Search Results (3,564)

Non-cooperative spatial target detection plays a vital role in enabling autonomous on-orbit servicing and maintaining space situational awareness (SSA). However, due to the limited computational resources of onboard embedded systems and the complexity of spaceborne imaging environments, where spacecraft images often contain small targets that are easily obscured by background noise and characterized by low local information entropy, many existing object detection frameworks struggle to achieve high accuracy with low computational cost. To address this challenge, we propose YOLO-GRBI, an enhanced detection network designed to balance accuracy and efficiency. A reparameterized ELAN backbone is adopted to improve feature reuse and facilitate gradient propagation. The BiFormer and C2f-iAFF modules are introduced to enhance attention to salient targets, reducing false positives and false negatives. GSConv and VoV-GSCSP modules are integrated into the neck to reduce convolution operations and computational redundancy while preserving information entropy. YOLO-GRBI employs the focal loss for classification and confidence prediction to address class imbalance. Experiments on a self-constructed spacecraft dataset show that YOLO-GRBI outperforms the baseline YOLOv8n, achieving a 4.9% increase in mAP@0.5 and a 6.0% boost in mAP@0.5:0.95, while further reducing model complexity and inference latency. Full article

This research objective is to overcome the shortcomings of the updated values added of the System of National Accounts 2025 (SNA 2025) in order to measure the spatialized total sustainable social income from forest ecosystems through an experimentally refined System of Environmental-Economic Accounting (rSEEA). Sustainable income measured at observed, imputed, and simulated market transaction prices is defined as the maximum potential consumption of products generated in the forest ecosystem without a real decline in the environmental asset and manufactured fixed capital at the closing of the current period, assuming idealized future conditions of stable real prices and dynamics of institutional and other autonomous processes. A key finding of this research is that sustainable income extends the SNA 2025 net value added by incorporating the omissions by the latter of environmental net operating surplus (or ecosystem service in the absence of environmental damage), ordinary changes in the environmental asset condition and manufactured fixed capital adjusted according to a less ordinary entry of manufactured fixed capital plus the manufactured consumption of fixed capital. Sustainable income was measured spatially for 15 individual products, the area units being the map tiles for Andalusia, Spain, Stone pine forest (Pinus pinea L.) canopy cover was predominant, covering an area of 243,559 hectares. In 2010, the SNA 2025 gross and net values added accounted for 24% and 27%, respectively, of the Stone pine forest sustainable income measured by the rSEEA. The ecosystem services omitted by the SNA 2025 made up 69% of the rSEEA sustainable income. Full article

Autonomous public transport (APT) is revolutionizing urban mobility by integrating advanced technologies, including electric autonomous buses and shared autonomous vehicles (SAVs). This paper examines the historical evolution of APT, from early automation efforts in the 1920s to the deployment of autonomous shuttles in contemporary cities. It highlights technological milestones, legislative developments, and shifts in public perception that have influenced the adoption of APT. The research identifies key benefits of APT, including enhanced road safety, reduced greenhouse gas emissions, and improved cost-efficiency in public transport operations. Additionally, the environmental potential of SAVs to reduce traffic congestion and emissions is explored, particularly when integrated with renewable energy sources and sustainable urban planning. However, the study also addresses significant challenges, such as handling emergencies without human intervention, rising cybersecurity threats, and employment displacement in the transportation sector. Social equity concerns are also discussed, especially regarding access and the risk of increasing urban inequality. This paper contributes to the broader discourse on sustainable mobility, transportation innovation, and the future of smart cities by providing a comprehensive analysis of both opportunities and obstacles. Effective policy frameworks and inclusive planning are essential for the successful implementation of APT systems worldwide. Full article

This paper introduces the overall design plan, development timeline, and preliminary progress of the Autonomous Pit Exploration System project. This project aims to develop an advanced multi-robot system for the efficient inspection of nuclear waste-storage tank pits. The project is structured into three phases: Phase 1 involves data collection and interface definition in collaboration with Hanford Site experts and university partners, focusing on tank riser geometry and hardware solutions. Phase 2 includes the selection of sensors and robot components, detailed mechanical design, and prototyping. Phase 3 integrates all components into a cohesive system managed by a master control package which also incorporates digital twin and surrogate models, and culminates in comprehensive testing and validation at a simulated tank pit at the Idaho National Laboratory. Additionally, the system’s communication design ensures coordinated operation through shared data, power, and control signals. For transportation and deployment, an electric vehicle (EV) is chosen to support the system for a full 10 h shift with better regulatory compliance for field deployment. A telescopic arm design is selected for its simple configuration and superior reach capability and controllability. Preliminary testing utilizes an educational robot to demonstrate the feasibility of splitting computational tasks between edge and cloud computers. Successful simultaneous localization and mapping (SLAM) tasks validate our distributed computing approach. More design considerations are also discussed, including radiation hardness assurance, SLAM performance, software transferability, and digital twinning strategies. Full article

With the growing adoption of electric vehicles, optimizing the user experience of charging infrastructure has become critical. However, extracting actionable insights from the vast number of user reviews remains a significant challenge, impeding demand-driven operational planning for charging stations and degrading the user experience. This study leverages three pre-trained language models to perform sentiment classification and multi-level topic identification on 168,129 user reviews from Beijing, facilitating a comprehensive understanding of user feedback. The experimental results reveal significant task-model specialization: RoBERTa-WWM excels in sentiment analysis (accuracy = 0.917) and fine-grained topic identification (Micro-F1 = 0.844), making it ideal for deep semantic extraction. Conversely, ELECTRA, after sufficient training, demonstrates a strong aptitude for coarse-grained topic summarization, highlighting its strength in high-level semantic generalization. Notably, the models offer capabilities beyond simple classification, including autonomous label normalization and the extraction of valuable information from comments with low information density. Furthermore, integrating textual and spatial analyses revealed striking patterns. We identified an urban–rural emotional gap—suburban users are more satisfied despite fewer facilities—and used geographically weighted regression (GWR) to quantify the spatial differences in the factors affecting user satisfaction in Beijing’s districts. We identified three types of areas requiring differentiated strategies, as follows: the northwestern region is highly sensitive to equipment quality, the central urban area has a complex relationship between supporting facilities and satisfaction, and the emerging adoption area is more sensitive to accessibility and price factors. These findings offer a data-driven framework for charging infrastructure planning, enabling operators to base decisions on real-world user feedback and tailor solutions to specific local contexts. Full article

The use of the Industrial Internet of Things within the domain of electric vehicles signifies a paradigm shift toward advanced, integrated, and optimized transport systems. This study thoroughly investigates the pivotal role of the Industrial Internet of Things in elevating various features of electric vehicle technology, comprising predictive maintenance, vehicle connectivity, personalized user management, energy and fleet optimization, and independent functionalities. Key IIoT applications, such as Vehicle-to-Grid integration and advanced driver-assistance systems, are examined alongside case studies highlighting real-world implementations. The findings demonstrate that IIoT-enabled advanced charging stations lower charging time, while grid stabilization lowers electricity demand, boosting functional sustainability. Battery Management Systems (BMSs) prolong battery lifespan and minimize maintenance intervals. The integration of the IIoT with artificial intelligence (AI) optimizes route planning, driving behavior, and energy consumption, resulting in safer and more efficient autonomous EV operations. Various issues, such as cybersecurity, connectivity, and integration with outdated systems, are also tackled in this study, while emerging trends powered by artificial intelligence, machine learning, and emerging IIoT technologies are also deliberated. This study emphasizes the capacity for IIoT to speed up the worldwide shift to eco-friendly and smart transportation solutions by evaluating the overlap of IIoT and EVs. Full article

An airship is a lighter-than-air vehicle that offers static lift without consuming much power. This property makes it a potential candidate for many commercial applications. The target applications include rescue operations, surveillance, communication, a data collection platform for research activities and payload delivery that requires hovering capabilities, etc. To successfully apply airships in these applications and many others, airship autonomous control development is of paramount importance. To accomplish this goal, the initial step is to model airship dynamics that cover the complete flight envelope accurately. The goal is to develop a flight simulator that can test the advanced autonomous control algorithms. In the proposed work, first, the nonlinear six-degree-of-freedom equations of motion are developed using Newtonian mechanics. These equations are used to develop a flight simulator for the University of Engineering and Technology Taxila (UETT) airship. Airship responses to different control inputs are investigated, and the results are validated with the available data in the literature for other airship projects. Also, the obtained longitudinal and lateral eigenmodes show good agreement with the experimental flight data of the UETT airship. The extensive simulation results favour the dynamic analysis of the airship. Full article

This study proposes a system identification (SI) technique based on the constrained recursive least squares (CRLS) method to model the dynamics of the P-SUROII. By simplifying the dynamic model in consideration of the inherent characteristics of underwater vehicles and minimizing the number of parameters to be estimated, the proposed approach aims to improve estimation accuracy. In addition, a simplified thruster input model was applied to quantify the actual thruster output and improve the reliability of the input data. To satisfy the persistent excitation (PE) condition during the estimation process, experiments incorporating various motion modes were designed, and free-running and S-shaped maneuvering tests were additionally conducted to validate the model’s generalization capability and prediction performance. The coefficients estimated using the CRLS method, which is robust to noise and bias, were evaluated using quantitative similarity metrics such as root mean squared error (RMSE) and mean absolute error (MAE), confirming their validity. The proposed method effectively captures the actual dynamics of the underwater vehicle and is expected to serve as a key enabling technology for the future development of high-performance control systems and autonomous operation systems. Full article

To increase the safety and efficiency of underground mining processes, it is important to advance automation. An important part of that is to achieve autonomous material loading using load–haul–dump (LHD) machines. To be able to autonomously load material from a muck pile, it is crucial to first detect and characterize it in terms of spatial configuration and geometry. Currently, the technologies available on the market that do not require an operator at the stope are only applicable in specific mine layouts or use 2D camera images of the surroundings that can be observed from a control room for teleoperation. However, due to missing depth information, estimating distances is difficult. This work presents a novel approach to muck pile detection developed as part of the EU-funded Next Generation Carbon Neutral Pilots for Smart Intelligent Mining Systems (NEXGEN SIMS) project. It uses a stereo camera mounted on an LHD to gather three-dimensional data of the surroundings. By applying a topological algorithm, a muck pile can be located and its overall shape determined. This system can detect and segment muck piles while driving towards them at full speed. The detected position and shape of the muck pile can then be used to determine an optimal attack point for the machine. This sensor solution was then integrated into a complete system for autonomous loading with an LHD. In two different underground mines, it was tested and demonstrated that the machines were able to reliably load material without human intervention. Full article

Developing advanced receiver autonomous integrity monitoring (ARAIM) for ground real-time precise positioning applications such as autonomous vehicles presents computational challenges, particularly in calculating real-time protection levels (PLs) that bound possible positioning errors under an acceptable integrity risk. This study proposes an enhanced method for fast PL estimation by introducing a segmentation approach to the Gershgorin circle theorem-based technique for computing standard deviation upper bounds (UBs). This method divides satellites into segments based on normalised geometry mapping coefficients, allowing multiple UBs instead of a single bound for all subsets within each fault-tolerant mode. The approach is implemented for PPP-RTK with an improved Classification Adaptive Kalman Filter (CAKF). Testing is conducted using a network of 10 continuously operating reference stations (CORSs) employing dual-frequency multi-constellation GNSS data. Results show that when monitoring single fault mode, the PL ranges from 0.05 to 0.1 m with a PL-to-PE ratio of 30:1, while dual fault modes monitoring yields PL from 1 to 10 m with a ratio of 3700:1. The segmentation method achieves 1–5% tighter PLs, i.e., better integrity monitoring (IM) availability, compared to the classical single UB approach while maintaining the same computational efficiency by reducing processed subsets from 325 to 1 for dual fault modes. While the method provides slight improvement in PL tightness, it can be more computationally efficient when having geometries with dominant off-diagonal correlation that fails the computation of a UB. Full article

Conventional fertigation systems suffer from limited cross-regional adaptability, mainly due to unstable fertilizer flow from fixed-aperture units, poor terrain adaptability, and an inadequate response to environmental heterogeneity. This study proposes an autonomous, cross-regional intelligent fertigation system based on an STM32F1 microcontroller and UART communication protocols. The system integrates a mechanically adjustable iris fertilizer delivery unit, a dual-axis fertigation module, a data interconnection unit, and comprehensive control software with dynamic calibration capabilities. Prototype evaluations conducted on both sloped terrain (up to 38°) and flat surfaces demonstrate a stable performance, achieving fertilizer flow control errors below 3%, irrigation deviation under 5%, and fertilization deviation within 2%. Real-time data acquisition, remote monitoring, and intelligent operation are supported by a YOLOv5s-based visual recognition system, which attains an mAP@0.5 of 92.5%. This integrated solution offers a robust approach to precision agriculture across diverse environmental conditions. Full article

In this paper, a connecting joint capable of underwater autonomous docking and separation is proposed, which can be used for a reconfigurable articulated underwater robot (RAU robot). The structural design, optimization, and experimental validation of the connecting joint are presented in detail. First, the concept of the RAU robot is introduced, along with its different operational modes and the application scenarios. Second, the specific structural design and basic functions of the connecting joint are described. Third, a dynamic model of the docking process between different vehicles is established and simulated by kinematic simulation software. Through discretely sampling the parameter space, the optimal parameter combination is obtained. Finally, a prototype of the connecting joint is fabricated and functional tests are conducted. The impact forces on the docking rods before and after optimization are compared. The results show that the designed connecting joint can fulfill the functional requirements for autonomous docking of the underwater robot, and the maximum impact force is reduced by 27.08% compared to the one before optimization. Full article

Given the growing need for high-performance operation of 4WID-UGVs, coordinated optimization of trajectory tracking, vehicle stability, and energy efficiency poses a challenge. Existing control strategies often fail to effectively balance these multiple objectives, particularly in integrating energy-saving goals while ensuring precise trajectory following and stable vehicle motion. Thus, a hierarchical control architecture based on Model Predictive Control (MPC) is proposed. The upper-level controller focuses on trajectory tracking accuracy and computes the optimal longitudinal acceleration and additional yaw moment using a receding horizon optimization scheme. The lower-level controller formulates a multi-objective allocation model that integrates vehicle stability, energy consumption, and wheel utilization, translating the upper-level outputs into precise steering angles and torque commands for each wheel. This work innovatively integrates multi-objective optimization more comprehensively within the intelligent vehicle context. To validate the proposed approach, simulation experiments were conducted on S-shaped and circular paths. The results show that the proposed method can keep the average lateral and longitudinal tracking errors at about 0.2 m, while keeping the average efficiency of the wheel hub motor above 85%. This study provides a feasible and effective control strategy for achieving high-performance, energy-saving autonomous driving of distributed drive vehicles. Full article

The renin-angiotensin system (RAS) has evolved from being considered solely a peripheral endocrine system for cardiovascular control to being recognized as a complex molecular network with important functions in the central nervous system (CNS) and peripheral nervous system (PNS). Here we examine the organization, mechanisms of action, and clinical implications of cerebral RAS in physiological conditions and in various neurological pathologies. The cerebral RAS operates autonomously, synthesizing its main components locally due to restrictions imposed by the blood–brain barrier. The key elements of the system are (pro)renin; (pro)renin receptor (PRR); angiotensinogen; angiotensin-converting enzyme types 1 and 2 (ACE1 and ACE2); angiotensin I (AngI), angiotensin II (AngII), angiotensin III (AngIII), angiotensin IV (AngIV), angiotensin A (AngA), and angiotensin 1-7 (Ang(1-7)) peptides; RAS-regulating aminopeptidases; and AT1 (AT1R), AT2 (AT2R), AT4 (AT4R/IRAP), and Mas (MasR) receptors. More recently, alamandine and its MrgD receptor have been included. They are distributed in specific brain regions such as the hypothalamus, hippocampus, cerebral cortex, and brainstem. The system is organized into two opposing axes: the classical axis (renin/ACE1/AngII/AT1R) with vasoconstrictive, proinflammatory, and prooxidative effects, and the alternative axes AngII/AT2R, AngIV/AT4R/IRAP, ACE2/Ang(1-7)/MasR and alamandine/MrgD receptor, with vasodilatory, anti-inflammatory, and neuroprotective properties. This functional duality allows us to understand its role in neurological physiopathology. RAS dysregulation is implicated in multiple neurodegenerative diseases, including Alzheimer’s disease (AD), Parkinson’s disease (PD), and neuropsychiatric disorders such as depression and anxiety. In brain aging, an imbalance toward hyperactivation of the renin/ACE1/AngII/AT1R axis is observed, contributing to cognitive impairment and neuroinflammation. Epidemiological studies and clinical trials have shown that pharmacological modulation of the RAS using ACE inhibitors (ACEIs) and AT1R antagonists (ARA-II) not only controls blood pressure but also offers neuroprotective benefits, reducing the incidence of cognitive decline and dementia. These effects are attributed to direct mechanisms on the CNS, including reduction of oxidative stress, decreased neuroinflammation, and improved cerebral blood flow. Full article

The growing importance of microgrids—linking buildings with distributed energy resources and storage—is driving the evolution of Smart Local Energy Systems (SLESs). These systems require advanced modeling and simulations to address growing complexity, decentralization, and interoperability. This review presents an analysis of commonly used environments and methods applied in the design and operation of SLESs. Particular emphasis is placed on their capabilities for multi-domain integration, predictive control, and smart automation. A novel contribution is the identification of Closed Ecological Systems (CES) and Life Support Systems (LSSs)—fully or semi-isolated environments designed to sustain human life through autonomous recycling of air, water, and other resources—as promising new application domains for SLES technologies. This review explores how concepts developed for building and energy systems, such as demand-side management, IoT-based monitoring, and edge computing, can be adapted to CES/LSS contexts, which demand isolation, autonomy, and high reliability. Challenges related to model integration, simulation scalability, and the bidirectional transfer of technologies and modeling between Earth-based and space systems are discussed. This paper concludes with a SWOT analysis and a roadmap for future research. This work lays the foundation for developing sustainable, intelligent, and autonomous energy infrastructures—both terrestrial and extraterrestrial. Full article