Semi-autonomous vehicles (AVs) enable drivers to engage in non-driving tasks but require them to be ready to take control during critical situations. This "out-of-the-loop" problem demands a quick transition to active information processing, raising safety concerns and anxiety. Multimodal signals in AVs aim to deliver take-over requests and facilitate driver-vehicle cooperation. However, the effectiveness of auditory, visual, or combined signals in improving situational awareness and reaction time for safe maneuvering remains unclear. This study investigates how signal modalities affect driver’s behavior using virtual reality (VR). We measured drivers’ reaction times from signal onset to take-over response and gaze dwell time for situational awareness across twelve critical events. Furthermore, we assessed self-reported anxiety and trust levels using the Autonomous Vehicle Acceptance Model questionnaire. Results showed visual signals significantly reduced reaction times, whereas auditory signals did not. Additionally, any warning signal, together with seeing driving hazards, increased successful maneuvering. Analysis of gaze dwell time on driving hazards revealed that audio and visual signals improved situational awareness. Lastly, warning signals reduced anxiety and increased trust. These results highlight the distinct effectiveness of signal modalities in improving driver reaction times, situational awareness, and perceived safety, mitigating the “out-of-the-loop” problem and fostering human-vehicle cooperation.

Different methodologies are being used to study the effects of autonomous vehicle (AV) in the mixed traffic indicating the interaction among autonomous and human-driven vehicles. Micro-scopic simulation tools are popular in such assessment as it offers scope to experiment in eco-nomical, robust, and optimistic way. Lack of reliable real-world data to calibrate and evaluate the connected autonomous vehicles (CAV) simulation model is a major challenge. One interesting methodology could be dealing the CAVs as conventional human driven vehicles and predict its possible characteristics based on the simulation inputs. The conventional human driven vehicles from real world, in this methodology, come to aid as benchmark to offer the measure of effective-ness (MoE) for the calibration and validation. For the three most common driving modules, a sensitivity analysis of the driving behaviors of AVs and an effect assessment of CAVs in a mixed traffic environment were done to explore the human alike autonomous technology. The findings show that, up to a point, which is directly re-lated to the quantity of interacting vehicles, the impact of CAVs is typically favorable. This study validates the approach and supports past studies by showing that CAVs perform better in traffic than AVs for traffic performance and safety aspects. On top of that, the sensitivity analysis has shown that enhancements in technology are required for obtaining the maximum advantages.

Consistent increment of road traffic in cities is remained a threat to traffic performance and causes confliction. The researcher repeatedly emphasized the connected autonomous vehicles (CAVs) as stronger solution to deal with traffic related issues. While having autonomous system in the dedicated lanes is found to be safe by many investigators because of predictable surrounding maneuvers, in contrast, the mixed lane states remain questionable. Different methodologies are being used to study the effects of autonomous vehicles (AVs) in the mixed traffic. Microscopic simulation tools are popular in such cases as it offers scope to experiment in cheap, robust, and optimistic way. One interesting methodology to deal with CAVs is considering it as conventional human driven vehicles and predict its possible characteristics based on the simulation inputs. One big challenge is, as there is no regular real-world data to calibrate and to validate the simulated model for CAVs. This is where conventional human driven vehicles from real world, come to aid as benchmark to offer the measure of effectiveness (MoE) for the calibration and validation. For the three most common driving modules, a sensitivity analysis of the driving behaviors of autonomous vehicles (AVs) and an effect assessment of CAVs in a mixed traffic environment were done to explore the human alike autonomous technology. The findings show that, up to a point, which is directly related to the quantity of interacting vehicles, the impact of CAVs is typically favorable. This study supports earlier research by demonstrating that CAVs outperform AVs in traffic. In addition, the sensitivity analysis has shown that technical and infrastructural advances are necessary to achieve the greatest benefits.

With advances in the development of autonomous vehicles (AVs), more attention has been paid to the effects caused by adverse weather conditions on them. It is well known that the performance of self-driving vehicles is reduced when they are exposed to stressors that impair visibility or generate water or snow accumulation on sensor surfaces. This paper proposes a model to quantify weather precipitation, such as rain and snow, perceived by moving vehicles based on outdoor data. The modelling covers a wide range of parameters, such as varying wind direction and realistic particle size distributions. The model allows the calculation of precipitation intensity on inclined surfaces of different orientations and on a circular driving path. The modelling results were partially validated against direct measurements carried out by a test vehicle. The model outputs showed strong correlation with the experimental data for both rain and snow. Mitigation strategies for heavy precipitation on vehicles can be developed and correlations between precipitation rate and accumulation level can be traced using the presented analytical model. Dimensional Analysis of the problem has highlighted the critical parameters that can help the design of future experiments. The obtained results highlight the importance of the angle of the sensing surface on the perceived precipitation level. The proposed model is used to analyze optimal orientations for minimization of the precipitation flux, which can help to determine the positioning of sensors on the surface of autonomous vehicles.

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

Autonomous vehicles (AV)s will transform transport, but public opinion will play a key role in the decision how widely and quickly, they will be adopted. The purpose of the study presented here, was to investigate community’s views on the transition. As a method for primary data collection on public awareness, attitudes, and readiness to use autonomous cars, survey was conducted in Saudi Arabia. Following that, we have used statistical tools to analyse responses. Our findings indicate that the participants are mainly open to use new technology and had favourable attitude towards transition. Ordinal logistic regression model showed a wide variation in public opinion regarding the expected benefits that may accompany the transition, despite an average high score on this factor. Our findings reveal that awareness of AVs' benefits is more positively correlated to the age of participants. Perceived cost, on one side, and convenience, and safety, on the other side, have substantial impact on opinions. Investigation, presented here, shows how AVs are seen in Saudi Arabia. This can guide the development of AVs and deployment in that region.

This study presents the substantiation, development, and analysis of a technique for planning the autonomous vehicle (AV) motion reference parameters. The trajectory plan, speed and acceleration distributions, including other AV's kinematic parameters, are determined using sequential optimization. The study objectives are based on an analysis of the fundamental problems of AV motion planning summarized in this area's latest publications. The proposed approach combines the basic principles of the finite element method (FEM) and nonlinear optimization with nonlinear constraints. First, the generalization on representing an investigated function by finite elements (FE) is briefly described. A one-dimension FE with two nodes and three degrees of freedom (DOF) in a node was chosen as the basic one, corresponding to the 5th-degree polynomial. Next, a method for determining the motion trajectory is presented. The following are considered: formation of a restricted space for the AV's allowable maneuvering, the geometry of motion trajectory and its relation with vehicle steerability parameters, cost functions and their influences on the desirable trajectory's nature, compliance of nonlinear restrictions of the node parameters with the motion area boundaries. At the second stage, a technique for optimizing AV speed and acceleration redistribution is presented. The model considers possible combinations of cost functions, conditions of limiting the kinematic parameters with the tire slip critical speed, maximum speed level, maximum longitudinal acceleration, and critical lateral acceleration. In the simulation section, several variants of trajectories were searched and compared. Several versions of distributing the longitudinal speed and acceleration curves are determined, and their comparative analysis is fulfilled. At the end of the paper, the advantages and drawbacks of the proposed technique are noted. The conclusion is made regarding the options for improving the method in further studies.

This paper presents control algorithms enabling autonomous heterogeneous trucks to drive in platoons. Heterogeneous trucks imply that the hardware information (e.g., truck length, break, accelerator, or engine) of a truck may be distinct from that of another truck. We define a platoon as a collection of trucks where a manually driven truck (leader truck) is followed by several automatically controlled following trucks. The proposed approach is to make every autonomous truck keep following the leader's trajectory while maintaining a designated distance from its predecessor truck. As far as we know, this paper is unique in developing both lateral maneuver and speed control considering a platoon of heterogeneous trucks. The efficiency of the proposed approach is verified using simulations.

The paper presents models of path and control planning for parking, docking, and movement of autonomous vehicles at low speeds considering space constraints. Given the low speed of motion, and in order to test and approve the proposed algorithms, vehicle kinematic models are used. Recent works on the development of parking algorithms for autonomous vehicles are reviewed. Bicycle kinematic models for vehicle motion are considered for three basic types of vehicles: passenger car, long wheelbase truck, and articulated vehicles with and without steered semitrailer axes. Mathematical descriptions of systems of differential equations in matrix form and expressions for determining the linearization elements of nonlinear motion equations that increase the speed of finding the optimal solution are presented. Options are proposed for describing the interaction of vehicle overall dimensions with the space boundaries, within which a maneuver should be performed. An original algorithm that considers numerous constraints is developed for determining vehicle permissible positions within the closed boundaries of the parking area, which are directly used in the iterative process of searching for the optimal plan solution using nonlinear model predictive control (NMPC). The process of using NMPC to find the best trajectories and control laws while moving in a semi-limited space of constant curvature (turnabouts, roundabouts) are described. Simulation tests were used to validate the proposed models for both constrained and unconstrained conditions and the output (state-space) and control parameters' dependencies are shown. The proposed models represent an initial effort to model the movement of autonomous vehicles for parking and has the potential for other highway applications.

The main functions of the automated systems rely on the advanced sensors for detection and perception of the environment around the vehicle. Radars and cameras are commonly utilized to detect the potential obstacles and vehicles ahead on the road. Nevertheless, cameras can generate spurious detections in the extreme weather conditions such as fog, rain, dust, snow, dark, and heavy sunlight in the sky. Due to limitations in vertical field view of the radars, single radars are not reliable to detect the height of the targets precisely. In this paper, a triple radar arrangement (long-range, medium-range, and short-range radars) based on sensor fusion technique is proposed to detect objects with different size in level 2 Advanced Driver-Assistance (ADAS) system. The typical objects including truck, pedestrians, and animals are detected in different scenarios. The developed model considered ISO 26262 and ISO/PAS 21448 to reasonably address insufficient robustness and inability of the sensors. The models of sensor and level 2 ADAS systems are developed using MATLAB toolbox and Simulink. Sensor detection performance is determined by running simulations with triple radar setup. Obtained results demonstrate that the proposed approach generates accurate detections of targets in all tested scenarios.

Autonomous vehicle technology, employing image sensors for road marking recognition, is largely dependent on the Lane Departure Warning System (LDWS) to prevent vehicular deviations from driving lanes. The effectiveness of image-based lane recognition, however, is susceptible to environmental influences like weather conditions and the surrounding road environment. This study investigates the impact of road marking retro-reflectivity on LDWS under varied environmental conditions. Conducted at the Yeoncheon SOC Demonstration Research Center, the experiments encompassed a spectrum of weather scenarios, incorporating rainfall and shifts between day and night lighting. Controlled wear was applied to white, yellow, and blue road markings, followed by measuring their retro-reflectivity at different stages of degradation. The LDWS's performance was evaluated by assessing the recognition rates of these markings under these diverse environmental settings. The study reveals that enhanced retro-reflectivity significantly boosts LDWS detection, especially in challenging weather conditions. Furthermore, the research led to the development of a simulation framework to analyze the cost-effectiveness of road marking maintenance, aligning it with the safety needs of autonomous vehicles. This framework suggests the necessity for updated road marking guidelines that cater to the advanced needs of driver assistance systems and autonomous vehicle technology.

This research investigates the utilization of human driving models in autonomous vehicles, particularly in scenarios with minimal or no interactions with other vehicles. Human driving models provide valuable insights into driver behavior and play a crucial role in shaping the behavior of autonomous vehicles, enhancing their performance and user experience. The primary focus of the study is the creation of a planning model for autonomous vehicles when navigating roundabouts in the absence of traffic. This model seeks to emulate human driving behavior, ensuring predictability, safety, optimization of traffic flow, and adaptation to various roundabout geometries. To achieve this, the research introduces a trajectory model that takes into account geometric attributes and speed variations within roundabouts. The model is calibrated using empirical data and generalizes parameters through statistical regression methodologies. This model is referred to as "MRoundabout" and is evaluated for its consistency in generating plans that closely mimic human driving behavior within roundabouts. While the study presents a promising approach, it acknowledges limitations related to the model's reliance on geometric attributes and its inability to account for external factors like weather conditions. This research underscores the importance of bridging the gap between theoretical research and practical application, with the aim of enhancing safety and the overall user experience in real-world driving scenarios.

This paper provides a comprehensive overview of recent advancements in autonomous electric vehicle (AEV) within the specified region. It elaborates on the progress and comparative analysis of diverse subsystems, including energy storage, cell balancing for battery systems, vehicle charger layouts, electric vehicle motor mechanisms, and braking systems. Furthermore, this paper showcases several prototype autonomous electric vehicles as conclusive study findings.

The integration of advanced image analysis using artificial intelligence (AI) is pivotal for the evolution of autonomous vehicles (AVs). This article provides a thorough review of the most significant datasets and the latest state-of-the-art AI solutions employed in image analysis for AVs. Datasets such as Cityscapes, NuScenes, and CARLA form the benchmarks for training and evaluating different AI models, with unique characteristics catering to various aspects of autonomous driving. Key AI methodologies, including Convolutional Neural Networks (CNNs), Recurrent Neural Networks (RNNs), Transformer models, and Generative Adversarial Networks (GANs), are discussed. The article also presents a comparative analysis of various AI techniques in real-world scenarios, focusing on semantic image segmentation, 3D object detection, and vehicle control in virtual environments. Simultaneously, the role of multisensor datasets and simulation platforms like AirSim, TORCS, and SUMMIT in enriching the training data and testing environments for AVs is highlighted. By synthesizing information on datasets, AI solutions, and comparative performance evaluations, the article serves as a crucial resource for researchers, developers, and industry stakeholders. Offering a clear view of the current landscape and future directions in autonomous vehicle image analysis technologies.

In passing maneuvers on two-lane highways, assessing the needed distance and the potential power reserve to ensure the required speed mode of the passing vehicle is a critical task of speed planning. This task must meet several mutually exclusive conditions that lead to successful maneuver. The paper addresses three main aspects. First, the issues of rational distribution of the speed of the passing vehicle for overtaking a long commercial vehicle on two-lane highways are discussed. The factors that affect maneuver effectiveness are analyzed, considering safety and cost. Second, a heuristic algorithm is then proposed based on the rationale for choosing the necessary space and time for overtaking. The initial prediction's sensitivity to fluctuations of current measurements of the position and speed of the overtaking participants is examined. Third, an optimization technique for passing vehicle speed distribution over the overtaking time using the finite element method is presented. The adaptive model predictive control is applied for tracking the references being generated. The presented model is illustrated using simulation.

This paper outlines a new methodology for developing strategy for supply chain integration of Autonomous Electrical Vehicles (AEV) to the Internet of Things (IoT). The methodology consists of external architecture and internal design that anticipates the business strategy in the development process. The methodology is designed to anticipate the impact of developments in new road transport technologies, such as Tesla Truck or Tesla Pickup. Since the methodology is designed to anticipate the impact of non-existing technologies, it represents green-field analysis. Green-field is defined as a new and non-existent operation. Green-field strategy architecture in this paper is presented as a process of accepting the world and acting upon that version of the world. The results of the analysis are presented as pathways and outcomes, emerging from the interrelated relationship between AEV and IoT. The emerging methodology is applied through two case studies to evaluate the impact to environment, performance and operationalisation. The methodology proposes architecture and design for integrating AEV and IoT in the supply chain strategy, and a set of new evaluation criteria that promote acceptance of Artificial Intelligence (AI) in the design process. The main contribution to knowledge is a new methodology for integrating AEV and the IoT to the supply chains. The paper applies interplay between inductive and deductive case study and grounded theory approach to build upon the concept of supply chain architecture and contribute to knowledge to the topic of formulating green-field integrated AEV- IoT supply chain strategy.

The market for autonomous vehicles (AV) is expected to experience significant growth over the coming decades and to revolutionize the future of transportation and mobility. The AV is a vehicle that is capable of perceiving its environment and perform driving tasks safely and efficiently with little or no human intervention and is anticipated to eventually replace conventional vehicles. Self-driving vehicles employ various sensors to sense and perceive their surroundings and, also rely on advances in 5G communication technology to achieve this objective. Sensors are fundamental to the perception of surroundings and the development of sensor technologies associated with AVs has advanced at a significant pace in recent years. Despite remarkable advancements, sensors can still fail to operate as required, due to for example, hardware defects, noise and environment conditions. Hence, it is not desirable to rely on a single sensor for any autonomous driving task. The practical approaches shown in recent research is to incorporate multiple, complementary sensors to overcome the shortcomings of individual sensors operating independently. This article reviews the technical performance and capabilities of sensors applicable to autonomous vehicles, mainly focusing on vision cameras, LiDAR and Radar sensors. The review also considers the compatibility of sensors with various software systems enabling the multi-sensor fusion approach for obstacle detection. This review article concludes by highlighting some of the challenges and possible future research directions.

Lane detection is a foundational technology for autonomous driving systems. It involves identifying the boundaries of lanes on the road and ensuring the vehicle stays within these boundaries. Accurate lane detection is crucial for safety, navigation and traffic management. This paper presents an artificial intelligent based autonomous road lane detection and navigation system for vehicles. The system can detect and analyze road lanes accurately and efficiently in real-time, with frame rates of up to 17 FPS. By utilizing image processing techniques, the system can identify the location and boundaries of road lanes and obstacles on the road and provide accurate and reliable navigation guidance to the driver. The system is integrated with sensors and actuators to provide comprehensive autonomous navigation. The efficiency of the proposed system is demonstrated using accuracy of lane detection on straight and curve lanes covering frames per second and motor of the speed as parameters for assessment. Results show that the proposed system detects lane as entire lane detection, partial lane detection and no detection status on different settings.

Autonomous driving vehicles rely on sensors for the robust perception of surroundings. Such vehicles are equipped with multiple perceptive sensors with a high level of redundancy to ensure safety and reliability in any driving condition. However, multi-sensor, such as camera, LiDAR and radar, systems bring up the requirements related to sensor calibration and synchronization, which are the fundamental blocks of any autonomous system. On the other hand, sensor fusion and integration have become important aspects of autonomous driving research and directly determine the efficiency and accuracy of advanced functions such as object detection and path planning. Classical model-based estimation and data-driven models are two mainstream approaches to achieving such integration. Most recent research is shifting to the latter, showing high robustness in real-world applications but requiring large quantities of data to be collected, synchronized, and properly categorized. To generalize the implementation of the multi-sensor perceptive system, we introduce an end-to-end generic sensor dataset collection framework that includes both hardware deploying solutions and sensor fusion algorithms. The framework prototype integrates a diverse set of sensors, such as cameras, LiDAR, and radar. Furthermore, we present a universal toolbox to calibrate and synchronize three types of sensors based on their characteristics. The framework also includes the fusion algorithms, which utilize the merits of three sensors , namely, camera, LiDAR and radar, and fuse their sensory information in a manner that is helpful for object detection and tracking research. The generality of this framework makes it applicable in any robotic or autonomous applications, also suitable for quick and large-scale practical deployment.

In this paper, a swarm trajectory planning method is proposed for multiple autonomous surface vehicles (ASVs) in an unknown and obstacle-rich environment. Specifically, based on the point cloud information of the surrounding environment obtained from local sensors, a kinodynamic path searching method is used to generate a series of waypoints in the discretized control space at first. Next, after fitting B-spline curves to the obtained waypoints, a nonlinear optimization problem is formulated to optimize the B-spline curves based on gradient-based local planning. Finally, a numerical optimization method is used to solve the optimization problems in real-time to obtain collision-free, smooth and dynamically feasible trajectories relying on a shared network. Simulation results demonstrate the effectiveness and efficiency of the proposed swarm trajectory planning method for a network of ASVs.

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

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

The rapid growth of the sharing economy has propelled shared mobility to the forefront of attention. The continuous advancement of autonomous driving technology also brings new opportunities and challenges to the shared mobility market. This study comprehensively analyzes the market potential concerning autonomous vehicles (AVs) to provide shared mobility services, utilizing SWOT analysis, PESTLE analysis, and Porter’s Five Forces. The findings reveal that AVs can provide improved shared mobility services by increasing transportation safety, reducing emissions, reducing costs, enhancing traffic efficiency, and increasing customer satisfaction and the profitability of shared mobility services. However, challenges such as technological and policy uncertainties, safety concerns, high initial costs, inadequate public communication infrastructure, and the absence of standardized regulations can hinder the widespread adoption of AVs. The benefits are also restricted with a low market penetration rate of AVs. To promote AVs in the shared mobility market, this study also provides implications for AV stakeholders tailored to the evolving shared mobility market dynamics.

With the current technological transformation in the automotive industry, autonomous vehicles are getting closer to the Society of Automative Engineers (SAE) automation level 5. This level corresponds to the full vehicle automation, where the driving system autonomously monitors and navigates the environment. With SAE-level 5, the concept of a Shared Autonomous Vehicle (SAV) will soon become a reality and mainstream. The main purpose of an SAV is to allow unrelated passengers to share an autonomous vehicle without a driver/moderator inside the shared space. However, to ensure their safety and well-being until they reach their final destination, it is required an active monitoring of all passengers. In this context, this article presents a microphone-based sensor system that is able to localize sound events inside an SAV. The solution is composed of a Micro-Electro-Mechanical System (MEMS) microphone array with a circular geometry connected to an embedded processing platform that resorts to Field-Programmable Gate Array (FPGA) technology to successfully process in hardware the sound localization algorithms.

This paper systematically discusses the application of reinforcement learning in automatic driving system. Reinforcement learning frameworks show significant advantages in optimizing decision making, predictive perception, path planning, and controller design, exceeding the limitations of traditional supervised learning methods. The paper highlights the critical role of components such as scene understanding, positioning, and map making in autonomous driving systems, which provide reliable environmental awareness through deep learning and sensor fusion technologies to support intelligent decision-making in complex urban environments. In addition, the paper discusses innovative approaches to safety reinforcement learning to reduce risk in autonomous driving and ensure that systems adhere strictly to safety constraints while maximizing expected rewards. These findings provide an important theoretical and practical basis for further improving algorithm robustness, managing multi-agent interactions, and integrating ethical considerations in the future.

Imaging lidars are one of the hottest topics in the optronics industry. The need to sense the surroundings of every autonomous vehicle has pushed forward a career to decide the final solution to be implemented. The diversity of state-of-the art approaches to the solution brings, however, a large uncertainty towards such decision. This results often in contradictory claims from different manufacturers and developers. Within this paper we intend to provide an introductory overview of the technology linked to imaging lidars for autonomous vehicles. We start with the main single-point measurement principles, and then present the different imaging strategies implemented 8 in the different solutions. An overview of the main components most frequently used in practice is also presented. Finally, a brief section on pending issues for lidar development has been included, 10 in order to discuss some of the problems which still need to be solved before an efficient final implementation.Beyond this introduction, the reader is provided with a detailed bibliography containing both relevant books and state of the art papers.

To validate the accuracy and reliability of onboard sensors for object detection and localization in driver assistance, as well as autonomous driving applications under realistic conditions (indoors and outdoors), a novel tracking system is presented. This tracking system is developed to determine the position and orientation of a slow-moving vehicle (e.g. car during parking maneuvers), independent of the onboard sensors, during test maneuvers within a reference environment. One requirement is a 6 degree of freedom (DoF) pose with a position uncertainty below 5 mm (3σ), an orientation uncertainty below 0.3° (3σ) at a frequency higher than 20 Hz, and a latency smaller than 500 ms. To compare the results from the reference system with the vehicle’s onboard system, a synchronization via Precision Time Protocol (PTP) and a system interoperability to Robot Operating System (ROS) is implemented. The developed system combines motion capture cameras mounted in a 360° panorama view set-up on the vehicle with robotic total stations. A point cloud of the test site serves as a digital twin of the environment, in which the movement of the vehicle is simulated. Results have shown that the fused measurements of these sensors complement each other, so that the accuracy requirements for the 6 DoF pose can be met, while allowing a flexible installation in different environments.

The recent advancements in the field of communication have led data sharing to become an integral part of today's smart cities with the evolution of concepts such as the internet of vehicles (IoV) paradigm. As a part of IoV, Electric Vehicles (EVs) have recently gained momentum as authorities have started expanding their Low Emission Zones (LEZ) in an effort to build green cities with low carbon footprints. Energy is one of the key requirements of EVs not only to support the smooth and sustainable operation of EV itself but to also ensure connectivity between the vehicles and infrastructure with controlling devices like sensors and actuators installed within an EV. In this context, renewable energy sources (such as wind energy) dramatically play their parts in the automobile sector towards designing the energy harvesting electric vehicles (EH-EV) to pare the energy reliance on the national grid. In this article, a novel approach is presented to achieve electric generation due to vehicle mobility to support the communication primitives in electric vehicles which enables plenty of IoV use cases in the presence of surplus energy at hand. A small-scale wind turbine is designed to harness wind power for converting it into mechanical power. This power is then fed to the onboard DC generator to produce electrical energy. Furthermore, the acquired power is processed through a regulation circuitry to consequently achieve the desired power supply for the end load, i.e. the batteries installed. The suitable orientation for efficient power generation is proposed on ANSYS-based aerodynamics analysis. The voltages induced by DC generator at No-Load condition are 35V while at Full-Load 25V are generated at rated current of 6.9A, along with the generation of power at around 100W (at constant voltage) at the rated speed of 90 mph for nominal battery charging. Moreover, the acquired data can be monitored via an android application interface by using a Bluetooth module.

The accessibility of public transportation is also known as the last mile problem, and it is one of the main obstacles that affect travelers to choose public transport. Although autonomous vehicles (AVs) have made much progress, they have not been officially put into commercial use. This paper adopts stated preference experiments to explore the impact of shared AVs on train trips’ last-mile travel behavior and takes Wuhan as an example for case analysis. First of all, this paper establishes a structural equation model (SEM) based on the theory of planned behavior to explore the latent psychological variables, including travelers’ attitudes (ATTs), subjective norms (SNs), perceived behavior control (PBC), and behavioral intention to use (BIU) toward AVs. These latent psychological variables are incorporated into the latent class (LC) logit model to establish a hybrid model to study the factors and degree of influence on the travel mode choice for the last mile of train trips. The results show that travelers have preference heterogeneity for the travel mode choice of the last mile of train trips. Through the analysis of LCs, education, career, and income significantly impact the classification of LCs. The latent psychological variables towards AVs have a significant impact on the travel behavior of respondents, but the impacts vary among different segments. Elastic analysis results illustrate that a 1% increase in the travel cost for shared AV in segment 1 leads to a 7.598% decrease in the choice probability of shared AV. Respondents from different segments vary significantly in their willingness to pay, and the value of travel time for high-income groups is relatively higher.

Object segmentation is still considered a challenging problem in autonomous driving, particularly in consideration of real world conditions. Following this line of research, this paper approaches the problem of object segmentation using LiDAR-camera fusion and semi-supervised learning implemented in a fully-convolutional neural network. Our method is tested on real-world data acquired using our custom vehicle iseAuto shuttle. The data include all-weather scenarios, featuring night and rainy weather. In this work, it is shown that LiDAR-camera fusion with only a few annotated scenarios and semi-supervised learning, it is possible to achieve robust performance on real-world data in a multi-class object segmentation problem. The performance of our algorithm is measured in terms of intersection over union, precision, recall and area-under-the-curve average precision. Our network achieves 82% IoU in vehicle detection in day fair scenarios and 64% IoU in vehicle segmentation in night rain scenarios.

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

Considering the significant advancements in autonomous vehicle technology, research in this field is of interest to researchers. To drive vehicles autonomously, controlling steer angle, gas hatch, and brakes need to be learned. The behavioral cloning method is used to imitate humans’ driving behavior. We created a dataset of driving in different routes and conditions and using the designed model, the output used for controlling the vehicle is obtained. In this paper, the Learning of Self-driving Vehicles Based on Real Driving Behavior Using Deep Neural Network Techniques (LSV-DNN) is proposed. We designed a convolutional network which uses the real driving data obtained through the vehicle’s camera and computer. The response of the driver is during driving is recorded in different situations and by converting the real driver’s driving video to images and transferring the data to an excel file, obstacle detection is carried out with the best accuracy and speed using the Yolo algorithm version 3. This way, the network learns the response of the driver to obstacles in different locations and the network is trained with the Yolo algorithm version 3 and the output of obstacle detection. Then, it outputs the steer angle and amount of brake, gas, and vehicle acceleration. The LSV-DNN is evaluated here via extensive simulations carried out in Python and TensorFlow environment. We evaluated the network error using the loss function. By comparing other methods which were conducted on the simulator’s data, we obtained good performance results for the designed network on the data from KITTI benchmark, the data collected using a private vehicle, and the data we collected.

The vast majority of autonomous driving systems are limited to applications on roads with clear lane markings and are implemented using commercial grade sensing systems coupled with specialized graphic accelerator hardware. This research reviews an alternative approach for autonomously steering vehicles that eliminates the dependency on road markings and specialized hardware. A combination of machine vision, machine learning and artificial intelligence based on popular pre-trained Convolutional Neural Networks (CNN) and Recurrent Neural Networks (RNN) was used to drive a vehicle along roads lacking lane markings (unmarked roads). The team developed and tested this approach on the ACTor (Autonomous Camus TranspORt) vehicle - an autonomous vehicle development and research platform coupled with a low-cost webcam based sensing system and minimal computational resources. The proposed solution was evaluated on real-world roads and varying environmental conditions. It was found that this solution may be used to successfully navigate unmarked roads autonomously with acceptable road following behavior.

This article presents a state-of-the-art literature review to understand people’s perceptions and opinions of Autonomous Vehicles (AVs) and the factors that influence AV adoption. A strategic literature search was conducted to select articles for this review. Most of the articles were published within the last five years and they used a household questionnaire survey to collect data. Mostly, they used statistical and econometric methods to evaluate the factors that affect people’s intentions to adopt AVs. The results show that psychological factors often appear as the most important internal factors of people’s willingness to adopt AVs. Additionally, other internal factors such as the socioeconomic profile of individuals and their household, and knowledge and familiarity with AV technologies would affect AV adoption tendencies. User attributes also indirectly affect AV adoption by influencing the psychological factors of users. We identify several critical external factors such as opportunities (e.g., safety and security, low congestion, energy use) and challenges (e.g., system failure, privacy breach, and legal issues), while another influential group includes transportation factors (e.g., travel mode, distance, and time), urban form (e.g., urban/rural, density, land use diversity), affinity to new technology, and the institutional regulatory environment. We discuss some recommendations for policy makers, auto industries, and private stakeholders to formulate policies and strategies to increase market share of AVs. Finally, we identify some limitations of previous studies and provide a blueprint for future research on AV adoption.

This article focuses on generating an alternative in order to identify traffic officers during driving. This research employed the latest You Only Look Once (YOLO) model, using a six-phase methodology: data collection, data preparation involving resizing and labeling, implementation of various filters to avoid overfitting, model training, prediction evaluation, and result interpretation. The YOLO model was applied across three iterations using a dataset of 1862 images. To enhance training efficiency and detection speed, the graphics processing unit (GPU) acceleration was utilized, further enhancing the experimental process. The results of this study revealed that the YOLOv8x variant produced the most promising results. This proposed model attained a remarkable F1 score of 0.95, bolstered by a confidence score of 0.631, with the potential for an increase to 0.80 in confidence without significantly compromising the F1-score. These findings are poised to make a substantial contribution to the broader research landscape, particularly in advancing the effectiveness of detection models for traffic officers.

This article addresses the problem of formation control of a quadrotor and one (or more) marine vehicles operating at the surface of the water with the end goal of encircling the boundary of a chemical spill, enabling such vehicles to carry and release chemical dispersants used during ocean cleanup missions to break-up oil molecules. Firstly, the mathematical models of the Medusa class of marine robots and quadrotor aircrafts are introduced, followed by the design of single vehicle motion controllers that allow these vehicles to follow a parameterized path individually using Lyapunov based techniques. At a second stage, a distributed controller using event triggered communications is introduced, enabling the vehicles to perform cooperative path following missions according to a pre-defined geometric formation. In the next step, a real time path planning algorithm is developed that makes use of a camera sensor, installed on-board the quadrotor. This sensor enables the detection in the image of which pixels encode parts of a chemical spill boundary and use them to generate and update in real time a set of smooth B-spline based paths for all the vehicles to follow cooperatively. The performance of the complete system is evaluated by resorting to 3-D simulation software, making it possible to simulate visually a chemical spill. Results from real water trials are also provided for parts of the system, where two Medusa vehicles are required to perform a static lawn-mowing path following mission cooperatively at the surface of the water.

Nowadays, technological advancement has transformed traditional vehicles into Au-tonomous Vehicles (A.V.s). In addition, in our daily lives, A.V.s play an important role since they are considered an essential component of smart cities. A.V. is an intelligent vehicle capable of main-taining safe driving by avoiding crashes caused by drivers. Unlike traditional vehicles, which are fully controlled and operated by humans, A.V.s collect information about the outside environment using sensors to ensure safe navigation. Furthermore, A.V.s reduce environmental impact because they usually use electricity to operate instead of fossil fuel, thus decreasing the greenhouse gasses. However, A.V.s could be threatened by cyberattacks, posing risks to human life. For example, re-searchers reported that Wi-Fi technology could be vulnerable to cyberattacks through Tesla and BMW AVs. Therefore, more research is needed to detect cyberattacks targeting the components of A.V.s to mitigate their negative consequences. This research will contribute to the security of A.V.s by detecting cyberattacks at the early stages. First, we inject False Data Injection (FDI) attacks into an A.V. simulation-based system developed by MathWorks. Inc. Second, we collect the dataset generated from the simulation model after integrating the cyberattack. Third, we implement an intelligent symmetrical anomaly detection method to identify FDI attacks targeting the control system of the A.V. through a compromised sensor. We use long short-term memory (LSTM) deep networks to detect FDI attacks in the early stage to ensure the stability of the operation of A.V.s. Our method classifies the collected dataset into two classifications: normal and anomaly data. The ex-perimental result shows that our proposed model's accuracy is 99.95%. To this end, the proposed model outperforms other state-of-the-art models in the same study area.

Visual-inertial integrated navigation system (VINS) has been extensively studied over the past decades to provide accurate and low-cost positioning solutions for autonomous systems. Satisfactory performance can be obtained in an ideal scenario with sufficient and static environment features. However, there are usually numerous dynamic objects in deep urban areas, and these moving objects can severely distort the feature tracking process which is fatal to the feature-based VINS. The well-known method mitigates the effects of dynamic objects is to detect the vehicles using deep neural networks and remove the features belongs to the surrounding vehicle. However, excessive exclusion of features can severely distort the geometry of feature distribution, leading to limited visual measurements. Instead of directly eliminating the features from dynamic objects, this paper proposes to adopt the visual measurement model based on the quality of feature tracking to improve the performance of VINS. Firstly, a self-tuning covariance estimation approach is proposed to model the uncertainty of each feature measurements by integrating two parts: 1) the geometry of feature distribution (GFD), 2) the quality of feature tracking. Secondly, an adaptive M-estimator is proposed to correct the measurement residual model to further mitigate the impacts of outlier measurements, such as the dynamic features. Different from the conventional M-estimator, the proposed method effectively alleviates the reliance of excessive parameterization of M-estimator. Experiments are conducted in a typical urban area of Hong Kong with numerous dynamic objects, and the results show that the proposed method could effectively mitigate the effects of dynamic objects and improved accuracy of VINS is obtained when compared with the conventional method.

Autonomous vehicles (AVs) may not only reduce parking demand, but also free up on-street parking spaces. From the perspective of bus priority, converting on-street parking lots into dedicated bus lanes can both ensure bus priority and accommodate non-bus traffic, helping to reduce congestion and pollution. In order to study the impact of conversion of on-street parking lots to bus lanes on traffic flow, a microscopic simulation framework based on VISSIM is proposed in this paper. Data was collected using the floating car method and video recording method to quantify the factors affecting traffic flow due to the conversion of on-street parking. The VISSIM simulation model was then calibrated. According to the proportion of the on-street parking lots into a bus lane, the on-street parking lots conversion simulation model of different scenarios was established, and the influence of different on-street parking lots conversion ratio on traffic efficiency and pollution emission was quantitatively analyzed. Finally, the optimization method based on bus lane network connectivity is discussed. The results indicate that: When the on-street parking lots conversion ratio is approximately 100%, bus speed increases by 21.03%, bus delays decrease by 14.27%, and bus parking instances decrease by 11.31%. Total emissions are negatively correlated with vehicle speed. As the conversion rate of on-street parking increases, the emissions of road segments and the entire road network gradually decrease. At a conversion ratio of 100%, the average total emissions for road segments have the highest reduction rate, decreasing by 4.12%. At a conversion ratio of 50%, the average emission total for the road network shows the largest reduction, falling by 2.88%.

Veterans face difficulties accessing vital health and community services, especially in rural areas. Autonomous vehicles (AVs) can revolutionize transportation by enhancing access, safety and efficiency. Yet, there is limited knowledge about how Veterans perceive AVs. This study fills this gap by assessing Veterans' AV perceptions before and after exposure to an autonomous shuttle (AS). Using a multi-method approach, 23 participants completed pre- and post-AS Autonomous Vehicle User Perception Survey (AVUPS), with 10 participants also taking part in post-AS focus groups. Following exposure to the AS, differences were observed for three out of the four AVUPS domains: an increase in Intention to Use (p < 0.01), a decrease in Perceived Barriers (p < 0.05), and an increase in Total Acceptance (p = 0.01); Well-being remained unchanged (p = 0.81). Feedback from focus groups uncovered six qualitative themes: Perceived Benefits (n=70), Safety (n=66), Shuttle Experience (n=47), AV Adoption (n=44), Experience with AVs (n=17), and Perception Change (n=10). This study underscores AVs' potential to alleviate transportation challenges faced by Veterans, contributing to more inclusive transportation solutions. The research offers insights for future policies and interventions aimed at integrating AV technology into the transportation system, particularly for mobility-vulnerable Veterans in rural and urban settings.

Macro-autophagy (autophagy hereafter) is an evolutionarily conserved cellular process that has long been recognized as an intracellular mechanism for maintaining cellular homeostasis. It involves the formation of a membraned structure called the autophagosome, which carries cargo that includes toxic protein aggregates and dysfunctional organelles to the lysosome for degradation and recycling. Autophagy is primarily considered and studied as a cell-autonomous mechanism. However, recent studies have illuminated an underappreciated facet of autophagy, i.e., non-autonomously regulated autophagy. Non- autonomously regulated autophagy involves the degradation of autophagic components, including organelles, cargo, and signaling molecules, and is induced in neighboring cells by signals from primary adjacent or distant cells/tissues/organs. This review provides insight into the complex molecular mechanisms governing non-autonomously regulated autophagy, highlighting the dynamic interplay between cells within tissue/organ or distinct cell types in different tissues/organs. Emphasis is placed on modes of intercellular communication that include secreted molecules, including microRNAs, and their regulatory roles in orchestrating this phenomenon. Furthermore, we explore the multidimensional roles of non-autonomously regulated autophagy in various physiological contexts, spanning tissue development and aging, as well as its importance in diverse pathological conditions, including cancer and neurodegeneration. By studying the complexities of non-autonomously regulated autophagy, we hope to gain insights into the sophisticated intercellular dynamics within multicellular organisms, including mammals. These studies will uncover novel avenues for therapeutic intervention to modulate intercellular autophagic pathways in altered human physiology.

Over the years, Artificial Intelligence (AI) has seen a steady progress in development and evolution that can aid many sectors. Today, AI plays an essential role in the Fourth Industrial Revolution, and it is making its way into the military sector as well. Many countries are actively looking into AI military technology. Some of these innovations include image recognition, text analysis, Self-driving vehicles (SDV), gaming, robotic process automation (RPA) & Robotic and Autonomous Systems (RAS), and Autonomous Weapons Systems (AWS). In this research, we discuss the advantages of each innovation mentioned and analyze the many different cybersecurity threats that awaken due to military artificial intelligence systems. We then discuss the open research areas to better improve the current state of military artificial intelligence applications in terms of ethics, system security, proper strategy plan, accepted responsibility matrix, and introduction of relevant laws.

Urban transportation in the next few decades will shift worldwide towards electrification and automation, with the final aim of increasing energy efficiency and safety for passengers. Such a big change requires strong collaboration and efforts among public administration, research and stakeholders in developing, testing and promoting these technologies in the public transportation. Working in this direction, in the present work the impact of the introduction of driverless electric minibuses, for the first and last mile transportation, in the public service is studied. More specifically, this paper covers a state of the art in terms of technological background for automation, energy efficiency via electrification, and the current state of the legal framework in Europe with focus on the Baltic Sea Region.

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.

A time integration scheme based on semi-Lagrangian advection and Laplace transform adjustment has been implemented in a baroclinic primitive equation model. The semi-Lagrangian scheme makes it possible to use large time steps. However, errors arising from the semi-implicit scheme increase with the time step size. In contrast, the errors using the Laplace transform adjustment remain relatively small for typical time steps used with semi-Lagrangian advection. Numerical experiments confirm the superior performance of the Laplace transform scheme relative to the semi-implicit reference model. The algorithmic complexity of the scheme is comparable to the reference model, making it computationally competitive, and indicating its potential for integrating weather and climate prediction models.

Despite advances in the reliability of sensory devices used by drones, the integrity of information from some devices is still considered an obstacle to ensuring successful flight plans. It is widely known that GNSS can suffer attacks or lose the signal from satellites, which can cause the drone to fail to complete its flight plan. In this context, we propose SiaN-VO, a Siamese network for visual odometry prediction. In our initial studies, this approach proved satisfactory for flights in static conditions (speed and height). Although interesting, these conditions do not reflect real flight conditions. In this sense, we have advanced our studies to propose the SiaN-VO, which fuses data from different sensors to enable displacement predictions to be made in dynamic flight conditions.

Repeated single-point measurements of thoracic bioimpedance at single (low)-frequency are strongly related to fluid changes during hemodialysis. Extension to semi-continuous measurements may provide longitudinal details in the time pattern of the bioimpedance signal, and multifrequency measurements may add in-depth information on the distribution between intra- and extracellular fluid. This study aims to investigate the feasibility of semi-continuous multifrequency thoracic bioimpedance measurements by a wearable device in hemodialysis patients. Therefore, thoracic bioimpedance was recorded semi-continuously (i.e. every ten minutes) at nine frequencies (8 – 160 kHz) in 68 patients during two consecutive hemodialysis sessions, complemented by a single-point measurement at home in-between both sessions. On average, the resistance signals increased during both hemodialysis sessions and decreased during the interdialytic interval. The increase during dialysis was larger at 8 kHz (∆ 32.6 Ω during session 1 and ∆ 10 Ω during session 2) compared to 160 kHz (∆ 29.5 Ω during session 1 and ∆ 5.1 Ω during session 2). Whereas the resistance at 8 kHz showed a linear time pattern, the evolution of the resistance at 160 kHz was significantly different [p < 0.0001]. Measuring bioimpedance semi-continuously and with a multifrequency current is a major step forward in the understanding of fluid dynamics in hemodialysis patients. This study paves the road towards remote fluid monitoring.

There has been a surge in the interest for (semi)transparent photovoltaics (sTPVs) in recent years, since the more traditional, opaque, devices are not ideally suited for a variety of innovative appli-cations spanning from smart and self-powered windows for buildings to those for vehicle inte-gration. Additional requirements for these photovoltaic applications are a high conversion effi-ciency (despite the necessary compromise to achieve a degree of transparency) and an aesthetical-ly pleasing design. One potential realm to explore in the attempt to meet such challenges is the bio-logical world, where evolution has led to highly efficient and fascinating light-management structures. In this mini-review, we explore some of the biomimetic approaches that can be used to improve both transparent and semitransparent photovoltaic cells, such as moth-eye inspired structures for improved performance and stability or tuneable, coloured, and semi-transparent devices inspired by beetles’ cuticles. Lastly, we will briefly discuss possible future developments for bio-inspired and potentially bio-compatible sTPVs.

Autonomous search is an ongoing cycle of sensing, statistical estimation and motion control with objective to find and localise targets in a designated search area. Traditionally, the theoretical framework for autonomous search combines the sequential Bayesian estimation with the information theoretic motion control. This paper formulates autonomous search in the framework of possibility theory. Although the possibilistic formulation is slightly more involved than the traditional, it provides means for quantitative modelling and reasoning in the presence of epistemic uncertainty. This feature is demonstrated in the paper in the context of partially known probability of detection, expressed as an interval value. The paper presents an elegant Bayes-like solution to sequential estimation, with the reward function for motion control defined to take into account the epistemic uncertainty. The advantages of the proposed search algorithm are demonstrated by numerical simulations.

This paper presents experimental results of static and dynamic obstacle avoidance methods for a two-wheel mobile robot with independent control using a deep Q-learning (DQL) reinforcement learning algorithm. This is an alternative method that combines the Q-learning (QL) algorithm with a neural network. Neural networks in the DQL algorithm act as Q matrix table approximators for each pair (State - Action). The effectiveness of the proposed solution was verified through simulations, programming, and experimentation. This DQL algorithm is compared to the QL algorithm. First, the mobile robot communicated with the control script using the robot operating system (ROS). The mobile robot is code programmed using a Python in the ROS operating system combined with the DQL controller in Gazebo software. The mobile robot then performed experiments in a workshop with many different experimental scenarios. This DQL controller is improved in term of the computation time, convergence time, planning trajectory accuracy, and obstacles avoidance. Therefore, the DQL controller solved the path optimization problems for mobile robots better than the Q-learning controller.

Unmanned Aerial Systems (UAS) have rapidly gained attraction in recent years as a promising solution to revolutionize numerous applications and meet the growing demand for efficient and timely delivery services due to their highly automated operation framework. Beyond Visual Line of Sight (BVLOS) operations, in particular, offer new means of delivering added-value services through a wide range of applications. This ’plateau of productivity’ holds enormous promise but it is challenging to equip the drone with affordable technologies which support the BVLOS use-case. To close this gap, this work showcases the convergence of the automotive and aviation industries to advance BVLOS aviation for UAS in a practical setting by studying a combination of Commercial Off-The-Shelf (COTS) technologies and systems. A novel risk based approach of investigating the key technological components, architectures, algorithms and protocols is proposed, that facilitate highly reliable and autonomous BVLOS operations, aiming to enhance the alignment between market and operational needs and to better identify integration requirements between the different capabilities to be developed.

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

Real and complex analytic functions are largely studied in the field of complex analysis and are seen as very useful tools in solving problems in mathematics, physics and engineering. Real and complex numbers are a subset of semi-structured complex numbers (a new number set created to algebraically solve division by zero). Nevertheless, the properties of analytic functions made up of semi-structured complex variables (called semi-structured complex analytic functions) is yet to be explored. This limits the range of possible problems that can be resolved using analytic functions). In this regard, the aim of this paper was to expound upon the properties of semi-structured complex analytic functions and show their application in solving engineering problems. The results of this paper included (1) developing a full set of Cauchy–Riemann Equations for the semi-structured complex -space; (2) define sufficient and necessary conditions for a semi-structured complex function to be analytic; (3) determine the relationship between semi-structured complex analytic functions, Laplace’s Equations and Poisson’s Equations; and (5) provide an example of the use of these functions.

The increasing variability of precipitation, higher temperatures and recurring droughts in the semi-arid regions due to climate change are leading to increased aridity, resulting in scarcer water resources for crops. The present study aimed to analyse the spatial distribution of climate variables related to water resources in the olive-growing areas throughout Extremadura, southwestern Spain. To perform this task, three climate variables were used: potential evapotranspiration of the crop, the FAO aridity index and the annual water requirement. Considering data from 58 weather stations located throughout Extremadura and 17 along boundaries with at least 30-year length (within the 1991-2021 period), each variable was computed at each station. After calculating some descriptive statistics, a multivariate geostatistical (regression-kriging) algorithm, incorporating secondary information on elevation and latitude, was used to accurately map each climate variable. Later, temporal trends and their magnitude were analysed using the Mann-Kendall test and the Sen’s estimator, respectively. The highest evapotranspiration and water requirements are located in the southern part of the region, which has large areas dedicated to olive cultivation. In the northern part of the region, there is greater spatial variability in evapotranspiration and, consequently, in water requirements for olive groves due to the more rugged topography. Similarly, the olive-growing areas with the highest aridity are also in the south of Extremadura. In most areas of Extremadura, olive cultivation requires appropriate irrigation for optimal productivity. According to evapotranspiration trends, the water requirements will become greater in the future. However, it is not guaranteed that the water supply will be sufficient in olive-growing areas where aridity is higher and water resources are scarce. The results of this study are very important for evaluating water deficit and water resources in vulnerable olive-growing areas throughout Extremadura.

For better solving both fuzziness and reliability occurring in practical issues simultaneously, Z-number deserves further exploration under uncertainty environment. Based on the credibility distribution and conversion rules, we define its expected value, variance, and semi-variance, and realize the feasibility of calculation by deriving calculation formulas. Moreover, we delve into three characteristics inherent in symmetrical Z-numbers. The link that followed between the variance and the semi-variance of Z-numbers is discovered and proved. Furthermore, we apply the formulas of expected value and variance on Z-numbers to examples, whose consequences validate our proposed formulas. The findings indicate the significance of our study in applying the expected value and variance of fuzzy sets across diverse fields.

Drought is a powerful natural hazard that has significant effects on ecosystems amid the constant threats posed by climate change. This study investigates agricultural drought in a semi-arid Mediterranean basin through the interconnections of four indices: precipitation (meteorological reanalysis), vegetation development, thermal stress, and soil water deficit (remote sensing observations). The study focuses on the determination of agricultural drought periods. Firstly, the temporal connections between the various indices at different spatial scales and in different parts of the basin are investigated. Thereafter, a modified run-theory approach based on normality and dryness thresholds is applied. The Pearson correlations at different spatial scales showed a medium to low level of agreement between the indices, which was explained by the geographical heterogeneity and the climatic variability between the agrosystems within the basin. It is also shown that the cascade of impacts expected from lower precipitations is revealed by the cross-correlation analysis. The connection between precipitation deficit and vegetation remains significant for at least one month for most pairs of indices, especially during drought events, suggesting that agricultural drought spells can be connected in time through the three or four selected indices. Short-, mid-, and long-term impacts of precipitation deficiencies on soil moisture, vegetation, and temperature were revealed. As expected, the more instantaneous variables of soil moisture and surface temperature showed no lag with precipitation. Vegetation anomalies at the monthly time step showed a two-month lag with a preceding effect of vegetation to precipitation. Finally, the determination of drought events and stages with varying thresholds on the run-theory showed the large variability of duration, magnitude, and intensity according to the choice of both normality and dryness thresholds.

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

The use of autonomous Unmanned Aerial Vehicles (UAVs) has been increasing, and the autonomy of these systems and their capabilities in dealing with uncertainties is crucial. Autonomous landing is pivotal for the success of an autonomous mission of UAVs. This paper presents an autonomous landing system for quadrotor UAVs with the ability to perform smooth landing even in undesirable conditions like obstruction by obstacles in and around the designated landing area and inability to identify or the absence of a visual marker establishing the designated landing area. We have integrated algorithms like version 5 of You Only Look Once (YOLOv5), DeepSORT, Euclidean distance transform, and Proportional-Integral-Derivative (PID) controller to strengthen the robustness of the overall system. While the YOLOv5 model is trained to identify the visual marker of the landing area and some common obstacles like people, cars, and trees, the DeepSORT algorithm keeps track of the identified objects. Similarly, using the detection of the identified objects and Euclidean distance transform, an open space without any obstacles to land could be identified if necessary. Finally, the PID controller generates appropriate movement values for the UAV using the visual cues of the target landing area and the obstacles. To warrant the validity of the overall system without risking the safety of the involved people, initial tests are performed, and a software-based simulation is performed before executing the tests in real life. A full-blown hardware system with an autonomous landing system is then built and tested in real life. The designed system is tested in various scenarios to verify the effectiveness of the system.

Robotic path planning and navigation algorithms enable autonomous mobile robots to navigate complex environments. These algorithms allow robots to be deployed in search and rescue missions, where they can locate victims in hazardous areas inaccessible to humans. Additionally, autonomous driving algorithms hold the potential to revolutionize transportation by enabling self-driving cars to navigate roads safely and efficiently. This paper focuses on developing an algorithm for autonomous navigation of the mobile robot (Tortoise bot) using robot operating system (ROS), based on publish-subscribe communication facilitating seamless interaction between various nodes. Tortoise Bot is a differential wheeled robot whose movement is based on two separately driven wheels placed on either side of the robot body. The Raspberry Pi acts as the controller. A 360-degree LiDAR and RGB-D camera are used for creating a 3D map of the environment. Various state-of-the art software tools, such as Gazebo, Ubuntu, MATLAB and RPI imager are used. Initially, a simulation based on simple obstacle avoidance is done using gazebo and MATLAB. Another simulation based on trajectory tracking is implemented using MATLAB to study the kinematic model. Online navigation and path planning are executed with the help of teleoperation and Dynamic Window Approach algorithm. A novel Wander algorithm is created that avoids obstacles on its path. Object recognition is also implemented during autonomous navigation using YOLO.

One of the important issues being explored in Industry 4.0 is a collaborative mobile robots. This collaboration requires precise navigation systems, especially indoor navigation systems where GNSS (Global Navigation Satellite System) cannot be used. To enable precise localization of robots, different variations of navigation systems are being developed, mainly based on trilateration and triangulation methods. Triangulation systems are distinguished by the fact that they allow precise determination of an object’s orientation, which is important for mobile robots. An important feature of positioning systems is the frequency of position updates based on measurements. For most systems it is 10-20 Hz. In our work, we propose a high-speed 50 Hz positioning system based on the triangulation method with infrared transmitters and receivers. In addition, our system is completely static, i.e. it has no moving/rotating measurement sensors, which makes it more resistant to disturbances (caused by vibrations, wear and tear of components, etc.). In this paper we describe the principle of the system as well as its design. Finally, we present tests of the built system, which show centimeter positioning accuracy with a position update frequency of 50 Hz.

Driver’s distractions are more prone to occur with automated driving vehicles, which might turn into cancelling some of their advantages. Traffic reports, naturalistic observations and in-lab tests are carried out to determine the influence of driver’s distractions in car crashes and to develop technology to detect and prevent them from happening. One of the best strategies to cope with this problem is education. In this work we propose a simulation environment to design laboratory experiments to study driver’s distractions as well as simple games to train drivers to take over the control of the vehicle when required. The result framework enables drivers to experience driving highly automated cars in their neighborhoods or in places of their choice with different levels of events to check their ability in taking over the control when required.

In this work, we propose an approach for the autonomous navigation of mobile robots using fusion of sensor data by a Double Deep Q-Network with collision avoidance by detecting moving people via computer vision techniques. We evaluate two data fusion methods for the proposed autonomous navigation approach: Interactive and Late fusion strategy. Both are used to integrate mobile robot sensors through the following sensors: GPS, IMU and, an RGB-D camera. The proposed collision avoidance module is implemented along with the sensor fusion architecture in order to prevent the autonomous mobile robot from colliding with moving people. The simulation results indicate a significant impact on the success of completing the proposed mission by the mobile robot with the fusion of sensors, indicating a performance increase (success rate) of 27% in relation to navigation without sensor fusion. With the addition of moving people in the environment, deploying the people detection and collision avoidance security module has improved about 14% the success rate when compared to that of the autonomous navigation approach without the security module. Video was developed with robot navigation using the DDQN-Late Fusion https://www.loom.com/share/684afa6a5b0148afadc9a200ab9f3483.

The increasing number of robots around us will soon create a demand for connecting these robots in order to achieve goal-driven teamwork in heterogeneous multi-robot systems. In this paper, we focus on robot teamwork specifically in dynamic environments. While the conceptual modeling of multi-agent teamwork has been studied extensively during the last two decades, related engineering concerns have not received the same degree of attention. Therefore, this paper makes two contributions. The analysis part discusses general design challenges that apply to robot teamwork in dynamic application domains. The constructive part presents a review of existing engineering approaches for challenges that arise with dynamically changing runtime conditions. An exhaustive survey of robot teamwork aspects would be beyond the scope of this paper. Instead, we aim at creating awareness for the manifold dimensions of the design space and highlight state-of-the-art technical solutions for dynamically adaptive teamwork, thus pointing at open research questions that need to be tackled in future work.

Knowledge about the genesis and evolution of black soils in the Eastern Mediterranean is vital for sustainable land management. In this study, the black soils that currently occur in the Eastern Mediterranean were analyzed in different bioclimatic zones and were found to genetically be long to three soil types: 1-Calcareous black soils (Rendzina, Para-Rendzina) (Rendzic or Somerirendzic Leptosols -Typic Rendolls or Lithic Rendolls), 2-Hydromorphic black soils (Calcic Chernozems -Haploxerolls). 3- Black soils on Basalt (Somerirendzic Leptosols) (Haploxerolls). The impact of the relief was obvious on both the thickness of the solum and the mollic horizon. Rendzina occurs on the toe and feet slope, Para-Rendzina on the shoulders, and Chernozems on a flat plain. The color of the epipedon in Rendzina reflects the origin of the prevailing parent material from which they are derived: Proper Rendzina found on limestone, chalk, sandstone, conglomerate, and claystone; Reddish Rendzina on Dolomite and hard limestone, and Grayish Rendzina on Serpentine. It was also found that the Hydromorphic black soils only occur on calcic marl and lacustrine deposits in the depressions arising from the Dead Sea faults under saturation or bad drainage conditions. This soil has a thick, dark mollic horizon and high organic matter content.

As semi-airborne mineral exploration has limited budgets, it is critical to design experimental procedures that generate data maximizing the desired information We investigate the effects of transmitter-receiver geometries for a variety of anomalies and semi-airborne layouts. Our simulations indicate that 200 m flight line spacing and 100 m point distance are the optimal trade-off between coverage and survey progress for various targets. Based on the target size and distance between the transmitter and the target, the transmitter length should be at least equal to the length of the target and for more than 1 km, at least two or three times the target size. Likewise important are the location and direction of the transmitter cables, which can have great impact on the result of inversion and should be parallel to the target strike. By using more than one transmitter, better results are obtained. If the strike of the target is known, transmitters should be parallel to each other and if not, it is better to use perpendicular transmitters. Results showed that the optimal distance between transmitters is 3 km. Our simulations show that it is even possible to recover targets just below the transmitter in corresponding areas of masked data.

Complex models have received significant interest in recent years and are being increasingly used to explain the stochastic phenomenon with upward and downward fluctuation such as the stock market. Different from existing semi-variance methods in traditional integer dimension construction for two variables, this paper proposes a simplified multi-factorized fractional dimension derivation with the exact Excel tool algorithm involving the fractional center moment extension to covariance, which is a complex parameter average that is a multi-factorized extension to Pearson covariance. By examining the peaks and troughs of gold price averages, the proposed algorithm provides more insight into revealing underlying stock market trends to see who is the financial market leader during good economic times. The calculation results demonstrate that the complex covariance is able to distinguish subtle differences among stock market performances and gold prices for the same field that the two variable covariance may overlook. We take the London, Tokyo, Shanghai, Toronto and Nasdaq as the representative examples.

The conversion of CO2 into more synthetically flexible CO is an effective and potential method for CO2 remediation, utilization and carbon emission reduction. In this paper, the reaction of carbon-carbon dioxide (Boudouard reaction) was performed in a microwave fixed bed reactor using semi-coke (SC) as both the microwave absorber and reactant and was systematically compared with that heated in a conventional thermal field. The effects of the heating source, SC particle size, CO2 flow rate and additives on CO2 conversion and CO output were investigated. By microwave heating (MWH), CO2 conversion reached more than 99 %, while by conventional heating (CH), the maximum conversion of CO2 was approximately 29% at 900 °C. Meanwhile, for the reaction with 5 wt% Barium Carbonate added as a promoter, the reaction temperature was significantly reduced to 750 °C with almost quantitative conversion of CO2. Further kinetic calculations showed that the apparent activation energy of the reaction under microwave heating was 46.3 kJ/mol, which was only one-third of that observed under conventional heating. The microwave-assisted Boudouard reaction with catalytic barium carbonate is a promising method for carbon dioxide utilization.

Complete digraphs are referred to in the combinatorics literature as tournaments. We consider a family of semi-simplicial complexes, that we refer to as ``tournaplexes'', whose simplices are tournaments. In particular, given a digraph G, we associate with it a ``flag tournaplex'' which is a tournaplex containing the directed flag complex of G, but also the geometric realisation of cliques that are not directed. We define several types of filtrations on tournaplexes, and exploiting persistent homology, we observe that flag tournaplexes provide finer means of distinguishing graph dynamics than the directed flag complex. We then demonstrate the power of these ideas by applying them to graph data arising from the Blue Brain Project's digital reconstruction of a rat's neocortex.

This study evaluated the impact of climate change on water resources in a large semi-arid urban watershed located in Niamey Republic of Niger, West Africa. The watershed was modeled using the fully integrated surface-subsurface HydroGeoSpheremodel at a high spatial resolution. Historical (1980-2005) and projected (2020-2050) climate scenario derived from the outputs of three Regional Climate Models (RCM) under the RCP 4.5 scenario were statistically downscaled using the multiscale quantile mapping bias correction method. Results show that the bias correction method is optimum at daily and monthly scales, and increased RCM resolution does not improve the performance of the model. The three RCMs predict increases of up to 1.6% in annual rainfall and of 1.58°C for mean annual temperatures between the historical and projected periods. The durations of the Minimum Environmental Flow (MEF) conditions, required to supply drinking and agriculture water, were found to be sensitive to changes in runoff resulting from climate change. MEF occurrences and durations are likely to be greater for (2020-2030), and then they will be reduced for (2030-2050). All three RCMs consistently project a rise in groundwater table of more than 10 meters in topographically high zones where the groundwater table is deep and an increase of 2 meters in the shallow groundwater table.

Soil salinity, whether natural or human induced, is a major geo-hazard in arid and semi-arid landscapes. In agricultural lands, it negatively affects plant growth, crop yields, whereas in semi-arid and arid non-agricultural areas it affects urban structures due to subsidence, corrosion and ground water quality, leading to further soil erosion and land degradation Accurately mapping soil salinity through remote sensing techniques has been an active area of research in the past few decades particularly for agricultural lands. Most of this research has focused on the utilization and development of salinity indices for properly mapping and identifying saline agricultural soils. This research study develops a soil salinity index and model using Landsat 8 OLI image data from the near infra-red and shortwave infra-red spectral information with emphasis on soil salinity mapping and assessment in non-agricultural desert arid and semi-arid surfaces. The developed index when integrated into a semi-empirical model outperformed in its soil salinity mapping overall accuracy (60%) in comparison to other salinity indices (~50%). The newly developed index further outperformed other indices in its accuracy in mapping and identifying high saline soils (67%) and excessively high saline soils (90%).

Visual object tracking is an important technology in camera based sensor networks, which has a wide range of practicability in auto drive system. A transformer is a deep learning model that adopts the mechanism of self-attention, and it differentially weights the significance of each part of the input data. It has been widely applied in the field of visual tracking. Unfortunately, the security of the transformer model is unclear. It makes such transformer-based applications be exposed to security threats. In this work, the security of the transformer model is investigated with the important component of autonomous driving, visual tracking. Such deep-learning-based visual tracking is vulnerable to adversarial attacks, so adversarial attacks are implemented as the security threats to conduct the investigation. First, adversarial examples are generated on top of video sequences to degrade tracking performance, and the frame-by-frame temporal motion is taken into consideration when generating perturbations over the predicted tracking results. Then, the influence of perturbations on performance is sequentially investigated and analyzed. Finally, numerous experiments on OTB100, VOT2018, and GOT-10k data sets demonstrate that the executed adversarial examples are effective on the performance drops of the transformer-based visual tracking.

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

The increased demand and use of autonomous vehicles and advanced driver-assistance systems has been constrained by an incidence of accidents involving errors with the perception layer’s functionality. In tandem, recent papers have noted the lack of standardized, independent testing formats and insufficient methods with which to analyze, verify and qualify LiDAR-based data and categorization. While camera-based approaches benefit from an ample amount of research, camera images can be unreliable in situations with impaired visibility such as dim lighting and fog. This paper aims to introduce a novel method based entirely on LiDAR data with the capability to detect anomalous patterns as well as complementing other performance evaluators using a Copula-based approach. With a promising set of preliminary results, this methodology may be used to evaluate an algorithm’s confidence score, the impact conditions may have on LiDAR data and detect cases in which LiDAR data may be insufficient or otherwise unusable.

3D object detection is essential for an accurate and reliable autonomous driving system. Currently, the methods used by the state-of-the-art two-stage detectors are not flexible enough and their fea-ture extraction capabilities are very limited to cope effectively with the disorder and irregularity of point clouds. In this paper, we combine the advantages of both PV-RCNN and PAConv (Position Adaptive Convolution) to create a completely new network, FANet, in order to overcome the ir-regularity and disorder of point clouds. The convolution in our network builds convolutional ker-nels from a basic weight matrix, whose combined coefficients are learned adaptively by LearnNet from relative points. This network allows for flexible modeling of complex spatial variations and geometric structures in the 3D point cloud, enabling better extraction of point cloud features and producing high-quality 3D proposal boxes. Compared to other methods, FANet is superior in terms of 3D object detection accuracy. Extensive experiments on the KITTI dataset have shown a signif-icant improvement in our approach.

Fires pose a significant threat to human life and property. An autonomous fire detection and fighting robot has the potential to mitigate the challenges associated with firefighting. This paper presents the implementation of an autonomous fire detection and fighting robot equipped with sensors, algorithms, and actuators to detect, locate, and suppress fires autonomously. The robot's mechanical and electrical components were designed, prototyped, and tested in a controlled environment to evaluate its ability to navigate through obstacles, detect fires, and suppress them autonomously. The results show that the robot effectively detects and suppresses fires, making it a promising solution for firefighting applications. The study contributes to the development of autonomous robots for firefighting, enhancing the safety of firefighters and the effectiveness of firefighting operations.

While machine learning models are powering more and more everyday devices, there is a growing need for explaining them. This especially applies to the use of Deep Reinforcement Learning in solutions that require security, such as vehicle motion planning. In this paper, we propose a method of understanding what the RL agent’s decision is based on. The method relies on conducting statistical analysis on a massive set of state-decisions samples. It indicates which input features have an impact on the agent’s decision and the relationships between decisions, the significance of the input features, and their values. The method allows us for determining whether the process of making a decision by the agent is coherent with human intuition and what contradicts it. We applied the proposed method to the RL motion planning agent which is supposed to drive a vehicle safely and efficiently on a highway. We find out that making such analysis allows for a better understanding agent’s decisions, inspecting its behavior, debugging the ANN model, and verifying the correctness of input values, which increases its credibility.

The world is facing a great technological transformation towards full autonomous vehicles, where optimists predict that by 2030, autonomous vehicles will be sufficiently reliable, affordable and common to displace most human driving. To cope with these trends, reliable perception systems must enable vehicles to hear and see all the surroundings, being light detection and ranging (LiDAR) sensors a key instrument for recreating a 3D visualization of the world in real time. However, perception systems must rely in accurate measurements of the environment. Thus, sensors must be calibrated and benchmarked before being placed on the market or assembled in a car. This article presents an Evaluation and Testing Platform for Automotive LiDAR sensors with the main goal of testing not only commercially available sensors, but also sensor prototypes currently under development in Bosch Automotive Electronics division. The testing system can benchmark any LiDAR sensor under different conditions, recreating the expected driving environment to which such devices are normally subjected. To characterize and validate the sensor under test, the platform evaluates several parameters such as the field of view (FoV), angular resolution, sensor’s range, etc. This project results from a partnership between the University of Minho and Bosch Car Multimedia Portugal, S.A.

As a result of extensive research in the field of mobile robots (rovers) and swarms, a number of algorithms exist to assist them for executing a mission in the three levels of software architecture: strategic (interaction loop level), tactic (planning) and operational (sensing, control and actuation). They allow them to achieve their goals while adapting to their environment through a multitude of methods designed for each situation. For this reason, a literature review of the latest research conducted in previous years is required to identify new research trends in human-swarm interaction applied to help humans in hazardous environment such as militarized zone. In this paper, we will present some interesting algorithms for interactive and autonomous mobile robots acting in swarms in an open and crowded environment. A discussion will focus on comparing different algorithms and their advantages and disadvantages.

Motivated by Autonomous vehicle idea and driving safety issues, driver assistance system such as Active braking, Cruise Control, Lane departure warning lane keeping and etc. has become a very active research area. However, this paper presents the performance and robustness analysis of a model predictive control and proportional integral derivative control for lane keeping maneuvers of an autonomous vehicle using computer vision simulation studies. A simulation study was carried out where a vehicle model based on single tracked bicycle model was developed in MATLAB/SIMULINK environment together with a vision dynamic system. Both PID controller and MPC were simulated to maintain the desired reference trajectory of the vehicle by controlling steering angle. Further performance and robustness analysis were carried out and the simulation results show that the proposed control system for the PID control achieved its objective even though it was less robust in maintaining its performance under various conditions like vehicle load change, different longitudinal speed and different cornering stiffness. While in the case of MPC the optimizer made sure that the predicted future trajectory of the vehicle output tracks the desired reference trajectory and was more robust in maintaining its performance under same conditions as in PID.

Microfiltration membranes derived from semi-crystalline polymers face various challenges when synthesized through the extrusion–casting technique, including the use of large quantities of polymer, long casting times, and the generation of substantial waste. This study focuses on synthesizing these membranes using spin-casting followed by stretch-induced pore formation. Recycled high-density polyethylene (HDPE) and virgin polyethylene powder, combined with a calcium carbonate filler, were used as the source materials for the membranes. The influence of the polymer-filler ratio with and without stretching on the morphology, tensile strength, and water flow rate was investigated. Optimal conditions were determined, emphasizing a balance between pore structure and mechanical integrity. The permeable membrane possessed a mean pore diameter of 500 nm, exhibited a tensile strength measuring 32 MPa, allowed water to flow at a rate of 19 ml/min, and had a water contact angle of 126°. These membranes effectively eliminated suspended particles from water, with their performance evaluated against that of commercially available membranes. This research outlines a synthesis route for microfiltration membranes tailored to semi-crystalline polymers and their plastic forms, utilizing the spin-casting technique.

Leishmaniasis in wild canids is a vector-borne disease caused in Europe by the protozoan parasite Leishmania infantum. To date, there is limited information on clinical signs and laboratory abnormalities in wolves due to leishmaniasis. The current clinical case report described a female Iberian wolf (Canis lupus signatus) housed in semi-captivity conditions at the Centro del Lobo Ibérico “Félix Rodríguez de la Fuente”, in Robledo de Sanabria, Zamora (Spain) with an interdigital ulcerous wound at the right forepaw, hyper-gammaglobulinemia, and abnormal liver blood parameters. Definitive serodiagnosis of leishmaniasis was established using antileishmanial serum antibodies and PCR analysis of different biological samples. A gold standard anti-L. infantum treatment protocol consisting in intramuscular meglumine antimoniate and oral allopurinol combination was installed. However, the presence of pain at the site of injection due to meglumine antimoniate administration forced its substitution by oral miltefosine. A progressive reduction of the levels of anti-L. infantum serum antibodies and the concentrations of gamma-globulin fraction was detected after antileishmanial treatment as well as a decline of liver GPT. To our knowledge, this is the first case of leishmaniasis diagnosed in a wolf housed in semi-captivity conditions treated and successfully cured.

Hypertensive disorders of pregnancy (HDP), including preeclampsia (PE) and gestational hypertension (GH), are major causes of maternal and fetal morbidity and mortality. This review elucidates the role of regulatory T cells (Tregs) in the immunological aspects of HDP and explores their therapeutic potential. Tregs, known for maintaining immune tolerance, are crucial in pregnancy to prevent immune-mediated rejection of the fetus. In HDP, Treg numbers and function imbalance are observed, correlating with disease severity. The review highlights that Tregs contribute to immunological adaptation in normal pregnancy, ensuring fetal acceptance and placental development. In contrast, HDP is associated with Treg dysfunction, marked by decreased numbers and impaired regulatory capacity, leading to inadequate immune tolerance and abnormal placental development. This dysfunction is particularly evident in PE, where Tregs fail to adequately modulate the maternal immune response against fetal antigens, contributing to the pathophysiology of the disorder. Therapeutic interventions aiming to modulate Treg activity represent a promising avenue for HDP management. Studies in animal models and limited clinical trials suggest that enhancing Treg functionality could mitigate HDP symptoms and improve pregnancy outcomes. However, the review acknowledges the complexity of translating these findings into effective clinical therapies, given the multifactorial nature of HDP and the intricate regulatory mechanisms of Tregs. In conclusion, while the precise role of Tregs in HDP is still being unravelled, their central role in immune regulation during pregnancy is indisputable. Further research is needed to fully understand the mechanisms by which Tregs contribute to HDP and to develop targeted therapies that can safely and effectively harness their regulatory potential for treating hypertensive diseases of pregnancy.

.(1) Background: Groundwater resources management in dry lands, characterized by climate var-iability and population growth, is difficult. Exploration and exploitation of groundwater, due to inadequate surface water is very costly. The present study employed Analytic Hierarchy Process (AHP) and GIS to identify Ground-Water Potential (GWP) areas in a semi-arid region of Nigeria; (2) Methods: Land-use-land-cover, drainage density, slope, rainfall, static water level, soil media, vadose media and aquifer media were selected for GWP analysis. Parameters weights were de-termined using AHP and ranked based on their contribution to GWP by experts. The parameters were then integrated using weighted overlay tool in ArcGIS 10.5 to produce GWP map of the study area. Boreholes yield data from 245 wells were collected to determine the model accuracy and model validation; (3) Results: Results classified the study area into very high GWP (1.9%), high GWP (8.8%), moderate GWP (62%), low GWP (20.70%) and very low GWP (6.6%). Validation of the AHP model with boreholes yield data shows a correlation coefficient of 71.3% giving a good prediction; (4) Conclusions: AHP and GIS can be used to successfully map GWP areas which could serve as an exploration guide for sustainable management of groundwater resources in semi-arid areas.

Cross-industry clusters are important for the economic prosperity of a region. However, studies are lacking to address competitive clusters among the aviation and tourism industries. Thus, this paper considers the case of both industries in terms of clusters and synergies formed. This research aim is to provide an understanding of both industries' protagonists' involvement in contributing to knowledge insights on the establishment of synergies or clusters among the two industries. Cyprus is highly dependent on tourism and aviation because they facilitate connectivity. The research is filled with semi-structured interviews with the main players and organizations of the airline and tourism industries (government bodies, airports, airlines, tour operators, and hotels). The results are indicative and suggest that, in a small geographical context, the notion of clusters involves a synergetic relationship among tourism stakeholders. Airlines’ role is important because it has an effect on all stakeholders involved in tourism.

Mobility is a vital welfare indicator which may influence broilers’ daily activities. Classical broiler mobility assessment methods are laborious and cannot provide timely insights into their conditions. Here, we proposed a semi-supervised Deep Learning (DL) model, YOLOv5, combined with Deep Sort algorithm conjoined with our newly proposed algorithm, Neo-Deep Sort, for individual broiler mobility tracking. Initially, 1,650 labeled images from five days were employed to train the YOLOv5 model. Through semi-supervised learning (SSL), this narrowly trained model was then used for pseudo-labeling 2,160 images, of which 2,153 were successfully labeled. Thereafter, the YOLOv5 model was fine-tuned on the newly labeled images. Lastly, the trained YOLOv5 and the Neo-Deep Sort algorithm were applied to detect and track 28 broilers in two pens and categorized them in terms of hourly and daily traveled distances and speeds. SSL helped in increasing the YOLOv5 model’s mean Average Precision (mAP), in detecting birds, from 81% to 98%. As compared with the manually measured covered distances of broilers, the combined model provided individual broiler's hourly moved distances with a validation accuracy of about 80%. Eventually, individual and flock level mobilities were quantified while overcoming the occlusion, false and miss detection issues.

In eutrophic waters, such as Mikawa Bay, Japan, anoxic bottom water develops in summer. This causes sulfide release into seawater by sulfate reduction in the sediment, leading to environmental problems. The addition of iron to sediments is a method used to improve the sediment environment, which was devised from a natural phenomenon. However, this method has not yet been quantitatively evaluated. In this study, we aim to quantitatively evaluate the suppressive effect of iron on sulfide release. First, we develop a sediment model that focuses on S and Fe. We then attempted to reproduce the observations and experiments on sulfide dynamics using the model. Consequently, the proposed model was able to reproduce field sulfur and Fe dynamics in sediments. Additionally, the model described the characteristics of sulfide release considering the effects of additive iron materials. Finally, we conducted predictive calculations and quantitatively evaluated the effects of adding iron materials to the sediments in terms of sulfur and iron cycles.

In this paper, we have constructed a WKB approximation for graphene having a Y-shaped Kekul\'e lattice distortion and a special folding of the $\mbox{\boldmath$K$}$ and $\mbox{\boldmath$K$}^\prime$ valleys, which leads to very specific linear energy dispersions with two non-equivalent pairs of subbands. These obtained semi-classical results, which include the action, electron momentum and wave functions, are utilized to analyze the dynamics of electron tunneling through non-square potential barriers. In particular, we explore resonant scattering of an electron by a potential barrier built on Kekul\'e-distorted graphene. Mathematically, a group of consecutive equations for a semi-classical action have been solved by following a perturbation approach under the condition of small strain-induced coupling parameter $\Delta_0 \ll 1$ (a good fit to its actual value $\Delta_0 \backsim 0.1$). Specifically, we consider a generalized model for Kek-Y graphene with two arbitrary Fermi velocities. The dependence of the electron transmission amplitude on the potential profile $V(x)$ and band parameters of Kekul\'e-patterned graphene has been explored and analyzed in details.

: Our study aim to test the influence of RGB reflectance and chlorophyll content on grain fill and grain yield of 15 durum wheat cultivars sown under semi-arid conditions. the evolution of chlorophyll content during three stages showed a stability during the heading stage, the chlorophyll content begins at this degradation during grain filling. Boutaleb genotype which was the best yielding genotype was characterized by low values ​​of RGB reflectance and high values ​​of majority of grain filling parameters and thousand kernels weight. Grain filling follows a sigmoid curve. Chlorophyll content was positively correlated with reflectance under the green band and negatively with both Red and Blue bands. A positive correlation was recorded between thousand kernel weight and grain yield, maximum grain dry weight and grain filling duration. The duration of the grain filling was positively influenced by the maximum dry weight of the grain and negatively by the grain filling ratio, the grain filling ratio was positively affected by reflectance at blue band. The principal component analysis separated the cultivars considered into 3 principal components, the absorption/reflectance component, the profitability component and the component of grain filling rate to which the local landrace Boutaleb belongs in terms of grain yield.

We generalize the dynamical analog of the Berry geometric phase setup to the quaternionic model of Avron et al. In our dynamical quaternionic system, the fast half-integer spin subsystem interacts with a slow two-degrees-of-freedom subsystem. The model is invariant under the 1:1:2 weighted SO(2) symmetry and spin inversion. There is one formal control parameter in addition to four dynamical variables of the slow subsystem. We demonstrate that the most elementary qualitative phenomenon associated with the rearrangement of the energy super-bands of our model consists of the rearrangement of one energy level between two energy superbands which takes place when the formal control parameter takes the special isolated value associated with the conical degeneracy of the semi-quantum eigenvalues. This qualitative phenomenon is of the topological origin, and is characterized by the second Chern class of the associated semi-quantum system. The correspondence between the number of redistributed energy levels and the second Chern number is confirmed through a series of examples.

Abstract: Droughts are complex and gradually evolving conditions of extreme water deficits which can compromise livelihoods and ecological integrity, especially in fragile arid and semi-arid regions that depend on rainfed farming, such as Kitui West in south-eastern Kenya. Against the background of low ground-station density, 10 gridded rainfall products and four gridded temperature products were used to generate an ensemble of 40 calculations of the Standardized Precipitation Evapotranspiration Index (SPEI) to assess uncertainties in the onset, duration and magnitude of past droughts. These uncertainties were driven more by variations between the rainfall products than variations between the temperature products. Remaining ambiguities in drought occurrence could be resolved by complementing the quantitative analysis with ground-based information from key informants engaged in disaster relief, effectively formulating an ensemble approach to SPEI-based drought identification to aid decision making. The reported trend towards drier conditions in Eastern Africa was confirmed for Kitui West by the majority of data products, whereas the rainfall effect on the increasingly dry conditions was more subtle than annual and seasonal declines and greater annual variation, which warrants further investigation. Nevertheless, the effects of increasing droughts are already felt on the ground and warrant decisive action.

In the context of improving the comfort and dynamics of the vehicle, the suspension system has been continuously developed and improved, especially using magnetorheological (MR) shock absorbers. The development of this technology which is relatively new has not been easy. Thus, the first widespread commercial use of MR fluid in a semi-active suspension system was implemented in passenger cars. The magnetorheological shock absorber can combine the comfort with the dynamic driving, because it allows the damping characteristic to be adapted to the road profile. The main objective of the paper is to analyze the dynamic behavior of the magnetorheological shock absorber in the semi-active suspension. In this sense, the author carried out a set of experimental measurements with a damping test bench, specially built and equipped with modern equipment. The results obtained from the experimental determinations show a significantly improved comfort when using a magnetorheological shock absorber, compared to a classic one, by the fact that the magnetorheological shock absorber allows to modify the damping coefficient according to the road conditions, thus maintaining the permanent contact between the tire and the road due to increased damping force.

In this study a new approach for planning Micro-Catchment Water Harvesting (M.C.W.H.) systems for irrigation in semi-arid regions such as the Aegean islands, is presented. M.C.W.H. is a cheap solution for constructing irrigation infrastructure with zero energy cost in regions where water is scarce. The proposed approach introduces simple linear relationships for estimating the annual volume of water V_s collected mainly from the CA (Contributing Area), stored in the root zone (Infiltration Basin, IB), according to the annual rainfall and runoff depths, after having determined the ratio of areas of micro-catchment (MC) components i.e. λ= Α_CA/Α_ΙΒ and its whole area A_MC This procedure was applied in Paros island of the Cyclades complex in the middle of the Aegean sea in east Mediterranean. Besides, income-cost analysis was performed via NPV method for almond, peach and apricot trees. The new approach was proved versatile and easy to use. Besides, the investment turned out to be advantageous two years after the MCs construction.

Purpose: Carotid intraplaque hemorrhage (IPH) increases risk of territorial cerebral ischemic events, but different sequences or criteria have been used to diagnose or quantify carotid IPH. The purpose of this study was to compare manual segmentation and semi-automatic segmentation for quantification of carotid IPH on magnetization-prepared rapid acquisition with gradient-echo (MPRAGE) sequences. Methods: Forty patients with 16–79% carotid stenosis and IPH on MPRAGE sequences were reviewed by two trained radiologists with more than five years of specialized experience in carotid plaque characterization with carotid plaque MRI. Initially, the radiologists manually viewed the IPH based on the MPRAGE sequence. IPH volume was then measured by three different semi-automatic methods, with high signal intensity 150%, 175%, and 200%, respectively, above that of adjacent muscle on the MPRAGE sequence. Agreement on measurements between manual segmentation and semi-automatic segmentation was assessed using the intraclass correlation coefficient (ICC). Results: There was near-perfect agreement between manual segmentation and the 150% and 175% criteria for semi-automatic segmentation in quantification of IPH volume. The ICC of each semi-automatic segmentation were as follows: 150% criteria: 0.861, 175% criteria: 0.809, 200% criteria: 0.491. The ICC value of manual vs. 150% criteria and manual vs. 175% criteria were significantly better than the manual vs. 200% criteria (p < 0.001). Conclusions: The ICC of 150% and 175% criteria for semi-automatic segmentation are more reliable for quantification of IPH volume. Semi-automatic classification tools may be beneficial in large-scale multicenter studies by reducing image analysis time and avoiding bias between human reviewers.

This paper is devoted to the study of reproducing kernels on 2-inner product Hilbert spaces. We focus on a new structure to produce reproducing kernel Hilbert and Banach spaces. According to multi-variable computing, this structures can be useful in electrocardiographs, machine learning and economy

Evaluating new, promising organic molecules to make next-generation organic optoelectronic devices necessitates the evaluation of charge carrier transport performance through the semi-conducting medium. In this work, we utilize quantum chemical calculations (QCC) and kinetic Monte Carlo (KMC) simulations to predict the zero-field hole mobilities of ~100 morphologies of the benchmark polymer poly(3-hexylthiophene), with varying simulation volume, structural order, and chain-length polydispersity. Morphologies with monodisperse chains were generated previously using an optimized molecular dynamics force-field and represent a spectrum of nanostructured order. We discover that a combined consideration of backbone clustering and system-wide disorder arising from side-chain conformations are correlated with hole mobility. Furthermore, we show that strongly interconnected thiophene backbones are required for efficient charge transport. This definitively shows the role "tie-chains" play in enabling mobile charges in P3HT. By marrying QCC and KMC over multiple length- and time-scales, we demonstrate that it is now possible to routinely probe the relationship between molecular nanostructure and device performance.

In order to coordinate the damping performance and energy regenerative performance of energy regenerative suspension, this paper proposes a structure of vehicle semi-active energy regenerative suspension with electro-hydraulic actuator (EHA). In light of the proposed concept, a specific energy regenerative scheme is designed and the mechanical properties test is carried out. Based on the test results, the parameter identification for the system model is conducted using recursive least squares algorithm. On the basis of system principle, the nonlinear model of the semi-active energy regenerative suspension with EHA is built. Meanwhile, LQG control strategy of the system is designed. And then the influence of the main parameters of EHA on the damping performance and energy regenerative performance of suspension is analyzed. Finally, the main parameters of EHA actuator are optimized via genetic algorithm. The test results show that when sinusoidal is input at the frequency of 2Hz and the amplitude of 30mm, the spring mass acceleration RMS value of optimized EHA semi-active energy regenerative suspension is reduced by 22.23% and energy regenerative power RMS value is increased by 40.51%, which means while meeting the requirements of certain vehicle ride comfort and driving safety, energy regenerative performance is improved significantly.

The microbial contamination in food packaging have been a major concern that paved the way for the search for natural based new anti-microbial agents, such as modified α-mangostin. In the present work, twelve synthetic analogs were obtained via semi-synthetic modification of α-mangostin by Ritter reaction, reduction by palladium-carbon (Pd-C), alkylation, and acetylation. The evaluation of the anti-microbial potential of the synthetic analogs showed higher therapeutic value than the parent molecule. The anti-microbial studies proved that I E showed higher antibacterial activity whereas I I showed most significant antifungal activity. Due to their microbial properties, modified α-mangostin can be utilized as active anti-microbial agents in food packaging.

The advancement of autonomous capabilities in maritime navigation has gained significant attention, with a trajectory moving from decision support systems to full autonomy. This push towards autonomy has led to extensive research focusing on collision avoidance, a critical aspect of safe navigation. Among the various possible approaches, Dynamic Programming is a promising tool for optimizing collision avoidance maneuvers. This paper presents a DP formulation for collision avoidance of autonomous vessels. We set up the problem framework, formulate it as a multi-stage decision process, define cost functions and constraints focusing on the actual requirements a marine maneuver must comply with, and propose a solution algorithm leveraging parallel computing. Additionally, we present a greedy approximation to reduce algorithm complexity. Through case studies, we demonstrate the effectiveness of the proposed approach in navigating complex scenarios, contributing to the future of autonomous maritime navigation. Through case studies, we show the efficacy of our approach in navigating complex scenarios.

Agriculture and rural regions in Europe face a number of economic, social and environmental challenges. Rural areas are active players in the EU’s green transitions. Weeding is one of the most important factors of agricultural production. New weeding techniques are being developed to enhance sustainability. Among them laser based weeding seems a promising alternative for use of chemicals. WeLASER technique is a novel technique of weed control. Its successful implementation depends on many factors related to the innovation itself, policy context, farming conditions and users’ attitudes. Survey was carried out to provide the insight on the attitudes toward the innova-tive (laser) weed control tool (device - autonomous robot). The CATI method was selected for the survey of farmers opinion and carried out in three countries: Denmark, Spain and Poland. Statistical methods were applied to analyze the results. The study provided knowledge on how farmers see the barriers and opportunities of implementing the device in practice. Positive attitudes of farmers were observed but with high expectations related to quality of the technique and systemic conditions of its implementation.

Among the sensors necessary to equip vehicles with an autonomous driving system, there is a tacit agreement that cameras and some type of radar would be essential. The ability of radar to spatially locate objects (pedestrians, other vehicles, street furniture and traffic signs) makes it the most economical complement to the cameras in the visible spectrum, in order to give the correct depth to scenes. From the echoes obtained by the radar, some data fusion algorithm will try to locate each object in its correct place within the space surrounding the vehicle. In any case, the usefulness of the radar will be determined by several performance parameters, such as its aver-age error in distance, the maximum errors and the number of echoes per second it can provide. In this work we have tested experimentally the AWR1843 MIMO radar from Texas Instruments to measure those parameters.