The desired flexibility of industrial automation systems foresees among others flexible deployment and execution of control applications on distributed control nodes. This task can be performed more efficiently by an automated deployment algorithm yielding a valid deployment and optimizing non-functional objectives.Although extensively investigated, automated deployment approaches for the automotive domain cannot be translated to industrial control applications, due to a different execution semantics. Thus, in this paper, we present a method of satisfiability modulo theories (SMT)-based automated deployment of the industrial automation systems. We formalize and implement domain-relevant constraints and objectives. Our contribution is threefold: 1) we formalize the functional coupling and end-to-end deadline constraints and objectives while considering the semantics of control applications, 2) we encode the deployment problem into an SMT form, and 3) we validate the approach on an abstract example and a domain-relevant use case.The results obtained in this paper will allow application engineers to fulfill functional and real-time requirements by automatically solving the deployment problem.

An asset administration shell (AAS), as a key concept of the Industry 4.0, provides a machine-accessible interface to any kind of asset. An application implementing the devices functionality should be able to interact with different AASs.In this work, we specify the function blocks (FBs) for accessing properties and invoking operations of AASs. We analyzed the nature and requirements of such FBs while focusing on REST/HTTP- and OPC UA-based AASs and provided IEC 61499-based implementation.The results obtained in this paper will ease interaction with the complex AAS structure from the low-level devices.

Abstract Paper deals with seasonal changes in heavy metal bioaccumulation (Fe, Mn, Cu, Zn and Pb) in Utricularia vulgaris L. and Salvinia natans (L.) All. of two localities (Necik and Sinjak – active fishpond basins) in the area of Bardača fishpond. According to our results, the better accumulator of Fe (3035 mg/kg) and Zn was S. natans (163.55 mg/kg), whereas Utricularia vulgaris better accumulates Mn (620 mg/kg) and Cu (10.18 mg/kg). Amounts of Pb in both investigated macrophyte were below the detection level (<0.51 mg/kg). The values of the bioaccumulation factor (BAC) of the tested metals were >1 or ~1 for both species, and the BAC values decreased in the following order in both investigated species: Fe > Mn > Cu > Zn. The results obtained indicated that tested macrophyte show very good characteristics as bioaccumulators and, thanks to this fact, they could be used in phytoremediation technique successfully in water-polluted ecosystem.

Physical activity, body mass, and dietary habits are known to be important determinants of overall health status, but there is an evident lack of studies that examine these issues specifically in preschool children. The aim of this study was to identify associations that may exist between adhering to the Mediterranean diet (MD), levels of physical activity (PA), and body composition indices in apparently healthy preschool children from southern Croatia. Participants were 5- to 6-year-old preschoolers from the Mediterranean part of the country (the Split-Dalmatia County; n = 260, 126 females). Adherence to the MD was observed by the Mediterranean Diet Quality Index (KIDMED), PA level was evaluated by the Preschool-age Children’s Physical Activity Questionnaire (Pre-PAQ), and responses were collected from the parents. The participants’ waist circumferences (in cm), waist-to-hip ratios, and body mass index (in kg/m2, and in a z-score calculated relative to the normative value for age and sex) were used as indicators of body composition. All children were of the same age and tested over a one-month period of the same year as a part of the regular examination undertaken before attending elementary school. With only 6% of the children having a low KIDMED score, adherence to the MD was high. MD adherence was higher in girls (Chi-square = 15.31, p < 0.01) and children who live on the coast of the Adriatic Sea (Chi-square = 18.51, p < 0.01). A mixed effects logistic regression (with kindergarten as random factor) identified sedentary activity to be negatively associated with MD adherence (OR per point: 0.65, 95% CI: 0.44–0.91). High adherence to the MD in the studied sample may be attributed to regulated feeding in kindergarten. Considering that most Croatian elementary schools do not provide food to their students, MD adherence should be investigated later in life and also in other parts of the country where the MD is culturally less prevalent.

This paper presents a design of the mobile robot motion framework using slightly modified Vector Field Histogram (VFH) algorithm. The VFH algorithm provides both local motion planning and obstacle avoidance based on on-board sensors measurements. This framework utilizes Robot Operating System (ROS) for the software implementation and simulation purposes. The effectiveness of the proposed framework was verified in both static and dynamic unknown environments. The obtained simulation results indicate a proficiency of the VFH algorithm in navigating the mobile robot from the start to the goal position avoiding collision with obstacles. Trajectories obtained using the designed framework are smooth and without oscillations even in the presence of moving obstacles.

This paper treats a path planning problem for the mobile robot with differential constraints using modified RRT (Rapidly exploring random tree) algorithm based on Dubin’s curves. In this paper, the planning problem is considered as a problem of finding a feasible path between the initial and goal point in a static environment with obstacles. Modifications on basic RRT algorithm are necessary due to differential constraints of non-holonomic car-like robot. Dubin’s vehicle is selected as robot model, which represents special case of Simple car that moves only forward with constant velocity and can only make left and right turns. Algorithm is implemented in ROS (Robot Operating System) and tested through realistic simulations in 2D environment consisted of free space and obstacles. The simulation setup was conducted using a 2D Stage simulator in ROS and RViz tool for visualization. Pioneer 3AT robot model was used as Dubin’s car for simulation purposes.

Analysis of the Temple Scroll reveals another technology used to produce the Dead Sea Scrolls and potential preservation concerns. The miraculously preserved 2000-year-old Dead Sea Scrolls, ancient texts of invaluable historical significance, were discovered in the mid-20th century in the caves of the Judean desert. The texts were mainly written on parchment and exhibit vast diversity in their states of preservation. One particular scroll, the 8-m-long Temple Scroll is especially notable because of its exceptional thinness and bright ivory color. The parchment has a layered structure, consisting of a collagenous base material and an atypical inorganic overlayer. We analyzed the chemistry of the inorganic layer using x-ray and Raman spectroscopies and discovered a variety of evaporitic sulfate salts. This points toward a unique ancient production technology in which the parchment was modified through the addition of the inorganic layer as a writing surface. Furthermore, understanding the properties of these minerals is particularly critical for the development of suitable conservation methods for the preservation of these invaluable historical documents.

Andreas Vesalius, the father of modern anatomy and a predecessor of neuroscience, was a distinguished medical scholar and Renaissance figure of the 16th Century Scientific Revolution. He challenged traditional anatomy by applying empirical methods of cadaver dissection to the study of the human body. His revolutionary book, De humani corporis fabrica, established anatomy as a scientific discipline that challenged conventional medical knowledge, but often caused controversy. Charles V, the Holy Roman Emperor and King of Spain to whom De humani was dedicated, appointed Vesalius to his court. While in Spain, Vesalius's work antagonized the academic establishment, current medical knowledge, and ecclesial authority. Consequently, his methods were unacceptable to the academic and religious status quo, therefore, we believe that his professional life-as well as his tragic death-was affected by the political state of affairs that dominated 16th Century Europe. Ultimately, he went on a pilgrimage to the Holy Land that jeopardized his life. While returning home, his ship was driven ashore on the Greek island of Zakynthos (Zante) where he became ill and suddenly died in 1564 at the age of 49. Vesalius's ideas helped free medicine from the limitations of the 16th Century and advanced scientific knowledge. His influence is still felt more than 500 years later. In this paper, we acknowledge Vesalius's neuroanatomical contributions and we discuss the historical facts and political circumstances that influenced his scientific career and personal life, emphasizing the conditions of his pilgrimage to the Holy Land that led to his untimely death.

This paper addresses the problem of 3D registration of outdoor environments combining heterogeneous datasets acquired from unmanned aerial (UAV) and ground (UGV) vehicles. In order to solve this problem, we introduced a novel Scale Invariant Registration Method (SIRM) for semi-automated registration of 3D point clouds. The method is capable of coping with an arbitrary scale difference between the point clouds, without any information about their initial position and orientation. Furthermore, the SIRM does not require having a good initial overlap between two heterogeneous datasets. Our method strikes an elegant balance between the existing fully automated 3D registration systems (which often fail in the case of heterogeneous datasets and harsh outdoor environments) and fully manual registration approaches (which are labour-intensive). The experimental validation of the proposed 3D heterogeneous registration system was performed on large-scale datasets representing unstructured and harsh outdoor environments, demonstrating the potential and benefits of the proposed 3D registration system in real-world environments.

IoT devices have a wide spectrum of applications in the real-life environment. While these applications range based on the area covered, having the best scenario related to the devices covering the optimal area is a challenge. In this work, we consider the improvement of the industrial laboratory by transferring it to the smart lab using the IoT devices. We analyzed the tradeoffs between different scenarios of the smart lab with the focus on the security and congestion of the network and its effects on the overall performance. For the smart lab case study we can conclude that security-enabled feature will not significantly affect the performance of the smart lab compared to the benefits of the IoT-integrated devices on the overall improvement of the lab experience given that the traditional lab had significant time delay.

The purpose of a car jack is lifting the car and maintaining it at a certain height during different repairs. This paper focuses on the design of car jack, which belongs to the basic equipment of cars. Cars jacks are used mainly for changing tires and small repairs of a car. The aim of this paper was to create a parametric CAD model of a car jack and carry out numerical structural analysis of the car jack using the created parametric CAD model. The development of the parametric CAD model and structural analysis was performed using the CATIA V5 system. This paper describes the modern way of creating more complex mechanisms, which support quick modification of its parameters, and thus the entire design. The whole model of the car jack was parametrized. The stresses obtained by finite element method (FEM) analysis were confirmed with the analytical calculation in characteristic parts of the design, with some exceptions. At the end of the paper, an analysis of the obtained results was performed, on the basis of which specified conclusions were made.

Combating eutrophication requires changes in land and water management in agricultural catchments and implementation of mitigation measures to reduce phosphorus (P), nitrogen (N) and suspended sediment (SS) losses. To date, such mitigation measures have been built in many agricultural catchments, but there is a lack of studies evaluating their effectiveness. Here we evaluated the effectiveness of mitigation measures in a clay soil-dominated headwater catchment by combining the evaluation of long-term and high-frequency data with punctual measurements upstream and downstream of three mitigation measures: lime-filter drains, a two-stage ditch, and a sedimentation pond. Long-term hydrochemical data at the catchment outlet showed a significant decrease in P (-15%) and SS (-28%) and an increase in nitrate nitrogen (NO-N, +13%) concentrations. High-frequency (hourly) measurements with a wet-chemistry analyzer (total and reactive P) and optical sensor (NO-N and SS) showed that the catchment is an abundant source of nutrients and sediments and that their transport is exacerbated by prolonged drought and resuspension of stream sediments during storm events. Lime-filter drains showed a decrease in SS by 76% and total P by 80% and an increase in NO-N by 45% compared with traditional drains, potentially indicating pollution swapping. The effectiveness of two-stage ditch and sedimentation pond was less evident and depended on the prevalent hydrometeorological conditions that drove the resuspension of bed sediments and associated sediment-bound P transport. These results suggest that increased frequency of prolonged drought due to changing weather patterns and resuspension of SS and sediment-bound P during storm events can override the generally positive effect of mitigation measures.

The evolution of phosphorus (P) management decision support tools (DSTs) and systems (DSS), in support of food and environmental security has been most strongly affected in developed regions by national strategies (i) to optimize levels of plant available P in agricultural soils, and (ii) to mitigate P runoff to water bodies. In the United States, Western Europe, and New Zealand, combinations of regulatory and voluntary strategies, sometimes backed by economic incentives, have often been driven by reactive legislation to protect water bodies. Farmer-specific DSSs, either based on modeling of P transfer source and transport mechanisms, or when coupled with farm-specific information or local knowledge, have typically guided best practices, education, and implementation, yet applying DSSs in data poor catchments and/or where user adoption is poor hampers the effectiveness of these systems. Recent developments focused on integrated digital mapping of hydrologically sensitive areas and critical source areas, sometimes using real-time data and weather forecasting, have rapidly advanced runoff modeling and education. Advances in technology related to monitoring, imaging, sensors, remote sensing, and analytical instrumentation will facilitate the development of DSSs that can predict heterogeneity over wider geographical areas. However, significant challenges remain in developing DSSs that incorporate "big data" in a format that is acceptable to users, and that adequately accounts for catchment variability, farming systems, and farmer behavior. Future efforts will undoubtedly focus on improving efficiency and conserving phosphate rock reserves in the face of future scarcity or prohibitive cost. Most importantly, the principles reviewed here are critical for sustainable agriculture.