Abstract
Over the past decades, underwater robotics has enjoyed growing popularity and relevance. While performing a mission, one crucial task for Autonomous Underwater Vehicles (AUVs) is bottom tracking, which should keep a constant distance from the seabed. Since static obstacles like walls, rocks, or shipwrecks can lie on the sea bottom, bottom tracking needs to be extended with obstacle avoidance. As AUVs face a wide range of uncertainties, implementing these essential operations is still challenging. A simple rule-based control method has been proposed in [7] to realize obstacle avoidance. In this work, we propose an alternative AI-based control method using a Long Short-Term Memory network. We compare the performance of both methods using real-world data as well as via a simulator. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

Abstract

Abstract

Abstract
A fast calculation method was used to obtain the spectral optical properties of human normal and pathological (chromophobe renal cell carcinoma) kidney tissues. Using total transmittance, total reflectance and collimated transmittance spectra acquired from ex vivo kidney samples, the spectral optical properties of both tissues, namely the absorption, the scattering and the reduced scattering coefficients, as well as the scattering anisotropy, dispersion and light penetration depth, were calculated between 200 and 1000 nm. Analysis of the mean absorption coefficient spectra of the kidney tissues showed that both contain melanin and lipofuscin, and that 83 % of the melanin in the normal kidney converts into lipofuscin in the pathological kidney.

Abstract

Abstract
To forestall future financial crises, risk governance has been embraced as a line of defense. Therefore, this paper seeks to synthesize the risk governance literature, identifying gaps, and suggesting direction for future research, through a systematic literature review (SLR). Analyzing 151 papers from the Scopus and Web of Science databases, this paper finds a steady increase in academic work on risk governance. Using the theory, context, characteristics, and methodology (TCCM) framework, the study emphasizes the importance of chief risk officers, geographical context coverage, and effectiveness and regulation of risk governance. Methodologically, endogeneity issues are a major concern for researchers, agency theory (AT) being the most popular theory used. Finally, moderating and mediating variables that affect risk governance are identified as important but under-explored. While providing practitioners and policymakers with a framework, empirical testing is encouraged. The study contributes to SDG Goal 8, Target 10 of strengthening financial institutions and promoting a resilient financial system.