Search Results (8,818)

Conventional descriptive statistical approaches in per- and polyfluoroalkyl substance (PFAS) environmental forensics often fail under small-sample, ecosystem-level complexity, challenging the optimization of sampling, monitoring, and remediation strategies. This study presents an advance from passive description to adaptive decision-support for complex PFAS contamination. By integrating Bayesian optimization (BO) via Gaussian Processes (GP) with a Generalized Linear Mixed Model (GLMM), we developed a signal-extraction framework for both understanding and action from limited data (n = 18). The BO/GP model achieved strong predictive performance (GP leave-one-out R² = 0.807), while the GLMM confirmed significant overdispersion (1.62), indicating a patchy contamination distribution. The integrated analysis suggested a dominant spatiotemporal interaction: a transient, high-intensity perfluorooctane sulfonate (PFOS) plume that peaked at a precise location during early November (the autumn recharge period). Concurrently, the GLMM identified significant intra-sample variance (p = 0.0186), suggesting likely particulate-bound (colloid/sediment) transport, and detected n-ethyl perfluorooctane sulfonamidoacetic acid (NEtFOSAA) as a critical precursor (p < 0.0001), thus providing evidence consistent with the source as historic 3M aqueous film-forming foam. This coupled approach creates a dynamic, iterative decision-support system where signal-based diagnosis informs adaptive optimization, enabling mission-specific actions from targeted remediation to monitoring design. Full article

The growing global demand for critical raw materials has highlighted the need for autonomous systems in abandoned underground mines. We propose a multi-robot coordination architecture using Hierarchical Finite State Machines (HFSMs) for sequential task execution in GPS-denied, infrastructure-less environments. Unlike existing centralized approaches, our system enables each robot to execute its own HFSM behavior triggered through inter-robot communication, eliminating dependency on persistent connectivity. We implemented and validated this architecture using a Deployer robot and a Stinger robot within the EU Horizon PERSEPHONE project. Experimental validation demonstrated successful coordination both with persistent connectivity and during network interruptions, proving the system’s fault tolerance capabilities. The system successfully executed sequential deployment and anchoring tasks, demonstrating that this coordination approach enables multi-robot coordination without requiring persistent connectivity, thereby addressing critical limitations for autonomous operations in underground environments. Full article

This article introduces the design and implementation of an Unmanned Surface Vehicle (USV), named “AquaMIB”, which introduces a novel and integrated approach for real-time and autonomous water quality monitoring in aquatic environments. The system integrates modular hardware and software, combining sensors for temperature, pH, conductivity, dissolved oxygen, and oxidation reduction potential with GPS, LiDAR, a digital compass, communication modules, and a dedicated power unit. Software components include Python on a Raspberry Pi for navigation and control, C on an Atmega 324P for sensing, C++ on an Arduino Uno for remote control, and C#/JavaScript for the web-based control center. Users assign task points, and the USV autonomously navigates, collects data, and transmits it via RESTful API. Field trials showed 96.5% navigation accuracy over 2.2 km, with 66% of task points reached within 3 m. A total of 120 measurements were processed in real time and visualized as GIS-based spatial maps. The system demonstrates a cost-effective, modular solution for aquatic monitoring. The system’s ability to generate real-time GIS maps enables immediate identification of environmental anomalies, transforming raw sensor data into an actionable decision-support tool for aquatic management. Full article

This paper introduces a novel architecture for a navigation system that is designed to estimate the position and velocity of a moving vehicle specifically for remote piloting scenarios where GPS availability is intermittent and can be lost for extended periods of time. The purpose of the navigation system is to keep velocity estimation as reliable as possible to allow the vehicle guidance and control systems to maintain close-to-nominal performance. The cornerstone of this system is a landmark-extraction algorithm, which identifies pertinent features within the environment. These features serve as landmarks, enabling continuous and precise adjustments to the vehicle’s estimated velocity. State estimations are performed by a Sequential Kalman filter, which processes camera data regarding the vehicle’s relative position to the identified landmarks. Tracking the landmarks supports a state-of-the-art LiDAR odometry segment and keeps the velocity error low. During an extensive testing phase, the system’s performance was evaluated across various real word trajectories. These tests were designed to assess the system’s capability in maintaining stable velocity estimation under different conditions. The results from these evaluations indicate that the system effectively estimates velocity, demonstrating the feasibility of its application in scenarios where GPS signals are compromised or entirely absent. Full article

This study aimed to evaluate the substitution of wheat flour (WF) for grape (Vitis vinifera L.) pomace (GP) on cookie formulation. The techno-functional properties of GP flour (GPF) were characterized, and cookie formulations containing 15% (C15) and 20% (C20) GPF were developed. To evaluate the antioxidant and functional potential, free (FPF, soluble phenols) and bound phenolic fraction (BPF, insoluble phenols) were extracted. The total phenolic content (TPC) and antioxidant potential (ABTS and DPPH assays) were measured. The GPF shows differences in oil and water retention, non-foaming properties, and non-significant differences in swelling capacity compared to WF. C15 and C20 show L* values from 27.9 to 36.2, b* values from 2.22 to 2.64, and a* values from 8.84 to 10.49. GPF addition elevates ash and fiber content by 3.5–4.2 and 14–31.6 times. GPF cookie (C15) exhibited a significantly higher TPC compared to WF. Although the FPF fraction in the cookies was higher compared to BPF, the contribution of BPF to antioxidant activity was high (DPPH = 29.9%, ABTS = 16.3%) compared to FPF (DPPH = 26.3%, ABTS = 20.3%). Given that FPF is traditionally the only antioxidant fraction measured, the antioxidant potential of incorporating grape by-products is being underestimated; this is the first report of this in a cookie. Full article

Background/Objectives: Primary health care (PHC) is the cornerstone of any high-quality healthcare system. For PHC to work well, healthcare professionals need to be skilled in critical thinking, self-reflection, and patient-centered care. However, few studies have explored the potential interplays between these factors. Therefore, this cross-sectional study evaluated the critical thinking disposition and training needs of PHC professionals, alongside patient experiences and satisfaction with PHC services. Methods: The study involved 54 PHC professionals and 100 patients from sixteen PHC facilities in Crete, Greece. Professionals completed the Critical Thinking Disposition Scale (CTDS) and Training Needs Assessment (TNA) questionnaires, while patients filled out the Quality-of-Life Instrument of Chronic Conditions in Primary Health Care (QUALICOPC) questionnaire. Results: Our findings indicated that PHC professionals exhibited high critical thinking levels (CTDS, mean score of 46.46 ± 4.24). However, TNA scores suggested moderate training needs, particularly in relationships/investigations [median: 0.50 (0, 1.50)], communication/patient-centered [median: 0.30 (0, 1.1)], and flexibility and application of knowledge [median: 0.40 (0, 1.0)]. Nevertheless, no significant correlation was found between CTDS and TNA (ρ = 0.08, p > 0.05). Patients mostly rated their health as poor (40%), and 26% lacked a family physician. Although patients were highly satisfied with communication and patient-centered care (>95% reporting positive experiences), continuity and empowerment had room for improvement. Only 37% felt their GP knew their living conditions, and 26% lacked a personal physician. Patients with chronic conditions reported significantly different experiences. Specifically, patients with chronic conditions had better continuity of care (84% vs. 59%, p = 0.01) and more comprehensive care (70% vs. 43%, p = 0.01) compared to controls. Conclusions: Our findings suggest that targeted training is needed for PHC professionals to address skill gaps. These initial findings could guide the creation of customized professional development initiatives and point to areas where PHC services could be structurally improved. Additional studies, including longitudinal ones, are required to further validate these associations. Full article

Kratom (Mitragyna speciosa (Korth.) Havil.) oxindole alkaloids remain underexplored compared to the well-studied indole constituents mitragynine and 7-hydroxymitragynine. Previous research has primarily focused on phytochemical identification and preliminary pharmacology, with limited pharmacokinetic insight. This study pioneers an in silico ADMET modeling analysis of 27 kratom-derived oxindole alkaloids using ADMET Predictor™ v3.0, delivering the first comprehensive predictions of their physicochemical properties, CYP450/UGT enzyme interactions, transporter affinities, permeability, and pharmacokinetic parameters. Representative compounds such as speciophylline, isomitraphylline, and isospeciophylline displayed notably favorable predicted jejunal permeability and moderate metabolic stability, suggesting promising oral drug-like characteristics. Across the dataset, high CYP3A4 substrate affinity (98% confidence), variable CYP3A4, CYP2D6, CYP2C19 inhibition, strong P-gp substrate potential, and differential BBB penetration probabilities (46–99%) were observed. These findings provide a foundational computational framework to guide future experimental validation and rational drug development of kratom oxindole alkaloids. Full article

The black soil region of Northeast China (NEC) is China’s most important food production base. Long-term inefficient land use has made its ecosystem vulnerable to widespread degradation, prompting the implementation of ecological restoration projects (ERPs) to enhance ecosystem service (ES) resilience. Yet, the complex interactions among key ESs, including grain production (GP), water yield (WY), soil conservation (SC), and carbon storage (CS), as well as the spatial non-stationarity of their driving factors post-ERPs, have caused spatially heterogeneous, scale-dependent ES relationships. To address these gaps, this study aims to analyze temporal changes in ESs across multiple scales in NEC from 2000 to 2020. By mapping the interactions and quantifying their intensities, we revealed spatial variations in driving factors under different ERPs. The results show that the Natural Wetland Conservation Project (NWCP) and Three-North Shelterbelt Program (TNSP) have led to overall improvements in all ESs. In contrast, the Grain for Green Program (GFGP), the Land Salinity/Sodicity Amelioration Project (LASP), and the Natural Forests Conservation Program (NFCP) are associated with trade-offs between ESs. Interactions between ESs exhibited clear spatial scale dependence, and the dominant drivers varied across scales and restoration contexts. These findings highlight the importance of considering spatial scale and non-stationarity when evaluating ecological restoration outcomes. This study provides a scientific basis for the development and management of ecological restoration programs in intensively managed agricultural regions worldwide, particularly those undergoing multiple, overlapping restoration interventions, from a multi-scale spatial perspective. Full article

The proliferation of Internet of Things (IoT) devices has created unprecedented security challenges characterized by resource constraints, heterogeneous network architectures, and severe class imbalance in attack detection datasets. This paper presents a comprehensive benchmark evaluation of five Generative Adversarial Network (GAN) architectures for energy-aware intrusion detection: Standard GAN, Progressive GAN (PGAN), Conditional GAN (cGAN), Graph-based GAN (GraphGAN), and Wasserstein GAN with Gradient Penalty (WGAN-GP). Our evaluation framework introduces novel energy-normalized performance metrics, including Accuracy-per-Joule (APJ) and F1-per-Joule (F1PJ), that enable principled architecture selection for energy-constrained deployments. We propose an optimized WGAN-GP architecture incorporating diversity loss, feature matching, and noise injection mechanisms specifically designed for classification-oriented data augmentation. Experimental results on a stratified subset of the BoT-IoT dataset (approximately 1.83 million records) demonstrate that our optimized WGAN-GP achieves state-of-the-art performance, with 99.99% classification accuracy, a 0.99 macro-F1 score, and superior generation quality (MSE 0.01). While traditional classifiers augmented with SMOTE (i.e., Logistic Regression and CNN1D-TCN) also achieve 99.99% accuracy, they suffer from poor minority class detection (77.78–80.00%); our WGAN-GP improves minority class detection to 100.00% on the reported test split (45 of 45 attack instances correctly identified). Furthermore, WGAN-GP provides substantial efficiency advantages under our energy-normalized metrics, achieving superior accuracy-per-joule performance compared to Standard GAN. Also, a cross-dataset validation across five benchmarks (BoT-IoT, CICIoT2023, ToN-IoT, UNSW-NB15, CIC-IDS2017) was implemented using 250 pooled test attacks to confirm generalizability, with WGAN-GP achieving 98.40% minority class accuracy (246/250 attacks detected) compared to 76.80% for Classical + SMOTE methods, a statistically significant 21.60 percentage point improvement ($p<0.0001$). Finally, our analysis reveals that incorporating diversity-promoting mechanisms in GAN training simultaneously achieves best generation quality AND best classification performance, demonstrating that these objectives are complementary rather than competing. Full article

Map matching is a fundamental technique for aligning noisy GPS trajectory data with digital road networks and constitutes a key component of Intelligent Transportation Systems (ITS) and Location-Based Services (LBS). Nevertheless, existing approaches still suffer from notable limitations in complex environments, particularly urban and urban-like scenarios characterized by heterogeneous GPS noise and sparse observations, including inadequate adaptability to dynamically varying noise, unavoidable trade-offs between real-time efficiency and matching accuracy, and limited generalization capability across heterogeneous driving behaviors. To overcome these challenges, this paper presents a Meta-learning-driven Progressive map-Matching (MPM) method with a symmetry-aware design, which integrates a two-layer pattern-mining-based noise-robust meta-learning mechanism with a dynamic weight adjustment strategy. By explicitly modeling topological symmetry in road networks, symmetric trajectory patterns, and symmetric noise variation characteristics, the proposed method effectively enhances prior knowledge utilization, accelerates online adaptation, and achieves a more favorable balance between accuracy and computational efficiency. Extensive experiments on two real-world datasets demonstrate that MPM consistently outperforms state-of-the-art methods, achieving up to 10–15% improvement in matching accuracy while reducing online matching latency by over 30% in complex urban environments. Furthermore, the symmetry-aware design significantly improves robustness against asymmetric interference, thereby providing a reliable and scalable solution for high-precision map matching in complex and dynamic traffic environments. Full article

Investigating the spatio-temporal differentiation patterns and driving factors of ecosystem services (ESs) supply and demand is of great significance for early warning of ecosystem imbalance risks and identifying regional natural resource supply–demand conflicts. This study takes the typical coal-grain overlapping area (CGOA) in Eastern China as the research object, dividing it into mining townships (MT) and non-mining townships (NMT) for comparative analysis. By integrating the InVEST model, ESs supply–demand ratio (ESDR) index, four-quadrant model, and the XGBoost-SHAP algorithm, the study systematically reveals the spatiotemporal differentiation characteristics and driving mechanisms of ESs supply and demand from 2000 to 2020. The results indicated that: (1) grain production (GP) service maintained a continuous supply–demand surplus, with the ESDR of NMT areas surpassing that of MT areas in 2020. The ESDR of water yield (WY) service was significantly influenced by interannual fluctuations in supply, showing deficits in multiple years. The decline in carbon sequestration (CS) service and sharp increase in carbon emissions led to a continuous decrease in the ESDR of CS service, with MT areas facing a higher risk of carbon deficit. (2) The spatial heterogeneity of ESs supply and demand was significant, with GP and CS services exhibiting a typical urban-rural dual spatial structure, and the overall region was dominated by the Type Ⅱ ESs supply–demand matching (ESDM) pattern. The ESDR of WY service generally decreases from Southeast to Northwest across the region. with the Type Ⅳ ESDM pattern dominating in most years. (3) Human activities are the core driving force shaping the supply–demand patterns of ESs. Among these, land use intensity exhibits a nonlinear effect, high population density demonstrates an inhibitory effect, and MT areas are more significantly affected by coal mining subsidence. Natural environmental factors primarily drive WY service. The research findings can provide a scientific reference for the coordinated allocation of regional natural resources and the sustainable development of the human–land system. Full article

NavIC and GPS are satellite-based navigation systems developed by India and the United States, respectively, and are widely used for ionospheric and space weather studies. This paper presents a comparative analysis of NavIC- and GPS-derived total electron content (TEC) during a High-Intensity Long-Duration Continuous AE Activity (HILDCAA) event that occurred from 17 to 21 August 2017. The analysis covers the five days of the event, along with three days before and after, using observations from a single low-latitude station over the Indian region. NavIC performance is evaluated by comparing vertical TEC (vTEC) derived from dual-frequency pseudorange measurements with co-located GPS-derived vTEC. The results show a strong linear correspondence between the two datasets, with Pearson correlation coefficients exceeding ∼0.97 throughout the event interval. Such high correlation is physically expected, as the dominant contribution to TEC arises from the common vertical ionospheric column sampled by both systems. Nevertheless, the close agreement observed under sustained geomagnetic disturbance conditions demonstrates that NavIC is capable of consistently capturing ionospheric TEC variability during this specific HILDCAA event. Full article

Background: Lentiviral vectors (LVs) show promise as gene therapy tools for brain tumors, but optimal envelope protein choices for different tumor types have not been determined. Methodology: This study evaluated three pseudotyped LV variants—VSV-GP, FuG-B2, and LCMV-GP—across diverse brain tumor cell lines including glioblastoma (GBM), diffuse intrinsic pontine glioma (DIPG), medulloblastoma, and metastatic brain cancers. Results: VSV-GP and FuG-B2 pseudotypes significantly outperformed LCMV-GP across most tumor types. Both VSV-GP and FuG-B2 demonstrated high transduction efficiency in GBM and DIPG cells, though some cell lines displayed selective preferences for one pseudotype over the other. Medulloblastoma cells were challenging to transduce, with only VSV-GP achieving substantial efficacy. Metastatic brain cancers showed distinct tropism patterns: melanoma metastases were preferentially transduced by the FuG-B2 pseudotype, while lung metastases showed preference for the VSV-GP pseudotype. Conclusions: These findings suggest envelope protein selection should be tailored to specific brain tumor types. VSV-GP appears most suitable for medulloblastoma and lung metastases, FuG-B2 for melanoma metastases, and both for GBM and DIPG gene therapy applications. The study provides crucial guidance for translating lentiviral gene therapy to clinical applications, supporting personalized treatment strategies based on tumor-specific vector tropism profiles. Full article

Background/Objectives: Cerebral palsy (CP) is the most common cause of physical disability in childhood. While gait improvements are often observed during childhood, it remains unclear whether these gains are sustained into adulthood. This study aimed to evaluate the long-term evolution of gait outcomes from childhood to adulthood in individuals with CP who received orthopedic care early in life. Methods: This retrospective study included 83 adults with cerebral palsy (44 unilateral/uCP, 39 bilateral/bCP; GMFCS I–III) who underwent clinical gait analysis in childhood and again as adults (minimum 4 years between visits, n = 249 CGA). Gait was assessed using the modified Gait Profile Score (mGPS) and normalized walking speed (NWS). The effects of life stage (childhood, adolescence, early adulthood, and adulthood) were analyzed using Kruskal–Wallis tests with post hoc comparisons. Individual clinical transitions were quantified from early adulthood to adulthood, with a minimal clinically important difference (MCID) change in mGPS (1.6°) and NWS (0.20 s⁻¹) for improvement or decline. Results: Longitudinal analysis revealed that while group-average mGPS improved from childhood to adulthood, NWS declined significantly for all patients (p < 0.01). However, individual trajectories from early adulthood to adulthood diverged by CP type. Those with bCP GMFCS II and III had a more frequent clinical decline in mGPS (4/14, 29%), with minimal potential for improvement (1/14, 17%). In contrast, individuals with uCP had less frequent decline (1/17, 6%) and a greater improvement (3/17, 18%). Conclusions: While significant improvements in gait quality are achieved by early adulthood, substantial clinical decline occurs during adulthood in bCP (GMFCS II–III) patients. These findings highlight the need for lifelong monitoring, with re-evaluation regarding the need for surgical interventions from early adulthood to adulthood in bCP patients with greater motor impairments. Full article

Background: Perforator flaps improved the reconstruction paradigm in the lower extremity, increasing coverage possibilities. This study aims to quantify how added perforators could enhance standard geometrical patterns (compared to random flaps). Methods: A total of 29 cases of lower limb soft tissue reconstruction (STR)—52% trauma, 21% osteomyelitis with skin fistulas, 21% healing disorders with unstable scarring and 6% cancer-related surgery—were performed in our institution between 2012 to 2023 with geometric random (GR) local flaps (34%), geometric perforator-enhanced (GP) flaps (32%) or pure propeller perforator (PP) flaps (34%), were retrospectively analysed. Patients with proximal thigh defects, a follow up of less than 3 months and those who received an axial, muscle or free flap were excluded. Geometric patterns (as length:width ratio (L:W)) were compared among groups, analysing healing outcomes and complications. Results: Leg defects were categorized into 62% distal, 14% middle, 14% proximal third and 10% distal thigh. No significant difference in defect size was detected among groups. Mean flap size was significantly larger for GP (70.5 cm², (p < 0.05)) and PP (74.4 cm², (p < 0.01)) than GR (53.7 cm²). The L:W ratio was significantly higher in GP (L:W 2.2:1, (p < 0.05)) and PP (L:W 2.8:1, (p < 0.01)) than in GR (1.5:1), but no significant difference was found between GP and PP. A reduced complications rate (partial flap loss, infection, healing, revision surgery, etc.) was observed in the GP group, when compared to GR. Conclusions: Flap geometric design can be significantly improved by the inclusion of perforators, maintaining spatial advantages with larger ductility and improved vascular solidity. Full article