NEW FINDS OF THE KOBAN-KOLCHIS METAL ARTIFACTS IN THE NORTHEASTERN BLACK SEA COASTLINE AREA (KRASNODAR REGION). EARLIER UNKNOWN AREA OF THE KOBAN-KOLCHIS BRONZES

В статье вводятся в научный оборот случайные находки последних десятилетий из района города-курорта Сочи и прилегающей части Туапсинского района, относящиеся к периоду поздней бронзы - раннего железа. До недавнего времени этот регион оставался своего рода «белым пятном» на археологической карте. Культурная принадлежность населения этого региона для рассматриваемого периода также оставалась неясной. Представленная коллекция случайных находок относится к нескольким хронологическим горизонтам - кон. II тыс. до н. э., VIII-VII вв. до н. э., VI-IV вв. до н. э. Для VIII-IV вв. до н. э. имеются определенные основания предполагать существование на этой территории самостоятельной археологической культуры в рамках кобано-колхидской культурно-исторической общности. Культура эта характеризуется синкретичностью, наличием как ярких кобано-колхидских, так и протомеотских и, в дальнейшем, меотских черт. Рассматривать этот регион как контактную зону представляется затруднительным из-за наличия некоторых ярких культурных маркеров, а именно слабо представленных в соседних ареалах бронзовых дуговидных фибул с кольцевыми утолщениями по краям дужки. Уверенно выделить новую, своеобразную культуру Восточного Причерноморья раннего железного века можно будет только после проведения новых широкомасштабных археологических исследований. The paper introduces into scientific discourse chance finds of recent decades from the district of the Sochi resort-city and the adjacent part of the Tuapse district dating to the Late Bronze Age - Early Iron Age. Until recently, this region remained something of a ‘blank spot’ on the archaeological map. Cultural attribution of the population in this region also remained unclear. The published assemblage of chance finds is dated to several chronological horizons: late II mill. BC, 8th-th cc. BC, 6th-4th cc. BC. Regarding the 8th-4th cc. BC, there are grounds to believe that bearers of a distinctive archaeological culture forming part of the overall Koban-Kolchis cultural unity inhabited this area. The culture is characterized by syncretism and presence of both salient Koban-Kolchis features and proto-Maeotian features and, subsequently, Maeotian features. It is difficult to consider this region as a contact zone due to presence of some impressive cultural markers, namely, bronze arched fibulae with ring thickened parts along the hoop. It will be possible to single out a distinctive Early Iron Age culture of the eastern Black Sea coastline region only after large-scale archaeological excavations and research.

Development and modeling of some elements of the two-wheeled mobile robot system

The article deals with the navigation system elements development process. The movement and positioning of a two-wheeled mobile robot with a high level of accuracy are realized through this system. Also, the algorithms mechanisms based on the construction of the optimal path for the autonomous device movement and based on a map building in an unknown area and avoiding obstacles are described. Using mathematical models, computer modeling of the device executive system is carried out using the engineering program MatLab.

Integrated Pose Estimation Using 2D Lidar and INS Based on Hybrid Scan Matching

Point cloud data is essential measurement information that has facilitated an extended functionality horizon for urban mobility. While 3D lidar and image-depth sensors are superior in implementing mapping and localization, sense and avoidance, and cognitive exploration in an unknown area, applying 2D lidar is inevitable for systems with limited resources of weight and computational power, for instance, in an aerial mobility system. In this paper, we propose a new pose estimation scheme that reflects the characteristics of extracted feature point information from 2D lidar on the NDT framework for exploiting an improved point cloud registration. In the case of the 2D lidar point cloud, vertices and corners can be viewed as representative feature points. Based on this feature point information, a point-to-point relationship is functionalized and reflected on a voxelized map matching process to deploy more efficient and promising matching performance. In order to present the navigation performance of the mobile object to which the proposed algorithm is applied, the matching result is combined with the inertial navigation through an integration filter. Then, the proposed algorithm was verified through a simulation study using a high-fidelity flight simulator and an indoor experiment. For performance validation, both results were compared and analyzed with the previous techniques. In conclusion, it was demonstrated that improved accuracy and computational efficiency could be achieved through the proposed algorithms.

Gorilla Troops Optimizer for Electrically Based Single and Double-Diode Models of Solar Photovoltaic Systems

The extraction of parameters of solar photovoltaic generating systems is a difficult problem because of the complex nonlinear variables of current-voltage and power-voltage. In this article, a new implementation of the Gorilla Troops Optimization (GTO) technique for parameter extraction of several PV models is created. GTO is inspired by gorilla group activities in which numerous strategies are imitated, including migration to an unknown area, moving to other gorillas, migration in the direction of a defined site, following the silverback, and competition for adult females. With numerical analyses of the Kyocera KC200GT PV and STM6-40/36 PV modules for the Single Diode (SD) and Double-Diode (DD), the validity of GTO is illustrated. Furthermore, the developed GTO is compared with the outcomes of recent algorithms in 2020, which are Forensic-Based Investigation Optimizer, Equilibrium Optimizer, Jellyfish Search Optimizer, HEAP Optimizer, Marine Predator Algorithm, and an upgraded MPA. GTO’s efficacy and superiority are expressed by calculating the standard deviations of the fitness values, which indicates that the SD and DD models are smaller than 1E−16, and 1E−6, respectively. In addition, validation of GTO for the KC200GT module is demonstrated with diverse irradiations and temperatures where great closeness between the emulated and experimental P-V and I-V curves is achieved under various operating conditions (temperatures and irradiations).

Interwoven traditions in Bell Beaker metallurgy: Approaching the social value of copper at Bauma del Serrat del Pont (Northeast Iberia)

Debates on early metallurgy in Western Europe have frequently focused on the social value of copper (between utilitarian and symbolic) and its purported role in the emergence and consolidation of hierarchies. Recent research shows that generalisations are increasingly untenable and highlights the need for comparative regional studies. Given its location in an intermediate area, the early metallurgy of Northeast Iberia provides an interesting case in point to explore the interaction between the well-characterised traditions of southern Iberia and southern France during the 3rd and 2nd millennia BCE. Here the analytical study of seven Bell Beaker (decorated and undecorated) vessels reused as crucibles at Bauma del Serrrat del Pont (Tortellà, Girona) are presented. We employed pXRF, metallography, SEM-EDS and lead isotope analyses. The results show evidence for copper smelting employing a remarkable variety of ore sources, including Solana del Bepo, Turquesa and Les Ferreres mines, and an extra unknown area. The smelting vessels were manufactured using the same clay, which contained both mineral and organic inclusions. Our results are discussed with reference to all the evidence available for metals and metallurgy in the Northeast, and more broadly in comparison to southern Iberia and southern France, with special emphasis on issues of production organisation and social complexity. Taken together, our results support the notion that copper metallurgy played a predominantly utilitarian role in Bell Beaker societies and highlight idiosyncratic aspects of the metallurgical trajectory in the Northeast. Differences between territories challenge unilinear explanations of technological and social development after the introduction of metallurgy. Separate trajectories can only be explained in relation to area-specific socio-cultural and environmental factors.

Clinical Evaluation of Creatine Kinase and Aspartate Aminotransferase for Monitoring Muscle Effort in Working Dogs in Different Simulated Fieldworks

The clinical profiles of muscle biomarkers (Creatine Kinase–CK-and Aspartate Aminotransferase–AST) performed during training may help in determining the fitness level of dogs and their potentiality to perform specific activities. This study investigated the potential variations of physiological parameters and muscular biomarkers in trained search and rescue dogs during search activity in two different areas. The aim was to verify the absence of any muscular enzymes after 20 min of search activity. The variations of physiological parameters (pulse rate; respiratory rate; rectal body temperature) and skeletal muscular biomarkers (CK and AST) were evaluated before and after search activity. Twenty-three trained dogs met the inclusion criteria and were divided into two groups. One group experienced search activity in a well-known area, while the second one in a similar, but unknown, area. The results for physiological parameters and skeletal muscular biomarkers values showed no significant differences between the two groups (p > 0.05), confirming that an effective conditioning protects against enzymatic alteration during a 20 min duration of submaximal activity.

Cognitive Deficiencies pathophysiology are mainly an unknown area. Curing the neurological conditions could be an objective for gene therapy

Currently, it appears that the pathophysiology of Cognitive Deficiency (CD) is mostly uncharted territory. In this study, we used both clinical research and mouse models to identify the reported Systemic lupus erythematosus (SLE) symptoms and to explain how tissue damage occurs in SLE, which helps us develop optimal therapies for CD. The primary goal of treatment is to cure the neurological problem, rather than repair the immunological issues. It should be noted that CD develops even in the absence of flares, indicating that treating it would need much more intensive immunosuppression with more damage. For further study on CD, it will be necessary to collaborate amongst neurologists, rheumatologists, and immunologists. This work would succeed by advancing the ability to unveil or hide the fundamental mechanism of CD.

TRUST IN A STRATEGIC PROJECT: CASE FROM GRAND PARK HOTEL ROVINJ, CROATIA

Trust is a highly recommended component in the project equation management process. According to Rousseau (1984), there are three types of trust: calculus-based trust, relational-based trust, and institutional-based trust, which are adopted to justify the importance of the existence of trust in a strategic project: Grand Park Hotel Rovinj in Rovinj and ACI Marine, Rovinj. Trust is an imperative condition in the project process, which can secure the achievement of the project. If there is an atmosphere of trust in the process environment, the project is successful. All parties involved in this project had a common vision and acted together, so it was assumed that there were no differences between the groups, corresponding to the trust concept proposed in the main hypothesis. A descriptive analysis (cross tabulation and Chi-square) was adopted to investigate the concept of the importance of trust and satisfaction with the working relationship in a strategic project between investors and local government in terms of project outcomes. The project was huge, but we choose to examine only those representatives who matter, with decision-making power and operational chiefs, 20 respondents in total. The sample size was small, but it covered the most important representatives of two groups, and, according to Sandelowski (1995), it could be a covered requirement for validation, despite its size. The project budget was €750 million and the project duration time was two years. The study results demonstrate that the perception of trust based on relationships and trust on an institutional basis is different between investors and local government, but they share a mutual agreement on the perception of trust based on calculations. In terms of satisfaction with the working relationship and project outcome, their perceptions are likewise distinctive. The study results supported the main hypothesis, but solely in relationship to calculus-based trust construct. The other results revealed a considerable degree of disagreement between two actors’ groups, corresponding to the relational-based and institutional-based trust, and to the satisfaction with a work relationship. These results are truly obvious and symptomatic indicators of the complexity which every project process brings with it. The concept of trust challenges researchers even now, although there are very many studies referring to it. This concept covers many scientific fields, revealing its complex and challenging nature, and opening a space for deeper exploration. The relationship between the parties in any network includes this concept as a conditio sine qua non. Strategic projects are a yet unknown area asking for further scientific debate with the principal objective: successful outcome. This analysis is a limited addition to the strategic project area research offering ample area to investigate a liaison between public and private sector in a specific scheme.

Aerial and Ground Robot Collaboration for Autonomous Mapping in Search and Rescue Missions

Humanitarian Crisis scenarios typically require immediate rescue intervention. In many cases, the conditions at a scene may be prohibitive for human rescuers to provide instant aid, because of hazardous, unexpected, and human threatening situations. These scenarios are ideal for autonomous mobile robot systems to assist in searching and even rescuing individuals. In this study, we present a synchronous ground-aerial robot collaboration approach, under which an Unmanned Aerial Vehicle (UAV) and a humanoid robot solve a Search and Rescue scenario locally, without the aid of a commonly used Global Navigation Satellite System (GNSS). Specifically, the UAV uses a combination of Simultaneous Localization and Mapping and OctoMap approaches to extract a 2.5D occupancy grid map of the unknown area in relation to the humanoid robot. The humanoid robot receives a goal position in the created map and executes a path planning algorithm in order to estimate the FootStep navigation trajectory for reaching the goal. As the humanoid robot navigates, it localizes itself in the map while using an adaptive Monte-Carlo Localization algorithm by combining local odometry data with sensor observations from the UAV. Finally, the humanoid robot performs visual human body detection while using camera data through a Darknet pre-trained neural network. The proposed robot collaboration scheme has been tested under a proof of concept setting in an exterior GNSS-denied environment.