This study investigated the efficiency of scale-propellers, typically used on small drones. A scale-propeller is accepted as having a diameter of 7 to 21 inches. The Ukraine War has demonstrated the utility of relatively small, low-cost first-person view (FPV) drones, which are attritable. This investigation outlines the development of a MATLAB optimisation code, based on minimum induced loss propeller theory, which calculates the optimal chord and twist distribution for a chosen propeller operating in known flight conditions. The MATLAB code includes a minimum Reynolds number functionality, which provides the option to alter the chord distribution to ensure the entire propeller is operating above a set threshold value of Reynolds (>100,000), as this has been found to be a transition point between low and high section lift-to-drag ratios. Additional functions allow plotting of torque and thrust distributions along the blade. The results have been validated on experimental data taken from an APC ‘Thin Electric’ 10” x 7” propeller, where it was found that both the chord and twist distributions were accurately modelled. The MATLAB code resulted in a 16% increase in the maximum propulsive efficiency. Further work will investigate a direct interface to SolidWorks to aid rapid propeller manufacturing capability.

This article summarizes the results of a research conducted to create an intelligent platform supporting small farmers growing vegetables. In Bulgaria, many farmers use relatively small areas for their production. Considering this situation, the platform is designed for regional use, trying to make maximum use of the specific climatic features of the monitored microdistrict. Consequently, special attention is paid to the possibilities of adapting the platform to the specific environment in which the observed plants grow. Thus, the platform is implemented as an agent-oriented system providing needed flexibility. The core of the platform is a personal assistant, which is responsible for tracking the vegetation cycle of the monitored crop and, upon detection of anomalies, preparing warnings to the farmer. The general architecture of the platform is also presented. In a distributed knowledge base, agriculture-specific knowledge are stored. Furthermore, a standardized interface for receiving data from the sensor networks located in the production areas is briefly described. Currently, the platform is being tested for monitoring four varieties of tomatoes grown on the territory of the national research center for potato breeding. Special attention is paid to the measurements carried out. Conclusions have been drawn that will help improve the platform.

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.

This study optimizes the placement and farm layout of Vertical Axis Wind Turbines (VAWTs) using a neural fuzzy network, an advanced machine learning system, and meta-heuristic algorithms. The methodology introduces a novel approach to enhance turbine efficiency and overall farm performance. The objective is to determine the optimal configuration of vertical axis wind turbines using a neural-fuzzy system and meta-heuristic optimizers. Turbine efficiency and power generation rates are assessed through three-dimensional numerical simulations based on the Reynolds-averaged Navier-Stokes equations. This innovative design, featuring straight blades with bevel-angle vortex generators, represents a significant advancement over traditional straight-blade VAWTs. Comparative analyses demonstrate that the oblique configuration exhibits higher average output moment and power. A novel concept integrates the strengths of Darrieus VAWTs, enhancing efficiency through vortex generator integration. Simulation results are validated with empirical data, confirming the superior aerodynamic efficiency and increased power generation of the oblique configuration. Inspired by the optimal group movements of birds, this study recommends adopting the oblique arrangement for improved wind turbine performance.

Ensuring adequate food supplies has become a critical issue with a rapidly growing global population and increasing demand for protein-rich foods. In Baghlan province, Afghanistan, many poultry farms have been forced to cease operations due to insufficient infrastructure and resources, leaving a significant gap in meeting the region's growing demand for poultry products. This study aims to identify the key factors affecting the sustainability and development of broiler farms in Baghlan province as perceived by farm owners. The primary research tool was a researcher-developed questionnaire, whose validity and reliability were confirmed. The study population comprised all broiler farm owners in Baghlan Province, from which a sample of 91 was selected using the Morgan table and complete enumeration sampling method. The findings revealed that approximately 54% of respondents expressed moderate satisfaction with their farms. Importance-Performance Analysis (IPA) was conducted to assess the relative importance and performance of various factors affecting the development and sustainability of the farms. The results indicated that having a qualified expert, the farmer's educational level, the poultry house ventilation system, and being a local resident were considered highly important factors for farm success but were underperforming. Based on limited existing research in the region, these findings provide valuable insights for enhancing poultry farm development and food security in Baghlan province and throughout Afghanistan. The study offers specific recommendations for addressing the identified challenges and improving the sustainability of poultry farming in the region.

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 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.

Presently, Jordan confronts a double substantial challenge of enhancing energy security and mitigating greenhouse gas emissions. One of the most encouraging avenues to attain the objectives of sustainable development, energy security, and environmental conservation is to enhance the integration of renewable energy into the generation of electricity. In pursuit of this goal, the Jordanian government intends to expand investments in the green energy sector, with solar and wind energy poised to play a key role in satisfying energy demands and cultivating an environmental sustainability. This paper aims to examine the distinctive dynamics, challenges, obstacles, and potential solutions corresponding to the establishment of community solar and wind farms in Jordan suburban areas. It aims to highlight the opportunities and barriers influencing the track of sustainable energy adoption in the country. Through a comprehensive analysis of the Jordanian context, the goal is to extract insights that can guide policies and practices. Additionally, the findings may serve as a valuable benchmark for other regions confronting similar challenges on their pursuit for a sustainable energy future.

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 goal of farmers operating in a market economy is to maximise profit. In the face of the changing political situation, the main social interest, besides food security, should be energy security. This article aims to indicate the direction of agricultural policy development so that it guarantees both the economic security of producers—farmers—and Europe’s energy security. The work uses data obtained from the agri benchmark Cash Crop database. DEA method and stepwise multiple regression were used. The research showed that plants are already grown in Europe which will ensure high energy efficiency of production without compromising farm financial results (including oats, peas and winter rye) and that improving the involvement of certain inputs results in improved production efficiency (among others, by expenditure on agricultural advisory services). The significance of the presented research results from the fact that the recent COVID pandemic and escalation of the military conflict in Ukraine have led to a renewed interest in the concept of EU energy security, i.e. generation of generating the greatest possible amount of energy within the EU, to be used both for food and non-food purposes.

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.

This research explores the application of Support Vector Machine (SVM) and Digital Surface Models (DSM) derived from Unmanned Aerial Vehicle (UAV) data for a vertical-horizontal classification of mangrove ecosystems in Tongke-tongke and Samataring Village. The study focuses on integrating high-resolution DSM subtracted from Digital Terrain Models (DTM) to classify mangrove vegetation into sixteen distinct vertical-horizontal classes based on vegetation type and elevation. The analysis revealed that older mangroves, particularly those within the 25-35 meters elevation range, dominate the landscape, accounting for 43.40% of the total classified area. This dominance suggests a mature and ecologically stable mangrove ecosystem, which is crucial for biodiversity conservation and carbon storage. The study demonstrates the effectiveness of SVM and UAV technologies in providing detailed and accurate ecological assessments of mangrove forests. The classification results contribute valuable insights into the structural diversity and health of mangrove ecosystems, facilitating targeted conservation and management strategies. Additionally, the research highlights the utility of advanced remote sensing and machine learning techniques in enhancing the precision of environmental monitoring and the assessment of carbon sequestration capabilities within mangrove ecosystems. The findings underscore the potential of UAV-based remote sensing for ecological studies, offering a replicable method for similar assessments in other regions, thereby supporting global environmental management and climate action initiatives.

Aflatoxin M1 (AFM1), a carcinogenic toxin, mainly contaminates cow milk and poses significant challenges to the dairy industry and, thereby, public health in most tropical countries, including Ethiopia. This study aimed to investigate the prevalence and level of AFM1 in raw cow milk collected from Specialized Dairy Farms and Milk Vendors in three Urban Centers: Chiro town, Dire Dawa, and Harar cities in Eastern Ethiopia. 180 milk samples were collected from two major Milk Sources: Specialized Dairy Farms (N=90) and Milk Vendors (N=90) using a simple random sampling technique. AFM1 was analyzed using high-performance liquid chromatography. The study revealed that, 63.9% (115/810) prevalence and 0.179±0.48µg/L mean of AFM1 level in milk, which 39.13% and 26.08% exceed the tolerable limits of EU and FDA respectively. A 40.0% prevalence and 0.344±0.72µg/L average of AFM1 in the milk from Dire Dawa city was significantly higher than the samples from other Urban Centers. However, 30.43% and 29.57% prevalence as well as 0.055±±0.13µg/L and 0.140±0.33µg/L average of AFM1 in milk from Chiro town and Harar city, respectively were not significant. Furthermore, milk samples from Dairy Farms revealed a higher prevalence (57.39%) and level (0.252±0.64µg/L) of AFM1 than Milk Vendors, with a prevalence of 42.61% and an average of 0.107±0.21µg/L. Therefore, this study concludes that substantial milk samples were contaminated by AFM1 and urges the need to enhance farmers' awareness on mitigation.

The aim of present study was to assess the microbiological quality of eight traditional meat products (black pudding, white brown, baked pate, roasted pork, raw smoked ham, smoked steamed sausage, raw smoked bacon, raw smoked loin) manufactured by polish farmers in the Lodz region. A total of 37 samples were collected and analyzed twice: within 24 h after purchase from manufactures and after 7 days of storage. Mesophiles, lactic acid bacteria (LAB), Enterobacteriaceae, presence of Listeria monocytogenes and Salmonella spp. were determined. The counts of isolated microorganisms varied depending on the product type and manufacturer. Mesophiles and lactic acid bacteria constituted the main microflora in the tested meat products. Enterobacteriace value was below detection limit in the most samples. The highest mean bacteria counts (mesophiles, LAB and Enterobacteriace) during storage were estimated in black pudding, followed by smoked steamed sausage and white brown. In opposite, the lowest mean bacteria levels were in baked pate and roasted pork. The obtained results showed significant influence of storage time on the mean number of mesophiles and LAB in the meat samples. Negative results for Salmonella spp. and Listeria monocytogenes were observed during 7 days of storage, indicating the safety of the studied meat products.

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 (<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.

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%.

Sustainable soil quality management is one of the most important approaches in ensuring high agricultural productivity and safe quality produce. With the current rising application of inorganic fertilizers and chemical pesticides, degradation of agricultural soils is becoming a global phenomenon, attracting attention of many researchers. The present study hypothesized that with the increasing chemical pesticide and fertilizer application under various cropping systems, there is potential for increased toxicity of heavy metals residues above background concentrations and their associated complexes and intermedia transfer between environmental compartments in large-scale farms in Kenya. Using standard methods, 204 soil samples collected from five distinct cropping systems were analyzed for PH, Electrical Conductivity, exchangeable base cations (Na+, Mg2+, K+, Ca2+), Cu, Pb, Zn, Cd, Fe, Cr, Total Organic Carbon and Total N and data analyzed using Genstart, version 23.1. The concentrations of Zn, Cu, Pb and Fe were lower than the globally acceptable levels hence less soil pollution threat (NPI<1). However, Cd concentration exceeded permitted levels (NPI>1). Among the cropping systems considered, Maize and sugarcane cropping systems were the most susceptible to heavy metal pollution. In conclusion, the rank order of the pollution potential associated with heavy metal contamination in the study area is Cd>Zn>Pb>Cu>Cr>Fe.

Underwater natural gas pipelines constitute critical infrastructure for energy transportation. Any damage or leakage in these pipelines poses serious security risks, directly threatening marine and lake ecosystems and potentially causing operational issues and economic losses in the energy supply chain. Due to the difficulty in detecting deterioration over time and regularly inspecting these submerged pipelines by divers, the use of unmanned underwater vehicles (UUVs) becomes crucial in this field. In this study, an underwater pipeline tracking experiment was carried out by providing autonomous features to a remote-controlled unmanned underwater vehicle. During the tracking of the underwater pipeline, damages were identified, and the locations of these damages were determined. The navigation information of the underwater vehicle, including orientation in the x, y, z axes (roll, pitch, yaw) from a gyroscope integrated with magnetic compass, speed and position information in the three axes from an accelerometer, and the distance to the water surface from a pressure sensor, was integrated into the vehicle. Pre-tests determined the necessary pulse width modulation values for the thrusters of the vehicle, enabling autonomous operation by providing these values as input to the thruster motors. In this study, the vehicle moves in 3D was achived by the vertical thruster of the vehicle was activated to maintain a specific depth, and applying equal force to the vehicle’s right and left thrusters forward movement, while differential force induced deviation angles. In pool experiments, the unmanned underwater vehicle autonomously tracked the pipeline as intended, identifying damages on the pipeline using images captured by the vehicle's camera. The images for damage assessment were processed using a convolution neural network (CNN) algorithm, which is a deep learning method. The position of the damage relative to the vehicle was estimated from the pixel dimensions of the identified damage. The location of the damage relative to its starting point was obtained by combining these two positional pieces of information from the vehicle's navigation system. The all study was performed within the Python environment.

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.

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.

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.

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.

We present an automated system for nutrient solution management. Prior arts usually measure only pH and EC of the nutrient solutions for maintenance. When EC drops, they just simply add concentrated nutrient to the horticulture bed. Such approach can maintain the density of nutrient solution but cannot maintain the rates of individual ion particles. To prevent nutrition related disorders, fertilization methods with ion selective electrodes are widely introduced. This trend measures individual ion concentration of nutrient solution to maintain appropriate nutrient composition by supplying only insufficient ions. Many researchers have suggested ISE based automated fertilization systems. However, they failed to control a chemical artifact called ion interference effect, which becomes greater at higher density. Our system measures individual concentration of multiple ions and add only deficient nutrients, while handling the ion interference effect issue. To ensure the performance of ion selective electrodes, the system also performs fully automated 3-point calibration 24 times a day. A machine learning algorithm is applied on the sensory parts to remove ion interference effect which make measurement of complex solution with ISE almost impossible. With automated calibration and signal processing technology, the system robustly and continuously maintains nutrient condition for plants. We suggest applying this system on closed hydroponic systems such as smart farms or plant factory, to reduce water consumption and to provide more appropriate environment for the crops.

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.

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.

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.

Porcine parvovirus 8 (PPV8), a novel virus in the Parvoviridae family, was first identified in 2022 in lung samples of domestic pigs from China. Retrospective analyses showed that it had been circulating in China since 1998, but no other countries had reported its presence so far. A recent study conducted in South America did not detect any PPV8-positive samples in that region. Here we report the detection of PPV8 in Hungarian and Slovakian pig farms and the estimated prevalence of the virus in Hungary. Altogether 2230 serum, 233 oral fluid, and 115 processing fluid samples were systematically collected from 23 Hungarian and 2 Slovakian pig farms between 2020 and 2023. A real-time quantitative PCR method was developed to detect the viral genome. Our results revealed the presence of PPV8 on 65% of the Hungarian farms and on both Slovakian farms included in our study, marking its first detection in Europe. Oral fluid samples showed the highest positivity rates, reaching up to 100% in some herds. The viral genome was successfully detected in serum and processing fluid samples too, but with significantly lower prevalence rates of 4% and 5%, respectively. Genetic analysis of 11 partial VP2 sequences demonstrated high similarity to the original Chinese strain but with unique amino acid mutations, suggesting possible local evolution of the virus. Our study presents the first scientific evidence of PPV8 infection outside of China and offers a comprehensive assessment of its prevalence in the Hungarian pig population. Further research is required to understand its potential impact on swine health.

Legislation and interest to protect and restore freshwater and marine ecosystems from aquaculture's environmental impact is global. However, aquaculture induced eutrophication continues to be a major environmental issue. Open freshwater fish farms in particular, providing fish with phosphorus-rich feeds pollute aquatic ecosystems since water soluble phosphorus, uneaten feed, feces, and metabolic waste from farmed fish increase phosphorus concentration in the adjacent waters. Several intestinal enzymes, transporters, and regulating factors are implicated in dietary phosphorus retention of farmed fish. For example, alkaline phosphatase and other transporters help the anterior intestine absorb phosphorus, while pH, calcium, and vitamin D affect these enzymes and transporters. Intestinal morphology and gut microbiome may also affect this process. Reducing phosphorus pollution from open-flow fish farms requires a thorough understanding of processes that affect nutrient retention and absorption as well as of the impact of dietary factors, anti-nutritional substances, and intestinal morphology. Optimizing feed composition, adding functional feed ingredients, and managing gut health can reduce phosphorus release and improve aquaculture sustainability. Processing and functional feed additives can mitigate anti-nutritional factors and, addressing these issues will reduce aquaculture's environmental impact, ensuring aquatic ecosystem health and global food security

The objective of this research is to show the family farms as an energy consumers and producers from renewable sources. It is a possibility for them to reduce operating costs. Time scope of the study covers the period 2014-2022. The data source is the Farm Accountancy Data Network. On the basis of the value of energy output and energy costs the rankings were prepared. After the ranks were awarded, the strong position of the Netherlands and Germany was indicated. It has been shown that the production and consumption of energy depend on the economic size of the farm, and do not depend on the type of production. As such, panel models were built for energy output and costs. The determinants that affect them were indicated. Energy output depends on total inputs – the higher they are, the higher the output. The energy costs are related to utilized agricultural area, total output and family farm income. The results obtained are discussed within the framework of recommendations of the European Commission.

Abstract: The study used whole-genome sequencing (WGS) and bioinformatics analysis for the genomic characterization of 60 isolates of Listeria monocytogenes isolated from cattle farms, cattle abattoirs, and retail outlets in Gauteng province, South Africa. The isolates' sequence types (STs), clonal complexes (CCs), and lineages were determined using in silico multilocus sequence typing (MLST). We used BLAST-based analyses to identify virulence and antimicrobial genes, plasmids, proviruses, and the CRISPR-Cas system. The study investigated any association of the detected genes to the origin in the beef production chain of the L. monocytogenes isolates. Overall, in 60 isolates of Listeria monocytogenes, there were 7 STs, 6 CCs, 44 putative virulence factors, 2 resistance genes, 1 plasmid with AMR genes and 3 with conjugative genes, 1 CRISPR gene, and all 60 isolates were positive for proviruses. Among the 7 STs detected, ST204 (46.7%) and ST2 (21.7%) were the most prominent, with ST frequency varying significantly (p&lt;0.001). The predominant CC detected were CC2 (21.7%) and CC204 (46.7%) in lineages I and II, respectively. Of the 44 virulence factors detected, 26 (across Listeria Pathogenicity Islands, LIPIs) were present in all the isolates. The difference in the detection frequency varied significantly (P&lt;0.001). The two AMR genes (fosX and vga(G)) detected were present in all 60 (100%) isolates of L. monocytogenes. The only plasmid, NF033156, was present in 3 (5%) isolates. A CRISPR-Cas system was detected in 6 (10%), and all the isolates carried proviruses. Significant differences were detected in the frequencies of STs and virulence factors regarding the source and sample type of the L. monocytogenes isolates. The presence of both fosX and vga(G) genes in all the isolates from the three industries (cattle farms, abattoirs, and retail outlets) can potentially cause therapeutic implications. Our study, which characterized L. monocytogenes recovered from the three levels in the beef production chain in the country, provides the first evidence of the distribution of the pathogen with potential food safety and therapeutic implications.

It was the aim of this study to examine whether the usage of the vaccine COXEVAC® (Ceva Santé Animale) could reduce the consumption of antibiotics in Q-fever-positive dairy farms. Additionally, the effects of other herd-level factors on the consumption of antibiotics were investigated. In this longitudinal cohort study, 36 farms with vaccination and 13 farms without vaccination participated. In all herds, Coxiella burnetii had been directly or indirectly diagnosed. To compare the treatment frequency of antibiotics between the vaccinated group and the non-vaccinated group, the consumption of antibiotics for each farm was collected using the veterinary documents about the application and delivery of antibiotics. To gather detailed information about herd data, nutrition, milking management, housing, and animal health, the farmers were interviewed with the help of a questionnaire. The results suggest that there might be an association between the vaccination against Q fever and a reduced consumption of antibiotics. Neither herd size nor milk yield level influenced the consumption of antibiotics in the study herds. Type of flooring and udder cluster disinfection while milking were associated with a lower and higher therapy frequency, respectively. Further studies are necessary to elucidate the cause-effect relationship between vaccination and the consumption of antibiotics.

Installation of offshore wind farms is rising, driven by the goal of changing the global energy matrix. However, many of its possible impacts are still unknown. Increased noise levels, disruptions to food chains, pollution due to traffic, and impacts on fishing communities and tourism are all potential effects to consider. Marine habitats are essential carbon dioxide sinks. Therefore, losing marine biodiversity due to offshore wind farms can be counterproductive in mitigating climate change. Balancing biodiversity conservation, wind potential, and political interests is challenging. Today, Uruguay has practically decarbonized its electrical matrix, incorporating wind, solar, and biomass energy alongside hydroelectricity. In line with this, the country's Hydrogen Roadmap highlights green hydrogen as relevant, potentially serving as a transportation fuel for both domestic consumption and export. Combining the country's strong base of wind experience with its sustainable policy, it plans to implement offshore wind farms to produce green hydrogen, making studies of its impacts crucial. This paper reviews the current social and environmental information on the Uruguayan coastal habitat, analyzes onshore wind farms' ecological studies, and examines offshore wind farms' global environmental and social impacts. Finally, it proposes suggested studies for environmental approval for offshore wind farms.

Milkfish (Chanos chanos) locally called Bangus in the Philippines, is a popular food fish in terms of production and consumption in the Philippines, Indonesia and Taiwan. This study characterized a typical grow-out milkfish farm in the Davao region in terms of socioeconomic profile, farming practices, and simple costs and returns. Three sites were chosen to conduct this study, mainly in Mati, Pantukan and Panabo in Davao region where N=43 farm workers provided information on their daily farming practices. Farms are commonly stocked with 16,000 fingerlings, harvesting occurs after every 6 months with six feeding times in a day. Moreover, workers were paid an average of Php 10,000 per month while the company had a gross income of Php 930,000 per cropping cycle. The feed cost shares 76% of the overall operational cost with a 27% return on investment for the first year of operation. Climate change impacts (e.g. higher sea surface temperature, unpredictable weather and flooding) and deteriorating water quality conditions were seen as bigger threats. Other results showed a positive relationship between stocking density and volume harvested (df=1, MS=0.0907, F=40.13, P=0.000) and income (df=1, MS=0.048, F=21.22, P=0.000). The study also showed the need for cheaper feed substitute and better benefits to farm workers.

To evaluate the nutrient load due to the grazing of laying hens in outdoor runs, soil characteristics were monitored in three Italian organic farms. For each farm, soil samples were taken from three increasing distances from the hen house and two depths and different chemical parameters were evaluated. The comparison among the results from the different distances shows that N-NO3 and Olsen P are the most affected parameters by hen faeces: both present high values with a statistically significant difference in the area close to the poultry house and for the most superficial layer. Even TKN and TOC show significant differences between the concentrations of the first layer (more concentrated) and those of the second layer (less concentrated). In general, the surface soil layer closest to the chicken house is the portion of the outdoor run most affected by chicken droppings and represents the most critical point in terms of potential environmental impact. Therefore, it is necessary to intensify the management of the outdoor run with tools that can facilitate the grazing of animals and with vegetation that can absorb nutrients by limiting leaching and run-off.

The use of wind energy has been developing fast over the last years. The global cumulative wind power capacity increased by 10.5% in 2019, most of which comes from onshore wind farms. One of the consequences of this continuous increase is the use of land for onshore wind farms. There are already cases worldwide where lack of well-established plans and strategies have caused delays in projects. The need for efficiently using land for wind farms will be mandatory in the short term. In this work, we present a numerical analysis to evaluate wind farm land-use. By defining the ratio between mechanical output power over an area as a parameter called land-use ratio, this work focused on comparing several cases of aligned and staggered layouts. Mechanical output power was estimated using a validated code based on Blade Element Momentum code, and the wake velocities and wake interaction effects were estimated using a validated wind turbine CFD model. In terms of output power, staggered designs are more efficient than aligned designs. However, the results showed that even though staggered designs produced higher output power, aligned farms with tight lateral spacing could be as efficient as staggered ones in terms of land-use but using fewer turbines. In summary, tightly aligned designs should be a tendency in the future towards efficient use of land in wind farms.

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.

Contrary to pig farming in developed western countries, in a large part of the world, pigs are still traditionally kept, in small backyard farms, usually for family needs. Their main characteristics are low biosecurity, swill feeding, natural breeding and uncontrolled trade. Given the high number of backyard farms in Serbia and the risk they are thought to pose to intensive pig farming, the main aim of this study was to evaluate the prevalence of major viral diseases of swine among traditionally kept pigs in small holdings with low biosecurity. For this investigation, 222 serum samples from 69 backyard holdings were randomly selected and tested for PRRS, Aujeszky`s disease, PPV infection and Swine influenza by ELISA. The herd-level seroprevalence of PRRS, Aujeszky`s disease and PPV infection was 2.9%, 27.5% and 37.7%, respectively. Swine influenza seroconversion was not confirmed in any of the tested holdings. Despite widely distributed PPV and AD in backyard farms in Serbia, almost 50% of them are still negative for the all-tested disease. The backyard farms must be monitored, and owners educated as their role in eradication programs and obtaining country-free status may be crucial.

The main point in the present article was the comparison of the Technical Efficiency (TE) in four years for milk production in Ecuador by the period 2018 – 2021, before and after the pandemic, and the determination of the factors related to the TE for the last year. The information from the official public database in the country were analyzed by the nonparametric technique called DEA including a bootstrap simulation. Once different variables were selected including aspects as livestock and labor, the TE with Variable Returns to Scale (VRS) with “output” orientation was calculated by each year and province. Among the provinces, statistically significant differences were found (P<0.1) for the TE means, and most of the efficient units were found throughout the Andean zone, in each year. Between the most important findings, it was important that the TE average after the beginning of the pandemic was statistically lower than the last 3 consecutive years under study (P<0.1) with 3% approximately of decrease, and the main factors related to this were multiple including labor characteristics, the field composition, and the supplies access during the pandemic. Finally, some implications for public policy were found around the gender in agriculture activities, the social security, and the difficulties in supplies access.

Drone technology has undoubtedly become an integral part of our everyday life these days. The business and industrial use of unmanned aerial vehicles (UAV) can provide advantageous solutions in many areas of life, and they are also optimal for emergency situations and for accessing hard-to-reach places. However, their application poses numerous technological and regulatory challenges to be overcome. One of the weak links in the operation of UAVs is the limited availability of energy. In order to address this issue authors developed a novel trajectory planning method for UAVs to optimize the energy necessity during flight. First, an “energy map” was created, which was the basis for trajectory planning, i.e., determining the energy consumption of the individual components. This was followed by configuring the 3D environment including partitioning of the work space (WS), in fact, defining the free spaces, occupied spaces (obstacles) and semi-occupied/free spaces. Then the corresponding graph-like path(s) were generated on the basis of the partitioned space, where a graph search-based heuristic trajectory planning was initiated, taking into account the most important wind conditions including velocity and direction. Finally, in order to test the theoretical results, some sample environments were created to test and analyse the proposed path generations. The method eventually proposed was able to determine the optimal path in terms of energy consumption.

Floating wind is becoming an essential part in terms of renewable energy. Therefore, highlighting the perspectives in developing the floating wind platforms is very important. In this paper, we focus on floating wind concepts and projects around the world. This will give a taste to the reader about what is going on in terms of the projects around the world. The main aim of this work is to further explain the collected data regarding the floating wind concepts and projects, and further classify them in terms of cost, power capacity, wind speed, water depth, and distance to shore.

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.

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.

The Virtual Blade Model (VBM) is the implementation of the Blade element model (BEM). This was done by coupling the Blade Element Momentum theory equations to simulate rotor operation with the Reynolds Averaged Navier-Stokes (RANS) equation to simulate rotor wake and the turbulent flow field around it. Exclusion of actual geometry of blades causes lower computational cost (about 10 to 100 times). Also, due to simplifications in the meshing procedure, VBM is easier to set up than the models that consider the actual geometry of blades. One of the main unaddressed limitations of the VBM code was the constraint of modeling up to ten rotor zones within one computational domain. This paper provides a detailed and well-documented general methodology to develop a virtual blade model for simulation of ten-plus turbines within one computational domain to remove the limitation of this widely used and robust code. It is strongly believed that the technical contribution of this paper, combined with the current sky-rocketing advancement of available computational resources and hardware, would open the gates to simulate various engineering problems in the field of aerospace, clean energy, and many more.

The present work proposed a low-cost portable device as an enabling technology for Smart Farms using multispectral imaging and Machine Learning in soil texture. Clay is an important factor for the verification and monitoring of soil use due to its fast reaction to chemical and surface changes. The system developed uses the analysis of reflectance in wavebands for clay prediction. The selection of each wavelength is performed through an LED lamp panel. A NoIR microcamera controlled by a Raspberry Pi device is employed to acquire the image and unfold it in RGB histograms. Results showed an good prediction performance with R2 of 0.96, RMSEC of 3.66% and RMSECV of 16.87%. The high portability allows the equipment to be used in a field providing strategic information related to soil sciences.

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.

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.

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

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.

Cryptosporidium parvum is one of the major causes of neonatal calf diarrhoea resulting in reduced farm productivity and compromised animal welfare worldwide. Livestock act as a major reservoir of this parasite, which can be transmitted to humans directly and/or indirectly, posing a public health risk. Research reports on Cryptosporidium prevalence from the east Mediterranean region are scarce with even less originating from Cyprus. This study is the first to explore occurrence of Cryptosporidium spp. in young dairy calves on the island. A total of 242 faecal samples were collected from 10 dairy cattle farms in Cyprus, all of which were screened for Cryptosporidium spp. using nested-PCR amplification targeting the small subunit of the ribosomal RNA (18S rRNA) gene. The 60 kDa glycoprotein (gp60) gene was also sequenced for the samples identified as C. parvum positive to determine the subtypes present. Occurrence of Cryptosporidium was 43.8% (106/242) with at least one positive isolate in each farm sampled. Prevalence per farm ranged from 20¬‒64%, while C. bovis, C. ryanae and C. parvum were the only species identified. Amongst those, the latter was the predominant species, representing 51.8% of all positive samples. Four zoonotic subtypes were identified – IIaA14G1R1, IIaA15G1R1, IIaA15G2R1 and IIaA18G2R1. IIaA14G1R1 was the most abundant; representing 48.2% of all C. parvum positive samples and was also the most widespread. This is the first report of zoonotic subtypes of C. parvum circulating in Cyprus. These results highlight the need for further research into the parasite focusing on its diversity, prevalence, host-range and transmission dynamics on the island.

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.

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.

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.

This work examines dairy and sheep farmer attitudes toward antimicrobial use (AMU) in New Zealand. There is increasing public demand on livestock producers to reduce AMU in livestock. The demand stems from concerns about potential antimicrobial resistance (AMR) that could originate from food animals. There is limited practical data on farmer knowledge of AMU. An electronic survey was sent to dairy (n= 378) and sheep farmers (n= 551). Seventy-six dairy farmers (20%, n=76/378) returned the survey. Dairy farmers (69%) showed low levels of concern about antimicrobial resistance and awareness of the need to reduce AMU. Additionally, 76% of dairy farmers didn’t think it was possible to reduce AMU. Thirty-nine sheep farmers (7%, 39/551) returned the survey. 76% of sheep farmers were supportive of restricted use of AMU. The dairy and sheep farmers sourced most of the advice from veterinarians (&gt;90%), the livestock industry (&gt;80%) and their colleagues (&gt;70%). This study shows that farmers showed varied concerns about AMR and AMU. Moreover, sheep farmers were more amenable to increased restriction on AMU than dairy farmers. This study suggests that knowledge gaps in farmers may best be filled by veterinarian input.

The tambaqui Colossoma macropomum is the main species of edible fish originating from fish farming in the Amazon region. This study aimed to determine and compare the hematological and biochemical parameters of tambaqui from fish farms in municipalities in the Metropolitan Region of Manaus, Amazonas, Brazil. Two fish farms were sampled in a semi-excavated pond-type breeding system in each of the five towns investigated (Presidente Figueiredo, Manaus, Iranduba, Manacapuru and Novo Airão), totaling ten breeders. On each farm, ten specimens were captured, totaling 100 animals. Blood was collected by caudal puncture, and hematological and biochemical parameters were determined using the methodology described for teleosts fish. For the erythrogram in the variables of hematocrit, hemoglobin concentration and erythrocytes, significant differences were observed in Iranduba and Novo Airão, demonstrating indications of anemic processes and dehydration. For plasma biochemistry, low levels were observed in fish from Iranduba and Novo Airão. High values in lipid compounds were found in tambaqui from Manacapuru. High intraspecific variation was found in the leukogram and thrombogram, which determined similarities between tambaqui from different farms and municipalities. On the other hand, fish from Manacapuru have an inappropriate diet, indicated by the high levels of cholesterol and triglycerides found in the blood.

The impacts of climate change on shrimp aquaculture can vary widely and can have environmental and socioeconomic consequences. This study assessed the vulnerability to climate change impacts of selected small-scale shrimp farms of Penaeus vannamei and shrimpfish market vendors in Davao region, Philippines using a modified Fisheries Vulnerability Assessment Tool (FishVool). Shrimp farmers and vendors were interviewed using two separate semi-structured questionnaires. A total of thirty-nine (N=39) shrimp farmers and forty-eight (N=48) market vendors from various market areas within the region were interviewed. Data regarding exposure (E), sensitivity (S), and adaptive capacity (AC) were collected following the FishVool parameters with modifications. Results revealed that overall climate change vulnerability of the shrimp farmers was medium (M), where both exposure and adaptive capacity were low (L) while sensitivity was medium (M). In addition, the shrimp market vulnerability of the various sites examined revealed medium (M) scores for markets in Pantukan, Mabini, Tagum, Maco, Lupon, Davao City, and Digos. But high (H) vulnerability scores for the markets in Panabo and Sta Cruz. Overall, the study provided a better understanding about shrimp farming in relation to climate change impacts and vulnerability and provided information for future shrimp farm management, marketing and climate change adapation in the region.

A novel technique suitable for propulsion of small unmanned aerial vehicles (UAV) is discussed in this paper. This approach utilizes the rotational energy of airborne gyro rotors and converts it into translational propulsion for the vehicle. The energy conversion is achieved by generating precisely directed centrifugal force pulses through short-duration rotor unbalances. The accurate control of the timing and magnitude of these unbalances is crucial for successful propulsion generation. Our first-order theory of controlled unbalance propulsion (CUP) predicts the potential for achieving high translational accelerations and vehicle velocities up to orbital levels. Power saving levitation of UAVs can be attained. In this paper, we provide traceable evidence that pulsed centrifugal propulsion is based on well-established laws of physics and can be realized using state-of-the-art technologies.

Unmanned aerial vehicles (UAV) have emerged as a solution to day to day survey tasks, allowing users to visualize phenomena in real-time. This paper explores the capabilities of UAV or drones in the collection of accurate, geo-tagged data quickly, including photogrammetry software processes to deliver standardized data output. In order to explore the capabilities of UAV, Gatu Township in Centenary, Muzabani District of Zimbabwe was chosen from the national mapping topographic series. This study demonstrates the efficiency of data collection using drones, generate 2D orthomosaics in real time, so that analysts can easily visualize land cover and identify any changes, map and model large areas to produce data for 2D and 3D models. The recent development of innovative optical image processing has further lowered the costs high resolution topographic surveys.

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.

The shrimp industry in the Philippines play a vital role in the local and national economy through exports with markets abroad such as in South Korea, Japan, the USA, and others. This study aimed to describe the various cultural and operational characteristics of small-holder and commercial shrimp farms (P. vannamei) in the Davao region. It also evaluated the current risks and challenges faced by the shrimp farmers. A semi-structured questionnaire that focused on shrimp farmers, and operators in the region was used to collect data with N=41 farmers and operator. The results showed that respondents were engaged in small-holder farming activities which had an average yield of 10 tons/ha. On the other hand, the commercial farms that operate intensively had an average yield of 24 tons/ha. Most small-holder operators used electric generator machines to conduct aeration in their farms using paddlewheels and blowers. For the commercial farms, more paddlewheels and blowers were employed per pond compared to small-holder farms. Generally, the income of a farm was related to the yield of farms or the number of fries rather than social factors or size of farms cultivated. In terms of input costs, feeds were found to have the highest input costs, followed by the fry, fuel, labor, and others (fertilizers and water treatment chemicals). Most of the farmers mentioned that they are affected by diseases such as white spot syndrome (60%), black gills (35%), and red tail (5%). They perceived that the main contamination come from the water source (31%). The main threats mentioned are declining shrimp prices in the market, source of fry, water disposal, and overstocking, and water quality. Based on this study, farmers should follow good shrimp aquaculture practices and there is a need for them to regularly monitor their water quality.

An novel indoor positioning method of pigsty based on Ultra Wideband (UWB) technology is proposed via reasonably arranging the base stations (BTS) and positioning tags, which can provide a strong support for the accurate positioning of specific pig pens in the pig house. The distribution of Dilution of Precision (DOP) values are analysed in different deployment schemes which includes the amount, the height, the deployment shape and distance of BTS, though positioning simulation. Moreover, the positioning effect of dynamic following positioning (DFP), the root-mean-square error (RMSE) and variance of static positioning (SP) are measured. It is noteworthy that Kalman filtering algorithm is adopted to smooth the DFP experimental data for reducing the positioning error. The simulated results show that the DOP values decrease with the increasing of the height and the distance, and these results and laws are consistent with the experimental results. However, the DOP values are reached best when the height is from 1.75 m to 2.75 m, and the distance is over 3.00 m. Furthermore, the DOP values of quadrilateral deployment is smaller than the one of triangle. In addition, variance of SP and DFP are decreased by utilizing Kalman filtering algorithm. Therefore, the excellent positioning system and its solutions in pigsty can be provided by our proposed indoor positioning method.

For equivalent modeling of mixed wind farms (WFs), existing clustering indicators cannot consider the complex coupling characteristics between different types of wind turbines (WTs). This paper proposes a refined equivalent modeling method for mixed WFs based on artificial intelligence technology. Firstly, the electromechanical transient performance of mixed WFs is analyzed. The WT type, wind speed and direction, and voltage dip are considered the main factors affecting the external dynamic response of mixed WFs. Secondly, the equivalent node model is established, including the selection of independent and dependent variables. Then, the multiple artificial neural networks (ANNs) are trained one by one based on sample data, to explore the nonlinear relationship between the dependent variables and the independent variables. Finally, the electromechanical transient simulations of the power systems with a mixed WF is carried out by using the MATLAB platform. Simulation results show that the proposed model can reflect the external characteristics of the mixed WF in different wind scenarios and voltage dips.

The location routing problem of unmanned aerial vehicles (UAV) in border patrol for intelligence, surveillance and reconnaissance is investigated, where the location of UAV base stations and the UAV flying routes for visiting the targets in border area are jointly optimized. The capacity of the base station and the endurance of the UAV are considered. A binary integer programming model is developed to formulate the problem, and two heuristic algorithms combined with local search strategies are designed for solving the problem. The experiment design for simulating the distribution of stations and targets in border is proposed for generating random test instances. Also, an example based on the Sino-Vietnamese border is presented to illustrate the problem and the solution approach. The performance of the two algorithms are analyzed and compared through randomly generated instances.

This work analyzes the severity and risk associated with Automatic Dependent Surveillance-Broadcast (ADS-B) message drop out in Detect and Avoid (DAA) function of Unmanned Aircraft System (UAS). Performance assessment of the Universal Access Transceiver (UAT) ADS-B message implies that in some cases ADS-B fails to update within a specified update interval, which is referred to as drop out in this work. ADS-B is a fundamental surveillance sensor for both class 1 and class 2 DAA systems. Message loss or drop out has been found as one of the common limitations of the ADS-B system. The key feature of this study is incorporating the update rate of real ADS-B data transmitted from the manned aircraft. The data were received from the Grand Forks International Airport, North Dakota. Monte Carlo method has been adopted to resolve encounter scenarios in the presence of drop out. The change in the alert triggered by the UAS DAA in the presence of ADS-B drop out has been investigated. Furthermore, the risk matrices are created to quantify the associated risk with drop out affected alerts. Simulation results depict that both the duration of drop out and DAA look-ahead time affect the alert-triggering function of UAS. With a small look- ahead window and longer duration of drop out, the number of warning alerts increases. Also, alerts are affected more during an overtaking encounter than that of a head-to-head encounter. A system-level analysis is also carried out to recognize the potential reasons behind the ADS-B drop out.

Unmanned agricultural tractor (UAT) represents the advanced stage of autonomous navigation and serves as a core technology in agricultural production. It reduces the operator’s workload, and improves operational accuracy and efficiency. This article reviews three aspects of key autonomous navigation technologies for UATs: perception, path planning and tracking, and motion control. The advantages, and shortages of these key technologies on UATs are clarified by analyzing technical principles and the current research status. We conducted summaries and analyses of existing unmanned navigation solutions for different application scenarios in order to identify current bottleneck issues. Based on the analysis of the applicability of key autonomous navigation technologies on UATs, it can be seen that fruitful research progresses have been achieved. The review also summarizes the common problems in current technologies. The application research on sharing and integrating multi-source data for autonomous navigation are relatively weak. There is an urgent need of high-precision, and high-stability sensing equipment. The universality of path planning methods, and the efficiency and precision of path tracking need to be improved. It is necessary to develop high reliability electrical control modules to enhance motion control performance. Overall, advanced sensors, high-performance intelligent algorithms, and reliable electrical control hardware are key factors in promoting the development of UAT technology.

Multiple entities use unmanned underwater drones for various functions, but how can they navigate underwater at such depths without a pilot? It is essential to understand how different unmanned underwater drones, such as remotely operated and autonomous underwater vehicles, function with underwater sensing technology. As each unmanned underwater drone has its function, the combination or chief use of the sensors is equally essential to recognize. Different underwater drone designs can be more cost-effective when a human is not on board as it can lead to a smaller, streamlined design in which oxygen and pressure control need not be a factor. Without considering oxygen limitations, these underwater drones can remain submerged for extended periods. These underwater vehicles operate autonomously or in conditions that may leave the individuals controlling the trajectory relying upon these sensors. It is also necessary to review how these sensors work, how they are implemented, and how they can help the public. This review was performed to address these research questions and provide an overview of sensors employed by unmanned underwater vehicles.

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.

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.

Diffusion in recent decades of Cannabis sativa L. varieties with low concentrations of tetrahydrocannabinol (THC) is leading to a specialization in the whole sector, requiring innovative techniques for input optimization according to the variety and the growing environment. The continuous agricultural evolution aims at increasing the sustainability of cultivation systems, pushing toward precision technologies application for inputs management. Cannabis monitoring can benefit from Unmanned Aerial Systems applications combined with image thresholding techniques for reliable and effective near-real-time plant detection and numbering. The work compares and evaluates the potential of two threshold segmentation techniques for Cannabis plant detection and counting in two experimental fields in Italy on a multitemporal scale, bringing such techniques in competition with machine learning for object detection. The Otsu segmentation technique demonstrated more reliable performances at the early stage of cultivation with an accuracy of 0.95. The Canopy Height Model technique showed increasing performances during the growing season. Future works will compare thresholding segmentation techniques with machine learning (ML) approaches and their potential as a supporting tool for ML image annotation.

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.

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.

This paper presents several novel designs of underwater portable radio antennas operating in the 2 MHz, 50 MHz and 2.4 GHz bands and efficient for launching surface electromagnetic waves at the seawater/air interface. The antenna operation is enabled by an impedance matching antenna enclosure, which is filled with de-ionized water. Enhanced coupling to surface electromagnetic waves is based on the field enhancement at the antenna tip. These design features allow us to reduce antenna dimensions and improve the coupling of electromagnetic energy to the surrounding saltwater medium. Since surface wave propagation length far exceeds the skin depth of conventional radio waves at the same frequency, this technique is useful for broadband underwater wireless communication over distances, which far exceed the skin depth in seawater. We conclude that the developed broadband underwater radio communication technique will be useful in networking of unmanned underwater vehicles.

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.

Cultural heritage is the most important resource providing communication between the past and future. The societies utilizing this resource in the best way, have had an inventory of cultural heritage and contributed to world culture. The efforts made for being able to the accurate and healthy data in the documentation of cultural heritage led the new techniques to emerge other than documentation and, together with the developing technology, documentation with traditional method replaced with modern documentation techniques using new technological devices. One of these documentation techniques is the use of Unmanned Aerial Vehicles (UAVs) in the documentation studies. In this study, the usability of unmanned aerial vehicles in the studies of cultural heritage was studied.

The objective of the analysis carried out in this paper is to quantify the impact of subsidies on the activity of two vegetable farms, of different sizes in terms of agricultural area under cultivation, 600 ha and 3000 ha, which can constitute a model at macroeconomic level, indicating the ways in which these farms can ensure their income. For the analysis carried out, indicators were taken into account concerning production, net profit and subsidies received over a period of three years for the agricultural crops grown on these farms, identifying their contribution and effects on profitability. Descriptive statistics, visual inspections and basic comparison methods were also used, thus determining the patterns of the impact of subsidies and their variation for each of the existing crops in the vegetable farms studied. The data on which the statistical models are based are extracted from the financial statements of the farms analysed, giving the possibility of a predictive extension of the evolution of income and, very importantly, of their profitability. The conclusions revealed, for the 600 ha vegetable farm, that this farm maintained its area constant during the analysis period, benefiting from annual subsidies, and that the practice of crop diversification (rape, barley, winter wheat, oats, soybean, maize, lucerne), appropriate rotation, conservation farming and crop irrigation on 85.34% of the area, ensured average yields/ha that exceeded those recorded at national and regional level, except for 2020. The economic performance of this farm is oscillating in the period 2018-2021, with the ability to consistently generate profit, but in 2020 it is close to break-even, a year in which subsidy income tipped the balance towards positive but modest financial results. For this farm, the statistical model carried out was inconclusive because the farm optimises its cropping plan every year, depending on agrometeorological predictions, subsidy levels and market trends, changing crops, thus not being able to estimate the extent to which each crop contributes to maintaining the financial balance of the farm. Thus, although subsidies have impacted the level of net income, the extent to which they have done so is unclear. For the 3000 ha farm, the findings revealed that this farm also has a roughly constant area in use over the analysis period and for which it receives subsidies. This farm practices crop diversification (rape, barley, winter wheat, sunflower, soybean, grain maize, late potatoes, sweet potato, carrot and flowers) and adequate crop rotation. The data highlight that subsidies played a significant and sometimes overwhelming role in determining the gross output of each crop to achieve a positive value of this indicator. Modern conservation farming technologies and crop irrigation on 74.14% of the area justify the average yields/ha achieved, which again exceeded those recorded at national, regional and county level, with the exception of 2020. Maize and soybean crops consistently contributed to the farm's income, with a high gross product and net income, despite changes in the average yield per hectare achieved each year. Good and rising economic performance for this farm during the period under review, which justifies the profitability of the business from an economic, financial and commercial point of view. Although there have been fluctuations in the value of yields realized on different crops, net revenues continued to be high and even up significantly in 2021. Thus, the study highlighted and identified trends and patterns in agriculture, patterns that can serve as a source of information for relevant policy decisions, playing a key role in guiding future research and allocating resources efficiently in the agricultural sector.

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.

The disaster response operational strategies requires tool that a may provide time bound clear picture of potential spots. Natural disaster sometimes comes slowly like increment of water level resulting flood or early warning of tsunami whereas in manmade disasters like 1CBRNE attack or chemical accident or industrial structure collapse or leakage through a pipeline of some toxic hazardous gas requires very accurate and quick response strategies. 2Unmanned Aerial System is commercially used tools present in the market and also used by military organization for various operations throughout the world. The accuracy and time bound pictorial representation of the spots by these tow tools makes them very useful for providing clear picture of potential disaster sites and enabling decision makers to take decision on these representation. Apart of these the potential to deliver important material faster than any other mode also makes these equipment and technology a very important asset for making disaster risk reduction strategies. This paper elaborates the efficacy and utility of Unmanned Aerial System or Drones in developing robust and time bound strategies for disaster risk reduction. This paper also evaluates some experiences and describes some initiatives using Unmanned Aerial System to support disaster risk reduction strategies and post disaster decision making efforts.

Infections with multi-drug-resistant (MDR) pathogens in food-animals threaten public health and food security. However, the epidemiology and factors associated with MDR Escherichia coli on Ugandan farms are not well known. This study investigated the prevalence, resistance patterns and factors associated with MDR E. coli carriage on chicken farms. A total of 158 E. coli strains were isolated from 158 chicken farms. The disc diffusion method for susceptibility testing was performed. Clinical breakpoints were interpreted according to Clinical and Laboratory Standards Institute guidelines. MDR was defined as resistance to three or more classes of antimicrobials. MDR E. coli prevalence on chicken farms was 62.7% (95% CI: 55.0 – 70.3). High resistance was observed against ampicillin 79.8% (95% CI: 72.7–85.4), tetracycline 72.8% (95% CI: 65.2–79.2), cotrimoxazole 55.7% (95% CI: 47.8–63.3), and ciprofloxacin 38% (95% CI: 30.7–45.9). Farmers who were males (APR = 0.72, CI: 0.55, 0.93), and attained at least secondary education (APR=0.64, CI: 0.46, 0.88) and administration of recommended antibiotic doses (APR = 0.76, CI: 0.59–0.96) posed a lower risk of MDR E. coli carriage. Farms without footbaths posed a heighten risk (APR=1.48, CI: 1.16–1.88). MDR E. coli were highly prevalent on chicken farms. This study underscores the need for antimicrobial stewardship and improved infection prevention strategies on chicken farms.

Zoonotic abortive diseases represent a significant health and economic risk for national public health. This cross-sectional survey was conducted from April to October 2021 among 200 selected small ruminant farmers in the three northern regions of Cameroon. Data collection was done through questionnaires administered by exchange with the herder and responses were coded and recorded on an Excel spreadsheet. The data were then analyzed with R software, version 2.13.0. An ANOVA test was used to assess significant differences in mean of Knowledge, Attitudes, Practices and Perception of zoonotic risks (KAPP) scores between regions. Pearson correlations were used to calculate the association between KAPP scores within regions. Small ruminant farmers surveyed had low mean scores for knowledge of abortive Toxoplasmosis and Chla-mydophilosis (0.1 ± 0.2), desirable attitude (0.32 ± 0.07), appropriate practice (0.36 ± 0.13) in managing abortion, and positive perception of zoonotic risks of Toxoplasmosis and Chlamydo-philosis in small ruminants (0.12 ± 0.33), respectively. KAPP was significantly (p<0.01) and posi-tively associated with knowledge (r=0.98) and risk perception (r=0.99). However, attitudes (r=0.06), practices (r=0.05) and risk perception of toxoplasmosis (r=0.07) and Chlamydophilosis (r=0.08) were not associated with farmers' knowledge. This study revealed significant knowledge gaps, low levels of desired attitudes, and high-risk behavioral practices. These results therefore call for capacity building of health professionals and farmers to better integrate the One Health concept in the management of neglected zoonotic diseases.

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 present study aims to develop a risk-based approach to find optimal solutions for life extension management for offshore wind farms based on Markowitz’s modern portfolio theory, adapted from finance. The developed risk-based approach assumes that the offshore wind turbines (OWT) can be considered as cash-producing tangible assets providing positive return from the initial investment (capital) with a given risk attaining the targeted (expected) return. In this regard, the present study performs a techno-economic life extension analysis within the scope of the multi-objective optimisation problem. The first objective is to maximise the return from the overall wind assets, while the latter aims to minimise the risk associated with obtaining the return. In formulating the multi-dimensional optimisation problem, the life-extension assessment considers the results of a detailed structural integrity analysis, free-cash-flow analysis, and probability of project failure, local and global economic constraints. Further, the risk is identified as the variance from the expected mean of return on investment. The risk-return diagram is utilised to classify the OWTs of different classes using an unsupervised machine learning algorithm. The optimal portfolios for the various required rate of return are recommended for different stages of life extension.

Since the most important constituent of the cost of cryptocurrency production is energy bills, use of illegal electricity in cryptocurrency mining farms is very common. For this reason, many countries prohibit cryptocurrency production or restrict it with some legal regulations. This situation raises the problem of how to detect illicit cryptocurrency mining. Therefore, innovative approaches are needed to detect illicit cryptocurrency mining farms. In this study, it has been shown that unique noise and/or harmonic characteristics of machines producing cryptocurrency can be used to detect illicit cryptocurrency mining farms. The unique harmonic characteristics formed by data centers on neutral line have been detected by field measurements performed. Electricity distribution companies can make risk assessments with this approach by monitoring energy quality data. As a result, the necessary legal permissions can be obtained to investigate suspicious high-risk consumers. Illicit cryptocurrency mining farms can be detected by investigating at high-risk consumer facilities.

Shrinking farm size and fragile farm resources pose a significant challenge to the sustainability of small-scale farms. Efficient resource utilization in small-scale farms is crucial to achieving farm sustainability through endogenous mechanisms. However, the precise mechanisms to integrate physical resources to achieve farm sustainability are not very clear yet. By capturing the interaction among farm resources as a network phenomenon, we identify the discrete resource interactions (RIs) in different types of small-scale farms of Indian Sundarbans, which are associated with higher farm sustainability. Thirty-two linkages, 11 reciprocal linkages, 22 triads, and three ‘core elements’ that occurred and cooccurred on highly sustainable farms are found to be critical in achieving farm sustainability. Using the properties of resource interaction networks as explanators of farm sustainability, we anticipate that sustainability in small-scale farms can be achieved by strategically creating new RIs on the farm. However, there may be limitations to such achievement depending on the nature of RI and type of farm. The analytical approach helps to understand the structural basis of sustainability in small-scale farms, and this approach can be used to achieve farm sustainability through the strategic integration of existing farm resources in the smallholder systems.

The dual-station Interferometric Synthetic Aperture Radar (InSAR) system can overcome the physical limitations imposed by the baseline of single-station dual-antenna InSAR. It provides greater flexibility and can enhance elevation measurement accuracy through a well-designed baseline configuration.Unmanned aerial vehicles (UAV) equipped with dual-station InSAR, with relatively low cost and high flexibility, are useful for mapping and land resource exploration. However, due to challenges including spatiotemporal synchronization and motion errors, there are limited reports on UAV-borne dual-station InSAR. This paper proposes a comprehensive method for processing data from small UAV-borne dual-station InSAR by integrating two-way synchronization chain signals. The proposed method includes compensation for time and phase synchronization errors, trajectory refinement with synchronized chain and Position and Orientation System (POS) data, high-precision dual-station InSAR imaging and interferometric processing. Height inversion results based on the proposed method is also provided, demonstrating the effectiveness of the proposed method and improving interferometric accuracy at calibration points from 0.66 meters to 0.42 meters.

The protection of first responders from radioactive contamination of alpha emitters that may result from a radiological accident is of great complexity due to the short range of the alpha particle in air of a few cm. To overcome this issue, for the first time a system for near real-time measuring alpha particles remotely mounted on a UAS has been developed, tested and calibrated. The new system, based on an optical system adapted to be installed on the UAS in order to measure the UV-C fluorescent emitting by the alpha particle in air, has been tested and calibrated carried out by laboratory and in field experiments using UV-C leds and ²⁴¹Am sources. In experimental flights, the probability of detecting a point source was determined to be approximately 60%. In case of a surface extended source, a detection efficiency per unit surface activity of ten counts per second per MBq cm^-2 are calculated. A background count rate of UV-C around 26 ± 28 s^-1 for an integration time of 0.1 s was measured during flights, which leads to a decision threshold surface activity of 5 MBq cm^-2.

The vehicular ad hoc network (VANET) when augmented with internet is called internet of vehicles (IoV). In the IoV, vehicles have on board units (OBUs), use communication technologies and customized software to communicate with infrastructure around them. The vehicles can have permanent connectivity and global network awareness based on cloud computing. IoV technologies are still being assessed to ensure that the network is protected from attacks, supports a dynamic vehicular mobility scenarios and meets the low latency communication requirements between the vehicles and the surrounding infrastructure. To meet these strict Quality of Service (QoS) demands, Unmanned Aerial Vehicles (UAVs) play a vital role in IoV ecosystems. An UAV can serve as a mobile roadside unit (mRSU) to transmit data between vehicles, stationery RSUs and other UAVs. The UAVs have better line of sight (LOS) connections which result in better channel states and lower path loss than fixed RSUs. Although the inclusion of UAVs in vehicular networks has improved the system performance by providing better resource management and routing solutions, the traditional optimization techniques with their limitations are often not applicable. Therefore, in recent years, research community is integrating Artificial Intelligence (AI) and Machine Learning (ML) into UAV based IoV ecosystem to better manage resource allocation, routing and mobility management issues to optimize the overall network performance. In this survey paper we review the existing research done in AI/ML based UAV-IoV networks and communications with focus on resource management and routing from year 2019 to 2023. We have studied different AI techniques, their training attributes and architectures in various research works. The limitations of AI-based approaches in terms of required computational resources, availability of real world data and AI models’ complexity for the UAV-IoV environment are also discussed. Finally, the future directions for UAV-IoV research opportunities that can leverage the full potential of AI are presented.

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) 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.

Porcine pleuropneumonia (PPP) is one of the main causes leading to massive losses in the pig industry, with high economic impacts. Among different etiological agents, Actinobacillus pleuropneumoniae (APP) is responsible for severe fibrinous-necrotizing pleuropneumonia. A total of 19 different APP serotypes are currently recognized. This study aimed to identify APP serotypes isolated from pneumonic lesions in naturally infected and dead pigs in the Piedmont Region and to describe lesions. A total of 107 dead pigs with a suspected PPP diagnosis were included in this study. Lungs were evaluated using gross pathology scoring systems, APP isolation and serotypes identification by multiplex PCR were conducted. Gross lung lesions were mainly represented by fibrinous pneumonia and pleuropneumonia. APP was isolated in 21/107 (19.6%) samples. On the contrary, PCR indicated APP DNA presence in 53/107 (49.5%) of lung samples. The most observed serotypes were serotype 2 in 24/53 (45.3%) and serotype 6 in 13/53 (24.5%) samples. Moreover, multiplex PCR results suggested a coinfection of different serotypes in 5 samples. This study highlights the relevance of the different techniques application (i.e. bacteriological culture, PCR, gross and histopathology) for improving the identification of APP infections.

The health status and feed conversion efficiency of farmed fish may vary according to management and production methods. Successful aquaculture requires safeguarding the health of the growing fish and optimizing the feed conversion and therefore achieving better FCE thus reducing the amount of feed required to produce farmed fish, reducing the environmental impact generated by fish feed production and reducing aquaculture wastes generated by feed wasted or poorly digested. The present review presents illustrative examples from freshwater aquaculture that suggests the potential dual benefits of focusing on the link between feed conversion and the environmental impact of fresh water fish farms. Apart from the need to support future research on new diets for farmed fish (which is mainly driven by limits in the supply of fish protein and the results price fluctuation of all ingredients used by the aquaculture, feed industry), major improvements can be expected by optimizing feeding regimes and the application of probiotics. Aside from the economic benefits and increased production of fish farms, improved feeding regimes and probiotics are expected to have a significant impact on the welfare of farmed fish as well as on digestion efficiency and the environmental impact of fresh water fish farms.

Urban ultra-low altitude airspace (ULAA) presents unique challenges for unmanned aerial vehicle (UAV) path planning due to high building density and regulatory constraints. This study analyzes and improves classical path planning algorithms for UAVs in ULAA. Experiments were conducted using A*, RRT, RRT*, and artificial potential field (APF) methods in a simulated environment based on building data from Chengdu City, China. Results show that traditional algorithms struggle in dense obstacle environments, particularly APF due to local minima issues. Enhancements were proposed: a density-aware heuristic for A*, random perturbation for APF, and a hybrid optimization strategy for RRT*. These modifications improved computation time, path length, and obstacle avoidance. The study provides insights into the limitations of classical algorithms and suggests enhancements for more effective UAV path planning in urban environments.

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.

Cassava mosaic disease (CMD) and cassava brown streak disease (CBSD) are endemic threats to cassava production. To fill the existing gaps in the understanding of the epidemiology of these diseases in Côte d’Ivoire, nationwide field surveys were conducted in 2016, 2017 and 2020. The leaf samples collected were analysed by PCR. CBSD was not detected in all fields visited. However, an increase of CMD incidence was observed from 45.95% in 2016 to 51.37% in 2020 while CMD severity remained moderate over the years with a mean value of 2.29. Low whiteflies number was observed in field and decreasing over the years. Molecular analysis allowed detection of East African cassava mosaic Cameroon virus (EACMCMV) in single as well as in mixed infection with African cassava mosaic virus (ACMV). Single EACMCMV infection, which was detected only in three agroecological zones of the eastern Côte d’Ivoire in 2016, spread throughout the country in 2017 and became more widespread in 2020 with a preponderance in the central and southern zones, whereas the ACMV+EACMCMV coinfection has spread to the entire zones studied. Knowing the dynamics of the evolution of these viruses across the country, better disease management strategies could be adopted to control the disease.

Antimicrobial resistance (AMR), the capacity of microbial pathogens to survive in the presence of antimicrobials, is considered one of the greatest threats to human health worldwide and is growing rapidly in importance. AMR is thought to be driven in part by the use of antimicrobials (AMU) in livestock production. AMU reduction in agriculture is therefore important, but doing so may endanger farmers’ incomes and hamper broader food security. Understanding drivers for farmers' antibiotics use is essential to designing interventions which avoid harming agricultural output and safeguard farmers’ economic security. In this study, we analyse AMUSE survey data from poultry farmers in Senegal to explore the effects of vaccination, attitudes towards AMR, and biosecurity practices on: AMU, animal mortality, and farm productivity. We found that farmers with more “AMR-aware” attitudes may be less likely to use antibiotics in healthy birds. Stronger on-farm biosecurity was associated with less use of antibiotics in healthy birds, and in some specifications was linked to higher broiler productivity. Vaccination and AMU were both linked with higher disease prevalence, and both factors appeared conducive to higher broiler productivity. Overall, there is evidence that awareness-raising and biosecurity improvements could encourage prudent use of antibiotics, and that biosecurity and vaccination could to some extent replace antibiotic use as productivity-enhancing and disease-management tools in broiler farms. Finally, issues of farm antimicrobial stewardship must be considered at the structural level, with farm behaviours contingent on interaction with state and private stakeholders.

Salmonellosis is a bacterial zoonosis with array of health conditions. Non-typhoidal salmonellosis (NTS) have a discrete adaptation to certain animals; in poultry, pullorum and fowl typhoid are its primary disease manifestations. The diseases are prevalent in the Nigerian poultry and have been well studied in Nigeria, but less so in the north central Nigeria (NCN). Using field sampling, laboratory methods and semi structured questionnaire in 1000 poultry farms from NCN, we explore the incidence and risk factors for the persistence of NTS infection in poultry. Approximately 41.6% of the farms have experienced NTS but only 6.3% have current infection with NTS. Farm experience of NTS moderately predicted awareness of salmonellosis. Increasing stock in smallholder farms, self-mixing of concentrate on the farm, usage of stream water, pen odour, non-adherence and partial adherence of farms to recommended poultry vaccination against pullorum and fowl typhoid, and lack of and non-adherence to biosecurity were identified risk factors that increased the odds of NTS infection in poultry. Antibiotic use practice may have reduced the isolation rate of NTS, yet NTS continues to challenge poultry farms in Nigeria. Identified risk practices must be mitigated intentionally and biosecurity and hygiene must improve to reduce the burden of NTS.

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.

Unmanned Aerial Vehicles (UAV) are increasingly being used in a variety of domains and precision agriculture is no exception. Precision agriculture is the future of agriculture and will play a key role in long-term sustainability of agricultural practices. This paper presents a survey of how image data collected using UAVs has been used in conjunction with ma-chine learning techniques to support precision agriculture. Numerous agricultural applications including classification of crop types and trees, crops detection, weed detection, cropland cover, and segmentation of farming fields are discussed. A variety of supervised, semi-supervised and unsupervised machine learning techniques for image-based preci-sion agriculture are compared. The survey showed that for traditional machine learning approaches, Random Forests performed better than Support Vector Machines (SVM) and K-Nearest Neighbor Algorithm (KNN) for crop/weed classification. And, while Convolutional Neural Networks (CNN) have been used extensively, the U-Net-based models out-performed conventional CNN models for classification and segmentation tasks. Among the Single Stage Detectors (SSD), YOLO series performed relatively well. Two-Stage Detectors like R-CNN, FPN, and Mask R-CNN generally tended to outperform SSDs. Vision Trans-formers (ViT) showed promising results amongst transformer-based models which did not generally perform better than CNNs. Finally, Generative Adversarial Networks (GANs) have been used to address the problem of smaller datasets and unbalanced data