The wind flow patterns and pressure distribution around a plus-shaped building are significantly influenced by the dimensions of its re-entrant corners and the overall building height. The present study aims to find the wind effects and study of the pressure distribution with different flow patterns. Plan area of the building is around 300 square meter while the height of the building is 50 meters by keeping the equal length of the re-entrant corners. The research is performed using ANSYS CFX academic version and the results are depicted in various forms such as pressure coefficient (Cpe), stream lines in both vertical as well as in specific surface and pressure contours. The analysis is carried out by varying the wind incident angles, from 0° to 90° at the interval of 15°. The building dimension are scale down to perform the test on length scale of 1:100. Since the considered building model exhibits symmetry along both the axes, present study mostly emphasis on examining re-entrant corners located in the building. This method yields valuable information about how air circulates and how pressure is distributed across a broad spectrum of wind angles. This study provides valuable insights into flow circulation and pressure distribution for a wide range of wind angles.

Macula fovea detection is a crucial prerequisite towards screening and diagnosing macular diseases. Without early detection and proper treatment, any abnormality involving the macula may lead to blindness. However, with the ophthalmologist shortage and time-consuming artificial evaluation, neither accuracy nor effectiveness of the diagnose process could be guaranteed. In this project, we proposed a deep learning approach on ultra-widefield fundus (UWF) images for macula fovea detection. This study collected 2300 ultra-widefield fundus images from Shenzhen Aier Eye Hospital in China. Methods based on U-shape network (Unet) and Fully Convolutional Networks (FCN) are implemented on 1800 (before amplifying process) training fundus images, 400 (before amplifying process) validation images and 100 test images. Three professional ophthalmologists were invited to mark the fovea. A method from the anatomy perspective is investigated. This approach is derived from the spatial relationship between macula fovea and optic disc center in UWF. A set of parameters of this method is set based on the experience of ophthalmologists and verified to be effective. Results are measured by calculating the Euclidean distance between proposed approaches and the accurate grounded standard, which is detected by Ultra-widefield swept-source optical coherence tomograph (UWF-OCT) approach. Through a comparation of proposed methods, we conclude that, deep learning approach of Unet outperformed other methods on macula fovea detection tasks, by which outcomes obtained are comparable to grounded standard method.

The design flood concept (DF) provides for an essential tool in designing the hydraulic works, in defining the reservoir operation programs and for a reliable flood hazard identification. Under a simplified approach, the maximum discharge and the floods volume are statistically processed to reasonably define the DF. Yet, the integral hydrograph provides additional key temporal and quantitative details of important significance for flood management and particularly for the res-ervoirs operation and associated risks of failures. The procedure presented in this paper (as applied on a set of compatibly shaped hydrographs) involves the following key stages: (i) normalize the floods, (ii) define similar flood shape classes and (iii) evaluate the average dimensionless flood (ADF) for each class. The ADFs are finally transformed into a set of (DF)s. Many statistical distributions approximate acceptably the frequent values of the maximum discharges or the flood volumes, yet displaying a significant spread for medium or rare probabilities of exceedance (PE). This scattering, which can be explained by the epistemic uncertainty, defines an area of uncertainty both for measured and extrapolated values. In considering upper and lower values of the uncertainty in-tervals as limits for maximum discharges and flood volumes, then by combining them compatibly, a set of DFs - as completely defined hydrographs, with different shapes - results for each PE. The herein proposed procedure defines both one peak DF and multi-peaks DF. Subsequently, such DFs do assist water managers in examining and establishing tailored approaches for a variety of input hydrographs. Among the DFs that would correspond to a same PE, the most compact floods arise a special interest, for they are basic in defining the set of safe operation rules for hydraulic structures.

In this study, the values of the interfacial energies of seven different polymer-water systems obtained by Sessile Drop Accelerometry (SDACC) are compared with the values obtained by the Young’s-equation-based Owens-Wendt method. The SDACC laboratory instrument –a combination of a drop shape analyzer with high-speed camera and a microgravity tower- and the evaluation algorithms, are designed to measure the interfacial energies as a function of the geometrical changes of a sessile droplet shape due to the effect of “switching off” gravity during the experiment. The method bases on Thermodynamics of Interfaces and differs from the conventional aproach of the two hundred-years-old Young’s equation in that it assumes a thermodynamic equilibrium between interfaces, rather than a balance of forces on a point of the solid-liquid-gas contour line. A comparison of the mathematical model that supports the SDACC method with the widely accepted Young`s equation is discussed in detail in this study.

A new method, the sessile drop accelerometry (SDACC) for the study and measurement of the interfacial energies of solid-liquid-gas systems, is tested and discussed in this study. The laboratory instrument and technique –a combination of a drop shape analyzer with high-speed camera and a laboratory drop tower- and the evaluation algorithms, were designed to calculate the interfacial energies as a function of the geometrical changes of a sessile droplet shape due to the effect of “switching off” gravity during the experiment. The method bases on the thermodynamic equilibrium of the system interfaces and not on the balance of bi-dimensional tensions on the solid-liquid-gas contour line. A comparison of the mathematical model that supports the method with the widely accepted Young`s equation is discussed in this study.

The inverse finite element method (iFEM) is a novel method for reconstructing the full-field displacement of structures by discrete measurement strain. In practical engineering applications, the accuracy of iFEM is reduced due to the positional offset of strain sensors during installation, and errors in structural installation. Therefore, coarse and fine two-stage calibration (CFTSC) method is proposed to enhance the accuracy of the reconstruction of structures. Firstly, the coarse calibration is based on a single-objective particle swarm optimization algorithm to optimize the displacement-strain transformation matrix related to the sensor position. Secondly, as selecting different training data can affect the training effect of self-constructed fuzzy networks, this paper proposes to screen the appropriate training data based on residual analysis. Finally, the experiments of the wing integrated antenna structure verify the efficient of the method on the reconstruction accuracy of the structural body displacement field.

Buildings can generate heats which are mostly generated from the machinery using inside the buildings, and these heats generally released to the atmosphere. Buildings can also block the wind flow by their canopies and trap the heat by using low albedo materials. These causes pointedly contribute to urban heat island and greenhouse effects. Likewise, urban development and building construction in Cambodia are growing rapidly. The construction has been recognized as a key development sector while thousands of buildings are being built and have been operated in the main cities. However, those buildings mostly have not been considered to incorporate sustainability concepts while the major final energy consumers in the country are buildings. The buildings’ energy consumption is also projected to increase more than double until 2040. Hence, sustainable building promotion in Cambodia is necessary, and sustainable building criteria are completely required. This research aims to find out significant sustainable building criteria for Cambodia and focused on planning and design criteria because having proper planning and design is a smart start leading to achieving building sustainability in all stages. This research used the Delphi methods to validate the relevant sustainable building criteria available in the literature and then select the significant ones for Cambodia based on the Delphi consensus. The results showed that ninety-nine consensus planning and design criteria were found to be significant for sustainable buildings in Cambodia.

Recently, the demand for electric vehicle is increasing worldwide due to eco-friendly policies and stricter emission regulations. As a traction motor for electric vehicle, interior permanent magnet synchronous motors are mainly used. For the design of the interior permanent magnet synchronous motor, the magnetic equivalent circuit method, which is a method of lumped constant circuit, and the finite element method, which is a method of distributed constant circuit, mainly are used. Magnetic equivalent circuit method is useful for simple design through fast and intuitive parameters, but it cannot derive the distribution of magnetic field. The finite element method can derive an accurate magnetic field distribution, but it takes a long time to analyze and it is difficult to analyze intuitive design parameters. In this paper, magnetic equivalent circuit method and Carter coefficient are mixed for rotor structure design. This design method will be called the hybrid magnetic equivalent circuit method. Intuitive design parameters are derived through this hybrid magnetic equivalent circuit method. We will derive the Air gap flux density distribution according to rotor shape, no-load induced voltage, and cogging torque, and compare and verify it with the finite element method.

Background: The papaya mosaic virus (PapMV) vaccine platform is a rod-shape nanoparticle made of the recombinant PapMV coat protein (CP) self-assembled around a non-coding ssRNA template. The PapMV nanoparticle induces innate immunity through stimulation of the toll-like receptors (TLR) 7 and 8. The display of the vaccine antigen at the surface of the nanoparticle, associated with the co-stimulation signal via TLR7/8, ensures a strong stimulation of the immune response, which is ideal for the development of candidate vaccines. In this study, we assess the impact of where the peptide antigen is fused, either at the surface or at the extremities of the nanoparticles, on the immune response directed to that antigen. Methods: Two different peptides from influenza A virus were used as model antigens. The conserved M2e peptide was chosen as the B-cell epitope, and a peptide derived from the nucleocapsid was chosen as the CTL epitope. These peptides were coupled at two different positions on the PapMV CP, the N- (PapMV-N) or the C-terminus (PapMV-C) using the transpeptidase activity of Sortase A (SrtA). The immune responses, both humoral and CD8+ T cell-mediated, directed to the peptide antigens in the two different fusion contexts were analyzed and compared. The impact of coupling density at the surface of the nanoparticle was also investigated. Conclusions: The results demonstrate that coupling of the peptide antigens at the N-terminus (PapMV-N) of the PapMV CP led to an enhanced immune response to the coupled peptide antigens as compared to coupling to the C-terminus. The difference between the two vaccine platforms is linked to the enhanced capacity of the PapMV-N vaccine platform to stimulate the TLR7/8. We also demonstrated that the strength of the immune response increases with the density of coupling at the surface of the nanoparticles.

In this work, we studied light-output properties, efficiency function as well as PSD capability of p-Terphenyl scintillator. The selected solid cylindrical scintillation detector has a size of (45 x 45) mm with PSD properties. Recently presented studies of light-output functions have been measured only for low neutron energies. Our motivation has been to determine more accurate the light output function for p-Terphenyl scintillator over a wider neutron energy range.

In the field of adaptive building technologies, this research introduces the development of a self-regulating solar shading actuator, that utilizes the thermal shape memory effect. The study places its focus on addressing the actuator’s performance under diverse environmental conditions. Thermal simulations were carried out during the development of the individual components of the actuator and for the prediction of specific switching temperatures. The investigation includes an analysis of the sunshade’s response to varying environmental conditions, emphasizing its effectiveness on clear summer days and identifying challenges during overcast periods. The critical coordination between the solar collector and the shape memory alloy (SMA) wire is examined, shedding light on the impact of SMA temperature dynamics on the actuation performance. Through the integration of simulation data and real-world measurements, the study validates the thermal model for the solar collector, establishing the robustness of the system’s operation. This research work contributes significantly to the development of intelligent actuators and outlines the importance of validation of SMA-based applications under real conditions.

Interior permanent magnets motors are widely used in applications requiring high power den-sity and high efficiency due to their high torque generating capabilities. Recently, given the re-cent price fluctuations and unstable supply of rare-earth permanent magnets, alternative config-urations with reduced use of permanent magnets are being sought. Among the various candi-dates related to this, the consequent-pole type rotor structure can halve the number of perma-nent magnets used compared with conventional structures. However, in the no-load analysis, the waveform of the back electromotive force becomes asymmetric, generating a harmonic component. As a result, there is a disadvantage that the torque ripple increases. To overcome these shortcomings, we propose a novel rotor structure that applies a consequent-pole structure to an embedded permanent-magnet motor structure, wherein a number of permanent magnets are arranged in a flared structure to constitute a single polarity. In the proposed flared-structured magnet arrangement, it is possible to adjust the angle of the permanent magnet and the polar angle to mitigate the asymmetry of the back EMF waveform. The proposed struc-ture was optimized with a genetic algorithm and a prototype of the optimal model was con-structed and experimentally evaluated to verify its validity. Finally, the performance improve-ment and validity of the proposed structure were verified by comparing the analysis results of the optimal model with the experimental results.

Semi-destructive and non-destructive techniques are not commonly used for masonry as they are complex and difficult to perform. This paper describes validation of the following methods: semi-destructive and non-destructive, ultrasonic technique for autoclaved aerated concrete (AAC). The research subject was the compressive strength of AAC test elements with declared various density classes of: 400, 500, 600 and 700 (kg/m3) and various moisture levels. Empirical data including the shape and size of specimens, were established from tests on 494 cylindrical and cuboid specimens, and standard cube specimens 100×100×100 mm using the general relationship for standard concrete (Neville’s curve). The effect of moisture on AAC was taken into account while determining the strength fBw for 127 standard specimens tested at different levels of water content (w = 100%, 67%, 33% 23% and 10%). Defined empirical relations can be used to correct the compressive strength of dry specimens. For 91 specimens 100×100×100 mm, the P-wave velocity cp was tested with the transmission method using using the ultrasonic pulse velocity method with exponential transducers. The curve (fBw – cp) for determining the compressive strength of AAC elements with any moisture level (fBw) was established.

The Multi-Level Model (=MLM) was suggested by A. Levichev as a description of quarks and gluons. The review recalls MLM-terminology while MLM-findings (for quarks and leptons) are compared to the theoretical and experimental data as accepted by the Standard Model (=SM). MLM is based on Segal’s compact space-time U(2) and on the sequence of embeddings: U(2) into U(3), U(2) into U(4), etc. These groups were called the levels (of matter): U(2) - the 0th (that is, our mundane world), U(3) - the 1st, U(4) - the 2nd, etc. Such a convention matches the SM-quarks' generations list. Each SM-quark is viewed either as a sunken proton, or as a captured proton. The MLM-proton is elementary and indestructible (hence no need for confinement). For MLM-quarks, in terms of the notion of a ruling group, flavor and color are defined mathematically. The number of colors (and of flavors) is level-dependent. For levels U(3) through U(6) the correspondence with the SM-quarks is established. Three new quarks and two new leptons are predicted. The SM-puzzle of quark and lepton generations is solved. Using the Han-Nambu scheme, the notion of the quark’s electric charge is expressed in terms of color charges. The original part of the review suggests studying the proton’s properties (like mass, shape and inner pressure) on the ba-sis of its wave function.

Liquid crystal elastomers (LCEs) are shape morphing materials whose large and reversible shape transformation results from the coupling between the mobile anisotropic properties of liquid crystal (LC) units and the rubber elastic of polymer networks. Their shape changing behaviors under the stimuli are largely directed by LC orientations, and therefore various strategies have been developed to spatially modulate the LC alignments. But most of the methods suffer from complex fabrication technologies or intrinsic limitations in applicability. To address this issue, programmable complex shape changes in some types of LCEs, such as polysiloxane side-chain LCEs or thiol-acrylate main-chain LCEs, etc, have been achieved by using a mechanical alignment programming process coupled with two-step crosslinking. Here, we report a polysiloxane main-chain LCE with programmable 2D and 3D shape changing performances achieved by mechanically programming the polydomain LCE between the two crosslinking steps. The resulting LCEs exhibited reversible thermal induced shape transformation between the initial and programmed shapes due to the two-way memory between the first network structure and the second network structure. Our work would be potential for expanding the applications of LCE materials in actuators, soft robotics and smart structures where arbitrary and easily programmed shape morphings are needed.

The Selective Paste Intrusion (SPI) method is a layer-by-layer additive manufacturing technique that allows for the production of complex geometries in concrete elements by selectively bonding aggregates with cement paste in a particle bed. To create reinforced concrete, the Wire and Arc Additive Manufacturing (WAAM) process shall be integrated into SPI. This technique allows the production of almost free-formed reinforcement and thus complements the advantage of SPI to produce free-formed structures of almost any geometry. However, integration of WAAM into SPI poses a considerable challenge, as high temperatures are generated during the welding process. These temperatures can negatively affect the rheological properties of the cement paste, in turn the penetration behavior of the paste in the particle bed and, subsequently, the mechanical properties of the hardened concrete. A possible passive cooling strategy is to increase the protruding length of the reinforcement bars out of the particle-bed. This requires that the distance of the print nozzle to the particle bed is as well increased, since it must be possible to move it across the reinforcement. The objective was thus to investigate the effect of that distance on print quality and to quantify a maximum allowable distance for an adequate print quality (for the printer setting used) in terms of shape accuracy and concrete strength. Compressive and flexural strength tests as well as geometrical measurements using a 3D scanning method were performed on specimen, printed with varying print nozzle to particle bed distances. It can be stated that for the used SPI print-heads, nozzle-types and parameter settings, the distance between the nozzle and the particle bed should not exceed 50 mm to ensure sufficient print quality in both shape accuracy and mechanical strength.

Single-layer core corrugated sandwich panels generally consist of a corrugated core and two layers of panels, while multi-layer core corrugated sandwich panels are formed by stacking multiple layers of panels with multiple layers of core layers. In this study, integrated multilayer core corrugated sandwich panels with different shapes of corrugated cores (triangular, trapezoidal, and rectangular) and the different number of core layers were fabricated using 3D printing technology, and the mechanical behavior of such multilayer core corrugated sandwich panels under quasi-static three-point bending was investigated using experiments and numerical simulations. The effects of core shape and number of core layers on the bending deformation process, damage mode, load carrying capacity, and bending energy dissipation capacity of multilayer core sandwich panels are discussed. Parametric design of multilayer triangular core corrugated sandwich panels was also carried out by finite element software ABAQUS. It was found that a new multilayer corrugated sandwich panel with a multi-layer core is better than the single core shape multilayer corrugated sandwich panel in terms of bending load capacity, energy dissipation capacity and deformation capacity can be obtained through the combination design of different core shapes.

The paper is devoted to the study of a high-pressure short-arc xenon discharge, which is widely used as a light source. Cathodes of such lamps are often doped with thorium for better cathode operation. As a result, thorium can evaporate into a discharge. The study is based on a model of a short-arc xenon discharge plasma, which includes presence of thorium atoms in the plasma. The data obtained show that thorium atoms strongly affect the characteristics of the plasma, reducing its temperature, changing the ionic composition near the cathode, energy balance and generation of optical radiation. Especially interesting is the case when the discharge electrodes have a different shape of the working surface: the anode has a convex or concave shape; the cathode has a different cone angle. The obtained data make it possible to propose a new way to increase the luminous efficiency of xenon lamps due to the appropriate choice of the electrodes working surface shape, which turned out to be an unexpectedly strong factor of affecting plasma characteristics. This, in turn, allows us to develop xenon lamps with the desired characteristics providing optical radiation in the required range of the spectrum and better use of energy.

Symmetry in biological and physical systems is a product of self-organization driven by evolutionary processes, or mechanical systems under constraints. Symmetry-based feature extraction or representation by neural networks may unravel the most informative contents in large image databases. Despite significant achievements of artificial intelligence in recognition and classification of regular patterns, the problem of uncertainty remains a major challenge in ambiguous data. In this study, we present an artificial neural network that detects symmetry uncertainty states in human observers. To this end, we exploit a neural network metric in the output of a biologically inspired Self-Organizing Map, the Quantization Error (SOM-QE). Shape pairs with perfect geometric mirror symmetry but a non-homogenous appearance, caused by local variations in hue, saturation, or lightness within and/or across the shapes in a given pair produce, as shown here, longer choice RT for ‘yes’ responses relative to symmetry. These data are consistently mirrored by the variations in the SOM-QE from unsupervised neural network analysis of the same stimulus images. The neural network metric is thus capable of detecting and scaling human symmetry uncertainty in response to patterns. Such capacity is tightly linked to the metric’s proven selectivity to local contrast and color variations in large and highly complex image data.

The load cell is an indispensable component of many engineering machinery and industrial automation for measuring and sensing force and torque. This paper describes the design and analysis of the strain gauge load cell, from the conceptional design stage to shape optimization (based on the finite element method (FEM) technique) and calibration, providing ample load capacity with low-cost material (aluminum 6061) and highly accurate force measurement. The amplifier circuit of the half Wheatstone bridge configuration with two strain gauges has been implemented experimentally with an actual load cell prototype. The calibration test was conducted to evaluate the load cell characteristics and derive the governing equation for sensing the unknown load depending on the measured output voltage. The measured sensitivity of the load cell is approximately 15 mV/N and 446.8 µV/V at a maximum applied load of 30 kg. The findings are supported by FEM results and experiments with an acceptable percentage of errors, which revealed an overall error of 6% in the worst situation. Therefore, the proposed load cell meets the design considerations for axial force measurement for the laboratory test bench, which has a light weight of 20 g and a maximum axial force capacity of 300 N with good sensor characteristics.

The average sizes \ {\bar{L}}_{i\ } and their dispersion W_i along the i-th axis of crystallites in powders are used to determine the X-ray diffraction sizes, D_{i\ XRD}, averaged over crystallite columns within the BWA method. Numerical calculations have been carried out for an orthorhombic lattice of crystallites, such as LiFePO4, NMC, having Lamé's g-type superellipsoid shape. For Lognormal distributions, the analytical expression for the normalized coefficient Kn is found and includes two constants. The first K_{g,0} is a constant at W→0, the second K_g is a constant depending on the g -type shape. The dependences of D_{i\ XRD} are also calculated for Normal distribution. A fairly simple equation can be obtained as a result of analytical transformations in the framework of experimentally validated approximations. However, a simpler way is to carry out numerical computer calculations with subsequent approximation of the calculated curves. Using the obtained analytical expressions to control technologies from nuclear fuel to cathode materials will improve the efficiency of flexible energy network especially storage in autonomous and standby power plants.

The biophysical consequences of nanoscale curvature have been challenging to resolve due to size-dependent membrane behavior and the experimental resolution limits imposed by optical diffraction. Recent advances in nanoengineering and super-resolution techniques have enabled new capabilities for creating and observing curvature. In particular, draping supported lipid bilayers over lithographically patterned substrates provides a model system for endocytic pits. The experiments and simulations presented below describe the possible detection of membrane curvature through fluorescence recovery after photobleaching (FRAP), fluorescence correlation spectroscopy (FCS), single particle tracking (SPT), and polarized localization microscopy (PLM). FRAP and FCS depend on diffraction-limited illumination and detection. In particular, a simulation of FRAP shows no effects on lipids diffusion due to a 50 nm diameter membrane bud at any stage in the budding process. Simulated FCS demonstrated small effects due to a 50 nm radius membrane bud that was amplified with curvature-dependent lipid mobility changes. However, PLM and SPT achieve sub-diffraction-limited resolution of membrane budding and lipid mobility through the identification of the single-lipid positions with ≤15 nm spatial and ≤20 ms temporal resolution. By mapping the single-lipid step lengths to locations on the membrane, the effects of curvature on lipid behavior have been resolved.

This article explores the cutting-edge advancement of gypsum and cement building boards infused with shape-stabilized n-octadecane, an organic phase change material (PCM). The primary focus is on improving energy efficiency and providing electromagnetic interference (EMI) shielding capabilities for contemporary buildings. The research investigates the integration of these materials into construction materials, using red-mud Carbon Foam as a stabilizer for n-octadecane (OD@CCF). Various analyses, including microstructural examination, porosity assessment, and additive dispersion, were conducted using X-ray microtomography and density measurements. Thermal conductivity measurements demonstrated the enhancement of composite boards as the OD@CCF content increased, while mechanical tests indicated an optimal additive content of up to 20%. The thermal-regulated capabilities of these advanced panels were evaluated in a custom-designed room model equipped with a homemade environmental chamber, illustrating a consistent temperature environment during heating and cooling cycles. The incorporation of OD@CCF into cement boards exhibited improved thermal energy storage properties. Moreover, the examined composite boards displayed efficient electromagnetic shielding performance within the frequency range of 3.2–7.0 GHz, achieving EMI values of approximately 18 and 19.5 dB for gypsum and cement boards, respectively, meeting the entry-level value required for commercial applications.

In this paper, we study the effect of decreasing aperture diameter on signal transmission from the scintillator to the PMT. The apertures have been inserted directly between the scintillator and the photomultiplier. Three different aperture diameters have been used over a wide energy range.A newly developed fast digital spectrometer has been utilised for experimental measurement in the radial channel of the VR-1 research reactor. The detector signals with and without inserted apertures have been measured and evaluated. The aim of our research was to determine the effect of the apertures on the spectral quality, energy range and the evaluated physical quantities.

Ultra high molecular weight polyethylene (UHMWPE) is a thermoplastic high-performance polymer in high demand for biomedicine, ship and machine building, anthropomorphic robots and smart prostheses. Highly oriented UHMWPE fibers possess record specific strength and may also be used for the fabrication of self-reinforced PE-PE composites (SRPEC). The temperature evolution study of the small-angle X-ray scattering (SAXS) signature of the supramolecular structure of UHMWPE can help reveal their important role in the mechanism of the shape memory effect in SRPEC. The laboratory SAXS–WAXS beamline XEUSS 3.0 was used for in situ studies of the nanostructure parameters in unidirectional SRPEC. Namely, the radius of gyration and the dimensionality factor were extracted from 2D SAXS patterns using several fitting algorithms. Significant changes of these parameters occurred in temperature ranges that correspond to the initiation of the shape memory effect and melting. The relationship between the material anisotropy and 2D SAXS patterns are discussed in the context of the supramolecular structure evolution.

Object-level Simultaneous Localization and Mapping (SLAM) has gained popularity in recent years since it can provide a means for intelligent robot-to-environment interactions. However, most of these methods assume that the distribution of the errors is gaussian. This assumption is not valid under many circumstances. Further, these methods use a delayed initialization of the objects in the map. During this delayed period, the solution relies on the motion model provided by an Inertial Measurement Unit (IMU). Unfortunately, the errors tend to accumulate quickly due to the dead-reckoning nature of these motion models. Finally, the current solutions depend on a set of salient features on the object’s surface and not the object’s shape. This research proposes an accurate object-level solution to the SLAM problem with a 4.1 to 13.1 cm error in the position (0.005 to 0.021 of the total path). The developed solution is based on Rao-blackwellized Particle Filtering (RBPF) that does not assume any predefined error distribution for the parameters. Further, the solution relies on the shape and thus can be used for objects that lack texture on their surface. Finally, the developed tightly coupled IMU/camera solution is based on an undelayed initialization of the objects in the map.

Human-to-human communication via the computer is mainly done using a keyboard or microphone. In the field of Virtual Reality (VR), where the most immersive experience possible is desired, the use of a keyboard contradicts this goal, while the use of a microphone is not always desirable (e.g. silent commands during task force training) or simply not possible (e.g. if the user has a hearing loss). Data gloves help to increase immersion within the VR as they correspond to our natural interaction. At the same time, they offer the possibility to accurately capture hand shapes, such as those used in non-verbal communication (e.g. thumbs up, okay gesture, ...) and in sign language. In this paper, we present a hand shape recognition system using Manus Prime X data gloves, including data acquisition, data preprocessing, and data classification to enable nonverbal communication within VR. We investigate the impact on accuracy and classification time of using an Outlier Detection and a Feature Selection approach in our data preprocessing. To obtain a more generalized approach, we also studied the impact of artificial Data Augmentation, i.e., we create new artificial data from the recorded and filtered data to augment the training dataset. With our approach, 56 different hand shapes could be distinguished with an accuracy of up to 93.28%. With a reduced number of 27 hand shapes, an accuracy of up to 95.55% could be achieved. Voting Meta-Classifier (VL2) has proven to be the most accurate, albeit slowest, classifier. A good alternative is Random Forest (RF), which was even able to achieve better accuracy values in a few cases and was generally somewhat faster. Outlier Detection has proven to be a effective approach, especially in improving classification time. Overall, we have shown that our hand shape recognition system using data gloves is suitable for communication within VR.

The ocean of the planet Earth, which is as thin as a cicada's wings, play a role of catalyst to the evolving of the ancient plates. The ocean and the ancient plates of the planet Earth formed a magic Whirlpool of the Cross “十” shape with double whirl arms. The central core of the Cross “十” shape Ocean-Plate Whirlpool is the Hint Black Hole (HBH) located at the Northwestern Pacific Ocean floor which is decorated with invisible geological age distribution of clam shell. The double whirl arms of ancient plates are distinguished to be left and right at Bering Strait and just formed the ring of fire of the Pacific Ocean.The Cross “十” shape Ocean-Plate Whirlpool of the planet Earth was born at the equatorial area about 66 Ma ago and is rotating anticlockwise and drifting northward by a mini footprint of spiral at s speed of as slow as a snail moves. Obviously, it would come to an end at the North Pole about 100 Ma in the future. So, the lifespan of the Cross “十” shape Ocean-Plate Whirlpool would be about 166 Ma, from birth to death on the planet Earth.What is hidden behind of the evolving of the oceans and the ancient plates is the golden law of geometrical progression of ladder pagoda of attributes evolving of them, which is “1➨2➨4➨2➨1”, including upgrading and downgrading process. It seems to hint that what is happening on the planet Earth, including the top-level species of human race, is actually unique in the Milky Way galaxy in essence.The property roles of expanding and shrinking are existing in the Cross “十” shape Ocean-Plate Whirlpool by face to face and the exchange of property roles took place tens of millions of years ago. And that situation would happen again tens of millions of years in the future. It seems a giant circle of evolving of the exchange of property roles would be drawn by the Cross “十” shape Ocean-Plate Whirlpool in her lifetime.