Search Results (2,602)

High-definition (HD) maps are essential for safe and reliable autonomous driving, but their growing size and the need for real-time updates pose significant challenges for in-vehicle storage and communication efficiency. This study proposes a lightweight and scalable HD map provisioning system based on Geohash spatial indexing and Smart Roadside Units (Smart RSUs). The system divides HD map data into Geohash-based spatial blocks and enables vehicles to request only the map segments corresponding to their current location, reducing storage burden and communication load. To validate the system’s effectiveness, we constructed a simulation environment where multiple vehicle clients simultaneously request map data from a Smart RSU. Experimental results showed that the proposed Geohash-based approach achieved an average response time (RTT) of 1244.82 ms—approximately 296.3% faster than the conventional GPS-based spatial query method—and improved database query performance by 1072.6%. Additionally, we demonstrate the system’s scalability by adjusting Geohash levels according to road density, using finer blocks in urban areas and coarser blocks in rural areas. The hierarchical nature of Geohash also enables consistent integration of blocks with different resolutions. These results confirm that the proposed method provides an efficient and real-time HD map delivery framework suitable for dynamic and dense traffic environments. Full article

In Mexico, an emerging tropical nation, where cities have insufficient vegetation cover and there is little information about their provision of ecosystem services; the study of urban vegetation, as a mitigation strategy, is required. The sidewalk trees in the city of Arriaga (CAR), considered one of the warmest cities in the Mexican southeast, were counted, measured, and assessed for their effect on surface and air temperatures. There are 6239 sidewalk trees, distributed in 11 families and 13 species; 136 trees were sampled concentrating 77% in three species: Neem, Country almond and Benjamina fig. Therefore, a low H’ (1.73 nats) was obtained. The mitigating effect of tree shade on surface temperature went from 7 °C to 23 °C, depending on the day and hour, while there was not a significant refreshing effect of air temperature because the height of sidewalk trees is controlled with severe pruning to prevent damage to public wiring, causing a similar-sized stratum that traps air under the tree canopy. Consequently, an integral solution that includes, but is not limited to, urban trees is required without leaving aside increasing tree diversity, health, and equitable distribution of trees at CAR. Full article

(1) Background: Medical education is moving from a cognition-based to a competency-based model in Germany. Traditional learning activities (LAs) are questioned. Some stakeholders criticise traditional LAs for not facilitating deep learning or operational competency transfer required in practical contexts. This qualitative study aims to take a closer look at the role of lectures in competency-based medical education from a student’s point of view. (2) Methods: Three semi-structured group interviews were held with students from the family medicine curriculum in the summer semester of 2021. Questions focused on the three lectures in this family medicine curriculum and on students’ experiences with lectures in general. One additional expert interview was held with one of the lecturers. The video-recorded interviews were transcribed verbatim and analysed using content analysis. (3) Results: Interview participants highlighted entertainment, the provision of a social and physical learning environment, and the completion of knowledge from books and educational websites as important roles of lectures. Lectures on demand were used by interviewees for time- and space-independent repetition. Lecturer-dependent qualitative differences between lectures were identified by interviewees. Important differences were the extent of interaction, as well as the enthusiasm and preparation of the lecturer. (4) Conclusions: Even though literature suggests that lectures may be a less effective learning activity, under certain circumstances, several aspects make them an essential element of modern curriculum development. By raising interest in a subject, providing a space for discussion and social interaction, interactive lectures appear to be a helpful link between knowledge acquisition and practical training of competencies. Full article

This paper presents a comprehensive study of an ESP32 microcontroller-based self-balancing mobile robot system designed in conjunction with an Android app for Bluetooth control. The robot employs an MPU6050 accelerometer/gyroscope to execute dynamic equilibrium control for robotic balance. This study explores the design of a system composed of an ESP32-based dual-platform architecture. The firmware for the ESP32 executes real-time motor control and sensor processing, while the Android application provides the user interface, data visualization, and command transmission. The system achieves stable operation with tilt angle variations of ±2.5° ($\sigma =0.8°$, n = 50 trials) during normal operation with a PID controller tuned to KP = 6.0, KI = 0.1, and KD = 1.5. In experimental tests, control latency was measured at 38–72 ms (mean = 55 ms, $\sigma =12$ ms) over distances of 1–10 m with a robust Bluetooth connection. Extended operational tests indicated the reliability of both autonomous obstacle avoidance mode and manual control exceeding 95%. Key contributions include gyro drift compensation using a progressive calibration scheme, intelligent battery management for operational efficiency, and a dual-mode control interface to facilitate seamless transition between manual and autonomous operation. Processing of real-time telemetry on the Android application allows visualization of important parameters like tilt angle, motor speeds, and sensor readings. This work contributes to a cost-effective mobile robotics platform (total cost: USD 127) through the provision of detailed design specifications, implementation strategies, and performance characteristics. Full article

Background/objectives: Dementia is the most common cause for long-term care placement for people over the age of 65 years. The decision and the transition are often very difficult for families and the type and timing of effective support not well understood. In this exploratory study, we aimed to gain a better understanding of the experience of this transition to a long-term care setting and its impact on social connections. Methods: We conducted virtual in-depth interviews with a sample of spouses (N = 5) who had identified their partner’s move to a nursing home as particularly distressing. Interview data were analyzed using thematic analysis. Results: We identified that the transition process involved a particular disruption for dyads’ social health, although there was rarely a consideration in planning or support provision. For the person living with dementia, the unacknowledged loss of their social world reinforced their social death. Their grieving partner was explicitly and implicitly encouraged to recover a new social world as a means of healing from the loss. Conclusions: Our findings reinforce the need for evidence-informed support during the transition to long-term care for someone living with dementia and their partner. Full article

Half of all Canadians will develop cancer at some point in their lifetimes. These rates have increased substantially over the last decade alongside increasing effectiveness and complexity of treatment options. Therefore, the need for patients to receive both an early diagnosis and ongoing care has never been so important. In Alberta, referrals to oncology specialty care have increased 18% in the last 7 years with no commensurate increase in the number of oncology health care professionals. Challenges with oncologic care access and provider recruitment are not unique to Alberta. In 2004, Cancer Care Alberta, specifically the Cross Cancer Institute (CCI), embarked on an initiative focusing on nurse practitioner (NP) care provision, aiming to address these gaps. The purpose of this article is a description of four distinct NP care models: the Assigned model, Consultative model, Partner model, and Most Responsible Provider (MRP model) significantly contributing to enhanced and expanded cancer care delivery at CCI. To the best of our knowledge, we are the first to demonstrate how NPs can significantly address the rapidly expanding demands for specialist oncology care. This work highlights roles and exemplars of NP care to meet the evolving needs of cancer patients, the multidisciplinary care team and the health system. Full article

In light of mounting concerns regarding community safety, this study undertakes a comprehensive examination of the role of convenience stores in Taiwan as pivotal conduits for social safety. Through a meticulous analysis of the extant literature and informal conversational interview conducted in both urban and rural settings, this study elucidates the manner in which these commercial establishments have assumed a pivotal role in enhancing the social safety net within local communities. The findings of this study demonstrate that convenience stores have been instrumental in providing frontline assistance during emergencies and natural disasters, thereby fostering a sense of community cohesion through their provision of essential day-to-day services. Moreover, this study underscores the manner in which the inherent characteristics of convenience stores contribute to the sustainability of communities. For instance, the promotion of environmental practices and the reduction of travel-related carbon emissions enhance not only the resilience of communities but also of local spaces. Moreover, the employment strategy of having convenience stores in local areas has a beneficial effect on the local economy and local employment levels. Convenience stores provide employment opportunities close to home, which in turn enhances residents’ safety and economic stability. These findings suggest that convenience stores have untapped potential for community safety and development. The contribution of this study is to highlight the multiple roles of convenience stores through empirical research and to provide a reference for policymakers to better integrate the positive characteristics of retail networks into the social security system. Full article

Sharing bottleneck bandwidth among TCP flows with diverse round-trip times (RTTs) remains a persistent challenge. This study investigates RTT unfairness and evaluates the behavior of two widely deployed congestion control algorithms, TCP Cubic and TCP BBR, under a variety of scenarios. The main objective is to better understand the underlying causes of RTT-based throughput disparity and to identify network configurations that promote fair bandwidth sharing. Using the Mininet emulation platform, extensive experiments were conducted to examine the effects of buffer size, sender distribution, and delay asymmetry on transmission performance metrics. The results show that while TCP BBR achieves high utilization with minimal buffering, its fairness depends on the interaction between RTT and buffer size. On the other hand, TCP Cubic achieves better fairness when moderate buffer sizes are provisioned and bandwidth imbalance is driven mostly by RTT ratio. These findings suggest that careful buffer sizing can reduce RTT unfairness and highlight the broader impact of queuing strategies on network performance. Full article

With the continuous increase in renewable energy penetration, traditional frequency regulation strategies in power grids struggle to maintain frequency stability under high renewable-share conditions. To address the shortcomings of the current deadband settings in regional grid frequency regulation, this paper proposes an optimized deadband-configuration scheme for renewable energy power plants and evaluates its effectiveness in enhancing the frequency regulation potential of renewable units. By developing frequency response models for thermal power, wind power, photovoltaic generation, and energy storage, the impact of different deadband widths on dynamic frequency response and steady-state deviation is analyzed. Three representative output scenarios for renewable units are constructed, and under each scenario the coordinated control performance of the proposed and the existing deadband configurations is compared. Simulation studies are then conducted based on a typical high renewable penetration scenario. The results show that, compared with the existing regional-grid deadband settings, the proposed configuration more fully exploits the regulation potential of renewable units, improves overall frequency-response capability, significantly reduces frequency deviations, and shortens recovery time. This research provides both theoretical foundations and practical guidance for frequency-support provision by renewable energy power plants under high penetration conditions. Full article

Developing effective forest management plans to address the threats posed by global climate change has garnered widespread attention worldwide. A prerequisite for successful adaptation is the ability to forecast and understand how climatic changes affect the provision of ecosystem services. Although notable progress has been made in adapting forest systems to climate change, sustaining multiple forest ecosystem services remains a major challenge for forest management. It is, therefore, imperative to develop feasible approaches that not only enhance the adaptive capacity of forests but also optimize the delivery of ecosystem services. In this review, we first synthesize current knowledge on forest ecosystem responses and adaptive mechanisms under changing climatic conditions. We then examine existing forest management strategies and propose a conceptual framework for adaptive forest management that explicitly integrates ecosystem service objectives within the context of climate change. Finally, we highlight key research gaps and suggest priorities for future studies. We strongly advocate that future forest management planning should take the enhancement of multiple ecosystem services as a central objective under evolving climate conditions. The framework proposed in this study offers a novel perspective on adaptive forest management and provides a potential pathway for strengthening human capacity to manage ecosystems sustainably. Full article

Background: Telepharmacy, the provision of patient care services by pharmacists through the use of telecommunications technology, is associated with improved diabetes-related outcomes and access to healthcare. The primary aim of this study was to characterize pharmacists’ interventions at a virtual pharmacist-led diabetes clinic (PLDC). The secondary aim was to assess the feasibility of conducting a future cost-effectiveness study of the PLDCs. Methods: This prospective observational feasibility study was conducted within a pharmacist-led clinic at Seha Virtual Hospital, Riyadh, Saudi Arabia. Two intern pharmacists collected data between 31 July 2024 and 31 January 2025. Results: Seventy-five patients (mean [SD] age 50.47 years [14.95]) attended the clinic. The majority were female (58.7%), had type 2 diabetes (86.6%), and were from outside Riyadh (97.3%). The communication with patients was carried out mainly via telephone (73, 97.3%). The mean consultation duration was 7.64 min (SD = 5.68). A total of 179 interventions were conducted, with a mean number of interventions per patient of 2.5 (median 3, min 0, max 5). The most common intervention was patient education and counseling about their disease and medications. While it was feasible to capture the details of pharmacist interventions and resource use data, incomplete data on patient outcomes presented a challenge. Conclusions: Our detailed documentation of pharmacist–patient encounters revealed the ability of pharmacists to identify and manage the problems of diabetes patients at virtual PLDCs. Our feasibility study identified a few challenges that need to be addressed when designing future cost-effectiveness studies. Full article

The aim of this work is to determine the production function using the method of complex-valued economics as a criterion for the management of the centralized heat supply of a city. This paper used the methodology of using stepped production functions of complex variables with real coefficients as a tool to perform dynamic analysis and forecasting of production results, allowing the performance of Manufacturing Execution System tasks of the heat supply system to be tracked. Based on this, a justified selection of a management criterion was made, objectively reflecting both the passive and active components of the administrative and economic activities of the heat supply enterprise. A comparative analysis of production functions was conducted to identify a predictive model for resource provision in the process of heat energy generation. A predictive model of resource provision was developed based on the capital/labor ratio of the enterprise, using a production function with complex variables. In other words, determining the production function allows the analysis of both the quantity and quality of resources used to produce 1 Gcal of energy, as well as the forecast of resource procurement to ensure a reliable and cost-effective heat supply. Full article

The challenge for healthcare policy makers, managers and practitioners is finding ways to effectively collaborate with patients and community to plan, deliver and evaluate services. The study examined how managers engage the community with the strategic redesign of health services. The study focused on four large scale redevelopment projects, valued at A$2.8B, occurring within a health district in New South Wales, Australia. The study employed a multiple qualitative methods design comprising semi-structured interviews and focus groups. Participants were professionals (n = 24) involved in the strategic planning of health facility redevelopment. Thematic analysis was used to identify, analyse and report findings. Three issues emerged as significant factors influencing engagement, including the following: establishing a new mindset to service planning and delivery; future proofing service delivery; and management of stakeholder expectations. The unique contribution of the research is the identification of three interwoven strategies with 30 actions proposed to assess, understand and respond to external factors: 1. Foster an environment that allows for flexible and adaptable thinking and discussion; 2. Develop systems, structures and processes that facilitate engagement; 3. Encourage systems thinking for effective continuous service provision and redevelopment. Large scale redevelopment projects provide a platform for the strategic redesign of health services. When doing so, engaging the community with strategic planning, implementation and evaluation of healthcare services can lead to improved care outcomes. Full article

Wildlife rescue centres face considerable challenges in promoting animal welfare and enhancing the care and housing conditions of animals under professional supervision. These challenges are further compounded by the diversity of species admitted, each with distinct specific needs. In Colombia and other Latin American countries, primates are among the most frequently rescued and behaviourally complex mammalian taxa, requiring particular attention. In response, this study aimed to assess the content validity of proposed animal welfare indicators for Cebus albifrons through a Delphi consultation process and to develop two species-specific assessment protocols: a daily-use tool for keepers and a comprehensive protocol for professional audits. A panel of 23 experts in primate care and rehabilitation participated in two consultation rounds to evaluate and prioritise the indicators based on their content validity, perceived reliability, and practicality. Indicators were classified as either animal-based (direct measures) or resource- and management-based (indirect measures). After each round, experts received summarised feedback to refine their responses and facilitate consensus building. Of the 39 initially proposed indicators, 28 were validated for inclusion in the extended protocol and 10 selected for the daily-use checklist. Among these, 20 indicators in the extended protocol and 6 in the daily protocol were resource- or management-based—such as adequate food provision, physical enrichment, and habitat dimensions—highlighting their practical applicability and relevance in identifying welfare issues and risk factors. Although these indirect indicators were more numerous, the top-ranked indicators in both protocols were animal-based, including signs of pain, affiliative behaviours, and abnormal repetitive behaviours. These are essential for accurately reflecting the animals’ welfare state and are therefore critical components of welfare assessment in captive non-human primates. This study demonstrates that welfare assessment tools can be effectively tailored to the specific needs of wildlife rescue centres, providing a robust foundation for enhancing welfare practices. These protocols not only offer practical approaches for assessing welfare but also underscore the importance of embedding animal welfare as a priority alongside conservation efforts. Future research should aim to refine these tools further, assess their implementation, and evaluate inter- and intra-observer reliability to ensure consistency across different settings. Full article

Non-urbanized areas (NUAs), including residual urban green areas, urban parks, agricultural, natural and semi-natural areas, are a fundamental part of the green infrastructure. They are essential in sustaining life and future development, providing a series of ecosystem services (ESs) vital to human society. However, the rapid expansion of urban areas has led to a significant reduction in green spaces. Land-take, reducing available land resources, impacts ecosystem functionality, making it crucial to preserve high-quality territories and the relative ESs provided. In this context, the aim of this study was to evaluate the reduction in ESs due to the land-take having occurred in the last 20 years in the Province of Monza–Brianza, the Italian province with the highest land-take. To achieve this goal, authors used the official data of land use/cover of the Lombardy Region, with three time thresholds (T0: 1999–2003, T1: 2012–2013, T2: 2021) and applied a methodology for ESs assessment originally developed for the municipal level, adapting it to the provincial scale. The study analyzes trends in land-take and land-use changes and assesses how these changes have led to variations in ES provision. The approach involves calculating multiple indices reflecting different ESs provided by NUAs: provisioning ESs coming from agriculture, regulating ESs provided by natural resources, cultural ESs provided by landscape. Findings reveal that urban expansion has decreased provisioning ESs coming from agriculture, while ESs provided by landscape and natural resources have remained stable or improved, respectively. The natural quality index has improved due to conservation policies, despite the high land-take recorded. Anyway, although regional policies have mitigated some negative effects, the overall reduction in green spaces remains a critical issue. Full article