Implementation and analysis of Ryze Tello drone vision-based positioning using AprilTags

The paper describes of the Ryze Tello drone to move autonomously using a basic vision system. The drone's position is determined by identifying AprilTags' position relative to the drone's built-in camera. The accuracy of the drone's position readings and distance calculations was tested under controlled conditions, and errors were analysed. The study showed a decrease in absolute error with decreasing drone distance from the marker, a little change in the relative error for large distances, and a sharp decrease in the relative error for small distances. The method is satisfactory for determining the drone's position relative to a marker.Comment: Submitted to MMAR 2023 - 27th International Conference on Methods and Models in Automation and Robotic

Early medieval fishery of the inhabitants at Ostrów Lednicki based on underwater survey materials

Połów ryb był jednym z powszechnych sposobów pozyskiwania pożywienia we wczesnym średniowieczu. Znaczenie tego pokarmu rosło wraz z upowszechnianiem się chrześcijaństwa i wymogiem przestrzegania postów. Stąd także w przypadku mieszkańców Ostrowa Lednickiego rybołówstwo musiało być powszechną i codzienną praktyką zdobywania pożywienia. Dzięki wieloletnim podwodnym badaniom archeologicznym prowadzonym w jeziorze pozyskano zbiór ponad 30 przedmiotów identyfikowanych jako narzędzia związane z rybołówstwem. Natomiast analiza szczątków kostnych znalezionych podczas badań lądowych dała możliwość rekonstrukcji składu gatunkowego ryb i preferencji kulinarnych mieszkańców Ostrowa Lednickiego we wczesnym średniowieczu. Pozwala to, w oparciu o dane z obydwu obszarów badań, rekonstruować ów ważny fragment życia wczesnośredniowiecznych mieszkańców okolic jeziora Lednica, jakim było rybołówstwo.Fishery was one of the common ways of obtaining food in the early Middle Ages. The importance of this element grew along with the spread of Christianity and the requirement to observe fasts. This way of obtaining food must have been common for the inhabitants of Ostrów Lednicki as well. A collection of more than 30 objects identified as fishing equipment was obtained through years of underwater archaeological research. The analysis of skeletal remains found during land surveys has provided an opportunity to reconstruct the composition of fish species and culinary preferences of the inhabitants of Ostrów Lednicki in the early Middle Ages. By combining these two types of sources, it is possible to reconstruct that part of the life of early medieval people which was made up of fishery

Assessment of the Actual Toxicity of Engine Exhaust Gas Emissions from Euro 3 and Euro 6 Compliant Vehicles with the BAT-CELL Method Using In Vitro Tests

Legal restrictions on vehicle engine exhaust gas emission control do not always go hand in hand with an actual reduction in the emissions of toxins into the atmosphere. Moreover, the methods currently used to measure exhaust gas emissions do not give unambiguous results on the impact of the tested gases on living organisms. The method used to assess the actual toxicity of gases, BAT-CELL Bio-Ambient-Tests using in vitro tests, takes into account synergistic interactions of individual components of a mixture of gases without the need to know its qualitative and quantitative composition and allows for determination of the actual toxicity of the gas composition. Using the BAT-CELL method, exhaust gases from passenger vehicles equipped with spark-ignition engines complying with the Euro 3 and Euro 6 emission standards were tested. The results of toxicological tests were correlated with the results of chromatographic analysis. It was shown that diverse qualitative composition of the mixture of hydrocarbons determining the exhaust gases toxicity may decrease the percentage value of cell survival. Additionally, it was proven that the average survival of cells after exposure to exhaust gases from tested vehicles meeting the more restrictive Euro 6 standard was lower than for vehicles meeting the Euro 3 standard thus indicating the higher toxicity of exhaust gases from newer vehicles

Zinner Syndrome—A Rare Cause of Recurrent Epididymitis and Infertility

Zinner syndrome (ZS) is a rare disorder that affects only men. It is characterized by a triad of abnormalities, including unilateral renal agenesis, ipsilateral seminal vesicle cysts, and atresia of the ejaculatory tract. Unfortunately, there is no consensus on the best treatment modality. We describe a case of a young male patient with recurrent epididymitis, dysuria, and frequent urination. In the diagnostic evaluation, we found an extended right seminal vesicle in the ultrasound with hyperechoic fluid inside and an absence of the right kidney. We performed magnetic resonance imaging, computed tomography, and semen analysis confirming Zinner syndrome and deteriorated semen parameters. Urethroscopic evaluation and ultrasound-guided puncture of the seminal vesicle were performed. An abscess was excluded. The cytologic evaluation showed hemosiderophages. Tamsulosin was introduced. We found no signs of relapse in a six-month observation, and the patient had no further symptoms. Therefore, minimally invasive treatment is a feasible option in young patients found with early-stage Zinner syndrome