bluuebunny/crossref_metadata_2025 huggingface dataset:
Sustainable Fish Production in Africa
Authors:   University of Lagos, Ayoola Simeon
Published: April 2024

Fish farming is today considered an important source of production for meeting world’s increasing demand for protein. Fish is an important source of good quality protein required in human diet. It has the highest level of easily metabolisable high quality protein, fats, vitamins, calcium, iron and essential amino acids when compared with other sources of animal protein such as poultry and beef. Fish consumption is highly relished among people of all classes and ages in that the fish is less tough and more digestible when compared to beef, mutton chicken and bush meat. This is due to the greater ratio of muscle protein to connective tissue protein in relation to other animals. Fish possesses excellent amino acid balance with high digestibility percentage of about 87 – 98% compared to 87 – 90% recorded for beef and poultry. In addition, fish is very important to the developing world population as it is the major source of cheap high quality animal proteins which are very vital for healthy development. Fish production is relatively inexpensive when compared with other sources of animal protein such as cattle, pig and poultry. In view of the facts that most of the health related problems in developing world such as abnormal development, reduction in human productivity, high incidence of infant mortality, malnutrition and diseases have been attributed to low intake of good quality animal protein, this has made production of fish very imperative to the good health of the nations in the developing world. Fish farming has a lot of potentials to sustainable development. Fish as a source of rich food for the poor can play a crucial role in improving the food security and nutritional status of the millions of the people in Africa and other developing part of the world. The present low level of fish production in Africa can be increased sustainatially by adapting a technological shift from extensive to intensive system of production as is the trend in developed countries.
Targeting in the Russian-Ukrainian War: The Crossroads of Legal and Technical Aspects
Authors: Goździewicz Wiesław
Published: April 2024

Article 82 of Additional Protocol I to the Geneva Conventions requires competent legal advisors to be available, when necessary, to advise military commanders at the appropriate level on the application of International Humanitarian Law (IHL). One of the most important fields of IHL application which requires legal advice is attacks on the enemy, which need to follow the principles of military necessity, humanity, distinction, and proportionality, and are also affected by the requirement to undertake all feasible precautions in order to avoid or at least minimise incidental harm to civilians (collateral damage). One of the ways to ensure that attacks on enemy remain compliant with the requirements of IHL is by adopting appropriate targeting procedures and tools facilitating avoidance or minimising collateral damage, such as the Collateral Damage Estimation Methodology (CDEM). Media coverage of the Russian-Ukrainian war has contributed significantly to the misperception of IHL provisions applicable to targeting. During the war in Ukraine, political declarations were made several times that a war crime had occurred in the form of a deliberate attack on the civilian object. However, the legality of a particular strike can rarely be judged based upon the results of the strike or via post-strike Battle Damage Assessment (BDA). The so-called Rendulic rule emphasises that military necessity, proportionality, and precautions are judged a priori, based upon by the information available at the time of the decision (circumstances ruling at the time) and not on the basis of information emerging after the decision had been made. Legal Advirsors’ role in the targeting process requires them to possess at least the basic knowledge of the Targeting Process and the CDEM, general military expertise in the fields of Tactics, Techniques and Procedures (TTPs), as well as effects of the employment of particular weapon systems in given circumstances. This should be supported by thorough knowledge of IHL, in particular the practical aspects of its application in military operations. It should be about the intersection of legal and technical expertise.
Land Warfare During the Russian-Ukrainian War and International Humanitarian Law
Authors: Kaźmierczak Krzysztof
Published: April 2024

The Russo-Ukrainian War is one of the largest – and probably the most intensive – conflicts of the last several decades. Fought between large, regular, and well-equipped forces of two sides, it naturally provides an extremely wide scope of materials for analysis as to the functioning of ius in bello.
At the current stage, however, the evidence is often piecemeal and unclear, particularly taking into consideration the lack of access to documents and to Russian materials. While there is a significant body of evidence to indicate serious violations of humanitarian law, including indiscriminate or deliberate attacks on civilian targets, a detailed analysis requires taking into consideration a broader scope of circumstances which at this point are unclear. One of areas where we have strong evidence, if based on a sample, is the issue of the treatment of the prisoners of war. In general, the initial information seems to indicate widespread and systematic violations of humanitarian law during the conflict.
Starlink’s Provision of Telecommunication Services During the Time of Armed Conflict and Its Consequences from the Perspective of Public International Law
Authors: Gerałt Bartłomiej
Published: April 2024

This article attempts to provide an overview of the most important international regulations relating to the provision of telecommunication services by private companies to one or more belligerent parties in times of an armed conflict. Taking as an example the recently widely commented issue of Starlink allegedly withholding its services otherwise provided to the Ukrainian Armed Forces, this article reviews the issue from the perspective of general public international law as well as international space law. Specifically, the customs and regulations concerning the attributability of private parties actions as well as peaceful utilisation of outer space are scrutinised.
Beckett. Przewodnik
Authors: Gontarski Stanley E. , Lachman Michał
Published: April 2024

Beckett. Przewodnik Stanleya Gontarskiego to pozycja krytyczna stanowiąca wyczerpujące i dogłębne wprowadzenie do twórczości dramatycznej i teatralnej Samuela Becketta. Książka podzielona została na część poświęconą większym i bardziej rozpoznawalnym dramatom (Eleutheria, Czekając na Godota, Końcówka, Ostatnia taśma i Szczęśliwe dni) oraz na część omawiającą mniejsze i krótsze dzieła dramatyczne. Analizy Gontarskiego uzupełniają również wyjątkowo dokładnie przygotowane rozdziały dotyczące reżyserskich dokonań Becketta oraz związków jego twórczości z filmem. Opracowanie to otwiera kalendarium najważniejszych dat z życia Irlandczyka, co czyni z tej pozycji wyczerpujące wprowadzenie do pisarstwa i myśli autora Czekając na Godota. Ponadto Gontarski umiejętnie wykorzystuje rozległe dostępne archiwa Becketta, a także korzysta z jego manuskryptów, których opis doskonale uzupełnia omówienia poszczególnych dzieł i pogłębia ich rozumienie. Jako całość Beckett. Przewodnik oferuje dogłębne analizy najważniejszych tematów Beckettowskiej twórczości, ukazując ją w całej złożoności problemów, które dodatkowo łączą się z niesłychanie bogatą tradycją literatury i kultury europejskiej.
ANALISIS FAKTOR ANTESEDEN NIAT BELI KONSUMEN MEREK SKINCARE
Authors: Lukiman Jessica Imanuela , Magdalena Nonie
Published: April 2024

This research seeks to examine the factors that contribute to consumer purchase intentions for skin care products. An investigation into forms of communication media, namely advertising and celebrity endorsements, which can increase brand awareness and ultimately impact purchase intentions was carried out. The questionnaire was distributed online in the form of a Google Form using a purposive sampling method. A total of 150 data were collected from respondents who were aware of celebrity advertisements supporting skin care products through multiple regression analysis. The research results show that there is a direct influence of advertising, celebrity endorsement, and brand awareness on consumer purchasing intentions, as well as an indirect influence, where brand awareness plays a role in mediating advertising and celebrity endorsement on consumer purchasing intentions. Companies can benefit from this research by formulating marketing communications tactics to increase their consumers' brand awareness, thereby driving increased consumer purchase intentions and gaining a competitive advantage over their competitors.
PENGARUH CELEBRITY ENDORSER, KUALITAS PRODUK, DAN WORD OF MOUTH TERHADAP KEPUTUSAN PEMBELIAN PRODUK BODY LOTION SCARLETT WHITENING
Authors: Damayanti Alvina , Inayati Titik
Published: April 2024

In the beauty industry, facial and body care is a major need for women to have an attractive and special appearance. This research aimed to 1) test and analyze the influence of celebrity endorsers on purchasing decisions for Scarlett Whitening body lotion products; 2) test and analyze the influence of product quality on purchasing decisions for Scarlett Whitening body lotion products; and 3) test and analyze the influence of word of mouth on purchasing decisions Scarlett Whitening body lotion product. The population in this study were 299 students from the Faculty of Economics and Business from the Management Study Program at Wijaya Kusuma University, Surabaya. The sampling technique used a non-probability sampling method with purposive sampling. The sample determined was 171 respondents with criteria: 1) respondents have seen  advertisements for Scarlett Whitening body lotion products, and 2) respondents have repurchased Scarlett Whitening body lotion products at least 2 times. Data was collected by distributing questionnaires and analyzed using the normality test, coefficient of determination test, multiple linear regression analysis, T test. SPSS version 20 for Windows was then operated as analysis tools. The research results show that celebrity endorsers do not have a significant influence on purchasing decisions. Meanwhile product quality and word of mouth has a significant influence on purchasing decisions.
Studi Analisis Tingkat Pengeluaran Konsumsi Rumah Tangga di Kalimantan Barat: Implikasi terhadap Pertumbuhan Ekonomi Regional
Authors: Supriaman Supriaman , Mubaraq Abd.
Published: April 2024

The amount that households spend on consumption determines a region's economic growth rate. This study examines the connection between household consumption spending and economic expansion in West Kalimantan's districts and cities. Panel data regression is the analytical technique used to consider regional variances. The Central Statistics Agency (BPS) and other relevant organizations were among the data sources used in this study. The dependent variable is economic growth, and the independent variable is household consumption spending. The analysis's findings demonstrate that household consumption spending and economic growth in West Kalimantan Province's districts and cities are positively and significantly correlated. This clarifies why raising household consumption expenditures has advantages.
Reincidência da gravidez na adolescência em Fortaleza entre 2019 e 2021
Authors: Alves Aline Mota , Bruno Zenilda Vieira , Gomes Ana Caroline Farias , Jovino Renata Monteiro , Brazil Viana Júnior Antônio , Monteiro Denise Leite Maia
Published: April 2024

Objetivo: Avaliar a reincidência da gravidez na adolescência em Fortaleza - Ceará no período de 2019 a 2021 e sua associação com fatores sociais, acesso aos serviços de saúde e prematuridade. Método: O presente trabalho consiste em um estudo transversal com dados obtidos do DATASUS, usando o Sistema de Informações sobre Nascidos Vivos (SINASC), para resgatar informações epidemiológicas referentes aos nascimentos informados em Fortaleza – Ceará. O download dos dados do SINASC foi realizado a partir da página do DATASUS para os anos de 2019 a 2021. Resultados: Embora o número de partos na adolescência tenha diminuído de 12,2% para 10,8% em Fortaleza, a média de reincidência de gravidez entre as adolescentes variou de 26,4% em 2019 para 24,7% em 2020 e voltou a subir para 26% em 2021. Aquelas que reincidiram na gravidez apresentaram mais distorção idade-série, iniciaram o pré-natal mais tarde e tiveram menor número de consultas de pré-natal. No entanto, a prematuridade não mostrou diferença significativa. Conclusão: A reincidência de gravidez na adolescência persiste alta em Fortaleza e apresenta impacto sobre a escolaridade, o início tardio e a baixa adesão ao pré-natal.
Direct Z-scheme photocatalytic systems based on vdW heterostructures for water splitting and CO2 reduction: fundamentals and recent advances
Authors: Hu Kaiyue , Tian Jiayu , Zhou Zhifu , Zhao Daming , Guan Xiangjiu
Published: April 2024

Photocatalytic water splitting and CO2 reduction are conducive to alleviating the increasingly serious environmental problems and ever-tightening energy problems. Among various modification strategies, constructing Z-scheme heterostructures and direct Z-scheme heterostructures, in particular, by mimicking natural photosynthesis, has been widely researched for the effective separation of photogenerated electrons and holes with strong redox ability. However, a low lattice matching degree of different semiconductors often results in serious crystal defects in the composite. Fortunately, van der Waals (vdW) heterostructures constructed through interlayer weak vdW interactions provide a remedy, which not only can ensure the high quality of Z-scheme heterostructures but also preserve the original properties of individual components and induces new properties at the heterogeneous interfaces. Herein, we introduce the fundamentals of direct Z-scheme vdW heterostructure and review the last five-year progress of direct Z-scheme vdW heterostructures for photocatalytic water splitting and CO2 reduction, highlighting the characteristics and fundamental modification principles of different heterostructures, aiming to provide informative principles for the design of advanced heterostructure photocatalysts for solar energy conversion.
Kaolin foliar spray induces positive modifications in volatile compounds and fruit quality of Touriga-Nacional red wine
Authors: Dinis Lia Tânia , Pereira Sandra , Fraga Irene , Rocha Sílvia M. , Costa Carina , Martins Cátia , Vilela Alice , Arrobas Margarida , Moutinho-Pereira José
Published: April 2024

Solar radiation and temperature play crucial roles in grapevine metabolic processes and are known to have a positive impact on grape berry composition; however, excessive exposure to these factors can be detrimental. Kaolin-based particle film technology has emerged as a valuable solution for mitigating the effects of heat and water stresses in vineyards. This work aimed to evaluate the effects of kaolin application on the phenolic composition, chromatic characteristics, oenological parameters, volatile compounds and sensory profile of red wine. The study was carried out in one growing season in the commercial vineyard "Quinta dos Aciprestes" in the Douro Superior sub-region. Twelve rows in triplicate of the Touriga-Nacional variety underwent foliar kaolin treatment (applied at the pre-veraison stage, at the manufacturer-recommended and -tested dosage of 5 % (w/v)), and another twelve rows comprised the non-treated control group. Kaolin increased the phenolic compound and tartaric acid concentrations (2.4 % and 20.8 % respectively), total acidity (2.4 %), the deep reddish colour of the berries, total and coloured anthocyanin (2.8 %), and total and polymeric pigments (3.6 %); meanwhile, a decrease was observed in pH (-1.4 %) and alcoholic degree (-4.8 %). No significant differences were observed in any sensory parameters between the wine from the kaolin-treated and control vines, but the tasters found the aroma of the former to be fruitier and more complex, with an agreeable acidic taste and persistence. It was possible to group the volatile compounds into two distinct groups based on the results of the Pearson’s correlation matrix. This grouping corresponds to the sensory descriptors common to each of the respective volatiles. Overall, the results further support the potential efficacy of utilising kaolin to alleviate summer-related stress in grapevines.
Detection of Growth Stages of Chilli Plants in a Hydroponic Grower Using Machine Vision and YOLOv8 Deep Learning Algorithms
Authors: Schneider Florian , Swiatek Jonas , Jelali Mohieddine
Published: April 2024

Vertical Indoor Farming (VIF) with hydroponics offers a promising perspective for sustainable food production. Intelligent control of VIF system components plays a key role in reducing operating costs and increasing crop yields. Modern machine vision (MV) systems use Deep Learning (DL) in combination with camera systems for various tasks in agriculture, such as disease and nutrient deficiency detection, and flower and fruit identification and classification for pollination and harvesting. This study presents the applicability of MV technology with DL modelling to detect the growth stages of chilli plants using YOLOv8 networks. The influence of different bird’s eye and side view datasets and different YOLOv8 architectures was analysed. To generate the image data for training and testing the YOLO models, chilli plants were grown in a hydroponic environment and imaged throughout their life cycle using four camera systems. The growth stages were divided into growing, flowering and fruiting classes. All trained YOLOv8 models showed reliable identification of growth stages with high accuracy. The results indicate that models trained with data from both views show better generalisation. YOLO’s middle architecture achieved the best performance.
Beta-Cyclodextrin Molecules (β‐CD) Modified PVDF Membranes to Remove Multi-Ionic Dye Solutions using Steric, Inclusion, and Dielectric Exclusion
Authors: Alrashedi Wadha , KOCHKAR Hafedh Ben , Ercan Ismail
Published: April 2024

In this study, we aim to evaluate how cyclodextrin molecules affect the hydrophilicity and selec-tivity of PVDF membrane. Herein, we prepared PVDF-PVP(1-x) β-CDx membranes, with x rang-ing from 0 to 1 wt%. The membranes were deeply characterized by means of X-ray diffraction (XRD), attenuated total reflectance infrared (ATR-IR), Raman spectroscopies, Thermal gravimet-ric analysis (TGA), Contact angle measurement (CA), scanning electron microscopy (SEM) and atomic force microscopy (AFM). The study unequivocally demonstrates the effectiveness of the addition of β-CD molecules on membranes' structural, morphological, and dielectric properties. Adding 0.25wt% β-CD enhanced hydrophilicity, with CA decreasing from 72.6° to 56° and roughness decreasing from 81 to 29 nm. The PVDF-PVP(1-x) β-CDx membranes were then fully characterized using electrochemical impedance spectroscopy (EIS) to determine their dielectric properties, which clearly showed that the presence of β-CD induced polarization of the mem-brane. The separation of various dyes with different sizes and charges was utilized. These dyes included methylene blue (MB, positive, 0.504 nm), methyl red (MR, neutral, 0.487 nm), rose Bengal (RB, negative, 0.588 nm), and brilliant blue (BB, negative, 0.798 nm). Based on our re-search, we found that the membrane's selectivity is determined by both exclusion factors (such as size and dielectric properties) and inclusion inside the β-CD cage. We found that using alpha-CD instead of beta-CD led to the disappearance of dye inclusion. These findings strongly sug-gest that β-CD molecules can be a viable solution for dye removal from wastewater.
Culture War: Exploring the Influence of the Christian Religion and the Catholic Church Backing on Populist Party CHEGA
Authors: Batista Francisco
Published: April 2024

The endorsement from Christian circles in facilitating the rise of right-wing populism in Brazil, the United States, as well as the support and alliance of the Polish Catholic Church with the Law and Justice (PiS) government, is widely acknowledged. Embedded within the intricate fabric of multifaceted factors contributing to the surge of right-wing populism, the Culture War assumes a pivotal yet often underestimated role. Manifesting as a profound confrontation, the Culture War signifies an existential clash between contrasting perspectives concerning socio-cultural values grounded in religious scripture. Progressive endeavors strive to deconstruct longstanding norms, advocating for the ascendancy of post-materialistic ideals, while conservative domains portray an unwavering commitment to safeguarding national and religious socio-cultural values as sacrosanct. Both factions employ moral-ethical justifications in their respective pursuits, rendering the landscape of cultural discourse a nuanced tapestry of ideological contention.

The influence of Christian doctrine on the conflict surrounding social justice, and the potential convergence between Christian doctrine and the positions of Populist right-wing movements on social justice issues, is underscored. By employing a singular case study focused on Portugal, owing to the nation's enduring relationship with Catholicism spanning from Monarchical times to the Republic and the Fascist Catholic regime, Portugal emerges as indisputably one of the most religious countries in the Western world, akin to Poland. Consequently, in theory, the support of the Portuguese Catholic Church for the nascent Populist right-wing and Christian-oriented party should be evident amidst the Culture War conflict, wherein conservative religious Christian values face existential challenge.

However, the backing extended to CHEGA by both the Catholic Church and the Portuguese Episcopal Conference assumes an ambivalent and markedly diminished stance, diverging from the previously robust support observed in established center-right mainstream parties such as the PSD and CDS. Despite this reality and the absence of official support for CHEGA, numerous Christian politicians or activists have expressed endorsement or alignment with the right-wing party, departing from their former affiliations, primarily due to social justice concerns.
Recent Progress in Design and Performance Analysis of Vertical-Axis Wind Turbines (VAWTs) - A comprehensive Review
Authors: Didane Djamal Hissein , Behery Mostafa Radwan , Al-Ghriybah Mohanad , Manshoor Bukhari
Published: April 2024

Vertical-axis wind turbines (VAWTs) are receiving more and more attention as they involve simple design, cope better with turbulence and are insensitive to wind direction which has a huge impact on the cost since the yaw mechanism is not needed. However, VAWTs still suffer from low conversion efficiency. As a results tremendous efforts are exerted to improve its efficiency which mainly focus on two methods regardless of whether the study is a CFD simulation or a field test or lab test experiment. An active approach which involves the modification of the rotor itself such as the blade design, angle, trailing and leading edges, inner blades, chord thickness, contra-rotating rotor, etc. While the second approach involves passive techniques where the flow is directed to optimally face the downwind rotor by mounting a guiding vane such as a diffuser or other shapes at the upwind position of the rotor. Among all techniques undertaken, the CRWT rotor technique seems to be the most effective with an output even comparable to that of Horizontal Axis Wind Turbines (HAWT), while the Savonius rotor received more attention compared to other designs of VAWTs. Apart from technological issues, it was also suggested that geographical issues such as proper site siting of the wind turbine rotor at a particular location where a uniform flow could be guaranteed is of paramount importance to ensure an effective conversion capacity of wind turbines.
Fluid-Driven Soft Actuators for Soft Robots
Authors: Nakamura Taro
Published: April 2024

This paper focuses on soft actuators that utilize fluid power to drive soft robots and describes their features and applications. First, it discusses how soft actuators function as elemental technology in robots. This is followed by an introduction to the driving principle and features of fluid-driven soft actuators. It also classifies these soft actuators based on the fluid power source and the active mode of operation. Furthermore, an overview is provided on the materials employed in soft actuators and the control and evaluation methods for them. Finally, currently reported applications of these soft actuators, such as wearable devices, grippers, and bio-inspired robots, are presented.
Special Issue on Advanced Robotic Technology and System for DX in Construction Industry
Authors: Tanaka Takayuki , Inoue Fumihiro , Osumi Hisashi , Murakami Hiroki
Published: April 2024

In recent years, the labor shortage caused by the decline in the working-age population has become increasingly severe across various industries. The construction industry is also facing an urgent situation. Improving productivity is critical in response to this situation. In addition, domestic infrastructure is aging, and climate-change-related incidents such as heavy rainfall and landslides are becoming more common on a global scale. To address these challenges, digital transformation (DX) deployment must be accelerated, and robotic technologies must be efficiently utilized.

Although various construction robot technologies have been developed to date, the robotization of construction and inspection work cannot be achieved using standalone technologies, regardless of their technological superiority. Today’s construction robots must function not only as standalone tools but also as part of a system integrated into construction and inspection methods, or even as a robotic system that operates throughout the construction site.

From this perspective, we published a special issue titled “Advanced Robotic Technology and System for DX in Construction Industry.” It includes papers and development reports on robotics, mechatronics, and information system technologies relevant to the construction industry.

We hope that this special issue will arouse interest in construction robots among researchers and engineers and accelerate the development of construction robots, related technologies, and DX in the construction industry.

Finally, we express our sincere gratitude to the editorial board of the Journal of Robotics and Mechatronics, the editorial team at Fuji Technology Press Ltd., and all of the reviewers.
Development and Evaluation of Mobility and Excavation Rover Toward Lunar Base Construction
Authors: Sutoh Masataku
Published: April 2024

The exploration and utilization of water resources on the Moon are of substantial global interest. To utilize lunar resources and construct bases, the construction machinery should travel over the lunar surface (which is mainly covered with powdery regolith) and excavate the regolith. However, various technical issues should be resolved to achieve this efficiently. In this study, a new platform rover was developed, and its motion behavior was analyzed to better understand the traveling and excavation behaviors of construction machinery on the Moon. The rover is a four-track vehicle equipped with a robotic arm consisting of a boom, arm, and bucket. To analyze the rover’s motion behavior in sandy terrain, we first developed a simulator based on terramechanics and performed a numerical analysis. Subsequently, various experiments were conducted using the rover in the JAXA Space Exploration Field, which simulates the lunar environment. In the experiments, the rover traveled over level and sloped terrains and excavated the ground. The simulation and experimental results revealed similar trends in the traveling and excavation behaviors of the rover. These results can serve as basic guidelines for the design and operation of construction machinery on the Moon.
Automatic Findings Generation for Distress Images Using In-Context Few-Shot Learning of Visual Language Model Based on Image Similarity and Text Diversity
Authors: Watanabe Yuto , Ogawa Naoki , Maeda Keisuke , Ogawa Takahiro , Haseyama Miki
Published: April 2024

This study proposes an automatic findings generation method that performs in-context few-shot learning of a visual language model. The automatic generation of findings can reduce the burden of creating inspection records for infrastructure facilities. However, the findings must include the opinions and judgments of engineers, in addition to what is recognized from the image; therefore, the direct generation of findings is still challenging. With this background, we introduce in-context few-short learning that focuses on image similarity and text diversity in the visual language model, which enables text output with a highly accurate understanding of both vision and language. Based on a novel in-context few-shot learning strategy, the proposed method comprehensively considers the characteristics of the distress image and diverse findings and can achieve high accuracy in generating findings. In the experiments, the proposed method outperformed the comparative methods in generating findings for distress images captured during bridge inspections.
Development of Wireless Communication Status Monitor Function for Mobile Robot Tele-Operation
Authors: Shibukawa Fumiya , Yamazaki Shunichi , Kaneshima Yoshiharu , Murakami Hiroki , Endo Daisuke , Hashimoto Takeshi , Yamauchi Genki
Published: April 2024

At unmanned construction sites, machinery generally stops functioning or tele-operation is interrupted owing to the problems related to wireless communication. However, the entry of human workers into such sites is often restricted, making it extremely difficult for workers to resolve problems or restore connections in wireless communication. In this study, we interviewed personnel from relevant industries to identify common issues in wireless communication. To address these issues, we focused on improving the availability of wireless communication and proposed a wireless communication status monitoring function. The results from a prototype of the proposed function are also presented.
Water Droplet Detection System on Toilet Floor Using Heat Absorption Capacity of Liquid
Authors: Wiyagi Rama Okta , Wada Kazuyoshi
Published: April 2024

Liquid waste is a type of dirt that is often found in toilets. Detection of liquid waste such as water or urine in the restroom is challenging due to their limited physical appearances, e.g., transparency and small size. This paper proposes a new method to detect water droplets, including water splashes, on the toilet floor by using the heat absorption capacity of liquid. Water, air, and floor have different heat capacity characteristics. Increasing temperature difference between water droplets and surroundings is done using blowing air on the surface of the detection area. A thermal camera is used to observe the detection area and an adaptive threshold is implemented to localize water droplets. This study also proposed a low-cost calibration chessboard method for thermal images that can produce good contrast images for calibrating wide-angle thermal camera modules. The results obtained from the experiment were promising, the system was able to detect single water drop up to 2 mm in diameter on a floor of 90 × 170 cm, and detection rate was above 95% for water droplets with a minimal size of 5 mm in diameter.
Cam-Like Mechanism in Intertarsal Joints of Ratites and its Design Framework
Authors: Ito Kazuki , Hida Sayaka , Kinugasa Tetsuya , Chiba Kentaro , Okuda Yu , Ichikawa Miwa , Okoshi Tsukasa , Takasaki Ryuji , Hayashi Ryota , Yoshida Koji , Osuka Koichi
Published: April 2024

In this study, the cam-like passive mechanism, known as the engage–disengage mechanism (EDM) of the intertarsal joint of ratites, and its design principles are investigated. This mechanism operates through the interplay of a muscle and three ligaments located on the medial and lateral sides of the intertarsal joint and the articular surface morphology of the tibiotarsus. The interplay of the musculoskeletal ligamentous elements creates two stable equilibrium points when they are almost fully extended and flexed. To elucidate the EDM in the intertarsal joints of ratites, we dissected the hindlimb of an emu (Dromaius novaehollandiae) and examined anatomical features around the joint. Subsequently, we replicated the intertarsal joint of ratites using a physical model. This model consists of three-dimensional-printed ostrich bones, coil springs, and nylon strings simulating the muscle and ligaments. This model successfully replicated the EDM and facilitated the analysis of the interplay of musculoskeletal ligamentous elements. We demonstrated that the medial ligaments and the morphology of the tibiotarsal articular surface play significant roles in facilitating the execution of EDM. Furthermore, we observed that the articular surface morphology resembles a well-known cam system in engineering and is responsible for the EDM.
RGBD-Wheel SLAM System Considering Planar Motion Constraints
Authors: Kitajima Shinnosuke , Nakazawa Kazuo
Published: April 2024

In this study, a simultaneous localization and mapping (SLAM) system for a two-wheeled mobile robot was developed in an indoor environment using RGB images, depth images, and wheel odometry. The proposed SLAM system applies planar motion constraints performed by a robot in a two-dimensional space to robot poses parameterized in a three-dimensional space. The formulation of these constraints is based on a conventional study. However, in this study, the information matrices that weigh the planar motion constraints are given dynamically based on the wheel odometry model and the number of feature matches. These constraints are implemented into the SLAM graph optimization framework. In addition, to effectively apply these constraints, the system estimates two of the rotation components between the robot and camera coordinates during SLAM initialization using a point cloud to construct a floor recovered from a depth image. The system implements feature-based Visual SLAM software. The experimental results show that the proposed system improves the localization accuracy and robustness in dynamic environments and changes the camera-mounted angle. In addition, we show that planar motion constraints enable the SLAM system to generate a consistent voxel map, even in an environment of several tens of meters.
Development of Formation Control System for Multiple AUVs with Sonar Interference Avoidance Function
Authors: Okamoto Akihiro , Sasano Masahiko , Kim Kangsoo , Fujiwara Toshifumi
Published: April 2024

Although research has been conducted on the simultaneous operation of multiple autonomous underwater vehicles (AUVs) to improve the efficiency of oceanographic surveys, it has become clear that sonar interference occurs between AUVs that are in close proximity. In this study, a formation control system was developed for actual operation at sea, based on the assumption of an operational system with an autonomous surface vehicle (ASV) and multiple AUVs. A control algorithm was implemented to maintain the AUVs within the desired range of the ASV, ensure communication, and avoid sonar interference by sending commands to increase or decrease the speed of the AUVs. Simulations were performed to verify the effectiveness of the developed method for the operation of one ASV and 10 AUVs. Evaluation scores for the distance between vehicles were introduced to quantify the effectiveness of the algorithm. The proposed method obtained the highest scores for formation control in the assumed operational scenarios. This confirms the effectiveness of the proposed method in avoiding the side-by-side relationships that cause sonar interference.
Design of a Quasi-Passive Dynamic Walking Robot Based on Anatomy Trains Theory
Authors: Nishii Hiroki , Hattori Shoei , Fukuhara Akira , Ishihara Hisashi , Kano Takeshi , Ishiguro Akio , Osuka Koichi
Published: April 2024

Dynamic human movements are achieved by appropriate constraints on the degrees of freedom of the complex and flexible human body. The anatomy trains (ATs) theory explains such constraints with whole-body muscular connections called ATs. This paper proposes the design of a quasi-passive dynamic walker with whole-body viscoelastic connections inspired by the ATs theory and investigates the contributions of these long-distance connections to the achievement of gait. We designed a biped robot with a trunk and head, whose passive joints were supported by rubber fiber bands. The robot, named “PEARL III,” is equipped with an antagonistic pair of McKibben pneumatic actuators for each leg at the human hamstring and rectus femoris positions. The most important feature of this robot is that fabric wires mechanically connect its rubber bands and actuators on the back side from the head to the foot, modeled after one of the human ATs, the superficial back lines (SBLs). In an experiment, PEARL III achieved 2D quasi-passive dynamic walking on an inclined plane by contracting and relaxing its actuators using periodic feedforward control. This result suggests that in both the robot and human cases, when a controller contracts the SBL only in the stance phase during passive dynamic walking, the SBL can achieve whole-body posture control and weight support. In addition, the SBL appears to achieve this function depending on their mode of attachment to bones and the presence or absence of antagonistic muscles (or ATs). In the future, by introducing various ATs into robots while recognizing the importance of the appropriate attachment of ATs and the presence of their antagonistic muscles (or ATs), we can expect similar effects in various 3D movements.
Wrong Fix Detection for RTK Positioning Based on Relative Position Between Multiple Antennas
Authors: Takubo Tomohito , Sato Masaya , Ueno Atsushi
Published: April 2024

We propose a methodology that uses the relative positional information of multiple antennas to estimate the Wrong Fix, which refers to an erroneous determination of the carrier-phase ambiguity utilized in GNSS satellites. The proposed approach is based on the fundamental notion that the mutual positional relationship of multiple antennas mounted on a mobile robot remains constant, and it uses machine-learning techniques based on the relative position information among the antennas to identify instances of Wrong Fixes. The relative distance between the antennas is derived from the real-time kinematic (RTK) position information of each antenna. The confidence level of the RTK positioning results was calculated using logistic regression, considering the measurement error with respect to the true value. To determine the Wrong Fixes, a labeled dataset was constructed, indicating that data were categorized as wrong fixes when the error from the true value exceeded 0.1 m. This dataset served as the training database for the logistic regression model. Experimental results demonstrate that the proposed methodology effectively reduced the root mean squared error between the measured location, classified as fixed by a trained discriminator, and the true value.
The Use of Emergency Components as Input Information Signals for Microprocessor Protection
Authors: Novash I. V. , Rumiantsev V. Yu. , Dziaruhina A. A. , Buloichik E. V. , Коnakhau M. S.
Published: April 2024

A technique is proposed for the formation of emergency components of current and voltage of a power transmission line by a computational experiment in the MATLAB-Simulink dynamic simulating system (DSS) in order to use them as input information signals of additional stages of microprocessor protections with increased sensitivity. The emergency components of current and voltage are determined using orthogonal components. The emergency component of the short-circuit current is defined as the difference between the vectors (sinusoids) of the main harmonic of the short-circuit current and the current of the previous mode, if the effective value of this difference exceeds some predetermined value. Similarly, the emergency component of the voltage is determined, taking into account the fact that in emergency mode, the voltage at the place of installation of protection does not increase, but decreases. A computer software package (CSP) has been developed in the MATLAB-Simulink DSS to study the functional properties of microprocessor protection using emergency components of currents and phase voltages of a power transmission line of 6(10)–35 kV. The results of the formation of emergency components by models of digital measuring bodies of current and voltage protection are presented, confirming the operability of the developed software package. A CSP has been developed for calculating emergency components of currents and voltages of a power transmission line of 6(10)–35 kV using orthogonal components based on a mathematical model of the power supply unit of the protected line. The results of calculations of emergency components are presented, confirming the operability of the developed software package; a comparison of the results of calculating emergency components obtained by modeling in the MATLAB-Simulink DSS and using a CSP based on a mathematical model is also carried out.
CFD-Modeling of the Airfoil of the Blades of a Wind Power Plant with a Vertical Axis in the Ansys Fluent System
Authors: Uzakov G. N. , Sednin V. A. , Safarov A. B. , Mamedov R. A. , Khatamov I. A.
Published: April 2024

The article presents the results of research on modeling the DU-06-W-200 airfoil used in wind power plants with a vertical axis in the Ansys Fluent system, evaluating compatibility with experimental data and determining the optimal angle of attack. The DU-06-W-200 airfoil was simulated with angles of attack ranging from –15° to +15°, boundary conditions and input flow rate being of 15 m/s, operating temperature – of 23 °C, operating pressure – of 1·105 Pa, air flow rate – of 1.23 kg/m3 (airfoil chord length is of 1 m, dynamic viscosity of the air flow is 1.7894·10–5 kg/(m·s) and the type of turbulent models is SST k – omega (k – ω), k – epsilon (k – ε), whereas Reynolds number is 1.05·106). A two-dimensional geometry domain and a grid profile for the DU-06-W-200 airfoil have been created, with the number of nodes in the grid 37495 and the number of elements 36790. It was also found that the drag coefficients (Cd) SST k – omega (k – ω) for the turbulence model were equal to 0.1734, 0.0721, 0.0311, 0.0204, 0.0351, 0.0782, 0.1712, k – epsilon (k – ε) for the turbulence model were equal to 0.2065, 0.0789, 0.0318, 0.0212, 0.0359, 0.0787, 0.2019, lift coefficients (Cl) SST k – omega (k – ω) for the turbulence model were  –0.9169, –0.9169, –0.9239, –0.5394, 0.0842, 0.7416, 1.3134, 1.1229, k – epsilon (k – ε) for the turbulent model was –0.9278, –0.8674, –0.5336, 0.0848, 0. 0359, 0.0787, 0.2019 at angles of attack of the DU-06-W-200 airfoil equal to –15°, –10o, –5°, 0°, 5°, 10°, 15°, respectively. In assessing the compatibility of the model and the experimental results of the DU-06-W-200 airfoil, the conformity criterion χ2, root mean square error (RMSE), coefficient of determination (R2), and average bias error (ABE) were used. Based on the results of a study of the dependence of the ratio of the drag and lift coefficients on changes in the angle of attack, carried out using the SST k – omega (k – ω) and k – epsilon (k – ε) turbulence models, it has been found that the maximum value of the ratio of the drag and lift coefficients is 21 at the optimal angle attack inclination equal to 5°.
Horizontal casting cooling beyond the crystallizer
Authors: Demchenko E. B. , Marukovich E. I.
Published: April 2024

It is shown that devices in the form of a water‑cooled metal mold with a graphite lining, which is located on the upper surface of the casting close to the end of the crystallizer, can serve as an alternative to secondary water‑air cooling systems in horizontal continuous casting. The effectiveness of the cooling capacity of the molds was evaluated during industrial tests of the devices in the process of casting iron. It has been established that the use of water‑cooled molds allows reducing the surface temperature at vulnerable points of the casting by 20–70 °C, increasing the average casting speed for individual billet sizes within 5–8 % almost eliminating shell breakout and eliminating the need for traditional secondary cooling systems.
Defects in castings during high‑pressure casting and measures to prevent their formation
Authors: Chechukha V. I. , Sadokha M. A.
Published: April 2024

The article presents a list of defects in castings formed during high‑pressure casting. It has been established that each cause that creates conditions for the formation of specific defects in castings is interconnected with the incorrect setting of specific casting technological parameters. Measures to prevent the formation of defects have been determined depending on the casting technological parameters, operating modes of the mold, application of release lubricant, and alloy preparation. To ensure high quality of produced castings, it is necessary to minimize the influence of the human factor during the casting process. This can be achieved by using modern foundry equipment, high‑quality charge and auxiliary materials, and by applying automated high‑pressure casting complexes in serial and mass production.
About the crystallization centers of metal melts
Authors: Marukovich E. I. , Stetsenko V. Yu. , Stetsenko A. V.
Published: April 2024

It is shown that the main modifying intermetallides of primary microcrystals of aluminum alloys do not satisfy the principle of structural and dimensional correspondence. Nonmetallic inclusions and intermetallides cannot be centers of crystallization of metallic melts. These centers are nanostructured formations formed from structure‑forming nanocrystals of crystallizing microcrystals of phases and free atoms of alloy components. Such crystallization centers of metal melts satisfy the principle of structural and dimensional correspondence. The main mechanism of action of casting alloy modifiers is a significant decrease in the concentration of surfactants, which reduce the concentration of crystallization centers of metal melts.
On the issue of the application of cooling mixtures
Authors: Ushakova I. N. , Svistun N. A. , Svistun A. L.
Published: April 2024

The analysis of the application of various cooling mixtures in metallurgy is given. The dangerous and harmful production factors when using cooling mixtures are outlined. Characteristic and recommendations for the use of the most well‑known cooling mixtures ALTIBIO are provided.
Magnesium alloys based on the Mg–Al– Mn–Ca system, additionally alloyed with Zr and La for high‑speed deformation of products and semi‑finished products
Authors: Volochko A. T. , Zelenin V. A. , Kovalko M. S. , Fedorovich D. S. , Cheng Wang
Published: April 2024

The article presents calculations and analysis of phase equilibria in magnesium alloys of the Mg–Al–Mn–Ca system with additional alloying of Zr and La. An assessment of the influence of the degree, deformation rate, and extrusion temperature on the composition, structure, and mechanical properties of the material has been evaluated. The impact of heat treatment of deformed samples on the complex of strength and plastic properties has been investigated.