Search Results (22)

Accurate estimation of topsoil moisture (TSM) is essential for optimizing agricultural practices, particularly in the context of precision farming. This study evaluates the use of high-resolution synthetic aperture radar (SAR) imagery from TerraSAR-X (X-band) and Radarsat-2 (C-band) for estimating TSM over bare agricultural soils, at both plot and intra-plot spatial scales. The experiment was conducted over a 420 km² area in southwest France, comprising 29 agricultural plots with varying topography, soil texture, and land management practices. Extensive in situ measurements of TSM, soil texture, and surface roughness were collected over multiple dates. A random forest regression model was developed to estimate soil moisture, using radar backscatter coefficients, incidence angles, soil texture components (clay, silt, sand), and roughness parameters (Hrms, correlation length) as input features. The modeling approach was applied at multiple spatial scales by extracting satellite signals within circular buffers of varying radius (5 to 30 m), as well as at the plot scale. Results indicate that estimation performance improves with increasing buffer size, with the best results achieved at the 30 m intra-plot scale (R² > 0.8, RMSE < 4 m³·m⁻³), outperforming plot-scale estimates. Both C-band and X-band data provided reliable results, with a slight advantage when combining data from multiple incidence angles. The inclusion of surface roughness and soil texture significantly improved model accuracy, underlining the importance of accounting for local soil properties in radar-based moisture retrieval. The intra-plot variability of TSM was found to be substantial, often exceeding inter-plot differences, highlighting the necessity for high spatial resolution in moisture monitoring. This study demonstrates the value of combining ground observations with multi-frequency SAR data and machine learning for high-resolution soil moisture mapping. The approach supports more precise water management strategies and contributes to sustainable agricultural development through informed decision-making. Full article

Chlorophyll-a (Chl-a) concentration is a key parameter for assessing the degree of eutrophication and the algal bloom risk in water bodies. Accurate and robust monitoring of Chl-a is crucial for effective water quality management of inland and coastal optically complex Case-II waters. This study proposes a stratified integrated framework that combines optical water type (OWT) classification and multi-index blending models and evaluates the capability of ZY-1 02E hyperspectral imagery in the retrieval of Chl-a concentration in Case-II waters. This research is based on ZY-1 02E hyperspectral remote sensing images and ground synchronous measurement data from four typical water bodies in China (Dongpu Reservoir, Nanyi Lake, Tangdao Bay, and Moon-lake Reservoir). Using Fuzzy C-Means (FCM) clustering combined with spectral feature analysis, three different OWTs were identified, and the bands sensitive to Chl-a for each water type were recognized. Subsequently, the most suitable semi-empirical indices (BR, TBI) were selected, and a new suspended matter correction index (SMCI) was constructed by integrating spectral bands and TSM data specifically for high-turbidity waters to facilitate the retrieval of Chl-a concentration. The RMSE and MAPE of the model constructed based on the unclassified dataset were 3.1586 μg·L⁻¹ and 30.82%, respectively. When the stratified ensemble method based on optical water type classification was employed, the overall RMSE and MAPE were reduced to 1.5832 μg·L⁻¹ and 16.36%. The results demonstrate that this hierarchical ensemble framework significantly improved the retrieval accuracy of Chl-a concentration. An uncertainty assessment of the Chl-a retrieval model for highly turbid waters incorporating SMCI was conducted using the Monte Carlo method, revealing a mean coefficient of variation of 0.0567 and a coverage rate of 95.65% for the 95% confidence interval, indicating high predictive stability and reliability of the model. This study emphasizes the importance of the integrated framework strategy that combines OWTs classification and multi-index blending models for accurate and robust remote sensing estimation of Chl-a concentration under optically complex environmental conditions. It confirms the application potential of ZY-1 02E hyperspectral data in monitoring Chl-a in inland and near-coastal waters at medium and small scales. Full article

The vertical distribution of the marine total suspended matter (TSM) concentration significantly influences marine material transport, sedimentation processes, and biogeochemical cycles. Traditional field observations are constrained by limited spatial and temporal coverage, necessitating the use of remote-sensing technology to comprehensively understand TSM variations over extensive areas and periods. This study proposes a remote-sensing approach to estimate the vertical distribution of TSM concentrations using MODIS satellite data, with the Bohai Sea and Yellow Sea (BSYS) as a case study. Extensive field measurements across various hydrological conditions and seasons enabled accurate reconstruction of in situ TSM vertical distributions from bio-optical parameters, including the attenuation coefficient, particle backscattering coefficient, particle size, and number concentration, achieving a determination coefficient of 0.90 and a mean absolute percentage error of 26.5%. In situ measurements revealed two distinct TSM vertical profile types (vertically uniform and increasing) and significant variation in TSM profiles in the BSYS. Using surface TSM concentrations, wind speed, and water depth, we developed and validated a remote-sensing approach to classify TSM vertical profile types, achieving an accuracy of 84.3%. Combining this classification with a layer-to-layer regression model, we successfully estimated TSM vertical profiles from MODIS observation. Long-term MODIS product analysis revealed significant spatiotemporal variations in TSM vertical distributions and column-integrated TSM concentrations, particularly in nearshore regions. These findings provide valuable insights for studying marine sedimentation and biological processes and offer a reference for the remote-sensing estimation of the TSM vertical distribution in other marine regions. Full article

Considering system uncertainties (e.g., gear backlash, unmodeled dynamics, nonlinear friction and parameters perturbation) coupling disturbances weaken the motion performance of robotic systems, an observer-based finite-time prescribed performance sliding mode control with faster reaching law is proposed for robotic manipulators equipped with dual-motor joints (DMJs). In the case where the backlash information is completely unknown, the backlash is maximally eliminated using a simple but efficient dual-motor adaptive anti-backlash strategy. Thus, the design of position tracking controllers for DMJs can be simplified. Then, to deal with the influence of disturbances and residual uncertainties (excluding backlash), a novel finite-time adaptive sliding mode disturbance observer (ASMDO) is proposed to practically estimate the lumped uncertainties where their upper bounds are assumed to be unknown. Finally, a finite-time composite fast non-singular terminal sliding mode (TSM) controller, integrated with the prescribed performance principle, is proposed in this paper. To enhance the convergence rate, a novel TSM-type reaching law has been developed. The controller ensures that the tracking error is not only stabilized within a finite-time convergence rate but also adheres to a predefined maximum transient-steady-state error. The proposed scheme is implemented through simulation and experimental results, demonstrating its superior performance. Full article

Lakes play a crucial role in the global biogeochemical cycles through the transport, storage, and transformation of different biogeochemical compounds. Their regulatory service appears to be disproportionately important relative to their small areal extent, necessitating continuous monitoring. This study leverages the potential of optical remote sensing sensors, specifically Sentinel-2 Multispectral Imagery (MSI), to monitor and predict water quality parameters in lakes. Optically active parameters, such as chlorophyll a (CHL), total suspended matter (TSM), and colored dissolved matter (CDOM), can be directly detected using optical remote sensing sensors. However, the challenge lies in detecting non-optically active substances, which lack direct spectral characteristics. The capabilities of artificial intelligence applications can be used in the identification of optically non-active compounds from remote sensing data. This study aims to employ a machine learning approach (combining the Genetic Algorithm (GA) and Extreme Gradient Boost (XGBoost)) and in situ and Sentinel-2 Multispectral Imagery data to construct inversion models for 16 physical and biogeochemical water quality parameters including CHL, CDOM, TSM, total nitrogen (TN), total phosphorus (TP), phosphate (PO₄), sulphate, ammonium nitrogen, 5-day biochemical oxygen demand (BOD₅), chemical oxygen demand (COD), and the biomasses of phytoplankton and cyanobacteria, pH, dissolved oxygen (O₂), water temperature (WT) and transparency (SD). GA_XGBoost exhibited strong predictive capabilities and it was able to accurately predict 10 biogeochemical and 2 physical water quality parameters. Additionally, this study provides a practical demonstration of the developed inversion models, illustrating their applicability in estimating various water quality parameters simultaneously across multiple lakes on five different dates. The study highlights the need for ongoing research and refinement of machine learning methodologies in environmental monitoring, particularly in remote sensing applications for water quality assessment. Results emphasize the need for broader temporal scopes, longer-term datasets, and enhanced model selection strategies to improve the robustness and generalizability of these models. In general, the outcomes of this study provide the basis for a better understanding of the role of lakes in the biogeochemical cycle and will allow the formulation of reliable recommendations for various applications used in the studies of ecology, water quality, the climate, and the carbon cycle. Full article

In order to enhance the precision and speed of control for electronic throttle valves (ETVs) in the face of disturbance and parameter uncertainties, an adaptive second-order fixed-time sliding mode (ASOFxTSM) controller is developed, along with disturbance observer compensation techniques. Initially, a control-oriented model specifically considering lumped disturbances within the ETV is established. Secondly, to address the contradiction between fast response and heavy chattering of conventional fixed-time sliding mode, a hierarchical sliding surface approach is introduced. This approach proficiently alleviates chattering effects while preserving the fixed convergence properties of the controller. Furthermore, to enhance the anti-disturbance performance of the ETV control system, an innovative fixed-time sliding mode observer is incorporated to estimate lumped disturbances and apply them as a feed-forward compensation term to the ASOFxTSM controller output. Building upon this, a parameter adaptive mechanism is introduced to optimize control gains. Subsequently, a rigorous stability proof is conducted, accompanied by the derivation of the expression for system convergence time. Finally, a comparison is drawn between the proposed controller and fixed-time sliding mode and super-twisting controllers through simulations and experiments. The results demonstrate the superiority of the proposed method in terms of chattering suppression, rapid dynamic response, and disturbance rejection capability. Full article

The Landsat series has marked the history of Earth observation by performing the longest continuous imaging program from space. The recent Landsat-9 carrying Operational Land Imager 2 (OLI-2) captures a higher dynamic range than sensors aboard Landsat-8 or Sentinel-2 (14-bit vs. 12-bit) that can potentially push forward the frontiers of aquatic remote sensing. This potential stems from the enhanced radiometric resolution of OLI-2, providing higher sensitivity over water bodies that are usually low-reflective. This study performs an initial assessment on retrieving water quality parameters from Landsat-9 imagery based on both physics-based and machine learning modeling. The concentration of chlorophyll-a (Chl-a) and total suspended matter (TSM) are retrieved based on physics-based inversion in four Italian lakes encompassing oligo to eutrophic conditions. A neural network-based regression model is also employed to derive Chl-a concentration in San Francisco Bay. We perform a consistency analysis between the constituents derived from Landsat-9 and near-simultaneous Sentinel-2 imagery. The Chl-a and TSM retrievals are validated using in situ matchups. The results indicate relatively high consistency among the water quality products derived from Landsat-9 and Sentinel-2. However, the Landsat-9 constituent maps show less grainy noise, and the matchup validation indicates relatively higher accuracies obtained from Landsat-9 (e.g., TSM R² of 0.89) compared to Sentinel-2 (R² = 0.71). The improved constituent retrieval from Landsat-9 can be attributed to the higher signal-to-noise (SNR) enabled by the wider dynamic range of OLI-2. We performed an image-based SNR estimation that confirms this assumption. Full article

Total suspended matter (TSM) is one of the most widely used water quality parameters, which can influence the light transmission process, planktonic algae, and ecological health. A comprehensive field expedition aiming at water quality assessment was conducted for Lake Qinghai in September 2019. The in-situ measurements were used to support the calibration and validation of TSM concentration using Landsat images. A regional empirical model was established using the top-of-atmosphere (TOA) radiance of Landsat image data at the red band with a wavelength range of 640–670 nm. The coefficient of determination (R²), mean relative error (MRE), and root mean square error (RMSE) of the TSM estimation model were 0.81, 17.91%, and 0.61 mg/L, respectively. The model was further applied to 87 images during the periods from 1986 to 2020. A significant correlation was found between TSM concentration and daily wind speed (r = 0.74, p < 0.01, n = 87), which revealed the dominance of wind speed on TSM concentration. In addition, hydrological changes also had a significant influence on TSM variations of lake estuaries. Full article

Human pressure has caused river ecosystems to be severely damaged. To improve river ecosystems, “working with nature”, i.e., nature-based Solutions (NbS), should be supported. The purpose of this paper is to evaluate the effects of a specific NbS, i.e., floodplain restoration, which provides, among others, the ecosystem service of nutrient retention. For these, an in-depth time series analysis of different nutrients’ concentrations and water physiochemical parameters was performed to obtain Water Quality Indices (WQI), which were calculated along the river. To estimate water quality from remote sensing data and to generate water quality maps along the river, Sentinel-2 water products were validated against in situ data, and linear regression (LR), random forest (RF), and support vector regression (SVR) were trained with atmospherically corrected data for chlorophyll-a and TSM. The results show different outcomes in diverse floodplains in terms of improvement of the water quality downstream of the floodplains. RF demonstrated higher performance to model Chl-a, and LR demonstrated higher performance to model TSM. Based on this, we provide an insightful discussion about the benefits of NbS. These methodologies contribute to the evaluation of already existing NbS on the Danube River based on a quantitative analysis of the effects of floodplain ecosystems to water quality. Full article

Reduced water quality due to the eutrophication process causes large economic losses worldwide. Multi-source remotely-sensed water quality monitoring can help provide effective water resource management. The research evaluates the retrieval of the water quality parameters: chlorophyll-a (Chl-a), total suspended matter (TSM), and chromophoric dissolved organic matter (CDOM), over optically different water types. Cross-sensor performance analysis of three satellite data sources: Sentinel-3 Ocean Land Color Imager (OLCI), Sentinel-2A Multi-Spectral Instrument (MSI), and Landsat-8 Operational Land Imager (OLI), acquired during a 45 min overpass on the Nile Delta coast on 22 March 2020 was performed. Atmospheric correction using the case 2 Regional Coast Color (C2RCC) was applied using local water temperature and salinity averages. Owing to the lack of ground-truth measurements in the coastal water, results were inter-compared with standard simultaneous color products of the Copernicus Marine Environment Monitoring Service (CMEMS), OLCI water full resolution (WFR), and the MODIS Aqua, in order to highlight the sensor data relative performance in the Nile Delta’s coastal and inland waters. Validation of estimates was carried out for the only cloud-free MSI data available in the 18–20 September 2020 period for the Burullus Lake nearly contemporaneous with in situ measurements in the 22–25 September 2020. Inter-comparison of the retrieved parameters showed good congruence and correlation among all data in the coastal water, while this comparison returned low positive or negative correlation in the inland lake waters. In the coastal water, all investigated sensors and reference data showed Chl-a content average of 3.14 mg m⁻³ with a range level of 0.39–4.81 mg m⁻³. TSM averaged 7.66 g m⁻³ in the range of 6.32–10.18 g m⁻³. CDOM clarified mean of 0.18 m⁻¹ in the range level of 0.13–0.30 m⁻¹. Analysis of the Mean Absolute Error (MAE) and the Root Mean Squared Error (RMSE) clarified that the MSI sensor was ranked first achieving the smallest MAE and RMSE for the Chl-a contents, while the EFR proved superior for TSM and CDOM estimates. Validation of results in Burullus Lake indicated a clear underestimation on average of 35.35% for the Chl-a induced by the land adjacency effect, shallow bottom depths, and the optical dominance of the TSM and the CDOM absorption intermixed in turbid water loaded with abundant green algae species and counts. The underestimation error increased at larger estimates of the algal composition/abundance (total counts, Chlorophyacea, Euglenophycaea, and Bacillariophycaea) and the biological contents (carbohydrates, lipids, and proteins), arranged in decreasing order. The largest normalized RMSE estimates marked the downstream areas where the inflow of polluted water persistently brings nutrient loads of nitrogen and phosphorous compounds as well as substantial amounts of detrital particles and sediments discharged from the agricultural and industrial drains and the land use changes related to agricultural practices, resulting in the increase of water turbidity giving rise to inaccurate Chl-a estimates. Full article

A Transient Storage Model (TSM), which considers the storage exchange process that induces an abnormal mixing phenomenon, has been widely used to analyze solute transport in natural rivers. The primary step in applying TSM is a calibration of four key parameters: flow zone dispersion coefficient ($K_f$), main flow zone area ($A_f$), storage zone area ($A_s$), and storage exchange rate ($\alpha$); by fitting the measured Breakthrough Curves (BTCs). In this study, to overcome the costly tracer tests necessary for parameter calibration, two dimensionless empirical models were derived to estimate TSM parameters, using multi-gene genetic programming (MGGP) and principal components regression (PCR). A total of 128 datasets with complete variables from 14 published papers were chosen from an extensive meta-analysis and were applied to derivations. The performance comparison revealed that the MGGP-based equations yielded superior prediction results. According to TSM analysis of field experiment data from Cheongmi Creek, South Korea, although all assessed empirical equations produced acceptable BTCs, the MGGP model was superior to the other models in parameter values. The predicted BTCs obtained by the empirical models in some highly complicated reaches were biased due to misprediction of $A_f$. Sensitivity analyses of MGGP models showed that the sinuosity is the most influential factor in $K_f$, while $A_f$, $A_s$, and $\alpha$, are more sensitive to $U/U_{*}$. This study proves that the MGGP-based model can be used for economic TSM analysis, thus providing an alternative option to direct calibration and the inverse modeling initial parameters. Full article

A new era of spaceborne hyperspectral imaging has just begun with the recent availability of data from PRISMA (PRecursore IperSpettrale della Missione Applicativa) launched by the Italian space agency (ASI). There has been pre-launch optimism that the wealth of spectral information offered by PRISMA can contribute to a variety of aquatic science and management applications. Here, we examine the potential of PRISMA level 2D images in retrieving standard water quality parameters, including total suspended matter (TSM), chlorophyll-a (Chl-a), and colored dissolved organic matter (CDOM) in a turbid lake (Lake Trasimeno, Italy). We perform consistency analyses among the aquatic products (remote sensing reflectance (R_rs) and constituents) derived from PRISMA and those from Sentinel-2. The consistency analyses are expanded to synthesized Sentinel-2 data as well. By spectral downsampling of the PRISMA images, we better isolate the impact of spectral resolution in retrieving the constituents. The retrieval of constituents from both PRISMA and Sentinel-2 images is built upon inverting the radiative transfer model implemented in the Water Color Simulator (WASI) processor. The inversion involves a parameter (g_dd) to compensate for atmospheric and sun-glint artifacts. A strong agreement is indicated for the cross-sensor comparison of R_rs products at different wavelengths (average R ≈ 0.87). However, the R_rs of PRISMA at shorter wavelengths (<500 nm) is slightly overestimated with respect to Sentinel-2. This is in line with the estimates of g_dd through the inversion that suggests an underestimated atmospheric path radiance of PRISMA level 2D products compared to the atmospherically corrected Sentinel-2 data. The results indicate the high potential of PRISMA level 2D imagery in mapping water quality parameters in Lake Trasimeno. The PRISMA-based retrievals agree well with those of Sentinel-2, particularly for TSM. Full article

Total suspended matter (TSM) concentration is an extremely important parameter for water quality definition. The aim of this work is the evaluation of the effect of the Three Gorges Dam on total suspended sediments using remote sensing data at different temporal and spatial resolutions. TSM is estimated for the middle Yangtze river, China, before and after the construction of the Three Gorges Dam. The retrieved values are correlated to ground daily discharge values, finding relations between the physical quantities and discharge. Then, the application of the obtained relations to the discharge dataset provides continuous daily estimations of TSM values, also covering the days for which satellite scenes were lacking. This daily dataset will allow us to estimate the annual volume of river solid sediments. According to this work, both low spatial resolution MODIS (Moderate Resolution Imaging Spectroradiometer) data and high-resolution. Landsat 5 and 7 are able to detect the changes in TSM distribution over space and time induced by the building of the Three Gorges Dam, with a variation of even 50 mg/L over summer season. The confrontation of solid discharge with daily estimated TSM values shows that the single band MODIS algorithm performs better for medium-low concentrations, while the dual-band algorithm for MODIS and the selected Landsat algorithm perform better with high concentrations. Full article

Currently, water monitoring programs are mainly based on in situ measurements; however, this approach is time-consuming, expensive, and may not reflect the status of the whole water body. The availability of Multispectral Imager (MSI) and Ocean and Land Colour Instrument (OLCI) free data with high spectral, spatial, and temporal resolution has increased the potential of adding remote sensing techniques into monitoring programs, leading to improvement of the quality of monitoring water. This study introduced an optical water type guided approach for boreal regions inland and coastal waters to estimate optical water quality parameters, such as the concentration of chlorophyll-a (Chl-a) and total suspended matter (TSM), the absorption coefficient of coloured dissolved organic matter at a wavelength of 442 nm (aCDOM(442)), and the Secchi disk depth, from hyperspectral, OLCI, and MSI reflectance data. This study was based on data from 51 Estonian and Finnish lakes and from the Baltic Sea coastal area, which altogether were used in 415 in situ measurement stations and covered a wide range of optical water quality parameters (Chl-a: 0.5–215.2 mg·m⁻³; TSM: 0.6–46.0 mg·L⁻¹; aCDOM(442): 0.4–43.7 m⁻¹; and Secchi disk depth: 0.2–12.2 m). For retrieving optical water quality parameters from reflectance spectra, we tested 132 empirical algorithms. The study results describe the best algorithm for each optical water type for each spectral range and for each optical water quality parameter. The correlation was high, from 0.87 up to 0.93, between the in situ measured optical water quality parameters and the parameters predicted by the optical water type guided approach. Full article

The bulk refractive index (n_p) of suspended particles, an apparent measure of particulate refraction capability and yet an essential element of particulate compositions and optical properties, is a critical indicator that helps understand many biogeochemical processes and ecosystems in marine waters. Remote estimation of n_p remains a very challenging task. Here, a multiple-step hybrid model is developed to estimate the n_p in the Bohai Sea (BS) and Yellow Sea (YS) through obtaining two key intermediate parameters (i.e., particulate backscattering ratio, B_p, and particle size distribution (PSD) slope, j) from remote-sensing reflectance, R_rs(λ). The in situ observed datasets available to us were collected from four cruise surveys during a period from 2014 to 2017 in the BS and YS, covering beam attenuation (c_p), scattering (b_p), and backscattering (b_bp) coefficients, total suspended matter (TSM) concentrations, and R_rs(λ). Based on those in situ observation data, two retrieval algorithms for TSM and b_bp were firstly established from R_rs(λ), and then close empirical relationships between c_p and b_p with TSM could be constructed to determine the B_p and j parameters. The series of steps for the n_p estimation model proposed in this study can be summarized as follows: R_rs (λ) → TSM and b_bp, TSM → b_p → cp → j, b_bp and b_p → B_p, and j and B_p → n_p. This method shows a high degree of fit (R² = 0.85) between the measured and modeled n_p by validation, with low predictive errors (such as a mean relative error, MRE, of 2.55%), while satellite-derived results also reveal good performance (R² = 0.95, MRE = 2.32%). A spatial distribution pattern of n_p in January 2017 derived from GOCI (Geostationary Ocean Color Imager) data agrees well with those in situ observations. This also verifies the satisfactory performance of our developed n_p estimation model. Applying this model to GOCI data for one year (from December 2014 to November 2015), we document the n_p spatial distribution patterns at different time scales (such as monthly, seasonal, and annual scales) for the first time in the study areas. While the applicability of our developed method to other water areas is unknown, our findings in the current study demonstrate that the method presented here can serve as a proof-of-concept template to remotely estimate n_p in other coastal optically complex water bodies. Full article