Search Results (431)

The growing popularity of Personal Light Electric Vehicles (PLEVs), such as e-scooters, has revolutionized urban mobility by offering compact, cost-effective, and environmentally friendly transportation solutions. However, safety concerns, including inadequate infrastructure, poor protective measures, and high accident rates, remain critical challenges. This paper presents the design and development of an innovative self-balancing microvehicle under the H2020 LEONARDO project, which aims to address these challenges through advanced engineering and user-centric design. The vehicle combines features of monowheels and e-scooters, integrating cutting-edge technologies to enhance safety, stability, and usability. The design adheres to European regulations, including Germany’s eKFV standards, and incorporates user preferences identified through representative online surveys of 1500 PLEV users. These preferences include improved handling on uneven surfaces, enhanced signaling capabilities, and reduced instability during maneuvers. The prototype features a lightweight composite structure reinforced with carbon fibers, a high-torque motorized front wheel, and multiple speed modes tailored to different conditions, such as travel in pedestrian areas, use by novice riders, and advanced users. Braking tests demonstrate deceleration values of up to 3.5 m/s², comparable to PLEV market standards and exceeding regulatory minimums, while smooth acceleration ramps ensure rider stability and safety. Additional features, such as identification plates and weight-dependent motor control, enhance compliance with local traffic rules and prevent misuse. The vehicle’s design also addresses common safety concerns, such as curb navigation and signaling, by incorporating large-diameter wheels, increased ground clearance, and electrically operated direction indicators. Future upgrades include the addition of a second rear wheel for enhanced stability, skateboard-like rear axle modifications for improved maneuverability, and hybrid supercapacitors to minimize fire risks and extend battery life. With its focus on safety, regulatory compliance, and rider-friendly innovations, this microvehicle represents a significant advancement in promoting safe and sustainable urban mobility. Full article

Rapid industrialization and urbanization have progressed in Korea, yet public attention to hazardous pollutants emitted from industrial complexes remains limited. With the increasing coexistence of industrial and residential areas, there is a growing need for real-time monitoring and management plans that account for the rapid dispersion of hazardous air pollutants (HAPs). In this study, we conducted spatiotemporal data collection and analysis for the first time in Korea using real-time measurements obtained through mobile extractive differential optical absorption spectroscopy (Me-DOAS) mounted on a solar occultation flux (SOF) vehicle. The measurements were conducted in the Saha Sinpyeong–Janglim Industrial Complex in Busan, which comprises the Sasang Industrial Complex and the Sinpyeong–Janglim Industrial Complex. BTEX compounds were selected as target volatile organic compounds (VOCs), and real-time measurements of both BTEX and fine particulate matter (PM) were conducted simultaneously. Correlation analysis revealed a strong relationship between PM₁₀ and PM_2.5 (r = 0.848–0.894), indicating shared sources. In Sasang, BTEX levels were associated with traffic and localized facilities, while in Saha Sinpyeong–Janglim, the concentrations were more influenced by industrial zoning and wind patterns. Notably, inter-compound correlations such as benzene–m-xylene and p-xylene–toluene suggested possible co-emission sources. This study proposes a GIS-based, three-dimensional air quality management approach that integrates variables such as traffic volume, wind direction, and speed through real-time measurements. The findings are expected to inform effective pollution control strategies and future environmental management plans for industrial complexes. Full article

This study evaluates the feasibility and visibility of electric vehicles (EVs) in Egypt, addressing critical research gaps and proposing actionable strategies to drive adoption. Employing a systematic review of academic, governmental, and industry sources, the paper identifies underexplored areas such as rural–urban adoption disparities, lifecycle assessments of EV batteries, and sociocultural barriers, including gender dynamics and entrenched consumer preferences. Its primary contribution is an interdisciplinary framework that integrates technical aspects, such as grid resilience and climate-related battery degradation, with socioeconomic dimensions, providing a holistic overview of EV feasibility in Egypt tailored to Egypt’s context. Key findings reveal infrastructure limitations, inconsistent policy frameworks, and behavioral skepticism as major hurdles, and highlight the untapped potential of renewable energy integration, particularly through synergies between solar PV generation (e.g., Benban Solar Park) and EV charging infrastructure. Recommendations prioritize policy reforms (e.g., tax incentives, streamlined tariffs), solar-powered charging infrastructure expansion, public awareness campaigns, and local EV manufacturing to stimulate economic growth. The study underscores the urgency of stakeholder collaboration to transform EVs into a mainstream solution, positioning Egypt as a regional leader in sustainable mobility and equitable development. Full article

The integration of unmanned aerial vehicles (UAVs) into next-generation wireless networks greatly enhances the flexibility and efficiency of communication and distributed computation for ground mobile devices. Federated learning (FL) provides a privacy-preserving paradigm for device collaboration but remains highly vulnerable to poisoning attacks and is further challenged by the resource constraints and heterogeneous data common to UAV-assisted systems. Existing robust aggregation and anomaly detection methods often degrade in efficiency and reliability under these realistic adversarial and non-IID settings. To bridge these gaps, we propose FedULite, a lightweight and robust federated learning framework specifically designed for UAV-assisted environments. FedULite features unsupervised local representation learning optimized for unlabeled, non-IID data. Moreover, FedULite leverages a robust, adaptive server-side aggregation strategy that uses cosine similarity-based update filtering and dimension-wise adaptive learning rates to neutralize sophisticated data and model poisoning attacks. Extensive experiments across diverse datasets and adversarial scenarios demonstrate that FedULite reduces the attack success rate (ASR) from over 90% in undefended scenarios to below 5%, while maintaining the main task accuracy loss within 2%. Moreover, it introduces negligible computational overhead compared to standard FedAvg, with approximately 7% additional training time. Full article

Compared to traditional ad hoc networks, self-organizing networks of unmanned aerial vehicle (UAV) are characterized by high node mobility, vulnerability to interference, wide distribution range, and large network scale, which make network management and routing protocol operation more challenging. Cluster structures can be used to optimize network management and mitigate the impact of local topology changes on the entire network during collaborative task execution. To address the issue of cluster structure instability caused by the high mobility and vulnerability to interference in UAV networks, we propose a capacity-constrained weighted clustering algorithm for UAV self-organizing networks under interference. Specifically, a capacity-constrained partitioning algorithm based on K-means++ is developed to establish the initial node partitions. Then, a weighted cluster head (CH) and backup cluster head (BCH) selection algorithm is proposed, incorporating interference factors into the selection process. Additionally, a dynamic maintenance mechanism for the clustering network is introduced to enhance the stability and robustness of the network. Simulation results show that the algorithm achieves efficient node clustering under interference conditions, improving cluster load balancing, average cluster head maintenance time, and cluster head failure reconstruction time. Furthermore, the method demonstrates fast recovery capabilities in the event of node failures, making it more suitable for deployment in complex emergency rescue environments. Full article

This work presents the development of a functional real-time SLAM system designed to enhance the perception capabilities of an Automated Guided Vehicle (AGV) using only a 2D LiDAR sensor. The proposal aims to address recurring gaps in the literature, such as the need for low-complexity solutions that are independent of auxiliary sensors and capable of operating on embedded platforms with limited computational resources. The system integrates scan alignment techniques based on the Iterative Closest Point (ICP) algorithm. Experimental validation in a controlled environment indicated better performance using Gauss–Newton optimization and the point-to-plane metric, achieving pose estimation accuracy of 99.42%, 99.6%, and 99.99% in the position ($x$, $y$) and orientation ($\theta$) components, respectively. Subsequently, the system was adapted for operation with data from the onboard sensor, integrating a lightweight graphical interface for real-time visualization of scans, estimated pose, and the evolving map. Despite the moderate update rate, the system proved effective for robotic applications, enabling coherent localization and progressive environment mapping. The modular architecture developed allows for future extensions such as trajectory planning and control. The proposed solution provides a robust and adaptable foundation for mobile platforms, with potential applications in industrial automation, academic research, and education in mobile robotics. Full article

In this paper, we investigate the target-approaching control problem for a discrete-time first-order vehicle system where the target area is modeled as a static circular region. In the absence of absolute bearing or position information, we propose a simple local controller that relies solely on range measurements to the target obtained at two consecutive sampling instants. Specifically, if the measured distance decreases between two successive samples, the vehicle maintains a constant velocity; otherwise, it rotates its velocity vector by an angle of $\pi /2$ in the clockwise direction. This control strategy guarantees convergence to the target region, ensuring that the vehicle’s velocity direction remains unchanged in the best-case scenario and is adjusted at most three times in the worst case. The effectiveness of the proposed method is theoretically established and further validated through outdoor experiments with a mobile vehicle. Full article

This research focuses on enhancing cooperative localization for heterogeneous mobile robots composed of a quadcopter and an unmanned ground vehicle. The study employs sensor fusion techniques, particularly the Extended Kalman Filter, to fuse data from various sensors, including GPSs, IMUs, and cameras. By integrating these sensors and optimizing fusion strategies, the research aims to improve the precision and reliability of cooperative localization in complex and dynamic environments. The primary objective is to develop a practical framework for cooperative localization that addresses the challenges posed by the differences in mobility and sensing capabilities among heterogeneous robots. Sensor fusion is used to compensate for the limitations of individual sensors, providing more accurate and robust localization results. Moreover, a comparative analysis of different sensor combinations and fusion strategies helps to identify the optimal configuration for each robot. This research focuses on the improvement of cooperative localization, path planning, and collaborative tasks for heterogeneous robots. The findings have broad applications in fields such as autonomous transportation, agricultural operation, and disaster response, where the cooperation of diverse robotic platforms is crucial for mission success. Full article

A mobile manipulation robot combines the navigation capability of unmanned ground vehicles and manipulation advantage of robotic arms. However, the development of a mobile manipulation robot is challenging due to the integration requirement of numerous heterogeneous subsystems. In this paper, we propose a multifunctional mobile manipulation robot by integrating perception, mapping, navigation, object detection, and grasping functions into a seamless workflow to conduct search-and-fetch tasks. To realize navigation and collision avoidance in complex environments, a new hierarchical motion planning strategy is proposed by fusing global and local planners. Control Lyapunov Function (CLF) and Control Barrier Function (CBF) are employed to realize path tracking and to guarantee safety during navigation. The convolutional neural network and the gripper’s kinematic constraints are adopted to construct a learning-optimization hybrid grasping algorithm to generate precise grasping poses. The efficiency of the developed mobile manipulation robot is demonstrated by performing indoor fetching experiments, showcasing its promising capabilities in real-world applications. Full article

The rapid growth of computationally intensive tasks in the Internet of Vehicles (IoV) poses a triple challenge to the efficiency, security, and stability of Mobile Edge Computing (MEC). Aiming at the problems that traditional optimization algorithms tend to fall into, where local optimum in task offloading and edge computing nodes are exposed to the risk of data tampering, this paper proposes a secure offloading strategy that integrates the Improved Polar Lights Optimization algorithm (IPLO) and blockchain. First, the truncation operation when a particle crosses the boundary is improved to dynamic rebound by introducing a rebound boundary processing mechanism, which enhances the global search capability of the algorithm; second, the blockchain framework based on the Delegated Byzantine Fault Tolerance (dBFT) consensus is designed to ensure data tampering and cross-node trustworthy sharing in the offloading process. Simulation results show that the strategy significantly reduces the average task processing latency (64.4%), the average system energy consumption (71.1%), and the average system overhead (75.2%), and at the same time effectively extends the vehicle’s power range, improves the real-time performance of the emergency accident warning and dynamic path planning, and significantly reduces the cost of edge computing usage for small and medium-sized fleets, providing an efficient, secure, and stable collaborative computing solution for IoV. Full article

This study evaluates deep learning models for vehicle detection in urban environments, focusing on the integration of regional data and standardized evaluation protocols. A central contribution is the creation of DebStreet, a novel dataset that captures images from a specific urban setting under varying weather conditions, providing regionally representative information for model development and evaluation. Using DebStreet, four state-of-the-art architectures were assessed: Faster R-CNN, YOLOv8, DETR, and Side-Aware Boundary Localization (SABL). Notably, SABL and YOLOv8 demonstrated superior precision and robustness across diverse scenarios, while DETR showed significant improvements with extended training and increased data volume. Faster R-CNN also proved competitive when carefully optimized. These findings underscore how the combination of regionally representative datasets with consistent evaluation methodologies enables the development of more effective, adaptable, and context-aware vehicle detection systems, contributing valuable insights for advancing intelligent urban mobility solutions. Full article

The energy transition of the road transport sector is now a strategic priority for achieving global decarbonization targets. In particular, the highway sector offers the opportunity to integrate sustainable solutions without additional land consumption, thanks to the availability of relevant areas that are already covered by infrastructure. This study proposes a large-scale analysis of the potential photoelectric energy that can be produced within highway infrastructures, with the aim of evaluating the contribution that these assets can make to electric mobility. The analysis was conducted using geographic information systems (GISs), applied to the case study of the A3 Napoli–Pompei–Salerno highway. The processing of topographical, orographic, and solar data has made it possible to identify a total surface area of approximately 27,100 m² that is potentially suitable for the installation of photovoltaic systems, distributed among service areas, toll stations, car parks, and side sections. This result highlights the concrete possibility of making the most of the energy potential of highway infrastructure, promoting self-production and local consumption models to power the electric vehicle charging network, thus contributing directly to the reduction of emissions and the sustainability of the transport system. Full article

Driven by rapid growth in the new-energy vehicle (NEV) market and advances in automation, mobile charging robots are increasingly deployed in parking facilities. In complex environments featuring both static and dynamic obstacles, conventional trajectory plans often exhibit insufficient safety margins and poor smoothness. This paper proposes a hybrid path-planning strategy that combines an improved A* algorithm with an enhanced dynamic window approach (DWA). The enhanced A* algorithm incorporates obstacle influence factors and adaptive weighting during global search, enabling proactive avoidance of obstacle-dense regions and employing segmented Bezier curves for path smoothing. In local planning, the modified DWA integrates a global guidance term and distance-dependent heading weights to mitigate issues of local minima and target loss. Simulation results indicate that the proposed method substantially improves path safety, continuity, and adaptability to complex scenarios while maintaining computational efficiency. Specifically, under high-obstacle-density conditions (e.g., a 20 × 20 grid map), the collision rate is reduced by 66.7% compared to the standard A* algorithm (from 30% to 10%), and the minimum safety distance increases to 0.5 m. Current validation is conducted in simulations; future work will involve real-robot experiments to evaluate real-time performance and robustness in practical environments. Full article

Vehicles are rapidly evolving into objects of intelligent interconnection. Vehicle-to-Vehicle (V2V) communications enable the interconnection between vehicles, while also leading to new electromagnetic exposure scenarios. This paper integrates a monopole array antenna into a shark-fin antenna on the car roof for V2V communications and evaluates the specific absorption rate (SAR) and temperature rise of a human body in a smart mobility communication scenario operating at 5.9 GHz. The V2V antenna is modeled and placed on a 3D vehicle model using COMSOL Multiphysics (v.6.2) to numerically estimate the SAR in the head and body regions of the human body model (adult male) inside the vehicle. Both the localized and whole-body 30 min average SAR are lower than the International Commission on Non-Ionizing Radiation Protection (ICNIRP) occupational restrictions for electromagnetic field exposure from 100 kHz to 6 GHz, being equal in the worst-case scenario to 0.981 W/kg (for the head), which is 9.81% of the ICNIRP limit (10 W/kg), and 0.008728 W/kg (for the whole-body average), which is 2.18% of the ICNIRP limit (0.4 W/kg). The 30 min average human core temperature rise is 0.055 °C, which is 5.5% of the ICNIRP limit. This indicates that, in typical automotive scenarios, the electromagnetic exposure from a monopole array antenna for V2V communications does not pose threat to the human body. This study provides knowledge related to emerging exposure scenarios in intelligent mobility communication, which is beneficial for evaluating possible health impacts and designing public health management policies. Full article

The main goal of this study is to investigate the possibility of using residual materials (biomass derived from used cooking oils and lignocellulosic biomass from plant waste) on a large scale for producing renewable fuels and, in particular, the best way to collect them. The methodology of Geographic Information Systems (GIS) as well as spatial analysis (SA) techniques were used to investigate the Greek case for this. The data recorded in the geographic database were quantities of waste cooking and household oils as well as quantities of lignocellulosic biomass. The most common global and local indices of spatial autocorrelation were used. Concerning the biomass derived from used cooking oils, it was found that their quantities were important (163.17 million L/year), and these can be used to produce green diesel in the context of the circular economy. Although the dispersion of the used cooking oils was wide, there is no doubt that their concentration in large cities and tourist areas is higher. This finding suggests a collection process that could be carried out mainly in these areas through the development of small autonomous collection units in each neighborhood and central processing plants in small regional units. The investigation of the geographical–spatial distribution of residual lignocellulosic biomass showed the geographical fragmentation and heterogeneity of the distributions. The quantities recorded were significant (4.5 million tons/year) but widely dispersed, such that the cost of collecting and transporting the biomass to central processing plants could be prohibitive. The “geography” of the problem itself suggests solutions of small mobile collection units in every part of the country. The lignocellulosic biomass would be collected and converted in situ into bio-oil by rapid pyrolysis carried out in a tanker vehicle. This would transport the produced bio-oil to the nearest oil refineries for the conversion of bio-oil into biofuels through deoxygenation processes. Full article