Search Results (4,020)

Future lunar south pole missions face dual challenges of highly variable illumination and rugged terrain that directly constrain rover mobility and energy sustainability. To address these issues, this study proposes a dynamic illumination-constrained spatio-temporal A* (DIC3D-A*) path-planning algorithm that jointly optimizes terrain safety and illumination continuity in polar environments. Using high-resolution digital elevation model data from the Lunar Reconnaissance Orbiter Laser Altimeter, a 1300 m × 1300 m terrain model with 5 m/pixel spatial resolution was constructed. Hourly solar visibility for November–December 2026 was computed based on planetary ephemerides to generate a dynamic illumination dataset. The algorithm integrates slope, distance, and illumination into a unified heuristic cost function, performing a time-dependent search in a 3D spatiotemporal state space. Simulation results show that, compared with conventional A* algorithms considering only terrain or distance, the DIC3D-A* algorithm improves CSDV by 106.1% and 115.1%, respectively. Moreover, relative to illumination-based A* algorithms, it reduces the average terrain roughness index by 17.2%, while achieving shorter path length and faster computation than both the Rapidly-exploring Random Tree Star and Deep Q-Network baselines. These results demonstrate that dynamic illumination is the dominant environmental factor affecting lunar polar rover traversal and that DIC3D-A* provides an efficient, energy-aware framework for illumination-adaptive navigation in upcoming missions such as Chang’E-7. Full article

Addressing the difficulty of intuitively identifying and effectively correcting induced heave error in multibeam measurements, this paper proposes a two-stage methodology comprising error identification and correction. This scheme includes an error discrimination method based on regression diagnostics and an error correction method based on Partial Least Squares Regression (PLSR). By establishing a mathematical model between bathymetric discrepancies and attitude parameters, statistical diagnosis and effective identification of the error are achieved. To further mitigate the impact of induced heave error on bathymetric data, an elimination model based on PLSR is developed, enabling high-precision prediction and compensation of the induced heave error. Validation using field survey data demonstrates that this method can effectively estimate the installation offset parameters of the attitude sensor. After correction, the root mean square of bathymetric discrepancies between adjacent survey lines is reduced by approximately 78.8%, periodic stripe-shaped distortions along the track direction are essentially eliminated, and the quality of terrain mosaicking is significantly improved. This provides an effective solution for controlling induced heave error under complex topographic conditions. Full article

Accurate precipitation estimation is essential for hydrological modeling and water resource management in arid regions; however, complex terrain and sparse meteorological station networks introduce substantial uncertainties into gridded precipitation datasets. This study evaluates the performance of nine widely used precipitation products in the arid region of Northwest China (ARNC) at both the meteorological station scale and the sub-basin scale, and applies the Bayesian Model Averaging (BMA) approach to merge multi-source precipitation estimates. The results reveal pronounced spatial heterogeneity and significant differences in performance among datasets, with the Integrated Multi-Satellite Retrievals for the Global Precipitation Measurement mission performing best at the station scale and the Famine Early Warning Systems Network Land Data Assimilation System performing best at the sub-basin scale. Compared with individual products, the BMA-merged precipitation demonstrates substantial improvements at both scales, providing higher coefficients of determination and agreement indices, and lower relative mean absolute error and relative root mean square error, indicating enhanced accuracy and robustness. The BMA-merged precipitation product generally exhibits superior and more spatially consistent performance than the individual datasets across the ARNC, thereby providing a more reliable basis for regional hydrological and climate-related applications. The merged dataset shows that the mean annual precipitation in the ARNC during 2000–2024 is approximately 230.4 mm, exhibiting a statistically significant increasing trend of 1.4 mm per year, with the strongest increases occurring in the Tianshan and Qilian Mountains. This study provides a reliable foundation for hydrological modeling and climate-change assessments in data-limited arid environments. Full article

High-resolution TIR missions require sustained and well-characterized radiometric accuracy to support applications such as land surface temperature retrieval, drought monitoring, and surface energy budget analysis. To address this need, we develop an operational and automated ground-based vicarious radiometric calibration framework for TIR sensors and demonstrate its performance using the Wide-swath Thermal Infrared Imager (WTI) onboard Gaofen-5 01A (GF-5A). Three arid Gobi calibration sites were selected by integrating Moderate Resolution Imaging Spectroradiometer (MODIS) cloud products, Shuttle Radar Topography Mission (SRTM)-derived topography, and WTI-based radiometric uniformity metrics to ensure low cloud cover, flat terrain, and high spatial homogeneity. Automated ground stations deployed at Golmud, Dachaidan, and Dunhuang have continuously recorded 1 min contact surface temperature since October 2023. Field-measured emissivity spectra, Integrated Global Radiosonde Archive (IGRA) radiosonde profiles, and MODTRAN (MODerate resolution atmospheric TRANsmission) v5.2 simulations were combined to compute top-of-atmosphere (TOA) radiances, which were subsequently collocated with WTI imagery. After data screening and gain-stratified regression, linear calibration coefficients were derived for each TIR band. Based on 189 scenes from February–July 2024, all four bands exhibit strong linearity (R-squared greater than 0.979). Validation using 45 independent scenes yields a mean brightness–temperature root-mean-square error (RMSE) of 0.67 K. A full radiometric-chain uncertainty budget—including contact temperature, emissivity, atmospheric profiles, and radiative transfer modeling—results in a combined standard uncertainty of 1.41 K. The proposed framework provides a low-maintenance, traceable, and high-frequency solution for the long-term on-orbit radiometric calibration of GF-5A WTI and establishes a reproducible pathway for future TIR missions requiring sustained calibration stability. Full article

Rocker–bogie suspension systems have been extensively employed in planetary exploration rovers due to their ability to traverse highly irregular terrains while maintaining ground contact. Traditionally, their mechanical behavior has been analyzed using quasi-static models, given the low operational speeds typical of space missions. However, similar configurations are now being proposed for terrestrial applications in agriculture, defense, and logistics, where higher traversal speeds and more varied terrain conditions require a deeper understanding of the system’s dynamic response. This study analyzes some aspects of the kinematic and dynamic behavior of a rover with rocker–bogie suspension while traversing an obstacle with a harmonic profile. Both quasi-static and dynamic simulations are conducted, focusing on the time-varying contact forces at the wheels. Key findings include identifying the rate at which load reduction at which the load on one wheel becomes zero and the wheel tends to lift off the ground. These threshold speeds are mapped as a function of height and wavelength of the bump, providing design insights for applications requiring higher traversal speeds on uneven terrain. The analysis may also prove valuable for rovers equipped with visual sensor systems capable of mapping their surroundings and identifying obstacles, to determine whether they can be traversed and, if so, at what maximum speed. An experimental investigation was conducted with a small-scale rover to verify the theoretical results, for which the threshold speed was found to be 0.3 m/s, calculated for h = 16 mm and λ = 80 mm. Full article

Reliable probabilistic wind speed forecasts are essential for integrating renewable energy into power grids and managing operational uncertainty. This study compares Quantile Regression Forests (QRF), Bayesian Additive Regression Trees (BART), and Gaussian Process Regression (GPR) under at-site and regional pooled frameworks using 21 years (2000–2020) of daily wind data from eleven stations in New South Wales and Queensland, Australia. Models are evaluated via strict year-based holdout validation across seven metrics: RMSE, MAE, R², bias, correlation, coverage, and Continuous Ranked Probability Score (CRPS). Regional QRF achieves exceptional point forecast stability with minimal RMSE increase but suffers persistent under-coverage, rendering probabilistic bounds unreliable. BART attains near-nominal coverage at individual sites but experiences catastrophic calibration collapse under regional pooling, driven by fixed noise priors inadequate for spatially heterogeneous data. In contrast, GPR maintains robust probabilistic skill regionally despite larger point forecast RMSE penalties, achieving the lowest overall CRPS and near-nominal coverage through kernel-based variance inflation. Variable importance analysis identifies surface pressure and minimum temperature as dominant predictors (60–80%), with spatial covariates critical for regional differentiation. Operationally, regional QRF is prioritised for point accuracy, regional GPR for calibrated probabilistic forecasts in risk-sensitive applications, and at-site BART when local data suffice. These findings show that Bayesian machine learning methods can effectively navigate the trade-off between local specificity and regional pooling, a challenge common to wind forecasting in diverse terrain globally. The methodology and insights are transferable to other heterogeneous regions, providing guidance for probabilistic wind forecasting and renewable energy grid integration. Full article

Land surface temperature (LST) is fundamental for monitoring surface energy balance and environmental dynamics, with remote sensing providing the primary means of acquisition. However, directional anisotropy (DA) introduces systematic bias in satellite-derived LST products, particularly over complex landscapes. This study examines the impact of angular effects on LST retrievals from three leading East Asian geostationary satellites (FengYun 4A, FengYun 4B, and Himawari 9) across Hunan Province, China, using integrated comparison with in situ measurements and reanalysis data. Results show that all products exhibit a systematic cold bias, with FY4B achieving the highest accuracy. Diurnal retrieval precision increases with higher solar zenith angles (SZA), while no consistent relationship is observed between viewing zenith angle (VZA) and retrieval accuracy. Notably, the retrieval bias of the FY4 series increases significantly when the sun and sensor are aligned in azimuth, particularly when the relative azimuth angle (RAA) is less than or equal to 30°. Parametric modeling reveals that emissivity kernel-induced anisotropy is the principal driver of significant LST deviations in central Hunan, while solar kernel effects result in LST overestimation in mountainous regions and underestimation in plains. Increases in elevation or vegetation density reduce emissivity-induced errors but amplify errors caused by shadowing and sunlit effects. Emissivity anisotropy is thus identified as the primary source of LST DA. These findings deepen the understanding of LST DA in remote sensing and provide essential guidance for refining retrieval algorithms and improving the applicability of LST products in complex terrains. Full article

Forest surveying and inspection face significant challenges due to unstructured environments, variable terrain conditions, and the high costs of manual data collection. Although mobile robotics and artificial intelligence offer promising solutions, reliable autonomous navigation in forest, terrain-aware path planning, and tree parameter estimation remain open challenges. In this paper, we present the results of the AI4FOREST project, which addresses these issues through three main contributions. First, we develop an autonomous mobile robot, integrating SLAM-based navigation, 3D point cloud reconstruction, and a vision-based deep learning architecture to enable tree detection and diameter estimation. This system demonstrates the feasibility of generating a digital twin of forest while operating autonomously. Second, to overcome the limitations of classical navigation approaches in heterogeneous natural terrains, we introduce a machine learning-based surrogate model of wheel–soil interaction, trained on a large synthetic dataset derived from classical terramechanics. Compared to purely geometric planners, the proposed model enables realistic dynamics simulation and improves navigation robustness by accounting for terrain–vehicle interactions. Finally, we investigate the impact of point cloud density on the accuracy of forest parameter estimation, identifying the minimum sampling requirements needed to extract tree diameters and heights. This analysis provides support to balance sensor performance, robot speed, and operational costs. Overall, the AI4FOREST project advances the state of the art in autonomous forest monitoring by jointly addressing SLAM-based mapping, terrain-aware navigation, and tree parameter estimation. Full article

The Weather Research and Forecasting Model (WRF-ARW) version 4.5 was used to simulate the synoptic to mesoscale evolving atmosphere of Tropical Cyclone (TC) Hilary’s (2023) remnant passage over the southwestern United States. The atmospheric dynamic processes conducive to the precursor rain events were extensively studied to determine the effects of mid-level jetogenesis. Concurrently, the dynamics of mesoscale processes related to the interaction of TC Hilary over the complex topography of the western United States were studied with several sensitivity simulations on a nested 2 km × 2 km grid. The differential surface heating between the cloudy California coast and clear/elevated Great Basin plateau had a profound impact on the lower-mid-tropospheric mass field resulting in mid-level jetogenesis. Diagnostic analyses of the ageostrophic flow support the importance of both isallobaric and inertial advective forcing of the mid-level jetogenesis in response to differential surface sensible heating. This ageostrophic mesoscale jet ultimately transported tropical moisture in multiple plumes more than 1000 km poleward beyond the location of the extratropical transition of the storm, resulting in anomalous flooding precipitation within a massive arid western plateau. Full article

Long-term wind speed changes over the Yangtze River waterway have critical implications for inland shipping efficiency, emission dispersion, and renewable energy potential. This study utilizes a high-resolution 5 km gridded reanalysis dataset spanning 1979–2018 to conduct a comprehensive spatiotemporal analysis of surface wind climatology, variability, and trends along China’s primary inland waterway. A pivotal regime shift was identified around 2000, marking a transition from terrestrial stilling to a recovery phase characterized by wind speed intensification. Multiple change-point detection algorithms consistently identify 2000 as a pivotal turning point, marking a transition from the late 20th century “terrestrial stilling” to a recovery phase characterized by wind speed intensification. Post-2000 trends reveal pronounced spatial heterogeneity: the upstream section exhibits sustained strengthening (+0.02 m/s per decade, p = 0.03), the midstream shows weak or non-significant trends with localized afternoon stilling in complex terrain (−0.08 m/s per decade), while the downstream coastal zone demonstrates robust intensification exceeding +0.10 m/s per decade during spring–autumn daytime hours. Three distinct wind regimes emerge along the 3000 km corridor: a high-energy maritime-influenced downstream sector (annual means > 3.9 m/s, diurnal peaks > 6.0 m/s) dominated by sea breeze circulation, a transitional midstream zone (2.3–2.7 m/s) exhibiting bimodal spatial structure and unique summer-afternoon thermal enhancement, and a topographically suppressed upstream region (<2.0 m/s) punctuated by pronounced channeling effects through the Three Gorges constriction. Critically, the observed recovery contradicts widespread basin greening (97.9% of points showing significant positive NDVI trends), which theoretically should enhance surface roughness and suppress wind speeds. Correlation analysis reveals that wind variability is systematically controlled by large-scale atmospheric circulation patterns, including the Northern Hemisphere Polar Vortex (r ≈ 0.35), Western Pacific Subtropical High (r ≈ 0.38), and East Asian monsoon systems (r > 0.60), with distinct seasonal phase-locking between baroclinic spring dynamics and monsoon-thermal summer forcing. These findings establish a comprehensive, fine-scale climatological baseline essential for optimizing pollutant dispersion modeling, and evaluating wind-assisted propulsion feasibility to support shipping decarbonization goals along the Yangtze Waterway. Full article

Mountain Excavation and Land Creation Projects (MELCPs) have emerged as a critical strategy for expanding urban development space in mountainous regions facing land scarcity. Dynamic monitoring and risk management of these projects are essential for promoting sustainable urban development. This study develops an integrated monitoring framework for MELCPs by combining ascending and descending Sentinel-1 SAR data, Sentinel-2 optical imagery, SRTM digital elevation models (DEM), and field survey data. The framework incorporates multi-temporal change detection, random forest classification, and time-series InSAR analysis to systematically capture the spatiotemporal evolution and subsidence mechanisms associated with MELCPs. Key findings include: (1) The use of dual-orbit SAR data significantly improves the detection accuracy of excavation areas, achieving an overall accuracy of 87.1% (Kappa = 0.85) and effectively overcoming observation limitations imposed by complex terrain. (2) By optimizing the combination of spectral, texture, topographic, and polarimetric features using a random forest algorithm, the classification accuracy of MELCPs is enhanced to 91.2% (Kappa = 0.889). This enables precise annual identification of MELCP progression from 2017 to 2022, revealing a three-stage evolution pattern: concentrated expansion, peak activity, and restricted slowdown. Specifically, the reclaimed area increased from 2.66 km² (pre-2018) to a peak of 12.61 km² in 2021, accounting for 34.56% of the total area of the study region, before decreasing to 2.69 km² in 2022. (3) InSAR monitoring from 2017 to 2023 indicates that areas with only filling experience minor shallow subsidence (<50 mm), whereas subsequent building loads and underground engineering activities lead to continuous deep soil consolidation, with maximum cumulative subsidence reaching 333.8 mm. This study demonstrates that subsidence in MELCPs follows distinct spatiotemporal patterns and is predictable, offering important theoretical insights and practical tools for engineering safety management and territorial spatial optimization in mountainous cities. Full article

Off-road vehicle control designs often neglect the complex tire–soil interactions inherent to soft terrain. This paper proposes a Variable Impedance Control (VIC) strategy integrated with a high-fidelity terramechanics model. First, a real-time sinkage estimation algorithm is derived using experimentally identified Bekker parameters and the quasi-rigid wheel assumption to capture the nonlinear feedback between soil deformation and vehicle dynamics. Building on this, the VIC strategy adaptively regulates virtual stiffness, damping, and inertia parameters based on real-time suspension states. Comparative simulations on an ISO Class-C soft soil profile demonstrate that this framework effectively balances ride comfort and safety constraints. Specifically, the VIC strategy reduces the root-mean-square of vertical body acceleration by 46.9% compared to the passive baseline, significantly outperforming the Linear Quadratic Regulator (LQR). Furthermore, it achieves a 48.6% reduction in average power relative to LQR while maintaining suspension deflection strictly within the safe range. Moreover, unlike LQR, the VIC strategy improves tire deflection performance, ensuring superior ground adhesion. These results validate the method’s robustness and energy efficiency for off-road applications. Full article

Efficient route planning technology is the core support for ensuring the successful execution of unmanned aerial vehicle (UAV) flight missions. In this paper, the coordination issue of global route planning and local real-time obstacle avoidance in complex mountainous environments is studied. To deal with this issue, a hierarchical route planning framework is designed, including global route planning and AI-based local route re-planning using deep reinforcement learning, exhibiting both flexible versatility and practical coordination and deployment efficiency. Throughout the entire flight, the local route re-planning task triggered by dynamic threats can be executed in real time. Meanwhile, a multi-model DQN (MMDQN) agent with a Monte Carlo traversal iterative learning (MCTIL) strategy is designed for local route re-planning. Compared to existing methods, this agent can be directly used to generate local obstacle avoidance routes in various scenarios at any time during the flight, which simplifies the complicated structure and training process of conventional deep reinforcement learning (DRL) agents in dynamic, complex environments. Using the framework structure and MMDQN agent for local route re-planning ensures the safety and efficiency of the mission, as well as local obstacle avoidance during global flights. These performances are verified through simulations based on actual terrain data. Full article

Vehicle repeated passes over soft terrain alter the soil’s bearing and shear behavior, thereby affecting vehicle mobility and energy consumption. To address this issue, this study conducted cyclic compression and shear tests on beach sand with moisture contents of 5%, 15%, and 25%. A constitutive model incorporating the coupling effects of loading cycles (N) and moisture content (ω) was developed based on the Bekker and Janosi model framework. The model expresses compression parameters as functions of N and ω, and describes shear behavior through the strength evolution function k(N,ω) and deformation modulus function h(N,ω). Results show excellent agreement between the model predictions and experimental data (R² > 0.92). Furthermore, a vehicle–soil coupled dynamics model was established based on the proposed constitutive model, forming a comprehensive analytical framework that integrates soil meso-mechanics with full vehicle–terrain interaction. This work provides valuable theoretical and technical support for predicting vehicle trafficability on coastal soft soils and optimizing vehicle suspension systems. Full article

Air pollution, particularly fine particulate matter (PM_2.5), poses significant public health and environmental risks. This study explores the effectiveness of spatiotemporal graph neural networks (ST-GNNs) in forecasting PM_2.5 concentrations by integrating remote-sensing hyperspectral indices with traditional meteorological and pollutant data. The model was evaluated using data from Switzerland and the Gauteng province in South Africa, with datasets spanning from January 2016 to December 2021. Key performance metrics, including root mean squared error (RMSE), mean absolute error (MAE), probability of detection (POD), critical success index (CSI), and false alarm rate (FAR), were employed to assess model accuracy. For Switzerland, the integration of spectral indices improved RMSE from 1.4660 to 1.4591, MAE from 1.1147 to 1.1053, CSI from 0.8345 to 0.8387, POD from 0.8961 to 0.8972, and reduced FAR from 0.0760 to 0.0719. In Gauteng, RMSE decreased from 6.3486 to 6.2319, MAE from 4.4891 to 4.4066, CSI from 0.9555 to 0.9560, and POD from 0.9699 to 0.9732, while FAR slightly increased from 0.0154 to 0.0181. Error analysis revealed that while the initial one-day ahead forecast without spectral indices had a marginally lower error, the dataset with spectral indices outperformed from the two-day ahead mark onwards. The error for Swiss monitoring stations stabilized over longer prediction lengths, indicating the robustness of the spectral indices for extended forecasts. The study faced limitations, including the exclusion of the Planetary Boundary Layer (PBL) height and K-index, lack of terrain data for South Africa, and significant missing data in remote sensing indices. Despite these challenges, the results demonstrate that ST-GNNs, enhanced with hyperspectral data, provide a more accurate and reliable tool for PM_2.5 forecasting. Future work will focus on expanding the dataset to include additional regions and further refining the model by incorporating additional environmental variables. This approach holds promise for improving air quality management and mitigating health risks associated with air pollution. Full article