Search Results (4,689)

Rapid and non-destructive estimation of maize (Zea mays L.) leaf flavonoid (Flav) content is important for crop stress monitoring and precision agriculture. This study aimed to improve Flav estimation by integrating unmanned aerial vehicle (UAV)-based multispectral data, texture features, and phenological parameters across six key growth stages in the Guanzhong Plain, China. Maize Flav content was measured in situ using a Dualex Scientific+ meter, while canopy reflectance was acquired with a DJI M300 RTK UAV equipped with an MS600 Pro multispectral camera. A comprehensive feature set, including spectral bands, vegetation indices, texture features, texture indices, and logistic curve-derived phenological parameters, was constructed. Three feature selection methods, competitive adaptive reweighted sampling (CARS), the genetic algorithm (GA), and the successive projections algorithm (SPA), together with three regression models, partial least squares regression (PLSR), extreme gradient boosting (XGBoost), and convolutional neural network (CNN), were evaluated for Flav estimation. The results showed that integrating spectral, texture, and phenological information significantly improved model performance compared with spectral variables alone. CNN and XGBoost generally outperformed PLSR. Across the six growth stages, the stage-specific optimal models achieved coefficient of determination (R²) values ranging from 0.7749 to 0.8686 and residual prediction deviation (RPD) values ranging from 2.0046 to 2.6019, indicating high to outstanding predictive ability. The highest accuracy was obtained at R3 using the CARS-X_II-CNN model, with R² = 0.8686, root mean square error of validation (RMSEV) = 0.0382, and RPD = 2.6019. Texture features and phenological metrics, especially the start of season derived from the normalized difference vegetation index (NDVI_SOS) and the rate of senescence derived from the enhanced vegetation index (EVI_ROS), contributed substantially to model accuracy. In addition, maize Flav showed a unimodal response to nitrogen supply, with moderate nitrogen levels associated with higher Flav content. This study demonstrates the potential of UAV-based multisource feature integration and machine learning for accurate maize Flav estimation, and provides a useful framework for digital crop phenotyping and stress diagnosis. Full article

In electric vehicle thermal management systems, direct measurement of the internal motor temperature is difficult. Therefore, the coolant pressure drop is an important indicator for estimating the motor thermal state. However, manufacturing and operating uncertainties in water-cooled interior permanent magnet synchronous motors (IPMSMs) can cause variability in cooling performance and pressure drop, requiring a reliability-based design approach. In this study, reliability-based design optimization (RBDO) is performed by considering manufacturing tolerances in the cooling channels and uncertainty in the inlet coolant flow rate. Based on coupled electromagnetic–thermal–fluid analysis and Kriging surrogate models, RBDO is applied to minimize the maximum temperature while satisfying the allowable pressure-drop limit at a target reliability level. The proposed RBDO improves the probability of satisfying the pressure-drop constraint from 54.1% in the baseline design to 99.9%, while increasing the mean maximum temperature by only 0.17 K. These results indicate that RBDO can improve the reliability of the pressure-drop constraint in IPMSM water-cooling systems under practical manufacturing and operating uncertainties, with only a limited change in thermal performance. Full article

In complex low-altitude environments, unmanned aerial vehicles (UAVs) require reliable positioning, yet Global Navigation Satellite System (GNSS) signals are vulnerable to occlusion and interference. Pseudolite-augmented cooperative localization, which combines ground base-station signals with inter-UAV relative observations, can complement GNSS in such environments. However, two practical issues remain in real-world deployment: UAV-to-base-station (U-B) and UAV-to-UAV (U-U) observations have markedly different error statistics that a unified noise adjustment cannot handle, and the conservative covariance estimates produced by Covariance Intersection (CI) fusion bias the innovation-based adaptive noise estimation in distributed architectures. To address these issues, this paper proposes a Distributed Group Covariance Compensation Adaptive Kalman Filter (DGCC-AKF) for collaborative enhancement of UAV regional localization. DGCC-AKF establishes a group adaptive mechanism that independently adjusts the noise covariance matrices of U-B and U-U observations, enabling observation-type-level adaptive weighting that suppresses anomalous U-B or U-U measurements at the group level. In addition, a bounded covariance compensation factor is incorporated to alleviate the CI-induced conservatism in the adaptive noise estimation. The proposed method is evaluated on a 2800 km² semi-physical testbed based on the Ground-based High-precision Local Positioning System (GH-LPS) pseudolite network using measured U-B observations and high-dynamic (>300 km/h) flight trajectories collected from a fixed-wing platform across three independent flight sessions. Results demonstrate that under observation fault periods, the proposed method improves 3D positioning accuracy by up to about 75% over single-UAV extended Kalman filter (EKF). Compared with two advanced algorithms in this field, variational Bayesian adaptive Kalman filter (VBAKF) and maximum correntropy criterion Kalman filter (MCC-EKF), it is the only scheme that remains accurate and stable across all UAVs and fault types. The framework provides a practical step toward field deployment for resilient multi-UAV cooperative navigation in pseudolite-augmented GNSS-denied regions. Full article

Connected vehicle platforms enable large-scale collection of vehicle dynamics data from production fleets, creating opportunities for passive roadway monitoring using onboard sensing systems. While existing vibration-based approaches primarily focus on pavement roughness estimation, the ability of fused onboard signals to capture defect-level characteristics remains insufficiently explored. This study investigates whether Road Surface Monitoring (RSM) signals, developed by Honda as an integrated OEM sensing approach, contain distinguishable patterns associated with specific road surface defects. A framework is developed to analyze, detect, and classify defect-related vibration signatures using these fused signals. The approach introduces the Defect Consistency Index (DCI), which measured a 29% average difference between pothole and patching signal signatures within the dataset. A threshold-based Defect Identification Algorithm (DIA) was then applied to detect defective segments, achieving 89% detection accuracy. A machine learning pipeline using shape-based features was subsequently used to classify potholes and patching, achieving up to 90% classification accuracy on the evaluated dataset. The framework was evaluated using real-world RSM data collected from a single instrumented vehicle within a limited geographic region. The results indicate that fused vibration signals contain recurring defect-related patterns that may support defect-level analysis using compact, non-visual measurements. These findings indicate the potential of connected vehicle vibration sensing for scalable roadway monitoring while highlighting the need for broader validation across vehicles, environments, and defect conditions. Full article

Open-cathode Proton Exchange Membrane Fuel Cells (PEMFCs) are a promising technology for increasing the endurance of small Unmanned Aerial Vehicles (UAVs), ground robots, e-bikes, and light electric vehicles. However, their performance under realistic operating conditions is strongly influenced by rapid variations in load, temperature, and ambient pressure, which are often neglected in design-oriented or quasi-steady-state analyses. This study experimentally investigates a 1 kW open-cathode PEMFC system, including its balance of plant and a passive supercapacitor buffer, under a representative UAV flight power profile. Steady-state and dynamic tests were conducted to assess polarization characteristics, thermal behavior, parasitic power consumption, and hydrogen utilization. Results revealed significant thermal inertia and hysteresis effects during load transients, causing voltage deviations from steady-state performance and stabilization times exceeding 90 s. The supercapacitor effectively reduced stack current ramp rates, although some high-frequency oscillations remained. Under flight-representative conditions, the system achieved stable operation with average voltaic efficiency ranging from 55.3% to 60.7% and net efficiency ranging from 50.2% to 54.2%. Auxiliary components had a measurable impact on overall performance: cooling fans accounted for 2–6% of stack power during steady operation and approximately 2.5% of total mission energy, while hydrogen purge losses can significantly reduce vehicle endurance. The findings demonstrate the importance of energy-based performance assessment, including auxiliary loads and purge losses, to obtain realistic estimates of efficiency and endurance in dynamic PEMFC-powered applications. Full article

Accurate Unmanned Aerial Vehicle (UAV) position estimation is the cornerstone of urban low-altitude safety management systems. Time Difference of Arrival (TDOA) and Remote Identification (Remote ID) are widely used surveillance technologies with complementary characteristics. TDOA provides high-rate updates but suffers from geometry-induced horizontal–vertical anisotropy and multipath effects, while Remote ID supplies absolute state information yet struggles with intermittent sampling and packet loss. Existing fusion schemes typically address these issues in isolation: sequential filtering manages asynchrony but assumes Gaussian noise, robust estimators suppress outliers at the cost of discarding valid data, and coupled-filter architectures allow vertical anomalies to contaminate horizontal estimates through the Kalman gain cross-coupling. No prior framework jointly handles structural TDOA altitude jumps, stochastic Remote ID timing jitter, and the geometric anisotropy between estimation subspaces within a single coherent pipeline. To bridge this gap, we propose a Hybrid Conditional Kalman Filter (HCKF) framework comprising three integrated modules. First, a kinematics-based temporal alignment module maps asynchronous measurements onto a uniform timeline and predicts missing samples, resolving cross-modal time mismatches. Second, a measurement quality evaluation mechanism detects TDOA altitude steps via robust two-layer stratification and scores Remote ID timing irregularity through a confidence mapping, converting these anomalies into dynamic covariance adjustments and weight caps without discarding observations. Third, a Subspace-Decoupled Fusion strategy exploits the physical insight that TDOA horizontal precision derives from hyperbolic intersection geometry, whereas its vertical estimates suffer from weak observability due to near-coplanar ground-station deployment . By applying entropy-guided weighting in the horizontal plane and a conditional Remote ID-dominant rule in the vertical axis, this design prevents cross-dimensional error propagation. The framework was validated using three real-world flight missions at distinct altitudes (255 m, 345 m, and 440 m) totaling 13.51 km of flight distance, with RTK serving as ground truth. HCKF reduces the Root Mean Square Error by over 40% relative to single-source baselines (95% bootstrap confidence interval: [35.2%, 48.7%]), and paired Wilcoxon signed-rank tests confirm statistically significant improvement ($p<0.01$) over standard EKF, Covariance Intersection, and Iterative CI across all three tracks. Full article

This study investigates broadband vibration and mechanical shock mitigation for an aluminum (AlSi10Mg) battery pack casing by integrating mechanical metamaterial wall modifications and add-on damping structures. A 12.432 kWh underbody-type casing is designed. Two wall architectures, i.e., the star-triangular honeycomb (STH) and a novel hybrid auxetic (NHA), are implemented on three walls (top, front, and rear) of the battery pack casing. A mechanical damping (DSMS) and three biomimetic damping concepts (BWBIS, BPPIS and BBIGPS) are further compared. All designs are evaluated through simulation using random vibration analysis based on ISO 12405-2 standard, followed by shaker-based shock and random vibration experiments. Simulations show that both modified casings suppress the casing vibration by approximately ${10}^2$–${10}^6$ relative to the solid casing, and their dominant peaks shift to above 150 Hz. The NHA casing provides higher overall vibration mitigation than the STH casing (98.07% longitudinal, 95.09% vertical, and 93.60% transverse versus 97.64%, 94.00%, and 91.51%). Thus, the NHA casing is selected for fabrication. In addition, BPPIS and BBIGPS outperform BWBIS and DSMS, and thus, BPPIS is selected for fabrication due to its simpler geometry and lower mass. Experimentally, the solid-BPPIS configuration achieves the most robust random vibration attenuation across all measurement points, with average root mean square (RMS) reductions of 26.82% (vertical), 87.34% (longitudinal), and 83.60% (transverse). Shock tests reveal strong direction dependence; adding damping structures improves longitudinal and transverse shock mitigation, while vertical shock mitigation remains limited. The results provide design-level guidance on selecting wall architectures and damping layouts for practical vibration and shock protection of electric vehicle (EV) battery pack casings. Full article

This paper presents an integrated optimal preview control strategy where an active suspension system (AAS) collaborates with an active aerodynamic control surface (AACS), utilizing the information of incoming road disturbance. The optimal preview controller utilizes a feedforward and feedback controller to anticipate future road disturbances while addressing the conflicting objectives of passenger comfort and road-holding attributes. The active aerodynamic surface generates a desired lift or downward force to change the sprung mass vertical load distribution, further improving the ultimate target indices. The preview-based optimal controller was synthesized by optimizing and tuning two sets of weighting factors, each based on passenger comfort and road-holding preferences. A numerical simulation study was performed for a 2-DOF quarter-of-vehicle (QoV) model in MATLAB^® (R2025b). Detailed time- and frequency-domain analyses were performed to validate the performance of the proposed scheme. The mean squared values of the total performance measure, vertical sprung mass acceleration, suspension travel, and road-holding indices were calculated and compared with the passive, active, active suspension with preview controller, and active suspension with an active aerodynamic surface (AAS). From the numerical results, it can be concluded that the proposed control strategy extraordinarily improves both ride comfort and road-holding capabilities of the vehicle model while maintaining the suspension rattle space requirements within the bounds and ensuring the dynamic stability of the vehicle. Full article

Laboratory-based certification cycles systematically underestimate real-world fuel consumption and CO₂ emissions. On-board diagnostics (OBD-II) telemetry offers a low-cost alternative, yet most published approaches rely on mass air flow (MAF) sensors absent from many modern vehicles. This study validates a speed-density air-mass estimation method on a naturally aspirated RON 95 gasoline passenger car (1368 cm³, Euro 6) across seven drive cycles recorded over three measurement days in northwestern Türkiye, covering 609.6 km of highway, urban, and mixed conditions. Instantaneous air mass flow was estimated from four standard OBD-II PIDs—manifold absolute pressure, engine speed, intake air temperature, and fuel trim corrections—using the ideal gas law applied to actual engine displacement. Results were validated against pump-measured fill-up volumes. The speed-density model achieved errors of −3.6% to +4.3% across individual segments (combined error: −0.5%), outperforming the vehicle’s onboard trip computer, which exhibited errors of −10.6% to +14.6%. Derived CO₂ intensities ranged from 125.0 to 166.4 g/km, with a combined average of 147.2 g/km (pump reference: 147.9 g/km). Urban driving produced approximately 15% higher specific emissions than highway driving. These results demonstrate that a physics-based speed-density model can achieve within ±5% trip-level accuracy across diverse real-world conditions without machine learning, bespoke calibration, or a physical MAF sensor. Full article

Monitoring biodiversity in coastal and marine ecosystems is essential for supporting conservation strategies, sustaining ecosystem services, and meeting policy commitments at multiple scales, including the European Union’s Habitats Directive, Sustainable Development Goal 14 (SDG 14, Life Below Water), and the Kunming–Montreal Global Biodiversity Framework (GBF). However, many benthic habitats remain insufficiently mapped or monitored due to the spatial, temporal, and logistical limitations of traditional field-based approaches. Optical Remote Sensing (ORS), based on the use of optical sensors to retrieve spectral information from shallow-water environments, has emerged as a powerful tool for mapping and monitoring these ecosystems. This study presents a systematic review aimed at providing a comprehensive synthesis of above-water ORS applications for benthic biodiversity and habitat monitoring over the period 2014–2023. A total of 179 peer-reviewed studies were analyzed to identify temporal trends, geographic patterns, target ecosystems, and methodological workflows. The review considered observation platforms including satellite, airborne, unmanned aerial vehicles (UAVs), and field spectrometry systems, together with key preprocessing procedures required for reliable benthic detection, such as atmospheric correction, water column correction, and sunglint removal, alongside validation using independent measurements. The analysis reveals a rapid expansion of ORS applications, with a strong geographic concentration in tropical and subtropical regions. Studies focusing on specific benthic groups predominantly target coral reefs and seagrass ecosystems, although many adopt integrative benthic habitat classifications that incorporate multiple benthic components at the habitat level. However, significant limitations persist, including inconsistent preprocessing workflows, limited reporting transparency, and the underrepresentation of several ecologically important taxa (e.g., annelids, mollusks, echinoderms). Despite these challenges, ORS has become a cornerstone of large-scale and repeatable coastal monitoring. By analyzing methodological practices, ecological targets, and geographic biases, this review provides a critical foundation for improving the robustness, scalability, and global applicability of ORS in benthic habitat mapping, biodiversity monitoring, and ecosystem-based management. Full article

This paper presents a primary side model predictive control (MPC) strategy for wireless power transfer (WPT) based charging of light electric vehicle (LEVs). A battery simulator develops a model to accurately reproduce constant-current (CC) charging profile from Open Ciruit Voltage (OCV) and State of Charge (SoC) parameters of the battery. This model forms the foundation of the predictive control design, allowing accurate prediction of the charging trajectory while avoiding reliance on secondary-side feedback signals. The WPT system employs a phase-shifted full-bridge (PSFB) inverter with S-S compensation, where the primary-side controller regulates the secondary-side charging current using only primary-side current measurements. In contrast to conventional secondary side control, which is tuned around nominal coupling, requires explicit feedback, and degrades under coil misalignment and parameter variations, the proposed MPC leverages integrated system and battery models to predict future states and optimally adjust the phase shift for robust charging operation. Simulation and experimental validation on a real-time LEV charging prototype under aligned, lateral, and angular misalignment conditions demonstrate significant reduction in current-settling time compared to fixed-gain proportional-integral (PI) and known adaptive feedback controllers for same system, with lower RMS current and reduced current spikes at the battery. On the embedded controller, the proposed MPC executes within approximately 1 µs per 85 kHz PWM cycle, corresponding to less than 10% CPU utilization, confirming its practical real-time feasibility. Full article

In underwater navigation, MUVs risk damage from obstacles and equipment. Effective damage management supports timely decisions and maximizes functionality recovery. Existing approaches can be roughly categorized into rule-based reasoning, case-based reasoning and expert systems. However, the primary limitation of the existing approaches is their inability to adapt to dynamically changing scenarios. In this paper, an auxiliary decision-making system (ADMS) for manned underwater vehicle (MUV) damage management based on deep reinforcement learning (DRL) is proposed to address the problem of cabin flooding. This system is designed to provide auxiliary decision-making in emergency situations and help preserve MUV vitality. Furthermore, a comprehensive States–Actions cluster encompassing various damage management measures for real damage scenarios is constructed and digitized. Moreover, several novel reward functions are developed to ensure the DRL model obtains a safe strategy with ADMS operations. Finally, the MUV buoyancy and stability vitality evaluation criteria are defined and analyzed. The simulation results show that the auxiliary decision-making measures given by the ADMS in the damage state are effective and rational. The evaluation criterion for buoyancy vitality can exceed 38%, while the criterion for stability vitality can surpass 92%, with an optimal value exceeding 99%. Full article

Vehicle ad hoc networks (VANETs) can help prevent traffic accidents through wireless communication; however, most studies are based on simulations or static evaluations. This research paper presents the design, implementation, and experimental evaluation of a prototype early-warning system for vehicle proximity based on VANETs using ESP-NOW. The prototype utilizes five ESP32-CAM nodes equipped with MaxSonar sensors installed in vehicles and an RSU unit with a Raspberry Pi for vehicle-to-infrastructure (V2I) communication. Field tests were conducted in Quito, Ecuador, at speeds ranging from 10 to 70 km/h, measuring latency, packet loss, and received signal strength (RSSI). The results show average latencies of 9.9 ms at 10 km/h and 114.5 ms at 70 km/h, with packet loss rates of 2% and 60%, respectively. Statistical analysis reveals 95% confidence intervals for latency ranging from ±0.98 ms to ±6.90 ms, while obstacles introduce marginal attenuation (p = 0.051) with significant dispersion (σ = 5.85 dB). The Doppler shift is negligible (155.6 Hz), but the channel coherence time (2.7 ms) explains the observed degradation. Models were obtained that relate speed to latency (R² = 0.994) and packet loss (R² = 0.991). The prototype is viable for early collision warning at urban speeds (up to 60 km/h), outperforming human reaction time (1.5 s). Full article

This paper investigates joint deployment of unmanned aerial vehicle (UAV)-borne linear-array angle-of-arrival (AOA) sensors for localizing a target UAV in three-dimensional space. Since each sensing UAV carries a lightweight one-dimensional (1-D) AOA array, each measurement provides only one angular constraint, and its information contribution depends jointly on the UAV waypoint and array pointing direction. This leads to a coupled coordinate–orientation design problem that differs from conventional full-AOA deployment. We formulate a Cramér–Rao lower bound (CRLB)-based framework under A- and D-optimality criteria, covering both free-flight and constrained hovering regions. By exploiting the structure of the 1-D AOA Fisher information matrix, we show that, for fixed UAV coordinates, the orientation block can be exactly eliminated through a low-dimensional eigenproblem. The resulting reduced coordinate problem is then solved by a geometry-structured sequential quadratic programming (SQP) method, whose curvature model captures the radial and tangential sensitivities induced by line-of-sight geometry. Numerical simulations further validate the effectiveness of the proposed approach. Full article

This paper presents a hybrid algorithmic framework for fault detection and isolation (FDI) in nonlinear quadrotor unmanned aerial vehicle (UAV) systems operating under closed-loop conditions. The proposed method integrates a Linear Quadratic Control (LQC) strategy, synthesized through Linear Matrix Inequalities (LMIs), with a Conditional Long Short-Term Memory Autoencoder (CLSTM-AE) and an adaptive residual-based decision mechanism. The LQC scheme provides robust trajectory tracking through regional pole-placement constraints, while the CLSTM-AE learns the nominal closed-loop input–output temporal behavior of the UAV using only fault-free data. In contrast to conventional symmetric autoencoder-based detectors, the proposed CLSTM-AE uses the control inputs together with the available attitude estimates, represented by the Euler angles yaw, pitch, and roll, as conditioning information, while reconstructing only the monitored attitude outputs. This asymmetric structure allows the residuals to capture inconsistencies between the commanded control effort and the observed attitude response, which is particularly relevant in closed-loop nonlinear systems where feedback compensation may attenuate fault signatures. Deviations from nominal behavior are detected through reconstruction residuals computed using a smoothed Mean Squared Error (MSE) criterion and evaluated against an adaptive $3\sigma$ threshold. The framework is validated in three-dimensional flight simulations considering abrupt, transient, and incipient actuator fault scenarios. The obtained results show that the proposed approach outperforms representative conventional machine-learning methods, achieving an average accuracy of 98.2%, an average recall of 97.8%, and an average false positive rate of 1.4%. These results suggest that the proposed hybrid algorithm provides an effective and interpretable solution for closed-loop fault diagnosis in nonlinear UAV systems under measurement noise and system variability. Full article