Large Obstacles Research Articles

The Obstacles Facing the Backyard Chicken Breeders in Some Villages of Bamerny Sub-District of Duhok Governorate

The study was conducted in the Bamerny sub-district of Duhok Governorate to identify the extent obstacles facing backyard chicken breeders. Sixty chicken breeders were comprehensive selected. Questionnaire of three fields of obstacles facing chicken breeders: production, marketing, and diseases, covering 16 obstacles was prepared. The results showed that (60%) of the respondents mentioned that the obstacles they face are medium and large size obstacles. The results also indicate that the obstacle (high cost of transportation) ranked first among (16) with an average of (4.017), while the obstacle (inappropriate environmental conditions) came in the last rank, with an average of (1.59). The results also shows that most of the respondents were younger than 30 years (46.6%) and had been educated beyond Primary and diploma levels (25%). As clear most of the respondents (70%) had experience in chicken production was ten years and more. The results illustrate that for most of the respondents (58.3%) their chicken houses capacity was between 20- 52 birds. The results of the research showed that the level of Sources of information used in chickens’ production (53.3%) degrees, in a small group. problems and obstacles facing the individual backyard chicken breeders can be addressed a supported through government agencies, active extension services, and stakeholders to solve their problems, access relevant information, and uptake improved management techniques.

Discussion on Digital Transformation of Small and Medium-sized Enterprises in the Post-epidemic Era

Driven by digital technology, China's digital economy is developing rapidly, and its position in the economy and society is getting higher and higher. As the main force of China's economy, employment and GDP, SMEs have been greatly impacted by the COVID-19 epidemic. It is of great practical significance to study the digital transformation of SMEs for the relief and development of SMEs after the epidemic and to promote the development of China's digital economy. A questionnaire survey was conducted on the status quo, problems and policy appeals of China's small and medium-sized enterprises' digital transformation. The survey object was the principals of 925 small and medium-sized manufacturing enterprises. The survey questions included 11 issues such as difficulties faced by enterprises in business operation, application of digital technology, effectiveness of digital transformation, and driving factors of digital transformation. On this basis, the study was carried out. The survey results show that SMEs in China generally have problems such as lack of digital transformation thinking, weak digital foundation, and large obstacles to digital transformation. The vulnerability of SMEs themselves and the differences between different types of SMEs increase the difficulty of digital transformation. The classified statistics of SMEs based on different dimensions such as the development stage, location, and scale of enterprises show that there are significant differences between different types of SMEs and the total sample, as well as between different types of SMEs in terms of difficulties faced in operation, effectiveness of digital transformation, status quo of digital transformation, application of digital technology, driving factors of digital transformation, and policy appeals; Meeting market demand, improving production efficiency and significantly reducing costs are the driving factors for SMEs to carry out digital transformation, but there are differences between different types of SMEs. In order to effectively promote the digital transformation of small and medium-sized enterprises in China, it is suggested to give full play to the guidance and policy support of government departments based on the policy demands of small and medium-sized enterprises for digital transformation, accelerate the construction of new infrastructure, and provide more solid digital transformation foundation for small and medium-sized enterprises; Take multiple measures to eliminate the shortage of digital talents, improve and innovate the talent training mechanism, and provide talent support for digital transformation; Build a digital platform and network, build a cross industry and cross link digital collaboration system, open up the digital transformation path of SMEs, and boost their digital transformation and development.

Autonomous Underwater Vehicle Path Planning Method of Soft Actor–Critic Based on Game Training

This study aims to solve the issue of the safe navigation of autonomous underwater vehicles (AUVs) in an unknown underwater environment. AUV will encounter canyons, rocks, reefs, fish, and underwater vehicles that threaten its safety during underwater navigation. A game-based soft actor–critic (GSAC) path planning method is proposed in this study to improve the adaptive capability of autonomous planning and the reliability of obstacle avoidance in the unknown underwater environment. Considering the influence of the simulation environment, the obstacles in the simulation environment are regarded as agents and play a zero-sum game with the AUV. The zero-sum game problem is solved by improving the strategy of AUV and obstacles, so that the simulation environment evolves intelligently with the AUV path planning strategy. The proposed method increases the complexity and diversity of the simulation environment, enables AUV to train in a variable environment specific to its strategy, and improves the adaptability and convergence speed of AUV in unknown underwater environments. Finally, the Python language is applied to write an unknown underwater simulation environment for the AUV simulation testing. GSAC can guide the AUV to the target point in the unknown underwater environment while avoiding large and small static obstacles, canyons, and small dynamic obstacles. Compared with the soft actor–critic(SAC) and the deep Q-network (DQN) algorithm, GSAC has better adaptability and convergence speed in the unknown underwater environment. The experiments verifies that GSAC has faster convergence, better stability, and robustness in unknown underwater environments.

Factors lead to delay Management of Breast Cancer among Female Patients Under Therapy in Hadhramout Oncology Center-Mukalla 2021-2022

Breast cancer is the most frequent malignancy tumors among women. Without treatment, a malignant breast tumor advances in stage, diminishing a woman’s chances of survival, Advanced breast cancer presentation remains a large obstacle in lowering mortality rates in low- and middle-resource countries. This study aims to explore the reasons that cause women present with breast cancer at an advanced stage. in Hadhramout Oncology center in Al -Mukalla city, Yemen. Methods: A descriptive cross sectional design, eighty–eight patients were selected from admitted patient's to clinics in Hadhramout oncology center-Mukalla. Data was collected from 7th February to 10th August 2022, Data was collected through face-to-face interviews using a structured questionnaire. Results: The results of the present study revealed that majority of participants 73 (83%) were between 31 and 60 years of age. More than half of them 50 (56.8%) are educated while a great majority 83 (94.3%) are housewives. Most presenting symptom is the presence of painless lump in the breast with more than half of the entire sample involved in the research equal 53 (60.2%). Presence of the ulcer over the breast was the less presenting symptom in this study (11.4%) of all cases involved. There's significant relation between education and place of living (Urban-Rural area) and use of traditional treatment (P-value=<0.05). There's no significant relation between disease stage and level of education (with P-value=.576), socioeconomic statue (with P-value=.133). Finally, there's no significant relation between socioeconomic status and disease stage with (P-value=.133). Conclusion and Recommendation: This study revealed that most participants has positive perspective toward factors that lead to delayed management. The ministry of public health recommended to establish more cancer centers to facilitate early detection and treatment for patients, increase number of media campaigns concerned with awareness-raising and early screening method and improve the health workers proficiency in early detection of breast cancer.

Small hydropower, large obstacle? Exploring land use conflict, Indigenous opposition and acceptance in the Norwegian Arctic

In this study, we explore Indigenous energy opposition to and acceptance of small hydropower development. In Sápmi (i.e., the traditional homeland of the Indigenous Sámi people), land development poses a major threat to the cultural and material needs of the Sámi people through the loss of pastures essential to Sámi reindeer herding. In contrast to large-scale renewable energy projects such as hydropower, power line and wind power projects, the impact of small hydropower (SHP) development on Indigenous land use has received relatively little attention. We mapped Indigenous opposition to and acceptance of new SHP development in a key region for Sámi reindeer herding in northern Norway from 2010 to 2018. Our results show how the proliferation of SHPs on reindeer pastures caused concern among Sámi reindeer owners and their representatives, who devoted considerable resources to participating in and opposing new SHPs through public hearing processes. In many cases, other actors, such as environmental interests, also opposed. Nevertheless, most cases opposed by Indigenous representatives were licensed (59 %). Considering our results and given the potential for and interest in expanding renewable energy, Indigenous opposition to SHP development warrants greater attention. Our approach provides a larger-scale, larger-N, quantitative view of opposition to SHP development that can complement more qualitative and in-depth approaches.

Probiotic-Free Microfiber Membrane for Promoting Infected Wound Healing by Regulating Wound Flora Balance

Anti-infection properties are critical for promoting wound healing. Probiotic therapy displays great advantages to combat infection by regulating the wound flora balance, compared with biocidal-based wound dressing. However, probiotic therapy has large obstacle and potential biosafety risks for proper application. Herein, a probiotic-free wound dressing for accelerating wound healing is reported to regulate wound flora balance without inoculating microorganisms at the wound. A poly(4-methyl-1-pentene) (PMP) microfiber membrane exhibits strong bacterial adhesion (1.74 × 109 CFU/cm2), and bacterial adhesion count correlates with the surface energy and fiber diameter of PMP microfiber membranes. The efficient bacterial adhesion of the PMP microfiber membrane endows the ability to regulate wound flora for accelerating the healing. Pathogenic bacteria could be removed from the infectious wound through dressing change, so the concentration of pathogenic bacteria at the wound could be kept at a low level, which is beneficial to wound healing. Based on the rat model, wounds have the lowest bacterial concentration and a fast healing rate after treatment with a PMP microfiber membrane, compared with the group treated with commercial dressings. These results reveal that the PMP microfiber membrane could be used to accelerate infectious wound healing by regulating wound flora balance. The work provides a new idea for developing novel antibacterial dressings without any side effects.

Strain engineering of ferroelectric topologies prepared on conventional SrTiO3 substrates buffered with REScO3 layers

Strain engineering of low dimensional ferroelectrics has achieved substantial progresses such as the finding of ferroelectric topologies as flux-closures, vortices, skyrmions, merons and polar waves identified in strain mediated ferroelectric multilayers/superlattices or single-layer films. Particularly, tensile strains from REScO3 (RE: rare earth elements) substrates have shown great capabilities for mediating these novel ferroelectric topologies. However, there are large difficulties for preparing high quality REScO3 single-crystal substrates. This fact has induced large obstacles for exploring the structures and properties of ferroelectric topologies. Here we propose a practical way to prepare REScO3 ultrathin films by a combination of precision pulsed laser deposition (PLD) and controlled post-annealing, which shows the same strain engineering effects on preparing ferroelectric polar topologies. A PrScO3 buffer layer was deposited on a conventional SrTiO3(001) substrate and then annealed at 800 ℃. Transmission electron microscopy (TEM) investigations revealed the high quality of the obtained PrScO3 films with almost no threading dislocations, where the mismatch with the SrTiO3 substrate was relaxed by misfit dislocations and thus a relaxed PrScO3 buffer layer was obtained. Atomic scale studies based on the advanced TEM methods revealed that periodic flux-closure arrays in PbTiO3 layers were successfully obtained, in the later PbTiO3/SrTiO3 multilayer films grown on the PrScO3 buffered SrTiO3 substrates. These results suggest that the PrScO3 buffer layer here can serves as the common REScO3 single-crystal substrates. This study provides a practical way to prepare REScO3 buffer layers serving as strain engineering ingredient for creating exotic phenomena in perovskite oxide heterostructures.

Two-dimensional characterization of particle entrainment over a downstream obstacle

This study conducts a two-dimensional numerical investigation of the particle entrainment in the presence of a large downstream circular obstacle, and aims to deepen the understanding of the entrainment mechanism and propose a dimensionless number to describe the entrainment threshold. With the coupled lattice Boltzmann and discrete element method, direct numerical simulations are conducted for a wide range of obstacle-to-particle radius ratios ( 2 < R o / R p < 8 ) and Reynolds numbers ( 38 ≤ R e ≤ 160 ). The results show that the low-pressure separated vortex due to the obstacle is the fluid structure to entrain the particle by vortex stretching at low R o / R p ( 2 < R o / R p < 3 . 8 ). Based on this mechanism, a dimensionless number defined as the ratio of the vertical drag force to the particle gravity is proposed, which can be understood as a generalized Shields number including the additional effect of the obstacle radius, and it approaches the constant value of 2.5198 at the critical conditions of entrainment. In addition, we find that at high R o / R p ( 5 . 6 ≤ R o / R p ≤ 8 . 0 ), the particle is too far from the separated vortex to undergo sufficient vertical drag force, and thus its inertia should be small enough to ensure the entrainment. In this situation, the entrainment threshold is well described by the Stokes number, which approaches the constant value of 0.2134. At the moderate R o / R p ( 3 . 8 ≤ R o / R p ≤ 5 . 6 ) the drag force of separated vortex and the low particle inertia are both essential to realize the particle entrainment. • Particle entrainment over a downstream obstacle is investigated by LB-DEM. • Two kind of entrainment mechanisms are identified. • Two dimensionless numbers are proposed to describe critical entrainment condition.

A new insight into the promoting effects of transition metal phosphides in methanol electrooxidation

The construction of highly active catalysts for methanol oxidation reaction (MOR) is central to direct methanol fuel cells. Tremendous progress has been made in transition metal phosphides (TMPs) based catalysts. However, TMPs would be partially damaged and transformed into new substances (e.g., Pt-M-P composite, where M represents a second transition metal) during Pt deposition process. This would pose a large obstacle to the cognition of the real promoting effects of TMPs in MOR. Herein, Co2P co-catalysts (Pt-P/Co2P@NPC, where NPC stands for N and P co-doped carbon) and Pt-Co-P composite catalysts (Pt-Co-P/NPC) were controllably synthesized. Electrocatalysis tests show that the Pt-Co-P/NPC exhibits superior MOR activity as high as 1016 mA/mgPt, significantly exceeding that of Pt-P/Co2P@NPC (345 mA/mgPt). This result indicates that the promoting effect is ascribed primarily to the resultant Pt-Co-P composite, in sharply contrast to previous viewpoint that Co2P itself improves the activity. Further mechanistic studies reveal that Pt-Co-P/NPC exhibits much stronger electron interaction and thus manifesting a remarkably weaker CO absorption than Pt-P/Co2P@NPC and Pt/C. Moreover, Pt-Co-P is also more capable of producing oxygen-containing adsorbate and thus accelerating the removal of surface-bonded CO*, ultimately boosting the MOR performance.

SMC complexes can traverse physical roadblocks bigger than their ring size.

Ring-shaped structural maintenance of chromosomes (SMC) complexes like condensin and cohesin extrude loops of DNA. It remains, however, unclear how they can extrude DNA loops in chromatin that is bound with proteins. Here, we use invitro single-molecule visualization to show that nucleosomes, RNA polymerase, and dCas9 pose virtually no barrier to loop extrusion by yeast condensin. We find that even DNA-bound nanoparticles as large as 200nm, much bigger than the SMC ring size, also translocate into DNA loops during extrusion by condensin and cohesin. This even occurs for a single-chain version of cohesin in which the ring-forming subunits are covalently linked and cannot open to entrap DNA. The data show that SMC-driven loop extrusion has surprisingly little difficulty in accommodating large roadblocks into the loop. The findings also show that the extruded DNA does not pass through the SMC ring (pseudo)topologically, hence pointing to a nontopological mechanism for DNA loop extrusion.

Impact of ammonia addition on knock resistance and combustion performance in a gasoline engine with high compression ratio

Increasing the compression ratio of gasoline engines is a promising method to increase the engine's fuel economy. However, engine knock caused by auto-ignition is still a large obstacle to improving thermal efficiency and engine load for high compression ratio hybrid engines. Spark induced compression ignition (SICI) is an effective way to utilize auto-ignition to solve the aforementioned problems. Meanwhile, ammonia, a carbon-free fuel, with an outstanding antiknock property, has the great potential to be used in SICI mode. In this study, the effects of ammonia addition on knock suppression, combustion characteristics, thermal efficiency, and emission performance were investigated in a high compression ratio (15.5), four-valve, single-cylinder gasoline engine under SICI combustion mode. In experiments, gasoline was directly injected into the cylinder while ammonia was injected into the intake port. The results show that blending ammonia could resist engine knock and improve thermal efficiency. Within the knock limitation, the duration of flame propagation under ammonia blending conditions could be shortened and meanwhile, the auto-ignition becomes weakened compared with pure gasoline. Benefiting from combustion phase optimization, the thermal efficiency and engine load could be increased or maintained at optimal ammonia blending ratio. The maximum increase of thermal efficiency and engine load is 2.46% and 0.2 MPa respectively. Moreover, the increased engine load can extend the limit of the ammonia blending ratio. For nitrogen emissions, blending ammonia results in NOx emission deterioration due to the formation of fuel-type NOx. NOx emission has a weak dependence on the ammonia blending ratio, and the trend of NOx emission varied with spark timing is opposite to pure gasoline conditions, which is closely related to the pressure sensitivity of fuel-type NOx. Ammonia slip was also detected in the engine exhaust because of the incomplete combustion.

A model predictive obstacle avoidance method based on dynamic motion primitives and a Kalman filter

SummaryA dynamic motion primitive (DMP) is a robust framework that generates obstacle avoidance trajectories by introducing perturbative terms. The perturbative term is usually constructed with an artificial potential field (APF) method. Dynamic obstacle avoidance is rarely considered with this approach; furthermore, even when dynamic obstacles are considered, only the velocity and position information of the current state are incorporated into the obstacle avoidance framework. However, if the position of an obstacle changes suddenly, a robot may be placed in a dangerous position close to the obstacle, resulting in large obstacle avoidance accelerations, sharp trajectories, or even obstacle avoidance failure. Therefore, we present a model predictive obstacle avoidance method based on dynamic motion primitives and a Kalman filter. This method has three main components: Dynamic motion primitives are used to generate the desired trajectory and introduce perturbations to achieve obstacle avoidance; the Kalman filter method is adopted to estimate the future positions of the obstacles; and model predictive control is employed to optimize the repulsive force generated by the APF while minimizing the defined cost function, thus guaranteeing the safety and flexibility of the method. We validate the presented method with 2D and 3D obstacle avoidance simulations. The method is also verified with a real robot: the‐Kinova MOVO. The simulation and experimental results show that the proposed method not only avoids dynamic obstacles but also tracks the desired trajectory more smoothly and precisely.

Caring for Rural Patients at End of Life: Perceptions of Critical Access Hospital Nurses.

Critical access hospitals were created to bring health care to rural populations. These hospitals lack equipment and resources, but the nurses who work there still provide end-of-life care to critically ill and dying patients. To determine how nurses in critical access hospitals perceive the size of obstacles and helpful behaviors for the provision of end-of-life care. Questionnaires were sent to a cross-sectional, nationally representative sample of nurses working in 39 critical access hospitals. The nurses were asked to score obstacle and helpful behavior items on a scale of from 0 (not an obstacle or not a help, respectively) to 5 (extremely large obstacle or extremely large help, respectively). The items were then ranked from highest to lowest according to their mean scores. Seven of the top 10 obstacles were directly related to family behaviors and attitudes, such as families not understanding what lifesaving measures entail and internal family disagreements about life support. Helpful behaviors ranked in the top 10 included interventions that were controlled by nurses and items that affected the nurses' having adequate time to deliver end-of-life care. Obstacles and helpful behavior items unique to critical access hospitals, such as a lack of resources and the nurse knowing the patient or the patient's family, ranked below the top 10 items. Obstacles and helpful behaviors for providing end-of-life care remain consistent. Nurses in critical access hospitals are accustomed to working without the typical resources found in urban hospitals and thus did not perceive resource deficits to be among the greatest obstacles to providing end-of-life care. Family behaviors and attitudes remain the most dominant obstacle noted by nurses.

Path planning for data collection robot in sensing field with obstacles

Using mobile robots to collect data from wireless sensor network can reduce energy dissipation and this way improves network lifetime. Our problem is to plan paths for unicycle robots to visit a set of sensor nodes and download data on a sensing field with obstacles while minimizing the path length and the collecting time. Reconstructing the path of an intruder in a guarded area is also a possible application of this technology. During path planning we greatly emphasize the handling of obstacles. If the area contains many or large obstacles, the robots may spend long time for avoid them so this is a critical point of finding the minimal path. This paper proposes a new approach for handling obstacles during path planning. A new algorithm is developed to plan the visiting sequence of nodes taking into consideration the obstacles as well.

Dynamic effect of water penetration on steel corrosion in carbonated mortar: A neutron imaging, electrochemical, and modeling study

Carbonation may potentially lead to corrosion of steel bars in reinforced concrete. This concern presents a major barrier against the implementation of sustainable low-clinker cementitious materials in the design of reinforced concrete structures. Various studies have documented the relationship between different equilibrium moisture states in carbonated concrete and the corrosion rate of the embedded steel. However, limited attempts were focused on visually observing the dynamic (time-dependent) behavior of moisture penetration into concrete and the related corrosion state and rate. Moreover, there is a lack of data on the local moisture state in the cementitious matrix in the steel-concrete interfacial zone. In this study, liquid water uptake in carbonated mortar was in-situ and over time monitored by neutron imaging. The corrosion state of embedded steel was monitored by means of electrochemical measurements. This combined experiment revealed that the arrival of the waterfront at the steel surface led to a sharp decrease of the steel potential. The corrosion rate increased from negligibly low values (<1 µm/year) to about 31 µm/year within a couple of minutes. Based on the neutron images, it is concluded that the moisture ingress through the concrete cover is locally affected by the heterogeneity of projected (depth-averaged) porosity distribution, and that large obstacles such as entrapped air have an effect. These observations were further confirmed by numerical simulation results of water transport, which also showed that liquid water permeability of the studied carbonated mortar determined by the inverse analysis is much higher than reported values in the literature. Overall, this study highlights the importance of considering the dynamic and coupled corrosion and moisture transport behavior during the periods which active corrosion can occur in carbonated concrete exposed to cyclic wetting/drying conditions.

Efficient cellulose aerogel biosorbents functionalized by nanosized zero-valent iron: Isotherms, kinetics, thermodynamics and mechanism of tellurium adsorption

Fabrication of eco-friendly and efficient biosorbents played a crucial role in adsorbing tellurium from wastewater, yet which was confronted with large obstacles to achieve a high adsorption capacity and biocompatibility simultaneously. Herein, a simple and economical strategy for adsorbing tellurium by nanosized zero-valent iron/ cellulose fiber hybrid aerogel (nZVI/CFA) is proposed. Cellulose fiber aerogel (CFA) was firstly fabricated by freeze-drying the cellulose fibers that were extracted from agricultural waste maize bracts. Then, the nZVI was uniformly anchored on the porous network skeleton structure of CFA by liquid-phase reduction. The nZVI/CFA exhibited mesoporous structure with a large specific surface area (399.85 m2/g), uniform pore size (3.92 nm) and pore volume (0.47 cm3/g). According to the kinetics and isothermal model, the tellurium adsorption by nZVI/CFA was uniform and endothermic-chemical on the monolayer surface. Due to the highly exposed specific surface area, more active sites and the synergistic effect of electrostatic attraction, reduction and substitution, nZVI/CFA has a high adsorption capacity (119.32 mg/g). As a low-cost and efficient biosorbent, nZVI/CFA provided a new idea for the treatment with other abandoned photovoltaic materials and agricultural waste.

A terrain treadmill to study animal locomotion through large obstacles.

A challenge to understanding locomotion in complex three-dimensional terrain with large obstacles is to create tools for controlled, systematic experiments. Recent terrain arenas allow observations at small spatiotemporal scales (∼10 body lengths or cycles). Here, we created a terrain treadmill to enable high-resolution observation of animal locomotion through large obstacles over large spatiotemporal scales. An animal moves through modular obstacles on an inner sphere, while a rigidly attached, concentric, transparent outer sphere rotates with the opposite velocity via closed-loop feedback to keep the animal on top. During sustained locomotion, a discoid cockroach moved through pillar obstacles for up to 25 min (2500 cycles) over 67 m (1500 body lengths). Over 12 trials totaling ∼1 h, the animal was maintained within a radius of 1 body length (4.5 cm) on top of the sphere 90% of the time. The high-resolution observation enables the study of diverse locomotor behaviors and quantification of animal-obstacle interaction.

Multi-obstacle aware smart navigation system for visually impaired people in fog connected IoT-cloud environment.

Design of smart navigation for visually impaired/blind people is a hindering task. Existing researchers analyzed it in either indoor or outdoor environment and also it's failed to focus on optimum route selection, latency minimization and multi-obstacle presence. In order to overcome these challenges and to provide precise assistance to visually impaired people, this paper proposes smart navigation system for visually impaired people based on both image and sensor outputs of the smart wearable. The proposed approach involves the upcoming processes: (i) the input query of the visually impaired people (users) is improved by the query processor in order to achieve accurate assistance. (ii) The safest route from source to destination is provided by implementing Environment aware Bald Eagle Search Optimization algorithm in which multiple routes are identified and classified into three different classes from which the safest route is suggested to the users. (iii) The concept of fog computing is leveraged and the optimal fog node is selected in order to minimize the latency. The fog node selection is executed by using Nearest Grey Absolute Decision Making Algorithm based on multiple parameters. (iv) The retrieval of relevant information is performed by means of computing Euclidean distance between the reference and database information. (v) The multi-obstacle detection is carried out by YOLOv3 Tiny in which both the static and dynamic obstacles are classified into small, medium and large obstacles. (vi) The decision upon navigation is provided by implementing Adaptive Asynchronous Advantage Actor-Critic (A3C) algorithm based on fusion of both image and sensor outputs. (vii) Management of heterogeneous is carried out by predicting and pruning the fault data in the sensor output by minimum distance based extended kalman filter for better accuracy and clustering the similar information by implementing Spatial-Temporal Optics Clustering Algorithm to reduce complexity. The proposed model is implemented in NS 3.26 and the results proved that it outperforms other existing works in terms of obstacle detection and task completion time.

BLOCKCHAIN TEKNOLOJİSİNDE YENİ DÖNEM VE DAHA İYİ MUHASEBE BİLGİSİ

The magnitude of the potential blockchain has been so powerful that the way of doing business in all sectors could change dramatically. The nature of blockchain seems well suited to meeting the needs of accounting as well. If the potentials offered by blockchain can be fully realized, today’s accounting practices are likely to change drastically in a way we have never seen before. In this study, it is tried to determine what kind of impact the blockchain holds for the future of accounting and auditing. “Decentralization” and “triple entry accounting” are revolutionary features blockchain could bring for accounting. In this study, it is understood that these changes seem theoretically possible, but not easy to use them effectively, because it turned out that there are many large and small obstacles ahead that had to be overcome before we could say full adoption of blockchain in accounting. It looks like there is a long way to go, at least for near future. However, considering the magnitude of innovative impact that blockchain will generate, it seems it is worth putting necessary effort in action to overcome these obstacles for high standards in accounting.

Cockroaches adjust body and appendages to traverse cluttered large obstacles.

To traverse complex terrain, animals often transition between locomotor modes. It is well known that locomotor transitions can be induced by switching in neural control circuits or driven by a need to minimize metabolic energetic cost. Recent work revealed that locomotor transitions in complex 3D terrain cluttered with large obstacles can emerge from physical interaction with the environment controlled by the nervous system. For example, to traverse cluttered, stiff grass-like beams, the discoid cockroach often transitions from using a strenuous pitch mode pushing across the beams to using a less strenuous roll mode rolling into and through the gaps. This transition can save mechanical energetic cost substantially (∼100-101mJ) but requires overcoming a potential energy barrier (∼10-3-10-2mJ). Previous robotic physical modeling demonstrated that kinetic energy fluctuation of body oscillation from self-propulsion can help overcome the barrier and facilitate this transition. However, the animal was observed to transition even when the barrier still exceeded kinetic energy fluctuation. Here, we further studied whether and how the cockroach makes active adjustments to facilitate this transition to traverse cluttered beams. The animal repeatedly flexed its head and abdomen, reduced hindleg sprawl, and depressed one hindleg and elevated the other during the pitch-to-roll transition, adjustments which were absent when running on a flat ground. Using a refined potential energy landscape with additional degrees of freedom to model these adjustments, we found that head flexion did not substantially reduce the transition barrier (by ∼10-3mJ), whereas leg sprawl reduction did so dramatically (by ∼10-2mJ). We speculate that head flexion is for sensing the terrain to guide the transition via sensory feedback control.