Search Results (3,115)

Automated cherry harvesting presents a significant opportunity to overcome the high costs and inefficiencies of manual labor in modern agriculture. However, robotic harvesting in dense canopies requires sophisticated path planning to navigate cluttered branches and selectively pick target fruits. This paper introduces a complete robotic harvesting solution centered on a novel path-planning algorithm: the Multi-Strategy Integrated RRT for Continuous Harvesting Path (MSI-RRTCHP) algorithm. Our system first employs a machine vision system to identify and locate mature cherries, distinguishing them from unripe fruits, leaves, and branches, which are treated as obstacles. Based on this visual data, the MSI-RRTCHP algorithm generates an optimal picking trajectory. Its core innovation is a synergistic strategy that enables intelligent navigation by combining probability-guided exploration, goal-oriented sampling, and adaptive step size adjustments based on the obstacle’s density. To optimize the picking sequence for multiple targets, we introduce an enhanced traversal algorithm ($\sigma$-TSP) that accounts for obstacle interference. Field experiments demonstrate that our integrated system achieved a 90% picking success rate. Compared with established algorithms, the MSI-RRTCHP algorithm reduced the path length by up to 25.47% and the planning time by up to 39.06%. This work provides a practical and efficient framework for robotic cherry harvesting, showcasing a significant step toward intelligent agricultural automation. Full article

Public transport companies are aware that the success of their operations largely depends on the proper sizing and optimization of their processes. Among the key activities are the maintenance and repair of the vehicle fleet. This paper presents the application of mathematical optimization methods from the field of operations research to improve the efficiency of service workshops for bus maintenance and repair. Based on an analysis of collected data using queueing theory, the authors assessed the current system performance and found that the queueing system still has spare capacity and could be downsized, which aligns with the company’s management goals. Specifically, the company plans to reduce the number of bus repair service stations (servers in a queueing system). The main question is whether the system will continue to function effectively after this reduction. Three specific downsizing solutions were proposed and evaluated using queueing theory methods: extending the daily operating hours of the workshops, reducing the number of arriving buses, and increasing the productivity of a service station (server). The results show that, under high system load, only those solutions that increase the productivity of individual service stations (servers) in the queueing system provide optimal outcomes. Other solutions merely result in longer queues and associated losses due to buses waiting for service, preventing them from performing their intended function and causing financial loss to the company. Full article

This study examines the progress, challenges, and successes in implementing Sustainable Development Goal 12 (SDG12), focusing on responsible consumption and production, using Qatar as a case study. The State has integrated Sustainable Consumption and Production (SCP) into national policies, established coordination mechanisms, and implemented action plans aligned with SDG12 targets. Achievements include renewable energy adoption, waste management reforms, and sustainable public procurement, though challenges persist in rationalizing fossil fuel subsidies, addressing data gaps, and enhancing corporate sustainability reporting. Efforts to reduce food loss and waste through redistribution programs highlight the country’s resilience, despite logistical obstacles. The nation has also advanced hazardous waste management, environmental awareness, and sustainable tourism policies, though gaps in data systems and policy coherence remain. Qatar’s approach provides a valuable local-to-global example of balancing resource-dependent economies with sustainability goals. Its strategies and lessons offer potential adaptability for other nations, especially those facing similar challenges in achieving SDG12. By strengthening data systems, enhancing policy integration, and fostering regional and international cooperation, Qatar’s efforts underscore the importance of aligning economic growth with environmental stewardship, serving as a blueprint for global sustainability initiatives. Full article

This research examines the compounding risks of global environmental change, including climate change, environmental law, biodiversity loss, and pollution, which threaten the stability of economic systems worldwide. While digital technology and global governance regulation are increasingly being proposed as solutions, their synergistic potential in advancing economic sustainability has been less explored. How can these technologies mitigate environmental risks while promoting sustainable and equitable development, aligning with the Sustainable Development Goals? We analyze policy global environmental data from the World Bank and the United Nations, as well as literature reviews on digital interventions, artificial intelligence, and smart databases. Global environmental change presents economic stability and rule of law threats, and innovative governance responses are needed. This study evaluates the potential for digital technology to be leveraged to enhance climate resilience and regulatory systems and address key implementation, equity, and policy coherence deficits. Policy recommendations for aligning economic development trajectories with planetary boundaries emphasize that proactive digital governance integration is indispensable for decoupling growth from environmental degradation. However, fragmented governance and unequal access to technologies undermine scalability. Successful experiences demonstrate that integrated policies, combining incentives, data transparency, and multilateral coordination, deliver maximum economic and environmental co-benefits, matching digital innovation with good governance. We provide policymakers with an action plan to leverage technology as a multiplier of sustainability, prioritizing inclusive governance structures to address implementation gaps and inform legislation. Full article

The rapid growth of electric vehicles (EVs) and new energy systems has put lithium-ion batteries at the center of the clean energy change. Nevertheless, to achieve the best battery performance, safety, and sustainability in many changing circumstances, major innovations are needed in Battery Management Systems (BMS). This review paper explores how artificial intelligence (AI) and digital twin (DT) technologies can be integrated to enable the intelligent BMS of the future. It investigates how powerful data approaches such as deep learning, ensembles, and models that rely on physics improve the accuracy of predicting state of charge (SOC), state of health (SOH), and remaining useful life (RUL). Additionally, the paper reviews progress in AI features for cooling, fast charging, fault detection, and intelligible AI models. Working together, cloud and edge computing technology with DTs means better diagnostics, predictive support, and improved management for any use of EVs, stored energy, and recycling. The review underlines recent successes in AI-driven material research, renewable battery production, and plans for used systems, along with new problems in cybersecurity, combining data and mass rollout. We spotlight important research themes, existing problems, and future drawbacks following careful analysis of different up-to-date approaches and systems. Uniting physical modeling with AI-based analytics on cloud-edge-DT platforms supports the development of tough, intelligent, and ecologically responsible batteries that line up with future mobility and wider use of renewable energy. Full article

Outdoor air pollution poses a major global health risk, yet monitoring remains insufficient, especially in regions with limited infrastructure. Solar-powered monitors could allow for increased coverage in regions lacking robust connectivity. However, reliable sample collection can be challenging with these systems due to extreme temperatures and insufficient solar energy. Proper planning can help overcome these challenges. Air Sampler Solar and Thermal Optimization for Reliable Monitoring (Air-STORM) is an open-source tool that uses meteorological and solar radiation data to identify temperature and solar charging risks for air pollution monitors based on the target deployment area. The model was validated experimentally, and its utility was demonstrated through illustrative case studies. Air-STORM simulations can be customized for specific locations, seasons, and monitor configurations. This capability enables the early detection of potential sampling risks and provides opportunities to optimize monitor design, proactively mitigate temperature and power failures, and increase the likelihood of successful sample collection. Ultimately, improving sampling success will help increase the availability of high-quality outdoor air pollution data necessary to reduce global air pollution exposure. Full article

Autonomous navigation in dynamic, multi-vessel maritime environments presents a formidable challenge, demanding strict adherence to the International Regulations for Preventing Collisions at Sea (COLREGs). Conventional approaches often struggle with the dual imperatives of global path optimality and local reactive safety, and they frequently rely on simplistic state representations that fail to capture complex spatio-temporal interactions among vessels. We introduce a novel hybrid reinforcement learning framework, D* Lite + Transformer-Enhanced Soft Actor-Critic (TE-SAC), to overcome these limitations. This hierarchical framework synergizes the strengths of global and local planning. An enhanced D* Lite algorithm generates efficient, long-horizon reference paths at the global level. At the local level, the TE-SAC agent performs COLREGs-compliant tactical maneuvering. The core innovation resides in TE-SAC’s synergistic state encoder, which uniquely combines a Graph Neural Network (GNN) to model the instantaneous spatial topology of vessel encounters with a Transformer encoder to capture long-range temporal dependencies and infer vessel intent. Comprehensive simulations demonstrate the framework’s superior performance, validating the strengths of both planning layers. At the local level, our TE-SAC agent exhibits remarkable tactical intelligence, achieving an exceptional 98.7% COLREGs compliance rate and reducing energy consumption by 15–20% through smoother, more decisive maneuvers. This high-quality local control, guided by the efficient global paths from the enhanced D* Lite algorithm, culminates in a 10–32 percentage point improvement in overall task success rates compared to state-of-the-art baselines. This work presents a robust, verifiable, and efficient framework. By demonstrating superior performance and compliance with rules in high-fidelity simulations, it lays a crucial foundation for advancing the practical application of intelligent autonomous navigation systems. Full article

Biosphere Reserves (BRs), designated by UNESCO, are uniquely positioned to serve as model territories for sustainable development, as they aim to harmonize biodiversity conservation with the socio-economic vitality and cultural identity of local communities. This work examines the commitment of the Spanish Network of Biosphere Reserves to the United Nations 2030 Agenda and the Sustainable Development Goals (SDGs). Using a survey-based research design, this study assesses the extent to which the reserves have integrated the SDGs into their strategic frameworks and operational practices. It also identifies and analyses successful initiatives and best practices implemented across Spain that exemplify this integration. The findings highlight the need for enhanced awareness and understanding of the 2030 Agenda among stakeholders, alongside stronger mechanisms for participation, cooperation, and governance. The conclusion emphasises the importance of equipping all reserves with strategic planning tools and robust systems for monitoring, evaluation, and accountability. Moreover, the analysis of exemplary cases reveals the transformative potential of sustainability-oriented projects—not only in advancing environmental goals but also in revitalizing local economies and reinforcing cultural heritage. These insights contribute to a broader understanding of how BRs can act as dynamic laboratories for sustainable development and heritage preservation. Full article

Effective water infrastructure planning and management is key to sustainable water supply globally. This research assesses water infrastructure planning and management in Gauteng, South Africa, amid growing challenges from rapid urbanisation, high water demand, climate change, and resource scarcity. These challenges threaten the achievement of Sustainable Development Goals 6 and 11; hence, an integrated approach is required for water sustainability. The study responds to a gap in the literature, which often treats planning and management separately, by adopting an integrated, multi-institutional approach across the water value chain. A mixed-methods triangulation strategy was employed for data collection whereby surveys provided quantitative data, while two sets of structured interviews were conducted: the first round to determine causal relationships among the critical success factors and the second round to validate the proposed framework. The findings reveal a misalignment between infrastructure planning and implementation, contributing to infrastructure backlogs and a short- to medium-term focus. Infrastructure management is further constrained by inadequate system redundancy, leading to ineffective maintenance. External factors such as delayed adoption of 4IR technologies, lack of climate resilient strategies, and fragmented institutional coordination exacerbate these issues. Using Decision-Making Trial and Evaluation Laboratory (DEMATEL) analysis, the study identified Strategic Alignment and a Value-Driven Approach as the most influential critical success factors in water asset management. The research concludes by proposing an integrated water infrastructure and planning framework that supports sustainable water supply. Full article

Refractory full-thickness macular holes (rFTMHs) present a significant challenge in vitreoretinal surgery, with reported incidence rates of 4.2–11.2% following standard vitrectomy with internal limiting membrane (ILM) peeling and gas tamponade. Risk factors include large hole size (>400 µm), chronicity (>6 months), high myopia, incomplete ILM peeling, and post-operative noncompliance. Multiple surgical techniques exist, though comparative evidence remains limited. Current options include the inverted ILM flap technique, autologous ILM transplantation (free flap or plug), lens capsular flap transplantation (autologous or allogenic), preserved human amniotic membrane transplantation, macular subretinal fluid injection, macular fibrin plug with autologous platelet concentrates, and autologous retinal transplantation. Closure rates range from 57.1% to 100%, with selection depending on hole size, residual ILM, patient posturing ability, etc. For non-posturing patients, fibrin plugs are preferred. Residual ILM cases may benefit from extended peeling or flap techniques, while large holes often require scaffold-based (lens capsule, amniotic membrane) or fibrin plug approaches. Pseudophakic patients should avoid posterior capsular flaps due to lower success rates. Despite promising outcomes, the lack of randomized trials necessitates further research to establish evidence-based guidelines. Personalized surgical planning, considering anatomical and functional goals, remains crucial in optimizing visual recovery in rFTMHs. Full article

Urban areas are facing increasing traffic congestion, pollution, and infrastructure strain. Traditional urban transportation systems are often fragmented. They require users to plan, pay, and travel across multiple disconnected services. Mobility-as-a-Service (MaaS) integrates these services into a single digital platform, simplifying access and improving the user experience. This review critically examines the role of MaaS in fostering sustainable mobility ecosystems. MaaS aims to enhance user-friendliness, service variety, and sustainability by adopting a customer-centric approach to transportation. The findings reveal that successful MaaS systems consistently align with multimodal transport infrastructure, equitable access policies, and strong public-private partnerships. MaaS enhances the management of routes and traffic, effectively mitigating delays and congestion while concurrently reducing energy consumption and fuel usage. In this study, the authors examine MaaS as a new mobility paradigm for a sustainable transportation system in smart cities, observing the challenges and opportunities associated with its implementation. To assess the environmental impact, a sustainability index is calculated based on the use of different modes of transportation. Significant findings indicate that MaaS systems are proliferating in both quantity and complexity, increasingly integrating capabilities such as real-time multimodal planning, dynamic pricing, and personalized user profiles. Full article

Unmanned Aerial Vehicles (UAVs) face significant challenges in global path planning within complex terrains, as traditional algorithms (e.g., A*, PSO, APF) struggle to balance computational efficiency, path optimality, and safety. This study proposes a Voronoi–A* fusion algorithm, combining Voronoi-vertex-based rapid trajectory generation with A* supplementary expansion for enhanced performance. First, an adaptive DEM layering strategy divides the terrain into horizontal planes based on obstacle density, reducing computational complexity while preserving 3D flexibility. The Voronoi vertices within each layer serve as a sparse waypoint network, with greedy heuristic prioritizing vertices that ensure safety margins, directional coherence, and goal proximity. For unresolved segments, A* performs localized searches to ensure complete connectivity. Finally, a line-segment interpolation search further optimizes the path to minimize both length and turning maneuvers. Simulations in mountainous environments demonstrate superior performance over traditional methods in terms of path planning success rates, path optimality, and computation. Our framework excels in real-time scenarios, such as disaster rescue and logistics, although it assumes static environments and trades slight path elongation for robustness. Future research should integrate dynamic obstacle avoidance and weather impact analysis to enhance adaptability in real-world conditions. Full article

The age of entrepreneurship calls for the evolving of learning and development (L&D) models to meet the dynamic demands of innovation, sustainability, and technology innovation. This study examines the trends and issues of L&D models for entrepreneurs, more so focusing on how these models influence business success in a rapidly changing global landscape. The research employs bibliometric analysis, VOSviewer cluster analysis, and co-citation analysis to explore the literature from 1994 to 2024. Data collected from the Web of Science Core Collection database reflect significant trends in entrepreneurial L&D, with particular emphasis on the use of digital tools, sustainability processes, and governance systems. Findings emphasize the imperative role of L&D in fostering entrepreneurship, more so in areas such as digital transformation and the adoption of new technologies. The study also identifies central regions propelling this field, such as UK and USA. Future studies will be centered on the role of digital technologies, innovation, and green business models within entrepreneurial L&D frameworks. This study provides useful insight into the future of L&D within the entrepreneurial domain, guiding academia and companies alike in the planning of effective learning strategies to foster innovation and sustainable business growth. Full article

Agentic AI systems, possessing capabilities for autonomous planning and action, show great potential across diverse domains. However, their practical deployment is hindered by challenges in aligning their behavior with varied human values, complex safety requirements, and specific compliance needs. Existing alignment methodologies often falter when faced with the complex task of providing personalized context without inducing confabulation or operational inefficiencies. This paper introduces a novel solution: a ‘superego’ agent, designed as a personalized oversight mechanism for agentic AI. This system dynamically steers AI planning by referencing user-selected ‘Creed Constitutions’—encapsulating diverse rule sets—with adjustable adherence levels to fit non-negotiable values. A real-time compliance enforcer validates plans against these constitutions and a universal ethical floor before execution. We present a functional system, including a demonstration interface with a prototypical constitution-sharing portal, and successful integration with third-party models via the Model Context Protocol (MCP). Comprehensive benchmark evaluations (HarmBench, AgentHarm) demonstrate that our Superego agent dramatically reduces harmful outputs—achieving up to a 98.3% harm score reduction and near-perfect refusal rates (e.g., 100% with Claude Sonnet 4 on AgentHarm’s harmful set) for leading LLMs like Gemini 2.5 Flash and GPT-4o. This approach substantially simplifies personalized AI alignment, rendering agentic systems more reliably attuned to individual and cultural contexts, while also enabling substantial safety improvements. Full article

This paper presents a behavior tree-based control architecture for end-to-end mission planning of an autonomous underwater vehicle (AUV) collaborating with a moving mothership in dynamic marine environments. The framework is organized into three phases—prepare and launch, execute the mission, and retrieval and docking—each encapsulated in an independent sub-tree to enable modular error handling and seamless phase transitions. The AUV and mothership operate entirely underwater, with real-time docking to a moving platform. An extended Kalman filter (EKF) fuses data from inertial, pressure, and acoustic sensors for accurate navigation and state estimation. At the same time, obstacle avoidance leverages forward-looking sonar (FLS)-based potential field methods to react to unpredictable underwater hazards. The system is implemented on the robot operating system (ROS) and validated in the Stonefish physics engine simulator. Simulation results demonstrate reliable mission execution, successful dynamic docking under communication delays and sensor noise, and robust retrieval from injected faults, confirming the validity and stability of the proposed architecture. Full article