Search Results (1,853)

Inspection, maintenance, and repair (IMR) operations on underwater infrastructure remain costly and time-intensive because fully teleoperated remote operated vehicle s(ROVs) lack the range and dexterity necessary for precise cooperative underwater manipulation, and the alternative of using professional divers is ruled out due to the risk involved. This work presents and experimentally validates an autonomous, dual-I-AUV (Intervention–Autonomous Underwater Vehicle) system capable of assembling rigid pipeline segments through coordinated actions in a confined underwater workspace. The first I-AUV is a Girona 500 (4-DoF vehicle motion, pitch and roll stable) fitted with multiple payload cameras and a 6-DoF Reach Bravo 7 arm, giving the vehicle 10 total DoF. The second I-AUV is a BlueROV2 Heavy equipped with a Reach Alpha 5 arm, likewise yielding 10 DoF. The workflow comprises (i) detection and grasping of a coupler pipe section, (ii) synchronized teleoperation to an assembly start pose, and (iii) assembly using a kinematic controller that exploits the Girona 500’s full 10 DoF, while the BlueROV2 holds position and orientation to stabilize the workspace. Validation took place in a 12 m × 8 m × 5 m water tank. Results show that the paired I-AUVs can autonomously perform precision pipeline assembly in real water conditions, representing a significant step toward fully automated subsea construction and maintenance. Full article

Negative Ion Source Neutral beam Injection (NNBI), as a critical auxiliary heating system for magnetic confinement fusion devices, directly affects the plasma heating efficiency of tokamak devices through the reliability of its beam source system. The single-shot experiment constitutes a significant experimental program for NNBI. This study addresses the frequent equipment failures encountered by the NNBI beam source system during a cycle of experiments, employing fault tree analysis (FTA) to conduct a systematic reliability assessment. Utilizing the AutoFTA 3.9 software platform, a fault tree model of the beam source system was established. Minimal cut set analysis was performed to identify the system’s weak points. The research employed AutoFTA 3.9 for both qualitative analysis and quantitative calculations, obtaining the failure probabilities of critical components. Furthermore, the F-V importance measure and mean time between failures (MTBF) were applied to analyze the system. This provides a theoretical basis and practical engineering guidance for enhancing the operational reliability of the NNBI system. The evaluation methodology developed in this study can be extended and applied to the reliability analysis of other high-power particle acceleration systems. Full article

To reduce the carbon footprint of the concrete industry and promote a circular economy, this study explores the reuse of waste materials such as glass powder (GP) and nitrile rubber (NR) fibres in concrete. However, the inclusion of these waste materials results in lower compressive strength compared to conventional concrete, limiting their application to non-structural elements. To overcome this limitation, this study adopts the concept of confined concrete by developing concrete-filled steel tube (CFST) stub columns. In total, twelve concrete mix variations were developed, with and without steel tube confinement. GP was utilised at replacement levels of 10–30% by weight of cement, while NR fibres were introduced at 0.5% and 1% by volume of concrete. The findings demonstrate that the incorporation of GP and NR fibres leads to a reduction in compressive strength, with a compounded effect observed when both materials are combined. Steel confinement within CFST columns effectively mitigated the strength reductions, restoring up to 17% of the lost capacity and significantly improving ductility and energy absorption capacity. All CFST columns exhibited consistent local outward buckling failure mode, irrespective of the concrete mix variations. A comparison with predictions from existing design codes and empirical models revealed discrepancies, underscoring the need for refined design approaches for CFST columns incorporating sustainable concrete infill. This study contributes valuable insights into the development of eco-friendly, high-performance structural systems, highlighting the potential of CFST technology in facilitating the adoption of waste materials in the construction sector. Full article

As a novel carbon material, multi-walled carbon nanotubes (MWCNTs) have attracted significant research interest in energetic applications due to their high aspect ratio and exceptional physicochemical properties. However, their inherent structural characteristics and poor dispersion severely limit their practical utilization in solid propellant formulations. To address these challenges, this study developed an innovative reverse-engineering strategy that precisely confines MWCNTs within a three-dimensional Fe₂O₃ gel framework through a controllable sol-gel process followed by low-temperature calcination. This advanced material architecture not only overcomes the traditional limitations of MWCNTs but also creates abundant Fe-C interfacial sites that synergistically catalyze the thermal decomposition of glycidyl azide polymer-based energetic thermoplastic elastomer (GAP-ETPE). Systematic characterization reveals that the MWCNTs@Fe₂O₃ nanocomposite delivers exceptional catalytic performance for azido group decomposition, achieving a >200% enhancement in decomposition rate compared to physical mixtures while simultaneously improving the mechanical strength of GAP-ETPE-based propellants by 15–20%. More importantly, this work provides fundamental insights into the rational design of advanced carbon-based nanocomposites for next-generation energetic materials, opening new avenues for the application of nanocarbons in propulsion systems. Full article

In this position paper, we argue that the conventional understanding of ‘information’ (as generally conceived in science, in a digital fashion) is overly simplistic and not consistently applicable to living systems, which are open systems that cannot be reduced to any kind of ‘portion’ (building block) ascribed to the category of quantity. Instead, it is a matter of relationships and qualities in an indivisible analogical (and ontological) relationship between any presumed ‘software’ and ‘hardware’ (information/matter, psyche/soma). Furthermore, in biological systems, contrary to Shannon’s definition, which is well-suited to telecommunications and informatics, any kind of ‘information’ is the opposite of internal entropy, as it depends directly on order: it is associated with distinction and differentiation, rather than flattening and homogenisation. Moreover, the high degree of structural compartmentalisation of living matter prevents its energetics from being thermodynamically described by using a macroscopic, bulk state function. This requires the Second Principle of Thermodynamics to be redefined in order to make it applicable to living systems. For these reasons, any static, bit-related concept of ‘information’ is inadequate, as it fails to consider the system’s evolution, it being, in essence, the organized coupling to its own environment. From the perspective of quantum field theory (QFT), where many vacuum levels, symmetry breaking, dissipation, coherence and phase transitions can be described, a consistent picture emerges that portrays any living system as a relational process that exists as a flux of context-dependent meanings. This epistemological shift is also associated with a transition away from the ‘particle view’ (first quantisation) characteristic of quantum mechanics (QM) towards the ‘field view’ possible only in QFT (second quantisation). This crucial transition must take place in life sciences, particularly regarding the methodological approaches. Foremost because biological systems cannot be conceived as ‘objects’, but rather as non-confinable processes and relationships. Full article

Tunnel construction poses significant safety challenges due to confined spaces, limited visibility, and the dynamic movement of labourers and machinery. This study addresses a critical gap in real-time, bidirectional proximity monitoring by developing and validating a prototype early-warning system that integrates real-time location systems (RTLS) with long-range (LoRa) wireless communication and ultra-wideband (UWB) positioning. The system comprises Arduino nano microcontrollers, organic light-emitting diode (OLED) displays, and piezo buzzers to detect and signal proximity breaches between workers and equipment. Using an action research approach, three pilot case studies were conducted in a simulated tunnel environment to test the system’s effectiveness in both static and dynamic risk scenarios. The results showed that the system accurately tracked proximity and generated timely alerts when safety thresholds were crossed, although minor delays of 5–8 s and slight positional inaccuracies were noted. These findings confirm the system’s capacity to enhance situational awareness and reduce reliance on manual safety protocols. The study contributes to the tunnel safety literature by demonstrating the feasibility of low-cost, real-time monitoring solutions that simultaneously track labour and machinery. The proposed RTLS framework offers practical value for safety managers and informs future research into automated safety systems in complex construction environments. Full article

Driverless electric formula racing cars are affected by nonlinear vehicle characteristics, perturbations, and parameter uncertainties during races, which can cause problems such as low accuracy and instability in trajectory tracking. Aiming to address such problems, this paper proposes a control method combining a prescribed performance control with adaptive backstepping fuzzy control (PPC-ABFC) to solve the aforementioned issues and improve the trajectory tracking accuracy and stability of racing cars. This control method is achieved by constructing a combined error model and confining the error within a prescribed performance function. The nonlinear terms, disturbances, and unknown parameters of the model are approximated by a fuzzy logic system (FLS). An adaptive parameter update law is designed to update the learning parameters in real time. The virtual control law and the real control law were designed by using the backstepping method. The stability of the PPC-ABFC closed-loop system was rigorously proved by applying the Lyapunov stability theory. Finally, simulations were conducted to compare the proposed PPC-ABFC method with other algorithms at different speeds. The results demonstrated that the PPC-ABFC method effectively enhances the trajectory tracking performance of driverless electric formula racing cars. Full article

Based on the theory of optical sensing, we propose a high-precision plasmonic refractive index nanosensor, which consists of a symmetric rectangular waveguide and a circular ring containing a rectangular cavity. The designed novel tunable micro-resonant circular cavity filter based on surface plasmon excitations is able to confine light to sub-wavelength dimensions. The data show that different geometrical factors have different effects on sensing, with the geometry of the rectangular cavity and the radius of the circular ring being the key factors affecting the Fano resonance. Furthermore, the resonance bifurcation enables the structure to achieve a tunable dual Fano resonance system. The structure was tuned to obtain optimal sensitivity (S) and figure of merit values up to 3066 nm/RIU and 78. The designed structure has excellent sensing performance with sensitivities of 0.4767 nm·(mg/d${\mathrm{L}}^{-1}$) and 0.6 nm·(mg/d${\mathrm{L}}^{-1}$) in detecting Na⁺ and K⁺ concentrations in the electrolyte solution, respectively, and can be easily achieved by the spectrometer. The wavelength accuracy of 0.001 nm can be easily achieved by a spectrum analyzer, which has a broad application prospect in the field of optical integration. Full article

Rapid socio-economic development and the impact of human activities have exerted tremendous pressure on the groundwater system of the Dawen River Basin (DRB), the largest tributary in the middle and lower reaches of the Yellow River. Hydrochemical studies on the DRB have largely centered on the upstream Muwen River catchment and downstream Dongping Lake, with some focusing solely on karst groundwater. Basin-wide evaluations suggest good overall groundwater quality, but moderate to severe contamination is confined to the lower Dongping Lake area. The hydrogeologically complex mid-reach, where the Muwen and Chaiwen rivers merge, warrants specific focus. This region, adjacent to populous areas and industrial/agricultural zones, features diverse aquifer systems, necessitating a thorough analysis of its hydrochemistry and origins. This study presents an integrated hydrochemical, isotopic investigation and EWQI evaluation of groundwater quality and formation mechanisms within the multiple groundwater types of the central DRB. Central DRB groundwater has a pH of 7.5–8.2 (avg. 7.8) and TDSs at 450–2420 mg/L (avg. 1075.4 mg/L) and is mainly brackish, with Ca²⁺ as the primary cation (68.3% of total cations) and SO₄²⁻ (33.6%) and NO₃⁻ (28.4%) as key anions. The Piper diagram reveals complex hydrochemical types, primarily HCO₃·SO₄-Ca and SO₄·Cl-Ca. Isotopic analysis (δ²H, δ¹⁸O) confirms atmospheric precipitation as the principal recharge source, with pore water showing evaporative enrichment due to shallow depths. The Gibbs diagram and ion ratios demonstrate that hydrochemistry is primarily controlled by silicate and carbonate weathering (especially calcite dissolution), active cation exchange, and anthropogenic influences. EWQI assessment (avg. 156.2) indicates generally “good” overall quality but significant spatial variability. Pore water exhibits the highest exceedance rates (50% > Class III), driven by nitrate pollution from intensive vegetable cultivation in eastern areas (Xiyangzhuang–Liangzhuang) and sulfate contamination from gypsum mining (Guojialou–Nanxiyao). Karst water (26.7% > Class III) shows localized pollution belts (Huafeng–Dongzhuang) linked to coal mining and industrial discharges. Compared to basin-wide studies suggesting good quality in mid-upper reaches, this intensive mid-reach sampling identifies critical localized pollution zones within an overall low-EWQI background. The findings highlight the necessity for aquifer-specific and land-use-targeted groundwater protection strategies in this hydrogeologically complex region. Full article

The development of deep coalbed methane (buried depth > 2000 m) in the Yan’an block of Ordos Basin is limited by low permeability, the pore structure of the coal reservoir, and the gas–water occurrence relationship. It is urgent to clarify the key control mechanism of pore structure on gas migration. In this study, based on high-pressure mercury intrusion (pore size > 50 nm), low-temperature N₂/CO₂ adsorption (0.38–50 nm), low-field nuclear magnetic resonance technology, fractal theory and Pearson correlation coefficient analysis, quantitative characterization of multi-scale pore–fluid system was carried out. The results show that the multi-scale pore network in the study area jointly regulates the occurrence and migration process of deep coalbed methane in Yan’an through the ternary hierarchical gas control mechanism of ‘micropore adsorption dominant, mesopore diffusion connection and macroporous seepage bottleneck’. The fractal dimensions of micropores and seepage are between 2.17–2.29 and 2.46–2.58, respectively. The shape of micropores is relatively regular, the complexity of micropore structure is low, and the confined space is mainly slit-like or ink bottle-like. The pore-throat network structure is relatively homogeneous, the difference in pore throat size is reduced, and the seepage pore shape is simple. The bimodal structure of low-field nuclear magnetic resonance shows that the bound fluid is related to the development of micropores, and the fluid mobility mainly depends on the seepage pores. Pearson’s correlation coefficient showed that the specific surface area of micropores was strongly positively correlated with methane adsorption capacity, and the nanoscale pore-size dominated gas occurrence through van der Waals force physical adsorption. The specific surface area of mesopores is significantly positively correlated with the tortuosity. The roughness and branch structure of the inner surface of the channel lead to the extension of the migration path and the inhibition of methane diffusion efficiency. Seepage porosity is linearly correlated with gas permeability, and the scale of connected seepage pores dominates the seepage capacity of reservoirs. This study reveals the pore structure and ternary grading synergistic gas control mechanism of deep coal reservoirs in the Yan’an Block, which provides a theoretical basis for the development of deep coalbed methane. Full article

Autonomous drones may be called on to perform search-and-rescue operations in environments without access to signals from the global navigation satellite system (GNSS), such as underground mines, subterranean caverns, or confined tunnels. While technology to perform such missions has been demonstrated at events such as DARPA’s Subterranean (Sub-T) Challenge, the hardware deployed for these missions relies on heavy and expensive sensors, such as LiDAR, carried by costly mobile platforms, such as legged robots and heavy-lift multicopters, creating barriers for deployment and training with this technology for all but the wealthiest search-and-rescue organizations. To address this issue, we have developed a custom four-rotor aerial drone platform specifically built around low-cost low-weight sensors in order to minimize costs and maximize flight time for search-and-rescue operations in GNSS-denied environments. We document the various issues we encountered during the building and testing of the vehicle and how they were solved, for instance a novel redesign of the airframe to handle the aggressive yaw maneuvers commanded by the FUEL exploration framework running onboard the drone. The resulting system is successfully validated through a hardware autonomous flight experiment performed in an underground environment without access to GNSS signals. The contribution of the article is to share our experiences with other groups interested in low-cost search-and-rescue drones to help them advance their own programs. Full article

The scientific literature currently lacks studies that evaluate the nutritional composition of the tissues of cattle raised in different systems, so that the nutritional effects can be known and used to enhance consumption and use in the diet. The aim was therefore to assess whether the mineral content of muscle tissue (longissimus lumborum) in cattle finished during the rainy season in the Eastern Amazon is influenced by different farming systems. The treatments consisted of four systems (three pasture production systems and one feedlot system). 1. native wetland pasture in Santa Cruz do Arari (Mesoregion of Marajó); 2. native wetland pasture in Monte Alegre (Mesoregion of Baixo Amazonas); 3. cultivated dryland pasture in São Miguel do Guamá (Mesoregion of Nordeste Paraense); and 4. Confinement in Santa Izabel do Pará (Metropolitan Region of Belém). The analyses were carried out on samples of the longissimus lumborum muscle tissue of 48 male, castrated, crossbred Nelore cattle, twelve per breeding system, from commercial farms, destined for meat production, finished during the rainiest period of the year (between January and June). In systems 1 and 2, the animals were slaughtered in licensed slaughterhouses; the animals in systems 3 and 4 were slaughtered in commercial slaughterhouses. Food sampling and chemical analysis, soil sample collection and analysis, longissimus lumborum muscle tissue collection, sample preparation and digestion, and inductively coupled plasma optical emission spectrometry were evaluated. The experimental design was completely randomized in a linear model with four rearing systems and one period (rainy). The data was compared using the Statistical Analysis Systems (SAS) program. All analyses were carried out considering a significance level of 0.05. Samples of the diets offered (pasture and concentrate) were also collected. The Amazon systems influenced the macro- and micromineral content in the muscles of cattle (p < 0.05). The interaction between pasture systems vs. confinement showed differences in the minerals calcium (Ca), magnesium (Mg), phosphorus (P), copper (Cu), zinc (Zn), iron (Fe), and manganese (Mn) (p < 0.05). However, there was no difference in the values of sodium (Na), potassium (K), and sulfur (S) between the rearing systems (p > 0.05). By contrast, the cultivated pasture system vs. extensive pasture showed differences in all the elements evaluated (p < 0.05). The rearing systems of the Eastern Amazon influenced the mineral content of beef, which continues to be an excellent source of macro- and microminerals and can compose the human diet. Full article

Relaxation behavior of water confined in reverse micelles under temperature-induced micelle clustering is undertaken using broadband dielectric spectroscopy in frequency range 1 Hz–20 GHz. All microemulsion systems with sufficiently noticeable micelle water pool (water/surfactant molar ratio W > 10) depict three relaxation processes, in low, high and microwave frequencies, anchoring with relaxation of shell (bound) water, orientation of surfactant anions at water-surfactant interface and relaxation of bulk water confined in reverse micelles. The analysis of dielectric relaxation processes in AOT-based w/o microemulsions under temperature induced clustering of reverse micelles were made according to structural information obtained in NMR and conductometry experiments. The “wait and switch” relaxation mechanism was applied for the explanation of results for water in the bound and bulk states under spatial limitation in reverse micelles. It was shown that surfactant layer predominantly influences the bound water. The properties of water close to AOT interface are determined by strong interactions between water and ionic AOT molecules, which perturb water H-bonding network. The decrease in micelle size causes a weakening of hydrogen bonds, deformation of its steric network and reduction in co-operative relaxation effects. Full article

Foundation pit pumping induces groundwater drawdown both inside and outside the pit, consequently causing surrounding land subsidence. Based on actual engineering cases, this study established a three-dimensional numerical model using ABAQUS software (version 6.14-4) to systematically investigate the temporal evolution of groundwater drawdown and land subsidence during pit pumping, while quantifying the relationship between drawdown and subsidence stabilization time under different parameters. The key findings are as follows: (1) land subsidence stabilization time (50 days) is governed by external phreatic layer response, reaching 2.3 times longer than isolated aquifer conditions (22 days); (2) medium-permeability strata (0.01–10 K_0,AdII) showed peak sensitivity to drawdown–subsidence coupling; (3) pumping from a confined aquifer extends the subsidence stabilization time by a factor of 1.1 compared to phreatic aquifer conditions. These findings provide valuable insights for the design and risk assessment of dewatering strategies in foundation pits within multi-aquifer systems. Full article

Gastric cancer remains the fourth leading cause of cancer-related mortality worldwide. Advanced disease is associated with a poor prognosis, emphasizing the critical importance of early diagnosis through endoscopy. In addition to prognosis, disease extent also plays a pivotal role in guiding management strategies. Therefore, accurate locoregional staging (T and N staging) is vital for optimal prognostic and therapeutic planning. Endoscopic ultrasound (EUS) has long been an essential tool in this regard, with computed tomography (CT) and, more recently, positron emission tomography–computed tomography (PET–CT) serving as alternative imaging modalities. EUS is particularly valuable in the assessment of early gastric cancer, defined as tumor invasion confined to the mucosa or submucosa. These tumors are increasingly managed by endoscopic resection techniques offering improved post-treatment quality of life. EUS has also recently been utilized in the restaging process after neoadjuvant chemotherapy, aiding in the evaluation of tumor resectability and prognosis. Its performance may be further enhanced through the application of emerging techniques such as contrast-enhanced endosonography, EUS elastography, and artificial intelligence systems. In advanced, unresectable disease, complications such as gastric outlet obstruction (GOO) severely impact patient quality of life. In this setting, EUS-guided gastroenterostomy (EUS-GE) offers a less invasive alternative to surgical gastrojejunostomy. This review summarizes and critically analyzes the role of EUS in the context of gastric cancer, highlighting its applications across different stages of the disease and evaluating its performance relative to other diagnostic modalities. Full article