Accurate and continuous pedestrian positioning across outdoor-indoor environments remains challenging because GNSS, UWB, and inertial PDR are complementary yet individually fragile under signal blockage, multipath, and drift. This paper presents a unified GNSS/UWB/IMU fusion framework for seamless pedestrian localization and provides a controlled comparison of three probabilistic back-ends: an error-state extended Kalman filter, sliding-window factor graph optimization, and a particle filter. The system uses chest-mounted IMU-based PDR as the motion backbone and integrates absolute updates from GNSS outdoors and UWB indoors. To enhance transition robustness and mitigate urban GNSS degradation, we introduce a lightweight map-based feasibility constraint derived from OpenStreetMap building footprints, treating most building interiors as non-navigable while allowing motion inside a designated UWB-instrumented building. The framework is implemented in ROS 2 and runs in real time on a wearable platform, with visualization in Foxglove. We evaluate three scenarios: indoor (UWB+PDR), outdoor (GNSS+PDR), and seamless outdoor-indoor (GNSS+UWB+PDR). Results show that the ESKF provides the most consistent overall performance in our implementation.
Heavy-duty trucks are major contributors in NOx and PM2.5 emissions in the transportation sector. Many countries are seriously considering electrification as a pathway towards cleaner freight transport. The advancement of diverse technological solutions has created multiple pathways towards the decarbonisation of heavy-duty trucks, among which battery-electric heavy-duty trucks remain in the early stages of development. This paper presents a comprehensive and systematic review of their electrification from technological, economic, and social perspectives, covering battery installation approaches, electricity refuelling solutions (e.g., charging, battery swapping, wireless charging), and typical application scenarios for short- and long-haul trucking. Key issues including electricity demand, operation scheduling, total cost of ownership, and greenhouse gas emissions are discussed, followed by an identification of current research gaps in empirical data and an examination of grid integration challenges and opportunities across different technology pathways.
The population of the world is aging and increasing age has been associated with increased prevalence of obstructive sleep apnea (OSA). However, OSA in the elderly has not received much attention. The purpose of the present narrative review is to provide a comprehensive overview on what is known about the specific features of OSA, its consequences and treatment in the elderly. The number of studies regarding OSA in the elderly is very limited. The clinical presentation of OSA in the elderly differs from the clinical presentation of OSA in middle-aged people. Furthermore, recent studies suggest that the risks caused by untreated OSA in the elderly differ from the risks in middle-aged patients with less focus on sleepiness, hypertension and cardiovascular health and more concerns on cerebrovascular health, cognition and perhaps even the risk of falls. However, the treatment of especially severe symptomatic OSA seems to have many benefits also in the elderly. Several studies suggest that CPAP adherence may also be good among the elderly. There is also emerging evidence of cost effectiveness of CPAP treatment in the elderly. Ongoing studies will reveal the effect of CPAP on cognitive decline and the risk of falls. Taking into consideration that the population is aging, there is an urgent need for larger studies especially on the phenotypes of OSA in the elderly and identifying groups benefiting from and adhering to CPAP therapy.
In this article, we theoretically explore the role of biophilia for morality, challenging and expanding recent moral psychological models that struggle to account for this relationship. We conceptualize the psychological trait of Nature Relatedness as a comprehensive biophilic orientation or mode of being that enables individuals to integrate nature into their identity and informs their interactions with both natural and social environments. By synthesizing theories of Erich Fromm and Arne Næss with recent research, we claim that biophilic orientation involves not only the transition from a narrow to an ecological self, but also encompasses worldviews, values, and experiences. We develop the idea that dispositional aspects of biophilia and affective-experiential levels of morality interact: Biophilic disposition is both driven by and drives self-transcendent experiences and affect-laden engagements that foster self-other overlap, possibly expanding one’s moral concern. We connect these ideas to moral psychological research on moral intuitions and identity, particularly by discussing Nature Relatedness in relation to Jonathan Haidt’s Moral Foundations Theory. One’s subjective relationship and identification with the natural world appear central to moral expansion. Besides extending concern to non-human individuals, parochial, group-cohesion-related moral emotions might be re-channeled. These binding foundations appear generally resistant to moral expansion, yet the biophilic drive to integrate and unite may broaden one’s identification beyond human ingroups. Thus, we propose that Nature Relatedness may expand moral intuitions across foundations, outlining what a non-anthropocentric application of moral foundations and biocentric intuitions might look like. Implications, including prospective interventions, and the need for further research, are discussed.
Intentional emotional contagion, the conscious transmission of emotions between individuals, has unclear neurobehavioral mechanisms in naturalistic dyadic communications. Experiment 1 demonstrated that conscious engagement enhanced sad emotional contagion between strangers. Using the fNIRS pseudo-hyperscanning technique, Experiment 2 showed a behavioral-neural dissociation in intentional sadness contagion: Behavioral findings revealed increased interpersonal intimacy and listener altruism. Neurocognitive findings demonstrated reduced activation in the left frontopolar cortex, bilateral dorsolateral prefrontal cortex (dlPFC), and angular/supramarginal gyri. While weaker interpersonal neural synchronization emerged between the speaker’s left frontopolar/dlPFC and listener’s right dlPFC. Mediation analysis indicated that intentional emotional contagion mediated emotional communication and self-other overlap, extending Emotions as Social Information Model. Findings suggest that intentional sadness contagion based on dyadic story sharing has an adaptive neurocognitive reorganization which facilitates prosocial behavior.
