Pedestrian Dead Reckoning (PDR) is a promising algorithm for indoor positioning. However, the accuracy of PDR degrades due to the accumulated error, especially in multi-floor buildings. This paper introduces a three-dimensional (3D) positioning method based on terrain feature matching to reduce the influence of accumulated error in multi-floor scene. The proposed method involves two steps: motion pattern recognition and position matching calibration. The motion pattern recognition aims to detect different motion states, i.e., taking the stairs or horizontal walking, from the streaming data. Then, stair entrances and corridor corners are matched with transition points of motion states and pedestrian turning points, respectively. After matching, calibration is performed to eliminate the accumulated errors. By carrying out experiments on a two-floor closed-loop path with a walking distance about 145 m, it is shown that this method can effectively reduce the accumulated error of PDR , achieving accurate 3D positioning . The average error is reduced from 6.60 m to 1.83 m.

The study offers an in-depth investigation of the impact of climate conditions on various terrain features in the Kaffiøyra area, southwest Svalbard, focusing on the changes of shorelines, glacier termini, and outwash areas. We utilized cost-effective, consistent remote sensing data and GIS techniques to analyze historical long-term changes in these terrain features, evaluated the effects of temperature variations on glacier retreat, and developed a predictive model for future glacier area changes based on temperature data from climate change scenarios and the ground observation station near the site. The results demonstrated a range of responses in shoreline stability and changes across different zones in the study site. Based on the predefined baseline, the glacier-shorelines (tidewater glacier) exhibit significant erosion, with the averaged rates varying from -64.7 to + 9.2 m/yr. However, the land-shorelines show relatively stable, with changes ranging from -2.2 to +3.7 m/yr, and the outwash areas exhibited minor increases of less than 10% as compared to the data obtained in 1985. The analysis of seven glacier termini indicated a general reduction in the glacier area; notably, Aavatsmarkbreen, a tidewater glacier, retained only 32% of its original size by 2023. The land glaciers such as Waldemarbreen, Irenebreen, Elisebreen, Eivindbreen, Andreasbreen, and Oliverbreen, preserve 54.8%, 61.3%, 65.0%, 74.0%, 55.5%, and 43.7% of their areas, respectively. A marked negative linear correlation between temperature and remaining glacier areas was observed, enabling the prediction of future glacier variations under various climate conditions. The study outlines the evolution of terrain features in Kaffiøyra in nearly 40 years. Results show the relative stability of land-shorelines, significant glacier retreats in response to warming temperatures, and slight growth in outwash areas. The study highlights the critical need for robust land monitoring systems that enhance our understanding and enable effective decision-making through predictive modeling of climate impacts.

We have developed an unsteady and non-linear wind synopsis simulator called RIAM-COMPACT (Research Institute for Applied Mechanics, Kyushu University, COMputational Prediction of Airflow over Complex Terrain) in order to simulate the airflow on a microscale, i.e., a few tens of km or less. In RIAM-COMPACT, the large-eddy simulation (LES) has been adopted for turbulence modeling. LES is a technique in which the structures of relatively large eddies are directly simulated and smaller eddies are modeled using a sub-grid scale model. In the present study, we have conducted the numerical wind diagnoses for Taikoyama Wind Farm nacelle separation accident in Japan. The simulation results suggest that all six wind turbines at the Taikoyama Wind Farm are subject to significant influence from separated flow (terrain-induced turbulence) which is generated due to the topographic irregularities in the vicinity of the wind turbines. A proposal has been also made on reconstruction of the wind farm.

In the present study, field observation wind data from the time of the wind turbine blade damage accident on Shiratakiyama Wind Farm were analyzed in detail. In parallel, high-resolution LES turbulence simulations were performed in order to examine the model’s ability to numerically reproduce terrain-induced turbulence. The comparison of the observed and simulated time series (1 second average values) from a 10 minute period from the time of the accident led to the conclusion that the settings of the horizontal grid resolution and time increment are important to numerically reproduce the terrain-induced turbulence that caused the wind turbine blade damage accident on Shiratakiyama Wind Farm. A spectral analysis of the same set of observed and simulated data revealed that the simulated data reproduced the energy cascade of the actual terrain-induced turbulence well.

At the Atsumi Wind Farm in Aichi Prefecture, Japan, damage to wind turbines occurred frequently due to terrain-induced turbulence. In the present study, numerical analyses of terrain-induced turbulence were conducted by reproducing the topography in the vicinity of the wind turbine sites in high resolution and using RIAM-COMPACT natural terrain version, which is based on large eddy simulation (LES). The results of the diagnoses indicated that, in the case of south-easterly wind, terrain-induced turbulence is generated at a small terrain feature located upstream of Wind Turbine (WT) #2, which serves as the origin of the turbulence. At the Atsumi Wind Farm, a combination of the series of wind diagnoses and on-site operation experience led to a decision to adopt an "automatic shutdown program" for WTs #1 and #2. Here, "automatic shutdown program" refers to the automatic suspension of wind turbine operation upon the wind speed and direction meeting the conditions associated with significant effects of terrain-induced turbulence at a wind turbine site. The adoption of the "automatic shutdown program" has successfully resulted in a large reduction in the number of occurrences of wind turbine damage, thus, creating major positive economic effects. 1) a reduction in the repair costs by 9.322 million yen per year per wind turbine, 2) an increase in the availability factor by 8.05%, and 3) an increase in the capacity factor by 1.7%.

Although mountain areas account for approximately one fifth of the terrestrial surface, there has been less research focused on fire in these areas compared to lowlands. Mountain fires have distinct behavior due to dynamic winds interacting with the terrain, which can influence the fireline intensity and propagation. For the sake of fire safety of fire crews, it is essential to know how difficult to control the fire is in the mountain regions, with fireline intensity providing a useful indicator of risk and suppressibility. We studied one of the major disasters, wildfire, in Australia in such a highland by using the Great Pine Tier Fire, which occurred 15^th January in 2019, ending up burning approximately 511.86km². Weather and fire intensity at pseudo weather stations located at key points of fire progression were analyzed by wind vector maps and numerical weather model vertical sounding (NWMVS). Fire propagation was then simulated in Prototype 2, a fire simulator capable of detecting the potential for lateral fire channeling (LFC), and simulating fireline intensity using Australian vegetation sub-models. We found that the synoptic wind appeared to be modified by the interaction with the terrain in windward and the fire intensified the most in its leeward. In practice, the fire moved out of the valley axis and up its sidehill by following the wind which had been modified by local vertex of the curved valley axis before reaching this location.

The sediments deposited at the lower reaches of 90 medium and minor rivers from 5 states along western India were analysed for mineralogy and, major and trace elements chemistry. Kaolinite followed by minor illite and gibbsite and traces of goethite and, smectite followed by minor kaolinite, illite and chlorite are characteristic of the clays from Archean-Proterozoic (A-P) terrain and Deccan Trap (DT) terrain, respectively. The sediments were depleted with Si, Ca, Mg, Na and K relative to that of Post Archean average Australian Shale. The SiO2/Al2O3 ratio suggests the sediments from A-P terrain resemble lateritic soils, while those from DT terrain are non-lateritic, chemically weathered soils. The weathering indices indicate intensely weathered and compositionally mature sediments from Kerala, Karnataka and Maharashtra and, intermediate to intensely weathered sediments from Goa and Gujarat. The sediments exhibit relatively high Th, U, La, Zr and Hf from A-P terrain and, high Sc, Cr, Co, Ni, V and Ga from DT terrain. The total trace element content (∑TE) was lower for the clay than silt fractions of sediments. The peak high ∑TE occur in the silt fraction of sediments from Kerala and Maharashtra. The Th/U and Rb/Sr ratios are controlled by the intensity of weathering and lithology of source rocks. The standard plots using trace elements reveal intermediate provenance between felsic and mafic source. Clay fractions from both terrains are more mafic implying mafic-component dominated sediments are transported to the adjacent Seas and Oceans. Therefore, it would be challenging to identify the clays transported from granitic terrain in the Oceans, using trace element chemistry.

Background: We studied Riveaux Road Fire, which was ignited by multiple lightning strikes in January 2019 and burnt more than 637.19 km² in southern Tasmania, Australia. Aims: We focused on fire weather, such as identification of dynamic wind and vegetation type, in a valley of the study area. Methods: We employed two methods: numerical weather model vertical sounding (NWMVS) and the use of a fire simulator, to quantify and examine the contribution of dynamic winds to fire behaviour. The NWMVSs allow rapid diagnosis of changes in wind, temperature, dew point temperature and cloud coverage. Prototype 2 is a fire simulator based on the specification of Australian Fire Danger Rating System (AFDRS). Key results: We found fires to be guided by terrain-forced channelling primarily and by downslope wind conditionally in the valleys. In addition, the fire intensity periodically changed with the magnitude of surface wind, in buttongrass moorland, in which the fire often smoulders, during the fire period according to the satellite image. Conclusions and Implications: Therefore, there should be caution for not only terrain and dynamic wind but also vegetation type during fire spread in rugged terrain.

Most real-time terrain point cloud rendering techniques do not address the empty space between the points but rather try to minimize it by changing the way how the points are rendered by either rendering them bigger or with more appropriate shapes such as paraboloids. In this work, we propose an alternative approach to point cloud rendering, which addresses the empty space between the points and tries to fill it with appropriate values to achieve the best possible output. The proposed approach runs in real time and outperforms several existing point cloud rendering techniques in terms of speed and render quality.

Meganthropus palaeojavanicus was known very tall with body height of 8 feet and this made M. palaeojavanicus as the tallest hominid ever existed. This species was living in closed tropical woodland and hilly landscape as the fossil remains were found in a remote forest in Sangiran, central Java. Owing large body size, it may influence the foraging ecology of M. palaeojavanicus to cope with the terrain. In here, this study aimed to model the M. palaeojavanicus foraging ecology along terrain gradients. The model indicates that within 5 km home range radius, the most suitable foraging areas were in north east since these areas have more flat landscapes with slopes of <7.5%. While less suitable areas in north west and south west areas were characterized by hilly landscapes with rugged terrain and steep slopes with slopes of >62.8%.

Visualization of the seabed terrain is one of the key functions of marine geographic information system. The major challenge here is that the obtained data for seabed terrain usually consists of elevation and sediment only but does not include remote sensing images, which is important for ground terrain visualization, as they can be used as textures to reveal detailed information and achieve realistic visual results. Existing seabed terrain visualizing methods (including annotations, color-mapping, and texture-mapping) have limitations in reality and intuition, as they are inadequate to express the physical characteristics of sediment accurately. This paper presents a novel and advanced 3D visualization method of seabed terrain, which introduces the Physically Based Rendering (PBR) theory into the field of geographic visualization. We analyze the main categories of seabed sediments and their optical features respectively, then develop a procedural method to generate physically based rendering materials for different sediments. Then an enhanced bidirectional reflectance distribution function is employed to achieve accurate and intuitive terrain rendering. We also refine the texture sampling method and propose a procedural seabed objects generation method to construct a more natural and realistic undersea environment. Experimental results reveal our method can make good use of the limited seabed terrain data and get significant improvements in visual effect, which can help users to cognize and analyze the seabed geographic environment more accurately and intuitively.

Visualizing geo-spatial data embedded into a three-dimensional terrain is challenging. The problem becomes even more complex when uncertainty information needs to be presented as well. This paper addresses the question of how to visually communicate all three aspects: the 3D terrain, the geo-spatial data, and the data-associated uncertainty. We argue that visualizing all aspects with a high degree of detail will likely exceed the visual budget. Therefore, we propose a visualization strategy based on prioritizing a selected aspect and presenting the remaining two with less detail. We discuss various design options that allow us to obtain differently prioritized visual representations. Our approach has been implemented as a tool for rapid visualization prototyping in the context of avionics applications. Practical solutions are described for a use case related to the visualization of 3D terrain and uncertain weather data.

The shift towards autonomous excavators in construction and mining is a significant leap towards enhancing operational efficiency and ensuring worker safety. However, it presents challenges such as the need for sophisticated decision-making and environmental perception due to complex terrains and diverse conditions. Our study introduces the E-GTN framework, a novel approach tailored for autonomous excavation that leverages advanced multisensor fusion and a custom-designed convolutional neural network to address these challenges. Results demonstrate that GridNet effectively processes grid data, enabling the reinforcement learning algorithm to make informed decisions, thereby ensuring efficient and intelligent autonomous excavator performance. The study concludes that the E-GTN framework offers a robust solution for the challenges in unmanned excavator operations, providing a valuable platform for future advancements in the field.

Mountain fire can become more complex than fires at lower elevation due to the complex interaction of fire, topography, and weather. The Gell River Fire in Tasmania, Australia occurred in rugged terrain where there are abundant fire sensitive vegetation communities, as well as the presence of infrastructure including high-voltage transmission lines. The fire began at the end of December 2018 and lasted a few months, with a final burnt area of approximately 350km² despite significant fire suppression effort. The fire was investigated by employing wind vector maps, numerical weather model vertical sounding charts (NWMVS) and Prototype 2, which is an integrated fire simulator and can detect lateral fire channeling (LFC). Our analysis of the fire found its spread was likely to be introduced into a valley by forced channeling (FC), which is modified synoptic wind, and showed rapid spread in the valley. The simulated fire also showed wider spread than the observed data in the valley, with the simulated fire impacting highly sensitive vegetation communities on the fringes of the valley. This alludes to some potential conclusions: (1) The loss of fire sensitive vegetation would have increased if fire suppression activity had not been conducted. (2) Spotting fires could be produced by LFC because these spotting fire would allow spreading fire in a shorter period. (3) Heterogeneity of vegetation, such as combination of buttongrass and forest, could help carry fire rapidly in the valley with LFC. Fire can propagate faster in buttongrass than in forests while the forests allow the spotting fire.

Wind energy is a rapidly expanding renewable energy technique. Wind farm developers need to understand the interaction between wind farms and the atmospheric flow over complex terrain. Large-eddy simulations provide valuable data for gaining further insight into the impact of rough topography on wind-farm performance. In this research, we investigate the influence of spatial heterogeneity on wind turbine performance. We conducted numerical simulations of a 12×5 wind-turbine array on various rough topographies. First, we evaluated our LES method through mesh convergence analysis, using mean vertical profiles, vertical friction velocity, and resolved and subgrid-scale kinetic energy. Next, we analyze the effects of surface roughness and dispersive stresses on the performance of fully developed large wind farms. Our results demonstrate that the ground roughness element’s flow resistance boosts large wind-farm power production by almost 68% in fully aerodynamic rough surface compared to flat terrain. Dispersive stress analysis revealed that the primary degree of spatial heterogeneity in the wind farm is in the streamwise direction, which is the “wake-occupied” region, and the relative contribution of dispersive shear stress is almost 45% to the overall drag. We also observed that the power performance of the wind farm in complex terrain outperforms the drag. Our study has implications for improving the design of wind turbines and wind farms in complex terrain to increase their efficiency and energy output.

In the present paper, a measure of the influence of irregularities of the underlying surface (for instance, the real terrain profile) on the dynamics of air flow is estimated. It is shown that these irregularities significantly perturbing the pressure, density, velocity and temperature of air flow; for perturbed pressure, density, velocity and temperature of air flow the closed formulas in the Fourier integral form are obtained. In addition, in the present paper, it is proved that due to these perturbations, at a certain altitude of the atmosphere some surface of the "sturdy wall" form appears, on which the vertical and horizontal components of the air flow velocity become infinitesimal and infinitely large, respectively.

An open source computational fluid dynamics (CFD) solver has been incorporated into the WindNinja modeling framework widely used by wildland fire managers as well as researchers and practitioners in other fields, such as wind energy, wind erosion, and search and rescue. Here we describe incorporation of the CFD solver and evaluate its performance compared to the conservation of mass (COM) solver in WindNinja and previously published large-eddy simulations (LES) for three field campaigns conducted over isolated terrain obstacles of varying terrain complexity: Askervein Hill, Bolund Hill, and Big Southern Butte. We also compare the effects of two important model settings in the CFD solver and provide guidance on model sensitivity to these settings. Additionally, we investigate the computational mesh and difficulties regarding terrain representation. Two important findings from this work are: (1) the choice of discretization scheme for advection has a significantly larger effect on the simulated winds than the choice of turbulence model and (2) CFD solver predictions are significantly better than the COM solver predictions at windward and lee side observation locations, but no difference was found in predicted speed-up at ridgetop locations between the two solvers.

In this paper we will present a simplified approach for extracting the ground level – a digital terrain model (DTM) – from the surface provided in a digital surface model (DSM). Most existing algorithms try to find the ground values in a digital surface model. Our approach works the opposite direction by detecting probable above ground areas. The main advantage of our approach is the possibility to use it with incomplete DSMs containing much no data values which can be e.g. occlusions in the calculated DSM. A smoothing or filling of such original derived DSMs will destroy much information which is very useful for deriving a ground surface from the DSM. Since the presented approach needs steep edges to detect potential high objects it will fail on smoothed and filled DSMs. After presenting the algorithm it will be applied to a test area in Salzburg and compared to a terrain model freely available from the Austrian government.

The Rapid Mapping (RM) component of the Copernicus Emergency Management Service (CEMS) delivers crisis information within hours or days, during and in the immediate aftermath of a disaster. Users of the service have requested the incorporation of flood depth estimates for inundations and related disasters, such as storms and tsunamis. This demand required the development of a quick and operational approach for estimating floodwater depth distribution, which can effectively adapt to a wide range of flood scenarios, remotely sensed data and Digital Terrain Models (DTMs). INFLOS is a tool developed to answer these requirements, within an expedient 30-minute timeframe at most. It uses sample points collected along the edges of flooded areas derived from remotely sensed imagery, and integrates high resolution DTMs and hydrography data to enhance accuracy. Flood depth is then estimated through a multi-step interpolation and filtering process. INFLOS underwent thorough testing across fourteen regions. As it transitioned into production, INFLOS successfully generated a wealth of flood depth products accessible through the CEMS RM portal: https://emergency.copernicus.eu/mapping/list-of-activations-rapid. Currently, INFLOS is operational and its computation time remains consistently within the order of minutes, making it a staple of the RM tooling and portfolio.

Abstract: Considering the significance of postural balance in shooting ability, and consequently soldiers’ occupational performance and survivability, it is of importance to promote the use of balance training programs to improve shooters' efficiency. This study explored how a balance training program affects shooting performance. Twenty participants were divided into two equal groups. They all performed 60 shots in a shooting simulator while standing. The participants went through this process twice, before and after a 4-week balance training program. The shoot-ing was done under four different conditions: without load on a stable surface, with load on a stable surface, without load on an unstable surface, and with load on an unstable surface. The training program had a significant impact on the experimental group, improving their balance by 76 ± 9% (p < 0.01). Additionally, in the experimental group, shooting score increased by 47% and the % center of gravity by 20% (p < 0.01). The stability of the shots, measured by holding time in the target, doubled from 2.2 to 4.5 seconds (p < 0.01). These improvements were more pronounced when participants had a load and/or were on an unstable surface. In conclusion, a balance training program can be beneficial for improving shooting performance.

Long-range radio transmissions open new sensor application fields, in particular for environment monitoring. As an example, the {\sl LoRa} radio protocol enables to connect remote sensors at distance as long as ten kilometers in line-of-sight. However, the large area covered also bring several difficulties, such as the placement of sensing devices in regard to geography topology, or the variability of communication latency. Sensing the environment also carries constraints related to the interest of sensing points in relation with a physical phenomenon. Criteria for designs are thus evolving a lot from the existing methods, especially in complex terrains. This article describes simulation techniques based on geography analysis to compute long-range radio coverages and radio characteristics in these situations. As radio propagation is just a particular case of physical phenomena, it is shown how a unified approach also allows to characterize the behavior of potential physical risks. The case of heavy rainfall and flooding is investigated. Geography analysis is achieved using segmentation tools to produce cellular systems which are in turn translated into code for high-performance computations. The paper provides results from practical complex terrain experiments using LoRa, that confirm the accuracy of the simulation, scheduling characteristics for sample networks, and performance tables for simulations on middle range Graphics Processing Units (GPUs).

Quadruped robots possess significant mobility in complex and uneven terrains due to their outstanding stability and flexibility, making them highly suitable in rescue missions, environmental monitoring, and smart agriculture. With the increasing use of quadruped robots in more demanding scenarios, ensuring accurate and stable state estimation in complex environments has become particularly important. Existing state estimation algorithms relying on multi-sensor fusion, such as those using IMU, LiDAR, and visual data, often face challenges on non-stationary terrains due to issues like foot-end slippage or unstable contact, leading to significant state drift. To tackle this problem, this paper introduces a state estimation algorithm that integrates an Invariant Extended Kalman Filter (InEKF) with a disturbance observer, aiming at estimating the motion state of quadruped robots on non-stationary terrains. Firstly, foot-end slippage is modeled as a deviation in body velocity and explicitly included in the state equations, allowing for a more precise representation of how slippage affects the state. Secondly, the state update process integrates both foot-end velocity and position observations to improve the overall accuracy and comprehensiveness of the estimation. Lastly, a foot-end contact probability model, coupled with an adaptive covariance adjustment strategy, is employed to dynamically modulate the influence of the observations. These enhancements significantly improve the filter's robustness and the accuracy of state estimation in non-stationary terrain scenarios. Experiments conducted with the Jueying Mini quadruped robot on various non-stationary terrains show that the enhanced InEKF method offers notable advantages over traditional filters in compensating for foot-end slippage and adapting to different terrains.

Multibeam echo-sounders provide ideal data for semi-automated seabed feature extraction and accurate morphometric measurements. However, these methods have not been tested in morphologically highly complex environments. In this study, bathymetric and raw backscatter data were initially used to manually map the complex reef morphology found in the semi-enclosed Gera Gulf, in the northern Aegean Sea (Greece). A large number of reefs (more than 7000) were detected, making manual mapping extremely time-consuming. Benthic Terrain Modeller (BTM) was selected as a semi-automated method to map the reefs. The BTM did not function properly in this irregular relief and the results were discouraging. Trying to improve the BTM functionality, both bathymetry and slope were modified (enhanced); this time, the BTM outcome was unexpectedly improved, producing accurate results that appeared to exceed the accuracy of manual mapping. To compare the final maps with the distribution of the reefs, mapcurves were created to estimate the Goodness-of-Fit (GOF), while Precision, Recall, and F1 Score were also calculated. GOF values suggest more than 50% overlap between the resulting polygons while, Precision, Recall and F1 score resulted in values higher than 0.78 suggesting good detection accuracy for the semi-automated method. It becomes apparent that BTM provided more efficient results in comparison to the time-consuming manual mapping. This study asserts that semi-automated mapping stands as an effective method for delineating the geomorphometry of intricate relief and serves as a powerful tool for habitat mapping and decision-making.

Early spaceborne laser altimetry mission development starts in pre-phase A design, where diverse ideas are evaluated against mission science requirements. A key challenge is predicting realistic instrument performance through forward modeling at arbitrary spatial scale. Analytical evaluations compromise accuracy for speed, while radiative transfer modeling is not applicable at global scale due to computational expense. Instead of predicting arbitrary properties of a lidar measurement, we develop a baseline theory to predict only the distribution of uncertainty specifically for the terrain elevation retrieval based on terrain slope and fractional canopy cover features through a deep neural network gaussian mixture model, also known as a mixture density network (MDN). Training data was created from differencing geocorrected GEDI L2B elevation measurements with 32 independent reference lidar datasets in the contiguous U.S. from the National Ecological Observatory Network. We trained the MDN and selected hyperparameters based on regional distribution predictive capability. On average, the relative error of equivalent standard deviation of predicted regional distributions was 15.9%, with some anomalies in accuracy due to generalization and insufficient feature diversity and correlation. As an application, we predict the percent of elevation residuals of a GEDI-like lidar within a given mission threshold from 60°S to 78.25°N, which correlate to qualitative understanding of prediction accuracy and instrument performance.

In this research, the computational fluid dynamic (CFD) approach that has been used in wind power generation field was applied for the solution of the problems of local strong wind areas in railway fields, and the mechanism of wind generation was discussed. At the same time, the affectivity of the application of computational fluid dynamic approach to railway field was discussed. The problem of local wind that occurs on the railway line in winter was taken up in this research. A computational simulation for the prediction of wind conditions by LES was implemented and it was clarified that the local strong wind area is mainly caused by separated flows originating from the small‐scale terrain positioned at its upstream (at approximately 180.0 m above sea level). Meanwhile, the effects of the size of calculation area and spatial grid resolution on the result of calculation and the effect of atmospheric stability were also discussed. It was clarified that when the air flow characteristic of the separated flow originating from the small‐scale terrain (at altitude of approximately 180.0 m) targeted in this research is reproduced at high accuracy by computational simulation of wind conditions, approximately 10.0 m of spatial resolution of computational grid in horizontal direction is required. As a result of the computational simulation of wind conditions of stably stratified flow (Fr = 1.0), lee waves were excited at the downstream of the terrain over time. As a result, the reverse‐flow region lying behind the terrain that had been observed at a neutral time was inhibited. Consequently, local strong wind area was generated at the downstream of the terrain and the strong wind area passing through the observation mast was observed. By investigating the speed increasing rate of local strong wind area induced at the time of stable stratification, it was found that the wind was approximately 1.2 times stronger than what was generated at a neutral time.

Digital Terrain Models (DTMs) are currently a fundamental source of information in Earth Sciences. However, DTM-based studies can contain remarkable biases if limitations and inaccuracies of these models are disregarded. In this work, four freely available datasets such as SRTM C-SAR DEM, ASTER GDEM V2 and two airborne LiDAR derived DTMs (at 5 and 1 m spatial resolution, respectively) were analysed in a comparative study in three geomorphologically contrasted catchments located in Mediterranean geoecosystems under intensive human land use influence. Vertical accuracy as well as the influence of each dataset characteristics on hydrological and geomorphological modelling applicability were assessed by using classic geometric and morphometric parameters and the more recently proposed index of sediment connectivity. Overall vertical accuracy – expressed as Root Mean Squared Error (RMSE) and Normalized Median Deviation (NMAD) – revealed the highest accuracy in the cases of the 1 m (RMSE = 1.55 m; NMAD = 0.44 m) and 5 m LiDAR DTMs (RMSE = 1.73 m; NMAD = 0.84 m). Vertical accuracy of SRTM was lower (RMSE = 6.98 m; NMAD = 5.27 m) but considerably higher than in the case of ASTER (RMSE = 16.10 m; NMAD = 11.23 m). All datasets were affected by systematic distortions. As a consequence, propagation of these errors caused negative impacts on flow routing, stream network and catchment delineation and, to a lower extent, on the distribution of slope values. These limitations should be carefully considered when applying DTMs for hydrogeomorphological modelling.

Recent advances in sensor and platform technologies such as satellite systems, unmanned aerial vehicles (UAV), manned aerial platforms, and ground-based sensor networks have resulted in massive volumes of data is produced and collected about the earth. Processing, managing, and analyzing these data is one of the main challenges in 3D synthetic representation used in modeling and simulation (M&S) of the natural environment. M&S devices, such as flight simulators, traditionally require a variety of different databases to provide a synthetic representation of the world. M&S often requires integration of data from a variety of sources stored in different formats. Thus, for simulation of a complex synthetic environment, such as a 3D terrain model, tackling interoperability among its components (geospatial data, natural and man-made objects, dynamic and static models) is a critical challenge. Conventional approaches used local proprietary data models and formats. These approaches often lacked interoperability and created silos of content within the simulation community. Therefore, open geospatial standards are increasingly perceived as a means to promote interoperability and reusability for 3D M&S. In this paper, the Open Geospatial Consortium (OGC) CDB Standard is introduced. “CDB” originally refers to Common DataBase which is currently considered as a name with no abbreviation in the OGC community. The OGC CDB is an international standard for structuring, modeling, and storing geospatial information required in high performance modeling and simulation applications. CDB defines the core conceptual models, use cases, requirements, and specifications for employing geospatial data in 3D M&S. The main features of the OGC CDB Standard are described as run-time performance, full plug-and-play interoperable geospatial data store, usefulness in 3D and dynamic simulation environment, ability to integrate proprietary and open-source data formats. Furthermore, compatibility with the OGC standards baseline reduces the complexity of discovering, transforming, and streaming geospatial data into the synthetic environment and makes them more widely acceptable to major geospatial data/software producers. This paper includes an overview of OGC CDB version 1.0 which defines a conceptual model and file structure for the storage, access, and modification of a multi-resolution 3D synthetic environment data store. Finally, this paper presents a perspective of future versions of the OGC CDB and what the steps are for humanizing the OGC CDB standard with the other OGC/ISO standards baseline.

This study presents an innovative, dynamic model for predicting typhoon track deflections over complex terrain. Based on potential vorticity conservation, the model incorporates a topographic adjusting parameter (α) and a meridional adjusting velocity (MAV) to capture the vortex’s response to terrain variations. Simulations using an idealized bell-shaped mountain and Taiwan's realistic topography reveal that steeper terrain gradients consistently deflect typhoon tracks southward. This steering effect intensifies with increasing vortex strength due to a larger α, leading to enhanced MAV. Shallower approach angles also amplify deflections due to prolonged terrain interaction. Results highlight the significant role of Taiwan's Central Mountain Range in shaping typhoon trajectories. This model offers a refined approach for predicting typhoon behavior near complex terrain, advancing forecasting capabilities, and enhancing disaster preparedness strategies.

There is a growing need for an area-wide knowledge of SOC contents in agricultural soils at field scale for food security, monitoring long-term changes related to soil health and climate change. In Germany, large-scale SOC maps are mostly available with a spatial resolution of 250 m to 1 km2. The nationwide availability of both digital elevation models at various spatial resolutions and multi-temporal satellite imagery enables the derivation of multi-scale terrain attributes and Landsat-based multi-temporal soil reflectance composites (SRC) as explanatory variables. On the example of an Bavarian test of about 8000 km2, the scale-specific dependencies between the representativeness of 220 soil samples and different aggregation levels of the explanatory variables were analyzed for their scale-specific predictive power. The aggregation levels were generated by applying a region-growing segmentation procedure, the SOC content prediction was realized by the Random Forest algorithm. In doing so, established approaches of (geographic) object-based image analysis (GEOBIA) and machine learning were combined. The modeling results revealed scale-specific differences. Compared to terrain attributes, the use of SRC parameters lead to a significant model improvement at large field-related scale levels. The joint use of both terrain attributes and SRC parameters resulted in further model improvements. The best modeling variant is characterized by an accuracy of R2=0.84 and RMSE=1.99.

Object. Flooding in Ukraine is a common natural phenomenon that repeats periodically and in some cases it becomes disastrous. In an average year floods on the rivers of Volyn region take place from one to three times which extend beyond the limits of the floodplain. The floodplain of Styr river is located in the historical center of Lutsk city, that`s why issues of research and forecasting of floods are very important for a given city. Methodology. Using modern technologies of geodesy and remote sensing allows to quickly determine and predict the floodplain area of settlements. Based on the statistical data of the Volyn Regional Center for Hydrometeorology during the 7 year period 2011-2017 about water levels of the river Styr. We conducted mathematical modeling of fluctuations of water levels within the territory of Lutsk, based on creating a partial Fourier series for discrete values of middle-ten-day water levels values. The post hydrological measurements of Styr river water levels in the territory of Lutsk located on the Shevchenko Street comply with an altitude 172.87 meters. Based on the data of short-term flood forecasting in February and March, and relief data from the Department of Architecture and Urban Development of Volyn State Administration, we conducted visualization of the results using geographic information system QGIS. Results. The results of mathematical processing were the basis for geoinformation simulation of flooded areas using remote sensing data that are publicly available. Use of statistical and geospatial data in this article has great potential for further application in modeling the processes of natural and technogenic origin. Scientific novelty. The mathematical model of short-term forecasting of water levels during the flood period on the river Styr with implementation of geoinformation modeling of flooded areas using remote sensing data is proposed. Practical significance. The research results of water level changes on the Styr River and flood zones within the limits of Lutsk is proposed. The spring flood in February-March 2018, with the maximum water level 5.33 m, corresponds to an absolute mark of 178.20 m, which is forecasted in this article.

Floods in Ukraine is a common natural phenomenon that repeats periodically and in some cases it becomes disastrous signs. In an average year in the rivers of Volyn passes from one to three floods with going beyond the limits of the floodplain. Floodplain of Styr river is located in the historical center of Lutsk city, that`s why issues of research and forecasting of floods are very important for a given city. Using modern technologies of geodesy and remote sensing allows to quickly determine and predict the floodplain area of settlements. The research results of water level changes on the Styr River and flood zones within the limits of Lutsk is proposed. The mathematical model of short-term forecasting of water level in flood period on the river Styr with implementation of geoinformation modeling of flooded areas using remote sensing data is proposed.

In the study of mountainous areas, mountain peaks play a vital role as geomorphic features that have significant influence on hydrological processes, vegetation distribution, and other important topographic characteristics. From the perspectives of geomorphology and hydrology, the river network water system is an interconnected entity that serves as a crucial component in describing regional topography, geomorphology, and hydrological features. The primary objective of this article is to extract water system information and mountain peak data in Chongli District, Hebei Province. To extract mountain peaks, coarse-resolution Digital Elevation Model (DEM) data is utilized to estimate their positions and initiate data sampling based on DEM elevations. Deep learning models are employed to avoid explicit feature extraction and instead implicitly learn from training data. By using weight sharing techniques, the training parameters of the network are reduced, achieving more accurate extraction and recognition of mountain peaks in Chongli District, along with their classification. For the extraction of the water system, the fast regional convolutional neural network algorithm from target detection is introduced to enhance the efficiency and accuracy of extracting water system information through image processing. This algorithm rapidly identifies the type, location, and width of the water systems. Additionally, the AlexNet transfer learning method is applied to locate the river skeleton within the extracted water system area. Morphological methods are then used to extract river morphology and calculate its length and width. Finally, a developed algorithm for water system information extraction detects the presence of water system coverage areas in Chongli District. Through experiments, a total of 2792 mountain peak data points were successfully extracted. In terms of water system information extraction, the Faster R-CNN and CNN-based methods demonstrate high efficiency and low detection rates. This study provides information services and data support for the operation and maintenance of the Chongli Winter Olympics. Furthermore, it serves as a reference for future research conducted by scholars in the Chongli area, offering insights into various fields such as environmental changes, vegetation classification, and geomorphic features.

This paper presents a robust control strategy for trajectory tracking control of Skid-Steer Mobile Manipulators (SSMMs) using a Robust Nonlinear Model Predictive Control (R-NMPC) approach that minimizes trajectory tracking errors while overcoming model uncertainties and terra-mechanical disturbances. The proposed strategy aims to counteract disturbance effects caused by the slip phenomena through the wheel-terrain contact and bidirectional interactions propagated by the mechanical coupling between the SSMM base and arm. To capture such interactions, the mobile base dynamics and arm joints consider a coupled nonlinear model with bounded uncertainties based on principles of full-body energy balance and link torques. In addition, the SSMM dynamics stands by dynamical models, which are capable of capturing nonlinear speed relationships. Thus, a centralized control architecture integrates a nominal and ancillary controller based on the Active Disturbance Rejection Control (ADRC) to strengthen robustness of the Nonlinear Model Predictive Control (NMPC), operating the SSMM dynamics as a single robotic body. The NMPC is responsible for trajectory tracking control of a five Degrees of Freedom (DoF)’s SSMM. Meanwhile, the ADRC uses an Extended State Observer (ESO) to quantify the impact of external disturbances and uncertainties, generating compensation for unmeasurable disturbances. In addition, the proposed robust control strategy compensates for the model mismatch errors, which are generated by the difference between an SSMM nominal model (disturbance-free) and its real-time response. Results indicate that the approach is able to compensate for effects by 70% using pre-set trajectories and regulation tests against unmeasurable disturbances applied to simulated SSMR model.

Low-frequency electromagnetic induction (EMI) is a non-invasive geophysical method that is based on the induction of electromagnetic (EM) waves into the subsurface to quantify changes in electrical conductivity. In this study we present an open (design details and software are accessible) and modular system for the collection of EMI data. The instrument proposed allows to adjust the separations between the transmitter and up to four receiving antennas as well as the acquisition frequency (in the range between 3 and 50 kHz) to permit measurements with variable depth of investigation. The sensor provides access to raw data and the software described in this study allows control of the signal processing chain. The design specifications permit apparent conductivity measurements in the range of between 1 mS/m and 1000 mS/m, with a resolution of 1.0 mS/m and with a sampling rate of up to 10 samples per second. The sensor allows for a synchronous acquisition of a time stamp and a location stamp for each data sample. The sensor has a mass of less than 5 kg, is portable and suitable for 1-person operation, provides 4 hours of operation time on one battery charge, and provides sufficient rigidity for practical field operations.

The terrain of Changbai Mountain has great influence on the distribution of atmospheric flows and the occurrence and development of precipitation. This study quantitatively analyzes the regional characteristic of topographic perturbations and the relationship between terrain, wind and precipitation in Changbai Mountain region, by using a spectral analysis of the two-dimensional discrete cosine transform. Three domains with relatively heavy summer precipitation are selected as the study region. The results indicate that the overall terrain of Changbai Mountain region exhibits anisotropic characteristics. The terrain spectra of domain B are less than those of domain A and C across the whole wavelength (λ) bands, indicating that the large-scale topographic perturbations of domain B are relatively weak. The largest topographic spectral peak of domain C shows the most pronounced undulation of terrain among the three domains. The dominant wavelengths of terrain height variance for domain A and C, both close to the respective maximum wavelengths, indicate more prominent large-scale topographic perturbations. For domain A, the variation of the precipitation spectra is consistent with that of the wind spectra at the wavelength bands of λ < 390 km, showing a high correlation between wind field and the occurrence of rainfall. The inverse relationship at larger wavelengths indicates that multiple factors contribute to the occurrence of rainfall. For domain B, there is consistency in the fluctuations of terrain spectra, precipitation spectra, and wind spectra at the wavelength bands of λ < 278.3 km, implying that the smaller-scale terrain has an important effect on the occurrence of summer precipitation. For domain C, the variations of terrain spectra, precipitation spectra, and wind spectra are almost consistent across the whole wavelength bands, indicating that the large-scale terrain and minor terrain both play a crucial role in atmospheric uplift and the occurrence and development of summer rainfall.

Aiming at effectively generating safe and reliable motion paths for quadruped robots, a hierar-chical path planning approach driven by dynamic 3D point cloud is proposed in this article. The developed path planning model is essentially constituted of two layers: global path planning layer and local path planning layer. At the global path planning layer, a new method is proposed for calculating terrain potential field based on point cloud height segmentation. Variable step size is employed to improve the path smoothness. At the local path planning layer, a real-time prediction method for potential collision area and a strategy for temporary target point selection is developed. Quadruped robot experiments were carried out in an outdoor complex environment. The experi-mental results verified that, for global path planning, the smoothness of the path is improved and the complexity of the passing ground is reduced. The effective step size is increased by a maxi-mum of 13.4 times, and the number of iterations is decreased by up to 1/6, compared with the traditional fixed step size planning algorithm. For local path planning, the path length is short-ened by 20%, more efficient dynamic obstacle avoidance and more stable velocity planning are achieved by using the improved dynamic window approach (DWA).

Autonomous unmanned aerial vehicles (UAVs) require highly reliable navigation information. Generally, navigation systems with the inertial navigation system (INS) and global navigation satellite system (GNSS) have been widely used. However, the GNSS is vulnerable to jamming and spoofing. The terrain referenced navigation (TRN) technique can be used to solve this problem. In this study, to obtain reliable navigation information even if a GNSS is not available or the degree of terrain roughness is not determined, we propose a federated filter based INS/GNSS/TRN integrated navigation system. we also introduce a TRN system that combines batch processing and an auxiliary particle filter to ensure stable flight of UAVs even in a long-term GNSS-denied environment. As an altimeter sensor for the TRN system, we use an interferometric radar altimeter (IRA) to obtain reliable navigation accuracy in high altitude flight. In addition, a parallel computing technique with general-purpose computing on graphics processing units (GPGPU) is applied to process a high resolution terrain database and a nonlinear filter in real time on board. Finally, we verify the performance of the proposed system through software-in-the-loop (SIL) tests and captive flight tests in a GNSS unavailable environment.

Autonomous electronic area, territory, or space protection is getting more important. One of the areas of application of the system is to monitor the quarantine zones created during epidemics. The idea to create a system of mobile sensory units for defending quarantine zones was born during one of the phases of the Covid epidemic in 2020. The paper contains a brief technical description of a mobile sensor units and their network. This network surrounds an area of interest. The work includes a mathematical and data model of the protected area. In addition, the paper presents a method for distributing mobile sensor units in areas of interest.

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

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

The vulnerability of alpine environments to climate change presses an urgent need to accurately model and understand these ecosystems. Popularity in use of digital elevation models (DEMs) to derive proxy environmental variables has increased over the past decade, particularly as DEMs are relatively cheaply acquired at very high resolutions (VHR; <1m spatial resolution). Here, we implement a multiscale framework and compare DEM-derived variables produced by Light Detection and Ranging (LiDAR) and stereo-photogrammetry (PHOTO) methods, with the aims of assessing their relevance and utility in species distribution modelling (SDM). Using a case study on the arctic-alpine plant Arabis alpina in two valleys in the western Swiss Alps, we show that both LiDAR and PHOTO technologies can be relevant for producing DEM-derived variables for use in SDMs. We demonstrate that PHOTO DEMs rivalled the accuracy of LiDAR, putting the current paradigm of LiDAR being the more accurate of the two methods into question. We obtained DEMs at spatial resolutions of 6.25cm-8m for PHOTO and 50cm-32m for LiDAR, where we determined that the optimal spatial resolutions of DEM-derived variables in SDM were between 1 and 32m, depending on the variable and site characteristics. We found that the reduced extent of PHOTO DEMs altered the calculations of all derived variables, which had particular consequences on their relevance at the site with heterogenous terrain. However, for the homogenous site, we found that SDMs based on PHOTO-derived variables generally had higher predictive powers than those derived from LiDAR at matching resolutions. From our results, we recommend carefully considering the required DEM extent to produce relevant derived variables. We also advocate implementing a multiscale framework to appropriately assess the ecological relevance of derived variables, where we caution against the use of VHR-DEMs finer than 50cm in such studies.

This work targets the development of a mobility control system for high-speed series hybrid electric tracked vehicles, which operate with independent traction motors for each track. The scope of the research encompasses the modeling of the series hybrid powertrain specific to military tracked vehicles, as well as an in-depth analysis of their dynamic behavior. Subsequently, the study conducts a critical review of the mobility control approaches sourced from literature, identifying key techniques relevant to high-inertia vehicular applications. Building on the foundational models, the study puts forward a robust closed-loop mobility control system aimed at ensuring precise and stable off-road vehicle operations. The system's resilience and adaptability to a variety of driving conditions are emphasized, with a particular focus on handling maneuvers such as steering and pivoting, which are challenging operations for tracked vehicle agility. The performance of the proposed mobility control system is tested through a series of simulations, covering a spectrum of operational scenarios. These tests are carried out in both offline simulation settings, which permit meticulous fine-tuning of system parameters, and real-time environments that replicate actual field conditions. The simulation results demonstrate the system's capacity to improve vehicular response and highlight its potential impact on the future designs of mobility control systems for the heavy-duty vehicle sector, particularly in defense applications.

This review paper delves into the multifaceted aspects of pineapple cultivation, focusing on morphology studies, harvesting challenges, and mechanization efforts. Pineapple, renowned for its commercial value and unique flavor, holds a prominent position in global agriculture, with India alone producing 19.64 lakh tonnes annually. However, the hilly terrains of regions like northeastern India pose significant hurdles to traditional harvesting methods, necessitating innovative solutions. Understanding the morphology of pineapple plants is crucial for optimizing cultivation practices and designing efficient harvesting equipment. Insights from various studies shed light on leaf structure, fruit maturity, and growth patterns, providing valuable information for engineering tailored solutions. Mechanization endeavors, including semi-mechanized harvesting machines and semi-manual harvesters, demonstrate promising results in improving efficiency and reducing labor-intensive practices. Despite challenges such as increased crop losses and operational costs, continued research and development in mechanization hold the key to sustainable pineapple cultivation. This paper underscores the importance of integrating morphology studies and mechanization efforts to address the unique challenges faced by pineapple farmers, particularly in hilly terrains, and highlights the need for ongoing innovation to ensure the long-term sustainability of pineapple cultivation.