Search Results (6,017)

Due to the complex spatial structure, dense tree distribution, and narrow passages in orchard environments, traditional path planning algorithms often struggle with large path deviations, frequent turning, and reduced navigational safety. In order to overcome these challenges, this paper proposes a hybrid path planning algorithm based on improved D* Lite for narrow forest orchard environments. The proposed approach enhances path feasibility and improves the robustness of the navigation system. The algorithm begins by constructing a 2D grid map reflecting the orchard layout and inflates the tree regions to create safety buffers for reliable path planning. For global path planning, an enhanced D* Lite algorithm is used with a cost function that jointly considers centerline proximity, turning angle smoothness, and directional consistency. This guides the path to remain close to the orchard row centerline, improving structural adaptability and path rationality. Narrow passages along the initial path are detected, and local replanning is performed using a Hybrid A* algorithm that accounts for the kinematic constraints of a differential tracked robot. This generates curvature-continuous and directionally stable segments that replace the original narrow-path portions. Finally, a gradient descent method is applied to smooth the overall path, improving trajectory continuity and execution stability. Field experiments in representative orchard environments demonstrate that the proposed hybrid algorithm significantly outperforms traditional D* Lite and KD* Lite-B methods in terms of path accuracy and navigational safety. The average deviation from the centerline is only 0.06 m, representing reductions of 75.55% and 38.27% compared to traditional D* Lite and KD* Lite-B, respectively, thereby enabling high-precision centerline tracking. Moreover, the number of hazardous nodes, defined as path points near obstacles, was reduced to five, marking decreases of 92.86% and 68.75%, respectively, and substantially enhancing navigation safety. These results confirm the method’s strong applicability in complex, constrained orchard environments and its potential as a foundation for efficient, safe, and fully autonomous agricultural robot operation. Full article

Background: Mediastinal staging plays a critical role in guiding treatment decisions for non-small cell lung cancer (NSCLC). While mediastinoscopy has been the gold standard for assessing mediastinal lymph node involvement, endobronchial ultrasound-guided transbronchial needle aspiration (EBUS-TBNA) has emerged as a minimally invasive alternative with comparable diagnostic accuracy. This systematic review evaluates the diagnostic performance, safety, cost-effectiveness, and feasibility of EBUS-TBNA versus mediastinoscopy for mediastinal staging. Methods: A systematic literature review was conducted in accordance with PRISMA guidelines, including searches in Medline, Scopus, EMBASE, and Cochrane databases for studies published from 2010 onwards. A total of 1542 studies were identified, and after removing duplicates and applying eligibility criteria, 100 studies were included for detailed analysis. The extracted data focused on sensitivity, specificity, complications, economic impact, and patient outcomes. Results: EBUS-TBNA demonstrated high sensitivity (85–94%) and specificity (~100%), making it an effective first-line modality for NSCLC staging. Mediastinoscopy remained highly specific (~100%) but exhibited slightly lower sensitivity (86–90%). EBUS-TBNA had a lower complication rate (~2%) and was more cost-effective, while mediastinoscopy provided larger biopsy samples, essential for molecular and histological analyses. The need for general anaesthesia, longer hospital stays, and increased procedural costs make mediastinoscopy less favourable as an initial approach. Combining both techniques in select cases enhanced overall staging accuracy, reducing false negatives and improving diagnostic confidence. Conclusions: EBUS-TBNA has become the preferred first-line mediastinal staging method due to its minimally invasive approach, high diagnostic accuracy, and lower cost. However, mediastinoscopy remains crucial in cases requiring posterior mediastinal node assessment or larger tissue samples. The integration of both techniques in a stepwise diagnostic strategy offers the highest accuracy while minimizing risks and costs. Given the lower hospitalization rates and economic benefits associated with EBUS-TBNA, its widespread adoption may contribute to more efficient resource utilization in healthcare systems. Full article

Aqueous redox flow batteries (ARFBs) have attracted significant attention in the field of electrochemical energy storage due to their high intrinsic safety, low cost, and flexible system configuration. However, the advancement of this technology is still hindered by several critical challenges, including capacity decay, structural optimization, and the design and application of key materials as well as their performance within battery systems. Addressing these issues requires systematic theoretical foundations and scientific guidance. Numerical modeling has emerged as a powerful tool for investigating the complex physical and electrochemical processes within flow batteries across multiple spatial and temporal scales. It also enables predictive performance analysis and cost-effective optimization at both the component and system levels, thus accelerating research and development. This review provides a comprehensive overview of recent progress in the modeling of ARFBs. Taking the all-vanadium redox flow battery as a representative example, we summarize the key multiphysics phenomena involved and introduce corresponding multi-scale modeling strategies. Furthermore, specific modeling considerations are discussed for phase-change ARFBs, such as zinc-based ones involving solid–liquid phase transition, and hydrogen–bromine systems characterized by gas–liquid two-phase flow, highlighting their distinctive features compared to vanadium systems. Finally, this paper explores the major challenges and potential opportunities in the modeling of representative ARFB systems, aiming to provide theoretical guidance and technical support for the continued development and practical application of ARFB technology. Full article

Ventricular tachycardia (VT) remains a major cause of morbidity and mortality in patients with structural heart disease. While catheter ablation has become a cornerstone in VT management, recurrence rates remain substantial due to limitations in electroanatomic mapping (EAM), particularly in cases of deep or heterogeneous arrhythmogenic substrates. Cardiac imaging, especially when multimodal and integrated with mapping systems, has emerged as a critical adjunct to enhance procedural efficacy, safety, and individualized strategy. This comprehensive review explores the evolving role of various imaging modalities, including echocardiography, cardiac magnetic resonance (CMR), computed tomography (CT), positron emission tomography (PET), and intracardiac echocardiography (ICE), in the preprocedural and intraprocedural phases of VT ablation. We highlight their respective strengths in substrate identification, anatomical delineation, and real-time guidance. While limitations persist, including costs, availability, artifacts in device carriers, and lack of standardization, future advances are likely to redefine procedural workflows. Full article

This paper showcases current developments in the use of carbon nanotube (CNT) and nanoparticle-based materials for electromagnetic radiation shielding. Electromagnetic radiation involves different types of radiation covering a wide spectrum of frequencies. Due to their good electrical conductivity, small diameter, and light weight, individual CNTs are good candidates for shielding radio and microwaves. CNTs can be organized into macroscale forms by dispersing them in polymers or by wrapping CNT strands into fabrics or yarn. Magnetic nanoparticles can also be incorporated into the CNT fabric to provide excellent shielding of electromagnetic waves. However, for shielding higher-frequency X-ray and gamma ray radiation, the situation is reversed. Carbon’s low atomic number means that CNTs alone are less effective than metals. Thus, different nanoparticles such as tungsten are added to the CNT materials to provide improved shielding of photons. The goal is to achieve a desired combination of light weight, flexibility, safety, and multifunctionality for use in shielding spacecraft, satellites, nuclear reactors, and medical garments and to support lunar colonization. Future research should investigate the effect of the size, shape, and configuration of nanoparticles on radiation shielding. Developing large-scale low-cost methods for the continuous manufacturing of lightweight multifunctional nanoparticle-based materials is also needed. Full article

Deformed wing virus (DWV) is a major contributor to honey bee colony losses, making effective monitoring essential for apiary management. Traditional DWV detection relies on hazardous RNA extraction followed by RT-qPCR, creating barriers for widespread surveillance. We developed an immunocapture RT-qPCR (IC-RT-PCR) method for screening DWV-A infections by capturing intact virus particles from bee homogenates using immobilized antibodies. Validation demonstrated strong correlation with TRIzol^®-based extraction (r = 0.821), with approximately 6 Ct reduced sensitivity, consistent with other published immunocapture methods. Performance was adequate for moderate–high viral loads, while TRIzol^® showed superior detection for low-dose infections. Laboratory-produced reverse transcriptase showed equivalent performance to commercial enzymes, providing cost savings. IC-RT-PCR eliminates hazardous chemicals and offers a streamlined workflow for surveillance screening where the safety and cost benefits outweigh the sensitivity reduction. This method provides a practical alternative for large-scale DWV-A surveillance programs, while TRIzol^® remains preferable for low-level detection and diagnostic confirmation. Full article

Over the past few decades, lithium-ion batteries (LIBs) have gained significant attention due to their inherent potential for environmental sustainability and unparalleled energy storage efficiency. Meanwhile, polymer electrolytes have gained popularity in several fields due to their ability to adapt to various battery geometries, enhanced safety features, greater thermal stability, and effectiveness in reducing dendrite growth on the anode. However, their relatively low ionic conductivity compared to liquid electrolytes has limited their application in high-performance devices. This limitation has led to recent studies revolving around the development of poly(ionic liquids) (PILs), particularly imidazolium-mediated polymer backbones as novel electrolyte materials, which can increase the conductivity with fine-tuning structural benefits, while maintaining the advantages of both solid and gel electrolytes. In this study, a curated dataset of 120 data points representing eight different polymers was used to predict ionic conductivity in imidazolium-based PILs as well as the emerging ionene substructures. For this purpose, four ML models: CatBoost, Random Forest, XGBoost, and LightGBM were employed by incorporating chemical structure and temperature as the models’ inputs. The best-performing model was further employed to estimate the conductivity of novel ionenes, offering insights into the potential of advanced polymer architectures for next-generation LIB electrolytes. This approach provides a cost-effective and intelligent pathway to accelerate the design of high-performance electrolyte materials. Full article

This paper presents a distributed measurement system intended to effectively monitor the health status of switchgears under varying temperature conditions. In particular, thermocouples are deployed as temperature sensors for the continuous monitoring of a medium-voltage (MV) switchgear. Then, by integrating a low-cost microcontroller unit, the proposed system can implement previously trained unsupervised learning techniques for health status evaluation. This approach enables the early detection of potential faults by identifying anomalous temperature patterns, thus supporting predictive maintenance and extending the lifespan of switchgears. The results show strong clustering performance with low execution times, highlighting the suitability of the method for resource-constrained hardware. Furthermore, onboard temperature processing eliminates the need for data transmission to remote servers, reducing latency and communication overhead while improving system responsiveness. The paper includes a numerical analysis on synthetic data as well as a validation on real measurements. Overall, the presented distributed measurement system offers a scalable and cost-effective solution to enhance the reliability and safety of MV switchgears. Full article

Machine learning and artificial intelligence have transformed fault detection and maintenance strategies for industrial machinery. This study applies well-established data-driven techniques to a rarely explored industrial application—the condition monitoring of high-precision paper cutting machines—enhancing condition-based maintenance to improve operational efficiency, safety, and cost-effectiveness. A key element of the proposed approach is the integration of an infrared pyrometer into vibration monitoring, utilizing accelerometer data to evaluate the state of health of machinery. Unlike traditional fault detection studies that focus on extreme degradation states, this work successfully identifies subtle deviations from optimal, which even expert technicians struggle to detect. Building on a feasibility study conducted with Tecnau SRL, a comprehensive diagnostic system suitable for industrial deployment is developed. Endurance tests pave the way for continuous monitoring under various operating conditions, enabling real-time industrial diagnostic applications. Multi-scale signal analysis highlights the significance of transient and steady-state phase detection, improving the effectiveness of real-time monitoring strategies. Despite the physical similarity of the classified states, simple time-series statistics combined with machine learning algorithms demonstrate high sensitivity to early-stage deviations, confirming the reliability of the approach. Additionally, a systematic analysis to downgrade acquisition system specifications identifies cost-effective sensor configurations, ensuring the feasibility of industrial implementation. Full article

Multiple myeloma (MM) is predominantly a disease of the elderly. In recent years, a surge of highly effective plasma cell therapies has revolutionized the care of elderly multiple myeloma (MM) patients, for whom frailty and age-related competing causes of mortality determine management. Traditionally, the treatment of newly diagnosed elderly patients has centered on doublet or triplet combinations composed of immunomodulators (IMIDs), proteasome inhibitors (PIs), anti-CD38 monoclonal antibodies (mAbs), and corticosteroids producing median progression-free survival (PFS) rates between 34 and 62 months. However, recently, a series of large phase III clinical trials examining quadruplet regimens of PIs, IMIDs, corticosteroids, and anti-CD38 mAbs have shown exceptional outcomes, with median PFS exceeding 60 months, albeit with higher rates of peripheral neuropathy (≥Grade 2: 27% vs. 10%) when PIs and IMIDs are combined, and infections (≥Grade 3: 40% vs. 29–41%) with the addition of anti-CD38mAbs. The development of T-cell redirecting therapies including T-cell engagers (TCEs) and CAR-T cells has further expanded the therapeutic arsenal. TCEs have shown exceptional activity in relapsed disease and are being explored in the newly diagnosed setting with promising early results. However, concerns remain regarding the logistical challenges of step-up dosing, which often necessitates inpatient admission, the infectious risks, and the financial burden associated with TCEs in elderly patients. CAR-T, the most potent commercially available therapy for MM, offers the potential of a ‘one and done’ approach. However, its application to elderly patients has been tempered by significant concerns of cytokine release syndrome, early and delayed neurological toxicity, and its overall tolerability in frail patients. Robust data in frail patients are still needed. How CAR-T and TCEs will be sequenced among the growing therapeutic armamentarium for elderly MM patients remains to be determined. This review explores the safety, efficacy, cost, and logistical barriers associated with the above treatments in elderly MM patients. Full article

Blast mitigation of structures is an important research topic due to increasing intentional and accidental human-induced threats and hazards. This research area is essential to building capabilities in sustaining structural protection, site planning, protective design efficiency, occupant safety, and response and recovery plans. This paper investigates experimental tests and finite element analysis (FEM) of thin A36 steel sheets subjected to blast. Six field blast tests were performed at standoff distances of 300 mm and 500 mm. The explosive charges comprised 334 g of bare Composition B, and the steel sheets were 2 mm thick. The experimental results, derived from the analysis of high-speed camera recordings of the blast events, were compared with FEM simulations conducted using Abaqus^®/Explicit version 6.10. Three constitutive material models were considered in these simulations. First, the FEM simulation results were compared with experimental results. It was shown that the FEM analysis provided reliable results and was proven to be robust and cost-effective. Second, an extensive set of 460 additional numerical simulations was carried out as a parametric study involving varying standoff distances and steel sheet thicknesses. The results and methodologies presented in this paper offer valuable and original insights for engineers and researchers aiming to predict damage to steel structures during real detonation events and to design blast-resistant structures. Full article

Plant-derived vesicles offer several advantages, including high yield, low cost, ethical compatibility, safety, and potential health benefits. These advantages enable them to overcome technological limitations associated with vesicles of mammalian origin. Ginseng, a prominent example of a natural botanical plant, is known for its abundant bioactive components. Recent studies confirmed that ginseng-derived vesicles offer significant advantages in the treatment of human diseases. Therefore, this study reviews the extraction and purification processes of ginseng-derived vesicle-like nanoparticles (GDVLNs), their therapeutic potential, and the active ingredients in GDVLNs that may exert pharmacological activities. Furthermore, this study evaluates the research and applications of nanosized ginseng extracts, with a primary focus on ginsenosides. Full article

With the rapid growth of elevator installations, conventional scheduled maintenance struggles to meet the dual demands of ensuring operational safety and cost control. This study proposes an innovative on-demand maintenance method that aligns with the Chinese policy directives on elevator maintenance reform. First, we conduct a historical fault cause analysis to identify the root causes of elevator entrapment incidents. Next, we establish an entrapment prediction model based on our historical data. Then, we design an elevator entrapment risk index report according to the prediction results. Finally, we formulate an on-demand maintenance plan that combines insights from the report with the conclusions of the cause analysis. Field implementation and comparative experiments demonstrate that the proposed on-demand maintenance method outperforms the scheduled one. The result shows significant reductions in accident and maintenance workload, justifying the practical value of this approach for the industry. Full article

Contamination of food with heavy metals is an important factor leading to serious health concerns. Rapid identification of these heavy metals is of utmost priority. There are several methods to identify traces of heavy metals in food. Conventional methods for the detection of heavy metal residues have their limitations in terms of cost, analysis time, and complexity. In the last decade, voltammetric analysis has emerged as the most prominent electrochemical determination method for heavy metals. Voltammetry is a reliable, cost-effective, and rapid determination method. This review provides a detailed primer on recent advances in the development and application of graphene-based electrochemical sensors for heavy metal monitoring over the last decade. We critically examine aspects of graphene modification (fabrication process, stability, cost, reproducibility) and analytical properties (sensitivity, selectivity, rapid detection, lower detection, and matrix effects) of these sensors. Furthermore, to our knowledge, meta-analyses were performed for the first time for all investigated parameters, categorized based on graphene materials and heavy metal types. We also examined the pass–fail criteria according to the WHO drinking water guidelines. In addition, the effects of heavy metal toxicity on human health and the environment are discussed. Finally, the contribution of heavy metal contamination to the seventeen Sustainable Development Goals (SDGs) stated by the United Nations in 2015 is discussed in detail. The results confirm the significant impact of heavy metal contamination across twelve SDGs. This review critically examines the existing knowledge in this field and highlights significant research gaps and future opportunities. It is intended as a resource for researchers working on graphene-based electrochemical sensors for the detection of heavy metals in food safety, with the ultimate goal of improving consumer health protection. Full article

This research addresses urban inequality by focusing on the rehabilitation of communal rooftops in Ciutat Vella, Barcelona, the city’s historic district, where residential vulnerability is concentrated in a particularly dense heritage urban environment with a shortage of outdoor spaces. Using participatory methodologies, this research develops low-cost, removable, and recyclable prototypes aimed at improving social interaction, technical performance, and environmental conditions. The focus is on vulnerable populations, particularly the elderly. The approach integrates a bottom–up process and scalable solutions presented as a Toolkit of micro-projects. These micro-projects are designed to improve issues related to health, safety, durability, accessibility, energy savings, and acoustics. In addition, several possible material solutions for micro-projects are examined in terms of sustainability and cost. These plug-in interventions are designed for adaptability and replication throughout similar urban contexts and can significantly improve the quality of life for people, especially the elderly, in dense historic environments. Full article