Autonomous underwater vehicles are not easily programmable such as autonomous vehicles. This is because route and motion planning for autonomous vehicles depend on a global map that considers the road's smoothness and traffic regulations in real time. However, this is not the case for underwater vehicles as we have to consider the external factors such as wind and tide that may pull autonomous underwater vehicles outside their route and affect the course of travel. This is where decision-making is important for autonomous underwater vehicles. An example is the avoidance of the loss of subsea vehicles as they can dynamically make routing decisions and return to their destinations.This paper exposes the decision-making process for autonomous underwater vehicles. Firstly, an analysis of internal factors such as buoyancy and the overall of the vehicle, and how they affect motion are conducted—secondly, the implementation of a design process that deals with the stages of motion and route planning. Finally, a survey is conducted on already implemented research for algorithms, to incorporate external factors for high-level decision-making.

This paper examines the control challenges faced by underactuated Autonomous Underwater Vehicles (AUVs) under ocean current disturbances. It proposes a Backstepping Integral Sliding Mode Control (BISMC) strategy to enhance their adaptability and robustness. The BISMC strategy integrates the system decomposition capability of the Backstepping Control method with the rapid response and robustness advantages of the Sliding Mode Control method, enabling the design of a heading controller and a double closed-loop depth controller. By introducing an integral component, the strategy eliminates steady-state errors caused by ocean currents, accelerating system convergence and improving accuracy. Furthermore, a saturation function is employed to mitigate output chattering issues. Simulation results demonstrate that the BISMC controller significantly enhances the control precision and anti-disturbance capabilities of AUVs under low-frequency ocean current disturbances, showcasing exceptional adaptive and self-disturbance rejection performance.

In this paper, we present a full coverage path planning (CPP) algorithm for the marine surveys conducted in the convex polygon shaped search area. The survey is supposed to carry out by torpedo-type AUVs (autonomous underwater vehicles). Due to their nonholonomic mechanical characteristics, these vehicles have nonzero minimum turning radius. For any given polygon shaped search area, it can always be partitioned into one or more convex polygons. With this in mind, this paper proposes a novel search algorithm called CbSPSA (Calculation based Shortest Path Search Algorithm) for full coverage of any given convex polygon shaped search area. By aligning the search inter-tracks alongside the edge with the minimum height, we can guarantee the minimum number of the vehicle’s turns. In addition, the proposed method can guarantee the planned path is strictly located inside the polygon area without overlapped or crossed path lines, and also has the total path length as short as possible. Considering the vehicle’s nonzero minimum turning radius, we also propose a sort of smoothing algorithm to smooth the waypoint path searched by CbSPSA so as for the vehicle to exactly follow it. The smoothed path is also guaranteed to be strictly located inside the polygon. Numerical simulation analyses are also carried out to verify the effectiveness of the proposed schemes.

Different methodologies are being used to study the effects of autonomous vehicle (AV) in the mixed traffic indicating the interaction among autonomous and human-driven vehicles. Micro-scopic simulation tools are popular in such assessment as it offers scope to experiment in eco-nomical, robust, and optimistic way. Lack of reliable real-world data to calibrate and evaluate the connected autonomous vehicles (CAV) simulation model is a major challenge. One interesting methodology could be dealing the CAVs as conventional human driven vehicles and predict its possible characteristics based on the simulation inputs. The conventional human driven vehicles from real world, in this methodology, come to aid as benchmark to offer the measure of effective-ness (MoE) for the calibration and validation. For the three most common driving modules, a sensitivity analysis of the driving behaviors of AVs and an effect assessment of CAVs in a mixed traffic environment were done to explore the human alike autonomous technology. The findings show that, up to a point, which is directly re-lated to the quantity of interacting vehicles, the impact of CAVs is typically favorable. This study validates the approach and supports past studies by showing that CAVs perform better in traffic than AVs for traffic performance and safety aspects. On top of that, the sensitivity analysis has shown that enhancements in technology are required for obtaining the maximum advantages.

Underwater robots often encounter the influence of confined underwater environments during underwater exploration. These environments include underwater caves, sunken ships, submerged houses, and pipeline structures. Robot positioning in these environments is strongly disturbed, leading not only to the failure of some commonly used positioning methods but also to an increase in errors in positioning systems that normally function well in open water. In order to overcome the limitations of positioning methods in underwater confined environments, researchers have studied different underwater positioning methods and selected suitable methods for positioning in such environments. These methods can achieve high-precision positioning without relying on assistance from other platforms, and are referred to as autonomous positioning methods. Autonomous positioning methods for underwater robots mainly include SINS/DR positioning and SLAM positioning. In addition, in recent years, researchers have also developed some bio-inspired autonomous positioning methods. This article introduces the applicable robot positioning methods and sensors in underwater confined environments and discusses the research directions of robot positioning methods in such environments.

Consistent increment of road traffic in cities is remained a threat to traffic performance and causes confliction. The researcher repeatedly emphasized the connected autonomous vehicles (CAVs) as stronger solution to deal with traffic related issues. While having autonomous system in the dedicated lanes is found to be safe by many investigators because of predictable surrounding maneuvers, in contrast, the mixed lane states remain questionable. Different methodologies are being used to study the effects of autonomous vehicles (AVs) in the mixed traffic. Microscopic simulation tools are popular in such cases as it offers scope to experiment in cheap, robust, and optimistic way. One interesting methodology to deal with CAVs is considering it as conventional human driven vehicles and predict its possible characteristics based on the simulation inputs. One big challenge is, as there is no regular real-world data to calibrate and to validate the simulated model for CAVs. This is where conventional human driven vehicles from real world, come to aid as benchmark to offer the measure of effectiveness (MoE) for the calibration and validation. For the three most common driving modules, a sensitivity analysis of the driving behaviors of autonomous vehicles (AVs) and an effect assessment of CAVs in a mixed traffic environment were done to explore the human alike autonomous technology. The findings show that, up to a point, which is directly related to the quantity of interacting vehicles, the impact of CAVs is typically favorable. This study supports earlier research by demonstrating that CAVs outperform AVs in traffic. In addition, the sensitivity analysis has shown that technical and infrastructural advances are necessary to achieve the greatest benefits.

With advances in the development of autonomous vehicles (AVs), more attention has been paid to the effects caused by adverse weather conditions on them. It is well known that the performance of self-driving vehicles is reduced when they are exposed to stressors that impair visibility or generate water or snow accumulation on sensor surfaces. This paper proposes a model to quantify weather precipitation, such as rain and snow, perceived by moving vehicles based on outdoor data. The modelling covers a wide range of parameters, such as varying wind direction and realistic particle size distributions. The model allows the calculation of precipitation intensity on inclined surfaces of different orientations and on a circular driving path. The modelling results were partially validated against direct measurements carried out by a test vehicle. The model outputs showed strong correlation with the experimental data for both rain and snow. Mitigation strategies for heavy precipitation on vehicles can be developed and correlations between precipitation rate and accumulation level can be traced using the presented analytical model. Dimensional Analysis of the problem has highlighted the critical parameters that can help the design of future experiments. The obtained results highlight the importance of the angle of the sensing surface on the perceived precipitation level. The proposed model is used to analyze optimal orientations for minimization of the precipitation flux, which can help to determine the positioning of sensors on the surface of autonomous vehicles.

Introduction: Most industrialized and developed countries now working to implement more advanced transportation systems. These include autonomous vehicle(AV) systems of various forms, such as delivery vehicles, which eliminate the crashes, injuries, and fatalities associated with human-operated machinery. Self-driving vehicles have the potential to make roads safer, but some safety concerns need to be addressed. Before AV systems become commonplace in developing countries, society needs to determine how safe they truly are. Objectives: This paper provides brief descriptions and examines the realities for AV in developing countries using results from infrastructure-based assessment of countries worldwide and from a questionnaire-based survey. Methods: Relevant research papers, articles, reports, and departmental websites were used as the main data sources. Ethiopia was chosen as a representative case. Different aspects of AV infrastructure, its current status in developing countries, and perspectives on AV systems are explored through interviews with approximately 1500 randomly selected individuals. The main variables in the assessment were physical infrastructure, digital infrastructure, and societal perceptions on AV systems. Results: Surprisingly, the results indicated that 55.82%, 78.58%, 87.78%, and 86.09% of Ethiopian interviewees agreed with statements regarding high ease of use, usefulness, positive attitude, and benefits, respectively, of AV. However, it should be noted that some interviewees did not provide a response to certain questions.

Autonomous vehicles (AV)s will transform transport, but public opinion will play a key role in the decision how widely and quickly, they will be adopted. The purpose of the study presented here, was to investigate community’s views on the transition. As a method for primary data collection on public awareness, attitudes, and readiness to use autonomous cars, survey was conducted in Saudi Arabia. Following that, we have used statistical tools to analyse responses. Our findings indicate that the participants are mainly open to use new technology and had favourable attitude towards transition. Ordinal logistic regression model showed a wide variation in public opinion regarding the expected benefits that may accompany the transition, despite an average high score on this factor. Our findings reveal that awareness of AVs' benefits is more positively correlated to the age of participants. Perceived cost, on one side, and convenience, and safety, on the other side, have substantial impact on opinions. Investigation, presented here, shows how AVs are seen in Saudi Arabia. This can guide the development of AVs and deployment in that region.

This study presents the substantiation, development, and analysis of a technique for planning the autonomous vehicle (AV) motion reference parameters. The trajectory plan, speed and acceleration distributions, including other AV's kinematic parameters, are determined using sequential optimization. The study objectives are based on an analysis of the fundamental problems of AV motion planning summarized in this area's latest publications. The proposed approach combines the basic principles of the finite element method (FEM) and nonlinear optimization with nonlinear constraints. First, the generalization on representing an investigated function by finite elements (FE) is briefly described. A one-dimension FE with two nodes and three degrees of freedom (DOF) in a node was chosen as the basic one, corresponding to the 5th-degree polynomial. Next, a method for determining the motion trajectory is presented. The following are considered: formation of a restricted space for the AV's allowable maneuvering, the geometry of motion trajectory and its relation with vehicle steerability parameters, cost functions and their influences on the desirable trajectory's nature, compliance of nonlinear restrictions of the node parameters with the motion area boundaries. At the second stage, a technique for optimizing AV speed and acceleration redistribution is presented. The model considers possible combinations of cost functions, conditions of limiting the kinematic parameters with the tire slip critical speed, maximum speed level, maximum longitudinal acceleration, and critical lateral acceleration. In the simulation section, several variants of trajectories were searched and compared. Several versions of distributing the longitudinal speed and acceleration curves are determined, and their comparative analysis is fulfilled. At the end of the paper, the advantages and drawbacks of the proposed technique are noted. The conclusion is made regarding the options for improving the method in further studies.

This paper presents control algorithms enabling autonomous heterogeneous trucks to drive in platoons. Heterogeneous trucks imply that the hardware information (e.g., truck length, break, accelerator, or engine) of a truck may be distinct from that of another truck. We define a platoon as a collection of trucks where a manually driven truck (leader truck) is followed by several automatically controlled following trucks. The proposed approach is to make every autonomous truck keep following the leader's trajectory while maintaining a designated distance from its predecessor truck. As far as we know, this paper is unique in developing both lateral maneuver and speed control considering a platoon of heterogeneous trucks. The efficiency of the proposed approach is verified using simulations.

The paper presents models of path and control planning for parking, docking, and movement of autonomous vehicles at low speeds considering space constraints. Given the low speed of motion, and in order to test and approve the proposed algorithms, vehicle kinematic models are used. Recent works on the development of parking algorithms for autonomous vehicles are reviewed. Bicycle kinematic models for vehicle motion are considered for three basic types of vehicles: passenger car, long wheelbase truck, and articulated vehicles with and without steered semitrailer axes. Mathematical descriptions of systems of differential equations in matrix form and expressions for determining the linearization elements of nonlinear motion equations that increase the speed of finding the optimal solution are presented. Options are proposed for describing the interaction of vehicle overall dimensions with the space boundaries, within which a maneuver should be performed. An original algorithm that considers numerous constraints is developed for determining vehicle permissible positions within the closed boundaries of the parking area, which are directly used in the iterative process of searching for the optimal plan solution using nonlinear model predictive control (NMPC). The process of using NMPC to find the best trajectories and control laws while moving in a semi-limited space of constant curvature (turnabouts, roundabouts) are described. Simulation tests were used to validate the proposed models for both constrained and unconstrained conditions and the output (state-space) and control parameters' dependencies are shown. The proposed models represent an initial effort to model the movement of autonomous vehicles for parking and has the potential for other highway applications.

The main functions of the automated systems rely on the advanced sensors for detection and perception of the environment around the vehicle. Radars and cameras are commonly utilized to detect the potential obstacles and vehicles ahead on the road. Nevertheless, cameras can generate spurious detections in the extreme weather conditions such as fog, rain, dust, snow, dark, and heavy sunlight in the sky. Due to limitations in vertical field view of the radars, single radars are not reliable to detect the height of the targets precisely. In this paper, a triple radar arrangement (long-range, medium-range, and short-range radars) based on sensor fusion technique is proposed to detect objects with different size in level 2 Advanced Driver-Assistance (ADAS) system. The typical objects including truck, pedestrians, and animals are detected in different scenarios. The developed model considered ISO 26262 and ISO/PAS 21448 to reasonably address insufficient robustness and inability of the sensors. The models of sensor and level 2 ADAS systems are developed using MATLAB toolbox and Simulink. Sensor detection performance is determined by running simulations with triple radar setup. Obtained results demonstrate that the proposed approach generates accurate detections of targets in all tested scenarios.

Autonomous vehicle technology, employing image sensors for road marking recognition, is largely dependent on the Lane Departure Warning System (LDWS) to prevent vehicular deviations from driving lanes. The effectiveness of image-based lane recognition, however, is susceptible to environmental influences like weather conditions and the surrounding road environment. This study investigates the impact of road marking retro-reflectivity on LDWS under varied environmental conditions. Conducted at the Yeoncheon SOC Demonstration Research Center, the experiments encompassed a spectrum of weather scenarios, incorporating rainfall and shifts between day and night lighting. Controlled wear was applied to white, yellow, and blue road markings, followed by measuring their retro-reflectivity at different stages of degradation. The LDWS's performance was evaluated by assessing the recognition rates of these markings under these diverse environmental settings. The study reveals that enhanced retro-reflectivity significantly boosts LDWS detection, especially in challenging weather conditions. Furthermore, the research led to the development of a simulation framework to analyze the cost-effectiveness of road marking maintenance, aligning it with the safety needs of autonomous vehicles. This framework suggests the necessity for updated road marking guidelines that cater to the advanced needs of driver assistance systems and autonomous vehicle technology.

This research investigates the utilization of human driving models in autonomous vehicles, particularly in scenarios with minimal or no interactions with other vehicles. Human driving models provide valuable insights into driver behavior and play a crucial role in shaping the behavior of autonomous vehicles, enhancing their performance and user experience. The primary focus of the study is the creation of a planning model for autonomous vehicles when navigating roundabouts in the absence of traffic. This model seeks to emulate human driving behavior, ensuring predictability, safety, optimization of traffic flow, and adaptation to various roundabout geometries. To achieve this, the research introduces a trajectory model that takes into account geometric attributes and speed variations within roundabouts. The model is calibrated using empirical data and generalizes parameters through statistical regression methodologies. This model is referred to as "MRoundabout" and is evaluated for its consistency in generating plans that closely mimic human driving behavior within roundabouts. While the study presents a promising approach, it acknowledges limitations related to the model's reliance on geometric attributes and its inability to account for external factors like weather conditions. This research underscores the importance of bridging the gap between theoretical research and practical application, with the aim of enhancing safety and the overall user experience in real-world driving scenarios.

This paper provides a comprehensive overview of recent advancements in autonomous electric vehicle (AEV) within the specified region. It elaborates on the progress and comparative analysis of diverse subsystems, including energy storage, cell balancing for battery systems, vehicle charger layouts, electric vehicle motor mechanisms, and braking systems. Furthermore, this paper showcases several prototype autonomous electric vehicles as conclusive study findings.

The integration of advanced image analysis using artificial intelligence (AI) is pivotal for the evolution of autonomous vehicles (AVs). This article provides a thorough review of the most significant datasets and the latest state-of-the-art AI solutions employed in image analysis for AVs. Datasets such as Cityscapes, NuScenes, and CARLA form the benchmarks for training and evaluating different AI models, with unique characteristics catering to various aspects of autonomous driving. Key AI methodologies, including Convolutional Neural Networks (CNNs), Recurrent Neural Networks (RNNs), Transformer models, and Generative Adversarial Networks (GANs), are discussed. The article also presents a comparative analysis of various AI techniques in real-world scenarios, focusing on semantic image segmentation, 3D object detection, and vehicle control in virtual environments. Simultaneously, the role of multisensor datasets and simulation platforms like AirSim, TORCS, and SUMMIT in enriching the training data and testing environments for AVs is highlighted. By synthesizing information on datasets, AI solutions, and comparative performance evaluations, the article serves as a crucial resource for researchers, developers, and industry stakeholders. Offering a clear view of the current landscape and future directions in autonomous vehicle image analysis technologies.

Road conditions, often degraded by insufficient maintenance or adverse weather, significantly contribute to accidents, exacerbated by the limited human reaction time to sudden hazards like potholes. Early detection of distant potholes is crucial for timely corrective actions, such as reducing speed or avoiding obstacles, to mitigate vehicle damage and accidents. This paper introduces a novel approach that utilizes perspective transformation to enhance pothole detection at different distances, focusing particularly on distant potholes. Perspective transformation improves the visibility and clarity of potholes by virtually bringing them closer and enlarging their features, which is particularly beneficial given the fixed-size input requirement of object detection networks, typically smaller than the raw image resolutions captured by cameras. Our method automatically identifies the region of interest (ROI)—the road area—and calculates the corner points to generate a perspective transformation matrix. This matrix is applied to all images and corresponding bounding box labels, enhancing the representation of potholes in the dataset. This approach significantly boosts detection performance when used with YOLOv5-small, achieving a 45.7\% improvement in average precision (AP) at IoU thresholds of 0.5 to 0.95 for a single class, and notable improvements of 30.3\%, 78.6\%, and 278\% for near, medium, and far pothole classes, respectively, after categorizing them based on their distance. This work is the first to employ perspective transformation specifically for enhancing the detection of distant potholes.

In passing maneuvers on two-lane highways, assessing the needed distance and the potential power reserve to ensure the required speed mode of the passing vehicle is a critical task of speed planning. This task must meet several mutually exclusive conditions that lead to successful maneuver. The paper addresses three main aspects. First, the issues of rational distribution of the speed of the passing vehicle for overtaking a long commercial vehicle on two-lane highways are discussed. The factors that affect maneuver effectiveness are analyzed, considering safety and cost. Second, a heuristic algorithm is then proposed based on the rationale for choosing the necessary space and time for overtaking. The initial prediction's sensitivity to fluctuations of current measurements of the position and speed of the overtaking participants is examined. Third, an optimization technique for passing vehicle speed distribution over the overtaking time using the finite element method is presented. The adaptive model predictive control is applied for tracking the references being generated. The presented model is illustrated using simulation.

This paper outlines a new methodology for developing strategy for supply chain integration of Autonomous Electrical Vehicles (AEV) to the Internet of Things (IoT). The methodology consists of external architecture and internal design that anticipates the business strategy in the development process. The methodology is designed to anticipate the impact of developments in new road transport technologies, such as Tesla Truck or Tesla Pickup. Since the methodology is designed to anticipate the impact of non-existing technologies, it represents green-field analysis. Green-field is defined as a new and non-existent operation. Green-field strategy architecture in this paper is presented as a process of accepting the world and acting upon that version of the world. The results of the analysis are presented as pathways and outcomes, emerging from the interrelated relationship between AEV and IoT. The emerging methodology is applied through two case studies to evaluate the impact to environment, performance and operationalisation. The methodology proposes architecture and design for integrating AEV and IoT in the supply chain strategy, and a set of new evaluation criteria that promote acceptance of Artificial Intelligence (AI) in the design process. The main contribution to knowledge is a new methodology for integrating AEV and the IoT to the supply chains. The paper applies interplay between inductive and deductive case study and grounded theory approach to build upon the concept of supply chain architecture and contribute to knowledge to the topic of formulating green-field integrated AEV- IoT supply chain strategy.

The market for autonomous vehicles (AV) is expected to experience significant growth over the coming decades and to revolutionize the future of transportation and mobility. The AV is a vehicle that is capable of perceiving its environment and perform driving tasks safely and efficiently with little or no human intervention and is anticipated to eventually replace conventional vehicles. Self-driving vehicles employ various sensors to sense and perceive their surroundings and, also rely on advances in 5G communication technology to achieve this objective. Sensors are fundamental to the perception of surroundings and the development of sensor technologies associated with AVs has advanced at a significant pace in recent years. Despite remarkable advancements, sensors can still fail to operate as required, due to for example, hardware defects, noise and environment conditions. Hence, it is not desirable to rely on a single sensor for any autonomous driving task. The practical approaches shown in recent research is to incorporate multiple, complementary sensors to overcome the shortcomings of individual sensors operating independently. This article reviews the technical performance and capabilities of sensors applicable to autonomous vehicles, mainly focusing on vision cameras, LiDAR and Radar sensors. The review also considers the compatibility of sensors with various software systems enabling the multi-sensor fusion approach for obstacle detection. This review article concludes by highlighting some of the challenges and possible future research directions.

Lane detection is a foundational technology for autonomous driving systems. It involves identifying the boundaries of lanes on the road and ensuring the vehicle stays within these boundaries. Accurate lane detection is crucial for safety, navigation and traffic management. This paper presents an artificial intelligent based autonomous road lane detection and navigation system for vehicles. The system can detect and analyze road lanes accurately and efficiently in real-time, with frame rates of up to 17 FPS. By utilizing image processing techniques, the system can identify the location and boundaries of road lanes and obstacles on the road and provide accurate and reliable navigation guidance to the driver. The system is integrated with sensors and actuators to provide comprehensive autonomous navigation. The efficiency of the proposed system is demonstrated using accuracy of lane detection on straight and curve lanes covering frames per second and motor of the speed as parameters for assessment. Results show that the proposed system detects lane as entire lane detection, partial lane detection and no detection status on different settings.

Gravity-aided inertial navigation system (GAINS) is an important development in autonomous underwater vehicle (AUV) navigation. An effective path planning algorithm plays an important role in the performance of navigation in long-term underwater missions. By combining the gravity information obtained at each position with the error information from the INS, the posterior Cram\'er-Rao bound (PCRB) of GAINS is derived in this paper. The PCRB is the estimated lower bound of position variance for navigation along the planned trajectory. And the sum of PCRB is used as the minimum cost from the initial state to the current state in the state space, and the position error prediction variance of inertial navigation system (INS) is used as the minimum estimated cost of the path from the current state to the goal state in the A* algorithm. Thus, a path planning method with optimal navigation accuracy is proposed. According to simulation results, traveling along the path planed by the proposed method can rapidly improve the positioning accuracy while consuming just slightly more distance. Even when measuring noise changes, the planned path can still maintain optimal positioning accuracy, and high positioning accuracy is possible for any trajectory located within a certain range of the planned path.

Autonomous driving vehicles rely on sensors for the robust perception of surroundings. Such vehicles are equipped with multiple perceptive sensors with a high level of redundancy to ensure safety and reliability in any driving condition. However, multi-sensor, such as camera, LiDAR and radar, systems bring up the requirements related to sensor calibration and synchronization, which are the fundamental blocks of any autonomous system. On the other hand, sensor fusion and integration have become important aspects of autonomous driving research and directly determine the efficiency and accuracy of advanced functions such as object detection and path planning. Classical model-based estimation and data-driven models are two mainstream approaches to achieving such integration. Most recent research is shifting to the latter, showing high robustness in real-world applications but requiring large quantities of data to be collected, synchronized, and properly categorized. To generalize the implementation of the multi-sensor perceptive system, we introduce an end-to-end generic sensor dataset collection framework that includes both hardware deploying solutions and sensor fusion algorithms. The framework prototype integrates a diverse set of sensors, such as cameras, LiDAR, and radar. Furthermore, we present a universal toolbox to calibrate and synchronize three types of sensors based on their characteristics. The framework also includes the fusion algorithms, which utilize the merits of three sensors , namely, camera, LiDAR and radar, and fuse their sensory information in a manner that is helpful for object detection and tracking research. The generality of this framework makes it applicable in any robotic or autonomous applications, also suitable for quick and large-scale practical deployment.

In this paper, a swarm trajectory planning method is proposed for multiple autonomous surface vehicles (ASVs) in an unknown and obstacle-rich environment. Specifically, based on the point cloud information of the surrounding environment obtained from local sensors, a kinodynamic path searching method is used to generate a series of waypoints in the discretized control space at first. Next, after fitting B-spline curves to the obtained waypoints, a nonlinear optimization problem is formulated to optimize the B-spline curves based on gradient-based local planning. Finally, a numerical optimization method is used to solve the optimization problems in real-time to obtain collision-free, smooth and dynamically feasible trajectories relying on a shared network. Simulation results demonstrate the effectiveness and efficiency of the proposed swarm trajectory planning method for a network of ASVs.

Reinforcement Learning (RL) has demonstrated considerable potential in solving challenges across various domains, notably in autonomous driving. Nevertheless, implementing RL in autonomous driving comes with its own set of difficulties, such as the overestimation phenomenon, extensive learning time, and sparse reward problems. Although solutions like Hindsight Experience Replay (HER) have been proposed to alleviate these issues, the direct utilization of RL in autonomous vehicles remains constrained due to the intricate fusion of information and the possibility of system failures during the learning process. In this paper, we present a novel RL-based autonomous driving system technology that combines Obstacle Dependent Gaussian (ODG) RL, Soft Actor-Critic (SAC), and meta-learning algorithms. Our approach addresses key issues in RL, including the overestimation phenomenon and sparse reward problems, by incorporating prior knowledge derived from the ODG algorithm. We evaluated our proposed algorithm on official F1 circuits, using high-fidelity racing simulations with complex dynamics. The results demonstrate exceptional performance, with our method achieving up to 89% faster learning speed compared to existing algorithms in these environments.

Underwater robotics equipped with visual detection systems have the function of detecting un-derwater artifacts, which is of great significance to deep-sea archaeology. Underwater artifacts are located in complex environments with poor imaging conditions, and the targets have chal-lenging problems such as breakage, stacking, and sediment burial, which causes the marine cul-tural target detection failures. To solve these problems, this paper proposes an underwater cul-tural target detection algorithm based on the deformable deep aggregation network model for underwater robotics exploration. To fully extract the target feature information of underwater targets in complex environments, this paper designs a multi-scale deep aggregation network with deformable convolutional layers. Besides, the BAM attention module is designed for fea-ture optimization, which enhances the potential feature information of the target while weak-ening the background interference information. Finally, the target prediction is achieved through feature fusion at different scales. The proposed algorithm has been extensively validat-ed and analyzed on the collected underwater artifact datasets, and the precision, recall, and mAP of the algorithm have reached 93.1%, 91.4%, and 92.8%, respectively. In addition, the present al-gorithm has been practically deployed on the underwater robotics. In the deep-sea tests, the ar-tifact detection frame rate reaches up to 19 fps, which satisfies the real-time target detection。

The application of deep learning in autonomous vehicles has surged over the years with the advances in technologies. This research explores the integration of deep learning algorithms into autonomous vehicles (AVs), focusing on their role in perception, decision-making, localization, mapping, and navigation. It shows that deep learning, which as a part of machine learning, mimics the human brain's neural networks, enabling advancements in perception, decision-making, localization, mapping, and overall navigation. Techniques like convolutional neural networks are used for image detection and steering control, while deep learning is crucial for path planning, automated parking, and traffic maneuvering. Localization and mapping are essential for AVs' navigation, with deep learning-based object detection mechanisms like Faster R-CNN and YOLO proving effective in real-time obstacle detection. Apart from the roles, the study also revealed that integration of deep learning in AVs faces challenges such as dataset uncertainty, sensor challenges, and model training intricacies. However, these issues can be addressed through increased standardization of sensors, real-life testing for model training, and advancements in model compression technologies can optimize the performance of deep learning in AVs. The study concludes that deep learning plays a crucial role in enhancing the safety and reliability of AV navigation. This study contributes to the ongoing discourse on the optimal integration of deep learning in AVs, aiming to foster their safety, reliability, and societal acceptance.

The rapid growth of the sharing economy has propelled shared mobility to the forefront of attention. The continuous advancement of autonomous driving technology also brings new opportunities and challenges to the shared mobility market. This study comprehensively analyzes the market potential concerning autonomous vehicles (AVs) to provide shared mobility services, utilizing SWOT analysis, PESTLE analysis, and Porter’s Five Forces. The findings reveal that AVs can provide improved shared mobility services by increasing transportation safety, reducing emissions, reducing costs, enhancing traffic efficiency, and increasing customer satisfaction and the profitability of shared mobility services. However, challenges such as technological and policy uncertainties, safety concerns, high initial costs, inadequate public communication infrastructure, and the absence of standardized regulations can hinder the widespread adoption of AVs. The benefits are also restricted with a low market penetration rate of AVs. To promote AVs in the shared mobility market, this study also provides implications for AV stakeholders tailored to the evolving shared mobility market dynamics.

With the current technological transformation in the automotive industry, autonomous vehicles are getting closer to the Society of Automative Engineers (SAE) automation level 5. This level corresponds to the full vehicle automation, where the driving system autonomously monitors and navigates the environment. With SAE-level 5, the concept of a Shared Autonomous Vehicle (SAV) will soon become a reality and mainstream. The main purpose of an SAV is to allow unrelated passengers to share an autonomous vehicle without a driver/moderator inside the shared space. However, to ensure their safety and well-being until they reach their final destination, it is required an active monitoring of all passengers. In this context, this article presents a microphone-based sensor system that is able to localize sound events inside an SAV. The solution is composed of a Micro-Electro-Mechanical System (MEMS) microphone array with a circular geometry connected to an embedded processing platform that resorts to Field-Programmable Gate Array (FPGA) technology to successfully process in hardware the sound localization algorithms.

This paper systematically discusses the application of reinforcement learning in automatic driving system. Reinforcement learning frameworks show significant advantages in optimizing decision making, predictive perception, path planning, and controller design, exceeding the limitations of traditional supervised learning methods. The paper highlights the critical role of components such as scene understanding, positioning, and map making in autonomous driving systems, which provide reliable environmental awareness through deep learning and sensor fusion technologies to support intelligent decision-making in complex urban environments. In addition, the paper discusses innovative approaches to safety reinforcement learning to reduce risk in autonomous driving and ensure that systems adhere strictly to safety constraints while maximizing expected rewards. These findings provide an important theoretical and practical basis for further improving algorithm robustness, managing multi-agent interactions, and integrating ethical considerations in the future.

Abstract: The future of transportation is being reshaped by autonomous vehicles (AVs), which promise to revolutionize road safety, accessibility, and environmental sustainability. Central to their evolution are advancements in artificial intelligence (AI), which enable real-time perception, decision-making, and control. This paper explores the future trajectory of AI in AVs, highlighting innovative AI paradigms such as explainable AI, federated learning, and adaptive regulatory frameworks. It delves into the development of sophisticated perception algorithms for environmental understanding, advanced decision-making systems employing reinforcement learning and deep neural networks, and precise control mechanisms through predictive modeling and optimization. By addressing current challenges, including regulatory hurdles and the complexity of AI algorithms, this paper provides a comprehensive outlook on the potential and implications of AV technology. It envisions a future where AI-driven AVs are seamlessly integrated into society, offering profound insights into their impact on transportation and societal dynamics.

Imaging lidars are one of the hottest topics in the optronics industry. The need to sense the surroundings of every autonomous vehicle has pushed forward a career to decide the final solution to be implemented. The diversity of state-of-the art approaches to the solution brings, however, a large uncertainty towards such decision. This results often in contradictory claims from different manufacturers and developers. Within this paper we intend to provide an introductory overview of the technology linked to imaging lidars for autonomous vehicles. We start with the main single-point measurement principles, and then present the different imaging strategies implemented 8 in the different solutions. An overview of the main components most frequently used in practice is also presented. Finally, a brief section on pending issues for lidar development has been included, 10 in order to discuss some of the problems which still need to be solved before an efficient final implementation.Beyond this introduction, the reader is provided with a detailed bibliography containing both relevant books and state of the art papers.

To validate the accuracy and reliability of onboard sensors for object detection and localization in driver assistance, as well as autonomous driving applications under realistic conditions (indoors and outdoors), a novel tracking system is presented. This tracking system is developed to determine the position and orientation of a slow-moving vehicle (e.g. car during parking maneuvers), independent of the onboard sensors, during test maneuvers within a reference environment. One requirement is a 6 degree of freedom (DoF) pose with a position uncertainty below 5 mm (3σ), an orientation uncertainty below 0.3° (3σ) at a frequency higher than 20 Hz, and a latency smaller than 500 ms. To compare the results from the reference system with the vehicle’s onboard system, a synchronization via Precision Time Protocol (PTP) and a system interoperability to Robot Operating System (ROS) is implemented. The developed system combines motion capture cameras mounted in a 360° panorama view set-up on the vehicle with robotic total stations. A point cloud of the test site serves as a digital twin of the environment, in which the movement of the vehicle is simulated. Results have shown that the fused measurements of these sensors complement each other, so that the accuracy requirements for the 6 DoF pose can be met, while allowing a flexible installation in different environments.

The recent advancements in the field of communication have led data sharing to become an integral part of today's smart cities with the evolution of concepts such as the internet of vehicles (IoV) paradigm. As a part of IoV, Electric Vehicles (EVs) have recently gained momentum as authorities have started expanding their Low Emission Zones (LEZ) in an effort to build green cities with low carbon footprints. Energy is one of the key requirements of EVs not only to support the smooth and sustainable operation of EV itself but to also ensure connectivity between the vehicles and infrastructure with controlling devices like sensors and actuators installed within an EV. In this context, renewable energy sources (such as wind energy) dramatically play their parts in the automobile sector towards designing the energy harvesting electric vehicles (EH-EV) to pare the energy reliance on the national grid. In this article, a novel approach is presented to achieve electric generation due to vehicle mobility to support the communication primitives in electric vehicles which enables plenty of IoV use cases in the presence of surplus energy at hand. A small-scale wind turbine is designed to harness wind power for converting it into mechanical power. This power is then fed to the onboard DC generator to produce electrical energy. Furthermore, the acquired power is processed through a regulation circuitry to consequently achieve the desired power supply for the end load, i.e. the batteries installed. The suitable orientation for efficient power generation is proposed on ANSYS-based aerodynamics analysis. The voltages induced by DC generator at No-Load condition are 35V while at Full-Load 25V are generated at rated current of 6.9A, along with the generation of power at around 100W (at constant voltage) at the rated speed of 90 mph for nominal battery charging. Moreover, the acquired data can be monitored via an android application interface by using a Bluetooth module.

Autonomous Underwater Vehicles (AUVs) are highly efficient tools for underwater exploration, capable of carrying various payloads to perform specific missions as needed. To ensure the success of these missions and the spatiotemporal accuracy of sampled data, integrated navigation systems and appropriate filtering algorithms are essential. These systems process and merge motion data to provide accurate positioning information. The most commonly used algorithms in integrated navigation systems are Kalman filter and its nonlinear derivatives. Of these, the ensemble Kalman filter (EnKF) is particularly notable for its ability to handle nonlinear systems by incorporating Monte Carlo methods. This study proposes an enhanced adaptive EnKF algorithm to improve the smoothness and accuracy of the filtering process. Instead of the conventional Gaussian distribution, this algorithm employs a Laplace distribution to construct the system state vector and observation vector ensembles, enhancing stability against non-Gaussian noise. Additionally, the algorithm dynamically adjusts the number of vector members in the ensemble using adaptive mechanism by specifying thresholds during filtering, to adapt the requirements of real-world observational settings. Using measured data from field trials, including DVL, GPS, and electronic compass data, we examine the effects of various parameter settings on the algorithm's performance. Optimal parameter settings are identified to fine-tune and verify the filtering algorithm as well as its adaptive capability. The results demonstrate that the enhanced adaptive EnKF algorithm exhibits superior filtering performance in terms of both accuracy and smoothness compared to the conventional EnKF and EKF algorithms. This indicates the significant advantages of our proposed algorithm for AUV navigation.

Urban logistics is a critical component of smart city initiatives, aiming to enhance the efficiency and sustainability of goods delivery in densely populated areas. This paper explores the integration of artificial intelligence (AI), autonomous vehicles, and Internet of Things (IoT) technologies to optimize urban logistics. By leveraging real-time data from IoT-enabled infrastructure and AI-driven analytics, we propose a framework for dynamic route planning, traffic signal control, and predictive demand management for delivery services.

The accessibility of public transportation is also known as the last mile problem, and it is one of the main obstacles that affect travelers to choose public transport. Although autonomous vehicles (AVs) have made much progress, they have not been officially put into commercial use. This paper adopts stated preference experiments to explore the impact of shared AVs on train trips’ last-mile travel behavior and takes Wuhan as an example for case analysis. First of all, this paper establishes a structural equation model (SEM) based on the theory of planned behavior to explore the latent psychological variables, including travelers’ attitudes (ATTs), subjective norms (SNs), perceived behavior control (PBC), and behavioral intention to use (BIU) toward AVs. These latent psychological variables are incorporated into the latent class (LC) logit model to establish a hybrid model to study the factors and degree of influence on the travel mode choice for the last mile of train trips. The results show that travelers have preference heterogeneity for the travel mode choice of the last mile of train trips. Through the analysis of LCs, education, career, and income significantly impact the classification of LCs. The latent psychological variables towards AVs have a significant impact on the travel behavior of respondents, but the impacts vary among different segments. Elastic analysis results illustrate that a 1% increase in the travel cost for shared AV in segment 1 leads to a 7.598% decrease in the choice probability of shared AV. Respondents from different segments vary significantly in their willingness to pay, and the value of travel time for high-income groups is relatively higher.

Environmental monitoring programs rely on periodic spot sampling at specific locations, followed by laboratory analysis, aiming at the evaluation of water quality at a catchment scale. For this purpose, automatic telemetric stations for specific parameters have been installed by the Institute of Marine Biological Resources and Inland Waters of Hellenic Centre for Marine Research (IMBRIW-HCMR) within several Greek rivers and lakes, providing continuous and temporal monitoring possibilities. Nevertheless, the employment of unmanned surface vehicles (USV) equipped with integrated sensors represents a tool valuable to several monitoring strategies, offering enhanced temporal and spatial coverage over specific timeframes, allowing for targeted examination of sites or events of interest. The USVs have been deployed by Athens Water and Sewerage Company (EYDAP) as a cost-effective tool for the environmental monitoring of surface water bodies of interest, with emphasis on the spatial fluctuations of chlorophyllα, electrical conductivity, dissolved oxygen and pH, observed in Koumoundourou Lake and rivers Acheloos, Asopos and Kifissos. The effectiveness of an innovative heavy metal (HM) system installed in the USV for thein situ determination of copper and lead was also evaluated herewith. The results obtained demonstrate that both the timely detection of potential pollution from both anthropogenic activities and natural processes as well as the monitoring of inland waters are made feasible through the employment of USV.

Considering the significant advancements in autonomous vehicle technology, research in this field is of interest to researchers. To drive vehicles autonomously, controlling steer angle, gas hatch, and brakes need to be learned. The behavioral cloning method is used to imitate humans’ driving behavior. We created a dataset of driving in different routes and conditions and using the designed model, the output used for controlling the vehicle is obtained. In this paper, the Learning of Self-driving Vehicles Based on Real Driving Behavior Using Deep Neural Network Techniques (LSV-DNN) is proposed. We designed a convolutional network which uses the real driving data obtained through the vehicle’s camera and computer. The response of the driver is during driving is recorded in different situations and by converting the real driver’s driving video to images and transferring the data to an excel file, obstacle detection is carried out with the best accuracy and speed using the Yolo algorithm version 3. This way, the network learns the response of the driver to obstacles in different locations and the network is trained with the Yolo algorithm version 3 and the output of obstacle detection. Then, it outputs the steer angle and amount of brake, gas, and vehicle acceleration. The LSV-DNN is evaluated here via extensive simulations carried out in Python and TensorFlow environment. We evaluated the network error using the loss function. By comparing other methods which were conducted on the simulator’s data, we obtained good performance results for the designed network on the data from KITTI benchmark, the data collected using a private vehicle, and the data we collected.

The vast majority of autonomous driving systems are limited to applications on roads with clear lane markings and are implemented using commercial grade sensing systems coupled with specialized graphic accelerator hardware. This research reviews an alternative approach for autonomously steering vehicles that eliminates the dependency on road markings and specialized hardware. A combination of machine vision, machine learning and artificial intelligence based on popular pre-trained Convolutional Neural Networks (CNN) and Recurrent Neural Networks (RNN) was used to drive a vehicle along roads lacking lane markings (unmarked roads). The team developed and tested this approach on the ACTor (Autonomous Camus TranspORt) vehicle - an autonomous vehicle development and research platform coupled with a low-cost webcam based sensing system and minimal computational resources. The proposed solution was evaluated on real-world roads and varying environmental conditions. It was found that this solution may be used to successfully navigate unmarked roads autonomously with acceptable road following behavior.

This article presents a state-of-the-art literature review to understand people’s perceptions and opinions of Autonomous Vehicles (AVs) and the factors that influence AV adoption. A strategic literature search was conducted to select articles for this review. Most of the articles were published within the last five years and they used a household questionnaire survey to collect data. Mostly, they used statistical and econometric methods to evaluate the factors that affect people’s intentions to adopt AVs. The results show that psychological factors often appear as the most important internal factors of people’s willingness to adopt AVs. Additionally, other internal factors such as the socioeconomic profile of individuals and their household, and knowledge and familiarity with AV technologies would affect AV adoption tendencies. User attributes also indirectly affect AV adoption by influencing the psychological factors of users. We identify several critical external factors such as opportunities (e.g., safety and security, low congestion, energy use) and challenges (e.g., system failure, privacy breach, and legal issues), while another influential group includes transportation factors (e.g., travel mode, distance, and time), urban form (e.g., urban/rural, density, land use diversity), affinity to new technology, and the institutional regulatory environment. We discuss some recommendations for policy makers, auto industries, and private stakeholders to formulate policies and strategies to increase market share of AVs. Finally, we identify some limitations of previous studies and provide a blueprint for future research on AV adoption.

To date, the development of unmanned technologies using autonomous underwater vehicles (AUV) has become an urgent demand for solving the problem of inspection of industrial sub-sea structures. A key issue here is precise localization of AUVs relative to underwater objects. However, the well-known challenges of recognizing and coordinating underwater objects (impossibility to use GPS, undercurrents, etc.) do not allow high-precision navigation if based solely on a standard suite of AUV navigation tools (sonars, etc.). An alternative is a technology of processing of optical images that, at short distances, can provide higher accuracy of AUV navigation compared to a technology of acoustic measurement processing. In this study, in the context of the problem of subsea production system inspection, we propose a method to recognize underwater objects and provide coordinate reference of AUV to them, based on stereo-image processing. Its distinctive features are the use of a non-standard technique for generating a geometric model of an object from its views (foreshortening) taken from positions of a pre-made overview trajectory, the use of various characteristic geometric elements when recognizing objects, and the original algorithms for comparing visual data of the inspection trajectory with an a priori model of the object.

This article focuses on generating an alternative in order to identify traffic officers during driving. This research employed the latest You Only Look Once (YOLO) model, using a six-phase methodology: data collection, data preparation involving resizing and labeling, implementation of various filters to avoid overfitting, model training, prediction evaluation, and result interpretation. The YOLO model was applied across three iterations using a dataset of 1862 images. To enhance training efficiency and detection speed, the graphics processing unit (GPU) acceleration was utilized, further enhancing the experimental process. The results of this study revealed that the YOLOv8x variant produced the most promising results. This proposed model attained a remarkable F1 score of 0.95, bolstered by a confidence score of 0.631, with the potential for an increase to 0.80 in confidence without significantly compromising the F1-score. These findings are poised to make a substantial contribution to the broader research landscape, particularly in advancing the effectiveness of detection models for traffic officers.

This article addresses the problem of formation control of a quadrotor and one (or more) marine vehicles operating at the surface of the water with the end goal of encircling the boundary of a chemical spill, enabling such vehicles to carry and release chemical dispersants used during ocean cleanup missions to break-up oil molecules. Firstly, the mathematical models of the Medusa class of marine robots and quadrotor aircrafts are introduced, followed by the design of single vehicle motion controllers that allow these vehicles to follow a parameterized path individually using Lyapunov based techniques. At a second stage, a distributed controller using event triggered communications is introduced, enabling the vehicles to perform cooperative path following missions according to a pre-defined geometric formation. In the next step, a real time path planning algorithm is developed that makes use of a camera sensor, installed on-board the quadrotor. This sensor enables the detection in the image of which pixels encode parts of a chemical spill boundary and use them to generate and update in real time a set of smooth B-spline based paths for all the vehicles to follow cooperatively. The performance of the complete system is evaluated by resorting to 3-D simulation software, making it possible to simulate visually a chemical spill. Results from real water trials are also provided for parts of the system, where two Medusa vehicles are required to perform a static lawn-mowing path following mission cooperatively at the surface of the water.

Semi-autonomous vehicles (AVs) enable drivers to engage in non-driving tasks but require them to be ready to take control during critical situations. This "out-of-the-loop" problem demands a quick transition to active information processing, raising safety concerns and anxiety. Multimodal signals in AVs aim to deliver take-over requests and facilitate driver-vehicle cooperation. However, the effectiveness of auditory, visual, or combined signals in improving situational awareness and reaction time for safe maneuvering remains unclear. This study investigates how signal modalities affect driver’s behavior using virtual reality (VR). We measured drivers’ reaction times from signal onset to take-over response and gaze dwell time for situational awareness across twelve critical events. Furthermore, we assessed self-reported anxiety and trust levels using the Autonomous Vehicle Acceptance Model questionnaire. Results showed visual signals significantly reduced reaction times, whereas auditory signals did not. Additionally, any warning signal, together with seeing driving hazards, increased successful maneuvering. Analysis of gaze dwell time on driving hazards revealed that audio and visual signals improved situational awareness. Lastly, warning signals reduced anxiety and increased trust. These results highlight the distinct effectiveness of signal modalities in improving driver reaction times, situational awareness, and perceived safety, mitigating the “out-of-the-loop” problem and fostering human-vehicle cooperation.

Nowadays, technological advancement has transformed traditional vehicles into Au-tonomous Vehicles (A.V.s). In addition, in our daily lives, A.V.s play an important role since they are considered an essential component of smart cities. A.V. is an intelligent vehicle capable of main-taining safe driving by avoiding crashes caused by drivers. Unlike traditional vehicles, which are fully controlled and operated by humans, A.V.s collect information about the outside environment using sensors to ensure safe navigation. Furthermore, A.V.s reduce environmental impact because they usually use electricity to operate instead of fossil fuel, thus decreasing the greenhouse gasses. However, A.V.s could be threatened by cyberattacks, posing risks to human life. For example, re-searchers reported that Wi-Fi technology could be vulnerable to cyberattacks through Tesla and BMW AVs. Therefore, more research is needed to detect cyberattacks targeting the components of A.V.s to mitigate their negative consequences. This research will contribute to the security of A.V.s by detecting cyberattacks at the early stages. First, we inject False Data Injection (FDI) attacks into an A.V. simulation-based system developed by MathWorks. Inc. Second, we collect the dataset generated from the simulation model after integrating the cyberattack. Third, we implement an intelligent symmetrical anomaly detection method to identify FDI attacks targeting the control system of the A.V. through a compromised sensor. We use long short-term memory (LSTM) deep networks to detect FDI attacks in the early stage to ensure the stability of the operation of A.V.s. Our method classifies the collected dataset into two classifications: normal and anomaly data. The ex-perimental result shows that our proposed model's accuracy is 99.95%. To this end, the proposed model outperforms other state-of-the-art models in the same study area.

Visual-inertial integrated navigation system (VINS) has been extensively studied over the past decades to provide accurate and low-cost positioning solutions for autonomous systems. Satisfactory performance can be obtained in an ideal scenario with sufficient and static environment features. However, there are usually numerous dynamic objects in deep urban areas, and these moving objects can severely distort the feature tracking process which is fatal to the feature-based VINS. The well-known method mitigates the effects of dynamic objects is to detect the vehicles using deep neural networks and remove the features belongs to the surrounding vehicle. However, excessive exclusion of features can severely distort the geometry of feature distribution, leading to limited visual measurements. Instead of directly eliminating the features from dynamic objects, this paper proposes to adopt the visual measurement model based on the quality of feature tracking to improve the performance of VINS. Firstly, a self-tuning covariance estimation approach is proposed to model the uncertainty of each feature measurements by integrating two parts: 1) the geometry of feature distribution (GFD), 2) the quality of feature tracking. Secondly, an adaptive M-estimator is proposed to correct the measurement residual model to further mitigate the impacts of outlier measurements, such as the dynamic features. Different from the conventional M-estimator, the proposed method effectively alleviates the reliance of excessive parameterization of M-estimator. Experiments are conducted in a typical urban area of Hong Kong with numerous dynamic objects, and the results show that the proposed method could effectively mitigate the effects of dynamic objects and improved accuracy of VINS is obtained when compared with the conventional method.

Autonomous vehicles (AVs) may not only reduce parking demand, but also free up on-street parking spaces. From the perspective of bus priority, converting on-street parking lots into dedicated bus lanes can both ensure bus priority and accommodate non-bus traffic, helping to reduce congestion and pollution. In order to study the impact of conversion of on-street parking lots to bus lanes on traffic flow, a microscopic simulation framework based on VISSIM is proposed in this paper. Data was collected using the floating car method and video recording method to quantify the factors affecting traffic flow due to the conversion of on-street parking. The VISSIM simulation model was then calibrated. According to the proportion of the on-street parking lots into a bus lane, the on-street parking lots conversion simulation model of different scenarios was established, and the influence of different on-street parking lots conversion ratio on traffic efficiency and pollution emission was quantitatively analyzed. Finally, the optimization method based on bus lane network connectivity is discussed. The results indicate that: When the on-street parking lots conversion ratio is approximately 100%, bus speed increases by 21.03%, bus delays decrease by 14.27%, and bus parking instances decrease by 11.31%. Total emissions are negatively correlated with vehicle speed. As the conversion rate of on-street parking increases, the emissions of road segments and the entire road network gradually decrease. At a conversion ratio of 100%, the average total emissions for road segments have the highest reduction rate, decreasing by 4.12%. At a conversion ratio of 50%, the average emission total for the road network shows the largest reduction, falling by 2.88%.

High rates of phosphorus (P) currently being applied to soils for the production of vegetables in the Mekong Delta, Vietnam has led to the concern of its negative effect on the economics and the environment. This research presents a comprehensive study on the determination of P supplying capacity in this region of Vietnam to examine the possibility of reducing P fertilizer input. One hundred twenty (120) soil samples were collected to evaluate total P and Bray 1 available P in the soils. Phosphorus maximum sorption, degree of P saturation, P release, and the effect of P fertilizer on corn (Zea mays L.) yield in greenhouse and fields were also determined. Total P concentrations of 56.7% soil samples evaluated yielded high P concentrations (>560 mg P/kg), while 74.2% of the samples had high Bray 1 available P concentrations (>20 mg P/kg soil). Maximum P sorption ranged from 149 to 555 mg P/kg soil, respectively and has negative correlation to available P (r = - 0.63*), degrees of P saturation ranged from 0.63 to 5.46% correlated to available P (r = 0.98**) and maximum P release ranged from 1.2 to 61.9 mg P/kg soil, respectively correlated to available P (r = 0.96**). Corn grown in soils with available P concentrations >15 mg P/kg did not respond to P fertilizer in greenhouse or field experiments. We conclude that many farmers in this region can reduce P fertilizer input, thus increasing their profits and reducing negative environmental impacts associated with excess soil P for sustainable agriculture.

Orthostatic hypotension (OH) is a condition marked by a significant drop in blood pressure upon standing, resulting from impaired autonomic regulation of vascular tone and blood volume. This study investigates the prevalence, physiological mechanisms, and occupational risk factors for OH among high-risk professions in Nepal, such as traffic police, security guards, and shopkeepers. Using a cross-sectional design, participants were evaluated for blood pressure variability, autonomic function, and fluid balance. The findings reveal a high incidence of OH, linked to reduced baroreceptor sensitivity and impaired sympathetic activation due to prolonged standing and inadequate hydration. This study highlights the need for tailored clinical interventions and workplace modifications to mitigate OH in vulnerable occupational groups.

Sewage sludge is an organic waste generated in waste-water treatment plants with certain content of nutrients, what may potentially be used as a source of slow release fertilizer, especially as phosphorus (P) source, but it demands some pre-treatment and the content of P is much lower compared to soluble mineral fertilizers. For these reasons, composted sewage sludge was used to manufacture pelletized organomineral fertilizers, mixing it with the inorganic sources monoammonium phosphate (MAP) and AshDec® (ASD) (thermochemically incinerated sewage sludge). The fertilizers were physiochemically characterized and evaluated as to the dynamics of soil P solubilization, and the forms of P remaining according to its lability. The sources evaluated were: organic compost of sewage sludge powder (SSC), pelletized SSC (SCP), pelletized organominerals SSC+MAP (S+MAP) and SSC+ASD (S+ASD), ASD alone, all compared to a soluble mineral fertilizer (MAP), and a control without P fertilizer. A test was conducted in leaching columns with 50 g of soil (Oxisol), where the fertilizers were applied at a dose of 100 mg P/column, and 30 mL of water or 2% citric acid were added daily for 30 consecutive days. The collected leachates had pH measured and P content determined. Pelletizing process resulted in denser products and promoted more gradual P release. The organomineral S+MAP was the most water-soluble recycled source, solubilizing about 70% of the total P, while the others presented much lower solubilization (<20%). In contrast, all fertilizers showed high solubility in 2% citric acid (except for S+ASD). After leaching, the greatest amount of P remaining in the soil as labile and moderately labile. Composting and the AshDec process produced materials with slow P solubilization, which would be favoured to solubilize in acidic soils and acidic rhizosphere conditions. In turn, the organomineral mixture of SSC with a highly soluble mineral fertilizer (MAP) resulted in a promising product with intermediate nutrient solubility, better synchronized with crop demand, thus increasing efficiency in P use.

The agricultural sector is vital to the economies of many countries, particularly in developing country, providing livelihoods for millions and significantly contributing to GDP, food security, and social stability. Off-takers play a critical role in addressing these challenges by providing market certainty through predetermined purchase agreements. Engaging in contract farming and offering capital, technical assistance, and market access, off-takers help stabilize income, facilitate capital access, enhance technology adoption, and ensure business continuity. This research employs the Systematic Literature Review (SLR) method and secondary data analysis. Based on the review, the multifaceted benefits of agricultural off-takers include increased production and fostering entrepreneurial skills among farmers. Hence, fostering partnerships between farmers and off-takers is crucial for enhancing agricultural competitiveness, sustainability, and farmer well-being. Leveraging off-takers' potential and promoting collaboration within agricultural clusters can foster thriving agricultural ecosystems, ensuring food security and economic prosperity in rural communities.

Veterans face difficulties accessing vital health and community services, especially in rural areas. Autonomous vehicles (AVs) can revolutionize transportation by enhancing access, safety and efficiency. Yet, there is limited knowledge about how Veterans perceive AVs. This study fills this gap by assessing Veterans' AV perceptions before and after exposure to an autonomous shuttle (AS). Using a multi-method approach, 23 participants completed pre- and post-AS Autonomous Vehicle User Perception Survey (AVUPS), with 10 participants also taking part in post-AS focus groups. Following exposure to the AS, differences were observed for three out of the four AVUPS domains: an increase in Intention to Use (p < 0.01), a decrease in Perceived Barriers (p < 0.05), and an increase in Total Acceptance (p = 0.01); Well-being remained unchanged (p = 0.81). Feedback from focus groups uncovered six qualitative themes: Perceived Benefits (n=70), Safety (n=66), Shuttle Experience (n=47), AV Adoption (n=44), Experience with AVs (n=17), and Perception Change (n=10). This study underscores AVs' potential to alleviate transportation challenges faced by Veterans, contributing to more inclusive transportation solutions. The research offers insights for future policies and interventions aimed at integrating AV technology into the transportation system, particularly for mobility-vulnerable Veterans in rural and urban settings.

In this paper, we introduce the (ρ,q)-analogue of the p-adic factorial function. By utilizing some properties of (ρ,q)-numbers, we obtain several new and interesting identities and formulas. We then construct the p-adic (ρ,q)-gamma function by means of the mentioned factorial function. We investigate several properties and relationships belonging to the foregoing gamma function, some of which are given for the case p = 2. We also derive more representations of the p-adic (ρ,q)-gamma function in general case. Moreover, we consider the p-adic (ρ,q)-Euler constant derived from the derivation of p-adic (ρ,q)-gamma function at x = 1. Furthermore, we provide a limit representation of aforementioned Euler constant based on (ρ,q)-numbers. Finally, we consider (ρ,q)-extension of the p-adic beta function via the p-adic (ρ,q)-gamma function and we then investigate various formulas and identities.

Objectives: In Nigeria, modern contraceptive use remains relatively low despite numerous efforts to increase awareness and accessibility. This study examined the geopolitical factors influencing modern contraceptive use in North-central Nigeria Design: Using data from the 2021 Nigeria Multiple Indicator Cluster Survey, this study quantitatively investigated the factors influencing modern contraceptive use among women of reproductive age. The data were analyzed using R studio. Respondents' characteristics were described using frequency and percentage. A logistic regression model was employed to identify factors associated with modern contraceptive usage in the north-central region of Nigeria. Bivariate logistic regression was carried out between the explanatory and response variables. Settings: This study focused specifically on the north-central zone of Nigeria comprising 6 states, namely, Benue, Kogi, Kwara, Nasarawa, Niger, and Plateau states with the Federal Capital Territory (FCT). Results: Nearly one-third (30.1%) of the respondents are above 35 years of age. 3 out of every 5 (61.2%) respondents are currently married. This study found that the average modern contraceptive usage among women of reproductive age in north Central Nigeria is less than 15%. Age, education, childbirth delivery method, number of children, access to media, and state of residence are key drivers of modern contraceptive adoption and utilization among women of reproductive age in north-central Nigeria. Conclusion: This study finds it plausible to increase the awareness and sensitization of modern contraceptives and contraceptive usage in this region. There is a need for health education on the benefits and relevance of modern contraceptive usage.

Introduction: Early childhood caries is a significant public health problem among preschool children. The COVID-19 pandemic, which restricted dental services, altered family dynamics, affected child development, and created new demands on caregivers, may have exacerbated this issue. Objective: Analyze the occurrence and severity of caries and identify associated factors in preschool children attending public municipal daycare centers in Salvador, Bahia, Brazil, Methodology: A cross-sectional epidemiological study was conducted to investigate caries in children aged 2 to 5 years in 2022 and 2023. Caries was assessed using the decayed, extracted, filled, and missing teeth (DEFT) index, and prevalence was calculated. Sociodemographic, family dynamic, dietary, and healthcare utilization data were obtained through a questionnaire. After descriptive and exploratory analyses, robust Poisson multivariable regression was conducted at a 5% significance level, considering socioeconomic, psychosocial, and behavioral aspects. Results: A total of 440 preschoolers participated, with a mean age of 55 months. The majority were Black or mixed race (88.86%) and female (52.73%). The prevalence of caries was 30.91% and the mean DEFT score was 1.1. In the multivariable analysis, low family income (up to one minimum wage) and not playing outdoors during the pandemic were associated with a higher prevalence of caries. Conclusion: The prevalence and severity of caries remain high, and the pandemic has contributed to the maintenance of this epidemiological scenario. Public health measures and policies promoting social justice should be planned to improve oral health conditions in childhood.

In this study, we propose a conservative and compact finite difference scheme designed to preserve both the mass change rate and energy for solving the sixth-order Boussinesq equation with the surface tension. Theoretical analysis confirms that the proposed scheme achieves second-order accuracy in temporal discretization and fourth-order accuracy in spatial discretization. The solvability, convergence, and stability of the difference scheme are rigorously established through the application of the discrete energy method. Additionally, a series of numerical experiments are conducted to illustrate the effectiveness and reliability of the conservative scheme for long-time simulations.

In this paper, we introduce a new class of $(p,q)$-analogue type of Fubini numbers and polynomials and investigate some properties of these polynomials. We establish summation formulas of these polynomials by summation techniques series. Furthermore, we consider some relationships for $(p,q)$-Fubini polynomials associated with $(p,q)$-Bernoulli polynomials, $(p,q)$-Euler polynomials and $(p,q)$-Genocchi polynomials and $(p,q)$-Stirling numbers of the second kind.

Macro-autophagy (autophagy hereafter) is an evolutionarily conserved cellular process that has long been recognized as an intracellular mechanism for maintaining cellular homeostasis. It involves the formation of a membraned structure called the autophagosome, which carries cargo that includes toxic protein aggregates and dysfunctional organelles to the lysosome for degradation and recycling. Autophagy is primarily considered and studied as a cell-autonomous mechanism. However, recent studies have illuminated an underappreciated facet of autophagy, i.e., non-autonomously regulated autophagy. Non- autonomously regulated autophagy involves the degradation of autophagic components, including organelles, cargo, and signaling molecules, and is induced in neighboring cells by signals from primary adjacent or distant cells/tissues/organs. This review provides insight into the complex molecular mechanisms governing non-autonomously regulated autophagy, highlighting the dynamic interplay between cells within tissue/organ or distinct cell types in different tissues/organs. Emphasis is placed on modes of intercellular communication that include secreted molecules, including microRNAs, and their regulatory roles in orchestrating this phenomenon. Furthermore, we explore the multidimensional roles of non-autonomously regulated autophagy in various physiological contexts, spanning tissue development and aging, as well as its importance in diverse pathological conditions, including cancer and neurodegeneration. By studying the complexities of non-autonomously regulated autophagy, we hope to gain insights into the sophisticated intercellular dynamics within multicellular organisms, including mammals. These studies will uncover novel avenues for therapeutic intervention to modulate intercellular autophagic pathways in altered human physiology.

Polluting discharges are produced at a rate that is inexorably rising in tandem with human activity development. Eutrophication and other matters, such as offensive aquatic life, require wastewater to be treated before being discharged into the environment. Prior releasing into water bodies, the treated waters must to undertake laboratory analysis. For this purpose, an analysis using standard methods was carried out at the Laboratory Waterworks in Debrecen on various samples taken from various wastewater treatment plants (sewage treatment plants) in Hungary. The overall objective of this study was to assess the quality of the effluents from the fourteen (14) wastewater treatment plants and investigate their efficiency by measuring various physicochemical parameters and microbiological parameters as excellent indicators to evaluate the performance of the studied wastewater treatment plants. The microbiological indicator monitored was the heterotrophic count (HPC) by estimating its total number, which provides useful information for the assessment and monitoring of water samples. The determination of physicochemical parameters included biological oxygen demand (BOD5), chemical oxygen demand (COD) and nitrite -N (NO2), ammonia-N (NH3-N), nitrate-N (NO3) total phosphorus (TP), Kjeldahl- Nitrogen (organic N+ammonia-N) (TKN), total inorganic N (TI), total suspended solids (TSS) and total nitrogen (TN). The performance of the wastewater treatment plants examined was checked and the results were conclusive. In the future, solutions should be applied to these wastewater treatment plants and some recommendations are suggested.

Formaldehyde is generated via the biochemical and chemical pathways, and it widely exists in foods. Its chronic exposure causes carcinogenic, neurotoxic, reproductive, allergic, immunological, genetic and respiratory toxicities. However, food-sourced formaldehyde is usually neglected due to its rapid metabolism after intake. Compared with its residual level in processed foods, a large proportion of formaldehyde disappears because of its high reactivity. Nevertheless, its elimination reaction mechanism and the potential consequences remain unclear. In this review, the disappearing pathway of formaldehyde from two aspects, the formation of formaldehyde-derived toxins and aromas, was reviewed. This review article may help food scientists take appropriate strategies to use the beneficial reactions of formaldehyde or divert its harmful effects to beneficial ones.

Employee turnover is a significant issue for financial institutions, impacting productivity, increasing recruitment costs, and disrupting critical operations. In this project, this study aimed to predict employee turnover using a dataset containing attributes such as employee satisfaction, performance, and tenure. By framing the task as a binary classification problem, this study employed CatBoost and XGBoost, two advanced regression-based algorithms, to develop predictive models. This paper's analysis demonstrated that CatBoost outperformed XGBoost across all evaluation metrics, including MAE, MSE, RMSE, and R², making it the more effective model for predicting turnover in the financial sector. The study highlights key factors contributing to employee attrition, such as job satisfaction, tenure, and promotion opportunities, offering actionable insights for retention strategies. Additionally, by predicting probabilities rather than binary outcomes, this study aims to make more detailed decisions about employee retention. This research provides valuable tools for financial institutions to mitigate the risk of turnover, retain critical talent, and ensure operational continuity.

Granular material is one of the most common in nature. Recently, there has been a significant amount of interest in the granular materials, such as powders or sand. It is challenging to describe the motion of such kind of macroscopic size matter, because it behaves like solid, fluid or gas. Size division, pattern formation, avalanches, packing and convection - these are just a few examples from a wide range of observed phenomena that occur during the motion process of granular matter. Most of these processes are based by flow and no wonder that much effort has been devoted to obtain a hydrodynamic description in which granular materials are treated as a continuous medium. During the research of vertically shaken granular medium motion in an opened container it was found that experimental and numerical results are explained by hydrodynamic theory. This paper investigates the motion of a granular matter for a shallow, vertically shaken bed. We assume the Leidenfrost state as initial and the matter resembles a fluid heated up from below.A one-dimensional isothermal and a non-isothermal problem of granular material motion,simulatedby a hydrodynamic model are considered, and the material is assumed to be a continuous medium. The local temporal solvability of isothermal and non-isothermal initial boundary-value problem in Sobolev’s spaces is proved. This work presents a numerical study of the one-dimensional model of granular medium flow. The feature of this model is consideration of the Navier-Stokes equations accounting an interpolation form of VanderWaals constitutive equation for pressure. A finite-difference approximation for numerical solution is proposed.

This bibliometric study analysed breast cancer research trends and outputs from 2014 to 1 2023, utilising data from the Scopus database. The primary objectives include analysing publication 2 growth, citation metrics, document type distribution, leading countries, preferred journals and 3 authorship patterns. The study reveals a significant increase in breast cancer research publications, 4 with a total of 12,073 documents and 216,769 citations over the ten-year period. The United States 5 leads in publication output and citation impact, followed by China and Japan. Articles are the 6 predominant document type for total 73.4% of publications, while reviews and book chapters also 7 contribute notably. The most preferred journals for publishing breast cancer research include Breast 8 Cancer Research and Treatment, Clinical Breast Cancer, and Breast Cancer Research. Authorship 9 patterns show a trend towards multi-authored papers, with a substantial number of papers having 10 more than five authors. The study underscores the global collaborative effort in advancing breast 11 cancer research and highlights key areas for future exploration.

Over the years, Artificial Intelligence (AI) has seen a steady progress in development and evolution that can aid many sectors. Today, AI plays an essential role in the Fourth Industrial Revolution, and it is making its way into the military sector as well. Many countries are actively looking into AI military technology. Some of these innovations include image recognition, text analysis, Self-driving vehicles (SDV), gaming, robotic process automation (RPA) & Robotic and Autonomous Systems (RAS), and Autonomous Weapons Systems (AWS). In this research, we discuss the advantages of each innovation mentioned and analyze the many different cybersecurity threats that awaken due to military artificial intelligence systems. We then discuss the open research areas to better improve the current state of military artificial intelligence applications in terms of ethics, system security, proper strategy plan, accepted responsibility matrix, and introduction of relevant laws.

Urban transportation in the next few decades will shift worldwide towards electrification and automation, with the final aim of increasing energy efficiency and safety for passengers. Such a big change requires strong collaboration and efforts among public administration, research and stakeholders in developing, testing and promoting these technologies in the public transportation. Working in this direction, in the present work the impact of the introduction of driverless electric minibuses, for the first and last mile transportation, in the public service is studied. More specifically, this paper covers a state of the art in terms of technological background for automation, energy efficiency via electrification, and the current state of the legal framework in Europe with focus on the Baltic Sea Region.

This paper develops a methodology to control the navigation of an autonomous ship robot from an initial state to a final. To solve the problem the following approach is used: The ship robot system is modelled as a control system of six ordinary differential equations involving six state variables and three control variables. After having computed the system Hamiltonian, the feasible controls for optimality are derived from the normal equations of optimality as functions of the state and costate variables. Such controls are substituted into the state and the costate equations and give a combined control-free state-costate system of ordinary differential equations which is solved numerically by using a developed Matlab computer program. Associated computational simulations are designed and provided to show the reliability of the approach.

Pichia pastoris is extensively employed as a host for expressing foreign proteins, and its secretion system is especially advantageous for efficient protein purification. Ulp1 is essential for the cell cycle. In Saccharomyces cerevisiae, the absence of Ulp1 leads to G2/M cell cycle arrest. Similarly, in Pichia pastoris, we also observed G2 phase stalling in Ulp1 knockout cells. RNA-seq data revealed significant changes in seven genes, including INO1. Interestingly, overexpressing INO1 in Ulp1 knockout cells restored cell proliferation, suggesting that Ulp1 regulates cell proliferation through INO1. However, adding extra inositol to Ulp1 knockout cells was not able to restore cell prolifera-tion, indicating that the enzyme activity of INO1 is not essential for cell proliferation. Our data provide new insights into Ulp1 functions in the cell cycle and raise new questions about yeast cell cycle regulation.

Background and Objectives: A degenerative joint disease that primarily affects the elderly, osteoarthritis (OA) causes pain, decreased mobility, and a lower quality of life. The effectiveness of GerovitalH3, a biotrophic medication created by Ana Aslan, in reducing pain and enhancing function in older people with osteoarthritis in the knee and hip is assessed in this study. Materials and Methods: Two groups of 201 patients aged 65 and older participated in a randomized, case-control clinical trial. One group received physical therapy and GerovitalH3 periarticular injections, while the other group received just physical therapy. In addition to functional evaluations using the Lequesne Index, Activities of Daily Living (ADL), and Instrumental ADL (IADL) scores, pain was assessed using a Visual Analogue Scale (VAS). Results: The GerovitalH3 group showed a substantial decrease in pain (p<0.001) and an improvement in daily activities (p<0.001) when compared to the control group. However, there was no significant difference in walking scores (p = 0.171). There were no significant adverse effects noted. GerovitalH3 did not outperform physical therapy for reducing depression, even though both groups displayed some improvement in this area. Conclusions: This study opens a new possibility for periarticular injections of Gerovital H3 treatment combined with physical therapy, which may represent a safe and effective non-surgical option for elderly individuals struggling with OA pain and functional limitations. The findings of this study reinforce the need for further research, particularly randomized controlled trials with larger sample sizes and longer follow-up periods.

Background: Nanotechnology has emerged as a promising field of study, aiming to revolutionize healthcare through the innovative development of drugs, diagnostic tools, and medical devices. As a result, healthcare professionals in training are constantly faced with the challenge of understanding and applying these emerging technologies. The objective of this study is to determine the factors to consider for including the teaching of nanotechnological tools in medical specialty postgraduate programs. Methods: A study based on the Nominal Group Technique (NGT) was conducted to identify the factors that promote and hinder the implementation of nanotechnology in certain postgraduate programs where nanotechnology is employed, such as Internal Medicine, Critical Care Medicine, Family Medicine, and Clinical Pharmacology at the School of Medicine of Universidad de La Sabana. A framework analysis was used to analyze the collected data. Results: Based on the two research questions, several aspects were identified for the inclusion of nanotechnology in the medical practice of specialties. Key challenges include lack of knowledge and resource availability, misinformation, and lack of knowledge, as well as paradigmatic analysis as the main obstacles to the use of nanotechnology. Conclusions: The findings provide a first-time study on nanotechnology curricula within medical specialty programs in Colombia, with potential extrapolation to similar situations in other medical schools.

The species and bio-availability of phosphorus (P) in primary, secondary and digested sludge were fractionated and further analyzed in this study. Results showed that inorganic P (IP) was the primary P fraction in the secondary sludge and digested sludge, in which non-apatite IP (NAIP) amounted to 91.6% and 69.3% of IP, respectively. Organic P (OP), accounting for about 71.7% of total P (TP), was the dominant P composition in primary sludge. The content of bio-available P was about 9.7, 43.4, 29.8 mg-P/g-TS in primary sludge, secondary sludge and digested sludge, respectively, suggesting secondary sludge is the optimal choice when land application of sewage sludge is taken into consideration, followed by digested sludge and primary sludge. Polyphosphate and orthophosphate, comprising approximately 54.3% and 89.2% of TP, was the dominant P species in the secondary sludge and digested sludge, respectively. Monoester-P (54.6% of TP in extract) and diester- P (24.1%) were identified as OP species in primary sludge by Phosphorus-31 nuclear magnetic resonance (31PNMR). The present results would be helpful for P recovery and recycle from sewage sludge in wastewater treatment plant.

We conducted a comparative study on the development of two synthetic methods. The solvent-free synthesis is a green chemistry method developed in a bid to ameliorate environmental adverse effects of the conventional solvent-based synthesis. The synthesis of novel dichloro and polymethoxy p-nitrophenylhydrazones through solvent free technique gave moderate to high yields which were however lower than those of the solvent-based method. The established solvent-free approach has several benefits, including universality and simplicity of the approach, catalyst-free conditions, non-use of an organic solvent, quick reaction time, fast and efficient workup, and un-solvated pure products in moderate to high yields.

Background: RO and ChRCC are kidney tumours with overlapping characteristics, making differentiation between them challenging. Objectives: The objective of this research is to create a radiogenomics map by correlating radiomic features to molecular phenotypes in ChRCC and RO, using resection as the gold standard. Methods: Fourteen patients (6 RO and 8 ChRCC) were included in the study. A total of 1,875 radiomic features were extracted from CT scans, alongside 632 cytobands containing 16,303 genes from the genomic data. Results: Feature selection algorithms applied to the radiomic features resulted in 13 key features. From the genomic data, 24 cytobands highly correlated with histology were selected and cross-correlated with the radiomic features. The analysis identified four radiomic features that were strongly associated with seven genomic features. Conclusion: These findings demonstrate the potential of integrating radiomic and genomic data to enhance the differential diagnosis of RO and ChRCC, paving the way for more precise and non-invasive diagnostic tools in clinical practice.

This paper presents an approach to assess and improve the cybersecurity infras- tructure of developing countries. We have highlighted and addressed the critical gaps through a hybrid approach encompassing SWOT analysis, benchmarking using Data Envelopment Analysis (DEA) and, Root Cause Analysis (RCA). This approach has provided a strong basis for evaluating cybersecurity performance by combining qualitative insights with quantitative metrics. As a case study, we have compared an underdeveloped country’s (Pakistan) cybersecurity pos- ture to five highly developed countries (Lithuania, Estonia, Singapore, Spain,and Norway). Our analysis has identified cybersecurity shortcomings and pro- vided actionable recommendations within a flexible framework, applicable for all developing countries to identify and address vulnerabilities, and align their cybersecurity infrastructure with international standards.

The increasing energy consumption and industrial activities that release carbon dioxide (CO2) emissions into the atmosphere have become one of the most serious environmental issues of today. This article discusses the current status in Azerbaijan regarding the development of effective approaches to reduce carbon emissions and ensure sustainable development, and it proposes relevant strategies for managing the carbon footprint. By exploring the interrelationship between the economy and the environment, it aims to contribute to the formation of more effective policies for managing CO2 emissions in Azerbaijan. According to the results of the econometric model established within the research for the period of 1990-2023, as the Azerbaijan economy grows, per capita CO2 emissions tend to increase, which can be linked to rising industrial activity, energy consumption, and other factors driving economic growth. The presence of a positive long-term relationship between population growth and per capita CO2 emissions can be attributed to higher overall energy consumption, increased demand for goods and services, and rising transportation needs. The strong correlation between economic growth and CO2 emissions suggests that it may be too early to assert the validity of the Kuznets curve for Azerbaijan economy as a developing country.

Fluctuations in kynurenic acid (KYNA) and brain-derived neurotrophic factor (BDNF) levels in the brain reflect its neurological status. The aim of the study was to investigate the effect of transiently elevated KYNA concentration in the cerebroventricular circulation on the expression of BDNF and its high-affinity tropomyosin-related kinase receptor B (TrkB) in specific structures of the sheep brain. Intracerebroventricularly cannulated anestrous sheep were subjected to a series of four 30-min infusions of KYNA: 4×5 μg/60 μL/30 min (KYNA20, n=6) and 4×25 μg/60 μL/30 min (KYNA100, n=6) or a control infusion (n=6), at 30-min intervals. Sections of the hippocampal CA3 field, amygdala (AMG), prefrontal cortex (PCx), and the hypothalamic medial-basal (MBH) and preoptic (POA) areas were dissected from the brain immediately after the experiment. The highest concentration of BDNF protein was found in the CA3 field (P&lt;0.01), which was 8-fold higher than in the AMG and 12-fold higher than that in the PCx (MBH and POA were not analyzed). The most pronounced BDNF mRNA expression was observed in the MBH followed by the PCx, POA, AMG and CA3, while the highest abundance of TrkB mRNA was recorded in the AMG followed by the MBH, PCx, CA3 and POA. KYNA increased (P&lt;0.05-P&lt;0.01) BDNF protein levels and the expression of its gene in the brain structures examined, with the effect varying by dose and brain region. KYNA, particularly at the KYNA100 dose, also increased (P&lt;0.01) TrkB gene expression, except for the AMG, where the lower KYNA20 dose was more effective (P&lt;0.01). These findings suggest a positive relationships between KYNA levels in the cerebroventricular circulation and BDNF-TrkB expression in specific brain regions in a sheep model. This indicates that a transient increase in CSF KYNA concentration can potentially restore BDNF production, whose deficiency underlies numerous neurological disorders.

Diospyros kaki, the most widely cultivated species of persimmon, has been long used in traditional medicine since its leaves extracts contain high amounts of flavonoids and terpenoids, endowed with potential antioxidant, anti-inflammatory, anticancer, antidiabetic and antimicrobial effects. Re-cently, many in vitro and in vivo studies have assessed different potential health benefits of per-simmon leaves; however, its anticancer activity towards colorectal cancer (CRC), the second deadliest cancer in Western countries, has not been investigated in depth. Since CRC current therapies are associated with serious side effects and show no efficacy towards patients carrying RAS/BRAF mutations, the search for new and more effective therapies has turned to plant extracts, which could help reduce conventional drugs dosages and toxicity. The effect of Diospyros kaki al-coholic extract has been investigated on E705 CRC cell line, representative of most CRC patients, and on SW480 cells, carrying a KRAS activating mutation. This extract is effective in reducing tumor cells viability, without affecting the healthy mucosa cell line CCD 841, and it triggers apoptosis in CRC cells, by disrupting mitochondrial functionality and increasing oxidative stress.

Pre-transport management activities can cause stress, injuries, and mortality in poultry. This study aimed to gather information about the current pre-transport practices (selection of unfit chickens, catching preparations, catching, and crating) for spent hens and broilers by questioning Flemish poultry farmers. The results showed that catching preparations such as an extra selection of chickens unfit for transport was performed by a minority of the poultry farmers, and that layer farmers were less in line with the EU-legislation for water and feed withdrawal than broiler farmers. All birds were caught inverted except for one broiler farmer who used mechanical catching (not yet common in Flanders). Additionally, mechanical catching may involve extra costs, increased biosecurity risks, and specific recommendations for the stable (height and width). The broiler farmers preferred mechanical catching for broiler catchers' well-being, while upright catching was considered better for animal welfare than catching more than three chickens by one/two legs, mechanically, or by wings. Awareness of the need to perform an extra selection by the poultry farmers before catching is required. Preparations like closing areas under the aviary system and removing litter (layers) can further streamline the process and reduce animal suffering.

This stability analysis method is simply represented and understood on a Bode plot of two impedances without complex equations. The external impedance of the charging system is properly quantified and designed based on the stability criteria by analyzing.

Arbutus unedo (strawberry tree) is a small Mediterranean tree capable of vigorous regrowth after disturbances like fire. Traditionally used for biomass fuel, its bark and branches hold potential for higher-value products through ecovalorisation into liquid mixtures that could replace petro-leum-based materials. This study aimed to explore the chemical composition of various compo-nents of Arbutus unedo and to produce a liquefied material from its internal (IB) and external bark (EB). Chemical compositions of internal and external bark were determined using TAPPI standards including ash, extractive content, lignin, and cellulose. Metal cations were analyzed by ICP. Liquefaction of bark was optimized in a PARR reactor, evaluating factors such as particle size, temperature, and time and the best polyols were monitored by FTIR-ATR. Polyurethane foams were made with internal and external bark liquefied materials by polymerization with isocyanate, a catalyst and water as blowing agent. Results showed that EB has a higher extractive and lignin content, while IB contains more cellu-lose. Liquefaction yields were higher for IB (74%) than EB (68%), with IB yielding polyols that produced stronger and more resilient foams. Mechanical properties of the foams were influenced by the NCO/OH ratio and catalyst levels. Overall, the internal bark demonstrated superior performance for foam production, highlighting its potential as an eco-friendly alternative to petroleum-derived materials.

Introduction: Leptin and ghrelin are two hormones that play a role in weight homeostasis. Leptin, which is produced primarily by adipocytes and is dependent on body fat mass, suppresses appetite and increases energy expenditure. Conversely, ghrelin is the “hunger hormone”, it stimulates appetite and promotes fat storage. Bariatric surgery significantly alters the levels and activity of these hormones, contributing to weight loss and metabolic improvements. Clarifying the interplay between bariatric surgery, weight loss, physical exercise, leptin, and ghrelin is essential for developing comprehensive strategies for optimizing long-term outcomes for candidates for bariatric surgery, especially sarcopenic patients. Methods: This was a randomized controlled study with two groups (n=22). The patients in both groups have obesity and sarcopenia. A Roux-en-Ygastric bypass (RYGB) procedure was performed in all patients. The intervention group participated in a structured exercise program three times per week beginning one month after surgery and lasting 16 weeks. Patient assessment was performed before surgery (baseline) and after completion of the exercise program. The control group received the usual standard of care and was assessed similarly. Results: After surgery, weight, BMI and lean mass decreased significantly in both groups from baseline to the second assessment. Leptin was not significantly different from baseline to the second assessment in the physical exercise group but was significantly lower in the control group (p=0.05). Ghrelin increased over time in both groups, but the differences were not significant. When we associated leptin (the dependent variable) with weight (the independent variable), we found that lower weight was associated with lower leptin levels. A similar relationship was also observed between leptin and sarcopenia parameters (muscle strength and mass), as well as with bone health parameters (bone mineral density and t-score). Higher ghrelin levels were significantly associated with higher t-scores and z-score (p<0.05). Conclusion: Exercise has been shown to have a significant effect on leptin and ghrelin levels after bariatric surgery. By incorporating regular physical activity into their lifestyle, bariatric patients can optimize their weight loss outcomes and improve their overall health. After the physical exercise protocol, patients in the intervention group revealed more established leptin levels, which may indicate a protected pattern concerning decreased leptin levels. An unfavorable profile was evidenced, according to which greater weight loss, sarcopenia, and osteoporosis were associated with lower leptin levels.

Among the theoretical problems with the prevailing theory of cosmology, Lambda Cold Dark Matter (λCDM), the most serious appears to be the twofold problem with the cosmological constant lambda: Dark Energy and Hubble Tension. Despite a two-decade search for systematic errors in astrometry the problems have not been resolved. This paper posits a potential source of error that may have affected astrometry related to the current and past measurements of lambda.

Differential beamforming has attracted much research since it can utilize the array with small aperture size to form frequency-invariant beampatterns and achieve high directional gains. It has recently been applied to the linear loudspeaker array to produce a broadside frequency-invariant radiation pattern. However, designing steerable frequency-invariant beampatterns for the linear loudspeaker array has yet to be explored. This paper proposes a method to design the steerable differential beamformer with the linear loudspeaker array. We first determine the target differential beampatterns according to the desired direction, the main lobe width, and the beampattern order. Then, we transform the target beampattern into the modal domain for representation. The Jacobi-Anger expansion is subsequently used to design the beamformer so that the resulting beam pattern matches the target differential beam pattern. Furthermore, based on the criterion of minimizing the mean square error between the synthesized beam pattern and the ideal one, a multi-constraint optimization problem is formulated to calculate the optimal desired weighting vector. Simulations and experimental results show that the proposed method can achieve steerable frequency-invariant beamforming over 300 Hz – 4 kHz.

N-(diisopropylphosphanyl)benzamide, PhC(O)NHPiPr2, has been synthesized in good yield following two alternative procedures that employ benzamide as the starting material. The first one is a two-step preparation, in which N-(trimetilsilyl)benzamide is reacted with PiPr2Cl, to give the title compound in good yield, whereas the second one is a straightforward synthesis which converts benzamide into N-(diisopropylphosphanyl)benzamide by reaction with PiPr2Cl in the presence of N,N-dimethylpyridin-4-amine (DMAP) and triethylamine. NMR spectroscopy and X-ray diffraction analyses have been performed to characterize the new compound and elucidate its molecular structure in the solid state. N-(diisopropylphosphanyl)benzamide adds to the limited family of amido-substituted phosphines, RC(O)NHPR’2, which can be classified as bidentate hybrid P,O-ligands, both in their neutral and anionic forms, the latter achievable by deprotonation of the NH group.

Despite advances in the reliability of sensory devices used by drones, the integrity of information from some devices is still considered an obstacle to ensuring successful flight plans. It is widely known that GNSS can suffer attacks or lose the signal from satellites, which can cause the drone to fail to complete its flight plan. In this context, we propose SiaN-VO, a Siamese network for visual odometry prediction. In our initial studies, this approach proved satisfactory for flights in static conditions (speed and height). Although interesting, these conditions do not reflect real flight conditions. In this sense, we have advanced our studies to propose the SiaN-VO, which fuses data from different sensors to enable displacement predictions to be made in dynamic flight conditions.

Solid propellants have significant applications in aerospace, and improving their combustion performance has become a hot research topic in recent years. Carbon black (CB) has been widely used in the field of catalytic pyrolysis due to its low cost, controllable morphology, and ease of modification. Herein, we first investigates the structure-activity relationship between the physicochemical properties of nine types of CB with a particle size range of 1-15 μm and a mass fraction of 5%, including oil absorption value, compression oil absorption value, and oxygen content, and the catalytic pyrolysis of ammonium perchlorate (AP), concluding that the function relationship between oil absorption value and high-temperature peak is Y1=1032.67-9.618x+0.038x2, the function relationship between compression oil absorption value and high-temperature peak is Y2=145.537+62.365ln(x), and the function relationship between oxygen content and high-temperature peak is Y3=e(6.085-0.02/x). Based on these, we further uses coal tar, which is abundant in sources, as the raw material to prepare five types of coal-based CB marked as CB1-CB5 at pyrolysis temperatures of 1000~1800 ℃. The relative error between the actual peak value and the predicted value of the CB/AP composite particles is less than 5%, proving that the peak temperature model of CB/AP composite particles can guide actual production. This study contributes to promoting CB application in improving the catalytic pyrolysis performance of ammonium perchlorate and enhancing the high added value utilization of coal-derived products.

The gut, often referred to as the "second brain," has significant contributions in the maintaining of the good bacteria contribute enormous role such as digestion, produce essential vitamins, support the immune system, and protect against harmful bacteria. The beneficial flora including Akkermansia muciniphila, Adlercreutzia equolifasciens, Barnesiella, Christensenella minuta, and Oxalobacter formigenes, along with their derived bioactive metabolites emerged as a key player in maintaining host metabolic and immune health. Dietary choices such as blending of prebiotic, fermented, symbiotic, anti-inflammatory foods, and secondary metabolites from a wide variety of plants and fruits promotes the diversity, composition, and stability of beneficial intestinal microbes. The colourful plant foods rich in phytochemicals bioactive compounds such as carotenoids, flavonoids, polyphenols, alkaloids, anthocyanins, and capsaicin offer a wide array of unique properties such as analgesics, antioxidants, anti-inflammatory, antimicrobials effect and promoting the abundance of beneficial gut bacteria and their bioactive metabolites confer numerous health-promoting effects. Here, we present knowledge about most beneficial gut bacteria and their derived metabolites in terms of their sources and health benefits. Finally, we discuss best foods that skew towards promoting healthy intestinal microbes.

This article presents a method for detecting P, QRS, T, and U waves in electrocardiogram (ECG) signals through advanced signal processing techniques, including a Butterworth bandpass filter and peak finding algo- rithms. The results are evaluated against the voltage ranges recommended in the literature, underscoring the importance of accurate wave detection for the diagnosis of various cardiac conditions.

Additive Manufacturing (AM) methods are increasingly beign abopted in the industry as an alternative for mass production. In particular, Fused Deposition Modeling (FDM) technology is leading the way in this field. However, the adhesion of layers in products produced using FDM technology is an important issue. These products are particularly vulnerable to forces acting parallel to the layers and specially to impact strength. This study aims to optimize the impact strength against loads acting parallel to the layers (ZX orientation) of PA6, one of the most widely used materials in the industry. This orientation is critical in term of mechanical properties, and the mechanical characteristics are significantly lower compared to other orientation. In this study, filaments containing pure PA6 with 15% short carbon fiber and 30% glass fiber were utilized. Additionally, printing temperature, layer thickness and heat treatment duration were used as independent variables. An L9 orthogonal array was employed in this study, and each experiment was repeated three times to conduct impact strength tests. Characterization, Taguchi optimization, a factor analyses were performed, followed by fracture surface characterization by SEM. As a result, the highest impact strength was achieved with pure PA6 at 8.9 kJ/m2, followed by PA6 GF30 at 8.1 kJ/m2 and the lowest impact strength was obtained with PA6 CF15 at 6.258 kJ/m2. When compared to the literature and manufacturer datasheets, it was concluded that the impact strength values have significantly increased, and the chosen experimental factors and their levels, particularly nozzle temperature, were effective.

For Sir Ronald Fisher, it is important to consistently obtain significant p-values to support an experimental hypothesis. So, replicating experiments to obtain independent p-values is a legitimate and desirable research practice. Several simple statistics have been proposed to meta-analyze p-values, all assuming that they are genuine, i.e. observations from independent standard Uniform random variables. But, as publication bias favors the studies that report "significant" p-values, when a p&gt;0.05 is obtained for the outcome of an experiment, some researchers will "fall into temptation" and decide to replicate the experiment in the hope of getting a smaller second p-value, ideally a significant one. Consequently, if the smallest of two p-values is reported, this is a Beta(1,2) distributed "fake" p-value, not a uniformly distributed genuine p-value. This is an unacceptable scientific research practice, and moreover the detection of fake p-values is unpractical. Even when it is possible, the analytic results to accommodate their existence in combined tests are cumbersome. For an informed decision, inclusive when the presence of fake p-values in a sample of p-values to be meta-analyzed is probable, tables with simulated critical values for the usual combined testing are supplied. This will also allow comparisons to be made between several combined tests.

The global malaria community has picked up the theme of malaria elimination in greater than 90 % of the world’s population in the next decade. The recent reports of P. vivax in all sub-Saharan Africa, including Duffy negative individuals, threaten the efforts to achieve elimination. This is not only in view of strategies that are tailored only to P. falciparum elimination, but also due to currently revealed biological characteristics of P. vivax concerning the relapse patterns of hypnozoites and conservation of a large biomass at cryptic sites in the bone marrow and spleen. A typical scenario has been observed in Botswana from the period between 2008 to 2018, which palpably projects how P. vivax could endanger efforts at malaria elimination where the two parasites co-exist. The need for the global malaria community, NMPs, funding agencies and relevant stakeholders to engage in a forum to discuss and recommend clear pathways for sub-Saharan Africa regarding malaria elimination including P. vivax, is warranted.

Academic and corporate research has been focusing on analyzing stock performances, financial markets, and investment strategies for decades. According to Lynch and Rothchild (1989), certain investments can be described as plays. In this work, the authors use the term for investments in value stocks, spin-offs, and turnarounds to analyze the long-term stock performance and risk-adjusted excess returns of up to five years for those stocks. Additionally, stocks with a supe-rior return performance are identified within an investment play based on low P/E and P/B mul-tiples. The study finds that value stocks, spin-offs, and turnarounds outperform the S&P 500 on average on a one-, three- and five-year investment horizon. The analysis of the three investment plays confirms earlier studies that investment plays constitute a profitable investment opportunity. Moreover, the research exemplifies that private investors could achieve an excess return (alpha) through a passive buy-and-hold investment strategy. Overall, the analysis provides a deeper in-sight into the long-term performance of value stocks, spin-offs, and turnarounds.

This study presents the experimental and analytical evaluations on an innovative connection class under cyclic loading. The connection was an H- or I-shaped section as a short stub column (SSC) between the end-plate and the column. The stub section was bolted to the column flange on the one side and bolted to the beam along with the welded end-plate on the other side. Stiffeners were installed on the webs and flanges of the beam and stub to ensure the necessary stiffness of the connection. The variables included thickness of stub flange/web and height of stub web. The cyclic loading was applied on a sample of the proposed connection according to AISC ANSI/AISC 341-16 loading protocol. Experimental observations displayed that the proposed connection, one can either employ hot rolling sections or create the connection as a plate girder, in which case the flange thickness and stub web, as well as the distance between two flanges and their height, was obtained according to the demand and performance of the structure. The optimum cross-section of the stub was then obtained. Also, the analytical model was calibrated using the finite element method (FEM), and its performance was confirmed. The effective parameters of the proposed connection were determined by modeling in the FEM software, and the design method was presented.

Objective: In recent years, the field of Essential Thrombocythemia (ET) research has seen a significant accumulation of scientific findings, but comprehensive bibliometric analyses remain lacking. This study aims to fill that gap by performing a thorough bibliometric analysis of ET research, identifying key contributors and collaboration networks, and mapping the development trends to provide insights for future research directions. Methods: A bibliometric analysis of ET-related publications from 2001 to 2024 was conducted using CiteSpace, VOSviewer, and R packages. Data were retrieved from the Web of Science Core Collection, with a focus on publication volume, citation analysis, co-authorship networks, co-citation relationships, and citation bursts. Results: A total of 4,297 studies published in 778 journals were included in the analysis. ET research has seen rapid growth, with researcher clusters in the United States and Europe driving progress through extensive regional and international collaborations. Leading researchers, such as Ayalew Tefferi from the Mayo Clinic and Alessandro M. Vannucchi from the University of Florence, have made significant advances in ET classification, molecular mechanisms, targeted therapies, and disease management. The discovery of driver mutations, such as JAK2, has revolutionized the diagnostic and therapeutic approaches to ET. Research focus has shifted from clinical morphological diagnosis to molecular diagnostics, with the field now entering the era of targeted therapies. However, the inherent heterogeneity of ET continues to present challenges for the widespread implementation of personalized precision treatment. Conclusion: Bibliometric analysis demonstrates significant advances in ET research, particularly in molecular pathology and targeted therapies. However, the heterogeneity of ET remains a major obstacle to personalized treatment. Future research should focus on further elucidating the pathogenesis of ET and improving stratified management approaches to achieve individualized precision therapy.

Phosphorus (P) is an essential element in food production, but it is often largely unavailable for plants as it persists in soils in immobilized forms. Farmers have been using P fertilizers extensively to overcome this unavailability, leading to the exhaustion of non-renewable deposits of phosphorite, rising fertilizers prices and causing several environmental impacts such as eutrophication. Its large-scale utilization is also inefficient since most of the added P becomes quickly unavailable for the plants. Therefore, farming solutions that improve P uptake, P use efficiency of plants and P mobilization in soils are highly important. In this narrative review, we summarized and explored the link between the Silicon (Si) and P cycles in soils. Silicon is quasi-essential for plants, and it has been established that its presence in soil and uptake by plants has several benefits, especially in toxic and nutrient-deficient conditions. Here, we established that Si in soils can affect crop production in P-deficient conditions through: 1) the pH effect – Si improves organic matter decomposition and decreases Al3+ availability; the Si uptake effect – the deposited Si in the plant improves its photosynthetic performance, improves the root ability to uptake P, improves organic matter decomposition and increases P/Mn ration in plant, improving P use; and 3) the Si soil effect – Si stimulates phosphorite rocks weathering and competes with P for the binding places at the surface of Ak and Fe hydroxides, releasing P into soil solution. This positive effect of Si on P mobilization in soils and consequent use by crops should be further disseminated to farmers and other relevant stakeholders.

Cystic fibrosis (CF) diagnosis can be a challenge due to the large spectrum of pathogenic variants in the CFTR gene and the effects of complex alleles. Next-generation sequencing has improved our understanding of the contribution of these complex alleles to the wide spectrum of CF clinical symptoms and to the response to medications. Herein, we studied nine CF patients from six unrelated families carrying the complex allele p.[Ile148Thr;Ile1023_Val1024del] with a frequency of 0.18%. All the patients were from Central Mexico. This complex allele was found in trans with Class I and II pathogenic variants (PVs) such as [c.1521_1523del, p.(Phe508del), and c.3231_3232del, p.(Phe1078Profs*77)]. A targeted search of a dataset of 2,217 exomes from healthy individuals revealed that eight individuals (0.18%) carried the p.(Ile148Thr) variant, but only one (0.022%), who was also born in Central Mexico, was a carrier of the complex allele. These findings led us to hypothesize a founder effect for the p.[Ile148Thr;Ile1023_Val1024del] complex allele in Mexican patients with CF, probably through migration from the French-Canadian population in Mexico. Finally, protein modeling revealed that this complex allele disrupts the secondary structure of the CFTR protein and might alter the ion flow.

In this paper, various Ni-P composite coatings containing toner, MoS2, and nano-SiO2 particles were deposited on steel substrates by the electroless method. Then, the electrochemical properties of these coatings after a heat treatment process were compared. The microstructural evaluations were also done by using the optical and electron microscopy methods. Both Tafel polarization and electrochemical impedance spectroscopy techniques were utilized to survey the electrochemical behavior of such coatings. The surface morphology of all coatings contained cauliflower-like nodules. The X-ray diffraction patterns showed the crystalline phases of Ni and Ni3P for all coatings after the heat-treatment step. Obtained results showed that all composite coatings exhibited lower corrosion rates with respect to Ni-P coatings. Such a reduction was about 21.6-92.2%. This behavior was attributed to the presence of reinforcement as barriers for corrosive ion diffusion through the coating plus the changes in detected phases and thickness. Electrochemical impedance spectroscopy test results also demonstrated that the increase in the polarization resistance for composites coatings was about 18.4-85.3% after 1 h immersion in a 0.6M NaCl solution; however, when the immersion time increased to 24 h, such increased resistance changed to 18.1 to 73.1%. Totally, despite the lower deposition rate, the presence of MoS2 and nano-SiO2 particles were more effective than toner particles to raise the corrosion rate of the Ni-P coating.

In this paper, we investigate p-adic q-integral (q-Volkenborn integral) on Z_p of p-adic gamma function via their Mahler expansions. We also derived two q-Volkenborn integrals of p-adic gamma function in terms of q-Daehee polynomials and numbers and q-Daehee polynomials and numbers of the second kind. Moreover, we discover q-Volkenborn integral of the derivative of p-adic gamma function. We acquire the relationship between the p-adic gamma function and Stirling numbers of the first kind. We finally develop a novel and interesting representation for the p-adic Euler constant by means of the q-Daehee polynomials and numbers.

It is known that the class of p-normed spaces (0 < p ≤ 1) is an important generalization of usual normed spaces with rich topological and geometrical structure, but the most of tools and general principles in nature with nonlinearity have not been developed yet, thus the main goal of this paper is to develop tools for nonlinear analysis under the framework of p-vector spaces. In particular, we first develop the general fixed point theorems which provide solutions to answer Schauder conjecture since 1930’s in the affirmative for p-vector spaces when p = 1 (which is just general topological vector spaces); then the one best approximation result for upper semi-continuous mappings is given, which is used as a powerful tool to establish fixed points for non-self set-valued mappings with either inward or outward set conditions; and finally we establish comprehensive existence results of solutions for Birkhoff-Kellogg Problems, and the general principle of nonlinear alternative by including Leray-Schauder alternative and related results. The results given in this paper not only include the corresponding results in the existing literature as special cases, but also expected to be useful tools for the study of nonlinear problems arising from theory to practice.