Centralized Research Articles

CMDS-SLAM: real-time efficient centralized multi-robot dense surfel SLAM

Abstract Real-time dense mapping technology for multi-robot systems is crucial in scenarios like search and rescue. This paper presents CMDS-SLAM, a centralized multi-robot dense surfel SLAM system aimed at overcoming limitations in hardware constraints, data transmission, and real-time creation and updating of dense maps in multi-robot SLAM. CMDS-SLAM reduces the transmission of dense information by employing a dense information filtering mechanism based on co-visual keyframes, in conjunction with the extraction and compression of superpixels. Additionally, the method employs a three-stage superpixel segmentation approach to optimize transmission and enhance the efficiency of surfel map generation. Finally, a surfel co-visibility graph is established, and multi-robot surfel map maintenance and updates are achieved through co-visibility graph and map optimization. A comprehensive evaluation of CMDS-SLAM indicates that the method enables multi-robot surfel mapping and significantly alleviates data transmission pressures while achieving real-time updates and maintenance of the surfel map.

THE LEGAL CONCERNS OF THE SETTLEMENT DISPUTES BY THE COUNCIL ON THE INTERNATIONAL CIVIL AVIATION ORGANIZATION

Background: The International Civil Aviation Organization (ICAO) is a “Club” of sovereign States. ICAO is a specialised United Nations agency (UN) with 193 Member States. If a dispute between these States and the diplomatic channels does not find a mutual solution, disagreement arises; however, the ICAO Council has an essential function in settling disputes. This settlement procedure is structured under the Chicago Convention (1944), the Rules for the Settlement of Differences (1957) and the Rules of Procedure for the Council (1969). However, Member States do not welcome these provisions, demonstrated by the scarcity of dispute settlement procedures before the ICAO Council in the last 80 years. This article introduces these legal disputes and looks for justifications based on the nature of the cases. The Council is a unique permanent body within ICAO. Although ICAO in the former century became rather a political (diplomatic) body upon its foundation, that is why the absence of successfully concluded dispute resolutions is a legal viewpoint that is more than interesting. This research paper reveals examples of the lack of effectiveness of the ICAO Council’s dispute settlement, focusing on the nature of the State’s interests and the outcomes of the procedure, furthermore, the role in these disputes in front of the International Court of Justice (ICJ) or arbitration. Methods: This article focuses on understanding and analysing the historical context, international cooperation and diplomacy, and the regulatory landscape of dispute resolutions and settlements. The search was based on databases, academic journals, and official publications from aviation authorities and organisations such as ICAO. The research utilised qualitative and quantitative methods based on empirical observations and examinations (document analysis and case studies). Results and conclusions: The ICAO Council has rule-making, judicial and administrative functions. It is a quasi-judicial body, and its President has the authority to settle disputes among the contracting States. However, if we look at the history, in the last 80 years, only 10 cases were handled by the ICAO Council. The main reason for the lack of ICAO Council dispute settlement decisions is the growing diplomatic (political) function of the ICAO Council. Aviation is a crucial commercial activity for every State, meaning the aviation industry is determined by political interests and decisions. Such political interests and subtle international relations often prevent States from submitting themselves to binding legal procedures. Another reason for fewer disputes before the ICAO Council is the need for more provisions and rules to support transparent and legally binding decisions. The current rules are neither appropriate nor comprehensive enough and cannot be executed in the same manner as court decisions. In addition, the ICAO Council’s decision can be appealed to non-ICAO bodies such as the International Court of Justice. Therefore, it is highly recommended that the whole processual mechanism be revised or that a new, dedicated judicial body with clear legal status, jurisdiction, and competence for dispute resolutions be created.

Cosserat constitutive theory and one of its higher-order forms: A rediscussion on the mesh dependence problem

When the finite element method (FEM) is adopted for studying strain localization problems, the mesh dependence phenomenon often ensues. The occurrence of mesh dependency will reduce the reliability of FEM simulations, so it is still worth studying. Herein, a constitutive model with decent mesh stability named the multiscale Cosserat (MC) model which contains higher-order rotation variables based on the conventional Cosserat (CC) theory, was introduced. The theory derivation indicates that the MC model has an extra internal length scale vector Dq that can consider the microscopic geometrical characteristics of the simulated material and can easily regress to the conventional Cosserat model when Dq = 0. After revisiting the mesh dependence problem through numerical simulations of plane strain compression tests, the mechanisms and advantages of the CC and MC models in solving the mesh dependence problem were discussed. The analysis demonstrated that the CC theory can alleviate the mesh dependence problem but cannot eliminate it; when the divergence of the computation occurs, due to a stricter accuracy requirement for convergence, the computation result of the MC model tends to stabilize along with the refinement of the elements. The mesh advantage of the MC model is influenced by both the length scales l and Dq. This study can provide new insight into understanding the mesh dependence problem, and the MC model introduced here is a potential model for comprehensively eliminating the influence of mesh dependence problems.

Unequal burials: Medicolegal death investigation system variation as a determinant of FEMA's disaster funeral assistance allocation

AbstractFederal Emergency Management Agency (FEMA) disaster funeral assistance is available to cover funeral expenses for the relatives of disaster victims in the United States. However, funds are dependent on death certificate proof of a disaster‐related cause of death. Previous research has shown that the medicolegal death investigation (MDI) system may impact the quality of death certificate data. This research examines the relationship between MDI systems and FEMA disaster funeral assistance distribution. The results of the study indicate that centralized medical examiner systems have higher funeral assistance acceptance rates than other MDI system types. Democratic states and counties with fewer minority residents also have higher acceptance rates. Furthermore, acceptance rates varied significantly by FEMA regional office. These findings suggest that the distribution of funeral assistance may be influenced by administrative and political differences between states.

Demarcation of Cyberspace: Political and Legal Effects of Applying the Concept of Sovereign States’ Interests

Demarcation of Cyberspace: Political and Legal Effects of Applying the Concept of Sovereign States’ Interests

Digital peacekeeping, cyborg soldiers and militarised masculinities: a posthuman critique

ABSTRACT This article contends that digital technologies are profoundly altering peacekeeping practices as well as peacekeeper consciousness and modes of being. It is proposed that combining postcolonial humanist and posthumanist ontological perspectives when undertaking ethnographic research enrichens investigations into global race and gender power relations in peacekeeping. Drawing on posthumanism and Bourdieusian practice theory, the article examines how 16 British infantry soldiers articulate reconnaissance and civilian protection experiences and construct their militarised masculinities prior to and after deployment to United Nations Multidimensional Integrated Stabilisation Mission in Mali (MINUSMA) in 2020–2021. Findings show that deployment to a high-risk, stressful mission and functioning as ‘information processing devices’ in an increasingly centralised UN peacekeeping system disempowers and emasculates the men. The peacekeepers respond by engendering and racialising the British Army’s ‘gender-neutral’ cyborg soldier figuration and draw on virtual gaming syntax and framings to create relational distance between themselves, female colleagues and local populations.

Perspectives on biovigilance and transmission of infection of donor origin in deceased organ donation-The evolving scenario in the United Kingdom.

A biovigilance program that has oversight of the entire organ and tissue donation and transplantation pathways underpins the quality and safety system in the United Kingdom. A synopsis of the microbiological characterization of potential deceased organ donors and the processes for notification and investigation of possible donor-derived infections are described. A summary of the outcome of investigations performed over a 10-year period and a subset data frame of 5 years showing the proportion of infection incidents in relation to other incident types are also presented. A single, centralized system overseeing the entire donation and transplantation pathway has become an essential part of transplantation practice across the United Kingdom. Revision of processes and management options, awareness of clinical conditions, and review of guidance are some examples of benefits gained over time. Transmission figures provided reflect the UK setting; these should be interpreted in context, as donor and recipient epidemiology differs across regions and nations. Despite a well-established system in place, under reporting of cases continues to occur, with ongoing efforts to reassure professionals and patients of the true benefits of biovigilance in driving improvements in practice and patient outcomes.

Why Do Teachers Not Change While the National Curriculum Repeatedly Changes?: The ‘Hidden’ Resistance of Teachers in the Centralized System of Education in South Korea

In the highly centralized education system, national curriculum revisions are significant because they fundamentally change the direction and nature of schooling across the country. However, any new reform will inevitably be met by opposition and resistance from various stakeholders. While the notion of increased autonomy and empowerment is predicated on teachers’ participation, in practice, teachers are often unwilling to accept or even oppose curriculum changes. Using South Korea's recent national curriculum revision in 2022 as reference, this study draws attention to the fact that despite the revision of the national curriculum, teachers’ curriculum implementation has not changed as much as expected, and even show antipathy or resistance. Resistance in this context does not mean simple opposition but rather a phenomenon that involves and intervenes in the interpretive process of new policies, and the politics of the society that surrounds individuals and schools. I argue that Korean primary and secondary teachers’ reactions to the new national curriculum reflect complex orientations towards the curriculum and resistance to its revision, shaped by personal, organizational, and sociocultural contexts. With implications of the analysis for understanding teachers’ responses to national curriculum, I conclude that we need more pay attention to the dilemma as an ambivalent emotion teachers experience requires us to consider the dynamics when the national curriculum is implemented.

Bureaucratic and benign? The violent continuum of Home Office reporting in the UK

The border, the body, immigration reporting centres, and detention facilities, the violence of border regimes operates across these sites through a continuum, successively steering migrants towards subjugation, destitution and removal. Adopting a feminist framing of violence, which attends to the inherent interconnectedness between different sites and scales of violence, this paper focuses on immigration reporting to examine how its sites and practices enact various forms of violence over migrant bodies. Drawing upon ethnographic fieldwork and interviews with asylum-seekers in Bristol and Salford, I argue that a host of spatiotemporal practices produce various forms of violence which become intimately inflicted and experienced, and yet which are inextricably tethered to the foundational logics of sovereign state politics. How reporting sites and processes function reflect the contemporary means through which violence is both imposed and concealed on those who have been categorised as ‘unwanted’ by the state.

Z-ACA allotrope: a topological carbon material with obstructed Wannier charge center, real topology, and hinge states

Z-ACA allotrope: a topological carbon material with obstructed Wannier charge center, real topology, and hinge states

Where do data sovereignty security risks come from?-Production perspective based on social reproduction

As a new factor of production, data has been rapidly integrated into all aspects of production, distribution, circulation, consumption and social service management, and has had a profound impact on production methods, lifestyles and social governance methods. In essence, data, as a new factor of production, is the result of the contradictory movement of productivity and production relations in the process of economic development in the digital economy era. It is also the reconstruction of productivity and production relations in the digital era. While the digital industry and digital economy have become an important engine leading global economic growth and bringing huge dividends, data as a production factor is also accompanied by rising sovereign security risks. Taking the production of data elements in social reproduction as an entry point, we clarify the possible security risks of data as a new production factor in the production process, analyze the data sovereignty security risks derived from the security risks, and find that data sovereignty security risks breed when data elements participate in social reproduction. In the production process, there are challenges and threats to data sovereignty security such as internal jurisdiction and control rights owned by sovereign countries, as well as external rights to equality and independence. Therefore, it is necessary to accurately grasp the data sovereignty security risks that exist in the production process of social reproduction of data elements, and build new data production relationships to match the development characteristics of new productive forces, so as to prevent and resolve non-traditional security risks caused by sovereignty security.

Overview of global monitoring systems for the side effects and adverse events associated with medicinal cannabis use: a scoping review using a systematic approach

ObjectivesThe use of cannabis-based medicine (CBM) as a therapeutic has surged in Australia over the past 5 years. Historically, the United Nations Single Convention on Narcotic Drugs (1961) prohibited cannabis...

Regulating the cationic vacancy structure of NiO to optimize its d band center and accelerate oxygen evolution reaction

In order to study the influence of cationic vacancy structure on the oxygen evolution reaction (OER) activity of catalysts. A series of cationic vacancy NiO catalysts (d-Mx-NiO) with different vacancy structure were prepared by alkali-etching the doping amphoteric oxide element in this paper. Due to diverse intrinsic characteristic of doping amphoteric oxide element, the electronic configuration of cationic vacancy in d-Mx-NiO is changed after alkali-etching. Density functional theory (DFT) calculations reveal that the d band center of Ni element is increased gradually with the increasing valence state of doping vacancy element, which is beneficial to optimize the adsorption energy for the OER intermediate products. Among the d-Mx-NiO catalysts, d-Al0.2-NiO catalyst possesses the highest d band center and oxidation state of Ni, resulting in the superior OER performance with only 285 mV overpotential to achieve the current density of 10 mA cm−2. Additionally, d-Al0.2-NiO also demonstrates admirable stability after 100 h OER test with a ∼99% faradaic efficiency. The current finding would offer a valuable insights to design and fabricate the cationic vacancy OER catalysts with high efficiency.

HOW THE SOMALI MODERN GOVERNANCE WORKS WITH THE TRADITIONAL GOVERNANCE SYSTEM: LITERATURE REVIEW

Somalia, located in the Horn of Africa, has a complex history influenced by tribalism, colonialism, and internal conflict. During the colonial era, European powers collaborated with clan leaders, resulting in Somalia's division along clan and tribal lines. This division led to the creation of artificial borders, which fragmented the land and fostered regional and clan-based identities. After gaining independence in 1960, Somalia initially aimed to establish a strong, centralized state. The Siad Barre regime, which came to power through a military coup in 1969, tried to suppress clan and regional identities in favor of a communist ideology. However, the regime's downfall in 1991 plunged Somalia into a prolonged period of violence and state collapse. Warlords and clan-based factions fought for power, leading to a protracted civil war. This paper analyzes the intricate relationship between Somalia's traditional and modern governance systems. It examines the potential for collaboration, the challenges faced in nation-building efforts, and the lasting impact of clan-based structures. The study begins by exploring traditional governance, highlighting the important role of customary law, elders, and religious clerics in consensus-building mechanisms and maintaining social harmony. It emphasizes the historical significance and contemporary relevance of these institutions. The paper then delves into the challenges involved in establishing a modern state in Somalia. It examines the obstacles that hinder the realization of democratic ideals and the establishment of a centralized administration. A key focus is evaluating the potential synergies and conflicts between traditional and modern systems.

Tracing nation branding in Slovakia

ABSTRACT Nation branding as a concept and practice of highlighting the country’s most important performance indicators has been important for the state’s conduct in the last 30 years. Although not fully grounded within existing theories, its association with neoliberal state conduct explains its application in the post-socialist countries of Central and Eastern Europe. Slovakia, as an example of a new, small, and post-socialist country, has been trying to impact its visibility by means of nation branding. Key to it were the motivations and milestones of European Union accession and the presidency of the Council of the European Union. Despite these significant events, the management and content development of the Slovak brand stands as a particularistic example with creative ideas but lack of brand continuity. Explored by a qualitative approach demonstrating nation branding as a process, of process-tracing and content analysis, this paper follows the trajectory of nation branding in the Slovak sovereign statehood with an emphasis on the European Union. The analysis confirms the particular standing of the Slovak brand.

Revealing the atomic and electronic mechanism of human manganese superoxide dismutase product inhibition

Human manganese superoxide dismutase (MnSOD) is a crucial oxidoreductase that maintains the vitality of mitochondria by converting superoxide (O2●−) to molecular oxygen (O2) and hydrogen peroxide (H2O2) with proton-coupled electron transfers (PCETs). Human MnSOD has evolved to be highly product inhibited to limit the formation of H2O2, a freely diffusible oxidant and signaling molecule. The product-inhibited complex is thought to be composed of a peroxide (O22−) or hydroperoxide (HO2−) species bound to Mn ion and formed from an unknown PCET mechanism. PCET mechanisms of proteins are typically not known due to difficulties in detecting the protonation states of specific residues that coincide with the electronic state of the redox center. To shed light on the mechanism, we combine neutron diffraction and X-ray absorption spectroscopy of the product-bound, trivalent, and divalent states of the enzyme to reveal the positions of all the atoms, including hydrogen, and the electronic configuration of the metal ion. The data identifies the product-inhibited complex, and a PCET mechanism of inhibition is constructed.

Design and implementation of real-time log analysis based on ELK

With the rapid development of the IT industry, the integrated solution of real-time log analysis has become a member of the new generation of IT operation and maintenance structure. The traditional manual log analysis system is no longer suitable for the rapid development of the operation and maintenance system. The log analysis software commonly used in enterprises includes Elasticsearch, Logstash, and Kibana systems. The advantage is that it is free and open source. "Design and implementation of real-time log analysis based on ELK" was born for system maintenance and developers to understand server software and hardware information through logs, and check the cumbersome operations in the configuration process. Because frequent analysis of the log can understand the load of the server, performance security, so as to take timely measures to correct errors. If you manage dozens or hundreds of servers, there is no centralized log management system to collect and summarize the logs on all servers, which causes great difficulties for operation and maintenance managers. "Design and implementation of real-time log analysis based on ELK" uses Elasticsearch, Logstash, and Kibana to achieve unified collection and classification of server logs, which can solve the defects of traditional log analysis platforms, improve the efficiency of server application positioning problems, and help enterprises solve data center problems running problems of related applications.

Spin states of metal centers in electrocatalysis.

Understanding the electronic structure of active sites is crucial in efficient catalyst design. The spin state, spin configurations of d-electrons, has been frequently discussed recently. However, its systematic depiction in electrocatalysis is lacking. In this tutorial review, a comprehensive interpretation of the spin state of metal centers in electrocatalysts and its role in electrocatalysis is provided. This review starts with the basics of spin states, including molecular field theory, crystal field theory, and ligand field theory. It further introduces the differences in low spin, intermediate spin, and high spin, and intrinsic factors affecting the spin state. Popular characterization techniques and modeling approaches that can reveal the spin state, such as X-ray absorption microscopy, electron spin resonance spectroscopy, Mössbauer spectroscopy, and density functional theory (DFT) calculations, are introduced as well with examples from the literature. The examples include the most recent progress in tuning the spin state of metal centers for various reactions, e.g., the oxygen evolution reaction, oxygen reduction reaction, hydrogen evolution reaction, carbon dioxide reduction reaction, nitrogen reduction reaction, nitrate reduction reaction, and urea oxidation reaction. Challenges and potential implications for future research related to the spin state are discussed at the end.

Foreign Policy of Germany towards Kazakhstan

After the collapse of the Soviet Union, a large number of newly formed states appeared on the geopolitical map of the world, some of which are located in Central Asia. As one of the largest and most influential countries in Europe, Germany sought to establish strong economic, political and cultural ties with these countries. The author pays attention to the stages of development of bilateral relations from the early 90s to the present.Aim. The aim of this study is to identify key aspects of German foreign policy in the region, focusing on relations with Kazakhstan.Tasks. Study the main stages of the development of diplomatic relations between Germany and Kazakhstan. Identify the current state of relations between Germany and Kazakhstan. Explore possible expansion of economic ties and prospects for future cooperation. Show the importance of studying the foreign policy of Germany in relation to Kazakhstan for the Russian Federation.Methods. The research methodology is based on historical analysis, which helped to identify the stages of development of international relations between the two states. The comparative analysis defines the differences in the foreign policy line of Germany towards Kazakhstan at different stages. Regular summit meetings were the objects of event analysis.Results. By examining historical context, economic partnerships, and geopolitical considerations, it is possible to investigate the dynamics shaping German engagement in Central Asia.Conclusions. The genesis of the development of interstate relations was the collapse of the USSR, which served to form sovereign states in the post-Soviet space. The development of bilateral relations is characterized by several stages: some of them were characterized by stagnation, others, by an increase in the attention of Germany to Kazakhstan. The beginning of 2022 served to intensify Germany’s foreign policy in the region. At the present stage, Germany uses a multi-pronged approach that includes diplomatic, economic, cultural and educational components. Germany’s foreign policy in the region is aimed at protecting its national interests. Secondly, the partnership with Kazakhstan is a symbol of Germany’s shared foreign policy goals, emphasizing the importance of cooperation, dialogue and joint development efforts in the heart of Eurasia.

Information features of management decisions in the system of public authority

The article considers the formation of two management systems after the adoption of the Constitution of the Russian Federation — the system of public administration and the system of local government. The conceptual peculiarities of managerial decision-making in both systems are investigated, and the conclusion is made about the differences in the configurations of the channels of their information links. The advantages and disadvantages of the public administration system as a centralized system based on cybernetic principles, as well as the positive and negative aspects of the synergetic nature of the local government system are analyzed. As public administration systems need a certain decentralization of management, so local government systems cannot do without orientation on a number of issues on centralized commands. It is concluded that in Russia for a long period of time there was no proper information interaction between the system of public administration and the system of local government. It is noted that the appearance in the Constitution of the Russian Federation of part 3 of Article 122 of the Constitution of the Russian Federation determined not only the existence of a unified system of public power, but also the existence of an integral system of governance, the capacity of which to make effective management decisions is higher than the total capacity of the previously existing self-sufficient systems.