Search Results (3,929)

Due to the complex spatial structure, dense tree distribution, and narrow passages in orchard environments, traditional path planning algorithms often struggle with large path deviations, frequent turning, and reduced navigational safety. In order to overcome these challenges, this paper proposes a hybrid path planning algorithm based on improved D* Lite for narrow forest orchard environments. The proposed approach enhances path feasibility and improves the robustness of the navigation system. The algorithm begins by constructing a 2D grid map reflecting the orchard layout and inflates the tree regions to create safety buffers for reliable path planning. For global path planning, an enhanced D* Lite algorithm is used with a cost function that jointly considers centerline proximity, turning angle smoothness, and directional consistency. This guides the path to remain close to the orchard row centerline, improving structural adaptability and path rationality. Narrow passages along the initial path are detected, and local replanning is performed using a Hybrid A* algorithm that accounts for the kinematic constraints of a differential tracked robot. This generates curvature-continuous and directionally stable segments that replace the original narrow-path portions. Finally, a gradient descent method is applied to smooth the overall path, improving trajectory continuity and execution stability. Field experiments in representative orchard environments demonstrate that the proposed hybrid algorithm significantly outperforms traditional D* Lite and KD* Lite-B methods in terms of path accuracy and navigational safety. The average deviation from the centerline is only 0.06 m, representing reductions of 75.55% and 38.27% compared to traditional D* Lite and KD* Lite-B, respectively, thereby enabling high-precision centerline tracking. Moreover, the number of hazardous nodes, defined as path points near obstacles, was reduced to five, marking decreases of 92.86% and 68.75%, respectively, and substantially enhancing navigation safety. These results confirm the method’s strong applicability in complex, constrained orchard environments and its potential as a foundation for efficient, safe, and fully autonomous agricultural robot operation. Full article

In modern agriculture, tractors play a crucial role in powering tools and implements. Proper operation of agricultural tractors in mechanized field operations can support sustainable agriculture and reduce emissions of pollutants such as carbon dioxide (CO₂). This has been a recurring concern associated with agricultural intensification for food production. This study aimed to evaluate the optimization of tractor gears and engine speed during crop operations to minimize CO₂ emissions and promote sustainability. The experiment was conducted using a strip plot design with subdivided sections and six replications, following a double factorial structure. The first factor evaluated was the type of agricultural implement (disc harrow, subsoiler, or sprayer), while the second factor was the engine speed setting (nominal or reduced). Operational and energy performance metrics were analyzed, including fuel consumption and CO₂ emissions, travel speed, effective working time, wheel slippage, and working depth. Optimized gear selection and engine speeds resulted in a 20 to 40% reduction in fuel consumption and CO₂ emissions. However, other evaluated parameters remain unaffected by the reduced engine speed, regardless of the implement used, ensuring the operation’s quality. Thus, optimizing operator training or configuring machines allows for environmental impact reduction, making agricultural practices more sustainable. Full article

Ecosystem restoration represents a promising solution for enhancing ecosystem services and environmental sustainability. However, border regions—characterized by ecological fragility and geopolitical complexity—remain underrepresented in ecosystem service and restoration research. To fill this gap, we coupled spatially explicit models (e.g., InVEST and RUSLE) with scenario analysis to quantify the ecosystem service potential that could be achieved in China’s Tibetan borderlands under two interacting agendas: ecological restoration and border-strengthening policies. Restoration feasibility was evaluated through combining local biophysical constraints, economic viability (via restoration-induced carbon gains vs. opportunity costs), operational practicality, and simulated infrastructure expansion. The results showed that per-unit-area ecosystem services in border counties (particularly Medog, Cona, and Zayu) exceed that of interior Tibet by a factor of two to four. Combining these various constraints, approximately 4–17% of the border zone remains cost-effective for grassland or forest restoration. Under low carbon pricing (US$10 t⁻¹ CO₂), the carbon revenue generated through restoration is insufficient to offset the opportunity cost of agricultural production, constituting a major constraint. Habitat quality, soil conservation, and carbon sequestration increase modestly when induced by restoration, but a pronounced carbon–water trade-off emerges. Planned infrastructure reduces restoration benefits only slightly, whereas raising the carbon price to about US$50 t⁻¹ CO₂ substantially expands such benefits. These findings highlight both the opportunities and limits of ecosystem restoration in border regions and point to carbon pricing as the key policy lever for unlocking cost-effective restoration. Full article

This paper presents the design and implementation of a SLAM-based online mapping and autonomous trajectory execution system for the Nimbulus-e, a concept vehicle designed for agile maneuvering in confined spaces. The Nimbulus-e uses individual steer-by-wire corner modules with in-wheel motors at all four corners. The associated eight joint variables serve as control inputs, allowing precise trajectory following. These control inputs can be derived from the vehicle’s trajectory using nonholonomic constraints. A LiDAR sensor is used to map the environment and detect obstacles. The system processes LiDAR data in real time, continuously updating the environment map and enabling localization within the environment. The inclusion of vehicle odometry data significantly reduces computation time and improves accuracy compared to a purely visual approach. The A* and Hybrid A* algorithms are used for trajectory planning and optimization, ensuring smooth vehicle movement. The implementation is validated through both full vehicle simulations using an ADAMS Car—MATLABco-simulation and a scaled physical prototype, demonstrating the effectiveness of the system in navigating complex environments. This work contributes to the field of autonomous systems by demonstrating the potential of combining advanced sensor technologies with innovative control algorithms to achieve reliable and efficient navigation. Future developments will focus on improving the robustness of the system by implementing a robust closed-loop controller and exploring additional applications in dense urban traffic and agricultural operations. Full article

The Fit for 55 package introduced by the European Union aims to achieve a 55% reduction in greenhouse gas emissions by 2030. In parallel, increasingly stringent exhaust gas regulations have intensified research into alternative fuels. Ethanol presents a promising option due to its compatibility with gasoline, higher octane rating, and lower exhaust emissions compared to conventional gasoline. Additionally, ethanol can be derived from agricultural waste, further enhancing its sustainability. This study examines the impact of two ethanol–gasoline blends (E10, E20) on emissions and performance in a turbocharged gasoline direct injection (TGDI) spark-ignition (SI) engine. The investigation is conducted using three-dimensional computational fluid dynamics (3D CFD) simulations to minimize development time and costs. This paper details the model development process and presents the initial results. The boundary conditions for the simulations are derived from one-dimensional (1D) simulations, which have been validated against experimental data. Subsequently, the simulated performance and emissions results are compared with experimental measurements. The E10 simulations correlated well with experimental measurements, with the largest deviation in cylinder pressure being an RMSE of 1.42. In terms of emissions, HC was underpredicted, while CO was overpredicted compared to the experimental data. For E20, the IMEP was slightly higher at some operating points; however, the deviations were negligible. Regarding emissions, HC and CO emissions were higher with E20, whereas NOx and CO₂ emissions were lower. Full article

The integration of a real-time image processing system using multiple webcams with a variable rate spraying system mounted on the back of an unmanned tractor presents an effective solution to the labor shortage in agriculture. This research aims to design and fabricate a low-cost, variable-rate, remote-controlled sprayer specifically for use in sugarcane fields. The primary method involves the modification of a 15-horsepower tractor, which will be equipped with a remote-control system to manage both the driving and steering functions. A foldable remote-controlled spraying arm is installed at the rear of the unmanned tractor. The system operates by using a webcam mounted on the spraying arm to capture high-angle images above the sugarcane canopy. These images are recorded and processed, and the data is relayed to the spraying control system. As a result, chemicals can be sprayed on the sugarcane accurately and efficiently based on the insights gained from image processing. Tests were conducted at various nozzle heights of 0.25 m, 0.5 m, and 0.75 m. The average system efficiency was found to be 85.30% at a pressure of 1 bar, with a chemical spraying rate of 36 L per hour and a working capacity of 0.975 hectares per hour. The energy consumption recorded was 0.161 kWh, while fuel consumption was measured at 6.807 L per hour. In conclusion, the development of the remote-controlled variable rate sprayer mounted on an unmanned tractor enables immediate and precise chemical application through remote control. This results in high-precision spraying and uniform distribution, ultimately leading to cost savings, particularly by allowing for adjustments in nozzle height from a minimum of 0.25 m to a maximum of 0.75 m from the target. Full article

South Dongting Lake is an essential aquatic ecosystem that receives substantial water inflows from the Xiangjiang and Zishui Rivers. However, it is significantly impacted by human activities, including mining, smelting, and farming. These activities have led to serious contamination of the lake’s sediments with heavy metals (HMs). This study investigated the distribution, mobility, and influencing factors of HMs at the sediment–water interface. To this end, sediment samples were analyzed from three key regions (Xiangjiang River estuary, Zishui River estuary, and northeastern South Dongting Lake) using traditional sampling methods and Diffusive Gradients in Thin Films (DGT) technology. Analysis of fifteen HMs (Pb, Bi, Ni, As, Se, Cd, Sb, Mn, Zn, V, Cr, Cu, Tl, Co, and Fe) revealed significant spatial heterogeneity. The results showed that Cr, Cu, Pb, Bi, Ni, As, Se, Cd, Sb, Mn, Zn, and Fe exhibited high variability (CV > 0.20), whereas V, Tl, and Co demonstrated stable concentrations (CV < 0.20). Concentrations were found to exceed background values of the upper continental crust of eastern China (UCC), Yangtze River sediments (YZ), and Dongting Lake sediments (DT), particularly at the Xiangjiang estuary (XE) and in the northeastern regions. Speciation analysis revealed that V, Cr, Cu, Ni, and As were predominantly found in the residual fraction (F4), while Pb and Co were concentrated in the oxidizable fraction (F3), Mn and Zn appeared primarily in the exchangeable fractions (F1 and F2), and Cd was notably dominant in the exchangeable fraction (F1), suggesting a high potential for mobility. Additionally, DGT results confirmed a significant potential for the release of Pb, Zn, and Cd. Contamination assessment using the Pollution Load Index (PLI) and Geoaccumulation Index (Igeo) identified Pb, Bi, Ni, As, Se, Cd, and Sb as major pollutants. Among these, Bi and Cd were found to pose the highest risks. Furthermore, the Risk Assessment Code (RAC) and the Potential Ecological Risk Index (PERI) highlighted Cd as the primary ecological risk contributor, especially in the XE. The study identified sediment grain size, pH, electrical conductivity, and nutrient levels as the primary influencing factors. The PMF modeling revealed HM sources as mixed smelting/natural inputs, agricultural activities, natural weathering, and mining/smelting operations, suggesting that remediation should prioritize Cd control in the XE with emphasis on external inputs. Full article

Unmanned Aerial Vehicles (UAVs) have rapidly grown into different essential applications, including surveillance, disaster response, agriculture, and urban monitoring. However, for UAVS to steer safely and autonomously, the ability to detect obstacles and nearby aircraft remains crucial, especially under hard environmental conditions. This study comprehensively analyzes the recent landscape of obstacle and aircraft detection techniques tailored for UAVs acting in difficult scenarios such as fog, rain, smoke, low light, motion blur, and disorderly environments. It starts with a detailed discussion of key detection challenges and continues with an evaluation of different sensor types, from RGB and infrared cameras to LiDAR, radar, sonar, and event-based vision sensors. Both classical computer vision methods and deep learning-based detection techniques are examined in particular, highlighting their performance strengths and limitations under degraded sensing conditions. The paper additionally offers an overview of suitable UAV-specific datasets and the evaluation metrics generally used to evaluate detection systems. Finally, the paper examines open problems and coming research directions, emphasising the demand for lightweight, adaptive, and weather-resilient detection systems appropriate for real-time onboard processing. This study aims to guide students and engineers towards developing stronger and intelligent detection systems for next-generation UAV operations. Full article

Traditional path planning algorithms often fail to simultaneously ensure operational efficiency, energy constraint compliance, and environmental adaptability in agricultural scenarios, thereby hindering the advancement of precision agriculture. To address these challenges, this study proposes a deep reinforcement learning algorithm, MoE-D3QN, which integrates a Mixture-of-Experts mechanism with a Bi-directional Long Short-Term Memory model. This design enhances the efficiency and robustness of UAV path planning in agricultural environments. Building upon this algorithm, a hierarchical coverage path planning framework is developed. Multi-level task maps are constructed using crop information extracted from Sentinel-2 remote sensing imagery. Additionally, a dynamic energy consumption model and a progressive composite reward function are incorporated to further optimize UAV path planning in complex farmland conditions. Simulation experiments reveal that in the two-level scenario, the MoE-D3QN algorithm achieves a coverage efficiency of 0.8378, representing an improvement of 37.84–63.38% over traditional algorithms and 19.19–63.38% over conventional reinforcement learning methods. The redundancy rate is reduced to 3.23%, which is 38.71–41.94% lower than traditional methods and 4.46–42.77% lower than reinforcement learning counterparts. In the three-level scenario, MoE-D3QN achieves a coverage efficiency of 0.8261, exceeding traditional algorithms by 52.13–71.45% and reinforcement learning approaches by 10.15–50.2%. The redundancy rate is further reduced to 5.26%, which is significantly lower than the 57.89–92.11% observed with traditional methods and the 15.57–18.98% reported for reinforcement learning algorithms. These findings demonstrate that the MoE-D3QN algorithm exhibits high-quality planning performance in complex farmland environments, indicating its strong potential for widespread application in precision agriculture. Full article

The problem of choosing an electric generator in order to increase the reliability and continuity of energy supply to households in Ukraine was considered. It was shown that this choice is made under conditions of uncertainty. The methods of choosing alternatives to technical systems under conditions of uncertainty, based on axiomatic, heuristic and verbal decision-making methods described in the sources, were analyzed, and the Analytical Hierarchical Process (AHP) was selected to develop a model for choosing an electric generator. The technical, economic, operational and ergonomic criteria for choosing an electric generator were justified. The novelty of the article lies in the use of the developed structural hierarchical model for choosing an electric generator for a household, and the selection of the appropriate generator option for a household was carried out using the AHP. The selected F3001 generator model is characterized by the highest value of the generalized weighting factor due to the impact of estimates based on economic and operational criteria. The use of the cogeneration unit in an agricultural biogas plant was also indicated—as an alternative to household energy supply. Full article

Based on a comprehensive review of the current research status of ecological compensation both domestically and internationally, combined with field survey data, this study delves into the issue of multi-stakeholder participation in the ecological compensation mechanisms of the Xin’an River Basin. This research reveals that the joint participation of multiple stakeholders is crucial to achieving the goals of ecological compensation in river basins. The government plays a significant role in macro-guidance, financial support, policy guarantees, supervision, and management. It promotes the comprehensive implementation of ecological environmental protection by formulating relevant laws and regulations, guiding the public to participate in ecological conservation, and supervising and punishing pollution behaviors. The public, serving as the main force, forms strong awareness and behavioral habits of ecological protection through active participation in environmental protection, monitoring, and feedback. As participants, enterprises contribute to industrial transformation and green development by improving resource utilization efficiency, reducing pollution emissions, promoting green industries, and participating in ecological restoration projects. Scientific research institutions, as technology enablers, have effectively enhanced governance efficiency through technological research and innovation, ecosystem value accounting to provide decision-making support, and public education. Social organizations, as facilitators, have injected vitality and innovation into watershed governance by extensively mobilizing social forces and building multi-party collaboration platforms. Communities, as supporters, have transformed ecological value into economic benefits by developing characteristic industries such as eco-agriculture and eco-tourism. Based on the above findings, further recommendations are proposed to mobilize the enthusiasm of upstream communities and encourage their participation in ecological compensation, promote the market-oriented operation of ecological compensation mechanisms, strengthen cross-regional cooperation to establish joint mechanisms, enhance supervision and evaluation, and establish a sound benefit-sharing mechanism. These recommendations provide theoretical support and practical references for ecological compensation worldwide. Full article

Against the backdrop of increasingly frequent extreme weather events and heightened market price volatility, investigating the relationship between agricultural insurance and farmers’ livelihood resilience is crucial for ensuring rural socioeconomic stability. This study utilizes field survey data from 1196 households across twelve county-level divisions (three cities and nine counties) from China’s Hainan and Yunnan provinces, specifically in natural rubber-producing regions. Using propensity score matching (PSM), we empirically examine agricultural insurance’s impact on household livelihood resilience. The results demonstrate that agricultural insurance increased the effect on farmers’ livelihood resilience by 1%. This effect is particularly pronounced among recently poverty-alleviated households and large-scale farming operations. Furthermore, the analysis highlights the mediating roles of credit availability, adoption of agricultural production technologies, and production initiative in strengthening insurance’s positive impact. Therefore, policies should be refined and expanded, combining agricultural insurance with credit support and agricultural technology extension to leverage their value and ensure the sustainable development of farm households. Full article

Agricultural nondestructive testing technology is pivotal in safeguarding food quality assurance, safety monitoring, and supply chain transparency. While conventional optical methods such as near-infrared spectroscopy and hyperspectral imaging demonstrate proficiency in surface composition analysis, their constrained penetration depth and environmental sensitivity limit effectiveness in dynamic agricultural inspections. This review highlights the transformative potential of microwave technologies, systematically examining their operational principles, current implementations, and developmental trajectories for agricultural quality control. Microwave technology leverages dielectric response mechanisms to overcome traditional limitations, such as low-frequency penetration for grain silo moisture testing and high-frequency multi-parameter analysis, enabling simultaneous detection of moisture gradients, density variations, and foreign contaminants. Established applications span moisture quantification in cereal grains, oilseed crops, and plant tissues, while emerging implementations address storage condition monitoring, mycotoxin detection, and adulteration screening. The high-frequency branch of the microwave–millimeter wave systems enhances analytical precision through molecular resonance effects and sub-millimeter spatial resolution, achieving trace-level contaminant identification. Current challenges focus on three areas: excessive absorption of low-frequency microwaves by high-moisture agricultural products, significant path loss of microwave high-frequency signals in complex environments, and the lack of a standardized dielectric database. In the future, it is essential to develop low-cost, highly sensitive, and portable systems based on solid-state microelectronics and metamaterials, and to utilize IoT and 6G communications to enable dynamic monitoring. This review not only consolidates the state-of-the-art but also identifies future innovation pathways, providing a roadmap for scalable deployment of next-generation agricultural NDT systems. Full article

Effective flood management in agricultural fields has become increasingly important due to the rising frequency and intensity of rainfall events driven by climate change. This study investigates the applicability of urban flood analysis models—SWMM (1D) and K-Flood (2D)—to irrigated agricultural fields with artificial drainage systems. A case study was conducted in a rural area near the Sindae drainage station in Cheongju, South Korea, using rainfall data from an extreme weather event in 2017. The models simulated inland flooding and were validated against flood trace maps provided by the Ministry of the Interior and Safety (MOIS). Receiver Operating Characteristic (ROC) analysis showed a true positive rate of 0.565, a false positive rate of 0.21, and an overall accuracy of 0.731, indicating reasonable agreement with observed inundation. Scenario analyses were also conducted to assess the effectiveness of three improvement strategies: reducing the Manning coefficient, increasing pump station capacity, and widening drainage channels. Among them, increasing pump capacity most effectively reduced flood volume, while channel widening had the greatest impact on reducing flood extent. These findings demonstrate the potential of urban flood models for application in agricultural contexts and support data-driven planning for rural flood mitigation. Full article

The Santurbán paramo is a sensitive high-mountain ecosystem exposed to pressures from extractive and agricultural activities, as well as increasing tourism. In response, this study presents a context-aware recommendation system designed to support sustainable tourism through the integration of deep neural networks and ontology-based semantic modeling. The proposed system delivers personalized recommendations—such as activities, accommodations, and ecological routes—by processing user preferences, geolocation data, and contextual features, including cost and popularity. The architecture combines a trained TensorFlow Lite model with a domain ontology enriched with GeoSPARQL for geospatial reasoning. All inference operations are conducted locally on Android devices, supported by SQLite for offline data storage, which ensures functionality in connectivity-restricted environments and preserves user privacy. Additionally, the system employs geofencing to trigger real-time environmental notifications when users approach ecologically sensitive zones, promoting responsible behavior and biodiversity awareness. By incorporating structured semantic knowledge with adaptive machine learning, the system enables low-latency, personalized, and conservation-oriented recommendations. This approach contributes to the sustainable management of natural reserves by aligning individual tourism experiences with ecological protection objectives, particularly in remote areas like the Santurbán paramo. Full article