Search Results (4,532)

Autonomous landing capability is crucial for fully autonomous UAV flight. Currently, most solutions use either color imaging from a camera pointed down, lidar sensors, dedicated landing spots, beacons, or a combination of these approaches. Classical strategies can be limited by either no color data when lidar is used, limited obstacle perception when only color imaging is used, a low field of view from a single RGB-D sensor, or the requirement for the landing spot to be prepared in advance. In this paper, a new approach is proposed where an RGB-D camera mounted on a gimbal is used. The gimbal is actively actuated to counteract the limited field of view while color images and depth information are provided by the RGB-D camera. Furthermore, a combined UAV-and-gimbal-motion strategy is proposed to counteract the low maximum range of depth perception to provide static obstacle detection and avoidance, while preserving safe operating conditions for low-altitude flight, near potential obstacles. The system is developed using a PX4 flight stack, CubeOrange flight controller, and Jetson nano onboard computer. The system was flight-tested in simulation conditions and statically tested on a real vehicle. Results show the correctness of the system architecture and possibility of deployment in real conditions. Full article

Background/Objectives: Systemic lupus erythematosus (SLE) is associated with impaired functional capacity, persistent fatigue, and poor health-related quality of life despite advances in pharmacological therapy. Exercise training has been proposed as a non-pharmacological intervention, but its efficacy and safety remain incompletely defined. This systematic review aimed to evaluate the effects of exercise training on functional aerobic capacity and quality of life in adults with SLE. Methods: A comprehensive search of PubMed, EMBASE, Cochrane Library, and PEDro was conducted to identify randomized controlled trials published up to October 2022, in accordance with the PRISMA guidelines. Results: Twelve randomized controlled trials involving 619 participants were included. Exercise interventions were heterogeneous and comprised aerobics, resistance, combined programs, vibration training, home-based protocols, and counseling strategies, with durations ranging from 6 weeks to 12 months. Supervised aerobic and combined interventions consistently improved functional aerobic capacity, while quality of life benefits were reported across several domains, particularly physical health, vitality, and fatigue. Additional positive effects were observed on fatigue, depression, pain, sleep, insulin sensitivity, and self-care ability, without evidence of increased disease activity. Conclusions: Structured exercise is safe and can meaningfully enhance functional capacity and quality of life in patients with SLE, supporting its incorporation into multidisciplinary clinical management. Full article

Background/Objectives: Late-onset neonatal sepsis (LOS) remains a leading cause of morbidity and mortality in very low birth weight (VLBW) infants (<1500 g and/or gestational age <32 weeks), with limited preventive strategies. We evaluated whether early enteral bovine lactoferrin (bLf), given its antimicrobial, immunomodulatory, and antioxidant properties, reduces LOS and improves immunologic, antioxidant, and hematologic markers in these infants. Methods: In this randomized, double-blind, placebo-controlled trial, 103 VLBW infants received bLf (150 mg/kg/day; n = 50) or the placebo (n = 53) within 72 h of birth for four weeks or until discharge. Outcomes included culture-confirmed LOS, mortality, and major morbidities. Risk ratios (RRs) were calculated, adjusting for gestational age, human milk intake, and ventilatory support when ≥25 events occurred. Pre/post changes in cytokines, total antioxidant capacity (TAC), and hemoglobin (Hb) were analyzed for interaction effects (time x intervention). Results: bLf reduced LOS (adjusted RR 0.54; 95% CI 0.31–0.93; p = 0.028), without differences in other morbidities or mortality. bLf preserved MCP-1 levels, declining in the placebo group (interaction p = 0.022). Among LOS infants receiving bLf, IL-6 remained stable and MCP-1 increased, while both declined in other groups (interaction p = 0.007 for IL-6; p = 0.052 for MCP-1). Although TAC showed a non-significant interaction, the placebo group declined (p = 0.002), while bLf remained stable (p = 0.400) in the post hoc analysis. In non-transfused infants, bLf increased Hb by 0.9 g/dL vs. controls (p = 0.028). Conclusions: Early bLf supplementation safely reduces LOS in VLBW infants and may support immunologic, antioxidant, and hematologic stability. Full article

Background: Intervertebral disc degeneration (IVDD) is closely linked to low back pain (LBP), a leading cause of disability worldwide. IVDD is characterized by the loss of proteoglycans (PGs), extracellular matrix (ECM) degradation, and reduced hydration of the nucleus pulposus (NP). Extracellular vesicles (EVs) derived from human umbilical cord mesenchymal stem cells (hUC-MSCs) exhibit tissue repair and immunomodulatory effects and are emerging as promising cell-free therapeutics. Methods: We established a rat IVDD model via fluoroscopy-guided needle puncture of three consecutive coccygeal discs and confirmed degeneration through Alcian Blue and hematoxylin & eosin (H&E) staining. The gene expression of inflammatory and pain markers (ADRβ2, COMP, CXCL1, COX2, PPTA, MMP13, YKL40) was measured by qPCR. Subsequently, we implanted hUC-MSCs or EVs to evaluate their reparative potential. Results: Upregulation of inflammatory and pain genes in IVDD was associated with an immunomodulatory response. Tracking DiI-labelled hUC-MSCs and EVs revealed enhanced survival of hUC-MSCs, retention of EVs, and dispersion within rat tail discs; EVs showed greater retention than hUC-MSCs. Implanted EVs were internalized by NP cells and remained within degenerative IVDs. EVs passively diffused, accumulated at the injury site, interacted with host cells, and enhanced function, as shown by increased expression of human chondrocyte-related markers (SOX9, TGFβ1, TGFβ2, COL2) compared to hUC-MSC treatment. Histological analysis of two weeks post-transplantation showed NP cellular patterns resembling chondromas in treated discs. EVs integrated into and distributed within degenerated NP regions, with greater glycosaminoglycan (GAG) content. Conclusions: Overall, hUC-MSC EVs demonstrated superior regenerative capacity, supporting a safe, cell-free strategy for disc repair. Full article

Robotic systems play an increasingly significant role in both education and industry; however, access to physical robots remains a challenge due to high costs and operational risks. This work presents a training platform based on Digital Twins, aimed at active learning in the control of robotic manipulators, with a focus on the UFACTORY 850 arm. The proposed approach integrates mathematical modeling, interactive simulation, and experimental validation, enabling the implementation and testing of control strategies in three virtual scenarios that replicate real-world conditions: a laboratory, a service environment, and an industrial production line. The system relies on kinematic and dynamic models of the manipulator, using maneuverability velocities as input signals, and employs ROS as middleware to link the Unity 2022.2.14 graphics engine with the control algorithms developed in MATLAB R2022a. Experimental results demonstrate the accuracy of the implemented models and the effectiveness of the control algorithms, validating the usefulness of Digital Twins as a pedagogical tool to support safe, accessible, and innovative learning in robotic engineering. Full article

Purpose: Renal angiomyolipomas (AMLs) are benign renal neoplasms that may lead to spontaneous hemorrhage. Transcatheter arterial embolization (TAE) is a nephron-sparing treatment option, yet data on predictors of hemorrhage and re-intervention remain limited. This study evaluates clinical and radiologic outcomes of TAE and identifies predictors of hemorrhage and repeat embolization. Materials and Methods: A retrospective review of 66 patients (69 AMLs) undergoing TAE between 2010 and 2024 was conducted. Clinical, radiological, and procedural variables were analyzed. Tumor size, vascularity, and aneurysmal features were assessed pre- and post-embolization. Logistic regression models identified predictors of hemorrhage and repeat TAE. Results: Pre-treatment tumor diameter was the only significant predictor of hemorrhage (p = 0.011), with a threshold of 6.8 cm yielding 84.6% sensitivity and 71.3% specificity. All hemorrhagic tumors measured ≥4 cm. Post-embolization tumor volume predicted repeat TAE (p = 0.001), with a 248 mL cutoff. TAE significantly reduced tumor diameter (−33.5%) and volume (−60%) (p < 0.001). Radiologic success was achieved in 97% of cases, with a durable success rate of 84%. Clinical success was 94%, and complications occurred in 7.2% of patients, including two major events. Conclusions: TAE is a safe and effective treatment for renal AMLs. Tumor diameter >6.8 cm is a strong predictor of hemorrhage, while larger post-embolization volumes predict the need for re-intervention. These findings challenge the conventional 4 cm treatment threshold and support more individualized management strategies incorporating tumor morphology and response to embolization. Full article

Plant-based extracts and elicitors (signaling molecules that activate the fruit’s innate defense responses) have emerged as promising and sustainable alternatives to synthetic chemicals for preserving postharvest fruit quality and extending shelf life. This review provides a comprehensive analysis, uniquely complemented by a bibliometric assessment of the research landscape from 2005 to 2025, to identify key trends and effective solutions. This review systematically examined the efficacy of various natural compounds including essential oils (complex volatile compounds with potent antimicrobial activity such as lemongrass and thyme), phenolic-rich botanical extracts like neem and aloe vera, and plant-derived elicitors such as methyl jasmonate and salicylic acid. Their preservative mechanisms are multifaceted, involving direct antimicrobial activity by disrupting microbial membranes, potent antioxidant effects that scavenge free radicals, and the induction of a fruit’s innate defense systems, enhancing the activity of enzymes like superoxide dismutase (SOD), catalase (CAT), and peroxidase (POD). Applications of edible coatings of chitosan or aloe vera gel, nano-emulsions, and pre- or postharvest treatments effectively reduce decay by Botrytis cinerea and Penicillium spp.), delay ripening by suppressing ethylene production, minimize water loss, and alleviate chilling injury. Despite their potential, challenges such as sensory changes, batch-to-batch variability, regulatory hurdles, and scaling production costs limit widespread commercialization. Future prospects hinge on innovative technologies like nano-encapsulation to improve stability and mask flavors, hurdle technology combining treatments synergistically, and optimizing elicitor application protocols. This review demonstrates the potential of continued research and advanced formulation to create plant-based preservatives, that can become integral components of an eco-friendly postharvest management strategy, effectively reducing losses and meeting consumer demands for safe, high-quality fruit. Full article

Background: Skin diseases of inflammatory origin, such as atopic dermatitis, psoriasis and acne, have a substantial prevalence in the world population. Natural products are particularly important at a topical level. Essential oils are examples of natural products and thyme in particular has been used for medicinal purposes due to its biological properties. Objectives: The aim of present work was to study the anti-inflammatory potential of Thymus mastichina essential oil, focusing on purified terpene-rich fractions. whose major compounds were thymol and linalool, eucalyptol and α-terpineol, and γ-terpinene and terpinolene, respectively. Additionally, a phytocannabinoid formulation containing cannabidiol (CBD) and cannabigerol (CBG) was evaluated to explore potential synergistic effects. Methods: Thymus mastichina essential oil was extracted and purified to obtain terpene-enriched fractions, which were used to develop three distinct formulations. These were screened for antioxidant activity using the 2,2-diphenyl-1-picrylhydrazyl (DPPH) assay and assessed for cytotoxicity in HaCaT human keratinocytes. Anti-inflammatory potential was evaluated via gene expression. Selected thyme formulations—alone or in combination with CBD/CBG—were also tested in vivo using a mouse model of acute skin inflammation. Results: The antioxidant activity of the three formulations showed a reduction in DPPH radicals. In addition, the formulations demonstrated to be safe in vitro in the human keratinocyte cell model HaCaT. Under PMA-induced inflammatory stress, the fractions modulated-inflammatory gene expression to varying degrees While terpene fractions alone showed moderate activity, their combination with CBD/CBG enhanced the anti-inflammatory response. In vivo, the gel formulations reduced oedema in a mouse model of acute inflammation. Conclusions: The data support the safe and effective use of Thymus mastichina-derived terpene fractions for topical anti-inflammatory applications. The synergistic effect observed with CBD and CBG suggests that combining essential oil terpenes with phytocannabinoids may offer a novel therapeutic strategy for managing inflammatory skin disorders. Full article

Addressing the challenge of efficient gas control in high-gas coal mines with ultra-long panels, this study focuses on the No. 8 coal seam in the Baode Mine. A multi-parameter integrated methodology was developed to establish a hierarchical classification system of Gas Geological Units (GGUs), aiming to identify regions suitable for large-scale gas extraction. The results indicate that the overall structure of the No. 8 coal seam is a simple monocline. Both gas content (ranging from 2.0 to 7.0 m³/t) and gas pressure (ranging from 0.2 to 0.65 MPa) generally increase with burial depth. However, local anomalies in these parameters, caused by geological structures and hydrogeological conditions, significantly limit the effectiveness of large-scale drainage using ultra-long boreholes. Based on key criteria, the seam was classified into three Grade I and ten Grade II GGUs, distinguishing anomalous zones from homogeneous units. Among the Grade II units, eight (II-i to II-viii) were identified as anomalous zones with distinct geological constraints, while two (II-ix and II-x) exhibited homogeneous gas geological parameters. Practical implementation of large-scale gas extraction strategies—including underground ultra-long boreholes and a U-shaped surface well—within the homogeneous Unit II-x demonstrated significantly improved gas drainage performance, characterized by higher methane concentration, greater flow rate, enhanced temporal stability, and more favorable decay characteristics compared to conventional boreholes. These findings confirm the critical role of GGU delineation in guiding efficient regional gas control and ensuring safe production in similar high-gas coal mines. Full article

The consumption of dietary supplements is increasing worldwide, yet national data from Saudi Arabia remain limited. This study examined the prevalence, patterns, and predictors of dietary supplement use, with emphasis on vitamin intake. A cross-sectional survey was conducted among 477 adults meeting inclusion criteria. Self-reported data included demographics, supplement use in the past 12 months, types and forms consumed, frequency, motivations, and information sources. Descriptive statistics and logistic regression were applied. Overall, 58% reported using at least one supplement in the past year, with vitamins comprising 81% of use. Pills and capsules were preferred, and daily intake was most common (58%). Female gender (AOR = 2.04; 95% CI: 1.26–3.31) and higher education (AOR = 4.04; 95% CI: 1.88–8.64) significantly predicted vitamin use. Common motivations included health promotion (19%), symptom relief (24%), and physical appearance (10%), with gender differences in reasons related to general health and immunity. Nearly three-quarters of participants relied on informal sources for supplement intake. Dietary supplement use is prevalent, particularly among women and the highly educated. Targeted education and regulatory measures are needed to promote safe, informed use, aligning with the national health strategies under Saudi Vision 2030. Full article

Battery cell balancing is crucial in series-connected lithium-ion packs to maximize usable capacity, ensure safe operation, and prolong cycle life. This paper presents a comprehensive study and a novel adaptive duty-cycled hybrid balancing system that combines passive bleed resistors and an active switched-capacitor (SC) balancer, specifically designed for a 4-cell series-connected battery pack. This work also explored open circuit voltage (OCV)-driven adaptive pulse-frequency modulation (PFM) active balancing to achieve higher efficiency and better balancing speed based on different system requirements. Finally, this paper compares passive, active (SC-based), and adaptive duty-cycled hybrid balancing strategies in detail, including theoretical modeling of energy transfer and efficiency for each method. Simulation showed that the adaptive hybrid balancer speeds state-of-charge (SoC) equalization by 16.24% compared to active-only balancing while maintaining an efficiency of 97.71% with minimal thermal stress. The simulation result also showed that adaptive active balancing was able to achieve a high efficiency of 99.86% and provided an additional design degree of freedom for different applications. The results indicate that the adaptive hybrid balancer offered an excellent trade-off between balancing speed, efficiency, and implementation simplicity for 4-cell Li-ion packs, making it highly suitable for applications such as high-voltage portable chargers. Full article

Next-generation cancer immunotherapy increasingly combines tumor-targeting antibodies or antibody–drug conjugates (ADCs) with immune effector cells to enhance therapeutic precision. However, many existing approaches rely on genetic modification or complex manufacturing, limiting their clinical scalability and rapid deployment. To address this issue, we developed an antibody capture protein (ACP)-based surface engineering platform that enables the rapid, reversible, and non-genetic functionalization of NK cells with therapeutic antibodies or ADCs. This approach uses a DMPE-PEG-lipid conjugate to anchor thiolated protein A (ACP) to the NK cell membrane via hydrophobic insertion, thereby stably and selectively binding to the Fc region of IgG molecules. Using this strategy, we developed ACP-modified NK cells (AC-NKs) that can selectively capture therapeutic antibodies (trastuzumab (TZ), trastuzumab-emtansine (T-DM1), and sacituzumab (SZ)) pre-bound to each target antigen on tumor cells and induce antigen-specific cytotoxic responses. The resulting AC-NKs exhibited enhanced tumor recognition and cytotoxicity against HER2-positive and Trop-2-positive cancer cells in vitro. Compared with conventional combination therapies, AC-NKs enhanced immune activation, as demonstrated by effective delivery of cytotoxic agents, enhanced cancer cell engagement, and upregulation of CD107a expression. Notably, the system supports multiple antigen targeting and tunable antibody loading, enabling adaptation to tumor heterogeneity and resistant phenotypes. This platform might also provide a simple, scalable, and safe method for rapidly developing programmable immune cell therapies without genetic modification. Its versatility supports multi-antigen targeting and broad applicability across NK and T cell therapies, offering a promising path toward personalized, off-the-shelf chemoimmunotherapy. Full article

Cyberattacks on pipeline operational technology systems pose growing risks to energy infrastructure. This study develops a physics-informed simulation and optimization framework for analyzing cyber–physical threats in petroleum pipeline networks. The model integrates networked hydraulic dynamics, SCADA-based state estimation, model predictive control (MPC), and a bilevel formulation for stealthy false-data injection (FDI) attacks. Pipeline flow and pressure dynamics are modeled on a directed graph using nodal pressure evolution and edge-based Weymouth-type relations, including control-aware equipment such as valves and compressors. An extended Kalman filter estimates the full network state from partial SCADA telemetry. The controller computes pressure-safe control inputs via MPC under actuator constraints and forecasted demands. Adversarial manipulation is formalized as a bilevel optimization problem where an attacker perturbs sensor data to degrade throughput while remaining undetected by bad-data detectors. This attack–control interaction is solved via Karush–Kuhn–Tucker (KKT) reformulation, which results in a tractable mixed-integer quadratic program. Test gas pipeline case studies demonstrate the covert reduction in service delivery under attack. Results show that undetectable attacks can cause sustained throughput loss with minimal instantaneous deviation. This reveals the need for integrated detection and control strategies in cyber–physical infrastructure. Full article

In recent decades, simulation has emerged as a pivotal educational tool, bolstering scientific knowledge and honing decision-making skills across diverse disciplines. Surgery and flight simulators are well-known tools used to practice and train safely in surgeries and piloting. Meanwhile, the development of simulation games advances in other scientific fields, such as economics, management, engineering, and mathematics. These simulations offer learners a risk-free virtual platform to apply and refine their knowledge, leveraging animations, graphics, and interactive environments to enrich the learning experience. In engineering, while simulation is widely utilized as a powerful training tool for heavy equipment and process handling, the creation of strategy games for educational purposes is less frequent. This gap primarily stems from the challenge of converting complex engineering concepts and theories into a user-friendly yet comprehensive setup that preserves the more difficult aspects. This study adopts a design-based research approach to develop and evaluate an educational simulation game aimed at enhancing probabilistic and spatial reasoning in mineral exploration. The application generates random scenarios, within which users deploy strategies based on their knowledge, while accommodating the randomness of physical phenomena. The simulation game is adopted as an educational tool in the course “Introduction to Mineral Exploration” in the School of Mining and Metallurgical Engineering of the National Technical University of Athens. Additionally, we present the outcomes of game analytics and a qualitative evaluation derived from three workshops at higher education institutions in Greece. Full article

To address the complex trade-offs among charging efficiency, battery lifespan, energy efficiency, and safety in high-power electric vehicle (EV) fast charging, this paper presents an intelligent control framework based on contrastive learning and manifold-constrained multi-objective optimization. A multi-physics coupled electro-thermal-chemical model is formulated as a Mixed-Integer Nonlinear Programming (MINLP) problem, incorporating both continuous and discrete decision variables—such as charging power and cooling modes—into a unified optimization framework. An environment-adaptive optimization strategy is also developed. To enhance learning efficiency and policy safety, a contrastive learning–enhanced policy gradient (CLPG) algorithm is proposed to distinguish between high-quality and unsafe charging trajectories. A manifold-aware action generation network (MAN) is further introduced to enforce dynamic safety constraints under varying environmental and battery conditions. Simulation results demonstrate that the proposed framework reduces charging time to 18.3 min—47.7% faster than the conventional CC–CV method—while achieving 96.2% energy efficiency, 99.7% capacity retention, and zero safety violations. The framework also exhibits strong adaptability across wide temperature (−20 °C to 45 °C) and aging (SOH down to 70%) conditions, with real-time inference speed (6.76 ms) satisfying deployment requirements. This study provides a safe, efficient, and adaptive solution for intelligent high-power EV fast-charging. Full article