Current Micro Aerial Vehicles (MAVs) are greatly limited by being able to operate in air only. Designing multimodal MAVs that can fly effectively, dive into the water and retake flight would enable ...applications of distributed water quality monitoring, search and rescue operations and underwater exploration. While some can land on water, no technologies are available that allow them to both dive and fly, due to dramatic design trade-offs that have to be solved for movement in both air and water and due to the absence of high-power propulsion systems that would allow a transition from underwater to air. In nature, several animals have evolved design solutions that enable them to successfully transition between water and air, and move in both media. Examples include flying fish, flying squid, diving birds and diving insects. In this paper, we review the biological literature on these multimodal animals and abstract their underlying design principles in the perspective of building a robotic equivalent, the Aquatic Micro Air Vehicle (AquaMAV). Building on the inspire-abstract-implement bioinspired design paradigm, we identify key adaptations from nature and designs from robotics. Based on this evaluation we propose key design principles for the design of successful aerial-aquatic robots, i.e. using a plunge diving strategy for water entry, folding wings for diving efficiency, water jet propulsion for water takeoff and hydrophobic surfaces for water shedding and dry flight. Further, we demonstrate the feasibility of the water jet propulsion by building a proof-of-concept water jet propulsion mechanism with a mass of 2.6 g that can propel itself up to 4.8 m high, corresponding to 72 times its size. This propulsion mechanism can be used for AquaMAV but also for other robotic applications where high-power density is of use, such as for jumping and swimming robots.
BRAF V600E is the most common mutation in conventional ameloblastoma (AM) of the mandible. In contrast, maxillary AMs appear to harbor more frequently RAS, FGFR2, or SMO mutations. Unicystic ...ameloblastoma (UAM) is considered a less aggressive variant of ameloblastoma, amenable to more conservative treatment, and classified as a distinct entity. The aim of this study was to characterize the mutation profile of UAM (n = 39) and to compare it to conventional AM (n = 39). The associations between mutation status and recurrence probability were also analyzed. In the mandible, 94% of UAMs (29/31, including 8/8 luminal, 6/8 intraluminal, and 15/15 mural subtypes) and 74% of AMs (28/38) revealed BRAF V600E mutations. Among the BRAF wild-type cases, 1 UAM showed a missense SMO mutation (p.L412F), whereas 2 NRAS (p.Q61R), 2 HRAS (p.Q61R), and 2 FGFR2 (p.C383R) activating mutations were identified in AM. Of the 3 maxillary UAMs, only 1 revealed a BRAF V600E mutation. Taken together, our findings demonstrate high frequency of activating BRAF V600E mutations in both UAM and AM of the mandible. In maxillary UAMs, the BRAF V600E mutation prevalence appears to be lower as was shown for AM previously. It could therefore be argued that UAM and AM are part of the spectrum of the same disease. AMs without BRAF V600E mutations were associated with an increased rate of local recurrence (P = 0.0003), which might indicate that routine mutation testing also has an impact on prognosis.
The past several years have seen the emergence of a standard cosmological model, in which small temperature differences in the cosmic microwave background (CMB) radiation on angular scales of the ...order of a degree are understood to arise from acoustic oscillations in the hot plasma of the early Universe, arising from primordial density fluctuations. Within the context of this model, recent measurements of the temperature fluctuations have led to profound conclusions about the origin, evolution and composition of the Universe. Using the measured temperature fluctuations, the theoretical framework predicts the level of polarization of the CMB with essentially no free parameters. Therefore, a measurement of the polarization is a critical test of the theory and thus of the validity of the cosmological parameters derived from the CMB measurements. Here we report the detection of polarization of the CMB with the Degree Angular Scale Interferometer (DASI). The polarization is deteced with high confidence, and its level and spatial distribution are in excellent agreement with the predictions of the standard theory.
Celotno besedilo
Dostopno za:
DOBA, IJS, IZUM, KILJ, NUK, PILJ, PNG, SAZU, SIK, UILJ, UKNU, UL, UM, UPUK
During the ongoing COVID-19 pandemic, two regions in Croatia, Zagreb and Petrinja in the Sisak-Moslavina County experienced strong earthquakes, on the March 22
nd
2020 and on the 29th of December ...2020. Both earthquakes, but especially the later one resulted on severe damage of the regions and caused severe disruptions in (mental) health service delivery. In these circumstances, the RECOVER-E project (LaRge-scalE implementation of COmmunity based mental health care for people with seVere and Enduring mental ill health in EuRopE), which was ongoing in Croatia from 2018-2022 aimed to implement flexible assertive community treatment as the new health care service for persons with severe mental illness (SMI). Since the pandemic and earthquakes have significantly influenced the life circumstances of all RECOVER-E project participants with SMI, we wanted further to examine the impact of health care delivery on mental health and the response to stress caused by a pandemic and earthquake in the patients with SMI involved in the project, in the first and second wave of the COVID-19 pandemics. Additionally, using case series, we will demonstrate the community mental health teams’ contributions in managing SMI after a double disaster in providing feasible, comprehensive, and accessible mental health services.1
Disclosure
No significant relationships.
Order picking (OP) is a process that occurs in warehouses of unitized goods and it includes all activities that follow the retrieval of demanded goods, according to demanded type and quantity, with ...the intention of meeting customer demands, accurately and on time, with acceptable costs. As the OP process can contribute up to 50 % to the overall warehouse operational costs, design of the order picking system (OPS) needs special attention during the warehouse design process. In existing systems, the need for improvement is often caused by the change in demands. This paper analyses the possibilities of low-level picker-to-part OPS improvement through appropriate decision making on different design levels: tactical and operational. In this paper, a simulation-analytical model is developed to evaluate different OPS scenarios based on three storage assignment policies, four routing strategies and two different OP methods. Two layout variants and the evaluation of the required workforce are considered as well. The experiment results indicate that the application of the proposed model could lead to significant improvements regarding OPS performances and resource utilization. 35 refs.
Recent work suggests that jumping locomotion in combination with a gliding phase can be used as an effective mobility principle in robotics. Compared to pure jumping without a gliding phase, the ...potential benefits of hybrid jump-gliding locomotion includes the ability to extend the distance travelled and reduce the potentially damaging impact forces upon landing. This publication evaluates the performance of jump-gliding locomotion and provides models for the analysis of the relevant dynamics of flight. It also defines a jump-gliding envelope that encompasses the range that can be achieved with jump-gliding robots and that can be used to evaluate the performance and improvement potential of jump-gliding robots. We present first a planar dynamic model and then a simplified closed form model, which allow for quantification of the distance travelled and the impact energy on landing. In order to validate the prediction of these models, we validate the model with experiments using a novel jump-gliding robot, named the 'EPFL jump-glider'. It has a mass of 16.5 g and is able to perform jumps from elevated positions, perform steered gliding flight, land safely and traverse on the ground by repetitive jumping. The experiments indicate that the developed jump-gliding model fits very well with the measured flight data using the EPFL jump-glider, confirming the benefits of jump-gliding locomotion to mobile robotics. The jump-glide envelope considerations indicate that the EPFL jump-glider, when traversing from a 2 m height, reaches 74.3% of optimal jump-gliding distance compared to pure jumping without a gliding phase which only reaches 33.4% of the optimal jump-gliding distance. Methods of further improving flight performance based on the models and inspiration from biological systems are presented providing mechanical design pathways to future jump-gliding robot designs.
•Presents a recreation value estimate for a protected area network in its entirety.•Recreation values are of a similar order of magnitude to the extractive use values.•Incorporates data from more ...than 62,000 individuals and 728 protected area sites.•Reports on the distribution of recreational value amongst households.•Novel use of pseudo-absence data augmentation improves parameter estimates.
Environmental economists routinely use travel cost methods to value recreational services from protected areas, but a number of limitations remain. First, most travel cost studies focus on a single protected area or a small handful of protected area sites; value estimates that relate to a protected area network across a larger geographic area or jurisdiction are rare. Second, most protected area travel cost studies use on-site sampling techniques that bias value estimates towards those reported by frequent visitors. Values derived from such studies are unlikely to be representative of those held by the broader community, and as such they are of limited utility for strategic land-use planning. We have overcome these limitations to estimate the total value of tourism and recreation for a network of 728 protected areas across 800,000 km2 in New South Wales (NSW) in south-eastern Australia. This is one of the largest studies of its kind undertaken to date, drawing on data from a stratified random phone-survey of more than 62,000 individuals in which interviewers collected detailed information on the number of visits to any and all of the 728 protected areas within NSW. Our study provides new insights into protected area visitation through the use of a random effects ordered logit model, which allows explicit examination of the distribution of recreational value amongst households. Our modelling estimates the value of tourism and recreation services provided by the NSW protected area network at $AUD 3.3 billion per annum. Most of this value accrues to frequent users from within NSW, particularly those from regional areas. The comparative values presented in our study indicate that the recreational services provided by protected areas and other sites can be a similar order of magnitude to, and perhaps even greater than, the extractive uses that are traditionally assigned economic values. It follows that land-use decisions that fail to account for these values are unlikely to optimise societal benefits from land-use allocation.
This paper focuses on full integration of passive devices, especially inductors with emphasis on multi-layer stacked (MLS) structures of fully integrated inductors using patterned ground shield (PGS) ...and fully integrated capacitor. Comparison of different structures is focused on the main electrical parameters of integrated inductors (e.g. inductance L, inductance density LA, quality factor Q, frequency of maximum quality factor F Qmax, self-resonant frequency FSR, and series resistance R DC ) and other non-electrical parameters (e.g. required area, manufacturing process, purpose, etc.) that are equally important during comparison of the structures. Categorization of inductor structures with most significant results that was reported in the last years is proposed according to manufacturing process. Final geometrical and electrical properties of the structure in great manner accounts to the fabrication process of integrated passive device. This work offers an overview and state-of-the-art of the integrated inductors as well as manufacturing processes used for their fabrication. Second purpose of this paper is insertion of the proposed structure from our previous work among the other results reported in the last 7 years. With the proposed solution, one can obtain the highest inductance density L A = 23.59 nH/mm 2 and second highest quality factor Q = 10.09 amongst similar solutions reported in standard technologies that is also suitable competition for integrated inductors manufactured in advanced technology nodes.
We present the analysis of the complete 3 yr data set obtained with the Degree Angular Scale Interferometer (DASI) polarization experiment, operating from the Amundsen-Scott South Pole research ...station. New data obtained at the end of the 2002 austral winter and throughout the 2003 season were added to the data from which the first detection of polarization of the cosmic microwave background (CMB) radiation was reported. The analysis of the combined data supports, with increased statistical power, all of the conclusions drawn from the initial data set. In particular, the detection of E-mode polarization is increased to the 6.3 sigma confidence level, TE cross-polarization is detected at 2.9 sigma , and B-mode polarization is consistent with zero, with an upper limit well below the level of the detected E-mode polarization. The results are in excellent agreement with the predictions of the cosmological model that has emerged from CMB temperature measurements. The analysis also demonstrates that contamination of the data by known sources of foreground emission is insignificant.
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