Search Results (235)

Recreational diving depends on healthy marine ecosystems, yet it can harm biodiversity through species displacement and habitat damage. Bombinhas, a biodiverse diving hotspot in southern Brazil, faces growing threats from human activity and climate change. This study assessed the ecological structure of Sepultura Beach (2018) for potential diving trails, comparing it with historical data from Porto Belo Island. Using visual censuses, transects, and photo-quadrats across six sampling campaigns, researchers documented 2419 organisms from five zoological groups, identifying 14 dominant species, including Haemulon aurolineatum and Diplodus argenteus. Cluster analysis revealed three ecological zones, with higher biodiversity at the site’s edges (Groups 1 and 3), but these areas also hosted endangered species like Epinephelus marginatus, complicating trail planning. A major concern was the widespread bleaching of the zoanthid Palythoa caribaeorum, a key ecosystem engineer, likely due to rising sea temperatures (+1.68 °C from 1961–2018) and declining chlorophyll-a levels post-2015. Comparisons with past data showed a 0.33 °C increase in species’ thermal preferences over 17 years, alongside lower trophic levels and greater ecological vulnerability, indicating tropicalization from the expanding Brazil Current. While Sepultura Beach’s biodiversity supports diving tourism, conservation efforts must address coral bleaching and endangered species protection. Long-term monitoring is crucial to track warming impacts, and adaptive management is needed for sustainable trail development. The study highlights the urgent need to balance ecotourism with climate resilience in subtropical marine ecosystems. Full article

Accurate medical image segmentation plays a critical role in clinical diagnosis, treatment planning, and a wide range of healthcare applications. Although U-shaped CNNs and Transformer-based architectures have shown promise, CNNs struggle to capture long-range dependencies, whereas Transformers suffer from quadratic growth in computational cost as image resolution increases. To address these issues, we propose HCMUNet, a novel medical image segmentation model that innovatively combines the local feature extraction capabilities of CNNs with the efficient long-range dependency modeling of Mamba, enhancing feature representation while reducing computational cost. In addition, HCMUNet features a redesigned skip connection and a novel attention module that integrates multi-scale features to recover spatial details lost during down-sampling and to promote richer cross-dimensional interactions. HCMUNet achieves Dice Similarity Coefficients (DSC) of 90.32%, 81.52%, and 92.11% on the ISIC 2018, Synapse multi-organ, and ACDC datasets, respectively, outperforming baseline methods by 0.65%, 1.05%, and 1.39%. Furthermore, HCMUNet consistently outperforms U-Net and Swin-UNet, achieving average Dice score improvements of approximately 5% and 2% across the evaluated datasets. These results collectively affirm the effectiveness and reliability of the proposed model across different segmentation tasks. Full article

Path planning and collision avoidance are essential components of an autonomous driving system (ADS), ensuring safe navigation in complex environments shared with other road users. High-quality planning and reliable obstacle avoidance strategies are essential for advancing the SAE autonomy level of autonomous vehicles, which can largely reduce the risk of traffic accidents. In daily driving scenarios, lane changing is a common maneuver used to avoid unexpected obstacles such as parked vehicles or suddenly appearing pedestrians. Notably, lane-changing behavior is also widely regarded as a key evaluation criterion in driver license examinations, highlighting its practical importance in real-world driving. Motivated by this observation, this paper aims to develop an autonomous lane-changing system capable of dynamically avoiding obstacles in multi-lane traffic environments. To achieve this objective, we propose a hierarchical decision-making and control framework in which a Double Deep Q-Network (DDQN) agent operates as the high-level planner to select lane-level maneuvers, while a High-Order Control Lyapunov Function–High-Order Control Barrier Function–based Quadratic Program (HOCLF-HOCBF-QP) serves as the low-level controller to ensure safe and stable trajectory tracking under dynamic constraints. Simulation studies are used to evaluate the planning efficiency and overall collision avoidance performance of the proposed hierarchical control framework. The results demonstrate that the system is capable of autonomously executing appropriate lane-changing maneuvers to avoid multiple obstacles in complex multi-lane traffic environments. In computational cost tests, the low-level controller operates at 100 Hz with an average solve time of 0.66 ms per step, and the high-level policy operates at 5 Hz with an average solve time of 0.60 ms per step. The results demonstrate real-time capability in autonomous driving systems. Full article

This study investigates a stochastic production planning problem with regime-switching parameters, inspired by economic cycles impacting production and inventory costs. The model considers types of goods and employs a Markov chain to capture probabilistic regime transitions, coupled with a multidimensional Brownian motion representing stochastic demand dynamics. The production and inventory cost optimization problem is formulated as a quadratic cost functional, with the solution characterized by a regime-dependent system of elliptic partial differential equations (PDEs). Numerical solutions to the PDE system are computed using a monotone iteration algorithm, enabling quantitative analysis. Sensitivity analysis and model risk evaluation illustrate the effects of regime-dependent volatility, holding costs, and discount factors, revealing the conservative bias of regime-switching models when compared to static alternatives. Practical implications include optimizing production strategies under fluctuating economic conditions and exploring future extensions such as correlated Brownian dynamics, non-quadratic cost functions, and geometric inventory frameworks. In contrast to earlier studies that imposed static or overly simplified regime-switching assumptions, our work presents a fully integrated framework—combining optimal control theory, a regime-dependent system of elliptic PDEs, and comprehensive numerical and sensitivity analyses—to more accurately capture the complex stochastic dynamics of production planning and thereby deliver enhanced, actionable insights for modern manufacturing environments. Full article

Modern oncology increasingly relies on personalized strategies that aim to customize medical interventions, using both tumor biology and clinical features to enhance efficacy and minimize adverse effects. In recent years, precision medicine has been implemented as part of systemic therapies; however, its integration into radiation therapy (RT) is still a work in progress. Conventional RT treatment plans are based on the Linear Quadratic (LQ) model and utilize standardized alpha and beta ratios (α/β), which ignore the high variability in terms of treatment response between and within patients. Recent advances in radiobiology, as well as general medical technologies, have also driven a shift toward more tailored approaches, including in RT. This review provides an overview of current knowledge and future perspectives for the personalization of RT, highlighting the role of tumor and patient-specific biomarkers, advanced imaging techniques, and novel therapeutic approaches. As an alternative to conventional RT modalities, hadron therapy and Flash RT are discussed as innovative approaches with the potential to improve tumor targeting while sparing normal tissues. Furthermore, the synergistic combination of RT with immunotherapy is discussed as a potential strategy to support antitumor immune responses and overcome resistance. By integrating biological insights, technological innovation, and clinical expertise, personalized radiation therapy may significantly advance the precision oncology paradigm. Full article

This study presents the first comprehensive nationwide assessment of mangrove ecosystems in the Maldives. Surveys were conducted across 162 islands in 20 administrative atolls, integrating field data, the literature, and secondary sources to map mangrove distribution, confirm species presence, and classify habitat types. Twelve true mangrove species were identified, with Bruguiera cylindrica, Rhizophora mucronata, and Lumnitzera racemosa emerging as dominant. Species diversity was evaluated using Shannon (H′), Margalef (d′), Pielou’s evenness (J′), and Simpson’s dominance (λ′) indices. Atolls within the northern and southern regions, particularly Laamu, Noonu, and Shaviyani, exhibited the highest diversity and evenness, while central atolls such as Ari and Faafu supported mono-specific or degraded stands. Mangrove habitats were classified into four geomorphological types: marsh based, pond based, embayment, and fringing systems. Field sampling was conducted using standardized belt transects and quadrats, with species verified using photographic documentation and expert validation. Species distributions showed strong habitat associations, with B. cylindrica dominant in marshes, R. mucronata and B. gymnorrhiza in ponds, and Ceriops tagal and L. racemosa in embayments. Rare species like Bruguiera hainesii and Heritiera littoralis were confined to stable hydrological niches. This study establishes a critical, island-level baseline for mangrove conservation and ecosystem-based planning in the Maldives, providing a reference point for tracking future responses to climate change, sea-level rise, and hydrological disturbances, emphasizing the need for habitat-specific strategies to protect biodiversity. Full article

This paper presents an energy-optimized path planning approach for fully actuated autonomous underwater vehicles (AUVs) in three-dimensional ocean environments to enhance their operational range and endurance. A fully actuated AUV is characterized by its high degrees of freedom and precise controllability. Using real terrain data, we construct environmental models incorporating a Lamb vortex and random obstacles. We develop a mathematical model of the AUV’s total energy consumption, accounting for constraints imposed by its fully actuated design and extensive maneuverability. To minimize energy usage, we propose an energy-optimized path planning algorithm that combines energy-optimized particle swarm optimization (EOPSO) and sequential quadratic programming (SQP). The proposed method identifies the optimal path for energy consumption and the corresponding optimal surge speed. The efficacy of the algorithm in optimizing the total energy consumption of the AUV is demonstrated through the simulation of various scenarios. In comparison to other algorithms, paths planned by this algorithm are shown to have superior robustness and optimized energy consumption. Full article

Water ingress and penetration of aggressive fluids undermines the integrity of many concrete structures. For this reason, optimal performance of such structures up to their designed life cannot be guaranteed. This study introduces nano silicon as an alternative waterproofing admixture for increasing life span of cementitious materials, due to its non-vulnerability to deterioration, which is common to traditional surface coating solutions. Therefore, nano silicon was characterized using Field Emission Scanning Electron Microscope (FESEM), Energy Dispersion Spectroscopy (EDS), Fourier Transform Infrared Spectroscopy (FTIR), X-ray Diffraction (XRD), and surface Zeta potential. The Central Composite Design (CCD) tool was adopted to plan the experiment and further used to model the relationship between experimental variables and experimental response. The model was found to be nonlinear quadratic based on Analysis of Variance (ANOVA). Also, the validity of the model was evaluated and found to have accurate prediction with mean absolute percentage error (MAPE) of 1.62%. The optimum mix ratio necessary to increase resistance to capillary water absorption was established at a nano silicon dosage of 6.6% by weight of cement and w/c of 0.42. In conclusion, the overall results indicate that resistance to capillary water absorption was increased by 62%. Furthermore, while gas permeability was reduced by 31%, on the other hand, volume of water permeable voids decreased by 10%. Full article

This paper addresses the real-time trajectory generation problem for hypersonic glide vehicles (HGVs) during atmospheric entry, subject to complex constraints including aerothermal limits, actuator bounds, and no-fly zones (NFZs). To achieve efficient and reliable trajectory planning, a two-phase hp-adaptive sequential convex programming (SCP) framework is proposed. NFZ avoidance is reformulated as a soft objective to enhance feasibility under tight geometric constraints. In Phase I, a shrinking-trust-region strategy progressively tightens the soft trust-region radius by increasing the penalty weight, effectively suppressing linearization errors. A sensitivity-driven mesh refinement method then allocates collocation points based on their contribution to the objective function. Phase II applies residual-based refinement to reduce discretization errors. The resulting reference trajectory is tracked using a linear quadratic regulator (LQR) within a reference-trajectory-tracking guidance (RTTG) architecture. Simulation results demonstrate that the proposed method achieves convergence in only a few iterations, generating high-fidelity trajectories within 2–3 s. Compared to pseudospectral solvers, the method achieves over 12× computational speed-up while maintaining kilometer-level accuracy. Monte Carlo tests under uncertainties confirm a 100% success rate, with all constraints satisfied. These results validate the proposed method’s robustness, efficiency, and suitability for onboard real-time entry guidance in dynamic mission environments. Full article

This paper presents the design and implementation of a Model-based Predictive Control (MPC) strategy integrated within a modular multilayer architecture for a three-wheeled omnidirectional mobile robot, the Robotino 4 from Festo. The implemented architecture is organized into three hierarchical layers to support modularity and system scalability. The upper layer is responsible for trajectory planning. This planned trajectory is forwarded to the intermediate layer, where the MPC computes the optimal velocity commands to follow the reference path, taking into account the kinematic model and actuator constraints of the robot. Finally, these velocity commands are processed by the lower layer, which uses three independent PID controllers to regulate the individual wheel speeds. To evaluate the proposed control scheme, it was implemented in MATLAB R2024a using a lemniscate trajectory as the reference. The MPC problem was formulated as a quadratic optimization problem that considered the three states: the global position coordinates and orientation angle. The simulation included state estimation errors and motor dynamics, which were experimentally identified to closely match real-world behavior. The simulation and experimental results demonstrate the capability of the MPC to track the lemniscate trajectory efficiently. Notably, the close agreement between the simulated and experimental results validated the fidelity of the simulation model. In a real-world scenario, the MPC controller enabled simultaneous regulation of both the position and orientation, which offered a greater performance compared with approaches that assume a constant orientation. Full article

In order to integrate the use of transportation resources, develop a reasonable sea–rail intermodal container transportation plan, and achieve cost reduction and efficiency improvement of the multimodal transportation system, a method for predicting the daily freight volume of sea–rail intermodal transportation based on a convolutional neural network (CNN) algorithm is proposed and a new feature processing method is used: weight assignment (WA). Firstly, we use qualitative methods to preliminarily select the indicators, and then use multiple interpolation to fill in the missing raw data. Next, Pearson and Spearman quantitative analysis methods are used, and the analysis results are grouped using the k-means, with the high correlation groups assigned high weights. Next, we use quadratic interpolation to obtain the daily data. Finally, a weight assignment-enhanced convolutional neural network (WACNN) model and seven other mainstream models are constructed, using the Yingkou port container throughput prediction as a case study. The research results indicate that the WACNN prediction model has the best performance and strong robustness. The research results can provide a reference basis for the planning of sea–rail intermodal container transportation and the allocation of transportation resources, and achieve the overall efficiency improvement of logistics systems. Full article

Unmanned aerial vehicles (UAVs) equipped with hyperspectral hardware systems are widely used in urban planning and land classification. However, hyperspectral sensors generate large volumes of data that are rich in both spatial and spectral information, making its efficient processing in resource-constrained devices challenging. While transformers have been widely adopted for hyperspectral image classification due to their global feature extraction capabilities, their quadratic computational complexity limits their applicability for resource-constrained devices. To address this limitation and enable the real-time processing of hyperspectral data on UAVs, we propose a lightweight multi-head MambaOut with a CosTaylorFormer (LMHMambaOut-CosTaylorFormer). First, 3D-2D CNN is used to extract both spatial and spectral shallow features from hyperspectral images. Following this, one branch employs a linear transformer, CosTaylorFormer, to extract global spectral information. More specifically, we propose CosTaylorFormer with a cosine function, adjusting the weights based on the spectral curve distribution, which is more conducive to establishing long-distance spectral dependencies. Meanwhile, compared with other linearized transformers, the CosTaylorFormer we propose better improves model performance. For the other branch, we propose multi-head MambaOut to extract global spatial features and enhance the network classification effect. Moreover, a dynamic information fusion strategy is proposed to adaptively fuse spatial and spectral information. The proposed network is validated on four datasets (IP, WHU-Longkou, SA, and PU) and compared with several models, demonstrating its superior classification accuracy; however, the number of model parameters is only 0.22 M, thus achieving better balance between model complexity and accuracy. Full article

This study introduces a novel approach to optimal Service Level Agreement (SLA) tier selection in online services by incorporating client-side obsolescence factors into effective SLA planning. We analyze a comprehensive dataset of 600 million records collected over four years, focusing on the lifecycle patterns of browsers published into the iPhone and Samsung ecosystems. Using Gaussian Process Regression with a Matérn kernel and exponential decay models, we model browser version adoption and decline rates, accounting for data sparsity and noise. Our methodology includes a centroid-based filtering technique and a quadratic decay term to mitigate bot-related anomalies. Results indicate distinct browser delivery refresh cycles for both ecosystems, with iPhone browsers showing peaks at 22 and 42 days, while Samsung devices exhibit peaks at 44 and 70 days. We quantify the support duration required to achieve various SLA tiers as follows: for 99.9% coverage, iPhone and Samsung browsers require 254 and 255 days of support, respectively; for 99.99%, 360 and 556 days; and for 99.999%, 471 and 672 days. These findings enable more accurate and effective SLA calculations, facilitating cost-efficient service planning considering the full service delivery and consumption pipeline. Our approach provides a data-driven framework for balancing aggressive upgrade requirements against generous legacy support, optimizing both security and performance within given cost boundaries. Full article

Currently, one of the most important challenges facing autonomous vehicles’ development due to varying driving conditions is effective path tracking while considering lateral stability. To address this issue, this study proposes the optimization of the linear quadratic regulator (LQR) control system by using the genetic algorithm (GA) to support the vehicle in following the predefined path accurately, minimizing the sideslip, and stabilizing the vehicle’s yaw rate. The dynamic system model of the vehicle is represented based on yaw rate angle, lateral speed, and vehicle sideslip angle as the variables of the state space model, with the steering angle as an input parameter. Using the GA to optimize the LQR control by tuning the weighting of the Q and R matrices led to enhancing the system response and minimizing deviation errors via a proposed cost function of GA. The simulation results were obtained using MATLAB/Simulink 2024a, with a representation of a predefined path as a Gaussian path. Under external and internal disturbances, such as road conditions, lateral wind, and actuator delay, the model demonstrates improved tracking performance and reduced sideslip angle and lateral acceleration by adjusting the longitudinal vehicle speed. This work highlights the effectiveness of robust control in addressing path planning, driving stability, and safety in autonomous vehicle systems. Full article

This article presents an alternative variant of motion planning techniques for autonomous vehicles (AVs) centered on an inverse approach that concurrently optimizes both trajectory and speed. This method emphasizes searching for a trajectory and distributing its speed within a single road segment, regarded as a final element. The references for the road lanes are represented by splines that interpolate the path length, derivative, and curvature using Cartesian coordinates. This approach enables the determination of parameters at the final node of the road segment while varying the reference length. Instead of directly modeling the trajectory and velocity, the second derivatives of curvature and speed are modeled to ensure the continuity of all kinematic parameters, including jerk, at the nodes. A specialized inverse numerical integration procedure based on Gaussian quadrature has been adapted to reproduce the trajectory, speed, and other key parameters, which can be referenced during the motion tracking phase. The method emphasizes incorporating kinematic, dynamic, and physical restrictions into a set of nonlinear constraints that are part of the optimization procedure based on sequential quadratic optimization. The objective function allows for variation in multiple parameters, such as speed, longitudinal and lateral jerks, final time, final angular position, final lateral offset, and distances to obstacles. Additionally, several motion planning variants are calculated simultaneously based on the current vehicle position and the number of lanes available. Graphs depicting trajectories, speeds, accelerations, jerks, and other relevant parameters are presented based on the simulation results. Finally, this article evaluates the efficiency, speed, and quality of the predictions generated by the proposed method. The main quantitative assessment of the results may be associated with computing performance, which corresponds to time costs of 0.5–2.4 s for an average power notebook, depending on optimization settings, desired accuracy, and initial conditions. Full article