Carotenoids, prominent lipid-soluble phytochemicals in the human diet, are responsible for vibrant colours in nature and play crucial roles in human health. While they are extensively studied for their antioxidant properties and contributions to vitamin A synthesis, their interactions with the intestinal microbiota (IM) remain poorly understood. In this study, beta (β)-carotene, lutein, lycopene, a mixture of these three pigments, and the alga Osmundea pinnatifida were submitted to simulated gastrointestinal digestion (GID) and evaluated on human faecal samples. The results showed varying effects on IM metabolic dynamics, organic acid production, and microbial composition. Carotenoid exposure influenced glucose metabolism and induced the production of organic acids, notably succinic and acetic acids, compared with the control. Microbial composition analysis revealed shifts in phyla abundance, particularly increased Pseudomonadota. The α-diversity indices demonstrated higher diversity in β-carotene and the pigments’ mixture samples, while the β-diversity analysis indicated significant dissimilarity between the control and the carotenoid sample groups. UPLC-qTOF MS analysis suggested dynamic changes in carotenoid compounds during simulated fermentation, with lutein exhibiting distinct mass ion fragmentation patterns. This comprehensive research enhances our understanding of carotenoid-IM interactions, shedding light on potential health implications and the need for tailored interventions for optimal outcomes. Full article

This study seeks to provide a nuanced understanding of how residents’ views on tourism impacts and their awareness of the pandemic’s effects shape their attitudes and, consequently, influence their involvement and support for tourism by integrating emotional solidarity, the knowledge–attitude–practices theory, and social exchange theory. Furthermore, the study explores potential moderating factors such as gender and professional ties to tourism. Data were gathered from 545 residents of Manavgat, Turkey, following a cluster sampling scheme, confirming all ten hypotheses. The results reveal that residents’ knowledge and perceived positive impacts of tourism significantly forecast attitudes toward tourism and tourists, which explains their involvement and support. The results also demonstrate that residents with strong ties to tourism were more positive and involved than those with limited links to tourism. The complementary merger of theoretical frameworks enriches our understanding of residents’ support and involvement in tourism, shedding light on the intricacies of these relationships. Full article

This paper presents a study on the magnetic and thermal behaviors of a planar toroidal transformer, comprising two planar toroidal coils. In our configuration, the primary coil consists of twenty turns, while the secondary coil consists of ten turns. This design combines the advantages of both toroidal and planar transformers: it employs flat coils, akin to those utilized in planar transformers, while retaining a toroidal shape for its magnetic core. This combination enables leveraging the distinctive characteristics of both transformer types. This study delves into electromagnetic and thermal behaviors. Electromagnetic behavior is elucidated through Maxwell’s equations, offering insights into the distribution of magnetic fields, potentials, and electric current densities. Fluid flow is modeled via the Navier–Stokes equations. By coupling these equation sets, a more comprehensive and accurate portrayal of the thermal phenomena surrounding electrical equipment is attained. Such research is invaluable in the design and optimization of electrical systems, empowering engineers to forecast and manage thermal effects more efficiently. Consequently, this aids in enhancing the reliability, durability, and performance optimization of electrical equipment. The mathematical model was solved using the finite element method integrated into the COMSOL Multiphysics software v. 6.0. The COMSOL Multiphysics simulation showed correct behavior of potential, electric field, current density, and uniformly distributed temperature. In addition, this planar toroidal coil transformer model offers many advantages, such as small dimensions, high resonance frequency, and high operating reliability. This study made it possible to identify the range of its optimal functioning. Full article

Accurate detection of muskmelon fruit ripeness is crucial to ensure fruit quality, optimize picking time, and enhance economic benefits. This study proposes an improved lightweight YOLO-RFEW model based on YOLOv8n, aiming to address the challenges of low efficiency in muskmelon fruit ripeness detection and the complexity of deploying a target detection model to a muskmelon picking robot. Firstly, the RFAConv replaces the Conv in the backbone part of YOLOv8n, allowing the network to focus more on regions with significant contributions in feature extraction. Secondly, the feature extraction and fusion capability are enhanced by improving the C2f module into a C2f-FE module based on FasterNet and an Efficient Multi-Scale attention (EMA) mechanism within the lightweight model. Finally, Weighted Intersection over Union (WIoU) is optimized as the loss function to improve target frame prediction capability and enhance target detection accuracy. The experimental results demonstrate that the YOLO-RFEW model achieves high accuracy, with precision, recall, F1 score, and mean Average Precision (mAP) values of 93.16%, 83.22%, 87.91%, and 90.82%, respectively. Moreover, it maintains a lightweight design and high efficiency with a model size of 4.75 MB and an inference time of 1.5 ms. Additionally, in the two types of maturity tests (M-u and M-r), APs of 87.70% and 93.94% are obtained, respectively, by the YOLO-RFEW model. Compared to YOLOv8n, significant improvements in detection accuracy have been achieved while reducing both model size and computational complexity using the proposed approach for muskmelon picking robots’ real-time detection requirements. Furthermore, when compared to lightweight models such as YOLOv3-Tiny, YOLOv4-Tiny, YOLOv5s, YOLOv7-Tiny, YOLOv8s, and YOLOv8n, the YOLO-RFEW model demonstrates superior performance with only 28.55%, 22.42%, 24.50%, 40.56%, 22.12%, and 79.83% of their respective model sizes, respectively, while achieving the highest F1 score and mAP values among these seven models. The feasibility and effectiveness of our improved scheme are verified through comparisons between thermograms generated by YOLOv8n and YOLO-RFEW as well as detection images. In summary, the YOLO-RFEW model not only improves the accuracy rate of muskmelon ripeness detection but also successfully realizes the lightweight and efficient performance, which has important theoretical support and application value in the field of muskmelon picking robot development. Full article

Background: A nationwide, prospective, multicenter, cohort study (the Disease-Related caloric-protein malnutrition EChOgraphy (DRECO) study) was designed to assess the usefulness of ultrasound of the rectus femoris for detecting sarcopenia in hospitalized patients at risk of malnutrition and to define cut-off values of ultrasound measures. Methods: Patients at risk of malnutrition according to the Malnutrition Universal Screening Tool (MUST) underwent handgrip dynamometry, bioelectrical impedance analysis (BIA), a Timed Up and Go (TUG) test, and rectus femoris ultrasound studies. European Working Group on Sarcopenia in Older People (EWGSOP2) criteria were used to define categories of sarcopenia (at risk, probable, confirmed, severe). Receiver operating characteristic (ROC) and area under the curve (AUC) analyses were used to determine the optimal diagnostic sensitivity, specificity, and predictive values of cut-off points of the ultrasound measures for the detection of risk of sarcopenia and probable, confirmed, and severe sarcopenia. Results: A total of 1000 subjects were included and 991 of them (58.9% men, mean age 58.5 years) were evaluated. Risk of sarcopenia was detected in 9.6% patients, probable sarcopenia in 14%, confirmed sarcopenia in 9.7%, and severe sarcopenia in 3.9%, with significant differences in the distribution of groups between men and women (p < 0.0001). The cross-sectional area (CSA) of the rectus femoris showed a significantly positive correlation with body cell mass of BIA and handgrip strength, and a significant negative correlation with TUG. Cut-off values were similar within each category of sarcopenia, ranging between 2.40 cm² and 3.66 cm² for CSA, 32.57 mm and 40.21 mm for the X-axis, and 7.85 mm and 10.4 mm for the Y-axis. In general, these cut-off values showed high sensitivities, particularly for the categories of confirmed and severe sarcopenia, with male patients also showing better sensitivities than women. Conclusions: Sarcopenia in hospitalized patients at risk of malnutrition was high. Cut-off values for the better sensitivities and specificities of ultrasound measures of the rectus femoris are established. The use of ultrasound of the rectus femoris could be used for the prediction of sarcopenia and be useful to integrate nutritional study into real clinical practice. Full article

Carbon-based magnetic metal composites derived from metal–organic frameworks (MOFs) are promising materials for the preparation of broadband microwave absorbers. In this work, the leaf-like co-doped porous carbon/carbon nanotube heterostructure was obtained using ZIF-L@ZIF-67 as precursor. The number of carbon nanotubes can be controlled by varying the amount of ZIF-67, thus regulating the dielectric constant of the sample. An optimum reflection loss of −42.2 dB is attained when ZIF-67 is added at 2 mmol. An effective absorption bandwidth (EAB) of 4.8 GHz is achieved with a thickness of 2.2 mm and a filler weight of 12%. The excellent microwave absorption (MA) ability is generated from the mesopore structure, uniform heterogeneous interfaces, and high conduction loss. The work offers useful guidelines to devise and prepare such nanostructured materials for MA materials. Full article

The use of plant-based preparations to replace chemical pesticides is a challenge for sustainable agriculture. Preparations from nettle (Urtica dioica L.) are good candidates, as the treatment of common bean plants (Phaseolus vulgaris L.) with aqueous suspensions of nettle reduced symptoms of halo blight disease caused by Pseudomonas syringae pv. phaseolicola (Pph). The aim of the present work was to test if nettle infusions (Ui) have similar effects and find out what activity is behind this: antimicrobial, promotion of the natural defenses of plants, and/or antioxidant. To achieve this, Pph growth was tested in the presence of infusions of nettle leaves collected in two different years (Ui18 and Ui22), and we found that it was only weakly inhibited at high concentrations of Ui18. Interestingly, Ui22 promoted bacteria growth at all concentrations. Second, we estimated the production of reactive oxygen species (ROS) in response to flagellin22 (flg22) in common bean leaf discs, since recognition of this bacterial peptide usually leads to ROS accumulation in tissues as a plant immune response. However, leaf discs that were preincubated in Ui showed no accumulation of ROS after flg22 treatment, suggesting that Ui can neutralize ROS production. Finally, in a Pph inoculation experiment of common bean plants grown in vitro, we observed that pretreatment of plants with Ui drastically reduced foliar oxidative damage and disease symptoms 6 h after inoculation. This effect was more noticeable for Ui22, which was related to the higher antioxidant activity found in this extract in comparison with Ui18. These results suggest that the protective properties of Ui are mainly due to the content of antioxidant bioactive compounds. Full article

The availability assessment is an important step for onboard application in Receiver Autonomous Integrity Monitoring (RAIM)s. It is commonly implemented using the protection level (PL)-based method. This paper analyzes the deficiencies of three kinds of PL-based methods: RAIM availability might be optimistically or conservatively assessed using the classic-PL-base method; might be conservatively assessed using the enhanced-PL-based method, and neither be optimistically nor conservatively assessed using the ideal-PL-based method with the cost of large calculation amount on-board. An improved slope-based RAIM availability assessment method is proposed, in which the characteristic slope is designed as the assessment basis, and its threshold that can exactly match the integrity risk requirement is derived. The slope-based method has the same RAIM availability assessment result as the ideal-PL-based method. Moreover, because the slope threshold can be calculated offline and searched online, the on-board calculation burden can be reduced using the slope-based method. Simulation is presented to verify the theoretical analysis of the RAIM availability assessment performances for the three PL-based and the slope-based methods. Full article

The resurgence of passenger flows after the pandemic poses a significant challenge to the safe operation of rail transit. Therefore, adopting the waiting hall of an ultralarge railway station hub as an example, thermal radiation and evacuation simulations were conducted by the Fire Dynamics Simulator and Pathfinder, respectively. Island-style shops, known for their high crowd density and fire load, were defined as fire sources, and the effectiveness of a 6 m wide fire isolation zone was validated via the adoption of the dual-validation model. By comparing the relationships between the total evacuation population after passenger flow recovery and various evacuation parameters, it was shown that passengers were not evenly distributed among the exits in the waiting hall during an emergency, leading to uneven utilization. Furthermore, to gain a comprehensive understanding of the evacuation process under simulated fire conditions, an evacuation simulation involving 10,000 evacuees over a duration of 324.8 s was conducted. This study provides a theoretical basis for optimizing fire emergency evacuation plans for ultralarge railway station hubs. Full article

Natural astaxanthin is in high demand due to its multiple health benefits. The microalga Haematococcus lacustris has been used for the commercial production of astaxanthin. In this study, we investigated the effects of six different media with and without a nitrogen source and supplementation with nine organic compounds on the growth and astaxanthin accumulation of H. lacustris. The highest astaxanthin contents were observed in cultures of H. lacustris in Jaworski’s medium (JM), with a level of 9.099 mg/L in JM with a nitrogen source supplemented with leucine (0.65 g/L) and of 20.484 mg/L in JM without a nitrogen source supplemented with sodium glutamate (0.325 g/L). Six of the nine organic compounds examined (leucine, lysine, alanine, sodium glutamate, glutamine, and cellulose) enhanced the production of astaxanthin in H. lacustris, while malic acid, benzoic acid, and maltose showed no beneficial effects. Full article

This article presents a comparative analysis focusing on the economic dimensions of quality of life and explores the factors influencing economic growth and well-being between two countries located in Eastern Europe: Romania—an EU member state since 2007, and Moldova—an EU candidate status since June 2022. By examining statistical data, we assess the relationship between economic growth and development, aiming to discern patterns and dynamics within these countries’ economies. Through this comparative approach, we aim to elucidate how economic factors contribute to societal welfare and living standards. The study underscores the significance of economic management policies and structural reforms in fostering growth and enhancing the quality of life for citizens. By focusing on the economic landscapes of Romania and Moldova, we aim to offer insights into the challenges and opportunities faced by transitioning economies in Eastern Europe, shedding light on strategies for sustainable development and improved well-being. Full article

Accurate modeling of the ocean response to tropical cyclones (TCs) requires high-quality wind fields to force ocean models. In this study, blended wind fields are generated using multi-source satellite data and the Climate Forecast System Reanalysis (CFSR) wind data. We utilize the hybrid wind fields to drive the Regional Ocean Modeling System (ROMS) for simulating oceanic dynamic and thermodynamic parameters. The model’s simulated ocean surface and sub-surface temperatures, as well as current speeds, are generally consistent with satellite and in situ observations collected during TC Winston and Freddy. The results are significantly better than those simulated by ROMS using wind forcing from CFSR alone. These results suggest that incorporating satellite wind data into the atmospheric forcing has the potential to enhance vertical mixing and improve simulations of the upper ocean response to TCs. Full article

Talimogene laherparepvec (TVEC) is a genetically modified oncolytic herpes simplex virus (HSV-1) that is used for the intralesional treatment of advanced or metastatic melanoma. Given that TVEC produces the granulocyte–macrophage colony-stimulating factor (GM-CSF), recent reports have suggested that radiation treatment (RT) given in conjunction with TVEC may provide synergistic immune activation at the site, and possibly systemically. However, studies on combining RT with TVEC remain limited. We conducted a retrospective review of melanoma patients from a single cancer center who received TVEC and RT in the same region of the body and compared them to patients who received TVEC with RT at another site (other than the site of TVEC injection). Between January 2015 and September 2022, we identified twenty patients who were treated with TVEC and RT; fourteen patients received TVEC and RT in the same region, and six had treatments in separate regions. Regions were determined at the time of analysis and were based on anatomic sites (such as arm, leg, torso, etc.). Kaplan–Meier analysis of progression-free survival (PFS), analyses of time to distant metastasis (DM), overall survival (OS), and locoregional control (LRC), and the corresponding log-rank test were performed. With a median follow-up of 10.5 months [mos] (range 1.0–58.7 mos), we found an improvement in PFS with TVEC and RT in the same region compared to different regions, which were 6.4 mos (95% CI, 2.4–NR mos) and 2.8 mos (95% CI, 0.7–4.4 mos), respectively; p = 0.005. There was also a significant improvement in DM when TVEC and RT were used in the same region compared to different regions: 13.8 mos (95% CI, 4.6–NR mos) and 2.8 mos (95% CI, 0.7–4.4 mos), respectively (p = 0.001). However, we found no difference in overall survival (OS) between patients who had TVEC and RT in the same region (19.0 mos, 95% confidence interval [CI], 4.1–not reached [NR] mos) and those who received treatments in different regions (18.5 mos, 95% CI, 1.0–NR mos); p = 0.366. There was no statistically significant improvement in locoregional control (LRC) in patients who had TVEC and RT in the same region was 26.0 mos (95% CI, 6.4–26.0 mos) compared to patients who received TVEC and RT in different regions (4.4 mos) (95% CI, 0.7–NR mos) (p = 0.115). No grade 3 or higher toxicities were documented in either group. Overall, there were improvements in PFS and DM when TVEC and RT were delivered to the same region of the body compared to when they were used in different regions. However, we did not find a significant difference in locoregional recurrence or OS. Future studies are needed to assess the sequence and timing of combining RT and TVEC to potentially enhance the immune response both locally and distantly. Full article

Deep seawater (DS), obtained from a depth over 200 m, has health benefits due to its rich nutrients and minerals, and intake of DS has shown diverse immunomodulatory effects in allergies and cancer. Therefore, the immunostimulatory effects of Korean mineral-rich seawaters were examined in a cyclophosphamide (CPA)-induced immunosuppression model. Three samples of Korean seawater, namely DS from the East Sea off the coasts of Pohang (PDS) and Uljin (UDS), and seawater from the West Sea off the coast of Boryeong (BS), were collected. The seawaters were abundant in several minerals (calcium, iron, zinc, selenium, etc.). Mice were orally administered the seawaters for 42 days, followed by CPA-induced immunosuppression. The CPA induction reduced the weight of the spleen and lymph nodes; however, the administration of seawaters increased the weight of the lymphoid organs, accompanied by stimulation of natural killer cells’ activity and NF-kB-mediated cytokine production (IFNγ, TNFα, IL1β, IL6, and IL12). The mouse-derived splenocytes showed lymphoproliferation without cytotoxicity in the seawater groups. Histopathological analysis revealed that the seawaters improved the CPA-induced atrophic changes by promoting lymphoproliferation in the spleen and lymph nodes. These results provide useful information for the use of Korean mineral-rich seawaters, particularly PDS and UDS, as alternative immunostimulants under immunosuppressive conditions. Full article

Increasingly, urban planners are adopting virtual reality (VR) in designing urban green spaces (UGS) to visualize landscape designs in immersive 3D. However, the psychological effect of green spaces from the experience in VR may differ from the actual experience in the real world. In this paper, we systematically reviewed studies in the literature that conducted experiments to investigate the psychological benefits of nature in both VR and the real world to study nature in VR anchored to nature in the real world. We separated these studies based on the type of VR setup used, specifically, 360-degree video or 3D virtual environment, and established a framework of commonly used standard questionnaires used to measure the perceived mental states. The most common questionnaires include Positive and Negative Affect Schedule (PANAS), Perceived Restorativeness Scale (PRS), and Restoration Outcome Scale (ROS). Although the results from studies that used 360-degree video were less clear, results from studies that used 3D virtual environments provided evidence that virtual nature is comparable to real-world nature and thus showed promise that UGS designs in VR can transfer into real-world designs to yield similar physiological effects. Full article

Normal testicular development ensures the process of spermatogenesis, which is a complex biological process. The sustained high productivity of spermatogenesis throughout life is predominantly attributable to the constant proliferation and differentiation of spermatogonial stem cells (SSCs). The self-renewal and differentiation processes of SSCs are strictly regulated by the SSC niche. Therefore, understanding the developmental pattern of SSCs is crucial for spermatogenesis. The Shaziling pig is a medium-sized indigenous pig breed originating from central China. It is renowned for its superior meat quality and early male sexual maturity. The spermatogenic ability of the boars is of great economic importance to the pig industry. To investigate testicular development, particularly the pattern of SSC development in Shaziling pigs, we used single-cell transcriptomics to identify gene expression patterns in 82,027 individual cells from nine Shaziling pig testes at three key postnatal developmental stages. We generated an unbiased cell developmental atlas of Shaziling pig testicular tissues. We elucidated the complex processes involved in the development of SSCs within their niche in the Shaziling pig. Specifically, we identified potential marker genes and cellular signaling pathways that regulate SSC self-renewal and maintenance. Additionally, we proposed potential novel marker genes for SSCs that could be used for SSC isolation and sorting in Shaziling pigs. Furthermore, by immunofluorescence staining of testicular tissues of different developmental ages using marker proteins (UCHL1 and KIT), the developmental pattern of the spermatogonia of Shaziling pigs was intensively studied. Our research enhances the comprehension of the development of SSCs and provides a valuable reference for breeding Shaziling pigs. Full article

The reconfiguration of wireless channels with reconfigurable reflecting surface (RIS) technology offers new design options for future wireless networks. Due to its high altitude and increased probability of establishing line-of-sight linkages with ground source/destination nodes, aerial RIS (ARIS) has greater deployment flexibility than traditional terrestrial RIS. It also provides a wider-view signal reflection. To leverage the advantages of ARIS-enabled systems, this paper defines air-to-ground linkages via Nakagami-m small-scale fading and inverse-Gamma large-scale shadowing, considering realistic composite fading channels. To construct a tight approximate closed-form formula for the outage probability (OP), a new mathematical framework is proposed. Additionally, a deep-learning-based system called the BiLSTM model is deployed to evaluate OP performance in the 3D spatial movement of the ARIS system. In the offline phase, the proposed model is trained with real-value channel state estimation sets and enhances OP performance in the online phase by learning channel information in a bidirectional manner. Simulation results demonstrate that the proposed BiLSTM model outperforms all other models in analyzing OP for the ARIS system. Full article

In this Special Issue, titled “Drosophila—A Model System for Developmental Biology”, we present a series of articles and reviews looking at the diverse ways that researchers are using the humble fruit fly, also known as the vinegar fly, to tackle the many aspects of development and homeostasis [...] Full article

Potato virus Y (PVY) is one of the most important constraints to potato production worldwide. There is an increasing occurrence of recombinant PVY strains PVY^NTN and PVY^N-Wi and a decline in the incidence of the nonrecombinant PVY^O. We hypothesized that this may be due to the ability of these recombinant strains to antagonize and/or outcompete PVY^O in mixed infections. To determine this, we investigated interactions between PVY^O and three recombinant PVY strains common in North America: PVY^NTN, PVY^N-Wi, and PVY^N:O. Overall, our study showed that these interactions are tissue-dependent. Specifically, PVY^NTN, the main causal agent of potato tuber necrotic ringspot disease (PTNRD), was found to be more adaptable than PVY^O, especially in potato leaves due, at least in part, to the Ny gene that confers hypersensitive resistance (HR) to PVY^O. Furthermore, PVY^N-Wi was found to repress PVY^O in potato tubers but act synergistically in potato leaves. The PVY^O-induced foliage necrosis in cultivar ‘Ranger Russet’ was observed to be more severe in plants co-infected by PVY^N-Wi and PVY^N:O, respectively, resulting in plant death. Strikingly, this PVY^O -induced necrosis was suppressed by PVY^NTN in doubly infected plants. These interactions may, at least partially, explain the decreasing incidence of PVY^O in United States potato production regions, especially given that many cultivars contain the Ny gene, which likely limits PVY^O enabling PVY^NTN and PVY^N-Wi to outcompete. We also found that replication and cell-to-cell movement of these PVY strains in tubers at 4 °C was similar to levels at ambient temperature. Full article

With the current trends of wind energy already playing a major part in the Scottish energy supply, the capacity of wind farms is predicted to grow exponentially and reach further depths offshore. However, a key challenge that presents itself is the integration of large producing assets into the current UK grid. One potential solution to this is green hydrogen production, which is being heavily researched in industry, with many concepts being investigated for large-scale purposes. However, the operations and maintenance (O&M) costs and availability of green hydrogen systems need to be quantified to ensure economical and technical viability, which is sparse in the available literature. The study presented in this paper investigated the availability and O&M costs of coupled wind–hydrogen systems by attempting to quantify the failure rates, repair times, repair costs and number of technicians required for key green hydrogen components. This study also utilised an O&M model created by the University of Strathclyde, which uses Monte Carlo Markov chain simulations to produce the O&M outputs. A number of assumptions were made throughout the study in relation to the O&M model inputs, and the baseline availability for the coupled wind–hydrogen system was 85.24%. Whilst the wind turbine still contributed a major part to the downtime seen in the simulations, the combined hydrogen system also contributed a significant amount, a total of 37%, which could have been due to the technology readiness levels of some the components included in the hydrogen system. Full article

Important metapopulation dynamics are disrupted by factors such as habitat loss, climate change, and human-induced mortality, culminating in isolated wildlife populations and threatening species survival. Source populations, where birth rates exceed mortality and connectivity facilitates dispersal, contrast with sink populations, where mortality outstrips births, risking localised extinction. Recolonisation by individuals from source populations is pivotal for species survival. The leopard is the last free-roaming apex predator in South Africa and plays an important ecological role. In the Eastern and Western Cape provinces in South Africa, leopard populations have low densities and fragmented population structures. We identified a leopard population that, after being locally extinct for a century, appeared to recolonise an ‘island’ of mountainous habitat. We aimed to understand potential factors driving this recolonisation using recent camera trapping surveys and historical statutory destruction permits. We employed spatially explicit capture–recapture (SECR) methods to estimate the leopard density and explore potential factors which best explain density. We found that the recently recolonised Piketberg population now exhibits some of the highest densities reported in the region (~1.8 leopards/100 km²; CI 1.4–2.5). Livestock, human presence, elevation, and the camera trap grid appeared to explain leopard detection rates. When considering the historic data, the re-emergence of leopards in the Piketberg coincided with the cessation of the extensive state-sponsored and state-enabled culling of the species, and the change in land use from livestock production to crop agriculture, which likely contributed to the recolonisation. Elucidating these factors deepens our understanding of leopard metapopulation dynamics in relation to land use and species management and highlights the crucial role of private land and state agencies and associated policies in species persistence. Full article

In order to reduce the lateral error of path-following control of unmanned vehicles under variable curvature paths, we propose a path-following control strategy for unmanned vehicles based on optimal preview time model predictive control (OP-MPC). The strategy includes the longitudinal speed limit, the optimal preview time surface, and the model predictive control (MPC)controller. The longitudinal speed limit controls speed to prevent vehicle rollover and sideslip. The optimal preview time surface adjusts the preview time according to the vehicle speed and path curvature. The preview point determined by the preview time is used as the reference waypoint of OP-MPC controller. Finally, the effectiveness of the strategy was verified through simulation and with the real unmanned vehicle. The maximum lateral deviation obtained by the OP-MPC controller was reduced from 0.522 m to 0.145 m under the simulation compared with an MPC controller. The maximum lateral deviation obtained by the OP-MPC controller was reduced from 0.5185 m to 0.2298 m under the real unmanned vehicle compared with the MPC controller. Full article