Search Results (1,621)

HiRo-SLAM is a visual-inertial SLAM system developed to achieve high accuracy and enhanced robustness. To address critical limitations of conventional methods, including systematic biases from imperfect camera models, uneven spatial feature distribution, and the impact of outliers, we propose a unified optimization framework that integrates four key innovations. First, Precise Camera Projection Modeling (PCPM) embeds a fully differentiable camera model in nonlinear optimization, ensuring accurate handling of camera intrinsics and distortion to prevent error accumulation. Second, Visibility Pyramid-based Adaptive Non-Maximum Suppression (P-ANMS) quantifies feature point contribution through a multi-scale pyramid, providing uniform visual constraints in weakly textured or repetitive regions. Third, Robust Optimization Using Graduated Non-Convexity (GNC) suppresses outliers through dynamic weighting, preventing convergence to local minima. Finally, the Point-Line Feature Fusion Frontend combines XFeat point features with SOLD2 line features, leveraging multiple geometric primitives to improve perception in challenging environments, such as those with weak textures or repetitive structures. Comprehensive evaluations on the EuRoC MAV, TUM-VI, and OIVIO benchmarks show that HiRo-SLAM outperforms state-of-the-art visual-inertial SLAM methods. On the EuRoC MAV dataset, HiRo-SLAM achieves a 30.0% reduction in absolute trajectory error compared to strong baselines and attains millimeter-level accuracy on specific sequences under controlled conditions. However, while HiRo-SLAM demonstrates state-of-the-art performance in scenarios with moderate texture and minimal motion blur, its effectiveness may be reduced in highly dynamic environments with severe motion blur or extreme lighting conditions. Full article

The shift towards the integration of and transition to renewable energy has led to an increase in renewable energy communities (RECs) and smart grids (SGs). The significance of these RECs is mainly energy self-sufficiency, energy independence, and energy autonomy. Despite this, in low- and middle-income countries and regions like Pakistan and the Middle East, SGs and RECs are still in their initial stage. However, they have potential for green energy solutions rooted in their unique geographic and climatic conditions. SGs offer energy monitoring, communication infrastructure, and automation features to help these communities build flexible and efficient energy systems. This work provides an overview of Pakistani and Middle Eastern energy policies, goals, and initiatives while aligning with European comparisons. This work also highlights technical, regulatory, and economic challenges in those regions. The main objectives of the research are to ensure that residential service sizes are optimized to maximize the economic and environmental benefits of green energy. Furthermore, in line with SDG 7, affordable and clean energy, the focus in this study is on the development and transformation of energy systems for sustainability and creating synergies with other SDGs. The paper presents insights on the European Directive, including the amended Renewable Energy Directive (RED II and III), to recommend policy enhancements and regulatory changes that could strengthen the growth of RECs in Asian countries, Pakistan, and the Middle East, paving the way for a more inclusive and sustainable energy future. Additionally, it addresses the main causes that hinder the expansion of RECs and SGs, and offers strategic recommendations to support their development in order to reduce dependency on national electric grids. To perform this, a perspective study of Pakistan’s indicative generation capacity by 2031, along with comparisons of energy capacity in the EU, the Middle East, and Asia, is presented. Pakistan’s solar, wind, and hydro potential is also explored in detail. This study is a baseline and informative resource for policy makers, researchers, industry stakeholders, and energy communities’ promoters, who are committed to the task of promoting sustainable renewable energy solutions. Full article

The Paleoproterozoic Aravalli Supergroup in northwest India hosts one of the oldest phosphorite deposits on Earth, located in the Jhamarkotra Formation, which was deposited after ca. 1762 Ma. Secondary enrichment is identified in the eastern region, resulting in upgradation of phosphate content, while primary stromatolitic columns are well-preserved in the western area of the Jhamarkotra mines. In this study, drill-core samples were collected from the unaltered western Block B and the upgraded eastern Block E to understand the alteration process. Petrographic studies reveal evidence of structural deformation and alteration. Elemental mapping of petrographic thin sections, employing SEM-EDS, indicates that dolomite has been leached out, resulting in phosphorite upgrading in the E-block. The major element oxide data support the leaching of dolomite. In the upgraded E-block, the weighted average P₂O₅ content nearly doubled (from 21% to 38%), while the MgO content decreased from 21% to 4% compared to the B-block. REE+Y contents in Block E are increased with minor Ce and Eu anomalies developed compared to the B Block. The U and Sr concentrations are also increased in Block E phosphorites. The petrographic and geochemical studies indicate that phosphorite enrichment was driven by structurally controlled, low-temperature hydrothermal alteration in the Jhamarkotra mines. Full article

The integration of artificial intelligence (AI) into marketing and sales has significantly reshaped the European digital economy, altering how companies engage with consumers and create online value. This research examines the impact of AI adoption on e-commerce performance across the 27 EU member states. Drawing on Eurostat data, it applies advanced statistical methods, including factor analysis, structural equation modeling (SEM), and cluster analysis, to examine the links among AI-powered business practices, digital engagement, and e-commerce outcomes. The results reveal a strong positive association between AI use in marketing and e-commerce sales, underscoring the mediating role of consumer digital behavior. Regional disparities are also evident: Northern and Western European economies lead in AI adoption and digital maturity, while Southern and Eastern nations show emerging potential for rapid growth. Overall, the study emphasizes that AI-driven marketing boosts e-commerce growth and digital competitiveness, aligning with the European Union’s broader goals of fostering innovation and technological integration. Full article

This paper introduces a mathematical model to assess the polluting impact of the decarbonization options for medium-sized High-Speed Crafts in the EU, and their consequences in terms of Market-Based Measure costs and Goal-Based Measure compliance under expected regulatory scenarios. This model is applied to a particular European High-Speed Craft operating in the Canary Islands. Considering slow steaming along with High Speed Craft’s retrofitting with alternative technologies for its electricity supply, we conclude that green H₂ fuel Cells provide the greatest environmental advantage by comparison with slow steaming alone, achieving a 6.96% improvement in emissions and savings under European Market-Based Measures of 39.76% by 2033. The expected regulative progression involves a 5.90% improvement in the Market-Based Measure costs’ convergence with the actual pollution impact of High-Speed Crafts. The findings warn about the pressing need to review the implementation of On-Shore Power Supply emissions into the Fuel EU fines, and about a concerning pull effect for the most polluting European High-Speed Crafts are moved towards the outermost regions of the EU due to their permanent exceptions from the application of the European Market-Based Measures. Full article

Pear cultivation in Greece, with an annual production of approximately 81,000 tonnes, constitutes a significant segment of the national fruit industry, particularly in Northern regions such as Macedonia and Thessaly. Despite ranking 8th in the EU in terms of pear production, Greece’s cultivated area is slightly declining, and adoption of smart agriculture technologies (SAT) remains limited. In this context, the present study investigates the preferences, patterns, and barriers of SAT adoption within the Greek pear sector, aiming to lay the groundwork for more effective digital transformation in the agri-food domain. Using a structured interview-based survey, data were collected from 30 pear growers, revealing critical insights into the technological landscape of the sector. A central challenge that emerged was the insufficient internet connectivity in rural farming areas, highlighting the urgent need for improved digital infrastructure to support SAT deployment. Furthermore, the study emphasizes the importance of targeted education and awareness programs to bridge the digital knowledge gap among pear farmers. An especially notable finding concerns the role of the chosen tree training system in influencing SAT uptake: more than 50% of adopters utilize the palmette training system, suggesting a strong correlation between orchard design and technological readiness. Among the SAT categories, Data Analytics and Farm Management Software were the most widely adopted, a trend partly driven by attractive governmental subsidies of €30 per hectare. Importantly, all respondents who had implemented SAT (100%) reported a measurable increase in farm income, reinforcing the technologies’ impact on productivity and profitability. Foremost among the challenges encountered is the deficit in technical knowledge and training. In conclusion, this study offers a comprehensive overview of Greek pear producers’ perceptions, challenges, and emerging opportunities related to smart agriculture. Full article

This study presents the first comprehensive assessment of per- and polyfluoroalkyl substances (PFAS) in surface waters of northern Serbia (Middle Danube region), combining targeted analysis of 25 PFAS with high-resolution mass spectrometry suspect screening (SSA) at 12 settlement-adjacent sites on major rivers and part of the Danube–Tisa–Danube (DTD) canal network. The sum of 10 quantified PFAS showed pronounced spatial variability: the Great Bačka Canal (GBC) exhibited the highest mean and maximum values (18.4 ng/L and 52.6 ng/L, respectively); the Danube averaged 9.05 ng/L (2.92–22.2 ng/L); the Tisa averaged 10.5 ng/L (4.53–16.5 ng/L); and the Sava and Tamiš exhibited the lowest means (~5.4 ng/L each). In total, 19 of 24 sites exceeded the proposed EU group Environmental Quality Standard (EQS) of 4.4 ng/L, expressed as PFOA-equivalents, with exceedances of 5.4–20.2 ng/L; PFOS exceeded the 0.65 ng/L inland surface water annual average (AA) EQS in 17 samples. SSA expanded coverage beyond targets, revealing ultra-/short-chain PFAS and replacements, with TFA as the most abundant (337–1165 ng/L; mean 513 ng/L) and notable maxima for PFPrA (51.3 ng/L), ADONA (24.9 ng/L), and TFMS (11.2 ng/L). Compared with European freshwaters, the maximum obtained here lies in the lower-mid part of the reported range, consistent with short-chain perfluoroalkyl carboxylic acids (PFCA) dominance and diffuse-source influences. Full article

Hazelnut (Corylus avellana L.) is a major crop in the Caucasus region, but its safety is often threatened by Aspergillus flavus colonization and aflatoxin (AF) contamination. Although AFs are strictly regulated in the EU, the influence of post-harvest practices on fungal persistence and AF accumulation remains poorly defined. A three-year study was conducted to evaluate the effects of drying protocols, storage temperature, and conservation practices on fungal growth and AF occurrence in hazelnuts from three producing regions of Azerbaijan. Freshly harvested nuts were subjected to two drying regimes: good drying (sun-exposed, mixed, protected from rewetting) and bad drying (shaded, piled, rewetted). After drying, samples were stored at cold (8–10 °C) or room temperature (18–22 °C). Fungal prevalence was determined by CFU counts with morphological and qPCR identification of Aspergillus section Flavi. AFs were quantified by HPLC, and water activity (a_w) was monitored during storage. Drying emerged as the decisive factor: bad drying consistently resulted in markedly higher fungal loads for A. section Flavi, with mean counts up to 1.5 × 10² CFU/g, compared with 2.1 × 10¹ CFU/g under good drying, representing a 7-fold increase. In contrast, storage temperature and shell condition had negligible effects when nuts were properly dried. Aflatoxins were consistently below the 5 µg/kg EU limit for AFB₁ in traced and well-dried samples, whereas market samples occasionally exhibited AFB₁ concentrations >450 µg/kg. These findings highlight drying efficiency as the key determinant of fungal persistence and AF risk in hazelnut post-harvest management. Full article

Extended stiffened end-plate bolted connections represent one of the most utilised steel connection types in seismic-prone regions, and several studies have been dedicated to the improvement of their performance. Recently, a new stiffened joint configuration, with a non-symmetric octagonal bolt arrangement, was proposed, highlighting its excellent performance in seismic scenarios. Therefore, two new design procedures according to both the European and North American codes were developed. Within this framework, the present work aims to investigate the performance of this innovative joint under column loss scenarios. A total of sixteen beam-to-column steel assemblies, defined by varying the beam depth and the design procedure, were numerically investigated using advanced FE models validated against experimental results. The numerical results show that the innovative joints exhibit a ductile behaviour, even better than traditional joints designed according to the current versions of EU and US codes. Indeed, the new bolt arrangement allows us to reduce the damage in the connection thanks to a better stress distribution among the bolts. Full article

This study examines the potential implications of the EU–Mercosur free trade agreement for the Polish horticultural sector, with particular emphasis on sustainability, trade competitiveness, and structural complementarities between the regions. Drawing on production, trade, and demographic data for the EU, Poland, and Mercosur countries, the analysis evaluates the alignment of horticultural supply and demand structures, the degree of intra-industry exchange, and the economic conditions shaping bilateral trade. The research applies the Grubel–Lloyd index and a Poisson Pseudo-Maximum Likelihood (PPML) gravity model to assess the determinants of Poland’s horticultural exports to Mercosur. The results indicate that trade remains predominantly inter-industry, reflecting substantial differences in agricultural specialisation and regulatory frameworks. At the same time, rising income levels in Mercosur, together with selected product-level complementarities, indicate emerging export opportunities for Poland. Poland’s trade with the Southern Common Market remains mainly as inter-industry, with the greatest export potential concentrated in high-value-added processed goods. Divergent sustainability standards, particularly in pesticide use, environmental regulation, and carbon-intensive transport, pose structural challenges that may affect the competitiveness and environmental footprint of expanded trade. Overall, the findings provide evidence that closer integration with Mercosur may support export diversification, but requires careful alignment with the EU’s sustainability objectives to ensure resilient and environmentally responsible development of the horticultural sector. Full article

Gabal (G.) Suwayqat El-Arsha contains two distinct phases of granitoids: I-type granodiorite and A-type monzogranite. Both of them experienced intense fractional crystallization that affected plagioclase, alkali feldspar, quartz, and, to a lesser degree, ferromagnesian minerals. EnMAP hyperspectral data were used to discriminate between the different granitoid types through spectral analysis, using various techniques, including the Sequential Maximum Angle Convex Cone (SMACC) method. Granodiorite has high SiO₂ (68.21–71.44 wt%), Al₂O₃ (14.29–14.92 wt%), Fe₂O₃ (1.99–3.32 wt%), and CaO (2.34–3.87 wt%), whereas monzogranite has even higher SiO₂ (73.58–75.87 wt%) and K₂O (4.28–4.88 wt%). Both granodiorite and monzogranite exhibit calc-alkaline, peraluminous to metaluminous, and medium- to high-K characteristics, with attendant enrichment of light REE and LILE and depletion of heavy REE and HFSE. A negative Eu anomaly may indicate early plagioclase fractionation, especially in the monzogranite. The I-type granodiorite is likely derived from a high-K, mafic protolith that partially melted during lithospheric delamination, leading to severe fractional crystallization in the upper crust in a post-collisional environment. In contrast, the monzogranite exhibits A-type characteristics and was likely emplaced in an anorogenic setting. Both granites were affected by several episodes of hydrothermal alteration, resulting in silicification, kaolinitization, sericitization, and chloritization. The intrusions studied here exhibit key similarities with those in the Wadi El-Hima area, including tectonic setting, petrogenetic type, Neoproterozoic age (Stage I collisional: ca. 650–620 Ma; Stage II post-collisional: ca. 630–590 Ma), and mineralogical assemblages (notably two-mica granites). These correlations suggest that both suites form part of a regionally extensive batholith composed of I- and A-type granites, stretching from north of the Marsa Alam Road (Umm Salatit–Homrit Waggat) southward to at least Wadi El-Hima. Full article

Wearable antennas for wireless sensor network (WSN) applications require circularly polarized (CP) radiation to maintain stable communication link under human body movement and complex environments. However, many existing wearable CP antennas rely on either linearly polarized (LP) or CP radiator with a single axial ratio (AR) mode combined with external polarization conversion structures, which limit the achievable axial ratio bandwidth (ARBW). In this work, an all-textile wideband CP antenna with a square-ring notched slot radiator, a 50 Ω microstrip line, and a 3 × 3 nonuniform metasurface (MTS) is proposed for 5.85 GHz WSN applications. Unlike conventional CP generation approaches, the square-ring notched slot, analyzed using characteristic mode analysis (CMA), directly excites three distinct AR modes, enabling potential wideband CP radiation. The nonuniform MTS further improves IBW performance by exciting additional surface wave resonances. Moreover, the nonuniform MTS further enhances ARBW by redirecting the incident wave into an orthogonal direction with equivalent amplitude and a 90° phase difference at higher frequency region. The proposed antenna is composed of conductive textile and felt substrates, offering flexibility for wearable applications. The proposed antenna is measured in free space, on human bodies, and fresh pork in an anechoic chamber. The measured results show a broad IBW and ARBW of 84.52% and 43.56%, respectively. The measured gain and radiation efficiency are 4.47 dBic and 68%, respectively. The simulated specific absorption rates (SARs) satisfy both US and EU standards. Full article

Heavy metals are among the most hazardous pollutants to human health and can be particularly harmful when inhaled or ingested. Therefore, the concentrations of heavy metals in fruits and vegetables grown in regions with high levels of heavy metal pollution should be carefully examined. This study investigated the variation in aluminum (Al), nickel (Ni), and zinc (Zn) concentrations by species and organ in tomatoes, peppers, eggplants, cucumbers, and corn grown near the industrial zone in Düzce, a heavily polluted city in Europe. We determined bioconcentration factors (BCFs) and translocation factors (TFs) in plant organs and assessed the health risk through the Target Hazard Quotient (THQ) and Hazard Index (HI). The results show that Al pollution in the region significantly exceeded the World Health Organization (WHO) and European Union (EU) limit values, and accumulated in all plant organs, including fruits. Furthermore, high levels of metals were translocated from the soil into the organs of peppers and tomatoes. The HI indicated a potential non-carcinogenic health risk (HI > 1) from the consumption of tomatoes, cucumbers, and peppers, primarily driven by Ni. Based on these results, it is recommended that local authorities address Al pollution in the region, avoiding the cultivation of tomatoes and peppers and instead cultivating corn and eggplant. We also observed that Zn levels were very high in the aerial parts of the plants, reaching up to 90% compared to Ni and Al. This study underscores the need to reduce Zn absorption rates, as dietary intake can pose a significant threat to human health. Full article

Fluoride solid solutions exhibit exceptional optical and thermodynamic properties that make them valuable for advanced technological applications, and the PbF₂-EuF₃ system represents a particularly promising quasi-binary system for developing high-performance materials. However, the comprehensive understanding of the thermodynamic conditions governing phase equilibria and the precise boundaries of homogeneity regions in this system remains incomplete, limiting the rational design of single-phase materials with desired properties. Therefore, we conducted a comprehensive investigation of the thermodynamic conditions (temperature and composition) controlling the existence of cubic and rhombohedral phases within the homogeneity regions of the PbF₂-EuF₃ system. Solid solution samples were synthesized using both solid-phase synthesis and co-precipitation techniques from aqueous nitrate solutions. Phase equilibria were systematically investigated in two critical regions: the solvus line spanning 0–10 mol% EuF₃ and the ordered rhombohedral R-phase region spanning 35–45 mol% EuF₃. Structural characterization was performed at temperatures below the phase transition temperature in lead fluoride (365 °C) using X-ray phase analysis, optical probing, and Raman scattering. Our investigation successfully demonstrated the possibility of obtaining cubic preparations of high purity across the 0–37 mol% EuF₃ composition range. Additionally, we precisely defined the region of existence of the ordered rhombohedral R-phase within the concentration range of 37–39 to 43–44 mol% EuF₃. These findings provide essential thermodynamic data for the rational design of PbF₂-EuF₃ solid solutions and establish clear compositional boundaries for obtaining desired phase structures in this technologically important fluoride system. Full article

Aflatoxin M₁ (AFM₁), a hydroxylated metabolite of aflatoxin B₁ (AFB₁), is a potent hepatotoxic and carcinogenic compound frequently detected in milk and dairy products. Its thermal stability and resistance to processing make it a persistent public health concern, especially in regions prone to fungal contamination of animal feed. This review integrates bibliometric mapping (2015–2025) with toxicological and mitigation perspectives to provide a comprehensive understanding of AFM₁. The bibliometric analysis reveals a sharp global rise in research output over the last decade, with Iran, China, and Brazil emerging as leading contributors and Food Control identified as the most prolific journal. Five research clusters were distinguished: feed contamination pathways, analytical detection, toxicological risk, regulatory frameworks, and mitigation strategies. Toxicological evidence highlights AFM₁’s mutagenic and hepatocarcinogenic effects, intensified by co-exposure to other mycotoxins or hepatitis B infection. Although regulatory limits range from 0.025 µg/kg in infant formula (EU) to 0.5 µg/kg in milk (FDA), non-compliance remains prevalent in developing regions. Current mitigation approaches—adsorbents (bentonite, zeolite), oxidation (ozone, hydrogen peroxide), and biological detoxification via lactic acid bacteria and yeasts—show promise but require optimization for industrial application. Persistent challenges include climatic variability, inadequate feed monitoring, and heterogeneous regulations. This review emphasizes the need for harmonized surveillance, improved analytical capacity, and sustainable intervention strategies to ensure dairy safety and protect consumer health. Full article