This review paper focuses on quadrotor- and multirotor-based cooperative aerial manipulation. Emphasis is first given to comparing and evaluating prototype systems that have been implemented and tested in real-time in diverse application environments. The underlying modeling and control approaches are also discussed and compared. The outcome of this review allows for understanding the motivation and rationale to develop such systems, their applicability and implementability in diverse applications and also challenges that need to be addressed and overcome. Moreover, this paper provides a guide to develop the next generation of prototype systems based on preferred characteristics, functionality, operability, and application domain. Full article

Riemerella anatipestifer (RA) is an economically important pathogen in the duck industry worldwide that causes high mortality and morbidity in infected birds. We previously found that upregulated IL-17A expression in ducks infected with RA participates in the pathogenesis of the disease, but this mechanism is not linked to IL-23, which primarily promotes Th17 cell differentiation and proliferation. RNA sequencing analysis was used in this study to investigate other mechanisms of IL-17A upregulation in RA infection. A possible interaction of IL-26 and IL-17 was discovered, highlighting the potential of IL-26 as a novel upstream cytokine that can regulate IL-17A during RA infection. Additionally, this process identified several important pathways and genes related to the complex networks and potential regulation of the host immune response in RA-infected ducks. Collectively, these findings not only serve as a roadmap for our understanding of RA infection and the development of new immunotherapeutic approaches for this disease, but they also provide an opportunity to understand the immune system of ducks. Full article

In this study, a phenol–formaldehyde resin–montmorillonite intercalation composite solution was used as a modifier to treat Chinese fir via impregnation and compression. The basic characteristics and wettability of the PF (phenol–formaldehyde)–montmorillonite impregnation solution were analyzed. The effects of the solid content of PF, the quantity of montmorillonite, and the impregnation time on the impregnation weight gain of Chinese fir were studied through orthogonal experiments. The results showed that when the amount of montmorillonite was 1%, the wettability of the PF–montmorillonite impregnation solution performed the best, the curing time was short, and the curing strength was high. The optimal impregnation process consists of a PF solid content of 25%, an impregnation time of 120 min, and a montmorillonite ratio of 1%. Under these conditions, the modified Chinese fir was prepared via hot pressing. The effects of the addition of montmorillonite and different levels of compressibility on the physical and mechanical properties of modified wood were studied. The physical and mechanical properties were found to be better when the compression ratio was 33%: the density increased from 0.33 g/cm³ to 0.58 g/cm³; the surface hardness increased from 33.6 HD to 70.9 HD; the static bending strength increased from 60.4 MPa to 98.7 MPa; and the elastic modulus increased from 6 390 MPa to 11 498 MPa. After 30 days of release, the compression rebound rate was 3.97%. Meanwhile, the micromorphology and heat resistance of the impregnated compressed Chinese fir showed that the PF–montmorillonite impregnation solution entered into the cell cavity and intercellular space of the Chinese fir and formed a good composite, thus improving the water resistance, heat resistance, and physical and mechanical properties. Full article

Due to the coexistence of Al³⁺ and RE³⁺ and their similar properties, the separation of aluminum from rare earths is difficult. In this study, selective precipitation was used to separate aluminum from rare earth chloride solution via electrochemical regulated hydrolysis. By controlling the current density and electrolytic time, the rate of hydroxyl ion production was regulated, and the selective separation of rare earth and aluminum was realized according to the different precipitation sequences. By altering the temperature, current density, pH value, and other parameters, the separation performance of aluminum from rare earth in mixed rare earth chloride systems was systematically investigated. The removal rate of aluminum reached 88.35%, and the loss rate of rare earth was only 5.99% under optimized conditions. Compared with traditional neutralization hydrolysis, the new process showed higher efficiency and lower rare earth loss rate. Furthermore, a kinetic analysis of aluminum precipitation revealed that the reaction adhered to pseudo-first order kinetics. Additionally, the precipitate obtained via separation and filtration was amorphous alumina hydroxide with a small amount of rare earth attached. No reagent was consumed for the new process, which was more efficient and cleaner, providing a new idea for removing aluminum impurities from rare earth solutions. Full article

Nucleosomes are non-uniformly distributed across eukaryotic genomes, with stretches of ‘open’ chromatin strongly associated with transcriptionally active promoters and enhancers. Understanding chromatin accessibility patterns in normal tissue and how they are altered in pathologies can provide critical insights to development and disease. With the advent of high-throughput sequencing, a variety of strategies have been devised to identify open regions across the genome, including DNase-seq, MNase-seq, FAIRE-seq, ATAC-seq, and NicE-seq. However, the broad application of such methods to FFPE (formalin-fixed paraffin-embedded) tissues has been curtailed by the major technical challenges imposed by highly fixed and often damaged genomic material. Here, we review the most common approaches for mapping open chromatin regions, recent optimizations to overcome the challenges of working with FFPE tissue, and a brief overview of a typical data pipeline with analysis considerations. Full article

This paper explores how water and water-based systems change their structure under different conditions, such as pH, temperature, and electric fields. These changes affect the properties and performance of living and non-living systems that use water or water-based systems in various technologies. We can use pH, temperature, and electric fields to measure and control the structural changes in water and water-based systems and improve the outcomes of different technologies in biology and medicine. More research is needed to understand how various factors influence the structure of water and water-based systems and how this affects living and non-living systems. Full article

Nuclear speckles are compartments enriched in splicing factors present in the nucleoplasm of eucaryote cells. Speckles have been studied in mammalian culture and tissue cells, as well as in some non-mammalian vertebrate cells and invertebrate oocytes. In mammals, their morphology is linked to the transcriptional and splicing activities of the cell through a recruitment mechanism. In rats, speckle morphology depends on the hormonal cycle. In the present work, we explore whether a similar situation is also present in non-mammalian cells during the reproductive cycle. We studied the speckled pattern in several tissues of a viviparous reptile, the lizard Sceloporus torquatus, during two different stages of reproduction. We used immunofluorescence staining against splicing factors in hepatocytes and oviduct epithelium cells and fluorescence and confocal microscopy, as well as ultrastructural immunolocalization and EDTA contrast in Transmission Electron Microscopy. The distribution of splicing factors in the nucleoplasm of oviductal cells and hepatocytes coincides with the nuclear-speckled pattern described in mammals. Ultrastructurally, those cell types display Interchromatin Granule Clusters and Perichromatin Fibers. In addition, the morphology of speckles varies in oviduct cells at the two stages of the reproductive cycle analyzed, paralleling the phenomenon observed in the rat. The results show that the morphology of speckles in reptile cells depends upon the reproductive stage as it occurs in mammals. Full article

In this review, the main issues related to the conservation and valorization of Plant Genetic Resources for Food and Agriculture (PGRFA) will be primarily addressed. The conservation of PGRFA concerning outcrossing plants poses a significant challenge. For this reason, this review will cover the key challenges related to all stages, starting from in situ sampling, collection in the germplasm bank, and conservative reproductive methods. Integrated approaches involving the combined use of classical and molecular techniques will be described for the characterization of accessions. Within this framework, some successful Italian case studies focused on maize will be reported as well. Full article

Air pollutants and greenhouse gases (GHGs) represent major challenges in our era, contributing to climate change and global health issues. These problems arise from a variety of well-known sources, including motor vehicles. Almost all nations, Thailand included, have formulated and implemented policies to curb greenhouse gas (GHG) emissions in line with the requirements and commitments of the Paris Agreement. The evaluation of specific air pollutants and GHG emissions originating from road vehicles utilises the Thailand database, referencing the year 2019. Data intersections from 2019 to 2022 are grounded in actual data collected from relevant departments in Thailand, while projections for 2023–2030 are forecasted based on the baseline year. The secondary database used in the International Vehicle Emission model is adjusted according to real-world driving data to accurately reflect country-specific emission factors. Dynamic emission factors for specific air pollutants and GHGs are evaluated and integrated with the average Vehicle Kilometres Travelled (VKT) for each vehicle category. The Business-As-Usual (BAU) scenario is then examined, based on existing policies aimed at reducing air pollutants and GHG emissions in Thailand’s transport sector. These policies include strategies for the adoption of electric vehicles and the promotion of public transport to reduce VKT. Under the BAU scenario, the overall number of road vehicles in Thailand, including passenger cars, motorcycles, pickups, vans, trucks, and buses, is expected to increase by approximately 6.58% by 2030, leading to a rise in specific air pollutants and GHG emissions compared to the 2019 baseline. However, by adhering to Thailand’s strategies and transitioning to new electric passenger cars and buses, greenhouse gas emissions and specific air pollutants from the road transport sector will be significantly reduced. Full article

Product design and manufacturing leverage 3D scanning for various applications. This study aims to investigate the effectiveness of 3D scanning in furniture production by surveying the literature and showcasing four real-world case studies. The literature review reveals that 3D data acquired from real-world objects have applications in research, rapid prototyping, restoration, and preservation of antique furniture, optimizing CNC machining processes, and measuring furniture components for quality control. The case study descriptions demonstrated the circumstances, rationale, and methodology for 3D scanning. All the case studies analyzed stem from the collaboration between the Laboratory for Product Development and Design at the Faculty of Mechanical Engineering at the University of Sarajevo and various furniture production enterprises from Bosnia and Herzegovina. The conclusions highlight that 3D scanning in the furniture sector is advantageous for developing computer-aided design models from early-stage design prototypes, validating the dimensional accuracy of manufactured components by comparing with CAD models, safeguarding and reconstructing vintage furniture, and remanufacturing formerly produced goods that lack complete technical records (reverse engineering). Full article

Clostridioides difficile infection (CDI) is an intestinal infection that causes morbidity and mortality and places significant burden and cost on the healthcare system, especially in recurrent cases. Antibiotic overuse is well recognized as the leading cause of CDI in high-risk patients, and studies have demonstrated that even short-term antibiotic exposure can cause a large and persistent disturbance to human colonic microbiota. The recovery and sustainability of the gut microbiome after dysbiosis have been associated with fewer CDI recurrences. Fecal microbiota transplantation (FMT) refers to the procedure in which human donor stool is processed and transplanted to a patient with CDI. It has been historically used in patients with pseudomembranous colitis even before the discovery of Clostridioides difficile. More recent research supports the use of FMT as part of the standard therapy of recurrent CDI. This article will be an in-depth review of five microbiome therapeutic products that are either under investigation or currently commercially available: Rebyota (fecal microbiota, live-jslm, formerly RBX2660), Vowst (fecal microbiota spores, live-brpk, formerly SER109), VE303, CP101, and RBX7455. Included in this review is a comparison of the products’ composition and dosage forms, available safety and efficacy data, and investigational status. Full article

In this paper, we propose a geometric channel model for air-to-air (A2A) unmanned aerial vehicle (UAV) communication scenarios. The model is established by incorporating line-of-sight, specular reflection, and diffuse scattering components, and it can capture the impacts of UAV vibrations induced by the propeller’s rotation. Based on UAV heights and ground scatterer density, a closed-form expression is derived to jointly capture the zenith and azimuth angular distributions of diffuse rays. The power of diffuse rays is modeled according to the grazing angle of the rays and the electrical properties and roughness of the ground materials. Key statistics, including the temporal autocorrelation function, spatial cross-correlation function, Doppler power spectrum density, and coherence time are derived, providing an in-depth understanding of the time-variant characteristics of the channel. The results indicate that the presented model is capable of capturing certain A2A channel characteristics, which align with the corresponding theoretical analysis. The findings suggest that the scattering effect of the A2A channel is significantly influenced by the altitude of the UAV. Additionally, it is shown that UAV vibrations can introduce extra Doppler frequencies, notably decreasing the temporal correlation and coherence time of the channel. This effect is more prominent when the system operates at high-frequency bands. The effectiveness of the presented model is confirmed through a comparison of its statistics with those of an existing model and with available measurement data. Full article

The present paper deals with a new two-in-one zero-dimensional (0D) organic–inorganic hybrid compound namely (C₆H₁₀N₂)₄[CdBr₆][CdBr₄]₂. This molecular crystal structure contains isolated CdBr₄ tetrahedra and CdBr₆ octahedra. The optical characterization by UV–Vis–NIR spectroscopy shows that the (C₆H₁₀N₂)₄[CdBr₆][CdBr₄]₂ exhibits a large gap energy of 4.97 eV. Under UV excitation, this hybrid material shows a bright cold white light emission (WLE) at room temperature. The photoluminescence (PL) analysis suggests that the WLE originates from the organic molecules. Density of states (DOS) analysis using the density functional theory (DFT) demonstrates that the calculated HOMO(Br)→LUMO(organic) absorption transition (4.1 eV) does not have significant intensity, while, the transition involving the valence band (VB) and the second and third conduction bands (CB) around 5 eV are allowed, which is in good agreement with the experimental gap value. The interesting theoretical result is that the LUMO(organic)→HOMO(Br) emission is allowed, which confirms the important role of the organic molecule in the emission mechanism, in good agreement with the experimental PL analysis. Full article

(1) Background: This challenge is exacerbated by the aging of the rural population, leading to a scarcity of available manpower. To address this issue, the automation and mechanization of outdoor vegetable cultivation are imperative. Therefore, developing an automated cultivation platform that reduces labor requirements and improves yield by efficiently performing all the cultivation activities related to field vegetables, particularly onions and garlic, is essential. In this study, we propose methods to identify onion and garlic plants with the best growth status and accurately predict their live bulb weight by regularly photographing their growth status using a multispectral camera mounted on a drone. (2) Methods: This study was conducted in four stages. First, two pilot blocks with a total of 16 experimental units, four horizontals, and four verticals were installed for both onions and garlic. Overall, a total of 32 experimental units were prepared for both onion and garlic. Second, multispectral image data were collected using a multispectral camera repeating a total of seven times for each area in 32 experimental units prepared for both onions and garlic. Simultaneously, growth data and live bulb weight at the corresponding points were recorded manually. Third, correlation analysis was conducted to determine the relationship between various vegetation indexes extracted from multispectral images and the manually measured growth data and live bulb weights. Fourth, based on the vegetation indexes extracted from multispectral images and previously collected growth data, a method to predict the live bulb weight of onions and garlic in real time during the cultivation period, using functional regression models and machine learning methods, was examined. (3) Results: The experimental results revealed that the Functional Concurrence Regression (FCR) model exhibited the most robust prediction performance both when using growth factors and when using vegetation indexes. Following closely, with a slight distinction, Gaussian Process Functional Data Analysis (GPFDA), Random Forest Regression (RFR), and AdaBoost demonstrated the next-best predictive power. However, a Support Vector Machine (SVM) and Deep Neural Network (DNN) displayed comparatively poorer predictive power. Notably, when employing growth factors as explanatory variables, all prediction models exhibited a slightly improved performance compared to that when using vegetation indexes. (4) Discussion: This study explores predicting onion and garlic bulb weights in real-time using multispectral imaging and machine learning, filling a gap in research where previous studies primarily focused on utilizing artificial intelligence and machine learning for productivity enhancement, disease management, and crop monitoring. (5) Conclusions: In this study, we developed an automated method to predict the growth trajectory of onion and garlic bulb weights throughout the growing season by utilizing multispectral images, growth factors, and live bulb weight data, revealing that the FCR model demonstrated the most robust predictive performance among six artificial intelligence models tested. Full article

Weather Report is an initiative from Weathernews Inc. to obtain sky images and current weather conditions from the users of its weather app. This approach can provide supplementary weather information to radar observations and can potentially improve the accuracy of forecasts However, since the time and location of the contributed images are limited, gathering data from different sources is also necessary. This study proposes a system that automatically submits weather reports using a dash cam with communication capabilities and image recognition technology. This system aims to provide detailed weather information by classifying rainfall intensities and cloud formations from images captured via dash cams. In models for fine-grained image classification tasks, there are very subtle differences between some classes and only a few samples per class. Therefore, they tend to include irrelevant details, such as the background, during training, leading to bias. One solution is to remove useless features from images by masking them using semantic segmentation, and then train each masked dataset using EfficientNet, evaluating the resulting accuracy. In the classification of rainfall intensity, the model utilizing the features of the entire image achieved up to 92.61% accuracy, which is 2.84% higher compared to the model trained specifically on road features. This outcome suggests the significance of considering information from the whole image to determine rainfall intensity. Furthermore, analysis using the Grad-CAM visualization technique revealed that classifiers trained on masked dash cam images particularly focused on car headlights when classifying the rainfall intensity. For cloud type classification, the model focusing solely on the sky region attained an accuracy of 68.61%, which is 3.16% higher than that of the model trained on the entire image. This indicates that concentrating on the features of clouds and the sky enables more accurate classification and that eliminating irrelevant areas reduces misclassifications. Full article

Catalytic total oxidation is an effective technique for the treatment of industrial VOCs principally resulting from industrial processes using solvents and usually containing mono-aromatics (BTEX) and oxygenated compounds (acetone, ethanol, butanone). The aim of this work is to deposit gold nanoparticles on CoAl mixed oxide issued from layered double hydroxide (LDH) precursor by using the deposition precipitation (DP) method, which is applied with two modifications, labeled method (A) and method (B), in order to enhance the interaction of the HAuCl₄ precursor with the support. Method (A) involves the hydrolysis of the HAuCl₄ precursor after addition of the support, while in method (B), the gold precursor is hydrolyzed before adding the support. The two methods were applied using as support the CoAl mixed oxide and the LDH precursor. Samples were characterized by several physical chemical techniques and evaluated for ethanol total oxidation. Method (B) allowed the ethanol oxidation activity to be enhanced for the resulting Au/CoAlOx catalysts thanks to the high surface concentration of Co²⁺ and improved reducibility at low temperature. The presence of gold permits to minimize the formation of by-products, notably, methanol, allowed for a total oxidation of ethanol at lower temperature than the corresponding support. Full article

The objective of this study was to identify and classify the spectrum of mutations found in the BRCA1 and BRCA2 genes associated with breast and ovarian cancer in female patients in Romania. Germline BRCA1 and BRCA2 mutations were investigated in a cohort of 616 female patients using NGS and/or MLPA methods followed by software-based data analysis and classification according to international guidelines. Out of the 616 female patients included in this study, we found that 482 patients (78.2%) did not have any mutation present in the two genes investigated; 69 patients (11.2%) had a BRCA1 mutation, 34 (5.5%) had a BRCA2 mutation, and 31 (5%) presented different type of mutations with uncertain clinical significance, moderate risk or a large mutation in the BRCA1 gene. Our investigation indicates the most common mutations in the BRCA1 and BRCA2 genes, associated with breast and ovarian cancer in the Romanian population. Our results also bring more data in support of the frequency of the c.5266 mutation in the BRCA1 gene, acknowledged in the literature as a founder mutation in Eastern Europe. We consider that the results of our study will provide necessary data regarding BRCA1 and BRCA2 mutations that would help to create a genetic database for the Romanian population. Full article

Intelligent transportation and advanced mobility techniques focus on helping operators to efficiently manage navigation tasks in smart cities, enhancing cost efficiency, increasing security, and reducing costs. Although this field has seen significant advances in developing large-scale monitoring of smart cities, several challenges persist concerning the practical assignment of delivery personnel to customer orders. To address this issue, we propose an architecture to optimize the task assignment problem for delivery personnel. We propose the use of different cost functions obtained with deterministic and machine learning techniques. In particular, we compared the performance of linear and polynomial regression methods to construct different cost functions represented by matrices with orders and delivery people information. Then, we applied the Hungarian optimization algorithm to solve the assignment problem, which optimally assigns delivery personnel and orders. The results demonstrate that when used to estimate distance information, linear regression can reduce estimation errors by up to 568.52 km (1.51%) for our dataset compared to other methods. In contrast, polynomial regression proves effective in constructing a superior cost function based on time information, reducing estimation errors by up to 17,143.41 min (11.59%) compared to alternative methods. The proposed approach aims to enhance delivery personnel allocation within the delivery sector, thereby optimizing the efficiency of this process. Full article

To investigate the hydrodynamic noise characterization of hydraulic turbines with runner blade defects, this article establishes the intact machine model and three kinds of models with runner blade defects. Using the Computational Fluid Dynamic (CFD) and Computational Acoustic (CA) hybrid simulation computational methods, the hydrodynamic noise field of the hydraulic turbine is numerically simulated, and the results of the acoustic near field and acoustic far field are shown. 1. The double-row leaf grille and the runner are the primary sound source areas of the hydraulic turbine, and the intensity of sound radiation from these areas is positively correlated with the degree of runner blade defects. 2. As the runner blade defects develop, the sound power level (SWL) increases more significantly in the guide vanes near the nose of the spiral case in the double-row leaf grille. The most pronounced increase in the SWL is observed at the defective craters on the runner blades. 3. The frequency of the defective noise signal is primarily concentrated in the low-frequency band. The dominant frequency amplitude associated with runner blade defects increases and rises after the occurrence of defects. Secondary frequency changes are also observed, and the location of these changes varies at different receiving points. Full article

Disentangling how climate oscillations and geographical events significantly influence plants’ genetic architecture and demographic history is a central topic in phytogeography. The deciduous ancient tree species Ulmus macrocarpa is primarily distributed throughout Northern China and has timber and horticultural value. In the current study, we studied the phylogenic architecture and demographical history of U. macrocarpa using chloroplast DNA with ecological niche modeling. The results indicated that the populations’ genetic differentiation coefficient (N_ST) value was significantly greater than the haplotype frequency (G_ST) (p < 0.05), suggesting that U. macrocarpa had a clear phylogeographical structure. Phylogenetic inference showed that the putative chloroplast haplotypes could be divided into three groups, in which the group Ⅰ was considered to be ancestral. Despite significant genetic differentiation among these groups, gene flow was detected. The common ancestor of all haplotypes was inferred to originate in the middle–late Miocene, followed by the haplotype overwhelming diversification that occurred in the Quaternary. Combined with demography pattern and ecological niche modeling, we speculated that the surrounding areas of Shanxi and Inner Mongolia were potential refugia for U. macrocarpa during the glacial period in Northern China. Our results illuminated the demography pattern of U. macrocarpa and provided clues and references for further population genetics investigations of precious tree species distributed in Northern China. Full article

This study investigates the feasibility of using a composite material comprising slate reinforced with cork sheets for architectural purposes like facades and wall coverings. The research involves the comprehensive characterisation of both slate and cork materials along with the evaluation of the silicone adhesive used in their bonding process, specifically Sikasil^® HT from SIKA^®. It was found that both slate and cork exhibited low wettability, which was enhanced through cold plasma treatment. Subsequently, a composite sandwich structure was fabricated and subjected to impact testing in a drop tower, along with fire resistance evaluations. The fire tests revealed that when subjected to a flame of 900 °C for 15 min, the slate alone heated rapidly, reaching 500 °C within 3 min on the side opposite to the flame. However, the sandwich structure reached 260 °C on the cork side (opposite to the flame) at 7.5 min, maintaining this temperature until the deterioration or detachment of the cork between 11 and 12 min. This provided insulation and delayed ignition. The sandwich structure maintained its fire resistance due to the insulating properties of cork and the superior thermal resistance of silicone compared to other adhesives up to 260 °C. Overall, the results suggest the potential suitability of this sandwich structure for architectural applications. Its favourable adhesion properties and acceptable fire resistance indicate that it could serve as a viable alternative for construction materials in architectural contexts. Full article

This study investigated the effect of verbal encouragement (VE) on static and dynamic balance in individuals with intellectual disabilities (IDs). A total of 13 mild IDs and 12 moderate IDs participants underwent static balance tests (bipedal stance on firm surface, under open eyes (OEs) and closed eyes (CEs), and foam surface, unipedal stance on firm surface) and dynamic balance assessments (Y Balance Test (YBT) and Expanded Timed Up-and-Go Test (ETUGT)) under VE and no VE (NO/VE) conditions. VE significantly reduced center of pressure mean velocity (CoP_Vm) values for mild IDs in firm bipedal CEs conditions. The mild IDs group exhibited improved YBT scores and enhanced ETUGT performances for both groups under VE. Incorporating VE as a motivational strategy in balance training interventions can positively impact static and dynamic balance in individuals with mild IDs, especially in challenging conditions like unipedal stances on firm surfaces. Full article