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This paper studies the scheduling of autonomous mobile robots (AMRs) at hospitals where the stochastic travel times and service times of AMRs are affected by the surrounding environment. The routes of AMRs are planned to minimize the daily cost of the hospital (including the AMR fixed cost, penalty cost of violating the time window, and transportation cost). To efficiently generate high-quality solutions, some properties are identified and incorporated into an improved tabu search (I-TS) algorithm for problem-solving. Experimental evaluations demonstrate that the I-TS algorithm outperforms existing methods by producing high-quality solutions. Based on the characteristics of healthcare requests and the AMR working environment, scheduling AMRs reasonably can effectively provide medical services, improve the utilization of medical resources, and reduce hospital costs.

The current food chain both contributes to, and is affected by, climate change. While GHG emissions and emissions to water and soil are a problem for the whole food chain, the majority of such emissions and the major solutions to them can be found in the farming and land use sector. The farming system needs to reduce its greenhouse-gas emissions and adapt its supply chain to cope with climate change. A broad variety of payment tools have been proposed to motivate farmers and landowners to take certain actions to reduce greenhouse gas emissions and encourage the protection or restoration of natural resources. The protocol described here (OSF preregistration https://doi.org/10.17605/OSF.IO/STGQ6) outlines the methodology for a systematic review to explore how financial mechanisms such as green bonds can provide incentives to agri-food sector to support environmental sustainability and ecosystem service delivery through land-use change. Our primary research question is: how do financial mechanisms incentivize land restoration? Studies will be categorized according to the types of financial mechanisms, their characteristics, methods of land restoration and their impact on mitigating agri-food footprint. The results are expected to increase our understanding about the design of financing tools currently used to accelerate nature restoration. Moreover, they will inform us about the effectiveness of deploying such tools on rural communities, food companies and landowners.

Background Antibiotics are increasingly becoming ineffective as antimicrobial resistance (AMR) continues to develop and spread globally—leading to more difficult to treat infections. Countries such as Uganda are still challenged with implementation of AMR related strategies due to data paucity. This includes a lack of data on the prevailing knowledge and awareness of antimicrobial resistance and antibiotic use among farming communities, both commercial and subsistence, which are instrumental in the implementation of targeted interventions. The aim of our study was to assess the knowledge, attitudes and practices on AMR among subsistence and commercial farmers in Wakiso district, central Uganda. Methods A cross-sectional study was conducted using a semi-structured questionnaire in Wakiso district, Central Uganda in between June and September 2021. Polytomous latent class analyses were performed to group participants based on their responses. Multivariable regression and conditional inference trees were used to determine the association between demographic factors and knowledge on antibiotics and AMR. Results A total of 652 respondents participated in the study among whom 84% were able to correctly describe what antibiotics are. Subsistence farmers (OR = 6.89, 95% CI [3.20; 14.83]), and to a lesser extent, farming community members which obtained their main income by another business (OR = 2.25, 95% CI [1.345; 3.75]) were more likely to be able to describe antibiotics correctly than individuals involved in commercial farming. Based on the latent class analysis, three latent classes indicating different levels of knowledge on AMR, were found. Subsistence farming, higher educational level and younger age were found to be associated with belonging to a class of better knowledge. Conclusion The majority of participants were able to correctly describe antibiotics and aware of AMR, however there was some degree of misunderstanding of several AMR concepts. Targeted AMR interventions should improve awareness and also ensure that not only subsistence farmers, but commercial farmers, are included.

The central nervous system exploits anticipatory (APAs) and compensatory (CPAs) postural adjustments to maintain the balance.The postural adjustments comprising stability of the center of mass (CoM) and the pressure distribution of the body influence each other if there is a lack of performance in either of them.Any predictable or sudden perturbation may pave the way for the divergence of CoM from equilibrium and inhomogeneous pressure distribution of the body.Such a situation is often observed in the daily lives of MS patients due to their poor APAs and CPAs and induces their falls.The way of minimizing the risk of falls in neurological patients is by utilizing perturbation-based rehabilitation, as it is efficient in the recovery of the balance disorder. In light of the findings, we present the design, implementation, and experimental evaluation of a novel 3 DoF parallel manipulator to treat the balance disorder of MS.The robotic platform allows angular motion of the ankle based on its anthropomorphic freedom.Moreover, the end-effector endowed with upper and lower platforms is designed to evaluate both the pressure distribution of each foot and the CoM of the body, respectively.Data gathered from the platforms are utilized to both evaluate the performance of the patients and used in high-level control of the robotic platform to regulate the difficulty level of tasks. In the study, kinematic and dynamic analyses of the robot are derived and validated in the simulation environment.Low-level control of the first prototype is also successfully implemented via the PID controller.The capacity of each platform is evaluated with a set of experiments considering the assessment of pressure distribution and CoM of the foot-like objects on the end-effector.The experimental results indicate that such a system well-address the need for balance skill training and assessment through the APAs and CPAs. 13 figures, 38 pages, PLOS ONE

Management of forest for wood production has altered ecosystem structures and processes and led to habitat loss and species extinctions, worldwide. Deadwood is a key resource supporting forest biodiversity, and commonly declines following forest management. However, different forest management methods affect dead wood differently. For example, uneven-aged silviculture maintains an age-stratified forest with ongoing dead wood production, while even-aged silviculture breaks forest continuity, leading to long periods without large trees. We asked how deadwood-dependent beetles respond to different silvicultural practices and if their responses depend on deadwood volume, and beetles preference for decay stages of deadwood. We compared beetle assemblages in five boreal forest types with different management strategies: clearcutting and thinning (both representing even-aged silviculture), selective felling (representing uneven-aged silviculture), reference and old growth forest (both uneven-aged controls without a recent history [~50 years] of management, but the latter with high conservation values). We collected beetles using window traps and by sieving the bark from experimental logs (bolts). Beetle assemblages on clear-cuts differed from all other stand types, regardless of trapping method or decay stage preference. Thinning differed from reference stands, indicating incomplete recovery after clear-cutting, while selective felling differed only from clear-cuts. In contrast to our predictions, early and late successional species responded similarly to different silvicultural practices. However, there were indications of marginal assemblage differences both between thinned stands and selective felling and between thinned and old growth stands (p = 0.10). The stand volume of early decay stage wood influenced assemblage composition of early, but not late successional species. Uneven-aged silviculture maintained species assemblages similar to those of the reference and old growth stands and might therefore be a better management option when considering biodiversity conservation.

Large-scale national and transnational commercial land transactions, or Large-Scale Land Acquisitions (LSLAs), have been gaining a lot of academic attention since the late 2000s and since the reported rush for land, resulting in turn from an increase in demand for arable land. If many data exist to characterize land deals, the analysis of investment networks remain limited and predominantly portrays power asymmetries between countries from the Global North investing in the Global South. The aim of this work is to perform a deeper investigation on the land trade market, specifically focusing on cases that do not follow such narratives. For instance, almost 25% of the countries included in the transnational land trade network do not follow a strict investor/target dichotomy, thus being characterized by a double role, i.e., they both acquire and cede land in the transnational context. In order to globally acknowledge for what was currently considered as abnormal cases, we model open access data about LSLAs extracted from the Land Matrix Initiative (LMI) open-access database into a network graph, and adapt an eigenvector based centrality method originally conceived for online social networks, namelyLurkerRank, to identify and rank anomalous profiles in the land trade market. We take into account three different network snapshots: amulti-sectornetwork (including all the transnational deals in the LMI database), and three networks referring to specific investment sectors (agriculture,minesandbiofuels). Experimental results show that emerging economies (e.g., China and Malaysia) play a central role in the land trade market, by creating alternative dynamics that escape the classic North/South one. Our analyses also show how African countries that are often seen as targets of land trade transactions in a specific sector, may often acquire foreign land in the context of investments in the same sector (i.e., Zimbabwe for biofuels and the Democratic Republic of Congo for the mining sector).

High nitrogen (N) input to soil can cause higher nitrous oxide (N2O) emissions, that is, a higher N2O/(N2O+N2) ratio, through an inhibition of N2O reductase activity and/or a decrease in soil pH. We assumed that there were two mechanisms for the effects of N input on N2O emissions, immediate and long-term effect. The immediate effect (field applied fertilizer N) can be eliminated by decreasing the N input, but not the long-term effect (soil accumulated N caused by long–term fertilization). Therefore, it is important to separate these effects to mitigate N2O emissions. To this end, soil samples along a 0‒5.2 m profile were collected from a long-term N fertilization experiment field with two N application rates, that is, 600 kg N ha-1 year-1 (N600) and no fertilizer N input (N0). External N addition was conducted for each subsample in the laboratory incubation study to produce two additional treatments, which were denoted as N600+N and N0+N treatments. The results showed that the combined immediate and long-term effects led to an increase in the N2O/(N2O+N2) ratio by 6.8%. Approximately 32.6% and 67.4% of increase could be explained by the immediate and long-term effects of N input, respectively. Meanwhile, the long-term effects were significantly positively correlated to soil organic carbon (SOC). These results indicate that excessive N fertilizer input to the soil can lead to increased N2O emissions if the soil has a high SOC content. The long-term effect of N input on the N2O/(N2O+N2) ratio should be considered when predicting soil N2O emissions under global environmental change scenarios.