Search Results (2,704)

This paper develops an extended-state-observer (ESO)-enhanced actor–critic reinforcement learning (RL) scheme for the trajectory tracking control of 3-DOF marine vessels subject to uncertain hydrodynamics and environmental disturbances. A coordinate-consistent error construction is provided to obtain an exact strict-feedback second-order uncertain template. On this basis, an Hamilton–Jacobi–Bellman (HJB)-inspired optimised control structure is implemented: the critic approximates the optimal value-gradient and the actor generates the optimised control law. A key simplification is employed: rather than minimising the squared Bellman residual via complex gradients, we introduce an HJB-inspired actor–critic consistency regularisation through a weight-matching coupling. This yields computationally light online update laws and enables transparent Lyapunov-based stability analysis while not claiming exact HJB satisfaction or policy optimality. The ESO estimates lumped uncertainty and provides feedforward compensation, so the RL module learns only the observer residual. A composite Lyapunov analysis establishes the semi-global uniform ultimate boundedness of tracking errors and boundedness of all observer signals. Practical implementation with thruster allocation, explicit wind–wave–current disturbance shaping filters, and a theory-aligned ablation protocol are provided for reproducibility. Full article

Domestic cat containment has become an increasing focus of companion animal management in Australia, yet uptake among caregivers who allow their cats to roam remains limited. This study explored how caregivers with established outdoor routines but no strong opposition to containment perceive their cats, interpret risk, and respond to different campaign framings. Four online focus groups were conducted in New South Wales with 22 cat caregivers who allowed their cats outdoor access. Thematic analysis indicated that containment decisions, as interpreted through the analytic process, were shaped by how cats were acquired, prior outdoor experience, beliefs about how cats exercise agency, and beliefs about what factors contribute to feline welfare. Caregivers frequently minimised risk and believed their cats could manage themselves outdoors, reinforcing resistance to change. Reactions to the two tested campaign concepts indicated that messages perceived as moralising or fear-based elicited guilt and avoidance. In contrast, caregivers preferred solution-focused messages showing how cats could thrive safely at home. The findings suggest that once roaming behaviours are established, emotional and habitual barriers make voluntary change difficult. Effective interventions should combine motivational framing with clear, achievable actions and target owners at early decision points, particularly adoption, when new habits and expectations about cat management are more readily established. Full article

This study examines how different sustainability assessment approaches influence climate-policy choices when evaluating greenhouse gas (GHG) emissions across industrial value chains. Using Spain as an empirical setting, we apply Environmentally Extended Input–Output Tables combined with Production Layer Decomposition to quantify Scope 1–2–3 emissions and assess economic and employment impacts. The results show that indirect emissions dominate most value chains, revealing structural dependencies that are not captured by sector-level inventories. Incorporating social and economic dimensions highlights the need for transition pathways that minimise employment disruption while maximising environmental gains. Although public procurement can enhance the uptake of emerging low-carbon and circular-economy technologies, it has limited quantitative influence on total value-chain emissions. The findings demonstrate that value-chain-based sustainability assessments provide a more comprehensive basis for designing coherent, equitable, and effective decarbonisation strategies. Full article

South Africa has a history of poor coordination in construction waste management, which has resulted in problems such as illegal dumping, a lack of legislation enforcement, and a lack of waste management practices. Problems linked with the management of construction waste have risen over the past decade because of increased waste production. This study explored the challenges to the enforcement of waste management practices by the Greater Tzaneen Local Municipality construction sector. A qualitative study was conducted in the construction sectors in Limpopo province. Purposive sampling technique was used to interview 24 participants. The interviews were recorded, transcribed verbatim, and analysed thematically. The findings highlight challenges such as employees’ behaviour and attitude, financial barriers, lack of knowledge and awareness, poor enforcement of the law, and inadequate resources that affects the construction waste management practices. This study draws attention to the challenges encountered when implementing effective waste management practices in the construction sector. The challenges are consistent with the broader challenges that the Sustainable Development Goals aim to solve. This study contributes to the endeavour to minimise environmental impact, promote sustainable practices, and preserve public health, while providing lessons that may inform similar contexts beyond the local municipality. Full article

Background: Transcatheter aortic valve implantation (TAVI) is increasingly used across all risk groups, meaning more patients are living long-term with transcatheter bioprosthetic valves. These patients are often multimorbid and vulnerable to both thrombotic and bleeding complications. Optimal antithrombotic therapy remains uncertain due to differences in trial design, patient demographics, and procedural practices. Methods: We undertook a narrative review that included randomised controlled trials, observational studies, biomarker research, and guideline recommendations on post-TAVI antithrombotic therapy. We evaluated the available evidence for antiplatelet and anticoagulant strategies after TAVI, predictors of bleeding and thrombotic complications, to identify emerging approaches using biomarkers for personalised risk stratification. Results: Thrombotic events after TAVI are predominantly early and procedural in origin, while new-onset atrial fibrillation (AF) leads to substantial late risk. Subclinical leaflet thrombosis is frequent, but its clinical significance remains uncertain, as anticoagulation reduces CT-detected leaflet abnormalities without improving clinical outcomes. Early bleeding within the first 30 days remains a principal contributor to mortality, influenced by frailty, vascular access, comorbidity, and intensity of antithrombotic therapy. Randomised evidence consistently supports a minimalist, indication-driven regimen: single antiplatelet therapy for patients without an oral-anticoagulation (OAC) indication, and OAC monotherapy for those with AF. Routine OAC use in unselected patients carries no advantage and exposes them to harm. Biomarkers and machine-learning models show promise for future individualised risk assessment. Conclusions: Antithrombotic strategies post-TAVI should prioritise minimising bleeding while maintaining adequate thromboembolic protection. Single antiplatelet therapy for patients without an indication for OAC and OAC alone for those with AF offer the best balance of safety and efficacy. Ongoing trials may clarify the role of imaging-guided therapy and biomarker-based risk stratification and refine antithrombotic strategies. Full article

Climate change and increasingly restrictive pesticide regulations have created a growing need for new tools to support the integrated pest management (IPM) of the olive fruit fly, Bactrocera oleae, in cultivated areas of the Mediterranean. In this study, the environmental suitability for this phytophagous insect in eastern Sicily was mapped by using geographic information system (GIS) tools and species distribution models (i.e., Random Forest and MaxEnt). The models were trained on presence data of the fly, obtained from a network of pheromone traps and locations where olive trees were present, combined with climatic, topographic and soil predictors for both current conditions and the future climate scenario (2021–2040). Correlation analysis was utilised to select ten predictors from an initial set of 33 soil and climate variables. Model performance was evaluated by using 10-fold cross-validation based on accuracy measures Area Under the Curve (AUC), True Skill Statistic (TSS), and the difference between the training and testing AUC) to minimise overfitting. Both algorithms demonstrated excellent predictive performance, producing convergent suitability maps, with high values concentrated in the foothills and hills of the Iblean–Calatino area and low values along the coastal plains and at higher altitudes, where extreme temperatures and unfavourable soil textures reduce habitat suitability. Response curves highlighted the combined influence of moderate temperature and precipitation seasonality, balanced topsoil texture, and moderate slopes in defining the species’ ecological niche. The proposed framework provides an operational basis for optimising monitoring networks and targeting IPM measures under current and near-future climate conditions. Full article

This study proposes a sustainable strategy to valorise strawberry lignocellulosic agro-industrial byproducts through the recovery of antioxidant and antimicrobial compounds (AOM) for use in active edible coatings. Subcritical water extraction (SWE), optimised using response surface methodology, was applied to maximise phenolic content and antioxidant capacity while minimising sugars’ co-extraction. Optimal SWE conditions (120 °C, 5 min, and S/L ratio 40) yielded a total phenolic content (TPC) of 146.9 mg GAE/g DM and an antioxidant activity of 24.8 mg TE/g DM, comparable to ethanolic reflux extraction (138.4 mg GAE/g DM and 23.4 mg TE/g DM). Scale-up in a Parr pressurised reactor achieved 91.2% polyphenol recovery relative to accelerated solvent extraction (ASE). Purification using Amberlite^® XAD 7 resin enhanced TPC purity and antioxidant activity more than 2.5-fold, producing a desorbed fraction with a polyphenol purity of 93.9% (w/w, dry basis) and no detectable sugars. The purified AOM was incorporated (1% w/v) into a 1.5% (w) chitosan solution obtained from Hermetia illucens pupal exuviae to produce a biopolymeric active coating. Application to strawberries was associated with a reduction in fungal infection severity (−72%) and incidence (−66.7%) under natural infection conditions. Although fruit firmness declined during storage, coated samples showed significantly better firmness retention. These results demonstrate the effectiveness of combining chitosan with phenolic extracts obtained by SWE to enhance microbial stability and maintain fruit quality. Full article

Background: Body mass index (BMI) has been widely investigated as a potential prognostic factor in breast cancer; however, its clinical relevance in patients with hormone receptor-positive/human epidermal growth factor receptor 2-negative (HR+/HER2−) metastatic breast cancer treated with CDK4/6 inhibitors remains controversial, particularly in contemporary real-world settings. This study aimed to evaluate the association between baseline BMI and clinical outcomes, including survival and treatment-related toxicity, in a real-world cohort. Methods: This single-centre retrospective observational cohort study included patients with HR+/HER2− metastatic breast cancer treated with endocrine therapy and a CDK4/6 inhibitor (palbociclib or ribociclib) in the metastatic setting between January 2018 and May 2025. Patients were categorised by baseline BMI (<25 vs. ≥25 kg/m²). Progression-free survival (PFS) and overall survival (OS) were assessed using the Kaplan–Meier method and Cox proportional hazards models. To minimise confounding, propensity score matching (PSM) with a 1:3 nearest-neighbour algorithm was performed. Non-linear associations between continuous BMI and survival outcomes were explored using restricted cubic spline analyses. Treatment-related adverse events were evaluated according to CTCAE v5.0. Results: A total of 456 patients were included; 321 (70.4%) had a BMI ≥ 25 kg/m², and 135 (29.6%) had a BMI < 25 kg/m². Propensity score matching produced a balanced cohort of 220 patients. The reduction in sample size after matching reflects the need to achieve close baseline comparability between groups. In the matched cohort, no statistically significant differences in PFS (log-rank p = 0.55) or OS (log-rank p = 0.31) were observed across BMI categories. BMI was not an independent predictor of PFS or OS in multivariable analyses. However, restricted cubic spline modelling revealed a non-linear relationship between continuous BMI and survival outcomes, with increased risk at extreme BMI values, underscoring the limitations of dichotomous BMI categorisation. Conclusions: In this real-world cohort of patients with HR+/HER2− metastatic breast cancer treated with CDK4/6 inhibitors, dichotomised BMI categories were not independently associated with survival outcomes. However, modelling BMI as a continuous variable revealed a non-linear (U-shaped) relationship, with increased risk at both the low and high ends of the BMI distribution. These findings suggest that the prognostic impact of BMI is non-linear and may be obscured by simple dichotomous categorisation. Full article

Magnesium-sulfur (Mg-S) batteries present a compelling energy storage solution, characterised by their remarkable theoretical energy density and economic viability. Nonetheless, challenges arise, including swift capacity degradation and suboptimal polysulfide (acting as an electronic and ionic insulator) utilisation, mainly due to a phenomenon known as the polysulfide “shuttle effect.” This effect also leads to a decline in battery performance. The Becke, 3-parameter, Lee-Yang-Parr (B3LYP) functional and 6-311G (d,p) basis set were used to examine the optoelectronic and charge-transfer properties of a polyaniline-pyrrole (PANIPyr) composite, emphasising interatomic and electronic interactions that enhance charge transport and oxidation of MgS₂. The findings demonstrate the presence of coordination bonding between hydrogen in pyrrole and the N⁻ ion in quinonediimine of polyaniline, significantly enhancing the electrical properties of PANI. The PANIPyr_P1 (P1-pyrrole attached at position one) configuration exhibits the lowest Ɛ_gap and the highest charge-transfer capacity, compared to other studied molecules in this work, thereby improving reactivity towards polysulfides in comparison to pure PANI. Significant electrical interactions at this site establish accessible electrophilic and nucleophilic regions that stabilise the ionic sides of the polysulfides, thus reducing the shuttle effect and improving charge transport at the interface. PANIPyr_P1 demonstrates viability for minimising polysulfide migration and enhancing cathodic efficiency in Mg-S batteries, thereby laying a foundation for future investigations into polymer-based cathode modifiers. Full article

Hemipteran plant sap feeders acquire food by inserting their piercing–sucking mouthparts into the apoplast (xylem sap feeders) or symplast (phloem sap feeders). When feeding, these insects seal their stylets inside the plant with a salivary sheath, minimising embolisms. The main impact of the insect on the host or food plant consists of sucking plant sap, transmitting phytopathogenic agents, or triggering galls as hypertrophic and/or hyperplastic neoformations. This paper proposes a rapid method for locating and counting the salivary sheaths of Philaenus spumarius (the Meadow Spittlebug), the primary Italian vector of Xylella fastidiosa, at the feeding point on its host or food plants. Hand-sliced stems of herbs hosting juveniles and olive twigs or leaves feeding the adult spittlebug, preserved while mounted in 75% ethanol (v/v), show the salivary sheaths. Alternative dyeing with acid fuchsin, chlorazol black, or phloroglucinol, and diaphanisation with Essig’s fluid alone or in combination with benzyl alcohol, may help with observations. The 75% EtOH solution provides a better compromise, yielding rapid evidence. The other methods offer similar outcomes but require more time and effort and expose the operator to harmful dyes. Assessing vectors’ access to plants may enable us to quantify the potential number of pathogen transmission events or to spot rejecting clones, thereby advancing the development of robust, effective control strategies that incorporate resistance. Full article

Caprylic acid (CA) fractionation of serum is a simple and cost-effective method of producing high-quality immunoglobulins. While standardised procedures exist for CA purification of IgG for various animals, no published protocol exists for baboon IgG. This study aimed to optimise an efficient protocol for purifying IgG from baboon serum using CA through a stepwise one-factor-at-a-time (OFAT) approach. The effects of serum pH, CA concentration, stirring time and intensity, dialysis buffer, and lyophilisation were evaluated based on the protein content, with SDS-PAGE profiles and albumin–globulin ratios distinguishing IgG from residual albumin. Serum at pH 5.0 with 7% CA (v/v) produced the highest yield, minimising albumin while maximising IgG content. Lower pH (4.0–4.5) and CA (5–6%) reduced protein content, while a higher pH (5.5–6.0) and CA (8–15%) increased protein, but with elevated albumin and contaminants. Stirring serum vigorously at 1200 rpm for 60 min provided effective precipitation of non-IgG proteins. Lower intensities and shorter times resulted in higher albumin and residual proteins, while excessive stirring caused protein denaturation. Dialysis buffer composition had little impact, while lyophilisation significantly enhanced IgG concentration. The optimal protocol involved serum at pH 5.0, 7% CA (v/v), vigorous stirring (1200 rpm) for 60 min, and dialysis against sodium phosphate buffer (pH 7.4) followed by lyophilisation. The resulting IgG enrichment and purity were comparable to commercial-grade products. This study thus established optimal conditions for the purification of baboon IgG with CA, which could be used to support research in this animal model of immunology. Full article

Unmanned Aerial Vehicles (UAVs) are increasingly deployed in hazardous and dynamic environments, where path planning requires balancing competing objectives beyond simple distance minimisation. Classical planners such as Dijkstra, A*, and RRT* generate paths efficiently but often overlook mission-specific trade-offs involving energy use, risk avoidance, and reward maximisation. This work proposes a unified evaluation framework that integrates grid-based (Dijkstra, A*, weighted A*) and sampling-based (RRT, CARRT*) planners within parameterised environments embedding a range of functions into penalty and reward zones. A global cost function, $J=\alpha L+\beta E+\gamma P-\delta R,$ is applied post hoc to decouple path generation from mission prioritisation, enabling rapid reassessment under changing objectives such as low-fuel, high-safety, or speed-priority scenarios. Experiments conducted on an Apple M2 CPU, repeated three times per configuration to ensure statistical robustness, demonstrate that CARRT* achieves the lowest mission costs and highest efficiency for fuel- and time-sensitive missions, while deterministic grid-based planners perform better in safety- and reward-oriented contexts in four environments. These findings indicate that optimal UAV path planning depends not only on algorithmic efficiency but also on aligning planner choice with mission priorities. The framework provides a reproducible methodology for benchmarking and deploying mission-aware path planning strategies in research and operational settings. Full article

In this study, we present the design and development of a mobile, multi-modal electroencephalography and functional near-infrared spectroscopy (EEG/fNIRS) device for wireless neurophysiological monitoring. The system was engineered to achieve high signal fidelity, low power consumption, and a fully untethered operation suitable for ambulatory brain research. The device integrates four Texas Instruments ADS1299 24-bit biopotential amplifiers, providing up to 32 simultaneous acquisition channels. Signal control, processing, and local storage via an SD card are managed by an STM32H7 microcontroller, while an ESP32-S2 module handles Wi-Fi communication. Dual-wavelength light-emitting diodes and OPT101 photodiodes form the optical front-end, driven by digitally controlled constant-current sources for stable illumination. The design employs galvanic isolation, multi-rail power management, and a four-layer PCB layout to minimise interference between analogue, power, and digital domains. Data are captured by a deterministic, clock-driven STM32 acquisition loop and forwarded to the ESP32, which operates under an RTOS and streams packets over Wi-Fi for collection on a mobile phone or PC using the Lab Streaming Layer (LSL) framework. The STM32H7 architecture was chosen for its capability to support future embedded edge-machine-learning functions, enabling on-device signal quality assessment and artefact rejection. Validation demonstrations include 32-channel synchronised acquisition using the ADS1299 internal test signal, eyes-open/eyes-closed alpha modulation visualised in EEGLAB, a forehead fNIRS breath-hold response with physiological spectral content, and real-time ECG/optical pulse streaming via LSL. The resulting system provides a compact platform with explicitly defined acquisition and data interfaces for synchronised EEG/fNIRS acquisition, enabling scalable, low-cost mobile neuroimaging research. Full article

The rapid expansion of commercial human spaceflight is forcing a re-examination of how we decide who is “fit to fly” in space. For more than six decades, astronaut selection has been dominated by government programmes employing stringent medical and psychological criteria designed to minimise risk for small cohorts undertaking long-duration, high-consequence missions. Contemporary standards such as NASA-STD-3001 reflect this paradigm, treating astronauts as highly trained national assets expected to perform reliably under extreme physiological and psychological stress. In contrast, commercial operators aim to fly large numbers of spaceflight participants with highly heterogeneous medical and psychological profiles, within regulatory frameworks that emphasise informed consent and currently impose very limited prescriptive health requirements on passengers. This review examines the evolution and structure of traditional astronaut selection, outlines emerging approaches to screening and certifying commercial spaceflight customers, and explores the conceptual and practical gap between “selection” and “screening”. Particular attention is given to the increasing relevance of behavioural and psychological risk in short-duration but high-stress commercial missions, where acute responses, passenger–crew interaction, and behavioural variability can influence safety, especially in mixed-capability crews. Drawing on agency standards, psychological selection research, and recent proposals for commercial medical guidelines, this paper proposes a risk-informed, mission- and role-specific framework that adapts lessons from government astronaut corps to the needs of commercial spaceflight. We argue that future practice must balance safety, inclusion, and commercial viability through proportionate, evidence-based risk management, supported by systematic data collection across government and commercial flights. Full article

This study presents a comparative analysis of cylindrical lithium-ion cell architectures, tracing the evolution from the conventional tabbed design (18650/21700) to the large-format 4680 cell with its tabless current collectors. This architectural shift is driven by the imperative to minimise internal ohmic resistance and enhance thermal management in high-power automotive battery applications. Forensic investigation reveals that the 4680 design replaces localised, high-resistance tab connections with a distributed, low-impedance interface, necessitating the adoption of advanced manufacturing techniques, including long ultrasonic torsional welding and highly controlled high-power density laser welding. Crucially, the welding of external aluminium busbars to the cell relies on sophisticated microstructural engineering, particularly for the challenging dissimilar Aluminium-Steel (Al-Steel) anode weld. This weld format employs a spiral laser path to limit the formation of brittle aluminium-iron (Al-Fe) intermetallic compounds (IMCs), leveraging the steel cell casing’s nickel plating to promote a more ductile Al-Fe-Ni phase for improved joint reliability. Furthermore, the 4680 cell incorporates a significantly thicker casing (≈0.54 to 0.7 mm) for enhanced mechanical strength. In conclusion, the 4680 cell achieves superior performance through robust mechanical design and advanced welding processes that prioritise microstructurally sound, low-resistance interfaces. Full article