Search Results (8,132)

This paper presents a comprehensive evaluation of keypoint detection and description algorithms for stereo vision-based odometry in dynamic environments. Five widely used methods—FAST, GFTT, ORB, BRISK, and KAZE—were analyzed in terms of detection accuracy, robustness to image distortions, computational efficiency, and suitability for embedded systems. Using the KITTI dataset, the study assessed the influence of image resolution, noise, blur, and contrast variations on keypoint performance. The matching quality between stereo image pairs and across consecutive frames was also examined, with particular attention to drift—cumulative trajectory error—during motion estimation. The results show that while FAST and ORB detect the highest number of keypoints, GFTT offers the best balance between matching quality and processing time. KAZE provides high robustness but at the cost of computational load. The findings highlight the trade-offs between speed, accuracy, and resilience to environmental changes, offering practical guidance for selecting keypoint algorithms in real-time stereo visual odometry systems. The study concludes that GFTT is the most suitable method for trajectory estimation in dynamic, real-world conditions. Full article

With the rapid advancement of energy storage technologies, there is a growing demand for affordable, efficient, and environmentally benign battery systems. Sodium-ion batteries (SIBs) present a promising alternative to lithium-ion systems due to sodium’s high abundance and similar electrochemical properties. Particular attention is given to developing NASICON -sodium (Na) super ionic conductor, type cathode materials, especially Na3V2(PO4)3, which exhibits high thermal and structural stability. This study focuses on the sol–gel synthesis of Na₃V₂(PO₄)₃ using citric acid and ethylene glycol, as well as investigating the effect of annealing temperature (400–1000 °C) on its structural and electrochemical properties. Phase composition, morphology, textural characteristics, and electrochemical performance were systematically analyzed. Above 700 °C, a highly crystalline NASICON phase free of secondary impurities was formed, as confirmed by X-ray diffraction (XRD). Microstructural evolution revealed a transition from a loose amorphous structure to a dense granular morphology, accompanied by changes in specific surface area and porosity. The highest surface area (67.40 m²/g) was achieved at 700 °C, while increasing the temperature to 1000 °C caused pore collapse due to sintering. X-ray photoelectron spectroscopy (XPS) confirmed the predominant presence of V³⁺ ions and the formation of V⁴⁺ at the highest temperature. The optimal balance of high crystallinity, uniform elemental distribution, and stable texture was achieved at 900 °C. Electrochemical testing in a Na/NVP half-cell configuration delivered an initial capacity of 70 mAh/g, which decayed to 55 mAh/g by the 100th cycle, attributed to solid-electrolyte interphase (SEI) formation and irreversible Na⁺ trapping. These results demonstrate that the proposed approach yields high-quality Na₃V₂(PO₄)₃ cathode materials with promising potential for sodium-ion battery applications. Full article

Brucellosis remains an underreported zoonotic disease in Ecuador. Its control program in cattle integrates diagnostic testing, vaccination, and eradication incentives, although participation is largely voluntary. Since 2025, vaccination has become compulsory nationwide. Human surveillance remains largely passive, and strain-level data are very limited. This study applied an integrated approach, combining serology (Rose Bengal and SAT-EDTA), microbiological culture, and molecular diagnostics, to assess the presence and diversity of Brucella spp. in cattle and pigs from six slaughterhouses in the northern Andean highlands. A total of 2054 cattle and 1050 pigs from Carchi, Imbabura, and Pichincha were sampled. Among cattle, 133 (6.5%; 95% CI: 5.5–7.6) were seropositive, and viable B. abortus strains were isolated from 17 (12.8%). Genus identification was confirmed by IS711-PCR, while species- and biovar-level differentiation was achieved with AMOS-PCR; additional assays targeting the ery gene and RB51 marker were used to distinguish field from vaccine strains. Biotyping and molecular analysis revealed a predominance of B. abortus biovar 4 (13/17 isolates) over biovar 1, all confirmed as field strains. In pigs, 10 animals (0.95%) tested seropositive, but no isolates were recovered, highlighting limitations of serology in swine. Most livestock, including the positives, originated locally, reinforcing the representativeness of our findings. The successful isolation and molecular characterization of B. abortus demonstrates the value of combining diagnostic strategies beyond serology. These results underscore the utility of active surveillance when supported by traceability systems; this approach may also contribute to guide interventions to reduce infection risk in livestock and humans. Full article

The management of modern water supply systems requires a detailed analysis of consumption patterns in order to optimize pump operation schedules, reduce energy costs, and support the development of intelligent management systems. Traditional clustering algorithms are applied for these tasks; however, their limitation lies in the need to predefine the number of clusters. The aim of this study was to develop and validate a non-parametric method for clustering daily water consumption profiles based on a modified DBSCAN algorithm. The proposed approach includes the automatic optimization of neighborhood radius and the minimum number of points required to form a cluster. The input data consisted of half-hourly water supply and electricity consumption values for the water supply system of Gomel (Republic of Belarus), supplemented with the time-of-day factor. As a result of the multidimensional clustering, two stable regimes were identified: a high-demand regime (6:30–22:30), covering about 46% of the data and accounting for more than half of the total water supply and electricity consumption, and a low-demand regime (0:30–6:00), representing about 21% of the data and forming around 15% of the resources. The remaining regimes reflect transitional states in morning and evening periods. The obtained results make it possible to define the temporal boundaries of the regimes and to use them for data labeling in the development of predictive water consumption models. Full article

Background/Objectives: Migrant youth often experience multiple, intersecting systems of oppression (e.g., racism, poverty, and discrimination) that may contribute to disparities in pediatric pain prevalence, severity, and management. However, pain in migrant youth remains poorly understood. This rapid scoping review will examine the nature and extent of the existing literature on pain among migrant youth. Methods: This protocol has been preregistered on the Open Science Framework. The review will follow guidelines for conducting and reporting rapid and scoping reviews, and will be guided by PCC (population, concept, context) and PROGRESS-Plus methodological frameworks. Electronic searches will be conducted in MEDLINE, CINAHL, and Scopus for primary research studies published since 2015 that describe and examine pain among migrant youth (age < 18 years). Two reviewers will independently screen titles, abstracts, and full texts, with disagreements resolved by consensus or a third reviewer. Data charting will be piloted on 5–10 studies, then independently conducted by two reviewers. Extracted data will include study characteristics (authors, year, purpose, methodology); participant sociodemographic information (e.g., racial and/or ethnic identity, age, sex, gender identity, sexual orientation, socioeconomic position); migration status; countries of origin and destination; definition and characteristics of pain; and measures of systemic factors (e.g., racism). Results: Findings will be synthesized descriptively and interpreted within sociocultural and geopolitical contexts to better understand pain among migrant youth. Conclusions: This review will aim to provide critical insights into the intersections between migration and pediatric pain, offering guidance for future research, clinical practice, and policy to improve pain management and outcomes for migrant youth. Full article

Virtual and digital twins are means of high value to characterize, model and control physical systems, providing the basis for a simulation environment and lab. In the case of a digital twin, it is possible to have a replica of a physical environment by means of reliable sensor networks and accurate data. In this paper we analyse in detail the threats to the reliability of the information extracted from these sensor networks, along with a set of challenges to guarantee data liveness and trustworthiness. Full article

Augmented Reality (AR) continues to generate interest as a pedagogical tool in contexts where English is a Foreign Language (EFL). However, its role in developing higher-order cognitive skills, such as inferencing, remains underexplored. This exploratory, mixed-methods study investigates whether AR can scaffold inference-making in advanced EFL learners. Forty-seven university students in XX were assigned to either a control group (CG) or an experimental group (EG). Both groups read Edgar Allan Poe’s “The Tell-Tale Heart” in digital format. The CG received a conventional inference-based comprehension lesson, while the EG engaged with two interactive AR scenes developed using the Onirix Studio platform. Pre- and post-tests assessed inferential comprehension, and qualitative data were gathered through open-ended responses. While the CG demonstrated modest post-test gains and the EG showed a slight decline, neither change reached statistical significance. Notably, qualitative findings revealed that a salient AR element—a ticking clock—likely prompted misinterpretation in the EG, disrupting symbolic reasoning and contributing to schema misalignment. However, some learners exhibited metacognitive insight suggestive of productive struggle. These results suggest that AR may hold untapped potential for developing metacognitive reflection and critical literacy. Directions for future research are outlined. Full article

Nanocrystals of Eu-doped GaN powders are produced via pyrolysis of a viscous compound made from europium and gallium nitrates. Furthermore, carbohydrazide is used as a fuel and toluene as a solvent; subsequently, a crucial nitridation process is carried out at 1000 °C for one hour. A slight shift of 0.04 degrees toward larger angles was observed for the X-ray diffraction patterns in the Eu-doped GaN powders regarding the undoped GaN powders, while Raman scattering also displayed a slight shift of 10.03 cm⁻¹ toward lower frequencies regarding the undoped GaN powders for the vibration mode, E₂(H), in both cases indicating the incorporation of europium atoms into the GaN crystal lattice. A scanning electron microscope micrograph demonstrated a surface morphology for the Eu-doped GaN with a shape similar to elongated platelets with a size of 3.77 µm in length. Energy-dispersive spectroscopy and X-ray photoelectron spectroscopy studies demonstrated the europium elemental contribution in the GaN. The X-ray photoelectron spectroscopy spectrum for gallium demonstrated the binding energies for Ga 2P_3/2, Ga 2P_1/2, and Eu 3d_5/2, which could indicate the incorporation of europium into the GaN and the bonding between gallium and europium atoms. The transmission electron microscope micrograph showed the presence of nanocrystals with an average size of 9.03 nm in length. The photoluminescence spectrum showed the main Eu³⁺ transition at 2.02 eV (611.69 nm) for europium emission energy, corresponding to the ⁵D₀ ⟶ ⁷F₂ transition of the f shell, which is known as a laser transition. Full article

An investigation of the effect of intense Hot Water Extraction (HWE) on the chemical properties and processability of shredded hemp stalks (Cannabis sativa L.) is presented in this study. The chemical composition of untreated hemp was compared to that of hemp subjected to V and XV successive HWE cycles. This study investigated changes in selected chemical compounds, such as extractives, lignin, cellulose, ash, and monosaccharides such as glucose and xylose. Additionally, post-HWE liquids were analyzed. Lignin content was determined by the UV–VIS spectrophotometry method, whereas monosaccharides (glucose, xylose) and inhibitors (formic acid, acetic acid, levulinic acid, ethanol, 5-(hydroxymethyl)furfural, and furfural) were identified by HPLC. Extractives and ash were effectively removed by the HWE process, decreasing from 3.2 to 2.0% and from 3.9% to 2.7%, respectively. The reduction in acid-soluble lignin was an important finding, indicating a selective modification of the lignin matrix. By the end of V cycles, xylose content in the liquid phase significantly increased from 117.9% to 19.4%, indicating a reduction in hemicelluloses. The cellulose content of the solid material rose from 42.9% to 46.2% at the end of XV cycles. Full article

Background/Objectives: Diabetes mellitus (DM) is a disorder which affects carbohydrate metabolism and has been associated with other conditions such as disease-related malnutrition (DRM), leading to specific challenges in its management. This study aims to evaluate the implications of DM, its complications, and its duration on energy and protein intake in patients at high risk of malnutrition. Methods: Descriptive cross-sectional study in 179 patients with high risk of malnutrition. Patients were compared based on the presence or absence of DM, diabetes duration and the presence of complications. Age, gender, body mass index, bioimpedanciometry, ultrasonography and dynamometry parameters and the diagnosis of sarcopenia were recorded. Energy and protein requirements were calculated, and the composition of the patients’ three-day diet was analyzed. Results: DM was associated with lower weight-adjusted energy intake (Overall: 29.15 (9.99) vs. DM: 24.87 (8.28) vs. NoDM: 30.65 (10.13) kcal/kg/day; p < 0.01) and lower weight-adjusted protein intake (Overall: 1.29 (0.47) vs. DM: 1.18 (0.39) vs. NoDM: 1.33 (0.49) g of protein/kg/day; p < 0.05). DM was a risk factor for poorer compliance with energy requirements (OR: 2.38, 95% CI: 1.13–5.01, p < 0.05). Similarly, the occurrence of complications was identified as a risk factor associated with reduced adherence to energy intake requirements (OR: 1.78, 95% CI 1.06–2.98; p < 0.05), and a duration of diabetes mellitus exceeding 10 years was linked to lower adherence to protein intake requirements (OR 1.79, 95% CI 1.08–2.99; p < 0.05). Conclusions: Among patients at high risk of malnutrition, diabetes mellitus was associated with suboptimal adherence to both caloric and protein intake requirements. The presence of diabetes and its related complications emerged as risk factors for inadequate fulfillment of energy needs, while a longer disease duration was specifically linked to reduced compliance with protein requirements. Full article

Background/Objectives: The skin is a protective barrier against pathogens such as herpes simplex virus type 1 (HSV-1), which causes recurrent and highly prevalent skin infections worldwide. The increasing resistance of HSV-1 to conventional treatments has driven the search for new therapeutic alternatives. In this context, the essential oil of Lippia graveolens (EOL) has demonstrated promising antiviral activity; however, its high volatility limits direct skin application. To overcome this, polymeric nanoparticles (NPs) loaded with EOL were developed to improve its availability and antiviral efficacy. Methods: Nanoformulations were prepared by nanoprecipitation, and their antiviral activity against HSV-1 was evaluated using the plaque reduction assay. The effect of the nanoformulations on skin barrier integrity was assessed using an ex vivo porcine skin model and non-invasive techniques. Results: The NP-EOL exhibited physicochemical properties favorable for skin deposition, including a particle size around 200 nm, a polydispersity index of ≤ 0.2, and negative zeta potential. Moreover, NP-EOL showed 1.85-fold higher antiviral activity against HSV-1 compared with free EOL, while also reducing cytotoxicity in Vero cells. Conclusions: Results demonstrated that the NPs promoted skin hydration without altering pH or transepidermal water loss, suggesting they do not disrupt skin homeostasis. This study supports the potential of NP-based systems as effective topical delivery vehicles for EOL, representing a promising therapeutic alternative against HSV-1 skin infections. Full article

In the Roman Empire, lead tags were used for various purposes, one of which was to label textiles that needed cleaning, repairing or dyeing. So far, these tesserae have been found at over 90 sites in 13 Roman provinces. The cities of Siscia and Carnuntum in Pannonia Superior have the highest number of finds. In 2011, a Roman cesspit was excavated in the civil city of Carnuntum and dated to the mid-2nd century CE. The latrine contained household and food waste, human faeces, pottery shards, pollen, lime, amber and 179 lead tags. The tags bear inscriptions consisting of personal names, prices, and abbreviations of terms relating to garments, colours and services such as cleaning, mending, repairing, fulling, fumigating, perfuming, dyeing, and redyeing. The findings of Roman textiles unearthed in Carnuntum are too degraded to allow a successful dye analysis to be carried out. Therefore, the inscriptions are important sources for drawing conclusions about dyeing materials and techniques. This information was supplemented by ancient written sources as well as archaeobotanical finds of dye plants and dye analyses of archaeological textiles found in Central Europe dating from the same period or earlier. Full article

In quantum key distribution (QKD), public discussion over the authenticated classical channel inevitably leaks information about the raw key to a potential adversary, which must later be mitigated by privacy amplification. To limit this leakage, a one-time pad (OTP) has been proposed to protect message exchanges in various settings. Building on the security proof of Tomamichel and Leverrier, which is based on a non-asymptotic framework and considers the effects of finite resources, we extend the analysis to the OTP-protected scheme. We show that when the OTP key is drawn from the entropy pool of the same QKD session, the achievable quantum key rate is identical to that of the reference protocol with unprotected error-correction exchange. This equivalence holds for a fixed security level, defined via the diamond distance between the real and ideal protocols modeled as completely positive trace-preserving maps. At the same time, the proposed approach reduces the computational requirements: for non-interactive low-density parity-check codes, the encoding problem size is reduced by the square of the syndrome length, while privacy amplification requires less compression. The technique preserves security, avoids the use of QKD keys between sessions, and has the potential to improve performance. Full article

The aim of this study is to determine the spatial distribution of geochemical anomalies of selected potential toxic elements in the soils of the river basins in the Northeastern Caucasus—specifically the Ulluchay, Sulak, and Sunzha Rivers. A concentration of 25 chemical elements was measured using inductively coupled plasma mass spectrometry (ICP-MS). Petrogenic elements commonly found in the Earth’s crust (Al, Na, Ca, Fe, Mg) showed high concentrations (Na up to 306,600.70 mg/kg). Conversely, concentrations of Ag, Cd, Sn, Sb, and Te at many sampling sites were extremely low, falling below the detection limits of analytical instruments. The geochemical indicators Cf (contamination factor) and Igeo (geoaccumulation index) indicate that the regional characteristics of the territory, such as lithological conditions, hydrochemical schedules, and the history of geological development of the territory, affect the concentration of elements. Anomalous concentrations were found for seven elements (Ba, Na, Zn, Ag, Li, Sc, As), whereas no anomalies were identified for Be, Mg, Al, Mn, Fe, Co, Ni, Cu, Pb, Te, and Cs. For the most part (8 of 10), the sampling sites with anomalous chemical element content are located in the basin of the Sunzha River. Two sites with anomalous chemical element content have been identified in the Sulak River Basin. Anomalous values in the Sulak River Basin are noted for two chemical elements—Ba and Na. Natural features such as geological structure, parent rock composition, vertical climatic zonation, and landscape diversity play a major role in forming geochemical anomalies. The role of anthropogenic factors increases in localized areas near settlements, industrial facilities, and roads. The spatial distribution of geochemical anomalies must be considered in agricultural management, the use of water sources for drinking supply, the development of tourist routes, and comprehensive spatial planning. Full article

The computer age has transformed Pauline stylometric analyses by enabling quick, repeatable studies. However, studies continue to produce conflicting results. This paper highlights the core limitations of computational stylometric analyses in contributing to Pauline authorial-attribution questions. Without secularly verifiable, authentic texts, there is no referential Pauline stylome and thus the proper mathematical model to evaluate authorship cannot be deciphered. The theoretical objections presented are supported by an NLP-study of the New Testament texts and letters from the Roman emperor Julian that produces characteristically incoherent, and malleable, results. These findings suggest researchers should proceed with caution when applying quantitative methods to fundamentally epistemological problems. Full article