Search Results (17,922)

In the context of Industry 5.0, human–robot collaboration increasingly demands intuitive, safe, and sensorless interaction for tasks such as hand-guided teaching and concurrent manipulation. However, conventional admittance control systems are prone to instability due to abrupt changes in human arm stiffness and their reliance on accurate dynamic models. To address these challenges, this paper proposes a sensorless external force estimation and variable admittance control method that models robot dynamic uncertainties and interaction forces as normally distributed stochastic quantities. An improved particle swarm optimization algorithm is introduced to calibrate the variance parameters, enhancing estimation accuracy and robustness. Furthermore, an energy-based variable admittance control strategy is developed, which preserves system passivity by adaptively adjusting inertia and damping gains based on real-time energy variations. The proposed method was validated on a redundant robot platform. Experimental results show that the external force and torque estimation errors remain below 3 N and 3 N.m, respectively, with lower detection delays and errors than those of a first-order generalized momentum observer in collision detection. Variable admittance experiments demonstrate that the system maintains passivity and stable interaction even under sudden arm stiffness changes. The approach is well-suited for industrial applications requiring safe, sensorless, and compliant human–robot collaboration. Full article

Bioaerosols released during wildland and prescribed fires may influence ecosystems, air quality, and microbial dispersal, yet their transport and deposition remain poorly understood. This study combined infrared uncrewed aircraft system (UAS) observations of a prescribed burn with the coupled fire–atmosphere model WRF-SFIRE and a Lagrangian particle model in order to evaluate how uncertainties in simulated fire behavior affect predicted bioaerosol (bacterial cell) transport and deposition. A reconstruction of the observed spatiotemporal evolution of the fire was derived from thermal UAS measurements acquired during the burn and incorporated into a WRF-SFIRE simulation, in which the modeled fire spread was constrained to follow this reconstructed progression. This benchmark run was compared with two unconstrained, fully coupled simulations that used a low and a high estimate of fuel moisture content (FMC) to represent typical uncertainty in fire rate of spread (ROS) prediction. Despite substantial differences in fire intensity and plume dynamics among the simulations, the resulting bioaerosol transport pathways and deposition patterns were broadly consistent across cases. The horizontal transport of the bioaerosols was dominated by the ambient Easterly wind and the bioaerosols were lofted by fire-affected updrafts—some exceeding 10 m/s—within the buoyant plume structure resolved in WRF-SFIRE. Deposition hot-spots appeared in consistent locations in the three simulations, especially regions where topography forced up-slope transport. Although the most intense fire produced slightly greater local deposition—likely due to a combination of stronger fire-induced downdrafts and overturning from penetration into strong vertical wind shear above the boundary layer—differences were small relative to the overall deposition footprint. These results suggested that, for burns of this scale, bioaerosol transport and deposition predictions are relatively robust to realistic uncertainties in fire-behavior modeling. This finding indicates that coupled fire–atmosphere and particle-transport modeling frameworks could be employed to quantitatively forecast microbial transport and deposition during future controlled burn experiments. Full article

Strawberry cultivation generates substantial amounts of agricultural by-products, including spent substrates and plant residues, particularly in hydroponic production systems. However, information on the occurrence and management of these by-products remains limited. This study investigated the generation, disposal practices, and chemical characteristics of by-products from hydroponic strawberry cultivation in two major strawberry-producing regions of Republic of Korea, Nonsan and Jinju. Based on national statistics and field surveys, annual by-product generation was estimated at 605,400 m³ of spent substrates and approximately 25,729 t fresh weight and 6003 t dry weight of plant residues. Disposal practices varied regionally: in Jinju, over 80% of by-products were recycled as compost or feed, whereas in Nonsan, recycling rates were lower and a considerable portion remained untreated or were improperly disposed of. Analyses of 463 pesticides and seven heavy metals (Zn, Cu, Ni, Pb, As, Cd, and Hg) confirmed concentrations below the permissible limits, supporting their chemical suitability for potential recycling use. Inorganic analyses revealed high levels of N, Ca, P, and K, suggesting their potential as alternative nutrient sources and as raw materials for recycled fertilizer or soil amendment. Because strawberry by-products are generated continuously throughout the cultivation cycle, their management requires decentralized and long-term strategies. These results provide the first comprehensive assessment of the generation scale, disposal practices, and chemical characteristics of strawberry by-products in Republic of Korea, suggesting their potential as alternative nutrient resources or raw materials for recycled fertilizer or soil amendment under appropriate pretreatment and management. Full article

Accurate identification of plant numbers is crucial for evaluating the effectiveness of mechanical rice seedling transplanting, which directly affects yield estimation and replanting decisions in precision agriculture. Conventional manual counting methods are time-consuming and labor-intensive, which hinders their application in modern agriculture, where efficiency and precision are paramount. Therefore, this study constructed a dataset based on images collected by consumer-grade Unmanned Aerial Vehicles (UAVs) and proposed an improved lightweight detection model named CLR-YOLO (Complex-scene Lightweight Rice-detection YOLO) based on the YOLOv11n. The model replaces the original C3k2 module with C3k2-PConv to improve computational efficiency while maintaining feature extraction capability. Additionally, it reconstructs the neck network using the Heterogeneous Selective Feature Pyramid Network (HSFPN) to optimize the handling of features from both large and small targets. Finally, the PConvHead detection head is designed to enhance feature utilization efficiency and reduce both false positives and missed detections in dense rice seedling scenarios. Experimental results demonstrated that CLR-YOLO achieved an average precision (AP@0.5) of 93.9%. While maintaining comparable accuracy, the model reduced parameters to 1.4 M, computational cost to 3.7 GFLOPs, and model size to 2.9 MB—reductions of 46.2%, 41.3%, and 44.2%, respectively, compared to the baseline model. This model provides significant support for rice seedling detection and offers valuable insights to assist agricultural producers in making subsequent decisions. Full article

Under the combined pressures of climate change and irrigated cropland expansion, groundwater tables are declining rapidly across arid regions, thereby intensifying water limitation in riparian ecosystems. However, the mechanisms by which dominant riparian tree species coordinate multiple functional traits to maintain carbon–water balance remains poorly understood. This study investigated coordinated ecophysiological trait shifts of Populus euphratica Oliv. along a groundwater-depth gradient (2.19, 4.88, and 7.45 m) in the middle reaches of the Tarim River (China), hereafter referred to as shallow, middle, and deep groundwater depths, respectively. We quantified photosynthetic, hydraulic, stomatal, leaf anatomical and nutrient traits, and estimated long-term intrinsic water-use efficiency (WUE_i) from foliar δ¹³C. As the groundwater table declined, (1) photosynthetic capacity and photochemical performance decreased, whereas WUE_i increased markedly from 38.5 ± 2.9 to 54.2 ± 1.0 μmol mmol⁻¹, accompanied by the lowest transpiration rate at the deep groundwater depth (4.6 ± 0.5 mmol m⁻² s⁻¹); (2) stomatal and anatomical adjustments consistent with water-loss reduction were observed, including a significant decline in stomatal density from 93.5 ± 14.5 to 79.3 ± 17.4 pores mm⁻², and reduced stomatal size and stomatal area fraction (−20.3% and −32.7%, respectively); (3) the percentage loss of hydraulic conductivity increased, whereas sapwood-specific hydraulic conductivity declined, accompanied by greater sapwood investment relative to leaf area, with Huber value rising from 0.06 ± 0.02 to 0.11 ± 0.04 mm² cm⁻² at deep water depth; and (4) chlorophyll concentrations and leaf water content declined, whereas structural investment increased, as reflected by higher specific leaf mass and leaf dry matter content, and leaf nutrients were enriched, with total nitrogen and total phosphorus increasing by 67.1% and 42.0%, respectively. Trait-WUE_i relationships further indicated that WUE_i covaried most strongly with leaf anatomical and nutrient traits. These results demonstrate that increasing groundwater depth was associated with coordinated shifts in carbon assimilation, water-use regulation, hydraulic function, and nutrient allocation in P. euphratica. Such trait coordination may help explain how this species persists under chronic water limitation in arid riparian forests. Full article

Coastal erosion poses a growing threat to natural systems and critical infrastructures, particularly in touristic coastal areas where beaches represent both ecological assets and economic resources. Beyond shoreline retreat, erosion processes progressively reduce emerged beach surfaces and increase the exposure and vulnerability of coastal roads, railways, and urban settlements, with cascading socio-economic consequences. This study presents an integrated geomorphological and economic assessment of coastal erosion impacts. The Coastal Degradation Calculator (CoDeC) is applied along the Tyrrhenian coast of southern Italy, focusing on the municipality of San Lucido. Shoreline variations are quantified to reconstruct long-term changes in the Surface of the Emerged Beach (SEB) before and after major coastal defense interventions using multi-temporal remote sensing data (1954–2018). Simple, science-based box models are implemented to estimate sediment deficits, restoration needs, and associated economic damages, expressed in both €/m² and €/year. Results highlight a reduction in SEB area exceeding 60%, significant downdrift erosion linked to hard defenses and additional losses caused by coastal urbanization. The methodology proved effective in supporting damage quantification and informed the resolution of a long-standing legal dispute between public authorities. Owing to its transparency and reproducibility, the proposed framework offers a transferable tool for coastal risk assessment and management under increasing climate-driven pressures. Full article

Obesity represents a major public health crisis in Mexico, affecting over 70% of adults, and although strength training is effective for improving body composition, direct maximal strength testing (1RM) poses risks in this population. Mobile applications have emerged as popular tools for exercise prescription, yet their effectiveness compared to supervised, scientifically-based protocols remains unknown. To compare the effects of a supervised strength training program based on indirect 1RM estimation (S1RM group) versus a mobile application-generated program (App group) on body composition, anthropometric measures, and strength gains in male adults with obesity. Twenty male participants (BMI ≥ 30 kg/m²) were randomly assigned to either the S1RM group or the App group. Both groups trained three times per week for 12 weeks. Body composition (bioelectrical impedance), anthropometric measures (waist and hip circumference), and estimated 1RM were assessed pre- and post-intervention. A mixed repeated-measures ANOVA (Group × Time) was conducted, with effect sizes (${\eta }^2$p) and 95% confidence intervals calculated. Both groups showed significant improvements in most outcomes (p < 0.05). However, significant group × time interactions favored the S1RM group for waist circumference (F(1,18) = 14.50, p = 0.001, ${\eta }^2$p = 0.45) and hip circumference (F(1,18) = 217.90, p < 0.001, ${\eta }^2$p = 0.92). A significant between-group difference was also observed for visceral fat (F(1,18) = 4.91, p = 0.040, ${\eta }^2$p = 0.21). For muscle and fat mass, interactions showed large effect sizes (${\eta }^2$p = 0.18–0.19) with trends toward significance (p = 0.057–0.096). Strength increased significantly in all exercises for the S1RM group (14.9–22.0%, p < 0.01). These findings support the implementation of indirect 1RM estimation methods in obesity populations and highlight the added value of professional supervision in strength training programs. Full article

The development of high-viscosity oil fields requires technologies that provide not only the thermal mobilization of oil, but also an economically justified level of production with a high energy intensity of the process. One of the most effective technologies of this type is steam-assisted gravity oil drainage (SAGD), but its practical effectiveness is determined by the combined influence of reservoir geology, heat-transfer parameters, and market conditions. The paper proposes a reduced physics-guided model for the rapid technical and economic screening of SAGD in high-viscosity oil fields. The methodological contribution lies in linking geological screening, steam energy input, useful heat delivered to the reservoir, production response, and operating profit within one interpretable analytical chain suitable for pre-feasibility assessment. The study is based on an extended-scenario thermoeconomic analysis of representative heavy-oil development conditions. It is shown that, in a favorable mode, at a depth of about 400 m, oil viscosity of 15,000 cP, steam consumption of 500 t/day and heat-transfer coefficient of 0.7, the estimated production reaches 513–520 t/day, and the net profit is 20,000–22,000 USD/day. In an unfavorable mode, with a depth of about 1000 m, a viscosity of 20,000 cP, a heat-transfer coefficient of 0.4, and a high steam cost, production decreases to 210–230 t/day, and the economic result becomes negative. It has been established that the cost of steam, heat transfer, and the price of oil have a decisive impact on profitability. Full article

Background/Objectives: Distal cholangiocarcinoma is a rare biliary tract cancer typically treated with pancreaticoduodenectomy. Comparative evidence specifically addressing minimally invasive versus open pancreaticoduodenectomy for this disease remains scarce. Methods: We conducted an updated systematic review and pairwise meta-analysis of comparative studies limited to distal cholangiocarcinoma. Binary outcomes were summarized as odds ratios, continuous outcomes as mean differences, and overall survival as hazard ratios. The primary survival analysis included only directly reported hazard ratios from prespecified matched or weighted cohorts; hazard ratios reconstructed from Kaplan–Meier curves were examined only in sensitivity analyses. Results: Six retrospective comparative studies involving 1623 patients met the inclusion criteria. Minimally invasive surgery was associated with lower blood loss (mean difference, −104.93 mL; 95% CI, −145.30 to −64.57; I² = 16.3%). No clear differences were found in clinically relevant postoperative pancreatic fistula (odds ratio, 1.03; 95% CI, 0.85 to 1.25), major morbidity (odds ratio, 0.96; 95% CI, 0.64 to 1.43), or R0 resection (odds ratio, 1.22; 95% CI, 0.96 to 1.56). In the primary overall survival analysis based on directly reported hazard ratios, the pooled hazard ratio was 0.93 (95% CI, 0.57 to 1.52; I² = 1.3%). In the sensitivity analysis incorporating eligible reconstructed hazard ratios, the pooled hazard ratio was 0.88 (95% CI, 0.73 to 1.05). In an exploratory recurrence-related survival family analysis based on directly reported estimates, the pooled hazard ratio was 0.95 (95% CI, 0.83 to 1.07; I² = 0.0%). Conclusions: Minimally invasive pancreaticoduodenectomy may reduce blood loss without clear evidence of worse major postoperative or oncologic outcomes in distal cholangiocarcinoma. However, the available evidence is entirely observational and should be interpreted with caution. Full article

This paper introduces a rigorous class of two-dimensional Markov-switching autoregressive moving-average (2D MS-ARMA) models for spatial lattice data exhibiting regime-dependent dynamics. The switching mechanism is governed by a latent causal Markov random field that drives spatial transitions between regime-specific autoregressive and moving-average structures. We provide sufficient conditions for the existence of a strictly stationary solution through the top Lyapunov exponent associated with a sequence of random matrices obtained from a state-space representation constructed along the lexicographic order. For the first-order bidirectional specification, we derive explicit spectral conditions linking stationarity to the regime-dependent spectral radii. Sufficient conditions ensuring the existence of finite second-order moments are also provided. Parameter estimation is carried out using a variational expectation–maximization (VEM) algorithm based on a mean-field approximation of the posterior distribution of the hidden regimes. The E-step yields closed-form coordinate ascent updates, while the M-step relies on gradient-based numerical optimization with derivatives computed via recursive differentiation. Under increasing-domain asymptotics, we discuss the consistency and asymptotic behavior of the variational estimator. The proposed framework fills a methodological gap between classical one-dimensional Markov-switching ARMA models and spatial autoregressive structures by extending regime-switching theory to multi-indexed processes with rigorous probabilistic foundations. It provides a comprehensive basis for statistical inference, model diagnostics, and prediction in spatially heterogeneous environments. Full article

Licania tomentosa leaf extract was used to synthesize zinc oxide nanoparticles (ZnO NPs) which were systematically analyzed by X-ray diffraction (XRD), scanning electron microscopy (SEM), UV-Visible (UV-Vis) and Fourier transform infrared (FT-IR) spectroscopies and energy-dispersion X-ray spectroscopy (EDS) methods. Based on XRD scans, the green NPs have an average crystallite size of 15.9 nm as estimated using the Scherrer equation and have a roughly spherical shape with an average diameter of 25.15 ± 1.2 nm as calculated from SEM data. As estimated from the Tauc plot based on UV-Vis absorption spectra, ZnO NPs have a small band gap of 3.0 eV. The biosynthesized ZnO NPs were effectively utilized for the photodegradation of methylene blue (MB) and crystal violet (CV) dyes under UV illumination with resulting MB and CV degradation efficiencies of ~94% and ~81% after 60 min and 70 min, with pH = 12 and pH = 10, respectively. Different experimental parameters such as NPs quantity, experimental pH, light intensity and initial concentration of dyes were varied to test the performance of the catalyst. Furthermore, efficient recycling of the catalyst was demonstrated. We also undertook antimicrobial studies of the green ZnO NPs. The ZnO NPs demonstrated broad-spectrum antimicrobial efficacy against Escherichia coli ATCC 35218, Enterococcus faecalis ATCC 29737, Klebsiella pneumoniae ATCC 700603, Pseudomonas aeruginosa ATCC 27853, P. aeruginosa B3, Staphylococcus aureus ATCC 29213, and S. aureus SA01, with the minimum inhibitory concentration (MIC) and the inhibitory concentrations associated with 50% effect (IC50) values ranging from 250 to 2000 µg/mL and 7.74 to 283.14 µg/mL, respectively. The nanoparticles also significantly inhibited biofilm formation by E. faecalis ATCC 29737, P. aeruginosa ATCC 27856, and S. aureus SA03. The antimicrobial efficiency of the ZnO NPs against Escherichia coli ATCC 25922 and Staphylococcus aureus SA03 isolates was also assessed using the disk diffusion assays. Taken together, our results reveal that the biosynthesized ZnO NPs are promising multifunctional materials with potential applications in antimicrobial treatments, biofilm control, and photocatalytic remediation. Full article

Background: Because of the increased awareness of the clinical importance of ILAs on chest CT, this study aims to determine the prevalence of ILAs in an Italian health cohort undergoing CT for a lung cancer screening (LCS) program and quantify ILA using both visual and deep learning-based analyses. Methods: In this observational, retrospective monocentric study, 500 participants (ITALUNG2, n = 100; RISP, n = 400) underwent low-dose CT (CTDI < 2mGy). Two radiologists retrospectively reviewed the images and determined the presence and extent of ILAs, classifying them as fibrotic or non-fibrotic, while a lung texture analysis was performed by using commercially available deep learning–based software. Results: ILAs were present in 34 patients (11 females and 23 males), with a prevalence of 6,8%, with similar rates across both screening cohorts taken individually. Interobserver agreement between radiologists was almost perfect, whereas concordance between visual and automated quantification was substantial. Visual assessment tended to yield higher estimates of ILA extent compared with software-based analysis. Conclusions: These findings confirm that ILAs are relatively common in LCS populations and highlight the importance of their detection and characterization, particularly for fibrotic patterns. Differences between visual and automated approaches underline the need for further refinement and validation of quantitative tools. Full article

Pulmonary hypertension (PH) can be defined as a mean pulmonary artery pressure (mPAP) greater than 20 mm Hg at rest during right heart catheterization (RHC). The reported prevalence of PH throughout the globe has been estimated to impact approximately 1% of the total population, with a majority of those afflicted being women more than men. Numerous etiologies give rise to the pathophysiology of PH, including heart disease (i.e., left-sided heart failure), lung diseases, and other unclear causes related to chronic stages and complications surrounding long-standing pulmonary thromboembolisms, side effects of certain medications, and genetic and environmental factors. Untreated PH can lead to severe morbidities such as cardio-renal syndrome and congestive hepatopathy (cardiac cirrhosis). Management of PH focuses on decreasing pulmonary pressures by using vasodilators such as prostanoids, and phosphodiesterase type 5 (PDE-5) inhibitors, as well as newer treatments such as sotatercept, which inhibits activin signaling, thereby inhibiting excessive cell growth in the pulmonary artery vasculature and down-regulating the pro-proliferative pathways. Full article

Background/Objectives: Multiple sclerosis (MS) is a chronic, demyelinating and neurodegenerative disease frequently associated with dysphagia, nutritional imbalances, and alterations in body composition. This study aims to describe the anthropometric profile and body composition in people with MS, estimate the risk and type of dysphagia, analyse dietary intake and habits, and evaluate the evolution of these parameters over six months. Methods: This descriptive analytical longitudinal study included 30 patients with MS (20 women, 10 men), with a median age of 53.3 years at baseline and 54.0 years at final assessment. The prevalence of dysphagia risk was determined, dietary patterns and body composition were characterised, and their interactions were explored through two assessments conducted six months apart. Results: Overall, 90% of the sample had relapsing–remitting MS (RRMS). At both the initial and final assessments, the median BMI was above 25 kg/m² and a high prevalence of dysphagia risk (63.3% and 76.7%), particularly for liquids. Frequent inadequacies were observed in the intake of certain macronutrients and micronutrients, including energy, fibre, potassium and magnesium. Likewise, the analysis by food groups revealed low adherence to recommendations, particularly for fruits, cereals, legumes, fish and lean meats. No significant differences were detected between the two time points. Conclusions: Dysphagia, dietary intake, habits, and body composition are interconnected dimensions in MS; systematically integrating nutritional assessment and dysphagia screening into clinical practice would contribute to a more comprehensive management and to improvements in swallowing disorders and nutritional status in people with MS. Full article

Particulate matter is a significant component of air pollutants, especially PM_2.5-bound polycyclic aromatic hydrocarbons (PAHs), due to multiple toxicological effects on organisms. In this study, the concentrations of PM_2.5-bound PAHs at the two most important ports in Mexico (Veracruz and Manzanillo) were determined to identify emission sources and evaluate potential health impacts. Average PM_2.5 concentrations were higher in Veracruz (12.90 ± 4.77 μg/m³) than in Manzanillo (10.96 ± 3.99 μg/m³), although both were below Mexico’s current air quality standards. Total PAH concentrations were also higher in Veracruz (22.14 ± 16.76 ng/m³) compared to Manzanillo (11.65 ± 9.04 ng/m³). The identified PAHs and diagnostic ratios indicated different emissions patterns: in Manzanillo, concentrations were associated with high-temperature pyrogenic sources, while in Veracruz, greater contributions from mixed sources were observed. The ILCR assessment was 4.61 × 10⁻⁷ for Manzanillo and 8.77 × 10⁻⁷ for Veracruz, both below the accepted risk threshold. Despite relatively low health risk estimates, the presence of carcinogenic PAHs, such as benzo[a]pyrene, highlights the need for continuous monitoring and mitigation strategies in port environments. These results provide pioneering, highly valuable insights into the dynamics of air pollution in these Mexican ports and their potential health implications. Full article