Selecting road networks in cartographic generalization has consistently posed formidable challenges, driving research towards the application of intelligent models. Despite previous efforts, the accuracy and connectivity preservation in these studies, particularly when dealing with road types of similar sample sizes, still warrant improvement. To address these shortcomings, we introduce a Heterogeneous Graph Attention Network (HAN) for road selection, where feature masking method is initially utilized to assess the significance of road features. Concentrating on the most relevant features, two meta-paths are introduced within the HAN framework: one for aggregating features of the same road type within the first-order neighborhood, emphasizing local connectivity, and another extending this aggregation to the second-order neighborhood, capturing a broader spatial context. For a comprehensive evaluation, we introduce a set of metrics considering both quantitative and qualitative aspects of the road network. Compared to traditional neural networks, our HAN model demonstrates superior accuracy and F1-score, particularly for road types with comparable samples. Additionally, it enhances the overall connectivity of the selected network. In summary, our HAN-based method provides an advanced solution for road network selection, surpassing previous approaches in terms of accuracy and connectivity preservation.

The design and operation of quantum networks are both decisive in the current push towards a global quantum internet. Although space-enabled quantum connectivity has already been identified as a beneficial candidate for long-range quantum channels for over two decades, the architecture of a hybrid space-ground network is still a work in progress. Here, we propose an analysis of such a network based on a best-path approach, where either fiber- or satellite-based elementary links can be concatenated to form a repeater chain. The network consisting of quantum information processing nodes, equipped with both ground and space connections, is mapped into a graph structure, where edge weights represent the achievable secret key rates, chosen as the figure of merit for the network analysis. A weight minimization algorithm allows identifying the best path dynamically, i.e., as the weather conditions, stray light radiance, and satellite orbital position changes. From the results we conclude that satellite links will play a significant role on the future large-scale quantum internet, and both a constellation of satellites and significant advances in filtering technology are required to fulfill continuous coverage.

The uncertainty in the secondary path of an Active Noise Control (ANC) headphone affects the waterbed effect and stability of the feedback system. This study focuses on the uncertainty of the secondary path when real users wear headphones, and proposes a new uncertainty constraint based on the measured results of the secondary path transfer function under different wearing conditions of dummy head and limited subjects. This constraint and a cascaded second-order infinite impulse response filter with fixed coefficients are used to formulate a control strategic function, which is optimized by the Improved Grey Wolf Optimizer (IGWO) algorithm to obtain the optimal controller with better noise reduction performance. The proposed method and simulation model are validated based on the experimental test results. The results demonstrate that the safety factor and waterbed suppressing factor contained in the proposed uncertainty constraint ensures more stable noise reduction and effective suppression of the waterbed effect for new subjects without a priori data.

Due to an urgent need for reducing the fast progressing climate changes, a rapid, standardized and replicable solution for the infrastructure restructuring of heat demand coverage of buildings at district and city level must be developed. As more and more communities in Europe, especially in Germany, are obligated to have plans for coverage of heat demand, city planners, energy agencies seek a tool, which will help them to design the first drafts of heating network routes, which can supply whole districts and cities with renewable energy. ArcGIS Pro Tools like Least-Cost-Path-Analysis (LCPA) and Closest Facility (CF) allow to find the shortest and “cheapest” way between the heat source and heat consumers in the analyzed areas. Starting from the community level, through the district, county, voivodeship and whole country levels, the replication of the methods for generating district heating (DH) network infrastructure can be achieved. The proposed LCPA and CF based methods help to design the most suitable and efficient DH networks in the analyzed areas. As only few open-source data input, like street networks and building footprints are needed, the methods can be implemented in all communities of the country of Poland. In this paper one example of one community of Wroclaw county, called Siechnice and surroundings is presented.

We discuss a remote sensing system that is used to simultaneously detect range-resolved differential absorption LIDAR (light detection and ranging; DIAL) signals and integrated path DIAL signals (IP-DIAL) from aerosol targets for ranges up to 22 km. The DIAL/IP-DIAL frequency converter consists of an OPO pumped at 1064 nm to produce light at 1.6 μm and operates at 100 Hz pulse repetition frequency. The probe light is free space coupled to a movable platform that contains one transmitter and two receiver telescopes. Hybrid photon counting/current systems increase the dynamic range for detection by two orders of magnitude. Range resolved and column integrated dry-air CO2 and CH4 mixing ratios are obtained from line shape fits of CO2 and CH4 centered at 1602.2 nm and 1645.5 nm, respectively and measured at 10 different frequencies over ≈ 1.5 cm-1 bandwidth. The signal-to-noise ratios (SNR) of the IP-DIAL returns from cloud aerosols approach 1000:1 and the uncertainties in the mixing ratios weighted according to the integrated counts over the cloud segments range from 0.1 % to 1 %. The range averaged DIAL mixing ratios are in good agreement with the IP-DIAL mixing ratios at the 1 % to 2 % level for both CO2 and CH4. These results can serve as a validation method for future active and passive satellite observational systems.

Personalized recommendation is an important part of ecommerce platform. In the recommendation system, the neural network is used to enhance collaborative filtering to accurately capture user preferences, so as to obtain better recommendation performance. Traditional recommendation methods focused on the results of a single user behavior, ignoring the modeling of multiple interactive behaviors of users, such as click, add to cart and purchase. Although many studies had also focused on Multi-Behavior modeling, two important challenges remained. 1)Since multiple behavioral context information was ignored, it was still a challenge to identify the multimodal relationships of behaviors. 2) Surveillance signals were still sparse. In order to solve this problem, this paper proposes Two-path Multi-behavior Sequence Modeling(TP_MB). First, a two-path learning strategy is introduced to maximize the multiple interaction information of user items learned by the two paths, which effectively enhances the robustness of the model. Second, a multi-behavior dependent encoder is designed. Contextual information is obtained through behavior dependencies in the interaction of different user. In addition, three contrastive learning methods are designed, which not only obtain additional auxiliary supervision signals, but also alleviate the problem of sparse supervision signals. Extensive experiments on two real datasets demonstrate that our method outperforms state-of-the-art multi-behavior recommendation methods.

Internet of things (IoT) is a network of smart things. This indicates the ability of these physical things to transfer information with other physical things. The characteristics of these networks, such as topology dynamicity and energy constraint, challenges the routing problem in these networks. Previous routing methods could not achieve the required performance in this type of network. Therefore, developers of this network designed and developed specific methods in order to satisfy the requirements of these networks. One of the routing methods is utilization of multi-path protocols which send data to its destination using routes with separate links. One of such protocols is AOMDV routing protocol. In this paper, this method is improved using gray system theory which chooses the best paths used for separate routes to send packets. To do this, AOMDV packet format is altered and some fields are added to it so that energy criteria, link expiration time, and signal to noise ratio can also be considered while selecting the best route. The proposed method named RMPGST-IoT is introduced which chooses the routes with highest rank for concurrent transmission of data, using a specific routine based on the gray system theory. In order to evaluate and report the results, the proposed RMPGST-IoT method is compared to the ERGID and ADRM-IoT approaches with regard to throughput, packet receiving rate, packet loss rate, average remaining energy, and network lifetime. The results demonstrate the superior performance of the proposed RMPGST-IoT compared to the ERGID and ADRM-IoT approaches.

We first review the literature on machine behavior which may contain the interaction between machines, and then discuss the methodology and the related case involving collaboration between robots to instantiate the concept with AI empowerment. The navigation case aims to a security application with autonomous control and roadside agent embedded in a mobile edge computing structure. In the studied navigation based on the artificial potential field method, robots need to use position information to calculate the moving direction frequently. In the case of high motion speed as well as GPS positioning error, the path trajectory may show a sharp change of direction. In order to mitigate the trajectory oscillation, this paper proposes a path planning design where training process and motion direction prediction are integrated by using artificial neural network. The auxiliary navigation agent near multiple obstacles can first extract the past movement information of the robot and then determines whether there is a serious path jitter event. Computer simulation analysis shows that the combination of autonomous control and cooperative behavior can effectively reduce the path jitter so as to achieve a fast and safe path planning.

Robotic decision-support systems must facilitate a robots interactions with their environment, this demands adaptability. Adaptability relates to awareness of the environment and `self-awareness', human behaviour exemplifies the concept of awareness to arrive at an optimal choice of action or decision based on reasoning and inference with learned preferences. A similar conceptual approach is required to implement awareness in autonomous robotic systems which must adapt to the current dynamic environment (the context of use). By incorporating `self-awareness' with knowledge of a Robot's preferences (in decision making) the decision maker interface should adapt to the current context of use. This paper proposes a novel approach to enable an autonomous robotics which implements path planning combining adaptation with knowledge reasoning techniques and hedge algebra to enable an autonomous robot to realise optimal coverage path planning under dynamic uncertainty. The results for a cleaning robot show that using our proposed approach demonstrated the capability to avoid both static and dynamic obstacles while achieving optimal path planning with increased efficiency. The proposed approach achieves the multiple decision-making objectives (path planning) with a high-coverage and low repetition rates. Compared to other current approaches, the proposed approach has demonstrated improved performance over the conventional robot control algorithms.

The current developments in the theory of quantum static triplet correlations and their associated structures (real r-space and Fourier k-space) in monatomic fluids are reviewed. The main framework utilized is Feynman’s path integral formalism (PI) and the issues addressed cover quantum diffraction effects and zero-spin bosonic exchange. The structures are associated with the external weak fields that reveal their nature, and due attention is paid to the underlying pair level structures. Without the pair level one cannot fully grasp the triplet extensions in the hierarchical ladder of structures, as both the pair and the triplet structures are essential ingredients in the triplet response functions. Three general classes of PI structures do arise: centroid, total continuous linear response, and instantaneous. Use of functional differentiation techniques is widely made and, as a bonus, this leads to identify an exact extension of the “classical isomorphism” when the centroid structures are considered. In this connection, the direct correlation functions, as borrowed from classical statistical mechanics, play a key role (either exact or approximate) in the corresponding quantum applications. Additionally, as an auxiliary framework, the traditional closure schemes for triplets are also discussed, owing to their potential usefulness for rationalizing PI triplet results. To illustrate some basic concepts, new numerical calculations (path integral Monte Carlo PIMC and closures) are reported. They are focused on the purely diffraction regime and deal with supercritical helium-3 and the quantum hard-sphere fluid.

Currently, many health workers have died of being infected by dangerous infectious diseases. One solution is to prevent the spread of transmissions by minimizing contact between patients and staff or others using a mobile robot for delivering logistics services. We propose an approach by applies a navigation system using a position driver and obstacle avoidance using a fuzzy controller and particle swarm optimization for path planning in an unknown environment for a holonomic mobile robot. A Fuzzy Controller was used for obstacle avoidance so that the mobile robot could avoid obstacles using existing proximity sensors as the perception of the robot. In the path planning section, Particle Swarm Optimization is used to find intermediate points that must be reached by the mobile robot to reach their target. First, we performed simulation under the condition that the simulation resolution was similar to that of real conditions. It was found that the Trigonometric Function Adaptive PSO (TFAPSO) was better for finding the optimal solution based on the safest, shortest path, and lowest time. Finally, the holonomic mobile robot is tested directly in an unknown environment with the trajectory path generated by TFAPSO in real condition.

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

Previous control methods developed by our research team cannot satisfy the high-accuracy requirements of unmanned surface vessel (USV) path-tracking during bathymetric mapping because of the excessive overshoot and slow convergence speed. For this reason, this study developed an adaptive fuzzy integral-derivative line-of-sight (AFIDLOS) guidance law for USV path-tracking control. Integral and derivative terms were added to counteract the effect of the sideslip angle, with which the USV could be quickly guided to converge to the planned path for bathymetric mapping. To obtain a high-accuracy of the look-ahead distance, a fuzzy control method was proposed. The proposed method was verified using simulations and outdoor experiments. The results demonstrate that the AFIDLOS guidance law can reduce the overshoot by 79.85%, shorten the settling time by 55.32% in simulation experiments, and reduce the average cross-track error by 10.91%, and can ensure a 30% overlap of neighboring strips of bathymetric LiDAR outdoor mapping when compared with the traditional method.

This paper studies the maximum reliability of multi-hop relay UAV, in which UAV provides wireless services for remote users without direct communication link on the ground as a coded cooperative relay. In this paper, the analytical expressions of total power loss and total bit error rate are derived as reliability measures. Firstly, based on the environmental statistical parameters, a LOS probability model is proposed. Then the problem of minimizing the bit error rate of static and mobile UAVs is studied. The goal is to minimize the total bit error rate by jointly optimizing the height, elevation, power and path loss, and subject to the maximum allowable path loss con-straints, transmission power allocation constraints and UAV height and elevation constraints. At the same time the total path loss is minimized to achieve maximum ground communication cov-erage. However, the formulated joint optimization problem is non-convex and generally difficult to solve. Therefore, we decomposed the problem into two subproblems and proposed an effective joint optimization iteration algorithm. Finally, the simulation results are given, and the analysis shows that the optimal height of different reliability measures is slightly different, and using the mobility of UAVs can improve the reliability of communication performance.

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

Light can interfere like a wave in a multi-path experiment, but it also has particle properties when interacting with matter. In a closer look, the interference pattern is created by many individual detections ("clicks"), which do not all occur simultaneously. An established assumption is therefore that a single light particle is capable of interfering with itself by superimposing all possibilities to get from the source to the detector. This is in stark contrast to our experience with macroscopic objects, which always "decide" in favour of only one of the alternative paths.In 2010, Jin et al. (Ref. 15) described an event-based model which allowed the authors to show that an interference pattern consisting of clicks can arise in a multi-path experiment even if photons, like macroscopic objects, only follow one path. To do this, photons must be able to transmit the information about their travelling duration to the detector and the detector must have a basic memory. A threshold function uses the message of several light quanta to decide whether a single detection is initiated, which is not the evidence for a single photon. In this "proof of principle", the authors do not claim that the detector function is a realistic one.In the present paper, this detector is replaced by a material consisting of ionizable molecules whose interaction with light takes place according to a modified version of Einstein's radiation laws. Based on this, a photon pair interaction mediated by matter takes place, which in a multi-path experiment generates an interference pattern of clicks at the detector, even if an arbitrary amount of time elapses between the individual detections. In the present model an interference pattern with minima that have less than half the intensity of the maxima is the result of a peculiar behaviour of the detector: In this case, the entirety of its electrons must be described as a unit (a “field”) with many equidistant energy levels. The results of a simulation are presented which enable the model to be tested in experiments.

Light can interfere like a wave in a multi-path experiment, but it also has particle properties when interacting with matter. In a closer look, the interference pattern is created by many individual detections ("clicks"), which do not all occur simultaneously. An established assumption is therefore that a single light particle is capable of interfering with itself by superimposing all possibilities to get from the source to the detector. This is in stark contrast to our experience with macroscopic objects, which always "decide" in favour of only one of the alternative paths.In 2010, Jin et al. (Ref. 15) described an event-based model which allowed the authors to show that an interference pattern consisting of clicks can arise in a multi-path experiment even if photons, like macroscopic objects, only follow one path. To do this, photons must be able to transmit the information about their travelling duration to the detector and the detector must have a basic memory. A threshold function uses the message of several light quanta to decide whether a single detection is initiated, which is not the evidence for a single photon. In this "proof of principle", the authors do not claim that the detector function is a realistic one.In the present paper, this detector is replaced by a material consisting of ionizable molecules whose interaction with light takes place according to a modified version of Einstein's radiation laws. Based on this, a photon pair interaction mediated by matter takes place, which in a multi-path experiment generates an interference pattern of clicks at the detector, even if an arbitrary amount of time elapses between the individual detections. In the present model an interference pattern with minima that have less than half the intensity of the maxima is the result of a peculiar behaviour of the detector: In this case, the entirety of its electrons must be described as a unit (a “field”) with many equidistant energy levels. The results of a simulation are presented which enable the model to be tested in experiments.

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

Beginning with navigation system design, this paper presents a comprehensive strategy for enhancing the search and rescue capabilities of agile mobile robots. Towards this, the autonomous ground vehicle (AGV) utilizes surface classification to determine and prioritize the terrain it is traversing. Our developed system design incorporates real-time terrain data with task objectives at a high level, ensuring that the robot can effectively navigate complex and ever-changing environments. This design, in conjunction with the introduction of a novel lightweight surface classification model, forms the basis of our adaptive terrain perception and decision-making systems, enabling robots such as Jackal to adapt rapidly and make the decisions necessary to complete the task. Subsequently, we exhaustively validated these systems through a series of extensive experiments in a variety of terrains, including normal and mixed terrains, demonstrating their robustness and efficacy in real-life situations.

Fiber coupling efficiency is one of the key technical indicators of atmospheric laser communication, which directly affects the communication system BER. According to the optical fiber coupling efficiency model, the optical fiber coupling model under atmospheric slant link is established, and the relationship between wavelength, zenith angle, receiving aperture, altitude and coupling efficiency is studied through numerical simulation. Based on the principle of adaptive optics turbulence correction, the relationship between fiber coupling efficiency and adaptive optics order is established. A fast method for estimating the coupling efficiency based on Strehl ratio is proposed. According to the principle of laser communication system, the semi-physical simulation experimental system of atmospheric slant-range channel coupling efficiency is constructed, and the coupling efficiency test and analysis are completed.

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

The extrusion-based additive manufacturing is a popular fabrication method, which has attracted the attention of various industries due to its simplicity, cheapness, ability to produce complex geometric shapes, and high production speed. One of the effective parameters in this process is the feed of filament that is presented in the production G-code. The feed of filament is calculated according to the layer height, the extrusion width and the length of printing path. All the required motion paths and filling patterns created by commercial software are a set of straight lines or circular arcs that are placed next to each other at a fixed distance. In special curved paths, the distance of adjacent ones is not equal at different points, and due to the weakness of common commercial software, it is not possible to create curved paths for proper printing. Therefore, making a special computer code that can be used to create various functions of curved paths is investigated in this research, and also the feed of filament parameter is studied in detail. Next, by introducing a correction technique, the feed of filament is changed during the curved path to distribute the polymer material uniformly. Finally, composite samples (which have variable stiffness) consisting of curved fibers are produced with the proposed method, and the high quality of printed samples confirm the suggested code and technique.

Underwater wireless optical communications (UWOC) have attracted considerable attention in recent years as an alternative means for acoustic communication. However, optical path loss of light propagation from attenuation is large due to absorption and scattering in various water conditions. Identification of environmental effects especially tropical storms on underwater optical path loss is the key to the success of using optics for UWOC. Underwater inherent optical properties (IOPs) such as the beam attenuation coefficient for 470 nm light in the western North Pacific Ocean were measured from the U.S. Naval Oceanographic Office sea gliders with being deployed after Super Typhoon Guchol (7-20 June 2012)‘s passage during 25-30 June 2012 and no any typhoon passage during 9 January – 28 February 2014. The observed two sets (with and without super typhoon) of IOPs are taken as input into a recently developed Radiative Transfer Equation solver. The simulated normalized received powers for the two durations show large impact of typhoon passage on UWOC.

Difficult-to-cut materials are being increasingly used in many industries because of their superior properties, including high corrosion resistance, heat resistance and specific strength. However, these same properties make the materials difficult to machine using conventional machining techniques. Laser-assisted milling (LAM) is one of the effective methods for machining difficult-to-cut materials. In laser-assisted milling machining occur after the workpiece is locally preheated using a laser heat source. Laser assisted machining has been studied by many researchers on flat workpiece or micro end-milling. However, there is no research on the curved shape using laser assisted milling. This study investigated the use of laser assisted milling to machine a three-dimensional curved shape workpiece based on NURBS. A machining experiment was performed on Inconel 718 using different tool paths (ramping, contouring) under various machining conditions. Finite elements analysis was conducted to determine the depth of cut. Cutting force, specific cutting energy and surface roughness characteristics were measured, analyzed and compared for conventional and LAM machining. LAM significantly improved these machining characteristics, compared to conventional machining. There results can be applied to the laser-assisted machining of various three-dimensional shapes.

To eliminate the influence of the inconsistency on the cycle life and the available capacity of the battery pack, and improve the balancing speed, a novel inductor-based layered bidirectional equalizer (IBLBE) is proposed. The equalizer is composed of the bottom balancing circuits and the upper balancing circuits, and the two layer circuits both consist of a plurality of balancing sub-circuits, which allow the dynamic adjustment of equalization path and equalization threshold. The battery string is modularized by layered balancing circuits to realize fast active equalization, especially for long battery strings. By controlling the bottom balancing circuits, the individual cells can be balanced in each module. At the same time, the equalization between battery modules can be realized by controlling the upper balancing circuits. Simulation and experimental results demonstrate that the proposed equalizer can achieve fast active equalization for a long battery string, and has the characteristics of multi balancing path, large balancing current and high accuracy. The advantages of the proposed equalizer are further verified by a comparison with existing active equalizer.

A large amount of sea ice exists in the polar regions, which is prone to ship-ice collisions leading to ship breakage and sinking events. Complex environmental factors pose challenges to navigation safety, and it is particularly important to perceive the polar environment and make decisions in advance. In this paper, You only look once (YOLOv5) is targeted to be optimized according to the characteristics of ice remote sensing images, which includes adding Squeeze-and-Excitation (SE) attention mechanism, improving spatial pyramid pooling, and replacing Flexible Rectified Linear Unit (FReLU) activation function. In order to verify the effect of the optimized algorithm, ablation experiments are set up, and the accuracy of the optimized algorithm is improved by 3.5% com-pared with the original YOLOv5. Comparison experiments with other target identification algo-rithms are conducted, and the results show that the optimized YOLOv5 has higher accuracy and better robustness, and can identify small target sea ice that is difficult to identify in large-size re-mote sensing images. Polar ship path planning based on the identification results. The identifica-tion output of remote sensing ice images is used as the input for the construction of path planning maps, and raster maps corresponding to the actual polar scenes are built. Taking the path length, the number of ship turns, and the sea ice risk value as the objective function, the Any-Angle Path Planning on Grids (Theta*) algorithm is used to simulate the path planning under different sea conditions with different sea ice concentration, and a path with a shorter length, a smoother path, and a higher safety coefficient is found.

Physical processes are usually described using four-dimensional vector quantities - coordinate vector, momentum vector, current vector. But at the fundamental level they are characterized by spinors - coordinate spinors, momentum spinors, spinor wave functions. The propagation of fields and their interaction takes place at the spinor level, and since each spinor uniquely corresponds to a certain vector, the results of physical processes appear before us in vector form. For example, the relativistic Schrödinger equation and the Dirac equation are formulated by means of coordinate vectors, momentum vectors and quantum operators corresponding to them. In the Schrödinger equation the wave function is represented by a single complex quantity, in the Dirac equation a step forward is taken and the wave function is a spinor with complex components, but still coordinates and momentum are vectors. For a closed description of nature using only spinor quantities, it is necessary to have an equation similar to the Dirac equation in which momentum, coordinates and operators are spinors. It is such an equation that is presented in this paper. Using the example of the interaction between an electron and an electromagnetic field, we can see that the spinor equation contains more detailed information about the interaction than the vector equations. This is not new for quantum mechanics, since it describes interactions using complex wave functions, which cannot be observed directly, and only when measured goes to probabilities in the form of squares of the moduli of the wave functions. In the same way spinor quantities are not observable, but they completely determine observable vectors.In Section 2 of the paper, we analyze the quadratic form for an arbitrary four-component complex vector based on Pauli matrices. The form is invariant with respect to Lorentz transformations including any rotations and boosts. The invariance of the form allows us to construct on its basis an equation for a free particle combining the properties of the relativistic wave equation and the Dirac equation. For an electron in the presence of an electromagnetic potential it is shown that taking into account the commutation relations between the momentum and coordinate components allows us to obtain from this equation the known results describing the interactions of the electron spin with the electric and magnetic field. In section 3 of the paper this quadratic form is expressed through momentum spinors, which makes it possible to obtain an equation for the spinor wave function in spinor coordinate space by replacing the momentum spinor components by partial derivative operators on the corresponding coordinate spinor component. Section 4 presents a modification of the theory of the path integral, which consists in considering the path integral in the spinor coordinate space. The Lagrangian densities for the scalar field and for the electron field, along with their corresponding propagators, are presented. An equation of motion for the electron is proposed that is relativistically invariant, in contrast to the Dirac equation, which lacks this invariance. This novel equation permitted the construction of a relativistically invariant procedure for the second quantization of the fermion field in spinor coordinate space.

Autonomous navigation in dynamic environments poses a significant challenge in the field of ro-botics with the primary goals of ensuring both smooth and safe movement. This study introduces control strategy based on an Adaptive Neuro-Fuzzy Inference System (ANFIS) to enhance au-tonomous robot navigation in dynamic environments, emphasizing on collision-free path plan-ning. This strategy employs, a path planning technique to develop a trajectory that allows the ro-bot to navigate smoothly while avoiding collisions with both static and dynamic obstacles. The developed control system incorporates four ANFIS controllers: two are tasked with guiding the robot toward its end point, and the other two are activated for obstacle avoidance. The experi-mental setup conducted in CoppeliaSim involves a mobile robot equipped with ultrasonic sensors navigating in an environment with static and dynamic obstacles. Simulation experiments are conducted to demonstrate the model's capability in ensuring collision-free navigation, employing a path planning algorithm to ascertain the shortest route to the target destination. The simulation results highlight the superiority of the ANFIS-based approach over conventional methods, partic-ularly in terms of computational efficiency and navigational smoothness.

Bandung and Lembang are the cities that are chosen by many tourists (local and foreign) as their destinations. Geographically, these cities are placed side-by-side and each city has its own characteristics. As in Bandung, there are many hotels and culinary spots, meanwhile, in Lembang, there are many scenery tourism spots. Tourists usually have limited time to visit all the destinations on holiday, which makes them choose several tourist destinations to visit. In this paper, the tourism itinerary recommendation system is proposed by calculating the most optimal route between destinations and approaching the Vehicle Routing Problem with Time Windows. The optimal route is defined by using Dijkstra the shortest path algorithm by using the collaboration between the road information (road length, traffic condition, travel time, and weather condition) and criteria weight that is determined using the Analytics Hierarchy Process as the graph weights. According to the simulation results, the criteria weights are 6.9%, 62.7%, 18.6%, and 11.9% for Route Length, Traffic Condition, Travel Time, and Weather Condition respectively. Moreover, the optimal number of tourism itinerary plans for the tourist in this research is 4 destinations. As the usage of computational resources, it takes 31.8% of CPU and 61.9% of Memory usage. For the time processing, it increases exponentially as the increment of number of requested stops. The output of this research is expected to be a solution to the tourist itinerary plan, especially in Bandung and Lembang.

Re-interpretation of the Fermat principle governing propagation of light in media within the Ramsey Theory is suggested. Complete bi-colored graphs corresponding to the light propagation in media are considered. The vertices of the graphs correspond to the points of the real physical space, in which light sources or sensors are placed. Red links in the graphs correspond to the actual optical paths, emerging from the Fermat principle. A variety of optical events: refraction, reflection, etc. may be involved in the light propagation. Green links, in turn, denote the trial/virtual optical paths, which actually do not occur. The Ramsey Theorem states that within the graph containing six points, inevitably, actual or virtual optical cycle will be necessarily present. Implementation of the Ramsey Theorem to the light propagation in metamaterials is discussed. The Fermat Principle states that in metamaterials a light ray in going from point S to point P must traverse an optical path length L that is stationary with respect to variations of this path. Thus, bi-colored graphs built of links corresponding to maxima or minima of optical paths become possible. Graphs, comprising six vertices, inevitably will demonstrate optical cycles, built of the mono-colored links corresponding to the maxima or minima of the optical path. The notion of the “inverse graph” is introduced and discussed. The total number of triangles in the “direct” (source) and “inverse” Ramsey optical graphs is the same, Optical interpretation of the infinite Ramsey Theorem is suggested.

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

Turbo-roundabouts are one of the most frequently recommended road junction design options when it comes to increasing traffic capacity and traffic safety. This is in particular true of suburban areas, with dominant traffic flow on the main road and moderate traffic flow on the side road. Other intersections handling local traffic and considerably constricting the availability of space are usually located in the vicinity of such intersections. Another factor contributing to less availability of land for construction in these locations is the presence of surrounding residential housing. Then choosing the suitable turbo-roundabout type becomes the main issue. The article presents a case study for the selection of a type of turbo roundabout under the conditions of considerably constricted land availability, based on analyses of provision of swepth path for the chosen design vehicles. The article considers the typical Egg type turbo roundabouts, "flattened" turbo roundabouts and ellipse based roundabouts, with unconventional geometries of the truck apron and central island. For each of the analysed roundabout types setting out methods were described in detail, which enable designers to quickly select a type of roundabout suitable for specific constrained site conditions.

The capabilities of autonomous mobile robotic systems have been steadily improving due to recent advancements in computer science, engineering, and related disciplines such as cognitive science. In controlled environments, autonomous robots have been able to achieve relatively high levels of autonomy. In more unstructured environments, however, the realisation of autonomous mobile robots remains challenging due to limitations in the robots’ external environment understanding. Many autonomous mobile robots use classical, learning-based or hybrid approaches for navigation. The classical navigation approach typically includes robot perception, localisation, environmental mapping, path planning and motion control stages. More recent learning-based methods may replace the complete navigation pipeline or selected stages of the classical approach. For effective deployment, autonomous robots need to be able to understand their external environments at a sophisticated level according to their intended applications. Therefore, in addition to robot perception, scene analysis and higher-level scene understanding (e.g., traversable/non-traversable, and rough or smooth terrain) are required for autonomous robot navigation in unstructured outdoor environments. A wide number of alternative approaches have been proposed in recent years to attempt to address these scene understanding requirements. This paper provides a comprehensive review and critical analysis of these methods in the context of their applications to the problems of robot perception and scene understanding in unstructured environments, and the related problems of localisation, environment mapping and path planning. State-of-the-art sensor fusion methods and multimodal scene understanding approaches are also discussed and evaluated within this context. The paper concludes with an in-depth discussion regarding the current state of the autonomous ground robot navigation challenge in unstructured outdoor environments and the most promising future research directions to overcome these challenges.

We investigated layered titanium nitride (TiN) and aluminum nitride (AlN) for color glasses in Building Integrated Photovoltaic (BIPV) systems. AlN and TiN are among suitable and cost-effective optical materials to be used as thin multilayer films, owing to the significant difference in their refractive index. To fabricate the structure, we used radio frequency magnetron deposition method to achieve the target thickness uniformly. A simple, fast, and cheap fabrication method is achieved by depositing the multilayer films in a single sputtering chamber. It is demonstrated that a multilayer stack that allows light to move from a low refractive index layer to a high refractive index layer or vice-versa can effectively create various distinct color reflections for different film thicknesses and multilayer structures. It is investigated from simulation based on wave optics that, TiN/AlN multilayer offers better color design freedom and cheaper fabrication process as compared to AlN/TiN multilayer films. Blue, green, and yellow color glasses with optical transmittance of more than 80% was achieved by ITO coated glass/TiN/AlN multilayer films. This technology exhibits good potential in commercial BIPV system applications.

Gas Path Analysis and matching turbine engine models to experimental data are inverse problems of mathematical modelling which are characterized by parametric uncertainty. This results from the fact that the number of measured parameters is significantly lower than the number of components’ performance parameters needed to describe the real engine. In these conditions, even small measurement errors can result in a high variation of results, and obtained efficiency, loss factors etc. can appear out of the physical range. The current methods of engine model identification have developed considerably to provide stable, precise and physically adequate solutions. Presented in this work is an estimation method of engine components’ parameters based on multi-criteria identification which provides stable estimations of parameters and their confidence intervals with the known measurement errors. A priori information about the engine, its parameters and performance is used directly in the regularised identification procedure. The mathematical basis for this approach is the fuzzy sets theory. Forming objective functions and scalar convolutions synthesis of these functions is used to estimate gas-path components’ parameters. A comparison of the proposed approach with traditional methods showed that its main advantage is high stability of estimation in the parametric uncertainty conditions. Regularization reduces scattering, excludes incorrect solutions which do not correspond to a priori assumptions, and also helps to implement the Gas Path Analysis at the limited number of measured parameters. The method can be used for matching thermodynamic models to experimental data, Gas Path Analysis and also adapting dynamic models for the needs of the engine control system.

Laser metal deposition with wire (LMD-w) is a developing additive manufacturing (AM) technology that has a high deposition material rate and efficiency, and is suitable for fabrication of large aerospace components. However, control of material properties, geometry, and residual stresses is needed before LMD-w technology can be widely adopted for the construction of critical structural components. In this study, we investigated the effect of interlayer cooling time, clamp constraints, and tool path strategy on part distortion and residual stresses in large-scale laser additive manufactured Ti-6Al-4V components using finite element method (FEM). The simulations were validated with the temperature and the distortion measurements obtained from a real LMD-w process. We found that a shorter interlayer cooling time, full clamping constraints on the build plates, and a bidirectional tool path with 180⁰ rotation minimized part distortion and residual stresses and resulted in symmetric stress distribution.

Many causal factors to marine traffic accidents (MTA) influence each other and have associated effects. It is necessary to quantify the correlation path mode of these factors to improve accident prevention measures and their effects. In the application of human factors to the accident mechanisms, the complex structural chains on causes to MTA systems were analyzed combining the Human Failure Analysis and Classification System (HFACS) with theoretical Structural Equation Modeling (SEM). First, the accident causation model was established as a human error analysis classification in sight of MTA, and the constituent elements of the causes of accident was conducted. Second, a hypothetical model of Human factors classification was proposed applying the practice of the structural model. Third, with the data resource from ship accident cases, this hypothetical model was discussed and simulated, and as a result the relationship path dependency mode between the latent independent variable of the accident was quantitatively analyzed based on the observed dependent variable of human behaviors. Application examples show that relationships in HFACS are verified and in line with the path developing mode, and resource management factors have a pronounced influence and a strong relevance to the causal chain of the accidents. Appropriate algorithms for the theoretical model can be used to numerically understand the safety performance of marine traffic systems under different parameters through mathematical analysis. Hierarchical assumptions in the HFACS model are quantitatively verified.

The paper presents a new method of path planning for an industrial robot manipulator performing thermal plasma spraying of coatings. Path planning and automatic generation of the manipulator motion program are performed using preliminary 3D surface scanning data from a laser trian-gulation distance sensor installed on the same robot arm. The new path planning algorithm is based on constructing a function of the geodesic distance from the starting curve. A new method for constructing a geodesic distance function on a surface is proposed based on the application of discrete exterior calculus methods characterized by high computational efficiency. The developed algorithms and their software implementation were experimentally tested through robotic mi-croplasma spraying of a protective coating on the surface of a jaw crusher plate, which was then successfully operated for crushing mineral raw materials.

Currently, in Europe, producers of building materials are implementing innovative solutions that provide a chance for the widespread construction of zero-emission and zero-energy build-ings. However, they encounter legal barriers related to the lack of standardization procedures enabling the rapid placing of innovative construction products on the market. The European project Horizon 2020: Measuring Envelope products and systems contributing to the next gener-ation of healthy nearly Zero Energy Buildings (MEZeroE), is to support producers of innovative envelope products used in zero-energy buildings, including in the field of certification, CE marking and placing them relatively quickly on the market. The article presents one of the research procedures developed and tested by Pilot Measurement & Verification Lines (PM&VL7) as part of the MEZeroE project for FLEX&ROBUST polyurethane flexible connectors. This procedure takes into account applicable legal requirements regarding CE marking and also indicates a certification path for this type of products.

This study examines the causal relationships between interest rates in the Korean financial market using a vector error correction model (VECM) and a Bayesian network. The Bayesian network, a novel approach in this context, identifies two distinct transmission channels: one led by call rates (reflecting monetary policy) and another by 10-year Treasury bond yields (reflecting fiscal policy). While the call rate channel aligns with traditional views, affecting bank lending rates, corporate bond spreads, and commercial paper rates, the 10-year Treasury yield channel highlights a separate fiscal policy transmission mechanism, influencing commercial paper rates indirectly through 30-year Treasury yields and directly impacting merchant bank lending rates. This finding suggests that fiscal intervention could potentially interfere with monetary policy, emphasizing the need for coordinated macroeconomic policy measures. The study also emphasizes the role of 10-year Treasury bonds as a benchmark in the Korean bond market, reflecting medium- to long-term economic outlooks and serving as the underlying asset for various derivatives.

Matter grows and self-assembles to produce complex structures such as virus capsids, carbon fullerenes, proteins, glasses, etc. Due to its complexity, performing pen-and-paper calculations to explain and describe such assemblies is cumbersome. Many years ago, Richard Kerner presented a pen-and-paper path integral approach to understand self-organized matter. Although successfully addressed many important problems including the yield of fullerene formation, the glass transition temperature of doped chalcogenide glasses, the fraction of boroxol rings in B2O3 glasses, the first theoretical explanation for the empirical recipe of window and Pyrex glass and the understanding of virus capsid self-assembly, still is not the primary choice when tackling similar problems. The reason lies in the fact that it diverges from mainstream approaches based on the energy landscape paradigm and non-equilibrium thermodynamics. In this context, a critical review is presented, demonstrating that the Richard Kerner method is, in fact, a clever way to identify relevant configurations. Its equations are simplified, common physical sense versions to those found in the energy landscape kinetic equations. Subsequently, the utilization of equilibrium Boltzmann factors in the transition Markov chain probabilities is analyzed within the context of local two-level energy landscape models kinetics. This analysis demonstrates that their use remains valid when the local energy barrier between reaction coordinate states is small compared to the thermal energy. This finding places the Richard Kerner model on par with other more sophisticated methods and, hopefully, will promote its adoption as an initial and useful choice for describing the self-agglomeration of matter.

In autonomous driving systems, high-speed and real-time image processing, along with object recognition, are crucial technologies. This paper builds upon the research achievements in in-dustrial item sorting systems and proposes an object recognition and sorting system for auton-omous driving. In industrial sorting lines, goods sorting robots often need to work at high speeds to efficiently sort large volumes of items. This poses a challenge to the robot's real-time vision and sorting capabilities, making it both practical and economically viable to implement a real-time and low-cost sorting system in a real-world industrial sorting line. Existing sorting systems have limitations such as high cost, high computing resource consumption, and high power consump-tion. These issues lead to the fact that existing sorting systems are typically used only in large industrial plants. In this paper, we design a high-speed, low-cost, low-resource-consumption FPGA (Field-Programmable Gate Array) based item sorting system that achieves similar perfor-mance to current mainstream sorting systems at a lower cost and consumption than existing sorting systems. The recognition part employs a morphological recognition method, which segments the image using a frame difference algorithm and then extracts the color and shape features of the items. To handle sorting, a six-degree-of-freedom robotic arm is introduced in the sorting segment. The improved cubic B-spline interpolation algorithm is employed to plan the motion trajectory and consequently control the robotic arm to execute the corresponding actions. Through a series of experiments, this system achieves an average recognition delay of 25.26ms, ensures smooth operation of the gripping motion trajectory, minimizes resource consumption, and reduces implementation costs.

Since large articulated vehicles have uncertainties in trailer articulation angle as well as dynamic complexity, it is not easy to accurately establish a reliable motion plan. In this paper, two geometric path plans constructed based on the empirical rules of driving experts are presented so that articulated vehicles can automatically perform perpendicular parking on a reverse path. By analyzing the empirical parking methods of professional drivers, these path plans were constructed by appropriately combining several standardized simple basic motions to facilitate implementation in real vehicles. In addition, path plans included appropriate complementary motions to effectively respond to uncertainties arising from articulation angles, etc. The complementary motions developed in this study are based on the results of qualitative analysis on the behavior of articulated vehicles. The usefulness of the proposed articulated vehicle parking method has been proven through hundreds of experimental tests using a 1:10 ratio model automated vehicle.

In the era of electrification and artificial intelligence, direct current motors are widely utilized with numerous innovative adaptive and learning methods. Traditional methods utilize model-based algebraic techniques with system identification, such as recursive least squares, extended least squares, and autoregressive moving averages. The new method known as deterministic artificial intelligence asserts physical-based process dynamics to achieve target trajectory tracking. There are two common autonomous trajectory generation algorithms: sinusoidal function and Pontryagin's based generation algorithm. This thesis aims to simulate model-following and deterministic artificial intelligence methods using sinusoidal and Pontryagin's methods and compare their performance difference when following challenging step function slew maneuver.

This paper aims at computing feasible control strategies and the corresponding feasible state trajectories to drive an autonomous rear-axle bicycle robot from a given initial state to a final state such that the total running cost is minimized. Pontryagin’s Minimum Principle is applied and derives the optimality conditions from which the feasible control functions, expressed as functions of state and costate variables, are substituted into the combined state-costate system to obtain a new free-control state-costate nonlinear system of ordinary differential equations. A computer program was written in Scilab to solve the combined state-costate system and obtain the feasible state functions, the feasible costate functions and the feasible control functions. Associated Computational Simulations were provided to show the effectiveness and the reliability of the approach.

Maze navigation using one or more robots has become a recurring challenge in scientific literature and real life practice, with fleets having to find faster and better ways to navigate environments such as a travel hub (e.g. airports) or to evacuate a disaster zone. Many methods have been used to solve this issue, including the implementation of a variety of sensors and other signal receiving systems. Most interestingly, camera-based techniques have increasingly become more popular in this kind of applications, given their robustness and scalability. In this paper, we have implemented an end-to-end strategy to address this scenario, allowing a robot to solve a maze in an autonomous way, by using computer vision and path planning. In addition, this robot shares the generated knowledge to another by means of communication protocols, having to adapt its mechanical characteristics to be able to solve the same challenge. The paper presents experimental validation of the four components of this solution, namely camera calibration, maze mapping, path planning and robot communication. Finally, we present the integration and functionality of these methods applied in a pair of NAO robots.

In case of the maximally rotating Black Holes (BH) through Kerr-Neumann frames, or as described in Boyer-Lindquist coordinates metrics, the rotation axis of the BHs inputs a frame dragging effect i.e., relativistically a Lens-Thirring Precession that accelerates the photon trajectories oscillates with a shaped induced rotations through the ring singularity, between alternate universes, as a means of an induced geodesics that takes a sharp turning points back and forth provided, in the prograde photon sphere, due to magnetorotational instability, the path tracing of a photons circulates as a smooth fiber bundles over the event horizon curves, that when gets interpolate between mixed trajectories behaves as a geodesics and thus forms a smooth Jacobi-fields through Jacobi-lines by mutual intersection of geodesics over the photon sphere which when somehow gets leaked inside the event horizon, then gets sucked in with not sufficient escape velocity for retardation and trapped in the compact singularity, oscillating back and forth through alternate universes.

Aiming at the current optimization problem of electric vehicle charging path planning, a charging path optimization strategy for electric vehicles under the "Traffic-Price-Distribution" mode is proposed. This strategy builds an electric vehicle charging and navigation system based on road traffic network model, real-time electricity price model and distribution network model. Based on Dijkstra shortest path algorithm and Monte Carlo time-space prediction method, the goal is to minimize the charging cost of electric vehicles. Optimal charging path. The simulation results of MATLAB and MATPOWER show that the electric vehicle charging path optimization strategy can better solve the local traffic congestion problem and improve the safety and stability of the distribution network on the basic of fully considering the convenience of electric vehicle charging.

After developed the formulation of a "general relativity" in C⁴ [2], we proceed with the formulation of a Hamilton-Jacobi equation in C⁴. We argue that in this consideration, the usual problems of the ADM formalism, do not exist, due to the complex time as it exists in our consideration. Specically, we can derive a suitable dispersion relation in order to work with and nd a generalised super Hamiltonian

Trajectory planning determines whether a UAV can successfully complete its mission, and the reasonable planning of UAV trajectory in 3D environment is a complex global optimization problem, which needs to take into account many constraints such as urban environment, mountain terrain, obstacles, no-fly zones, flight boundaries, flight distances, and trajectory change rates. In view of the shortcomings of the whale optimization algorithm in 3D trajectory planning, such as slow convergence speed, low accuracy and easy to fall into the local optimum, this paper increases the diversity of the initial population through the introduction of the reverse learning mechanism, and optimizes the coordination of the global and local search ability by integrating the nonlinear convergence factor and the random number generating mechanism, so as to realize the improved whale optimization algorithm that can cope with the higher degree of freedom and the more complex constraints. The simulation results show that the optimization algorithm has improved the convergence accuracy by 22.1% and reduced the standard deviation by 74.1%, which can effectively deal with the 3D UAV path planning problem.

Autonomous driving navigation relies on diverse approaches, each with advantages and limitations depending on various factors. For HD maps, modular systems excel, while end-to-end methods dominate mapless scenarios. However, few leverage the strengths of both. This paper innovates by proposing a hybrid architecture that seamlessly integrates modular perception and control modules with data-driven path planning. This innovative design leverages the strengths of both approaches, enabling a clear understanding and debugging of individual components while simultaneously harnessing the learning power of end-to-end approaches. Our proposed architecture achieved 1st and 2nd place in the 2023 CARLA Autonomous Driving Challenge’s SENSORS and MAP tracks, respectively. These results demonstrate the architecture’s effectiveness in both map-based and mapless navigation.

Intelligent ship technology is currently an international research hotspot, and model predictive control is widely used in the path-tracking control of intelligent vehicles. To construct an intelligent ship anti-disturbance path-tracking control method, firstly, an environmental disturbance model was constructed with the actual meteorological data of the target sea area. Secondly, the Fossen ship equation of motion is linearized and discretized as the ship motion model. Thirdly, the expression of the prediction equation is derived from the ship motion model. Fourthly, the cost function is constructed by using the polar diameter and polar angle values of the ship. Fifth, the power function in the cost function is replaced with an exponential function to obtain an improved cost function. Sixthly, according to the Lyapunov theory and the MPC terminal constraint theory, the stability of the improved cost function is verified. Seventh, different test paths are set up, the environmental disturbance model is taken as the external disturbance, the ship motion model, the prediction equation, and the improved cost function are used to design the anti-disturbance path-tracking control algorithm according to the model prediction control idea for simulation experiments. Finally, different MATLAB simulation results show that the improved cost function can resist disturbance of the external wave, current, and wind, and effectively track the target path. Therefore, this study provides a reference for improving the navigation safety of ship path-tracking.

Recently, various applications of indoor location-based services using Wi-Fi fingerprint data have been studied. However, since fingerprint data collected at a specific location does not have continuous information between signals and correlation information between signals, path data cannot exist in principle. Therefore, most indoor positioning technologies are based on predicting the position of a stationary positioner at a specific location based on signal data collected at a specific location in the indoor space. Due to the discontinuous nature of these signals, they are unable to account for user movement. Therefore, there is a need for techniques to improve the accuracy of indoor positioning in moving situations. This paper proposes a method for enriching all data points with relevant information to obtain improved indoor positioning results and an improved technique for generating movement path data. The proposed technique generates relevant information with continuity by expressing data points as Bounding Boxes (BB) and subsequently clustering them using grid cells. Through the proposed method, we represented and expanded the indoor location data, which consists of data points, as BB. However, data points represented by BB do not have any adjacency information with each other, and as a result, it is not possible to create a movement path between neighboring BB. To solve the problem, we used clustering, a machine learning technique that categorizes data points into groups, to group BBs. This was done by constructing a YOLO (You Only Look Once) grid cell that included all BBs and clustered them into grid cells that were divided into specific regions through the suggestion phase. The clustering results align with the indoor structure of the building, indicating that the data points have been appropriately clustered. BBs inside a grid cell are contained within a moveable area and have related information. We also generated association information between neighboring grid cells through the proposal technique, and then generated path information that can be traveled between grid cells. In this paper, we use the movement path information generated from a dataset as training data for machine learning, and through this, we propose an enhanced indoor positioning technology.

To estimate the progressive collapse resistance capacity of a multi-column frame tube structure with the assembled truss beam composite floor (ATBCF), the pushdown analysis, and the nonlinear dynamic analysis as well, are conducted for such a structure by using the alternate load path (ALP) method. The bearing capacities of the remaining structures at three different work conditions, which are the side middle column failure, the edge middle column failure, and the corner column failure, are individually studied, and the collapse mechanism for the remaining structures is analyzed from the aspects of the internal force redistribution and the failure mode of the second defense line. Simultaneously, the influence of the column failure time on the dynamic response of the remaining structure and the dynamic amplification coefficient are discussed. The results show that the residual bearing capacity of the remaining structure with the bottom corner column failure is higher than that of the one with the side or edge middle column failure, while the latter has a stronger plastic deformation capacity. When the ALP method is adopted to operate the progressive collapse analysis, it is reasonable to take the column failure time as 0.1 times of the first-order vertical vibration period of the remaining structure, and it is suitable to set the dynamic amplification coefficient as of 2.0, which is the ratio of the maximum dynamic displacement to the static displacement of the remaining structure under the transient loading condition.

n this article a first attempt at formalizing a new approach to the grand unified theory is introduced. This theory named NUVO is based primarily on considering two aspects of inertia. The first aspect is how a mass couples to space, introducing definitions to distinguish massive particles from massless particles. The second aspect is space’s availability to couple to massive particles. In essence these are the two contributions of inertia; mass and space. Postulates, clarifications, and a mathematical structure are introduced. Part 1 covers the physics of the very large (cos- mic), laying ground work for part two which applies the structure to the very small (quantum). The cosmic application of the theory will show a strong correlation to empirical data and correspondence to General Rela- tivity, including; time dilation, length contraction, and orbital advances. Departing from the canonical findings of General Relativity by predicting a quantization of physical units under the effect of acceleration and or gravity.

This paper develops feasible control strategies and associated system responses to bring an autonomous front-axle bicycle robot from specified initial conditions to final conditions such that a specific performance index is minimized. To solve the problem, the following approach is used: The feasible controls derived from the normal equations of optimality are substituted into the state and the costate systems and form a combined control-free state-costate system which is vectorized to enable and ease the application of a numerical method. A computer program written in Matlab computer programming language, codes a fourth-order Runge-Kutta numerical method and then solve the combined state-costate system of ordinary differential equations. The obtained results are the feasible bicycle robot trajectory, the feasible state functions, the feasible costate functions and the feasible control functions. Associated Computational Simulations are designed and provided to persuade on the effectiveness and the reliability of the approach.

The topic of technology development and its disruptive effects has been the subject of much debate over the last 20 years with numerous theories at both macro and micro scale offering potential models of technology progression and disruption. This paper focuses on how the potential theories of technology progression can be integrated and considers whether suitable indicators of this progression and any subsequent disruptive effects (particularly considering these geographically) might be derived, based on the use of big data analytic techniques. Given the magnitude of the economic, social and political implications of many disruptive technologies, the ability to quantify disruptive change at the earliest possible stage could deliver major returns by reducing uncertainty, assisting public policy intervention and managing the technology transition through disruption into deployment. However, determining when this stage has been reached is problematic because small random effects in the timing, direction of development, the availability of essential supportive technologies or “platform” technologies, market response or government policy can all result in failure of a technology, its form of adoption or optimality of implementation. This paper reviews some of the key models of technology evolution and their disruptive effect including, in particular, the geographical spread of disruption. It suggests a methodology for utilising the recent explosion of open and web-discoverable data to determine a methodology to achieve this earlier determination and considers the potential exploitation of big data modelling and predictive analytical techniques to achieve this goal.

In this paper, we investigate the use of fat tissue as a communication channel between in-body, implanted devices at R-band frequencies (1.7–2.6 GHz). The proposed fat channel is based on an anatomical model of the human body. We propose a novel probe that is optimized to efficiently radiate the R-band frequencies into the fat tissue. We use our probe to evaluate the path loss of the fat channel by studying the channel transmission coefficient over the R-band frequencies. We conduct extensive simulation studies and validate our results by experimentation on phantom and ex-vivo porcine tissue, with good agreement between simulations and experiments. We demonstrate a performance comparison between the fat channel and similar waveguide structures. Our characterization of the fat channel reveals propagation path loss of 1.4 dB and 3.8 dB per 20 mm for phantom and ex-vivo porcine tissue, respectively. These results demonstrate that fat tissue can be used as a communication channel for high data rate intra-body networks.

Few prior works study self-driving cars by deep learning with IoT collaboration. SDC-Net, which is an end-to-end multitask self-driving car camera cocoon IoT-based system, is one of the research that tackles this direction. However, by design SDC-Net is not able to identify the accident locations, it only classifies if it is a crash scene or not. In this work, we introduce an enhanced design for the SDC-Net system by 1) replacing the classification network with a detection one, 2) adapting our benchmark dataset labels built on the CARLA simulator to include the vehicles bounding boxes while keeping the same training, validation, and testing samples, 3) modifying the shared information via IoT to include the accident location. We keep the same path planning and automatic emergency braking network, the digital automation platform, and the input representations to formulate the comparative study. SDC-Net++ system is proposed to 1) output the relevant control actions, especially in case of accidents: accelerate, decelerate, maneuver, and brake, and 2) share the most critical information to the connected vehicles via IoT, especially the accident locations. A comparative study is also conducted between SDC-Net and SDC-Net++ with the same input representations: front camera only, panorama and bird-eye views, and with single-task networks: crash avoidance only, and multitask networks. Multitask network with a BEV input representation outperforms the nearest representation in precision, recall, f1-score, and accuracy by more than 15.134%, 12.046%, 13.593%, and 5%, respectively. SDC-Net++ multitask network with BEV outperforms SDC-Net multitask with BEV in precision, recall, f1-score, accuracy, and average MSE by more than 2.201%, 2.8%, 2.505%, 2%, and 18.677% respectively.

The challenge of campus design, like other aspects of contemporary environmental design, reveals a serious problem in education and practice. The foundational design theories of a century ago have been exposed as an obsolete way of thinking about cities, human nature, biological nature, and even the nature of mathematical and physical structures. Yet in practice, these discredited models persist, obscured by new theoretical language and extravagant “neoplastic” forms, but embodying persistent though untested ideologies and driven by systems inertia. This paper considers the campus design typology (including business campuses, commercial districts, hospitals, and schools) as a design paradigm for pedestrian public space with implications for human flourishing and well-being. We propose a specific human-oriented design method to encourage the well-being of occupants and improve the outcomes for creative development, education, and health.

Gravity-aided inertial navigation system (GAINS) is an important development in autonomous underwater vehicle (AUV) navigation. An effective path planning algorithm plays an important role in the performance of navigation in long-term underwater missions. By combining the gravity information obtained at each position with the error information from the INS, the posterior Cram\'er-Rao bound (PCRB) of GAINS is derived in this paper. The PCRB is the estimated lower bound of position variance for navigation along the planned trajectory. And the sum of PCRB is used as the minimum cost from the initial state to the current state in the state space, and the position error prediction variance of inertial navigation system (INS) is used as the minimum estimated cost of the path from the current state to the goal state in the A* algorithm. Thus, a path planning method with optimal navigation accuracy is proposed. According to simulation results, traveling along the path planed by the proposed method can rapidly improve the positioning accuracy while consuming just slightly more distance. Even when measuring noise changes, the planned path can still maintain optimal positioning accuracy, and high positioning accuracy is possible for any trajectory located within a certain range of the planned path.

This paper aims at computing feasible control strategies and the corresponding feasible state trajectories to drive an autonomous rear-axle bicycle robot from a given initial state to a final state such that the total running cost is minimized. Pontryagin’s Minimum Principle is applied and derives the optimality conditions from which the feasible control functions, expressed as functions of state and costate variables, are substituted into the combined state-costate system to obtain a new free-control state-costate nonlinear system of ordinary differential equations. A computer program was written in Scilab to solve the combined state-costate system and obtain the feasible state functions, the feasible costate functions and the feasible control functions. Associated Computational Simulations were provided to show the effectiveness and the reliability of the approach.

The study addresses the challenge of efficiently peeling pineapples, which have a distinct elliptical form, thick skin, and small eyes that are difficult to detect with conventional automated methods. This results in significant flesh waste. To improve the process, the researchers developed an integrated system combining an enhanced BlendMask method, termed SAAF-BlendMask, and a PCP method. SAAF-BlendMask improves the detection of small pineapple eyes, while PCP ensures accurate posture adjustment for precise path planning. The system uses 3D vision and deep learning technologies, achieving an average precision (AP) of 73.04% and a small object precision (APs) of 62.54% in eye detection, with a path planning success rate reaching 99%. The fully automated electromechanical system was tested on 110 real pineapples, demonstrating a reduction in flesh waste by 11.7% compared to traditional methods. This study highlights the potential of advanced machine vision and robotics in enhancing the efficiency and precision of food processing.

We investigate new graph characteristics namely total (vertex, edge) face irregularity strength of gen- eralized plane grid graphs Gmn under k-labeling Phi of type (Alpha, Beta, Gamma). The minimum integer k for which a vertex-edge labelled graph has distinct face weights is called the total face irregularity strength of the graph and is denoted by tfs(Gmn). In this article, the graphs G = (V;E; F) under consideration are simple, finite, undirected and planar. We will estimate the exact tight lower bounds for the total face irregularity strength of some families of generalized plane grid graphs.

In Ultra-wideband (UWB)-based wireless ranging or distance measurement, differentiation between line-of-sight~(LOS), non-line-of-sight~(NLOS), and multi-path (MP) conditions are important for precise indoor localization. This is because the accuracy of the reported measured distance in UWB ranging systems is directly affected by the measurement conditions (LOS, NLOS or MP). However, the major contributions in literature only address the binary classification between LOS and NLOS in UWB ranging systems. The MP condition is usually ignored. In fact, the MP condition also has a significant impact on the ranging errors of the UWB compared to the direct LOS measurement results. Though, the magnitudes of the error contained in MP conditions are generally lower than completely blocked NLOS scenarios. This paper addresses machine learning techniques for identification of the mentioned three classes (LOS, NLOS, and MP) in the UWB indoor localization system using an experimental data-set. The data-set was collected in different conditions at different scenarios in indoor environments. Using the collected real measurement data, we compare three machine learning (ML) classifiers, i.e., support vector machine (SVM), random forest (RF) based on an ensemble learning method, and multilayer perceptron (MLP) based on a deep artificial neural network, in terms of their performance. The results show that applying ML methods in UWB ranging systems are effective in identification of the above-mentioned three classes. In specific, the overall accuracy reaches up to 91.9% in the best-case scenario and 72.9% in the worst-case scenario. Regarding the F1-score, it is 0.92 in the best-case and 0.69 in the worst-case scenario. For reproducible results and further exploration, we (will) provide the publicly accessible experimental research data discussed in this paper at PUB - Publications at Bielefeld University. The evaluations of the three classifiers are conducted using the open-source python machine learning library scikit-learn.

Whenever vegetated areas are monitored over time, phenological changes in land cover should be decoupled from changes in acquisition conditions, like atmospheric components, sun and satellite heights, and imaging instrument. This especially holds when the multispectral (MS) bands are sharpened for spatial resolution enhancement by means of a panchromatic (Pan) image of higher resolution, a process referred to as pansharpening. In this paper, we provide evidence that pansharpening of visible/near-infrared (VNIR) bands takes advantage from a correction of the path radiance term introduced by the atmosphere, during the fusion process. This holds whenever the fusion mechanism emulates the radiative transfer model ruling the acquisition of the Earth’s surface from space, that is, for methods exploiting a multiplicative, or contrast-based, injection model of spatial details extracted from the panchromatic (Pan) image into the interpolated multispectral (MS) bands. The path radiance should be estimated and subtracted from each band before the product by Pan is accomplished. Both empirical and model-based estimation techniques of MS path radiances are compared within the framework of optimized algorithms. Simulations carried out on two GeoEye-1 observations of the same agricultural landscape at different dates highlight that the de-hazing of MS before fusion is beneficial for an accurate detection of seasonal changes in the scene, as measured by the normalized differential vegetation index (NDVI).

This paper presents a novel approach to demonstrate the Collatz Conjecture, an unsolved problem in mathematics stating that all positive integers will eventually converge to 1 when subjected to a recursive sequence of operations. We introduce Algebraic Inverse Trees (AITs), innovative data structures that characterize relationships within the Collatz sequence by tracing inverse transformations back to the origin. Leveraging properties unveiled through this inverted representation, including absence of non-trivial cycles and guaranteed convergence of paths, we construct a topological framework to formally prove that all trajectories invariably lead to 1 under the Collatz iterative process. This modern technique provides not only the machinery to manifest a rigorous proof, but also grants intuitive insights into the deep complexity of this notorious yet elementary conjecture.

The recent provision of energy-harvesting capabilities to wireless sensor networks has entailed the redefinition of design objectives. Specifically, the traditional goal of maximizing network lifetime has been replaced by optimizing network performance, namely delay and throughput. The present paper contributes to this reformulation by considering the routing problem for the class of time-driven energy-harvesting WSN (EH-WSN) under regular or quasi-periodic energy sources. In particular, this paper shows that the minimum hop count (MHC) criterion maximizes the average duty cycle that can be sustained by nodes in this type of scenarios. This is a primary objective in EH-WSN, since large duty cycles lead to enhanced performance. Based on a previous result, a general expression is first obtained which gives mathematical form to the relationship between duty cycle and traffic load for any node in a time-driven EH-WSN fed by a regular energy source. This expression reveals that the duty cycle achievable by a node decreases as its traffic load increases. Then, it is shown that MHC minimizes the average traffic load over the network, and thus it maximizes the average duty cycle of nodes. This result is numerically validated via simulation by comparison with other well-known routing strategies. Accordingly, this paper suggests assigning top priority to the MHC criterion in the development of routing protocols for time-driven EH-WSN under regular energy sources.

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

A controlled ammonia (NH₃) release experiment was performed at a grassland site to quantify the effect of dry deposition, at the field scale between the source and the receptors (NH₃ measurement locations), on the estimates of emission rates by means of inverse dispersion modelling. NH₃ was released for 3 hours at a constant rate of Q = 6.29 mg s⁻¹ from a grid of 36 orifices spread over an area of 250 m². The increase in line-integrated NH₃ concentration was measured with open-path optical miniDOAS devices at different locations downwind of the artificial source. Using a backward Lagrangian stochastic (bLS) dispersion model (bLSmodelR), the fraction of the modelled release rate to the emitted NH₃ (Q_bLS/Q) was calculated from the measurements of the individual instruments. Q_bLS/Q was found to be systematically lower than 1, on average between 0.69 and 0.91, depending on the location of the receptor. We hypothesized that NH₃ dry deposition to grass and soil surfaces was the main factor responsible for the observed depletion of NH₃ between source and receptor. A dry deposition algorithm based on a deposition velocity approach was included in the bLS modelling. Model deposition velocities were evaluated from a ‘big‑leaf’ canopy resistance analogy. Canopy resistances (generally termed Rc) that provided Q_bLS/Q = 1 ranged from 75 to 290 s m⁻¹, showing that surface removal of NH₃ by dry deposition can plausibly explain the original underestimation of Q_bLS/Q. The inclusion of a dry deposition process in dispersion modelling is crucial for emission estimates, which are based on concentration measurements of depositing tracers downwind of homogeneous area sources or heterogeneously distributed hot spots, such as e.g. urine patches on pastures in the case of NH₃.

The conventional theory of neutron beams interacting with many-body systems treats the beam as a classical system, i.e. with its dynamical variables appearing in the quantum dynamics of the scattering process not as operators but only as c-numbers. Moreover, neutrons are described with plane waves, i.e. the concept of neutron's (finite) coherence length is here irrelevant. The same holds for electron, atom or X-ray scattering. This simplification results in the full decoupling of the probe particle's dynamics from the quantum dynamics of the scatterer---a well-known fact also reflected in the standard formalism of time-correlation functions (see textbooks). Making contact with modern quantum theoretical approaches (e.g., quantum entanglement, 'which-path detection' versus interference, von Neumann measurement, Week Values, etc.) new observable effects may be exposed and/or predicted, for instance, a momentum-transfer deficit and an intensity deficit in neutron scattering from protons of hydrogen-containing samples. 7

Self-organization in complex systems is a process in which internal entropy is reduced and emergent structures appear that allow the system to function in a more competitive way with other states of the system or with other systems. It occurs only in the presence of energy gradients, facilitating energy transmission through the system and entropy production. Being a dynamic process, self-organization requires a dynamic measure and dynamic principles. The principles of decreasing unit action and increasing total action and the principle of decreasing unit entropy and increasing total entropy are dynamic variational principles that are viable to utilize in a self-organizing system. Based on this, average action efficiency can serve as a quantitative measure of the degree of self-organization. Positive feedback loops connect this measure with all other characteristics of a complex system, providing all of them with a mechanism for exponential growth, and indicating power law relationships between each of them as confirmed by data and simulations. In this study, we apply those principles and the model to agent-based simulations of ants traveling between two locations on a 2D grid. We find that those principles explain self-organization well and that the results confirm the model. We derive a compact model of ant-behavior based on the action of their trajectories, and then estimate a variety of metrics from the simulated behavior. By measuring action efficiency we can have a new answer to the question: "What is complexity and how complex is a system?". This work shows the explanatory and predictive power of those models, which can help understand and design better complex systems.

A Wireless Body Area Sensor Network (WBASN) is combination of numerous sense nodes, positioned onto/close or inside a person body. Wireless Body Area Sensor Networks (WBASN) is a developing automation trend that exploits wireless sensor nodes to put instantaneous wearable well-being of ill person to improve individual’s existence. The sensor nodes might be used outwardly to observe abundant health parameters (like heart activity, blood pressure and cholesterol) of an ill person at a vital site within hospital. Hence the goal of WBASN is much crucial, enhancing the lifetime of nodes is compulsory to sustain many issues such as utility and efficiency. It is essential to evaluate time that when the first node will die it we want to refresh or change the battery reason is that loss of crucial information is not tolerable. The lifetime is termed as the time interval when a first node dies out due to battery exhaustion. In our proposed protocol life time of a network is the main concern as well other protocol related issues such as throughput, path loss, and residual energy. Bio-sensors are used for deployment on human body. Poisson distribution and equilibrium model techniques have been used for attaining the required results. Multi-hop network topology and random network node deployment used to achieve minimum energy consumption and longer network lifetime.

: Considering that Einstein's relation between the diffusion coefficient and the drift mobility of the free randomly moving charge carriers in homogeneous materials including metals is always valid, it is shown that the effective electric force acting on free electrons in metal depends on the ratio between the kinetic free electron energy at the Fermi surface to the classical particle energy 3kT/2. The electrical resistivity of elemental metals dependence on very low temperatures has the quadratic term, which has been explained by electron-electron scattering. In this paper, it is shown that the quadratic term of the electrical resistivity at low temperatures is caused by scattering of the free RM electrons by electronic defects due to linear effective free electron scattering cross-section dependence on temperature, but not by electron-electron scattering.

We dive into the axion-dilaton model within the supergravity framework, with a specific focus on the intricacies of domain wall construction and stability. Employing holographic vitrification, we unravel the dynamics of domain wall formation in gauge theories featur- ing periodic vacuum structures. Our model, incorporating a QCD-like axion term and a stabilizing dilaton, undergoes scrutiny for conductivity variations under weak disorder. The investigation reveals the model’s resilience, manifesting near-perfect conductivity under mild disorder conditions. However, the rigorous mathematical motivation for the holographic setup demands further elucidation. The scattered nature of our results prompts the neces- sity for a more systematic interpretation of QCD phenomena and conductivity transitions. This study contributes to the mathematical understanding of the axion-dilaton model’s be- havior, highlighting the imperative for a refined holographic framework and a more coherent interpretation of observed phenomena.

We delve into nonrelativistic quantum electrodynamics within a background magnetic field, ensuring gauge invariance via a vector potential. Our exploration extends to the Lagrangian, which incorporates electron self-interactions and electromagnetic field interactions. Through the path integral formalism, we elucidate the effective action, with a specific focus on the photon propagator and screening effects. Examining density and current components reveals Laurent expansions in the hydrodynamic limit. The equations of motion in real space are derived, leading to discussions on phenomena such as Poiseuille-like flow and the Navier-Stokes equation. To ground our theoretical framework at practical contexts, we consider applications such as the fluid dynamics at binary star systems. Depending on the velocity of the expelled fluid, our analysis allows for both nonrelativistic and relativistic treatments, providing a versatile tool for understanding the intricacies of fluid behavior at astrophysical scenarios. Additionally, we recognize that at the presence of a magnetic field, magnetohydrodynamics becomes crucial. While our current focus is at nonrelativistic quantum electrodynamics, the insights gained here contribute to a broader understanding, offering a comprehensive foundation for quantum electrodynamics analysis at diverse physical systems.

We introduce the linear subgroup of volume-preserving diffeomorphism as the underlying symmetry to construct an action within the effective field theory framework and the Schwinger-Keldish formalism. The formulated action is posited to effectively incorporate dissipative effects into the Navier-Stokes equations.