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"GOODARZI, A"
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Geometric control of a quadrotor UAV transporting a payload connected via flexible cable
We derived a coordinate-free form of equations of motion for a complete model of a quadrotor UAV with a payload which is connected via a flexible cable according to Lagrangian mechanics on a manifold. The flexible cable is modeled as a system of serially-connected links and has been considered in the full dynamic model. A geometric nonlinear control system is presented to asymptotically stabilize the position of the quadrotor while aligning the links to the vertical direction below the quadrotor. Numerical simulation and experimental results are presented and a rigorous stability analysis is provided to confirm the accuracy of our derivations. These results will be particularly useful for aggressive load transportation that involves large deformation of the cable.
Journal Article
Radon exposure is rising steadily within the modern North American residential environment, and is increasingly uniform across seasons
Human-made buildings can artificially concentrate radioactive radon gas of geologic origin, exposing occupants to harmful alpha particle radiation emissions that damage DNA and increase lung cancer risk. We examined how North American residential radon exposure varies by modern environmental design, occupant behaviour and season. 11,727 residential buildings were radon-tested using multiple approaches coupled to geologic, geographic, architectural, seasonal and behavioural data with quality controls. Regional residences contained 108 Bq/m
3
geometric mean radon (min < 15 Bq/m
3
; max 7,199 Bq/m
3
), with 17.8% ≥ 200 Bq/m
3
. Pairwise analysis reveals that short term radon tests, despite wide usage, display limited value for establishing dosimetry, with precision being strongly influenced by time of year. Regression analyses indicates that the modern North American Prairie residential environment displays exceptionally high and worsening radon exposure, with more recent construction year, greater square footage, fewer storeys, greater ceiling height, and reduced window opening behaviour all associated with increased radon. Remarkably, multiple test approaches reveal minimal winter-to-summer radon variation in almost half of properties, with the remainder having either higher winter or higher summer radon. This challenges the utility of seasonal correction values for establishing dosimetry in risk estimations, and suggests that radon-attributable cancers are being underestimated.
Journal Article
Rising Canadian and falling Swedish radon gas exposure as a consequence of 20th to 21st century residential build practices
Radioactive radon gas inhalation is a major cause of lung cancer worldwide and is a consequence of the built environment. The average radon level of properties built in a given period (their ‘innate radon risk’) varies over time and by region, although the underlying reasons for these differences are unclear. To investigate this, we analyzed long term radon tests and buildings from 25,489 Canadian to 38,596 Swedish residential properties constructed after 1945. While Canadian and Swedish properties built from 1970 to 1980s are comparable (96–103 Bq/m
3
), innate radon risks subsequently diverge, rising in Canada and falling in Sweden such that Canadian houses built in the 2010–2020s have 467% greater radon (131 Bq/m
3
) versus Swedish equivalents (28 Bq/m
3
). These trends are consistent across distinct building types, and regional subdivisions. The introduction of energy efficiency measures (such as heat recovery ventilation) within each nation’s build codes are independent of radon fluctuations over time. Deep learning-based models forecast that (without intervention) the average Canadian residential radon level will increase to 176 Bq/m
3
by 2050. Provisions in the 2010 Canada Build Code have not significantly reduced innate radon risks, highlighting the urgency of novel code interventions to achieve systemic radon reduction and cancer prevention in Canada.
Journal Article
Chromatin and the Cellular Response to Particle Radiation-Induced Oxidative and Clustered DNA Damage
Exposure to environmental ionizing radiation is prevalent, with greatest lifetime doses typically from high Linear Energy Transfer (high-LET) alpha particles via the radioactive decay of radon gas in indoor air. Particle radiation is highly genotoxic, inducing DNA damage including oxidative base lesions and DNA double strand breaks. Due to the ionization density of high-LET radiation, the consequent damage is highly clustered wherein ≥2 distinct DNA lesions occur within 1–2 helical turns of one another. These multiply-damaged sites are difficult for eukaryotic cells to resolve either quickly or accurately, resulting in the persistence of DNA damage and/or the accumulation of mutations at a greater rate per absorbed dose, relative to lower LET radiation types. The proximity of the same and different types of DNA lesions to one another is challenging for DNA repair processes, with diverse pathways often confounding or interplaying with one another in complex ways. In this context, understanding the state of the higher order chromatin compaction and arrangements is essential, as it influences the density of damage produced by high-LET radiation and regulates the recruitment and activity of DNA repair factors. This review will summarize the latest research exploring the processes by which clustered DNA damage sites are induced, detected, and repaired in the context of chromatin.
Journal Article
A novel method for assessing postmortem interval using radon radioisotopic decay – an internal radon ‘time of death clock’
Estimating the postmortem interval (PMI)–the time since death–remains a longstanding challenge in forensic and biological sciences due to the complex influence of environmental and physiological variables. Here, we present a novel computational framework that leverages the physical principles of radioactive decay to estimate PMI using the relative isotope abundances of radon progeny (
,
, and
) in biological tissue. Our approach models the decay chain of inhaled
and solves the associated system of differential equations to determine PMI based on isotope ratio dynamics. A key innovation is the use of paired measurements taken at two postmortem time points to capture the time-derivative of the decay curve, enhancing solution uniqueness, reducing dependence on prior exposure history, therefore minimizing error. Monte Carlo simulations were employed to assess model performance. If validated empirically, this approach lays the groundwork for a physics-based method for PMI estimation with potential applications in forensic science and radiation biology.
Journal Article
All-optical fiber optic coherent amplifier
A fiber optic-based all-optical amplifier is designed by using the coherent perfect absorption phenomenon. For this purpose, we use a deposited chromium thin layer as an absorbent material on the cross-section of a PM fiber. By placing another fiber in front of the deposited one, we show that by controlling the relative phase between the two counter-propagating beams, total absorbance can be controlled. In the interaction of two beams with unequal intensities, absorption control can be associated with amplification for the weaker beam. By using this mechanism, the effect of an external phase-shifting parameter can be amplified. Furthermore, it is possible to amplify a small signal riding on a CW background through this all-optical procedure.
Journal Article
Coherent all-optical transistor based on frustrated total internal reflection
This study aims to design an all-optical transistor based on tunneling of light through frustrated total internal reflection. Under total internal reflection, the electromagnetic wave penetrates into the lower index medium. If a medium with high refractive index is placed close to the boundary of the first one, a portion of light leaks into the second medium. The penetrated electromagnetic field distribution can be influenced by another coherent light in the low refractive index medium via interference, leading to light amplification. Upon this technique, we introduce coherent all-optical transistors based on photonic crystal structures. Subsequently, we inspect the shortest pulse which is amplified by the designed system and also its terahertz repetition rate. We will show that such a system can operate in a cascade form. Operating in terahertz range and the amplification efficiency of around 20 are of advantages of this system.
Journal Article
Consequences of changing Canadian activity patterns since the COVID-19 pandemic include increased residential radon gas exposure for younger people
The COVID-19 pandemic has produced widespread behaviour changes that shifted how people split their time between different environments, altering health risks. Here, we report an update of North American activity patterns before and after pandemic onset, and implications to radioactive radon gas exposure, a leading cause of lung cancer. We surveyed 4009 Canadian households home to people of varied age, gender, employment, community, and income. Whilst overall time spent indoors remained unchanged, time in primary residence increased from 66.4 to 77% of life (+ 1062 h/y) after pandemic onset, increasing annual radiation doses from residential radon by 19.2% (0.97 mSv/y). Disproportionately greater changes were experienced by younger people in newer urban or suburban properties with more occupants, and/or those employed in managerial, administrative, or professional roles excluding medicine. Microinfluencer-based public health messaging stimulated health-seeking behaviour amongst highly impacted, younger groups by > 50%. This work supports re-evaluating environmental health risks modified by still-changing activity patterns.
Journal Article
53BP1-dependent robust localized KAP-1 phosphorylation is essential for heterochromatic DNA double-strand break repair
The ATM signalling mediator proteins 53BP1 and KAP-1 are required for heterochromatic double-strand break DNA repair. 53BP1 aids Mre11, NBS1 and ATM accumulation at heterochromatic breaks, leading to localized phosphorylation of KAP-1 by ATM.
DNA double-strand breaks (DSBs) trigger ATM (ataxia telangiectasia mutated) signalling and elicit genomic rearrangements and chromosomal fragmentation if misrepaired or unrepaired. Although most DSB repair is ATM-independent, ∼15% of ionizing radiation (IR)-induced breaks persist in the absence of ATM-signalling
1
. 53BP1 (p53-binding protein 1) facilitates ATM-dependent DSB repair but is largely dispensable for ATM activation or checkpoint arrest. ATM promotes DSB repair within heterochromatin by phosphorylating KAP-1 (KRAB-associated protein 1, also known as TIF1β, TRIM28 or KRIP-1; ref.
2
). Here, we show that the ATM signalling mediator proteins MDC1, RNF8, RNF168 and 53BP1 are also required for heterochromatic DSB repair. Although KAP-1 phosphorylation is critical for 53BP1-mediated repair, overall phosphorylated KAP-1 (pKAP-1) levels are only modestly affected by 53BP1 loss. pKAP-1 is transiently pan-nuclear but also forms foci overlapping with γH2AX in heterochromatin. Cells that do not form 53BP1 foci, including human RIDDLE (radiosensitivity, immunodeficiency, dysmorphic features and learning difficulties) syndrome cells, fail to form pKAP-1 foci. 53BP1 amplifies Mre11–NBS1 accumulation at late-repairing DSBs, concentrating active ATM and leading to robust, localized pKAP-1. We propose that ionizing-radiation induced foci (IRIF) spatially concentrate ATM activity to promote localized alterations in regions of chromatin otherwise inhibitory to repair.
Journal Article