Abstract: In this study we present an application of wood biomass - alder wood char as the carbon precursor for the synthesis of novel and sustainable nitrogen-doped activated carbon supported nickel nanoparticle catalyst (AWC-Ni-N) for hydrazine oxidation. For comparison, the wood-based carbon material doped with nitrogen only (AWC-N) was also synthesized. Extensive characterization, including SEM, Raman spectroscopy, XPS, and XRD revealed the catalysts' microstructure and properties. Electrochemical testing demonstrated that the AWC-Ni-N catalyst significantly enhanced the efficiency of the hydrazine oxidation reaction. In addition, direct N2H4-H2O2 single fuel cell tests were conducted using the prepared AWC-N and AWC-Ni-N catalysts as the anodes and cathodes. Peak power densities of up to 10.8 mW cm⁻² were achieved at 25 °C, corresponding to a current density of 27 mA cm⁻² and a cell voltage of 0.4 V when the AWC-Ni-N catalyst was used as both the anode and cathode. Furthermore, the peak power density increased by approximately 1.6 and 2.9 times, respectively, when the operating temperature was raised from 25 °C to 55 °C for the AWC-N and AWC-Ni-N catalysts. Overall, the AWC-N and AWC-Ni-N catalysts demonstrate significant potential as anode and cathode materials in direct N2H4-H2O2 fuel cells.

Abstract: Background: Upper tract urothelial carcinoma (UTUC) often presents with aggressive behaviour, challenging early diagnosis and precise risk stratification. This study explores whether radiomic features extracted from perirenal fat (PRF) around the tumour provide complementary diagnostic and prognostic value beyond conventional tumour-based radiomics. Methods: A retrospective cohort of 103 UTUC patients undergoing radical nephroureterectomy was analysed. Tumour re-gions of interest (ROIs) and concentric PRF expansions (10–30 mm) were segmented from arteri-al-phase CT scans. Radiomic features were extracted using PyRadiomics, filtered by correlation and intraclass correlation coefficients, and integrated with clinical variables (e.g., age, BMI, mul-tifocality). Multiple machines learning models, including MLPClassifier and CatBoost, were evaluated via repeated cross-validation; performance was assessed using area under the ROC curve (AUC), sensitivity, specificity, F1-score, and DeLong tests. Results: The best tumour-grade model (AUC = 0.961) combined tumour and 10 mm PRF features, outperforming PRF-only (AUC = 0.900) and tumour-only (AUC = 0.934) approaches. For tumour stage, a combined model (tumour + 15 mm PRF) achieved AUC = 0.852, surpassing PRF-only configurations (AUC range, 0.711–0.778). DeLong tests indicated that tumour + PRF significantly exceeds PRF-only models, but differences from strong tumour-only baselines were not always significant. Conclusion: PRF ra-diomics contributes complementary predictive information for UTUC grade and stage. These findings underscore the potential of combining tumour and PRF features to refine prognostic models, ultimately supporting more tailored clinical management in UTUC.

Abstract:

The MAT1-1-1 and MAT1-2-1 proteins are essential for the sexual reproduction of Ophiocordyceps sinensis. Although Hirsutella sinensis has been postulated to be the sole-anamorph of O. sinensis and to undergo self-fertilization under homothallism or pseudohomothallism, little is known about the three-dimensional (3D) structures of the mating proteins in the natural Cordyceps sinensis insect-fungal complex, which is a valuable therapeutic agent in traditional Chinese medicine. However, the alternative splicing and differential occurrence and translation of the MAT1-1-1 and MAT1-2-1 genes have been revealed in H. sinensis, negating the self-fertilization hypothesis but rather suggesting the occurrence of self-sterility under heterothallic or hybrid outcrossing. In this study, the MAT1-1-1 and MAT1-2-1 proteins in 173 H. sinensis strains and wild-type C. sinensis isolates were clustered into 6 and 5 clades in the Bayesian clustering trees and belonged to 24 and 21 diverse AlphaFold-predicted 3D structural morphs, respectively. Over 3 quarters of the strains/isolates contained either MAT1-1-1 or MAT1-2-1 proteins but not both. The diversity of the heteromorphic 3D structures of the mating proteins suggested functional alterations of the proteins and provided additional evidence supporting the self-sterility hypothesis under heterothallism and hybridization for H. sinensis, Genotype #1 of the 17 genome-independent O. sinensis genotypes. The heteromorphic stereostructures and mutations of the MAT1-1-1 and MAT1-2-1 proteins in the wild-type C. sinensis isolates and natural C. sinensis insect-fungi complex suggest various sources of the mating proteins produced by two or more cooccurring heterospecific fungal species in natural C. sinensis that have been discovered in mycobiotic, molecular, metagenomic, and metatranscriptomic studies and may inspire future studies on the biochemistry of mating and pheromone-receptor proteins and the reproductive physiology of O. sinensis.

Abstract: Achalasia is a rare motility disorder of the esophagus. The diagnosis involves clinical suspicion based on history details and results of HRM (high-resolution manometry) as recommended by the Chicago Classification (CCv4.0). Interpreting data obtained through HRM can be complex especially for the novice user. We propose therefore a color-based algorithm involving the “reversed RGB (red-green-blue)” rule as a simplified way to establish the diagnosis based on colors obtained through the HRM pressure sensors. The rule is based on the simple acknowledgment of the dominant color present in the mid-portion of the HRM figure such that, for type I (classic) achalasia, the blue color illustrates the minimal pressurization and absent peristalsis. In type II (pan-pressurized) achalasia, the green color illustrates pan-esophageal pressurization while in type III (spastic) achalasia, red color illustrates the spastic contractions. This rule provides an intuitive tool for clinicians dealing with HRMs diagnosing achalasia. Further studies are required to assess the diagnostic accuracy of this rule, alongside the potential for incorporating such rules into AI (artificial intelligence)-based models for manometric diagnosis of esophageal motility disorders.

Abstract: This research evaluates how wind and solar PV balance together. Increasing the share of sto-chastic renewable energy production in electricity and hot turning reserve deficit are welcome compensation issues. This research used weather station data from an open seashore for the last 10 years, 2014-2023, on the Estonian island Saaremaa's west coast to evaluate yearly fluctuations. We use the indicator demand cover factor to estimate the coincidence of wind generation and PV solar electricity. For clarity, the initial data was prepared by assuming equality of production and consumption annual data by scaling the obtained data. The study demonstrates that the best compensating possibilities are the share of wind generation and solar PV electricity mix, respec-tively, equal to 0.7/ 0,3 and 0.8/0.2, reaching the demand cover factor of 0.62. The article evaluates the demand cover factor's dependence on increased production compared to consumption. The article uses different batteries to research the influence of these demand cover factors. Further-more, this research makes a significant contribution by showcasing - how to turn weather station data into real wind generator and PV panel production data.

Abstract: This paper seeks to enhance and strengthen existing theoretical frameworks or potential new theories by proposing an innovative theoretical framework know as Information-Processing Universe hypothesis, which reconceptualizes the universe as intrinsically informational, anchored in a "Hidden Informational Dimension". By positing that the fundamental structure of the universe is underpinned by informational dynamics, I explore how conventional concepts of spacetime should be perceived as a manifestation emerging from informational interactions [1,2], which intrinsically entails a specific extent of information loss. I also propose a cyclic universe model with alternating energy states, emphasizing energy conservation and complex interactions between information and matter. The framework connects gravitational effects and time dilation to informational dynamics, integrating quantum mechanics with information theory, particularly via Bell's theorem, and opens new avenues for understanding reality's fundamental nature.

Abstract: Road traffic accidents pose a significant global public health and economic challenge. In Saudi Arabia, rapid motorization and urbanization have contributed to one of the world’s highest traffic fatality rates. This study evaluates the effectiveness of the Saher traffic enforcement system in the Dammam Metropolitan Area (DMA) by gathering insights from road safety experts through structured questionnaires and interviews. Findings indicate that Saher has improved traffic law compliance and enhanced perceptions of road safety. Key accident causes include driver distractions, speeding, and sudden lane changes, with younger drivers being disproportionately involved. Experts recommend expanding Saher’s capabilities by increasing camera numbers, strategically rotating their locations, and addressing violations like aggressive driving. They also stress the need for better coverage near schools and high pedestrian zones. Proposed strategies include integrating Saher into urban planning, combining automated enforcement with public education, and enhancing traffic infrastructure, such as signage and signal systems. This study offers actionable insights for policymakers to improve road safety and promote sustainable urban mobility in Saudi Arabia.

Abstract: The Farmworker Family Health Program (FWFHP) annually supports 600 farmworkers in connectivity-challenged rural areas. Traditional paper-based data collection posed validity concerns, prompting a pilot of direct data entry using tablets and satellite internet to enhance efficiency. The purpose of this article is to describe, using the TIDier checklist, a real-time, live data-entry EMR intervention made possible by satellite internet. Utilizing a customized REDCap database, direct data entry occurred through tablets and satellite internet. Patients received a unique medical record number (MRN) at the mobile health clinic, with an interprofessional team providing care. Medication data, captured in REDCap before the mobile pharmacy visit, exhibited minimal defects at 6.9% of 319 prescriptions. To enhance data collection efficiency, strategies such as limiting free text variables and pre-selecting options were employed. Adequate infrastructure, including tablets with keyboards and barcode scanners, ensured seamless data capture. Wi-Fi extenders improved connectivity in open areas, while backup paper forms were crucial during connectivity disruptions. These practices contributed to enhanced data accuracy. Real-time data entry in connectivity-limited settings is viable. Replacing paper-based methods streamlines healthcare provision, allowing timely collection of occupational and environmental health metrics. The initiative stands as a scalable model for healthcare accessibility, addressing unique challenges in vulnerable communities.

Abstract: A novel deployable reflector antenna for small satellites has been designed, fabricated, and experimentally validated. The reflector utilizes a doubly curved flexible surface manufactured from a triaxially woven fabric-reinforced silicone (TWFS) composite. By leveraging high-strain composite materials, the design enables a highly compact stowed configuration while maintaining precise surface accuracy upon deployment. The deployment mechanism is proposed to accommodate a 0.6 m diameter parabolic reflector within a minimal stowed volume, optimizing space efficiency for satellite integration. To validate this concept, a prototype of the reflector antenna has been fabricated and demonstrated the feasibility and effectiveness of the proposed approach.

Abstract:

Human topoisomerase II⍺ and IIb regulate DNA topology and knots in chromosomes during crucial cellular processes making these enzymes common targets for anticancer drugs. However, selective inhibition of topoisomerase II⍺ (TOP2A) is desired to decrease adverse effects, which may be mediated by topoisomerase IIb (TOP2B). The main region of difference between the two isoforms is the intrinsically disordered C-terminal domain (CTD), which is being studied as a target for selective inhibition. Our previous work examined several regions within the CTD to determine whether those regions impact biochemical function. In this current study, we designed and constructed four TOP2A mutants with amino acid substitutions in the CTD, which were then assessed for impact on biochemical activity. V1482D exhibited increased levels of relaxation, while both V1482D and K1520I exhibited increased levels of decatenation. No major impact on DNA cleavage or binding were observed with any of the mutants. The isolated impact of the changes on relaxation and decatenation supports the concept that the CTD can affect one aspect of the enzyme’s function in an isolated manner, which was seen in our previous study. Taken together, these results suggest modification of specific positions within the CTD affects substrate selection. These results are mapped onto the CTD for consideration of potential regions to target for inhibition of TOP2A.

Abstract:

Wolfram’s Elementary Cellular Automata (ECA) serve as fundamental models for studying discrete dynamical systems, yet their classification remains challenging under traditional statistical and heuristic methods. By leveraging tools from algebraic topology, homotopy theory and differential geometry, we establish a formal connection between topological invariants and ECA’s structural properties and evolution. We analyse the role of Betti numbers, Euler characteristics, edge complexity and persistent homology in achieving robust separation of the four ECA classes. Additionally, we apply coarse proximity theory and assessed the applicability of Poincaré duality, Nash embedding and Seifert–van Kampen theorems to quantify large-scale connectivity patterns. We find that Class 1 automata exhibit simple, contractible topological spaces, indicating minimal structural complexity, while Class 2 automata exhibit periodic fluctuations in their topological features, reflecting their cyclic structure and repeating patterns. Class 3 automata exhibit a higher variance in their structural properties with persistent topological features forming and dissolving across scales, a signature of chaotic evolution. Class 4 automata exhibit statistically significant increases in higher-dimensional topological voids, suggesting the appearance of stable formations. Edge complexity and fractal dimension emergd as the strongest predictors of increasing computational and topological complexity, confirming that self-similarity and structural complexity play a crucial role in distinguishing cellular automata classes. Further, we address the critical distinction between Class 3 and Class 4 automata, which holds paramount importance in practical applications. Our approach establishes a mathematical framework for automaton classification by identifying emergent structures, with potential applications in computational physics, artificial intelligence and theoretical biology.

Abstract: The European Nightjar (Caprimulgus europeaus) is a Western Palearctic bird known in Europe for its distinct breeding vocalizations during summer nights. It migrates from sub-Saharan Africa, where it overwinters, to reach its breeding grounds in Europe around early to mid-April. Although nightjar ecology has been studied in some parts of its summer range (e.g. Great Britain, Belgium), the species remains unstudied in southeastern Europe. Our aim was to use passive acoustic monitoring (PAM) to study the seasonal and temporal calling activity of the species at two sites in northern Greece (Mt. Chortiatis) across an entire breeding season, examining whether variances in the daily calling frequency could be explained by environmental variables (wind, temperature, air humidity, precipitation, moon phase, cloud cover, night length). We deployed three AudioMoth acoustic sensors, scheduled to record at 48 KHz sampling rate one out of every ten minutes, at each site from 15/4/2024 to 12/10/2024. We used the BirdNet algorithm to detect the minutes with nightjar calls (recall rate 82%). The relation of environmental variables to the daily number of minutes containing nightjar calls was assessed using generalized mixed effect models (GLMMs). They are mostly consistent with previous studies on the calling activity of the species. Calling commenced in late April and continued with decreasing frequency until early September, with variations in onset and seasonal duration across sites. Most calls occurred after dusk and before dawn (crepuscular activity), with calls taking place throughout the night during peak calling period (mid-May – mid-June). Calling frequency was higher during humid, windless, moonlit nights without precipitation and shorter duration. The results provide a baseline against which to examine possible effects of climate change on the breeding behavior of Afro-Palearctic migrant bird species, and we therefore suggest that similar studies, ideally on a continental scale, should be conducted for more species, in order to detect early climate-induced ecological changes.

Abstract:

Objectives: To investigate corneal endothelial changes and intraocular pressure (IOP) after phacoemulsification using the eight-chop technique and intraoperative parameters in patients with diabetes. Methods: Eyes of patients with cataracts who underwent phacoemulsification were included in this study. Cataract surgery was performed using the eight-chop technique. The operative time, phaco time, aspiration time, cumulative dissipated energy, and volume of fluid used were measured. The best-corrected visual acuity, IOP, corneal endothelial cell density (CECD), central corneal thickness (CCT), coefficient of variation (CV), and percentage of hexagonal cells (PHC) were measured pre- and post-operatively. Results: Overall, 181 eyes of 138 patients with cataracts were evaluated. In the diabetes group, the CECD loss rates were 5.1%, 3.9%, and 2.1% at 7 weeks, 19 weeks, and 1 year post-operatively, respectively. In the control group, the CECD loss rates were 2.8%, 2.6%, and 1.2% at 7 weeks, 19 weeks, and 1 year postoperatively, respectively. Significant differences in the CV and PHC were observed preoperatively and postoperatively between the diabetes and control groups (p < 0.01 or p = 0.01, 0.02). Significant differences were also observed between CV and PHC preoperatively, 19 weeks, and 1 year postoperatively in the diabetes and control groups (p < 0.01). At 1 year postoperatively, IOP reduction rates were 8.0% and 11.2% in the diabetes and control groups, respectively. Conclusions: CECD loss in the eight-chop technique was minimal. The repair and healing mechanisms of the endothelium may have increased by phacoemulsification using the eight-chop technique postoperatively. The IOP reduction was maintained in both groups postoperatively.

Abstract: Asymmetric deformation has been observed along the Altyn Tagh Fault (ATF), the northern boundary of the Tibetan Plateau. Several mechanisms have been proposed to explain this asymmetry, including contrasts in crustal strength, lower crust/upper mantle rheology, deep fault dislocation shifts, and gently dipping fault planes; however, their relative contributions remain debated. This study utilizes time series Interferometric Synthetic Aperture Radar (InSAR) technique to investigate spatially variable asymmetries across the western section of the ATF (83°E - 89°E). By analyzing Sentinel-1 data, we generated high-resolution (2 km) three-dimensional (3D) crustal velocity field for the northwestern Tibetan Plateau (~82°E–92°E; 33°N–40°N). Our results confirm greater deformation within the Tibetan Plateau compared to the Tarim Basin along the westernmost section of the ATF (83°E - 85.5°E). We propose that this asymmetry is primarily driven by a splay fault system within the zone between the ATF in the north and the Jinsha Suture (JSS)-Kunlun Fault (KFL) in the south. This shear zone acts as a transition zone, accommodating east-west extension in central Tibetan Plateau while transferring sinistral shear to the KLF in the east. The concentrated strain observed along the ATF and JSS-KLF further supports a block-style eastward extrusion model for Tibetan crustal deformation rather than a continuously deforming viscous model.

Abstract: In recent years, low temperature and freezing weather has seriously threatened the development of citrus industry. Arbuscular mycorrhizal (AMF) can enhance the absorption and utilization of nutrients and water and the tolerance to abiotic stresses. In this study, potted pot experiments were conducted to study the effects of AMF on low temperature stress of citrus (trifoliate orange, Poncirus aurantius) with AMF (Diversispora epigaea, D.e). The results showed that AMF inoculation significantly increased plant height, stem diameter, leaf number, above-ground and underground fresh weight, maximum light quantum efficiency (QY_max), steady-state light quantum efficiency (QY_Lss), net photosynthetic rate (Pn), transpiration rate (Tr), stomatal conductance (Gs) and intercellular CO2 concentration (Ci). The contents of soluble sugar, soluble protein, proline (Pro), catalase (CAT) activity and superoxide Dismutase (SOD) activity were significantly increased. Compared with 25℃, -5℃ stress significantly increased the relative electrical conductivity of plants, increased the contents of malondialdehyde (MDA), hydrogen peroxide (H2O2), soluble sugar, soluble protein and Pro, and enhanced the activities of CAT and SOD. Significantly reduced NPQ_Lss, QY_max, QY_Lss, Pn, Gs, Ci, and Tr. Under -5℃ stress conditions, QY_max and QY_Lss of AMF treatment were significantly higher than those of untreated group. It can be concluded that AMF can increase the activity of PSⅡ reaction center in leaves, improve the light energy conversion efficiency and electron transfer ability of leaves, promote the photosynthetic function of PSⅡ, and improve the tolerance to low temperature. Under -5℃ stress, Pn and Tr values of AMF treatment were significantly higher than those of the untreated group, but Gs and Ci had no significant changes. So, AMF could alleviate the restriction effect of low temperature stress on photosynthetic capacity of plants, that is, AMF-infected plants could enhance photocooperation to improve the cold resistance of trifoliate orange. Under -5℃ stress, the contents of soluble sugar and Pro as well as the activities of CAT and SOD in AMF group were significantly higher than those in AMF unvaccinated group. It can be concluded that AMF can enhance the antioxidant capacity and cold resistance of plants by increasing osmotic regulatory substances and antioxidant oxidase activities. In conclusion, AMF inoculation can promote the growth of aboveground and underground parts of trifoliate orange seedlings, and enhance their stress resistance under low temperature stress by enhancing photosynthesis, increasing the content of osmoregulatory substances and enhancing their antioxidant.

Abstract: Small, forested catchments are prototypes of terrestrial ecosystems and have been studied in several disciplines of environmental sciences since several decades. Time series of water and matter fluxes and nutrient concentrations from these systems exhibit a bewildering diversity of spatiotemporal patterns, indicating the intricate nature of processes acting on a large range of time scales. Nonlinear dynamics is an obvious framework to investigate catchment time series. We analyze selected long-term data from three headwater catchments in the Bramke valley, Harz mountains, Lower Saxony in Germany at common biweekly resolution for the period 1991 to 2023. For every time series, we perform gap filling, detrending and removal of the annual cycle using Singular System Analysis (SSA), and then calculate metrics based on ordinal pattern statistics: the permutation entropy, permutation complexity and Fisher information, as well as their generalized versions (q-entropy and α-entropy). Further, the position of each variable in Tarnopolski diagrams is displayed and compared to reference stochastic processes, like fractional Brownian motion, fractional Gaussian noise, and β noise. Still another way of distinguishing deterministic chaos and structured noise, and quantifying the latter, is provided by the complexity from ordinal pattern positioned slopes (COPPS). We also construct Horizontal Visibility Graphs and estimate the exponent of the decay of the degree distribution. Taken together, the analyses create a characterization of the dynamics of these systems which can be scrutinized for universality, either across variables or between the three geographically very close catchments.

Abstract: Introduction of alien species may pose enormous threat to indigenous flora and fauna. Among introduced animals probably the most destructive to the natural environment are mammals. This is true at least in regard to the Afrotropical Region (sub-Saharan Africa). The presented paper attempt to summarize our knowledge on alien mammals in this region and their impact on the indigenous vertebrate fauna. This review includes 56 mammal species belonging to 20 families introduced to sub-Saharan Africa in the last 2000 years. Most are representatives of the following orders: Artiodactyla Carnivora and Primates. Most species introduced to sub-Saharan Africa originated from the Oriental (n = 20) and Palearctic Region (n = 19). Two species, Mus musculus and Rattus rattus, have been introduced before 1400 (probably as early as 800 AD); three other were introduced between 1401 and 1700. The first half of the 17th century saw the highest number (n = 10) of introduced species. While during the years 1651 and 1850, only two species were introduced, in the following 175 years (1851-2025) as many as 24 species were introduced. Ten of the introduced mammal species, namely Sus scrofa, Capra hircus, Rattus rattus, R. norvegicus, Mus musculus, Felis catus, Canis familiaris, Viverricula indica, Urva auropunctata and Maccaca fuscicularis become invasive species. A total of 39 mammal species were relocated (mainly for hunting purpose) within sub-Saharan Africa. Most of them were representatives of the family Bovidae (76.9%). Relocations are not considered as introductions. Based on published records of impacts of alien mammals on the vertebrate fauna of the sub-Saharan Africa, the following mechanisms may be distinguished: predation, competition, hybridization, transmission of diseases and parasites; habitat destruction (grazing / herbivory / browsing). Most vertebrate species (79.4%) were affected through direct predation or predation and habitat destruction (7.1%) or predation and competition (1.4%). Alien mammals has caused habitat destruction for only 10 species (7.1%). Other effects (competition and genetic pollution) were marginal (3.5%). At least 144 vertebrate species represented by 52 families were affected by alien mammals in sub-Saharan Africa, 3 amphibian, 23 reptiles, 89 birds and 29 mammals. As result of mammal introduction, 65 species in sub-Saharan Africa became globally extinct, 45 are threatened (in RDB) and 31 other species are in decline, although not included in RDB. Most extinct birds were affected by introduced rats, mouse feral cats and dogs. In continental Africa, only seven vertebrate species are negatively affected by alien mammals. All the others affected vertebrates occur on islands. Especially high rate of extinction was recorded in the Mascarenes. In comparison with alien birds in sub-Saharan Africa, the number introduced mammals species is much lower, but their negative effect on vertebrate fauna much higher.

Abstract: The aim of this study was to evaluate for the first time the feasibility of implementing LOLA, a speech AI-driven conversational assistant, in monitoring and managing OAT in patients with non-valvular Methods. In 2023, we conducted a pilot prospective observational study of patients with AF and TAO. All patients received a first contact call from LOLATAO, and then monthly calls, following a predefined protocol by the hematologists . At the end of the study, a satisfaction questionnaire was carried out. Results Fifty patient. The mean age was 75 years with 33% women. One-third of the patients (n=16) were with antivitamin K treatment and two-thirds (33) with DOACs. A total of 579 calls were made with a median follow-up of 278 days. LOLATAO had high rates of acceptability (85%), adherence (90%) and satisfaction (>95%). 42% of the patients reported at least one forgetfulness dose in the last month, 18% ( reported having a scheduled intervention needing bridging therapy. In patients with VKAs , 94% (n=15) reported at least once being unaware of their TRT and, 75% (n=12) of patients reported having a TRT< 65%. Those patients in whom TRT was < 65% were switched to DOACs. LOLA saved a total of 10 hours per month for the hematologists in the follow-up. Conclusions The study suggests that LOLATAO seems to be a tool to help in the management of chronic follow-up of patients with AF and OAT that reduces the burden of care with high rates of acceptance and satisfaction by patients.

Abstract: The shortage of therapists required for the rehabilitation of stroke patients, together with the patients’ lack of motivation in regular therapy, builds the need for a robotic rehabilitation platform. While shared control architectures are studied in literature as means of training, the state-of-art training systems involve a complex architecture and moreover have visible performance limitations. In this paper, a simplified training architecture is proposed, which is particularly targeted for rehabilitation, and also adds the missing features such as complete force feedback, enhanced learning rate, and dynamic monitoring of patient’s performance. In addition to the novel architecture, design of controllers to ensure system stability has been presented. These controllers are analytically shown to meet the performance objectives and maintain system’s passivity. An experimental setup is built to test the architecture and the controllers. A comparison with state-of-art methods is also performed to demonstrate the superiority of the proposed method. It is further demonstrated that the proposed architecture facilitates correcting the inaccurate frequencies at which the patient might operate. This was achieved by defining attribute-wise individual recovery factors to the patient.

Abstract:

Agriculture is essential for food production and raw materials. A key aspect of this sector is harvest, the stage at which the commercial part of the plant is separated. Timely harvesting minimizes post-harvest losses, preserves product quality and optimizes production processes. Globally, a substantial amount of food is wasted, impacting food security and natural resources. To address this problem, an Adaptive Neuro-Fuzzy Inference System was developed to predict timely harvesting in crops. Stevia, a native plant from Brazil and Paraguay, with an annual production 100,000 to 200,000 tons and a market of 400 million dollars, is the focus of this study. The system considers soil pH, Brix Degrees and leaf colorimetry as inputs. The output is binary: 1 indicates timely harvest and 0 indicates no timely harvest. To assess its performance, Leave One Out Cross Validation was used, obtaining an r² of 0.99965 and a Residual Absolute Error of 0.00064305, demonstrating its accuracy and robustness. In addition, an interactive application that allows farmers to evaluate crop status and optimize decision making was developed.