Search Results (716)

Ensuring the safe operation of Unmanned Aerial Vehicles (UAVs) is crucial for both mission-critical and safety-critical tasks. In scenarios where UAVs must track airborne targets, they need to follow the target’s path while maintaining a safe distance, even in the presence of unmodeled dynamics and environmental disturbances. This paper presents a novel collision avoidance strategy for dynamic quadrotor UAVs during target-tracking missions. We propose a safety controller that combines a learning-based Control Barrier Function (CBF) with standard sliding mode feedback. Our approach employs a neural network that learns the true CBF constraint, accounting for wind disturbances, while the sliding mode controller addresses unmodeled dynamics. This unified control law ensures safe leader-following behavior and precise trajectory tracking. By leveraging a learned CBF, the controller offers improved adaptability to complex and unpredictable environments, enhancing both the safety and robustness of the system. The effectiveness of our proposed method is demonstrated through the AirSim platform using the PX4 flight controller. Full article

Identifying habitat characteristics is essential for conserving critically endangered species. When quantifying species habitat characteristics, ignoring data types may lead to misunderstandings about species’ specific habitat requirements. This study focused on the critically endangered Chinese pangolin in Guangdong Province, China, and divided the study area into 600 m × 600 m grids based on its average home range. The burrow number within each grid was obtained through line transect surveys, with burrow numbers/line transect lengths used as direct indicators of habitat utilization intensity. The relationships with sixteen environmental variables, which could be divided into three categories, including topographic, human disturbance and land cover composition, were quantified using the GAM method. We also converted continuous data into binary data (0, 1), constructed GAMs and compared them with habitat utilization intensity models. Our results indicate that the habitat utilization intensity model identified profile curvature and slope as primary factors, showing a nonlinear response to profile curvature (Edf = 5.610, p = 0.014) and a positive relationship with slope (Edf = 1.000, p = 0.006). The presence–absence model emphasized distance to water (Edf = 1.000, p = 0.014), slope (Edf = 1.709, p = 0.043) and aspect (Edf = 2.000, p = 0.026). The intensity model explained significantly more deviance, captured complex nonlinear relationships and supported higher model complexity without overfitting. This study demonstrates that habitat utilization intensity data provides a more ecologically informative basis for in situ conservation (e.g., identifying core habitats), and the process from habitat selection to habitat utilization should be integrated to reveal species’ habitat characteristics. Full article

Anthropogenic noise can have diverse effects on natural ecosystems, but less is known about the degree to which noise can alter organisms in comparison to other disturbances. A variety of frequencies are produced by man-made objects, ranging from high to low frequencies, and we studied infrasound (<20 Hz) produced by wind turbines and trains. We estimated the number, mass and viability of seeds produced by flowers of Plains pricklypear (Opuntia polyacantha Haw.) that were left open to pollinators, hand-pollinated or bagged to exclude pollinators. Each pollination treatment was applied to plants at varying distances from wind turbines and railways (≤25 km). Self-pollinated Opuntia polyacantha and plants within the wind facility produced ≥1.6 times more seeds in the bagged treatments compared to more distant sites. Seed mass and the percent of viable seeds decreased with distance from infrasound. Viability of seeds was >70% for most treatments and sites. If wind facilities, railways and other man-made structures produce infrasound that increases self-pollination, crops and native plants near sources may produce heavier seeds with higher viability in the absence of pollinators, but genetic diversity of plants may decline due to decreased cross-pollination. Full article

The accurate monitoring of waterbird abundance and their habitat preferences is essential for effective ecological management and conservation planning in aquatic ecosystems. This study explores the efficacy of unmanned aerial vehicle (UAV)-based high-resolution orthomosaics for waterbird monitoring and mapping along the Lieve Canal, Belgium. We systematically classified habitats into residential, industrial, riparian tree, and herbaceous vegetation zones, examining their influence on the spatial distribution of three focal waterbird species: Eurasian coot (Fulica atra), common moorhen (Gallinula chloropus), and wild duck (Anas platyrhynchos). Herbaceous vegetation zones consistently supported the highest waterbird densities, attributed to abundant nesting substrates and minimal human disturbance. UAV-based waterbird counts correlated strongly with ground-based surveys (R² = 0.668), though species-specific detectability varied significantly due to morphological visibility and ecological behaviors. Detection accuracy was highest for coots, intermediate for ducks, and lowest for moorhens, highlighting the crucial role of image resolution ground sampling distance (GSD) in aerial monitoring. Operational challenges, including image occlusion and habitat complexity, underline the need for tailored survey protocols and advanced sensing techniques. Our findings demonstrate that UAV imagery provides a reliable and scalable method for monitoring waterbird habitats, offering critical insights for biodiversity conservation and sustainable management practices in aquatic landscapes. Full article

The electromechanical braking (EMB) system is an important component of intelligent vehicles and is also the core actuator for longitudinal dynamic control in autonomous driving motion control. Therefore, we propose a new mechanism layout form for EMB and a feedforward second-order linear active disturbance rejection controller based on clamping force. This solves the problem of excessive axial distance in traditional EMB and reduces the axial distance by 30%, while concentrating the PCB control board for the wheels on the EMB housing. This enables the ABS and ESP functions to be integrated into the EMB system, further enhancing the integration of line control and active safety functions. A feedforward second-order linear active disturbance rejection controller (LADRC) based on the clamping force of the brake caliper is proposed. Compared with the traditional clamping force control methods three-loop PID and adaptive fuzzy PID, it improves the response speed, steady-state error, and anti-interference ability. Moreover, the LADRC has more advantages in parameter adjustment. Simulation results show that the response speed is increased by 130 ms, the overshoot is reduced by 9.85%, and the anti-interference ability is increased by 41.2%. Finally, the feasibility of this control algorithm was verified through the EMB hardware-in-the-loop test bench. Full article

Analyzing the spatiotemporal characteristics of microseismic monitoring data is crucial for the monitoring and early prediction of coal–rock dynamic disasters during deep mining. Aiming to address the challenges hampering the early prediction of coal–rock dynamic disasters in deep mining, in this paper, we propose a method for analyzing the spatiotemporal characteristics of microseismic events in deep mining based on the ST-DBSCAN algorithm. First, a spatiotemporal distance metric model integrating temporal and spatial distances was constructed to accurately describe the correlations between microseismic events in spatiotemporal dimensions. Second, along with the spatiotemporal distribution characteristics of microseismic data, we determined the spatiotemporal neighborhood parameters suitable for deep-mining environments. Finally, we conducted clustering analysis of 14 sets of actual microseismic monitoring data from the Xinjulong Coal Mine. The results demonstrate the precise identification of two characteristic clusters, namely middle-layer mining disturbances and deep-seated activities, along with isolated high-magnitude events posing significant risks. Full article

To address the modeling complexity and multi-objective collaborative optimization challenges in multi-depot and multiple unmanned aerial vehicle (UAV) delivery task planning, this paper proposes a bi-layer planning framework, which comprehensively considers resource constraints, multi-depot coordination, and the coupling characteristics of path execution. The novelty of this work lies in the seamless integration of an enhanced genetic algorithm and tailored swarm optimization within a unified two-tier architecture. The upper layer tackles the task assignment problem by formulating a multi-objective optimization model aimed at minimizing economic costs, delivery delays, and the number of UAVs deployed. The Enhanced Non-Dominated Sorting Genetic Algorithm II (ENSGA-II) is developed, incorporating heuristic initialization, goal-oriented search operators, an adaptive mutation mechanism, and a staged evolution control strategy to improve solution feasibility and distribution quality. The main contributions are threefold: (1) a novel ENSGA-II design for efficient and well-distributed task allocation; (2) an improved PSO-based path planner with chaotic initialization and adaptive parameters; and (3) comprehensive validation demonstrating substantial gains over baseline methods. The lower layer addresses the path planning problem by establishing a multi-objective model that considers path length, flight risk, and altitude variation. An improved particle swarm optimization (PSO) algorithm is proposed by integrating chaotic initialization, linearly adjusted acceleration coefficients and maximum velocity, a stochastic disturbance-based position update mechanism, and an adaptively tuned inertia weight to enhance algorithmic performance and path generation quality. Simulation results under typical task scenarios demonstrate that the proposed model achieves an average reduction of 47.8% in economic costs and 71.4% in UAV deployment quantity while significantly reducing delivery window violations. The framework exhibits excellent capability in multi-objective collaborative optimization. The ENSGA-II algorithm outperforms baseline algorithms significantly across performance metrics, achieving a hypervolume (HV) value of 1.0771 (improving by 72.35% to 109.82%) and an average inverted generational distance (IGD) of 0.0295, markedly better than those of comparison algorithms (ranging from 0.0893 to 0.2714). The algorithm also demonstrates overwhelming superiority in the C-metric, indicating outstanding global optimization capability in terms of distribution, convergence, and the diversity of the solution set. Moreover, the proposed framework and algorithm are both effective and feasible, offering a novel approach to low-altitude urban logistics delivery problems. Full article

Soil compaction is a critical challenge in perennial fruit production, limiting root growth, water infiltration, and nutrient uptake—factors essential for climate-resilient and sustainable orchard systems. In subtropical Asian pear (Pyrus pyrifolia Nakai) orchards under the annual top-working system, intensive machinery traffic exacerbates subsurface hardpan formation and tree performance. This study evaluated the effectiveness of pneumatic subsoiling, a minimally invasive method using high-pressure air injection, in alleviating soil compaction without disturbing orchard surface integrity. Four treatments varying in radial distance from the trunk and pneumatic application were tested in a mature orchard in central Taiwan. Pneumatic subsoiling 120 cm away from the trunk significantly reduced soil penetration resistance by 15.4% at 34 days after treatment (2,302,888 Pa) compared to the control (2,724,423 Pa). However, this reduction was not sustained at later assessment dates, and no significant improvements in vegetative growth, fruit yield, and fruit quality were observed within the first season post-treatment. These results suggest that while pneumatic subsoiling can modify subsurface soil physical conditions with minimal surface disturbance, its agronomic benefits may require longer-term evaluation under varying moisture and management regimes. Overall, this study highlights pneumatic subsoiling may be a potential low-disturbance strategy to contribute to longer-term soil physical resilience. Full article

Castor fiber birulai is a subspecies of the Eurasian beaver that has a relatively small population size compared to other Castor subspecies. There is limited genetic research on this subspecies. In this study, mitochondrial cytochrome b (Cytb) and D-loop sequences were analysed in genetic samples obtained from 19 individuals residing in the Buergen River Basin, Xinjiang, China. The Cytb region presented a single haplotype, whereas three haplotypes were identified in the D-loop region. The genetic diversity within the Chinese population was low (D-loop Hd = 0.444; Pi = 0.0043), markedly lower than that observed in other geographical populations of C. fiber. Phylogenetic reconstructions and haplotype network analyses revealed substantial genetic differentiation between C. f. birulai and other Eurasian lineages (Fst > 0.95), supporting the status of C. f. birulai as a distinct evolutionary lineage. Although the genetic distance between the Chinese and Mongolian populations was relatively small (distance = 0.00269), significant genetic differentiation was detected (Fst = 0.67055), indicating that anthropogenic disturbances—such as hydraulic infrastructure and fencing along the cross-border Bulgan River—may have impeded gene flow and dispersal. Demographic analyses provided no evidence of recent population expansion (Fu’s Fs = 0.19152), suggesting a demographically stable population. In subsequent studies, we recommend increasing nuclear gene data to verify whether the C. f. birulai population meets the criteria for Evolutionarily Significant Unit classification, and strengthening cross-border protection and cooperation between China and Mongolia. Full article

Knowledge of the habitat characteristics of endangered species is an important basis for in situ conservation, release-site selection, and habitat modification. Although the Chinese pangolin (Manis pentadactyla) is one of the world’s most endangered species, little is known about its habitat preferences, and the results of past studies differ greatly. To clarify the habitat characteristics of the Chinese pangolin, we conducted habitat surveys in Guangdong, Jiangxi, and Zhejiang provinces of China using the transect method. A total of 520 burrow sites of Chinese pangolins were recorded in three study areas. The resulting data were analyzed using a generalized additive model, principal coordinate analysis, and Kruskal–Wallis tests. Nine ecological factors (elevation, slope, soil type, canopy coverage, surface coverage, number of trees, number of logs, tree diameter at breast height, and distance to a settlement) were found to affect pangolins’ distribution. Burrows were preferentially distributed at elevations of 50–150 m (62.3%), in silty soil (88.1%), on 20–40° slopes (83.3%), within young and medium-aged broadleaved forests with a canopy coverage exceeding 70% (65.8%), and close to water (less than 300 m). Among the three study regions, pangolin habitats differed significantly in seven environmental factors: elevation, canopy coverage, surface coverage, number of trees, distance to water, distance to a road, and distance to a settlement. Our findings imply that the Chinese pangolin appears to tolerate a broad range of ecological characteristics; however, food resources may be the key factor affecting its habitat selection, and other factors may indirectly affect its distribution by affecting food abundance. Finally, aside from hunting, a low level of human disturbance does not affect the presence of this species. Full article

Canopy gaps are vital microhabitats for forest carbon cycling and species regeneration, whose accurate extraction is crucial for ecological modeling and smart forestry. However, traditional monitoring methods have notable limitations: ground-based measurements are inefficient; remote-sensing interpretation is susceptible to terrain and spectral interference; and traditional algorithms exhibit an insufficient feature representation capability. Aiming at overcoming the bottleneck issues of canopy gap identification in mountainous forest regions, we constructed a multi-task deep learning model (ES-Net) integrating an edge–semantic collaborative perception mechanism. First, a refined sample library containing multi-scale interference features was constructed, which included 2808 annotated UAV images. Based on this, a dual-branch feature interaction architecture was designed. A cross-layer attention mechanism was embedded in the semantic segmentation module (SSM) to enhance the discriminative ability for heterogeneous features. Meanwhile, an edge detection module (EDM) was built to strengthen geometric constraints. Results from selected areas in Yunnan Province (China) demonstrate that ES-Net outperforms U-Net, boosting the Intersection over Union (IoU) by 0.86% (95.41% vs. 94.55%), improving the edge coverage rate by 3.14% (85.32% vs. 82.18%), and reducing the Hausdorff Distance by 38.6% (28.26 pixels vs. 46.02 pixels). Ablation studies further verify that the synergy between SSM and EDM yields a 13.0% IoU gain over the baseline, highlighting the effectiveness of joint semantic–edge optimization. This study provides a terrain-adaptive intelligent interpretation method for forest disturbance monitoring and holds significant practical value for advancing smart forestry construction and ecosystem sustainable management. Full article

Understanding the processes that drive microbial community assembly is a fundamental question in ecology, with important implications for predicting community responses to environmental disturbances. River ecosystems are under growing pressure from human disturbances, jeopardizing their ecological functions. Here, we investigated bacterial and protistan communities along the Yujiang River using environmental DNA metabarcoding. Bacterial communities exhibited significantly greater alpha diversity and broader habitat niches compared to protists. Additionally, a negative correlation was found between alpha diversity and niche breadth for both groups. Protistan communities exhibited significantly higher beta diversity (Bray–Curtis distance) than bacterial communities, with species turnover being the principal factor driving the variations in both communities. Null model results indicated that heterogeneous selection primarily structured bacterial communities, while stochastic processes (drift) mainly governed protist communities. Redundancy analysis and Mantel tests showed significant associations between environmental factors (e.g., temperature and pH) and bacterial community composition. Moreover, the longitude of sampling sites was linked to spatial variations in both bacterial and protistan communities. Further analyses, including distance-decay patterns, variation partitioning, and multiple regression on distance matrices, demonstrated that bacterial communities were driven by both environmental and spatial factors, while protist communities exhibited a stronger response to spatial factors. These results enhance our understanding of microbial community assembly in river ecosystems and provide valuable insights for the conservation and sustainable management of freshwater systems. Full article

This study used Jilin-1 satellite data and unmanned aerial vehicle (UAV)-collected visible-thermal infrared imagery to calculate twelve spectral indices and evaluate their effectiveness in distinguishing post-fire forest areas and identifying human-altered land-cover changes in Jinyun Mountain, Chongqing. The research goals included mapping wildfire impacts with M-statistic separability, measuring land-cover distinguishability through Jeffries–Matusita (JM) distance analysis, classifying land-cover types using the random forest (RF) algorithm, and verifying classification accuracy. Cumulative human disturbances—such as land clearing, replanting, and road construction—significantly blocked the natural recovery of burn scars, and during long-term human-assisted recovery periods over one year, the Red Green Blue Index (RGBI), Green Leaf Index (GLI), and Excess Green Index (EXG) showed high classification accuracy for six land-cover types: road, bare soil, deadwood, bamboo, broadleaf, and grass. Key accuracy measures showed producer accuracy (PA) > 0.8, user accuracy (UA) > 0.8, overall accuracy (OA) > 90%, and a kappa coefficient > 0.85. Validation results confirmed that visible-spectrum indices are good at distinguishing photosynthetic vegetation, thermal bands help identify artificial surfaces, and combined thermal-visible indices solve spectral confusion in deadwood recognition. Spectral indices provide high-precision quantitative evidence for monitoring post-fire land-cover changes, especially under human intervention, thus offering important data support for time-based modeling of post-fire forest recovery and improvement of ecological restoration plans. Full article

To address the challenges brought by the high penetration of renewable energy in power systems, such as multi-scale dynamic interactions, high feature dimensionality, and limited model generalization, this paper proposes a transient stability assessment (TSA) method that combines temporal feature selection with deep learning-based modeling. First, a two-stage feature selection strategy is designed using the inter-class Mahalanobis distance and Spearman rank correlation. This helps extract highly discriminative and low-redundancy features from wide-area measurement system (WAMS) time-series data. Then, a parallel LSTM-Transformer architecture is constructed to capture both short-term local fluctuations and long-term global dependencies. A variational inference mechanism based on a Gaussian mixture model (GMM) is introduced to enable dynamic representations fusion and uncertainty modeling. A composite loss function combining improved focal loss and Kullback–Leibler (KL) divergence regularization is designed to enhance model robustness and training stability under complex disturbances. The proposed method is validated on a modified IEEE 39-bus system. Results show that it outperforms existing models in accuracy, robustness, interpretability, and other aspects. This provides an effective solution for TSA in power systems with high renewable energy integration. Full article

Ulmus glabra Huds. is a mesophilic, montane broadleaf tree with high ecological value, commonly found in temperate riparian and floodplain forests across Türkiye. Its populations in Türkiye have declined due to anthropogenic disturbances and climatic pressures that cause habitat fragmentation and threaten the species’ long-term survival. In this research, we used Maximum Entropy (MaxEnt) to build species distribution models (SDMs) and applied the Restoration Planner (RP) tool to identify and prioritize critical restoration sites under both current and projected climate scenarios (SSP245, SSP370, SSP585). The SDMs highlighted areas of high suitability, primarily along the Black Sea coast. Future projections show that habitat fragmentation and shifts in suitable areas are expected to worsen. To systematically compare restoration options across different future scenarios, we derived and applied four spatial network status indicators using the RP tool. Specifically, we calculated Restoration Pixels (REST_PIX), Average Distance of Restoration Pixels from the Network (AVDIST_RP), Change in Equivalent Connected Area (ΔECA), and Restoration Efficiency (EFFIC) using the RP tool. For the 1 <-> 2 restoration pathways, the highest efficiency (EFFIC = 38.17) was recorded under present climate conditions. However, the largest improvement in connectivity (ΔECA = 60,775.62) was found in the 4 <-> 5 pathway under the SSP585 scenario, though this required substantial restoration effort (REST_PIX = 385). Temporal analysis noted that the restoration action will have most effectiveness between 2040 and 2080, while between 2081 and 2100, increased habitat fragmentation can severely undermine ecological connectivity. The result indicates that incorporation of habitat suitability modeling into restoration planning can help to design cost-effective restoration actions for degraded land. Moreover, the approach used herein provides a reproducible framework for the enhancement of species sustainability and habitat connectivity under varying climate conditions. Full article