Search Results (2,993)

The rapid growth of technology has introduced robots into daily life, necessitating navigation frameworks that enable safe, human-friendly movement while accounting for social aspects. Such methods must also scale to situations with multiple humans and robots moving simultaneously. Recent advances in Deep Reinforcement Learning (DRL) have enabled policies that incorporate these norms into navigation. This work presents a socially aware navigation framework for mobile robots operating in environments shared with humans and other robots. The approach, based on single-agent DRL, models all interaction types between the ego robot, humans, and other robots. Training uses a reward function balancing task completion, collision avoidance, and maintaining comfortable distances from humans. An attention mechanism enables the framework to extract knowledge about the relative importance of surrounding agents, guiding safer and more efficient navigation. Our approach is tested in both dynamic and static obstacle environments. To improve training efficiency and promote socially appropriate behaviors, Imitation Learning is employed. Comparative evaluations with state-of-the-art methods highlight the advantages of our approach, especially in enhancing safety by reducing collisions and preserving comfort distances. Results confirm the effectiveness of our learned policy and its ability to extract socially relevant knowledge in human–robot environments where social compliance is essential for deployment. Full article

Clear aligners have gained popularity in orthodontics due to their aesthetics, comfort, and removability; however, their prolonged intraoral wear and frequent removal–reinsertion cycles create favorable conditions for microbial colonization. This in vitro study evaluated the efficacy of seven commercially available mouthwash formulations in inhibiting biofilms of Streptococcus mutans, Streptococcus oralis, and Candida albicans formed on four different clear aligner materials. Standardized aligner fragments were incubated for 24 h with microbial suspensions to allow biofilm formation, treated for 1 min with one of the mouthwashes, and then assessed for residual viability through spectrophotometric optical density measurements after a further 24 h incubation. Biofilm inhibition varied according to both mouthwash composition and aligner material. The chlorhexidine-based rinse (MW-D) consistently showed the highest inhibition across microorganisms, while the fluoride–cetylpyridinium chloride rinse (MW-B) performed strongly for S. oralis and C. albicans. An essential oil-based formulation with xylitol (MW-G) showed notable antifungal activity against C. albicans. Monolayer polyurethane aligners generally achieved higher inhibition rates than multilayer or copolyester-based materials. These findings indicate that antimicrobial efficacy on aligners depends on both mouthwash type and material, supporting a tailored approach to biofilm management in clear aligner therapy to reduce the risk of caries, periodontal disease, and candidiasis. Full article

Companies face multi-criteria problems every day, such as prioritizing projects, investments, and suppliers. In this respect, the literature offers countless methods, some of which provide partial and flawed solutions. Therefore, identifying and replacing a flawed method with a more efficient one is fundamental. However, this replacement is not straightforward because each method has a different evaluation structure. More specifically, in this study, the Mapping method uses scoring evaluations, whereas the Analytic Hierarchy Process (AHP) uses pairwise comparisons. In other words, scoring evaluations are incompatible with pairwise comparison evaluations. This incompatibility prevents one method from being replaced by another without loss of information. This is a significant gap because the re-evaluation process is expensive, time-consuming, and may even be impossible if the experts are no longer available. This study presents a novel approach to automatically substitute prioritization methods without loss of information. The approach was applied to a real-world case involving forty-four Brazilian companies. The specific case shows the prioritization of four projects evaluated by scores, combined with three new projects evaluated by pairwise comparisons. The application of the approach offers specific and general contributions. For example, substituting prioritization methods without loss of information, such as the Mapping method with AHP. Flexibility in choosing the evaluation method that offers greater psychological comfort to the experts. Obtaining transitive pairwise comparison matrices independently of the number of new projects evaluated. Full article

This research presents a harmonized optimal preview control strategy for a semi-active suspension system (SASS) with a controlled damper varied between the upper and lower bounds of the damping coefficient and an active aerodynamic surface (AAS) control. The preview control algorithm is based on a simplified bilinear 2-DOF quarter-car model to address the tradeoff between passenger ride comfort and road holding capabilities. While the active suspension with the actuator requires a significant amount of energy to provide control force, the semi-active suspension system with a variable damping coefficient mechanism consumes minimal energy to adapt quickly to the real-time operating conditions. Moreover, the dynamic performance of semi-active suspension with the preview controller in conjunction with the active aerodynamic surface is significantly improved. MATLAB^® (R2025b)-based numerical simulations for different road excitations were carried out for the evaluation of the proposed system. Both time-domain and frequency-domain results demonstrate enhanced vehicle dynamic performances in response to road bumps, asphalt road excitations, and harmonic input signals. The simulation performance results indicate that the proposed system extraordinarily reduced the variation in the mean-squared value of the car body vertical acceleration. At the same time, the system enhanced the wheel-road holding metric by decreasing the variation in the gripping force on the ground surface, while maintaining the necessary suspension rattle space constraints within the prescribed limit. Full article

This article evaluates selected performance parameters of commercial upholstery textiles that impact on user comfort and safety. The study included four commercial multilayer textiles: RIBCORD bright, RIBCORD dark, OREO, and ILIAS, each with varying morphology (thickness, number of layers, porosity, and raw material composition). Statistical analysis of the textile microstructure was conducted using high-resolution micro-computed tomography (micro-CT). The performance parameters of the textiles were determined based on tests of air permeability, tensile strength, abrasion and pilling resistance, and flammability. The significantly different results obtained for all performance parameters of the tested textiles are justified by the results of the microstructure analysis. A clear correlation was observed between air permeability and the porosity of the inner layer of all tested textiles. Tensile strength tests revealed significant mechanical anisotropy in all textiles. Abrasion and pilling resistance tests demonstrated very good properties for RIBCORD bright, RIBCORD dark, and OREO. Flammability tests have shown that OREO is a flame-retardant textile material. Full article

Acute inflammatory visceral pain (AIVP) is a prevalent yet challenging clinical condition associated with inflammatory diseases, characterized by diffuse pain that often escalates into nausea, vomiting, and systemic autonomic disturbances. The absence of effective and patient-centered therapies remains a significant clinical challenge. While dexmedetomidine (Dex) has demonstrated promising analgesic effects, its conventional intravenous administration involves slow infusion, heightening risks of infection and compromising patient comfort and compliance. Here, we present a breakthrough strategy using a hyaluronic acid (HA) hydrogel and microneedle-based transdermal system for Dex delivery to enhance clinical practicality. We successfully fabricated Dex-loaded HA hydrogel microneedles (MN/Dex), enabling efficient skin penetration and controlled drug release. Comprehensive biosafety evaluations, including skin irritation, cytotoxicity, and hemolysis assays, confirmed the excellent biocompatibility of the HA hydrogel microneedle system (HA-MN). In the acetic-acid-induced AIVP model, MN/Dex not only produced significant and sustained reduction in visceral and somatic hyperalgesia but also maintained normal physiological activity, avoiding sedation burden, preserving feeding behavior, and supporting natural mobility. MN/Dex offers a minimally invasive, easy-to-administer, and well-tolerated alternative to intravenous therapy, with the potential to transform outpatient management and improve quality of life for patients suffering from AIVP. This advanced delivery platform bridges a critical translational gap in pain management, combining efficacy with outstanding clinical adaptability. Full article

Digital Twins (DTs) are transforming construction and energy management sectors by integrating 3D surveying, monitoring, Building Performance Simulation (BPS), and Building Energy Simulation (BES) from the earliest design or retrofit stages. Moreover, dynamic thermal simulations further support energy performance assessments by modeling indoor conditions to meet comfort and efficiency targets. However, their reliability depends on accurate, standards-compliant 3D building models, which are costly to create. This research introduces a complete framework for automatically generating energy-focused Digital Twins (EDTs) directly from unstructured point clouds. Combining Deep Learning-based instance detection, Scan-to-BIM techniques, and computational geometry, the method produces simulation-ready models without manual intervention. The resulting EDTs streamline early-stage performance evaluation, enable scenario testing, and enhance decision making for energy-efficient retrofits, advancing smart-building design through predictive simulation. Full article

Within the scope of this article is the presentation of a modelling and measurement approach for the effects of roof greenings and the application of the approach to evaluate the influence of roof greenings upon the thermal conditions inside a typical residential building. It is shown that overheating in summer can be reduced, and thermal comfort for inhabitants can be increased. The cooling is caused by the transpiration of plants and by the evaporation of water from the substrate. Other relevant physical effects are the shading of plants and the increase in the heat capacity of the building. In state-of-the-art buildings, a layer with a high insulating effect is incorporated into the envelope. This leads to the effect that a huge fraction of the cooling power is taken from the outside of the building and only a smaller part is taken from the inside. In order to mitigate this decoupling, a hydraulic connection between the greening and the interior of the building is introduced. To evaluate the effect of the inside cooling, the difference in the number of yearly hours with overheating in residential buildings is estimated. In addition, the reduction in energy demand for the climatisation of a typical residential building is calculated. The used methods are as follows: (1) Performance of laboratory and free field measurements. (2) Simulation of a typical residential building, using a validated approach. In summary, it can be said that green roofs, in particular with hydraulic connections, can significantly increase the interior thermal comfort and potentially reduce the energy required for air conditioning. Full article

Background/Objectives: Edentulism is a prevalent chronic condition among older adults, and conventional complete dentures remain the standard of care. However, their fabrication often involves multiple clinical sessions and operator-dependent steps that may compromise fit and comfort. Digital workflows using CAD/CAM technologies have emerged as viable alternatives, offering improved efficiency, precision, and patient-centered outcomes. This case report aims to present a fully digital workflow for maxillary complete dentures and describe clinical efficiency and patient-reported outcomes. Case Presentation: A 73-year-old edentulous male patient underwent maxillary rehabilitation using a fully digital workflow. The protocol included intraoral scanning; the design and 3D printing of a custom tray with occlusal rims; border-molded functional impressions; virtual articulation; and CAD/CAM fabrication. A digitally designed Try-In denture was 3D printed for clinical evaluation, followed by adjustments. The definitive prosthesis was milled from high-performance PMMA discs using a five-axis milling machine. The workflow reduced the number of appointments and laboratory steps. At six-month follow-up, the patient reported high satisfaction with esthetics, retention, phonetics, and masticatory performance. No significant post-delivery adjustments were required. Conclusions: This case demonstrates that fully digital workflows for maxillary complete dentures are clinically viable, providing excellent precision, patient satisfaction, and time efficiency compared to conventional methods. The reproducible protocol described may support the broader integration of CAD/CAM technologies in edentulous rehabilitation. Full article

This study investigates the thermal resilience of naturally ventilated Lebanese residential buildings in the context of future climates, based on four climate zones: coastal (moderate and humid), low mountain (cool and seasonally variable), inland plateau (semi-arid with high summer heat), and high mountain (cold, with significant winter conditions). The aim of the study is to evaluate how passive envelope interventions can enhance indoor thermal resilience under five present and future work scenarios: TMY, SSP1-2.6 (2050 and 2080), and SSP5-8.5 (2050 and 2080). A baseline model was developed for typical building stock in each climate using EnergyPlus-23.2.0. The passive design parameters of window type, shading depth, and building orientation were systematically altered to analyze their effect on thermal comfort and building thermal resilience. Unlike previous studies that assessed either individual passive strategies or a single climate condition, this research combines multi-objective optimizations with overheating resilience metrics, by optimizing passive interventions using the GenOpt-3.1.0 and BESOS (Python-3.7.3 packages to minimize indoor overheating degree (IOD) and maximize climate change overheating resistivity (CCOR) index. Our findings indicate that optimized passive interventions, such as deep shading (0.6–1.0 m), low-e or bronze glazing, and southern orientations, can reduce overheating in all climate zones, reflecting a substantial improvement in thermal resilience. The novelty of this work lies in combining passive envelope optimization with future climate situations and a long-term overheating resilience index (CCOR) in the Mediterranean region. The results provide actionable suggestions for enhancing buildings’ resilience to climate change in Lebanon, thus informing sustainable design practice within the Eastern Mediterranean climate. Full article

Most long-term mobile EEG monitoring systems require professional application of the electrodes, which makes them inconvenient for everyday use. Additionally, many materials that facilitate EEG application, such as dry electrodes, may cause discomfort when worn for longer periods of time. To address these problems, we designed flex-printed EEG electrode grids (trEEGrid) and evaluated signal quality based on two pre-applied conductive materials. Self-applicable trEEGrid patches with a conductive solid hydrogel and a novel silicone-based dry material were used in a day-long (5–6 h) recording session, which included a 4 h continuous recording of impedance levels, as well as two auditory task recordings in the morning and afternoon. The signal-to-noise ratio (SNR) of the auditory evoked potentials (AEPs), AEP morphology, and impedance levels of the conductive materials were compared to evaluate overall signal quality, and further comparisons took place between the morning and afternoon sessions to evaluate signal deterioration over time. Comparable impedance values were observed for both silicone and hydrogel materials, but the silicone material exhibited a higher outlier rate, with impedance values over 200 kΩ. Over time, the impedance values increased for the silicone material and decreased for the hydrogel material. The morphology of the AEP was reproduced comparably well with both materials, with reasonable SNRs in both the morning and the afternoon. In conclusion, when combined with flex-printed electrode grids, silicone and hydrogel materials make it feasible to collect high-quality long-term EEG signals with high wearing comfort. Full article

This study evaluates indoor thermal comfort and the energy performance of HVAC control strategies in the Congo Zone of a zoological facility located in Poland. The main objective in this zone is to maintain adequate relative humidity, which is more critical for plants and animals than the indoor air temperature range. Long-term measurements were carried out to determine the variation of air system heat transfer as a function of outdoor air temperature. To determine the energy demand for heating, cooling, and air transport, eight control algorithms were analysed, each differing in a single detail but potentially affecting overall energy use and thermal comfort. The algorithms combined the following features: maintaining a constant supply or indoor air temperature; operating with a constant or modulated recirculation damper position; maintaining a constant or variable airflow (CAV or VAV); operating within the normal setpoint range or with an extended range of 1 °C; controlling temperature only or both temperature and humidity; and utilising or not utilising free cooling. The control algorithm operating in the facility maintained indoor humidity within acceptable limits for 98% of the year but failed to meet temperature requirements for 28% of the time. Refined strategies achieved energy savings of up to 74% in fan power and 80% in cooling demand, though often at the cost of reduced humidity control. Full article

Removing orthodontic brackets often presents clinical challenges, as it may cause patient discomfort, bracket fracture, or enamel damage resulting from strong adhesive bonds. Various techniques have been proposed to facilitate safer and more efficient debonding. Among them, laser-assisted methods have gained attention for their potential to minimize mechanical stress and improve patient comfort. The main objective of this study was to evaluate the effect of an erbium-doped yttrium–aluminum–garnet (Er:YAG) laser as an alternative to traditional mechanical methods for removing metal and ceramic orthodontic brackets. Materials and Methods: Thirty-six extracted premolars were prepared for bonding metal or ceramic brackets using a light-cure adhesive system. The control group consisted of six ceramic and six metal brackets removed with conventional orthodontic pliers. In the experimental groups, brackets were debonded using the Er:YAG laser (2940 nm, 0.6 mm spot size, 150 mJ; 15 Hz; (2.25 W) with an H14 handpiece. Irradiation time was recorded for each method, and teeth were rescanned to measure the surface area and volume of the crowns before and after bracket removal. Data were analyzed using one-way ANOVA and Tukey’s HSD test (p < 0.05). Scanning electron microscopy (SEM) was used for surface analysis. Results: A significant difference in debonding time (p = 0.001) was observed between the laser and traditional methods. The laser group took 52.5 s for metal and 56.25 s for ceramic brackets, compared to 1.05 s (metal) and 0.64 s (ceramic) in the traditional group. A significant difference in remaining cement volume was noted (p = 0.0002), but no differences were found between metal and ceramic brackets with laser removal. Conclusions: Er:YAG laser-assisted debonding is safe and minimally invasive but more time-consuming and costly than conventional methods, showing no improvement in clinical efficiency under current parameters. Full article

Introduction: Individuals residing in long-term care facilities (LTCFs) often experience poor sleep quality. Emerging sensor technologies may improve resident sleep quality and reduce staff workload. This evaluation assessed the impact of a bed sensor technology on LTCF staff experiences and resident outcomes. Methods: A mixed-methods evaluation examined the impact of a pilot implementation of Toch Sleepsense, a non-wearable sensor placed under residents’ beds, which monitors sleep patterns, movement, and vital signs. Data were gathered from staff surveys, interviews, and focus groups from three LTCFs in Western Canada. Descriptive statistics of survey data and thematic analysis of qualitative survey responses and focus groups were used to identify themes in staff experiences with Toch Sleepsense. Results: Staff valued the utility of Toch Sleepsense in providing alerts that support timely interventions and fall prevention. Staff further recognized the value of sensor devices in decreasing repetitive nighttime checks and providing vital sign monitoring. Toch Sleepsense data informed care planning and improved resident comfort. Inconsistent internet connectivity, sensor realignments, and limited training posed challenges to reliability. Conclusions: Sensor technologies like Toch Sleepsense show potential to improve safety, support staff workload management, and improve care practices. Sustained benefits require reliable technical infrastructure, comprehensive staff training, and strong leadership support. Full article

Background: Class II malocclusion is one of the most prevalent dentoskeletal disorders, usually caused by mandibular retrusion. The Invisalign^® Mandibular Advancement System is an aesthetic, comfortable alternative to conventional braces for growing patients allowing mandibular projection and dental alignment. This retrospective study assessed the effectiveness of the Invisalign^® Mandibular Advancement (MA) System in growing patients with mandibular retrognathia. Methods: At treatment onset, seventeen patients were divided into the following two groups according to the aligner system used and cervical vertebral maturation stage: the Invisalign^® First group (CVM2), and the Invisalign^® Teen group (CVM3, some transitioning to CVM4), all treated with the Comprehensive Package. Treatment efficacy was evaluated through cephalometric analysis, occlusal classification, and three-dimensional tooth movement assessment. Cephalometric evaluations were performed pre-(T0) and post-treatment (TF). In addition, a clinical follow-up during the retention period was conducted to assess post-treatment stability. Results: Significant dentoalveolar and skeletal changes were observed in both groups. The Teen group showed greater mesial movement of the lower molars (3.57 ± 1.26 mm) compared to the First group (1.34 ± 0.48 mm; p < 0.001). Conversely, the First group showed greater distal movement of the upper molars (2.24 ± 0.64 mm) compared to the Teen group (1.35 ± 0.69 mm; p = 0.002). The PAR index showed significant reductions in both groups (p < 0.001), and although the Teen group achieved greater improvements, the First group demonstrated a clinically relevant reduction (23.60 vs. 19.43 points), despite two severe cases that did not achieve full Class II correction. Conclusions: Both the Invisalign^® First and Comprehensive Package for teens systems improved occlusion and skeletal patterns. These findings support the MA System as an effective option for correcting Class II malocclusion during growth. Full article