Search Results (846)

LiDAR-based Simultaneous Localization and Mapping (SLAM) serves as a fundamental technology for autonomous navigation. However, in complex environments, LiDAR odometry often experience degraded localization accuracy and robustness. This paper proposes a computationally efficient enhancement strategy for LiDAR odometry, which improves system performance by reinforcing high-quality features throughout the optimization process. For non-ground features, the method employs statistical geometric analysis to identify stable points and incorporates a contribution-weighted optimization scheme to strengthen their impact in point-to-plane and point-to-line constraints. In parallel, for ground features, locally stable planar surfaces are fitted to replace discrete point correspondences, enabling more consistent point-to-plane constraint formulation during ground registration. Experimental results on the KITTI and M2DGR datasets demonstrated that the proposed method significantly improves localization accuracy and system robustness, while preserving real-time performance with minimal computational overhead. The performance gains were particularly notable in scenarios dominated by unstructured environments. Full article

The dissociation of the C-NO₂ bond is the initial step in the process of the detonation of nitroaromatic explosives. The strength of the C-NO₂ bond is significantly influenced by the relative position of the nitro group with respect to the aromatic ring plane since the planar arrangement enables the delocalization of electron density, which strengthens this bond. In this study, we have combined a statistical analysis of geometrical parameters extracted from crystal structures of trinitroaromatic molecules with ab initio calculations of non-covalent index plots and Wiberg bond index values for selected trinitroaromatic molecules to elucidate the influence of nearby substituents on the relative position of nitro groups with respect to the aromatic ring plane. The results of the analysis showed that neighboring substituents have a significant impact on the geometry of nitro groups. The results also showed that this influence arises from the repulsive interaction of voluminous substituents, attractive non-covalent contacts, and the electronic effects of substituents. Full article

In Aerial Manipulation, the motion of the robotic arm can cause unwanted movements of the flying base affecting the trajectory tracking capability. A possible solution to reduce these disturbances is to use a free revolute joint between the flying base and the manipulator, thus reducing the torque applied to the base from the manipulator. In this paper, a novel approach to solve the inverse kinematics of an aerial manipulator with a free revolute joint is presented. The approach exploits the Generalized Jacobian to deal with the presence of a mobile base, and the dynamics of the system is considered to predict the motion of the non-actuated joint; external forces acting on the system are also included. The method is implemented in MATLAB for a planar case considering the parameters of a real manipulator attached to a real octocopter. The tracking of a trajectory with the end-effector and a load picking task are simulated for a non-redundant and for a redundant manipulator. Simulation results demonstrate the capability of this approach in following the desired trajectories and reducing rotation and horizontal translation of the base. Full article

Background/Objectives: The extensive use of computed tomography (CT) has led to a significant increase in the detection of small and non-palpable pulmonary nodules, necessitating the use of invasive methods for definitive diagnosis. Video-assisted thoracoscopic surgery (VATS) has become the preferred procedure for nodule resections; however, intraoperative localization remains challenging, especially for deep or subsolid lesions. This study explores whether SPECT/CT improves the technical and clinical outcomes of radio-guided occult lesion localization (ROLL) before uniportal video-assisted thoracoscopic surgery (u-VATS). Methods: This is a retrospective study involving consecutive patients referred for the resection of pulmonary nodules who underwent CT-guided ROLL followed by u-VATS between September 2017 and December 2024. From January 2023, SPECT/CT was systematically added after planar imaging. The cohort was divided into a planar group and a planar + SPECT/CT group. The inclusion criteria involved nodules sized ≤ 2 cm, with ground glass or solid characteristics, located at a depth of <6 cm from the pleural surface. ^99mTc-MAA injected activity, timing, the classification of planar and SPECT/CT image findings (focal uptake, multisite with focal uptake, multisite without focal uptake), spillage, and post-procedure complications were evaluated. Statistical analysis was performed, with continuous data expressed as the median and categorical data as the number. Comparisons were made using chi-square tests for categorical variables and the Mann–Whitney U test for procedural duration. Cohen’s kappa coefficient was calculated to assess agreement between imaging modalities. Results: In total, 125 patients were selected for CT-guided radiotracer injection followed by uniportal-VATS. The planar group and planar + SPECT/CT group comprised 60 and 65 patients, respectively. Focal uptake was detected in 68 (54%), multisite with focal uptake in 46 (36.8%), and multisite without focal uptake in 11 patients (8.8%). In comparative analyses between planar and SPECT/CT imaging in 65 patients, 91% exhibited focal uptake, revealing significant differences in classification for 40% of the patients. SPECT/CT corrected the classification of 23 patients initially categorized as multisite with focal uptake to focal uptake, improving localization accuracy. The mean procedure duration was 39 min with SPECT/CT. Pneumothorax was more frequently detected with SPECT/CT (43% vs. 1.6%). The intraoperative localization success rate was 96%. Conclusions: SPECT/CT imaging in the ROLL procedure for detecting pulmonary nodules before u-VATs demonstrates a significant advantage in reclassifying radiotracer positioning compared to planar imaging. Considering its limited impact on surgical success rates and additional procedural time, SPECT/CT should be reserved for technically challenging cases. Larger sample sizes, multicentric and prospective randomized studies, and formal cost–utility analyses are warranted. Full article

Barcodes are ubiquitous in manufacturing and logistics, but defects can reduce decoding efficiency and disrupt the supply chain. Existing studies primarily focus on a single barcode type or rely on small-scale datasets, limiting generalizability. We propose Y8-LiBAR Net, a lightweight two-stage framework for multi-type barcode defect detection. In stage 1, a YOLOv8n backbone localizes 1D and 2D barcodes in real time. In stage 2, a dual-branch network integrating ResNet50 and ViT-B/16 via hierarchical attention performs three-class classification on cropped regions of interest (ROIs): intact, defective, and non-barcode. Experiments conducted on the public BarBeR dataset, covering planar/non-planar surfaces, varying illumination, and sensor noise, show that Y8-LiBARNet achieves a detection-stage mAP@0.5 = 0.984 (1D: 0.992; 2D: 0.977) with a peak F1 score of 0.970. Subsequent defect classification attains 0.925 accuracy, 0.925 recall, and a 0.919 F1 score. Compared with single-branch baselines, our framework improves overall accuracy by 1.8–3.4% and enhances defective barcode recall by 8.9%. A Cohen’s kappa of 0.920 indicates strong label consistency and model robustness. These results demonstrate that Y8-LiBARNet delivers high-precision real-time performance, providing a practical solution for industrial barcode quality inspection. Full article

Background/Objectives: Anatomical and functional damage of the mitral valve (MV) apparatus in patients with dilated cardiomyopathy (DCM) is secondary to left ventricular (LV) injury, leading to functional mitral regurgitation (FMR). Real-time four-dimensional echocardiography (RT 4DE) is a useful imaging technique in different pathologies, including DCM. Left atrial (LA) strain, as measured by left atrium quantification software, is an accurate technique for evaluating increased filling pressure. The MV has a complex three-dimensional morphology and motion. Four-dimensional echocardiography (4DE) has revolutionized clinical imaging of the mitral valve apparatus. This study aims (1) to characterize the mitral annulus (MA) parameters in patients with DCM and advanced-stage heart failure (HF) according to etiology and (2) to find correlations between left atrial function and MA remodeling in this group of patients, using 4DE quantification software. Methods: A total of 82 patients with DCM and an LV ejection fraction ≤ 40% were recruited. Conventional 2DE and RT 4DE were conducted in DCM patients with a compensated phase of HF before discharge. The measured parameters were left atrial reservoir strain (LASr), annular area (AA), annular perimeter (AP), anteroposterior diameter (A-Pd), posteromedial to anterolateral diameter (PM-ALd), commissural distance (CD), interregional distance (ITD), annular height (AH), nonplanar angle (NPA), tenting height (TH), tenting area (TA), and tenting volume (TV). Results: Measured parameters revealed more advanced damage of LA and MA parameters in ischemic compared to nonischemic etiology. Univariate analysis identified AA, AP, A-Pd, PM-ALd, CD, ITD, TH, TA, and TV (p < 0.0001) as determinants of LASr. Including these parameters in a stepwise multivariate logistic regression, PM-ALd (p = 0.03), TH (p = 0.043), and TV (p = 0.0001) were the best predictors of LAsr in these patients. Conclusions: The results of this study revealed the correlation between LA function depression and MA remodeling in patients with DCM. Full article

To obtain a flat top shaped passband in a conventional thin-film-based optical bandpass filter (OBF), it needs a large number of constitutional layers of thin films, which makes the film deposition systems more complicated and accumulates errors in film growth. A flat top and polarization-independent optical bandpass filter structure is proposed based on experimentally verified polarization independency in the form of a prism-pair coupled planar optical waveguide (POW). The POW is composed of two waveguide stacks, which consists of nine planar thin-film layers. Theoretical simulations show that the flat band top spans about 5 nm with transmittance over 97.8%. The passband is designed to be centered at 632.8 nm, the He-Ne laser wavelength, and the FWHM (full width at half maximum) bandwidth is about 35 nm. Within 0.5° tuning for the incident angle of the light, the passband could be shifted within 50 nm, while its transmittance fluctuates only less than 1% and the passband shape distorts only slightly. This type of OBF is potentially applicable in various fields of optical and laser spectroscopies. Full article

Niacinamide was recently shown to directly interact with bacterial DNA and interfere with cell replication; niacinamide mode of interaction and efficacy as a natural anti-microbial molecule were also described. The aim of this study is to elucidate the exact binding mechanism of niacinamide to microbial DNA. Intercalation is a binding mode where a small planar molecule, such as niacinamide, is inserted between base pairs, causing structural changes in the DNA. Melting curve analysis with various intercalating dyes demonstrated that niacinamide interaction with bacterial DNA reduces its melting temperature in a linear dose-dependent manner. Niacinamide’s effect on the melting temperature was found to be % GC-dependent, while purine stretches were also found to influence the binding kinetics. Finally, fluorescent intercalator displacement (FID) assays demonstrated that niacinamide strongly reduces SYBR Safe signal in a dose-dependent manner. Interestingly, competition assays with a minor groove binder also reduced Hoechst signal but in a non-linear manner, which can be attributed to strand lengthening and unwinding following niacinamide intercalation. Taken altogether; our results suggest a “disruptive intercalation” as the mode of interaction of niacinamide with bacterial DNA. Formation of locally destabilized DNA portions by niacinamide might interfere with protein–DNA interaction and potentially affect several crucial bacterial cellular processes, e.g., DNA repair and replication, subsequently leading to cell death. Full article

This study presents a digital twin–based framework for assessing rockfall hazards at the immediate vicinity of the Rumkale Archaeological Site, a geologically sensitive and culturally significant location in southeastern Türkiye. Historically associated with early Christianity and strategically located along the Euphrates, Rumkale is a protected heritage site that attracts increasing numbers of visitors. Here, high-resolution photogrammetric models were generated using imagery acquired from a remotely piloted aircraft system and post-processed with ground control points to produce a spatially accurate 3D digital twin. Field-based geomechanical measurements including discontinuity orientations, joint classifications, and strength parameters were integrated with digital analyses to identify and evaluate hazardous rock blocks. Kinematic assessments conducted in the study revealed susceptibility to planar, wedge, and toppling failures. The results showed the role of lithological structure, active tectonics, and environmental factors in driving slope instability. The proposed methodology demonstrates effective use of digital twin technologies in conjunction with traditional geotechnical techniques, offering a replicable and non-invasive approach for site-scale hazard evaluation and conservation planning in heritage contexts. This work contributes to the advancement of interdisciplinary methods for geohazard-informed management of cultural landscapes. Full article

Users of technical blades expect new generations of tools to feature reduced power requirements for process and maximized tool life. The second aspect is reflected in the reduction in costs associated with the purchase of tools and in the reduction in process line downtime due to tool replacement. Meeting these demands is particularly challenging in cutting operations involving heterogeneous materials, especially when the processed raw material contains inclusions and impurities significantly harder than the material itself. This situation occurs, among others, during flatfish skinning operations analyzed in this paper, a common process in the fish processing industry. These fish, due to their natural living environment and behavior, contain a significant proportion of hard inclusions and impurities (shell fragments, sand grains) embedded in their skin. Contact between the tool and hard inclusions causes deformation, wrapping, crushing, and even chipping of the cutting edge of planar knives, resulting in non-uniform blade wear, which manifests as areas of uncut skin on the fish fillet. This necessitates frequent tool changes, resulting in higher tooling costs and longer operating times. This study provides a unique opportunity to review the results of in-service pre-implementation tests of planar knives in the skinning operation conducted under industrial conditions. The main objective was to verify positive laboratory research results regarding the extension of technical blade tool life through optimization of sharpening conditions during grinding. Durability test results are presented for the skinning process of fillets from plaice (Pleuronectes platessa) and flounder (Platichthys flesus). The study also examined the effect of varying cooling and lubrication conditions in the grinding zone on the tool life of technical planar blades. Sharpening knives under flood cooling conditions and using the hybrid method (combining minimum quantity lubrication and cold compressed air) increased their service life in the plaice skinning process (Pleuronectes platessa) by 12.39% and 8.85%, respectively. The increase in effective working time of knives during flounder (Platichthys flesus) skinning was even greater, reaching 17.7% and 16.3% for the flood cooling and hybrid methods, respectively. Full article

The recent advancements in high-frequency, high-power switching devices require the development of non-invasive, cost-effective sensors for signal diagnostics. In this context, planar sensors have emerged as promising candidates for voltage and current sensing due to their compatibility with printed circuit boards (PCBs). However, previously proposed voltage planar sensors exhibit trade-offs between high bandwidths and responsivity, limiting their usage to sub-GHz applications. This study introduces a planar voltage sensor that leverages geometric optimization using software-assisted design to enhance bandwidth without compromising sensitivity. The optimized sensors demonstrate an extended bandwidth response up to 4 GHz and accurate recovery of fast transient signals validated through experimental measurements, which represents a significant step forward in broadband sensing for high-power applications. Full article

The rotational spectra of xanthene and its oxidation product xanthone were investigated by combining quantum chemical calculations with Fourier transform microwave spectroscopy in a jet-cooled environment. Xanthone was unexpectedly generated in the experiment when water was present in the reservoir of xanthene leading to the total disappearance of xanthene after few hours. Structurally, xanthone shows a near planar disposition, whereas xanthene exhibits a non-planar geometry with both benzene rings twisted out of the molecular plane. This geometry enables an inversion motion between two equivalent conformers, giving rise to a splitting in the ground vibrational state. A two-state analysis of the vibration–rotation interaction for the $v=0$ and $v=1$ states gives an energy separation between these states (inversion splitting) of $\Delta E_{01}=4689.7095\left(10\right)\mathrm{MHz}$. This large-amplitude motion leads to vibration–rotation coupling of energy levels. A symmetric double-minimum inversion potential function was determined, resulting in a barrier of about 45 cm⁻¹ in good agreement with that obtained by DFT quantum chemical calculations. Full article

Debonding, especially in plastic materials, refers to the separation occurring at the interface within a bonded structure composed of two or more polymeric layers. Due to the great heterogeneity of materials and layering configurations, highly specialized expertise is often required to detect the presence and extent of such defects. This study presents a novel approach that leverages transfer learning techniques to improve the detection of debonding defects across different surface types using PICUS, an acoustic diagnostic device developed at Roma Tre University for the assessment of defects in heritage wall paintings. Our method leverages a pre-trained deep learning model, adapting it to new material conditions. We designed a planar test object embedded with controlled subsurface cavities to simulate the presence of defects of adhesion and air among the layers. This was rigorously evaluated using non-destructive testing using PICUS, augmented by artificial intelligence (AI). A convolutional neural network (CNN), initially trained on this mock-up, was then fine-tuned via transfer learning on a second test object with distinct geometry and material characteristics. This strategic adaptation to varying physical and acoustic properties led to a significant improvement in classification precision of defect class, from 88% to 95%, demonstrating the effectiveness of transfer learning for robust cross-domain defect detection in challenging diagnostic applications. Full article

Accurate measurement of pipeline flow is of great significance for industrial and environmental monitoring. Traditional intrusive methods have the disadvantages of high cost and damage to pipeline structure, while non-intrusive techniques can circumvent such issues. Although Taylor’s frozen hypothesis has a theoretical advantage in non-intrusive velocity detection, current research focuses on planar flow fields, and its applicability in turbulent circular pipes remains controversial. Moreover, there is no precedent for combining it with distributed acoustic sensing (DAS) technology. This paper constructs a circular pipe turbulence model through large eddy simulation (LES), revealing the spatiotemporal distribution characteristics of turbulent kinetic energy and the energy propagation rules of FK spectra. It proposes a dispersion feature enhancement algorithm based on cross-correlation, which combines a rotatable elliptical template with normalized cross-correlation coefficients to suppress interference from non-target directions. An experimental circulating pipeline DAS measurement system was set up to complete signal denoising and compare two principles of flow velocity verification. The results show that the vortex structure of turbulent flow in circular pipes remains stable in the convection direction, conforming to theoretical premises; the relative error of average flow velocity by this method is ≤3%, with significant improvements in accuracy and stability in high-flow zones. This study provides innovative methods and experimental basis for non-intrusive flow detection using DAS. Full article

Placing printed conductive patterns onto nonplanar substrates is a challenging task. In this work, we tested a simple method for depositing inkjet-printed conductive patterns onto 3D-printed pieces with cavities and sharp edges. First, a silver nanoparticle ink was used to print conductive patterns onto a flexible and porous substrate made of electrospun polycaprolactone (PCL). Then, the printed patterns were transferred to 3D-printed pieces made of polylactic acid (PLA) by temperature-promoted adhesion. Finally, the printed patterns were cured to render them conductive. The influence of the number of printed layers on their electrical and mechanical properties was evaluated. The printed patterns were also transferred to flexible substrates, such as thermoplastic polyurethane (TPU) and polyethylene terephthalate (PET) sheets, achieving conductivity after curing. Moreover, the printed patterns were effective for modular interconnection among successive transferred patterns, since it was possible to achieve electrical contact between them during the transfer process. Full article