found in 29.4% participants.ConclusionMulti-drug resistance tuberculosis is very prevalent in Pakistan, which may increase burden on health care system and may lead to various complications of tuberculosis.

Phenotypic studies require large datasets for accurate inference and prediction. Collecting plant data in a farm can be very labor intensive and costly. This paper presents the design, architecture (hardware and software) and deployment of a distributed modular agricultural multi-robot system for row crop field data collection. The proposed system has been deployed in a soybean research farm at Iowa State University.

In the framework of maritime surveillance, vessel detection techniques based on spaceborne Synthetic Aperture Radar (SAR) images have promoted extensive applications for the effective understanding of unlawful activities at sea. The paper deal with this topic presenting a novel approach exploiting a cascade application of a pre-screening, and discrimination phase. The latter leverage the SAR spectrum by means of sub-looks analysis. For the first time, the method has been validated with experiments on multi-frequency (C-, X-, and L-band) SAR images. For a future syngergic exploitation of more SAR missions, the developed dataset, composed of Sentinel-1, SAOCOM and COSMO-SkyMed images, is comprehensive of multiple images gathered over the same area with short time lag (below 15 minutes). Finally, the diversified processing chains and the results for each mission product and scenarios are discussed. Being the first dataset of SLC (Single Look Complex) SAR multi-frequency data, the present work intends to encourage additional research in this promising field of research.

Urban environments face escalating challenges, e.g. due to uncontrolled urbanization, rapid population growth or climate changes, prompting the exploration of sustainable solutions for enhancing urban green spaces (UGS). For this reason, poplars (Populus L.), due to their rapid growth, wide range adaptability to environmental conditions and versatility of use, would have emerged as very promising. This comprehensive review synthesizes current knowledge regarding poplar's application in urban landscapes, emphasizing its multifaceted contributions and benefits. However, challenges arise from the variable lifespans of different poplar cultivars, necessitating strategic management approaches. Selecting cultivars based on growth rates, root system characteristics, and adaptability to urban conditions is pivotal. Adaptive replanting strategies, incorporating species with varying lifespans, offer solutions to maintain continual greenery in urban landscapes. Collaborative efforts between researchers, urban planners, and policymakers are essential for devising comprehensive strategies that maximize benefits while addressing challenges associated with their variable lifespans. In conclusion, harnessing poplar's potential in urban greenery initiatives requires a balanced approach that capitalizes on their benefits while mitigating challenges. Further research and adaptive strategies are crucial for sustained and effective utilization in creating resilient and vibrant urban landscapes.

Emerging organic contaminants (EOCs) of anthropogenic origins are ubiquitous in environmental compartments, including aquatic systems. Thus, EOCs have attracted considerable research and public attention due to their potential human and ecological health risks. However, compared to other aquatic environments such as wastewater systems, comprehensive reviews focussing on the occurrence and human health risks of EOCs in drinking water systems are still lacking. Therefore, to address this knowledge gap, the current review posits that drinking water systems harbour a cocktail of toxic EOCs, which pose public health risks via multiple exposure routes. In the present review, global evidence is examined to track EOCs along the source-pathway-receptor-impact-mitigation (SPRIM) continuum. Evidence shows that, various groups of EOCs, including pharmaceuticals and personal care products, solvents, plasticizers, endocrine disrupting compounds, gasoline additives, per- and polyfluoroalkyl substances (PFAS), food colourants, artificial sweeteners, and musks and fragrances, have been detected in drinking water systems. The anthropogenic sources of EOCs detected in drinking water systems, including wastewater systems and industrial emissions, are summarized. Further, the behaviour and fate of EOCs in the drinking water systems, including removal processes are discussed. Once in drinking water systems, human exposure to EOCs may occur via ingestion of contaminated drinking water and cooked foods, and possibly dermal contact and inhalation. The high-risk environments, and risk factors and behaviours predisposing humans to EOC exposure are discussed. Evidence on the human health risks of the various EOCs and a critique of the data are presented. Notably, besides inferential data, quantitative epidemiological evidence directly relating the occurrence of EOCs in drinking water systems to specific adverse human health outcomes is still scarce. Lastly, future research directions, including the need for quantitative public health risk assessment, and the application of emerging detection tools are discussed.

The metaverse, a virtual world comprising a collective virtual shared space where users interact with one another through avatars and computer-generated objects, aims to closely mimic our real world by integrating elements of Artificial Intelligence (AI), immersive reality, advanced connectivity, and Web3. As metaverse technologies gain momentum across multiple sectors, including animal farming, their potential for addressing complex challenges such as climate change and sustainability in precision food production systems becomes increasingly apparent. However, it is crucial to consider the ethical implications and the role of sensor data and livestock behavior analysis in developing metaverse technologies for modern animal farming, given the sensitive and controversial nature of animal welfare. Failure to address these ethical considerations and harness the power of sensor data and behavior analysis could lead to a lack of credibility and insensitivity towards adopting metaverse technologies in the animal farming sector. It is essential to ensure that the development of metaverse technologies does not prioritize technology over animal welfare, ethics, socio-economic implications, and the potential for data-driven insights. Addressing diversity and equity in the context of animal farming and the metaverse is crucial to avoid perpetuating existing inequalities during the implementation of metaverse technologies. This groundbreaking paper ventures into unexplored territory, shedding light on the untapped potential of the metaverse for modern animal farming. While research on this topic is still in its infancy, we embark on a journey of visionary speculation, presenting a compelling technology forecast that envisions the extraordinary possibilities awaiting us in the future. By delving into the metaverse's transformative capabilities, we provide a glimpse into a world where animal farming transcends its traditional limitations and embraces a new era of efficiency, sustainability, and ethical practices.

Automotive manufacturers and suppliers develop new vehicle systems, such as Advanced Driver Assistance Systems (ADAS), to increase traffic safety and driving comfort. ADAS are technologies that provide drivers with essential information or take over demanding driving tasks. More complex and intelligent vehicle systems are being developed toward fully autonomous and cooperative driving. Apart from the technical development challenges, training of drivers with these complex vehicle systems represents an important concern for automotive manufacturers. This paper highlights the new evolving requirements concerning the training of drivers with future complex vehicle systems. In accordance with these requirements, a new training concept is introduced, and a prototype of a training platform is implemented for utilization in future driving schools. The developed training platform has a scalable and modular architecture so that more than one driving simulator can be networked to a common driving instructor unit. The participating driving simulators provide fully immersive visualization to the drivers by utilizing head-mounted displays instead of conventional display screens and projectors. The driving instructor unit consists of a computer with a developed software tool for training session control, monitoring, and evaluation. Moreover, the driving instructor can use a head-mounted display to participate interactively within the same virtual environment of any selected driver. A simulation model of an autonomous driving system was implemented and integrated in the participating driving simulators. Using this simulation model, training sessions were conducted with the help of a group of test drivers and professional driving instructors to prove the validity of the developed concept and show the usability of the implemented training platform.

Deep convolutional neural network (CNN) has shown their great advantages in the single image deraining task. However, most existing CNN-based single image deraining methods still suffer from residual rain streaks and details lost. In this paper, we propose a deep neural network including the Multi-scale feature extraction module and the channel attention module, which are embed in the feature extraction sub-network and the rain removal sub-network respectively. In the feature extraction sub-network, the Multi-scale feature extraction module is constructed by a Multi-layer Laplacian pyramid, and is then integrated multi-scale feature maps by a feature fusion module. In the rain removal sub-network, the channel attention module, which assigns different weights to the different channels, is introduced for preserving image details. Experimental results on visually and quantitatively comparison demonstrate that the proposed method performs favorably against other state-of-the-art approaches

Defect detection in ferromagnetic substrates is often hampered by non-magnetic coating thickness variation when using conventional eddy current testing technique. The lift-off distance between the sample and the sensor is one of the main obstacles for the thickness measurement of non-magnetic coatings on ferromagnetic substrates when using the eddy current testing technique. Based on the eddy current thin-skin effect and the lift-off insensitive inductance (LII), a simplified iterative algorithm is proposed for reducing the lift-off variation effect using a multi-frequency sensor. Compared to the previous techniques on compensating the lift-off error (e.g., the lift-off point of intersection) while retrieving the thickness, the simplified inductance algorithms avoid the computation burden of integration, which are used as embedded algorithms for the online retrieval of lift-offs via each frequency channel. The LII is determined by the dimension and geometry of the sensor, thus eliminating the need for empirical calibration. The method is validated by means of experimental measurements of the inductance of coatings with different materials and thicknesses on ferrous substrates (dual-phase alloy). The error of the calculated coating thickness has been controlled to within 3 % for an extended lift-off range of up to 10 mm.

Porous ceramics can be realized by different methods and are used for manifold applications, like cross-flow-membranes or wall-flow-filters, porous burners, solar receivers, structural design elements or catalytic supports. Within this paper three different alternative process routes are presented, which can be used to manufacture porous ceramic components with different properties or even graded porosity. The first process route bases on additive manufacturing (AM) of macro porous ceramic components, the second on AM of a polymeric template, which is used to manufacture porous ceramic components via replica technique. Finally, the third process route bases on an AM technology, which allows the manufacturing of multi-material or multi-property ceramic components, like components with dense and porous volumes in one complex shaped component.

Environmental studies, metabolic research, and state of the art neurobiology point towards the reduced amount of natural day and sunlight exposure of the developing child’s organism as the consequence of increasingly long hours spent indoors online as the single unifying source of a whole set of health risks identified worldwide, as is made clear in this review of the current literature. Over exposure to digital environments, from abuse to addiction, now concerns even the youngest (ages 0 to 2), and triggers, as argued on the basis of clear examples herein, a chain of interdependent negative and potentially long-term metabolic changes. This leads to a deregulation of the serotonin and dopamine neurotransmitter pathways in the developing brain, currently associated with online activity abuse and/or internet addiction, and akin to that found in severe substance abuse syndromes. A general functional working model is proposed under the light of evidence brought to the forefront in this review.

In this article, we introduce some multi-messenger studies of blazars. Main contents contain the following parts, 1. the subclasses of blazars and the observational characteristics, 2. emission variabilities from the multi-messenger observations, 3. the physical origin for the multi-messenger studies. Based on mid-IR observations collected from the $WISE$ database, we collect two sources (BZQ J1700+6830 and BZQ J1842+6809) to analyze the mid-IR variabilities. \\ (1) For BZQ J1700+6830, the period is $P\approx$ 42 hr at the four bands ($W1$, $W2$, $W3$, $W4$); for BZQ J1842+6809, the period is $P\approx$ 123 hr at the two bands ($W1$, $W2$). \\ (2) Using the periodicities, we calculate that the central black hole mass ($BH$) should be $M = (5.44\sim33.0)\times10^8M_{\odot}$ for BZQ J1700+6830 and $M = (1.13\sim6.88)\times10^9M_{\odot}$ for BZQ J1842+6809.\\ (3) For the two sources, during the flaring stage, we find anti-clockwise variation trends based on the time-based relations built by the spectral indices ($\alpha$) and flux densities ($F$).\\ (4) We calculate the Doppler factor ($\delta$) when the sources are in the dimming or brightening stages, and find that with the frequency increasing, the Doppler factor become stronger.

The paper considers new effects of the nanoscale state of matter, which open up prospects for the creation of electronic devices using new physical principles. The contact of chemically homogeneous different sizes hydrated nanoparticles of yttrium-stabilized zirconium oxide (ZrO2 – x %mol Y2O3, x=0, 3, 4, 8; YSZ) with particle sizes of 7.5 nm and 7,5 nm; 7.5 nm and 9 nm; 7.5 nm and 11 nm; 7.5 nm and 14 nm in the form of compacts obtained using high hydrostatic pressure (HP-compacts of 300MPa) was studied at direct and alternating current. A unique size effect of the nonlinear (semiconductor) dependence of the electrical properties (in the region U <2.5 V, I ≤ 2.7 mA) of the contact of different-sized YSZ nanoparticles of the same chemical composition is revealed, which indicates the possibility of creating semiconductor structures of a new type based on chemically homogeneous nanostructured systems. The electronic structure of the near-surface regions of nanoparticles of a special type of oxide materials and the possibility, on this basis, to obtain specifically rectifying properties of the contacts were studied theoretically. Models of surface states of the Tamm type are constructed, but considering the Coulomb long-range action. The discovered variance and its dependence on the curvature of the surface of nanoparticles made it possible to study the conditions for the formation of a contact potential difference in cases of nanoparticles of the same radius (synergistic effect), different radii (doped and undoped variants), as well as to discover the possibility of describing a group of powder particles from material within the Anderson model. The established effect makes it possible to solve the problem of diffusion instability of semiconductor heterojunctions and opens up prospects for creating electronics devices with a fundamentally new level of properties for use in various fields of the national economy and breakthrough critical technologies.

Fluorescence microscopy provides an unparalleled tool for imaging biological samples. However, producing high-quality volumetric images quickly and without excessive complexity remains a challenge. Here, we demonstrate a simple multi-camera structured illumination microscope (SIM) capable of simultaneously imaging multiple focal planes, allowing for the capture of 3D fluorescent images without any axial movement of the sample. This simple setup allows for the acquisition of many different 3D imaging modes, including 3D time lapses, high-axial-resolution 3D images, and large 3D mosaics.

Our work uses Iterative Boltzmann Inversion (IBI) to study the coarse-grained interaction between 20 amino acids and the representative carbon nanotube CNT55L3. IBI is a multi-scale simulation method that has attracted the attention of many researchers in recent years. It can effectively modify the coarse-grained model derived from the Potential of Mean Force (PMF). IBI is based on the distribution result obtained by All-Atom molecular dynamics simulation, that is, the target distribution function, the PMF potential energy is extracted, and then the initial potential energy extracted by the PMF is used to perform simulation iterations using IBI. Our research results have gone through more than 100 iterations, and finally, the distribution obtained by coarse-grained molecular simulation (CGMD) can effectively overlap with the results of all-atom molecular dynamics simulation (AAMD). In addition, our work lays the foundation for the study of force fields for the simulation of the coarse-graining of super-large proteins and other important nanoparticles.

Multi-morbidity and polypharmacy are common in older people and pose a challenge for health and social care systems especially in context of global population ageing. They are complex and interrelated concepts in the care of older people that require early detection and patient centred decision making that are underpinned by the principles of multidisciplinary led comprehensive geriatric assessment (CGA). Personalised care plans need to remain responsive and adaptable to the needs of a patient, enabling an individual to maintain their independence.

This paper presents a new and enhanced fusion module for the Multi-Sensor Precipitation Estimator (MPE) that would objectively blend real-time satellite quantitative precipitation estimates (SQPE) with radar and gauge estimates. This module consists of a preprocessor that mitigates systematic bias in SQPE, and a two-way blending routine that statistically fuses adjusted SQPE with radar estimates. The preprocessor not only corrects systematic bias in SQPE, but also improves the spatial distribution of precipitation based on SQPE and makes it closely resemble that of radar-based observations. It uses a more sophisticated radar-satellite merging technique to blend preprocessed datasets, and provides a better overall QPE product. The performance of the new satellite-radar-gauge blending module is assessed using independent rain gauge data over a 5-year period between 2003-2007, and the assessment evaluates the accuracy of newly developed satellite-radar-gauge (SRG) blended products versus that of radar-gauge products (which represents MPE algorithm currently used in the NWS operations) over two regions: I) inside radar effective coverage and II) immediately outside radar coverage. The outcomes of the evaluation indicate a) ingest of SQPE over areas within effective radar coverage improve the quality of QPE by mitigating the errors in radar estimates in region I; and b) blending of radar, gauge, and satellite estimates over region II leads to reduction of errors relative to bias-corrected SQPE. In addition, the new module alleviates the discontinuities along the boundaries of radar effective coverage otherwise seen when SQPE is used directly to fill the areas outside of effective radar coverage.

Bioelectrocatalysis provides the intrinsic catalytic-functions of redox enzymes to non-specific electrode reactions and is the most important and basic concept for biosensors. This review starts by describing fundamental characteristics of bioelectrocatalytic reactions in mediated and direct electron transfer types from a theoretical viewpoint and summarizes amperometric biosensors based on multi-enzymatic cascades and for multi-analyte detection. The review also introduces prospective aspects of two new concepts of biosensors: mass-transfer-controlled (pseudo)steady-state amperometry at microelectrodes with enhanced enzymatic activity without calibration curves and potentiometric coulometry at enzyme/mediator-immobilized biosensors for absolute determination.

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).

Does cell clustering influence intrinsic and acquired multi-drug resistance (MDR) differently? To address this question, we studied cultured monolayers (representing individual cells) and cultured spheroids (representing clusters) formed by drug-naïve (intrinsic MDR) and drug-exposed (acquired MDR) lines of ovarian cancer A2780 cells by cytometry of reaction rate constant (CRRC). MDR efflux was characterized by accurate and robust “cell number vs. MDR efflux rate constant (kMDR)” histograms. Both drug-naïve and drug-exposed monolayer cells presented unimodal histograms; the histogram of drug-exposed cells was shifted towards higher kMDR value suggesting greater MDR activity. Spheroids of drug-naïve cells presented a bimodal histogram indicating the presence of two subpopulations with different MDR activity. In contrast, spheroids of drug-exposed cells presented a unimodal histogram qualitatively similar to that of the monolayers of drug-exposed cells but with a moderate shift towards greater MDR activity. The observed greater effect of cell clustering on intrinsic than on acquired MDR can help guide the development of new therapeutic strategies targeting clusters of circulating tumor cells.

Shared public buildings have become centers of innovation, integrating advanced technologies to meet evolving societal needs. With a heightened emphasis on occupants’ health and well-being, these buildings serve as hubs for technological convergence, facilitating seamless connectivity and intelligent data analysis and management. Within this context, environmental monitoring emerges as a foundational element, pivotal to all aspects of building management. This article provides findings from the nationally funded RE-START project, which focuses on shared public buildings, with special regard to educational and medical facilities. The project explores enhanced indoor air quality monitoring, focusing in particular on CO2 concentration that is directly correlated with occupancy, as a fundamental element for developing health and safety protocols, energy efficiency strategies, integration of smart building technologies, and data-driven energy management. The intersection of environmental monitoring, energy efficiency, security, and IoT technologies in in indoor spaces are relevant. The outcomes of the study reveal the delicate nature of all the involved components, that need to be carefully developed in an integrated manner.

In this article, we have tried to answer the questions of how an entire city's fiction was created for the development of Japanese American internment camps and in which way contributions of sustainable crafts and even art could have interceded. To this aim, we have searched the literature and reviewed archives, primarily from the American West Coast. We have found that beyond adaptation to the circumstances, the visual representation of the city's settlement, founding, and daily activities, instead of typical panoptic or somber prisons’ imagery, are depicted in the selected images and that their use precisely fostered its sustainability. This leads us to deduce that a "city fiction" was necessary for such survival and endurance and that its artistic representation was primarily involved in the state's ideological apparatus. On the other hand, fissures subtly seethed the violence exerted in the camps by stealth and in a hidden fashion. We have concluded that artistic activity justified the city's fiction, together with other examples, highlighting the conditions of systemic violence and oppression for the inmates. In this framework, the artworks generated constitute a historical document of sustainability.

In this paper, we consider a new class of polynomials which is called the multi-poly-Euler polynomials. Then, we investigate their some properties and relations. We provide that the type 2 degenerate multi-poly-Euler polynomials equals a linear combination of the degenerate Euler polynomials of higher order and the degenerate Stirling numbers of the first kind. Moreover, we provide an addition formula and a derivative formula. Furthermore, in a special case, we acquire a correlation between the type 2 degenerate multi-poly-Euler polynomials and degenerate Whitney numbers.

Inspired by the definition of degenerate multi-poly-Genocchi polynomials given by using the degenerate multi-polyexponential functions. In this paper, we consider a class of new generating function for the degenerate multi-poly-Bernoulli polynomials, called the type 2 degenerate multi-poly-Bernoulli polynomials by means of the degenerate multiple polyexponential functions. Then, we investigate their some properties and relations. We show that the type 2 degenerate multi-poly-Bernoulli polynomials equals a linear combination of the weighted degenerate Bernoulli polynomials and Stirling numbers of the first kind. Moreover, we provide an addition formula and a derivative formula. Furthermore, in a special case, we acquire a correlation between the type 2 degenerate multi-poly-Bernoulli numbers and degenerate Whitney numbers.