Search Results (10,850)

The widespread adoption of liquefied natural gas (LNG) as a marine fuel has driven the development of LNG bunkering operations in global ports. Major international hubs, such as Shenzhen Port, have implemented ship-to-ship (STS) bunkering practices. However, this process entails unique safety risks, particularly hazards associated with vapor cloud dispersion caused by bunkering hose releases. This study employs the Phast software developed by DNV to systematically simulate LNG release scenarios during STS operations, integrating real-world meteorological data and storage conditions. The dynamic effects of transfer flow rates, release heights, and release directions on vapor cloud dispersion are quantitatively analyzed under daytime and nighttime conditions. The results demonstrate that transfer flow rate significantly regulates dispersion range, with recommendations to limit the rate below 1500 m³/h and prioritize daytime operations to mitigate risks. Release heights exceeding 10 m significantly amplify dispersion effects, particularly at night (nighttime dispersion area at a height of 20 m is 3.5 times larger than during the daytime). Optimizing release direction effectively suppresses dispersion, with vertically downward releases exhibiting minimal impact. Horizontal releases require avoidance of downwind alignment, and daytime operations are prioritized to reduce lateral dispersion risks. Full article

Oil spill simulation models are essential for predicting the oil spill behavior and movement in marine environments. In this study, we comprehensively reviewed a large and diverse body of peer-reviewed literature obtained from Scopus and Web of Science. Our initial analysis phase focused on examining trends in scientific publications, utilizing the complete dataset derived after systematic screening and database integration. In the second phase, we applied elements of a systematic review to identify and evaluate the most influential contributions in the scientific field of oil spill simulations. Our analysis revealed a steady and accelerating growth of research activity over the past five decades, with a particularly notable expansion in the last two. The field has also experienced a marked increase in collaborative practices, including a rise in international co-authorship and multi-authored contributions, reflecting a more global and interdisciplinary research landscape. We cataloged the key modeling frameworks that have shaped the field from established systems such as OSCAR, OIL-MAP/SIMAP, and GNOME to emerging hybrid and Lagrangian approaches. Hydrodynamic models were consistently central, often integrated with biogeochemical, wave, atmospheric, and oil-spill-specific modules. Environmental variables such as wind, ocean currents, and temperature were frequently used to drive model behavior. Geographically, research has concentrated on ecologically and economically sensitive coastal and marine regions. We conclude that future progress will rely on the real-time integration of high-resolution environmental data streams, the development of machine-learning-based surrogate models to accelerate computations, and the incorporation of advanced biodegradation and weathering mechanisms supported by experimental data. These advancements are expected to enhance the accuracy, responsiveness, and operational value of oil spill modeling tools, supporting environmental monitoring and emergency response. Full article

Based on the principle of symmetry, we propose a variable step-size FxLMS algorithm with double nonlinear functions cooperative coupling (DNVSS-FxLMS), aiming to optimize the contradiction between convergence rate and steady-state error in the active pressure pulsation control system of hydraulic systems. The algorithm innovatively couples two types of nonlinear mechanisms (rational-fractional and exponential-function-based), constructing a refined error-step mapping relationship to achieve a balance between rapid convergence and low steady-state error. Simulation experiments were conducted considering the complex time-varying operating environment of a simulation-based hydraulic system. The results demonstrate that, when the system undergoes unstable random changes, the DNVSS-FxLMS algorithm converges at least twice as fast as traditional and existing variable step size algorithms, while reducing steady-state error by 2–5 dB. The proposed DNVSS-FxLMS algorithm exhibits significant advantages in convergence rate, steady-state error reduction, and tracking capability, providing a highly efficient and robust solution for real-time active control of hydraulic system pressure pulsation under complex operating conditions. Full article

Humanoid robots have attracted considerable attention for their anthropomorphic structure, extended workspace, and versatile capabilities. This paper presents a novel humanoid upper-body robotic system comprising a pair of 8-degree-of-freedom (DOF) arms, a 3-DOF head, and a 3-DOF torso—yielding a 22-DOF architecture inspired by human biomechanics and implemented via standardized hollow joint modules. To overcome the critical reliance of zeroing neural network (ZNN)-based trajectory tracking on the Jacobian matrix derivative, we propose an integration-enhanced matrix derivative observer (IEMDO) that incorporates nonlinear feedback and integral correction. The observer is theoretically proven to ensure asymptotic convergence and enables accurate, real-time estimation of matrix derivatives, addressing a fundamental limitation in conventional ZNN solvers. Workspace analysis reveals that the proposed design achieves an 87.7% larger total workspace and a remarkable 3.683-fold expansion in common workspace compared to conventional dual-arm baselines. Furthermore, the observer demonstrates high estimation accuracy for high-dimensional matrices and strong robustness to noise. When integrated into the ZNN controller, the IEMDO achieves high-precision trajectory tracking in both simulation and real-world experiments. The proposed framework provides a practical and theoretically grounded approach for redundant humanoid arm control. Full article

The utilization of Unmanned Aerial Vehicles (UAVs) in missions such as reconnaissance and surveillance has grown rapidly, underscoring the need for efficient path planning algorithms that ensure both optimality and collision avoidance. The A-star algorithm is widely used for global path planning due to its ability to generate optimal routes; however, its high computational cost makes it unsuitable for real-time applications, particularly in unknown or dynamic environments. For local path planning, the Artificial Potential Field (APF) algorithm enables real-time navigation by attracting the UAV toward the target while repelling it from obstacles. Despite its efficiency, APF suffers from local minima and limited performance in dynamic settings. To address these challenges, this paper proposes the A-star-Guided Potential Field (AGPF) algorithm, which integrates the strengths of A-star and APF to achieve robust performance in both global and local path planning. The AGPF algorithm was validated through simulations conducted in the Robot Operating System (ROS) environment. Simulation results demonstrate that AGPF produces smoother and more optimal paths than A-star, while avoiding the local minima issues inherent in APF. Furthermore, AGPF effectively handles moving and previously unknown obstacles by generating real-time avoidance trajectories, demonstrating strong adaptability in dynamic and uncertain environments. Full article

To improve collision risk prediction in high-traffic coastal waters and support real-time decision-making in maritime navigation, this study proposes a regional collision risk prediction system integrating the Computed Distance at Collision (CDC) method with an Adaptive Neuro-Fuzzy Inference System (ANFIS). Unlike Distance at Closest Point of Approach (DCPA), which depends on the position of Global Positioning System (GPS) antennas, Computed Distance at Collision (CDC) directly reflects the actual hull shape and potential collision point. This enables a more realistic assessment of collision risk by accounting for the hull geometry and boundary conditions specific to different ship types. The system was designed and validated using ship motion simulations involving bulk and container ships across varying speeds and crossing angles. The CDC method was used to define collision, almost-collision, and near-collision situations based on geometric and hydrodynamic criteria. Subsequently, the FIS–CDC model was constructed using the ANFIS by learning patterns in collision time and distance under each condition. A total of four input variables—ship speed, crossing angle, remaining time, and remaining distance—were used to infer the collision risk index (CRI), allowing for a more nuanced and vessel-specific assessment than traditional CPA-based indicators. Simulation results show that the time to collision decreases with higher speeds and increases with wider crossing angles. The bulk carrier exhibited a wider collision-prone angle range and a greater sensitivity to speed changes than the container ship, highlighting differences in maneuverability and risk response. The proposed system demonstrated real-time applicability and accurate risk differentiation across scenarios. This research contributes to enhancing situational awareness and proactive risk mitigation in Maritime Autonomous Surface Ship (MASS) and Vessel Traffic System (VTS) environments. Future work will focus on real-time CDC optimization and extending the model to accommodate diverse ship types and encounter geometries. Full article

In this paper, a joint Matching Field Processing (MFP) Algorithm based on horizontal uniform circular array (UCA) is proposed for three-dimensional position of underwater wrecked targets. Firstly, a Marine search and rescue position model based on Minimum Variance Distortionless Response (MVDR) and matching field quadratic joint Algorithm was proposed. Secondly, an MVDR beamforming method based on pre-Kalman filtering is designed to refine the real-time DOA estimation of the desired signal and the interference source, and the sound source azimuth is determined for prepositioning. The antenna array weights are dynamically adjusted according to the filtered DOA information. Finally, the Adaptive Matching Field Algorithm (AMFP) used the DOA information to calculate the range and depth of the lost target, and obtained the range and depth estimates. Thus, the 3D position of the lost underwater target is jointly estimated. This method alleviates the angle ambiguity problem and does not require a computationally intensive 2D spectral search. The simulation results show that the proposed method can better realise underwater three-dimensional positioning under certain signal-to-noise ratio conditions. When there is no error in the sensor coordinates, the positioning error is smaller than that of the baseline method as the SNR increases. When the SNR is 0 dB, with the increase in the sensor coordinate error, the target location error increases but is smaller than the error amplitude of the benchmark Algorithm. The experimental results verify the robustness of the proposed framework in the hierarchical ocean environment, which provides a practical basis for the deployment of rapid response underwater positioning systems in maritime search and rescue scenarios. Full article

The placement of hydraulic elements in existing pool-type fishways to make them more suitable for Cyprinid fish is an issue of increasing interest in fishway research. Hydrodynamic characteristics and fish behavior at the representative pool of the fishway with bottom orifices and notches were assessed at the Dagdelen hydropower plant in the Ceyhan River Basin, Türkiye. Three-dimensional velocity measurements were taken in the pool of the fishway using an Acoustic Doppler velocimeter. The measurements were taken with and without a brush block at two different vertical distances from the bottom, which were below and above the level of bristles tips. A computational fluid dynamics (CFD) analysis was conducted for the studied fishway. The numerical model utilized Large Eddy Simulation (LES) combined with the Darcy–Forchheimer law, wherein brush blocks were represented as homogenous porous media. Our results revealed that the relative submergence of bristles in the brush block plays a very important role in velocity and Reynolds shear stress (RSS) distributions. After the placement of the submerged brush block, flow velocity and the lateral RSS component were reduced, and a resting area was created behind the brush block below the bristles’ tips. Fish movements in the pool were recorded by underwater cameras under real-time operation conditions. The heatmap analysis, which is a 2-dimensional fish spatial presence visualization technique for a specific time period, showed that Capoeta damascina avoided the areas with high turbulent fluctuations during the tests, and 61.5% of the fish presence intensity was found to be in the low Reynolds shear regions in the pool. This provides a clear case for the real-world ecological benefits of retrofitting existing pool-weir fishways with such flexible hydraulic elements. Full article

With the increasing deployment of unmanned aerial vehicles (UAVs) in indoor environments, the demand for high-precision six-degrees-of-freedom (6-DoF) localization has grown significantly. Ultra-wideband (UWB) technology has emerged as a key enabler for indoor UAV navigation due to its robustness against multipath effects and high-accuracy ranging capabilities. However, conventional UWB-based systems primarily rely on range measurements, operate at low measurement frequencies, and are incapable of providing attitude information. This paper proposes a tightly coupled error-state extended Kalman filter (TC–ESKF)-based UWB/inertial measurement unit (IMU) fusion framework. To address the challenge of initial state acquisition, a weighted nonlinear least squares (WNLS)-based initialization algorithm is proposed to rapidly estimate the UAV’s initial position and attitude under static conditions. During dynamic navigation, the system integrates time-difference-of-arrival (TDOA) and angle-of-arrival (AOA) measurements obtained from the UWB module to refine the state estimates, thereby enhancing both positioning accuracy and attitude stability. The proposed system is evaluated through simulations and real-world indoor flight experiments. Experimental results show that the proposed algorithm outperforms representative fusion algorithms in 3D positioning and yaw estimation accuracy. Full article

Coarse-grained soils serve as essential fill materials in earth–rock dam engineering, where their mechanical properties critically influence dam deformation and stability, directly impacting project safety. Artificial intelligence (AI) techniques are emerging as powerful tools for predicting the mechanical properties of coarse-grained soils. However, AI-based prediction models for these properties face persistent challenges, particularly in parameter tuning—a process requiring substantial computational resources, extensive time, and specialized expertise. To address these limitations, this study proposes a novel prediction model that integrates Adaptive Simulated Annealing (ASA) with an improved Particle Swarm Optimization (PSO) algorithm to optimize the Elman Neural Network (ENN). The methodology encompasses three key aspects: First, the standard PSO algorithm is enhanced by dynamically adjusting its inertial weight and learning factors. The ASA algorithm is then employed to optimize the Adaptive PSO (APSO), effectively mitigating premature convergence and local optima entrapment during training, thereby ensuring convergence to the global optimum. Second, the refined PSO algorithm optimizes the ENN, overcoming its inherent limitations of slow convergence and susceptibility to local minima. Finally, validation through real-world engineering case studies demonstrates that the ASA-PSO-optimized ENN model achieves high accuracy in predicting the mechanical properties of coarse-grained soils. This model provides reliable constitutive parameters for stress–strain analysis in earth–rock dam engineering applications. Full article

The detection of trace chemicals at low and ultra-low concentrations is critical for applications in environmental monitoring, medical diagnostics, food safety and other fields. Conventional detection techniques often lack the required sensitivity, specificity, or cost-effectiveness, making real-time, in situ analysis challenging. Surface-enhanced Raman spectroscopy (SERS) is a powerful analytical tool, offering improved sensitivity through the enhancement of Raman scattering by plasmonic nanostructures. While noble metals such as Ag and Au are currently the reference choices for SERS substrates, fabrication methods should balance enhancement efficiency, reproducibility and scalability. In this study, we propose a novel approach for SERS substrate fabrication using reactive Aerosol Jet Printing (r-AJP) as an innovative additive manufacturing technique. The r-AJP process enables in-flight Ag seed reduction and nucleation of Ag nanoparticles (NPs) by mixing silver nitrate and ascorbic acid aerosols before deposition, as suggested by computational fluid dynamics (CFD) simulations. The resulting coatings were characterized by X-ray diffraction (XRD) and scanning electron microscopy (SEM) analyses, revealing the formation of nanoporous crystalline Ag agglomerates partially covered by residual matter. The as-prepared SERS substrates exhibited remarkable SERS activity, demonstrating a high enhancement factor (10⁶) for rhodamine (R6G) detection. Our findings highlight the potential of r-AJP as a scalable and cost-effective fabrication strategy for next-generation SERS sensors, paving the way for the development of a new additive manufacturing tool for noble metal material deposition. Full article

The exponential proliferation of the Internet of Things (IoT) and optical IoT (O-IoT) has introduced substantial challenges concerning computational capacity and energy efficiency. IoT devices generate vast volumes of aggregated data and require intensive processing, often resulting in elevated latency and excessive energy consumption. Task offloading has emerged as a viable solution; however, many existing strategies fail to adequately optimize both latency and energy usage. This paper proposes a novel task-offloading approach based on deep Q-network (DQN) learning, designed to intelligently and dynamically balance these critical metrics. The proposed framework continuously refines real-time task offloading decisions by leveraging the adaptive learning capabilities of DQN, thereby substantially reducing latency and energy consumption. To further enhance system performance, the framework incorporates optical networks into the IoT–fog–cloud architecture, capitalizing on their high-bandwidth and low-latency characteristics. This integration facilitates more efficient distribution and processing of tasks, particularly in data-intensive IoT applications. Additionally, we present a comparative analysis between the proposed DQN algorithm and the optimal strategy. Through extensive simulations, we demonstrate the superior effectiveness of the proposed DQN framework across various IoT and O-IoT scenarios compared to the BAT and DJA approaches, achieving improvements in energy consumption and latency of 35%, 50%, 30%, and 40%, respectively. These findings underscore the significance of selecting an appropriate offloading strategy tailored to the specific requirements of IoT and O-IoT applications, particularly with regard to environmental stability and performance demands. Full article

Green manufacturing has emerged as a critical objective in the evolution of advanced production systems. Although digital twin technology is widely recognized for enhancing efficiency and promoting sustainability, the majority of existing research focuses exclusively on physical systems. They neglect the impact of soft systems, including human behavior, decision-making, and operational strategies. To address this limitation, the present study introduces an innovative hybrid digital twin model that integrates both physical and soft systems to support green manufacturing initiatives comprehensively. The primary contributions of this work are threefold. First, a novel hybrid architecture is developed by coupling real-time physical data with virtual soft system components that simulate factory operations. Second, lean production principles are systematically incorporated into the soft system, thereby facilitating reduced energy consumption and minimizing environmental impact. Third, a parameter-driven programming model is formulated to correlate critical variables with green performance metrics, and a genetic algorithm is utilized to optimize these variables, ultimately enhancing sustainability outcomes. This integrated approach not only expands the applicability of digital twin technology but also offers a data-driven decision-support tool for the advancement of green manufacturing practices. Full article

This study proposes an intelligent patrol planning framework that leverages reinforcement learning, spatiotemporal crime forecasting, and simulated sensor telemetry to optimize autonomous vehicle (AV) navigation in urban environments. Crime incidents from Washington DC (2024–2025) and Seattle (2008–2024) are modeled as a dynamic spatiotemporal graph, capturing the evolving intensity and distribution of criminal activity across neighborhoods and time windows. The agent’s state space incorporates synthetic AV sensor inputs—including fuel level, visual anomaly detection, and threat signals—to reflect real-world operational constraints. We evaluate and compare three learning strategies: Deep Q-Network (DQN), Double Deep Q-Network (DDQN), and Proximal Policy Optimization (PPO). Experimental results show that DDQN outperforms DQN in convergence speed and reward accumulation, while PPO demonstrates greater adaptability in sensor-rich, high-noise conditions. Real-map simulations and hourly risk heatmaps validate the effectiveness of our approach, highlighting its potential to inform scalable, data-driven patrol strategies in next-generation smart cities. Full article

Timely and accurate monitoring of crop nitrogen (N) status is essential for precision agriculture. UAV-based hyperspectral remote sensing offers high-resolution data for estimating plant nitrogen concentration (PNC), but its cost and complexity limit large-scale application. This study compares the performance of UAV hyperspectral data (S185 sensor) with simulated multispectral data from DJI Phantom 4 Multispectral (P4M), PlanetScope (PS), and Sentinel-2A (S2) in estimating winter wheat PNC. Spectral data were collected across six growth stages over two seasons and resampled to match the spectral characteristics of the three multispectral sensors. Three variable selection strategies (one-dimensional (1D) spectral reflectance, optimized two-dimensional (2D), and three-dimensional (3D) spectral indices) were combined with Random Forest Regression (RFR), Support Vector Machine Regression (SVMR), and Partial Least Squares Regression (PLSR) to build PNC prediction models. Results showed that, while hyperspectral data yielded slightly higher accuracy, optimized multispectral indices, particularly from PS and S2, achieved comparable performance. Among models, SVM and RFR showed consistent effectiveness across strategies. These findings highlight the potential of low-cost multispectral platforms for practical crop N monitoring. Future work should validate these models using real satellite imagery and explore multi-source data fusion with advanced learning algorithms. Full article