Search Results (762)

Executing multi-UAV cooperative pursuit in complex public domains requires balancing interception efficiency with flight safety under strict micro-platform constraints. Existing planners often struggle with high computational overhead or lack kinodynamic adaptability in heterogeneous environments. To address this, we propose AC2F, a lightweight Adaptive Coarse-to-Fine hybrid framework featuring a bidirectional state-switching mechanism. The framework utilizes the Apollonius circle for efficient global guidance during the coarse phase, dynamically transitioning to a Dynamic Window Approach (DWA) upon detecting path oscillations or entering terminal capture zones. To ensure robustness, a dual-layer parameter paradigm integrates offline Bayesian optimization for globally optimal baselines with online real-time weight adaptation based on target distance. Extensive simulations show that AC2F effectively escapes local minima, such as urban-style U-shaped traps. Real-world suburban validation confirms an 86% capture rate with minimal computational overhead, demonstrating AC2F’s suitability for public domain protection and civil security. Full article

Background: Neovascular age-related macular degeneration (nAMD) remains a leading cause of irreversible central vision loss. Although anti-vascular endothelial growth factor (anti-VEGF) therapy has transformed management, pivotal trials enrolled exclusively treatment-naïve patients, leaving clinicians without pooled evidence to guide switching decisions in previously treated eyes. This systematic review and meta-analysis assessed real-world visual, anatomical, durability, and safety outcomes following switching to aflibercept 8 mg in previously treated nAMD. Methods: Following PRISMA 2020 guidelines, we searched PubMed, Embase, Web of Science, CENTRAL, Scopus, and Google Scholar through April 2026. Studies reporting switching to aflibercept 8 mg with change in best-corrected visual acuity (BCVA), central subfield thickness (CST), or treatment interval were included. Continuous outcomes were pooled using random-effects models with Hartung–Knapp–Sidik–Jonkman adjustment; proportions were estimated using generalized linear mixed models. Methodological quality was evaluated using the JBI Critical Appraisal Checklist for Case Series. Certainty of evidence was assessed using GRADE. The protocol was registered with PROSPERO (CRD420261371334). Results: Twenty-one studies met inclusion criteria. BCVA remained stable (WMD: −0.017 logMAR; 95% CI: −0.027 to −0.007; +0.83 ETDRS letters; I² = 0%). CST decreased significantly (WMD: −21.5 µm; 95% CI: −29.3 to −13.7; I² = 56.0%), and treatment intervals extended by +1.79 weeks (95% CI: +1.32 to +2.27; I² = 74.3%). Intraretinal and subretinal fluid each resolved in 37.5% of eyes. Intraocular inflammation was rare across 9959 treated eyes, though this pool was not restricted to switched eyes, with no confirmed retinal vasculitis. Sensitivity analyses confirmed robustness across all co-primary estimates. GRADE certainty was low for BCVA and very low for CST and treatment interval. Conclusions: Low-certainty evidence suggests that switching to aflibercept 8 mg preserves visual acuity, while very-low-certainty evidence suggests reductions in central subfield thickness and modest extension of treatment intervals. Intraocular inflammation was rare, though safety denominators included non-switch eyes. These findings provide preliminary pooled estimates to inform switch decisions in previously treated eyes. Full article

Low-voltage electrical contacts are core components of power distribution systems, renewable energy installations, and industrial automation equipment. The electric arc generated during contact switching is the primary cause of contact erosion, material transfer, and equipment failure, posing significant threats to system reliability and operational safety. The accurate prediction of arc parameters is hindered by two challenges: the high scatter in available data undermines empirical models, and purely data-driven approaches risk physically implausible results. To address this, a Gaussian Mixture-enhanced Bayesian-optimized Physics-Informed Neural Network (GB-PINN) is proposed. Three core contributions are made: (1) High-fidelity MHD simulation foundation: A magnetohydrodynamic (MHD) multi-physics coupling model of the contact arc was constructed and validated against experiments, showing high fidelity with only 1.63% error in arc duration and 1.82% in arc energy. A multivariate simulation dataset was generated by varying key contact parameters based on this validated model. (2) GMM-based data augmentation: The measured and simulated data were modeled and sampled via Gaussian Mixture Model (GMM) to enrich the dataset while preserving physical consistency. (3) BOHB-optimized PINN prediction: The Bayesian Optimization and Hyperband (BOHB) algorithm was employed to optimize the PINN hyperparameters, enhancing training efficiency and predictive accuracy. Experimental results demonstrated that the proposed GB-PINN achieved superior performance in predicting arc duration and energy, with mean absolute errors (MAE) of 0.079 ms and 0.624 mJ, root mean square errors (RMSE) of 0.099 ms and 0.774 mJ, and coefficients of determination (R²) of 0.980 and 0.979, significantly outperforming grey model (GM (1, N)), long short-term memory (LSTM), and Transformer models. As a physics-informed data-driven tool, GB-PINN enables high-precision arc prediction, providing reliable support for electrical contact design. Full article

Acute myeloid leukemia (AML) presents significant challenges for CAR T-cell therapy due to its pronounced heterogeneity and the lack of leukemia-specific surface antigens. Frequently targeted antigens, such as CD33, CD123, and CLL-1, are also present on normal hematopoietic progenitors, resulting in on-target, off-tumor toxicity and restricting clinical translation. To address these challenges, logic-gated CAR T-cell strategies have been developed to enable combinatorial antigen recognition. These approaches incorporate engineered circuits, including AND, OR, and NOT gates, as well as synNotch receptors, split-CAR configurations, and inhibitory platforms (iCARs and Tmod), to improve discrimination between leukemic and normal cells. In AML, CAR T-cell efficacy and persistence are further affected by the immunosuppressive bone marrow and lymphoid microenvironment, which involves immune cell trafficking, cytokine signaling, and lymphatic immune regulation. Preclinical studies employing dual-target strategies, such as CD33/CD123 and CLL-1/CD123, have shown improved antileukemic efficacy with reduced hematopoietic toxicity. This review summarizes the molecular principles underlying logic-gated CAR-T systems and examines their translational application in AML. Additionally, it highlights emerging evidence connecting the regulation of lymphatic and immune microenvironments to CAR T-cell persistence, trafficking, and toxicity and discusses future strategies, such as single-cell antigen mapping, computational circuit engineering, and synthetic immune programming, to enhance the precision and clinical feasibility of next-generation AML immunotherapies. Full article

Climate change is a global pressing concern that has affected all sectors, including the operations of Small and Medium Entreprises (SMEs) in developing countries, including Malawi. This has negatively affected their economies of scale and exacerbated the SMEs’ growth constraints. Nonetheless, renewable efficient energy (REE) systems, including solar and biogas, could help in building resilience to sustain their performance. In line with this, the study examined the factors that enhance the adoption of renewable efficient energies and constructed their resilience indices. Our study was grounded in the Diffusion of Innovation Theory and the Sustainable Livelihoods Framework. These theories contextualised the study and guided the selection of variables to estimate an Endogenous Switching Regression (ESR) econometric model, alongside estimating the absorptive, adaptive and transformative individual indices for 699 SMEs, using the 2019 Malawi Household Integrated Survey data. The results initially suggests that factors such as access to credit, being male, access to education, access to capital sources, a large profit share, bridging social capital and location among others, have a positive effect in influencing the adoption of renewable efficient systems. We simulated the adoption results and found that SMEs that adopts REE increase their resilience with an Average Treatment Effect of 0.117 and through the subsidy policy effect vulnerable SMEs that later adopt REE would shift their resilience by 0.169. Furthermore, the study found that transformative capacity plays the most important role in building long-term resilience for the SMEs. The study calls for policies, including establishing urban centres where SMEs can access information regarding REE and improving access to formal safety nets and capital sources beyond loan provisions. Full article

This paper is concerned with cooperative multi-UAV navigation in a planar obstacle environment. A hierarchical embodied swarm framework with leader, subleader, and follower roles is proposed. At the high level, a passable-corridor-driven decision layer is developed to perform split–merge reconfiguration and navigate/encircle mode switching. At the low level, a multi-term force synthesis controller is constructed for formation maintenance, inter-agent collision avoidance, obstacle avoidance, and sub-swarm cohesion. To accommodate both rule-based and local large language model (LLM) decisions, a feasibility projection operator is introduced so that only kinematically admissible structural actions are executed. In addition, a LiDAR-based obstacle-repulsion term and an occlusion-attenuated attraction mechanism are incorporated to improve navigation safety in cluttered environments. A Lyapunov analysis of the smooth controller core further certifies that, for a known (possibly time-varying) cruise velocity compensated by feedforward, the formation tracking error is uniformly bounded by the initial energy. Finally, multi-seed numerical simulations verify the proposed framework in standard, ablated, and complex scenarios. In the hardest alternating-gate scenario, the LLM-assisted variant raises mission success from $0.000$ to $0.100$, increases the goal-reaching ratio from $0.025$ to $0.125$, and reduces the mean terminal error from $44.738\mathrm{m}$ to $39.851\mathrm{m}$, showing the value of semantic high-level reconfiguration under tight passage constraints. Full article

The switch in land use of abandoned tailings can precondition their reuse as newly built parks. This study investigated the feasibility of reusing a remediated mercury (Hg) retorting site in Wanshan, Guizhou Province, China, as a functional urban park by assessing residual heavy metal risks and associated vegetation responses. Field investigations were conducted across 31 park sites distributed along an east–west geographical gradient from the former mining area to urban parks, using replicated plots to sample the surface soils and dominant plant species. The concentrations of arsenic (As), cadmium (Cd), mercury (Hg), manganese (Mn), and lead (Pb) in soil and plant tissues were quantified using inductively coupled plasma–mass spectrometry, and vegetation structure and diversity were evaluated using standard community indices. The results showed significant spatial variability in soil and plant metal concentrations, with higher levels generally observed near historically impacted areas of the mine. However, all soil metal concentrations were below the national safety thresholds. Plant tissues exhibit controlled metal accumulation within normal or regulated ranges, reflecting the effective screening of tolerant and hyperaccumulating species. Increasing heavy metal concentrations were associated with reduced vegetation coverage, height, and diversity along the gradient. Overall, the findings indicate that the reclaimed Hg retorting site almost met ecological safety requirements, but more data on deep soils, groundwater, and long-term observations are needed to draw more conclusive conclusions. Full article

Decoupled maximum power point tracking control and output voltage control can be accomplished simultaneously using dual-duty cycle control. However, developed triple switch triple mode (TSTM) exhibits absence of the common ground between the solar panel and output load therefore causing the leakage current to flow which creates safety concern especially for household electrification. In addition to having a negative effect on the solar panel, leakage current increases power losses. Thus, this work proposes a unique TSTM dc-dc converter. The suggested converter has the following advantages: (1) The presence of a common ground between the output load and the solar panel eliminates the leakage current. (2) Reduced electromagnetic interference issues present due to leakage current. (3) Enhanced voltage gain over wider duty cycle. (4) Enables simultaneous decoupled control of MPPT and output voltage. (5) Absence of voltage oscillation across the switches. The proposed TSTM converter is an unique combination of switched inductor and switched capacitor. Both inductor and capacitors are connected in order to boost the level of voltage at the output terminal. The operating principle, design equations and device stress are analyzed in detail for the proposed TSTM. The comparison over existing converter in terms of voltage gain and switch stresses are highlighted in details. Lastly, a laboratory prototype (40/400 V) for 400 W is created and thoroughly tested in order to validate mathematical calculations. Full article

Chimeric antigen receptor T (CAR-T) cell therapy has transformed the treatment of hematologic malignancies, yet its broader application, particularly in solid tumors, remains constrained by high cost, labor-intensive manufacturing, limited production capacity, and variable clinical performance, as well as barriers such as poor trafficking, antigen heterogeneity, and an immunosuppressive tumor microenvironment. In vivo CAR-T cell engineering, in which CAR-T cells are generated directly within the patient, offers a paradigm shift by eliminating the need for ex vivo cell processing and complex logistical infrastructure. Among emerging approaches, messenger RNA (mRNA)-loaded lipid nanoparticles (LNPs) have emerged as a promising and clinically tractable platform for in vivo CAR-T cell generation, enabling direct reprogramming of T lymphocytes within the patient and thereby circumventing the need for leukapheresis, viral vector production, and prolonged ex vivo culture, effectively transforming the patient into their own cell therapy factory. This review synthesizes advances in mRNA-LNP-mediated in vivo CAR-T cell generation, encompassing ionizable lipid chemistry and emerging T cell-targeted delivery strategies, including surface functionalization approaches. We discuss the implications of transient CAR expression for immune activation, safety, and therapeutic durability, alongside CAR design optimization through co-stimulatory domains and safety switches. Preclinical evidence from murine tumor models and non-human primates is integrated with current regulatory considerations, and key barriers to clinical translation are highlighted. Collectively, progress in nucleic acid delivery, synthetic immunology, and precision medicine positions in vivo mRNA-CAR-T therapy as a promising modality for oncology and beyond. Full article

With the advancement of new energy technologies and the demand for intelligentization, hydraulic cylinders in crane booms are gradually being replaced by electric cylinders. However, electric cylinders may induce an initial retraction phenomenon during the crane startup phase when the electromagnetic torque has not yet matched the lifting load. To address this problem, this paper proposes a load-aware position switching control method for an electric crane boom with an integrated brake mechanism. In the braking phase, a fixed-time convergence controller combined with a radial basis function neural network observer is used to build up the holding torque of the permanent-magnet synchronous motor (PMSM) rapidly under uncertain load torque. After the safety current threshold is satisfied and the brake is released, the control law switches to a feedforward Proportional–Integral (PI) controller for position tracking. The switching threshold is derived from the estimated load torque and the PMSM torque constant, and a hysteresis/dwell-time condition is introduced to avoid chatter near the switching boundary. Simulation and experimental results show that the method effectively reduces the initial retraction of the boom. Full article

Background/Objectives: Anterior cruciate ligament (ACL) injuries are common in sports; they can be seen with an arthroscope in more than half of instances of acute traumatic hemarthrosis and are frequently associated with meniscal tears. By reducing soft tissue injury and enabling faster recovery while attaining comparable long-term outcomes, the switch from open surgery to arthroscopic ACL repair (ACLR) has transformed treatment. However, maintaining efficient intra-articular visualization is essential for both patient safety and surgical precision. Methods: Using the PRISMA guidelines, a comprehensive systematic search was conducted across major medical databases, including PubMed, Web of Science, and ScienceDirect. The search strategy incorporated key terms such as epinephrine, irrigation fluid, and ACL reconstruction to identify relevant studies. The study focused on English-language clinical studies within the last 10 years that clearly assessed the safety and efficacy of epinephrine-added irrigation in ACL repair. The study design, patient demographics, specific outcomes (visualization, operation time, hemodynamics), and statistical findings were all carefully retrieved. The results were combined to determine the intervention’s safety profile and clinical value. Results: The pooled analysis demonstrated that the intervention group significantly decreased operating time (SMD = −0.51, 95% CI: −0.90 to −0.12, p = 0.01; I² = 24%). However, postoperative knee function showed no statistically significant difference between groups (OR = 1.80, 95% CI: 0.61 to 5.30, p = 0.29; I² = 0%). Postoperative pain levels also did not differ significantly between groups (SMD = −0.27, 95% CI: −0.63 to 0.09, p = 0.14; I² = 0%). Heterogeneity was low across all analyses (I² = 0–24%). Conclusions: Low-dose epinephrine in irrigation fluid significantly reduces operative time during arthroscopic ACL reconstruction, suggesting improved surgical efficiency. However, it does not significantly improve postoperative knee function or reduce pain compared to control irrigation. The intervention appears to be a reasonable alternative to tourniquets without major systemic cardiovascular effects. Nevertheless, preclinical data indicate potential chondrotoxicity. Therefore, while epinephrine can be considered to improve operating efficiency and reduce tourniquet-related problems, surgeons should weigh its use cautiously, especially in younger patients or those with susceptible cartilage. Full article

Integrating green hydrogen systems into hybrid microgrids introduces nonlinear dynamics that compromise control stability during operational transitions. The performance of the advanced control loops depends on the latency and reliability provided by the communication infrastructure. This paper proposes a Software-Defined Networking (SDN) architecture integrated with an adaptive Quality of Service (AQoS) framework to support time-critical data flows in a hybrid microgrid with green hydrogen integration. An emulated network topology in GNS3, with OpenDaylight as the SDN controller and Open vSwitch as the forwarding plane, reproduces IEC 61850 traffic patterns, including GOOSE, control set-points and MMS. These traffic classes coordinate key microgrid components, including electrolysers, fuel cells and battery storage. Experimental results show that the SDN-AQoS framework reduces latency variance by 60% compared to unmanaged SDN configurations and delivers 49.4% higher throughput than traditional TCP/IP networks under congestion. The SDN-AQoS configuration achieves a median latency of 9.68 ms, keeping 97.5% of the measurements below the 20 ms safety threshold for electrolyser control. This level of reliability represents a substantial improvement over the plain TCP/IP at 90%, unmanaged SDN at 66.7% and static QoS policing at 60%. QoS rules are configured through the RESTCONF interface and remain fixed during each experiment while enabling the future integration of reinforcement learning agents for autonomous QoS adaptation. At the same time, this framework supports the bounded communication delay required to sustain frequency control and electrolyser safety coordination in low-inertia hydrogen microgrids during network congestion. The physical layer impact of these communication improvements remains a subject of future hardware-in-the-loop validation. Full article

RNA-based therapeutics are reshaping the treatment landscape for skeletal muscle disorders by enabling modulation of RNA processing or direct correction of disease-causing alleles. In Duchenne muscular dystrophy (DMD), four antisense oligonucleotides—eteplirsen, golodirsen, viltolarsen, and casimersen—have received FDA approval; these phosphorodiamidate morpholino oligomers (PMOs) induce exon skipping to restore the reading frame and enable expression of internally truncated dystrophin. Beyond splice switching, RNA therapeutics include RNase H-active gapmers and steric-blocking antisense oligonucleotides (ASOs), small interfering RNAs (siRNAs) that mediate post-transcriptional gene silencing, and RNA-guided gene-modifying technologies such as CRISPR systems that can reframe or repair endogenous alleles. Despite major progress in DMD, broader clinical impact remains constrained by inefficient delivery to skeletal and especially cardiac muscle, the need for repeat administration for most modalities, and safety considerations that limit dose escalation and durability. Next-generation approaches aim to overcome these barriers through peptide- or antibody-conjugated oligonucleotides that enhance cellular uptake and tissue distribution, alternative chemistries with improved stability and potency, and viral or non-viral platforms for durable splice modulation. In parallel, CRISPR-based strategies—including base and prime editing—offer the prospect of one-time correction, while raising important questions regarding delivery, immunogenicity, editing specificity, and long-term safety. This review synthesizes recent advances in antisense and gene-modifying strategies for skeletal muscle and highlights practical priorities for translation, including improved muscle/heart delivery, controllable safety mechanisms, scalable manufacturing, and standardized biomarker-to-clinical outcome relationships. Full article

Galloping of overhead transmission lines is a low-frequency, large-amplitude vibration hazard that poses a severe threat to power grid safety, yet existing monitoring approaches fail to simultaneously provide flexible deployment, quantitative measurement, and robustness under severe weather conditions. This paper makes three primary contributions. First, we propose a novel line-structure center adsorption algorithm that converts a single operator touch-point into a sub-pixel-precision conductor prompt, achieving prompt accuracy above 95% with one round of interactive correction. Second, we introduce—for the first time—SAM2’s streaming memory architecture for continuous zero-shot pixel-level tracking of galloping conductors under complex outdoor backgrounds including snow, ice, and poor illumination, achieving a segmentation IoU of 93.8% and zero identity switches over 500 consecutive frames, outperforming XMem (87.4%) and DeAOT (88.9%). Third, we develop a two-stage spatial correction framework combining vanishing-point-based inverse perspective mapping (IPM) with equidistant linear transformation (ELT), which eliminates perspective distortion inherent in non-orthogonal field imaging and enables quantitative measurement of galloping amplitude (error < 0.5 m), frequency (error < 0.1 Hz), and inter-phase spacing (ranging error < 1 m). The complete pipeline is implemented on a portable, tripod-mounted device (≤15 kg) integrating a monocular camera, laser rangefinder, and high-precision PTZ gimbal. Field validation at three 110/500 kV sites in Jiangsu Province under extreme winter conditions ($-4$ °C, Level 5 wind, continuous snowfall) confirms engineering-grade accuracy and practical robustness, providing a viable technical pathway for real-time non-contact galloping monitoring and disaster early warning. Full article

Objective: To evaluate adverse effects associated with biologic therapy (Etanercept, Adalimumab, and Secukinumab) in patients with psoriasis, psoriatic arthritis, and hidradenitis suppurativa. Methods: This retrospective observational study included 58 patients receiving biologic therapy: 40 with generalized plaque psoriasis, 13 with psoriatic arthritis, and 3 with hidradenitis suppurativa. Eligibility was based on national treatment protocols (Psoriasis Area and Severity Index [PASI] > 10; Hurley stage II–III). Demographic data, treatment duration, therapy modifications, discontinuations, and adverse events were collected from medical records. Patients were monitored for both efficacy and safety outcomes. Results: Treatment discontinuation due to severe hepatotoxicity occurred in four patients (three receiving Etanercept and one Adalimumab), corresponding to 6.9% of the cohort. Adalimumab was discontinued in one patient due to cutaneous leishmaniasis after 24 months and in another due to pregnancy after 26 months. Upper limb edema was observed following a switch from Adalimumab to Secukinumab. One patient discontinued Etanercept due to lack of efficacy and subsequently died from a fatal methotrexate overdose. Treatment switches included Etanercept to Adalimumab for granulomatous uveitis (one case) and Adalimumab to Etanercept due to generalized urticaria (two cases). Conclusion: Adverse events were relatively infrequent, with an overall incidence below 10% (6.9% for the most common event and <2% for other events). Most adverse events were mild and reversible following dose adjustment or temporary discontinuation. No unexpected or fatal adverse events were directly attributable to biologic therapy. Full article