Search Results (411)

Urban logistics systems face growing delivery demand and complex traffic and operational constraints, which make unmanned delivery carriers, including unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), a promising solution. Existing studies typically focus on a single delivery carrier type and rely on idealized assumptions, overlooking heterogeneous cooperation under multiple stations, multiple time windows, and real-world transport conditions. To address these gaps, we propose the Multi-Station UAV–UGV Cooperative Delivery Scheduling Problem with Temporally Discontinuous Service Availability (MSUUCDSP) to minimize the total travel and waiting time of UAVs and UGVs. To solve the problem, we propose a mixed-integer linear programming (MILP) model with a novel mathematical approach and a Hybrid Large Neighborhood Search (HLNS) algorithm. Additionally, we adopt a Hidden Markov Model (HMM)-based map-matching method and big data techniques to capture realistic operational characteristics. Computational experiments are conducted on various realistic instances under four diverse scenarios. Results show that UAV–UGV cooperation significantly improves efficiency, reducing total time cost by 17.12% compared with single-mode delivery, and they reveal substantial discrepancies between idealized assumptions and realistic scenarios. We further develop an ArcGIS-based simulation to support practical implementation. The findings provide valuable insights for decision-making and engineering applications for logistics operators. Full article

Background: A major technical challenge in single-cell transcriptomics is the absence of an integrative analytic pipeline that can simultaneously leverage gene regulatory network (GRN) architecture, AI-assisted gene panel discovery, and functional relevance analyses to generate coherent biological insights. Existing approaches often treat these components independently, focusing on clusters, marker genes, or predictive features without integrating them into a mechanistically grounded framework. Consequently, comprehensive screening that links regulatory association, gene signature screening, and functional interpretation within single-cell datasets remains limited, underscoring the need for an integrated strategy. Methods: We developed an integrative bioinformatics pipeline based on Gene regulatory network–AI–Functional Analysis (GAFA), combining latent-space integration, unsupervised clustering, diffusion pseudotime analysis, lineage-resolved generalized additive modeling, GRN inference, and machine learning-based gene panel discovery. This framework enables systematic mapping of cell-state structure, reconstruction of differentiation and effector trajectories, and identification of transcriptional and regulatory features strongly associated with clinical outcomes. As a case study, we applied the pipeline to NK cell transcriptomes from six CML patients (two early relapse, two late relapse, two durable treatment-free remission—TFR; 15 samples) collected at TKI discontinuation and 6–12 months after therapy cessation. Results: We reanalyzed publicly available scRNA-seq data from a previously published CML cohort to evaluate NK-cell transcriptional programs associated with treatment-free remission and relapse. We resolved six transcriptionally distinct NK cell states spanning CD56^bright-like cytokine-responsive, early activated, terminally mature, cytotoxic, lymphoid trafficking, and HLA-DR⁺ immunoregulatory populations, each exhibiting outcome-specific compositional differences. Pseudotime analysis revealed two major NK cell lineages—a maturation trajectory and a cytotoxic effector trajectory. TFR samples displayed balanced occupancy of both lineages, whereas early relapse samples showed marked depletion of the maturation branch and preferential accumulation in cytotoxic end states. AI-guided feature selection and random forest modeling identified an 18-gene panel that distinguished NK cells from TFR and relapse samples in an exploratory manner. Among them, CST7, FCER1G, GNLY, GZMA, and HLA-C were conventional NK-associated genes, whereas ACTB, CYBA, IFITM2, IFITM3, LYZ, MALAT1, MT2A, MYOM2, NFKBIA, PIM1, S100A8, S100B, and TSC22D3 were novel. The GRN inference further uncovered outcome-specific regulatory modules, with RUNX3, EOMES, ELK4, and REL regulons enriched in TFR, whereas FOSL2 and MAF regulons were enriched in relapse, and their downstream targets linked to IFN-γ signaling, metabolic reprogramming, and immunoregulatory feedback circuits. Conclusions: This AI-enabled single-cell analysis demonstrates how NK cell state composition, differentiation trajectories, and regulatory network rewiring collectively shape TFR versus relapse following TKI discontinuation in CML. The integrative pipeline provides a modular framework that could be extended to additional datasets for data-driven biomarker discovery and mechanistic stratification, and highlights candidate transcriptional regulators and NK cell programs that may be leveraged to improve remission durability, pending validation in larger patient cohorts. Full article

With the widespread adoption of various types of Unmanned Aerial Vehicles (UAVs), their non-compliant operations pose a severe challenge to public safety, necessitating the urgent identification and detection of UAV targets. However, in complex backgrounds, UAV targets exhibit small-scale dimensions and low contrast, coupled with extremely low signal-to-noise ratios. This forces conventional target detection methods to confront issues such as feature convergence, missed detections, and false alarms. To address these challenges, we propose a Multi-View Feature Fusion Network (MVFF) that achieves precise identification of small, low-contrast UAV targets by leveraging complementary multi-view information. First, we design a collaborative view alignment fusion module. This module employs a cross-map feature fusion attention mechanism to establish pixel-level mapping relationships and perform deep fusion, effectively resolving geometric distortion and semantic overlap caused by imaging angle differences. Furthermore, we introduce a view feature smoothing module that employs displacement operators to construct a lightweight long-range modeling mechanism. This overcomes the limitations of traditional convolutional local receptive fields, effectively eliminating ghosting artifacts and response discontinuities arising from multi-view fusion. Additionally, we developed a small object binary cross-entropy loss function. By incorporating scale-adaptive gain factors and confidence-aware weights, this function enhances the learning capability of edge features in small objects, significantly reducing prediction uncertainty caused by background noise. Comparative experiments conducted on a multi-perspective UAV dataset demonstrate that our approach consistently outperforms existing state-of-the-art methods across multiple performance metrics. Specifically, it achieves a Structure-measure of 91.50% and an F-measure of 85.14%, validating the effectiveness and superiority of the proposed method. Full article

The paper introduces a computationally efficient semantic-aware route planning framework for indoor mobile robots, designed for real-time execution on resource-constrained edge hardware (Raspberry Pi 5, CPU-only). The proposed architecture fuses monocular object detection with 2D LiDAR-based range estimation and integrates the resulting semantic annotations into the Nav2 Route Server for penalty-weighted route selection. Object localization in the map frame is achieved through the Angular Sector Fusion (ASF) pipeline, a deterministic geometric method requiring no parameter tuning. The ASF projects YOLO bounding boxes onto LiDAR angular sectors and estimates the object range using a 25th-percentile distance statistic, providing robustness to sparse returns and partial occlusions. All intrinsic and extrinsic sensor parameters are resolved at runtime via ROS 2 topic introspection and the URDF transform tree, enabling platform-agnostic deployment. Detected entities are classified according to mobility semantics (dynamic, static, and minor) and persistently encoded in a GeoJSON-based semantic map, with these annotations subsequently propagated to navigation graph edges as additive penalties and velocity constraints. Route computation is performed by the Nav2 Route Server through the minimization of a composite cost functional combining geometric path length with semantic penalties. A reactive replanning module monitors semantic cost updates during execution and triggers route invalidation and re-computation when threshold violations occur. Experimental evaluation over 115 navigation segments (legs) on three heterogeneous robotic platforms (two single-board RPi5 configurations and one dual-board setup with inference offloading) yielded an overall success rate of 97% (baseline: 100%, adaptive: 94%), with 42 replanning events observed in 57% of adaptive trials. Navigation time distributions exhibited statistically significant departures from normality (Shapiro–Wilk, p < 0.005). While central tendency differences between the baseline and adaptive modes were not significant (Mann–Whitney U, p = 0.157), the adaptive planner reduced temporal variance substantially (σ = 11.0 s vs. 31.1 s; Levene’s test W = 3.14, p = 0.082), primarily by mitigating AMCL recovery-induced outliers. On-device YOLO26n inference, executed via the NCNN backend, achieved 5.5 ± 0.7 FPS (167 ± 21 ms latency), and distributed inference reduced the average system CPU load from 85% to 48%. The study further reports deployment-level observations relevant to the Nav2 ecosystem, including GeoJSON metadata persistence constraints, graph discontinuity (“path-gap”) artifacts, and practical Route Server configuration patterns for semantic cost integration. Full article

The Gulf of Taranto (Ionian Sea) is a key transitional sector between the Southern Apennines collisional belt and the Calabrian Arc system, where the expression of Pleistocene–Holocene deformation in the shallow stratigraphic record remains debated. This study focuses on the Taranto Canyon area, the main morphologic feature of the northeastern Gulf of Taranto slope. We integrate high-resolution multibeam bathymetry (10 m grid) with Sparker seismic profiles to (i) define the shallow seismo-stratigraphic framework and (ii) document spatial relationships between shallow discontinuities, morphostructural lineaments, and submarine channel network organization. A simplified tie to the Livia 001 well constrains the subdivision of the shallow succession into four seismic units: the late Pleistocene–Holocene unit (PtH), the Santerno Formation (SNT), the Calcarenite di Gravina (GRA), and the Cupello Limestones (CPL). The PtH interval shows the strongest lateral variability and includes widespread acoustically disturbed bodies and recurrent sub-vertical fluid escape acoustic anomalies. Steep discontinuities producing reflector terminations, minor vertical separation, and localized bending affect PtH and, locally, SNT, with normal fault geometries prevailing where resolvable. Bathymetric mapping reveals multiple lineament families and preferred channel orientations that persist across higher Strahler orders, supporting a structurally conditioned template that guides seafloor morphology, sediment routing, and canyon–slope evolution in the northeastern Gulf of Taranto. Full article

Computed tomography (CT) enables non-destructive insight into internal log structure, yet fully automated interpretation of CT images remains limited by inconsistent annotations, boundary ambiguity, and insufficient spatial context in 2D slice-based analysis. These challenges restrict the industrial deployment of deep learning for wood quality assessment. This study applies artificial intelligence (AI) and deep learning to the automated analysis of computed tomography (CT) scans of wood logs for detecting internal qualitative features and segmenting bark. Using convolutional neural networks (CNNs), trained models accurately distinguish healthy and damaged regions and segment bark, including discontinuous parts. We introduce a novel pseudo-spatial representation by merging consecutive slices into red–green–blue (RGB) format, which improves prediction accuracy and model robustness across logs. To enhance interpretability, Gradient-weighted Class Activation Mapping (Grad-CAM) highlights regions contributing most to defect detection, particularly knots. Comprehensive evaluation using Sørensen–Dice similarity coefficients and confusion matrices confirms the effectiveness of the proposed approach under industrial conditions. These findings demonstrate that AI-driven CT image analysis can address key limitations of current log-grading workflows and enable more reliable, objective, and scalable quality assessment for timber-dependent economies. Full article

Surface cracking is a key visible indicator of deterioration in concrete infrastructure and is routinely captured by vision sensors during field inspections. To translate inspection imagery into actionable maintenance information, crack delineation must be accurate at the pixel level and robust to challenging conditions where cracks are slender, discontinuous, low-contrast, and easily confused with joints, stains, texture patterns, and illumination artifacts. This study proposes a lightweight CNN–Mamba hybrid segmentation framework built upon Vm-unet for reliable crack mapping under heterogeneous inspection scenarios and resource-constrained deployment. The framework couples boundary-sensitive convolutional features with long-range state-space representations via a spatially modulated convolution design, refines skip-connection features using reciprocal co-modulation attention to suppress background interference, and enhances cross-scale interactions through a decoder interaction fusion scheme to preserve fine-crack continuity and sharp boundaries. Experiments on a multi-source composite dataset and public benchmarks show consistent improvements over representative CNN-, Transformer-, and Mamba-based baselines. The proposed method achieves 80.11% mIoU and 82.05% Dice on the composite dataset, while maintaining an efficient accuracy–cost trade-off (36.049 GFLOPs, 25.991 M parameters). The resulting crack masks provide a dependable basis for inspection-driven quantitative assessment and maintenance decision support. Full article

Urban flood risk management in southern Chile is often constrained by fragmented territorial information, discontinuous hydrological records, and weak integration between hazard assessment and formal land-administration systems. These limitations are particularly evident in persistently cloudy cities such as Temuco, where optical satellite imagery is frequently unusable. This study examines how satellite-derived flood observations can be incorporated into municipal land-administration practices. Flood-prone areas were identified using multitemporal Sentinel-1 SAR imagery (2018–2025) and integrated into a municipal multipurpose cadastre structured according to the ISO 19152 Land Administration Domain Model (LADM). Rather than remaining as standalone GIS maps, detected inundation areas were translated into standardized cadastral entities representing spatial units and hazard-related planning constraints. The analysis identified recurrent flooding along the Cautín River floodplain, characterized by strong winter seasonality and increasing exposure linked to urban expansion. More importantly, the results demonstrate that satellite-based hazard observations can be structured as interoperable administrative information with defined semantics, temporal validity, and traceable data sources. The proposed framework enables flood information to support territorial planning, emergency preparedness, and municipal risk management without altering property legal status. By linking Earth observation data with cadastral information infrastructures, the study provides a replicable approach for integrating environmental observations into land-administration systems in regions affected by institutional fragmentation and recurring hydrometeorological hazards. Full article

This paper investigates the application of Transit-Oriented Development (TOD) principles to the retrofitting of historic Gulf urban cores through a comparative analysis of Souq Waqif (Doha) and Qasr Al Hokm (Riyadh). The research employs field observation, thematic mapping, and qualitative diagnosis using the Integrated Modification Methodology (IMM) to assess compactness, intricacy, and connectivity within walkable station catchments. The findings indicate that Souq Waqif has a highly compact and intricate historic core with robust pedestrian activity, yet exhibits discontinuities at its periphery, such as car-dominated streets, fragmented green spaces, and weak connections between the metro station, parks, and adjacent blocks. In Qasr Al Hokm, the analysis affirms the value of its fine-grained historic fabric and civic landmarks, but also identifies deficiencies in shading, last-mile connectivity, and land-use balance surrounding the new metro station. Drawing on lessons from Souq Waqif, the paper proposes a TOD-oriented urban design framework for Qasr Al Hokm, emphasizing shaded pedestrian corridors, active ground floors, intermodal hubs, and heritage-compatible mixed-use intensification. This comparative approach demonstrates how TOD can foster more livable, accessible, and climate-responsive historic cores in Gulf cities, while maintaining respect for local identity and governance structures. Full article

Rapid and large-scale urban transformations destabilize historical continuity in both the material fabric of cities and the theoretical assumptions guiding urban design. This review reconceptualizes tabula rasa and palimpsest as a negative dialectic through which historical dis/continuity can be critically interpreted. Drawing on Henri Lefebvre’s account of the production of space and Marc Augé’s notion of non-place, tabula rasa is understood not as a neutral void but as a historically produced condition of erasure. Paul Ricoeur’s distinction between reconstruction memory and repetition memory informs an interpretation of the palimpsest as an active process of selective re-inscription, rather than a passive accumulation. Through engagement with Fredric Jameson’s cognitive mapping and Aldo van Eyck’s configurative discipline, the article advances methodological orientations for operating in contexts where historical anchors are attenuated or selectively preserved. Analyses of mapping and superposition techniques in the Parc de La Villette competition proposals by OMA/Rem Koolhaas and Peter Eisenman illustrate how dialectical strategies generate form under conditions of unstable continuity. The study argues that urban design necessitates neither presuming uninterrupted historical transmission nor treating erasure as neutral. By framing tabula rasa and palimpsest as mutually constitutive processes, the article clarifies how historical dis/continuity shapes contemporary urban form and proposes methodological instruments for engaging it critically. Full article

To meet the energy-saving requirements of user equipment (UE) operating in Radio Resource Control idle/inactive states (RRC_IDLE/RRC_INACTIVE) in the 3rd-Generation Partnership Project (3GPP) 5G-Advanced (5G-A) networks, the New Radio (NR) downlink paging procedure relies on periodic monitoring and frequent synchronization signal block (SSB) measurements, which wastes energy when no paging arrivals occur. Meanwhile, heterogeneous Quality of Service (QoS) constraints make it difficult for fixed-parameter Idle Discontinuous Reception and Paging Early Indication mechanisms (IDRX/PEI) to balance energy, delay, and reliability. This paper develops a UAV-assisted 5G-A paging control framework that maps services into multiple QoS classes and models QoS violation risk and system energy consumption under unified accounting, including UE monitoring/reception energy and unmanned aerial vehicle (UAV) forwarding energy. We then propose a QoS-aware risk-driven paging strategy: an offline Long Short-Term Memory (LSTM) predictor is trained to estimate the time-to-next-arrival (TTNA) of paging events and produce a bounded urgency/risk signal to initialize class-dependent thresholds, while online triggering and QoS-feedback-based threshold adaptation regulate the empirical violation rate toward target constraints under varying loads, enabling a controllable energy–delay trade-off. A simulation-based evaluation is conducted to compare the proposed method with representative baselines (Enhanced Paging Monitoring (EPM), Split Paging Occasion (SPOP), and Predicted Paging Early Indication (PPEI)) and to examine the impact of SSB overhead and UAV relaying on the energy–delay–reliability trade-offs. Full article

To address challenges such as low contrast, complex backgrounds, and discontinuous crack distribution in coating surface microcrack detection, a detection method combining circular neighborhood features with an improved U-net is proposed. In the preprocessing stage, a background template is constructed via median filtering, and crack contrast is enhanced through a combination of difference operations and Gaussian smoothing. Based on the spatial aggregation and directionality of crack pixels, multi-scale and multi-directional circular scanning filters were constructed to generate neighborhood difference maps for quantifying the crack distribution probability. The ImF-Att-DO-U-net was designed by utilizing a dual-channel input consisting of the original image and the crack probability map. The encoder embeds lightweight CBAMs to strengthen crack features, while the decoder introduces DO-Conv and Leaky ReLU to enhance detail capture capabilities. A hybrid loss function combining Binary Cross-Entropy and Dice loss was employed to optimize class imbalance. Algorithm testing results demonstrate that the proposed method achieved a Dice coefficient of 0.884, an SSIM of 0.893, and an accuracy of 0.911, outperforming comparative models such as DO-U-net. The extraction rate for cracks ≥10 μm reached 98%, with a minimum detectable crack size at the 7 μm level. The method exhibited excellent robustness under noise and blur testing, demonstrating superior environmental adaptability. Full article

Background: Digital strategy increasingly relies on algorithmic decision systems, yet the mechanisms by which human judgement remains embedded within these systems are poorly theorised. Existing frameworks treat digital tools as either neutral instruments or autonomous agents, overlooking the systems-level conditions under which human accountability is maintained. Methods: This study employs a novel three-stage system-oriented analytical protocol: (1) mechanism-revealing thematic analysis of 50 semi-structured interviews with senior managers across multinational organisations; (2) configurational cross-case mapping against 685 cases from the European Commission’s JRC AI implementation catalogue; and (3) failure mode triangulation comparing interview-reported barriers with 37 documented implementation discontinuations. Results: We introduce Authentic Intelligence as a systems-level construct and develop a socio-technical architecture specifying six primary system functions, three decision loci, four governance mechanisms, and twelve empirically derived failure modes. Triangulation reveals high correspondence (≥20% JRC citation rate) for six failure modes and moderate correspondence for six additional modes. Conclusions: The contribution is a reusable systems architecture and diagnostic framework for maintaining human-accountable decision governance in digital strategy implementation, with direct application to EU AI Act Article 14 compliance requirements. Full article

In the context of Industry 4.0, reliable automatic inspection of weld surface defects is critical for structural safety, yet current deep learning-based detectors struggle with the extreme scale variation and anisotropic shapes characteristic of weld flaws such as pores, cracks, and lack of fusion. Existing YOLO-family models, although effective on general-purpose datasets, often fail to robustly localize tiny defects and long, slender discontinuities while remaining lightweight enough for industrial edge deployment. A critical research gap lies in the lack of task-specific optimization for weld defects: standard attention mechanisms are isotropic and cannot capture linear defect continuity, while existing loss functions ignore scale disparity between tiny pores (area < 100 pixels²) and large incomplete fusion defects (area > 5000 pixels²), leading to unstable regression. Here, we propose a dual-optimized lightweight YOLOv11 framework tailored for weld defect detection that addresses both feature representation and bounding-box regression. Here, we propose a dual-optimized lightweight YOLOv11 framework tailored for weld defect detection that addresses both feature representation and bounding-box regression. First, we introduce WeldSimAM, an enhanced attention module that augments parameter-free SimAM with directional (horizontal/vertical) and channel-wise enhancement to better capture the directional texture of linear weld defects. Second, we develop an Enhanced Normalized Wasserstein Distance (EnNWD) loss, which incorporates scale-disparity penalties and relative-area-based weighting to mitigate sample imbalance and improve regression accuracy for tiny and large-aspect-ratio targets. Validated via 10-fold cross-validation on three datasets (self-built + two public), the method achieves 99.48% mAP@0.5 and 73.29% mAP@0.5:0.95, outperforming YOLOv11 by 0.13 and 3.76 percentage points (p < 0.01, two-tailed t-test), with 5.21 MB and 132 FPS on NVIDIA RTX 4090. It also surpasses non-YOLO SOTA methods (e.g., EfficientDet-Lite3) by 3.8–5.5 percentage points in mAP@0.5 (p < 0.05), offering a practical real-time solution for industrial inspection. Full article

Permafrost thickness serves as a critical indicator of hydrogeological conditions in cold regions and significantly influences the safety of engineering infrastructure. Due to the combined effects of climate, ecology, and human activities, the thermal characteristics and spatial distribution of permafrost in the Greater and Lesser Khingan Mountains of Northeast China exhibit high complexity, rendering existing permafrost thickness estimation methods largely inapplicable in this region. We developed an integrated estimation framework that bridges the gap between limited deep ground temperature measurements and regional-scale mapping. To overcome the scarcity of deep borehole (>20m) data, a physical-statistical inversion method was employed to derive permafrost base depths from shallow borehole temperature profiles, thereby expanding the foundational dataset to 104 representative sites. Integrating these ground observations with satellite-derived products (e.g., MODIS NDVI) and auxiliary environmental covariates (e.g., DEM-based topography and gridded climatic data), a Random Forest algorithm (RF) was applied to generate a 1 km-resolution permafrost thickness distribution map across Northeast China with a classification accuracy of 0.74. The results indicate that the average permafrost thickness in the study area is 47.71 ± 10 m, exhibiting a spatial pattern of thicker in the north and west, thinner in the south and east, and greater in mountainous areas than in plains. The top three influencing factors of permafrost thickness are atmospheric precipitation, surface thawing degree days (TDDs), and topographic position index (TPI), revealing that the thickness of discontinuous permafrost in northeastern China is primarily governed by local factors such as soil moisture, represented by the thick permafrost existed under a small patch of ground surface. This study provides a new methodological framework for estimating permafrost thickness in regions with limited ground temperature gradient measurement in deep boreholes. Full article