Search Results (25)

Reconfigurable intelligent surfaces (RISs), recognized as one of the most promising key technologies for sixth-generation (6G) mobile communications, are characterized by their minimal energy expenditure, cost-effectiveness, and straightforward implementation. In this study, we develop a novel communication channel model that integrates RIS-enabled base stations with unmanned ground vehicles. To enhance the system’s adaptability, we implement a fluid antenna system (FAS) at the unmanned ground vehicle (UGV) terminal. This innovative model demonstrates exceptional versatility across various wireless communication scenarios through the strategic adjustment of active ports. The inherent dynamic reconfigurability of the FAS provides superior flexibility and adaptability in air-to-ground communication environments. In the paper, we derive and study key performance characteristics like the autocorrelation function (ACF), validating the model’s effectiveness. The results demonstrate that the RIS-FAS collaborative scheme significantly enhances channel reliability while effectively addressing critical challenges in 6G networks, including signal blockage and spatial constraints in mobile terminals. Full article

Inland waters, serving as crucial carbon sinks and pivotal conduits within the global carbon cycle, are essential targets for carbon assessment under global warming and carbon neutrality initiatives. However, the extensive spatial distribution and inherent sampling challenges pose fundamental difficulties for monitoring dissolved organic carbon (DOC) in these systems. Since 2010, remote sensing has catalyzed a technological revolution in inland water DOC monitoring, leveraging its advantages for rapid, cost-effective long-term observation. In this critical review, we systematically evaluate research progress over the past two decades to assess the performance of remote sensing products and existing methodologies in DOC retrieval. We provide a detailed examination of diverse remote sensing data sources, outlining their application characteristics and limitations. By tracing uncertainties in retrieval outcomes, we identify atmospheric correction, spatial heterogeneity, and model and data deficiencies as primary sources of uncertainty. Current retrieval approaches—direct, indirect, and machine learning (ML) methods—are thoroughly scrutinized for their features, effectiveness, and application contexts. While ML offers novel solutions, its application remains nascent, constrained by limited waterbody-specific samples and model constraints. Furthermore, we discuss current challenges and future directions, focusing on data optimization, feature engineering, and model refinement. We propose that future research should (1) employ integrated satellite–air–ground observations and develop tailored atmospheric correction for inland waters to reduce data noise; (2) develop deep learning architectures with branch networks to extract DOC’s intrinsic shortwave absorption and longwave anti-interference features; and (3) incorporate dynamic biogeochemical processes within study regions to refine retrieval frameworks using biogeochemical indicators. We also advocate for multi-algorithm collaborative prediction to overcome the spectral paradox and unphysical solutions arising from the single data-driven paradigm of traditional ML, thereby enhancing retrieval reliability and interpretability. Full article

This paper explores breakthroughs from the perspective of UAV navigation architectures and proposes a UAV autonomous navigation method based on aerial–ground cooperative perception to address the challenge of UAV navigation in GPS-denied and unknown environments. The approach consists of two key components. Firstly, a mobile anchor trilateration and environmental modeling method is developed using a multi-UAV system by integrating the visual sensing capabilities of aerial surveillance UAVs with ultra-wideband technology. It constructs a real-time global 3D environmental model and provides precise positioning information, supporting autonomous planning and target guidance for near-ground UAV navigation. Secondly, based on real-time environmental perception, an improved D* Lite algorithm is employed to plan rapid and collision-free flight trajectories for near-ground navigation. This allows the UAV to autonomously execute collision-free movement from the initial position to the target position in complex environments. The results of real-world flight experiments demonstrate that the system can efficiently construct a global 3D environmental model in real time. It also provides accurate flight trajectories for the near-ground navigation of UAVs while delivering real-time positional updates during flight. The system enables UAVs to autonomously navigate in GPS-denied and unknown environments, and this work verifies the practicality and effectiveness of the proposed air–ground cooperative perception navigation system, as well as the mobile anchor trilateration and environmental modeling method. Full article

As sixth-generation mobile communication (6G) advances towards ultra-high speed and global coverage, visible light communication (VLC) has emerged as a crucial complementary technology due to its ultra-high bandwidth, low power consumption, and immunity to electromagnetic interference. Modulation format recognition (MFR) plays a vital role in the dynamic optimization and adaptive transmission of VLC systems, significantly influencing communication performance in complex channel environments. This paper systematically reviews the research progress in MFR for VLC, comparing the theoretical frameworks and limitations of traditional likelihood-based (LB) and feature-based (FB) methods. It also explores the advancements brought by deep learning (DL) technology, particularly in enhancing noise robustness, classification accuracy, and cross-scenario adaptability through automatic feature extraction and nonlinear mapping. The findings indicate that DL-based MFR substantially enhances recognition performance in intricate channels via multi-dimensional feature fusion, lightweight architectures, and meta-learning paradigms. Nonetheless, challenges remain, including high model complexity and a strong reliance on labeled data. Future research should prioritize multi-domain feature fusion, interdisciplinary collaboration, and hardware–algorithm co-optimization to develop lightweight, high-precision, and real-time MFR technologies that align with the 6G vision of space–air–ground–sea integrated networks. Full article

With the growing integration of the Internet of Things (IoT), low-altitude intelligent networks, and vehicular networks, smart city traffic systems are gradually evolving into an air–ground integrated intelligent monitoring framework. However, traditional centralized model training faces challenges such as high network load due to massive data transmission, energy management difficulties for mobile devices like UAVs, and privacy risks associated with non-anonymized road operation data. Therefore, this paper proposes an air–ground collaborative federated learning framework that integrates Bayesian prediction and an incentive mechanism to achieve privacy protection and communication optimization through localized model training and differentiated incentive strategies. Simulation experiments demonstrate that, compared to the Equal Contribution Algorithm (ECA) and the Importance Contribution Algorithm (ICA), the proposed method improves model convergence speed while reducing incentive costs, providing theoretical support for the reliable operation of large-scale intelligent traffic monitoring systems. Full article

This paper presents a comprehensive review of tethered unmanned aerial vehicles (UAVs), focusing on their challenges and potential applications across various domains. We analyze the dynamic characteristics of tethered UAV systems and address the unique challenges they present, including complex tether dynamics, impulsive forces, and entanglement risks. Additionally, we explore application-specific challenges in areas such as payload transportation and ground-connected systems. The review also examines existing tethered UAV testbed designs, highlighting their strengths and limitations in both simulation and experimental settings. We discuss advancements in multi-UAV cooperation, ground–air collaboration through tethers, and the integration of retractable tether systems. Moreover, we identify critical future challenges in developing tethered UAV systems, emphasizing the need for robust control strategies and innovative solutions for dynamic and cluttered environments. Finally, the paper provides insights into the future potential of variable-length tethered UAV systems, exploring how these systems can enhance versatility, improve operational safety, and expand the range of feasible applications in industries such as logistics, emergency response, and environmental monitoring. Full article

Across the globe, ecosystems are degraded and humanity is impacting the biosphere amongst multiple domains, exceeding sustainability boundaries, in, for example, biodiversity loss and air pollution. To address this issue, people are calling for a socio-ecological systems approach. The objective of this paper is to demonstrate how we used our experience to develop a catchment approach to planning and on-ground intervention, using the Upper Clutha catchment in the South Island of Aotearoa/New Zealand to demonstrate and report the importance of collaboration in achieving coordinated catchment management. This experience can be represented by the culmination of multiple workstreams that make up the Wānaka Way Framework—a prototype in action of how we work as a community to pursue One Health. Here, we demonstrate that this is achieved through trusted relationships, the co-design of tools, and knowledge creation and sharing. We highlight how the learnings from this catchment management approach can be applied more broadly. Full article

Over the past few years, our traditional ground-based transportation system has encountered various challenges, including overuse, traffic congestion, growing urban populations, high infrastructure costs, and disorganization. Unmanned aerial vehicles, commonly referred to as drones, have significantly impacted aerial communication in both the academic and industrial sectors. Therefore, researchers and scientists from the aviation and automotive industries have collaborated to create an innovative air transport system that solves traditional transport problems. In the coming years, urban air mobility (UAM) is expected to become an emerging air transportation system that enables on-demand air travel. UAM is also anticipated to offer more environmentally friendly, cost-effective, and faster modes of transportation than ground-based alternatives. Owing to the unique characteristics of personal air vehicles, ensuring reliable communication and maintaining proper safety and security, air traffic management, collision detection, path planning, and highly accurate localization and navigation have become increasingly complex. This article provides an extensive literature review of recent technologies to address the challenges UAM faces. First, we present UAM communication requirements in terms of coverage, data rate, latency, spectrum efficiency, networking, and computing capabilities. Subsequently, we identify the potential key technological enablers to meet these requirements and overcome their challenges. Finally, we discuss open research issues, challenges, and future research directions for UAM deployment. Full article

The Total Carbon Column Observing Network (TCCON) and the Infrared Working Group of the Network for the Detection of Atmospheric Composition Change (NDACC-IRWG) are two ground-based networks that provide the retrieved concentrations of up to 30 atmospheric trace gases, using solar absorption spectrometry. Both networks provide reference measurements for the validation of satellites and models. TCCON concentrates on long-lived greenhouse gases (GHGs) for carbon cycle studies and validation. The number of sites is limited, and the geographical coverage is uneven, covering mainly Europe and the USA. A better distribution of stations is desired to improve the representativeness of the data for various atmospheric conditions and surface conditions and to cover a large latitudinal distribution. The two successive Fiducial Reference Measurements for Greenhouse Gases European Space Agency projects (FRM4GHG and FRM4GHG2) aim at the assessment of several low-cost portable instruments for precise measurements of GHGs to complement the existing ground-based sites. Several types of low spectral resolution Fourier transform infrared (FTIR) spectrometers manufactured by Bruker, namely an EM27/SUN, a Vertex70, a fiber-coupled IRCube, and a Laser Heterodyne spectro-Radiometer (LHR) developed by UK Rutherford Appleton Laboratory are the participating instruments to achieve the Fiducial Reference Measurements (FRMs) status. Intensive side-by-side measurements were performed using all four instruments next to the Bruker IFS 125HR high spectral resolution FTIR, performing measurements in the NIR (TCCON configuration) and MIR (NDACC configuration) spectral range. The remote sensing measurements were complemented by AirCore launches, which provided in situ vertical profiles of target gases traceable to the World Meteorological Organization (WMO) reference scale. The results of the intercomparisons are shown and discussed. Except for the EM27/SUN, all other instruments, including the reference TCCON spectrometer, needed modifications during the campaign period. The EM27/SUN and the Vertex70 provided stable and precise measurements of the target gases during the campaign with quantified small biases. As part of the FRM4GHG project, one EM27/SUN is now used as a travel standard for the verification of column-integrated GHG measurements. The extension of the Vertex70 to the MIR provides the opportunity to retrieve additional concentrations of N₂O, CH₄, HCHO, and OCS. These MIR data products are comparable to the retrieval results from the high-resolution IFS 125HR spectrometer as operated by the NDACC. Our studies show the potential for such types of spectrometers to be used as a travel standard for the MIR species. An enclosure system with a compact solar tracker and meteorological station has been developed to house the low spectral resolution portable FTIR systems for performing solar absorption measurements. This helps the spectrometers to be mobile and enables autonomous operation, which will help to complement the TCCON and NDACC networks by extending the observational capabilities at new sites for the observation of GHGs and additional air quality gases. The development of the retrieval software allows comparable processing of the Vertex70 type of spectra as the EM27/SUN ones, therefore bringing them under the umbrella of the COllaborative Carbon Column Observing Network (COCCON). A self-assessment following the CEOS-FRM Maturity Matrix shows that the COCCON is able to provide GHG data products of FRM quality and can be used for either short-term campaigns or long-term measurements to complement the high-resolution FTIR networks. Full article

In disaster-stricken areas that were severely damaged by earthquakes, typhoons, floods, mudslides, and the like, employing unmanned aerial vehicles (UAVs) as airborne base stations for mobile edge computing (MEC) constitutes an effective solution. Concerning this, we investigate a 3D air–ground collaborative MEC scenario facilitated by multi-UAV for multiple ground devices (GDs). Specifically, we first design a 3D multi-UAV-assisted air–ground cooperative MEC system, and construct system communication, computation, and UAV flight energy consumption models. Subsequently, a cooperative resource optimization (CRO) problem is proposed by jointly optimizing task offloading, UAV flight trajectories, and edge computing resource allocation to minimize the total energy consumption of the system. Further, the CRO problem is decoupled into two sub-problems. Among them, the MATD3 deep reinforcement learning algorithm is utilized to jointly optimize the offloading decisions of GDs and the flight trajectories of UAVs; subsequently, the optimal resource allocation scheme at the edge is demonstrated through the derivation of KKT conditions. Finally, the simulation results show that the algorithm has good convergence compared with other algorithms and can effectively reduce the system energy consumption. Full article

Safety concerns are progressively emerging regarding the adoption of Unmanned Aircraft Systems (UASs) in diverse civil applications, particularly within the booming air transportation system, such as in Advanced Air Mobility. The outcomes of risk assessment determine operation authorization and mitigation strategies. However, civil UAS operations bring novel safety issues distinct from traditional aviation, like ground impact risk, etc. Existing studies vary in their risk definitions, modelling mechanisms, and objectives. There remains an incomplete gap of challenges, opportunities, and future efforts needed to collaboratively address diverse safety risks. This paper undertakes a comprehensive review of the literature in the domain, providing a summative understanding of the risk assessment of civil UAS operations. Specifically, four basic modelling approaches utilized commonly are identified comprising the safety risk management process, causal model, collision risk model, and ground risk model. Then, this paper reviews the state of the art in each category and explores the practical applications they contribute to, the support offered to participants from multiple stakeholders, and the primary technical challenges encountered. Moreover, potential directions for future work are outlined based on the high-level common problems. We believe that this review from a holistic perspective contributes towards better implementation of risk assessment in civil UAS operations, thus facilitating safe integration into the airspace system. Full article

Cooperative localization (CL) for air-to-ground robots in a satellite-denial environment has become a current research hotspot. The traditional distance-based heterogeneous multiple-robot CL method requires at least four unmanned aerial vehicles (UAVs) with known positions. When the number of known-position UAVs in a cluster collaborative network is insufficient, the traditional distance-based CL method has a certain inapplicability. A novel adaptive CL method for air-to-ground robots based on relative distance constraints is proposed in this paper. Based on a dynamically changing number of known-position UAVs in the cluster collaborative network, the adaptive fusion estimation threshold is set. When the number of known-position UAVs in the cluster cooperative network is large, the real-time dynamic topology characteristics of multiple robots’ spatial geometric configurations are considered. The optimal spatial geometric configuration between UAVs and unmanned ground vehicles (UGVs) is utilized to achieve a high-precision CL solution for UGVs. Otherwise, in the event that the number of known-position UAVs in a cluster collaborative network is insufficient, distance observation constraint information between UAVs and UGVs is retained in real time. Position observation equations for UGVs’ inertial navigation system (INS) have been constructed using inertial-based high-precision relative position constraints and relative distance constraints from historical to current times. The experimental results show that the proposed method achieves adaptive fusion estimation with a dynamically changing number of known-position UAVs in the cluster collaborative network, effectively verifying the effectiveness of the proposed method. Full article

To fully comprehend the patterns of land and ecological damage caused by coal mining subsidence, and to scientifically carry out ecological mine restoration and management, it is urgent to accurately grasp the information of coal mining, particularly in complex coaling areas, such as North Anhui, China. In this paper, a space–air–ground collaborative monitoring system was constructed for coal mining areas based on multi-source remote sensing data and subsidence characteristics of coaling areas were investigated in North Anhui. It was found that from 2019 to 2022, 16 new coal mining subsidence areas were found in northern Anhui, with the total area increasing by 8.1%. In terms of land use, water areas were increased by 101.9 km² from 2012 to 2022, cultivated land was decreased by 99.3 km², and residence land was decreased by 11.8 km². The depth of land subsidence in the subsidence areas is divided into 307.9 km² of light subsidence areas with a subsidence depth of less than 500 mm; 161.8 km² of medium subsidence areas with a subsidence depth between 500 mm and 1500 mm; and 281.2 km² of heavy subsidence areas with a subsidence depth greater than 1500 mm. The total subsidence governance area is 191.2 km², accounting for 26.5% of the total subsidence area. From the perspective of prefecture-level cities, the governance rate reaches 51.3% in Huaibei, 10.1% in Huainan, and 13.6% in Fuyang. The total reclamation area is 68.8 km², accounting for 34.5% of the subsidence governance area. At present, 276.1 km² within the subsidence area has reached stable subsidence conditions, mainly distributed in the Huaibei mining area, which accounts for about 60% of the total stable subsidence area. Full article

Under the dual-carbon target, the popularization and application of building integrated photovoltaic (BIPV) and ground source heat pump systems have made active buildings a research hotspot in the field of architecture and energy. Aiming at this issue, based on the building energy consumption model of active buildings, an active building energy management system (EMS) control strategy based on multi-energy load collaborative optimization is proposed. Firstly, based on the thermal dynamic characteristics and building performance parameters of active buildings, the overall refined energy consumption model of active buildings is constructed. Secondly, based on the construction of BIPV, the ice storage air conditioning system, the ground source heat pump system, and the integrated demand response (IDR) model, a tiered carbon transaction cost model is introduced, and an energy management strategy that leverages the synergistic application of renewable and active technologies is proposed. This strategy aims to meet the comprehensive needs of active buildings in terms of economic benefits, comfort, and environmental protection. Finally, the strategy’s effectiveness is demonstrated through a practical example. Full article

Collaborative exploration in environments involving multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) represents a crucial research direction in multi-agent systems. However, there is still a lack of research in the areas of multi-target detection task assignment and swarm path planning, both of which play a vital role in enhancing the efficiency of environment exploration and reducing energy consumption. In this paper, we propose an air–ground collaborative multi-target detection task model based on Mixed Integer Linear Programming (MILP). In order to make the model more suitable for real situations, kinematic constraints of the UAVs and UGVs, dynamic collision avoidance constraints, task allocation constraints, and obstacle avoidance constraints are added to the model. We also establish an objective function that comprehensively considers time consumption, energy consumption, and trajectory smoothness to improve the authenticity of the model and achieve a more realistic purpose. Meanwhile, a Branch-and-Bound method combined with the Improved Genetic Algorithm (IGA-B&B) is proposed to solve the objective function, and the optimal task assignment and optimal path of air–ground collaborative multi-target detection can be obtained. A simulation environment with multi-agents, multi-obstacles, and multi-task points is established. The simulation results show that the proposed IGA-B&B algorithm can reduce the computation time cost by 30% compared to the traditional Branch-and-Bound (B&B) method. In addition, an experiment is carried out in an outdoor environment, which further validates the effectiveness and feasibility of the proposed method. Full article