The paper focuses on the application of a multilevel, integrative and territorial approach to the protection of cultural heritage through planning instruments in Serbia. It points out the problems of the sectoral approach and discusses international recommendations that can be integrated into the planning methodology. The case study is the area of Djerdap National Park, which has an already established international and national importance. The research suggests that the cultural heritage in the area, with the exception of the Roman limes, is still recognized at the level of individual localities. The study emphasizes the importance of aligning all levels of governance to safeguard the whole spatial entity rather than focusing solely on its particular areas. The interna-tional and national importance of the planning area contributes to the strengthening of awareness of heritage and its institutional protection. However, the vitality of the area, which is key to its sustainable development, comes from the local level. Planning documents contribute to the inte-gration of local values and local communities into development programs and projects.

This paper is focused on typical rural settlements in the Stara Planina Mountain area in Serbia. They are distinguished by their authenticity, identity and character, and they have still not been destroyed by inappropriate development as is the case in some other mountain areas in Serbia, where the effects of urbanization, globalization and homogenization are obvious. Consequently, there is a need to prevent these effects in mountain areas where there is a threat of disbalance between development and the inherited natural and cultural values. The paper starts from several important concepts that relate contemporary approaches to cultural heritage preservation, place morphology and planning future development. The concept definitions from recent documents from related fields are used. These concepts are then applied to the area of Stara Planina Mountain and its rural settlements. The necessity for an integrative approach to planning this area with significant natural and anthropogenic potential is pointed out, including its integration into international programs of sustainable development.

Historically, urban development has always been centered on coastal areas – with access to waterbodies – seas, rivers and canals being a significant advantage for movement and trade. With most of the world’s megapolises located on coasts, land reclamation offers a solution for the expansion of city centers which are otherwise restricted by the coastline. The current understanding of urban regeneration and development on reclaimed lands is defined in this study, answering the basic questions of what, why and how. This study aims to assess the urban regeneration on reclaimed coastal land based on the principles of sustainable development defined by existing studies. The literature review establishes a theoretical framework and defines performance-based benchmarks identifying the spatial indicators of urban development. Composite indicators namely open space coverage, land use mix, percentage of coast for people, accessibility to public transportation and amenities, availability of pedestrian paths and cycling tracks and adequate road networks are considered for this framework. The conclusions are drawn based on the results of the analysis of spatial layout using GIS as a tool to map and empirically measure each indicator. The framework is validated using a major land reclamation project, West Bay, in the coastal urban area of ​​the city of Doha. The results determine that West Bay has achieved a good level of sustainability, although there are areas that could be enhanced to further improve the overall sustainability of urban development. These findings can serve as a guide for policymakers and various stakeholders for sustainable urban planning on reclaimed coastal lands.

In the last decades, the impacts of urbanization on the hydrological cycle have led to an increase in the frequency and magnitude of urban flooding events, also amplified by the effects of climate change. Sustainable Drainage Systems (SuDS) provide a revolutionary change in this field, improving the sustainability and resilience of cities. This research explores the integration of different SuDS with the aim of significantly reducing both flow volume and celerity of floods in a residual urban catchment area of metropolitan city of Querétaro (Mèxico), where extreme rainfall frequently occurs. This catchment is a representative suburb of urban pressure and environmental degradation problems. Currently, managing storm water under climate uncertainty through a multi-disciplinary approach is a major concern in this urban area. A 1D-2D coupling model of shallow water equations, finite volume method, unstructured meshing method, and hybrid parallel computing application defined the optimal configuration of SuDS at catchment scale to reduce the flood vulnerability in Querétaro. Specifically, in this paper we explore the management issues of the proposed SuDS configuration that acts as a water resource system with multiple purposes. A generic simulation model called MODSIM was applied to simulate the designed urban drainage system under a balanced IPCC future climate scenario in terms of reliability, resilience and vulnerability against water scarcity.

German noise action plans aim to reduce negative health outcomes from noise exposure and identify quiet areas free of noise pollution. Quiet area identification in German noise action plans is based primarily on noise mapping and spatial analysis and not empirical or qualitative data about acoustic environments, thus leaving a gap in the understanding of the quality of formally recognized quiet areas in noise action plans. This work presents a comparative empirical case study in Dortmund, Germany, with the aim to describe the diurnal dB(A) and biophonic properties of quiet areas versus noise 'hot spots'. Sound observations were collected (n=282,764) in five different natural or recreational land use patch types larger than four acres within 33 proposed quiet areas in Dortmund (n=70) and 23 noise hot spots between April 27^th, 2022 and March 2^nd, 2023. We find that quiet areas are on average more than 20 dB(A) quieter than noise hot spots almost every hour of the day. Forests, managed tree stands, cemeteries, and agriculture diel patterns are dominated by dawn dusk chorus in spring and summer, whereas sport and recreation as well as noise hot spots are dominated by traffic and human noise. A novel composite biophony mapping procedure is presented that finds distinct temporal distribution of biophony in forested and agriculture peri-urban locations positively associated with patch size, distance away from LDEN > 55, proximity to water, and the number of vegetation layers in the plant community. Anthrophony distribution dominates urban land uses in all hours of the day, but expands during day and evening and contracts at night and in dusk hours. The procedures presented here illustrate how qualitative information regarding quiet areas can be integrated into German noise action planning.

Due to constraints in launch platform and cost, the maneuverability of gliding-guided projectiles is limited, necessitating a rational design of their trajectory schemes. To reduce the sensitivity of trajectory schemes to uncertainties while ensuring compatibility between flight schemes and guidance control systems, and fully exploiting the control capability of the projectile, a closed-loop robust trajectory planning method is proposed. Models of major uncertain factors and states deviation at the control-start point are established. Based on the NIPCE method, the stochastic dynamic model is transformed into a high-dimensional deterministic model with PCE coefficients as state variables, and the uncertainty propagation law is obtained. A PID algorithm is employed to design a tracking guidance law based on position error feedback, and open-loop and closed-loop robust trajectory planning models are established accordingly. The optimal control problem is solved by transforming it into a nonlinear programming problem using the direct shooting method. Simulation results indicate that the NIPCE method can significantly improve the computational efficiency of uncertainty propagation while ensuring accuracy. Open-loop robust planning can effectively mitigate the sensitivity of gliding trajectories to uncertainties but cannot completely eliminate terminal dispersion. Closed-loop robust planning effectively improves control effort consumption on the basis of open-loop planning.

This research investigates the utilization of human driving models in autonomous vehicles, particularly in scenarios with minimal or no interactions with other vehicles. Human driving models provide valuable insights into driver behavior and play a crucial role in shaping the behavior of autonomous vehicles, enhancing their performance and user experience. The primary focus of the study is the creation of a planning model for autonomous vehicles when navigating roundabouts in the absence of traffic. This model seeks to emulate human driving behavior, ensuring predictability, safety, optimization of traffic flow, and adaptation to various roundabout geometries. To achieve this, the research introduces a trajectory model that takes into account geometric attributes and speed variations within roundabouts. The model is calibrated using empirical data and generalizes parameters through statistical regression methodologies. This model is referred to as "MRoundabout" and is evaluated for its consistency in generating plans that closely mimic human driving behavior within roundabouts. While the study presents a promising approach, it acknowledges limitations related to the model's reliance on geometric attributes and its inability to account for external factors like weather conditions. This research underscores the importance of bridging the gap between theoretical research and practical application, with the aim of enhancing safety and the overall user experience in real-world driving scenarios.

Delta parallel robot has been widely used in precision parts processing, handling, sorting, and precision assembly, with high efficiency and motion stability being its important performance indexes. Any small line segment corner in trajectory planning causes tangential discontinuous trajectory abrupt change, and the process vibration and shock caused by it seriously affect its high-speed and high-precision performance. In this paper, a trajectory planning method combining Cartesian space and joint space is proposed. Firstly, the vector method and micro-element integration method are used to establish the complete kinematics and dynamics equations of the Delta parallel robot, and the inverse kinematics/dynamics model-solving program is written based on Matlab software. Secondly, the end-effector trajectory of the Delta parallel robot is planned in Cartesian space, and the data points and inverse control points of the end-effector trajectory are obtained by the normalization method. Finally, the data points and control points are mapped to the joint space through the inverse kinematics equation, and the fifth-order B-spline curve is adopted for quadratic trajectory planning, which realizes the high-order continuous smoothing of trajectory planning. The simulation and experiment results show that the trajectory smoothing performance of continuous high-order curvature change can be improved using the proposed method, the tracking error of the end-effector is reduced by 21.12%, and the peak torques change of three joints is reduced by 3.5%, 11.6% and 1.6%, respectively.

Globalization, knowledge economy, information technology advancements, and the rise of learning societies contribute to the concept of a learning city. The study examines the economic indicators of Yazd city, Iran, in the context of learning city development. A descriptive-analytical approach with a survey method and cluster sampling was employed. Data analysis involved Kolmogorov-Smirnov normality test, single-sample T-test, simple linear regression, and Kendall's W test. The normality test confirmed data normality. The T-test indicated that experts perceived the current state of most variables in Yazd as undesirable. Regression analysis revealed a significant positive association between the economic index and independent variables. Kendall's W test prioritized areas based on economic indicators, with the top 7 and bottom 5 areas identified for focused interventions. The study emphasizes the need to prioritize areas within Yazd based on their economic indicators. This prioritization informs strategies for enhancing social and legal aspects of Yazd's transformation into a learning city. Further research should explore effective methods to cultivate a full-fledged learning environment in the city.

SOC stock (SOCS) changes caused by land use changes are still unclear, and understanding this response is essential for many environmental policies and land management practices. In this study, we investigated the temporal-spatial and vertical distribution characteristics of SOCS on the Western Sichuan Plateau (WSP) using the sparrow search algorithm-random forest regression (SSA-RFR) models with excellent model applicability and accuracy. The temporal-spatial varia-tions in the SOCS were modeled using 1080 soil samples and a set of nine environmental covariates. We analyzed the effect of land use changes on the SOCS on the WSP. The total SOCS increased by 18.03 Tg C from 1990 to 2020. The results of this study confirmed that the SOCS in the study area has increased significantly since 2010, with an increase of 27.88 Tg C compared to the total SOCS in 2010. We found that the spatial distribution of the SOCS increased from southeast to northwest, and the vertical distribution of the SOCS in the study area decreased with increasing soil depth. Forest and grassland are the main sources of SOCS, the total SOCS in the forest and grassland accounted for 37.53 and 59.39% of the total SOC pool in 2020, respectively. Expansion of the wetlands, forest, and grassland areas could increase SOCS in the study area.

The concept of economic self-reliance, widely known by Thai people as the philosophy of sufficiency economy, has been widely promoted in rural Thai societies. By practicing this philosophy, it is expected that the citizens’ quality of life and local environments could be sustainably improved. This study aims to explore the contribution of the community practices of the sufficiency economy philosophy to rural villagers’ quality of life improvement, and to investigate potential factors that determine the trust of villagers in the philosophy. With the purpose to propose strategies which could enhance trust and promote villagers’ practices of the philosophy, the study investigated influences of three relevant factors on trust towards the philosophy. Those factors included factors related to cognitive-based trust, factors related to emotional-based trust, and factors related to demographic characteristics. Questionnaire surveys and in-depth interviews with community leaders and local villagers were conducted in the Ban Jamrung community, in Thailand’s Rayong province. The results of the statistical analysis revealed that the residents who applied the sufficiency economy philosophy in their daily lives experienced a relatively better quality of life. Additionally, it was found that trust in the philosophy could be predicted more by rational factors than by emotional factors. These findings could be utilized to develop strategies to maintain and enhance the trust of the people in the philosophy of sufficiency economy.

In modern warfare, the diversified tasks can sometimes be challenging to fulfill with a single projectile, necessitating the incorporation of cooperation constraints in trajectory planning. Limited by the stringent requirements of the launch platform and lower costs, the maneuverability and ability to adjust the flight time range of projectiles are weak. Therefore, the rationality of performance indicators and flight time coordination strategies is especially critical. To fully exploit the control capabilities of projectiles, a battlefield area segmentation method is proposed, differentiated performance indicators and a cooperative trajectory planning model that considers the entire range of projectiles are established. Considering the limitations of existing flight time coordination strategies in applications, targeted improvements have been made in different cooperation scenarios, and a bi-level adaptive cooperation strategy(BACS) with both optimality and flexibility is proposed. To rapidly determine feasible conditions, a simple and universal method for obtaining the capability ranges of cooperation is introduced. The multi-phase optimal control problems are transformed into nonlinear programming problems using the Radau pseudo-spectral method, and simulation results show that the proposed methods are capable of handling trajectory planning tasks in different cooperation scenarios. The improved strategies effectively enhance the planning success rate under relatively harsh conditions and BACS demonstrates good compatibility with the problems studied.

In this paper, a swarm trajectory planning method is proposed for multiple autonomous surface vehicles (ASVs) in an unknown and obstacle-rich environment. Specifically, based on the point cloud information of the surrounding environment obtained from local sensors, a kinodynamic path searching method is used to generate a series of waypoints in the discretized control space at first. Next, after fitting B-spline curves to the obtained waypoints, a nonlinear optimization problem is formulated to optimize the B-spline curves based on gradient-based local planning. Finally, a numerical optimization method is used to solve the optimization problems in real-time to obtain collision-free, smooth and dynamically feasible trajectories relying on a shared network. Simulation results demonstrate the effectiveness and efficiency of the proposed swarm trajectory planning method for a network of ASVs.

Lake sediment records are of great importance for understanding the evolution of watershed environments. Various studies have been carried out to constrain the depositional ages of lake sediments and examine their physical, chemical, and biological characteristics, aiming to construct historical vegetation, environment and climate patterns in Chinese lake watersheds. In this study, we obtained relevant literature on lake sediment records by searching the key word 'age-depth' from the databases – Web of Science and China National Knowledge Infrastructure (CNKI, the largest Chinese academic database). We analyzed the literature based on its type (published in a Chinese/English journal or as a Master’s/PhD thesis), period of publication, journal (if published in a journal), key authors, study area, dating scale, and main aims. The results suggest that the lakes in the plateau regions are the most popular research topic typically covering 100–200 years (short-term) and 500–30,000 years (long-term). The literature focuses on a wide range of topics, from past environmental evolution in the watershed to lake ecology, and provides a solid foundation for better understanding regional climate change and the preservation of lake environments and ecosystems. In the future, resulting data from environmental reconstruction with lake sediments will be needed to integrate with emerging information processing technologies (e.g., artificial intelligence and meta-analysis), to disentangle the complex interplay between Earth surface processes and global climate change; furthermore, strengthening interdisciplinary collaboration will deepen our comprehension of man-land relationship and promote the sustainable management of lake ecosystems in the context of global climate change.

The Upper Hunter Valley is a major coal mining area containing approximately 40% of the currently identified total coal reserves in New South Wales (NSW), Australia. Due to the ongoing increase of mining activities, PM10 (air-borne particle with an aerodynamic diameter less than 10 micrometres) pollution has become a major air quality concern in local communities. This paper summarises the spatial and temporal variability modes of PM10 pollution in the region, based on long-term multi-site monitoring data and the application of the rotated principal component analysis (RPCA) and wavelet analysis techniques. RPCA identified two distinct air quality clusters/subregions in the valley, one in the west/northwest, the other in the southeast. Wavelet analysis revealed the annual cycle to be most persistent temporal mode of PM10 variability in both subregions, with intermittent signals observed at time scales of around 120, 30~90 and under 30 days. How these variation modes are related to the effects of local PM10 emissions and the influence of meteorology at different time scales deserves further attention in future work. The findings will be used in air quality reporting and forecasting in NSW. The methodology and results can also be useful for air quality research in similar regions elsewhere.

Today's city needs more than ever methodological devices that ensure a specific urbanism, in keeping with the complexity of relationships that occur in the urban space. Networks or systems of diverse nature must be activated to achieve a certain success of the city, even more so in its fragile central fabrics. The study is focused on the historic neighborhoods of the city of Jaén (Spain), which have a high vulnerability index. The aim is to establish a strategy to revitalize their urban and social capital and improve their articulation with the rest of the urban and territorial structure. A methodological proposal for the analysis of vulnerability factors and an urban and cartographic analysis of the public space is addressed through an interweaving of a triple network: environmental, social, and urban. For this purpose, the configuration of this overlapping network of analysis and formulation of criteria is presented, which considers the urban multiplicity and promotes new dynamics for the integrated urban regeneration of the area and for the activation of public and collective urban spaces.

Antimony (Sb) has gained significance as a critical raw material (CRM) within the European Union (EU) due to its strategic importance in various industrial sectors, particularly in the textile industry for flame retardants and as a component of Sb-based semiconductor materials. Moreover, Sb is emerging as a potential alternative for anodes used in lithium-ion batteries, a key element in the Energy transition. This study focused on exploring the feasibility of identifying and quantifying Sb mineralizations through the spectral signature of soils using reflectance spectroscopy, a non-invasive remote sensing technique, and by employing deep learning algorithms such as Convolutional Neural Networks (CNNs). Common signal preprocessing techniques were applied to the spectral data, and the soils were analyzed by Inductively Coupled Plasma Mass Spectrometry (ICP-MS). Despite achieving high R-squared values, the study faces a significant challenge of generalization of the model to new data. Despite the limitations, this study provides valuable insights into potential strategies for future research in this field.

Deploying UAVs as aerial base stations is an exceptional approach to reinforce terrestrial infrastructure owing to their remarkable flexibility and superior agility. However, it is essential to design their flight trajectory effectively to make the most of UAV-assisted wireless communications. This paper presents a novel method for improving wireless connectivity between UAVs and terrestrial users through effective path planning. This is achieved by developing a goal-directed trajectory planning method using active inference. First, we create a global dictionary using TSPWP instances executed on various training examples. This dictionary contains letters representing available hotspots, tokens representing local paths, and words depicting complete trajectories and hotspot order. By using this world model, the UAV can understand the TSPWP’s decision-making grammar and how to use the available letters to form tokens and words at various levels of abstraction and time scales. With this knowledge, the UAV can assess encountered situations and deduce optimal routes based on the belief encoded in the world model. Our proposed method outperforms traditional Q-learning by providing fast, stable, and reliable solutions with good generalization ability.

Keyhole neurosurgery implies reaching a target area inside the brain through an entry point specified by the neurosurgeon. In order to avoid complications, a risk assessment procedure must be done to establish the minimum risk trajectory from the entry point to the target area. The neurosurgeon establishes the risk values for the brain structure according to the type of intervention. The preset brain structure risk value is used to assess the risk value for each voxel of the brain. This paper proposes an improved risk assessment methodology based on the sum of N maximum risk values for each voxel. Then, risk assessment for a trajectory is done by adding the risk of all voxels that are part of the path. The safest trajectory is defined as the trajectory with the lower risk. Our proposed search trajectory methodology includes a Genetic Algorithm (GA) for finding the safest trajectories. The use of a GA drastically reduces the number of trajectories to analyze, speeding up the planning procedure. The achieved results were qualified by expert neurosurgeons as satisfactory. Our proposed method allows neurosurgeons to calibrate the surgical planning system by allowing them to establish the risk brain structure and the risk value for each structure.

Aiming at the problem of model error and tracking dependence in the process of intelligent vehicle motion planning, an intelligent vehicle model transfer trajectory planning method based on deep reinforcement learning is proposed, which obtain an effective control action sequence directly. Firstly, an abstract model of the real environment is extracted. On this basis, Deep Deterministic Policy Gradient (DDPG) and vehicle dynamic model are adopted to jointly train a reinforcement learning model, and to decide the optimal intelligent driving maneuver. Secondly, the actual scene is transferred to equivalent virtual abstract scene by transfer model, furthermore, the control action and trajectory sequences are calculated according to trained deep reinforcement learning model. Thirdly, the optimal trajectory sequence is selected according to evaluation function in the real environment. Finally, the results demonstrate that the proposed method can deal with the problem of intelligent vehicle trajectory planning for continuous input and continuous output. The model transfer method improves the model generalization performance. Compared with the traditional trajectory planning, the proposed method output continuous rotation angle control sequence, meanwhile, the lateral control error is also reduced.

Reasonable trajectory planning is the precondition for the parafoil airdrop system to achieve autonomous accurate homing and safe landing. In order to successfully realize the self-homing of the parafoil airdrop system, a new trajectory optimization design scheme is proposed in this paper. The scheme is based on the parafoil's unique flight and control characteristics and adopts a segmented homing design. Compared with the current common trajectory design method, its core feature is to avoid the problem that the straight-line flight distance before landing is limited by the radius of the height-reducing area and ensure landing accuracy and safety. Firstly, the different starting states of the parafoil airdrop system and the landing requirements were comprehensively considered, and the homing trajectory is reasonably segmented. Based on the requirements of energy control, stable flight, and landing accuracy, the optimal objective function of the trajectory was established, and the trajectory parameters, calculation methods, and constraints were given. Secondly, the cuckoo search algorithm was applied to optimize the objective function to obtain the final home trajectory. Finally, the trajectory planning under different airdrop conditions was simulated and verified. The results showed that the planned trajectories could reach the target point accurately and meet the flight direction requirements, proving the proposed scheme's correctness and feasibility.

This study aims to spatially analyze the distribution characteristics of vacant homes in Asan-si, Chungcheongnam-do, and understand the differences in factors causing vacant homes by type. We use a variety of statistical methods to examine these factors and identify key influencing factors such as the number of vacant stores, changes in overall population, land use complexity, and physical characteristics of land and buildings. The findings reveal that the factors contributing to the occurrence of vacant homes vary significantly by region and property type, highlighting the need for region-specific policies. For instance, in old town areas, small lot ratios and land use complexity are significant, while in rural village, the average number of floors and land use complexity play a major role. This study underscores the diversity of factors influencing vacant homes, suggesting that policies should be tailored to the unique characteristics of different regions to effectively address this issue.

Intense climate change and rapid urbanization have increased the risk of urban flooding, seriously affecting urban economic and social stability. Enhancing the urban flood resilience (UFR) has required a new solution to cope with urban flood disasters. In this study, taking Yingtan city as an example, a system of indicators for evaluating UFR was constructed, with 17 representative indicators, comprising three subsystems: socio-economic, ecological and infrastructural. A hybrid (FAHP-EWM)-TOPSIS model was applied, to develop an index-based measurement to compare and evaluate UFR, and Gray Relational Analysis (GRA) was used to discover the main factors affecting UFR. In addition, the natural discontinuous method was innovatively used to divide the UFR grade interval into levels, and the grade change was evaluated based on the TOPSIS method. The results showed that (1) from 2010 to 2022, the UFR in Yingtan City increased by 80.69%, and the factors affecting UFR are highly correlated with urban infrastructure development. However, the ecological resilience in the subsystem showed a fluctuating downward trend, because of the influence of the surface area of lakes and rivers. (2) The grades of UFR for Yingtan City increased from Level III (2010 and 2016) to Level IV (2022), with local financial expenditures and the age structure of the population being the main factors currently limiting the development of UFR. The study provides a theoretical basis for the construction of an indicator system for assessing the UFR of Yingtan and proposes practical improvement directions for UFR.

Predicting human trajectories poses a significant challenge due to the complex interplay of pedestrian behavior, which is influenced by environmental layout and interpersonal dynamics. This complexity is further compounded by variations in scene density. To address this, we introduce a novel dataset from the Festival of Lights in Lyon 2022, characterized by a wide range of densities (0.2-2.2 ped/m2). Our analysis demonstrates that density-based classification of data can significantly enhance the accuracy of predictive algorithms. We propose an innovative two-stage processing approach, surpassing current state-of-the-art methods in performance. Additionally, we utilize a collision-based error metric to better account for collisions in trajectory predictions. Our findings indicate that the effectiveness of this error metric is density-dependent, offering prediction insights. This study not only advances our understanding of human trajectory prediction in dense environments but also presents a methodological framework for integrating density considerations into predictive modeling, thereby improving algorithmic performance and collision avoidance.

Amid escalating urbanization, devising rational commercial space layouts is a critical challenge. Leveraging machine learning, this study uses a Back-propagation (BP) neural network to optimize commercial spaces in Weinan City's central urban area. The results indicate an increased number of commercial facilities with a trend of multi-centered agglomeration and outward expansion. Based on these findings, we propose a strategic framework for rational commercial space development emphasizing aggregation centers, development axes, and spatial guidelines. This strategy provides valuable insights for urban planners in small and medium-sized cities in the Yellow River Basin and metropolitan areas, ultimately showcasing the power of machine learning in enhancing urban planning.

With the rapid spread of built-in GPS handheld smart devices, the trajectory data from GPS sensors has grown explosively. Trajectory data has spatio-temporal characteristics and rich information. Using trajectory data processing techniques can mine the patterns of human activities and the moving patterns of vehicles in the intelligent transportation systems. A trajectory similarity measure is one of the most important issues in trajectory data mining (clustering, classification, frequent pattern mining, etc.). Unfortunately, the main similarity measure algorithms with the trajectory data have been found to be inaccurate, highly sensitive of sampling methods, and have low robustness for the noise data. To solve the above problems, three distances and their corresponding computation methods are proposed in this paper. The point-segment distance can decrease the sensitivity of the point sampling methods. The prediction distance optimizes the temporal distance with the features of trajectory data. The segment-segment distance introduces the trajectory shape factor into the similarity measurement to improve the accuracy. The three kinds of distance are integrated with the traditional dynamic time warping algorithm (DTW) algorithm to propose a new segment–based dynamic time warping algorithm (SDTW). The experimental results show that the SDTW algorithm can exhibit about 57%, 86%, and 31% better accuracy than the longest common subsequence algorithm (LCSS), and edit distance on real sequence algorithm (EDR) , and DTW, respectively, and that the sensitivity to the noise data is lower than that those algorithms.

Annually, the oak forests of the Zagros Mountain chains, in western Iran and northeastern Iraq, face recurring challenges posed by forest fires, particularly in the Kurdo-Zagrosian forests situated in western Iran and northeastern Iraq. Assessing fire susceptibility relies significantly on vegetation condition. Integrating in situ data, Remote Sensing (RS) data, alongside the integration of Geographical Information Systems (GIS), presents a cost-effective and precise approach to capturing environmental conditions before, during, and after fire events, minimizing the need for extensive fieldwork. This study refines and applies the Zagros Grass Index (ZGI), a local vegetation index tailored to discern between grass-covered surfaces from tree canopies in Zagros forests, identifying the grass masses as the most flammable fuel type. Utilizing Moderate Resolution Imaging Spectroradiometer (MODIS) Normalized Difference Vegetation Index (NDVI) product as input, from 2013 to 2022, the ZGI aims to mitigate the influence of tree canopies, isolating NDVI values solely attributable to grass cover. By incorporating phenological characteristics of forest trees and grass species, the ZGI outperforms NDVI in mapping grass-covered areas that are crucial for fire susceptibility assessment in the study region. Results demonstrate a strong overlap between ZGI-based maps and recorded fire occurrences, validating the efficacy of the index in fire susceptibility estimation.

Clubhouse is an auditory app that allows users to host various rooms surrounding a diverse range of topics from Artificial Intelligence to Philosophy. Along with its educational and serene approach, it is known for its popularity amongst celebrities, including Elon Musk, Mark Zuckerburg, CEO of Shopify, and its elusive invite and ios-only pass into gaining access into Clubhouse. Waiting lists are available in the case of not achieving an invite, but to further speed the process, various sellers on eBay, Reddit, Twitter, etc., charging invites from $10-$200. This research paper covers the phenomenon of Clubhouse and the emergence of audio-only rooms, along with a hypothesis of why Clubhouse and other apps of a similar kind are experiencing a harsh downfall despite its seemingly successful business model.

Aim: To analysis the relationship between healthy adults right ventricular diameter (RVD) and geographical factors. Location: China’s 22 provinces, municipalities and autonomous regions. Methods: Using correlation analysis the relationship between RVD and nine geographic factors, build predictive models by factor analysis. Results: There is significant correlation between RVD and geographical factors, and the annual average temperature is most relevant geographical factors, a predictive model was built by factor analysis: Ŷ = 19.46 + 0.0007072X1 + 0.001034X2 -0.05412X3 -0.001405X4 -0.0006351X5 + 0.02903X6 + 0.01243X7 -0.01033X8 + 0.03816X9 ± 0.63. Then using Kriging interpolation interpolate the geographical distribution of Chinese healthy adult right ventricular diameter reference value in ArcGIS software. Main Conclusion: If geographic factors can be derived in anywhere of China, RVD can be calculated by the model, you can also get RVD from geographical distribution.

This study analyses regional development in one of the poorest provinces in China, Guizhou Province, between 2000 and 2012 using a multiscale and multi-mechanism framework. In general, regional inequality has been declining since 2000. In addition, economic development in Guizhou Province presented spatial agglomeration and club convergence, which shows how the development pattern of one core area, two-wing areas and a contiguous area at the edge of the province have been developed between 2006 and 2012. Multilevel regression analysis revealed that industrialization and investment level were the primary driving forces of regional economic disparity in Guizhou Province. The influences of marketization and decentralization on regional economic disparity were relatively weak. Investment level reinforced regional economic disparity and the development of core-periphery structure in the province. However, investment level actually weakened the regional economic disparity in Guizhou Province when the variable of time was considered. In addition, both the topography and urban–rural differentiation were the two main reasons for forming a core-periphery structure in Guizhou Province.

During public health events, Active Mobility (walking and cycling) plays an important role in securing residents' travel. To enhance the resilience of urban transportation, this article integrates the travel environment elements for walking and cycling and constructs a travel environment for Active Mobility evaluation index system. This article uses survey data from the main urban area of Harbin in the context of the COVID-19 pandemic in May 2022, and combines the Gradient Boosting Decision Tree (GBDT) and Impact-Asymmetry Analysis (IAA) methods to analyze the satisfaction of the travel environment for Active Mobility. It proposes strategies for optimizing the travel environment for Active Mobility, ensuring residents' travel during public health events, guiding them to adopt Active Mobility, and improving urban transportation resilience. This research shows that Active Mobility can enhance urban transportation resilience. In addition, there are differences in resident demand for walking and cycling environments in the travel environment for Active Mobility. Residents are more concerned about the comfort of the walking environment, while they prioritize the convenience of the cycling environment.

Aiming at effectively generating safe and reliable motion paths for quadruped robots, a hierar-chical path planning approach driven by dynamic 3D point cloud is proposed in this article. The developed path planning model is essentially constituted of two layers: global path planning layer and local path planning layer. At the global path planning layer, a new method is proposed for calculating terrain potential field based on point cloud height segmentation. Variable step size is employed to improve the path smoothness. At the local path planning layer, a real-time prediction method for potential collision area and a strategy for temporary target point selection is developed. Quadruped robot experiments were carried out in an outdoor complex environment. The experi-mental results verified that, for global path planning, the smoothness of the path is improved and the complexity of the passing ground is reduced. The effective step size is increased by a maxi-mum of 13.4 times, and the number of iterations is decreased by up to 1/6, compared with the traditional fixed step size planning algorithm. For local path planning, the path length is short-ened by 20%, more efficient dynamic obstacle avoidance and more stable velocity planning are achieved by using the improved dynamic window approach (DWA).

As the world’s second largest economy, China ranks amount the world’s top nations when it comes to carbon emission, and therefore its attitude towards climate change is closely followed by all parties concerned. There have been few researches on the role of environmental governance in low-carbon city transformation process, especially the Chinese one. This paper analyses the role of government environmental regulation played in the low-carbon city transformation process by taking Shenzhen as the research object. One of the world's youngest super cities, it also happens to be the lowest carbon emission intensity city in China. Striving to explore green low-carbon development path for the whole country, Shenzhen provides practical experience for countries to cope with global climate change. However, its efforts to reduce the total carbon emissions failed, but it emphasized the carbon emission intensity, which is consistent with the international commitments made by the central government. China’s policy towards handling climate change relies on hierarchical governance arrangement. The strength of the NGOs in the country is weak and incomparable with the government’s, which has mastered most of the resources and is just a reality in China.

The interconnection between the objectives of territorial development and the agro-ecological transition highlights the value of past knowledge in the sustainable management of resources and agro-ecological systems. However, retrospection in rural areas presents difficulties due to a lack of data. This paper contributes to the search for such knowledge from the past by developing an interactive methodology capable of combining heterogeneous sources of information and the activation of local collective memory. Its effectiveness is based on ensuring the interoperability of information and communication in an environment simultaneously shaped by geoinformatics and 3D geo-visualizations. This virtual environment fosters participation and interactivity, supported by representations of the paleo-landscape. Furthermore, synergies were achieved between information sources and their integration into local spatial systems. The application example involved identifying a rice field that existed from the 15th to the 19th century in Thessaly, Greece. It is an interesting case because the location and organization of cultivation in combination with its spatio-temporal coordination ensures the sustainable use of natural resources. It appears that the interplay between information and communication facilitates community participation and the activation of its collective memory as a source of information that enriches the search and local intelligence.

Establishment of protected areas (PAs) is one of the key global conservation strategies that currently cover approximately 15% of the earth’s land surface. Globally, PA networks are designed to curb the growing anthropogenic pressures in areas with high biological diversity. Despite the importance of PAs in conserving the vanishing biodiversity and unique habitats, many of them are in critical condition due to poor governance thus functioning below the expected level. Moreover, in many developing countries, the PA coverage is below the global standard. Recognizing their contemporary role in conservation, governments have recently agreed to expand the global PA coverage to 17% by the year 2020 (Aichi target 11). This book with eight chapters from different regions of the world provides an overview of the PAs governance, institutional mechanisms, conservation benefits, limitations and challenges associated with their respective policy discourse, integrated management, and functional attributes. Protected areas expect to to play an important role in the long rn in conservation and protection of biodiversity and ecosystems particularly in countries where population pressure and habitat loss are high. Regular intervention, political commitment, and effective governance are essential for the sustainability of PAs across the world. Here, we also attempted to shed some light on future development clues for the sustainable management and monitoring of PAs worldwide.

The benefits of cycling as a sustainable transportation mode are widely recognized. Cycling to work offers numerous advantages for individuals, employers, the environment, and society, ranging from improved physical health, wellbeing, and productivity to enhanced public health and reduced carbon emissions. Many governments around the world have implemented various policy measures, interventions, and initiatives to promote cycling. Some cities and towns have encouraged workplaces to provide bike-friendly amenities, such as secure bike parking/storage and shower and changing facility (referred to as end-of-trip facilities), to accommodate cyclists and motivate more employees to embrace sustainable transportation options. However, the presence or absence of such amenities has been found to both positively influence cycling behavior or deter some individuals from cycling to work. Despite the desirability of these amenities, the number of office buildings equipped with bike storage and shower/changing facility remains small, and their economic value is not well understood. In this paper, we aim to investigate whether the presence of cycling-supportive facilities could add value to office buildings. Specifically, we conduct a study using data from office buildings across England as of the end of 2021. We employ hedonic techniques to examine whether office buildings with bike storage and/or shower facility command a rent premium and whether the existence of a rent premium for bike storage and/or shower facility vary by location and across regions in England, independently from any premium associated with BREEM certification. We find that the buildings with bike storage and shower facility secure rent premiums respectively. The level of rent premiums varies with location and regions. The variations of premium are driven by the shortage of the supply of these facilities.

Water networks are critical infrastructure components, ensuring the continuous supply of high-quality drinking water to consumers. To secure such water supply, regular maintenance, including the replacement of deteriorating pipelines, is essential. In this study, a methodology has been developed for determining optimal pipeline replacement solutions in water supply systems at water utilities with limited data availability. Hydraulic analysis has been conducted on the segment of 25 km of the water supply network using the free software EPANET. Applying water network optimization, eight pipeline replacement projects according to 13 pre-defined criteria have been identified and evaluated. The paper outlines the methods for evaluating the criteria, including defining specific quantitative limits. The Analytical Hierarchical Process (AHP) method was used in the paper to determine the weights of the criteria. The reason for applying this method refers to problems that involve a set of criteria with a mixed structure, including both quantitative and qualitative aspects. Also, the paper describes the steps of the multi-criteria optimization method VIKOR, used to select the optimal project. This paper, considered as case studie, describes a method, i.e. application of a new principles and an innovative way to solve a problem for developing countries.

This paper describes the development of a controller that enables trajectory control and vibration control. The controller performance was verified the using a 3D 2-link, flexible manipulator. On trajectory control using inverse kinematics, it was confirmed that the deflection due to its own weight deteriorated the track following performance. The vibration component of the resonance frequency of the flexible manipulator was generated, and the tip position accuracy is deteriorated. Using the results of control experiments based on the inverse kinematics, the system is identified and then created an inverse system for simultaneous control of trajectory control and vibration control. The target trajectories were the three joint angles. Finally, it was demonstrated through experiments on actual manipulator, that the system could sufficiently follow the ideal trajectory and suppress link vibrations.

The process involved in preparing driving simulator tests is a labor intensive one, and the nature of this complexity depends on the sophistication of the tests to be carried out, as well as the number of participants. Which has an impact on the duration of the research itself. The very solution of using driving simulators is a research tool that has been in use for many years and with great success. They are used in a very wide range of areas of human functioning. They replicate in a very realistic way the conditions that can occur in the external environment, offer the possibility of repetition of particular conditions and insight into certain behaviors that could be very difficult to initiate in real life. This article also describes the dis- ease of using simulators to conduct research activities, along with the workflow from assumptions to finalizing the research. An algorithm is also presented for the study of individual participants, with examples for separate research scenarios concerning driver behavior in the vicinity of pedestrian crossings.

Off-grid electrification planning increasingly recognizes the importance of productive use of electricity (PUE) to promote community value creation and (financial) project sustainability. To ensure a sustainable and efficient integration in the community and energy system, PUE assets must carefully be evaluated to match both the community needs and the residential electricity demand patterns. We propose a novel methodology interlinking qualitative interviews, statistical analysis, and energy system modelling to optimize decision-making for PUE integration in off-grid energy systems in rural Madagascar by aligning relevant PUE effectively with anticipated residential electricity demand patterns based on socio-economic determinants of the community. We find that a possible contribution of the PUE to reducing the electricity costs depends signifi-cantly on three factors: 1. the residential electricity consumption patterns that are influenced by the socio-economic composition of the community, 2. the degree of flexibility of i) PUE assets and ii) operational preferences of the PUE user, and 3. the capacity of community members to finance and operate PUE assets. Our study demonstrates that significant cost reductions for PUE-integrated off-grid energy systems can be achieved by applying our proposed methodology. When matching PUE and residential consumption patterns, the integration of PUE assets in residential community energy system can reduce the financial risk of operators, provided the PUE enterprise operates reliably and sustainably. We highlight that the consideration of local value chains and co-creation approaches are essential to ensure the energy system is addressing the community’s needs, creates value for the community, enhances the project´s financial sustainability, and is achieving the overall objectives of decentralized energy system planning.

Although, promotion of urbanization culture in recent decades has made inevitable development of cities in the world, however, the development can be guided in a direction that leave, to the extent possible, minimum socioeconomic and environmental impacts. For this, it is required to first forecast auto-spreading orientation of cities and suburbs in rural areas over time and then avoid shapeless growth of cities. This paper is an attempt to develop a dynamic hybrid model based on logistic regression (LR), Markov chain (MC), and cellular automata (CA) for prediction of future urban sprawl in fast-growing cities. The model was developed using 12 widely-used urban development criteria, whose significant coefficient was determined by logistic regression, and validated by relative operating characteristic (ROC) analysis. The validated model was run in Guilan, a tourist province in northern Iran with a very high rate of urban development. For this, changes in the area of urban land use were detected over the period of 1989 to 2013 and then, future sprawl of the province was forecasted by the years 2025 and 2037. The analysis results revealed that the area of urban land use was increased by more than 1.7 % from 36012.5 ha in 1989 to 59754.8 ha in 2013, and the area of Caspian Hyrcanian forestland was reduced by 31628 ha. The results also predicted an alarming increase in the rate of urban development in the province by the years 2025 and 2037, during which urban land use is predicted to develop 0.9 % and 1.38 %, respectively. The development pattern is expected to be uneven and scattered, without following any particular direction. The development will occur close to the existing or newly-formed urban basements as well as around major roads and commercial areas. This development, if not controlled, will lead to the loss of 13863 ha of Hyrcanian forests and if the trend continues, 21013 ha of Hyrcanian forests and 20208 ha of Barren/open lands are expected to be destroyed by the year 2037. In general, the proposed model is an efficient tool for the support of urban planning decisions and facilitates the process of sustainable development of cities by providing decision-makers with an overview on future development of cities where the growth rate is very fast.

Biodiversity has become an issue of global anxiety over the past decades due to its rapid decline worldwide. Bangladesh as one of the most densely populated countries in the world is no more exception. The country, although, was once very rich in biodiversity, during the last few decades as a consequence of the rapid reduction in forest area, urbanisation, habitat modification, unsustainable natural resources use and collection and overall climate change it has decreased alarmingly. Of late, the government, as a signatory of various regional and international conservation treaties, has taken various initiatives to improve country’s dwindling biodiversity. This paper reviews the present situation of biodiversity in Bangladesh, management trends and major causes of biodiversity loss. A separate statutory body is fundamental to ensure conservation, sustainable use and equitable sharing of benefits arisen from biodiversity in the country.

Despite of being an exceptionally biodiversity rich country, the forest coverage of Bangladesh is declining at an alarming rate. Declaration and management of protected areas in this regard is one of the efforts from government side to tackle the loss of biodiversity. The limited numbers of forest-protected areas (FPA), established to conserve the dwindling forest biodiversity of the country with high pressure on them for timber, non-timber forest products, and fuelwood - makes their management challenging. Moreover, most of the FPAs of the country declared only in the recent decades with very limited infrastructure, manpower and policy support for monitoring and governance. Some people-centred approaches for the management of FPAs and alternative livelihood and income generation subsidies although made available through a few project interventions, their number are still inadequate and performance remains less than satisfactory. This chapter provides a critical review of the FPAs of Bangladesh looking at their role in biodiversity conservation, management challenges, and key lessons from previous management interventions with recommendations for the future. It has been revealed that the FPA system of Bangladesh still poorly represents the diverse forest ecosystems with relatively small forest size and lack of corridors for the movement of wildlife. There are ample opportunities to render co-management of FPAs an effective strategy to minimize the conflicts in FPAs management in the country. It is, however, important to ensure the access of local forest-dependent people to different alternative income generating options that may adequately support their livelihoods.

On February 28th, 2023, Spanish Royal Decree 150/2023 as published, approving the plans for the management of the maritime space of the five Spanish marine demarcations. This Royal Decree Law inaugurates the Planning of the Maritime Space in Spain. Terrestrial Space Planning is very advanced, both in the legislation and in the instruments that are enabled to organize this space, from the national scale to the municipal scale, passing through the regional, provincial, and supra-municipal scales. Naturally, both Planning must converge and thus speak of an Integrated Space Planning. In some of the countries that we can take as global references, this convergence in the form of integration is taking place. On the other hand, and within the context of climate change, coastal cities will be the most affected, both by the potential rise in sea level and by the increasingly continuous and greater extreme events. Integrated Space Planning is postulated as the most effective tool to carry out adequate territorial and urban planning of our coastal cities, as well as to analyse the influence and possible corrective measures to apply against the effects produced by climate change.

Identifying human actions in complex scenes is widely considered as a challenging research problem due to the unpredictable behaviors and variation of appearances and postures. For extracting variations in motion and postures, trajectories provide meaningful way. However, simple trajectories are normally represented by vector of spatial coordinates. In order to identify human actions, we must exploit structural relationship between different trajectories. In this paper, we propose a method that divides the video into N number of segments and then for each segment we extract trajectories. We then compute trajectory descriptor for each segment which capture the structural relationship among different trajectories in the video segment. For trajectory descriptor, we project all extracted trajectories on the canvas. This will result in texture image which can store the relative motion and structural relationship among the trajectories. We then train Convolution Neural Network (CNN) to capture and learn the representation from dense trajectories. . Experimental results shows that our proposed method out performs state of the art methods by 90.01% on benchmark data set.

This study presents a novel kinematic tracking model, designed for a networked exoskeleton system that is asynchronously taught by a remote therapist. On the server side, the therapist’s rehabilitation exercises are quantitatively assessed using a monocular passive vision system. The resultant analytical metrics are then transmitted asynchronously over the network to patients equipped with exoskeletons. On the client side, the exoskeleton utilizes these analytical metrics as reference paths for exercises, complemented by electromyography (EMG) feedback. This work introduces a calibration approach aimed at estimating angular positions by utilizing EMG observations. The calibration model establishes real-time correlations between polynomial reference positions. This calibration mechanism is integrated into simulations of both upper and lower limb exoskeletons. We further explore redundant kinematics, incorporating an EMG observer for linear, time-variant rehabilitation tracking control. Our methodology is validated using vision-based metric data and experimental EMG measurements for various exercises, including shoulder flexion, elbow flexion, and rowing-like movements. This work also includes computer simulations for tracking the control of rehabilitation exercises, demonstrating the adaptability of the system in reliably, robustly, and effectively following desired trajectories.

Land-use planning review seems relatively lower in publication rate and in coverage of content. This review contributes its part in two dimensions. First, it assesses ability of the popularly growing bibliometric method in tracking the real contribution of publications. Then it summarizes developments in the land use planning literature in three themes - general literature path building, land use planning context, and development of methods. It is observed that bibliometric method rewards information carriage paper more than the original contributors. Key planning context gaps include detachment of the general goal-oriented objective formulations from the basic land use allocation theories and models and certain urban land use optimization objectives even contradict the original though of sustainable city. Key research frontiers include: linking basic land use allocation and utility theories in urban land use planning; shifting the current urban land use planning from spatial optimization to activities into optimizing flow resources to available spatial configurations; evaluating existing built environment for optimality; transferring knowledge from rural land-use planning to urban land use planning. In method development, the key frontier would be advancing the current loosely coupled methods into more integrated systems.

A large amount of data is produced every day by stakeholders of the Air Traffic Management (ATM) system, in particular airline operators, airports, and air navigation service provider (ANSP). Most data is kept private for many reasons, including commercial and security concerns. More than data, shared information is precious, as it leverages intelligent decision-making support tools designed to smooth daily operations. We present a framework to detect, identify and characterise anomalies in past aircraft trajectory data. It is based on an open source of ADS-B based aircraft trajectories, and extracted information can benefit a wide range of stakeholders: Air Traffic Control (ATC) training centres could play more realistic simulations; ANSP may improve capacity indicators; academics improve safety models and risk estimations; and commercial stakeholders, like airlines and airports, may use such information to improve short-term predictions and optimise their operations. The technique is based on autoencoding artificial neural networks applied on flows of trajectories, which provide a useful reading grid associating cluster analysis with quantified level of abnormality. In particular, we find that the highest anomaly scores correspond to poor weather conditions, whereas anomalies with a lower score relate to ATC tactical actions.

Since 2019, the SARS-CoV-2 virus has caused a global pandemic, resulting in widespread infections and ongoing mutations. Analysing these mutations is essential for predicting future impacts. Unlike influenza mutations, SARS-CoV-2 mutations displayed distinct selective patterns that were concentrated in the spike protein and small ORFs. In contrast to the gradual accumulation seen in influenza mutations, SARS-CoV-2 mutations lead to the abrupt emergence of new variants and subsequent outbreaks. This phenomenon may be attributed to their targeted cellular substances; unlike the influenza virus, which has mutated to evade acquired immunity, SARS-CoV-2 appeared to mutate to target individuals who have not been previously infected. The Omicron variant, which emerged in late 2021, demonstrates significant mutations that set it apart from previous variants. The rapid mutation rate of SARS-CoV-2 has now reached a level comparable to 30 years of influenza variation. The most recent variant, JN.1, exhibits a discernible trajectory of change distinct from previous Omicron variants.

Robots in space are necessarily extremely light and lack structural stiffness resulting in natural frequencies of resonance so low as to reside inside the attitude controller’s bandwidth. A variety of input trajectories can be used to drive a controller’s attempt to ameliorate the control-structural interactions where feedback is provided by low-quality, noisy sensors. Traditionally, step functions are used as the ideal input trajectory. However, step functions are not ideal in many applications, as they are discontinuous. Alternative input trajectories are explored in this manuscript and applied to an example system that includes a flexible appendage attached to a rigid main body. The main body is controlled by a reaction wheel. The equations of motion of the flexible appendage, rigid body, and reaction wheel are derived. A feedback controller is developed to account for the rigid body modes. Additional filters are added to compensate for the system’s flexible modes. Sinusoidal trajectories are autonomously generated to feed the controller. Whiplash compensation is additionally implemented for comparison. The control method without random errors with the smallest error is the sinusoidal trajectory method, which showed a 97.39% improvement when compared to the baseline response when step trajectories were commanded, while the sinusoidal method was inferior to traditional step trajectories when sensor noise and random errors were present.

This paper discusses the use of networks of Inertial Measurement Units (IMU) for the reconstruction of trajectories from sensor data. Logistics is a natural application domain, to verify the quality of the handling of goods. This is a mass application and the economics of logistics impose that IMUs to be used must be low cost and use basic computational devices. The approach in the paper converts a strategy from the literature, used in the multi-target following problem, to reaching a consensus in a network of IMUs. The paper presents results on how to achieve the consensus in trajectory reconstruction, along with covariance intersection data fusion of the information obtained by all nodes in the network.

In this paper, we analyzed the live fish trajectory recorded from an experiment in an experimental vertical slot fishway. Combined with a numerical simulation, we demonstrated that randomness shown in fish trajectory might not merely be attributed to fish's random choices in its swimming, also could be an adaption consequence to the bulk unsteady turbulent flow structure. Simple superposing the fish trajectory on the time-averaged flow field obtained either by interpolating on discrete point measurements or numerical simulation is not an ideal method for fish movement description in fishway engineering. How to model the fish paths in transient flow and the necessity of simultaneous recording of the flow field and the fish locomotion are challenging topics. The suggested spectrum analysis of the flow field may provide a new general method to reproduce the fish trajectory in a complex turbulent flow.

The tsscds method, recently developed in our group, discovers chemical reaction mechanisms with minimal human intervention. It employs accelerated molecular dynamics, spectral graph theory, statistical rate theory and stochastic simulations to uncover chemical reaction paths and to solve the kinetics at the experimental conditions. In the present review, its application to solve mechanistic/kinetics problems in different research areas will be presented. Examples will be given of reactions involved in photodissociation dynamics, mass spectrometry, combustion chemistry and organometallic catalysis. Some planned improvements will also be described.

This research paper is to analyze the planning and design techniques of the tourism complexes in the process of municipalities’ master planning. First, it explains the importance of the tourism industry with the help of theories of scholars and experts. Then, it emphasizes the link between the economic developments of cities/regions with the development of the tourism industry. The innovation of this work is to integrate tourism industry planning and comprehensive regional/ urban planning. The main way of doing this is to plan and design the tourism complexes in the early stages of the master planning of the municipality. Urban land-use policies and locating techniques are suggested through this research. Land-use policies and new urban design models for the regional/urban sustainable development are some of the other handouts in this paper. The outcome of this research is good assistance for engineers, planners, and students of urban and regional development.

This article presents a combined route and path planning strategy to guide Skid-Steer Mobile Robots (SSMRs) in scheduled harvest tasks within expansive crop rows with complex terrain conditions. The proposed strategy integrates: i) a global planning algorithm based on the Traveling Salesman Problem under the Capacitated Vehicle Routing approach and Optimization Routing (OR-tools from Google) to prioritize harvesting positions by minimum path length, unexplored harvest points, and vehicle payload capacity, and ii) a local planning strategy using Informed Rapidly-exploring Random Tree (IRRT*) to coordinate scheduled harvesting points while avoiding low-traction terrain obstacles. The global approach generates an ordered queue of harvesting locations, maximizing the crop yield in a workspace map. In the second stage, the IRRT* planner avoids potential obstacles, including farm layout and slippery terrain. The path planning scheme incorporates a traversability model and a motion model of SSMRs to meet kinematic constraints. Experimental results in a generic fruit orchard demonstrated the effectiveness of the proposed strategy. In particular, the IRRT* algorithm outperformed RRT and RRT* with 96.1% and 97.6% smoother paths, respectively. The IRRT* also showed improved navigation efficiency, avoiding obstacles and slippage zones, making it suitable for precision agriculture.

The impacts of inflation on international finance are generally reflected in the decline of buying power, risks of investment and deposit loss from currency devaluation. For the purpose of optimized allocation and management of asset values, i.e., annual income or research grants, a framework of a three-level model for static financial management is presented to maximize banking interests, bonuses, and the remaining balance after spending necessary expenditures. Meanwhile, in retrospect to higher-level financial inflation, strategies of dynamic investment, i.e., posing regular tests of flipping coins, exploiting variations of the currency exchange rate, as well as applying the theory of broad money, are presented to increase the appreciation rate of net assets in and post the era of COVID-19. Quantitative evaluations in case studies verify the feasibility of improving the financial situation, indicating broader applications for budgeting and investing when US inflation rate is below 3.0%. Besides, combining approaches of static and dynamic strategies, the expected annual growth rate of individual zero-risk asset investment is predicted as within the range of 8.30~9.62% according to budgeted appreciation on net assets in 12 months, which is capable of overcoming negative impacts from higher level annual inflation, i.e., those as highest as 8.01% in the Year 2022.

This research has critically argued that a vigilant combination of flexibility and certainty in spatial planning can bring about the most optimum planning outcomes. Therefore, to reproachfully evaluate the core argument, this research has tried to empirically respond to the research question of which balance of government intervention and market freedom produces the optimal economic, social and spatial outcomes. This research question has been further translated into an associated central hypothesis i.e., a hybrid planning system with an optimal balance between discretionary and regulatory planning approach can bring about the desired economic, social, and spatial outcomes.

Space exploration presents vast prospects for scientific, industrial, and economic progress. This paper introduces the MeSat mission as a pioneering approach to Mars exploration. MeSat aims to deepen our understanding of Martian conditions and resources by employing an optimized Earth-to-Mars trajectory, enabling a comprehensive study of the Martian atmosphere and surface. The mission comprises a Cargo Microsatellite hosting three 6U CubeSats and two 3U CubeSats, deployed into four separate Mars orbits forming a constellation. Each CubeSat carries distinct payloads: a THz radiometer for water detection, a high-resolution surface camera, a top-tier spectrometer, and a Fourier Transform Spectrometer (FTS) for wind speed readings. This paper focuses on two pivotal innovations: the development of a 183GHz radiometer payload for detecting water on Mars and a optimal mission design algorithm that analyzes a fuel-efficient low-thrust trajectory from Earth to Mars. Regarding the THz payload for water detection, a subharmonic Schottky diode-based mixer is meticulously designed to efficiently down-convert radio signals. The down-converted signals are carefully analyzed using a customized Do-It-Yourself (DIY) spectrum meter, which facilitated the capture and processing of acquired data. To provide the necessary Local Oscillator signals for the mixer, a Tripler employing three-anode Schottky diodes is developed. Additionally, the Tripler requires a signal generator for its entry frequency, which is addressed by developing a DIY signal generator. Together, these components, comprising the Schottky diode mixer, Tripler, and DIY circuits, collectively form the complete THz payload, demonstrating exceptional power efficiency with a total consumption of only 3.7W. The study employs a dual-step hybrid optimization algorithm (PSO-Homotopy) to analyze fuel-efficient low-thrust trajectories from Earth to Mars, incorporating the Ephemeris dynamics model to account for gravitational perturbations in the entire solar system. In practical mission design, crucial factors like hyperbolic excess velocity, diverse opportunities for Earth launch and Mars rendezvous, varied propulsion systems, and Time of Flight (TOF) play vital roles in trajectory optimization.

Trajectory Optimization (TO) is the sequence of processes that are considered in order to produce the best path that mends the overall performance or reduces the consumption of the resources where the restriction system remains maintained. In this survey, an inclusive review of the latest advancements in modeling and optimization of trajectory generation in robotic applications will be discussed broadly. In recent times, numerous studies have employed optimal control techniques involving direct and indirect methods in order to convert the authentic Trajectory Optimization problem into a constrained parameter optimization problem. Moreover, a huge variety of optimization algorithms such as Genetic Algorithms (GA), Simulated Annealing (SA), Sequential Quadratic Programming (SQP), and Particle Swarm Optimization (PSO) are used aiming to find the optimal solutions for trajectory planning. It is observable that, minimizing the jerk, energy consumption, and execution time among the most widely used design objectives, on the other hand, the robot’s joints configurations and the motor torques are the most used design variables. This paper aims to review the fundamental techniques and their coincident robotic applications in the field of trajectory optimization aiming to afford some steering for related researchers.

In this paper, first the Self-Written Waveguide (SWW) process in wet photopolymer media (liquid solutions), are examined for three examples: single-, counter-, and co-fibers exposure. Then the SWWs formed inside solid material are examined including the effects of manipulating the alignment of the fibers. In all cases high precision measurements are used to position the fiber optic cables (FOCs) before exposure using a microscope. The self-writing process is indirectly monitored by observing (imaging) the light emerging from the side of the material sample during SWW formation. In this way the optical waveguide trajectories formed in an Acrylamide/Polyvinyl Alcohol (AA/PVA) a photopolymer material (sensitized at 532 nm) are examined. First the transmission of light by this material is characterized. Then the bending and merging of the waveguides which occur are investigated. The predictions of our model are shown to qualitatively agree with the observed trajectories. The largest index changes taking place at any time during the exposure, i.e. during SWW formation, are shown to take place at the positions where the largest exposure light intensity is present. Typically, such maxima exist close to the input face and the first maximum is referred to as the location of the Primary Eye. Other local maxima also appear further along the SWW and are referred to as Secondary Eyes, i.e. deeper within the material.

In Brazil, during the four last administrations of Worker’s Party (PT) 2003-2015, the support to the agrarian reform seems to have stagnated, even with the influence of landless workers' movements. Thus in 2016, the impeachment President Dilma Roussef have marked a brutal stop in the agrarian reform process. How to explain that which seems at first to be a contradiction and has become a decadence of an important federal public policy?. Furthermore, how can we evaluate the debates within Brazilian society and the federal government on this theme? The article analyzes the tensions, debates, advances and impasses of the past fifteen years of agrarian reform policy in Brazil looking at the interaction between social movements and public policies. The method associates bibliography, official statistic synthesis and research results in Northeast, Amazônia and Cerrado regions among several projects. The first part results put on evidence the crescent reduction of agrarian reform settlements and beneficiary families since 2006. The second part presents the main reasons offering an analysis of government and society debates in Brazil about land reform. The analysis conclude to the less of power and representation in the society of the pro agrarian reform large and popular coalition.

The business planning process can be considered as a strategic phase of any business. Given that the business plan is a management accounting tool, there are countless approaches that can be adopted to prepare it since there is no legal requirement, as opposed to obligations relating to financial accounting. However, in general, every business plan consists of a numerical part (budget) and a narrative part. In this research, the author highlights, on the basis of experiences and commonly used theories, a standard process that can be adaptable to the business plan of any type of activity. The use of big data is highlighted as an essential part of feeding the data of almost all the steps of the budget. The author then manages to determine a generally applicable standard process, indicating all the data necessary to prepare an accurate and reliable business plan. A case study will provide adequate support to the demonstration of the immediate applicability of the proposed model.

Spatial planning holds a key role in preventing or mitigating the impacts of climate change on both cities and rural areas, taking a forward-thinking and holistic approach to urban and regional development. As such, spatial planning deals with challenges occurring at different scales and across sectors. The international literature points out the need for horizontal and vertical cooperation to tackle climate change impacts. While there is abundant knowledge regarding the challenges related to climate change at different spatial levels, procedural integration into planning frameworks and practice is currently under-researched. This paper presents a novel theoretical framework that integrates various steps towards a holistic, integrative and adaptive climate proofing process. An iterative process was used for conceptual development, based on literature review followed by external feedback meetings and two workshops with the core team of planning experts responsible for exchange across federal states. By specifically addressing the challenges relating to cross-regional and cross-sectoral planning, this novel framework attempts to (i) facilitate a hierarchy of measures, (ii) maximise co-benefits for various adaptation purposes and climate change mitigation and (iii) foster the long-term institutionalisation of integrative processes across sectors, planning areas and policy levels.

Planning, development and design policies influence sense of safety of people touse the City centre or Central Business District (CBD) and therefore city centres can becomeactive and vibrant during the day and night. This paper reviews past and present planningpolicies relevant for feeling of personal safety in the context of housing, retail, amenities,street infrastructure, building design and transportation aspects. The past development trendsshow that insignificant attention has been paid to people's sense of safety when using publicspaces, particularly at night, a factor identified important in creating attractive city centressince 1960s. Local plans primarily refer to safety in relation to roads, accessibility andworkability. Local policies also show the dominance of CCTV since the 1990s has becomeubiquitous, but changes to sense of safety in urban spaces now may actually be a betterreflection of planning and design decisions made over the past 20 years.

Planning regulations determine a substantial part of buildings but their constraints are usually not included in the setup of a BIM model or used explicitly for design guidance. This is symptomatic of wider tendencies and ingrained biases that emphasize tacit knowledge and assume that information in a project starts from scratch – an assumption that runs contrary to predesign information ordering practices, as well as to the findings of creativity studies. In terms of process control, it negates important possibilities for feedforward. The paper describes an exercise in which students collected planning regulations for a particular plot of land and modelled their constraints in BIM. The results suggest that converting such information into a foundation for design is constructive and feasible, even for novices, and produce a bandwidth view of project information that acknowledges pre-existing information and includes it in the BIM workflow. They also verify that, for a large part of Dutch housing, this foundation amounts to a considerable and binding part of the design that guides subsequent decisions.

In the last two centuries, land use change (LUC) has been the most important direct changes driver for terrestrial ecosystems. To contrast the consequent ecosystems degradation, forward-looking spatial policies and target landscape and land-use planning processes, promoting a sustainable land use change, are needed. The present paper proposes a framework of action including different landscape planning and ecological approaches: from the spatial modelling to recognize the LUC and build different scenarios, to the ecosystem services (ESs) assessment to evaluate the possible environmental impacts. Three different scenarios were built: Trend, No-Tillage and Energy crops. The Sediment Delivery Ratio and Carbon Storage and Sequestration ESs were assessed and compared for each scenario. The aim of the paper is to support decision-makers and local communities into the landscape planning process. Results show that a regional development in line with past trend could lead to further land degradation. Instead, the two scenarios proposed in compliance with EU policies, could bring benefits only if related to moderate LUCs and respecting the naturally grass-vegetated land. From the local to global scale, a guided and shared LUC management allows implementing sustainable development, basing on a deep knowledge of physical-environmental but also social and economic issues.

Nowadays the relationship between planning land use and actual land use is not so clear in general. A lot of efforts have been put in the failures of regulation for the expansion of construction land. However, it still lacks an integrated approach to study the effectiveness of land use regulation in terms of different land use types. Furthermore, the existing evaluation of land use plan mainly focuses on a general level, a detailed research on the regulation effectiveness of each construction land use type is absent. Therefore, this research tries to evaluate regulation effectiveness of land use plan, which takes Cangwu country, Guangxi Province as an example. The finding by analysis is that the total area of construction land expansion was about 3494.73 ha, nearly 1.1 times of the plan quota. Moreover, the effectiveness differs greatly in various construction land use types. Town, industrial/mining sites can be well regulated through the quota of land use plan. While, the quota regulation system is not as effective for other type of construction land. Thus, we suggest to improve the regulation effectiveness of construction land through different plan instruments.

Ammonium sulfate has been utilized in agriculture; however, there is a dearth of research on its application in maize cultivation subsequent to the implementation of nitrification inhibitors or coating. This study aims to analyze the impacts of various combinations of ammonium sulfate fertilizers on soil nutrients, plant nutrient uptake, yield, and fertilizer utilization efficiency in maize cultivation to ascertain the optimal and stabilized disposal method for ammonium sulfate. A completely randomized design was employed with five treatments (AU, the control using urea; AS, treatment using ammonium sulfate; ASN, treatment using ammonium sulfate with a nitrification inhibitor; ASG, treatment using oil-coated ammonium sulfate; ASD, treatment using oil-humic acid-coated ammonium sulfate). Results showed that: (1) Compared with AU and AS, ASN, ASG and ASD decreased the leaching rates of TN, NH4+-N and NO3-N to the 10-20 cm soil layer, and more residual N was obtained in 0-10 cm soil layer. The first-order kinetic equation Nt=N0(1-e-kt) can better fit the process of nitrogen accumulation and release, and the N release rate constant is AU>CK>AS>ASH>ASN>ASD; (2) Compared with AU and AS treatments, the plant dry weight, grain dry weight, spike width, spike length, and yields of maize increased by 8.85-11.08%, 12.98-14.15%, 2.95-3.52%, 5.50-5.65%, and 43.21-51.10% under ASG treatment respectively. The impact of effective spike number on maize yield was found to be significant, as demonstrated by the path analysis conducted in this study. Furthermore, the accumulation levels of nitrogen, phosphorus, and potassium within above-ground plants significantly increased under the ASG treatment compared to the AU and AS treatments. The partial productivity of nitrogen, phosphorus, and potassium increased by 1.43-1.51-fold under ASG treatment, while grain nitrogen balance, grain phosphorus balance, and grain potassium balance increased by 1.41-1.58-fold, 1.51-1.95-fold, and 1.15-l.96-fold respectively. The oil-coated ammonium sulfate, therefore, exhibited the optimal slow-release effect of nutrients, thereby achieving superior performance in enhancing maize production and efficiency.

This paper aims to provide a comprehensive review of the historical trajectory of deforestation in Ethiopia, spanning an extensive timeframe and exploring its major driving factors. Over the span of three millennia, Ethiopia has experienced persistent deforestation, resulting in a significant reduction of its once-large forest and woodland resources. Currently, small, degraded forests and woodlands exist in isolated patches, located in remote areas such as the southwest and southeast. Major deforestation in Ethiopia unfolded progressively, first along a north-south axis and more recently shifting from the highlands to the lowlands. The northern and central highlands lost most of their natural forests before the turn of the 20th century, while significant loss in the southern highlands occurred over the past 150 years, and in the lowlands over the past 50 years. This deforestation is primarily attributed to the expansion of ox-plow agriculture and population pressure resulting from natural birth and internal migration. Despite efforts to counter deforestation and promote restoration, mostly since the 1970s, successes remain limited. A noteworthy exception in this regard is the introduction of Eucalyptus during the turn of the 20th century and the subsequent expansion of it, mainly in the form of small-scale farmer-led farm forestry. Today, Eucalyptus become the most preferred, well-adapted, widely planted, and the major supplier of wood materials in Ethiopia. The limited success in restoration is attributed to the reliance on campaign-based strategy, lack of private sector involvement, the intertwining of restoration with political agenda, and poorly defined property rights on land, forests, and trees. The consequences of deforestation and resultant environmental degradation have profoundly influenced the socio-economic dynamics of Ethiopia, giving rise to issues such as food insecurity, poverty, migration, and political instability.

This article addresses the trajectory tracking between two non-identical systems with chaotic properties. We employ the Rossler chaotic and RCL-shunted Josephson junctions model in similar phase space to study trajectory tracking. In order to achieve the goal tracking, we afford two stages to approximate the target tracking. The first stage utilizes the active control technique to transfer the output signal from the RCLs-J system into the quasi-Rossler system. Then next, the RCLs-J system employs the proposed the iterative learning control scheme and the control signal from the drive system to trace the trajectory of Rossler system. The numerical results demonstrate the proposed method and the tracking system is asymptotically stable.

Pedestrian trajectories are crucial for self-driving cars to plan their paths effectively. The sensors implanted in these self-driving vehicles, despite being state-of-the-art ones, often face inaccuracies in the perception of surrounding environments due to technical challenges for adverse weather conditions, interference from other vehicles sensors and electronic devices, and signal reception failure, leading to incompleteness in trajectory data. But for real-time decision making for autonomous driving, the trajectory imputation is no less crucial. Previous attempts to address this issue such as statistical inference and machine learning approaches have shown promise. Yet, the landscape of deep learning is rapidly evolving with new and more robust models emerging. In this research, we have proposed an encoder-decoder architecture, Human Trajectory Imputation Model, coined as HTIM, to tackle these challenges. This architecture aims to fill in the missing parts of pedestrian trajectories. The model has been evaluated using the Intersection drone inD dataset, containing trajectory data at suitable altitudes preserving naturalistic pedestrian behavior with varied dataset sizes. To assess the effectiveness of our model, we have utilized L1, MSE, Quantile and ADE loss. Our experiments have demonstrated that HTIM outperforms the majority of the state-of-the-art methods in this field, thus indicating its superior performance in imputing pedestrian trajectories.

This paper proposes training improvement methods of artificial neural networks (ANN) trajectory predictors. First, a dynamic power system time-series trajectory is split into several different segments to simplify the original ANN training problem. Moreover, the time-derivative of the trajectory is included to obtain an augmented loss function. Compared to previous studies which mainly focused on increasing the prediction accuracy, the aim of these novel techniques is to reduce the computational burden where the ANN output performance is still acceptable. The effectiveness of the developed methods is validated based on the WSCC three-machine nine-bus and IEEE 39-bus system models. The mean absolute error (MAE) and trajectory prediction results are analyzed, in which the numbers of neurons, hidden layers, and training epochs are constrained during the ANN training process. Rotor-angle difference between generators and the system frequency are investigated as the dynamic trajectories of the power system models. It is revealed that when the ANN architecture and epochs are constrained, the MAE results can be reduced, and the ANN training results can better reflect the original trajectory using the improvement approaches.

The advent of AI in medicine has transformed various medical specialties, including orthodontics. AI has shown promising results in enhancing the accuracy of diagnoses, treatment planning, and predicting treatment outcomes. With the growing number of AI applications and commercially available tools, there is an increase in their usage in orthodontic practices worldwide. This review aims to explore the principles of artificial intelligence (AI), its applications in the diagnostic process of modern orthodontic practices, and concerns associated with the implementation of AI algorithms in clinical practice. A comprehensive review of the literature was conducted, focusing on five categories where AI has been applied in orthodontics: dental diagnostics, cephalometric evaluation, skeletal age determination, temporomandibular joint (TMJ) evaluation, and extraction decision making. AI has demonstrated high efficacy in all those fields. However, variations in performance and the necessity of manual supervision indicate that AI should be used cautiously in clinical settings. Nevertheless, the high complexity and potential unpredictability of AI algorithms call for cautious implementation and regular manual validation of results. Continuous AI learning, proper governance, and addressing privacy and ethical concerns are crucial for the successful integration of AI into orthodontic practice.

Natural vegetation restoration can take decades to achieve and requires information on species composition and trend to inform management strategies. Here we demonstrate the potential and portability of drone, dove and Sentinel-2 imagery for species level classification and trajectory monitoring using three study sites with different revegetation histories. Drone imagery (4 cm) was classified using random forests. Dove (3 m) and Sentinel-2 (10 m) images were acquired close to the anniversary of the drone flights and converted into fractional cover maps showing the proportion of exotics, natives and other land covers using ordinary least squares (OLS) and geographically weighted regression (GWR). The time series of fractional cover maps were converted into positive and negative slope and second-order curvature and summarised as one RGB composite to illustrate trend and observe exotic expansion. Drone classification accuracies ranged from 73%-76% when applied to the full plant species list and between 93% and 97% when grouped into natives, exotics, and other land covers. GWR outperformed OLS for all fractional cover mapping and GWR with dove imagery was more accurate than with Sentinel imagery. The combination of very high-resolution drone acquired imagery with the versatility of dove acquired imagery arms land managers with highly accurate species composition and their spatio-temporal dynamics to promote timely intervention.

The rehabilitation of abandoned mining sites is an increasingly pressing issue in the context of sustainable development. Recent research has emphasized the need for a holistic approach to the abandoned mining sites and their environmental rehabilitation. Based on field analysis, environmental assessments, satellite imagery processing and geographic information operations, this paper pushes forward the existing knowledge by doing a comprehensive assessment of abandoned mining sites in the Romanian Carpathians and by proposing innovative and sustainable rehabilitation solutions. Our findings highlight that abandoned mining sites and their surrounding territories in the Romanian mountains have significant ecological imbalances and complex socio-economic issues. The findings also suggest that by adopting innovative, integrated, and sustainability-oriented approaches, territories affected by mining can be transformed into valuable and sustainable spaces to meet human needs. We conclude by presenting the importance of innovation in ecological reconstruction and spatial-functional reintegration of mining sites in mountain areas as a useful tool in making fair decisions, both in the context of implementing appropriate development policies as well as for resilience and environmental sustainability of mining-affected mountain areas.

There has been a rapid increase in the use of Marine Spatial Planning (MSP) throughout the world recently, partly due to the continued loss of marine biodiversity and habitat. The sustainability of marine resources is threatened in all regions of the world by major events such as climate change, marine pollution, overfishing, illegal, unreported and unregulated fishing both on the high seas and in country waters. Here, we present a comprehensive review and analysis of how economic information has been applied and used to inform decisions about MSP in British Columbia (BC), Canada and other similar jurisdictions. This focus for the paper was selected because important gaps remain in the literature in terms of incorporating economic questions into MSP. We first present different definitions of MSP, and then we extract useful lessons from MSP regimes with well–tested decision support tools, and use this to guide MSP implementation in BC. We finally present and discuss case studies from Australia, South Africa and Belgium. Our review suggests that applying economic information to support the design and implementation of MSPs would lead to better decisions. This in turn would foster livelihoods, attract finance, increase buy–in and advance United Nations Sustainable Development Goal 14: Life Below Water, thereby achieving Infinity Fish, i.e., ensuring that ocean benefits flow to humanity forever.

The Global Carbon Budget is the cumulative carbon emissions that human activities can generate while limiting the global temperature increase to less than 2°C. On this basis, most countries ratified the Paris Agreement 2015, pledging to reduce national emissions and the impacts of climate change. The European Union has planned to reduce emissions by 80% of their 1990 value by 2050 but such a target needs to be coupled with a further constraint on the cumulative greenhouse gases released along the path to 2050. The aim and the novelty of this study are to propose, for the first time, a carbon budget for the European Union, which represents the most significant physical characteristic to assess the feasibility of current EU-28 greenhouse gas reduction objectives under the goals of the 2015 Paris treaty

Urban planning is recognized as an interaction between the state and society, which aims to articulate public policies in the territory, facilitating their administration in favor of greater development and well-being of society. However, this interaction becomes complex because consumption demands increase, and the needs of the community exceed the capacity of the urban ecosystem to supply them, hindering its sustainable functionality. With this panorama, it becomes relevant to study urban planning from a sustainable environmental planning perspective, based on four topics: urban planning, sustainability, resilience and smart cities. The methodology used is based on a bibliometric study through a PRISMA adjustment to 87 articles, supported by VOSviewer® to construct and visualize the co-occurrence networks of important terms extracted from a body of scientific literature. The main result is to consider cities with a complex systems approach that works like a gear, that is, there is a connective element between inter- and intra-urban processes. This relationship is the key factor that allows understanding their synchronization, stating that the deepening of each of these topics is crucial to the ideal of a territorial administration through time scales, by means of adaptive cycles, allowing to provide new tools to concepts such as carrying capacity and the measurement of the environmental footprint.

Estimation and planning play a vital role in the construction of an autonomous navigation framework. However, these problems are often considered separately, while planning gives robot a free-collision path towards the desired goal, estimation algorithm presents the executed trajectory in the sense that it has to be closed to the ground truth path as much as possible. Recently, a unified probabilistic framework, which supports solving these problems simultaneously, dubbed STEAP has been proposed. Nevertheless, its current version is only designated for an omni wheels robot, which allows robot to move and turn in vertical direction. Differential drive robot, on the other hand, though limited to move along only one direction, has been used in various situations due to its flexibility and lower cost in hardware designing. Thus, in this extension, our aim is to control a differential drive robot via STEAP. Moreover, in a more complicated environment such as labyrinth or maze, the original STEAP sometimes fails to find a path. Indeed, this problem is mainly caused by the poor initialization and the non-linearity in optimizer constraints. In our implementation, instead of dealing with these constraints, we employ a global planner algorithm such as Dijkstra or RRT to treat STEAP as an effective local planner module that focus on following the global path. Consequently, the experimental results show that the extended STEAP not only able to navigate a differential drive robot but also in a more complicated and unstructured environment.

Resilience has emerged as a buzzword among researchers and practitioners. However, despite its popularity, there has been little progress in moving it from an elaborate metaphor describing an idyllic state of the system to a tool for planning and managing adaptation. While case study research is rich with examples of systems that have proven to be resilient or are striving to develop resilience, there is no defined approach that operationalises concepts described in the literature into the planning process. This paper helps close this gap by illustrating how facilitated modelling can be used for resilience planning in socio-ecological systems. The paper summarizes our experience using facilitated system dynamics to inform a model-based discussion of food security resilience to climate change in Guatemala. We identify at least three positive outcomes from the intervention, which a) helped to build consensus about the meaning of resilience, b) improved stakeholders understanding of adaptation and c) outlined potential policies to enhance resilience.

Recent advancements have revolutionized interplanetary spacecraft missions by combining low-thrust propulsion systems with planetary Gravity-Assist (GA) maneuvers. This study investigates/improved a novel dual-step efficient-robust homotopy algorithm, grounded in indirect optimal control principles, to analyze fuel-optimal bang-bang control problems. The methodology integrates efficient techniques, including the homotopic method, compatible normalization, and improved switching function detection, aimed at enhancing optimal convergence in solving low-thrust gravity-assist spacecraft missions. To illustrate practical application, an Earth-to-Jupiter interplanetary scenario utilizing Mars-GA is examined. Results demonstrate the algorithm's superior efficacy in achieving fuel efficiency, robust convergence, and remarkable accuracy compared to existing solutions.

This paper presents a new adaptive and optimal algorithm for the trajectory tracking control of a quadrotor using iterative learning algorithm (ILA) and enumerative learning algorithm. Ordinarily the ILA, as an adaptive method, can perform well with PID control to improve the controller’s performance for a nonlinear system. Quadrotors are considered as non-linear and unstable systems which the use of an adaptive and optimal controller can increase its stability and decrease error level. In this method, a PID controller is proposed for the outer and inner control loops of a quadrotor and the ILA is used to adapt PID control gains. Subsequently, an enumerative learning algorithm is used to optimize the learning rates of the ILA. For this purpose, at first, the dynamic model of the quadrotor is acquired. After that, the structure of the inner and outer control loops is defined. In the end, the simulation results for the trajectory tracking control of a quadrotor are demonstrated. Through simulation, it is concluded that as time increases, the performance of the suggested control method in trajectory tracking control becomes better and better and error signals convergence to zero.

Human milk is recommended for feeding preterm infant. Yet the potential impact of specific breast-milk lipid components on the initial growth rate of very-preterm infants has received scant attention. The current pilot study aims to determine whether breast-milk lipidome had any impact on the early growth pattern of preterm infants fed their own mother’s milk. A prospective monocentric observational birth cohort was established, enrolling 147 preterm infants, who received their own mother’s breast-milk throughout hospital stay. Among that cohort, infants who experienced slow (n=15) or fast (n=11) growth were selected, based on the change in their weight Z-score between birth and hospital discharge (-1.54± 0.42 and -0.48± 0.19 Z-score, respectively). Liquid chromatography-high resolution-mass spectrometry was used to obtain lipidomic signatures in breast-milk. Multivariate analyses made it possible to identify breast-milk lipid species that allowed clear-cut discrimination between the 2 infants’ groups. Validation of the selected biomarkers was performed by means of various multidimensional statistical techniques, false-discovery rate and ROC curve computation. Breast-milk associated with fast growth contained more medium chain-saturated fatty acid and -sphingomyelin, dihomo-γ-linolenic acid (DGLA)-containing phosphethanolamine, and less oleic acid-containing triglyceride and DGLA-oxylipin. Their predictive ability of preterm early-growth rate was validated in presence of confounding clinical factors.

There is a need for strategic healthcare workforce planning to address shortages and ensure universal health coverage, aiming to optimize work-force per population ratio, distribution, and competencies. Amidst rising demands exacerbated by aging populations and events like the COVID-19 pandemic, strategic workforce planning becomes crucial for addressing healthcare inequalities by forecasting needs, bridging skill gaps, and adapting to changing demographics and care models. Israel has invested in strategic planning to tackle healthcare workforce challenges; however, globally there is insufficient planning informed by health labor market analysis, which hinders efforts to address healthcare inequalities. The paper reviews national policies in Israel, Australia, Germany, and Norway, ex-amining statistics and government publications to highlight strategic plan-ning considerations and address challenges in healthcare workforce plan-ning. This paper focuses both on the critical role of physicians in healthcare systems, and on the changing borders between healthcare professions and different national contexts which demand more context dependent strategic workforce planning. We highlight common themes among national policies, including the need for data collection, increasing the capacity of domestic training programs, and the need to address geographic maldistribution of physicians. Ultimately, we aim to guide policy in the development of a re-silient and sustainable healthcare workforce capable of meeting diverse community needs and promoting equity in healthcare services.

As a conceptual model of disease mechanisms, a disease map integrates available knowledge and is applied for data interpretation, predictions and hypothesis generation. It is possible to model disease mechanisms on different levels of granularity and adjust the approach to the goals of a particular project. This rich environment together with requirements for high-quality network reconstruction makes it challenging for new curators and groups to be quickly introduced to the development methods. In this review, we offer a step-by-step guide for developing a disease map within its mainstream pipeline that involves using the CellDesigner tool for creating and editing diagrams and the MINERVA Platform for online visualisation and exploration. We also describe how the Neo4j graph database environment can be used for managing and querying efficiently such a resource. For assessing the interoperability and reproducibility we apply FAIR principles.

The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enables the robot to walk with simple gait by very few motors. In the paper, the forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrain.

Damage to crops from wildlife interference is a common threat to food security among rural communities in or near Game Management Areas (GMAs) in Zambia. This study uses a two-stage econometric model and cross-sectional data from a survey of 2,769 households to determine the impact of land use planning on the probability and extent of wildlife-inflicted crop damage. The results show that crop damage is higher in GMAs as compared to non-GMAs, and that land use planning could be an effective tool to significantly reduce the likelihood of such damage. These findings suggest that there is merit in the current drive to develop and implement land use plans as means to minimize human-wildlife conflict such as crop damage. This is especially critical as Zambian conservation policies do not have an explicit provision for compensation in the event of damage from wildlife.

This paper presents research on the application of trajectory design, optimization, and control to an orbital transfer from Mars-Phobos Distant Retrograde Orbits to the surface of Phobos. Given a Distant Retrograde Orbits and a landing location on the surface of Phobos, landing trajectories for which total Δv for a direct 2-burn maneuver is minimized are computed. This is accomplished through the use of Particle Swarm Optimization in which the required Δv and time of flight are optimization parameters. The non-uniform gravitational environment of Phobos is considered in the computation. Results show how direct transfers can be achieved with Δv in the order of ∼30 m/s.

In this paper, a voice coil motor (VCM) actuated fast tool servo (FTS) system is developed for diamond turning. To guide motions of the VCM actuator, a crossed double parallelogram flexure mechanism is selected featuring totally symmetric structure with high lateral stiffness. To facilitate the determination of the multi-physical parameters, analytical models of both electromagnetic and mechanical systems are developed. The designed FTS with balanced stroke and natural frequency is then verified through the finite element analysis. Finally, the prototype of the VCM actuated FTS is fabricated and experimentally demonstrated to have a stroke of ±59.02 μm and a first natural frequency of 253 Hz. By constructing a closed-loop control using PID controller with the internal-model based resonant controller, the error for tracking a harmonic trajectory with ±10 μm amplitude and 120 Hz frequency is obtained to be ±0.2 μm, demonstrating the capability of the FTS for high accuracy trajectory tracking.

Outdoor lighting is becoming increasingly widespread, and residents are suffering from serious light pollution as a result. Residents’ awareness of their rights to protection has gradually increased. However, due to the sometimes-inaccessible nature of residential vertical light incidence intensity data and the high cost of obtaining specific measurements, there is no appropriate hierarchic compensation for residents suffering from different degrees of light pollution. It is therefore important to measure light pollution levels and their damage at the neighborhood scale to provide residents with basic materials for proper protection and to create more politically suitable solutions. This article presents a light pollution assessment method that is easy to perform, is low-cost, and has a short data-processing cycle. This method can be used to monitor residential zone light pollution in other cities. We chose three open areas to test the spatial variation pattern of light intensity. The results are in accordance with spatial interpolation patterns and can be fit, with high precision, using the IDW method. This approach can also be used in 3 dimensions to quantitatively evaluate the distribution of light intensity distribution. We use a mixed-use zone in Beijing known as The Place as our case study area. The vertical illumination at the windows of residential buildings ranges from 2 lux to 23 lux; the illumination in some areas is far higher than the value recommended by CIE. Such severe light pollution can seriously interfere with people's daily lives and has a serious influence on their rest and health. The results of this survey will serve as an important database to assess whether the planning of night-time lighting is scientific and whether it provides residents with a basis for the protection of their rights.

In this paper, we aim to present real implementation cases where non-visible elements of environmental impact assessments (EIA), wind flow, are visualized using a 3D digital twin technology. The conventional EIA process serves as a crucial tool in the evaluation of potential environmental impacts prior to the initiation of development projects. This evaluation helps to establish a legal and institutional framework that seeks to minimize the adverse effects on the environment. However, traditional EIA methods present challenges, particularly for non-experts, in comprehending the results of assessments involving non-visible environmental factors such as noise, air quality, and wind flow. These elements are often represented in static images or numerical tables, limiting accurate understanding and engagement. Our proposed method, termed Digital Twin based EIA, addresses these limitations by leveraging digital twin technology. This advanced methodology allows for the visualization of non-visible environmental elements in a spatio-temporal dimension, providing a more interactive and comprehensive user interface/experience for both citizens and stakeholders. In this context, we present a unique case study that focuses on visualizing wind flow using this technology. This paper serves as an example of how digital twin platforms can enhance traditional EIA processes, offering a more immersive and informative experience. The evolution of EIA into the digital realm signifies an important step forward in fostering public understanding and engagement in environmental protection efforts.

Men are perceived as significant barriers to the uptake of contraception in some communities, and lack of spousal communication regarding contraception is evident in some studies conducted in South-West and Northern Nigeria. The objective is to identify and discuss how husband consent to family planning (FP) and spousal communication influence family planning use among peri-urban dwellers in Nigeria. The study was limited to the primary dataset collected among young mothers that resides in peri-urban between the age of 15-30 years in South West, Nigeria. The result showed that the use of family planning was high among the respondents whose husband give consent to the use of family planning, and respondents who had appropriate spousal communication. Similarly, respondents whose spouse asks questions or whose husband advises on communication are likely to use FP. On the other hand, respondents whose husband didn’t give consent, respondents with inappropriate communication with the spouse, respondents whose spouses didn’t give advice, and those whose spouses didn’t ask questions are less likely to use FP.

Robot manipulators are robotic systems that are frequently used in automation systems and able to provide increased speed, precision and efficiency in the industrial applications. Due to their nonlinear and complex nature, it is crucial to optimize the robot manipulator systems in terms of trajectory control. In this study, positioning analysis based on artificial neural networks (ANN) were performed for robot manipulator systems used in the textile industry and the optimal ANN model for the high-accuracy positioning was improved. The inverse kinematic analysis of a 6 degree of freedom (DOF) industrial denim robot manipulator were carried out via 4 different learning algorithms of Delta-Bar-Delta (DBD), Online Back Propagation (OBP), Quick Back Propagation (QBP) and Random Back Propagation (RBP) for proposed neural network predictor. From the results obtained, it was observed that QBP based 3-10-6 type ANN structure produced the optimal results in terms of estimation and modelling of trajectory control. In addition, 3-5-6 type ANN structure was also improved and its Root Mean Square Error (RMSE) and statistical R2 performances were compared to that of 3-10-6 ANN structure. Consequently, it can be concluded that the proposed neural predictors can successfully be employed in real-time industrial applications for robot manipulator trajectory analysis.

Over the past decade and a half, dynamic functional imaging has revolutionized the neuroimaging field. Since 2009, it has revealed low dimensional brain connectivity measures, has identified potential common human spatial connectivity states, has tracked the transition patterns of these states, and has demonstrated meaningful alterations in these transition and spatial patterns in neurological disorders, psychiatric disorders, and over the course of development. Recently, researchers have begun to analyze this data from the perspective of dynamic system and information theory in the hopes of understanding how these dynamics support less easily quantified processes, such as information processing, cortical hierarchy, and consciousness. Consciousness, in particular, appears to be strongly linked to entropy production in the brain. Little attention has been paid to the effects of psychiatric disease on entropy production in the human brain, however. Even disorders characterized by substantial changes in conscious experience have not been widely analyzed from this perspective. We begin to rectify this by examining the complexity of subject trajectories in state space through the lens of information theory. Specifically, we identify a basis for the dynamic functional connectivity state space and track subject trajectories through this space over the course of the scan. The dynamic complexity of these trajectories is assessed along each dimension of the proposed basis space. Using these estimates, we demonstrate that schizophrenia patients display substantially simpler trajectories than demographically matched healthy controls, and that this drop in complexity concentrates along specific dimensions. We also demonstrate that entropy generation in at least one of these dimensions is linked to cognitive performance. Overall, results suggest great value in applying dynamic systems theory to problems of neuroimaging and reveal a substantial drop in the complexity of schizophrenia patients’ brain function.

The development and use of highly automated vehicles (HAV) in agriculture is a highly important task because of the lack of machine drivers and unsatisfactory level of their qualifications, reducing the impact of harmful factors on employees of agricultural enterprises. HAVs allow to avoid these problems: increase productivity and the efficiency of seasonal use of equipment, and reduce the impact of harmful factors on people. Modern HAVs in agriculture are based on the following methods: parallel driving according to geo coordinates without automatic turning and without obstacles tracking, and on technical vision without the use of a geographic information system (for example Cognitive AgroPilot) and a digital field map, which makes it impossible to generate the optimal path around the field.

The motion of Unmanned Surface Vehicles (USVs) is frequently disturbed by the ocean wind, wave and current. A poorly designed controller will lead to failures and even safety problems during actual navigation. In order to obtain satisfied control performance of the motion for the USVs, a Model Predictive Control (MPC) based on improved Nonlinear Disturbance Observer (NDO) is proposed. Firstly, the USV model is approximately linearized and MPC is designed for the multivariable system with constraints. In order to compensate the influence of disturbances, an improved NDO is designed, with which the calculation time for the MPC saved a lot. Finally, comparison experiments are conducted between the MPC with NDO and the MPC with improved NDO, and the results show that they have similar performance to the USVs. However, the proposed method has less parameter to be tuned and it is much more time-saving compared to the MPC with traditional NDO.

In this paper, we investigated the trajectory of the massive particle in the vicinity of a general spherical symmetric black hole. Also, in the framework of general sphericalily symmetric black hole, Pseudo-Newtonian potential (PNP) and effective potentials has been investigated. As an example, static spherically symmetric black hole in f(R) gravity is considered and presented the brief discussion on the structure of spacetime and horizons. We calculated energy and angular momentum in the framework of general relativity as well as in Pseudo-Newtonian theory. A graphical comparison of angular momentum in this both framework has been studied.

This article addresses the question how the religious narrative identity and subjective religiosity change over the course of 15 years. The cases portrayed are deconverts who have changed their religious affiliations multiple times. It will be carved out what led to their deconversion and what remains as a core of their faith after they have turned away from organized religion for good. Interviews have been conducted at three time points and are analyzed using content analysis. It will become clear that the needs and expectations of the two individuals differ highly, as well as the reasons for turning away from a religious community; yet what is a common core in this joint faithful journey is their need to live their religiosity, now in a private setting.

In a previous paper\cite{simplified}, a variation of the Collision-time Statistics method was applied to identify the relevant perturbers for line broadening under the action of a constant magnetic field. As discussed, that version was simplified and inadequate for low magnetic field and/or large perturber mass (ions). The purpose of the present work is to augment the previous work, so that such cases, corresponding to the Larmor radius exceeding the maximum impact parameter, can be handed efficiently. The results may also be used to construct analytic, i.e. impact/unified models under the usual assumptions in these models.

This study considers the values of the credit payments that are made at random values for both payment size and number. The simultaneous existence of the two random variables increases the total value of the volatility of the payment process. The dependence for the simultaneous influence of the two random variables is derived by applying conditional probabilistic formulations. Formal relations apply to animal husbandry credit payments. The credit policy was analyzed for the cases of regular payments and with a stochastic number of payments. A recommendation for the upper level of credit payments is proposed based on a model predictive approach using historical payment data. A credit management algorithm is derived, in which decision-making for credit payments is formally derived and numerically discussed. The application of derived quantitative relations is empirically applied to real data on animal husbandry. The recommendations from the dependencies obtained allow a reduction in the mean values of credit payments, which correspond to a reduction in the credits used for business management, without a change in business policy.