Search Results (4,004)

Unmanned Aerial Vehicles (UAVs) are playing an increasingly vital role in modern battlefields. Accordingly, considerable research has been devoted to Manned–Unmanned Teaming (MUM-T) systems, with formation flight recognized as a key enabling technology for coordinating multiple UAVs. In MUM-T operations, leader–follower formations are commonly employed, while distributed formation methods have gained increasing attention owing to their stability and scalability. Among these, bearing-based control provides unique advantages for managing dynamic formations involving scaling and rotation. However, conventional bearing-based approaches typically require multiple leaders and encounter inherent limitations in flexibly handling obstacle avoidance. To address these challenges, this study proposes a hierarchical bearing-based leader–follower formation system comprising a single leader and multiple follower UAVs. By introducing the concept of virtual leaders, the proposed method enables the construction of formations with only one leader, thereby simplifying the system architecture while preserving scalability. In addition, a novel obstacle-avoidance strategy is developed, allowing followers to avoid collisions efficiently while maintaining formation integrity. The effectiveness of the proposed framework is demonstrated through numerical simulations of representative formation patterns, including V-shaped and hexagonal configurations, in obstacle-rich environments. The results confirm that follower UAVs successfully tracked the leader, preserved the designated formation, and achieved effective obstacle avoidance, thereby validating the stability and robustness of the proposed approach. Full article

Leaf water content (LWC) is a vital physiological indicator reflecting crop water status, crucial for precision irrigation and water management. Traditional monitoring methods are labor-intensive and costly, while unmanned aerial vehicle (UAV) remote sensing offers an efficient alternative with high spatiotemporal resolution. This study developed an inversion model for winter wheat LWC based on a stacking ensemble learning framework integrating multispectral and texture features to improve estimation accuracy. UAV multispectral images collected at different growth stages were used to extract 17 vegetation indices (VIs) and 32 texture features (TFs). The top 10 features most correlated with LWC were selected to construct a fused dataset, and five machine learning models (SVM, RF, XGB, PLSR, RR) were combined within a base–meta stacking architecture. Results showed that: (1) Using only multispectral features yielded R² values of 0.526–0.718 and rRMSE of 22.795–29.536%, while texture-only models performed worse (R² = 0.273–0.425, rRMSE = 34.7–36.6%), indicating that single data sources cannot fully represent LWC variability. (2) Combining multispectral and texture features notably improved accuracy (R² = 0.748–0.815; rRMSE = 18.5–21.6%), demonstrating the complementary advantages of spectral and spatial information. (3) Stacking ensemble learning outperformed all single models, achieving the highest precision under fused features (R² = 0.865; rRMSE = 16.3%). (4) LWC distribution maps derived from the stacking model effectively revealed field-scale moisture differences and spatial heterogeneity during different periods. This study confirms that multi-source feature fusion combined with ensemble learning enhances UAV-based crop water estimation, offering a reliable and scalable approach for precision agricultural water monitoring. Full article

Heavy vehicles present high aerodynamic drag. This results in significant fuel consumption and, consequently, high emissions of harmful substances. This study examines the variation in aerodynamic drag in a European-type truck with different trailer configurations. Passive flow control by geometry modifications of the rear part of the trailer and active flow control using the Coanda effect were tested, with the aim of improving the aerodynamic efficiency of the vehicle. To achieve this, a modular structure of a 1:30 scaled truck was designed to enable different trailer configurations. Drag measurements were performed with a two-component external balance, and PIV tests were conducted to correlate the drag reduction with the aerodynamic changes behind the trailer. Passive control reduced drag by up to 5.7%, and active flow control reduced it by up to 12.6% compared to the unmodified base trailer. PIV flow visualization confirms that blowing effectively reduces the recirculation zone behind the trailer. Full article

This study proposes a novel framework for analyzing Vehicle-Integrated Photovoltaic (VIPV) systems, integrating optical, thermal, and electrical models. The model modifies existing fixed PV methodologies for VIPV applications to assess received irradiance, PV module temperature, and energy production, and is available as an open-source MATLAB tool (VIPVLIB) enabling simulations via a smartphone. A key innovation is the integration of meteorological data and real-time driving, dynamically updating vehicle position and orientation every second. Different time resolutions were explored to balance accuracy and computational efficiency for optical model, while the thermal model, enhanced by vehicle speed, wind effects, and thermal inertia, improved temperature and power predictions. Validation on a minibus operating within the University of Palermo campus confirmed the applicability of the proposed framework. The roof received 45–47% of total annual irradiation, and the total yearly energy yield reached about 4.3 MWh/Year for crystalline-silicon, 3.7 MWh/Year for CdTe, and 3.1 MWh/Year for CIGS, with the roof alone producing up to 2.1 MWh/Year (c-Si). Under hourly operation, the generated solar energy was sufficient to fully meet daily demand from April to August, while during continuous operation it supplied up to 60% of total consumption. The corresponding CO₂-emission reduction ranged from about 3.5 ton/Year for internal-combustion vehicles to around 2 ton/Year for electric ones. The framework provides a structured, data-driven approach for VIPV analysis, capable of simulating dynamic optical, thermal, and electrical behaviors under actual driving conditions. Its modular architecture ensures both immediate applicability and long-term adaptability, serving as a solid foundation for advanced VIPV design, fleet-scale optimization, and sustainability-oriented policy assessment. Full article

With the rapid advancement of artificial intelligence and computational technologies, collision risk assessment remains a key challenge for Autonomous Surface Vehicles (ASVs). Traditional approaches typically based on five indicators including distance, Distance/Time to Closest Point of Approach (DCPA/TCPA), relative heading, and speed ratio often suffer from redundancy, weak indicator independence, and limited correspondence to the physical characteristics of dynamic encounters. To overcome these limitations, this study proposes a physics-driven collision risk evaluation framework grounded in the Quaternion Ship Domain (QSD). The model simplifies the indicator system to three physically interpretable metrics: inter-ship distance, the coupled DCPA-TCPA index, and the coupled Bow Crossing Range-Bow Crossing Time (BCR-BCT) index. A logarithmic and sigmoid function is introduced as the factor collision risk normalization function, in contrast to a traditional Min–Max scaling function, thereby enhancing the smoothness and interpretability of risk evolution. Python-based simulations involving overtaking, head-on, and crossing scenarios were conducted to validate the proposed approach. The results demonstrate that the framework accurately captures both the magnitude and temporal evolution of collision risk, significantly improving interpretability, robustness, and practical applicability. The proposed QSD-based model provides a physics-consistent and computationally efficient solution for real-time collision risk assessment of ASVs. Full article

Heterogeneous unmanned aerial vehicle (UAV) swarms are becoming critical components of next-generation non-terrestrial networks, enabling tasks such as communication relay, spectrum monitoring, cooperative sensing, and navigation. Yet, their heterogeneity and multifunctionality bring severe challenges in task allocation and resource scheduling, where traditional multi-agent reinforcement learning methods often suffer from high algorithmic complexity, lengthy training times, and deployment difficulties on resource-constrained nodes. To address these issues, this paper proposes a low-complexity multi-agent soft actor–critic (MASAC) framework that combines parameter sharing (shared actor with device embeddings and shared-backbone twin critics), lightweight network design (fixed-width residual MLP with normalization), and robust training mechanisms (minimum-bias twin-critic updates and entropy scheduling) within the CTDE paradigm. Simulation results show that the proposed framework achieves more than 14-fold parameter compression and over a 93% reduction in training time, while maintaining or improving performance in terms of the delay–energy utility function. These advances substantially reduce computational overhead and accelerate convergence, providing a practical pathway for deploying multi-agent reinforcement learning in large-scale heterogeneous UAV clusters and supporting diverse mission scenarios under stringent resource and latency constraints. Full article

Yield prediction in longline aquaculture is essential for evaluating environmental impacts, facilitating risk assessment, and promoting sustainable management in fisheries. However, since cultured organisms in longline aquaculture are submerged and cannot be directly observed, existing yield prediction approaches are mostly based on indirect environmental proxies, which often lead to unsatisfactory accuracy. The Shadow Geometry Inversion for Aquaculture (SGIA) method enables direct and accurate yield estimation in longline aquaculture by utilizing the submergence state of buoys to infer load, which is determined by the weight of the cultured organisms and estimated by shadow lengths combined with solar altitude angles and buoy physical parameters in high-resolution unmanned aerial vehicle (UAV) imagery. Experiments have been conducted in a water body located in Shanghai and Fuding to validate the effectiveness of the SGIA method. The best results were achieved under solar altitudes of 10–25° and calm water conditions. Under these conditions, the SGIA-predicted yields closely matched the measured loads in the Shanghai controlled experiment (R² = 0.985, MAPE = 9.19%). In the Fuding field application, the model effectively captured spatial variations in buoy loads across the farming area, demonstrating its practicality and scalability for large-scale yield mapping in real aquaculture environments. Full article

Wildfire-induced disturbances to soil and vegetation can significantly impact streamflows for years, depending upon the degree of burn severity. Accurately predicting the effects of wildfire on streamflow at the watershed scale is essential for effective water budget management. This study presents a novel approach to generating a burn severity map on a small scale by integrating unmanned aerial vehicle (UAV)-based thermal imagery with Landsat-derived Differenced Normalized Burn Ratio (dNBR) and upscaling burned severity to the entire burned area. The approach was applied to the Thompson Ridge Fire perimeter, and the upscaled UAV-Landsat-based burn severity map achieved an overall accuracy of ~73% and a kappa coefficient of ~0.62 when compared with the Burned Area Emergency Response’s (BAER) fire product as a reference map, indicating moderate accuracy. We then tested the transferability of burn severity information to a Beaver River watershed by applying Random Forest models. Predictors included topography, spectral bands, vegetation indices, fuel, land cover, fire information, and soil properties. We calibrated and validated the Distributed Hydrology Soil Vegetation Model (DHSVM) against observed streamflow and Snow Water Equivalent (SWE) data within the Beaver River watershed and measured model performance using Nash–Sutcliffe Efficiency (NSE), Kling–Gupta Efficiency (KGE), and Percent Bias (PBIAS) metrics. We adjusted soil (maximum infiltration rate) and vegetation (fractional vegetation cover, snow interception efficiency, and leaf area index) parameters for the post-fire model setup and simulated streamflow for the post-fire years without vegetation regrowth. Streamflow simulations using the upscaled and transferred UAV-Landsat burn severity map and the Burned Area Emergency Response’s (BAER) fire product produced similar post-fire hydrologic responses, with annual average flows increasing under both approaches and the UAV-Landsat-based simulation yielding slightly lower values, by less than 6% compared to the BAER-based simulation. Our results demonstrate that the UAV-satellite integration method offers a cost- and time-effective method for generating a burn severity map, and when combined with the transferability method and hydrologic modeling, it provides a practical framework for predicting post-fire streamflow in both burned and unburned watersheds. Full article

Battery fault detection is crucial for maintaining the safety and reliability of large-scale lithium-ion battery systems, especially in demanding applications like electric vehicles and energy storage power stations. However, existing research primarily addresses either temporal patterns or spatial variations in isolation. This paper presents a comprehensive review of fault detection from a spatio-temporal perspective, with a specific focus on AI-driven methods that integrate temporal dynamics with spatial sensor data. The contributions of this review include an in-depth analysis of advanced techniques such as transfer learning, foundation models, and physics-informed neural networks, emphasizing their potential for modeling complex spatio-temporal dependencies. On the engineering side, this review surveys the practical application of these methods for early fault detection and diagnostics in large-scale battery systems, supported by case studies and real-world deployment examples. The findings of this review provide a unified perspective to guide the development of robust and scalable spatio-temporal fault detection methods for EV batteries, highlighting key challenges, promising solutions, and future research directions. Full article

This study presents a novel top-down approach to quantify diffuse methane (CH₄) emissions at oil and gas well sites. It uses an unmanned aerial vehicle (UAV) equipped with a scanning–sampling tunable diode laser absorption spectroscopy (TDLAS) CH₄ measurement instrument. By integrating the top-down emission rate retrieval algorithm (TERRA) and adopting concentric circular sampling, the method aims to overcome the limitations of traditional ground-based measurements. The UAV system was deployed at 11 oil and gas sites in the Changqing Oilfield. The results show that the average CH₄ emission rate detected by the UAV is 1.425 kg/h (excluding non-detected samples), which is larger than the 1.061 kg/h obtained from ground-based onsite direct measurement. This discrepancy may be because the UAV’s scanning–sampling capability can cover a larger area, capturing scattered or hidden diffuse emission sources that might be missed by ground-based onsite direct measurement. The study demonstrates that the UAV-based approach with a scanning–sampling TDLAS CH₄ measurement instrument, integrated with the TERRA and concentric circular sampling, is effective in capturing diffuse CH₄ emissions at oil and gas well sites, providing a viable method for large-scale and efficient monitoring of such emissions. This approach could provide an effective pathway for large-scale, efficient, and cost-effective monitoring of methane emissions. Full article

Remote island regions often depend on isolated power grids dominated by small-scale thermal power plants. Decarbonizing these systems is challenging due to limited interconnection capacity and variable renewable output, highlighting the need for flexible resource balance. This study develops an optimization model that minimizes system costs and CO₂ emissions by integrating variable renewable energy and Vehicle-to-Grid (V2G) while considering the minimum-output constraints of thermal power generation. The model is applied to Tanegashima Island, Japan. The results demonstrate that all optimized scenarios reduced the cost and emissions compared with the baseline. In the cost-minimizing scenario, the total annual cost decreased from 2.81 to 2.46 billion yen, while CO₂ emissions decreased from 56.5 to 44.4 kt. In the CO₂-minimizing scenario, V2G further reduced emissions to 43.8 kt at a lower cost (2.54 billion yen) than the system without V2G. However, renewable curtailment remained high due to the minimum-output constraint of thermal generators. These findings confirm that while V2G is a cost-effective, distributed flexibility resource, it cannot fully eliminate renewable curtailment under current operational limits. Enhanced coordination, behavioral engagement, and complementary measures—such as relaxing thermal constraints and expanding storage—are required to unlock its full potential in isolated power systems. Full article

Evaluating electric vehicle (EV) motor performance over dynamic drive cycles is essential for accurate energy efficiency prediction and system-level optimization. While conventional steady-state models enable rapid generation of efficiency maps, they can introduce significant errors due to grid interpolation and the omission of transient dynamics. Limited understanding exists regarding how grid coarseness and modeling approach affect the discrepancy between steady-state and time-stepping solutions. This study quantifies these differences for a laboratory-scale induction motor (IM) operating under down-scaled drive cycles, using experimental time-stepping measurements as a reference. Efficiency maps are developed using three methods—analytic modeling, finite element analysis (FEA), and experimental testing—while time-stepping simulations are conducted using an analytic model. The study evaluates both total drive cycle energy efficiency errors and pointwise deviations across the torque–speed envelope for various grid resolutions. Results are compared against laboratory-based time-stepping measurements to identify trade-offs between computational efficiency and accuracy. Additionally, the analysis evaluates the impact of operating point (OP) placement within the grid and temperature variation on the accuracy of efficiency maps. Full article

Vehicle-mounted multi-UAV (VM-UAV) systems offer enhanced flexibility and rapid deployment for large-scale remote sensing tasks such as disaster response and land surveys. However, maximizing their operational efficiency remains challenging, as it requires the simultaneous resolution of task scheduling and coverage path planning—an NP-hard problem. This study presents a novel multi-objective genetic algorithm (GA) framework that jointly optimizes routing and scheduling for cost-constrained, load-balanced multi-UAV remote sensing missions. To improve convergence speed and solution quality, we introduce two innovative operators: a Multi-Region Edge Recombination Crossover (MRECX) to preserve superior path segments from parents and an Adaptive Hybrid Mutation (AHM) mechanism that dynamically adjusts mutation strategies to balance exploration and exploitation. The algorithm minimizes total flight distance while equalizing workload distribution among UAVs. Extensive simulations and experiments demonstrate that the proposed GA significantly outperforms conventional GA, particle swarm optimization (PSO), ant colony optimization (ACO), and clustering-based planning methods in both solution quality and robustness. The practical applicability of our framework is further validated through two real-world case studies. The results confirm that the proposed approach delivers an effective and scalable solution for vehicle-mounted multi-UAV scheduling and path planning, enhancing operational efficiency in time-critical remote sensing applications. Full article

With the increasing frequency of extreme rainfall events, pluvial flooding has become a critical challenge to the safety and sustainable development of megacities worldwide. This study proposes a multi-dimensional framework for assessing urban pluvial flood resilience (UPFR) by integrating a coupled hydrological-hydrodynamic model with system performance curves. The framework characterizes the dynamic evolution of resilience across three dimensions: rainfall characteristics, risk thresholds, and spatial scales. Results show that short-duration intense rainfall triggers instantaneous pipe overloading, whereas long-duration storms impose cumulative stress that leads to sustained systemic weakening, with the lowest resilience observed under extreme prolonged rainfall conditions. The specification of risk thresholds strongly influences resilience ranking, with the vehicle stalling risk (VSR) consistently showing the lowest resilience, followed by building inundation risk (BIR) and human instability risk (HIR). Spatially, pipes represent the weakest components, nodes maintain resilience under moderate stress, and the regional system exhibits a pattern of local weakness but overall stability, accompanied by delayed recovery. These findings highlight the importance of incorporating multi-threshold and multi-scale perspectives in flood resilience assessment and management. The proposed framework provides a scientific basis to support staged prevention measures and adaptive emergency response strategies, thereby enhancing urban flood resilience in megacities. Full article

There have been many attempts to model the flow of vehicular traffic in analogy to the flow of fluids. Given the evident change in distance between vehicles driving in platoons, the compressibility of traffic flow is inferred and, considering the reaction time-scales of the driver (human or autonomous), it is argued that this compressibility is increased as relative velocities increase—giving the lag in imposed redirection by the driver and the controller units a higher relative importance. Therefore, a supersonic compressible flow field has been opted for as the most analogous base flow. On this point, added to by the overall extreme similarities of the two above-mentioned flows, the non-dimensional group of the traffic Mach number M_T has been defined in the present research, providing the possibility of calculating a suggested flow field and its corresponding shockwave systems, for any given obstacle ahead of the traffic flow. This suggested flow field is then taken as the basis to obtain trajectories designed for avoiding collision with the obstacle, and in compliance with the physics of the underlying analogous fluid flow phenomena, namely the internal supersonic compressible flow around a double wedge. It should be noted that herein we do not model the traffic flow but propose these trajectories for more optimal collision avoidance, and therefore the above-mentioned similarities (explained in detail in the manuscript) suffice, without the need to rely on full analogies between the two flows. The manuscript further analyzes the applicability of the proposed analogy in the path-planning process for an autonomous passenger vehicle, through dynamics and control of a full-planar vehicle model with an autonomous path-tracking controller. Simulations are performed using realistic vehicle parameters and the results show that the fluid flow analogy is compatible with the vehicle dynamics, as it is able to follow the target path generated by fluid flow calculations with minor deviations. Simulation results demonstrate that the proposed method produces smooth and dynamically consistent trajectories that remain stable under varying traffic scenarios. The controller achieves accurate path tracking and rapid convergence, confirming the feasibility of the fluid-flow analogy for real-time vehicle control. Full article