Search Results (84)

The acquisition of plant phenotypic traits is essential for selecting superior varieties, improving crop yield, and supporting precision agriculture and agricultural decision-making. Therefore, it plays a significant role in modern agriculture and plant science research. Traditional manual measurements of phenotypic traits are labor-intensive and inefficient. In contrast, combining 3D reconstruction technologies with autonomous vehicles enables more intuitive and efficient trait acquisition. This study proposes a 3D semantic reconstruction system based on an improved ORB-SLAM3 framework, which is mounted on an unmanned vehicle to acquire phenotypic traits in tomato cultivation scenarios. The vehicle is also equipped with the A * algorithm for autonomous navigation. To enhance the semantic representation of the point cloud map, we integrate the BiSeNetV2 network into the ORB-SLAM3 system as a semantic segmentation module. Furthermore, a two-stage filtering strategy is employed to remove outliers and improve the map accuracy, and OctoMap is adopted to store the point cloud data, significantly reducing the memory consumption. A spherical fitting method is applied to estimate the number of tomato fruits. The experimental results demonstrate that BiSeNetV2 achieves a mean intersection over union (mIoU) of 95.37% and a frame rate of 61.98 FPS on the tomato dataset, enabling real-time segmentation. The use of OctoMap reduces the memory consumption by an average of 96.70%. The relative errors when predicting the plant height, canopy width, and volume are 3.86%, 14.34%, and 27.14%, respectively, while the errors concerning the fruit count and fruit volume are 14.36% and 14.25%. Localization experiments on a field dataset show that the proposed system achieves a mean absolute trajectory error (mATE) of 0.16 m and a root mean square error (RMSE) of 0.21 m, indicating high localization accuracy. Therefore, the proposed system can accurately acquire the phenotypic traits of tomato plants, providing data support for precision agriculture and agricultural decision-making. Full article

As consumer behavior increasingly shifts toward hyperlocal, digitally mediated retail journeys, community unmanned stores have emerged as a transformative model that integrates smart technologies with community proximity services. These fully automated stores offer convenient, contactless shopping and hybrid digital–physical interactions, playing an increasingly important role within broader omnichannel digital retail ecosystems. However, there remains a lack of validated instruments to assess customer experience in such autonomous and locally embedded retail formats. This study develops and validates an ECUS-scale (an experience in community unmanned store scale), a multidimensional measurement tool grounded in qualitative research and refined through exploratory and confirmatory factor analysis. The scale identifies nine key dimensions—convenient service, smooth transaction, preferential price, good quality, safe environment, secure payment, comfortable space, comfortable interaction, and friendly image—across 36 items. These dimensions reflect the technological, spatial, and emotional–social aspects of customer experience in unmanned retail settings. The findings demonstrate that the ECUS-scale offers a robust framework for evaluating consumer experience in low-staffed, tech-enabled community stores, with strong relevance to omnichannel digital retail strategies. Theoretically, it advances the literature on smart retail experience by capturing underexplored dimensions such as emotional engagement with technology and perceptions of safety in staff-free environments. Practically, it serves as a diagnostic tool for businesses to enhance experience design and optimize customer engagement across digital and physical touchpoints. Full article

With the rapid development of deep learning, weather recognition has become a research hotspot in the field of computer vision, and the research on field programmable gate array (FPGA) acceleration based on deep learning algorithms has received more and more attention, based on which, we propose a method to implement deep neural networks for weather recognition in a small-scale FPGA. First, we train a deep separable convolutional neural network model for weather recognition to reduce the parameters and speed up the performance of hardware implementation. However, large-scale computation also brings the problem of excessive power consumption, which greatly limits the deployment of high-performance network models on mobile platforms. Therefore, we use a lightweight convolutional neural network approach to reduce the scale of computation, and the main idea of lightweight is to use fewer bits to store the weights. In addition, a hardware implementation of this model is proposed to speed up the operation and save on-chip resource consumption. Finally, the network model is deployed on a Xilinx ZYNQ xc7z020 FPGA to verify the accuracy of the recognition results, and the accelerated solution succeeds in achieving excellent performance with a speed of 108 FPS and 3.256 W of power consumption. The purpose of this design is to be able to accurately recognize the weather and deliver current environmental weather information to UAV (unmanned aerial vehicle) pilots and other staff who need to consider the weather, so that they can accurately grasp the current environmental weather conditions at any time. When the weather conditions change, the information can be obtained in a timely and effective manner to make the correct judgment, to ensure the flight of the UAV, and to avoid the equipment being affected by the weather leading to equipment damage and failure of the flight mission. With the help of this design, the UAV flight mission can be better completed. Full article

The global effort to combat climate change highlights the critical role of storing organic carbon in soil to reduce greenhouse gas emissions. Traditional methods of mapping soil organic carbon (SOC) have been labour-intensive and costly, relying on extensive laboratory analyses. Recent advancements in unmanned aerial vehicles (UAVs) offer a promising alternative for efficiently and affordably mapping SOC at the field level. This study focused on developing a method to accurately predict topsoil SOC at high resolution using spectral data from low-altitude UAV multispectral imagery, complemented by laboratory data from the Nogalte farm in Murcia, Spain, as part of the LIFE AMDRYC4 project. To attain this objective, Python version 3.10 was used to implement several machine learning techniques, including partial least squares (PLS) regression, random forest (RF), and support vector machine (SVM). Among these, the random forest algorithm demonstrated superior performance, achieving an R² value of 0.92, RMSE of 0.22, MAE of 0.19, MSE of 0.05, and EVE of 0.71 in estimating SOC. The results of the RF model were then visualised spatially using GIS and compared with simple spatial interpolations of soil analyses. The findings suggest that a multispectral sensor UAV-based modelling and mapping of SOC can provide valuable insights for farmers, offering a practical means to monitor SOC levels and enhance precision agriculture systems. This innovative approach reduces the time and cost associated with traditional SOC mapping methods and supports sustainable agricultural practices by enabling more precise management of soil resources. Full article

Solar-powered unmanned aerial vehicles are fixed-wing aircraft designed to operate solely on solar power. Their defining feature is an advanced power system that uses solar cells to absorb sunlight during the day and convert it into electrical energy. Excess energy generated during flight can be stored in batteries, ensuring uninterrupted operation day and night. By harnessing the power of the sun, these aircraft offer key benefits such as extended flight endurance, reduced dependence on fossil fuels, and cost efficiency improvements. As a result, they have attracted considerable attention in a variety of military and civil applications, including surveillance, environmental monitoring, agriculture, communications, weather monitoring, and fire detection. This review presents selected aspects of the development and use of solar-powered aircraft. First, the general classification of unmanned aerial vehicles is presented. Then, the design process of solar-powered unmanned aerial vehicles is discussed, including issues such as the structure and materials used in solar-powered aircraft, the integration of solar cells into the wings, the selection of appropriate battery technologies, and the optimization of energy management to ensure their efficient and reliable operation. General information on the above areas is supplemented by the presentation of results discussed in the selected literature sources. Finally, the practical applications of solar-powered aircraft are discussed, with examples including surveillance, environmental monitoring, agriculture, and wildfire detection. The work is summarized via a discussion of the future research directions for the development of solar-powered aircraft. The review is intended to motivate further work focusing on the widespread use of clean, efficient, and environmentally friendly unmanned aerial vehicles for various applications. Full article

The integration of unmanned aerial vehicles (UAVs) into vehicular networks offers numerous advantages in enhancing communication and coverage performance. With the ability to move flexibly in three-dimensional space, UAVs can effectively bridge the communication gap between intelligent connected vehicles (ICVs) and infrastructure. However, the rapid movement of UAVs and ICVs poses significant challenges to the stability and reliability of communication links. Motivated by these challenges, integrated UAV–ICV networks can be viewed as vehicular delay-tolerant networks (VDTNs), where data delivery is accomplished through the “store-carry-forward” transmission mechanism. Since VDTNs exhibit social attributes, this paper first investigates the opportunistic transmission problem in the presence of selfish nodes. Then, by enabling node cooperation, this paper proposes an opportunistic transmission scheme for integrated UAV–ICV networks. To address the issue of node selfishness in practical scenarios, the proposed scheme classifies the degree of cooperation and analyzes the encounter probability between nodes. Based on this, information is initially flooded, and the UAV is selected for data distribution by jointly considering the node centrality, energy consumption, and cache size. Finally, simulation results demonstrate that the proposed scheme can effectively improve the delivery ratio and reduce the average delivery delay compared to state-of-the-art schemes. Full article

Extensive livestock farming plays a crucial role in the economy of agrosilvopastoral systems of the southwestern Iberian Peninsula (known as dehesas and montados in Spanish and Portuguese, respectively) as well as providing essential ecosystem services. The existence of livestock in these areas heavily relies on the effective management of natural resources (annual pastures and water stored in ponds built ad hoc). The present work aims to assess the water availability in these ponds by developing equations to estimate the water volume based on the surface area, which can be quantified by means of remote sensing techniques. For this purpose, field surveys were carried out in September 2021, 2022 and 2023 at ponds located in representative farms, using unmanned aerial vehicles (UAVs) equipped with RGB sensors and survey-grade global navigation satellite systems and inertial measurement units (GNSS-IMU). These datasets were used to produce high-resolution 3D models by means of Structure-from-Motion and Multi-View Stereo photogrammetry, facilitating the estimation of the stored water volume within a Geographic Information System (GIS). The Volume–Area–Height relationships were calibrated to allow conversions between these parameters. Regression analyses were performed using the maximum volume and area data to derive mathematical models (power and quadratic functions) that resulted in significant statistical relationships (r² > 0.90, p < 0.0001). The root mean square error (RMSE) varied from 1.59 to 17.06 m³ and 0.16 to 3.93 m³ for the power and quadratic function, respectively. Both obtained equations (i.e., power and quadratic general functions) were applied to the estimated water storage in similar water bodies using available aerial or satellite imagery for the period from 1984 to 2021. Full article

In urban scenes, buildings are usually dense and exhibit similar shapes. Thus, existing autonomous unmanned aerial vehicle (UAV) localization schemes based on map matching, especially the semantic shape matching (SSM) method, cannot capture the uniqueness of buildings and may result in matching failure. To solve this problem, we propose a new method to locate UAVs via shape and spatial relationship matching (SSRM) of buildings in urban scenes as an alternative to UAV localization via image matching. SSRM first extracts individual buildings from UAV images using the SOLOv2 instance segmentation algorithm. Then, these individual buildings are subsequently matched with vector e-map data (stored in .shp format) based on their shape and spatial relationship to determine their actual latitude and longitude. Control points are generated according to the matched buildings, and finally, the UAV position is determined. SSRM can efficiently realize high-precision UAV localization in urban scenes. Under the verification of actual data, SSRM achieves localization errors of 7.38 m and 11.92 m in downtown and suburb areas, respectively, with better localization performance than the radiation-variation insensitive feature transform (RIFT), channel features of the oriented gradient (CFOG), and SSM algorithms. Moreover, the SSRM algorithm exhibits a smaller localization error in areas with higher building density. Full article

Developing high-efficiency and low-carbon propulsion systems is a pressing concern within the aviation field. This paper studies a hybrid power system that combines a solid oxide fuel cell and a gas turbine (SOFC-GT) with propane as fuel, which is easy to store and has a high energy density. The analysis focuses on key parameters such as compressor pressure ratio, fuel utilization rate, and fuel distribution. And a balance between system efficiency and the power-to-weight ratio has been achieved through multi-objective optimization. The conclusions indicate that system efficiency and system weight in the hybrid power system are optimized in opposite directions. Within the design parameters, the hybrid power system’s efficiency achieves 0.621, the specific fuel consumption is 115.2 g/kWh, and the power-to-weight ratio is 0.569 kW/kg. Further discussion on the application of this hybrid system in long-endurance unmanned aerial vehicles shows an efficiency of 0.651 during the cruise phase, indicating a promising application prospect of a propane-fueled SOFC-GT hybrid system in the aviation field. Full article

Autonomous exploration in unknown environments is a fundamental problem for the practical application of unmanned ground vehicles (UGVs). However, existing exploration methods face difficulties when directly applied to UGVs due to limited sensory coverage, conservative exploration strategies, inappropriate decision frequencies, and the non-holonomic constraints of wheeled vehicles. In this paper, we present IB-PRM, a hierarchical planning method that combines Incremental B-splines with a probabilistic roadmap, which can support rapid exploration by a UGV in complex unknown environments. We define a new frontier structure that includes both information-gain guidance and a B-spline curve segment with different arrival orientations to satisfy the non-holonomic constraint characteristics of UGVs. We construct and maintain local and global graphs to generate and store filtered frontiers. By jointly solving the Traveling Salesman Problem (TSP) using these frontiers, we obtain the optimal global path traversing feasible frontiers. Finally, we optimize the global path based on the Time Elastic Band (TEB) algorithm to obtain a smooth, continuous, and feasible local trajectory. We conducted comparative experiments with existing advanced exploration methods in simulation environments of different scenarios, and the experimental results demonstrate that our method can effectively improve the efficiency of UGV exploration. Full article

In this paper, we study the regular sensory data collection of Points of Interest (PoIs) with multiple Unmanned Aerial Vehicles (UAVs) during an extended monitoring period, where each PoI is visited multiple times before its data update deadline to keep the data fresh. We observe that most existing studies ignored the important differences in the data stored in the PoIs, scheduled a plan that dispatched UAVs to visit all PoIs before the same deadline, and simply repeated the plan during the monitoring period, which undoubtedly increased the service cost of the UAVs. Considering the specific data update deadline of each PoI, we formulate a novel UAV cost minimization problem to collect the data stored in each PoI before its deadline by finding a series of plans for UAVs such that the service cost of the UAVs during the monitoring period is minimized; the service cost of the UAVs is composed of the consumed energy of the UAVs utilized for hovering for data collection and the consumed energy of the UAVs utilized for flying. To deal with the above NP-hard problem, we devise an approximation algorithm by grouping the PoIs and accessing them in batches. Then, we analyze the proposed algorithm and evaluate the performance of the algorithm through experimental simulations. The experimental results show that the proposed algorithm is very promising. Full article

The ARGO-USV (Unmanned Surface Vehicle for ARchaeological GeO-application) is a technological project involving a marine drone aimed at devising an innovative methodology for marine geological and geomorphological investigations in shallow areas, usually considered critical areas to be investigated, with the help of traditional vessels. The methodological approach proposed in this paper has been implemented according to a multimodal mapping technique involving the simultaneous and integrated use of both optical and geoacoustic sensors. This approach has been enriched by tools based on artificial intelligence (AI), specifically intended to be installed onboard the ARGO-USV, aimed at the automatic recognition of submerged targets and the physical characterization of the seabed. This technological project is composed of a main command and control system and a series of dedicated sub-systems successfully tested in different operational scenarios. The ARGO drone is capable of acquiring and storing a considerable amount of georeferenced data during surveys lasting a few hours. The transmission of all acquired data in broadcasting allows the cooperation of a multidisciplinary team of specialists able to analyze specific datasets in real time. These features, together with the use of deep-learning-based modules and special attention to green-compliant construction phases, are the particular aspects that make ARGO-USV a modern and innovative project, aiming to improve the knowledge of wide coastal areas while minimizing the impact on these environments. As a proof-of-concept, we present the extensive mapping and characterization of the seabed from a geoarchaeological survey of the underwater Roman harbor of Puteoli in the Gulf of Naples (Italy), demonstrating that deep learning techniques can work synergistically with seabed mapping methods. Full article

Mangroves as an important blue carbon ecosystem have a unique ability to sequester and store large amounts of carbon. The height of mangrove forest is considered to be a critical factor in evaluating carbon sink capacity. However, considering the highly complicated nature of the mangrove system, accurate estimation of mangrove species height is challenging. Gaofen-2 (GF-2) panchromatic and multispectral sensor (PMS), Gaofen-3 (GF-3) SAR images, and unmanned aerial vehicle-light detection and ranging (UAV-LiDAR) data have the capability to capture detailed information about both the horizontal and vertical structures of mangrove forests, which offer a cost-effective and reliable approach to predict mangrove species height. To accurately estimate mangrove species height, this study obtained a variety of characteristic parameters from GF-2 PMS and GF-3 SAR data and utilized the canopy height model (CHM) derived from UAV-LiDAR data as the observed data of mangrove forest height. Based on these parameters and the random forest (RF) regression algorithm, the mangrove species height result had a root-mean-square error (RMSE) of 0.91 m and an R² of 0.71. The Kandelia obovate (KO) exhibited the tallest tree height, reaching a maximum of 9.6 m. The polarization features, HH, VV, and texture feature, mean_1 (calculated based on the mean value of blue band in GF-2 image), had a reasonable correlation with canopy height. Among them, the most significant factor in determining the height of mangrove forest was HH. In areas where it is difficult to conduct field surveys, the results provided an opportunity to update access to acquire forest structural attributes. Full article

With the rapid advancement of Unmanned Aerial Vehicle (UAV) technology, UAV swarms are being extensively applied in various fields, such as intelligent transportation, search and rescue, logistics delivery, and aerial mapping. However, the utilization of UAV swarms in sustainable transportation also presents some challenges, such as inefficient task allocation and data transmission security issues, highlighting the importance of privacy protection in this context. To address these issues, this study applies blockchain technology to multi-UAV tasks and proposes a blockchain-based multi-UAV task processing system for situation awareness and real-time decisions. The primary objective of this system is to enhance the efficiency of UAV swarm task scheduling, bolster data transmission security, and address privacy protection concerns. Utilizing the highly secure features of blockchain technology, the system constructs a distributed task processing network. System tasks are stored in the blockchain through smart contracts, ensuring the immutability and verifiability of task information. Smart contracts have an automatic execution capability, whereby the system can efficiently coordinate tasks and maintain the consistency of task execution information through consensus mechanisms. Additionally, adopting the Pointer Network structure for intelligent path planning based on task allocation results leads to the attainment of the shortest service routes, consequently expanding the service coverage of sustainable transportation systems while reducing energy consumption. This further advances the realization of urban sustainable transportation. Through experimental results, we verify that the proposed system enables real-time task scheduling and collaborative processing for multiple UAVs, significantly enhancing the efficiency, security, and privacy protection level of UAV swarm task execution in the context of sustainable transportation. It makes a positive contribution to building more sustainable urban transportation systems. Full article

Localization is the most important basic information for unmanned aerial vehicles (UAV) during their missions. Currently, most UAVs use GNSS to calculate their own position. However, when faced with complex electromagnetic interference situations or multipath effects within cities, GNSS signals can be interfered with, resulting in reduced positioning accuracy or even complete unavailability. To avoid this situation, this paper proposes an autonomous UAV localization method for low-altitude urban scenarios based on POI and store signage text matching (LPS) in UAV images. The text information of the store signage is first extracted from the UAV images and then matched with the name of the POI data. Finally, the scene location of the UAV images is determined using multiple POIs jointly. Multiple corner points of the store signage in a single image are used as control points to the UAV position. As verified by real flight data, our method can achieve stable UAV autonomous localization with a positioning error of around 13 m without knowing the exact initial position of the UAV at take-off. The positioning effect is better than that of ORB-SLAM2 in long-distance flight, and the positioning error is not affected by text recognition accuracy and does not accumulate with flight time and distance. Combined with an inertial navigation system, it may be able to maintain high-accuracy positioning for UAVs for a long time and can be used as an alternative to GNSS in ultra-low-altitude urban environments. Full article