This article introduces a novel payload structure, which has been experimentally proven to have smaller impact force while the carried internal electronics remains intact. The study describes in details how materials and geometric structures were chosen based on information analysis. It is clarified how possible geometric structures and materials can be chosen to yield optimal efficiency. Finite element method simulations were carried out to investigate the mechanical properties of several geometric structures, which has led to the dodecahedron form. For the frame, Polylactic Acid were chosen as an optimal material. A low air pressure test for parts of the structure, and also the whole structure were carried out with successful results. Drop tests, with force measuring sensors and high speed videos, were carried out for measuring and comparing the maximal impact force of classical payloads and the novel one. Laboratory and real life tests demonstrated that the developed new structure is safer and it is applicable.

The current study investigated the use of two-dimensional spatial distribution mapping representing the chlorophyll-a level in a river generated via an unmanned aerial vehicle (UAV) and an unmanned surface vehicle (USV). A domestically developed UAV (Remo-M, Uconsystem Inc., Korea) and a USV developed by our research team were used to collect data from the Nae Seong stream in Korea. An adaptation of the “Data Cleaner” tool was developed and used for USV data processing and analysis. The operation of the autonomous USV was successful. Four previously described indices for quantifying algal blooms in rivers were utilized to create chlorophyll-a images, the normalized difference vegetation index (NDVI), the normalized green red difference index, the green normalized difference vegetation index (GNDVI), and the normalized difference red edge index. The suitability of the linear regression analysis of the correlation between the spectral indices obtained using the UAV and the in situ chlorophyll-a data obtained using the USV was evaluated with the coefficient of determination (R2) at a significance level of p &lt; 0.001. In field application and correlational analysis the NDVI was strongly correlated with chlorophyll-a (R2 = 0.88, p < 0.001), and the GNDVI was moderately correlated with chlorophyll-a (R2 = 0.74, p < 0.001). The map of chlorophyll-a was successfully quantified using the UAV and USV hybrid platforms.

In order to solve the problem of many constraints and complex navigation environment in the path planning of unmanned surface vehicle(USV), an improved Sparrow search algorithm com-bining Cubic chaotic map and Gaussian random walk strategy was proposed to plan it. Firstly, in the population initialization stage, Cubic chaotic map was used to replace the random generation method of the traditional sparrow search algorithm to optimize the uneven initial distribution of the population and improve the global search ability of the population. Secondly, in the late it-eration of the algorithm, the standard deviation of fitness is introduced to determine whether the population is trapped in the local optimum. If true, the Gaussian random walk strategy is used to perturb the optimal individual and assist the algorithm to escape the local optimum. Thirdly, the chosen water environment is modeled, and the navigation information of the original inland electronic navigation chart(ENC) is preprocessed, gridized, and the obstacle swelling is processed. Finally, the path planning experiments of USV are carried out in inland ENC grid environment. The experimental results show that, compared with the traditional sparrow search algorithm, the average fitness value of the path planned by improved sparrow search algorithm is reduced by 14.8%, and the variance is reduced by 49.9%. The path planned by the algorithm is of good quality and high stability, and combined with ENC, it can provide a reliable path for USV.

This paper investigates the path following control problem for a unmanned surface vehicle (USV) in the presence of unknown disturbances and system uncertainties. The simulation study combines two different types of sliding mode surface based control approaches due to its precise tracking and robustness against disturbances and uncertainty. Firstly, an adaptive linear sliding mode surface algorithm is applied, to keep the yaw error within the desired boundaries and then an adaptive integral non-linear sliding mode surface is explored to keep an account of the sliding mode condition. Additionally, a method to reconfigure the input parameters in order to keep settling time, yaw rate restriction and desired precision within boundary conditions is presented. The main strengths of proposed approach is simplicity, robustness with respect to external disturbances and high adaptability to static and dynamics reference courses without the need of parameter reconfiguration.

Amid the swift progression of the global automobile industry, the aspiration for lightweight vehicle design has surfaced as a crucial approach to boost fuel efficiency and curtail environmental impact. The objective of this study revolves around achieving holistic optimization of vehicle structure via detailed scrutiny of vehicle process characteristics, amalgamated with a Back Propagation neural network (BPNN) optimized by a genetic algorithm (GA) and a topology optimization (TO) method.The process initiates with an examination of the vehicle's technical characteristics, succeeded by an optimization protocol that couples GA with BPNN. This exhaustive optimization procedure derives the best-fit values of design parameters and identifies the globally optimal lightweight design approach. Subsequently, a comprehensive structural optimization is actualized by modifying the topological distribution of the structure.A simulation experiment of the conceptual car body beam skeleton is conducted as a conclusive step, and the anti-collision capacity of the car body beam skeleton is assessed by measuring deformation intrusion. The findings reveal that in the vehicle topology optimization, a comparative analysis of pre and post-optimization results indicates an improved topological density across diverse sections. The topological density of the vehicle's frontal structure escalates from 0.75 to 0.8. Following optimization, the stiffness assessment records a marginal increase (within the range of 0.02–0.05), implying that the lightweight design does not compromise the general rigidity of the structure.The optimized body structure manifests superior crashworthiness in the crash test: the deformation intrusion diminishes by 27% in front-end collisions. In side impacts, the deformation and intrusion at critical points are reduced by 13.15% to 10% respectively. The comprehensive method proposed herein proves to be an efficient strategy to actualize the lightweight design of vehicles.

Unmanned vehicles (UVs) have become increasingly important in various scenarios of civil and military operations. The present work aims at the conceptual design of a modular Amphibious Unmanned Ground Vehicle (A-UGV), that can be easily adapted for different types of land and/or water missions, with low monetary cost (&lt;5k€, without sensors). Basing the design on the needs highlighted in the 2021 review of the Strategic Directive of the Portuguese Navy, the necessary specifications and requirements are established for two mission scenarios. Then a market research analysis focused on vehicles currently available, and their technological advances, is conducted to identify existing UVs solutions and respective characteristics/capabilities of interest to the current work. To study and define the geometry of the hull and the configuration of the A-UGV itself, preliminary computational structural and fluid analyses are carried out to ensure it complies with the specifications initially established. As a result, one obtains a fully electric vehicle, with approximate dimensions of 1050×670×450mm (length-width-height), enabled with 6×6 traction capable of reaching 20km/h in land, possesses amphibious capabilities of independent propulsion in water up to 8kts, and with an estimated autonomy of over 60 minutes.

This study aimed to learn disturbance information to effectively control multiple small unmanned surface vehicles (USVs) for marine research purposes at sea. The learned disturbance information was used to investigate the control of multiple USV swarms based on the leading–following formation technique. Numerous studies have already been conducted on swarm control using drones in the air; however, there has been a paucity of studies on swarm control in the sea. Contrary to swarm control in aviation, the fluid density of the sea is high, and the environment is constantly changing; thus, a robot system would be significantly affected by disturbances. This ultimately influences the maintenance of swarm formations and the accomplishment of missions [1,2]. Therefore, it is difficult to control numerous moving objects while maintaining a formation at sea by using the existing aerial drone swarm control technology. To solve this problem, we learned a long short-term memory (LSTM) model with time-series marine environmental data to predict maritime disturbances. Thereafter, the model was applied to a mission-based position control algorithm of each USV constituting the swarm to design a marine unmanned floating vessel swarm control system that can be applied to various marine environments. Specifically, to effectively control numerous small USVs for marine research purposes, ocean currents are learned using the LSTM algorithm, and the predicted ocean currents are used to generate a swarm USV control system for USV formations. In this study, a control system model of several small USVs equipped with two rear thrusters and a front lateral thruster was designed. The LSTM algorithm was learned using the previous ocean current data, and the velocity of the following ocean currents was predicted. The predictions were then used as a system disturbance to determine the thrust of the controller. To measure ocean currents in the sea when each USV moves, the velocity, azimuth, and position (latitude, longitude) data from the GPS mounted on the USV were used to measure the velocity and direction of the hull's movement. Further, the flow rate was measured using a flow rate sensor on a small USV. The USV movement and position were controlled using an artificial neural network-PID (ANN-PID) controller. This study entailed a comparative analysis of the designed USV model results and those generated by the simulator, including the behavior control rule of the USV swarm and the path of the actual USV swarm at sea. It was verified that the effectiveness of the USV mathematical model and behavior control rules. By comparing the movement path of the swarm USV with and without the disturbance learning algorithm and ANN-PID control algorithm applied to the designed simulator, the position error and maintenance performance of the swarm formation were analyzed, and the application results were compared.

In past few years, unmanned aerial vehicles (UAV) or drones has been a hot topic encompassing technology, security issues, rules and regulations globally due to its remarkable advancements and uses in remote sensing and photogrammetry applications. This review paper highlights the evolution and development of UAV, classification and comparison of UAVs along with Hardware and software design challenges with diverse capabilities in civil and military applications. Further, safety and security issues with drones, existing regulations and guidelines to fly the drone, limitations and possible solutions have also been discussed.

The use of unmanned aerial aircrafts (UAVs) is governed by strict regulatory frameworks that prioritize safety. To guarantee safety, it is necessary to acquire and maintain situational awareness (SA) throughout the operation. Existing Canadian regulations require pilots to operate their aircrafts in visual line-of-sight. Therefore, the task of acquiring and maintaining SA primary falls to the pilots. However, the development of aerial transport is entering a new era with the adoption of a highly dynamic and complex system known as advanced air mobility (AAM), which involves UAV operating autonomously beyond visual line-of-sight. SA must therefore be acquired and maintained primarily by each UAV through specific technologies and procedures. In this paper, we review these technologies and procedures in order to decompose the SA of the UAV in the AAM. We then use the system modeling language to provide a high-level structural and behavioral representation of the AAM as a system having UAV as its main entity. In a case study, we analyze one of the flagships UAVs of our industrial partner. Results show that this UAV doesn’t have all the technologies and methodologies necessary to achieve all the identified SA goals identified for the safety of the AAM. This work is a theoretical framework intended to contribute to the realization of the AAM, and we also expect to impact the future design and utilization of UAVs.

Recently, the use of drones/unmanned aerial vehicles (UAVs) has notably increased due to their broad commercial spread and low cost. The wide diffusion of drones increases the hazards of their misuse in illegitimate actions such as drug smuggling and terrorism. Thus, the surveillance and automated detection of drones are crucial for safeguarding restricted regions or special zones from illegal drone interventions. One of the most challenging issues in drone detection in surveillance videos is the apparent similarity of drones and birds against complex backgrounds. In this work, an automated image-based drone-detection system utilizing an advanced deep-learning-based object-detection method known as you only look once (YOLOv5) is introduced for protecting restricted regions or special zones from unlawful drone interventions. Due to the lack of sufficient data, transfer learning was utilized to pretrain the object-detection method to increase the performance. The experiments showed outstanding results, and an average precision of 94.7% was accomplished.

Environmental monitoring programs rely on periodic spot sampling at specific locations, followed by laboratory analysis, aiming at the evaluation of water quality at a catchment scale. For this purpose, automatic telemetric stations for specific parameters have been installed by the Institute of Marine Biological Resources and Inland Waters of Hellenic Centre for Marine Research (IMBRIW-HCMR) within several Greek rivers and lakes, providing continuous and temporal monitoring possibilities. Nevertheless, the employment of unmanned surface vehicles (USV) equipped with integrated sensors represents a tool valuable to several monitoring strategies, offering enhanced temporal and spatial coverage over specific timeframes, allowing for targeted examination of sites or events of interest. The USVs have been deployed by Athens Water and Sewerage Company (EYDAP) as a cost-effective tool for the environmental monitoring of surface water bodies of interest, with emphasis on the spatial fluctuations of chlorophyllα, electrical conductivity, dissolved oxygen and pH, observed in Koumoundourou Lake and rivers Acheloos, Asopos and Kifissos. The effectiveness of an innovative heavy metal (HM) system installed in the USV for thein situ determination of copper and lead was also evaluated herewith. The results obtained demonstrate that both the timely detection of potential pollution from both anthropogenic activities and natural processes as well as the monitoring of inland waters are made feasible through the employment of USV.

Abstract: High step-up voltage gain nonisolated DC-DC converter have attracted much attention in photovoltaic, fuel cells and other renewable energy system applications. In this paper, by combining input current ripple-free boost cell with coupled-inductor voltage-doubler cell, an input current ripple-free high voltage gain nonisolated converter is proposed. In addition, passive lossless clamp circuit is adopted to recycle the leakage inductor energy and to reduce the voltage spike across the power switch. By utilizing voltage-doubler cell consisting of diode and capacitor, the voltage stress of switch is further reduced and the resonance between the leakage inductor and the stray capacitor of the output diode is eliminated. A low switch-on-resistance low-voltage-rated MOSFET can therefore be employed to reduce the conduction loss and cost. The reverse recovery loss of output diode is reduced, and the efficiency of converter can be improved. Furthermore, the proposed converter can achieve nearly zero input current-ripple and make the design of electromagnetic interference (EMI) filter easy. Steady state analysis and operation mode of the converter is performed. Finally, experimental results are presented to verify the analysis results of the proposed converter.

Nowadays, unmanned vehicles are widely used in various fields. However, the safety of unmanned vehicles is directly determined by the autopilot systems, and sensor faults are a very critical factor that affects the normal operation of the autopilot systems. To efficiently and comprehensively test unmanned systems for sensor faults, this paper proposes a chip-level testing platform for unmanned vehicle autopilot systems based on FPGA hardware-in-the-loop simulation. Unlike existing testing platforms, the introduction of FPGA technology allows us to achieve nanosecond real-time simulation frequency, thus realizing chip-level simulation of sensors and black-box automated testing. Firstly, we propose a set of general platform and modeling methods, and the paper presents a detailed application of the four most common necessary sensors in autopilot systems as examples. Secondly, we propose for the first time a chip-level fault testing method for unmanned systems, and build a test platform with a quadrotor vehicle, the PX4 software platform, and the Pixhawk4 hardware platform as examples. Finally, the experimental results verify that the testing platform proposed in this paper can adapt to various autopilot systems and has high simulation test reliability.

In this paper, we present a novel Two-Echelon Ground Vehicle and Its Mounted Unmanned Aerial Vehicle Cooperated Routing Problem (2E-GUCRP). The 2E-GUCRP arises in the field of Unmanned Aerial Vehicle (UAV) Routing Problem such as those encountered in the context of city logistics. In a typical cooperated system, the UAV is launched from the Ground Vehicle (GV) and automatically flies to the designated target. Meanwhile, acting as a mobile base station, the GV can charge or change the UAV’s battery on the designated landing points to enable the UAV to continue its mission. The objective is to design efficient GV and UAV routes to minimize the total mission time while meeting the operational constraints. A Mixed Integer Programming (MIP) model, which could be solved by commercial software, is constructed to describe this problem. In order to quickly solve the medium-scale problems, two existing heuristics to solve 2E-VRP are improved. The computational experiments are set up to compare our model with the 2E-VRP. The results indicate that the 2E-GUCRP obtains a better efficiency. Further discussion of the practical instance points out that the increase in efficiency is related to the speed relationship between the GV and the UAV.

The dependence on Unmanned Aerial Vehicles (UAVs) has dramatically increased in many sectors around the globe. UAVs are in high demand, and their technology is developing quickly due to their sophisticated ability to handle various issues. UAVs are capable of replacing labor-intensive tasks with conducive and safe regulation. Additional tools or sensors need to be added to the UAVs system to ensure the implementation of UAVs able to serve into industrial level. The paper aims to consolidate and present a thorough understanding of the various stages of image processing pipelines deployed in UAV applications, including image acquisition, preprocessing, feature extraction, object detection and tracking, and decision-making processes. Throughout this paper, several aspects were deliberate such as strengths, limitations, and performance metrics of existing approaches, this paper seeks to provide researchers, engineers, and practitioners with valuable insights into the challenges and opportunities of image processing systems for UAVs. Ultimately, the synthesis of this knowledge will contribute to enhancing the effective-ness, autonomy, and applicability of UAVs in diverse fields such as surveillance, agriculture, disaster management, and environmental monitoring.

This work presents a new scheme for autonomous control and obstacle detection of a catamaran unmanned surface vessel. Based on the Newtonian mechanics, hydrodynamics, and maneuvering modelling group modelling principles in the attached coordinate system, a three-degree-of-freedom motion model of the catamaran unmanned surface vessel is constructed. The fuzzy inference method is used to overcome the drawback that the traditional PID control cannot tune the PID parameters online, and the trajectory controller is designed. Meanwhile, 3D LIDAR is used to achieve obstacle detection. The results of the trajectory tracking simulations and experiments verify the accuracy of the model design and the effectiveness of the autonomous control design.

This work focuses on addressing the dynamic positioning and trajectory tracking problem for a 4 degree-of-freedom (DOF) unmanned underwater vehicle (UUV) in the presence of nonlinear dynamics, parametric uncertainties, system constraints, and time-varying external disturbances. To tackle this problem, a disturbance observer-based control (DOBC) scheme is proposed. The scheme is structured around the model predictive control (MPC) method integrated with an extended active observer (EAOB). Compared to the conventional disturbance observer, the EAOB has the unique ability to handle both external disturbances and system/measurement noises simultaneously. The EAOB leverages a combination of sensor measurements and a system dynamic model to estimate disturbances in real-time, which allows continuous estimation and compensation of time-varying disturbances back to the controller. The proposed disturbance observer-based MPC (DOBMPC) is implemented by feeding the estimated disturbances back into the MPC’s prediction model, which forms a robust adaptive controller with a parameter-varying model. The proposed control strategy is validated through simulations in a Gazebo and Robot Operating System (ROS) environment. The results show that it can effectively reject unpredictable disturbances and improve the UUV’s control performance.

Based on the theory of turbulence, equations are derived for estimations of turbulent fluctuations of the longitudinal and transverse components of the wind velocity during ideal hovering of a quadcopter in a turbulent atmosphere. We present the results of experiments which were carried out on the territory of the Geophysical Observatory of Institute of Monitoring of Climatic and Ecological Systems, Siberian Branch, Russian Academy of Sciences, located in Tomsk Akademgorodok on the territory with complex orography, in a parkland zone with buildings of research institutes and motorways. Time series of turbulent fluctuations of the longitudinal and transverse components of wind velocity fluctuations were received with the use of an automated weather station, and time series of estimates of these components, from data of a DJI Phantom 4 Pro quadcopter during hovering. According to the automated weather station data, anisotropy was observed in one experiment during measurements in the atmosphere, but this phenomenon was not observed in the other experiment: the fluctuation spectra of all components of wind speed fluctuations coincide. The spectra of fluctuations of the longitudinal and transverse wind velocity components based on the automated weather station data and UAV telemetry are presented. The fluctuation spectra of these components for the automated weather station data and quadcopter generally coincide. The behavior of the spectra coincides with the spectrum which corresponds to Kolmogorov–Obukhov “–5/3” law within the inertial range. The turbulent spectra of the wind velocity fluctuations obtained with the use of the automatic weather station and with the unmanned aerial vehicle differ in the high-frequency spectral region.

In this paper we present the exploration of indoor positioning technologies for UAVs, and navigation techniques for path planning and obstacle avoidance. The objective is to perform warehouse inventory tasks using a drone to search for barcodes or markers to identify the objects. For the indoor positioning techniques, we employ Visual-Inertial Odometry (VIO), Ultra-Wideband (UWB), AprilTag fiducial markers, and Simultaneous Localization and Mapping (SLAM). These algorithms encompass global positioning, local positioning, and pre-mapping positioning, comparing the merits and drawbacks of various techniques and trajectories. In UAV navigation, we combine SLAM-based RTAB-Map indoor mapping and navigation path planning of the ROS for indoor environments. This system enables precise drone positioning indoors and utilizes global and local path planners to generate flight paths that avoid dynamic, static, unknown, and known obstacles, demonstrating high practicality and feasibility. To achieve the warehouse inventory inspection, a reinforcement learning approach is proposed to recognize the markers by adjusting the UAV's viewpoint. We address several main problems in inventory management, including efficiently planning paths while ensuring a certain level of detection rate. Two reinforcement learning techniques, AC (Actor-Critic) and PPO (Proximal Policy Optimization), are implemented based on AprilTag identification. Testing is performed in both simulated and real-world environments, and the effectiveness of the proposed method is validated.Code is available at https://github.com/kellen080/Navigation and https://github.com/kellen080/Indoor\_Positioning.

Traditional path planning algorithms have drawbacks in unmanned vehicle path planning, such as low efficiency, unsuitability for dynamic environments, and high computational complexity. To address these issues, this paper proposes a dynamic path planning method for unmanned vehicles that combines the A* algorithm with an improved Dynamic Window Approach (DWA). Firstly, a collision risk function is incorporated into the DWA algorithm to evaluate scores based on the braking distance corresponding to the current vehicle speed and the distance to obstacles, determining whether timely braking or obstacle avoidance is feasible. The earlier the braking or obstacle avoidance, the higher the score, thereby enhancing the evaluation algorithm of the DWA. Secondly, the key points extracted by the A* algorithm are used as temporary target points for the DWA algorithm, reducing the eight search directions to five. Finally, the key points of the A* algorithm’s path are set as the temporary end points for the DWA algorithm, integrating the two algorithms to plan a smoother curved path that can avoid unknown and dynamic obstacles. Simulation data demonstrates that compared to traditional artificial potential field methods, RRT, and Dijkstra’s algorithm, the new fusion algorithm reduces time by 11.71 seconds, a decrease of 6.9%, and shortens path length by 3.093 meters, a reduction of 4.16%, while increasing average linear velocity by 2.9%. The proposed algorithm ensures smoother paths while also making paths more rational and efficient

Reactions of quinones with compounds containing an amino group can produce a wide variety of addition or substitution products that depend on reactivity of both quinone and amino derivative. 6,7-Dichloropyrido[1,2-a]benzimidazole-8,9-diones undergo selective nucleophilic substitution reaction with different benzohydrazides and α-hydroxy-p-quinone imine derivatives stabilized by strong intramolecular hydrogen bond were isolated. Synthesized compounds represent a combination of several structural motifs: benzimidazole core fused with α-hydroxy-p-quinone imine which contains a benzamido fragment. The protonation/deprotonation processes were investigated in a solution using UV-Vis spectroscopy and 1H NMR titration experiment. X-ray crystallography analysis revealed a set of weak non-covalent interactions such as intra- and intermolecular hydrogen bonds and π-π stacking. Additionally, the redox behavior of 6,7-dichloropyrido[1,2-a]benzimidazole-8,9-dione and its p-imino derivative was investigated in acidic and neutral environment using cyclic voltammetry measurements. Cathode material based on 6,7-dichloropyrido[1,2-a]benzimidazole-8,9-dione could act as potential effective active electrode in aqueous electrolyte batteries, however further optimization is required.

Unmanned Aerial Vehicles (UAVs) have gained significant attention in recent times due to their suitability to a wide variety of civil, military and societal missions. Development of an unmanned amphibious vehicle integrating the features of a multi-rotor UAV and a hovercraft is focus of the present study. Components and subsystems of the amphibious vehicle are developed with due consideration on aerodynamic, structural and environmental aspects. Finite element analysis (FEA) on static thrust conditions and skirt pressure are performed to evaluate the strength of structure. For diverse wind conditions and angles of attack (AOA), computational fluid dynamic (CFD) analysis is carried out to assess the effect of drag and suitable design modification is suggested. A prototype is built with a 7 kg payload capacity and successfully tested for stable operations in flight and water-borne modes. Internet of Things (IoT) based water quality measurement is performed in a typical lake and water quality is measured using pH, dissolved oxygen (DO), turbidity and electrical conductivity (EC) sensors. The developed vehicle is expected to meet functional requirements of disaster missions catering to the water quality monitoring of large water bodies.

Raman spectroscopy is a type of inelastic scattering that provides rich information about a sub-stance based on the coupling of the energy levels of their vibrational and rotational modes with incident light. It has been applied extensively in many fields. As there is an increasing need for remote detection of chemicals in planetary exploration and anti-terrorism, it is urgent to develop a compact and easily transportable fully automated remote Raman detection system for trace detection and identification of information with high-level confidence about the target’s compo-sition and conformation in real-time and for real field scenarios. Here, we present an unmanned vehicle-based remote Raman system, which includes a 266 nm air-cooling passive Q-switched nanosecond pulsed laser of high-repetition frequency, a gated ICMOS, and an unmanned vehicle. This system obtains good spectral signals from remote distances ranging from 3 m to 10 m for simulating realistic scenarios, such as aluminum plate, woodblock, paperboard, black cloth, and leaves, and even for detected amounts as low as 0.1 mg. Furthermore, a CNN-based algorithm is implemented and packaged into the recognition software to achieve fast and more accurate de-tection and identification. This prototype provides a proof-of-concept for an unmanned vehicle with accurate remote substance detection in real-time, which can be helpful for remote detection and identification of hazardous gas, explosives, their precursors, and so forth.

Small unmanned aerial systems (UAS) represent a cost-effective strategy for topographic surveys. These low-cost drones can provide useful information for 3D reconstruction even if they are equipped with a low-quality navigation system. To ensure the production of high-quality topographic models, careful consideration of flight mode and proper distribution of ground control points is required. To this end a commercial drone has been adopted to monitor a small earthen dam using different combinations of flight configurations and adopting a variable number of ground control points (GCPs). Results highlighted that both choice and combination of flight plans can reduce the relative error of the 3D model up to a few meters without the need of including GCPs. The use of GCPs allows the quality of topographic survey to be greatly improved, reducing error to the order of a few centimeters. In particular, the combined use of images extracted from two flights, one with a camera mounted at nadir and the second with a 20° angle, proves extremely beneficial to increase the overall accuracy of the 3D model and especially of the vertical precision.

Unmanned aerial vehicle (UAV) usage is increasing drastically worldwide as UAVs are used in various industries for many applications, such as inspection, logistics, agriculture, and many more. This is because performing a task using UAV makes the job more efficient and reduces the workload needed. However, for a UAV to be operated manually or autonomously, the UAV must be equipped with proper safety features. An anti-collision system is one of the most crucial and fundamental safety features that UAVs must be equipped with. The anti-collision system allows the UAV to maintain a safe distance from any obstacles. The anti-collision technologies are of crucial relevance to assure the survival and safety of UAVs. Anti-collision of UAVs can be varied in the aspect of the use of sensors and the system’s working principle. This article provides a comprehensive overview of anti-collision technologies for UAVs. It also presents drone safety laws and regulations that prevent a collision at the policy level. The process of anti-collision technologies is studied from three aspects: Obstacle detection, collision prediction, and collision avoidance. A detailed overview and comparison of the methods of each element and an analysis of their advantages and disadvantages have been provided. In addition, the future trends of UAV anti-collision technologies from the viewpoint of fast obstacle detection and wireless networking are presented.

An event-based dynamic output feedback control (DOFC) strategy for unmanned marine vehicle (UMV) systems is concerned. The whole UMV systems are composed of an UMV closed-loop system, a land-based control unit and the communication network. To increase the effectiveness of data transmission in the network channel and better enable the control unit against attack, an adaptive event-triggered mechanism (AETM) is applied. Moreover, a quantizer is installed between the sampler and the control unit. The quantizer further reduces the communication burden. The occurrence of aperiodic denial-of-service (DoS) attack is considered in the channel from the control unit to the UMV system. Sufficient criterion for ensuring global exponential stability of system with an expected H∞ disturbance attenuation index is obtained. Co-design of the dynamic output feedback controller and the AETM is derived. The effectiveness of the proposed approach is verified in the given illustrative simulation. The simulation results indicate that the reduction percentages of yaw angle amplitudes and yaw velocity accumulative error of the UMV system with the control strategy proposed in this paper are 43.2%and 45.9%, respectively, which are 0.3% and 5.8% improvement in both metrics compared to the previously published work.

In order to solve the problems of complicated steering control of unmanned vehicles in the field and difficult steering on complex roads, we designed a wheel-track composite vehicle equipped with a novel power differential steering mechanism with dual driving, which drove the steering of the vehicle through the differential rotation of the rear two wheels. The unmanned vehicle was simple to control, small in size, and able to work under the conditions of complex roads, such as hills, mountains, and muddy land. Firstly, a steering mechanism with both differential speed and force was designed to prevent the vehicle from skidding into muddy land and stopping motionless. Secondly, the kinematics model and dynamics model of the two drive shafts and the two output shafts (wheel shafts) were established. Thirdly, according to the relationship between the rotational speed of the two output shafts and the steering radius of the vehicle, the kinematic model of the rotational speed of the two input shafts and the steering radius of the wheel-track composite vehicle was obtained. Finally, according to the test data, the mathematical model of rotational speeds of the two input shafts and the actual steering radius of the vehicle was obtained by neural network fitting, and the maximum relative error between the model results and the actual steering radius value was 3.53%. The combination of power differential steering mechanism and wheel-track composite unmanned vehicle increased the adhesion with the ground and could better adapt to the complex road environment. In conclusion, the unmanned vehicle had the advantages of continuous radius steering, deceleration and torsion increase, differential lock, etc. It was suitable for all-terrain military and civilian vehicles and various special equipment mobile platforms of the walking device, and the research results could provide theoretical references for the steering control and structural optimization of the wheel-track composite vehicle under the environment of complex road surface.

In the past, Unmanned Aerial Vehicles (UAVs) were mostly used in the military operations to prevent pilot losses. Nowadays, the fast technological evolution enables the production of a class of cost-effective UAVs which can service a plethora of public and civilian applications, specially when configured to work cooperatively to accomplish a task. However, designing a communication network among the UAVs is challenging task. In this article, we propose a centralized UAV placement strategy, where UAVs are used as flying access points forming a mesh network, providing connectivity to ground nodes deployed in a target area. The geographical placement of UAVs is optimized based on a Multi-Objective Evolutionary Algorithm (MOEA). The goal of the proposed scheme is to cover all ground nodes using a minimum number of UAVs, while maximizing the fulfillment of their data rate requirements. The UAVs can employ different data rates depending on the channel conditions, which are expressed by the Signal-to-Noise-Ratio (SNR). In this work, elitist Non-Dominated Sorting Genetic Algorithm II (NSGA-II) is used to find a set of optimal positions to place UAVs, given the positions of the ground nodes. We evaluate the trade-off between the number of UAVs used to cover the target area and the data rate requirement of the ground nodes. Simulation results show that the proposed algorithm can optimize the UAV placement given the requirement and the positions of the ground nodes in the geographical area.

The development of accurate dynamic battery pack models for electric vehicles (EVs) is critical for the ongoing electrification of the global automotive vehicle fleet, since these serve as a key element in the energy performance of an EV powertrain system. The Equivalent Circuit Model (ECM) technique at the cell level is commonly employed for this purpose, combining accuracy and efficiency in the representation of battery operation within the broader powertrain system. In this study, a second-order ECM model of a battery cell is being developed using Modelica, an equation-based modeling language. Parameter lookup tables at multiple levels of state of charge (SoC), extracted from Li-ion battery cells with 4 different commonly used cathode materials, have been utilized. This approach allows for a representation of the battery systems that are used in a wide range of commercial EV applications. To verify the model, an integrated EV model is developed and simulation results of the FTP75 driving cycle have been compared against an equivalent application in MATLAB Simulink. The findings demonstrate a close match between the results obtained from both software across different system points. Specifically, the maximum deviation of SoC is limited to 0.08% and the maximum value of relative voltage deviation is 1.4%. The verified model enables the exploration of multiple possible architecture configurations of EV powertrains with Modelica.

Unmanned surface vehicles have the advantages of maneuverability, concealment, wide activity area and low cost of use. Therefore, they have broad application prospects. This makes unmanned surface vehicles a research hotspot at home and abroad, and the sensing technology is the basis for the unmanned surface vehicles to perform tasks. The perception technology based on optical vision has the advantages of convenient application, relatively low cost, easy data acquisition and large amount of information, and has been widely studied by scholars at home and abroad. This paper mainly discusses the research of optical vision in unmanned surface vehicles from five aspects: Firstly, the water surface image preprocessing based on unmanned surface vehicles, mainly including water surface image stabilization research and defogging enhancement research; two water boundary detection; It is the use of light vision target detection; the fourth is the surface target tracking method. Finally, the light vision research of unmanned surface vehicles is summarized and forecasted.

UAVNs (unmanned aerial vehicle networks) may become vulnerable to threats and attacks due to their characteristic features such as high mobility, highly dynamic network topology, and open-air wireless environments. Since previous work has focused on classical and metaheuristic-based approaches, none of these approaches have a self-adaptive approach. In this article, we examine the challenges of cyber detection methods to secure UAVNs and review exiting security schemes proposed in the current literature. Furthermore, we propose an agent-based self-protective method (ASP-UAVN) for UAVNs that is based on the Human Immune System (HIS). In ASP-UAS, the safest route from the source UAV to the destination UAV is chosen according to a self-protective system. In this method, a multi-agent system using an Artificial Immune System (AIS) is employed to detect the attacking UAV and choose the safest route. In the proposed ASP-UAVN, the route request packet (RREQ) is initially transmitted from the source UAV to the destination UAV to detect the existing routes. Then, once the route reply packet (RREP) is received, a self-protective method using agents and the knowledge base is employed to choose the safest route and detect the attacking UAVs. The method is evaluated here via extensive simulations carried out in the NS-3 environment. The experimental results of four scenarios demonstrated that the ASP-UAS increases the Packet Delivery Rate (PDR) by more than 17.4, 20.8, and 25.91%, and detection rate by more than 17.2, 23.1, and 29.3%, and decreases the Packet Loss Rate (PLR) by more than 14.4, 16.8, and 20.21%, the false-positive and false-negative rate by more than 16.5, 25.3, and 31.21% those of SUAS-HIS, SFA and BRUIDS methods, respectively.

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 study we present a hybrid approach of ACO with fuzzy logic and clustering methods to solve multi-objective path planning problems in case of swarm USVs. This study aims to enhance the performance of ACO algorithm by integrating fuzzy logic in order to cope with the multiple contradicting objectives and generate quality solutions by in parallel identifying the mission areas of each USV to reach the desired targets. The objectives that are taken into account are the minimization of traveled distance and energy consumption, and the maximization of path smoothness. A comparative evaluation is conducted among ACO and fuzzy inference systems, Mamdani (ACO-M) and Takagi–Sugeno–Kang (ACO-TSK). The results showed that depending on the needs of the application, each methodology can contribute respectively. ACO-M generates better paths but ACO-TSK presents higher computation efficiency.

Unmanned aerial vehicles (UAVs) represent a new model of social robots for home care of dependent persons. In this regard, this article introduces a study on people’s feeling of safety and comfort while watching the monitoring trajectory of a quadrotor dedicated to determining their condition. Three main parameters are evaluated: the relative monitoring altitude, the monitoring velocity and the shape of the monitoring path around the person (ellipsoidal or circular). For this purpose, a new trajectory generator based on a state machine, which is successfully implemented and simulated in MATLAB/Simulink®, is described. The study is carried out with 37 participants using a virtual reality (VR) platform based on two modules, UAV Simulator and VR Visualiser, both communicating through the MQTT protocol. The participants’ preferences have been a high relative monitoring altitude, a high monitoring velocity and a circular path. These choices are a starting point for the design of trustworthy socially assistive UAVs flying in real homes.

This work mainly discusses an innovative teaching platform on Unmanned Aerial Vehicle digital mapping for Remote Sensing (RS) education at Wuhan University, underlining the fast development of RS technology. Firstly, we introduce and discuss the future development of the Virtual Simulation Experiment Teaching Platform for Unmanned Aerial Vehicle (VSETP-UAV). It includes specific topics such as the Systems and function Design, teaching and learning strategies, and experimental methods. This study shows that VSETP-UAV expands the usual content and training methods related to RS education, and creates a good synergy between teaching and research. The results also show that the VSETP-UAV platform is of high teaching quality producing excellent engineers, with high international standards and innovative skills in the RS field. In particular, it develops students' practical skills with technical manipulations of dedicated hardware and software equipment (e.g., UAV) in order to assimilate quickly this particular topic. Therefore, students report that this platform is more accessible from an educational point-of-view than theoretical programs, with a quick way of learning basic concepts of RS. Finally, the proposed VSETP-UAV platform achieves a high social influence, expanding the practical content and training methods of UAV based experiments, and providing a platform for producing high-quality national talents with internationally recognized topics related to emerging engineering education.

In an effort to enhance the efficiency and safety of open-pit mines, this study explores the optimization of end slope road parameters and slope structures, specifically focusing on unmanned driving lanes.A significant aspect of the study is the development of a truck trajectory offset model, which considers the different reaction times between automated sensors and human drivers in adapting to environmental changes. To test these concepts, the study uses numerical simulations to confirm the stability of the proposed end slope designs. Using Victory West Mine No. 1 as a case study, the research determines the optimized width for unmanned driving lanes and the maximum angle for safe steepening of end slopes. The findings indicate that the optimized unmanned lane width for NTE240 mining dump trucks is 1743 mm, allowing for a 2-degree increase in the slope angle at the south end slope. This optimization leads to a steep mining stripping volume of 3.2735 million m³ and a coal output of 2.49628 million tons, maintaining a stripping ratio of 1.31m³/t. These results demonstrate that the unmanned driving road width optimization not only ensures slope safety but also significantly boosts the economic benefits of steep mining in open-pit mines.

This study examines the impact of alcohol concentration on the precision of unmanned aerial vehicle (UAV) operations. While the impact of alcohol impairment on various activities is well documented, its specific influence on drone piloting accuracy remains less studied. To address this, we carried out empirical research using an original methodology and a real-world environment. The study involved a group of 35 participants performing a series of flights using a selected drone (DJI Mavic2 Pro) on a bespoke obstacle route. Between each flight series, participants consumed a measured amount of alcohol, designed to incrementally increase their blood alcohol concentration monitored via breath tests. The precision of the drone pilot was evaluated by comparing various parameters from successive test flights, such as time, distance, average speed, and incident frequency, against a baseline trial executed with zero alcohol concentration. Our results indicate a noticeable decline in UAV piloting precision corresponding with increasing alcohol concentration. Parameters such as flight time, distance, speed, and incident frequency all demonstrated this trend. We conclude that alcohol consumption detrimentally affects the accuracy of drone operations. These findings underscore the need for clear policies and guidelines regarding the operation of UAVs under the influence of alcohol.

Density functional theory (DFT) calculations of hydrogen adsorption on titanium nitride had previously shown that hydrogen may adsorb on both titanium and nitrogen sites with a moderate adsorption energy. Further, the diffusion barrier was also found to be low. These findings may qualify TiN, a versatile multifunctional material with electronic conductivity, as electrode material for the hydrogen evolution reaction (HER). This was the main impetus of this work which aims to experimentally and theoretically investigate the electrocatalytic properties of TiN-layers that were processed on Ti substrate using reactive ion sputtering. The properties are discussed focusing on the role of oxygen defects introduced during the sputtering process on the HER. Based on DFT calculations, it is shown that these oxygen defects alter the electronic environment of the Ti atoms which entails a low hydrogen adsorption energy in the range of -0.1 eV; this leads to HER performances that match those of Pt-NPs in acidic media. When a few nanometr thick layer of Pd-NPs is sputtered on-top of the TiN-layer, the performance is drastically reduced. This is interpreted in terms of oxygen defects being scavenged by the Pd-NPs near the surface which is thought to reduce the hydrogen adsorption sites.

In response to reducing the energy cost of unmanned surface vehicles (USVs) while overcoming the low accuracy problem in surface target detection, a lightweight detection algorithm with multi-scale feature fusion is proposed. Based on the popular one-stage lightweight Yolov7-tiny target detection model, a lightweight extraction module is designed first by introducing the multiscale residual module to reduce the number of parameters and computational complexity while improving accuracy. The Mish and SiLU activation functions are used to enhance network feature extraction. Second, the path aggregation network employs coordinate convolution to strengthen spatial information perception. Finally, the dynamic head, which is based on the at-tention mechanism, improves the representation ability of object detection heads without any computational overhead. According to the experimental findings, the proposed model has 22.1% fewer parameters than the original model, 15% fewer GFLOPs, a 6.2% improvement in [email protected], a 4.3% rise in [email protected]:0.95, and it satisfies the real-time criteria. According to the research, the suggested lightweight water surface detection approach includes a lighter model, a simpler computational architecture, more accuracy, and a wide range of generalizability. It performs bet-ter in a variety of difficult water surface circumstances.

The challenging terrain and deep ravines characteristic of mountainous regions often result in slower path planning and suboptimal flight paths for Unmanned Aerial Vehicles (UAVs) when traditional meta-heuristic optimization algorithms are employed. This study investigates the application of an Improved Enhanced Snake Optimizer (IESO) for three-dimensional path planning in a simulated rugged mountainous terrain. The initialization process in the enhanced snake optimizer is refined by integrating the Chebyshev chaotic map. Additionally, a non-monotonic factor is introduced to modulate the "temperature," and a boundary condition is incorporated into the dynamic opposition learning mechanism. These modifications collectively reduce the likelihood of population convergence to local optima during optimization. The feasibility of IESO is validated through time complexity and global convergence analyses. Comparative simulation experiments benchmarked IESO against five state-of-the-art optimization algorithms across test functions and path-planning simulated scenarios. The experimental results indicate that the enhanced algorithm achieves superior optimization precision, faster convergence speeds, and improved quality in the planned trajectories by 30%.

Surface velocity is traditionally measured with in situ techniques such as velocity probes (in shallow rivers) or Acoustic Doppler Current Profilers (in deeper water). In the last years, researchers have developed remote sensing techniques, both optical (e.g., image-based velocimetry techniques) and microwave (e.g., Doppler radar). These techniques can be deployed from Unmanned Aerial Systems (UAS), which ensure fast and low-cost surveys also in remotely-accessible locations. We compare the results obtained with a UAS-borne Doppler radar and UAS-borne Particle Image Velocimetry (PIV) in different rivers, which presented different hydraulic–morphological conditions (width, slope, surface roughness and sediment material). The Doppler radar was a commercial 24 GHz instrument, developed for static deployment, adapted for UAS integration. PIV was applied with natural seeding (e.g., foam, debris) when possible, or with artificial seeding (woodchips) in the stream where the density of natural particles was insufficient. PIV reconstructed the velocity profile with high accuracy typically in the order of a few cm s⁻¹ and a coefficient of determination (R²) typically larger than 0.7 (in half of the cases larger than 0.85), when compared with acoustic Doppler current profiler (ADCP) or velocity probe, in all investigated rivers. However, UAS-borne Doppler radar measurements show low reliability because of UAS vibrations, large instrument sampling footprint, large required sampling time and difficult-to-interpret quality indicators suggesting that additional research is needed to measure surface velocity from UAS-borne Doppler radar.

Remote sensing is one of the modern methods that have significantly developed over the last two decades and nowadays provides a new means for forest monitoring. High spatial and temporal resolutions are demanded for accurate and timely monitoring of forests. In this study multi-spectral Unmanned Aerial Vehicle (UAV) images were used to estimate canopy parameters (definition of crown extent, top and height as well as photosynthetic pigment contents). The UAV images in Green, Red, Red-Edge and NIR bands were acquired by Parrot Sequoia camera over selected sites in two small catchments (Czech Republic) covered dominantly by Norway spruce monocultures. Individual tree extents, together with tree tops and heights, were derived from the Canopy Height Model (CHM). In addition, the following were tested i) to what extent can the linear relationship be established between selected vegetation indexes (NDVI and NDVIred edge) derived for individual trees and the corresponding ground truth (e.g., biochemically assessed needle photosynthetic pigment contents), and ii) whether needle age selection as a ground truth and crown light conditions affect the validity of linear models. The results of the conducted statistical analysis show that the two vegetation indexes (NDVI and NDVIred edge) tested here have a potential to assess photosynthetic pigments in Norway spruce forests at a semi-quantitative level, however the needle-age selection as a ground truth was revealed to be a very important factor. The only usable results were obtained for linear models when using the 2nd year needle pigment contents as a ground truth. On the other hand, the illumination conditions of the crown proved to have very little effect on the model’s validity. No study was found to directly compare these results conducted on coniferous forest stands. This shows that there is a further need for studies dealing with a quantitative estimation of the biochemical variables of nature coniferous forests when employing spectral data acquired by the UAV platform at a very high spatial resolution.

The urban mangrove of the Vitória Bay, Espírito Santo, Southern Brazil suffers from anthropogenic impacts, which interfere in the foliar spectral response of its species. Identifying the spectral behavior of these species and creating regression models to indirectly obtain structure data like the Leaf Area Index (LAI) are powerful environmental monitoring tools. In this study, LAI was obtained in 32 plots distributed in four stations. In situ LAI regression analysis with the SAVI resulted in significant positive relationships (r² = 0.58). Forest variability regarding the degree of maturity and structural heterogeneity and LAI influenced the adjustment of vegetation indices (VIs). The highest regression values were obtained for the homogeneous field data, represented by R. mangle plots, which also had higher LAI values. The same field data were correlated with SAVI of a RapidEye image for comparison purposes. The results showed that, images obtained by a UAV have higher spatial resolution than the Rapideye image, and therefore had a greater influence of the background. Another point is that the statistical analysis of the field data with the IVs obtained from the RapidEye image did not present high regression coefficient (r² = 0.7), suggesting that the use of VIs applied to the study of urban mangroves needs to be better evaluated, observing the factors that influence the leaf spectral response.

Battery-powered electric vehicles (EVs) have emerged as an environmentally friendly and efficient alternative to traditional internal combustion engine vehicles, while their single-charge driving distances under cold conditions are significantly limited due to the high energy consumption of heating systems. Heat pumps can provide an effective heating solution for EVs, but their coefficient of performance (COP) is hampered by heat transfer deterioration due to frost accumulation. This study proposes a solution to this issue by introducing a microchannel heat exchanger (MHE) with superhydrophobic surface treatment (SHST) as a heat pump evaporator. A computational-fluid-dynamics MHE model and a dynamic heat pump model are developed and rigorously validated to examine the detrimental impact of frost accumulation on heat transfer, airflow resistance, and heat pump performance. When the frost layer thickness is 0.8 mm at a given air-side velocity of 1.0 m/s, the air-side heat transfer coefficient can be reduced by about 75%, and the air-side pressure drop sharply increases by 28.4 times. As frost thickness increases from 0 to 0.8 mm, the heating effect drops from 3.97 to 1.82 kW, and the system COP declines from 3.17 to 2.30. Experimental results show that the frost thickness of the MHE with SHST reaches approximately 0.4 mm after 30 minutes, compared to that of 0.8 mm of the MHE without SHST, illustrating the defrosting capability of the superhydrophobic coating. The study concludes by comparing the performance of various heating methods in EVs to highlight the advantages of SHST technology. As compared to traditional heat pumps, the power consumption of the proposed system is reduced by 48.7% due to the defrosting capability of the SHST. Moreover, the single-charge driving distance is extended to 327.27 km, an improvement of 8.99% over the heat pump without SHST.

This paper presents an optimized energy management strategy for Li-ion power batteries used on electric vehicles (EVs) at low temperatures. Under low-temperature environments, EVs suffer a sharp driving range loss resulted from the energy and power capability reduction of the battery. Simultaneously, because of Li plating, battery degradation becomes an increasing concern as temperature drops. All these factors could greatly increase the total vehicle operation cost. Prior to battery charging and vehicle operating, preheating battery to a battery-friendly temperature is an approach to promote energy utilization and reduce total cost. Based on the proposed LiFePO4 battery model, the total vehicle operation cost under certain driving cycles is quantified in the present paper. Then given a certain ambient temperature, a target temperature of preheating is optimized under the principle of minimizing total cost. As for the preheating method, a liquid heating system is also implemented on an electric bus. Simulation results show that the preheating process becomes increasingly necessary with a decreasing ambient temperature; however, the preheating demand declines as driving range grows. Vehicle tests verify that the preheating management strategy proposed in this paper is able to save total vehicle operation cost.

This research focuses on the development of an automated medication delivery system using Unmanned Aerial Vehicle (UAV) Technology and the Internet of Things (IoT) to support telemedicine and community welfare in the KLU region. The system is designed to improve the quality of medical services and medication management for the community in the area. One of the main challenges faced is how the KLU community responds and accepts automatic medication delivery using UAVs and IoT. To overcome this challenge, this research suggests providing education and training to the community about the benefits and usage of the system, as well as displaying a working simulation of the system to the community.

This study uses a wind turbine case study to showcase an architecture for implementing a distributed digital twin in which all important aspects of a predictive maintenance solution in a DT use a fog computing paradigm, and the typical predictive maintenance DT is improved to offer better asset utilization and management through real time condition monitoring, predictive analytics, and health management of selected components of Wind turbines in a wind farm.. Digital twin (DT) is a technology that sits at the intersection of Internet of Things, Cloud Computing and Software Engineering to provide a suitable tool for replicating physical objects in the digital space. This can facilitate the implementation of asset management in manufacturing systems through predictive maintenance solutions leveraged by Machine Learning (ML). With DTs, a solution architecture can easily use data and software to implement asset management solutions such as Condition Monitoring and Predictive Maintenance using acquired sensor data from physical objects and computing capabilities in the digital space. While DT offers a good solution, it is an emerging technology that could be improved with better standards, architectural framework, and implementation methodologies. Researchers in both academia and industry have showcased DT implementations with different levels of success. However, DTs remain limited in standards and architectures that offer efficient predictive maintenance solutions with real time sensor data, and intelligent DT capabilities. An appropriate feedback mechanism is also needed to improve asset management operations.

The performance of the absolute atom gravimeters used on moving platforms, such as vehicles, ships and aircrafts, is strongly affected by the vibration noise. To suppress its influence, we summarize a vibration compensation method utilizing data measured by a classical accelerometer. The measurements with the accelerometer show that the vibration noise in the vehicle can be 2 order of magnitude greater than that in the lab during daytime, and can induce an interferometric phase fluctuation with a standard deviation of 16.70π. With the compensation method, our vehicle-mounted atom gravimeter can work normally in these harsh conditions. Comparing the Allan standard deviations before and after the vibration noise correction, we find a suppression factor of 22.74 can be achieved in static condition with an interrogation time of T = 20 ms, resulting a sensitivity of 1.35 mGal/Hz1/2, and a standard deviation of 0.5 mGal with an average time of 10 s. We also demonstrate the first test of an atom gravimeter in a moving vehicle, in which a suppression factor of 50.85 and a sensitivity of 60.88 mGal/Hz1/2 were realized with T = 5 ms.

The variation of aerosols, especially dust aerosol, in time and space plays an important role in climate forcing studies. Aerosols can effectively reduce land surface longwave emission and re-emit energy at a colder temperature, making estimation of downwelling surface longwave radiation (DSLR) with satellite data difficult. Using the latest atmospheric radiative transfer code (MODTRAN 5.0), we simulate the outgoing longwave radiation (OLR) and DSLR under different land surface and atmospheric profile conditions. The results show that dust aerosol has an obvious “warming” effect to longwave radiation compared with other aerosols, that aerosol longwave radiative forcing (ALRF) increased with increasing aerosol optical depth (AOD), and that the atmospheric water vapor content (WVC) is critical to the understanding of ALRF. A method is proposed to improve the accuracy of DSLR estimation from satellite data for the skies under heavy dust aerosols. The AOD and atmospheric WVC under cloud-free conditions with a relatively simple satellite-based radiation model that yields the high accurate DSLR under heavy dust aerosol are used explicitly as model input to reduce the effects of dust aerosol on the estimation of DSLR. Validations of the proposed model with satellites data and field measurements show that it estimates the DSLR accurately under heavy dust aerosol skies. The root mean square errors (RMSEs) are 20.4 W/M² and 24.2 W/M² for Terra and Aqua satellites, respectively, at the Yingke site, and the biases are 2.7 W/M² and 9.6 W/M², respectively. For the Arvaikheer site, the RMSEs are 23.2 W/M² and 19.8 W/M² for Terra and Aqua, respectively, and the biases are 7.8 W/M² and 10.5 W/M², respectively. The proposed method is especially applicable to acquire relatively high accurate DSLR under heavy dust aerosol using MODIS data with available WVC and AOD data.

Axial resolution is one of the most important characteristics of a microscope. In all microscopes, a high axial resolution is desired in order to discriminate information efficiently along the longitudinal direction. However, when studying thick samples that do not contain laterally overlapping information, a low axial resolution is desirable as information from multiple planes can be recorded simultaneously from a single camera shot instead of plane-by-plane mechanical refocusing. In this study, we increased the focal depth of an infrared microscope non-invasively by introducing a binary axicon fabricated on barium fluoride substrate close to the sample. Preliminary results of imaging thick and sparse silk fibers showed an improved focal depth with a slight decrease in lateral resolution and increase in background noise.

The primary objective of this experiment is to enhance road safety and mitigate the occurrence of accidents by leveraging Low Power Wide Area Networks (LPWAN), specifically focusing on the Long Range (LoRa) network. Through comprehensive research into LPWANs and their various applications, we have designed and implemented a novel approach employing two mobile robots. These robots are utilized to emulate a typical traffic scenario, with one robot leading the way, skillfully maneuvering around obstacles, while the other robot closely follows behind, tracing the same path. The leading robot is tasked with collecting data from its internal environment, the external surroundings, and its operator through an array of sensors. Subsequently, this data is transmitted to the trailing robot. The follower robot's role is to analyze the data received and formulate decisions based on this information. Its objective is to mimic safe driving behavior, particularly when the received data deviates from the expected norms. In such instances, the follower robot will opt to decelerate significantly, thereby minimizing the risk of collision. By implementing this innovative system, we aim to significantly enhance driving safety and reduce the occurrence of accidents on the road.

We aimed to investigate the relationship between membrane material and development of membrane fouling in a membrane bioreactor (MBR) using membranes with different pore sizes and hydrophilicities. Batch filtration tests were performed using submerged single hollow fiber membrane ultrafiltration (UF) modules with different polymeric membrane materials including cellulose acetate (CA), polyethersulfone (PES), and polyvinylidene fluoride (PVDF) with activated sludge taken from a municipal wastewater treatment plant. The three UF hollow fiber membranes were prepared by a non-solvent-induced phase separation method and had similar water permeabilities and pore sizes. The results revealed that transmembrane pressure (TMP) increased more sharply for the hydrophobic PVDF membrane than for the hydrophilic CA membrane in batch filtration tests, even when membranes with similar permeabilities and pore sizes were used. PVDF hollow fiber membranes with smaller pores had greater fouling propensity than those with larger pores. In contrast, CA hollow fiber membranes showed good mitigation of membrane fouling regardless of pore size. The results obtained in this study suggest that the surface hydrophilicity and pore size of UF membranes clearly affect the fouling properties in MBR operation when using activated sludge.

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.

In this article, we describe a simple procedure for evaluating the sterility of nutrient media using a shear-horizontal surface acoustic wave (SH-SAW) biosensor. We used the SH-SAW biosensor platform to monitor the time-dependent phase responses of the material for the media that binds to a monolayer of 3-mercaptopropanyl-N-hydroxy succinimide on the biosensor surface. Increases in the phase shift less than 50% of the starting phase shift recorded 180 minutes after the sterilization indicate a successful sterility test of the media. Our devices were then applied to sterility testing using a viable Escherichia coli (E. coli) K-12 solution to confirm our hypothesis. Filtered LB Broth was the negative control, and a 24-hour culture of E. coli was the positive control. Before testing, the cell solution was pelleted, the media decanted, and then replaced with a 1x phosphate-buffered saline solution (1x PBS). Since we know that the N-hydroxysuccinimide residues will bind to amine groups, only in cases where microbial species are present will the surface binding increase greater than 50%. We confirmed our hypothesis using SH-SAW biosensors and overnight E. coli cultures. The sensitivity for our 250 MHz quartz SH-SAW sensors was calculated based on the response from the E. coli K-12 solution over the linear dynamic range, which appears to be 2x10^4 – 2x10^7 CFU per ml and has a sensitivity of S = 1.655x10^5 o m2 Kg-1. The limit of detection (LOD) for these sensors was calculated to be approximately 2x10^-9 grams (g), which is estimated to be approximately 2,000 Escherichia coli (E. coli) K-12 cells. However, the sensitivity and insertion loss remained approximately unchanged before and after coating the sensor with 3,3'-Dithiobis(succinimidyl) Propionate (DSP).

In the case of a Cu-Mo-W polymetallic ore, the wastewater from the scheelite cleaning flowsheet contains large amounts of residual flocculants and metal ions, and the separation of chalcopyrite and molybdenite require a large number of environmentally harmful depressants. Therefore, it is necessary to find new methods to reduce the environmental and cost pressures of wastewater treatment and the use of depressants. In this work, the flotation wastewater from scheelite cleaning flowsheet for the separation of chalcopyrite and molybdenite by selective surface passivation was investigated for the first time. Flotations of single minerals and artificially mixed minerals with or without immersion pretreatment in the presence and absence of aeration were performed. The results showed that pulp pH had no effect on the flotation of either mineral, and a molybdenite recovery of 93.22% with chalcopyrite recovery of 10.77% was achieved under the conditions of 10 days of immersion pretreatment with aeration, 350 mg/L of kerosene, and 100 mg/L of MIBC. By combining the electrochemical cyclic voltammetry analysis and characterization by XRD and SEM, the selective surface passivation mechanism of chalcopyrite was discussed, which could be due to the coverage of the insoluble oxidation products, especially jarosite. This work has simultaneously achieved the depressant-free flotation separation of molybdenite and chalcopyrite and the reuse of scheelite flotation wastewater, which is of great significance for environmental protection and cost saving.

This study explores the intricate relationship between the angle of vehicle-to-vehicle (V2V) conflicts and the severity of conflicts at signalized intersections during traffic signal failures, leveraging the advanced capabilities of LiDAR sensor technology. The research delves into the impact of conflict angles on collision outcomes and introduces LiDAR as a novel and precise tool for capturing spatial dynamics during unregulated traffic movements. Findings reveal that as the angle of V2V conflicts increases, indicating a wider approach between vehicles, the severity of conflicts tends to decrease. This reduction in severity is attributed to the detailed spatial data provided by LiDAR, enabling the identification of glancing impacts rather than direct head-on collisions. The mitigation of forces involved in collisions at increased angles contributes to a decreased likelihood of severe consequences, such as extensive vehicle damage and serious injuries to occupants.Conversely, as the angle of V2V conflicts decreases, signifying a narrower approach between vehicles, the potential for severe collisions tends to increase. LiDAR technology facilitates precise measurements of spatial coordinates and temporal dynamics, revealing that collisions occurring at smaller angles involve more direct and concentrated impact forces. This heightened risk of extensive damage to vehicles and increased injury severity is crucially captured by LiDAR, providing valuable insights into the relationship between conflict angles and collision outcomes during traffic signal failures. This study underscores the efficacy of LiDAR sensor technology in understanding the nuanced dynamics of V2V conflicts and highlights its role in developing targeted safety interventions. The integration of LiDAR data into traffic safety analyses offers a sophisticated approach to mitigating the impact of conflicts and enhancing overall safety at signalized intersections during signal failures. The research also highlighted that as the angle of V2P conflicts widens, PET experiences a proportional increase. A larger conflict angle signifies a more complex interaction between vehicles and pedestrians, leading to prolonged PET values. Conversely, a decrease in the angle of V2P conflicts is associated with a reduction in PET during traffic signal failures.The study commences with an examination of traffic characteristics at the E Cold Spring Ln – Hillen Rd intersection in Baltimore City, MD, utilizing a deployed LiDAR sensor. When the signal at this intersection experienced a temporary malfunction on a regular working day in September 2023, the LiDAR captured data related to vehicle and pedestrian volumes, as well as V2V and V2P conflicts. The primary objective of the research is to evaluate the repercussions of traffic signal failures on both traffic flow and safety, specifically V2V and V2P conflicts, occurring during periods of improper signal functionality. Additionally, this investigation delves into various factors that impact traffic signal performance, encompassing traffic demand, geometric layout, pedestrian interactions, and the incorporation of emerging technologies.

This study determines the threshold for the computational rate of actuator motor controllers for unmanned underwater vehicles necessary to accurately follow discontinuous square wave commands. Motors must track challenging square-wave inputs, and identification of key computational rates permit application of deterministic artificial intelligence (D.A.I.) to achieve tracking to a machine-precision degree of accuracy in direct comparison to other state-of-art approaches. All modeling approaches are validated in MATLAB simulations where the motor process is discretized at varying step-sizes (inversely proportional to computational rate). At a large step-size (fast computational rate), discrete D.A.I. shows a mean error more than three times larger than that of a ubiquitous model-following approach. Yet, at a smaller step size (slower computational rate), the mean error decreases by a factor of 10, only three percent larger than that of continuous D.A.I. Hence, the performance of discrete D.A.I. is critically affected by the sampling period for discretization of the system equations and computational rate. Discrete D.A.I. should be avoided when small step-size discretization is unavailable. In fact, continuous D.A.I. has surpassed all modeling approaches which makes it the safest and most viable solution to future commercial applications in unmanned underwater vehicles.

Water quality assessment in pastoral of Tibetan Plateau, which is water sources for about 40% of world's population and the runoff-yield area of Yellow rivers, is very important. In this paper, Xiahe county which belongs to Tibetan Plateau pastoral was investigated. Six parameters(via, chloride, COD, ammonia nitrogen, nitrate, fluoride, sulfate) were selected to assess the water quality and health degree by using fuzzy comprehensive evaluation methods. The hydrochemical type in surface water was of HCO3--Mg2+-Ca2+ type. The cations and anions in surface water were mainly from weathering and dissolution of carbonate rock. Results showed that the water quality in all 69 sampling sites was all of class Ⅰ. The integrated health degree reached more than 0.85 and the health rate were 100%. Although ammonia nitrogen was regarded as the main contamination factor, but it had a little effect on the entire body of water. Overall, the surface water qualities of most samples in Xiahe County was good condition.

Personal Mobility Vehicle (PMV) which has an inward tilting angle turns with the lateral force due to large camber angle, so it is necessary to consider the lateral movement of the tire vertical load axis during turning. Although the steering torque mechanism are very different from those of automobiles, there are not many examples which studied the steering torque mechanism of PMV. In this paper, based on the effects of six components force acting on the tires, a method for setting the steering axis specifications is derived, including the geometrical minimization of steering moment disturbance due to the vertical load reaction force during turning. Although, automobile tires have a significant ground camber angle when traveling on rutted roads, they do not have it on slant roads because the vehicle body tilts along the road surface. On the other hand, in PMV, the vehicle body always keeps upright when traveling both on slanted roads and on rutted roads. Therefore, the tires have ground camber angles on both types of road surface. We study the straight running ability under such road surface disturbances based on the geometrical minimization of steering moment disturbance due to the vertical load reaction force during turning. This straight running ability can be a remarkable strong point of PMV with an inward tilt mechanism.

This research was devoted to study the effect of the tacticity of PMMA on the surface physicochemical properties such as the London dispersive component of the surface energy of the polymer, the polar and dispersive free energies, the Lewis’s acid-base surface parameters, and the Lewis acid and base surface energies of atactic, isotactic and syndiotactic PMMAs as a function of the temperature. Inverse gas chromatography (IGC) at infinite dilution was used to determine the surface thermodynamic properties of PMMA at different tacticities. The experimental values of the net retention time and volume of model organic molecules adsorbed on the atactic, isotactic and syndiotactic PMMAs, were obtained by IGC technique at infinite dilution. The London dispersion interaction energy was used for the separation of the polar and dispersive energy of the different n-alkanes and polar solvents adsorbed on the different PMMA surfaces. The London dispersive surface energy γ_s^d (T) of PMMAs was determined by applying the Hamieh thermal model that took into account the effect of the temperature on the surface area of adsorbed molecules. The obtained results showed non-linear variations of γ_s^d (T) of atactic, isotactic, and syndiotactic PMMAs with three maxima characterizing the three transition temperatures of PMMAs, T_g, T_g and T_(liq-liq) with a shift of these temperatures with the isotactic and syndiotactic PMMAs. It was showed that the polar interaction free energy ∆G_a^p (T) also showed the presence of the three above transition temperatures of the polymers. The study showed an important non-linearity variation of the different acid-base parameters in the various polymer surfaces proving the highest effect of the temperature and the tacticity on these parameters. The determination of the enthalpic and entropic Lewis’s acid-base parameters showed an amphoteric character for the different PMMAs. The basicity of the atactic PMMA was about four times larger than its acidity outside the neighborhood of the transition temperatures of the polymer. Whereas, the isotactic PMMA was about 2 to 2.5 times more basic than acid, while the syndiotactic PMMA exhibited the highest basicity by showing a surface 5 to 8 times more basic than acid. However, the Lewis acid-base parameters strongly depended on the temperature and sudden variations of these surface parameters were observed around the transition temperatures largely depending on the PMMA tacticity. The determination of the polar acid and base surface energies of the three PMMAs led to the same previous transition temperatures with an important effect of the tacticity of PMMA on the values of these acid-base surface energies.

To fulfil a need of limitation automotive emissions the reduction of vehicle weight is widely recommended and achieved in many ways, both by the construction of individual elements of the vehicle, and by the selection of light materials including Al alloys. Connecting these elements with each other and with elements made of iron alloys can be realized, inter alia, by welding or stir welding. However, the quality of the welds obtained varies widely and depends on many design, operational and environmental factors. The present study focused on a review of various welding technics used to joint both similar and dissimilar Al alloys utilized in automotive industry, the effect of various process parameters on welds quality, and phenomena appeared in such welds..

Surface initiated atom transfer radical polymerization (SI-ATRP) is one of the most versatile technique to modify the surface properties of material. Recent developed metal free SI-ATRP makes such technique more widely applicable. Herein photo-induced metal-free SI-ATRP of methacrylates, such as methyl methacrylate, N-isopropanyl acrylamide, and N,N- dimethylaminoethyl methacrylate, on the surface of SBA-15 was reported to fabricate organic-inorganic hybrid materials. SBA-15 based polymeric composite with adjustable graft ratio was obtained. The structure evolution during the SI-ATRP modification of SBA-15 was monitored and verified by FT-IR, XPS, TGA, BET, and TEM. The obtained polymeric composite showed enhanced adsorption ability for the model compound toluene in aqueous. This procedure provides a low cost, ready availability, and facile modification way to synthesize the polymeric composites without the contamination of metal.

Vehicle-to-Vehicle (V2V) communication plays a pivotal role in modern intelligent transportation systems, enabling seamless information exchange among vehicles to enhance road safety, traffic efficiency, and overall driving experience. However, the secure transmission of sensitive data between vehicles remains a critical concern due to potential security threats and vulnerabilities. This research paper focuses on investigating the security protocols employed in Vehicle-to-Vehicle communication systems. A comprehensive review and analysis of relevant literature and research papers is conducted to gather information on existing V2V communication security protocols and techniques. The analysis encompasses key areas, including authentication mechanisms, encryption algorithms, key management protocols, and intrusion detection systems specifically applicable to V2V communication networks. Within the context of real-world V2V environments, this study delves into the challenges and limitations associated with implementing these protocols. Moreover, to foster a deeper understanding, the paper investigates present communication protocols in the field of Internet of Things (IoT) that are tailored for V2V. Various parameters, such as band-width consumption, energy consumption, latency, and message size, are considered during the evaluation of these protocols to gauge their effectiveness. The research outcomes aim to provide a comprehensive understanding of the strengths and weaknesses of the current V2V communication security protocols. Furthermore, based on the findings, this paper will propose improvements and recommendations to enhance the security measures of the V2V communication protocol. Ultimately, this research will contribute to the development of more secure and reliable V2V communication systems, propelling the advancement of intelligent transportation technology.

Objective: The aim of this study was to optimize the fermentation process of Radix Ranunculi ternate via microbial fermentation and analyze the changes in the contents of the main components, the antioxidant and hypoglycemic capacities of the extract before and after fermentation. Methods: The solid-state fermentation process was optimized using single-factor tests and the response surface method, with the yield of the alcohol extract of R. ternate as an evaluation index. Results: The best fermentation process was optimized using solid-state endophytic fungus fermentation technology as follows: strain addition ratio of Chaetomium globosum/Fusarium equiseti =1:1, fermentation for 5 d, sieve size of 40 mesh, liquid/material ratio of 0.8:1 mL·g−1, fermentation temperature of 31 °C, and inoculation amount of 7.5%. Under the optimized conditions, the contents of the water-soluble extract and total polysaccharides decreased by 12.71% and 12.95%, respectively, in the fermentation, The contents of ethanol-soluble-extract, flavonoids, saponins, polyphenols, organic acids, and total amino acids of fermented R. ternate increased by 19.77%, 57.14%, 79.67%, 14.29%, 17.63% and 3.82%, respectively, and the scavenging rate for DPPH, ABTS+, ·OH free radicals and inhibitory rate for α-amylase also increased by 19.02%, 14.17%, 7.53% and 34.54%, respectively, compared with unfermented R. ternate. Conclusions: Solid-state fermentation opens new avenues for the development and application of R. ternate as natural antioxidant and hypoglycemic food.

In light of the critical and emerging global challenge posed by the increasing frequency and severity of heatwaves in recent decades, this study demonstrates a practical and robust workflow that bridges the gap in understanding how the effective integration of remote sensing data with ground-based observations can facilitate a comprehensive assessment of spatiotemporal heatwave patterns and trends in the central region of Thailand. This research transcends traditional methods, utilizing air temperature (Tair) and satellite-derived land surface temperature (LST) data from 1981 to 2019. Results exhibit that an analysis of Tair indicates increasing daytime heatwaves in peri-urban areas, with significant trends in heatwave number (HWN), heatwave frequency (HWF), and heatwave duration (HWD), heatwave amplitude (HWA) rises in urban settings while nighttime heatwaves significantly intensify in rural locales. Notably, LST trends reveal varied patterns, with peri-urban areas showing marked daytime increases in heatwave magnitude (HWM), HWA, and HWF. Correlation analysis (p=0.05) highlights strong daytime associations between Tair and LST in rural (HWN, HWF, HWD, r&gt;0.90) and peri-urban (HWM, HWA, r&gt;0.65) regions. Overall, this study advances approaches to the adaptable measurement and spatial-temporal pattern of heatwave-related risk areas, providing insights for decision-makers to develop sustainable practices and strategies for climate change adaptation.

Electric vehicles (EVs) play a significant role in reducing carbon emissions. In the US, EVs are mostly owned by multi-vehicle households, and their usage is primarily studied in the context of vehicle miles traveled. This study takes a unique approach by analyzing EV usage through the lens of vehicle choice (between EVs and internal combustion engine vehicles) within multi-vehicle households. A two-step machine-learning framework (clustering and decision trees) is proposed. The framework determines the preferred trip category for EV use and captures the effects of household attributes, driver attributes, built-environment factors, and gas prices on EV use in multi-vehicle households. Results indicate that discretionary trips (accumulated local effect = 0.037) are mostly preferred for EV use. EV preference is more pronounced among households with fewer workers (<2) and lower income levels. These findings are valuable for policymakers and auto manufacturers in targeting specific market segments and promoting EV adoption.

The poly lactic acid (PLA) is one of the most used bio-derived thermoplastic polymers in 3D and 4D printing applications. The determination of PLA surface properties is of capital importance in 3D/4D printing technology. (1) Background: The surface thermodynamic properties of PLA polymer were determined by using the inverse gas chromatography (IGC) technique at infinite dilution. The determination of the retention volume of polar and non-polar molecules adsorbed on the PLA particles filling the column allowed us to obtain the dispersive, polar, and Lewis’s acid-base surface properties at different temperatures from 40 °C to 100 °C. (2) Methods: the applied surface method was based on our recent model that used the London dispersion equation and the new chromatographic parameter function of the deformation polarizability and the harmonic mean of the ionization energies of the PLA polymer and organic molecules. (3) Results: The application of this new method led to the determination of the dispersive and polar free surface energy of adsorption of molecules on the polymeric material, as well as the glass transition and the Lewis acid-base constants. (4) Conclusions: four interval temperatures were distinguished showing four zones of the variations of the surface properties of PLA as a function of the temperature before and after the glass transition.

In large-capacity energy storage systems, instructions are decomposed typically using an equalized power distribution strategy, where clusters/modules operate at the same power and durations. When dispatching shifts from stable single conditions to intricate coupled conditions, this distribution strategy inevitably results in increased inconsistency and hastened system aging. This paper presents a novel differentiated power distribution strategy comprising three control variables: the rotation status, the operating boundaries for both Depth of Discharge (DOD) and C-rates (C) within a control period. The proposed strategy integrates an aging cost prediction model developed to express the mapping relationship between these control variables and aging costs. Additionally, it incorporates the multi-colony particle swarm optimization (Mc-PSO) algorithm into the optimization model to minimize aging costs. The aging cost prediction model consists of three functions: predicting health features (HFs) based on the cumulative charge/discharge throughput quantity and operating boundaries, characterizing HFs as comprehensive scores, and calculating aging costs using both comprehensive scores and residual equipment value. Further, we elaborated on the engineering application process for the proposed control strategy. In the simulation scenarios, this strategy prolonged the service life by 14.62%, reduced the overall aging cost by 6.61%, and improved module consistency by 21.98%, compared with the traditional equalized distribution strategy. In summary, the proposed strategy proves effective in elongating service life, reducing overall aging costs, and increasing the benefit of energy storage systems in particular application scenarios.

Abstract: This study investigates the effect of Electric Vehicle Charging Stations (EVCS) on light-duty Electric Vehicle sales and the Total California rebates. Electric Vehicle Charging Stations (EVCS) are infrastructure facilities that allow for the charging of electric vehicles (EVs). I applied the before and after model with California state county using its community-level attributes and used the difference-in-difference design to identify a strategy for estimating the causal effects of these attributes. These attributes include EVCS installations by time, EV sales by time, rebate applications by time, the number of multi-unit housing units, and the median income levels. The empirical ev-idence of this study shows the estimated relationship between public EV charging installation and EV sales overall by community income level, housing density, and other relevant factors, the result shows that EVCSs is highly correlated with light duty Electric Vehicle adoption. For the investors, policymakers, and other stakeholders, this study provides evidence of a threshold of EVCS on Light Duty Electric Vehicle adoption and rebate in California.

Hybrid electric vehicles are certainly one of the key solutions for improving fuel efficiency and reducing emissions, especially in special vehicle application and with the use of CO2 neutral fuels. Determining the energy management strategy and finding the optimal solution with regard to the aforementioned goals re-mains the one of the main challenges in the design of HEV. This paper presents a new vehicle modeling method, with an emphasis on HEVs, which is based on the frequency analysis of emissions and consumption according to the current specific traction power of the vehicle. The evaluation of the newly introduced model in the RDE, NEDC and WLTP cycle was performed and the results were compared with the standard verified vehicle model that was created in AVL's CruiseM software package. Positive traction energies have positive deviations of between 0.35% and 2.85%. The largest deviation in CO2 emissions was recorded for the HEV model in the RDE cycle and in the non-hybrid model in the WLTP cycle of 3.79% and 4.4% respectively, all other combinations of cycle and vehicles had deviations of up to about 1%. As expected, the largest relative deviations were recorded for NOx emissions from 0.13% to 9.62% for HEV in the WLTP cycle.

Peak-to-Average Power Ratio (PAPR) is one of the main problems in wireless communications using Orthogonal Frequency Division Multiplexing (OFDM). Its behavior is random and can produce problems for the hardware implementation, directly influencing the Packet Error Rate (PER). In this article, the PER is obtained for channels with Rayleigh and Rician fading. In the simulation, a High Power Amplifier (HPA) is added to the transmitter and for PAPR reduction Simple Amplitude Predistortion-Orthogonal Pilot Sequences (OPS-SAP) technique is used.

This study was designed for the first time to improve phenolic yield and antioxidant activity of ultrasonic-assisted extraction from Acer truncatum leaves (ATL) using response surface methodology, and phenolic composition in ATL extracted under the optimized condition were characterized by UPLC-QTOF-MS/MS. Solvent and extraction time were selected based on preliminary experiments, and a four-factors-three-levels central composite design was conducted to optimize solvent concentration (X₁), material-to-liquid ratio (X₂), ultrasonic temperature (X₃) and power (X₄) for an optimal total phenol yield (Y₁) and DPPH• antioxidant activity (Y₂). The results showed that the optimal combination was ethanol: water (v:v) 66.21%, material-to-liquid ratio 1:15.31 g/mL, ultrasonic temperature 60 °C, power 267.30 W, and time 30 min with three extractions, giving a maximal total phenol yield of 7593.62 mg gallic acid equivalent /100 g d.w. and a maximal DPPH• antioxidant activity of 74241.61 μmol Trolox equivalent/100 g d.w.. Furthermore, 22 phenolics were first identified in ATL extract obtained under the optimized conditions, indicating that gallates, gallotannins, quercetin, myricetin and chlorogenic acid derivatives were the main phenolic composition in ATL. What’s more, a gallotannins pathway existing in ATL from gallic acid to penta-O-galloyl-glucoside was interpreted. All these results provided practical information aiming at full utilization of phenolics in ATL, together with fundamental knowledge for further research.

This manuscript employs a surface stress-driven nonlocal model to explore the combined effects of long-range interaction and surface energy on higher vibration modes of functionally graded nanobeams. The nanobeam theory, based on Bernoulli-Euler kinematics, incorporates surface effects such as surface elasticity, surface residual stresses, surface density, and rotary inertia. Hamilton's principle is applied to derive the governing equation with size-dependent considerations. The main outcomes of a parametric investigation, considering four different kinematic boundary conditions (Cantilever, Simply-Supported, Clamped-Pinned, and Doubly-Clamped) while varying the nonlocal parameter and material gradient index, are presented and discussed. Additionally, the normalized natural frequencies for the second, third, fourth and fifth modes of vibrations are provided and analyzed for each case under study. The results underscore the model's effectiveness in capturing surface energy effects on the overall dynamic behavior of functionally graded Bernoulli-Euler nanobeams, offering a cost-effective approach for designing and optimizing nano-scaled structures.

Voltage Source Inverters (VSI) are the integral part of Electrical Vehicles (EV) to enhance the reliability of supply power to critical loads in vehicle to load (V2L) applications. Inherent properties of sliding mode control (SMC) makes it one of the best vailable options to achieve desired voltage quality under variable load conditions. Intrinsic characteristic of robustness associated with SMC is achieved generally at the cost of unwanted chattering along the sliding surface. To manage this compromise better, optimal selection of sliding surface coefficient is applied with proposed composite exponential reaching law (C-ERL). The novelty of proposed C-ERL is associated with the intelligent mix of exponential, power and difference functions blended with rotating sliding surface selection (RSS) technique for three phase two level VSI. Moreover, proposed reaching law along with power rate exponential reaching law(PRERL), enhanced exponential reaching law(EERL) and repeatitive reaching law(RRL) are implemented on two level three phase VSI under variable load condtions. Comparative analysis of which strongly advocates the authenticity and effectiveness of proposed reaching law in achieving well regulated output voltage, with high level of robustness, reduced chattering and low %THD.

The COVID-19 pandemic over the past years has shown a great need for rapid, low-cost and on-site detection of severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2). In this paper, an aptamer-based colloidal gold nanoparticle lateral flow test strip was well developed to realize the visual detection of wild type SARS-CoV-2 spike protein (SP) and multiple variants. Under the optimal reaction conditions, a low detection limit of SARS-CoV-2 S protein of 0.68 nM was acquired, and the actual detection recovery was 83.3% to 108.8% for real world samples. This suggests a potential tool for the prompt detection of SARS-CoV-2 with good sensitivity and accuracy, and a new method for the development of alternative antibody test strips for the detection of other viral targets.

Melatonin is a ubiquitous molecule found in living organisms, ranging from bacteria to plants and mammals. It possesses various properties, partly due to its robust antioxidant nature and partly owed to its specific interaction with melatonin receptors present in almost all tissues. Melatonin regulates different physiological functions and contributes to the homeostasis of the entire organism. In the human eye, a small amount of melatonin is also present, produced by cells in the anterior segment and the posterior pole, including the retina. In the eye, melatonin may provide antioxidant protection along with regulating physiological functions of ocular tissues, including intraocular pressure (IOP). Therefore, it is conceivable that the exogenous administration of sufficiently high amounts of melatonin to the eye could be beneficial in several instances: for the treatment of eye pathologies like glaucoma, due to the IOP-lowering and neuroprotection effects of melatonin; for the prevention of other dysfunctions, such as dry eye and refractive defects (cataract and myopia) mainly due to its antioxidant properties; for diabetic retinopathy due to its metabolic influence and neuroprotective effects; for macular degeneration due to the antioxidant and neuroprotective properties; and for uveitis, mostly owing to anti-inflammatory and immunomodulatory properties. This paper reviews the scientific evidence supporting the use of melatonin in different ocular districts and provides data suggesting that the topical administration of melatonin as eye drops is a real possibility. This way, its distribution and concentration in different ocular tissues may support its pleiotropic therapeutic effects.

To enhance the applicability of dual-phase high-entropy alloys (HEAs) like Fe32Cr33Ni29Al3Ti3, fabricated via selective laser melting (SLM), a focus on improving their mechanical properties is essential. As part of this effort, heat treatment was explored. This study compares the microstructure and mechanical properties of the as-printed sample with those cooled in water after undergoing heat treatment at temperatures ranging from 1000 to 1200 ℃ for 1 hour. Both pre- and post-treatment samples reveal a dual-phase microstructure comprising FCC and BCC phases. Although heat treatment led to a reduction in tensile and yield strength, it significantly increased ductility compared to the as-printed sample. This strength-ductility trade-off is related to changes in grain sizes with ultrafine grains enhancing strength and micron grains optimizing ductility, also the influence of the content of FCC/BCC phases and dislocation density. In particular, the sample heat-treated at 1000 °C for 1 hour and then water-cooled exhibited a better combination of strength and ductility, a yield strength of 790 MPa, and an elongation of 13%. This research offers innovative perspectives on crafting dual-phase HEA of Fe32Cr33Ni29Al3Ti3, allowing for tailorable microstructure and mechanical properties through a synergistic approach involving SLM and heat treatment.

(1) Background: A simple approach to map irrigated landcover has been introduced by using measures derived from optical spectral range as an alternative to thermal range. It has been demonstrated that substituting surface temperature (Ts, ‘thermal approach’) with SWIR transformed reflectance (STR, ‘optical approach’) to detect surface moisture is feasible with comparable results. (2) Methods: Using an iterative thresholding procedure to minimize within-class variance, the bilevel segmentation of variables derived from Landsat-8 representing surface moisture and vegetation cover was achieved for the 2020-21 summer for a key irrigation district in Australia. (3) Results: The results of irrigated landcover by optical approach found to be comparable with those by thermal approach. The classification accuracy was assessed using water delivery records at farm level. Though the overall accuracy is high in both cases, the optical approach (97.6%) performed slightly better than the thermal approach (93.9%). (4) Conclusions: The feasibility of using STR to map irrigated landcover has been confirmed by a high-level overall accuracy assessment. This has broader implications in terms of irrigated landcover assessment, as the use of satellite imagery in these applications may not necessarily be limited to microwave or thermal sensors.

Reinforcement Learning (RL) has demonstrated considerable potential in solving challenges across various domains, notably in autonomous driving. Nevertheless, implementing RL in autonomous driving comes with its own set of difficulties, such as the overestimation phenomenon, extensive learning time, and sparse reward problems. Although solutions like Hindsight Experience Replay (HER) have been proposed to alleviate these issues, the direct utilization of RL in autonomous vehicles remains constrained due to the intricate fusion of information and the possibility of system failures during the learning process. In this paper, we present a novel RL-based autonomous driving system technology that combines Obstacle Dependent Gaussian (ODG) RL, Soft Actor-Critic (SAC), and meta-learning algorithms. Our approach addresses key issues in RL, including the overestimation phenomenon and sparse reward problems, by incorporating prior knowledge derived from the ODG algorithm. We evaluated our proposed algorithm on official F1 circuits, using high-fidelity racing simulations with complex dynamics. The results demonstrate exceptional performance, with our method achieving up to 89% faster learning speed compared to existing algorithms in these environments.

Recent deep learning frameworks draw a strong research interest in the application of ego-motion estimation as they demonstrate a superior result compared to geometric approaches. However, due to the lack of multimodal datasets, most of these studies primarily focused on a single sensor-based estimation. To overcome this challenge, we collect a unique multimodal dataset named LboroAV2, using multiple sensors including camera, Light Detecting And Ranging (LiDAR), ultrasound, e-compass and rotary encoder. We also propose an end-to-end deep learning architecture for fusion of RGB images and LiDAR laser scan data for odometry application. The proposed method contains a convolutional encoder, a compressed representation and a recurrent neural network. Besides feature extraction and outlier rejection, the convolutional encoder produces a compressed representation which is used to visualise the network's learning process and to pass useful sequential information. The recurrent neural network uses this compressed sequential data to learn the relation between consecutive time steps. We use the LboroAV2 and KITTI VO datasets to experiment and evaluate our results. In addition to visualising the network's learning process, our approach gives superior results compared to other similar methods. The code for the proposed architecture is released in GitHub and accessible publicly.

Accurate estimation of vehicle emissions is essential and can be helpful in the decision-making process. Thanks to calculation methods, it is possible to accurately estimate the emissions that result from driving a car and to determine their impact on, for example, the health of pedestrians who are on the pavement near an arterial road. Recent years have seen an increase in the use and importance of emission models, as well as vehicle traffic simulation models. Increasingly, emission models are being combined with traffic simulation models, as it is not practical to actually measure the on-road emissions of an entire fleet of vehicles over a given stretch of road. This paper provides an overview of the selected work on the topic of emission modelling and vehicle traffic simulation models. The models are distinguished according to their respective scales of accuracy, i.e., micro, meso, and macro. Selected work combining emission and traffic simulation models is also presented, as well as development trends in the field. In particular, the paper also highlights the fact of proper calibration of vehicle traffic simulation models in order to obtain the most reliable vehicle emissions results from computational models. The review of the works carried out may be helpful for future projects concerning the use of simulation tools for transport and environmental decision-makers in the area of arterial roads.

Teaching kinematic rotations is a daunting task for even some of the most advanced mathematical minds. However, envisioning and explaining the three-dimensional rotations can be highly simplified by changing the paradigm. This paradigm change allows for a high school student with a understanding of geometry to be able to not only develop the matrix but also explain the rotations at a collegiate level. The proposed method includes the assumption of a point (P) within the initial three-dimensional frame with axes (x ̂_i, y ̂_i, z ̂_i). It then utilizes a two-dimensional rotation view (2DRV) to measure how the coordinates of point P translate after the initial axis is rotated instead of using the established Euler's formula. The equations are used in matrix notation to develop a direction cosine matrix (DCM) for future equations. This method provides a high school student with an elementary and repeatable process to compose and explain kinematic rotations.

Buckling defect will appear on the outer surface of the deformed ring during constrained ring rolling (CRR) of aluminum alloy thin wall conical ring with inner high ribs (AATWCRIHR), if the geometrical dimension of the ribs doesn't match the wall thickness. To avoid the buckling defect, a quantitative method for characterizing the degree of the buckling defect is proposed using the area of buckling profile. Then an orthogonal experimental scheme was designed taking the width of the middle rib, thickness of wall, and height of the middle rib as design variables and defining the area of buckling profile as optimization objective. Subsequently, a quadratic polynomial response surface model was established by combining the optimization algorithm with the finite element method (FEM), and the geometrical dimension of the middle ribs of the deformed AATWCRIHR is optimized. Also the optimal parameter combination to minimize the area of buckling profile is obtained and verified using FE simulation. Results show that the AATWCRIHR after optimization doesn’t generate the buckling defect during constrained ring rolling, and it is proved that the quantitative buckling defect representation method and the optimization design method based on the response surface model and the finite element simulation results are feasible for the constrained ring rolling process of the AATWCRIHR.

Displacement mapping is a computer graphics technique that enables the design of components with regularly or randomly textured surfaces that can be quickly materialized on a three-dimensional (3D) printer when needed. This approach is in principle more flexible, faster and more economical compared to conventional texturing methods, but the accuracy of the texture depends heavily on the parameters used. The purpose of this study is to demonstrate how to produce a surface-textured part using polygonal (mesh) modeling software and a photopolymerizable resin, and to develop a universal methodology to predict the dimensional accuracy of the model file log combined with a resin 3D printer. The printed components were characterized on a scanning confocal microscope. In the setup used in this study, the mesh size had to be reduced to 10% of the smallest feature size and the textured layer had to be heavily (x4) overexposed to achieve the desired accuracy. As a practical application, two functional stamps with a regular (honeycomb) and a random texture, respectively, were successfully manufactured. The insights gained will be of great benefit in quickly and cost-effectively producing components with innovative patterns and textures for a variety of hobby, industrial and biomedical applications.

This study presents a dynamic model of a passenger vehicle and analyzes its dynamic characteristics and responses. A dynamic vehicle model with seven degrees of freedom was established to analyze the behavior of a driving vehicle. The vehicle model had three degrees of freedom for the motion of the sprung mass and four degrees of freedom for the unsprung masses. For this model, the equations of motion were derived using Lagrange’s equation. To verify the model, the suspension deformations computed using the model were compared with the deformations measured through three actual vehicle driving tests which are the slalom, double lane change, and step steer tests. Furthermore, we investigated the effects of suspension stiffness, suspension damping, and anti-roll bar torsional stiffness on the dynamic characteristics and responses of the vehicle model. The developed dynamic vehicle model may help vehicle designers predict the dynamic responses of a vehicle through simulation without performing a driving test.

Environmental monitoring plays a central role in diagnosing climate and management impacts on natural and agricultural systems, enhancing the understanding hydrological processes, optimizing the allocation and distribution of water resources, and assessing, forecasting and even preventing natural disasters. Nowadays, most monitoring and data collection systems are based upon a combination of ground-based measurements, manned airborne sensors or satellite observations. These data are utilized in describing both small and large scale processes, but have spatiotemporal constraints inherent to each respective collection system. Bridging the unique spatial and temporal divides that limit current monitoring platforms is key to improving our understanding of environmental systems. In this context, Unmanned Aerial Systems (UAS) have considerable potential to radically evolve environmental monitoring. UAS-mounted sensors offer an extraordinary opportunity to bridge the existing gap between field observations and traditional air- and space-borne remote sensing, by providing not just high spatial detail over relatively large areas in a cost-effective way, but as importantly providing an entirely new capacity for enhanced temporal retrieval. As well as showcasing recent advances in the field, there is also a need to identify and understand the potential limitations of UAS technology. For these platforms to reach their monitoring potential, a wide spectrum of unresolved issues and applications specific challenges require focused community attention. Indeed, to leverage the full potential of UAS-based approaches, sensing technologies, measurement protocols, post-processing techniques, retrieval algorithms and evaluations techniques need to be harmonized. The aim of this paper is to provide a comprehensive general overview of the existing research on studies and applications of UAS in environmental monitoring in order to suggest users and researchers on future research directions, applications, developments and challenges.

Precision agriculture is a farm management technology that involves sensing and then responding to the observed variability in the field. Remote sensing is one of the tools of precision agriculture. The emergence of small unmanned aerial vehicles (sUAV) have paved the way to accessible remote sensing tools for farmers. This paper describes the comparison of two popular off-the-shelf sUAVs: 3DR Iris and DJI Phantom 2. Both units are equipped with a camera gimbal attached with a GoPro camera. The comparison of the two sUAV involves a hovering test and a rectilinear motion test. In the hovering test, the sUAV was allowed to hover over a known object and images were taken every second for two minutes. The position of the object in the images was measured and this was used to assess the stability of the sUAV while hovering. In the rectilinear test, the sUAV was allowed to follow a straight path and images of a lined track were acquired. The lines on the images were then measured on how accurate the sUAV followed the path. Results showed that both sUAV performed well in both the hovering test and the rectilinear motion test. This demonstrates that both sUAVs can be used for agricultural monitoring.

The urbanization effects on land surface phenology (LSP) have been investigated by many studies, but few studies focused on the temporal variations of urbanization effects on LSP. In this study, we used the MODIS EVI, MODIS LST data and China’s Land Use/Cover Datasets (CLUDs) to investigate the temporal variations of urban heat island intensity and urbanization effects on LSP in Northeast China during 2001–2015. Land surface temperature (LST) and phenology differences between urban and rural areas represented the urban heat island intensity and urbanization effects on LSP, respectively. Mann-kendall nonparametric test and Sen's slope were used to evaluating the trends of urbanization effects on LSP and urban heat island intensity. The results indicated that the average land surface phenology (LSP) during 2001–2015 was characterized by high spatial heterogeneity. The start of the growing season (SOS) in old urban area had become earlier and earlier than rural area and the differences of SOS between urbanized area and the rural area changed greatly during 2001–2015 (−0.79 days/year, p < 0.01). Meanwhile, the length of the growing season (LOS) in urban and adjacent areas had become increasingly longer than rural area especially in urbanized area (0.92 days/year, p < 0.01), but the differences of the end of the growing season (EOS) between urban and adjacent areas did not change significantly. Next, the UHII increased in spring and autumn during the whole study period. Moreover, the correlation analysis indicated that the increasing urban heat island intensity in spring contributed greatly to the increases of urbanization effects on SOS, but the increasing urban heat island intensity in autumn did not lead to the increases of urbanization effects on EOS in Northeast China.

The present study aims to develop an efficient numerical method for computing the diffraction and radiation of water waves with horizontal long cylindrical structures, such as floating breakwaters. A higher-order scheme is used to discretize geometry of the structure as well as the relevant physical quantities. As the kernel of this method, Wehausen’s free-surface Green function is calculated by a newly-developed Gauss-Kronrod adaptive quadrature algorithm after elimination of its Cauchy-type singularities. To improve computational efficiency, a Chebyshev approximation approach is applied to a fast calculation of the Green function that needs evaluation thousands of times. In addition, OpenMP parallel technique is used to the formation of influence coefficient matrix, which significantly reduces CPU time. Finally, computations are performed on wave exciting forces and hydrodynamic coefficients for the long cylindrical structures, either floating or submerged. Comparison with other numerical and analytical methods demonstrates good performance of the present method.

The need for continuous research to refine the models used in accident reconstruction appears with the development of new car models that satisfy consumer complaints. The paper analyzed a sub-sequence of car and pedestrian accidents, from the perspective of the distance traveled by them in the contact phase, with the aim of improving the information regarding the reconstruction of road accidents. The research included the analysis of some accidents with pedestrian dummies, as well as the simulation of the impact between different classes of vehicles and pedestrians in two different walking positions. Specialized software was used with complex multibody models of pedestrians, modifying the speed and deceleration parameters at the time of the collision. The research results highlight the differences between bilinear models used in accident reconstruction and the proposed study. They can also be used to determine the distance traveled by the vehicle in the first phase of the collision with pedestrians.

The widespread adoption of electromobility constitutes one of the measures designed to reduce air pollution caused by traditional fossil fuels. However, several factors are currently impending this process, ranging from insufficient charging infrastructure, battery capacity, long queueing and charging time, to psychological factors. On top of range anxiety, the frustration of the EV drivers is further fueled by the lack the uncertainty of finding an available charging point on their route. To address this issue, we propose a solution that comes to bypass the limitations of the Reserve now function of the OCPP standard, enabling drivers to make charging reservations for the upcoming days, especially when planning a longer trip. We created an algorithm that generates reservation intervals based on the charging station's reservation and transaction history. Subsequently, we ran a series of test cases that yielded promising results, with no overlapping reservations.

An emissions baseline for a city is the foundation to building an informed clean air action plan. This includes an understanding of the sources and their intensities to device cost-effective measures with the least health impacts. In an urban environment, emissions from road transport is one of the major contributors to the air pollution problem, and accounting for this sector requires a detailed profile of in-use vehicles, covering their age-mix, usage, and fuel economy. In this paper, we present a simplified framework to survey at select fuel stations to establish the necessary inputs and use them to build a localized vehicle emissions inventory. The methodology is illustrated with an application in the city of Patna, India. Here, the FuSS was employed to profile the in-use passenger vehicle characteristics by 19 trained students, over nine days and at ten fuel stations, to collect 9,775 survey points. The methodology outlined in this paper, along with the tools and training framework, is also replicable in settings other than the fuel stations.

Unmanned Underwater Vehicles (UUVs) are pivotal in ocean exploration, research, and various industrial activities such as marine mining and offshore engineering. However, traditional methods of navigating these vehicles face significant challenges, mainly due to the inefficacy of electromagnetic waves in water, leading to signal loss. To address these limitations, researchers are increasingly turned learning, an artificial intelligence technique capable of learning from data-enhancing underwater navigation, mainly through visual Simultaneous Localization and Mapping (SLAM). This paper explores integrating deep learning methodologies and sensor technologies to revolutionize underwater navigation for UUVs. Proprioceptive sensors, along with exteroceptive sensors, are crucial in accurately measuring and comprehending the underwater environment. Additionally, the paper provides detailed insights into the processes of underwater SLAM, camera-based underwater positioning systems, sonar systems for underwater navigation, and the utilization of Lidar in underwater navigation. Furthermore, it delves into applying deep learning techniques in underwater SLAM, offering a comprehensive understanding of the innovative processes driving advancements in underwater vehicle navigation. By leveraging these advancements, this research aims to improve underwater navigation systems' precision, reliability, and adaptability, thereby unlocking new frontiers in ocean exploration and industrial applications for UUVs.

For the emerging autonomous swarm technology, from the perspective of systems science and systems engineering, there must be some novel elements and methods to aggregate multiple systems into a group, which distinguish with the general components with specific functions, and we expect to provide the presentation of their existence in the swarm development processes. The inspiration of our methodology origins from the integration of swarm ontology, multi-paradigm modeling, multi-agent system, cyber-physical system, etc. Therefore, we choose the model-driven technology as a framework to acquire an approach of model representation across the multiple levels of abstraction and composition. The autonomous strategic mechanism is defined and formed in parallel with ConOps analysis and systems design, so as to effectively solve the cognitive problem of emergence caused by the nonlinear causation among individual and whole behaviors. This approach highlights to use the MBSE processes and their artifacts to embed the meso mechanism to integrate the operational and the functional, and which means to connect the macro and micro aspects in formalism and so to become a whole with its expected goals, and then to verify and validate within a L-V-C simulation environment.

Worldwide, there is a significant increase in the use of unmanned aerial vehicles (UAVs) by emergency services. They offer a lot of possibilities during the rescue operation. Such a wide application for various purposes and environments causes many threats related to their use. To minimize the risks associated with conducting air operations with UAVs, the SORA methodology will be important. Due to its level of detail, it is a methodology adapted to civilian use. In this article, the authors' team will try to develop guidelines and directions for adapting SORA to the requirements of the operational work of emergency services. Thus following article aims to present the most important risks related to conducting operations with the use of UAVs by First Responders (FRs) and to show the sample risk analysis performed for this type of operation on the example of the ASSISTANCE project. The paper describes, on the one hand, possibilities offered by UAVs in crisis or disaster management and step-by-step Specific Operations Risk Assessment (SORA) and on the other hand, presents possible threats, consequences and methods of their mitigation during FRs missions.

There is an increasing trend that Unmanned Combat Air Vehicles (UCAVs) are employed to complete different combat missions in modern wars. This paper investigates a UCAV routing problem, which simultaneously considers the decisions for the configuration of weapons carried by the UCAV subject to its capacity and the allocation of weapons to the targets subject to their destroying requirements. An integer linear programming model is developed to formulate the problem. An adaptive large neighborhood search (ALNS) heuristic is proposed to solve the problem, in which seven neighborhood structures are designed and employed. Randomly generated instances covering the small, medium and large sizes are used to test the proposed ALNS algorithm. CPLEX is also utilized to solve the small-size instances, whose results are compared with that obtained by the ALNS algorithm. And the extensive experimental results confirm the effectiveness and superiority of the proposed ALNS algorithm.

The automobile industry is undergoing technological advancement, which includes breakthroughs such as hybrid cars, electric vehicles (EVs), and self-driving capabilities. However, despite these advances, issues remain, notably in recall management efficiency, security and risk of fraud. To solve these difficulties, the idea of Industry 4.0 has been adopted, which uses technologies such as sensors, IOT’s, and machine learning. Even this technology still has loopholes in the area of security which has been exploited negatively over time. In other to mitigate these loopholes we introduce Blockchain technology as a viable alternative, providing a safe and transparent environment. This study investigates and proposed the use of blockchain to create an enhanced Vehicle Tracking System (VTS) intended at enhancing recall management and reducing fraud in the automobile sector. The proposed solution was discussed in detail and a mock smart contract was also written, which was deployed on the Ethereum Virtual Machine (EVM).

In the work the enhanced security of unmanned aerial vehicles (UAVs) electronics in RF environment was investigated. UAVs are commonly used in many areas and the cellular networks as the parallel helping networks for systems: LTE, 5G or especially for future 6G are very perspective and needed. For effective communications in channels: “air-to-ground” as well as “drone-to-drone” the important task is undisturbed work of transportation platforms, ie. UAV. However, high level of outside electromagnetic radiation can affect the correct electronics work. The problem is due to non-conformity of RF environment regulations. The electromagnetic compatibility (EMC) standards guarantee correct electronics work when the radiation level is not higher than established EMC levels. In case of commercially available devices, like UAVs, this level is 3 V/m. On the other hand, permissive exposure level, treated as RF environment emitted by cellular base stations, can reach the level of 61 V/m. Such level of electromagnetic wave pollution, can damage unprotected electronics with fatal consequences. This can cause the unchecked drone flight or unchecked fall down. As a result, due to unchecked flight, the UAV can cause the sudden communication interruption with operator or other drones. To reduce the level of damaging RF field we propose to cover the UAV housing with microwave absorber. In this case absorber must ensure good electromagnetic protection as well as lightweight and resistant on weather conditions. The shielding property of reduced graphene oxide (RGO) as an absorber was investigated. For proposed material the shielding effectiveness (SE) was investigated in the frequency range from 100 MHz to 10 GHz. It has been proved that such material can be a good candidate as an absorber for UAV having low reflection coefficient and high absorption ability. In this work the shielding effectiveness of RGO was analyzed for two layers of 3 and 5 mm at typical frequencies as RF environment, ie. 3.6 GHz (5G system) and 5.8 GHz (LTE). Investigated absorber guarantees the value of SE of 25 dB and 30 dB for 3 mm layer at 3.6 GHz and 5.8 GHz respectively and of 29 dB and 39.5 dB for 5 mm layer at these frequencies respectively.

Over the past few years, there has been an increasing fascination with electric unmanned aerial vehicles (UAVs) because of their capacity to undertake demanding and perilous missions, while also delivering advantages in terms of flexibility, safety, and expenses. These UAVs are revolutionizing various public services, encompassing real-time surveillance, search and rescue operations, wildlife assessments, delivery services, wireless connectivity, and precise farming. To enhance their efficiency and duration, UAVs typically employ a hybrid power system. This system integrates diverse energy sources, such as fuel cells, batteries, solar cells, and supercapacitors. The selection of an appropriate hybrid power arrangement and the implementation of an effective energy management system are crucial for the successful functioning of advanced UAVs. This article specifically concentrates on UAV platforms powered by batteries, incorporating innovative technologies like in-flight recharging via laser beams and tethering. It provides an all-encompassing and evaluative examination of the current cutting-edge power supply configurations, with the objective of identifying deficiencies, presenting perspectives, and offering recommendations for future consideration in this domain.

Background: Previous investigations have found a correlation between abnormal curvatures and a variety of patient complaints such as cervical pain and disability. However, no study has shown that loss of the cervical curve is a direct result of exposure to a motor vehicle collision (MVC). This investigation presents a retrospective consecutive case series of patients with both a pre-injury cervical lateral radiograph (CLR) and a post-injury CLR after exposure to a MVC. Computer analysis of digitized vertebral body corners on CLRs was performed to investigate the possible alterations in the geometric alignment of the sagittal cervical curve. Methods: Three spine clinic records were reviewed, over a 2-year period, looking for patients where both an initial lateral cervical x-ray and an examination were performed prior to the patient being exposed to a MVC; afterwards an additional exam and radiographic analysis were required. A total of 41 patients met the inclusion criteria. Examination records of pain intensity on numerical pain rating scores (NPRS) and neck disability index (NDI), if available, were analyzed. The CLRs were digitized and modeled in the sagittal plane using curve fitting and the least squares error approach. Radiographic variables included total cervical curve (ARA C2-C7), Chamberlain’s line to horizontal (skull flexion), horizontal translation of C2 relative to C7, segmental translations (retrolisthesis and anterolisthesis), and circular modelling radii. Results: There were 15 males and 26 females with an age range of 8-65 years. Most participants were drivers (28) involved in rear end impacts (30). The pre-injury NPRS was 2.7 while the post injury was 5.0; p &lt; 0.001. The NDI was available on 24 /41 (58.5%) patients and was found to increase following exposure to the MVC: 15.7% to 32.8%, p &lt; 0.001. An altered cervical curvature was identified following exposure to MVC, characterized by an increase in radius of curvature and an approximate 8° reduction of lordosis from C2-C7; p &lt; 0.001. The mid cervical spine (C3-C5) showed the greatest curve reduction with localized mild kyphosis at these levels on average. Several participants developed segmental translations that approached the instability value of translation &gt; 3.5mm. Conclusions: Abnormalities of cervical lordosis occurred following exposure to a MVC. The average loss of cervical curvature was 8° from C2-C7, with mild flexion of the mid cervical segments. Snap through type or dynamic buckling during the MVC may explain our findings. The primary contribution of this study to the motor vehicle collision literature is that altered cervical lordosis may result from MVC exposures and the consequences of an altered cervical alignment, in turn, may lead to future pain, disability and decreased health-related quality of life.