Alginate, a biopolymer promising in food, biomedical, pharmaceutical, and electronic materials industries, is characterized by its biodegradability, biocompatibility, low toxicity, and gel-forming properties. It is most abundantly found in brown algae. However, conventional dilute acid and alkali extraction methods face limitations in commercialization due to their long processing time, low throughput, and high solvent requirements. In this study, a microwave-assisted extraction (MAE) process for sodium alginate was designed to improve extraction efficiency. Solid/liquid ratio, extraction temperature, and extraction solvent concentration were major variables affecting sodium alginate extraction from Undaria pinnatifida(sea mustard). They were then statistically optimized using response surface methodology. Under optimal conditions (13.27 g/L, 91.86 ℃, 2.51 %(w/v), and 15 min), the yield was 38.41 %, which was 93.43 % of the theoretical content of sodium alginate in Undaria pinnatifida. Our work has confirmed the productivity and industrial feasibility of efficient extraction of sodium alginate from marine biomass, and we hope that it will serve as an encouraging case for the application of biopolymers as one of the desirable options for alternative petrochemicals to construct a sustainable society.

Catheter-based revascularization procedures developed as an alternative of systemic thrombolysis for patients at intermediate-high and high-risk pulmonary embolism. USAT IH-PE is a retrospective and prospective multicenter registry of such patients treated with ultrasound-facilitated, catheter-directed thrombolysis, whose preliminary results are presented in this study. The primary endpoint was the incidence of pulmonary hypertension (PH) at follow up. Secondary endpoints were short- and mid-term changes in echocardiographic parameters of right ventricle (RV) function, in-hospital and all-cause mortality, and procedure-related bleeding events. Between March 2018 and July 2023, 102 patients were included. The majority were at intermediate-high risk PE (86%), mostly female (57%), median age 66.5 years (IQR 56-74), and 28.4% had active cancer. Echocardiographic follow-up was available for 70 patients, and in only one the diagnosis of PH was confirmed by right heart catheterization, resulting in an incidence of 1.43% (CI 95%, 0.036-7.7). RV echocardiographic parameters improved both at 24 hours and at follow up. In-hospital mortality was 3.9% (CI 95%, 1.08-9.74) while all-cause mortality was 11% (CI 95%, 5.4-19.2). Only 12% had bleeding complications, oh whom 4.9% were BARC 3. Preliminary results from USAT IH-PE registry showed low incidence of PH, improvement in RV function and a safe profile.

Ion beam-assisted deposition (IBAD) has been proposed as a promising texturing technology that uses film epitaxy method to obtain biaxial texture on a non-textured metal or compound substrate. Magnesium oxide (MgO) is the most well explored texturing material. In order to obtain the optimal biaxial texture, the actual thickness of the IBAD-MgO film must be controlled within 12 nm. Due to the bombardment of ion beams, IBAD-MgO has large lattice deformation, poor texture and many defects in the films. In this work, an additional homogeneous epitaxy MgO (epi-MgO) layer has been deposited on the IBAD-MgO layer by electron-beam evaporation. The biaxial texture can be optimized by the deposition of additional epi-MgO layer. The effects of growth temperature, film thickness, deposition rate and oxygen flux on the texture and morphology of the epi-MgO film were systematically studied. After the research of epi-MgO process, the best full width at half maximum (FWHM) values were 2.2 for the out-of-plane texture and 4.8° for the in-plane texture, respectively. Subsequently, the LaMnO3 cap layer and YBa2Cu3O7-x (YBCO) functional layer was deposited on the epi-MgO layer to test the quality of MgO layer. Finally, the critical current density of YBCO films is 6MA/cm2 (77K, 500nm, self-field), indicating that this research provides a high-quality MgO substrate for the YBCO layer.

Is there any possible synergic effect of fertility outcome between spindle view-assisted intracyto-plasmic sperm injection (SV-ICSI) with or without assisted oocyte activation (AOA) for patients with low fertilization rate history? To explore the answer, a retrospective study was held in our fertility center by reviewing patients receiving SV-ICSI during 2019/03 to 2023/06. Total 47 pa-tients were included, the fertility outcomes of intervention group (AOA-SV-ICSI, 14 patients) and control group (SV-ICSI, 33 patients), such as fertilization rate, blastocyst formation rate and clin-ical pregnancy rate, were analyzed. The blastocyst formation rate between groups was signifi-cantly higher in AOA-SV-ICSI group (p=0.020), but the fertilization rate and clinical pregnancy rate did not reach any statistical significance. This discovery of increased blastocyst formation rate in low fertilization rate patients could possibly help them in getting more usable embryos in fertility treatment.

Advancement in biotechnology and genomics research have promoted access to DNA markers and their use in breeding programs. Genome-wide association study (GWAS), Genomic selection (GS) and Marker-Assisted Selection (MAS) are some of the applications of DNA markers in plant breeding. Researchers have suggested combining these individual applications for better selection accuracies. This study examines the potential advantages of incorporating GWAS-results into MAS and GS as well as the validity of the different methods for combining these approaches. From this study, it was concluded that number of QTNs have greater effects on prediction accuracies compared to heritability estimates. Also, the increase in prediction accuracy from the invalid method of incorporating GWAS results into GS and MAS model is similar to results recorded with using the valid approach. However, greater difference may be observed in another scenario which can lead to spurious results when used to make breeding decisions.

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

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

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

Military medical service is an important component of the Armed Forces of any country [1]. In wartime, healthcare performs critical functions of medical support for military operations, providing effective and qualified care to the wounded and sick. Consequently, it is imperative to equip military hospitals with state-of-the-art materials and technical resources commensurate with the predefined requirements. In this study, we examine a series of enhancements applied to the TurtleBot 3 Waffle Pi-based medical assistant robot, tailored for deployment in military hospital settings.

Automation is the key aspect of science and technology field and refers to controlling the systems for efficient output requirements. The development of robotics and similar, technologies in 21st century is a vast topic of research and significant progress has been made on this field. This research study focuses on building a ribbon-cutting robot with a Bluetooth interface for event inaugurations. The entire system hinges on constructing a prototype that is mounted on a robotic car frame with four wheels and an Arduino controller. In this case, ribbons are cut using a nickel wire, and it may be paired with an Android device via Bluetooth or an application. The robot is one of the first steps toward the development of autonomous, cognitive robots and can be used in a variety of events. Efficient temperature monitoring is done with help of LM35 sensor and Bluetooth based communication in order to monitor the conditions and effectively control the actions for which robot is designed. The robot has significantly allowed authors for desired tests on ribbon cutting and final results obtained were very exciting for its desired application target. Ribbon-cutting robots find applications in various events, including inaugurations, exhibitions, and ceremonies. Their precision and novelty add value to such occasions.

Agriculture and rural regions in Europe face a number of economic, social and environmental challenges. Rural areas are active players in the EU’s green transitions. Weeding is one of the most important factors of agricultural production. New weeding techniques are being developed to enhance sustainability. Among them laser based weeding seems a promising alternative for use of chemicals. WeLASER technique is a novel technique of weed control. Its successful implementation depends on many factors related to the innovation itself, policy context, farming conditions and users’ attitudes. Survey was carried out to provide the insight on the attitudes toward the innova-tive (laser) weed control tool (device - autonomous robot). The CATI method was selected for the survey of farmers opinion and carried out in three countries: Denmark, Spain and Poland. Statistical methods were applied to analyze the results. The study provided knowledge on how farmers see the barriers and opportunities of implementing the device in practice. Positive attitudes of farmers were observed but with high expectations related to quality of the technique and systemic conditions of its implementation.

Fully mechanized mining face production involves complex geological conditions; mining pressure; gas, water, fire and other mining environments. The working face needs a shearer, hydraulic support, a scraper conveyor and other equipment for coordination. The deep integration of intelligent technology with factors such as "humans, machines, the environment, and management" in the workplace is the core content of intelligent coal mines. This paper puts forward an advanced framework for coal mining robot technology systems, including single robots, robotized equipment, robot clusters and unmanned systems. The framework clarifies the common key technologies of coal mining robot research and development and cross-integration with new technologies such as 5G, the industrial internet, big data, artificial intelligence, and digital twins to improve the autonomous and intelligent application of coal mining robots. By establishing a scientific and complete standard system for coal mining robots, we aim to achieve customized research and development and standardized production of various types of robots. A specific analysis was conducted on the research progress of common key technologies such as explosion-proof design, mechanical system innovation, power drive, intelligent sensing, positioning and navigation, and underground communication of coal mining robots. The current research and application status of various types of coal mining robots in China are summarized. A new direction for future coal mine robot research and development is proposed. Moreover, robotic mining systems should be promoted to enhance the overall intelligence level and mining efficiency of mining equipment. To develop human‒machine environment-integrated robots to improve the autonomy and collaboration level of coal mining robots. The digital twinning of the entire mine robot system should be accelerated, the normalized operation level of coal mine robots should be improved, research on coal mining robots, support robots, and transportation robots should be carried out, intelligence should be achieved in fully mechanized mining faces, and equipment support for fewer and unmanned fully mechanized mining faces should be provided. The practical process of implementing coal mining robotization has been summarized, and the technical and engineering feasibility of the coal mining machine population has been verified.

The benefits of multi-robot systems are substantial, bringing gains in efficiency, quality, and cost, and are useful in a wide range of environments from warehouse automation, to agriculture, and even extend in part to entertainment. In multi-robot system research, the main focus is on ensuring efficient coordination in the operation of the robots, both in task allocation and navigation. However, much of this research seldom strays from theoretical bounds; there are many reasons for this, with the most prominent and impactful being resource limitations. This is especially true for research in areas such as multi-robot path planning (MRPP) and navigation coordination. This is a large issue in practice as many approaches are not designed with meaningful real-world implications in mind and are not scalable to large multi-robot systems. This survey aims to look into the coordination and path-planning issues and challenges faced when working with multi-robot systems, especially those using a prioritised planning approach and identify key areas which are not well-explored and the scope of applying existing MRPP approaches to real-world settings.

The relative position of the orchard robot to the rows of fruit trees is an important parameter for achieving autonomous navigations. The current methods for estimating the position parameters between rows of orchard robots obtain low parameter accuracy, and to address this problem, this paper proposes a machine vision-based method for detecting the relative position of orchard robots and fruit tree rows. Firstly, the fruit tree trunk is identified based on the improved YOLOv4 model; secondly, the camera coordinates of the tree trunk are calculated from the principle of binocular camera triangulation, and the ground projection coordinates of the tree trunk are obtained through coordinate conversion; finally, the midpoints of the projection coordinates of different sides are combined and the navigation path is obtained by linear fitting with the least squares method, and the position parameters of the orchard robot are obtained through calculation. The experimental results show that the average accuracy and average recall of the improved YOLOv4 model for fruit tree trunk detection are 97.05% and 95.42%, respectively, which are 5.92 and 7.91 percentage points higher than those of the original YOLOv4 model. The average errors of heading angle and lateral deviation estimates obtained based on the method in this paper are 0.57° and 0.02 m. The method can accurately calculate heading angle and lateral deviation values at different positions between rows, and can provide a reference for autonomous visual navigation of orchard robots.

This paper introduces an alternative method to design the path following controller of an under-actuated spherical mobile robot, which has a single pendulum structure its inside as a driving mechanism. The mechanism has an under-actuated problem; two inputs for the roll and pitch but no direct input for the yaw. In order to overcome this problem, the proposed method defines a virtual reference input for the heading direction. The virtual reference input works as a control input since it can be arbitrarily designed just like the reference input of a conventional system. The control scheme using the defined virtual reference input achieves the stabilization and path following control of the under-actuated spherical mobile robot without any additional control technique. The stability of the proposed control scheme is guaranteed by Lyapunov stability analysis, and simulation results are given to demonstrate its performance.

Nowadays, cyber-physical systems (CPSs) are composed of more and more agents and the demand for designers to develop ever larger multi-agent systems is a fact. When the number of agents increases, several challenges related to control or communication problems arise due to the lack of scalability of existing solutions. It is important to develop tools that allow control strategies evaluation of large-scale systems. In this paper, it is considered that a CPS is a heterogeneous robot multi-agent system that cooperatively performs a formation task through a wireless network. The goal of this research is to evaluate the system's performance when the number of agents increases. To this end, two different mixed reality frameworks developed with the open-source tools Gazebo and Webots are used. These frameworks enable combining both real and virtual agents in a realistic scenario allowing scalability experiences. They also reduce the costs required when a significant number of robots operate in a real environment, as experiences can be conducted with a few real robots and a higher number of virtual robots by mimicking the real ones. Currently, the frameworks include several types of robots being the aerial robot Crazyflie 2.1 and differential mobile robots Khepera IV those used in this work. To illustrate the usage and performance of the frameworks, an event-based control strategy for rigid formations varying the number of agents is analyzed. The agents should achieve a formation defined by a set of desired Euclidean distances to their neighbors. To compare the scalability of the system in the two different tools, the following metrics have been used: formation error, CPU usage percentage, and the ratio between the real-time and the simulation time. The results show the feasibility of using Robot Operating System (ROS) 2 in distributed architectures for multi-agent systems in mixed reality experiences regardless of the number of agents and their nature. However, the two tools under study present different behaviors when the number of virtual agents grows in some of the parameters, and such discrepancies are analyzed.

In large industrial plants, the trend is to move the position of the human to the area of service and diagnostics, in medium and smaller plants the trend is different and is mainly directed to the sphere of close cooperation between the human and the robotic system. This paper deals with the implementation of human-cooperating robots in manufacturing processes. The analytical part of the paper deals with theoretical knowledge, taking into account the latest trends in the subject area. To achieve a successful implementation of cobots based on the above-mentioned operating systems in manufacturing systems, it is necessary to pay attention specifically to the interfacing of the robotic operating system with the control systems of the manufacturing systems at the process level of the enterprise. Within the practical part, an algorithm with well-defined steps towards the successful implementation of cobots in holonic manufacturing processes is proposed. By setting up an experimental workstation in the laboratory, the proposed procedures are verified at the end of the paper. In the context of the implementation of collaborative robots in enterprises, the paper also discusses cloud computing. The creation of a design for the implementation of a collaborative robot with a human represents the missing link in the whole chain of commercial applications of the latest trends from the field of robotic systems in the industrial sphere.

Children with Autism Spectrum Disorder have deficits in social interaction and expressing and understanding emotions. Many robots for children with ASD have been proposed. However, few studies were found about how to design a social robot for children with ASD. Studies reviewed employed non-experimental studies to evaluate a social robot, but the methodology to design a social robot is rare. This study proposes a design path for a social robot for emotional communi-cation for children with ASD, following User-Centered Design approach. This design path is ap-plied with a study case, evaluated with an expert group on psychologist, human-robot interaction, human-computer interaction, and parents of children with ASD. Results show than following the design path proposed to design a social robot to communication emotions for children ASD is favorable.

Various designs of spherical robots using barycenter offset mechanisms were previously reported. This kind of robots offers advantages such as turning in placeor moving in any direction at any time. Yet, the approaches resulting in a balanced robot, which could roll with reduced energy costs once accelerated, are scarce. We introduce anovel robot of this type. The feasibility of the approach is verified on a cylindrical robot. This paper presents an open-source, remotely controlled, robotic cylinder. The robot uses a specifically designed mechanism to displace a mass in its center, which causes the cylinder to roll forwards or backwards. The movement characteristics of the cylinder, as well as the mathematical and physical limitations of the mechanism were studied. An intuitive user interface allows the robot to be controlled through WiFi. This robot was manufactured only with readily available and inexpensive materials, which would make it a suitable platform for education, typically in the fields of physics and engineering.

This paper proposed a triangular inequality-based rewiring method for the Rapidly exploring Random Tree (RRT)-Connect robot path-planning algorithm that guarantees the planning time compared to the RRT algorithm, to bring it closer to the optimum. To check the proposed algorithm’s performance, this paper compared the RRT and RRT-Connect algorithms in various environments through simulation. From these experimental results, the proposed algorithm shows both quicker planning time and shorter path length than the RRT algorithm and shorter path length than the RRT-Connect algorithm with a similar number of samples and planning time.

Roaming complexity in terrains and unexpected environments poses significant difficulties in robotic exploration of an area. In a broader sense, robots have to face two common tasks during exploration namely walking on the drylands and swimming through the water. This research aims to design and develop an amphibious robot, which incorporates webbed duck feet design to walk on different terrains, swim in water and tackle obstructions on its way. The designed robot is compact and easy-to-use and also has the abilities to work autonomously. Such a mechanism is implemented by designing a novel robotic webbed foot consisting of two hinged plates. Due to the design, the webbed feet are able to open and close with the help of water pressure. The Klann linkage has been used to convert rotational motion to walking and swimming as an animal’s gait. Because of its amphibian nature, the designed robot can be used for exploring the tight caves, closed spaces and moving on uneven challenging terrains such as sand, mud or water. The presented model and design of the amphibious robot has been inspired by the working principle of duck feet. The propulsion generated through this feet system has been observed to be better and more controlled then the initial design and prototype of designed duck feet robot reported in [1]. The direction of movement can be managed, and the speed can be controlled using a larger contact area with water. Since duck is able to roam on both land and water, their feet movement during walking and swimming is adopted in designing the robot’s four legs. Klann linkage is used to mimic such duck feet motion and the control mechanism of the feet is driven by DC motors and DC servo motors which are governed by an Arduino microcontroller. The robot is capable of sensing the presence of water through conductive sensors and detects obstacles using ultrasonic sensor while walking. Due to its amphibian nature and other features in movement, the robot is capable of traversing diversified terrains. It is envisaged that the proposed design will be appreciated in the industry to design amphibious robots in near future.

In this paper, we propose two novel methods for robot-world/hand-eye calibration and provide a comparative analysis against six state-of-the-art methods. We examine the calibration problem from two alternative geometrical interpretations, called hand-eye and robot-world-hand-eye, respectively. The study analyses the effects of specifying the objective function as pose error or reprojection error minimization problem. We provide three real and three simulated datasets with rendered images as part of the study. In addition, we propose a robotic arm error modeling approach to be used along with the simulated datasets for generating a realistic response. The tests on simulated data are performed in both ideal cases and with pseudo-realistic robotic arm pose and visual noise. Our methods show significant improvement and robustness on many metrics in various scenarios compared to state-of-the-art methods.

In order for robots to attain more general-purpose utility, grasping is a necessary skill to master. Such general-purpose robots may use their perception abilities in order to visually identify grasps for a given object. A grasp describes how a robotic end-effector can be arranged on top of an object to securely grab it between the robotic gripper and successfully lift it without slippage. Traditionally, grasp detection requires expert human knowledge to analytically form the task-specific algorithm, but this is an arduous and time-consuming approach. During the last five years, deep learning methods have enabled significant advancements in robotic vision, natural language processing, and automated driving applications. The successful results of these methods have driven robotics researchers to explore the application of deep learning methods in task generalised robotic applications. This paper reviews the current state-of-the-art in regards to the application of deep learning methods to generalised robotic grasping and discusses how each element of the deep learning approach has improved the overall performance of robotic grasp detection. A number of the most promising approaches are evaluated and the most successful for grasp detection is identified as the one-shot detection method. The availability of suitable volumes of appropriate training data is identified as a major obstacle for effective utilisation of the deep learning approaches, and the use of transfer learning techniques is identified as a potential mechanism to address this. Finally, current trends in the field and future potential research directions are discussed.

The undoped and tungsten (W)-doped vanadium dioxide (VO₂) thin films were prepared by electron beam evaporation associated with ion-beam assisted deposition (IAD). The influence of different W-doped contents (3%-5%) on the optical, electrical, structural, and thermos-mechanical properties of VO₂ thin films was investigated experimentally. Spectral transmittance results showed that with the increase of W-doped contents, the transmittance in the visible light range (400-750 nm) decreases from 60.2% to 53.9%, and the transmittance in the infrared wavelength range (2.5 μm to 5.5 μm) drops from 55.8% to 15.4%. As the W-doped content increases, the residual stress in the VO₂ thin film decreases from -0.276 GPa to -0.238 GPa, but the surface roughness increases. For temperature-dependent spectroscopic measurements, heating the VO2 thin films from 30°C to 100°C showed the most significant change in transmittance for the 5% W-doped VO₂ thin film. When the heating temperature exceeds 55°C, the optical transmittance drops significantly, and the visible light transmittance drops by about 11%. Finally, X-ray Diffraction (XRD) and scanning electron microscope (SEM) were used to evaluate the microstructure characteristics of VO₂ thin films.

Currently, conventional spark-ignition engines face challenges in meeting the ever-growing demands of customers and increasingly stringent regulations regarding pollutant emissions. A combination of innovative strategies and carbon-neutral fuels is deemed necessary in order to further reduce fuel consumption and minimize engine emissions. The present work aims to assess the performance of combustion strategies using low-carbon content fuel, such as methanol M100, ignited by a plasma-assisted igniter (PAI) under ultra-lean conditions. The experimental campaign is conducted on a single-cylinder research engine at different engine speeds and low loads, moving up to the engine lean stable limits. To determine the benefits brought by the proposed strategy, referred to as M100-PAI, the obtained outcomes are compared with the ones obtained using market gasoline E5 ignited by the PAI system and conventional spark. The synergy between M100 (methanol) and Plasma Assisted Ignition (PAI) in internal combustion engines yielded notable benefits. This combination significantly improved combustion stability if compared to the other combinations tested, by extending the lean stable limit to λ=2.0, reducing cycle-to-cycle variability, and facilitating faster flame front acceleration, resulting in enhanced homogeneity. These enhancements, obtained with the combination M100-PAI, contributed to higher fuel efficiency showing a 10% efficiency gain over the combination E5-gasoline spark ignition.

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

An enormous interest in the development of efficient protocols for cellulose extraction has been demonstrated in the last years, however, they were usually based on non-sustainable chemical and thermal approaches. In this work we describe a new and more sustainable method for cellulose extraction from eucalyptus and pine tree wood waste products exclusively performed using microwave-assisted radiation. The methodology includes 3 main steps: i) alkaline treatment; ii) bleaching I, using H2O2; and iii) bleaching II, an acidic treatment. Samples obtained in each step were characterized by Fourier-transform Infrared (FTIR) spectroscopy, powder X-ray diffraction (PXRD), thermogravimetric analysis (TGA) and differential scanning calorimetry (DSC). The results were compared with those of starting materials, with the commercially available microcrystalline cellulose and with an industrial paper pulp. Results confirmed that for both type of wood wastes, cellulose was retained during the extractions procedures and that the removal of hemicellulose was achieved at the last step as seen by the FTIR spectra and TGA curves. The developed protocol is innovative since it constitutes an easy and quick approach to extract cellulose, from eucalyptus and pine tree wood waste using mild chemical and thermal conditions, microwave irradiation, and environmentally friendly purification steps. This approach offers the possibility of a future scale-up study to potentially apply the develop protocol to the extraction of cellulose in an industrial scale.

Background Bone fracture fixation surgery is one of the most commonly performed surgical procedures in the orthopedic field. However, fracture healing complications occur frequently, and the choice of the most optimal surgical approach often remains challenging. In the last years, computational tools have been developed with the aim to assist preoperative planning procedures of bone fracture fixation surgery. Objectives The aims of this review are (1) to provide a comprehensive overview of the state-of-the-art in computer-assisted preoperative planning of bone fracture fixation surgery, (2) to assess the clinical feasibility of the existing virtual planning approaches, and (3) to assess their clinical efficacy in terms of clinical outcomes as compared to conventional planning methods. Methods A literature search was performed in the MEDLINE-PubMed, Ovid-EMBASE, Ovid-EMCARE, Web of Science, and Cochrane libraries to identify articles reporting on the clinical use of computer-assisted preoperative planning of bone fracture fixation. Results 79 articles were included to provide an overview of the state-of-the art in virtual planning. While patient-specific geometrical model construction, virtual bone fracture reduction, and virtual fixation planning are routinely applied in virtual planning, biomechanical analysis is rarely included in the planning framework. 21 of the included studies were used to assess the feasibility and efficacy of computer-assisted planning methods. The reported total mean planning duration ranged from 22 to 258 minutes in different studies. Computer-assisted planning resulted in reduced operation time (Standardized Mean Difference (SMD): -2.19; 95% Confidence Interval (CI): -2.87, -1.50), less blood loss (SMD: -1.99; 95% CI: -2.75, -1.24), decreased frequency of fluoroscopy (SMD: -2.18; 95% CI: -2.74, -1.61), shortened fracture healing times (SMD:-0.51; 95% CI: -0.97, -0.05) and less postoperative complications (Risk Ratio (RR): 0.64, 95% CI: 0.46, 0.90). No significant differences were found in hospitalization duration. Some studies reported improvements in reduction quality and functional outcomes but these results were not pooled for meta-analysis, since the reported outcome measures were too heterogeneous. Conclusions Current computer-assisted planning approaches are feasible to be used in clinical practice and have been shown to improve clinical outcomes. Including biomechanical analysis into the framework has the potential to further improve clinical outcome.

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

Electric field assisted combustion is an important means to improve fuel combustion efficiency. This paper conducts extensive research on flame characteristics under different forms and different application methods of electric fields, emission of soot particles and simulation status. Different flame parameter measurement methods will lead to different degrees of error, and perfect numerical simulation can make simple predictions on experimental data. Most of the current numerical simulations are in two dimensions, and it is necessary to develop a complete and accurate three-dimensional model to simulate and predict the characteristics of the flame under an electric field. The emission of soot particles is also affected by the electric field, and reasonable electric field parameters can greatly reduce the emission of soot particles. It is recommended to conduct centralized measurement of different fuels under the electric field under high pressure and temperature conditions, so as to be able to develop a wider and more accurate flame dynamics and chemical model under the electric field.

HTTP/2 video streaming has caught a lot of attentions in the development of multimedia technologies over the last few years. In HTTP/2, the server push mechanism allows the server to deliver more video segments to the client within a single request in order to deal with the requests explosion problem. As a result, recent research efforts have been focusing on utilizing such a feature to enhance the streaming experience while reducing the request-related overhead. However, current works only optimize the performance of a single client, without necessary concerns of possible influences on other clients in the same network. When multiple streaming clients compete for a shared bandwidth in HTTP/1.1, they are likely to suffer from unfairness, which is defined as the inequality in their bitrate selections. For HTTP/1.1, existing works have proven that the network-assisted solutions are effective in solving the unfairness problem. However, the feasibility of utilizing such an approach for the HTTP/2 server push has not been investigated. Therefore, in this paper, a novel proxy-based framework is proposed to overcome the unfairness problem in adaptive streaming over HTTP/2 with the server push. Experimental results confirm the outperformance of the proposed framework in ensuring the fairness, assisting the clients to avoid rebuffering events and lower bitrate degradation amplitude, while maintaining the mechanism of the server push feature.

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

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

Matrix-assisted laser desorption/ionization time-of-flight mass spectrometry (MALDI–TOF MS) is a commonly used technique for analyzing large biomolecules. However, the utilization of organic matrices limits the small-molecule analysis because of the interferences in the low-mass region and reproducibility issues. To overcome these limitations, a surface-assisted laser desorption/ionization (SALDI), which utilizes nanostructured metallic surfaces, has been developed. Herein, a novel approach for SALDI–MS was proposed using nanoengineered gold shell with nanogaps on the silica core (SiO2@Au NGS), which is an emerging material due to its excellent heat-generating capabilities. The gold shell thickness was controlled by adjusting the concentration of gold precursor for the growth of gold nanoparticles. SALDI-MS measurements were performed on a layer formed by drop-casting a mixture of SiO2@Au NGS and analytes. At the optimized process, the gold shell thickness was observed to be 17.2 nm, which showed the highest absorbance. The ion desorption efficiency was confirmed with a survival yield upon fragmentation. Based on the enhanced SALDI capability, SiO2@Au NGS was utilized to detect various small molecules including amino acids, sugars, and flavonoids. The limits of detection, reproducibility, and salt tolerance of SiO2@Au NGS demonstrate its potential as an effective and reliable SALDI material for small-molecule analyses.

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

This paper proposed a three-layer distributed simulation network architecture: 1. Distributed virtual simulation network, 2. Perception and control sub-network, and 3. Collaborative communication service network. This simulation architecture runs on a distributed platform. The platform can provide a unique virtual scenario and several simulation services to verify the individual robot system's basic perception, control, and planning algorithms and the distributed collaborative algorithms of heterogeneous multi-robot systems. Furthermore, we designed a simulation experiment scenario for classical heterogeneous robot systems such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). At last, We gave a rough estimation model of the bandwidth.

In an agricultural system, finding suitable watering, pesticide, and soil content to provide the right nutrients for the right plant is a mystery so far. Plants cannot speak and cannot ask which food they require. These problems can be addressed by applying intelligent (fuzzy logic) controllers to IoT devices in order to enhance communication between crops, ground mobile robots, aerial robots, and the entire farm system. The application of fuzzy logic in agriculture is a promising technology that can be used to optimize crop yields and reduce water usage. It was developed based on language and the air properties in the agricultural fields were formulated. The entire system was simulated in the MATLAB/SIMULINK environment with Cisco Packet Tracer integration. The inputs for the system were soil moisture sensors, temperature sensors, humidity sensors, and outputs were pump flow, valve opening, water level, and moisture in sounding. The obtained results were the output of opening valve, moisture in sound, pump flow rate, outflows, water level, and ADH values, which are 10.00000013 rad/sec, 34.72%, 4.494%, 0.025 m^3/sec, 73.31 cm^3, and 750 values respectively. The outflow rate increase indicates that the water is released from the tanks, and the control signal fluctuates, indicating that the valve is opening.

Scientific research in the study of Human-Robot Interactions (HRI) has advanced significantly in recent years. Social humanoid robots have undergone severe testing and have been implemented in a variety of settings, including educational institutions, healthcare facilities and senior care centers. Humanoid robots have also been evaluated across diverse population groups. However, the research on different children-groups is still scarce, especially deaf children. This feasibility study includes both hearing children and deaf children, and aim to assess the interaction between children and a humanoid robot without the use of sounds and voices. In addition, an experiment was conducted where the children were asked to watch a video and then assess whether the NAO humanoid robot responded to the emotions shown in the video in a congruent or incongruent way. The findings indicated that there was no difference between the children who were present-ed with congruent emotions in the NAO as opposed to the children who were presented with in-congruent emotions in the robot. Only the ability to predict emotion in videos and gender were significant predictors of guessing the correct emotion in robot. Although no significantly differ-ence was found between hearing and deaf children, this feasibility study is intended to lay the groundwork for future research in this unexplored field of study.

Recognizing trust as a pivotal element for success within Human-Robot Collaboration (HRC) environments, this article examines its nature, exploring the different dimensions of trust, analysing the factors affecting each of them, and proposing alternatives for trust measurement. To do so, we designed an experimental procedure involving 50 participants interacting with a modified 'Inspector game' while we monitor their brain, electrodermal, respiratory, and ocular activities. This procedure allowed us to map dispositional (static individual baseline) and learned (dynamic, based on prior interactions) dimensions of trust considering both demographic and psychophysiological aspects. Our findings challenge traditional assumptions regarding the dispositional dimension of trust and establish clear evidence that the first interactions are critical for the trust-building process and the temporal evolution of trust. By identifying more significant psychophysiological features for trust detection and underscoring the importance of individualized trust assessment, this research contributes to understanding the nature of trust in HRC. Such insights are crucial for enabling more seamless human-robot interaction in collaborative environments.

The COVID-19 outbreak demonstrated the viability of various remote working solutions, telepresence robots (TPRs) being one of them. High-quality video transmission is one of the cornerstones of using such solutions, as most of the information about the environment is acquired through vision. This study aims to compare the camera capabilities of four models of popular telepresence robots using compact reduced LogMAR and Snellen optometry charts as well as text displayed on the projector screen. The symbols from the images are extracted using OCR (Optical Character Recognition) software and the results of the recognition are compared with the symbols on the charts. Double 3 TPR provides the best quality images of optometric charts, but the OCR results of measurements of the image on the projector do not show the clear advantage of one single model over the others. The results demonstrated by Temi 2 and Double 3 TPRs are generally better than the others, suggesting that these TPRs are more feasible to be used in teaching and learning scenarios.

China is rich in coal resources, but the complex hydrogeological conditions lead to difficulties in coal mining, such as coal mine collapse, roof and water damage, and other accidents that occur frequently, resulting in many casualties and property losses. The use of coal mine hole detection technology to detect and analyze the internal environment of the coal mine in advance helps to reduce safety hazards and prevent coal mine accidents, for the existing coal mine hole detection technology operation is cumbersome, not easy to control, and insufficient depth of jacking prob-lems, this paper designs a new type of mine hole detection small robot. Firstly, this paper ana-lyzes the function and structural design of the mine hole detection robot, designs the variable diameter function according to the characteristics of narrow and uneven mine holes in coal mines, and analyzes the mechanics of the critical parts through theoretical calculations; secondly, based on the three-dimensional modeling software, established the structural model of the small robot for mine hole detection; after that, designed the robot's hardware circuits and control pro-grams for the presence of water and gas inside the mine hole, highlighting the need to carry out a new type of mine hole detection small robot. After that, we designed the robot's hardware circuit and control program, giving particular emphasis to the safety design of the circuit for the pres-ence of water and gas inside the mine hole of the coal mine. Finally, to verify the feasibility of the design program, the basic parameters and function tests of the mine hole detection small robot are carried out. The experimental results show that the mine hole inspection small robot realized by this design can adapt to the working hole diameter from 65 mm to 100 mm, the maximum working power is only 12 W, and the maximum crawling speed is 3.96 m/min. The maximum crawling slope reaches 90°, which can meet the actual mine hole inspection needs. The research can provide theoretical and design guidance for developing the mine hole detection robot with substantial engineering practical reference value.

Aiming at the problem that soft robots are challenging to take into account both flexibility and bearing capacity, Using the software Pneu-Net driver as the deformation mode, magnetorheological fluid material phase transformation to achieve variable stiffness, A pneumatic modular soft joint structure with dynamically adjustable deformation and stiffness in all directions is proposed. In this paper, mathematical models of deformation and variable stiffness are established. The correspondence between gas pressure and deformation and applied current and joint stiffness is obtained. The finite element analysis method was used to simulate the deformation characteristics and variable stiffness characteristics of modular joints based on the Yeoh model. Finally, the theoretical and simulation results are verified by deformation and variable stiffness tests. It is proved that the modular joint has good rigid-flexible coupling characteristics.

The Complete Coverage Path Planning (CCPP) is a key technology in the field of agricultural robot, and has great significance for improving the efficiency and quality of tillage, fertilization, harvesting and other agricultural robot operations, as well as reducing the operation energy consumption. The traditional boustrophedon or heuristic search algorithm based CCPP methods, when coping with the field with irregular boundaries, obstacles and other complex environments, still face many problems and challenges, such as large repeated work areas, multiple turns or U-turns, low operation efficiency and prone to local optimum. In order to solve the above problems, an improved-genetic-algorithm-based CCPP method was proposed in this paper, which introduces the idea of chromosome pairs and multi-points mutation to improve its global optimization ability in complex environments, reduce the repeated work areas and the number of turns and U-turns, and thereby improve the operation efficiency. The simulation and experimental results on simple regular fields showed that the proposed improved genetic algorithm-based CCPP method achieved the comparable performance with the traditional boustrophedon-based CCPP method. However, on the complex irregular fields, although the proposed CCPP method increased the number of turns by 13.76%, the area of repeated operation and the number of U-turns were decreased by 38.54% and 35.00% respectively, and saves the battery voltage by 7.82% on average compared to the boustrophedon-based CCPP method. This proved that the proposed CCPP method has strong adaptive capacity to the environment, and has practical application value in improving the efficiency and quality of agricultural machinery operations, and reducing the energy consumption.

Multimodal user interfaces promise a natural and intuitive human machine interactions. But is the extra effort for the development of a complex multi-sensor system justified, or can users also be satisfied with one input modality already? This study investigates interactions in an industrial weld inspection workstation. Three unimodal interfaces, including spatial interaction with buttons augmented on a workpiece or a worktable, and speech commands, were tested individually and in a multimodal combination. Within the unimodal conditions, users preferred the augmented worktable, but overall, the interindividual usage of all input technologies in the multimodal condition was ranked best. Our findings indicate that the implementation and use of multiple input modalities is valuable, and that it is difficult to predict the usability of individual input modalities for complex systems.

While shoulder injuries represent the musculoskeletal disorders (MSDs) most encountered in physical therapy, there is no consensus on their management. As attempts to provide standardized and personalized treatment, a robot-ic-assisted device combined with EMG biofeedback specifically dedicated to shoulder MSDs has been developed. The aim of this study was to determine the efficacy of an 8-week rehabilitation program (≈3 sessions a week) using a ro-botic-assisted device combined with EMG biofeedback (RA-EMG group) in comparison with a conventional program (CONV group) in patients presenting with shoulder MSDs. This study is a retrospective cohort study including data from 2010 to 2013 on patients initially involved in a physical rehabilitation program in a private clinic of Chicoutimi (Canada) for shoulder MSDs. Shoul-der flexion strength and range of motion were collected before and after the rehabilitation program. Forty-four patients participated in a conventional pro-gram using dumbbell (CONV group) while 72 of them completed a program on robot-assisted device with EMG and visual biofeedback (RA-EMG group), whereby both programs consisted in 2 sets of 20 repetitions at 60% of maximal capacity. Results showed that the RA-EMG had significantly greater benefits than the Conv group for shoulder flexion strength (+103.1% vs 67%, p = 0.016) and range of motion (+14.4% vs 6.1%, p = 0.046). The current retrospective co-hort study showed that a specific and tailored rehabilitation program with constant effort by automatic adjustment of the level of resistance was able to potentiate strength and range of motion shoulder flexion after an 8-week reha-bilitation period in comparison with a conventional approach in patients with shoulder MSDs. This study provides new insight on shoulder MSD rehabilita-tion and future research should be pursued to determine the added potential of this approach for abduction and external rotation with a randomized controlled design.

The magnetic navigation system (MNS) with gradient and uniform saddle coils is one of the effective systems to manipulate various medical magnetic robot due to its compact structure and uniformity of the magnetic field and field gradient. However, it has limited operating time and large inductance effect due to the high current density and numerous turns of coils, respectively. In this paper, we propose an optimization methodology of the MNS considering the current density and inductance of the coils. We introduce objective functions, constraints, and design variables of the MNS. Then, the MNS was designed by an optimization algorithm. The constructed MNS was compared with the conventional MNS, and it could generate 22 % stronger magnetic field or field gradient while the maximum three-dimensional rotating magnetic field was improved by 42 %. We also demonstrated an unclogging performance of a helical robot was improved by 54 % with the constructed MNS.

To solve the problem that sampling-based Rapidly-exploring Random Tree (RRT) method is difficult to guarantee optimality. This paper proposed the Post Triangular Processing of Midpoint Interpolation method minimized the planning time and shorter path length of the sampling-based algorithm. The proposed Post Triangular Processing of Midpoint Interpolation method makes a closer to the optimal path and somewhat solves the sharp path problem through the interpolation process. The experiments were conducted to verify the performance of the proposed method. Applying the method proposed in this paper to the RRT algorithm increases the efficiency of optimization compared to the planning time.

The active power-assist function greatly expands the potential applications of exoskeleton robots, yet the motion intention estimation (MIE) for active power-assist strategy is quite problematic. Through the analysis of the conduction path and the different stage manifestations of motion intention in human body, we confirmed that the joint torque of human body meets the basic requirements of MIE for the active power-assist that we suggest, namely: (i) it reflects the direction and intensity of the wearer’s efforts; (ii) it precedes the human limb motion; (iii) it generates real-time and continuous output. Thus, an online calculation method of human joint torque was proposed. The sensing system integrated in exoskeleton robots was designed to perceive motion data and foot contact force of a human body. A special inverse dynamics with a parameterized model of the human body was proposed. Contrast experiments were carried out with the motion capture system, which results’ accuracy and similarity were evaluated via the root mean square error and correlation coefficient. The comparative analysis of two synchronous results shows good accuracy of the proposed MIE method, which lays the foundation for the realization of active power-assist.

Wearable technology has been proposed as a potential tool to change the way of human life, such as the smart bracelet and the Google Glass. In the wearable technology, the inertial sensor has great significance in tracking the object movements. The paper focused on detecting the movements of user’s finger based on the inertial sensor to give the control signals. Firstly, the attitude matrix, which represented the transformation relation of carrier coordinate system and the navigation coordinate system, was obtained. Secondly, the attitude matrix was expressed based on the quaternions. Thirdly, the finger gesture was processed by the attitude matrix to get the attitude angle. Finally, the robot was controlled by attitude angle to make the moving action. The experimental results showed the detection of the finger movement is effective.

Previous studies suggested that trauma-focused cognitive behavior therapy (TF-CBT) is effective in reducing symptoms of post-traumatic stress disorder (PTSD) and depression in children and adolescents. However, the effects of app-assisted TF-CBT-based interventions in psychiatric clinics compared to treatment-as-usual (TAU) are under-explored. The purpose of this study was to reveal the added value of the app-assisted TF-CBT-based intervention as an add-on to TAU. The digitalized measures of the Child and Adolescent Trauma Screen (CATS), The Adolescent Dissociative Experience Scale (A-DES), Short Moods and Feelings Questionnaire (SMFQ), PTSD Checklist (PCL-5), and Children's Post-Traumatic Cognitions Inventory (CPTCI) were applied at baseline and post-treatment. The app-assisted TF-CBT-based group participants started with higher levels of negative alterations in cognition and mood compared to TAU participants but at post-treatment, no significant differences were observed between the app-assisted TF-CBT and TAU groups. Within the app-assisted TF-CBT group, post-treatment scores were significantly lower in post-traumatic stress symptoms, intrusion symptoms, alterations in arousal and reactivity, overall post-traumatic cognitions, and belief in being "a fragile person in a scary world”. Within the TAU group, post-treatment scores were notably lower just in dissociation and intrusion symptoms. The study suggests that app-assisted TF-CBT-based intervention can be effective in addressing specific trauma-related symptoms. The findings imply the necessity for screening for traumatic experiences, incorporating trauma-informed care, implementation of TF-CBT into treatment protocols, utilization of app-assisted interventions, tailoring interventions to individual needs, and comprehensive assessment and monitoring of treatment progress.

Globally, between 10% and 15% of couples experience infertility. Given the high demand for Assisted Reproductive Techniques (ART), there is growing interest in exploring modifiable factors influencing their outcomes. In this context, the objective of this review was to investigate the impact of adherence to the Mediterranean Diet (MD), recognized for its benefits in reproductive health, on ART outcomes. Methodology: A systematic review was conducted following the PRISMA methodology. International databases were consulted, selecting studies published between 2010 and 2023, in English and Spanish, involving patients aged 18-55, and examining intermediate and/or clinical outcomes of ART. Systematic reviews, meta-analyses, and animal studies were excluded. Results: Of the 9 included articles, 5 found statistically significant associations between adherence to the MD and positive outcomes in ART, such as a higher number and quality of embryos, clinical and biochemical pregnancy, and live births. However, other studies found no such associations. Conclusions: There is a potential association between adherence to the MD and ART outcomes. The evidence is very limited, necessitating further investigation.

Marker-assisted selection (MAS) and genomic selection (GS) have been used to select individuals with desirable traits. MAS used a few markers associated with a specific trait to select individuals with desirable traits, which are determined after a Genome-wide association studies (GWAS). On the contrary, GS uses a large number of markers distributed across the genome to predict the genomic breeding values for a further selection of the individuals. In general, MAS has shown a high prediction accuracy but is not suitable for traits that are controlled for multiple genes, and has another constraint, it is required the phenotypic data; on the contrary, GS has not shown the highest prediction accuracy as MAS but it takes into account the effect of multiple genes controlling a target trait and it can be used without phenotypic data. Including GWAS-selected markers in GS can enhance the reduced prediction accuracy that GS shows in comparison with MAS. Thus, the objective of this study was to compare the prediction accuracy of MAS, and some models of genomic prediction (gBLUP, gBLUP including GWAs-selected markers, and some Bayesian models such as Bayes A, Bayes B, Bayes LASSO and Bayesian Ridge Regression) with GWAS-selected markers incorporated in gBLUP in order to confirm if the incorporation of GWAS in GS increases the prediction accuracy of GS. As a model for this study, it was used data from Sorghum which has shown population structure, to evaluate if the incorporation of GWAs-selected markers into GS improves prediciton accuracy. It was used a sample of 6000 SNPs out of the 265.487 reported in the study conducted by Morris et al (2013), and also it was considered some parameters that affect the efficiency of the selection such as the size of the training population, the heritability, and the number of QTNs. The GWAS-selected SNPs were identified after using the model BLINK. The results showed that the incorporation of GWAS-selected markers enhanced the performance of the genomic selection with similar prediction accuracy as MAS, the number of QTNs and size of the training population affected the accuracy, with higher accuracy with a bigger size of the training population and with a lower number of QTNs, but it seems that the heritability does not have any impact in the model where GWAS-selected SNPs were included in gBLUP.

Background: Air-pouch balloon-assisted probes have proven to be both simple and reliable tools for intracranial pressure (ICP) monitoring. However, we experienced reproducible falsely high ICP measurement when the ICP probe was inserted in the intracerebral hematoma cavity. Thus, the aim of the experimental and translational study was to analyze the influence of ICP probe placement with regard to measured ICP values. Methods: Two Spiegelberg 3PN-sensors were simultaneously inserted into a closed drain system and were connected to two separate ICP monitors thereby allowing for simultaneous ICP measurements. This closed system was also engineered to allow for pressure to be gradually increased in a controlled fashion. Once the pressure was verified using two identical ICP probes, one of the probes was coated with blood in an effort to replicate placement within an intraparenchymal hematoma. Pressures recorded using the coated probe and control probe were then recorded and compared across a range of 0-60 mmHg. In an effort to further the translational relevance of our results two ICP probes were inserted in a patient that presented with a large basal ganglia hemorrhage that met criteria for ICP monitoring. One probe was inserted into the hematoma and the other into brain parenchyma; ICP values were recorded from both probes and the results compared. Results: The experimental set-up demonstrated a reliable correlation between both control ICP probes. Interestingly, the ICP probe covered with clot displayed a significantly higher average ICP value when compared to the control probe between 0mmHg and 50mmHg (p<0.001); at 60mmHg there was no significant difference noted. Critically, this trend in discordance was even more pronounced in the clinical setting with the ICP probe placed within the hematoma cavity having reported significantly higher ICP values as compared to the probe within brain parenchyma. Conclusion: Our experimental study and clinical pilot highlight a potential pitfall in ICP measurement that may result secondary to probe placement within hematoma. Such aberrant results may lead to inappropriate interventions in an effort to falsely addresses falsely elevated ICPs.

Simulation-based education is a part of Intelligent Transportation Systems (ITS) education. The paper discusses the experimental success of using Virtual Reality (VR) technology in simulation-based ITS education to improve the quality of education while increasing immersion and motivation. The study documents the application of VR technology to a microscopic simulation model and the methodology to capture and evaluate student experiences. The study discusses findings and ways to improve the planned VR technology implementation in the ITS laboratory.

Background: Instrument-assisted soft tissue mobilization (IASTM) is thought to alter fluid dynamics in human soft tissue. The aim of this study was to investigate the influence of IASTM on the thoracolumbar fascia (TLF) on the water content of the lumbar myofascial tissue. Methods: 21 healthy volunteers were treated with IASTM. Before and after the procedure and 5 and 10 minutes later, lumbar bioimpedance was measured by bioimpedance analysis (BIA) and TLF stiffness by indentometry. Tissue temperature was recorded at the measurement time points using an infrared thermometer. Results: Bioimpedance increased significantly from 58.3 to 60.4 Ω (p < 0.001) at 10-minute follow-up after the treatment. Temperature increased significantly from 36.3 to 36.6° Celsius from 5 to 10 minutes after treatment (p = 0.029), while lumbar myofascial stiffness did not change significantly (p = 0.84). Conclusions: After the IASTM intervention, there was a significant increase in bioimpedance, likely due to a decrease in water content in myofascial lumbar tissue. Further studies in a randomized control trial design are needed to extrapolate the results in healthy subjects to a symptomatic population as well and to confirm the reliability of BIA in myofascial tissue.

Optical and mechanical properties of multilayer coatings depend on the selected layer materials and the deposition technology; therefore, knowledge of the performances of thin films is essential. In the present work, titanium dioxide (TiO2) and silicon dioxide (SiO2) thin films have been prepared by plasma ion-assisted deposition (PIAD). The optical, structural, and mechanical properties of thin films have been investigated using spectrometer/ellipsometer, X-ray diffraction (XRD), atomic force microscopy (AFM), and laser interferometer. The results show that TiO2 film fabricated by PIAD induces a high refractive index, wide optical band gap, amorphous structure, smooth surface, and tensile stress. In the case of SiO2 film, high bias voltage leads to dense structure and compressive stress. As an application, a three-wavelength high reflectance at 632.8, 808, and 1550nm is optimized and deposited. The dependence of total stress in the multilayer on the substrate temperature is studied as well. In conclusion, it is demonstrated that PIAD is an effective method for the preparation of ultralow stress TiO2/SiO2 multilayer films. The achieved stress is as low as 1.4Mpa. The result could provide guidance to the stress optimization of most optical components without prefiguring, backside coating, and post-deposition treatments.

Background: Elucidation of epigenetic mechanisms correlating with neuropathic pain in humans is crucial for the prevention and treatment of this treatment-resistant pain state. In the present study, associations between neuropathic pain characteristics and DNA methylation of the transient receptor potential ankyrin 1(TRPA1) gene were evaluated in chronic pain patients and preoperative patients. Methods: Pain and psychological states were prospectively assessed in patients who suffered chronic pain or were scheduled for thoracic surgery. Neuropathic characteristics were assessed using the Douleur Neuropathique 4 (DN4) questionnaire. DNA methylation levels of the CpG island in the TRPA1 gene were examined using whole blood. Results: Forty-eight adult patients were enrolled in this study. Increases in DNA methylation rates at CpG -51 showed positive correlations with increases in the DN4 score both in preoperative and chronic pain patients. Combined methylation rates at CpG -51 also significantly increased together with increase in DN4 scores. Conclusions: Neuropathic pain characteristics are likely associated with methylation rates at the promoter region of the TRPA1 gene in human peripheral blood.

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

This paper investigates the problem of the optimal arrangement for both UAVs’ caching contents and service locations in UAV-assisted networks based on the context awareness, which considers the influence between users and environment. In the existing work, users within the coverage of UAVs are considered to be served perfectly, which ignores the communication probability caused by line-of-sight (LOS) and non- line-of-sight (NLOS) links. However, the links are related to UAV deployment. Moreover, the transmission overhead should be taken into account. To balance the tradeoff between these two factors, we design the ratio of users’ probability and transmission overhead as the performance measure mechanism to evaluate the performance of UAV-assisted networks. Then, we formulate the objective for maximizing the performance of UAV-assisted networks as a UAV-assisted caching game. It is proved that the game is an exact potential game with the performance of UAV-assisted networks serving as the potential function. Next, we propose the log-linear caching algorithm (LCA) to achieve the Nash equilibrium (NE). Finally, related simulation results reflect the great performance of the proposed algorithm.

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

The article explores the concept of 'synthetic man' (SM) in the context of 'synthetic biology' (SB), analysing the potential, challenges, and ethical implications of these achievements. Through dialogue with ChatGPT 4, an in-depth understanding of the evolution, contributions of SM, ChatGPT's contribution, and concerns associated with SM is sought, providing insight into how this technology could affect our society. Our study uses a structured dialogue framework with ChatGPT that addresses essential SM questions regarding SM history, contributions, challenges, and concerns. ChatGPT responses are analysed to extract relevant information and identify trends and insights. The ChatGPT dialogue reveals that MS is still a theoretical and speculative concept with significant advances in gene therapy and genetic engineering. The potential contributions of SM in addressing global challenges such as health, environment and education are identified. Ethical and social concerns such as health risks and psychological impact are also highlighted. Differences in ChatGPT responses were observed between different sessions or even within the same session, which highlighted the limitations in the replicability of the research and sometimes the need for clarification of the questions. The article is distinguished by its unique approach of using an advanced language model to explore a complex and speculative topic. The LLM Dialogue Framework on Technology (LLM-DFonTech) framework proposal for structured dialogue with ChatGPT on various technological topics related to the original contribution provides an adaptable tool for interdisciplinary research in emerging technologies. This methodology opens up new possibilities for analyzing and developing trends in technology and society.

Interactions between mobile robots and human operators in common areas require a high safety especially in terms of trajectory planning, obstacle avoidance and mutual cooperation. In this connection the crossings of planned trajectories, their uncertainty based on model fluctuations, system noise and sensor noise,play an outstanding role. This paper discusses the calculation of expected areas of interactions du ring human-robot navigation with respect to fuzzy and noisy information. Expected crossing points of possible trajectories are nonlinearily associated with positions and orientations of robot and human. The nonlinear transformation of a noisy system input, such as directions of motion of human and robot, to a system output, the expected area of intersection of their trajectories, is done by two methods: statistical linearization and the sigma-point-transformation. For both approaches fuzzy approximations are presented and the inverse problem is discussed where the input distribution parameters are computed from given output distribution parameters.

The agricultural industry places a high priority on crop protection, especially when it comes to protecting cotton crops against pink bollworm infestations. Rapid disease identification is essential for effective crop management at the same time. In order to overcome these difficulties, this study offers a thorough process for utilizing the Robot Operating System (ROS) to deploy an autonomous robot. The robot is intended to identify infestations of pink bollworm in addition to counting and tracking red Disease that impact cotton harvests. Drones are used to check the condition of cotton fields, and the autonomous robot's path planning component is closely related to this process. Large fields are photographed by these drones in multispectral mode, and the robot's course planning technique is done by calculating the Normalized Difference Vegetation Index (NDVI) based on these images. This approach ensures targeted surveillance and intervention, optimizing the use of resources. A customized dataset was created especially for this application to improve the robot's detecting abilities. The dataset was utilized to train a YOLOV8 model, a state-of-the-art object detection architecture. Performance characteristics of the trained model are impressive; it has a mean Average Precision (mAP) of 67.1%, Precision of 67.9%, and Recall of 61.8%. These metrics highlight how well the model works to precisely locate and measure interesting occurrences in the cotton fields. In order to address the particular challenges presented by pink bollworm infestations and crop diseases in the context of cotton cultivation, this research contributes a comprehensive solution for autonomous crop monitoring and protection by seamlessly integrating ROS, drones, NDVI calculations, and a robust detection model.

This paper presents a deep learning-based multi-guidance line detection approach, enabling an autonomous four-wheeled agricultural robot to navigate strip farmland. The integration of Proportional-Integral-Derivative (PID) and Fuzzy Logic Control (FLC) systems optimizes the velocity and heading angle of robot, facilitating smooth navigation along identified guidance line. Enhance cornering maneuverability with real-time kinematics (RTK)-assisted Global Navigation Satellite System (GNSS) (RTK-GNSS) positioning. Additionally, the spraying system combined with deep learning can effectively identify weeds and crop nutrient deficiencies to achieve precise spraying. The guidance system prioritizes irrigation lines for navigation, with additional guidance from crop and furrow lines. Trigonometric analysis determines the angular deviation between the identified guidance line and the vertical line of the top view image. Experiments under diverse weather conditions demonstrate the stable navigation of robot at 12.5 cm/s, achieving up to 90% accuracy in weed and nutrient deficiency identification. The spraying accuracy for weeds and deficiencies averages 87% and 73%, respectively, underscoring the system's contribution to sustainable and precision horticulture practices.

As a typical visual positioning system, monocular ranging is widely used in various fields. However, when the distance increases, there is a greater error. YOLOv8 network has the advantages of fast recognition speed and high accuracy. This paper proposes a method by combining YOLOv8 network recognition with a monocular ranging method to achieve target localization and grasping for the NAO robots. By establishing a visual distance error compensation model and applying it to correct the estimation results of the monocular distance measurement model, the accuracy of the NAO robot's long-distance monocular visual positioning is improved. Additionally, a grasping control strategy based on pose interpolation is proposed. Throughout, the proposed method's advantage in measurement accuracy was confirmed via experiments, and the grasping strategy has been implemented to accurately grasp the target object.

MultiCal is an affordable, high-precision measuring device designed for the on-site calibration of industrial robots. Its design features a long measuring rod with a spherical tip that is attached to the robot. By restricting the rod’s tip to multiple fixed points under different rod orientations, the relative positions of these points are accurately measured beforehand. A common issue with MultiCal is the gravity deformation of the long measuring rod, which introduces measurement errors into the system. This problem becomes especially serious when calibrating large robots, as the length of the measuring rod needs to be increased to enable the robot to move in a sufficient space. To address this issue, we propose two improvements in this paper. Firstly, we suggest the use of a new design of the measuring rod that is lightweight yet has high rigidity. Secondly, we propose a deformation compensation algorithm. Experimental results have shown that the new measuring rod improves calibration accuracy by 20% to 39%, while by using the deformation compensation algorithm, the accuracy increases by 6% to 16%. In the best configuration, the calibration accuracy is similar to that of a measuring arm with a laser scanner, producing an average positioning error of 0.274 mm and a maximum positioning error of 0.838 mm. The improved design is cost-affordable, robust, and has sufficient accuracy, making MultiCal a more reliable tool for industrial robot calibration.

We transformed the existing learning program Language Shower, which is used in some Norwegian day-care centers in the Grorud district of Oslo municipality, into a digital solution using an app for smartphone or tablet with the option for further enhancement of presentation by a NAO robot. The solution was tested in several iterations and multiple day-care centers over several weeks. Measurements of the children’s progress across learning sessions indicate a positive impact of the program using a robot as compared to the program without robot. In-situ observations and interviews with day care center staff confirmed the solution’s many advantages, but also revealed some important areas for improvement. In particular, the speech recognition needs to be more flexible and robust, and special measures have to be in place to handle children speaking simultaneously.

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

What is life, what is the difference between something that is alive and something that is not, are viruses living beings, or what would life be like elsewhere in the universe, are questions that still do not have clear-cut answers fully accepted by the scientific community. Based on the fundamental attributes of all living things, I define life as a process that takes place in very ordered organic structures and is characterized by being automatic, interactive and evolutionary. I also define a living being as an organic, highly ordered, automatic, interacting and evolutionary system, and a robot as an ordered automatic and interacting system. Based on this definition and what we know about the biology of viruses, I maintain that they should be considered as living entities. Finally, I explain why if there were life elsewhere in the universe, it would be very similar to what we know on our planet.

Multi-floor environments are usually ignored while designing an autonomous robot for indoor cleaning applications. However, for efficient operation in such environments, the ability of a robotic platform to traverse staircases is crucial. Staircase detection and localization is highly important for planning the traversal on staircases. This paper describes a deep learning approach using Convolutional Neural Networks (CNNs) based Robot Operation System (ROS) to staircase detection and localization. We use an object detection network to detect staircases in images. We also localize these staircases using a contour detection algorithm to detect the target point, a point close to the center of the first step, and the angle of approach to the target point. Experiments are performed with data obtained from images captured on different types of staircases at different view points/angles. Results show that the approach is very accurate in identifying the presence of the staircase in the working environment and is also able to locate the target point with good accuracy.

Rice blast and brown planthopper (BPH) are two of the most destructive diseases and pests in rice (Oryza sativa L.) production in China. The development of multi-resistant varieties is widely recognized as the most efficient and environmentally friendly approach to controlling crop diseases and pests. Functional molecular markers (FMMs) have been developed from functional variants in the genic region associated with trait variation, greatly enhancing the efficiency of identifying and pyramiding valuable genes in crop breeding. In this study, two FMMs and a multiplex PCR amplification system were developed for two major broad-spectrum BPH resistance genes, Bph6 and Bph9. By assistance of FMMs in multi-resistant rice restorer line development pipeline, two lines (Huahui7713 and Huahui3006) with blast and BPH resistance were developed by pyramiding three resistance genes Pigm, Bph6 and Bph9. Huahui7713 and Huahui3006 as male lines, two new hybrid rice varieties (WeiLiangYou7713 and Xuanliangyou3006) were certificated and commercial released in China. WeiLiangYou7713 and Xuanliangyou3006 showed improved blast and BPH resistance, and no penalty on yield and grain-quality. Annual promotion area of WeiLiangYou7713 has exceeded 53.3 thousand hectares, indicating its widespread adoption and success in the market. Huahui7713 and Huahui3006 could have great potential for utilization in blast and BPH resistance rice breeding.

Amid the deepening imbalance in the supply and demand of allogeneic organs, xenotransplanta-tion can be a practical alternative because it makes an unlimited supply of organs possible. How-ever, to perform xenotransplantation on patients, the source animals to be used must be free from infectious agents. This requires breeding of animals using assisted reproductive techniques, such as somatic cell nuclear transfer, embryo transfer, and cesarean-section, without colostrum de-rived in designated pathogen-free (DPF) facilities. Most infectious agents can be removed from animals produced by these methods, but several viruses known to pass through the placenta are not easy to remove, even with these methods. Therefore, in this review, we look at the characteris-tics of several viruses known to cross the placenta and determine how they can be detected. This review is intended to help maintain DPF facilities by preventing animals infected with the virus from entering DPF facilities and to help select pigs suitable for xenotransplantation.

The retrospective noninterventional study investigated the kinetic energy of video images of 18 fertilized eggs (7 were normal and 11 were abnormal) recorded by a time-lapse device leading up to the beginning of the first cleavage. The norm values of cytoplasmic particles were measured by the optical flow method. Three phases profile for normal cases were found regarding the kinetic energy that were 2.199×10⁻²⁴±2.076×10⁻²⁴, 2.369×10⁻²⁴±1.255×10⁻²⁴, and 1.078×10⁻²⁴±4.720×10⁻²⁵ (J) for the phases 1, 2, and 3, respectively. In phase 2, the energies were 2.369 × 10⁻²⁴ ± 1.255 × 10⁻²⁴ and 4.694 × 10⁻²⁴ ± 2.996 × 10⁻²⁴ (J) (mean ± SD, P = 0.0372), and the time required was 8.114 ± 2.937 and 6.018 ± 5.685 (H) (P = 0.0413) for the normal and abnormal cases, respectively. The kinetic energy change was considered a condition for applying the free energy principle that states that, for any self-organized system to be in equilibrium in its environment, it must minimize its informational free energy. The kinetic energy while interpreting it in terms of the free energy principle suggesting clinical usefulness would further our understanding of the phenomenon of fertilized egg development with respect to the birth of human life.

The present study focuses on the development and optimization of a highly efficient unique hybrid technique — membrane-assisted gas absorption (MAGA) in designing the separation unit, which provides the improvement in mass-transfer of a target component during the natural gas processing in terms of sweetening stage. A novel design of membrane-assisted gas absorption cell is used to enhance the ratio between absorbent amount and membrane surface available for permeation. The performance tests were implemented on example of two gas mixtures separation: one is model ternary gas mixture and the second is quasi real natural gas, which includes number of hydrocarbons, nitrogen, acid impurities and xenon. For both cases, the MAGA unit demonstrated high acid gases removal efficiency, and high recovery of hydrocarbons. The ultimate efficiency of studied system was up to 96 and 61 % of removed acid gases with hydrocarbons losses up to 1 % at highest productivity. In this way, the residual sum of acid gases content may be lowered to 1 vol.% using the heat-free hybrid membrane-assisted gas absorption unit maintaining suitable recovery rate of methane, ethane, propane and n-butane. Nevertheless, the overall efficiency of the process may be enhanced using the specific absorption agents with aqueous amino alcohol solutions.

Drones have been used in a variety of scenarios such as atmospheric monitoring, fire rescue, agricultural irrigation, etc., in which accurate environmental perception is of crucial importance for both decision-making and control. Among the drone sensors, the RGB camera is indispensable for capturing rich visual information for vehicle navigation but encounters a grand challenge in high-dynamic-range scenes that occur frequently in real applications. Specifically, the recorded frames suffer from under-exposure and over-exposure simultaneously and degenerate the successive vision tasks. To solve the problem, we take object tracking as an example and leverage the superior response of event cameras over a large intensity range to propose an event-assisted object tracking algorithm that can achieve reliable tracking under large intensity variations. Specifically, we propose to pursue feature matching from dense event signals, and based on which to (i) design a UNet-based image enhancement algorithm to balance the RGB intensity with the help of neighboring frames in the time domain, and then (ii) construct a dual-input tracking model to track the moving objects from intensity balanced RGB video and event sequence. The proposed approach is comprehensively validated in both simulation and real experiments.

This study examined the impact of Vibration-Assisted Drilling (VAD) on hole quality and residual stress in Ti-6Al-4V ELI material. Ti-6Al-4V ELI possesses excellent mechanical properties but presents challenges in machining, including chip evacuation, burr formation, and elevated cutting temperatures. VAD, particularly Low-Frequency Vibration-Assisted Drilling (LF-VAD), has been explored as a potential solution to address these issues. The research com-pares LF-VAD with conventional drilling (CD) under various cutting and cooling conditions. LF-VAD exhibits higher maximum cutting forces under specific conditions, which result in accel-erated tool wear. However, it also demonstrates lower RMS (Root Mean Square) forces com-pared to CD, offering better control over chip formation, reduced burr formation, and improved surface roughness within the hole. Furthermore, LF-VAD generates greater compressive residual stresses on the hole's inner surface compared to CD, suggesting enhanced fatigue performance. These findings indicate that LF-VAD holds promise for improving hole quality, fatigue life, and overall component durability in Ti-6Al-4V machining applications.

In this paper we overview all analytical engineering solutions for corrosion problems in pressure vessels delivered over the past 60 years. We briefly detail strengths and weaknesses of existing approaches, thus demonstrating the need for novel uniform corrosion analysis methods for both current and new applications. To complement the review, we also present a new analytical model allowing to estimate the lifetime of pressured elastic vessels with mechanically assisted corrosion. Both internal/external pressure and internal/external corrosion are captured and dissolution driven corrosion is also considered. The readily implemented method improves existing analytical approaches and is shown to be effective for thin and thick shells, as well as various loading and corrosion intensity and geometrical conditions.

Ovarian tissue cryopreservation (OTC) or testicular tissue cryopreservation (TTC) are effective and often the only options for fertility preservation in female or male patients due to oncological, medical, or social aspects. While TTC and resumption of spermatogenesis, either in vivo or in vitro, has still be considered an experimental approach in humans, OTC and autotransplantation has been applied increasingly to preserve fertility with more than 200 live births worldwide. However, the cryopreservation of reproductive cells followed by the resumption of gametogenesis, either in vivo or in vitro, may interfere with sensitive and highly regulated cellular processes. In particular, the epigenetic profile, which includes not just reversible modifications of the DNA itself but also post-translational histone modifications, small non-coding RNAs, gene expression and availability, and storage of related proteins or transcripts, have to be considered in this context. Due to complex reprogramming and maintenance mechanisms of the epigenome in germ cells, growing embryos, and offspring, OTC and TTC are carried out at very critical moments early in the life cycle. Given this background, the safety of OTC and TTC taking into account the epigenetic profile has to be clarified. Cryopreservation of mature germ cells (including Metaphase II oocytes and mature spermatozoa collected via ejaculation or more invasively after testicular biopsy) or embryos has been used successfully for many years in Medically Assisted Reproduction (MAR). However, tissue freezing followed by in vitro or in vivo gametogenesis has become more attractive in the past, while few human studies have analysed the epigenetic effects, with most data deriving from animal studies. In this review, we highlight the potential influence of the cryopreservation of immature germ cells and subsequent in vivo or in vitro growth and differentiation on the epigenetic profile in humans and animals.

Canola is the major oilseed crop of Canada. The de-oiled material is an important by-product due to its rich phenolic profile and high protein content. This co-processing stream from canola is primarily utilized as animal feed but represents an invaluable source of nutraceuticals. Microwave-assisted solvent extraction (MAE), as a green extraction method, has received considerable attention in recent times. The ease of use and application of many solvents at the same time makes the MAE one of the best methods for studying multiple solvents at the same time. The formation of canolol, from sinapine and sinapic acid, is primarily dependant on temperature which favors the decarboxylation reaction. Hence, MAE using green extractants can be used to enhance the yield of canolol. This study examined the effects of different pre-treatment temperature-time combinations of 140, 150, 160, and 170℃ for 5, 10, 15, 20 and 30 minutes on the extraction of canolol and other canola endogenous phenolic compounds. Three antioxidant assays assessed the antioxidant activity of the different extracts obtained by MAE confirming the microwave as a novel and versatile instrument for enhancing the yield of canolol. Improvements in the antioxidant activity of the different extracts further established the efficacy of the current method for isolating important natural phenolic derivatives for utilization by the nutraceutical industry.

In the recent years, Cannabis and hemp-based products have become increasingly popular for various applications ranging from recreational use, edibles, beverages to health care products and medicines. The rapid detection and differentiation of phytocannabinoids is, therefore, essential to assess the potency, therapeutic and nutritional values of cannabis cultivars. Here, we implemented the SpiderMass technology for the in vivo detection of cannabidiol acid (CBDA) and tetrahydrocannabinol acid (THCA) and other endogenous organic plant compounds to access distribution gradients within the plants and differentiate cultivars. The SpiderMass system is composed of an IR- laser handheld microsampling probe connected to the mass spectrometer through a transfer tube. The analysis was performed in situ on different plant organs from freshly cultivated Cannabis plants in only a few seconds. SpiderMass analysis easily discriminated the two acid phytocannabinoid isomers by MS/MS and the built statistical models differentiated between four Cannabis cultivars. Different abundancies of acid phytocannabinoids were also found along the plant as well as between different cultivars. All together, these results introduce the direct analysis by SpiderMass as a compelling analytical alternative for forensic and hemp industrial analysis.

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

Background Natural Saccharomyces cerevisiae yeast strains exhibit very large genotypic and phe-notypic diversity. Breeding programs taking advantage of this characteristic, are widely used for yeast selection in the wine industry, especially in the recent years when winemakers need to adapt their production to climate change. The aim of this work was to evaluate a Marker Assisted Se-lection (MAS) program to improve malic acid consumption capacity of Saccharomyces cerevisiae in grape juice. Methods Optimal individuals of two unrelated F1-hybrids were crossed to get a new genetic background carrying many “malic consumer” loci. Then, eleven QTLs already identified were used for implementing the MAS breeding program. Results By this way, extreme individuals able to consume more than 70% of malic acid in grape juice were selected. These individuals were tested in different enological matrixes and compared to their original parental strains. They greatly reduced the malic acid content at the end of alcoholic fermentations, they appeared to be robust to the environment and accelerate the ongoing of malo-lactic fermentations by Oenococcus oeni. Conclusions This study illustrates how MAS can be efficiently used for selecting industrial Saccharomyces cerevisiae strains with outlier properties for winemaking.

We demonstrate hybrid integration of a lithium niobate microring resonator with a silicon nitride waveguide in the vertical configuration to achieve efficient light coupling. The microring resonator is fabricated on a lithium niobate on insulator (LNOI) substrate using photolithography assisted chemo-mechanical etching (PLACE). A fused silica cladding layer is deposited on the LNOI ring resonator. The silicon nitride waveguide is further produced on the fused silica cladding layer by first fabricating a trench in the fused silica using focused ion beam (FIB) etching for facilitating the evanescent coupling, followed by formation of the silicon nitride waveguide on the bottom of the trench. The FIB etching ensures the required high positioning accuracy between the waveguide and the ring resonator. We achieve Q-factors as high as 1.4*10^7 with the vertically integrated device.

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

In this research, low-fat dried Chinese sausage was formulated with mango peel pectin (MPP) extracted by microwave assisted extraction (MAE) (0%, 5%, 10% and 15% (w/w). The extractable yield of pectin attained from peel of Nam Dok Mai variety was achieved at 13.85% using 700-watt power. The extracted MPP were of high equivalent weight (1,485.78 mg/mol), degree esterification (77.19%) and methoxyl content (19.33%) with the structure of more porosity as compared to that of the conventional method. Spectrum scans by Fourier transform infrared spectrophotometer (FT-IR) advised that the extracted MPP gave the similar wave number profiles as the commercial pectin. Quality attributes of the Chinese sausages were accessed and compared with the control formula (CTRL). At higher concentrations of MPP, the product had positively increased colour intensity. The texture profile of the sausage illustrated that only the hardness value was comparable with the CTRL, while springiness, cohesiveness, gumminess and chewiness were statistically lower (p < 0.05). Furthermore, the sensory evaluation by experienced panellists (n=12) indicated that 5% MPP similarly represented overall acceptability with the CTRL. Consequently, MPP can be effectively applied at low level as fat replacement in Chinese sausage allowing colour improvement and product of healthier option.

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

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

High Brassicaceae consumption reduces the risk of developing several cancer types, probably due to their glucosinolate amount. Extracts from Sinapis nigra L. and Sinapis alba L. have been obtained from leaves and seeds under different conditions using ethanol/water mixtures because well accepted by food industry. The EtOH/H2O 8:2 mixture gives better yields in glucosinolate amounts from grinded seeds, mainly sinalbin in S. alba and sinigrin in S. nigra. The highest antiproliferative activity in both non-tumour and tumour cell lines was induced by S. alba seeds extract. To evaluate whether Sinapis spp effect was only due to glucosinolate content or it was influenced by the extracts’ complexity, cells were treated with extracts or glucosinolates, in the presence of myrosinase. Pure sinigrin did not modify cell proliferation, while pure sinalbin was less effective than the extract. The addition of myrosinase increased the antiproliferative effects of the S. nigra extract and sinigrin. Antiproliferative activity was correlated to MAPKs modulation, which was cell and extract-dependent. Cell-cycle analysis evidenced a proapoptotic effect of S. alba on both tumour cell lines and of S. nigra only on HCT 116. Both extracts showed good antimicrobial activity in disc diffusion tests and on ready-to-eat fresh salad. These results underline the potential effects of Sinapis spp in chemoprevention and food preservation.

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

This study introduces a cybernetic control and architectural framework for a robotic fish avatar operated by a human. The behavior of the robot fish is influenced by the electromyographic (EMG) signals of the human operator, triggered by stimuli from the surrounding objects and scenery. An deep artificial neural network (ANN) with perceptrons classifies EMG signals, discerning the type of muscular stimuli generated. The research unveils a fuzzy-based oscillation patterns generator (OPG) designed to emulate functions akin to a neural central pattern generator, producing coordinated fish undulations. The OPG generates swimming behavior as an oscillation function, decoupled into coordinated step signals, right and left, for a dual electromagnetic oscillator in the fish propulsion system. Furthermore, the research presents an underactuated biorobotic mechanism of the subcarangiform type, comprising a two-solenoid electromagnetic oscillator, an antagonistic musculoskeletal elastic system of tendons, and a multi-link caudal spine composed of helical springs. The biomechanics dynamic model and control for swimming, as well as the ballasting system for submersion and buoyancy, are deduced. Experimental results encompass EMG pattern recognition, OPG, and coordinated fish locomotion, with additional topics illustrated through numerical simulations.

This paper proposes the application of force-projecting bilateral control to a master-follower teleoperation system with a pneumatic manipulator on the follower side, and evaluates its effectiveness. The proposed method directly projects the operating force on the master side to the driving force on the follower side, eliminating the need for both position control and external force detection on the follower side, thereby solving the problem of low rigidity and response delay of pneumatic manipulators and providing highly stable sensor-less force presentation against variable environments. In this study, dynamic response analyses of a 1-DOF master-follower system were performed by numerical simulation using a linear system model, followed by experimental verification by implementing an actual system with an external force estimator. The results showed that the proposed force-projecting bilateral control has significantly higher positioning rigidity and better force control stability than the conventional force-reflecting bilateral control. A theoretical consideration was also given using equivalent transformation of force transfer functions to provide evidence for the high stability.

Collaborative robots (cobots) have largely replaced conventional industrial robots in today’s workplaces, particularly in manufacturing setups due to their improved performance and intelligent design. In the framework of Industry 5.0, humans are working alongside cobots to accomplish the required level of automation. However, human-robot interaction has brought up concerns regarding human factors (HF) and ergonomics. A human worker may experience cognitive stress as a result of cobots' irresponsive nature in unpredictably occurring situations, which adversely affects productivity. Therefore, there is a necessity to measure stress to enhance a human worker’s performance in a human-robot collaborative environment. In this study, factory workers’ mental workload has been assessed using physiological, behavioural, and subjective measures. Electroencephalography (EEG) and functional near-infrared spectroscopy (fNIRS) signals have been collected to acquire brain signals and track hemodynamic activity, respectively. The effect of task complexity, cobot’s movement speed, and cobot’s payload capacity on the mental stress of a human worker have been observed, for a task designed in the context of a smart factory. Task complexity and cobot’s speed have proved to be more impactful. As physiological measures are unbiased and more authentic means to estimate stress, eventually, they may replace the other conventional measures if they prove to correlate with the results of traditional ones. Here, regression and artificial neural networks (ANN) have been utilised to determine the correlation between physiological data and subjective and behavioural measures. Regression has performed better for most of the targets and the best correlation (rsq-adj = 0.654146) has been achieved for predicting missed beeps, behavioural measure, using a combination of multiple EEG and fNIRS predictors. The k-nearest neighbours (KNN) algorithm has been used to evaluate the accuracy of correlation between traditional measures and physiological variables, with highest accuracy of 77.8% achieved for missed beeps as the target. Results show that physiological measures can be more insightful and have the tendency to replace other biased parameters.

Taiwan’s Chi Mei Medical Center has a vision of becoming a sustainable organization. They found they violated the sustainable development goal (SDG) 13 (“Climate Action”) since its workflows consume excessive tangible resources and waste much operation time. To fulfill the vision, the Chi Mei Medical Center first introduced electronic invoicing. Implementing this electronic invoicing included adopting cloud E-invoice data and creating a software robot for auditing them. This study presents this software robot and its contributions. The software robot replaces an internal auditor to log into Taiwan’s E-invoice platform, download cloud E-invoice data, and detect the inconsistency between these cloud and on-premise data. Internal auditors of the Chi Mei Medical Center only needed to confirm the detection results. They welcome this software robot since it significantly reduces their work burdens. They approved more software robots for assisting other workflows. Besides, the Chi Mei Medical Center earned profits after eliminating paper invoices. This elimination helped release less carbon. This study concludes that chasing a sustainable organization is unnecessarily equivalent to the requirement of more costs. A software robot represents the last puzzle for constructing a paperless workflow since it can resolve the resistance of existing workers to a new workflow.

Collaborative robots have experienced low acceptance in applications, especially in industry. 1 This fact has attracted the attention of researchers and practitioners, who point to different causes 2 for this low acceptance. One of the main reasons is the difficulty in converging on suitable methods 3 for modeling collaborative interactions between robots and their surrounding context during the 4 requirements phase. These interactions must be elicited and modeled during requirements modeling 5 to maximize value creation through collaboration and must be formally verified, taking into account 6 the risks of human-robot interaction. However, such modeling is often not present in collaborative 7 robot design, and the choice of an appropriate approach remains an open problem. In this paper, 8 this problem is addressed from a requirements engineering perspective, a goal-oriented model and 9 a service-based approach supported by an additional verification method based on Petri nets is 10 proposed. A case study based on collaborative robots used in a hospital environment is presented.

Reinforcement Learning (RL) has demonstrated considerable potential in solving challenges across various domains, notably in autonomous driving. Nevertheless, implementing RL in autonomous driving comes with its own set of difficulties, such as the overestimation phenomenon, extensive learning time, and sparse reward problems. Although solutions like Hindsight Experience Replay (HER) have been proposed to alleviate these issues, the direct utilization of RL in autonomous vehicles remains constrained due to the intricate fusion of information and the possibility of system failures during the learning process. In this paper, we present a novel RL-based autonomous driving system technology that combines Obstacle Dependent Gaussian (ODG) RL, Soft Actor-Critic (SAC), and meta-learning algorithms. Our approach addresses key issues in RL, including the overestimation phenomenon and sparse reward problems, by incorporating prior knowledge derived from the ODG algorithm. We evaluated our proposed algorithm on official F1 circuits, using high-fidelity racing simulations with complex dynamics. The results demonstrate exceptional performance, with our method achieving up to 89% faster learning speed compared to existing algorithms in these environments.

The paper presents the conceptualization and realization of a novel platform for additive manu-facturing, an industrial robot arm-based system for additive manufacturing applications. Tradi-tional 3D printers, especially those employing fused deposition modelling (FDM) processes, are restricted to depositing material in a single toolpath plane (e.g. x-y plane). The focus of this study was to explore the feasibility of integrating commercial off the shelf (COTS) additive manufac-turing technologies with a six degree of freedom industrial robot arm to yield a 3D additive manufacturing system with the capability to perform free-form six degree of freedom fused deposition modelling. The present paper presents the development of a platform from stage 0, i.e. materials to its use, and finally a printed product with the developed extruder.

Modularity in the construction of industrial robots is becoming increasingly popular, as the modules can be assembled in different ways so as to obtain various architectures of industrial robots determined by the requirements of specific applications. Such a robot with modular structure is considered in this paper. The tracked mobile robot, with translation – rotation – translation – translation – rotation (TRTTR) modular serial structure, is the subject of national invention patent number RO132301 B1/2021, granted by the State Office for Inventions and Trademarks of Bucharest, to “Nicolae Bălcescu” Land Forces Academy of Sibiu, Romania [1]. The tracked mobile robot has been designed to perform the task of humanitarian demining operations and the mechanical structure, respectively the kinematic analysis were described in detail in papers [1,2]. A first general objective of this paper is to highlight a dynamic-organological method to achieve an architectural structure of mobile robot on tracks, able to replace the human element in areas with high risk for health and life, for detection and demining anti-personnel and anti-armor minefields in countries where military conflicts have taken place. For this scope it was performed the dynamic modeling using the Lagrange’s formalism and to achieve the constructive optimization of the TRTTR mechanical structure, in order to obtain a minimum energy consumption through an optimal arrangement of the modules in its structure. A second objective is to improve the action flexibility of the technological product in humanitarian detection and demining operations, as well as for educational purposes, by training highly educated and specialized human resources in the field of advanced military technologies. The differential equations of motion of the robot has obtained and respectively the mechanical design equations, which lead to the optimal choice of the drive motors of the modules in the robot structure. Also, it is presented the mathematical model for obtaining the driving motor of base translation modulus (MTB SIL) of the modular serial tracked robot and the constructive solution of the MTB SIL module.

This article argues that despite a citation review is a rarely used research tool, this can be very useful to assess the impact of new research topics, both from the future research direction and the bibliometric perspectives. An explorative study is presented around the research area marked as Industry 4.0 with the conference paper mentioned in the title of this citation review. Even though the given reference paper is relatively recent, there are already twenty-seven citations listed among three different scholar databases. These are Google Scholar, ResearchGate and Semantic Scholar. In light of this, the article provides a bibliometric confirmation and analysis for the progression of the line of research adopted by de Giorgio et al. in the exploration of non-traditional methods using virtual reality technology and human-robot collaboration for adaptive applications in Industry 4.0. Furthermore, it represents a model for the authors’ self-development and an example of an unconventional approach to scientific work that may help improve related bibliometric research and scholar database strategies to index new articles and topics in the future.

Anthropomorphism is a natural tendency in humans, but it is also influenced by many characteristics of the observer (the human) and the observed entity (here, the animal species). This study asked participants to complete an online questionnaire about three videos showing epimeletic behaviours in three animal species. In the videos, an individual (a sparrow, an elephant and a macaque, respectively) displayed behaviours towards an inanimate conspecific that suddenly regained consciousness at the end of the footage. A fourth video showed a robot dog being kicked by an engineer to demonstrate its stability. Each video was followed by a series of questions designed to evaluate the degree of anthropomorphism of participants, from mentaphobia (no attribution of intentions and beliefs, whatever the animal species) to full anthropomorphism (full attribution of intentions and beliefs by animals, to the same extent as in humans) and to measure how far the participants had correctly assessed each situation in terms of biological reality (current scientific knowledge of each species). There is a negative correlation (about 61%) between the mental states attributed to animals by humans to animals and the real capability of animals. The heterogeneity of responses proved that humans display different forms of anthropomorphism, from rejecting all emotional or intentional states in animals to considering animals to show the same intentions as humans. However, the scores participants attributed to animals differed according to the species shown in the video and to human sociodemographic characteristics. Understanding the potential usefulness of these factors can lead to better relationships with animals and encourage a positive view of human-robot interactions. Indeed, reflective or critical anthropomorphism can increase our humanity.

The paper presents the possibility of using KINECT v2 module to control an industrial robot by means of gestures and voice commands. It describes elements of creating software for off-line and on-line robot control. The application for KINECT module was developed in C# language in Visual Studio environment, while the industrial robot control program was developed in RAPID language in RobotStudio environment. The development of a two-threaded application in RAPID language allowed to separate two independent tasks for the IRB120 robot. The main task of the robot is performed in thread no. 1 (responsible for movement). Simultaneously working thread no. 2 ensures continuous communication with the KINECT system and provides information about the gesture and voice commands in real time without any interference in thread no. 1. The applied solution allows the robot to work in industrial conditions without negative impact of communication task on the time of robot’s work cycles. Thanks to the development of a digital twin of the real robot station, tests of proper application functioning in off-line mode (without using a real robot) were conducted. Obtained results were verified online (on the real test station). Tests of correctness of gesture recognition were carried out, the robot recognized all programmed gestures. Another test carried out was the recognition and execution of voice commands. A difference in the time of task completion between the actual and virtual station was noticed - the average difference was 0.67 s. The last test carried out was to examine the impact of interference on the recognition of voice commands. With a 10dB difference between the command and noise, the recognition of voice commands was equal to 91.43%. The developed computer programs have a modular structure, which enables easy adaptation to process requirements.