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    • Article
    • Open Access

    Similarly well-formed welds can differ markedly in service performance, yet the metallurgical origin of this difference has rarely been quantified. Bead-on-plate welds were prepared on AA6061 with an ER4047 filler by pulsed gas metal arc welding (P-GMAW); with the pulse waveform kept constant, the base current was raised from 30 A to 110 A, which varied the heat input from 122 J/mm to 235 J/mm. The grain boundary (GB) morphology and the Al, Mg, and Si contents at the GBs and in the grain interior were quantified by SEM/EDS, together with tensile, bending, and impact tests. With increasing heat input, the GBs changed from convex to concave; Mg and Si segregated at the GBs to 8.5 and 31 times their contents in the grain interior; Al was depleted to 66.68% of its interior content; and solidification cracks multiplied. The tensile strength fell from 276.13 MPa to 252.92 MPa and the impact energy from 2.02 J to 1.57 J; the elongation rose from 4.21% to 4.99%, and the fracture mode changed from dimple–cleavage composite fracture to ductile dimple fracture and, at the highest heat input, to cleavage fracture. The deepening GB depressions reduced the load-bearing area, whereas the transition to ductile fracture governed the gain in elongation. The results therefore establish a quantitative link between the heat input, the GB microsegregation and morphology, and the mechanical behavior of well-formed P-GMAW welds.

    Coatings

    19 October 2026

    • Review
    • Open Access

    Background: Furcation involvement (FI) represents one of the most challenging conditions in periodontal therapy due to the anatomic complexity of multi-rooted teeth and the progressive interradicular attachment loss that compromises long-term tooth stability. Deep periodontal pockets in molars and premolars often present as combined defects, including horizontal FI and infrabony components. Conventional non-surgical and surgical approaches, including resective procedures, have shown limited long-term advantages, with tooth-survival outcomes comparable to those achieved by open flap debridement. Regenerative strategies, supported by advances in biomaterials, biologic agents, and soft tissue management, have gained increasing interest for Class II and selected Class III defects. Methods: This narrative review summarizes current evidence on regenerative and soft-tissue surgical approaches for Class II furcation defects, focusing on indications, outcomes, and underlying biologic principles. Results: Current evidence, largely derived from heterogeneous study designs, suggests regenerative procedures for Class II furcation defects may improve clinical attachment level and probing depth reduction when case selection is appropriate. Adjunctive soft tissue grafting may help support wound stability and regenerative healing, although its specific contribution remains to be established. Conclusions: Regenerative therapy appears to be a promising option for selected furcation defects, though the evidence base remains heterogeneous and partly preliminary. Soft tissue management may represent a biologically plausible adjunct to regenerative endpoints and long-term stability, but its incremental effect on true periodontal regeneration remains to be established through controlled clinical trials.

    Appl. Sci.

    19 October 2026

    • Article
    • Open Access

    Occlusion disrupts visual tracking of unmanned aerial vehicle (UAV) targets and makes their reappearance difficult to predict. We propose Forward-Seed to extract the foreground occluder boundary associated with a tracked target. The method combines target-relative depth ordering, a soft forward prior, multi-ray contact seeding, front-layer geodesic growth, and internal seam refinement. The evaluation includes controlled UE4 scenes, 80 flight trials across eight real UAV scenes, and a 760-event RGB-D object-tracking subset. On the additional RGB-D test subset, the mean IoU and Boundary F1 are 0.941 and 0.869, respectively. Task-matched comparisons, component ablations, and input perturbations assess the integrated design. Combining GRU trajectory predictions with Forward-Seed boundaries produces valid exit estimates for 728 of 760 events, with a mean error of 25.8 pixels across valid estimates. In complete-pipeline comparisons with LETrack, HIPTrack, and SMSTracker, GridTrack + Forward-Seed achieves tracking-success AUCs of 0.670, 0.622, and 0.597 on UE4, real-UAV, and RGBD1K tests, respectively. It achieves the highest AUC on UE4 and real-UAV tests and ranks second to SMSTracker on RGBD1K. Its recovery rates within 0.8 s of reappearance are 91.1%, 85.4%, and 84.9%, the highest among the tested pipelines. Recovery time is measured using video timestamps and excludes processing latency. The full boundary detector requires 0.806 s per 1280 × 800 image. The results support target-conditioned boundary extraction and improved recovery in the evaluated pipelines, although broader airborne validation and faster computation are still needed.

    Drones

    19 October 2026

    • Review
    • Open Access

    Frosty pod rot (FPR), caused by Moniliophthora roreri, severely constrains cacao production in the Neotropics, yet evidence supporting molecular breeding for resistance remains fragmented and is often conflated with findings from witches’ broom disease. We conducted a structured critical review, not a systematic review, and classified each FPR-related claim with an author-developed, multidimensional evidence classification system (E0–E5) separating directness, genetic replication, mechanistic inference and breeding utility. The evidence supports a quantitative, partial and context-dependent architecture of resistance. The strongest QTL have been re-detected only within the Pound 7 × UF273 pedigree (E2a), and no FPR locus replicated in genetically independent material (E2b) was identified in the literature retrieved and verified. Genomic predictive ability reached 0.60–0.67 under random cross-validation within one clonal panel but averaged approximately 0.16 when models were transferred among related populations; these values answer different questions and are not directly comparable. Host and pathogen transcriptomics provide correlative evidence (E3a), and recombinant M. roreri effectors show biological activity in heterologous or cacao tissues (E3b-i), but no stable genetic manipulation altering FPR in a pod-challenge assay (E4) and no documented breeding utility (E5) were identified. We propose a Phenotyping and Reporting Guideline for FPR (PRG-FPR) and MIGGA, a modular, evidence-gated decision framework illustrated with a retrospective worked example; its effect on realised genetic gain remains to be tested.

    Int. J. Mol. Sci.

    19 October 2026

    • Review
    • Open Access

    Straw return is an important practice for replenishing soil organic matter (SOM) and recycling agricultural residues. This review synthesizes straw decomposition characteristics, drivers, and agroecological effects across China’s four major grain-producing regions. The relevant literature was retrieved from the Web of Science Core Collection, Scopus, and China National Knowledge Infrastructure (CNKI) and manually selected based on their relevance to straw decomposition and associated agroecological responses. In Northeast China, low temperature and a short effective decomposition period limit straw breakdown. In the Huang-Huai-Hai region, intensive winter wheat–summer maize rotation, seasonal straw inputs, and fluvo-aquic soil properties regulate decomposition. In the middle and lower reaches of the Yangtze River, favorable hydrothermal conditions support decomposition, while paddy–upland alternation and flooding modify decomposition pathways. In Southwest China, warm, humid conditions favor decomposition, but erosion and nutrient losses on sloping croplands can weaken long-term fertility benefits. Straw return can improve SOM accumulation, nutrient availability, soil structure, and crop productivity; however, these benefits depend on climate, soil properties, cropping systems, and management. Responses of CO2, CH4, and N2O emissions also vary, particularly with soil moisture and nitrogen management. Future studies should integrate long-term field experiments, microbial ecology, carbon–nitrogen cycling, and life cycle assessment to develop region-specific straw return strategies that balance agronomic benefits and environmental risks.

    Agriculture

    19 October 2026

    • Article
    • Open Access

    Forest carbon projects have become increasingly relevant for climate mitigation, yet integrated evidence regarding their territorial distribution, governance arrangements, carbon-market performance, and environmental integrity remains limited in Peru. This study provides an integrated assessment of carbon projects implemented between 2010 and 2026 using a mixed-methods approach that combined carbon-registry records, institutional documentation, supplementary project information, and the scientific literature. The analysis evaluated project scope, geographic distribution, governance structures, land tenure, carbon-credit dynamics, co-benefits, and integrity-related risks. The results indicate that Peru’s carbon project portfolio is strongly concentrated in forest-based mitigation pathways, particularly REDD+, ecological restoration, afforestation, and agroforestry initiatives located in the Amazon region. Most projects are implemented in Indigenous territories, private lands, and forest concessions, while private and Indigenous governance arrangements predominate over collaborative or multi-stakeholder models. Patterns of carbon-credit generation and retirement indicate substantial participation in voluntary carbon markets, although market activity is highly concentrated in a small number of large Amazonian REDD+ projects. Furthermore, projects reported biodiversity conservation, ecological restoration, livelihoods, and capacity-building benefits, while concerns related to additionality, leakage, permanence, safeguard implementation, and market transparency persist. Overall, the findings suggest that the long-term effectiveness and credibility of forest carbon projects depend not only on carbon performance but also on governance quality, environmental integrity, territorial rights, transparency, and equitable benefit-sharing mechanisms.

    Sustainability

    19 October 2026

    • Article
    • Open Access

    Visible corrosion on coated steel bridge surfaces is manifested through irregular changes in color, texture, apparent roughness, and boundary morphology. RGB inspection images can record these surface appearance features, but they do not directly measure coating thickness, coating adhesion, corrosion depth, or residual structural capacity. This study therefore focuses on the pixel-level segmentation of four visible corrosion condition states—Good, Fair, Poor, and Severe—and proposes a lightweight semantic segmentation network, termed DE-YOLO26n-sem. Built on the YOLO26n semantic segmentation baseline, the network uses a stride-2 convolution to align shallow P2/4 features with the P3/8 feature scale before injecting them into the main segmentation branch. This design helps preserve corrosion boundaries and fine surface details weakened by downsampling. An efficient channel attention module then adaptively recalibrates color and texture responses without reducing the channel dimension. Training combines weighted cross-entropy, Dice loss, and auxiliary supervision. The method is evaluated on 440 pixel-annotated images from the Corrosion Condition State Semantic Segmentation Dataset v2 using a five-fold nested procedure. In each outer iteration, one-fold is reserved exclusively for testing, while architecture screening and checkpoint selection are conducted only within the remaining development data. A6, which combines scale-matched detail injection and efficient channel attention, is selected in four of the five inner screening procedures, while A4 is selected in the remaining iteration. Across the five independent outer test folds, the nested-selected configurations, comprising A6 in four folds and A4 in one fold, achieve an mIoU of 41.52% ± 0.66%, compared with 40.76% ± 0.85% for the baseline. Severe-class F1 increases from 14.10% ± 5.60% to 18.72% ± 6.20%, while pixel accuracy changes from 82.61% ± 0.71% to 82.34% ± 0.65%. In the single-seed efficiency evaluation, the model has 1.694 million parameters and requires 1.896 GFLOPs, with a forward-pass latency of 4.07 ms for a 384 × 384 image on an RTX 4070 SUPER GPU. Ablation experiments show that a direct P2 output branch and CARAFE do not provide consistent improvements; neither is included in the final network. The resulting pixel-level maps characterize the spatial distribution of visible corrosion appearances and can support digital inspection records and the prioritization of follow-up examinations. The resulting pixel-level condition maps can support digital inspection records and help identify image regions requiring follow-up examination. The predicted classes should not be interpreted as direct measurements of coating degradation, corrosion depth, section loss, residual load-carrying capacity, or remaining service life, all of which require additional material or structural measurements.

    Coatings

    19 October 2026

    • Review
    • Open Access

    Chitin, mainly derived from marine organisms, is the second-most abundant natural polysaccharide. Notably, marine sponge-derived chitin has recently emerged as a highly promising resource due to its unique naturally pre-organized three-dimensional nanofibrous network and high purity, offering unparalleled advantages for modern biomedical engineering and advanced materials science. Generally, chitin and its derivatives have shown great application potential in the fields of biomedicine and agriculture due to their excellent biocompatibility and diverse biological activities such as antibacterial, anti-inflammatory, immunomodulatory, and antitumor properties. However, the poor solubility and structural inertia of natural chitin limit its development and utilization to a certain extent. In this review, we systemically summarized the biological activities and structural functionalization strategies of chitin, chitosan, chitooligosaccharide and their derivatives from 2020 to 2025. Then, their mechanisms of action and structure–activity relationships (SARs) were concluded. Moreover, the applications of these marine-derived biopolymers in future therapeutics and sustainable smart materials were prospected. Finally, we analyzed the current scientific challenges from laboratory research and development to large-scale application. Hopefully, we enthusiastically anticipate that this review will offer readers valuable insights and proposals on developing chitin-based effective agents in the future.

    Mar. Drugs

    19 October 2026

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  • Article
  • Open Access

I argue that the emerging sciences of synthetic morphology and diverse intelligence suggest non-physicalist models of mind and show how they can be empirically investigated. Whence the anatomical, physiological, molecular-biological, and behavioral properties of engineered new beings that have never before existed, and do not have a history of selection? Understanding, predicting, and guiding new forms of life and mind requires characterizing a structured latent space of patterns. Developmental, synthetic, and behavioral biology should take seriously, and exploit, the kinds of non-physicalist ideas that are already a staple of Platonist mathematics. I propose the following hypotheses. (1) Patterns in this space span a highly variable degree of agency, comprising a spectrum ranging from static truths studied by mathematicians to active ones studied by behavioral scientists (i.e., some patterns on the same spectrum as mathematical truths are kinds of minds). (2) The relationship between mind and body is the same as the relationship between causally instructive mathematical facts and physics. (3) Living beings have no monopoly on the “free lunches” provided by the ingression of these patterns into the physical world. While traditional computationalist views of living and cognitive systems are insufficient, my framework erases artificial distinctions between organisms and machines, framing all physical constructs (natural or engineered) as being, to various degrees, in-formed by patterns from the latent space. I sketch a research program, already begun, inspired by these ideas. Such frameworks, while contradicting long-held assumptions of both mechanists and organicists, could have many implications for evolutionary biology, regenerative medicine, AI, and the ethics of synthbiosis with the forthcoming immense diversity of morally important beings.

Philosophies

9 September 2026

74,878 Views
Bodies and minds self-assemble from single cells as a process of alignment and autopoiesis. (A) Most complex biological forms begin as one cell—a fertilized oocyte, commonly thought to be well-described by the laws of physics and chemistry. (B) A gradual, slow process of developmental morphogenesis results in the final form of the organism, which may have complex structure and a mind which may not believe it is a “machine”. Our transformation from a chemical soup into an active embodied mind is continuous but heterogeneous: (C) while we commonly think of ourselves as a unified intelligence with a “centralized” brain, the fact is that even the pineal gland, of which there is only one in the brain, is made of cells (C′) and those cells in turn are made of myriad other active components (C″)—we are a collective intelligence at all scales. (D) The creation of an “individual” out of an excitable medium such as an embryonic blastoderm with hundreds of thousands of cells is a dynamic process that is not hardwired: scratches made in that blastoderm would result in independent self-organization in each island, resulting in multiple embryos forming. This reveals the potentiality for some non-pre-determined number of minds to arise out of the same substrate. Images in (A,B,D) courtesy of Jeremy Guay of Peregrine Creative, used previously in [29]. Image (B) used with permission from [30]. Image in (C′) courtesy of Jose Calvo, Science Photo Library. Image in (C″) courtesy of Evan Ingersoll and Gaël McGill. Image (D) used with permission from [31].
  • Review
  • Open Access

Background: Chlorine dioxide (ClO2), formulated as an aqueous solution (CDS), has been proposed as a therapeutic agent, yet its classification among oxidizing compounds is frequently confounded with chemically distinct species—sodium chlorite (NaClO2) and sodium hypochlorite (NaOCl). Objective: This study aimed to synthesize the physicochemical, mechanistic and cellular basis of ClO2 action and to delineate the distinctions between ClO2 and related oxidants, with explicit separation of established data from hypothesized data. Methods: The methodology includes a narrative synthesis of electrochemical data, primary toxicological and clinical literature (PubMed) and the redox-biology literature on low-dose oxidant signaling. Results: ClO2 is a neutral free radical that acts via one-electron transfer (E°′ = +0.95 V vs. SHE for the half-reaction ClO2 + e− → ClO2−, essentially pH-independent over pH 4–8, pH-independent) without chlorination. Its antimicrobial action is attributable to oxidation of thiol-dependent enzymes and membrane constituents and to the inhibition of bacterial respiratory metabolism; host-cell sparing is consistent with differential glutathione-dependent buffering. Controlled human ingestion studies at low concentrations report a favorable short-term safety profile; conversely, the principal metabolite (chlorite) is associated with documented developmental toxicity in animals and regulatory caution by EPA/WHO. Low-dose ClO2 exposure is hypothesized—but not yet directly demonstrated—to elicit dose-dependent adaptive redox responses and redox-regulatory modulation. Conclusions: The one-electron, non-chlorinating chemistry of ClO2 provides a coherent mechanistic framework. The translation of this framework into clinical application requires prospective trials and direct mechanistic measurement, ideally conducted by independent investigators. The following mechanisms are hypothesized and have not yet been directly demonstrated in vivo: modulation of oxidative phosphorylation, mitochondrial oxygenation, and associated redox-regulatory signaling. Reported antimicrobial efficacy typically occurs in the low-ppm range (0.1–5 ppm), whereas adverse effects on mammalian cells in the reviewed literature are reported at concentrations at least one order of magnitude higher; direct head-to-head cytotoxicity comparisons remain scarce and are identified as a priority for future work. This differential thiol buffering—in particular, the higher glutathione content of many mammalian cells relative to many pathogens—has been proposed as a contributing basis for host-cell sparing; direct quantitative confirmation in vivo is not yet available. Bacterial species possess their own thiol-based defense systems (e.g., mycothiol in actinomycetes, bacillithiol in Firmicutes), and the interplay between ClO2 and these systems requires further investigation.

Biophysica

21 September 2026

11,989 Views
Mechanistic overview. ClO2 acts via one-electron oxidation of microbial targets (thiol oxidation, envelope and nucleic acid damage, respiratory inhibition); host cells are spared through glutathione-dependent redox buffering. The proposed low-dose hormetic response is a hypothesis requiring direct experimental confirmation, as discussed in Section 4.2.
  • Article
  • Open Access

Nanoconfinement-Enhanced CO2 Retention in Fenamate-Loaded Silica Aerogels

  • Konstantin Belov,
  • Maria Ikim and
  • Ilya Khodov
  • + 6 authors

The interaction between carbon dioxide and molecularly confined pharmaceutical compounds can result in CO2 retention that exceeds that achieved through conventional physical adsorption. This study investigates CO2 retention following sorption in hydrophilic and hydrophobic silica aerogels containing the fenamates mefenamic acid and flufenamic acid. The Thermal stability of the retained CO2 was characterized using temperature-programmed oxidation and temperature-programmed desorption measurements. Concurrently, single-point nitrogen adsorption measurements monitored relative changes in the apparent accessible surface area of the porous matrix. Untreated silica aerogels did not exhibit a significant CO2 desorption peak at elevated temperatures. In contrast, all composites containing fenamates exhibited an additional high-temperature desorption step beginning at approximately 225 °C, indicating enhanced CO2 retention after sorption once the external CO2 layer was removed. This characteristic persisted following preliminary thermal treatment, suggesting it is not solely attributable to residual volatile substances. Surface-area measurements indicated minimal changes in the original aerogels after the CO2 cycle, whereas composites with flufenamic acid demonstrated more pronounced alterations. Considering previous nuclear magnetic resonance, spectroscopic, and computational studies, these findings suggest a combined effect of nanoconfinement, surface-dependent interfacial phenomena, and specific interactions involving the fenamate-containing phase. Reversible chemical interactions may contribute to the observed retention, although the current measurements do not allow for quantitative separation of their effects from those of physical confinement.

Molecules

14 September 2026

12,486 Views
TPO (black) and TPD (red) curves for AG-H-Phil (a) and AG-H-Phob (b) recorded over the temperature range from 30 °C to 500 °C.
  • Article
  • Open Access

Digital Facial Approximation of Jebel Irhoud Composite Skull (~315,000 BP)

  • Cicero Moraes,
  • Elena Varotto and
  • Johari Yap Abdullah
  • + 3 authors

The archeological site of Jebel Irhoud, Morocco, houses the oldest fossils attributed to Homo sapiens, dated to approximately 315,000 years before present (BP). This study presents a forensic facial approximation based on data from a three-dimensional composite skull derived from Layer 7 of the site, with structural predominance of the Irhoud 1 fossil. The methodology employed open-source software tools, combining anatomical projections and the constrained anatomical deformation technique. Endocast segmentation yielded a volume of 1364 mL, a result fully compatible with measurements and segmentations obtained in previous studies directly from the fossil, while also aligning with the variation observed in modern populations. Two sets of images were produced: an objective approximation in grayscale, focused on osteological correspondence, and a colored artistic version featuring skin pigmentation and facial hair for scientific communication. The results reinforce the feasibility and reproducibility of open-access methodologies applied to paleoanthropology, offering an anatomically coherent representation of this Middle Pleistocene hominin.

Heritage

13 September 2026

11,779 Views
(A) Photogrammetry performed from video (credit: Philipp Gunz, MPI EVA Leipzig, License: CC-BY-SA 2.0). (B) One of the scale adjustments based on images of the findings. (C) Adjustment of the virtual donor to the endocranial structure (credit: Philipp Gunz, MPI EVA Leipzig, License: CC-BY-SA 2.0). (D) Segmentation of the endocranium from the anatomical deformation of the virtual donor. References available in [3].

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Editor's Choice Articles

  • Review
  • Open Access

Cistus creticus, a perennial shrub native to the Mediterranean region, has attracted considerable scientific attention due to its rich phytochemical profile and associated health-promoting properties. This review provides a comprehensive analysis of the antioxidant activity of C. creticus, examining the various extraction methods that influence the bioavailability and efficacy of its active compounds. The plant’s antioxidant properties are primarily attributed to its high content of flavonoids, phenolic acids, and other bioactive constituents, which play a key role in mitigating oxidative stress and reducing the risk of chronic diseases. The review further discusses the effectiveness of different extraction techniques—mainly maceration and ultrasound-assisted extraction—in maximizing the yield and potency of antioxidants from the plant. By synthesizing current research findings, this review aims to highlight the therapeutic potential of C. creticus and provide a basis for future studies on its application in nutraceuticals and functional foods.

AppliedChem

2 October 2026

Conceptual overview of extraction methods, polyphenolic classes, biological activities, and food applications of Cistus creticus extracts.
  • Review
  • Open Access

Wearable and attachable healthcare devices provide valuable insights across a broad range of applications, from health monitoring and disease diagnosis to the assessment of daily human activities. For these devices, both the formation of high-performance electrodes and mechanical, electrical, and physiological stability at human-device interfaces are critically important. Conductive gels, which combine deformable polymer networks with electrical conductivity, show considerable potential as functional materials for such applications. However, existing reviews have often considered material properties, interfacial behavior, and device reliability separately. This review examines hydrogels, ionogels, and organogels by linking material design, stimulus- and analyte-responsive sensing, biological and device interfaces, and healthcare applications. This integrated perspective emphasizes evaluating conductive gels within complete healthcare devices, where material properties, biological interfaces, and device integration jointly determine practical performance. Such evaluation needs to address signal quality and the stability of the assembled system during deformation, environmental exposure, and prolonged use. Future progress will require reproducible device fabrication and standardized validation tailored to the intended application, with systematic assessment of long-term biosafety and alignment with relevant regulatory requirements. Integration with flexible electronics, intelligent data processing, and feedback control may further enable reliable and responsive healthcare platforms.

Gels

30 September 2026

Schematic overview of conductive gels for wearable and attachable healthcare devices, illustrating the material platforms, sensing mechanisms, interfaces, and representative applications. The graphical icons in the schematics were generated using ChatGPT (GPT-5.6, OpenAI), while the overall organization and annotations were developed by the authors.
  • Review
  • Open Access

Accelerating the low-carbon transition of transport is essential to addressing global climate change. Although the rapid growth of the electric vehicle (EV) fleet highlights the environmental benefits of electrified mobility, carbon-intensive upstream electricity generation and energy-intensive battery production continue to constrain the life-cycle emissions reduction potential of EVs. Focusing on China, this structured narrative review examines 121 core references from 2004 to 2026 to synthesize carbon-accounting methods and emissions across the manufacturing, use, and end-of-life stages. A supplementary keyword co-occurrence analysis of 1180 Web of Science records provides an overview of the research field. The reviewed evidence indicates that embodied emissions from manufacturing account for more than 30% of total life-cycle emissions, making this stage important to life-cycle decarbonization. The use stage offers the greatest emissions reduction potential and is closely linked to regional grid carbon intensity and vehicle-to-grid (V2G) scheduling. At the end of life, second-life battery use and closed-loop recycling can reduce the burden associated with initial production and support material circularity. Drawing on these findings and the development of China’s EV industry, this review proposes decarbonization pathways for enterprises and policymakers to support the coordinated development of the transport and energy sectors.

World Electr. Veh. J.

30 September 2026

Framework of this review.
  • Article
  • Open Access

Efficient tractor coverage planning requires suitable swath orientations and kinematically feasible connections. In two-pass diagonal harrowing, sequential boustrophedon planning treats the two swath families independently and may introduce avoidable connection travel. This study proposes a Field-Geometry-Aware Bidirectional Coverage and Connection Path Co-Optimization algorithm (FG-BCO) for a single tractor operating in convex, obstacle-free polygonal fields. FG-BCO clips two parallel swath families to the field boundary, constructs feasible cross-pass links between oriented endpoints, assembles alternating route paths, and applies subset dynamic programming to optimize their visiting order and traversal orientation. The resulting route is converted into a forward-only trajectory and checked against boundary-containment and minimum-turning-radius constraints. FG-BCO was compared with Sequential Boustrophedon Coverage Path Planning (SB-CPP) in rectangular, regular pentagonal, regular hexagonal, and irregular fields using 648 matched angle pairs per field. When the minimum path length of each algorithm was selected independently from the tested angle pairs, FG-BCO achieved reductions of 18.65%, 9.65%, 15.20%, and 17.11% in the four fields, respectively. However, FG-BCO produced shorter routes in only 57.87%, 41.82%, 40.43%, and 40.59% of the matched cases. The corresponding mean paired saving rates were 0.646%, −0.484%, −0.144%, and −0.833%, with medians of 0.939%, −1.060%, −0.923%, and −1.094%. These results distinguish the potential reduction obtainable through angle selection from performance under an arbitrary prescribed angle pair. FG-BCO is advantageous when the two swath families produce favorable endpoint proximity, heading compatibility, and turning space, but its improvement is not universal. Preliminary evaluation of the working-angle pair in relation to the target field geometry is therefore recommended before application.

World Electr. Veh. J.

30 September 2026

Overall framework of the proposed study. (a) Schematic of the autonomous two-pass diagonal harrowing system, showing the two working directions θ1 and θ2, and the implement width W. (b) Main procedure of FG-BCO, including boundary-clipped swath generation, endpoint extraction, connection-graph construction, route-path ordering, and turn-constrained trajectory generation.