Due to the convenience of implementing without additional transmitter, radar communication integrated systems using conventional communication signals have become an effective means of monitoring unmanned aerial vehicles and other aircraft. However, the non-ideal radar signal form causes the strong signal to cover the weak signal, and the clutter suppression is required to expose the target. As the target signal is extremely low, and the performance of conventional clutter suppression methods is limited, the residual clutter remains after the time-varying clutter is suppressed, which leads to many false alarm points on the processed RD spectrum. The two-dimensional distribution of these false alarms in range-Doppler is very similar to the target and difficult to be distinguished, which seriously affects the target detection and tracking. To reduce false alarm points and improve the performance of target detection, the difference of spatial-temporal stationarity between target signal and clutter in a short time is discussed in this paper, a radar false alarm suppression method based on target spatial-temporal stationarity is proposed by using the difference of stationarity between target signal and false alarm points in range, Doppler, energy and azimuth. In this algorithm, to ensure the short-time stationarity of the target, the RD spectrum of sub-frames with short time interval is obtained by using the sliding matching filtering method and extract the peak points. Then, the Mahalanobis distance between the peak points of each sub-frame is used to eliminate false alarm points. Finally, false alarm points are further eliminated through the target tracking and retain the real target information, so as to improve the radar target detection performance. The simulation experiments show that this method can eliminate more than 90% false alarms points while maintaining the detection performance of the target. The processing of actual data in the field experiment shows that the after suppression false alarm by this algorithm can obtain more ideal target detection results, and realize the tracking of the UAV and other aircraft track.

In recent times, the application areas of unmanned aerial vehicles (UAVs) are expanding, and autonomous functions are becoming increasingly prominent, eliminating the need for remote pilot control. Certain applications require the drone to use a docking station autonomously, even for wireless charging. This involves performing autonomous takeoff and landing, where high preci-sion is demanded. These maneuvers can be significantly influenced by environmental factors. The effectiveness of the precision landing function of the DJI Mavic 2 Pro UAV in strong winds is in-vestigated in this article based on experimental measurements conducted outdoors. New findings on the precision landing capabilities of the DJI Mavic 2 Pro UAV are presented in this paper, par-ticularly under windy conditions. The efficiency of precision landing is compared in cases when the precision landing function is enabled versus when it is disabled. It is investigated whether there is a statistically significant difference between the two landing modes in strong winds and it is examined whether the DJI Mavic 2 Pro can perform precision landing on a surface of a specific size in windy conditions. This helps to predict the suitability of the DJI Mavic 2 Pro for precise landing and wireless charging at a docking station in strong winds and high gusts.

Fusing data from many sources helps to achieve higher results of analysis. In this work, we present a new algorithm to fuse data from multiple cameras with data from multiple lidars. This algorithm was developed to increase the sensitivity and specificity of autonomous vehicle perception systems, where the most accurate sensors measuring the vehicle’s surroundings are cameras and lidar devices. Perception systems based on data from one type of sensor do not use complete information and have lower quality. The camera provides two-dimensional images; lidar produces three-dimensional point clouds. We developed a method for matching pixels on a pair of stereoscopic images using dynamic programming inspired by an algorithm to match sequences of amino acids used in bioinformatics. We improve the quality of the basic algorithm using additional data from edge detectors. We also improve the algorithm performance by reducing the size of matched pixels determined by available car speeds. We perform point cloud densification in the final step of our method, fusing lidar output data with stereovision output. We implemented our algorithm in C++ with Python API, and we provided the open-source library named Stereo PCD. This library very efficiently fuses data from multiple cameras and multiple lidars. In the article, we present the results of our approach to benchmark databases in terms of quality and performance. We compare our algorithm with other popular methods.

Toll plaza optimization is essential for improving traffic flow and easing congestion on road networks. This study aims to suggest and assess potential optimization solutions for the Peshawar toll plaza, considering variables like traffic volume, toll-collecting effectiveness, and customer facilitation. Different resources are used for data collection, like the National Highway Authority of Pakistan. Physical data is collected from the established Toll Plaza of Peshawar, along with the development of each line. The goal of this study is to suggest and assess potential optimization solutions for the Peshawar toll plaza, considering variables like traffic volume, toll-collecting effectiveness, and customer happiness. The analysis of present traffic patterns, the detection of bottlenecks, and the creation of plans to ease congestion and enhance overall traffic flow are all part of the optimization process. The approaches used in this study include data analysis, simulation, and traffic modeling. PTV VISSIM is software for transportation planning, design, and analysis. The simulations consider various conditions, such as variable traffic volumes, toll collection methods, and lane configurations. When comparing the different optimization strategies, performance indicators like trip time, latency, and queue length are utilized to determine which approach is practical. Waiting time Vs. Existing each lane, etc, is explained. In the end, comparing queue lengths and throughput across different lane scenarios shows that maximizing throughput with existing lanes yields up to 45% improvement with E-tag lanes, 40% with existing E-tag lanes, 38% with E-tag plus additional toll and cash lanes, 32% with three cash lanes, and 28% with two E-tag lanes. Failure to regularly monitor and adjust the existing lane pattern scenario based on traffic patterns can lead to queues being 20% longer. Without proactive evaluation and optimization, there is a potential 63% opportunity for queue length improvement

Energy storage systems play a crucial role in the overall performance of hybrid electric vehicles. Therefore, the state of the art in energy storage systems for hybrid electric vehicles has been discussed in this paper along with appropriate background information for facilitating future research in this domain. Specifically, we have compared the key parameters such as cost, power density, energy density, cycle life, and response time for various energy storage systems. For the energy storage systems employing ultra capacitors, we have presented the characteristics such as cell voltage, cycle life, power density and energy density. Furthermore, we have discussed and evaluated the interconnection topologies for the existing energy storage systems. We have also discussed the hybrid battery-flywheel energy storage system as well as the mathematical modeling of the battery-ultracapacitor energy storage system. Toward the end, we have discussed energy efficient powertrain for hybrid electric vehicles.

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

To satisfy the interests of multiple agents and those of comprehensive indicators such as peak-to-valley differences and load fluctuations occurring on the network side, this paper presents a flexible load demand-side response optimization method that considers the benefits of peak-to-valley smoothing. First, load aggregation modelling of air conditioning and electric vehicles was conducted, and the complementarity of the power consumption behaviour of different types of flexible loads was used to improve the responsiveness of the load aggregator. Second, considering demand-side responses and taking into account the interests of both supply and demand, the load fluctuation and peak-to-valley difference on the network side are reduced, and a flexible load double-layer optimization model incorporating the peak-to-valley smoothing benefit is established. Finally, the effectiveness of the proposed optimization model is verified by using the KKT condition and the big M method to evaluate this two-layer optimization problem as a single-layer optimization problem. Comparative examples demonstrate that the proposed two-layer optimization method can improve the revenue of the distribution network operators and the load aggregators by using the complementary nature of the load response characteristics of electric vehicles and air conditioners. Moreover, the proposed method can effectively reduce the load peak-to-valley difference and load fluctuation of the distribution network by introducing the peak-to-valley smoothing benefit model.

In-wheel motor vehicles are gaining attention as a new type of electric vehicle due to their efficient power units located inside each wheel hub. However, they are more susceptible to wheel resonance due to the increase in unsprung mass caused by the motor's weight. This can result in decreased both the ride comfort and driving stability. To resolve this issue, this study aims to apply an optimal switching controller with a semi-active n actuator; magnetorheological (MR) damper. For the implementation of the optimal switching controller, a road type classification is also carried out. An acceleration sensor is used for road type classification, and control logics include a ride comfort controller; the linear quadratic regulator (LQR _Paved Road) and a wheel motion controller (LQR_Off Road) for improved driving stability. For paved roads, the LQR_Paved Road control input is applied to the MR damper. However, if a road type prone to wheel resonance is detected, the control logic switches to the LQR_Off Road. During the transition, a weighted average of both LQR_ Paved Road and LQR_Off Road control input is applied to the actuator. Computer simulations are undertaken to evaluate vibration control performance, including the ride comfort and driving stability at various road profiles.

This work aims to study and analyze a hybrid power system for electric vehicles consisting of a dual low and high-rate lithium battery block and a fuel cell. In this configuration, the high-rate lithium battery powers the electric vehicle in high power demand processes like acceleration mode or on an uphill road; the low-rate battery operates at a low output power range, servicing the auxiliary systems and low power loads and the fuel cell supplies energy at intermediate power demand conditions, normal driving mode, constant velocity, or flat and downhill terrain. The dual power system improves global efficiency since every power unit operates optimally depending on driving conditions. Power sharing optimizes the lithium battery performance and fuel cell capacity, minimizing the size and weight of each energy system and enlarging the driving range. A comparative study between different lithium battery configurations and fuel cell shows an efficiency improvement of 31.4% for the hybrid dual battery block and fuel cell operating in low, high, and intermediate output power ranges, respectively. The study bases on a simulation process recreating current driving conditions for electric cars in urban, peripheral, and intercity routes. An alternative solution consisting of a hybrid system, fuel cell and a high rate lithium battery produces a 29 % power gain.

The automotive industry is continuously developing to meet the needs of users in terms of efficiency and convenience. The Thailand government has set a policy for Thailand to be a hub for the production of electric vehicles and key components in the region, with a target to produce electric and zero-emission vehicles by 2030. This article is an example of communication in an electric vehicle system. The CAN Bus system is a communication system in electric vehicles that can receive and send communication data via CAN-Hight/Low lines designed for vehicles. CAN Bus is a standard communication system supported by global organizations and used in modern automotive systems. The design of the communication system in electric vehicles uses MRS Developers Studio software to help write programs to receive and send data and prioritize the importance of the received data. The system consists of communication examples studied, such as pressing the start button, turning on/off the headlights, turning on/off the turn signal, turning on/off the brake light, turning on/off the emergency light, sending the horn signal, sending the signal to shift forward/backward, and tuning the motor gear system. From the communication examples mentioned, the communication will be a prototype transport set for small electric vehicles under the scope of the lithium battery energy storage system, NMC type, size 72 V 25 Ah, to test the use, efficiency, and stability in CAN Bus communication up to 1000 times.

This paper presents a novel real time control strategy on four-wheel independent steering system for electric vehicle with stepper motors using neural networks combined with fuzzy logic. The control of the four wheels is based on a variation of Hopfield Neural Network (VHNN) method, in which the input is the error of each steering motor and the output is processed by a hyperbolic tangent function (HTF) feeding the fuzzy logic controller (FLC), which ultimately drives the stepper motor. The whole system is made up of the four aforementioned blocks where they work in sync and inseparable from each other with the common goal of driving all the steering stepper motors at the same time. Simulation results demonstrate that the proposed control method has strong robustness and practicability under different angles and speeds.

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

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.

This paper describes research on a unique propulsion system design for a low-speed Biomimetic Unmanned Underwater Vehicle (BUUV). It is biomimetic in the sense that it mimics the movement of aquatic organisms. The undulating propulsion system has numerous advantages over the rotary impeller and is becoming more popular in underwater robotics. The analysis of an artificial seal’s propulsion system with two tail fins is described here. The contrast between the previous undulating propulsion system and the new one is detailed using mathematical analysis and experimental data. The experimental comparison was carried out on a laboratory test stand equipped with specialist sensor equipment to determine the energy efficiency of various types of propulsion systems. Due to a patent procedure, the innovative propulsion system presented in this work has never been published previously. The fins have extra joints, which is the subject of patent claims. The extra joint is intended to improve energy efficiency and reduce fatigue wear on the fins.

Vehicle routing is a critical factor in municipal solid waste (MSW) collection planning and operations. Poor routing can introduce inefficiencies and cause targeted levels of services or performance to be missed irrespective of the level of resource application. Trial and error approaches have been proven to be not the best in the planning and prediction of expected performance. This study explores various Geographic Information System (GIS) tools and analysis techniques, and how they can be applied to optimizing vehicle routes in light of challenging site conditions. Using Adentan West residential area, suburb of Accra Ghana as a case study, current performance of the trial and error method was measured and a GIS computer model was used to evaluate various optimization scenarios to determine the level of savings that can be made. Field measurements were taking with Global Positioning System (GPS) devices for waste collection activities in areas with varying characteristics and conditions, and data analysed for one selected vehicle operating four days per week. It was found that, for a scenario where only the bin collection order was optimized while route selection was restricted by the ArcGIS Network Analyst, 2.6% of travel distance and 2.21% of travel time were saved. For the second scenario where only the route selection was optimized while order of bin collection was restricted, 4.1% and 1.5% of travel distance and time respectively were saved. For a third scenario where both the order of collection and route selection were together optimized, 10.9% and 3.7% of travel distance and time respectively were saved. Lastly, by regrouping all the bins for daily collection, 4.5% and 1.2% of travel distance and time respectively were saved. The results demonstrated that there is always room for optimization of solid waste collection routing irrespective of site constraints and other challenges that the nature of bin distribution pose to drivers. In developing countries like Ghana, where there is high demand for services in the face of limited road network access, application of GIS in optimization of routes will guide providers in planning and subsequently make more savings in fuel consumption, vehicle maintenance and cost of man-hours.

Human detection from Unmanned Aerial Vehicles (UAV) is gaining popularity in the field of disaster management, crowd counting, people monitoring. Real time human detection from UAV is a challenging task, because of many constraints involved. This study proposes a system for real time detection of humans on videos captured from UAVs addressing three of these constraints namely, flying height, computation time and scale of viewing. The proposed method integrated an android application with a binary classifier based on Haar-features to automatically detect human / non-human class from UAV images. The video frames were parsed and detected humans from image frames were geo-localized and visualized on Google Earth. The performance was evaluated for geo-localization accuracy, computation time and detection accuracy, considering human coverage – pixel size relationship for various heights and scale factor. Based on flying height - human size relationship and tradeoff between detection accuracy vs computation time, the study came up with optimal parameters for OpenCV’s cv2.cascadeClassifier. detectMultiScale function. This paper establishes a strong ground for further research relating to real time human detection from UAV.

Over the past few decades, aircraft Ground Handling Operations (GHO) have been investigated by numerous researchers. Some aspects of GHO have been more focused on than others due to their importance in the GH processes. For instance, GHO performance has been tackled from different perspectives while workers and vehicles allocation suffer from the lack of research in the area. This paper is a literary review of the research that has been conducted in different areas of GHO. It sheds light on GHO performance, resource allocation and scheduling, operations scheduling, vehicle routing, and workers and vehicles allocation.

The enormous growth in the penetration of electric vehicles (EVs), has laid the path to advancements in the charging infrastructure. Connectivity between charging stations is an essential prerequisite for future EV adoption to alleviate users’ “range anxiety”. The existing charging stations fail to adopt power provision allocation and scheduling management. To improve the existing charging infrastructure data based on real-time information and availability of reserves at charging stations could be uploaded to the users to help them locate the nearest charging station for an EV. This research article focuses on an a interactive user application developed through SQL and PHP platform to allocate the charging slots based on estimated battery parameters, which uses data communication with charging stations to receive the slot availability information. The proposed server-based real-time forecast charging infrastructure avoids waiting times and its scheduling management efficiently prevents the EV from halting on road due to battery drain out. The proposed model is implemented using a low-cost microcontroller and the system etiquette tested.

The promotion of pesticide use reduction is an inevitable requirement for advancing green and low-carbon transformation of agriculture. Analyzing the impact and mechanism of agricultural digital technology applications, represented by plant protection unmanned aerial vehicles (UAVs), in reduction of pesticide application intensity by farming households is of great significance for exploring feasible pathways for low-carbon transformation in rice production. Based on the survey data of 455 sample farming households in Jiangxi Province, China, this paper employs the Ordinary Least Squares (OLS) and Propensity Score Matching (PSM) methods to examine the relationship between plant protection UAVs and the intensity of pesticide application. The research results indicate that the use of plant protection UAVs substantially reduces the intensity of pesticide application in rice by 24.9%. Heterogeneous analysis reveals that the inhibitory effect of plant protection UAVs on pesticide application intensity is more pronounced among non-aged farming households, large-scale farming households, and part-time farming households. Therefore, in order to achieve the goal of rlow-carbon transformation in rice production, it is essential to improve agricultural support policies and establish market promotion and application mechanisms to jointly promote the adoption of plant protection UAVs aerial spraying technology and other agricultural digital technologies.

The widespread diffusion of electric vehicles poses new challenges in the field of fault diagnostics. Past studies have been focused mainly on machines designed for industrial applications, where the operating conditions and requirements are significantly different. This work presents a review of the most recent studies about fault diagnosis techniques in electrical machines feasible for traction applications, with a focus on the most adopted approaches of the last years and on the latest trends. Considerations about their applicability for electric vehicle purposes, along with some areas that require further research, are also provided.

This paper addresses the challenges faced by icebreakers in polar environments, particularly the difficulty in sensing underwater ice formations when navigating through thick ice layers, which often results in suboptimal icebreaking effectiveness. To overcome these challenges, this paper introduces a novel underwater robot equipped with both sensing and ice-breaking capabilities. We propose a path planning method for icebreaking that leverages the synergistic capabilities of the Safe Particle Swarm Optimization and Genetic Algorithm (GA-SPSO). The GA-SPSO algorithm integrates the global search prowess of the particle swarm optimization with the local optimization strength of the genetic algorithm, enabling efficient and adaptive path planning in complex ice environments. The underwater unmanned vehicle (UUV)-assisted icebreaking approach developed here utilizes the UUV's flexibility and high-precision environmental sensing to provide real-time optimization suggestions for icebreaker navigation paths. Simulation results demonstrate that the GA-SPSO algorithm not only effectively circumvents hazardous areas but also significantly reduces the energy consumption and operational time of icebreakers, thereby enhancing the safety and stability of navigation. When compared to the conventional Safe Particle Swarm Optimization (SPSO), our approach shows marked improvements in path length, convergence speed, and obstacle avoidance capabilities, significantly enhancing the success and efficiency of polar navigation missions.

In the paper, a study of the performance of unmanned ground vehicle (UGV), establishes numerical simulation model of the chassis system by three-dimensional software and finite element analysis software. Based on the numerical modelling and analysis, the work focuses on study of the strength and stiffness of the vehicle's chassis and researched the distribution of stress and deformation under the extremal condition. The paper also presents an autopilot design with new cascade control system for an autonomous motion of an unmanned ground vehicle based on Proportional-Integral-Derivative (PID) and Feed-Forward (FF) control. The PID-FF controller is a part of dedicated for presented UGV used in a hybrid control system for precise control and stabilization, necessary to increase the vehicle motion stability and maneuvers precision. The hybrid PID-FF control system proposed for the ground vehicle model gives a satisfactory quality of control, while maintaining the simplicity of the control system. Presented tests performed in area of mechanical design and control analysis gives good results and proves usefulness of designed unmanned device.

End-of-life electric vehicle (EV) batteries can be reused to reduce their environmental impact and economic costs. However, the growth of a second-life market is limited by the lack of information on the characteristics and performance of these batteries. As the volume of end-of-life EVs may exceed the amount of batteries needed for stationary applications, investigating the possibility of repurposing them in mobile applications is also necessary. This article presents an experimental test that can be used to collect the data necessary to fill a battery passport. The proposed procedure can facilitate the decision making process regarding the suitability of a battery for reuse at the end of its first life. Once the battery passport has been completed, the performance and characteristics of the battery are compared with the requirements of several mobile applications. Mobile charging stations and forklift trucks were identified as relevant applications for the reuse of high capacity prismatic cells. Finally, a definition of a state of health (SoH) is proposed to track the suitability of the battery during use in the second life application considering not only energy but also power and efficiency of the battery. This SoH shows that even taking into account accelerated ageing data, a repurposed battery can have an extended life of 11 years at 25~°C. It has also been shown that energy fade is the most limiting performance for lifetime and that cell-to-cell variation should be tracked as it has been shown to have a significant impact on battery life.

Understanding the dynamic interaction between piles and surrounding soil under vehicular impacts is essential for effectively designing and optimizing soil-embedded vehicle barrier systems. The complex behavior of pile-soil systems under impact loading, attributed to the soil’s nonlinear behavior and large deformation experienced by both components, presents significant simulation challenges. Popular computation techniques, such as the Updated Lagrangian Finite Element Method (UL-FEM), encounter difficulties in scenarios marked by large soil deformation, e.g., impacts involving rigid piles. While mesh-free particle and discrete element methods offer another option, their computational demands for field-scale pile-soil impact simulations are considerable. We introduce the erosion method to bridge this gap by integrating UL-FEM with an erosion algorithm designed for simulating large soil deformations during vehicular impacts. Validation against established physical impact tests confirmed the method’s effectiveness for flexible and rigid pile failure mechanisms. Additionally, this method was used to investigate the effects of soil mesh density, soil domain sizes, and boundary conditions on the dynamic impact response of pile-soil systems. Our findings provide guidelines for optimal soil domain size, mesh density, and boundary conditions. This investigation sets the stage for improved, computationally efficient techniques for the pile-soil impact problem, leading to better pile designs for vehicular impacts.

Drone imagery has the potential to enrich urban planning and preservation, especially where it converges with the growing creation and use of 3D models. The authors have conducted a systematic literature review of articles published between 2002 and 2022, drawing from reputable academic repositories including Science Direct, Web of Science, and China National Knowledge Infrastructure (CNKI), to identify current gaps in existing research in the application of UAVs to the creation of 3D models in urban planning and preservation. Findings indicate five research shortcomings: limited participation of planning experts, research focus imbalance, lack of usage for special scenarios, lack of integration with smart city planning, and limited interdisciplinary collaboration. The study also acknowledges current limitations with UAV applications and discusses possible countermeasures as well as future prospects.

Recently, the number of vehicles on the road, especially in urban centers, has increased dramatically due to the increasing trend of individuals towards urbanization. As a result, manual detection and recognition of vehicles (i.e., license plates and vehicle manufacturer) become an arduous task and beyond human capabilities. In this paper, we have developed a system using transfer learning-based DL techniques for automatic identification of Jordanian vehicles. The YOLOv3 (You Only Look Once) model was re-trained using transfer learning to accomplish the license plate detection, character recognition, and vehicle logo detection. While VGG16 (Visual Geometry Group) model was retrained to accomplish the vehicle logo recognition. To train and test these models, four datasets have been collected. The first dataset consists of 7,035 Jordanian vehicle images, the second dataset consist of 7,176 Jordanian license plates, and the third dataset consists of 8,271 Jordanian vehicle images. These datasets have been used to train and test the YOLOv3 model for Jordanian license plate detection, character recognition, and vehicle logo detection, respectively. While the fourth dataset consists of 158,230 vehicle logo images used to train and test the VGG16 model for the vehicle logo recognition. Text measures were used to evaluate the performance of our developed system. Moreover, mean average precision (mAP) measure was used to evaluate the YOLOv3 model of the detection tasks (i.e., license plate detection and vehicle logo detection). For license plate detection, the precision, recall, F-measure, and mAP were 99.6%, 100%, 99.8%, and 99.9%, respectively. While for character recognition, the precision, recall, and F-measure were 100%, 99.9%, and 99.95%, respectively. The performance of license plate recognition stage was evaluated by evaluating these two sub-stages as a sequence, where the precision, recall, and F-measure were 99.8%, 99.8%, and 99.8%, respectively. Furthermore, for vehicle logo detection, the precision, recall, F-measure, and mAP were 99%, 99.6%, 99.3%, and 99.1%, respectively, while for vehicle logo recognition, the precision, recall, F-measure were 98%, 98%, and 98%, respectively. The performance of vehicle logo recognition stage was evaluated by evaluating these two sub-stages as a sequence, where the precision, recall, and F-measure were 95.3%, 99.5%, and 97.4%, respectively.

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.

Connected and Autonomous Vehicle (CAV) combines technologies of autonomous vehicle (AV) and connected vehicles (CV) to develop quicker, more reliable and safer traffic. Artificial Intelligence (AI) based CAV solutions play significant roles in sustainable city. The convergence imposes stringent security requirements for CAV safety and reliability. In practice, vehicles are developed with increased automation and connectivity. Increased automation increases the reliance on the sensor-based technologies and decreases the reliance on driver; increased connectivity increases the exposures of vehicles vulnerability and increases the risk for an adversary to implement a cyber-attack. Much work has been dedicated to identifying the security vulnerabilities and recommending mitigation techniques associated with different sensors, controllers, and connection mechanisms, respectively. However, there is an absence of comprehensive and in-depth studies to identify how the cyber-attacks exploit the vehicles vulnerabilities to negatively impact the performance and operations of CAV. In this survey, we set out to thoroughly review the security issues introduced by AV and CV technologies, analyze how the cyber-attacks impact the performance of CAV, and summarize the solutions correspondingly. The impact of cyber-attacks on the performance of CAV is elaborated from both viewpoints of intra-vehicle system and inter-vehicle system. We pointed out that securing the perception and operations of CAV would be the top requirement to enable CAV to be applied safely and reliably in practice. Also, we suggested to utilize cloud and new AI methods to defend against smart cyber-attacks on CAV.

This paper develops a methodology to control the navigation of an autonomous ship robot from an initial state to a final. To solve the problem the following approach is used: The ship robot system is modelled as a control system of six ordinary differential equations involving six state variables and three control variables. After having computed the system Hamiltonian, the feasible controls for optimality are derived from the normal equations of optimality as functions of the state and costate variables. Such controls are substituted into the state and the costate equations and give a combined control-free state-costate system of ordinary differential equations which is solved numerically by using a developed Matlab computer program. Associated computational simulations are designed and provided to show the reliability of the approach.

Microturbines can be used not only in models and education but also to propel UAVs. However, their wider adoption is limited by their relatively low efficiency and durability. Validated simulation models are required to monitor their performance, improve their lifetime, and design engine control systems. This study aims at developing a numerical model of a micro gas turbine for prediction and prognostics of engine performance. To build a reliable zero-dimensional model, the available compressor and turbine maps were scaled to the available test bench data with the least squares method, to meet the performance of the engine achieved during bench and flight tests. A steady-state aeroengine model was implemented in GSP and compared with experimental operating points. The selected flight data was then used as input for the transient engine model. The exhaust gas temperature (EGT) and fuel flow were chosen as the two key parameters to validate the model, comparing the numerical predicted values with the experimental ones. The observed difference between the model and the flight data was lower than 3% for both EGT and fuel flow.

With the automotive industry moving towards automated driving, sensing is increasingly important in enabling technology. The virtual sensors allow data fusion from various vehicle sensors and provide a prediction for measurement that is hard or too expensive to measure in another way or in the case of demand on continuous detection. In this paper, virtual sensing is discussed for the case of vehicle suspension control, where information about the relative velocity of the unsprung mass for each vehicle corner is required. The corresponding goal can be identified as a regression task with multi-input sequence input. The hypothesis is that the state-of-art method of Bidirectional Long-Short Term Memory (BiLSMT) can solve it. In this paper, a virtual sensor has been proposed and developed by training a neural network model. The simulations have been performed using an experimentally validated full vehicle model in IPG Carmaker. Simulations provided the reference data which was used for Neural Network (NN) training. The extensive dataset covering 26 scenarios has been used to obtain training, validation and testing data. The Bayesian Search was used to select the best neural network structure using root mean square error as a metric. The best network is made of 167 BiLSTM, 256 fully connected hidden units and 4 output units. Error histograms and spectral analysis of the predicted signal compared to the reference signal are presented. The results demonstrate the good applicability of neural network-based virtual sensors to estimate vehicle unsprung mass relative velocity.

An effective battery management system (BMS) is indispensable for any lithium-ion battery (LIB) powered systems such as electric vehicles (EVs) and stationary grid-tied energy storage systems. Massive wire harness, scalability issue, physical failure of wiring, and high implementation cost and weight are some of the major issues in conventional wired-BMS. One of the promising solutions researchers have come up with is the wireless BMS (WBMS) architecture. Despite research and development on WBMS got momentum more than a decade ago, it is still in a preliminary stage. Significant further upgradation is still required towards developing an industry-ready WBMS, especially for high-power LIB packs. Therefore, an in-depth survey exclusively on WBMS architectures is presented in this article. The aim is to provide a summary of the existing developments as well as to present an informative guide to the research community for future development by highlighting the issues, emerging trends, and challenges. In-depth analysis of the existing WBMS topologies will not only help the researchers to understand the existing challenges and future research scopes clearly while at the same time enthuse them to focus their research inclination in the domain of WBMS.

The option of decarbonizing urban freight transport using Battery Electric Vehicle (BEV) seems promising.However, there is currently a strong debate whether Fuel Cell Electric Vehicle (FCEV) might be the bettersolution. The question arises as to how a fleet of FCEV influences the operating cost, the Greenhouse Gas(GHG) emissions and primary energy demand in comparison to BEVs and to Internal Combustion EngineVehicle (ICEV). To investigate this, we simulate the urban food retailing as a representative share of urbanfreight transport using a multi-agent transport simulation software. Synthetic routes as well as fleet size andcomposition are determined by solving a Vehicle Routing Problem (VRP). We compute the operating costsusing a total cost of ownership (Total Cost of Ownership (TCO)) analysis and the use phase emissions as wellas primary energy demand using the Well To Wheel (WTW) approach. While a change to BEV results in 17 -23% higher costs compared to ICEV, using FCEVs leads to 22 - 57% higher costs. Assuming today’s electricitymix, we show a GHG emission reduction of 25% compared to the ICEV base case when using BEV. Currenthydrogen production leads to a GHG reduction of 33% when using FCEV which however cannot be scaled tolarger fleets. Using current electricity in electrolysis will increase GHG emission by 60% compared to the basecase. Assuming 100% renewable electricity for charging and hydrogen production, the reduction from FCEVsrises to 73% and from BEV to 92%. The primary energy requirement for BEV is in all cases lower and forhigher compared to the base case. We conclude that while FCEV have a slightly higher GHG savings potentialwith current hydrogen, BEV are the favored technology for urban freight transport from an economic andecological point of view, considering the increasing shares of renewable energies in the grid mix.

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

A very high parking occupancy can negatively influence the traffic performance of an area by causing very long cruising times. A very low parking occupancy, on the other hand, is inefficient from a space utilization perspective. Thus, this paper proposes a framework to compute the optimal parking occupancy rate over a given time horizon based on a macroscopic traffic and parking model. This rate is set high enough to ensure an efficient usage of the parking infrastructure. However, it should also guarantee a high likelihood of finding parking in order to eliminate the drivers’ time wasted in cruising for parking and the added congestion it causes. The model outputs are based on small data collection efforts and low computational costs, and they can be generated without complex simulation software using a simple numerical solver. Multiple vehicle types are included into our methodology allowing us to generate insights about the optimal parking occupancy with or without differentiated parking (i.e., parking for specific vehicles, such as fuel and electric vehicles). In times of a modal shift towards electric vehicles, cities can use our model to evaluate how much parking supply (with battery charging opportunities) they would like to dedicate to electric vehicles in order to achieve optimal traffic and parking results, and whether a differentiated or semi-differentiated parking policy is desirable. We illustrate our framework in a case study of a central area within the city of Zurich, Switzerland, showing the traffic and parking impacts (e.g., average searching time for parking, total revenue created by parking fees, optimal parking occupancy rate) for different proportions of fuel and electric vehicles in the parking demand and/or supply. Our results confirm that optimal occupancy rates are between and for most realistic scenarios. We then discuss how these rates might change depending on various demand and supply relationships, and according to different parking policies. We show that equal proportions between electric vehicles in the demand and their parking spaces in the supply lead to the best traffic performance in the area. We also provide the tools for cities to analyze their loss in performance if they do not react, e.g., to an increasing demand for electric vehicles over time. Moreover, we illustrate how some of these risks can be mitigated by having more flexible parking policies, e.g., allowing electric vehicles to use parking spaces for fuel vehicles.

Over the past few decades, the growth of the urban population has been remarkable. Nowadays, 50% of the population lives in urban areas, and forecasts point that by 2050 this number will reach 70%. Today, 64% of all travel made is within urban environments and the total amount of urban kilometers traveled is expected to triple by 2050. Thus, seeking novel solutions for urban mobility becomes paramount for 21st century society. In this work, we discuss the performance of vehicular networks. We consider the metric Delta Network. The Delta Network characterizes the connectivity of the vehicular network through the percentage of travel time in which vehicles are connected to roadside units. This article reviews the concept of Delta Network and extends its study through the presentation of a general heuristic based on the definition of scores to identify the areas of the road network that should receive coverage. After defining the general heuristic, we show how small changes in the score computation can generate very distinct (and interesting) patterns of coverage, each one suited to a given scenario. In order to exemplify such behavior, we propose three deployment strategies based on simply changing the computation of scores. The results show that the strategies derived from the general heuristic are very interesting, all of them deploying roadside units in a circle pattern around the traffic epicenter.

In scenarios such as natural disasters and military strike, it is common for unmanned aerial vehicles (UAVs) to form groups to execute reconnaissance and surveillance. To ensure the effectiveness of UAV communications, repeated resource acquisition issues and transmission mechanism design need to be addressed urgently. In this paper, we build an information interaction scenario in a Flying Ad-hoc network (FANET). The data transmission problem with the goal of throughput maximization is modeled as a coalition game framework. Then, a novel mechanism of coalition selection and data transmission based on group-buying is investigated. Since large-scale UAVs will generate high transmission overhead due to the overlapping resource requirements, we propose a resource allocation optimization method based on distributed data content. Comparing existing works, a data transmission and coalition formation mechanism is designed. Then the system model is classified into graph game and coalition formation game. Through the design of the utility function, we prove that both games have stable solutions. We also prove the convergence of the proposed approach with coalition order and Pareto order. Binary log-linear learning based coalition selection algorithm (BLL-CSA) is proposed to explore the stable coalition partition of system model. Simulation results show that the proposed data transmission and coalition formation mechanism can achieve higher data throughput than the other contrast algorithms.

Autonomous and cooperative vehicle systems represent a key priority in the automotive realm. Networked driving simulation can be utilized as a safe, cost-effective experimental replica of real traffic environments in order to support and accelerate the development of such systems. In networked driving simulation, different independent systems collaborate to achieve a common task: multi-driver traffic scenario simulation. Yet distinct system complexity levels are necessary to fulfill the requirements of various application scenarios, such as development of vehicle systems, analysis of driving behavior, and training of drivers. With myriad alternatives of available systems and components, developers of networked driving simulation are typically confronted with high design complexity. There are no systematic approaches to date for the design of networked driving simulation in accordance with the specific requirements of the concerned application scenarios. This paper presents a novel design method for networked driving simulation. The method consists mainly of a procedure model that is accompanied by a configuration software. The procedure model includes the necessary phases for the systematic design of application-oriented platforms for networked driving simulation. The configuration software embeds supportive decision-making processes that enable developers to apply the design method and easily create different system models. The design method was validated by generating system models and developing platforms of networked driving simulation for three different application scenarios.

Today, reducing vehicle energy consumption is a crucial topic. For electric vehicles, reducing energy consumption is essential to address some of the most critical issues associated with this type of vehicle, such as the limited range of electric powertrains and the long battery recharging times. To lower the environmental impact during the vehicle’s use phase and reduce energy consumption, vehicle mass reduction (lightweighting) is an effective strategy. The objective of this work is to analyze the vehicle parameters that influence lightweighting outcomes on a real driving cycle, representative of the home-to-work travel in the northern Italy. In particular, a previous work carried out on standard driving cycles is repeated, in order to observe whether it is possible to draw the same conclusions regarding the variability of the lightweighting outcome. This study was conducted using two opposite vehicle models, a compact car and an N1 vehicle, simulated through a well-established vehicle simulation tool for energy consumption estimation. The study reveals that even for the real driving cycle, as for the WLTC and US06 standards, the parameters that most influence the outcome of the lightening are rolling resistance, the characteristics of the battery pack, the aerodynamic coefficients and the efficiency of the transmission. Finally, the standard cycle that best fits with the real one considered in this study is the Artemis Urban Cycle.

The paper introduces a control hybrid model that is designed on the basis of OOSEM (Object-Oriented Systems Engineering Method), MDA (Model-Driven Architecture) concepts, RealTime UML/SysML (Unified Modeling Language/Systems Modeling Language), and an algorithm based on UKF (Unscented Kalman Filter). This hybrid model enables the implementation of control elements for autonomous underwater vehicles (AUVs) and can be adapted to reuse for most standard AUV platforms. To obtain this goal, the dynamic model of AUV is integrated with the following specializations of OOSEM/MDA, in which the analysis model is clarified via the use-case model definition and then combines with HA (hybrid automata) to precisely define the requirements for control. Next, the designed model is specialized via real-time UML/SysML to get the core control blocks, which describe the behaviors and structures of control parts in detail. This design model is then transformed into the model of implementation with the assistance of round-trip engineering to conveniently realize the controller of AUVs. Based on this new model, an AUV controller for low-cost turtle-shaped AUVs is implemented that performs tracking for a planar trajectory with accepted feasibility.

Electro-mechanical braking(EMB) which represents development direction of autonomous and intelligent braking plays very useful role on enhancing the braking response performance and intelligence level for mine underground electric trackless rubber-tired vehicle (ETRV). However,there is no Electro-Mechanical Brake system applied practically in coal mine UTRV until now.The accurate control of braking clamping force can determine the length and precision of braking distance of mine ETRV.In addition,because of poor working conditions in underground coal mine tunnel ,braking clamping force sensor may be easy to occur failure,which may cause vital accident.Therefore,A cascaded three-closed-loop EMB system with a positive clamping force sensor or force estimator built for ETRV is established to achieve autonomous elimination and reset of braking clearance and reliable braking force tracking ability via utilizing the electro motor rotor angle displacement and hysteresis effect of mechanical components in this EMB.The results of simulation and experiment indicate that clamping force response is faster than traditional hydraulic disk braking system and proposed force estimator presents good fault-tolerant ability when sensor is fault.This EMB can replace the current hydraulic brake system to enhance automation level of braking control for ETRVs and braking force response performance, reduce oil pollution and cost of maintenance, which is also key technology support for really precise motion control of mine autonomous driving vehicles.

The use of logistic regression models in data analysis and machine learning has expanded in recent years and has become the primary preference of researchers in risk assessment studies across a wide range of scientific fields. From the assessment of credit risk in financial institutions to the estimation of risk factors for traffic accidents or the identification of etiological factors for chronic diseases. All logistic models are natural extensions of the simple binary model, and their interpretation is based on it. Using the data of a cross-sectional study on the risk factors of traffic collisions, the two main extended models of logistic techniques, multinomial and ordinal logistic regression, are presented in the article in detail. Emphasis is placed on the use of ordinal regression since the outcome variable of the collision data is defined as ordinal measurement reflecting a latent continuous scale.

With Unmanned Aerial Vehicles (UAV), a swift response to urgent needs like search \& rescue missions or medical deliveries can be realized. Simultaneously, the legislator is establishing so-called geographical zones, which restrict UAV operations to mitigate the air and ground risk to third parties. These geographical zones serve a particular safety interest, but they may also hinder the efficient usage of UAVs on time-critical missions with a range-limiting battery capacity. In this study, we address a facility location problem for up to two UAV hangars with a robust optimization model considering demand hotspots, geographical zones as restricted areas, a standard mission to satisfy battery capacity constraints, and the impact of wind scenarios. To this end, water rescue missions are used exemplary, for which positive and negative location factors for UAV hangars and areas of increased drowning risk as demand points are derived from open-source georeferenced data. Optimal UAV mission trajectories are computed with an A* algorithm considering five different restriction scenarios. As this pathfinding is very time-consuming, binary occupancy grids and image processing algorithms accelerate the computation by identifying either entirely inaccessible or restriction-free connections beforehand. For the optimal UAV hangar locations, we maximize accessibility while minimizing the service time to the hotspots, resulting in a decrease from the average service time of 570.4 s for all facility candidates to 351.1 s for one and 287.2 s for two optimal UAV hangar locations.

The field of Cooperative Intelligent Transport Systems and more specifically Pedestrians to Vehicles could be characterized as quite challenging, since there is a broad research area to be studied, with direct positive results to society. Pedestrians to Vehicles is a type of Cooperative Intelligent Transport System, within the group of Early Warning Collision/Safety System. In this article, we examine the research and applications carried out so far within the field of Pedestrians to Vehicles Cooperative Transport Systems by leveraging the information coming from Vulnerable Road Users’, smartphones. Moreover, an extensive literature review has been carried out in the fields of Vulnerable Road Users Outdoor Localisation via smartphones and Vulnerable Road Users Next Step/Movement Prediction, which are closely related to Pedestrian to Vehicle applications and research. We identify gaps that exist in these fields that could be improved/extended/enhanced or newly developed, while we address future research objectives and methodologies that could support the improvement/development of those identified gaps.

The introduction of electrical vehicle charging infrastructure including EV charger, renewable energy resource at secondary feeder in distribution system has been increased as one of countermeasure for global environmental issues. However, the Electric Vehicle Charging (EVC) infrastructure may act as the peak load in distribution system, which can adversely impact on the voltage stability when the electric vehicle is quickly charged. Therefore, to keep within the limit capacity of secondary feeder and allowable limit for feeder voltage, this paper proposes a stabilization method by the Energy Storage System (ESS) control strategy at secondary feeder in order to be not violated over than lower and upper limit. Also, this paper presents the estimation method to keep the proper standard value of State of Charge (SOC). From the simulation results, the voltage stabilization operation by ESS should make the feeder voltages of the distribution system(secondary feeder) introduced EVC Infra keep better voltage conditions, also estimation method to keep the proper standard value is confirmed that the SOC of ESS when is the standby condition could be exactly kept within the proper reference range.

The integration of connected autonomous vehicles into the transportation system introduces significant enhancements in driving experience and convenience. Yet, it simultaneously raises important concerns regarding the security and privacy of passenger data. As individuals increasingly depend on these connected vehicles, particularly rental cars with advanced infotainment systems, safeguarding their personal information becomes a paramount imperative, presenting significant challenges that must be addressed to maintain user trust and comply with privacy regulations. This paper investigates risks associated with personal information stored in connected vehicle technology, emphasizing the importance of robust security and privacy practices. In the advent of cyber threats and the need for data protection, we examine a risk management framework (RMF) as suggested by NIST, which aims to address these quintessential concerns preemptively. Our research moves beyond the limitations of manual safeguarding methods, supporting the necessity for an advanced automated technical solution. To address these issues, we introduce and meticulously assess the efficacy of “Vehicle Inactive Profile Removal” (VIPR), an innovative technical solution conceived to actively eliminate the risks and potential oversights that stem from the prevalent tendency of renters to leave personal data unerased in the infotainment systems of rented connected vehicles. We provide a thorough evaluation of VIPR through various scenarios, including vehicle return to a rental depot, subsequent rentals, and ridesharing contexts. Our proof of concept includes an array of experiments to demonstrate how VIPR proficiently and autonomously removes previous renters’ “Inactive” profiles from a simulated infotainment system. The results highlight how VIPR constitutes a critical step towards enhancing the privacy and security of personal data, thereby promoting a safer, more responsible use of connected vehicle technology in society.

This research proposes a roof-mounted auxiliary power supply (APS) system for 600VDC low-floor light rail vehicle (LRV). The proposed APS system consists of five parallel-connected dc-ac inverter modules (modules 1-5). The inverter modules 1 and 2 are three-phase dc-ac inverters for compressor motors of the cooling system, and the inverter modules 3 and 4 are three-phase dc-ac inverters for air pump motors of the braking system. The inverter module 5 is single-phase dc-ac inverter for 220VAC power supply for onboard electric loads. Simulations and experiments were carried out under variable load torque and output frequency for modules 1 – 4; and under full and no resistive loads for the inverter module 5. The measured total input current and total input power of the proposed APS system under full load condition are 118.76A and 71.25kW. Essentially, the proposed APS system is operationally applicable to the 600VDC low-floor RLV. Besides, the novelty of this research lies in the use of five parallel-connected inverter modules, unlike in the conventional APS systems which require three-phase output transformer or isolated dc-dc converter. Specifically, the proposed APS system requires neither three-phase output transformer nor isolated dc-dc converter.

This work is part of an ongoing research project to develop an unmanned flying social robot to monitor dependants at home in order to detect the person’s state and bring the necessary assistance. In this sense, this paper focuses on the description of a virtual reality (VR) simulation platform for the monitoring process of an avatar in a virtual home by a rotatory-wing autonomous unmanned aerial vehicle (UAV). This platform is based on a distributed architecture composed of three modules communicated through the Message Queue Telemetry Transport (MQTT) protocol: the UAV Simulator implemented in MATLAB/Simulink, the VR Visualiser developed in Unity, and the new emotion recognition (ER) System developed in Python. Using a face detection algorithm and a convolutional neural network (CNN), the ER System is able to detect the person’s face in the image captured by the UAV’s on-board camera and classify the emotion among seven possible ones (surprise, fear, happiness, sadness, disgust, anger or neutral expression). The experimental results demonstrate the correct integration of this new computer vision module within the VR platform, as well as the good performance of the designed CNN, with around 85% in the F1-score, a mean of the precision and recall of the model. The developed emotion detection system can be used in the future implementation of the assistance UAV that monitors dependent people in a real environment, since the methodology used is valid for images of real people.

Structure from Motion with Multi-View Stereo photogrammetry (SfM) is increasingly utilised in geoscience investigations as a cost-effective method of acquiring high resolution (sub-meter) topographic data, but has not been thoroughly tested in gullied savanna systems. The aim of this study was to test the accuracy of topographic models derived from aerial (via an Unmanned Aerial Vehicle, ‘UAV’) and ground-based (via a handheld digital camera, ‘Ground’) SfM in modelling a hillslope gully system in dry-tropical savanna, and to assess the strengths and limitations of the approach at different scales. A UAV survey covered an entire hillslope gully system (0.715 km²), whereas a Ground survey covered a single gully within the broader system (650 m²). SfM topographic models, including Digital Surface Models (DSM) and dense point clouds, were compared against RTK-GPS point data and a pre-existing airborne LiDAR Digital Elevation Model (DEM). Results indicate UAV SfM can deliver topographic models with a resolution and accuracy suitable to define gully systems at a hillslope scale (e.g., 0.1 m resolution with ~ 0.5 – 1.3 m elevation error), while ground-based SfM is more capable of quantifying gully morphology (e.g., 0.01 m resolution with ~ 0.1 m elevation error). Key strengths of SfM for these applications include: the production of high resolution 3D topographic models and ortho-photo mosaics, low survey instrument costs (< $AUD 3,000); and rapid survey time (4 and 2 hours for UAV and Ground survey respectively). Current limitations of SfM include: difficulties in reconstructing vegetated surfaces; uncertainty as to optimal survey and processing designs; and high computational demands. Overall, this study has demonstrated great potential for SfM to be used as a cost-effective tool to aid in the mapping, modelling and management of hillslope gully systems at different scales, in tropical savanna landscapes and elsewhere.

The article studies and analyzes a hybrid power source system, lithium battery, and fuel cell assisted by flexible photovoltaic panels for hybrid electric vehicles (HEVs). The new configuration operates based on optimizing the performance of the dual power source to maximize the available energy and operating time. The operational mode simulates specific driving conditions in urban, peripheral, and intercity routes under variable driving patterns and traffic conditions. The simulation results show that the new configuration increases the hybrid electric vehicle performance, providing higher reliability despite the more complex design. The proposed system reduces the external power supply dependence and avoids unexpected sudden stops due to energy exhaustion. The new configuration also extends the vehicle driving range depending on driving mode and route conditions. The vehicle driving range extension may reach up to 276.3 km. The hybridization of fuel cells with lithium battery and PV panel assistance enhances battery management, reducing battery servicing and increasing lifespan. The proposed topology is cheaper than a single fuel cell power system by 17.2%, reducing the total cost related to the single battery power system if we consider the battery recharge for its entire lifespan. The cost saving is 2.6% for the American market and 14.8% for the European one.

A modular approach to the construction of electric machines, drive systems, power supply systems is a new direction of modern technology development. Especially, the modular approach is promising for electric vehicles due to such positive aspects as increased efficiency, fault tolerance, overall reliability, safety, enhanced control capabilities, etc. In this work, the modular approach is comprehensively applied to an EV powertrain system, which includes a dual three-phase (DTP) BLDC motor with two machine modules of an asymmetric configuration, two battery modules and a supercapacitor module (SCM). The proposed H–H configuration of modular EV powertrain system includes four voltage source inverters that combine the power modules with the open ends of the windings (OEW) of the module machine armature, and provide control of their operation. Based on the developed mode system of the OEW machine module operation for EV traction and braking, a general control algorithm for the proposed configuration of the modular EV powertrain system has been developed. It combines the control of the operating modes with the functions of maintaining the required SOC level of the SCM and equalizing the SOCs of the two battery modules. The conducted simulation and experimental studies confirmed the workability and effectiveness of the proposed solutions.

Electrical microgrids are deemed to be the future of modern power systems. Microgrids are sophisticated, decentralized, and self-sufficient small-scale power systems consisting of various resources ranging from wind turbines, solar photovoltaics, electric vehicles, smart energy storage, and complex communication infrastructure. However, renewable energy sources such as solar photovoltaics and wind-based generators are highly intermittent, and if not appropriately planned, they can compromise the stability of the grid. Formal methods can define and analyze the functionality and behavior of any system and show if the system design is correct before the actual system is implemented. Although formal methods have been around for many years, it is surprising that little to none are utilized in the design of safety-critical electrical power systems. Currently, in modeling microgrids, few to no attempts of formalization are being used to improve the design reliability and reduce system operating costs and time. This work demonstrates how complex systems such as microgrids can be modeled elegantly using a formal specification method. In this work, the Z state-based formal specification language (Z-Method) is used to model and verify microgrid designs. In this work, 3-interconnected microgrid systems with a high penetration level of solar and wind-based renewable energy sources with plugin hybrid electric vehicles (PHEV) as battery energy storage systems (BESS) are modeled using the Z-method. To the best of authors, the knowledge presented formal method is one of the first reported attempts in modeling microgrid communities using Software Engineering formalism.

The location and number data of individual fruit trees are critical for planting area investigation, fruit yield prediction, and smart orchard management and planning. These data are conventionally obtained through manual investigation and statistics with time-consuming and laborious effort. Object detection models in deep learning used widely in computer vision could provide an opportunity for accurate detection of individual fruit trees, which is essential for rapidly obtaining the data and reducing human operations errors. This study proposes an approach to detecting individual fruit trees and mapping their spatial distribution by integrating deep learning with unmanned aerial vehicle (UAV) remote sensing. UAV remote sensing collected high-resolution true-color images of fruit trees in the experimental pomelo tree orchards in Meizhou city, South China. An image dataset of deep learning samples of individual pomelo trees (IPTs) was constructed through visual interpretation and field investigation based on the fruit tree images captured by UAV remote sensing. Four different scales of YOLOv5 (YOLOv5s, YOLOv5m, YOLOv5l, and YOLOv5x) for object detection were selected to train, validate, and test on the image dataset of pomelo trees. The results show that the average precision (AP@0.5) of the four YOLOv5 models for validation reach 87.8%, 88.5%, 89.1%, and 90.7%, respectively. The larger the model scale, the higher the average accuracy of the detection result of validation. It suggests that YOLOv5x is a preferred high-accuracy model among the YOLOv5 family and is suitable to realize the detection of IPTs. The number of the IPTs in the study area was counted using YOLOv5x, and their spatial distribution map was made using the non-maximum suppression method and ArcGIS software. This study will provide primary data and technical support for smart orchard management in Meizhou city and other fruit-producing areas.

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

This study introduces a remote sensing application using satellite imagery to survey a network-scale aggregate stockpile inventory. First, a real scale aggregate quarry site was surveyed using a small Unmanned Aerial Vehicle (sUAV) to produce digital terrain models that enabled analysis of aggregate pile geometry. Second, a lab experiment was designed and performed to validate the applicability of close-range Structure from Motion (SfM) photogrammetry for measuring aggregate piles' physical properties such as volume and density. The other part of the lab experiment delved into direct measurement of aggregate density under varying compaction efforts. These experimental results, in conjunction with some simplifying assumptions, enabled the calculation of aggregate stockpile volumes and estimated weights from satellite imagery. We estimated that an inventory of 4.4 and 1.1 million metric tons of crushed aggregates and Reclaimed Asphalt Pavement (RAP), respectively, stockpiled in Washington State for asphalt production in 2017. The merit of producing such database was further showcased in an example on the economic and environmental impacts of material transportation. We approximated that hauling aggregates from quarry plants to construction sites within Washington State incurs a cost of about $50 thousand to over $4 million, consumes about 0.25 to 20 TJ of energy, and emits 20 to over 1,500 tons of CO₂-eq per asphalt plant annually.

Given the high number of vehicle-crash victims, it has been established as a priority to reduce this figure in the transportation sector. For this reason, many of the recent researches are focused on including control systems in existing vehicles, to improve their stability, comfort and handling. These systems need to know in every moment the behavior of the vehicle (state variables), among others, when the different maneuvers are performed, to actuate by means of the systems in the vehicle (brakes, steering, suspension) and, in this way, to achieve a good behavior. The main problem arises from the lack of ability to directly capture several required dynamic vehicle variables, such as roll angle, from low-cost sensors. Previous studies demonstrate that low-cost sensors can provide data in real-time with the required precision and reliability. Even more, other research works indicate that neural networks are efficient mechanisms to estimate roll angle. Nevertheless, it is necessary to assess that the fusion of data coming from low-cost devices and estimations provided by neural networks can fulfill the reliability and appropriateness requirements for using these technologies to improve overall safety in production vehicles. Because of the increasing of computing power, the reduction of consumption and electric devices size, along with the high variety of communication technologies and networking protocols using Internet have yield to Internet of Things (IoT) development. In order to address this issue, this study has two main goals: 1) Determine the appropriateness and performance of neural networks embedded in low-cost sensors kits to estimate roll angle required to evaluate rollover risk situations. 2) Compare the low-cost control unit devices (Intel Edison and Raspberry Pi 3 Model B), to provide the roll angle estimation with this artificial neural network-based approach. To fulfil these objectives an experimental environment has been set up composed of a van with two set of low-cost kits, one including a Raspberry Pi 3 Model B, low cost Inertial Measurement Unit (BNO055 - 37€) and GPS (Mtk3339 - 53€) and the other having an Intel Edison System on Chip linked to a SparkFun 9 Degrees of Freedom module. This experimental environment will be tested in different maneuvers for comparison purposes. Neural networks embedded in low-cost sensor kits provide roll angle estimations very approximated to real values. Even more, Intel Edison and Raspberry Pi 3 Model B have enough computing capabilities to successfully run roll angle estimation based on neural networks to determine rollover risks situation fulfilling real-time operation restrictions stated for this problem.

To enable the deployment of battery-electric vehicles (BEV) as passenger cars in the private transport sector, a suitable charging infrastructure is crucial. In this paper a methodology for efficient spatial distribution of charging infrastructure is evaluated by investigating a scenario with a market penetration of BEVs of 100 percent (around 1.3 million vehicles). It aims towards the development of various charging infrastructure scenarios - including public and private charging - which are suitable to cover the charging demand. Therefore, these scenarios are investigated in detail with focus on number of public charging points, their spatial distribution, the available charging power and the necessary capital costs. For the creation of those charging infrastructure scenarios a placement model is developed. It uses the data of a MATSim (Multi-Agent Transport Simulation) traffic simulation of the metropolitan area of Berlin to evaluate and optimize different distributions of charging infrastructure. The model uses a genetic algorithm and the principle of multi-objective optimization. The capital cost of the charging points and the mean detour car drivers must cover additionally are used as optimization criteria. Using these criteria should lead to cost efficient infrastructure solutions which provide high usability at the same time. The main advantage of the method selected is that multiple optimal solutions with different characteristics can be found and suitable solutions can be selected by using other criteria subsequently. The optimized charging infrastructure solutions show capital costs between 624 and 2950 million euro. Users must cover an additionally mean detour of 254m to 590m per charging process to reach an available charging point. According to the results a suitable ratio between charging points and vehicles is between 11:1 and 5:1. A share of fast charging infrastructure (&gt;50kW) of less than ten percent seems to be sufficient, if it is situated at main traffic routes and highly frequented places.

In recent years, the unmanned aerial vehicle (UAV) synthetic aperture radar (SAR) has become a highly sought-after topic for its wide applications in the field of target recognition, detection, and tracking. However, SAR automatic target recognition (ATR) models based on deep neural networks (DNN) are suffering from adversarial examples. Generally, non-cooperators rarely disclose any information about SAR-ATR models, making adversarial attacks challenging. In this situation, we propose Transferable Adversarial Network (TAN) to attack these models with highly transferable adversarial examples. The proposed method improves the transferability via a two-player game, in which we simultaneously train two encoder-decoder models: a generator that crafts malicious samples through a one-step forward mapping from original data, and an attenuator that weakens the effectiveness of malicious samples by capturing the most harmful deformations. In particular, compared to traditional iterative methods, our approach is able to one-step map original samples to adversarial examples, thus enabling real-time attacks. Experimental results indicate that the proposed approach achieves state-of-the-art transferability with acceptable adversarial perturbations and minimum time costs compared to existing attack methods, i.e., it excellently realizes real-time transferable adversarial attacks.

This manuscript compares deterministic artificial intelligence to model following control applied to DC motor control, including evaluation of the threshold computation rate to let unmanned underwater vehicles correctly follow the challenging discontinuous square wave command signal. The approaches presented in the main text are validated in MATLAB®, where the motor process is discretized at multiple step sizes, which is inversely proportional to the computation rate. The performance is evaluated by the error mean and standard deviation. With a large step size, discrete deterministic artificial intelligence shows a larger error mean than the model-following self-turning regulator approach (benchmark selection). However, the performance gets optimized with the step size decreased. The error mean is close to the continuous deterministic artificial intelligence when the step size is reduced to 0.2 seconds, which means that the computation rate and the sampling period restrict discrete deterministic artificial intelligence. In that case, the continuous deterministic artificial intelligence is the most feasible and reliable selection for future applications on unmanned underwater vehicles since it is superior to all the approaches with multiple computation rates.

The safety of lithium-ion batteries is critical to the safety of battery electric vehicles (BEVs). The purpose of this work is to develop a method to predict battery thermal runaway in full electric vehicle crash simulation. The thermal-electrical-mechanical coupled finite element analysis is used to model an individual lithium-ion battery cell, a battery module, a battery pack, and a battery electric vehicle with 24 battery modules in a live circuit connection. The lithium-ion battery is modeled using a representative approach, with each battery internal component individually modeled to represent its geometric shape and realistic thermal, mechanical, and electrical properties. A resistance heating solver and Randles circuit model built with generalized voltage source are used to simulate the battery electrical behavior. The thermal simulation of the battery accounts for the heat capacity and thermal conductivity of various cell component materials, as well as heat conduction, radiation, and convection at their interfaces. The mechanical property of battery cell and battery module models is validated using spherical punch tests. The electrical property of the battery cell and battery module models is verified against CircuitLab simulation in an external short circuit test. The simulation result of battery module’s internal resistance agrees with the experimental data and the literature value. The multi-physics coupling phenomenon is demonstrated with a cylindrical compression simulation on the battery module. The multi-physics BEV model with 24 live battery modules is used to simulate the external short-circuit test and the side pole impact test. The simulations run time is less than 24 hours. The results demonstrated the feasibility of using representative battery model and multi-physics analysis to predict battery thermal runaway in full electric vehicle crash analysis.

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

The rehabilitation of the road embankments alongside the irrigation canal, which is constructed on a Bangkok soft clay foundation, has resulted from land use growth for several decades. As a result, the embankment is always confronted with the problem of instability. Numerous articles have demonstrated that rapid drawdown of the water level in the canal could be one of the most significant reasons, whereas vehicle cyclic loading may potentially contribute to some effect of the embankment failure. To explore and assess the effects of the influence factors, the finite element method (FEM) and conventional and dynamic triaxial approaches were employed. The study also investigated the consequences of varying thicknesses of soft clay and cyclic loading with different magnitudes and frequencies. Consequently, cyclic loading can lead to an augmentation in strain distribution and excess pore water pressure. Likewise, more significant deformation and excess pore water pressure were induced by a lower frequency and deeper thickness of soft clay compared to a higher frequency and thinner thickness. In brief, vehicle repetitive loading is one of the primary factors contributing to embankment failure, with the threshold stress being approximately three-fourths of the undrained shear strength. In contrast, threshold strain is approximately one to two-fold of the monotonic strain condition.

This study examines the activities conducted at the archaeological site of Aptera in Crete, Greece. The research was part of the DIACHRONIC LANDSCAPES International Design Workshop, organized by the CAM (Center for Mediterranean Architecture), TUC (Technological University of Crete School of Architecture), and UNIFE (University of Ferrara Department of Architecture). This article outlines the methods used for data acquisition and processing on a territorial scale, which generated digital outputs necessary for the analysis and design phases of the workshop, as well as for further examination of the results. The collected data, obtained through low-cost aerial photogrammetric surveying and GNSS terrestrial coordinate detection, were integrated in a Structure from Motion workflow that led to the creation and exportation of various digital outputs, such as point clouds, DTM, DSM, orthophotos, and contour lines. An accuracy analysis was performed to evaluate the effectiveness and efficiency of the digital models compared to the implemented surveying strategies, including the Ground Control Point and Quality Check Point marker positioning strategy. The resulting digital models proved to be valuable assets for analysis and design within the workshop and provided insightful prospects for future research and territorial-scale projects.

The Internet of Things (IoT) is a technological paradigm that has gained significant momentum that last decade and, among others, enables the development of intelligent and interoperable device networks. In this respect, it has triggered the creation and evolution of VANETs (Vehicular Ad Hoc Networks), which are initially implemented in order to guarantee the safety of the drivers and the avoidance of traffic accidents. The drawback is that this fast evolution flags serious concerns as far as the privacy of users is concerned, while the population of attackers or entities that try to eavesdrop and intercept information has significantly increased. This imposes a serious risk for drivers moving across a Smart City. The research presented in this paper aims to evaluate privacy protection mechanisms in VANET environments, based on their efficiency and security level ensured, considering the fact that VANETs provide limited resources to users/drivers. Moreover, the usage of the elliptic curve cryptography in reduced resources environments is discussed. Finally, this paper compares the performance of three cryptographic algorithms, i.e., Elliptic Curve Cryptography (ECC), Hyperelliptic Curve Cryptography genus 2 (HECC-2) and HECC genus 3 (HECC-3), employed for an efficient authentication and safe message transmission mechanism in VANETs, targeting to extract conclusions related to the implementation of each cryptographic scheme in this specific application area.

This paper attempts to develop a Dynamic Mode Decomposition (DMD) based Reduced Order Model (ROMs) which can quickly but accurately predict the forces and moments experienced by a road vehicle such that they be used by an on-board controller to determine the vehicle's trajectory. DMD can linearize a large dataset of high-dimensional measurements by decomposing them into low-dimensional coherent structures and associated time-dynamics. This ROM then also can be applied to predict the future state of the fluid flow. Existing literature on DMD is limited to low Reynolds number applications. This paper presents DMD analyses of the flow around an idealized road vehicle, called the Ahmed body, at a Reynolds number of 2.7E6. The high dimensional dataset used in this paper was collected from a computational fluid dynamics (CFD) simulation performed using Menter's shear stress transport (SST) turbulence model within the context of Improved Delayed Detached Eddy Simulations (IDDES). The DMD algorithm, as available in literature, was found to suffer nonphysical dampening of the medium-to-high frequency modes. Enhancements to the existing algorithm were explored, and a modified DMD approach is presented in this paper which includes: (a) a requirement of higher sampling rate to obtain higher resolution of data, and (b) a custom filtration process to remove spurious modes. The modified DMD algorithm thus developed was applied to the high Reynolds number, separation dominated flow past the idealized ground vehicle. The effectiveness of the modified algorithm was tested by comparing future predictions of force and moment coefficients as predicted by the DMD-based ROM to the reference CFD simulation data, and found to offer significant improvement.

The aim of this study is to investigate transient dynamic flow characteristics of the fluid flow through 5-way electric coolant valve (PCCV : Penta-Control Coolant Valve). To achieve this goal, the present paper attempts the three-dimensional dynamic simulation of the fluid flow through the valve using a commercial CFD solver with moving mesh technique to consider flow inertia and dynamic flow in the opening and closing stages of the ball valve rotating motion. Firstly, dynamic flow characteristics and the thermal mixing inside the PCCV ball valve during the opening and closing stage was analyzed. It is found that the discrepancies between dynamic and steady state simulation is remarkable when fluxes with different levels of enthalpy and momentum flow into the PCCV leads to strong flow interference and flow inertia, while the discrepancies are relatively small at low rotation speed and weak flow interference. Then, the effect of dynamic flow characteristics of the valve on dynamic thermal mixing characteristics at two different ball valve rotational speeds and rotational directions were investigated. It was found that the dynamic flow and thermal mixing characteristics inside the PCCV are greatly affected by the rotation speed, rotation direction, and degree of flow interference between fluxes. It is helpful for the design of the better coolant control strategies and the improvement of the FCEV thermal management system.

A conventional electrical grid mostly depends on the electrical power generated from fossil fuels. However, the pollutants from fossil fuels are the key factors for adverse climate change. Most of the developed countries of the world have already recognized the fact that the energy mix requires to be diversified by incorporating renewable energy. This is especially relevant for many of the member countries of the Organization of Islamic Cooperation (OIC), consisting of 57 countries, whose abundance of fossil fuel reserve indicates that much of their electric power is still generated from fossil fuels. In order to integrate renewable energy sources into the hybrid energy mix, an existing conventional grid needs to undergo drastic changes. Alongside this, the population boom in the OIC member countries has caused higher demand for a steady supply of electricity that the conventional grids have long been struggling to cope with. With a view to solving this multifaceted problem, incorporation of the smart power management schemes is indispensable using a smart electrical grid, where information and communications technology is integrated into its major building blocks. This allows advanced applications of a grid, such as the formation of micro-grids, demand-side management, energy storage, high-tech power electronic converters, etc. As the smart grids are being adopted by many developed countries, it is high time for the OIC member countries to pay due attention to this development, if they have not already done so. This paper explains, with special focus on the OIC member countries, the various smart power management technologies, their operations and applications, and the benefits and challenges. Then it goes on to carry out the Strength-Weakness-Opportunity-Threat with Analytical-Heuristic-Procedure (SWOT-AHP) analysis to evaluate its feasibility of incorporation and the underlying strategies appropriate for its implementation. Furthermore, a Hybrid Multi-Criteria-Decision-Making (MCDM) analysis is performed to evaluate the sequence of the emphasis that should be given on each of the technologies from those available for the smart power management initiative. Finally, the study reinforces the stance by drawing parallels from the UN Sustainable Development Goals (SDG) and highlights the importance of the smart grid in line with the global vision of SDG. This paper aims at assisting the decision-makers in implementing smart power management schemes in the OIC member countries, in particular, and other countries of the world, in general.

This study purposes the use of plug-in electric vehicles for demand side management (DSM) considering uncertainties in demand as well as uncertainties due to mobility of PEV to mitigate peak demand. The solution also seeks to reduce electric cost in addition to reducing the effects of greenhouse gases. In recent years DSM using distributed storage system such as battery energy management system (BESS) and plugged-in electric vehicles (PEV) have become very prevalent with most implementations resorting to deterministic load forecast. These methods do not consider the potential growth in demand making their solutions less robust. In this study we propose a real-time density demand forecast and stochastic optimization for robust operation of PEV for a building. This method accounts for demand uncertainties in addition to uncertainties in mobile energy storage as found in PEV, making the resulting solution robust as compared to the deterministic case. A case study on a real site in South Korea is used for verification and testing. The proposed study is verified and tested against existing algorithms. The result verifies the effectiveness of the proposed approach