Road surface monitoring more specifically crack detection on the surface of the road pavement is a complicated task which is found vital due to critical nature of roads as elements of transportation infrastructure. Cracks on the road pavement is detectable using remotely sensed imagery or car mounted platforms. UAV’s are also considered as useful tools for acquiring reliable information about the pavement of the road. In This paper, an automatic method for crack detection on the road pavement is proposed using acquired videos from UAV platform. Selecting key frames and generating Ortho-image, violating non road regions in the scene are removed. Then through an edge based approach hypothesis crack elements are extracted. Afterwards, through SVM based classification true cracks are detected. Developing the proposed method, the generated results show 75% accuracy in crack detection while less than 10% of cracks are omitted.

Visual inertial odometry (VIO) has recently received much attention for efficient and accurate ego-motion estimation of unmanned aerial vehicle systems (UAVs). Recent studies have shown that optimization-based algorithms achieve typically high accuracy when given enough amount of information, but occasionally suffer from divergence when solving highly non-linear problems. Further, their performance significantly depends on the accuracy of the initialization of inertial measurement unit (IMU) parameters. In this paper, we propose a novel VIO algorithm of estimating the motional state of UAVs with high accuracy. The main technical contributions are the fusion of visual information and pre-integrated inertial measurements in a joint optimization framework, and the stable initialization of scale and gravity using relative pose constraints. To count for ambiguity and uncertainty of VIO initialization, a local scale parameter is adopted in the online optimization. Quantitative comparisons with the state-of-the-art algorithms on the EuRoC dataset verify the efficacy and accuracy of the proposed method.

This paper present a platform for airborne sensor applications using low-cost, open-source components carried by an easy-to-fly unmanned aircraft vehicle (UAV). The system, available in open-source [1], is designed for researchers, students and makers for a broad range of their exploration and data-collection needs. The main contribution is the extensible architecture for modularized airborne sensor deployment and real-time data visualisation. Our open-source Android application provides data collection, flight path definition and map tools. Total cost of the system is below 800 dollars. The flexibility of the system are illustrated by mapping the location of Bluetooth beacons (iBeacons) on a ground field and by measuring water temperatures in a lake.

Solar powering the increasing fleet of electrical vehicles (EV) demands more surface area than may be available for photovoltaic (PV) powered buildings. Parking lot solar canopies can provide the needed area to charge EVs, but are substantially costlier than roof- or ground-mounted PV systems. To provide a lower-cost PV parking lot canopy to supply EV charging beneath them, this study provides a full mechanical and economic analysis on three novel PV canopy systems: (1) exclusively wood, single parking spot spanning system, (2) wood and aluminum double parking spot spanning system, and (3) wood and aluminum cantilevered system for curbside parking. All systems can be scalable to any amount of EV parking spots. The complete designs and bill of materials (BOM) of the canopies are provided along with basic instructions and are released with an open source license that will enable anyone to fabricate them. The results found single-span systems have cost savings of 82%-85%, double-span systems save 43%-50%, and cantilevered systems save 31%-40%. In the first operation year, the PV canopies can provide 157% of energy needed to charge the least efficient EV currently on the market if it is driven the average driving distance in London ON, Canada.

The paper presents the measurement campaign carried out on a real-world motorway stretch of Hungary with the participation of both industrial and academic partners from Austria and Hungary. The measurement included vehicle based as well as infrastructure based sensor data. The obtained results will be extremely useful for future automotive R&D activities due to the available ground truth for static and dynamic content. The aim of the measurement campaign was twofold. On the one hand, road geometry was mapped with high precision in order to build Ultra High Definition (UHD) map of the test road. On the other hand, the vehicles - equipped with differential Global Navigation Satellite Systems (GNSS) for ground truth localization - carried out special test scenarios while collecting detailed data using different sensors. All test runs were recorded by both vehicles and infrastructure. As a complementary task, the available 5G network was monitored and tested. The paper also showcases application examples based on the measurement campaign data, in which the added value of having access to the ground truth labeling and the created UHD map of the motorway section becomes apparent. In order to present our work transparently, a part of the measured data have been shared openly such that interested automotive as well as academic parties may use it for their own purposes.

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

The automotive industry is increasingly adopting laminated glass in side and rear windows to comply with safety standards aimed at reducing ejection injuries. However, this trend may have unintended consequences for occupant rescue and escape in submerged vehicle incidents. As more vehicles incorporate laminated glass, concerns arise that they could become "glass coffins" in water, making it more difficult for occupants to exit or be rescued. The use of laminated glass is driven by Federal Motor Vehicle Safety Standard 226 (FMVSS 226) for ejection mitigation, but it does not address the risk of vehicle submersion and occupant drowning. Drowning accounts for a substantial portion of vehicle-related fatalities. As the adoption of laminated glass grows, there is a need for drowning prevention measures, such as automatic window opening systems, to mitigate the risk of vehicles becoming "glass coffins" in water. A comprehensive approach addressing both ejection and submersion dangers is necessary to maximize occupant protection and save lives.

In this paper, we examined the temperature variations of key constituents during the operational cycle of a custom-built electric vehicle. The vehicle was made employing a motor of 10kW, a KLS7275D controller, and a lithium-ion battery. Temperature sensors for monitoring was affixed to the motor, controller, and battery, facilitating a comprehensive analysis of thermal behaviors. A controlled 20 minute driving tests encompassing both high and low speeds were executed to scrutinize temperature variations. Our findings reveal that the controller exhibited the most substantial temperature fluctuation compared to the battery and motor. Results shows the importance of thermal management strategies for components to ensure optimal driving performance and component reliability in electric vehicles.

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

Zero-emission trucks for regional and long haul missions are an option for fossil-free freight. The viability of such powertrains and system solutions was studied conceptually in project ESCALATE for trucks with GVW of 40 tonnes and beyond through various prime mover combinations. The study covers battery and fuel cell power sources with different degrees of battery electric as well as H2 and fuel cell operation. As a design basis, two different missions with a single-charge/H2 refill were analysed. The first mission was the VECTO long haul profile repeated up to 750 km, whereas the second was a real 520 km on-road mission in Finland. Based on the simulated energy consumption on the driving cycle, on-board energy demand was estimated, and the initial single-charge operational scenarios were analysed with five different power source topologies. The traction motors of the tractor were dimensioned so that a secondary mission of GVW up to 76 tons on a shorter route can be operated. Based on the powertrain and vehicle model, various infrastructure options for charging and H2 refuelling strategy as well as various operative scenarios with indicative total cost of ownership (TCO) were analysed.

Nowadays, people like to travel to alleviate the stress and depression in their busy lives, and if they can do so at a low cost, it will be even more beneficial to them. The usual way for a traveler to book a ticket or to contact a travel agency is to book a ticket. It becomes more expensive for travelers. Due to the lack of vehicle management, travel agencies don’t get their appropriate profit. In this journal, we have provided proficient solutions for vehicle optimization to minimize travel costs. However, when travelers want to travel, they don’t find a proper tour guide, and it is sometimes expensive to arrange a proper tour guide. Moreover, travelers often don’t find a suitable package, and occasionally they do not know the place where they may want to visit. In this paper, we have discussed how we used effective methods to reduce vehicle costs for tour purposes. Further, we have developed a solution where bus seats are optimally occupied, and the package system and tour guide are included in it. We have also added a blog portal to our web-based software to introduce all tourist places and their information. In this journal, the proposed optimal vehicle usage system has been developed using Hypertext Markup Language (HTML), Cascading Style Sheets (CSS), the Tailwind Framework, React, and Node.js.

Contract violations, uncontracted load, and the alternating nature of electricity are the key causes of the frequency irregularity and Unscheduled Interchange (UI) / Deviation Settlement pricing in a restructured organized smart grid. These variations cause the frequency to fluctuate. The topic of frequency variation is discussed in this paper under various market circumstances. To correct frequency discrepancies under various market conditions, a fleet of electrical vehicles (EV) is offered as a distributed energy storage (DES). A bidirectional charger with a PI controller is suggested for the EV bidirectional power transfer. It is suggested to use a fuzzy logic (FL) controller to modify the proportional-integral (PI) controller gains. It has been noted that utilizing such a new approach lowers the UI prices.

The development of autonomous vehicles is becoming increasingly popular and gathering real world data is considered a valuable task. Many datasets have been published recently in the autonomous vehicle sector, with synthetic datasets gaining particular interest due to availability and cost. For a real implementation and correct evaluation of vehicles at higher levels of autonomy it is also necessary to consider human interaction, which is precisely something that lacks in existing datasets. In this article the UPCT dataset is presented, a public dataset containing high quality, multimodal data obtained using state of the art sensors and equipment installed onboard the UPCT’s CICar autonomous vehicle. The dataset includes data from a variety of perception sensors including 3D LiDAR, cameras, IMU, GPS, encoders, as well as driver biometric data and driver behaviour questionnaires. In addition to the dataset, the software developed for data synchronisation and processing has been made available. The quality of the dataset was validated using an end-to-end neural network model with multiple inputs to obtain speed and steering wheel angle and obtained very promising results.

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

Following electrification of automotive transport, studies on the penetration of Electric Vehicles (EVs) are widespread, especially in defined contexts, e.g. cities. As major transport hubs, airports fall within contexts worth of interest. In this work, a forecast of the demand for electric mobility in an Italian international airport (Rome, Fiumicino) is presented. First, a wide review of proposed sce-narios on the penetration of EVs at international and national level and available data on local automotive transport are presented, as preliminary study for the definition of reference scenarios for the local context. Then the methodology proposed is presented and applied to the specific case study. Finally, a preliminary sizing of the required charging infrastructure is reported. The proposed approach can be considered as reference for similar studies on electrical mobility in other airport areas around the world.

The research develops the vehicular routing problem for the distribution of refrigerated products in a multinational company. The mathematical model corresponds to the vehicle routing problem with hard time windows and stochastic service (VRPTW-ST) time model applied in the city of Santiago de Chile. For optimization of the model, optimization methods tabu search, chaotic search and general algebraic modeling were used. The results allow to validate the meta-heuristic chaotic search to solve the VRPTW-ST; chaotic search method obtains superior performance than tabu search method for solving a real problem in a large city.

Since the 1990’s, studies and pilot tests have been conducted to reduce traffic, accidents, and pollution due to urban freight transport (UFT). These ended up in several policies, regulations, and restrictions for UFT, such as low emission zones, delivery time windows, and vehicle size and weight restrictions. However, issues in UFT under regulatory measures still persevere. This study introduces an optimization framework for deriving an optimal combination of various types of vehicles with different capacities for vehicle replacement in UFT. This framework allows an understanding of how an urban freight company with a limited budget efficiently satisfies its freight demand within an urban area in the presence of regulatory measures by urban administrators. The introduced formulation, which is a mixed-integer linear programming, will assist the operator in choosing the best investment strategy for introducing new vehicles of certain types and sizes, for operation in different zones, into its fleet while gaining economic benefits and having a positive impact on the liveability of the urban area. Furthermore, a sensitivity analysis is performed to consider the effects of specific uncertain parameters on the total cost. The numerical results show that the share of electric vehicles in the fleet increases, and they are more competitive than diesel vehicles.

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.

Object detection algorithms for open water aerial images present challenges such as small object size, unsatisfactory detection accuracy, numerous network parameters, and enormous computational demands. Current detection algorithms struggle to meet the accuracy and speed requirements while being deployable on small mobile devices. This paper proposes DFLM-YOLO, a lightweight small-object detection network based on the YOLOv8 algorithm with multiscale feature fusion. Firstly, to solve the class imbalance problem of the SeaDroneSee dataset, we propose a data augmentation algorithm called Small Object Multiplication (SOM). SOM enhance dataset balance by increasing the number of objects in specific categories, thereby improving model accuracy and generalization capabilities. Secondly, we optimize the backbone network structure by implementing Depthwise Separable Convolution (DSConv) and the newly designed FC-C2f, which reduces the model's parameters and inference time. Finally, we design the Lightweight Multiscale Feature Fusion Network (LMFN) to address the challenges of multiscale variations by gradually fusing the four feature layers extracted from the backbone network in three stages. In addition, LMFN incorporates the Dilated Re-param Block structure to increase the effective receptive field and improve the model's classification ability and detection accuracy. Experimental results on the SeaDroneSea dataset indicate that DFLM-YOLO improves mAP by 12.4% compared to the original YOLOv8s, while reducing parameters by 67.2%. This achievement provides a new solution for UAVs to conduct object detection missions in open water efficiently.

In response to the issues of sensor noise and accumulated motion errors that lead to low positioning accuracy and insufficient robustness during large maneuvers or continuous flight of small unmanned aerial vehicles (UAVs) in complex environments, this paper proposes a multi-source and multimodal data fusion method. Initially, it employs a multimodal data fusion of various sensors including GPS (Global Positioning System), IMU (Inertial Measurement Unit), and visual sensors to complement the strengths and weaknesses of each hardware component, thereby eliminating motion errors to enhance accuracy. To mitigate the impact of sudden changes in sensor data, the method introduces a digital twin UAV data source. By utilizing the Extended Kalman Filter algorithm, it fuses data from both the real UAV and its digital twin, and the filtered positional information is fed back into the control system of the real UAV. This enables real-time correction of UAV positional deviations caused by sensor noise and environmental disturbances. The multi-source multimodal fusion Kalman filter method proposed in this paper significantly improves the positioning accuracy of UAVs in complex scenarios and the overall stability of the system. This method holds significant value in maintaining high-precision positioning in variable environments and has important practical implications for enhancing UAV navigation and application efficiency.

The causes of algal blooms in reservoirs are often complexly intertwined with chemical, physical, and biological factors such as the supply of nutrients. Observation of phytoplankton distribution with high spatiotemporal resolution is necessary to track the nutrient sources that cause algal blooms and to understand their behavior in response to wind and water temperature stratification. Observation from a UAV, which has excellent temporal and spatial resolution, is considered to be an effective method to obtain water quality information comprehensively. On the other hand, it is not only the growth of plankton that affects the color of the water surface but also turbidity. Furthermore, since the brightness value of passive sensors such as optical cameras changes depending on the amount of insolation, it is necessary to perform analysis after making corrections for this. In this study, we attempted to develop a method for estimating chlorophyll concentration from aerial images taken from UAVs using machine learning that takes into account brightness correction based on insolation and the spatial distribution of turbidity evaluated by satellite image analysis.

Road cracks significantly affect the serviceability and safety of roadways, especially in mountainous terrain. Traditional inspection methods, such as manual detection, are excessively time-consuming, labor-intensive, and inefficient. Additionally, multi-function detection vehicles equipped with various sensors are expensive and not suitable for mountainous roads due to poor conditions. To address these challenges, this study proposes a customized Unmanned Aerial Vehicles (UAV) inspection system designed for automatic crack detection. The system focuses on enhancing autonomous capabilities in mountainous terrains by incorporating embedded algorithms for route planning, autonomous navigation, and automatic crack detection. The slide window method is proposed to enhance the autonomous navigation of UAV flights by generating path planning in mountainous roads. This method compensates for GPS/IMU positioning errors, particularly in GPS-denied or GPS-drift scenarios. Moreover, the YOLOv8 algorithm is introduced to conduct autonomous crack detection from UAV imagery in the offboard module. To validate our UAV inspection system's performance, we conducted several experiments to assess its accuracy, robustness, and efficiency. The experimental results demonstrate that our UAS inspection system accurately estimates the flight trajectory along the mountainous road for autonomous navigation. Furthermore, the experimental detection results also demonstrate that the YOLOv8 algorithm achieves higher recognition accuracy compared to the YOLOv5, and YOLOv7-tiny algorithms, exceeding 3.1%,and 6.8% of mAP, respectively. In summary, the UAV inspection system proposed in this study can provide a useful tool and technological guidance for the regular inspection of mountainous roads.

Accurately estimating shrub biomass in arid and semi-arid regions is critical for understanding ecosystem productivity and carbon stocks at both local and global scales. However, capturing the shrub biomass accurately by satellite observations is challenging due to the short and sparse features of shrubs. In this study, we presented a framework to estimate shrub biomass at a 10m spatial resolution by integrating ground in-situ data, unmanned aerial vehicle (UAV), Sentinel-2, and Sentinel-1 observations. The pilot study was conducted in the Helan mountains of Ningxia province, China. First, the spatial distribution map of shrubland and other land cover types was generated in 2023. Then, a prediction model of shrub biomass was developed in a Random Forest Regression (RFR) approach driven by different predicted variable datasets based on in-situ measurements, UAV, and satellite images. Finally, the developed model was used to produce the biomass map of shrubland in 2023. The uncertainty was characterized by creating a standard deviation (SD) map using the Leave-One-Out Cross-Validation (LOOCV) method in the shrub biomass estimates. The resultant shrubland distribution map in 2023 has an F1 score of 0.92. The shrub biomass model driven by spectral bands and vegetation indices (R2= 0.62) demonstrated superior performance than that only driven by spectral bands (R2=0.33) or vegetation indices (R2=0.55). The uncertainty of the estimated biomass was lower than 4%, with the lowest values (<2%) happening in the high shrub coverage (>30%) and biomass production (>30kg/m2) regions. Furthermore, the findings show that the magnitude of shrub biomass was affected by the aridity and precipitation significantly in the study region. This study provides a workflow to accurately monitor the biomass of shrublands in a complicated environment based on remote sensing images from multi-platform observations.

Unmanned aerial vehicle (UAV) photogrammetry allows the generation of orthophoto and digital surface model (DSM) rasters of a terrain. However, DSMs of water bodies mapped using this technique often reveal distortions in the water surface, thereby impeding the accurate sampling of water surface elevation (WSE) from DSMs. This study investigates the capability of deep neural networks to accommodate the aforementioned perturbations and effectively estimate WSE from photogrammetric rasters. Convolutional neural networks (CNNs) were employed for this purpose. Two regression approaches utilizing CNNs were explored: direct regression employing an encoder and solution based on prediction of the weight mask by an encoder-decoder architecture, subse-quently used to sample values from the photogrammetric DSM. The dataset employed in this study comprises data collected from five case studies of small lowland streams in Poland and Denmark, consisting of 322 DSM and orthophoto raster samples. Each sample corresponds to a 10 by 10 meter area of the stream channel and adjacent land. A grid search was employed to identify the optimal combination of encoder, mask generation architecture, and batch size among multiple candidates. Solutions were evaluated using two cross-validation methods: stratified k-fold cross-validation, where validation subsets maintained the same proportion of samples from all case studies, and leave-one-case-out cross-validation, where the validation dataset originates entirely from a single case study, and the training set consists of samples from other case studies. The proposed solution was compared with existing methods for measuring WSE in small streams using a drone. The results indicate that the solution outperforms previous photogrammetry-based methods and is second only to the radar-based method, which is considered the most accurate method available. The solution is characterized by a high degree of explainability and generalization.

Despite UAV multi-target detection exhibits considerable developmental potential worldwide, it suffers distinct challenges compared with traditional tasks in this field. These challenges include insufficient feature extraction capabilities for small targets, limited capabilities for multi-dimensional feature fusion, as well as constraints on hardware computation parameters. Especially in mission scenarios such as disaster detection, these challenges will be further amplified. Consequently, this paper introduces SSE-YOLO, an innovative YOLO framework algorithm specially designed to address these challenges. To enhance the model's feature extraction capability, we employ the SPDConv module to replace the original Conv in the backbone section, utilizing depth-separable convolution instead of traditional convolution pooling. Concurrently, we eliminate the SPPF module at the bottom and address a new Separate Kernel Attention Pyramid Pooling (SKAPP) module, substantially enhancing the feature fusion capability at the model's core. Moreover, to address the challenge of multi-dimensional feature fusion, we replace the Concat module of the neck and head with E-BiFPN, transmitting feature information from the backbone to the lower network through four CBS blocks, which effectively resolves the issue of lost contextual information in the model. Meanwhile, SSE-YOLO undergoes ablation experiments on the VisDrone2019 dataset to evaluate its effectiveness against alternative methods, and experimental results illustrate the model's exceptional precision in detecting UAV targets. In comparison to models with comparable experimental accuracy, SSE-YOLO requires remarkably fewer parameters. On the VisDrone2019-DET-test-dev dataset, SSE-YOLO enhances mAP by 17.3%, with a 42.5% reduction in the parameter amounts. Therefore, the proposed method effectively tackles the challenge of reconciling low parameters and high accuracy, presenting a novel pathway for deep learning-based UAV multi-target detection.

This study explores the dependence of drone acoustic detection systems performance on distance, using learning machines with different complexities, from simple linear discriminants, to deep neural networks, such as YAMNet, which exploits transfer learning. Other machine learning systems studied are the multilayer perceptron, support vector machines and random forest. These methods have been evaluated with a meticulously selected database that includes a wide variety of drone and interference sounds, previously processed by array signal processing and affected by ambient noise. Two strategies for training learning machines are considered. In the first one, they are trained with unattenuated signals, trying to preserve the information generated by the sound sources, but they are tested considering the attenuation with distance, achieving effective detection at distances up to 200 metres with some methods, especially linear discriminant. In all cases, the existence of interferences that hinder detection is considered. In the second strategy, the systems are trained and tested with attenuated signals as a function of distance. The effective detection range increases up to 300 metres for most methods and up to 500 metres for the YAMNet based detector. In addition, this second approach raises the possibility of developing specialised detectors for each distance range, thus significantly extending the effective detection range. These results underline the promising potential of acoustic detection of drones at various distances, encouraging further exploration in this research area.

River bed materials serve multiple environmental functions as a habitat for aquatic invertebrates and fishes. At the same time, the particle size of the bed material reflects the tractive force of the flow regime in a flood and provides useful information for flood control. The traditional river bed particle size surveys, such as sieving, require time and labor to investigate river bed materials. The authors proposed a method to classify aerial images taken by unmanned aerial vehicle (UAV) using convolutional neural networks (CNN), our previous study showed that terrestrial riverbed material could be classified with high accuracy. In this study, we attempted to classify riverbed materials distributed in shallow waters where the bottom can be seen from UAVs. After training the CNN to classify the images with the same grain size as being in the same class even if the surface flow types taken overlapping the riverbed material were different, the total accuracy reached 90.3%. Moreover, the proposed method was applied to the wide-ranging area to determine the distribution of the particle size. In parallel, the microtopography was surveyed using Lidar-UAV, and the relationship between the microtopography and particle size distribution was discussed. In the steep section, coarse particles were distributed and formed a rapid. Fine particles were deposited on the upstream side of those rapids, where the slope had become gentler due to the damming. There was good agreement between the microtopographical trends and the grain size distribution.

UAV (Unmanned aerial vehicle) communication offers the possibility to establish the new net-works. To overcome the PE (pointing error) and beam misalignment of millimeter-wave massive MIMO (Multiple-in multiple-out)/FSO (Free Space Optical) caused by UAV jitter, a Tensor-train decomposition based hybrid beamforming for millimeter-wave massive MIMO/FSO in UAV with RIS (Reconfigurable Intelligence Surface) networks is investigated to improve the system spectral efficiency. Firstly, the high-dimensional channels of the RIS-assisted millimeter-wave massive MIMO/FSO in UAV are represented as the low-dimensional channels by Tensor-train decomposition. Secondly, the FSO PE caused by UAV jitter can be effectively solved by BIGRU (Bidirectional Gated Recurrent Unit)-attention neural network model. The fast-fading channels and Doppler shifts are estimated by the FCTPM (Fast Circulant Tensor Power Method) based on the Tensor-train decomposition. Finally, the RIS phase shift matrix is optimized by the SVD (Singular Value Decomposition). The Hybrid beamforming and RIS phase shift matrix are esti-mated by the low-complexity PE-AltMin (Phase Extraction Alternating Minimization) method to solve the beam misalignment. Simulation experiments demonstrate that the proposed method has higher spectrum utilization than other methods.

Short-term changes in shallow bathymetry affect the coastal zone and therefore their monitoring is an essential task in coastal planning projects. This study provides a novel approach for monitoring shallow bathymetry change based on drone multispectral imagery. Particularly we apply a shallow water inversion algorithm on two composite multispectral datasets being acquired five months apart in a small Mediterranean sandy embayment (Chania, Greece). Initially, we perform radiometric corrections using proprietary software and following we combine the bands from standard and multispectral cameras resulting in a six-band composite image suitable for applying the shallow water inversion algorithm. Bathymetry inversion results showed good correlation and low errors (< 0.3m) with sonar measurements collected with an uncrewed surface vehicle (USV). Bathymetry maps and true-color orthomosaics assist in identifying morphobathymetric features representing crescentic bars with rip channel systems. The temporal bathymetry and true-color data reveal important erosional and depositional patterns, which were developed under the impact of winter storms. Furthermore, bathymetric profiles show that the crescentic bar appears to migrate across and along-shore over the 5-months period. Drone-based multispectral imagery proves to be an important and cost-effective tool for shallow seafloor mapping and monitoring when it is combined with shallow water analytical models.

Stripe rust ​​(caused by Puccinia striiformis f. sp. tritici) is one of the most devastating diseases of wheat and causes large-scale epidemics and severe yield loss. Applying fungicides during early epidemic development is crucial to controlling the disease but is often challenged by resource-limited human visual scouting. Deep learning has the potential to process images and videos captured from affordable devices to empower high-throughput phenotyping for early detection of stripe rust for timely application of fungicides and improve control efficiency. Here, we developed RustNet, a neural network-based image classifier, for efficiently monitoring fields for stripe rust. RustNet was built on a ResNet-18 architecture pre-trained with ImageNet Large-Scale Visual Recognition Challenge (ILSVRC) dataset using transfer learning. RGB images and videos of multiple wheat fields with different wheat types (winter and spring wheat), conditions (irrigated and non-irrigated), and locations were acquired using smartphones or unmanned aerial vehicles near the canopy. A semi-automated image labeling approach was conducted to improve labeling efficiency by combining automated machine labeling and human correction. Cross-validations across multiple categories (sensor platforms, wheat types, and locations) achieved Area Under Curve from 0.72 to 0.87. Independent validation on a published dataset from Germany achieved accuracies ranging from 0.79 to 0.86. The visualization of the last convolutional layer of RustNet demonstrated the identification of pixels with stripe rust. RustNet is freely available at https://zzlab.net/RustNet.

Unmanned Aerial vehicles (UAVs) can transmit critical Intelligence, surveillance, and reconnaissance data right from drones when operators need real-time access to information and find it hard to wait for the return of aircraft. Artificial satellites are applied in offering communication links between different points on earth. Satellite communication can be helpful in telecommunication systems globally. SATCOM is the data and voice service that allows aircraft to communicate using satellite using air traffic control and airline operations centers at high-frequency stations and when covering the conventional ground radar. Unmanned Aerial Vehicles Satcom are applied in different aspects of real-life applications like traffic monitoring, play load delivery, surveillance, and seemingly dangerous areas. They can go where one cannot go and experience experiences that were never seen before. UAV Satcom is used when transmitting the ISR, Intelligence, and reconnaissance data right from drones, especially in situations in which the decision-makers need near real-time. All current signs show the exciting and bright future for using unmanned aerial vehicle Satcom technology. The future generations are projected to feature enhanced autonomy and improve safety standards. SATCOM can be the future communication link for UAVs. SATCOM is being used increasingly in surveys in the aftermath of any disaster.

Taking a typical forest underlying surface as the research area, this study employed the unmanned aerial vehicle (UAV) photogrammetry to explore more accurate canopy parameters including tree height and canopy radius, which were used to improve the Noah-MP land surface model conducted in Dinghushan Forest Ecosystem Research Station (CN-Din). While the canopy radius was fitted as a Burr distribution, the canopy height of CN-Din forest followed a Weibull distribution. The replacement of the parameters by these observed UAV would result in the Noah-MP model. It was found that the influence on the simulation of the energy fluxes could not be negligible, and the main influence of these canopy parameters was on the latent heat flux which could decrease up to -11% in the midday while increase up to 15% in the nighttime. Additionally, this work indicated that the description of the canopy characteristics for the land surface model should be improved to accurately deliver the heterogeneity for the underlying surface.

Assessment of meadow restoration benefits from understanding the connection between geomorphology, hydrology and vegetation, and multispectral imagery captured from unpiloted aerial vehicles (UAV) may provide the method most suitable in terms of cost, spatial resolution, support for vegetation indices, and frequency of acquisition. Our field studies of northern Sierra Nevada montane meadows (with <40 km2 watersheds) in various stages of restoration includes GPS + laser-leveling channel survey, laser-leveled cross section, aerial LiDAR, vegetation sampling, soil measurements, and UAV imaging using a sensor capturing calibrated blue (465-485 nm), green (550-570 nm), red (663-673 nm), near infrared (820-860 nm), and red edge (712-722 nm) bands at 5.5 cm resolution, providing multispectral false-color images and vegetation indices such as normalized difference vegetation index (NDVI) and red-edge Chlorophyll index (Clre). This fine-scale imagery extends our morphometric assessment of post-restoration channel scouring exhibiting bedform patterns and sinuosity related to Carex-influenced soil properties and Salix copses, but also provided a view of groundwater-related drainage effects including sinuous Carex-vegetated zones evident from spring snowmelt images as well as NDVI and Clre in growing to senescent phenological stages. Carex in particular was significantly associated with low bulk density and high soil moisture, NDVI, and Clre at lower elevations.

In order to realize rapid and nondestructive monitoring of wheat biomass in field, field experiments based on different densities, nitrogen fertilizer and variety treatments were studied. RGB images of wheat in the main growth stage were obtained by UAV, and wheat color and texture feature indices were obtained by image processing, and wheat biomass was obtained by field sampling in the same period. Then the relationship between different color and texture feature indices and wheat biomass was analyzed to select the color and texture feature index suitable for wheat biomass estimation. The results showed that there was a high correlation between image color index and wheat biomass in different stages, and most of them reached a very significant correlation level. However, the correlation between image texture feature index and wheat biomass was poor, only a few indexes reached significant or extremely significant correlation level. Based on the above results, the color indices with the highest correlation to wheat biomass or the combining indices of color and texture feature in different growth stage were used to construct estimation model of wheat biomass. The models were validated using independently measured biomass data, and the correlation between simulated and measured values reached the significant level, RMSE were smaller. This indicated that the estimated results by the models were reliable and accurate. It also showed that the estimation models of wheat biomass combined with color and texture feature indices of UAV image were better than the single color index models. The results would provide a new method for real-time monitoring of wheat field growth and biomass estimation.

Mapping short-term wetland vegetation and water storage changes is valuable for monitoring the biogeochemical processes of wetland systems. Old Woman Creek National Estuarine Research Reserve is a dynamic freshwater estuary that experiences intermittent changes in water level over the course of a year. Small unmanned aerial systems (sUAS) are useful tools in monitoring changes as they are rapidly deployed, repeatable, and high-resolution. In this study, commercial quadcopters were paired with a red/green/near-infrared MAPIR Survey 3W camera to produce normalized difference vegetation index (NDVI) and normalized difference water index (NDWI) maps to observe short-term changes at OWC. Orthomosaics were produced for flights on 8 days throughout 2018 and early 2019. The orthomosaics were calibrated to bottom-of-atmosphere reflectance using the Empirical Line Correction method and NDVI and NDWI maps were created. The NDVI pixel values were used to generate maps of vegetation extent showing density changes over time. Identifying dominant vegetation in these maps allowed for the application of the National Estuarine Reserve System (NERRS) Classification Codes to zones of interest. NDWI provided water extent at different water levels and when paired with LiDAR and bathymetric data yielded water volume and residence time estimates. The produced maps contribute to the overall understanding of habitats affected by water inundation variations.

The objective of this study is to evaluate the effects of the 3D point cloud density derived from unmanned aerial vehicle (UAV) photogrammetry and structure from motion (SfM) and multi-view stereopsis (MVS) techniques, the interpolation method for generating a digital terrain model (DTM), and the resolution (grid size) of the derived DTM on the accuracy of estimated heights in small areas, where a very accurate high spatial resolution is required. A UAV-photogrammetry project was carried out on a bare soil of 13 × 13 m with a rotatory wing UAV at 10 m flight altitude (equivalent ground sample distance = 0.4 cm). The 3D point cloud was derived, and five sample replications representing 1, 2, 3, 4, 5, 10, 15, 20, 30, 40, 50, 60, 70, 80 and 90% of the original cloud were extracted to analyze the effect of cloud density on DTM accuracy. For each of these samples, DTMs were derived using four different interpolation methods (Inverse Distance Weighted (IDW), Multiquadric Radial Basis Function (MRBF), Kriging (KR), and Triangulation with Linear Interpolation (TLI)) and 15 DTM grid size (GS) values (20, 15, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0.67, 0.5, and 0.4 cm). Then, 675 DTMs were analyzed. The results showed, for each interpolation method and each density, an optimal GS value (most of the cases equal to 1 cm) for which the Root Mean Square Error (RMSE) is minimum. IDW was the interpolator which yielded best accuracies for all combination of densities and GS. Its RMSE, considering the raw cloud, was 1.054 cm. The RMSE increased 3% when a point cloud with 80% extracted from the raw cloud was used to generate the DTM. When the point cloud included the 40% of the raw cloud, RMSE increased 5%. For densities lower than 15%, RMSE increased exponentially (45% for 1% of raw cloud). The grid size minimizing RMSE for densities of 20% or higher was 1 cm, which represents 2.5 times the ground sample distance of the pictures used for developing the photogrammetry project.

Many corner detector techniques have already been used in extracting information from UAV images to perform various photogrammetric and mapping activities. Among these techniques is the Feature from Accelerated Segment Test (FAST) and the Harris corner detector. It is widely agreed that the evaluation of detectors is of great importance because it evaluates and enhances the accuracy of the detected features. This research evaluates the performance of FAST-9 and FAST-12 as well as the Harris detector in terms of the repeatability rate, completeness, and correctness under different threshold values. Each method is evaluated in terms of its ability for detection UAV objects (crowd and cars features). Then the common detected features between both FAST versions and the Harris detector are extracted. This is to determine which method performs best under different image conditions (e.g., illumination variations, camera position and orientation, and image noise). The results show that the size of the threshold plays a crucial role in determining the number of detected feature points. An increase in the threshold value leads to a decrease in the number of detected points and vice versa. Thus, the correctness decreases whereas the completeness increases as a function of the threshold values. Furthermore, the relationship between the FAST-9 and the Harris detector is slightly better than those between the FAST-12 and the Harris detector. This is because the number of common features between the FAST-9 and the Harris detector are relatively higher than those between the FAST-12 and the Harris detector.

This paper proposes a hybrid medium access control (MAC) protocol for wireless sensor network (WSN) data gathering, employing unmanned aerial vehicles (UAV). The UAV sends a beacon frame periodically to inform sensor nodes regarding its presence. Afterward, each sensor node which receives beacon frame contends to send registration frame to the UAV. The UAV will transmit the second beacon frame to the registered nodes to notify their transmission schedule. The time-slot scheme is used for the transmission schedule. The transmission schedule of each sensor is determined based on their priority. Specifically, the priority of each sensor is determined during the registration process. Furthermore, the architecture of UAV-WSN data gathering system is introduced in this paper. Simulations are performed, showing that the proposed MAC protocol achieves fairness while enhancing network performance.

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

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

This paper describes a novel thruster fault-tolerant control system (FTC) for open-frame remotely operated vehicles (ROVs). The proposed FTC consists of two subsystems: a model-free thruster fault detection and isolation subsystem (FDI) and a fault accommodation subsystem (FA). The FDI subsystem employs fault detection units (FDUs), associated with each thruster, to monitor their state. The robust, reliable and adaptive FDUs use a model-free pattern recognition neural network (PRNN) to detect internal and external faulty states of the thrusters in real time. The FA subsystem combines information provided by the FDI subsystem with predefined, user-configurable actions to accommodate partial and total faults and to perform an appropriate control reallocation. Software-level actions include penalisation of faulty thrusters in solution of control allocation problem and reallocation of control energy among the operable thrusters. Hardware-level actions include power isolation of faulty thrusters (total faults only) such that the entire ROV power system is not compromised. The proposed FTC system is implemented as a LabVIEW virtual instrument (VI) and evaluated in virtual (simulated) and real-world environments. The proposed FTC module can be used for open frame ROVs with up to 12 thrusters: eight horizontal thrusters configured in two horizontal layers of four thrusters each, and four vertical thrusters configured in one vertical layer. Results from both environments show that the ROV control system, enhanced with the FDI and FA subsystems, is capable of maintaining full 6 DOF control of ROV in the presence of up to 6 simultaneous total faults in the thrusters. With the FDI and FA subsystems in place the control energy distribution of the healthy thrusters is optimised so that the ROV can still operate in difficult conditions under fault scenarios.

Introduction: Most industrialized and developed countries now working to implement more advanced transportation systems. These include autonomous vehicle(AV) systems of various forms, such as delivery vehicles, which eliminate the crashes, injuries, and fatalities associated with human-operated machinery. Self-driving vehicles have the potential to make roads safer, but some safety concerns need to be addressed. Before AV systems become commonplace in developing countries, society needs to determine how safe they truly are. Objectives: This paper provides brief descriptions and examines the realities for AV in developing countries using results from infrastructure-based assessment of countries worldwide and from a questionnaire-based survey. Methods: Relevant research papers, articles, reports, and departmental websites were used as the main data sources. Ethiopia was chosen as a representative case. Different aspects of AV infrastructure, its current status in developing countries, and perspectives on AV systems are explored through interviews with approximately 1500 randomly selected individuals. The main variables in the assessment were physical infrastructure, digital infrastructure, and societal perceptions on AV systems. Results: Surprisingly, the results indicated that 55.82%, 78.58%, 87.78%, and 86.09% of Ethiopian interviewees agreed with statements regarding high ease of use, usefulness, positive attitude, and benefits, respectively, of AV. However, it should be noted that some interviewees did not provide a response to certain questions.

Computational animation of spatiotemporal models for 3-D shape and motion is considered as core of dynamic real-time vision. This is based on sets of features evaluated from multi-focal image streams. Subjects are defined as special objects capable of sensing environmental parameters and of initiating own actions in combination with stored knowledge. Object/subject recognition and scene understanding are achieved on different levels. Multiple objects are tracked individually for perceiving their actual state (‘here and now’). Fast saccadic jumps in gaze direction allow flexible concentration on objects or parts of actual interest. By analyzing motion of relevant objects/subjects over a larger time scale on the level of state variables and documenting them in the ‘scene tree representation’ (computer graphics), the situation with respect to decision making is assessed. Various behavioral capabilities of subjects are represented on an abstract level for characterizing their potential behaviors. These are generated by stereotypical feed-forward and feedback control applications on a separate level close to the actuator hardware with corresponding methods. This dual representation on one level for decision making and one on the implementation level allows for flexibility and easy adaptation or extension. Results are shown for road vehicle guidance based on three cameras on a gaze-controlled platform.

ABSTRACT The work is focused on determining the energy transfer from EV’s to grid for different operating conditions. The study has been simulated on a scaled model and later validated through experimental tests on batteries of 20 kWh, 40 kWh, 60 kWh and 80 kWh for EV’s energy rates from 130 Wh/km to 180 Wh/km. Tests have been developed to evaluate the energy transfer from driving distance between 0 and 50 km. Results have proved there is a linear dependence between energy transfer and energy rate. Experimental and simulated values have been correlated showing a 99.6% accuracy. The ratio of energy transfer to battery energy capacity depends not only on this latter parameter, but also on the energy rate of the electric vehicle. Experimental tests have shown a variation from a minimum transfer ratio of 54.1% for the highest electric vehicle energy rate and lowest battery energy capacity and power transfer to grid rate to a maximum of 88.6% for the highest power transfer to grid rate and battery energy capacity and lowest electric vehicle energy rate.

Effective agricultural management in maize production operations starts with the early quantification of seedlings. Accurately determining plant presence allows growers to optimize planting density, allocate resources, and detect potential growth issues early on. This study presents an in-depth analysis of multiple object detection models used by drones to count maize seedlings, while concurrently investigating the influence of planting density, flight altitude, and plant growth stage. The findings of this study demonstrate that one-stage models are able to more accurately detect maize seedlings than two-stage models. In particular, YOLOv8n exhibits outstanding performance, achieving an F1-score of over 0.92 under various density conditions and maintaining a stable performance, especially under densities below 105,000 plants/ha. Additionally, planting density and growth stage were observed to significantly affect detection accuracy, with performance declining as density and growth stage increased. Image resolution and detection were impacted by flight altitude, with lower flights producing higher-quality results. Ultimately, YOLOv8n displays optimal performance under various conditions, providing crucial data to support intelligent decision-making. This research offers valuable insights into the application of object detection technology and provides a basis for the future development of precision agriculture.

The predominance of traffic lights in urban settings often induces fluctuations in traffic patterns and energy utilization among vehicles. To counteract the adverse effects of traffic lights on the energy efficiency of electric vehicles (EVs), a Multi-Intersections-Based Eco-Approach and Departure strategy (M-EAD) is proposed. This strategy aims to enhance vehicle energy efficiency, traffic flow, and battery longevity, all while upholding satisfactory driving comfort. The M-EAD strategy unfolds in two distinct stages: the optimization of an eco-friendly green signal window and the refinement of speed trajectories. The initial stage tackles the optimization of traffic light green signal windows, underpinned by the minimization of travel delays via solving the shortest path problem. In the subsequent stage, a receding horizon framework takes center stage, leveraging an iterative dynamic programming algorithm to tackle the speed optimization challenge. The objective here is to curtail energy consumption and reduce battery wear by finding an optimal speed trajectory. Furthermore, the real-world efficacy of this approach is substantiated through on-road vehicle tests, attesting to its viability in actual road scenarios.

In current electric vehicles, the traction battery is intended to store energy. When designing this battery different parameters must be taken into account in order to arrange the battery/module/cells in the mechanically and thermally safest configuration. Moreover, the battery layout must have a correct dynamic behavior in possible collisions. In the present study, different battery configurations plus added energy absorbers are analyzed. In order to do that, an internal combustion vehicle modeled with finite elements is applied as the reference model. The structural behavior of the different battery configurations in the event of a side collision is examined. Firstly, the safest arrangement is stablished, both with respect to cabin intrusion and thermal runaway propagation. Secondly, the safest arrangement that guarantees the safety of the occupants in the event of a side collision is analyzed but using the MADYMO. This software includes experimentally validated dummies which allow have an insight in the stresses experienced by occupants. On the one hand, the analysis states that the battery pack inclusion in the vehicle increases the stiffness of the car floor, resulting in fewer intrusions in the passenger compartment. Therefore, a greater safety for the occupants is reached. On the other hand, none of the configurations analyzed has shown enough safety against the phenomenon of Thermal Runaway.

This study explores fault-tolerant consensus in leader-following heterogeneous multi-agent systems, focusing on actuator failures in uncrewed aerial vehicles (UAVs) and uncrewed ground vehicles (UGVs). An optimization-based fault-tolerant consensus algorithm is proposed. The algorithm utilizes the Euler-Lagrange formula to ensure system consistency under actuator failures, with the Lyapunov stability theory proving the asymptotic stability of the consistency error. The algorithm is applied to heterogeneous multi-agent systems of UAVs and UGVs to derive optimal fault-tolerant consensus control laws for each vehicle type. Simulation experiments give evidence for the feasibility of the proposed control strategy.

Abstract: As the policies and regulations currently in place concentrate on environmental protection and greenhouse gas reduction, we are steadily witnessing a shift in the transportation industry towards electromobility. There are, though, several issues that need to be addressed to encourage the adoption of EVs at a larger scale. To this end, we propose a solution capable of addressing multiple EV charging scheduling issues, such as congestion management, scheduling a charging station in advance, and allowing EV drivers to plan optimized long trips using their EVs. The smart charging scheduling system we propose considers a variety of factors such as battery charge level, trip distance, nearby charging stations, other appointments, and average speed. Given the scarcity of data sets required to train the Reinforcement Learning algorithms, the novelty of the recommended solution lies in the scenario simulator, which generates the labelled datasets needed to train the algorithm. Based on the generated scenarios, we created and trained a neural network that uses a history of previous situations to identify the optimal charging station and time interval for recharging. The results are promising and for future work we are planning to train the DQN model using real-world data.

This study explores the potential of digital technologies for preserving cultural heritage through the case study of the Raya Gopura, an incomplete monument in Melukote, India. Employing a combination of terrestrial photogrammetry, drone-based photogrammetry and terrestrial laser scanning, the research team captured highly detailed 3D models of the structure. This non-destructive approach offers a comprehensive digital record for future research and preservation. Furthermore, for the conjecture for the Raya Gopura two possible purposes: an entrance to a planned fort or a gateway to the temple are perceived through the collective intelligence (CI) approach. These insights inform a conjectural architectural drawing of the potentially completed monument. The 3D models hold significant potential for various applications, including tourism, education, and architectural research, with the potential for immersive experiences through VR and AR technologies. The study demonstrated the effectiveness of digital tools in heritage preservation, not only safeguarding the Raya Gopura but also offering valuable in-sights for future research and public engagements.

This study explores the potential of digital technologies for preserving cultural heritage through the case study of the Raya Gopura, an incomplete monument in Melukote, India. Employing a combination of photogrammetry (terrestrial and drone-based) and terrestrial laser scanning, the research team captured highly detailed 3D models of the structure. This non-destructive approach offers a comprehensive digital record for future research and preservation. Furthermore, consultations with experts yielded two possible purposes for the Raya Gopura: an entrance to a planned fort or a gateway to a temple. These insights inform a conjectural architectural drawing of the potentially completed monument. The 3D models hold significant potential for various applications, including tourism, education, and architectural research, with the potential for immersive experiences through VR and AR technologies. In conclusion, this study demonstrates the effectiveness of digital tools in heritage preservation, not only safeguarding the Raya Gopura but also offering valuable insights for future research and public engagement.

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.

Aiming at the problem of UAV cluster configuration reconstruction, in order to obtain the cluster reconstruction method, the theory and simulation of cluster reconstruction control strategy is studied by simplifying the model，deducing the theoretical formula and analyzing the example. Taking 10 UAVs cluster as an example, the distribution of UAVs in different configurations was analyzed. According to the change of cluster configuration, the principle of formation reconstruction and the execution ability of configuration, the cluster capability was analyzed. The group behavior is modeled by group behavior rules, reconfiguration topology analysis and reconfiguration cost measurement. Based on the cluster parameters and configuration characteristics, simulation experiments were carried out to obtain the change curve of the reconstruction cost and time and the trajectory movement diagram of the UAV in different configurations.

Existing studies often lack a systematic solution for Unmanned Aerial Vehicles (UAV) inspection system, which hinders their widespread application in crack detection. To enhance its practicality, this study proposes a formal and systematic framework for UAV inspection systems, specifically designed for automatic crack detection and pavement distress evaluation. The framework integrates UAV data acquisition, deep learning based crack identification, and road damage assessment in a comprehensive and orderly manner. Firstly, the flight control strategy is presented, and road crack data is collected using the DJI Mini 2 UAV imagery, establishing a high-quality UAV crack image datasets with ground truth information. Secondly, a validation and comparison study is conducted to enhance the automatic crack detection capability and provide an appropriate deployment scheme for UAV inspection systems. This study develops automatic crack detection models based on mainstream deep learning algorithms(namely, Faster-RCNN, YOLOv5s, YOLOv7-tiny, and YOLOv8s) in urban road scenarios. The results demonstrate that the Faster-RCNN algorithm achieves the highest accuracy and is suitable for online data collection of UAV and offline inspection at work stations. Meanwhile, the YOLO models, while slightly lower in accuracy, are the fastest algorithm and are suitable for lightweight deployment of UAV with online collection and real-time inspection. Quantitative measurement methods for road cracks are presented to assess road damage, which will enhance the application of UAV inspection systems and provide factual evidence for maintenance decisions made by road authorities.

Maritime search and rescue is a crucial component of the national emergency response system, which currently mainly relies on Unmanned Aerial Vehicles (UAVs) to detect the objects. Most traditional object detection methods focus on boosting the detection accuracy while neglecting the detection speed of the heavy model. However, it is also essential to improve the detection speed which can provide timely maritime search and rescue. To address the issues, we propose a lightweight object detector named Shuffle-GhostNet-based detector (SG-Det). First, we construct a lightweight backbone, named Shuffle-GhostNet, which enhances the information flow between channel groups by redesigning the correlation group convolution and introducing the channel shuffle operation. Second, we propose an improved feature pyramid model, namely BiFPN-tiny, which has a lighter structure while being capable of reinforcing small object features. Furthermore, we incorporate the atrous spatial pyramid pooling module (ASPP) to the network, which employs atrous convolution with different sampling rates to obtain multi-scale information. Finally, we generate three sets of bounding boxes at different scales – large, medium, and small – to detect objects of different sizes. Compared with other lightweight detectors, SG-Det achieves better tradeoffs across performance metrics, and enables real-time detection with an accuracy rate of over 90% for maritime objects, which shows that it can be better meet the actual requirements of maritime search and rescue.

Unmanned aerial systems (UASs) create an extensive fighting capability of the developed military forces. Particularly, these systems carrying confidential data are exposed to security attacks. By the wireless’s nature within these networks, they become susceptible to different kinds of attacks, hence, it seems essential to design the appropriate safety mechanism in such networks. The sinkhole attack is one of the most dangerous and threatening attacks amongst types of attack in UAS. A malicious UAV exists in such a threat attacking as a black hole for absorbing all traffic in the network. Mainly, in a Flow-based protocol, the attacker considers the requests on the route, then, it replies to the target UAV such as high quality or the best route towards Gard station. The malicious UAV is able to only insert itself on one occasion between the nodes relating to each other (such as sink node and sensor node), and act for passing packets among them. In this study, the malicious attacks are detected and purged using two stages were. In the first stage, some principles and rules are used to detect black hole, gray hole, and sinkhole attacks. In the second stage, using a smart agent-based strategy negotiation procedure for three steps, a defense mechanism is designed to prevent these attacks. The smart agent is used by reliable neighbors via the negotiation procedure for three steps, hence, the traffic formed by the malicious UAV is not considered. The suggested protocol is called SAUAS. Here, the technique is assessed through extensive simulations performed in the NS-3 environment. Based on the simulation outcomes, it is indicated that the UAS network performance metrics are enhanced based on the packet delivery rate, detection rate, false-negative rate and false-positive rate.

Vigorous early-season growth rate allows crops to compete more effectively against weeds and to conserve soil moisture in arid areas. Many crop species, including common bean, show genetic variation in growth rate between varieties. Despite this, the genetic basis of the early-season growth-related traits has not been well resolved in the species, in part due to historic phenotyping challenges. Using a range of UAV- and ground-based methods, we evaluated early-season growth vigor of two populations. These growth data were then used to find QTLs associated with several growth parameters. Our results suggest that early-season growth rate is the result of complex interactions between several genetic and environmental factors and highlight the need for the high-precision phenotyping provided by UAVs. The QTLs identified in this study are the first in common bean to be identified remotely using UAV technology and will be useful for developing crop varieties that compete with weeds more effectively. Ultimately, this will reduce crop losses and mitigate the need for herbicides and manual labor for weed control.

The use of small Unmanned Aircraft Systems (sUAS ) as platforms for data capture has rapidly increased in recent years. However, while there has been significant investment in improving the aircraft, sensors, operations, and legislation infrastructure for such, little attention has been paid to supporting the management of the complex data capture pipeline sUAS involve. This paper reports on the outcomes of a four-year-long community-engagement-based investigation into what tools, practices, and challenges currently exist for particularly researchers using sUAS as data capture platforms. The key results of this effort are: (1) sUAS captured data – as a set that is rapidly growing to include data in a wide range of Physical and Environmental Sciences, Engineering Disciplines, and many civil and commercial use cases – is characterised as both sharing many traits with traditional remote sensing data and also as exhibiting – as common across the spectrum of disciplines and use cases – novel characteristics that require novel data support infrastructure. And (2), given this characterization of sUAS data and its potential value in the identified wide variety of use case, we outline eight challenges that need to be addressed in order for the full value of sUAS captured data to be realized. We then conclude that there would be significant value gained and costs saved across both commercial and academic sectors if the global sUAS user and data management communities were to address these challenges in the immediate to near future, so as to extract the maximal value of sUAS captured data for the lowest long-term effort and monetary cost.

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.

Unmanned aerial vehicles (UAV) provide an unprecedented capacity to monitor the development and dynamics of tree growth and structure through time. It is generally thought that the pruning of tree crops encourages new growth, has a positive effect on fruiting, makes fruit-picking easier, and may increase yield, as it increases light interception and tree crown surface area. To establish the response of pruning in an orchard of lychee trees, an assessment of changes in tree structure, i.e. tree crown perimeter, width, height, area and Plant Projective Cover (PPC), was undertaken using multi-spectral UAV imagery collected before and after a pruning event. While tree crown perimeter, width and area could be derived directly from the delineated tree crowns, height was estimated from a produced canopy height model and PPC was most accurately predicted based on the NIR band. Pre- and post-pruning results showed significant differences in all measured tree structural parameters, including an average decrease in tree crown perimeter of 1.94 m, tree crown width of 0.57 m, tree crown height of 0.62 m, tree crown area of 3.5 m², and PPC of 14.8%. In order to provide guidance on data collection protocols for orchard management, the impact of flying height variations was also examined, offering some insight into the influence of scale and the scalability of this UAV based approach for larger orchards. The different flying heights (i.e. 30, 50 and 70 m) produced similar measurements of tree crown width and PPC, while tree crown perimeter, area and height measurements decreased with increasing flying height. Overall, these results illustrate that routine collection of multi-spectral UAV imagery can provide a means of assessing pruning effects on changes in tree structure in commercial orchards, and highlight the importance of collecting imagery with consistent flight configurations, as varying flying heights may cause changes to tree structural measurements.

Dislocation is one of the major challenges in unmanned aerial vehicle (UAV) image stitching. In this paper, we propose a new dynamic programming for seamlessly stitching UAV images using optical flow. Our solution consists of two steps: Firstly, an image-matching algorithm is used to correct the images so that they are in the same coordinate system. Secondly, a new dynamic programming algorithm is develop based on the concept of a stereo dual-channel energy accumulation using optical flow. A new energy aggregation and traversal strategy is adopted in our solution, which can find a more optimal seam line for adjacent image stitching. Our algorithm overcomes the theoretical limitation of the classical Duplaquet algorithm. Experiments show that the algorithm can effectively solve the dislocation problem in UAV image stitching. Beyond that, our solution is also direction-independent, which has more adaptability and robustness for UAV images.

The increased availability of high resolution remote sensor data for precision agriculture 1 applications permits users to aquire deeper and more relevant knowledge about crops states that lead 2 inevitably to better decisions. The algorithm libraries being developed and evolved around these 3 applications rely on multi-spectral or hyper-spectral data acquired by using manned or unmanned 4 platforms. The current state of the art makes thorough use of vegetational indicies to guide the 5 operational management of agricultural land plots. One of the most challenging sub-problems is 6 to correctly identify and separate crop from soil. Thresholding techniques based on Normalized 7 Difference Vegetation Index (NDVI) or other such similar metrics have the advantage of being simple, 8 easy to read transformations of the data packed with useful information. Obvious difficulties arise 9 when crop/tree and soil have similar spectral responses as in case of grass filled areas in vineyards. 10 In this case grass and canopy are close in terms of NDVI values and thresholding techniques will 11 generally fail. Radiometric approaches could be integrated or replaced by a geometric approach that 12 is based on terrain data like Digital Surface Models (DSMs). These models are one of the ouputs 13 of orthorectification engines usually present in data acquired by using unmanned platforms. In 14 this paper we present two approaches based on DSM that are able to segment crop/tree from soil 15 while over gradient terrain. The DSM data are processed through a two dimensional data slicing or 16 reduction technique. Each slice is separately processed as a one dimensional time series to derive the 17 terrain and tree structures separately, here interpreted as object probability densities. In particular 18 the first approach is a Cartesian grid rasterization (CARSCAN) of the terrain and the second is its 19 immediate generalisation or radial grid rasterization of the DSM model (FANSCAN). The FANSCAN 20 recovers information from the original image at greater frequencies on the Fourier plane. These 21 approaches enable the identification of crop/tree from soil in case of slopes or hilly terrain without 22 any constraint on the displacement / direction of plant/tree row. The proposed algorithm uses pure 23 DSM information even if it is possible to fuse its output with other classifiers.

Abstract: The Micro-Electro-Mechanical System (MEMS) LiDAR point cloud in autonomous vehicles has a large deflection range, which results in slow registration speed and poor applicability. To maximize speed, an improved NDT (Normal Distribution Transform) method that integrates point cloud density features has been proposed. First, the point cloud is reduced using a modified voxel filter and a pass-through filter. Next, the ISS (Intrinsic Shape Signature) algorithm is utilized to analyze the point cloud features and extract keypoints, the 4PCS (4-Point Congruent Sets) algorithm is then employed to calculate the initial pose under the constraints of the keypoint set to complete the coarse registration. Finally, the self-adaptive segmentation model is constructed by using KD-tree to obtain the density features of keypoints, and the NDT algorithm is combined with this model to form an SSM-NDT algorithm, which is used for fine registration. Each algorithm was compared on the autonomous vehicle dataset PandaSet and actual collected data sets, the results show that the novel method increases the speed by at least 60% and takes into account good registration accuracy and strong anti-interference.

The application of deep learning in autonomous vehicles has surged over the years with the advances in technologies. This research explores the integration of deep learning algorithms into autonomous vehicles (AVs), focusing on their role in perception, decision-making, localization, mapping, and navigation. It shows that deep learning, which as a part of machine learning, mimics the human brain's neural networks, enabling advancements in perception, decision-making, localization, mapping, and overall navigation. Techniques like convolutional neural networks are used for image detection and steering control, while deep learning is crucial for path planning, automated parking, and traffic maneuvering. Localization and mapping are essential for AVs' navigation, with deep learning-based object detection mechanisms like Faster R-CNN and YOLO proving effective in real-time obstacle detection. Apart from the roles, the study also revealed that integration of deep learning in AVs faces challenges such as dataset uncertainty, sensor challenges, and model training intricacies. However, these issues can be addressed through increased standardization of sensors, real-life testing for model training, and advancements in model compression technologies can optimize the performance of deep learning in AVs. The study concludes that deep learning plays a crucial role in enhancing the safety and reliability of AV navigation. This study contributes to the ongoing discourse on the optimal integration of deep learning in AVs, aiming to foster their safety, reliability, and societal acceptance.

Hybrid electric vehicles (HEVs) are perceived as a first step towards the future of sustainable transport. Of course, battery electric vehicles (EVs) are currently ideal for what is wanted to stand for transport in the future. The lack of infrastructure for these vehicles makes many potential users choose hybrid vehicles in these conditions. This paper analyzes the influence of the engine and electric motor of hybrid vehicles on their performances. Three engines with slightly different power and close characteristics were considered for configured models. Also, two electric motors with very different power but having a very close maximum continuous torque have been used in models. One is an induction motor, and the other is a permanent magnet synchronous motor. ADVISOR software has been used for vehicles configuration and simulation. Series and parallel hybrid vehicles have been considered. The main dynamic performances and the fuel consumption in two driving cycles were compared for the configured models. Three conventional models with the same engines used in HEVs have also been simulated for reference. The results highlight that in the case of HEVs, the choice of combination engine/electric motor is crucial in obtaining the best report between dynamic performances and low fuel consumption, and implicitly a low negative impact on the environment.

This research addresses the formidable challenge of achieving precise trajectory tracking for autonomous vehicle formations in uncertain environments. It introduces an adaptive control system tailored for autonomous vehicles, with a primary focus on ensuring prescribed performance in trajectory tracking within a leader-follower formation paradigm. The system incorporates a guidance law that allows the leader vehicle to dynamically adjust desired yaw angles and speeds for follower vehicles based on the established reference trajectory, enhancing tracking accuracy and responsiveness to environmental changes. To address practical external disturbances, the study utilizes Radial Basis Function Neural Networks (RBFNN) in conjunction with second-order filters for error approximation. This approach is further strengthened by a carefully formulated adaptive law. The innovative integration of a barrier Lyapunov function with the backstepping method significantly enhances the system’s adaptability and robustness, ensuring trajectory tracking performance meets predetermined standards. Simulation results illustrate the control system’s adept handling of various external disturbances, consistently maintaining trajectory tracking errors within predefined limits. This underscores the system’s potential to markedly enhance the operational reliability and efficiency of autonomous vehicle formations in unpredictable environmental conditions.

In this study, we focused on the eco-driving of electric vehicles (EVs). The target vehicle is an electric bus developed by our research team. Using the parameters of the bus and speed pattern optimization algorithm, we derived the EV eco-driving speed pattern. Compared to eco-driving of internal combustion engine vehicles (ICVs), we found several different characteristics. We verified these characteristics with actual vehicle driving test data of the target bus, and the results confirmed its rationality. The EV eco-driving method can improve electricity consumption by about 10% - 20% under the same average speed.

The evolution of transportation has been inextricably tied to the progress of civilization. Through innovation, the automobile business has been working to improve safety, quality, and compliance with environmental regulations. Electric vehicles have made significant strides in this area, but optimizing their efficiency requires a special focus because they expend energy that can be recovered in a variety of ways. Energy harvesting, a cutting-edge technology that captures wasted energy from vehicles, has recently received a lot of attention as it constitutes a means to improve the efficiency of electric vehicles. Dissipated energy can be converted into electricity using regenerative energy recovery systems and put to various uses. This study tenders a thorough examination into energy recovery technologies which could be applied to the various types of energy dissipated in electric vehicles. Firstly, the paper investigates the possible sources of energy recoverable from an electric vehicle, as well as the various types of energy dissipated. Secondly, the article examines the energy recovery technologies most frequently used in vehicles, categorizing them according to the type of energy and application. Finally, it determines that with further research and development, energy harvesting holds considerable potential for improving the energy efficiency of electric vehicles. New and innovative methods for capturing and utilizing wasted energy in electric vehicles can be established. The potential benefits of applying energy recovery systems in electric vehicles is a vital issue for the automobile industry to focus on due to the potential benefits involved. The ongoing progress currently being made in this field is expected to play a significant role in shaping the future of transportation.

The energy stored in an electric vehicle's battery would be drawn and distributed to the electrical grid to better drive energy consumption within a microgrid that includes a renewable generator(s) managed by a specific energy management strategy. This concept, known as vehicle-to-grid technology: V2G, makes the energy stored in the electric vehicle's battery more beneficial by discharging it to the public grid during periods of high demand. In this study, we will consider a vehicle system connected to a microgrid, which includes a photovoltaic generator reported from the <<PROPRE.MA>> project in the city of Tangier. We will elaborate the study of a strategy of the car connected to this V2G network. This allows electricity to be stored when rates are low (off-peak hours) and then used when prices rise (peak hours). Otherwise, the solar energy will cover the owner's needs, and the surplus will be injected into the distribution network. This strategy will manage the solar power, the load power, the state of charge of the EV battery, the time of day and the driving scenario. Using two driving profiles, we will show the performance of the proposed energy management strategy and the percentage contribution of the photovoltaic array of the <<PROPRE.MA>> project in the city of Tangier.

The problems of operating range and costs are the two most critical bottlenecks restricting the extensive application of electric vehicles at home and abroad. There are also some prominent problems in China's electric vehicles, such as slow improvement of electric vehicle's operating range, difficulty in charging, slow charging, low utilization efficiency of charging resources, and high battery cost for electric vehicles, which lead to poor competitiveness of electric vehicles compared with traditional internal combustion engine (I.C.E.) vehicles. This paper analyzes the key factors restricting the development and popularization of electric vehicles in China from the aspects of strategic policy, sales situation and self problems. Through summarizing the experience and lessons of French standardization development strategy and electric vehicle development mode, this paper puts forward the hypothesis leading the development of electric vehicles through standardization to enhance their competitiveness, gives the specific suggestions, and briefly analyzes the feasibility from the aspects of product situation. The research content of this paper provides a certain basis and ideas for the future research work.

Seasonal variations in atmospheric ultrafine particulate matter (PM0.1) were monitored in Bangkok, Thailand, from 2016 to 2017. PM0.1 bound organic carbon (OC), and elemental carbon (EC) were collected by a cascade air sampler that can collect PM0.1 and estimated by a thermal-optical carbon analyzer following the IMPROVE-TOR protocol. The annual average PM0.1 in Bangkok was 14.5 ± 4.7 µg/m3, higher than in large Asian cities like Shanghai and Hanoi. Biomass burning from neighboring areas was shown to increase the particle concentration. Apparent risings in carbon species as OC, EC, and OC/EC ratios in the wet and dry seasons were observed, and Char-EC/Soot-EC displayed that the PM0.1 in the Bangkok atmosphere was influenced mainly by the vehicle exhaust, even though the influence of biomass burning was more sensitive during the dry season. The effective carbon ratio (ECR) displays that carbonaceous aerosol is light-absorbing; the dry season increase contributed to climate and air quality. The finding of this work is of great importance to air pollutants control policies in urban areas.

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.

The study is devoted to the issues of mathematical modeling and simulating the sport differential mechanism (DM) with controllable torque redistribution. The issue is caused by the elaboration of ADAS systems with the automated torque vectoring for transmissions of all-wheel-drive (AWD) vehicles and the inclusion of such devices in the combined autonomous vehicle trajectory control scheme. At the article's beginning, the use of devices for redistributing traction forces is reasoned by analyzing the curvilinear vehicle motion, where they could ensure the accuracy of vehicle steerability. The literature review highlights modern developments in the field of modeling and researching such DMs. Considering the vehicle turn with a minimum radius, the conditions corresponding to passing greater torque over the outrunning rear axle are determined. All the mechanism's components and loads acting between them are described in detail. To form an original method of mathematical description of the mechanism functioning, the system of differential equations, systems of kinematic and force connections are considered separately. The article details the mathematical approach to generalize the way for automating the equation compilation for rotational mechanical systems such as vehicle transmissions. In the simulation section, a Simulink model reflecting the functional components and calculation procedures is presented. A series of testing and simulations on the DM operation with forcible torque distribution is carried out. Modeling data are presented, and the analysis of simulation results is performed. In the completion, conclusions are made regarding the scope and use of this model and the prospects for further developing the method proposed to automate the formation of equation systems.

Recently, inter-vehicle communication, which helps to avoid collision accidents (by driving safety support system) and facilitate self-driving (by dissemination of road and traffic information), has attracted much attention. In this paper, in order to efficiently collect road / traffic information in the request / response manner, first a basic method, Content-centric network (CCN) for Vehicular network (CV), is proposed, which applies CCN cache function to inter-vehicle communication. Content naming and routing, which take vehicle mobility into account, are investigated. On this basis, the CV method is extended (named as ECV) to avoid the cache miss problem caused by vehicle movement, and is further enhanced (named as ECV+) to more efficiently exploit cache buffer in vehicles, caching content according to a probability decided by channel usage rate. Extensive evaluations on network simulator Scenargie, with realistic open street map, confirm that the CV method and its extensions (ECV, ECV+) effectively reduce the average number of hops of data packets (by up to 47%, 63%, 83% respectively) and greatly improve the content acquisition success rate (by up to 356%, 444%, 689%, respectively), compared to the method without cache mechanism.

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.

Satellites are subject to various severe vibration during different phases of flight. The concept of satellite smart adapter is proposed in this study to achieve active vibration control of launch vehicle on satellite. The satellite smart adapter has 18 active struts in which the middle section of each strut is made of piezoelectric stack actuator. Comprehensive conceptual design of the satellite smart adapter is presented to indicate the design parameters, requirements and philosophy applied which are based on the reliability and durability criterions to ensure successful functionality of the proposed system. The coupled electromechanical virtual work equation for the piezoelectric stack actuator in each active strut is drived by applying D'Alembert's principle. Modal analysis is performed to characterize the inherent properties of the smart adapter and extraction of a mathematical model of the system. Active vibration control analysis was conducted using fuzzy logic control with triangular membership functions and acceleration feedback. The control results conclude that the proposed satellite smart adapter configuration which benefits from piezoelectric stack actuator as elements of its 18 active struts has high strength and shows excellent robustness and effectiveness in vibration suppression of launch vehicle on satellite.

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

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

Using UAV-based multispectral images for quickly and accurately monitoring chlorophyll content is critical for field management and yield estimation. However, the lower model accuracy and the poor robustness of the estimation models are still preventing the widespread application of UAV-based multispectral images. We carried out two field trials at various experimental sites to further enhance the precision and applicability of the model used to estimate the chlorophyll content of potato plants. Firstly, the texture features and vegetation indices derived from multispectral images were screened using the Pearson correlation coefficient method, and Normalized difference red edge (NDRE) performed the best over the two growth periods. Secondly, principal component analysis (PCA) was applied to recombine five bands of multispectral images, and third PCA results (PCA3) was selected to combined with NDRE according to the construction principle of NDRE, and the newly constructed parameter was named improved NDRE (INDRE). Finally, INDRE was used to establish a chlorophyll content estimation model of potato plants, and compared with some traditional parameters. The results demonstrated that the INDRE had the maximum accuracy (R2 = 0.7865, RMSE = 2.1378), and corresponding R2 increased by 0.1481 and RMSE decreased by 1.2994 than NDRE. Additionally, the model was validated using independent data from Experiment 2, and INDRE considerably increased estimation accuracy compared to other factors. In conclusions, the INDRE suggested in this study significantly enhances the accuracy and applicability of the chlorophyll content inversion model and can serve as an additional reference for fertilization management.

Rapid and accurate detection of road cracks is of great significance for road health monitoring, but currently this work is mainly completed through manual site surveys. Low-altitude UAV remote sensing can obtain images with centimeter or even subcentimeter ground resolution, which provides a new efficient and economical approach for rapid crack detection. Nevertheless, crack detection networks face challenges such as edge blurring and misidentification due to the heterogeneity of road cracks and the complexity of the background. To address these issues, we propose a real-time edge reconstruction crack detection network (ERNet) which adopts multi-level information aggregation to reconstruct crack edges and improve the accuracy of segmentation between the target and background. To capture global dependencies across spatial and channel levels, we propose an efficient bilateral decomposed convolutional attention module (BDAM) that combines depth separable convolution and dilated convolution to capture global dependencies across spatial and channel levels. To enhance the accuracy of crack detection, we use a coordinate-based fusion module that integrates spatial, semantic, and edge reconstruction information. In addition, we propose an automatic measurement of crack information for extracting the crack trunk and its corresponding length and width. Experimental results demonstrate that our network achieves the best balance between accuracy and inference speed.

In the context of precision agriculture (PA), geomatic surveys exploiting UAV platforms allow the trees’ dimensional characterization and crown identification. This paper focuses on the use of low-cost UAV photogrammetry to estimate the trees’ height, as part of a project for the phytoremediation of contaminated soils. Two study areas (Area 1; Area 2) have been chosen, having different characteristics in terms of mean trees’ height (5 m; 0.7 m), to test the procedure even in a challenging context. Three campaigns have been performed in Area 1 at different altitudes (30 m, 40 m, 50 m), and one UAV flight is available in Area 2 (42 m of altitude). The implemented workflow involves the elaboration of the UAV point clouds and DSMs using the standard SfM approach, the vegetation filtering, the generation of the DTM and a GIS-based analysis to obtain the CHMs for the extraction of the trees’ heights based on a local maxima approach. UAV-derived heights have been compared with in-field measurements obtaining promising results in Area 1, confirming the applicability of the procedure for trees’ height extraction, while the application in the context of low trees was more problematic.

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.

Communication infrastructures may be partially or completely destroyed due to the natural disasters, especially the disruption of a few critical network devices, leading to the collapse of communication services.To address this issue, we constructed a layered, multi-domain data transmission architecture based on a UAV-assisted resilient network. Initially, the UAV controllers perceived the network status and learning the temporal- spatial characteristics of air-to-ground networks links. Subsequently, we developed a multi-domain routing algorithm based on federated reinforcement distillation, called FedRDR, enhancing the generalization capabilities of routing decision model through the augmentation of training data samples.We conducted simulation experiments, and the results indicate that the FedRDR algorithm has an average communication data volume of approximately 45.3KB between each domain controller and server. Compared to parameter transmission through the federated reinforcement learning algorithm, FedRDR can reduce the amount of transmitted parameters by approximately 29\%. Therefore, the FedRDR routing algorithm promotes knowledge transfer, accelerates the training process of intra-domain intelligent agents, and decreases the communication data volume between domain controllers and servers.

The extraction of roof feature lines is an important foundation for realizing large-scale and batch 3D modeling. However, the current traditional point cloud segmentation algorithms do not have satisfactory results in extracting roof feature lines of Chinese traditional residential buildings. In this paper, taking Jingping Village in Western Hunan as an example, we propose a method that combines multiple algorithms based on slope segmentation of roof patches to extract feature lines. Firstly, VDVI and CSF algorithms are used to extract the building and roof point cloud based on the MVS point cloud. Secondly, according to roof features, village buildings are classified, and 3D roof point cloud is projected into 2D regular grid data. Finally, the roof slope is segmented via slope direction, and internal and external feature lines are obtained after refinement through Canny edge detection and Hough straight line detection. Results reveal that this method effectively extracts feature lines of low-building roofs in traditional villages, with slope-based roof surface segmentation accuracy surpassing 99.6%. This method significantly outperforms the RANSAC algorithm and region segmentation algorithm.

In this paper, the distributed formation tracking control problem of quadrotor unmanned aerial vehicles (UAVs) is considered. Adaptive backstepping technology is used to design flight control schemes for quadrotor UAVs. For the position subsystem, a distributed robust formation tracking control scheme is developed to achieve formation flight of quadrotor UAVs and track the desired flight trajectory. For the attitude subsystem, an adaptive disturbance rejection control scheme is proposed to achieve attitude stabilization during UAV flight under uncertain disturbances. Compared with the existing results, the novelty of this paper is that the proposed formation control scheme does not require the use of the quadrotor model parameters. Finally, a quadrotor UAV swarm system is used to verify the effectiveness of the proposed control scheme.

In this paper, a multirotor UAV platform based on the PX4 ecosystem was discussed, which in combination with the MATLAB Simulink programming environment enables utilization in various aspects of mechatronic engineering education. Extensive testing of the UAV platform control module was performed, in order to enable implementation in engineering education. In the design phase of the educational platform, take-off-the-shelf components were selected and tested, and airframe parts were manufactured using rapid prototyping technologies. The proposed educational platform with four rotors was presented and tested. The learning outcomes of the undergraduate mechatronics professional study program according to the Croatian Qualifications Framework and related to the considered platform are shown. A preliminary framework of laboratory exercises for the field of mechatronic systems control is investigated.

Unmanned Aerial Vehicles (UAVs) image object detection has great application value in military and civilian fields. However, the objects in the captured images from UAVs have problems of large scale variation, complex backgrounds, and a large proportion of small objects. To resolve these problems, a multi-scale object detector based on coordinate and global information aggregation is proposed, named CGMDet. Firstly, a Coordinate and Global Information Aggregation Module (CGAM) is designed by aggregating local, coordinate, and global information, which can obtain features with richer context information. Secondly, a Multi-Feature Fusion Pyramid Network (MF-FPN) is proposed, which can better fuse features of different scales and obtain features containing more context information through repeated use of feature maps, to better detect multi-scale targets. Moreover, more location information of low-level feature maps is integrated to improve the detection results of small targets. Furthermore, we modified the bounding box regression loss of the model to make the model more accurately regress the bounding box and faster convergence. Finally, the proposed CGMDet was tested on VisDrone and UAVDT datasets and mAP0.5 of 50.9% and 48% was obtained, respectively. At the same time, our detector achieved the best results compared to other detectors.

Capabilities of hovering unmanned aerial vehicles (UAVs) in low-altitude sensing of atmospheric turbulence with high spatial resolution are studied experimentally. The experiment was carried out at the Basic Experimental Observatory of the V.E. Zuev Institute of Atmospheric Optics SB RAS. UAV findings are compared with objective data on the state of the atmosphere that were measured by acoustic anemometers installed at weather towers at altitudes of 4, 10, and 27 m. Profiles of atmospheric turbulence were recorded with three UAVs hovering at the same heights at a distance of 5 m from the anemometers. The behavior of the longitudinal and lateral wind velocity components is studied in the frequency band 0-10 Hz before and after one-minute smoothing, which reveals long turbulent wind gusts. The discrepancy between the UAV and anemometer data is analyzed. It is found that after smoothing, the discrepancy does not exceed 0.5 m/s in 95% cases. This value meets the requirements of the World Meteorological Organization for some applications in wind velocity measurements. The spectral and correlation analysis of the UAV and anemometer measurements is carried out. The profiles of the longitudinal and lateral scales of turbulence are examined based on the UAV data and are found to be in agreement with the anemometer data to a good accuracy.

The ever-burgeoning growth of autonomous unmanned aerial vehicles (UAVs) has demonstrated a promising platform for utilization in real-world applications. In particular, UAV equipped with a vision system could be leveraged for surveillance applications. This paper proposes a learning-based UAV system for achieving autonomous surveillance, in which the UAV can be of assistance in autonomously detecting, tracking, and following a target object without human intervention. Specifically, we adopted the YOLOv4-Tiny algorithm for semantic object detection and then consolidated it with a 3D object pose estimation method and Kalman Filter to enhance the perception performance. In addition, a back-end UAV path planning for surveillance maneuver is integrated to complete the fully autonomous system. The perception module is assessed on a quadrotor UAV, while the whole system is validated through flight experiments. The experiment results verified the robustness, effectiveness, and reliability of the autonomous object tracking UAV system in performing surveillance tasks. The source code is released to the research community for future reference.

Recently, the mapping industry has been focusing on the possibility of large-scale mapping from unmanned aerial vehicles (UAVs) owing to advantages such as easy operation and cost reduction. In order to produce large-scale maps from UAV images, it is important to obtain precise orientation parameters. For this, various techniques have been developed and are included in most of the commercial UAV image processing software. For mapping, it is equally important to select images that can cover a region of interest (ROI) with the fewest possible images. Otherwise, to map the ROI, one may have to handle too many images, and commercial software does not provide information needed to select images, nor does it explicitly explain how to select images for mapping. For these reasons, stereo mapping of UAV images in particular is time consuming and costly. In order to solve these problems, this study proposes a method to select images intelligently. We can select a minimum number of image pairs to cover the ROI with the fewest possible images. We can also select optimal image pairs to cover the ROI with the most accurate stereo pairs. We group images by strips, and generate the initial image pairs. We then apply an intelligent scheme to iteratively select optimal image pairs from the start to the end of an image strip. According to the results of the experiment, the number of images selected is greatly reduced by applying the proposed optimal image–composition algorithm. The selected image pairs produce a dense 3D point cloud over the ROI without any holes. For stereoscopic plotting, the selected image pairs were map the ROI successfully on a digital photogrammetric workstation (DPW), and a digital map covering the ROI is generated. The proposed method should contribute to time and cost reductions in UAV mapping.

This paper describes and demonstrates an autonomous robotic team that can rapidly learn the characteristics of environments that it has never seen before. The flexible paradigm is easily scalable to multi-robot, multi-sensor autonomous teams, and is relevant to satellite calibration/validation and the creation of new remote sensing data products. A case study is described for the rapid characterisation of the aquatic environment, over a period of just a few minutes we acquired thousands of training data points. This training data allowed our machine learning algorithms to rapidly learn by example and provide wide area maps of the composition of the environment. Along side these larger autonomous robots two smaller robots that can be deployed by a single individual were also deployed (a walking robot and a robotic hover-board), observing significant small scale spatial variability.

Karst wetlands are being seriously damaged, and protecting it has become an important matter. Karst vegetation is the essential component of wetland and plays an important role in in the ecological functions of wetland ecosystems. Classifying karst vegetation is important for karst wetlands protection and management. This paper addressed to classify karst vegetation in Huixian National Wetland Park, located in China using the improved SegNet Deep-Learning Algorithm and UAV images. This study proposed a method to fuse single-class SegNet models using the maximum probability algorithm for karst vegetation classification, and compared with object-based RF classification and multi-class SegNet classification, respectively. This paper evaluated the performance of multi-class SegNet model and fusion of single-class SegNet model with different EPOCH values for mapping karst vegetation. A new optimized post-classification algorithm was proposed to eliminate the stitching traces caused by SegNet model prediction. The specific conclusions of this paper include the followings:(1) fusion of four single-class SegNet models produced better classification for karst wetland vegetation than multi-class SegNet model, and achieved the highest overall classification accuracy (87.34%); (2) The optimized post-classification algorithm was able to improve prediction accuracy of SegNet model, and it could eliminate splicing traces; (3) The karst wetland vegetation classifications produced by single-class SegNet model outperformed multi-class SegNet model, and improved classification accuracy(F1-Score) between 10%~25%;(4)The EPCOH values and textural feature important impact on karst wetland vegetation classifications. The SegNet model with EPCOH 15 achieved greater classification accuracy(F1-Score) than the model with EPOCH 5 or 10. The textural feature improved improves the capability of the SegNet model for mapping karst vegetation;(5) Fusion of single-class SegNet models and object-based RF model could provide high classifications results for karst wetland vegetation, and both achieved greater 87% overall accuracy.

Rapid assessment of maize yields in smallholder farming system is important to understand its spatial and temporal variability and for timely agronomic decision-support. Imageries acquired with unmanned air vehicles (UAV) offer opportunity to assess agronomic variables at field scale, however, it is not clear if this can be translated into reliable yield assessment on smallholder farms where field conditions, maize genotypes, and management practices vary within short distances. In this study, we assessed the predictability of maize grain yield using UAV-derived vegetation indices (VI), with(out) biophysical variables, in smallholder farms. High-resolution images were acquired with UAV-borne multispectral sensor at 4 and 8 weeks after sowing (WAS) on 31 farmers’ managed fields (FMFs) and 12 nearby Nutrient Omission Trials (NOT), all distributed across 5 locations within the core maize region of Nigeria. The NOTs included non-fertilized and fertilized plots (with and without micronutrients), sown with open-pollinated or hybrid maize genotypes. Acquired multispectral images were post-processed into several three (s) vegetation indices (VIs), normalized difference vegetation index (NDVI), normalized difference red-edge (NDRE), green-normalized difference vegetation index (GNDVI). Biophysical variables, plant height (Ht) and percent canopy cover (CC), were measured with the georeferenced plot locations recorded. In the NOTs, the nutrient status, not genotype, influenced the grain yield variability and outcome. The maximum grain yield observed in NOTs was 9.3 tha^-1, compared to 5.4 tha^-1 in FMF. Without accounting for between- and within-field variations, there was no relationship between UAV-derived VIs and grain yield at 4WAS (r<0.02, P>0.1), but significant correlations were observed at 8WAS (r≤0.3; p<0.001). Ht was positively correlated with grain yield at 4WAS (r=0.5, R²=0.25, p<0.001), and more strongly at 8WAS (r=0.7, R²=0.55, p<0.001), while relationship between CC and yield was only significant at 8WAS. By accounting for within- and between-field variations in NOTs and FMF (separately) through linear mixed-effects modeling, predictability of grain yield from UAV-derived VIs was generally (R²≤0.24), however, the inclusion of ground-measured biophysical variable (mainly Ht) improved the explained yield variability (R² ≥0.62, RMSEP≤0.35) in NOTs but not in FMF. We conclude that yield prediction with UAV-acquired imageries (before harvest) is more reliable under controlled experimental conditions (NOTs), than in actual farmer-managed fields where various confounding agronomic factors can amplify noise-signal within the vegetation canopy.

Phenology is one of the ubiquitous fingerprints of climate change on our ecosystems. Monitoring the spatiotemporal patterns of vegetation phenology is thus critical. A wide range of sensors have been used to monitor vegetation phenology. Sensor point of view and resolution can potentially impact estimates of phenology. We compared three different sensors from three different remote sensing platforms—a UAV mounted RGB camera, an under canopy, upward facing hemispherical camera with R, G and NIR capabilities, and a tower mounted RGB PhenoCam—to estimate spring phenological transition in a mixed-species temperate forest in central Virginia, USA. Our study had two objectives: 1) to compare the above- and below- canopy inference of canopy greenness (green chromatic coordinate and normalized difference vegetation index) and canopy structural attributes (leaf area and gap fraction) by matching under-canopy hemispherical photos with high spatial resolution (0.03 m) drone imagery to find the appropriate spatial coverage and resolution for comparison; 2) to compare how each sensor performed in estimating the temporality of the spring phenological transition. We find that a spatial buffer of 20 m radius for UAV imagery is most closely comparable to under-canopy imagery in this system. Sensors and platforms agree within +/- 5 days of when canopy greenness stabilizes from the spring phenophase into the growing season. This work has implications for paring UAV imagery with both tower-based observation platforms, as well as plot-based studies (e.g. long-term monitoring, existing research networks, permanent plots).

Sea level rise is one of the main factor of risk for the preservation of cultural heritage sites located along the coasts of the Mediterranean basin. Coastal retreat, erosion and storm surges are yet posing serious threats to archaeological and historical structures built along the coastal zones of this region. In order to assess the coastal changes by the end of 2100 under an expected sea level rise of about 1 m, a detailed determination of the current coastline position and the availability of high resolution DSM, is needed. This paper focuses on the use of very high-resolution UAV imagery for the generation of ultra-high resolution mapping of the coastal archaeological area of Pyrgi, near Rome (Italy). The processing of the UAV imagery resulted in the generation of a DSM and an orthophoto, with an accuracy of 1.94 cm/pixel. The integration of topographic data with two sea level rise projections in the IPCC AR5 2.6 and 8.5 climatic scenarios for this area of the Mediterranean, were used to map sea level rise scenarios for 2050 and 2100. The effects of the Vertical Land Motion (VLM) as estimated from two nearby continuous GPS stations located as much as close to the coastline, were included in the analysis. Relative sea level rise projections provide values at 0.30±0.15 cm by 2050 and 0.56±0.22 by 2100, for the IPCC AR5 8.5 scenarios and at 0.13±0.05 cm by 2050 and 0.17±0.22 by 2100, for the IPCC AR5 2.6 scenario. These values of rise will correspond to a potential beach loss between 12.6% and 23.5% in 2100 for RCP 2.6 and 8.5 scenarios, respectively, while during the highest tides the beach will be reduced up to 46.4%. With these sea level rise scenarios, Pyrgi with its nearby Etruscan temples and the medieval castle of Santa Severa will be soon exposed to high risk of marine flooding, especially during storm surges, thus requiring suitable adaptation strategies.

Unmanned Aerial Vehicles (UAVs) severing as the relay is an effective technology method to extend the coverage. It can also alleviate the congestion and increase the throughput, especially applied in UAV networks. However, since the energy of UAVs is limited and the resources in UAV networks are scarce, how to optimize the network delay performance under these constraints should be well investigated. Besides, the relationship among different resources, e.g. power and bandwidth, is coupled which makes the optimization more complex. This article investigates the problem of joint power and bandwidth allocation in UAV backhaul networks, which considers both the delay performance and the resource utilization efficiency. Considering the heterogeneous locations characteristics of different UAVs, we formulate the optimization problem as a Stackelberg game. The relay UAV acts as the leader and extended UAVs act as followers. Their utility functions take both the delay durance and the resource consumption into account. To capture the competitive relationship among followers, the sub-game is proved to be an exact potential game and exists Nash equilibriums (NE). The Stackelberg Equilibrium (SE) is proved afterwards. We utilize a hierarchical learning algorithm (HLA) to find out the best resource allocation strategies, which also reduces the computational complexity. Simulation results demonstrate the effectiveness of the proposed method.

This paper investigates the problem of the optimal arrangement for both UAVs’ caching contents and service locations in UAV-assisted networks based on the context awareness, which considers the influence between users and environment. In the existing work, users within the coverage of UAVs are considered to be served perfectly, which ignores the communication probability caused by line-of-sight (LOS) and non- line-of-sight (NLOS) links. However, the links are related to UAV deployment. Moreover, the transmission overhead should be taken into account. To balance the tradeoff between these two factors, we design the ratio of users’ probability and transmission overhead as the performance measure mechanism to evaluate the performance of UAV-assisted networks. Then, we formulate the objective for maximizing the performance of UAV-assisted networks as a UAV-assisted caching game. It is proved that the game is an exact potential game with the performance of UAV-assisted networks serving as the potential function. Next, we propose the log-linear caching algorithm (LCA) to achieve the Nash equilibrium (NE). Finally, related simulation results reflect the great performance of the proposed algorithm.

The precise prediction of air contaminant dispersion is essential to the air quality monitoring and the emergency management of the contaminant gases leakage incidents in the chemical industry park. The conventional atmospheric dispersion models can seldom give precise prediction due to inaccurate input parameters. In order to improve the prediction accuracy of dispersion model, two data assimilation methods (i.e. one is merely based on the typical particle filter while the other is a combination of particle filter and expectation-maximization algorithm) are proposed to assimilate the UAV observations into the atmospheric dispersion model. Two emission cases are taken into consideration, the difference between which is the different dimensions of state variables. To test the performances of the proposed methods, experiments corresponding to the two emission cases are designed and implemented. The results show that the particle filter can effectively estimate the model parameters and improve the accuracy of model prediction when the dimension of state variables is low. In contrast, when the dimension of state variables becomes higher, the method of particle filter combining expectation-maximization algorithm performs better in the parameter estimation accuracy and warm-up time. Therefore, the data assimilation methods are able to effectively support the air quality monitoring and emergency management in chemical industry parks.

This study provides a comprehensive analysis of global patent trends in battery recycling, focusing on secondary batteries and related technologies across Korea, China, and the United States. The data, collected from various patent databases, was quantitatively analyzed to identify technology trends and direct future development. The analysis reveals distinct emphases on technologies such as lithium-ion and waste battery recycling, highlighting notable differences in patent activities among key companies and countries. China's large number of patents in battery manufacturing processes contrasts with the USA's focus on electrochemical cell construction and storage systems, while Korea shows significant activity in waste battery technology. The study underscores the competitive landscape and innovation efforts in the battery recycling sector, providing insights into the technological focuses and priorities of each country. It also identifies key challenges, such as the need for consistent innovation and broader geographic coverage in Korea, enhancing patent influence and international presence in China, and ensuring high patent quality and fostering innovation in lagging sectors in the United States. Addressing these challenges through enhanced collaboration, increased R&D investments, and supportive policies is crucial for strengthening the global position and driving further innovation in the battery recycling sector.

A pivotal strategy in decarbonizing the transport sector is by transitioning from internal combustion engine vehicles (ICEVs) to electric vehicles (EVs), especially if they are charged with renewable energy. To provide an incentive to the common populace to switch to EVs, cities should set up - or enable or even encourage the private sector to do so - electric vehicle charging stations (EVCS) at multiple and suitably accessible locations. This paper aims to present a digitaltwin-enabled methodology study for selecting the most suitable possible locations to establish EVCS with consideration of the low voltage (LV) network operation in terms of power losses, active and reactive power in EV charging demand and the effect of the EVCS on the transformers, based on examples in Newcastle upon Tyne (England, UK). It also evaluates the most suitable type of charger that could be installed at these locations by studying the estimated traffic, cost and impact of the EVCS on the power grid, both at peak and off hours. This paper demonstrates how digitaltwin technologies, such as the web-based tool AutoDesign by Northern Powergrid and EA Technology and open source Pandapower can be used for identifying the most viable and cost-effective locations to connect EVCSs to a Distribution Network Operators (DNO)’s LV network. The results of the analysis indicate that with the installation of the most suitable type of EVCS in a particular location, the local power grid would not be significantly affected at any hour of the day.