Search Results (542)

Autonomous Unmanned Surface Vehicle (USV) operations in complex ocean engineering scenarios necessitate robust navigation, guidance, and control technologies. These systems require reliable sensor-based object detection and efficient, safe, and energy-aware path planning. To address these multifaceted challenges, this paper proposes a novel synergistic AI framework. The framework integrates (1) a novel adaptation of the Swin-Transformer to generate a dense, semantic risk map from raw visual data, enabling the system to interpret ambiguous marine conditions like sun glare and choppy water, enabling real-time environmental understanding crucial for guidance; (2) a Transformer-enhanced A-star (T-ASTAR) algorithm with spatio-temporal attentional guidance to generate globally near-optimal and energy-aware static paths; (3) a domain-adapted TD3 agent featuring a novel energy-aware reward function that optimizes for USV hydrodynamic constraints, making it suitable for long-endurance missions tailored for USVs to perform dynamic local path optimization and real-time obstacle avoidance, forming a key control element; and (4) CUDA acceleration to meet the computational demands of real-time ocean engineering applications. Simulations and real-world data verify the framework’s superiority over benchmarks like A* and RRT, achieving 30% shorter routes, 70% fewer turns, 64.7% fewer dynamic collisions, and a 215-fold speed improvement in map generation via CUDA acceleration. This research underscores the importance of integrating powerful AI components within a hierarchical synergy, encompassing AI-based perception, hierarchical decision planning for guidance, and multi-stage optimal search algorithms for control. The proposed solution significantly advances USV autonomy, addressing critical ocean engineering challenges such as navigation in dynamic environments, object avoidance, and energy-constrained operations for unmanned maritime systems. Full article

We present mmHSE, a two-stage framework for human skeleton estimation using dual millimeter-Wave (mmWave) Frequency-Modulated Continuous-Wave (FMCW) radar signals. To enable data-driven model design and evaluation, we collect and process over 30,000 range–angle maps from 12 users across three representative indoor environments using a dual-node radar acquisition platform. Leveraging the collected data, we develop a two-stage neural architecture for human skeleton estimation. The first stage employs a dual-branch network with depthwise separable convolutions and self-attention to extract multi-scale spatiotemporal features from dual-view radar inputs. A cross-modal attention fusion module is then used to generate initial estimates of 21 skeletal keypoints. The second stage refines these estimates using a skeletal topology module based on graph convolutional networks, which captures spatial dependencies among joints to enhance localization accuracy. Experiments show that mmHSE achieves a Mean Absolute Error (MAE) of 2.78 cm. In cross-domain evaluations, the MAE remains at 3.14 cm, demonstrating the method’s generalization ability and robustness for non-intrusive human pose estimation from mmWave FMCW radar signals. Full article

Industrial equipment fault diagnosis faces dual challenges: significant data distribution discrepancies caused by diverse operating conditions impair generalization capabilities, while underutilized spatio-temporal information from multi-source data hinders feature extraction. To address this, we propose a spatio-temporal collaborative perception-driven feature graph construction and topology mining methodology for variable-condition diagnosis. First, leveraging the operational condition invariance and cross-condition consistency of fault features, we construct fault feature graphs using single-source data and similarity clustering, validating topological similarity and representational consistency under varying conditions. Second, we reveal spatio-temporal correlations within multi-source feature topologies. By embedding multi-source spatio-temporal information into fault feature graphs via spatio-temporal collaborative perception, we establish high-dimensional spatio-temporal feature topology graphs based on spectral similarity, extending generalized feature representations into the spatio-temporal domain. Finally, we develop a graph residual convolutional network to mine topological information from multi-source spatio-temporal features under complex operating conditions. Experiments on variable/multi-condition datasets demonstrate the following: feature graphs seamlessly integrate multi-source information with operational variations; the methodology precisely captures spatio-temporal delays induced by vibrational direction/path discrepancies; and the proposed model maintains both high diagnostic accuracy and strong generalization capacity under complex operating conditions, delivering a highly reliable framework for rotating machinery fault diagnosis. Full article

Semantically enriched trajectories have attracted growing interest in recent research, driven by the need for more expressive and context-aware movement data analysis. Two primary approaches have emerged for the storage and management of such data: moving object databases, which operate at the transactional or operational level, and trajectory data warehouses (TDWs), which support analytical processing within decision support systems. Conventional TDW methodologies typically model semantic aspects of trajectories by introducing new dimensions into the data warehouse schema. However, this approach often requires structural modifications to the schema in order to accommodate additional semantic attributes, potentially resulting in significant disruptions to the architecture and maintenance of the underlying decision support systems. To overcome this limitation, we propose a novel TDW model that supports dynamic and extensible integration of semantic aspects, without necessitating changes to the schema. This design enhances flexibility and promotes seamless adaptability to domain-specific requirements. To enable such extensibility, we propose an innovative approach to representing semantic trajectories by leveraging natural language processing (NLP) techniques. without relying on traditional spatiotemporal features. This enables the analysis of semantic movement patterns purely through textual context. Finally, we present a comprehensive framework that implements the proposed model in real-world application scenarios, demonstrating its practical extensibility. Full article

This paper studies how intense internal waves (IIWs) affect the holographic reconstruction of the sound field generated by a moving source in a shallow-water environment. It is assumed that the IIWs propagate along the acoustic path between the source and the receiver. The presence of IIWs introduces inhomogeneities into the waveguide and causes significant mode coupling, which perturbs the received sound field. This paper proposes the use of holographic signal processing (HSP) to eliminate perturbations in the received signal caused by mode coupling due to IIWs. Within the HSP framework, we examine the interferogram (the received sound intensity distribution in the frequency–time domain) and the hologram (the two-dimensional Fourier transform of the interferogram) of a moving source in the presence of space–time inhomogeneities caused by IIWs. A key finding is that under the influence of IIWs, the hologram is divided into two regions that correspond to the unperturbed and perturbed components of the sound field. This hologram structure enables the extraction and reconstruction of the interferogram corresponding to the unperturbed field as it would appear in a shallow-water waveguide without IIWs. Numerical simulations of HSP application under the realistic conditions of the SWARM’95 experiment were carried out for stationary and moving sources. The results demonstrate the high efficiency of holographic reconstruction of the unperturbed sound field. Unlike matched field processing (MFP), HSP does not require prior knowledge of the propagation environment. These research results advance signal processing methods in underwater acoustics by introducing efficient HSP methods for environments with spatiotemporal inhomogeneities. Full article

The digital wave, represented by new technologies such as big data, IoT, and artificial intelligence, is sweeping the globe, driving all industries toward digitalization and intelligent transformation. Digital twins are becoming an indispensable opportunity for new infrastructure initiatives. As geotechnical engineering constitutes a critical component of new infrastructure, its corresponding digital transformation is essential to align with these initiatives. However, due to the difficulty of modeling, the demand for computing resources, interdisciplinary integration, and other issues, current digital twin applications in geotechnical engineering remain in their nascent stage. This paper delineates the developmental status of geotechnical digital twin technology in China, and it focuses on the advantages and disadvantages of digital twins in five application fields, identifying key challenges, including intelligent sensing and interconnectivity of multi-source heterogeneous physical entities, integrated sharing of 3D geological models and structural models, unified platforms for lifecycle information management, standardization of digital twin data protocols, and theoretical frameworks for digital twin modeling. Furthermore, this study systematically expounds future research priorities across four dimensions: intelligent sensing and interoperability technologies for geotechnical engineering; knowledge graph development and model-based systems engineering; integrated digital twin entity technologies combining 3D geological bodies with engineering structures; and precision enhancement, temporal extension, and spatial expansion of geotechnical digital twins. This paper systematically reviews the application status of digital twin technology in geotechnical engineering for the first time, reveals the common technical challenges in cross-domain implementation, and proposes a theoretical framework for digital twin accuracy improvement and spatiotemporal expansion for geotechnical engineering characteristics, which fills the knowledge gap in the adaptability of existing research in professional fields. These insights aim to provide references for advancing digitalization, intelligent transformation, and sustainable development of geotechnical engineering. Full article

Accurate modeling of ionospheric variability is critical for space weather forecasting and GNSS applications. While machine learning approaches have shown promise, progress is hindered by the absence of standardized benchmarking practices and narrow test periods. In this paper, we take the first step toward fostering rigorous and reproducible evaluation of AI models for ionospheric forecasting by introducing IonoBench: a benchmarking framework that employs a stratified data split, balancing solar intensity across subsets while preserving 16 high-impact geomagnetic storms (Dst ≤ $-100$ nT) for targeted stress testing. Using this framework, we benchmark a field-specific model (DCNN) against state-of-the-art spatiotemporal architectures (SwinLSTM and SimVPv2) using the climatological IRI 2020 model as a baseline reference. DCNN, though effective under quiet conditions, exhibits significant degradation during elevated solar and storm activity. SimVPv2 consistently provides the best performance, with superior evaluation metrics and stable error distributions. Compared to the C1PG baseline (the CODE 1-day forecast product), SimVPv2 achieves a notable RMSE reduction up to $32.1\%$ across various subsets under diverse solar conditions. The reported results highlight the value of cross-domain architectural transfer and comprehensive evaluation frameworks in ionospheric modeling. With IonoBench, we aim to provide an open-source foundation for reproducible comparisons, supporting more meticulous model evaluation and helping to bridge the gap between ionospheric research and modern spatiotemporal deep learning. Full article

Background: The B3-domain transcription factor ABI3 (ABSCISIC ACID INSENSITIVE 3) is a critical regulator of seed maturation, stress adaptation, and hormonal signaling in plants. However, its evolutionary dynamics and functional roles in cotton (Gossypium spp.) remain poorly characterized. Methods: We conducted a comprehensive genome-wide investigation of the ABI3 gene family across 26 plant species, with a focus on 8 Gossypium species. Analyses included phylogenetics, chromosomal localization, synteny assessment, gene duplication patterns, protein domain characterization, promoter cis-regulatory element identification, and tissue-specific/spatiotemporal expression profiling under different organizations of Gossypium hirsutum. Results: Phylogenetic and chromosomal analyses revealed conserved ABI3 evolutionary patterns between monocots and dicots, alongside lineage-specific expansion events within Gossypium spp. Syntenic relationships and duplication analysis in G. hirsutum (upland cotton) indicated retention of ancestral synteny blocks and functional diversification driven predominantly by segmental duplication. Structural characterization confirmed the presence of conserved B3 domains in all G. hirsutum ABI3 homologs. Promoter analysis identified key stress-responsive cis-elements, including ABA-responsive (ABRE), drought-responsive (MYB), and low-temperature-responsive (LTRE) motifs, suggesting a role in abiotic stress regulation. Expression profiling demonstrated significant tissue-specific transcriptional activity across roots, stems, leaves, and fiber developmental stages. Conclusions: This study addresses a significant knowledge gap by elucidating the evolution, structure, and stress-responsive expression profiles of the ABI3 gene family in cotton. It establishes a foundational framework for future functional validation and targeted genetic engineering strategies aimed at developing stress-resilient cotton cultivars with enhanced fiber quality. Full article

The decoding of motor imagery (MI) electroencephalogram (EEG) signals is crucial for motor control and rehabilitation. However, as feature extraction is the core component of the decoding process, traditional methods, often limited to single-feature domains or shallow time-frequency fusion, struggle to comprehensively capture the spatio-temporal-frequency characteristics of the signals, thereby limiting decoding accuracy. To address these limitations, this paper proposes a dual-branch neural network architecture with multi-domain feature fusion, the dual-branch spatio-temporal-frequency fusion convolutional network with Transformer (DB-STFFCNet). The DB-STFFCNet model consists of three modules: the spatiotemporal feature extraction module (STFE), the frequency feature extraction module (FFE), and the feature fusion and classification module. The STFE module employs a lightweight multi-dimensional attention network combined with a temporal Transformer encoder, capable of simultaneously modeling local fine-grained features and global spatiotemporal dependencies, effectively integrating spatiotemporal information and enhancing feature representation. The FFE module constructs a hierarchical feature refinement structure by leveraging the fast Fourier transform (FFT) and multi-scale frequency convolutions, while a frequency-domain Transformer encoder captures the global dependencies among frequency domain features, thus improving the model’s ability to represent key frequency information. Finally, the fusion module effectively consolidates the spatiotemporal and frequency features to achieve accurate classification. To evaluate the feasibility of the proposed method, experiments were conducted on the BCI Competition IV-2a and IV-2b public datasets, achieving accuracies of 83.13% and 89.54%, respectively, outperforming existing methods. This study provides a novel solution for joint time-frequency representation learning in EEG analysis. Full article

Land surface temperature (LST) is an important parameter in the surface system with drastic variation in spatial and temporal domains. The protection of the ecological environment in mountainous areas and the monitoring of natural disasters require the support of surface temperature data with high spatiotemporal resolution. LST downscaling is an effective method to improve the spatial and temporal resolution of remote sensing LST data. However, at present, the LST downscaling research mainly focuses on plain and urban areas, while the area of rugged terrain is less studied, and the accuracy of LST in rugged terrain is lower than in plain and urban areas. In the few studies that discuss auxiliary parameters for LST downscaling in rugged terrain, only elevation is considered as an auxiliary parameter. In this study, we selected parameters that have evident correlation with LST as potential auxiliary factors and discussed the benefits of adding shortwave radiation to the LST downscaling process. We chose four scene images in the Beijing suburbs and the Loess Plateau and conducted the LST downscaling experiments. In this study, we used the Taylor expansion method for LST downscaling. We selected Landsat 8 and MODSI LST data as fine and coarse study datasets, respectively. The results show that the accuracy of LST downscaling in rugged terrain areas can be improved by using elevation and shortwave radiation as auxiliary factors, and the benefits of shortwave radiation is independent of that of elevation. Therefore, it is suggested that these two parameters be simultaneously used to achieve the best LST downscaling result over rugged terrain areas. Full article

Sign language is a complex and dynamic visual language that requires the coordinated movement of various body parts, such as the hands, arms, and limbs—making it an ideal application domain for sensor networks to capture and interpret human gestures accurately. To address the intricate task of precise and expedient SLR from raw videos, this study introduces a novel deep learning approach by devising a multimodal framework for SLR. Specifically, feature extraction models are built based on two modalities: skeleton and RGB images. In this paper, we firstly propose a Multi-Stream Spatio-Temporal Graph Convolutional Network (MSGCN) that relies on three modules: a decoupling graph convolutional network, a self-emphasizing temporal convolutional network, and a spatio-temporal joint attention module. These modules are combined to capture the spatio-temporal information in multi-stream skeleton features. Secondly, we propose a 3D ResNet model based on deformable convolution (D-ResNet) to model complex spatial and temporal sequences in the original raw images. Finally, a gating mechanism-based Multi-Stream Fusion Module (MFM) is employed to merge the results of the two modalities. Extensive experiments are conducted on the public datasets AUTSL and WLASL, achieving competitive results compared to state-of-the-art systems. Full article

Cities house more than half of the world’s population and are responsible for more than 70% of the world anthropogenic CO₂ emissions. Therefore, quantifications of emissions from major cities, which are only less than a hundred intense emitting spots across the globe, should allow us to monitor changes in global fossil fuel CO₂ emissions in an independent, objective way. The study adopted a high-spatiotemporal-resolution regional assimilation method using satellite observation data and atmospheric transport model WRF-Chem/DART to assimilate CO₂ concentration and fluxes in Lisbon, a major city in Portugal. It is based on Zhang’s assimilation method, combined OCO-2 XCO₂ retrieval data, ODIAC 1 km anthropogenic CO₂ emissions and Ensemble Adjustment Kalman Filter Assimilation. By employing three two-way nested domains in WRF-Chem, we refined the spatial resolution of the CO₂ concentrations and fluxes over Lisbon to 3 km. The spatiotemporal distribution characteristics and main driving factors of CO₂ concentrations and fluxes in Lisbon and its surrounding cities and countries were analyzed in March 2020, during the period affected by COVID-19 pandemic. The results showed that the monthly average CO₂ and XCO₂ concentrations in Lisbon were 420.66 ppm and 413.88 ppm, respectively, and the total flux was 0.50 Tg CO₂. From a wider perspective, the findings provide a scientific foundation for urban carbon emission management and policy-making. Full article

The SCARECROW (SCR) transcription factor governs cell-type patterning in plant roots and Kranz anatomy of leaves, serving as a master regulator of root and shoot morphogenesis. Foxtail millet (Setaria italica), characterized by a compact genome, self-pollination, and a short growth cycle, has emerged as a C₄ model plant. Here, we revealed two SCR paralogs in foxtail millet—SiSCR1 and SiSCR2—which exhibit high sequence conservation with ZmSCR1/1h (Zea mays), OsSCR1/2 (Oryza sativa), and AtSCR (Arabidopsis thaliana), particularly within the C-terminal GRAS domain. Both SiSCR genes exhibited nearly identical secondary structures and physicochemical profiles, with promoter analyses revealing five conserved cis-regulatory elements. Robust phylogenetic reconstruction resolved SCR orthologs into monocot- and dicot-specific clades, with SiSCR genes forming a sister branch to SvSCR from its progenitor species Setaria viridis. Spatiotemporal expression profiling demonstrated ubiquitous SiSCR gene transcription across developmental stages, with notable enrichment in germinated seeds, plants at the one-tip-two-leaf stage, leaf 1 (two days after heading), and roots during the seedling stage. Co-expression network analysis revealed that there is a correlation between SiSCR genes and other functional genes. Abscisic acid (ABA) treatment led to a significant downregulation of the expression level of SiSCR genes in Yugu1 roots, and the expression of the SiSCR genes in the roots of An04 is more sensitive to PEG6000 treatment. Drought treatment significantly upregulated SiSCR2 expression in leaves, demonstrating its pivotal role in plant adaptation to abiotic stress. Analysis of heterologous expression under the control of the 35S promoter revealed that SiSCR genes were expressed in root cortical/endodermal initial cells, endodermal cells, cortical cells, and leaf stomatal complexes. Strikingly, ectopic expression of SiSCR genes in Arabidopsis led to hypersensitivity to ABA, and ABA treatment resulted in a significant reduction in the length of the meristematic zone. These data delineate the functional divergence and evolutionary conservation of SiSCR genes, providing critical insights into their roles in root/shoot development and abiotic stress signaling in foxtail millet. Full article

Call Detail Records (CDRs) from mobile networks offer valuable insights into both network performance and user behavior. With the growing importance of data analytics, analyzing CDRs has become critical for optimizing network resources by forecasting demand across spatial and temporal dimensions. In this study, we examine publicly available CDR data from Telecom Italia to explore the spatiotemporal dynamics of mobile network activity in Milan. This analysis reveals key patterns in traffic distribution highlighting both high- and low-demand regions as well as notable variations in usage over time. To anticipate future network usage, we employ both Automated Machine Learning (AutoML) and the transformer-based TimeGPT model, comparing their performance against traditional forecasting methods such as Long Short-Term Memory (LSTM), ARIMA and SARIMA. Model accuracy is assessed using standard evaluation metrics, including root mean square error (RMSE), mean absolute error (MAE) and the coefficient of determination (R²). Results show that AutoML delivers the most accurate forecasts, with significantly lower RMSE (2.4990 vs. 14.8226) and MAE (1.0284 vs. 7.7789) compared to TimeGPT and a higher R² score (99.96% vs. 98.62%). Our findings underscore the strengths of modern predictive models in capturing complex traffic behaviors and demonstrate their value in resource planning, congestion management and overall network optimization. Importantly, this study is one of the first to Comprehensively assess AutoML and TimeGPT on a high-resolution, real-world CDR dataset from a major European city. By merging machine learning techniques with advanced temporal modeling, this study provides a strong framework for scalable and intelligent mobile traffic prediction. It thus highlights the functionality of AutoML in simplifying model development and the possibility of TimeGPT to extend transformer-based prediction to the telecommunications domain. Full article

Accurate measurement and understanding of the spatiotemporal distribution of soil water content (SWC) are crucial in various environmental and agricultural sectors. The present study implements a novel precision agriculture (PA) approach under sugarbeet field conditions of two moisture-irrigation treatments with two subfactors, clay loam (CL) and clay (C) soils, for geostatistics modeling (seven models’ evaluation) of time domain reflectometry (TDR) multisensor network measurements. Two different sensor calibration methods (M1 and M2) were trialed, as well as the results of laboratory soil analysis for geospatial two-dimensional (2D) imaging for accurate GIS maps of root zone moisture profiles, granular, and hydraulic profiles in multiple soil layers (0–75 cm depth). Modeling results revealed that the best-fitted semi-variogram models for the granular attributes were circular, exponential, pentaspherical, and spherical, while for hydraulic attributes were found to be exponential, circular, and spherical models. The results showed that kriging modeling, spatial and temporal imaging for accurate profile SWC ${\theta v}_{TDR}$ (m³·m⁻³) maps, the exponential model was identified as the most appropriate with TDR sensors using calibration M1, and the exponential and spherical models were the most appropriate when using calibration M2. The resulting PA profile maps depict spatiotemporal soil water variability with very high resolutions at the centimeter scale. The best validation measures of PA profile SWC ${\theta v}_{TDR}$ maps obtained were Nash-Sutcliffe model efficiency NSE = 0.6657, MPE = 0.00013, RMSE = 0.0385, MSPE = −0.0022, RMSSE = 1.6907, ASE = 0.0418, and MSDR = 0.9695. The sensor results using calibration M2 were found to be more valuable in environmental irrigation decision-making for a more accurate and timely decision on actual crop irrigation, with the lowest statistical and geostatistical errors. The best validation measures for accurate profile SWC ${\theta v}_{TDR}$ (m³·m⁻³) maps obtained for clay loam over clay soils. Visualizing the SWC results and their temporal changes via root zone profile geostatistical maps assists farmers and scientists in making informed and timely environmental irrigation decisions, optimizing energy, saving water, increasing water-use efficiency and crop production, reducing costs, and managing water–soil resources sustainably. Full article