The rapid development of Deep Learning brought novel methodologies for 3D Object Detection using LiDAR sensing technology. These improvements in precision and inference speed performances lead to notable high performance and real-time inference, which is especially important for self-driving purposes. However, the developments carried by these approaches overwhelm the research process in this area since new methods, new technologies, and software versions lead to different project necessities, specifications and requirements. Moreover, the improvements brought by the new methods may be due to improvements in newer versions of deep learning frameworks and not just the novelty and innovation of the model architecture. Thus, it became crucial to create a framework with the same software versions, specifications and requirements that accommodate all these methodologies and allow the easy introduction of new methods and models. A framework is proposed that abstracts the implementation, reusing and building of novel methods and models. The main idea is to facilitate the representation of state-of-the-art (SoA) approaches and simultaneously encourage the implementation of new approaches by reusing, improving and innovating modules in the proposed framework, which has the same software specifications to allow a fair comparison. This makes it possible to determine if the key innovation approach outperforms the current SoA by comparing models in a framework with the same software specifications and requirements.

This paper provides a comprehensive overview of recent advancements in autonomous electric vehicle (AEV) within the specified region. It elaborates on the progress and comparative analysis of diverse subsystems, including energy storage, cell balancing for battery systems, vehicle charger layouts, electric vehicle motor mechanisms, and braking systems. Furthermore, this paper showcases several prototype autonomous electric vehicles as conclusive study findings.

The control of air quality in museums or storages is of fundamental interest for the conservation of historic artifacts. The present work reports an example of application of RFID sensors developed in the European project SensMat and dedicated to this issue. The sensors are based on the varia-tion of property of an RFID tag coupled to a sensitive silver thin film exposed to the environment. As it will be described in the paper, such low cost sensors are interrogated by a commercial reader and provide the environmental corrosivity index and thus the presence of pollutants. The selected case study concerns the monitoring of pollution by H2S in a building dedicated to conservation and restoration of archeological and historical woods. The ability of sensors to map spatially the corrosivity within buildings is highlighted.

This paper describes and demonstrates an autonomous robotic team that can rapidly learn the characteristics of environments that it has never seen before. The flexible paradigm is easily scalable to multi-robot, multi-sensor autonomous teams, and is relevant to satellite calibration/validation and the creation of new remote sensing data products. A case study is described for the rapid characterisation of the aquatic environment, over a period of just a few minutes we acquired thousands of training data points. This training data allowed our machine learning algorithms to rapidly learn by example and provide wide area maps of the composition of the environment. Along side these larger autonomous robots two smaller robots that can be deployed by a single individual were also deployed (a walking robot and a robotic hover-board), observing significant small scale spatial variability.

Scientific and technological advances in telecommunications and onboard electronics, and advances in sustainability standards, dictated major changes to various industrial sectors, including the automotive industry, where hard and soft approaches to manufacturing are vying for market dominance. This work presents a prospective analysis of the autonomous vehicle (AV) market, analyzing three of the main US AV technology firms, Tesla, Waymo and Apple. Their designs and solutions are compared, and prospective scenarios were constructed based on an analysis of their strengths, weaknesses, opportunities and threats (SWOT). The results suggest that Tesla currently exhibits the greatest market leadership in the group studied. However, it was concluded that in the medium term, Waymo would surpass Tesla and assume market leadership. In the long run, it was concluded that Apple will overcome its rivals and dominate this market.

In this paper, we introduce a computational procedure that enables autonomous LEO laser trackers endowed with INSs to increase the current accuracy when shooting at middle distant medium-size LEO debris targets. The code is designed for the trackers to throw the targets into the Atmosphere by means of ablations. In case that the targets are eclipsed to the trackers by the Earth, the motions of the trackers and targets are modeled by equations that contain post-Newtonian terms accounting for the curvature of space. Otherwise, when the approaching targets become visible for the trackers, we additionally use more accurate equations, which allow to account for the local bending of the laser beams aimed at the targets. We observe that under certain circumstances the correct shooting configurations that allow to safely and efficiently shoot down the targets, differ from the current estimations by distances that may be larger than the size of many targets. In short, this procedure enables to estimate the optimal shooting instants for any middle distant medium-size LEO debris target.

In this contribution, different lane-keeping control strategies for Autonomous Ground Vehicles (AGV) have been analyzed and compared. The AGV must be oriented and kept within a given reference path using the front wheel steering angle as the control action for a specific longitudinal velocity. While non-linear models can describe the lateral dynamics of the vehicle in an accurate manner, they might lead to difficulties when computing some real-time control laws such as Model Predictive Control (MPC). Linear Parameter Varying (LPV) models can provide a trade-off between computational complexity and model accuracy. Another way to reduce computational complexity is to explore other control strategies, for example, the one based on the Inverse Kinematic Bicycle model (IKIBI). Additionally, AGV sensors typically work at different measurement acquisition frequencies so that Kalman Filters (KF) are usually needed for sensor fusion. If these frequencies are slower than the actuation rate, a multi-rate KF may be needed. The two control strategies (MPC using a LPV model and IKIBI) have been compared in simulations over a circuit path in the presence of process and measurement Gaussian noise. The MPC controller has shown to provide a more accurate lane-keeping behavior than an IKIBI control strategy. Finally, it has been seen that Dual-Rate Extended Kalman Filters (DREKF) constitute an essential tool when only slow and noisy sensor feedback is available in an AGV lane-keeping application.

Existing rammed earth construction methods have disadvantages such as increased initial costs for manufacturing the large formwork and increased labor costs owing to the labor-intensive construction techniques involved. To address the limitations of existing rammed earth construction methods, an autonomous rammed earth construction method is introduced herein. As this autonomous rammed earth construction method uses a modular formwork, alternative materials must be used in the construction to satisfy the requirements for the early-age binder performance. Accordingly, this study evaluates the use of an epoxy emulsion composed of epoxy and a hardener to enhance the performance of the binder. Preliminary experiments were conducted to determine the optimal formulation of the epoxy emulsion, following which the compressive strength, water loosening, shrinkage, rate of mass change, and microstructure of several red clay binder specimens with and without epoxy emulsion were analyzed at early ages. The results confirmed that the epoxy emulsion can be applied to satisfy the performance requirements for autonomous rammed earth construction by improving the durability and strength of the binder at early ages.

In passing maneuvers on two-lane highways, assessing the needed distance and the potential power reserve to ensure the required speed mode of the passing vehicle is a critical task of speed planning. This task must meet several mutually exclusive conditions that lead to successful maneuver. The paper addresses three main aspects. First, the issues of rational distribution of the speed of the passing vehicle for overtaking a long commercial vehicle on two-lane highways are discussed. The factors that affect maneuver effectiveness are analyzed, considering safety and cost. Second, a heuristic algorithm is then proposed based on the rationale for choosing the necessary space and time for overtaking. The initial prediction's sensitivity to fluctuations of current measurements of the position and speed of the overtaking participants is examined. Third, an optimization technique for passing vehicle speed distribution over the overtaking time using the finite element method is presented. The adaptive model predictive control is applied for tracking the references being generated. The presented model is illustrated using simulation.

This paper proposes a novel micro-grid structure, which can operate fully-autonomously with inherent seamless switching. It can operate independently in both grid-connected and islanded mode as a self-governed entity without relying on the utility grid. An AC/DC/AC converter is employed as the interface between the micro-grid and the utility grid, which enables the two entities to have different voltages in grid-connected mode. Seamless switching between operation modes can be achieved naturally. The micro-grid is regulated to exchange predefined amount of power with the utility grid in grid-connected mode. This will benefit the power dispatching algorithm of the power system. The predefined power is estimated based on power forecasting of local renewable generations and loads with consideration of the Sate of Charge (SOC) of the battery, and is updated and broadcasted every certain period. A small scale AC micro-grid with a rotating generator, battery storage and solar arrays etc. is built for investigation. Matlab/Simulink results are provided to validate the robustness and flexibility of proposed micro-grid and its operation strategy.

Several design methods and principles have been presented so far, in order to guide the design of autonomous operations. Putting the required efforts into learning and using the methods for designing autonomous operations is a daunting task. Experiences so far have shown that the use of methods meant to the help the design process are often ignored. One reason could be that the design guidelines are too complex and contain much information often not relevant for the project at hand, and therefore there is no easy way to distinguish what is important from what is not. This is an issue that needs to be solved with our approach. In this article, the Autonomous Job Analysis (AJA) method is presented. The proposed methodology is created in order to guide the design of autonomous operations in maritime systems by breaking them down in to sub-operations in order to reveal challenges, needs and limitations regarding autonomous behavior. The canvas contains the categories of the AJA method on a single page format -the canvas- and each category is supported with questions to be asked during the design procedure, as well as example answers. We will describe the AJA method and the AJA canvas in detail, and present a use case scenario of an autonomous operation in order to show how they can be applied. The particular use-case is the design of an autonomous operation for the detection, inspection and tracking of a waste water plume.

The current work reports the upper bound of the state variable of the of the Pointwise Steady Fluid Flow Approximation (PSFFA) model of non-stationary M/Ek/1 queueing system.

Reporting on CSR activities has become the essence of reporting for modern business entities. In this regard, particular attention is paid to public interest companies. Therefore, the following paper aims to answer the question of whether there are differences in the linguistic structure of the studied CSR reports in three selected industry indices on the Warsaw Stock Exchange (WSE) in Poland, i.e. WIG-energy index, WIG-fuel index, WIG-mining index and their relationship with the performance of selected companies. The study was conducted on a purposely selected sample of companies between 2013 and 2018. A total of 138 CSR reports and 138 annual separate financial statements prepared in accordance with international balance sheet law were collected. The study was carried out based on a panel regression model. It was found that CSR reports contained similar average percentages of parts of speech such as nouns and adjectives. When linking the economic performance of companies, expressed with selected indices, to the information on the implementation of CSR concepts, it was revealed that the results are more likely to describe business performance when it is satisfactory.

This article focuses on generating an alternative in order to identify traffic officers during driving. This research employed the latest You Only Look Once (YOLO) model, using a six-phase methodology: data collection, data preparation involving resizing and labeling, implementation of various filters to avoid overfitting, model training, prediction evaluation, and result interpretation. The YOLO model was applied across three iterations using a dataset of 1862 images. To enhance training efficiency and detection speed, the graphics processing unit (GPU) acceleration was utilized, further enhancing the experimental process. The results of this study revealed that the YOLOv8x variant produced the most promising results. This proposed model attained a remarkable F1 score of 0.95, bolstered by a confidence score of 0.631, with the potential for an increase to 0.80 in confidence without significantly compromising the F1-score. These findings are poised to make a substantial contribution to the broader research landscape, particularly in advancing the effectiveness of detection models for traffic officers.

The working environment of mining electric locomotives is wet and muddy coal mine 1 roadway. There may be idling or slipping between the wheels and rails of mining electric locomotives 2 due to low friction between the wheel and rail and insufficient utilization of creep rate. Therefore, it 3 is necessary to control the creep rate within a reasonable range. In this paper, the autonomous control 4 algorithm for mining electric locomotives based on improved ε-greedy is theoretically proven to be 5 convergent and effective firstly. Secondly, after analyzing the contact state between the wheel and rail 6 under wet and slippery road conditions, it was concluded that the value of creep rate is an important 7 factor affecting the autonomous driving of mining electric locomotives. Therefore, the autonomous 8 control method for mining electric locomotives based on creep control is proposed in this paper. 9 Finally, the effectiveness of the proposed method was verified through simulation. The problem of 10 wheel slipping and idling caused by insufficient friction of mining electric locomotives in coal mining 11 environments is effectively suppressed. Autonomous operation of vehicles with optimal driving 12 efficiency can be achieved through quantitative control and utilization of the creep rate between 13 wheels and rails

Environmental monitoring programs rely on periodic spot sampling at specific locations, followed by laboratory analysis, aiming at the evaluation of water quality at a catchment scale. For this purpose, automatic telemetric stations for specific parameters have been installed by the Institute of Marine Biological Resources and Inland Waters of Hellenic Centre for Marine Research (IMBRIW-HCMR) within several Greek rivers and lakes, providing continuous and temporal monitoring possibilities. Nevertheless, the employment of unmanned surface vehicles (USV) equipped with integrated sensors represents a tool valuable to several monitoring strategies, offering enhanced temporal and spatial coverage over specific timeframes, allowing for targeted examination of sites or events of interest. The USVs have been deployed by Athens Water and Sewerage Company (EYDAP) as a cost-effective tool for the environmental monitoring of surface water bodies of interest, with emphasis on the spatial fluctuations of chlorophyllα, electrical conductivity, dissolved oxygen and pH, observed in Koumoundourou Lake and rivers Acheloos, Asopos and Kifissos. The effectiveness of an innovative heavy metal (HM) system installed in the USV for thein situ determination of copper and lead was also evaluated herewith. The results obtained demonstrate that both the timely detection of potential pollution from both anthropogenic activities and natural processes as well as the monitoring of inland waters are made feasible through the employment of USV.

In this paper, a swarm trajectory planning method is proposed for multiple autonomous surface vehicles (ASVs) in an unknown and obstacle-rich environment. Specifically, based on the point cloud information of the surrounding environment obtained from local sensors, a kinodynamic path searching method is used to generate a series of waypoints in the discretized control space at first. Next, after fitting B-spline curves to the obtained waypoints, a nonlinear optimization problem is formulated to optimize the B-spline curves based on gradient-based local planning. Finally, a numerical optimization method is used to solve the optimization problems in real-time to obtain collision-free, smooth and dynamically feasible trajectories relying on a shared network. Simulation results demonstrate the effectiveness and efficiency of the proposed swarm trajectory planning method for a network of ASVs.

For autonomous driving, perception is a primary and essential element that fundamentally deals with the insight into the ego vehicle’s environment through sensors. Perception is a challenging task suffering from dynamic objects and continuous environmental changes. The issue gets worse due to interrupting the quality of perception by adverse weather like snow, rain, fog, night light, sand storm, strong daylight, etc. In this work, we have tried to improve camera-based perception accuracy, such as autonomous driving-related object detection in adverse weather. We proposed the improvement of YOLOv8-based object detection in adverse weather through transfer learning using merged data from various harsh weather datasets. Two prosperous open-source datasets (ACDC and DAWN) and their merged dataset were used to detect primary objects on the road in harsh weather. A set of training weights were collected from training on the individual datasets, their merged version, and several subsets of those datasets according to their characteristics. A comparison between the training weights also occurred by evaluating the detection performance on the above-mentioned datasets and their subsets. The evaluation revealed that using custom datasets for training significantly improves the detection performance compared to the YOLOv8 base weights. And using more images through the feature-related data merging technique steadily increases the object detection performance.

Reinforcement Learning (RL) has demonstrated considerable potential in solving challenges across various domains, notably in autonomous driving. Nevertheless, implementing RL in autonomous driving comes with its own set of difficulties, such as the overestimation phenomenon, extensive learning time, and sparse reward problems. Although solutions like Hindsight Experience Replay (HER) have been proposed to alleviate these issues, the direct utilization of RL in autonomous vehicles remains constrained due to the intricate fusion of information and the possibility of system failures during the learning process. In this paper, we present a novel RL-based autonomous driving system technology that combines Obstacle Dependent Gaussian (ODG) RL, Soft Actor-Critic (SAC), and meta-learning algorithms. Our approach addresses key issues in RL, including the overestimation phenomenon and sparse reward problems, by incorporating prior knowledge derived from the ODG algorithm. We evaluated our proposed algorithm on official F1 circuits, using high-fidelity racing simulations with complex dynamics. The results demonstrate exceptional performance, with our method achieving up to 89% faster learning speed compared to existing algorithms in these environments.

In the context of partial autonomy, where autonomous vehicles and humans share control of the vehicle, bringing out-of-the-loop drivers back into the loop is a significant challenge. While warning signal design guidelines are commonly used to provide alerts, few studies have examined each signal in depth with an emphasis on the autonomous environment. This study aims to fill this gap by investigating visual, auditory, and tactile stimuli and modifying their sub-attributes to explore variations related to age, gender, and other individual backgrounds. A driving simulator was utilized to create a realistic driving environment and measure participants' reaction times in takeover request situations. Analysis of the data revealed correlations between age and reaction times for auditory and tactile signals, with interaction effects observed between age and sub-attribute intensity. Additionally, participants exhibited varying reaction time patterns in response to different sub-attribute intensities. By evaluating individual differences in perception based on modality characteristics, often overlooked in prior research, this study serves as a foundational contribution to future research in the field.

This paper presents an analysis of the sensitivity of controlling an autonomous surface object among a group of encountered objects to the inaccuracy of state control process data. For this purpose, a safe and optimal model of the control process was defined. An algorithm for determining the optimal and safe trajectory of an object, based on the multi-object game model, was developed; for comparative analysis, an algorithm for calculating only the optimal trajectory, not taking into account the maneuverability of other objects, was additionally developed. First, simulation-based studies of the algorithms enabled a comparative analysis of a number of different acceptable strategies for optimally shifting the trajectory of maneuvering objects from a single initial direction. Thereafter, the main goal of this paper was implemented: an analysis of the sensitivity characteristics of safe control, assessed with the risk of collision, both on the inaccuracy of navigation data and on the number of possible control strategies. Finally, final conclusions and a plan for further research on the subject of the paper were formulated.

In the context of Shared Autonomous Vehicles, the need to monitor the environment inside the car will be crucial. This article focuses on the application of deep learning algorithms to detect objects, namely lost/forgotten items to inform the passengers, and aggressive items to monitoring if violent actions may arise between passengers. For object detection algorithms was used public datasets (COCO and TAO) to train state-of-the-art algorithms, such as YOLOv5. For violent action detection was used the MoLa InCar dataset to train on state-of-the-art algorithms such as I3D, R(2+1)D, SlowFast, TSN and TSM. At the end an embedded automotive solution was used to demonstrate both methods running in real-time.

Adaptive Cruise Control (ACC) is useful in the most dangerous maneuvers such as braking and acceleration. This study assesses how ACC modifies traffic flows by analysing the differences be-tween manual and autonomous driving in connected and autonomous vehicles (CAVs). Using a platoon of 80 vehicles, tested in pairs on the road, it was possible to define the speed trends during braking and acceleration and the reaction times to the driving maneuvers (PRT, TH, TCC) with a kinematic data detector. The interactions between the CAV and the driver, have been studied in-novatively, i.e through gaze analysis. Situations of potential danger, characterized by the braking of the vehicle that precedes the car with the driver equipped with the eye tracker tool, have been recreated, considering the influence of the driver’s ACC experience. Results statistically confirmed that with the ACC switched on the reaction times are greater than manual driving (2.4/3.8 sec); this can lead to a reduction in road safety, further motivated by the rapid decrease in speed. The interpolation between automated and human data, finally, has allowed the detection of some criticalities of the system that are fundamental in order to reach the second level of automation.

Fog, haze, or smoke are usual atmospheric phenomena that dramatically compromise the overall visibility of any scene, critically affecting features such as illumination, contrast, and contour detection of objects. The decrease in visibility compromises the performance of computer vision algorithms such as pattern recognition and segmentation, some of them very relevant for decision-making for the security or autonomous vehicle industries. Several dehazing methods have been proposed, however, to the best of our knowledge, all proposed metrics compare the defogged image to its ground truth for evaluation of the defogging algorithms, or need to estimate parameters through physical models. This fact hinders progress in the field as obtaining proper ground truth images is costly and time-consuming, and physical parameters greatly depend on the scene conditions. This paper aims to tackle this issue by proposing a contour-based metric for image defogging evaluation that does not need a ground truth image. The proposed metric only requires the original hazy RGB image and the RGB image after the defogging procedure. A comparison of the proposed metric with metrics currently used in the NTIRE 2018 defogging challenge is performed to prove its effectiveness in a general situation, showing comparable results to conventional metrics.

Considering the significant advancements in autonomous vehicle technology, research in this field is of interest to researchers. To drive vehicles autonomously, controlling steer angle, gas hatch, and brakes need to be learned. The behavioral cloning method is used to imitate humans’ driving behavior. We created a dataset of driving in different routes and conditions and using the designed model, the output used for controlling the vehicle is obtained. In this paper, the Learning of Self-driving Vehicles Based on Real Driving Behavior Using Deep Neural Network Techniques (LSV-DNN) is proposed. We designed a convolutional network which uses the real driving data obtained through the vehicle’s camera and computer. The response of the driver is during driving is recorded in different situations and by converting the real driver’s driving video to images and transferring the data to an excel file, obstacle detection is carried out with the best accuracy and speed using the Yolo algorithm version 3. This way, the network learns the response of the driver to obstacles in different locations and the network is trained with the Yolo algorithm version 3 and the output of obstacle detection. Then, it outputs the steer angle and amount of brake, gas, and vehicle acceleration. The LSV-DNN is evaluated here via extensive simulations carried out in Python and TensorFlow environment. We evaluated the network error using the loss function. By comparing other methods which were conducted on the simulator’s data, we obtained good performance results for the designed network on the data from KITTI benchmark, the data collected using a private vehicle, and the data we collected.

In the field of autonomous vehicles, lane detection and control plays an important role. In autonomous driving the vehicle has to follow the path to avoid the collision. A deep learning technique is used to detect the curved path in autonomous vehicles. In this paper a customized lane detection algorithm was implemented to detect the curvature of the lane. A ground truth labelling tool box for deep learning is used to detect the curved path in autonomous vehicle. By mapping point to point in each frame 80-90% computing efficiency and accuracy is achieved in detecting path.

Brake wear particles, as the major component of non-exhaust particulate matter, are known to have different emissions, depending on the type of brake assembly and the specifications of the vehicle. In this study, brake wear and wear particle mass emissions were measured under realistic vehicle driving and full friction braking conditions using current commercial genuine brake assemblies. Although there were no significant differences in either PM₁₀ or PM_2.5 emissions between the different cooling air flow rates, brake wear decreased and ultrafine particle (PM_0.12) emissions increased with increasing cooling air flow rate. Particle mass measurements were collected on filter media, allowing chemical composition analysis to identify the source of brake wear particle mass emissions. The iron concentration in the brake wear particles indicated that the main contribution was derived from disc wear. Using a systematic approach that measured brake wear and wear particle emissions, this study was able to characterize correlations with elemental compositions in brake friction materials, adding to our understanding of the mechanical phenomena of brake wear and wear particle emissions.

In a single-center, retrospective study, 22 cases were enrolled and divided into two groups: those who underwent surgical wide excision (group A) and those who did not (group B). The study included 13 cases in group A and 9 cases in group B. In group A, 6 cases solely underwent surgical wide excision, while 7 cases received additional treatments like radiotherapy or chemotherapy. Conversely, in group B, 4 cases received chemotherapy, 4 cases received radiotherapy, and 1 case was managed through observation alone. The mean follow-up time was 60.15 months in group A and 43.44 months in group B, with no significant difference observed. In group A, 9 cases resulted in mortality, whereas 6 cases died within the follow-up period in group B. Lesion-free intervals post-operation were observed predominantly in group A, while 7 cases in group B never experienced freedom from skin lesions. Kaplan-Meier survival curve analysis demonstrated a significant difference between the survival curves of the two groups (P = 0.046). Among non-HIV Kaposi’s sarcoma patients, surgical wide excision appears to have a role in treatment. Patients in group A exhibit a more favorable outcome in the survival curve analysis.

Artificial intelligence (AI) systems of autonomous systems such as drones, robots and self-driving cars may consume up to 50% of total power available onboard, thereby limiting the vehicle’s range of functions and considerably reducing the distance the vehicle can travel on a single charge. Next-generation onboard AI systems need an even higher power since they collect and process even larger amounts of data in real time. This problem cannot be solved using the traditional computing devices since they become more and more power-consuming. In this review article, we discuss the perspectives of development of onboard neuromorphic computers that mimic the operation of a biological brain using nonlinear-dynamical properties of natural physical environments surrounding autonomous vehicles. Previous research also demonstrated that quantum neuromorphic processors (QNPs) can conduct computations with the efficiency of a standard computer while consuming less than 1% of the onboard battery power. Since QNPs is a semi-classical technology, their technical simplicity and low, compared with quantum computers, cost make them ideally suitable for application in autonomous AI system. Providing a perspective view on the future progress in unconventional physical reservoir computing and surveying the outcomes of more than 200 interdisciplinary research works, this article will be of interest to a broad readership, including both students and experts in the fields of physics, engineering, quantum technologies and computing.

Equipping autonomous agents for dynamic interaction and navigation is a significant challenge in intelligent transportation systems. This study aims to address this by implementing a brain-inspired model for decision-making in autonomous vehicles. We employ active inference, a Bayesian approach that models decision-making processes similar to the human brain, focusing on the agent's preferences and the principle of free energy. This approach is combined with imitation learning to enhance the vehicle's ability to adapt to new observations and make human-like decisions. The research involved developing a multi-modal self-awareness architecture for autonomous driving systems and testing this model in driving scenarios, including abnormal observations. The results demonstrated the model's effectiveness in enabling the vehicle to make safe decisions, particularly in unobserved or dynamic environments. The study concludes that the integration of active inference with imitation learning significantly improves the performance of autonomous vehicles, offering a promising direction for future developments in intelligent transportation systems.

Autonomous target recognition (ATR) plays a crucial role in maintaining situational awareness during environmental monitoring. Unmanned aerial vehicles (UAVs) equipped with autonomous target recognition technology can gather and analyze real-time information about targets, including their locations, sizes, and types. However, UAV-captured images in complex real-world environments often display significant variations in perspective and scale due to changes in UAV altitude and distance. Existing methods for autonomous target recognition on UAVs struggle to capture targets from large field-of-view and multi-scale images, resulting in low recognition accuracy and high false-positive rates. This paper introduces two novel Slimmable neural network models, namely SE-YOLOv5s and ST-YOLOv5s, which are based on the YOLOv5s architecture. These models incorporate the Squeeze and Excitation and Swin-Transformer mechanisms to enhance the ability to extract features from large field-of-view and multi-scale images. To evaluate their performance, experiments were conducted on the Visdrone19 aerial dataset. Compared to the state-of-the-art YOLOv5s algorithm, the utilization of SE-YOLOv5s and ST-YOLOv5s for autonomous target recognition on low-altitude drones resulted in improvements in both accuracy and false-positive rates. These proposed methods combine Slimmable neural network design with feature enhancement mechanisms, addressing the challenges posed by complex real-world environments in UAV missions. The advancements in autonomous target recognition on low-altitude drones will significantly contribute to enhancing situational awareness in future environmental monitoring.

Object detection is important in many applications, such as autonomous driving. While 2D images are lack of depth information and are sensitive to environmental conditions, 3D point cloud can provide accurate depth information and a more descriptive environment. However, sparsity is always a challenge in single-frame point cloud object detection. This paper introduces a two-stage proposal-based feature fusion method for object detection using multiple frames. The proposed method, called proposal features fusion (PFF), utilizes a cosine-similarity approach to associate proposals from multiple frames and employs an attention weighted fusion module to merge features from these proposals. It allows for feature fusion specific to individual objects and offers lower computational complexity while achieving higher precision. The experimental results on the nuScenes dataset demonstrate the effectiveness of our approach, achieving a mAP of 46.7%, which is 1.3% higher than the state-of-the-art 3D object detection method.

Autonomous driving vehicles rely on sensors for the robust perception of surroundings. Such vehicles are equipped with multiple perceptive sensors with a high level of redundancy to ensure safety and reliability in any driving condition. However, multi-sensor, such as camera, LiDAR and radar, systems bring up the requirements related to sensor calibration and synchronization, which are the fundamental blocks of any autonomous system. On the other hand, sensor fusion and integration have become important aspects of autonomous driving research and directly determine the efficiency and accuracy of advanced functions such as object detection and path planning. Classical model-based estimation and data-driven models are two mainstream approaches to achieving such integration. Most recent research is shifting to the latter, showing high robustness in real-world applications but requiring large quantities of data to be collected, synchronized, and properly categorized. To generalize the implementation of the multi-sensor perceptive system, we introduce an end-to-end generic sensor dataset collection framework that includes both hardware deploying solutions and sensor fusion algorithms. The framework prototype integrates a diverse set of sensors, such as cameras, LiDAR, and radar. Furthermore, we present a universal toolbox to calibrate and synchronize three types of sensors based on their characteristics. The framework also includes the fusion algorithms, which utilize the merits of three sensors , namely, camera, LiDAR and radar, and fuse their sensory information in a manner that is helpful for object detection and tracking research. The generality of this framework makes it applicable in any robotic or autonomous applications, also suitable for quick and large-scale practical deployment.

For the emerging autonomous swarm technology, from the perspective of systems science and systems engineering, there must be some novel elements and methods to aggregate multiple systems into a group, which distinguish with the general components with specific functions, and we expect to provide the presentation of their existence in the swarm development processes. The inspiration of our methodology origins from the integration of swarm ontology, multi-paradigm modeling, multi-agent system, cyber-physical system, etc. Therefore, we choose the model-driven technology as a framework to acquire an approach of model representation across the multiple levels of abstraction and composition. The autonomous strategic mechanism is defined and formed in parallel with ConOps analysis and systems design, so as to effectively solve the cognitive problem of emergence caused by the nonlinear causation among individual and whole behaviors. This approach highlights to use the MBSE processes and their artifacts to embed the meso mechanism to integrate the operational and the functional, and which means to connect the macro and micro aspects in formalism and so to become a whole with its expected goals, and then to verify and validate within a L-V-C simulation environment.

Autonomous systems and intelligent machines are involved in almost all areas of human activity and they are now more and more present in our everyday life. The reason for this extensive use certainly resides in all the benefits these machines offer to the users. In experimental settings, numerous studies have demonstrated the positive effects that the introduction of autonomous systems have on human decision-making and performance. However, studies have shown in addition that the introduction of these systems can have important negative effects as well. Considering that autonomous systems are now introduced in sensitive domains like the military or medicine, we need more than ever a comprehensive understanding of the effects they cause on human performance and decision-making, and particularly in tasks and contexts with a social or moral dimension. The aim of this narrative review is threefold. First, we will provide an overview of the main effects on a human agent’s decision-making and performance produced by the introduction of autonomous systems. Second, we will review the conditions identified as underlying factors of these effects, and see how current models of human – autonomous systems interaction integrate those conditions. Third, we will conclude this review by highlighting new directions for future investigations.

Object segmentation is still considered a challenging problem in autonomous driving, particularly in consideration of real world conditions. Following this line of research, this paper approaches the problem of object segmentation using LiDAR-camera fusion and semi-supervised learning implemented in a fully-convolutional neural network. Our method is tested on real-world data acquired using our custom vehicle iseAuto shuttle. The data include all-weather scenarios, featuring night and rainy weather. In this work, it is shown that LiDAR-camera fusion with only a few annotated scenarios and semi-supervised learning, it is possible to achieve robust performance on real-world data in a multi-class object segmentation problem. The performance of our algorithm is measured in terms of intersection over union, precision, recall and area-under-the-curve average precision. Our network achieves 82% IoU in vehicle detection in day fair scenarios and 64% IoU in vehicle segmentation in night rain scenarios.

To validate the accuracy and reliability of onboard sensors for object detection and localization in driver assistance, as well as autonomous driving applications under realistic conditions (indoors and outdoors), a novel tracking system is presented. This tracking system is developed to determine the position and orientation of a slow-moving vehicle (e.g. car during parking maneuvers), independent of the onboard sensors, during test maneuvers within a reference environment. One requirement is a 6 degree of freedom (DoF) pose with a position uncertainty below 5 mm (3σ), an orientation uncertainty below 0.3° (3σ) at a frequency higher than 20 Hz, and a latency smaller than 500 ms. To compare the results from the reference system with the vehicle’s onboard system, a synchronization via Precision Time Protocol (PTP) and a system interoperability to Robot Operating System (ROS) is implemented. The developed system combines motion capture cameras mounted in a 360° panorama view set-up on the vehicle with robotic total stations. A point cloud of the test site serves as a digital twin of the environment, in which the movement of the vehicle is simulated. Results have shown that the fused measurements of these sensors complement each other, so that the accuracy requirements for the 6 DoF pose can be met, while allowing a flexible installation in different environments.

Autonomous weapons systems (AWS), sometimes referred to as “killer robots”, are receiving evermore attention, both in public discourse as well as by scholars and policymakers. Much of this interest is connected with emerging ethical and legal problems linked to increasing autonomy in weapons systems, but there is a general underappreciation for the ways in which existing law might impact on these new technologies. In this paper, we argue that as AWS become more sophisticated and increasingly more capable than flesh-and-blood soldiers, it will increasingly be the case that such soldiers are “in the power” of those AWS which fight against them. This implies that such soldiers ought to be considered hors de combat, and not targeted. In arguing for this point, we draw out a broader conclusion regarding hors de combat status, namely that it must be viewed contextually, with close reference to the capabilities of combatants on both sides of any discreet engagement. Given this point, and the fact that AWS may come in many shapes and sizes, and can be made for many different missions, we argue that each particular AWS will likely need its own standard for when enemy soldiers are deemed hors de combat. We conclude by examining how these nuanced views of hors de combat status might impact on meaningful human control of AWS.

The important characteristic that could assist in autonomous navigation is the ability of a mobile robot to concurrently construct a map for an unknown environment and localize itself within the same environment. This computational problem is known as Simultaneous Localization and Mapping (SLAM). In literature, researchers have studied this approach extensively and have proposed a lot of improvement towards it. More so, we are experiencing a steady transition of this technology to industries. However, there are still setbacks limiting the full acceptance of this technology even though the research had been conducted over the last 30 years. Thus, to determine the problems facing SLAM, this paper conducted a review on various foundation and recent SLAM algorithms. Challenges and open issues alongside the research direction for this area were discussed. However, towards addressing the problem discussed, a novel SLAM technique will be proposed.

Patients with pT1 high-grade (HG) bladder cancer (BC) and a very high risk of progression might benefit from immediate radical cystectomy (RC), but this option remains controversial. Validation of a standardized method to evaluate the extent of lamina propria (LP) invasion (with recognized prognostic value) in transurethral resections (TURBT) specimens is still needed. The Rete Oncologica Lombarda (ROL) system showed a high predictive value for progression after TURBT in recent retrospective studies. Our aim was to validate ROL system on a large mono-institutional prospective series of primary urothelial carcinomas. From 2016 to 2020, we adopted ROL for all patients with pT1 HG BC on TURBT. We employed a 1.0-mm threshold to stratify tumors in ROL1 and ROL2. A total of 222 pT1HGBC were analyzed. Median age was 74 years, with male predominance (73.8%). ROL was feasible in all cases: 91 cases were ROL1 (41%) and 131 ROL2 (59%). At a median follow up of 26.9 months (IQR 13.8-40.6), we registered 80 recurrences and 40 progressions. ROL was a significant predictor of tumor progression at both univariable (HR 3.53; CI 95% 1.56 – 7.99; p<0.01) and multivariable (HR 2.90; CI 95% 1.25 – 6.75; p=0.01) Cox regression analyses. At Kaplan-Meier estimates, ROL showed correlation with both PFS (p=0.0012) and RFS (p=0.0167). Our results confirmed the strong predictive value of ROL for progression on a large prospective series. We encourage the application of ROL for reporting the extent of LP invasion, substaging T1 HG BC, and improving risk tables for urological decision making.

Unmanned agricultural tractor (UAT) represents the advanced stage of autonomous navigation and serves as a core technology in agricultural production. It reduces the operator’s workload, and improves operational accuracy and efficiency. This article reviews three aspects of key autonomous navigation technologies for UATs: perception, path planning and tracking, and motion control. The advantages, and shortages of these key technologies on UATs are clarified by analyzing technical principles and the current research status. We conducted summaries and analyses of existing unmanned navigation solutions for different application scenarios in order to identify current bottleneck issues. Based on the analysis of the applicability of key autonomous navigation technologies on UATs, it can be seen that fruitful research progresses have been achieved. The review also summarizes the common problems in current technologies. The application research on sharing and integrating multi-source data for autonomous navigation are relatively weak. There is an urgent need of high-precision, and high-stability sensing equipment. The universality of path planning methods, and the efficiency and precision of path tracking need to be improved. It is necessary to develop high reliability electrical control modules to enhance motion control performance. Overall, advanced sensors, high-performance intelligent algorithms, and reliable electrical control hardware are key factors in promoting the development of UAT technology.

The port environments have some structures that still need regular control. However, the nature of these environments presents a number of challenges in determining an accurate vehicle position and consequently performing successful image similarity detection. These scenarios, however, can have poor visibility conditions and are highly dynamic, making place recognition difficult because the appearance of a place can change over time. Under these operational conditions, imaging sonars are a promising solution. There are some factors that affect the quality of the captured images, but the fact that they do not suffer from haze is a plus. Therefore, in this paper, a purely acoustic similarity detection method based on forward-looking sonar (FLS) data is proposed to overcome the inherent perceptual problems in a port scenario. Considering the lack of available data in this context and to facilitate the variation of environmental parameters and sensor configurations, a port scenario was simulated using the Stonefish simulator. Experiments were conducted on predefined trajectories near structures. The place recognition approach performs better compared to the results obtained with optical imagery. In general, it provides a good compromise in terms of distinctiveness and achieves a performance of 87.5% when appropriate constraints and assumptions are made.

Beginning with navigation system design, this paper presents a comprehensive strategy for enhancing the search and rescue capabilities of agile mobile robots. Towards this, the autonomous ground vehicle (AGV) utilizes surface classification to determine and prioritize the terrain it is traversing. Our developed system design incorporates real-time terrain data with task objectives at a high level, ensuring that the robot can effectively navigate complex and ever-changing environments. This design, in conjunction with the introduction of a novel lightweight surface classification model, forms the basis of our adaptive terrain perception and decision-making systems, enabling robots such as Jackal to adapt rapidly and make the decisions necessary to complete the task. Subsequently, we exhaustively validated these systems through a series of extensive experiments in a variety of terrains, including normal and mixed terrains, demonstrating their robustness and efficacy in real-life situations.

This article presents a state-of-the-art literature review to understand people’s perceptions and opinions of Autonomous Vehicles (AVs) and the factors that influence AV adoption. A strategic literature search was conducted to select articles for this review. Most of the articles were published within the last five years and they used a household questionnaire survey to collect data. Mostly, they used statistical and econometric methods to evaluate the factors that affect people’s intentions to adopt AVs. The results show that psychological factors often appear as the most important internal factors of people’s willingness to adopt AVs. Additionally, other internal factors such as the socioeconomic profile of individuals and their household, and knowledge and familiarity with AV technologies would affect AV adoption tendencies. User attributes also indirectly affect AV adoption by influencing the psychological factors of users. We identify several critical external factors such as opportunities (e.g., safety and security, low congestion, energy use) and challenges (e.g., system failure, privacy breach, and legal issues), while another influential group includes transportation factors (e.g., travel mode, distance, and time), urban form (e.g., urban/rural, density, land use diversity), affinity to new technology, and the institutional regulatory environment. We discuss some recommendations for policy makers, auto industries, and private stakeholders to formulate policies and strategies to increase market share of AVs. Finally, we identify some limitations of previous studies and provide a blueprint for future research on AV adoption.

The use of digital twins for the development of Autonomous Maritime Surface Vessels (AMSVs) has enormous potential to resolve the increasing need for water-based navigation and safety at the seas. Aiming at the problem of lack of broad and integrated digital twin implementations with live data along with the absence of a digital twin-driven framework for AMSV design and development, an application framework for the development of a fully autonomous vessel using an integrated digital twin in a 3D simulation environment has been presented. Our framework has four layers to ensure that the simulation and the real-world boat as well as the environment are as close as possible. Åboat, an experimental research platform for maritime automation and autonomous surface ship applications, equipped with two trolling electric motors, cameras, LiDARs, IMU and GPS has been used as the case study to provide a proof of concept. Åboat and its sensors, alongwith the environment have been replicated in a 3D simulation environment. Using the proposed application framework, we develop obstacle detection and path planning systems based on machine learning which leverage live data from a 3D simulation environment to mirror the complex dynamics of the real world.

With the current technological transformation in the automotive industry, autonomous vehicles are getting closer to the Society of Automative Engineers (SAE) automation level 5. This level corresponds to the full vehicle automation, where the driving system autonomously monitors and navigates the environment. With SAE-level 5, the concept of a Shared Autonomous Vehicle (SAV) will soon become a reality and mainstream. The main purpose of an SAV is to allow unrelated passengers to share an autonomous vehicle without a driver/moderator inside the shared space. However, to ensure their safety and well-being until they reach their final destination, it is required an active monitoring of all passengers. In this context, this article presents a microphone-based sensor system that is able to localize sound events inside an SAV. The solution is composed of a Micro-Electro-Mechanical System (MEMS) microphone array with a circular geometry connected to an embedded processing platform that resorts to Field-Programmable Gate Array (FPGA) technology to successfully process in hardware the sound localization algorithms.

This work aims to develop an autonomous system for the unmanned aerial vehicle (UAV) to land on a moving platform such as the automobile or marine vessels, providing a promising solution for a long-endurance flight operation, a large mission coverage range, and a convenient recharging ground station. Different from most state-of-the-art UAV landing frameworks which rely on UAV’s onboard computers and sensors, the proposed system fully depends on the computation unit situated on the ground vehicle/marine vessel to serve as a landing guidance system. Such novel configuration can therefore lighten the burden of the UAV and computation power on the ground vehicle/marine vessel could be enhanced. In particular, we exploit a sensor fusion-based algorithm for the guidance system to perform UAV localization, whilst a control method based upon trajectory optimization is integrated. Indoor and outdoor experiments are conducted and the result shows that a precise autonomous landing on a 43 X 43 cm platform could be performed.

The market for autonomous vehicles (AV) is expected to experience significant growth over the coming decades and to revolutionize the future of transportation and mobility. The AV is a vehicle that is capable of perceiving its environment and perform driving tasks safely and efficiently with little or no human intervention and is anticipated to eventually replace conventional vehicles. Self-driving vehicles employ various sensors to sense and perceive their surroundings and, also rely on advances in 5G communication technology to achieve this objective. Sensors are fundamental to the perception of surroundings and the development of sensor technologies associated with AVs has advanced at a significant pace in recent years. Despite remarkable advancements, sensors can still fail to operate as required, due to for example, hardware defects, noise and environment conditions. Hence, it is not desirable to rely on a single sensor for any autonomous driving task. The practical approaches shown in recent research is to incorporate multiple, complementary sensors to overcome the shortcomings of individual sensors operating independently. This article reviews the technical performance and capabilities of sensors applicable to autonomous vehicles, mainly focusing on vision cameras, LiDAR and Radar sensors. The review also considers the compatibility of sensors with various software systems enabling the multi-sensor fusion approach for obstacle detection. This review article concludes by highlighting some of the challenges and possible future research directions.

The current study investigated the use of two-dimensional spatial distribution mapping representing the chlorophyll-a level in a river generated via an unmanned aerial vehicle (UAV) and an unmanned surface vehicle (USV). A domestically developed UAV (Remo-M, Uconsystem Inc., Korea) and a USV developed by our research team were used to collect data from the Nae Seong stream in Korea. An adaptation of the “Data Cleaner” tool was developed and used for USV data processing and analysis. The operation of the autonomous USV was successful. Four previously described indices for quantifying algal blooms in rivers were utilized to create chlorophyll-a images, the normalized difference vegetation index (NDVI), the normalized green red difference index, the green normalized difference vegetation index (GNDVI), and the normalized difference red edge index. The suitability of the linear regression analysis of the correlation between the spectral indices obtained using the UAV and the in situ chlorophyll-a data obtained using the USV was evaluated with the coefficient of determination (R2) at a significance level of p &lt; 0.001. In field application and correlational analysis the NDVI was strongly correlated with chlorophyll-a (R2 = 0.88, p < 0.001), and the GNDVI was moderately correlated with chlorophyll-a (R2 = 0.74, p < 0.001). The map of chlorophyll-a was successfully quantified using the UAV and USV hybrid platforms.

Autonomous aerial refueling technology is an effective solution to extend flight duration of unmanned aerial vehicles, and also a great challenge due to its high risk. For autonomous probe-and-drogue refueling tasks, relative navigation to provide relative position between the receiver aircraft and the refueling drogue is the first and essential step, and vision-based method is the most frequently used. A new monocular vision navigation sensor with image processing strategy consisting of the drogue detection method and the tracking method is developed for autonomous aerial refueling in this paper. In the drogue detection method, thresholding and mathematical morphology method are adopted to eliminate image interference, and contours extraction method is applied to obtain all contours, which are then subsequently checked to achieve target contour of drogue. In the tracking method, a rectangle of interest (ROI) of current frame image is determined by positioning results of last frame, and then processed by the previous drogue detection method. Finally, the proposed image processing strategy in monocular vision navigation sensor is validated using real flight images, which are captured from an autonomous aerial refueling testbed using a micro six-rotor aircraft as receiver aircraft.

For the treatment of cancer and other diseases, therapeutic targeting of non-coding RNAs (ncRNAs) such as microRNAs (miRNAs) and long non-coding RNAs (lncRNAs) is an attractive approach. RNA-based therapeutics have been extensively researched over the past decade, with antisense oligonucleotides and small interfering RNAs being the most commonly used. Some of these have even gained FDA approval. However, the results of trials have been mixed, with some studies reporting strong effects while others have shown limited effectiveness or toxicity. Alternative treatments, such as antimiRNAs, are currently in clinical trials. There is growing interest in the use of lncRNA-based therapies. This Perspective discusses the main challenges of ncRNA therapeutics, including specificity, delivery and tolerability. It also highlights emerging approaches that aim to improve their success.

The rise of the Internet of Things (IoT) has opened up exciting possibilities for new applications. One such novel application is the modernization of maritime communications. Effective maritime communication is vital for ensuring the safety of crew members, vessels, and cargo. The maritime industry is responsible for the transportation of a significant portion of global trade, and as such, the efficient and secure transfer of information is essential to maintain the flow of goods and services. With the increasing complexity of maritime operations, technological advancements such as unmanned aerial vehicles (UAVs), autonomous underwater vehicles (AUVs), and the Internet of Ships (IoS) have been introduced to enhance communication and operational efficiency. However, these technologies also bring new challenges in terms of security and network management. Compromised IT systems, with escalated privileges, can potentially enable easy and ready access to operational technology (OT) systems and networks with the same privileges, with an increased risk of zero-day attacks. In this paper, we first provide a review of the current state and modalities of maritime communications. We then review the current adoption of Software-Defined Radios (SDRs) and Software-Defined Networks (SDNs) in the maritime industry and evaluate their impact, as IoT enablers, on the future of maritime industry operations, safety, and security.

Underwater robotics equipped with visual detection systems have the function of detecting un-derwater artifacts, which is of great significance to deep-sea archaeology. Underwater artifacts are located in complex environments with poor imaging conditions, and the targets have chal-lenging problems such as breakage, stacking, and sediment burial, which causes the marine cul-tural target detection failures. To solve these problems, this paper proposes an underwater cul-tural target detection algorithm based on the deformable deep aggregation network model for underwater robotics exploration. To fully extract the target feature information of underwater targets in complex environments, this paper designs a multi-scale deep aggregation network with deformable convolutional layers. Besides, the BAM attention module is designed for fea-ture optimization, which enhances the potential feature information of the target while weak-ening the background interference information. Finally, the target prediction is achieved through feature fusion at different scales. The proposed algorithm has been extensively validat-ed and analyzed on the collected underwater artifact datasets, and the precision, recall, and mAP of the algorithm have reached 93.1%, 91.4%, and 92.8%, respectively. In addition, the present al-gorithm has been practically deployed on the underwater robotics. In the deep-sea tests, the ar-tifact detection frame rate reaches up to 19 fps, which satisfies the real-time target detection。

The accessibility of public transportation is also known as the last mile problem, and it is one of the main obstacles that affect travelers to choose public transport. Although autonomous vehicles (AVs) have made much progress, they have not been officially put into commercial use. This paper adopts stated preference experiments to explore the impact of shared AVs on train trips’ last-mile travel behavior and takes Wuhan as an example for case analysis. First of all, this paper establishes a structural equation model (SEM) based on the theory of planned behavior to explore the latent psychological variables, including travelers’ attitudes (ATTs), subjective norms (SNs), perceived behavior control (PBC), and behavioral intention to use (BIU) toward AVs. These latent psychological variables are incorporated into the latent class (LC) logit model to establish a hybrid model to study the factors and degree of influence on the travel mode choice for the last mile of train trips. The results show that travelers have preference heterogeneity for the travel mode choice of the last mile of train trips. Through the analysis of LCs, education, career, and income significantly impact the classification of LCs. The latent psychological variables towards AVs have a significant impact on the travel behavior of respondents, but the impacts vary among different segments. Elastic analysis results illustrate that a 1% increase in the travel cost for shared AV in segment 1 leads to a 7.598% decrease in the choice probability of shared AV. Respondents from different segments vary significantly in their willingness to pay, and the value of travel time for high-income groups is relatively higher.

AVs suffer reduced maneuverability and performance due to the degradation in sensor performances in fog. Such degradation causes significant object detection errors essential for AVs' safety-critical conditions. For instance, YOLOv5 performs significantly well under favorable weather but suffers miss detections and false positives due to atmospheric scattering caused by fog particles. Existing deep object detection techniques often exhibit a high degree of accuracy. The drawback is being sluggish at object detection in fog. Object detection methods with fast detection speed have been obtained using deep learning at the expense of accuracy. The problem of the lack of balance between detection speed and accuracy in fog persist. This paper presents an improved YOLOv5-based multi-sensor fusion network that combines radar's object detection with a camera image bounding box. We transformed radar detection by mapping the radar detections into a two-dimensional image coordinate and projected the resultant radar image on the camera image. Using the attention mechanism, we emphasized and improved important feature representation used for object detection while reducing high-level feature information loss. We trained and tested our multi-sensor fusion network on clear and multi-fog weather datasets obtained from the CARLA simulator. Our result shows that the proposed method significantly enhances the detection of distant and small objects. Our small CR-YOLOnet model best strikes a balance between accuracy and speed with an accuracy of 0.849 at 69 fps.

Autonomous vehicles (AVs) may not only reduce parking demand, but also free up on-street parking spaces. From the perspective of bus priority, converting on-street parking lots into dedicated bus lanes can both ensure bus priority and accommodate non-bus traffic, helping to reduce congestion and pollution. In order to study the impact of conversion of on-street parking lots to bus lanes on traffic flow, a microscopic simulation framework based on VISSIM is proposed in this paper. Data was collected using the floating car method and video recording method to quantify the factors affecting traffic flow due to the conversion of on-street parking. The VISSIM simulation model was then calibrated. According to the proportion of the on-street parking lots into a bus lane, the on-street parking lots conversion simulation model of different scenarios was established, and the influence of different on-street parking lots conversion ratio on traffic efficiency and pollution emission was quantitatively analyzed. Finally, the optimization method based on bus lane network connectivity is discussed. The results indicate that: When the on-street parking lots conversion ratio is approximately 100%, bus speed increases by 21.03%, bus delays decrease by 14.27%, and bus parking instances decrease by 11.31%. Total emissions are negatively correlated with vehicle speed. As the conversion rate of on-street parking increases, the emissions of road segments and the entire road network gradually decrease. At a conversion ratio of 100%, the average total emissions for road segments have the highest reduction rate, decreasing by 4.12%. At a conversion ratio of 50%, the average emission total for the road network shows the largest reduction, falling by 2.88%.

The capabilities of autonomous mobile robotic systems have been steadily improving due to recent advancements in computer science, engineering, and related disciplines such as cognitive science. In controlled environments, autonomous robots have been able to achieve relatively high levels of autonomy. In more unstructured environments, however, the realisation of autonomous mobile robots remains challenging due to limitations in the robots’ external environment understanding. Many autonomous mobile robots use classical, learning-based or hybrid approaches for navigation. The classical navigation approach typically includes robot perception, localisation, environmental mapping, path planning and motion control stages. More recent learning-based methods may replace the complete navigation pipeline or selected stages of the classical approach. For effective deployment, autonomous robots need to be able to understand their external environments at a sophisticated level according to their intended applications. Therefore, in addition to robot perception, scene analysis and higher-level scene understanding (e.g., traversable/non-traversable, and rough or smooth terrain) are required for autonomous robot navigation in unstructured outdoor environments. A wide number of alternative approaches have been proposed in recent years to attempt to address these scene understanding requirements. This paper provides a comprehensive review and critical analysis of these methods in the context of their applications to the problems of robot perception and scene understanding in unstructured environments, and the related problems of localisation, environment mapping and path planning. State-of-the-art sensor fusion methods and multimodal scene understanding approaches are also discussed and evaluated within this context. The paper concludes with an in-depth discussion regarding the current state of the autonomous ground robot navigation challenge in unstructured outdoor environments and the most promising future research directions to overcome these challenges.

The paper presents the measurement campaign carried out on a real-world motorway stretch of Hungary with the participation of both industrial and academic partners from Austria and Hungary. The measurement included vehicle based as well as infrastructure based sensor data. The obtained results will be extremely useful for future automotive R&amp;D activities due to the available ground truth for static and dynamic content. The aim of the measurement campaign was twofold. On the one hand, road geometry was mapped with high precision in order to build Ultra High Definition (UHD) map of the test road. On the other hand, the vehicles - equipped with differential Global Navigation Satellite Systems (GNSS) for ground truth localization - carried out special test scenarios while collecting detailed data using different sensors. All test runs were recorded by both vehicles and infrastructure. As a complementary task, the available 5G network was monitored and tested. The paper also showcases application examples based on the measurement campaign data, in which the added value of having access to the ground truth labeling and the created UHD map of the motorway section becomes apparent. In order to present our work transparently, a part of the measured data have been shared openly such that interested automotive as well as academic parties may use it for their own purposes.

Autonomous driving systems are increasingly becoming a necessary trend towards building smart cities of the future. Numerous proposals have been presented in recent years to tackle particular aspects of the working pipeline towards creating a functional end-to-end system, such as object detection, tracking, path planning, sentiment or intent detection. Nevertheless, few efforts have been made to systematically compile all of these systems into a single proposal that effectively considers the real challenges these systems will have on the road, such as real-time computation, hardware capabilities, etc. This paper has reviewed various techniques towards proposing our own end-to-end autonomous vehicle system, considering the latest state on the art on computer vision, DSs, path planning, and parallelization.

This paper presents control algorithms enabling autonomous heterogeneous trucks to drive in platoons. Heterogeneous trucks imply that the hardware information (e.g., truck length, break, accelerator, or engine) of a truck may be distinct from that of another truck. We define a platoon as a collection of trucks where a manually driven truck (leader truck) is followed by several automatically controlled following trucks. The proposed approach is to make every autonomous truck keep following the leader's trajectory while maintaining a designated distance from its predecessor truck. As far as we know, this paper is unique in developing both lateral maneuver and speed control considering a platoon of heterogeneous trucks. The efficiency of the proposed approach is verified using simulations.

Non-compliant (NC) structures are often encountered in building construction in developing countries. This is a condition whereby erected buildings do not follow regulatory standards, especially in the provision of reinforcements. Therefore, under an earthquake load, the structures do not have sufficient resistance against such load. The structural elements of the building, which often have NC conditions, are the beam-column joints because they do not contain adequate shear reinforcements due to installation difficulty. This study aims to determine the structural performance of the reinforced concrete (RC) frame, which has a reinforcement deficiency in the beam-column joints. Numerical simulation was conducted on the Kakaletsis structure model by modifying the reinforcement details at the joints to represent the NC conditions. The non-linear modeling and analysis of the structural model were carried out using ATENA software. The analysis showed that the reduction in shear reinforcements in the NC model joint caused a decrease in load-carrying capacity by about 26.04%. A shift was also observed in the collapse pattern, i.e., from the beam to the end of the column, causing global failure and reducing the undamaged but increasing more severely damaged condition. This showed that the NC structure, due to the non-conformance of reinforcement, significantly reduced the structure's performance.

An exhaustive list of thirteen instances of reports confirming experimentally the relativistic Doppler relation, are examined. For those involving longitudinal Doppler, the non-relativistic relation is seen to be confirmed, within the reported experimental accuracies, to the same degree as the standard relativistic relation. Higher values of the speed of the emitter would be required to examine further the claimed confirmations. For those reports involving saturation spectroscopy, there is much confusion over the appropriate Doppler relation to be used, together with some serious analytical flaws. For the two cases that involve transverse Doppler, there are seen to be either serious faults in the theoretical part, or intrusion from the first order effect. Therefore, the reported conclusions - that the results for the experiments confirm the relativistic SR relation - cannot be justified by any of the experimental works.

We introduce a novel key exchange protocol based on non-commutative matrix multiplication defined in $\mathbb{F}_p^{n \times n}$. The security of our method does not rely on computational problems as integer factorization or discrete logarithm whose difficulty is conjectured. We show that the public, secret and channel keys become indistinguishable to the eavesdropper under matrix multiplication. Remarkably, for achieving a 512-bit security level, the public key is 1024 bits and the private key is 768 bits, making them the smallest keys among post-quantum key exchange algorithms. Also, we discuss how to achieve key authentication, interdomain certification and Perfect Forward Secrecy (PFS). Therefore, Lizama's algorithm becomes a promising candidate to establish shared keys and secret communication between (IoT) devices in the quantum era.

We introduce a novel key exchange protocol based on non-commutative matrix multiplication defined in $\mathbb{Z}_p^{n \times n}$. The security of our method does not rely on computational problems as integer factorization or discrete logarithm whose difficulty is conjectured. We claim that the unique eavesdropper's opportunity to get the secret/private key is by means of an exhaustive search which is equivalent to the unsorted database search problem. Furthermore, we show that the secret/private keys become indistinguishable to the eavesdropper. Remarkably, to achieve a 512-bit security level, the keys (public/private) are of the same size when matrix multiplication is done over a reduced 8-bit size modulo. Also, we discuss how to achieve key certification and Perfect Forward Secrecy (PFS). Therefore, Lizama's algorithm becomes a promising candidate to establish shared keys and secret communication between (IoT) devices in the quantum era.

This article develops duality principles and numerical results for a large class of non-convex variational models. The main results are based on fundamental tools of convex analysis, duality theory and calculus of variations. More specifically the approach is established for a class of non-convex functionals similar as those found in some models in phase transition. Finally, in the last section we present a concerning numerical example and the respective software.

Let $\mathbb{K}$ be a non-Archimedean (complete) valued field satisfying \begin{align*} \left|\sum_{j=1}^{n}\lambda_j^2\right|=\max_{1\leq j \leq n}|\lambda_j|^2, \quad \forall \lambda_j \in \mathbb{K}, 1\leq j \leq n, \forall n \in \mathbb{N}. \end{align*} For $d\in \mathbb{N}$, let $\mathbb{K}^d$ be the standard $d$-dimensional non-Archimedean Hilbert space. Let $m \in \mathbb{N}$ and $\text{Sym}^m(\mathbb{K}^d)$ be the non-Archimedean Hilbert space of symmetric m-tensors. We prove the following result. If $\{\tau_j\}_{j=1}^n$ is a collection in $\mathbb{K}^d$ satisfying $\langle \tau_j, \tau_j\rangle =1$ for all $1\leq j \leq n$ and the operator $\text{Sym}^m(\mathbb{K}^d)\ni x \mapsto \sum_{j=1}^n\langle x, \tau_j^{\otimes m}\rangle \tau_j^{\otimes m} \in \text{Sym}^m(\mathbb{K}^d)$ is diagonalizable, then \begin{align}\label{WELCHNONABSTRACT} \max_{1\leq j,k \leq n, j \neq k}\{|n|, |\langle \tau_j, \tau_k\rangle|^{2m} \}\geq \frac{|n|^2}{\left|{d+m-1 \choose m}\right| }. \end{align} We call Inequality (\ref{WELCHNONABSTRACT}) as the non-Archimedean version of Welch bounds obtained by Welch [\textit{IEEE Transactions on Information Theory, 1974}]. We formulate non-Archimedean Zauner conjecture.

Nonionizing millimeter-waves (MMW) interact with cells in a variety of ways. Here the inhibited cell division effect was investigated using 85-105 GHz MMW irradiation within the ICNIRP (International Commission on Non-Ionizing Radiation Protection) non-thermal 20 mW/cm2 safety standards. Irradiation using a power density of about 1.0 mW/cm2 , SAR over 5-6 hours on 50 cells/μl samples of Saccharomyces cerevisiae model organism resulted in 62% growth rate reduction compared to the control (sham). The effect was specific for 85-105 GHz range, and was energy and cell density dependent. Irradiation of wild type and Δrad52 (DNA damage repair gene) deleted cells presented no differences of colony growth profiles indicating non-thermal MMW treatment does not cause permanent genetic alterations. Dose versus response relations studied using a standard horn antenna (~1.0 mW/cm2) and compared to that of a compact waveguide (17.17 mW/cm2) for increased power delivery resulted in complete termination of cell division via non-thermal processes supported by temperature rise measurements. We have shown that non-thermal MMW radiation has potential for future use in treatment of yeast related diseases and other targeted biomedical outcomes.

Nonionizing millimeter-waves (MMW) are reported to interact with cells in a variety of ways. Possible mechanisms of the inhibited cell division effect were investigated using 85-105 GHz MMW irradiation within the ICNIRP (International Commission on Non-Ionizing Radiation Protection) non-thermal 20 mW/cm² safety standards. ~1.0 mW/cm² exposure over 5-6 hours treatment on 50 cells/μl samples of Saccharomyces cerevisiae model organism, resulted in 62% growth rate reduction compared to control (sham). The effect was specific for 85-105 GHz range and energy dose and cell density dependent. Irradiation of wild type and Δrad52 (DNA damage repair gene) deletion cells presented no differences of colony growth profiles indicating non-thermal MMW treatment does not cause genetic alterations. Dose versus response relations studied using a standard horn antenna (~1.0 mW/cm²) and compared to that of a compact waveguide (17.17 mW/cm²) for increased power delivery resulted in complete termination of cell division via non-thermal processes supported by temperature rise measurements. Combinations of MMW mediated Structure Resonant Energy Transfer (SRET), membrane modulations eliciting signaling effects, and energetic resonance with biomolecules were indicated to be responsible for the observations reported. Our results provide novel mechanistic insights enabling innovative applications of nonionizing radiation procedures for eliciting targeted biomedical outcomes.

Maritime data not only identify financial resources that can significantly enhance the efficiency of shipping companies but also play a pivotal role in promoting eco-friendly and sustainable shipping practices. However, active corporate strategies are required to include maritime data essential for the commercial operation of autonomous ships in the form of corporate assets by transparent evaluating the data. The aim of this study is to review previous studies on da-ta-valuation models, identify a valuation model suitable for maritime business, consider the characteristics of maritime data. The analytic hierarchy process (AHP) method is used to derive priorities for valuing maritime data assets, with emphasis placed on the characteristics of mari-time data, followed by the character of the future-oriented maritime-data market and the da-ta-valuation model. The results obtained that the most important factors in selecting a maritime data-valuation model by analyzing the AHP method were identified as the characteristics of the maritime data(M1). The next most important factors analyzed were the features of the mari-time-data market(M2) and the features of the maritime data-valuation model(M3) in order. In addition, the characteristics of maritime data were preferentially considered among the main criteria, and the market approach (A2) was selected as the most optimal valuation model. The potential impact of this implementation could contribute to the establishment of an intelligent technology market by estimating the value of data and developing a platform for maritime data trading, allowing for more efficient data sharing and utilization by maritime autonomous sur-face ship(MASS).

The vast majority of autonomous driving systems are limited to applications on roads with clear lane markings and are implemented using commercial grade sensing systems coupled with specialized graphic accelerator hardware. This research reviews an alternative approach for autonomously steering vehicles that eliminates the dependency on road markings and specialized hardware. A combination of machine vision, machine learning and artificial intelligence based on popular pre-trained Convolutional Neural Networks (CNN) and Recurrent Neural Networks (RNN) was used to drive a vehicle along roads lacking lane markings (unmarked roads). The team developed and tested this approach on the ACTor (Autonomous Camus TranspORt) vehicle - an autonomous vehicle development and research platform coupled with a low-cost webcam based sensing system and minimal computational resources. The proposed solution was evaluated on real-world roads and varying environmental conditions. It was found that this solution may be used to successfully navigate unmarked roads autonomously with acceptable road following behavior.

The presence of fog in the background can prevent small and distant objects from being detected, let alone tracked. Under safety-critical conditions, multi-object tracking models require faster-tracking speed while maintaining high object-tracking accuracy. The original DeepSORT algorithm used YOLOv4 for the detection phase, and a simple neural network for deep appearance descriptor. Consequently, the feature map generated loses relevant details about the track being matched with a given detection in fog. Targets with a high degree of appearance similarity on the detection frame are more likely to be mismatched, resulting in identity switches or track failures in heavy fog. We propose an improved multi-object tracking model based on the DeepSORT algorithm to im-prove tracking accuracy and speed under foggy weather conditions. First, we employed our camera-radar fusion network (CR-YOLOnet) in the detection phase for faster and more accurate object detection. We proposed an appearance feature network to replace the basic convolutional neural network. We incorporated GhostNet to take the place of the traditional convolutional layers to generate more features and reduce computational complexities and cost. We adopted a segmentation module and fed the semantic labels of the corresponding input frame to add rich semantic information to the low-level appearance feature maps. Our proposed method outperformed YOLOv5 + DeepSORT with a 35.15% increase in multi-object tracking accuracy, a 32.65% increase in multi-object tracking precision, the speed increased by 37.56%, and identity switches decreased by 46.81%.

In the era of electrification and artificial intelligence, direct current motors are widely utilized with numerous innovative adaptive and learning methods. Traditional methods utilize model-based algebraic techniques with system identification, such as recursive least squares, extended least squares, and autoregressive moving averages. The new method known as deterministic artificial intelligence asserts physical-based process dynamics to achieve target trajectory tracking. There are two common autonomous trajectory generation algorithms: sinusoidal function and Pontryagin's based generation algorithm. This thesis aims to simulate model-following and deterministic artificial intelligence methods using sinusoidal and Pontryagin's methods and compare their performance difference when following challenging step function slew maneuver.

This article addresses the problem of formation control of a quadrotor and one (or more) marine vehicles operating at the surface of the water with the end goal of encircling the boundary of a chemical spill, enabling such vehicles to carry and release chemical dispersants used during ocean cleanup missions to break-up oil molecules. Firstly, the mathematical models of the Medusa class of marine robots and quadrotor aircrafts are introduced, followed by the design of single vehicle motion controllers that allow these vehicles to follow a parameterized path individually using Lyapunov based techniques. At a second stage, a distributed controller using event triggered communications is introduced, enabling the vehicles to perform cooperative path following missions according to a pre-defined geometric formation. In the next step, a real time path planning algorithm is developed that makes use of a camera sensor, installed on-board the quadrotor. This sensor enables the detection in the image of which pixels encode parts of a chemical spill boundary and use them to generate and update in real time a set of smooth B-spline based paths for all the vehicles to follow cooperatively. The performance of the complete system is evaluated by resorting to 3-D simulation software, making it possible to simulate visually a chemical spill. Results from real water trials are also provided for parts of the system, where two Medusa vehicles are required to perform a static lawn-mowing path following mission cooperatively at the surface of the water.

In this paper, we present a complete, flexible and safe convex-optimization-based method to solve speed planning problems over a fixed path for autonomous driving in both static and dynamic environments. Our contributions are five fold. First, we summarize the most common constraints raised in various autonomous driving scenarios as the requirements for speed planner developments and metrics to measure the capacity of existing speed planners roughly for autonomous driving. Second, we introduce a more general, flexible and complete speed planning mathematical model including all the summarized constraints compared to the state-of-the-art speed planners, which addresses limitations of existing methods and is able to provide smooth, safety-guaranteed, dynamic-feasible, and time-efficient speed profiles. Third, we emphasize comfort while guaranteeing fundamental motion safety without sacrificing the mobility of cars by treating the comfort box constraint as a semi-hard constraint in optimization via slack variables and penalty functions, which distinguishes our method from existing ones. Fourth, we demonstrate that our problem preserves convexity with the added constraints, thus global optimality of solutions is guaranteed. Fifth, we showcase how our formulation can be used in various autonomous driving scenarios by providing several challenging case studies in both static and dynamic environments. A range of numerical experiments and challenging realistic speed planning case studies have depicted that the proposed method outperforms existing speed planners for autonomous driving in terms of constraint type covered, optimality, safety, mobility and flexibility.

Automotive manufacturers and suppliers develop new vehicle systems, such as Advanced Driver Assistance Systems (ADAS), to increase traffic safety and driving comfort. ADAS are technologies that provide drivers with essential information or take over demanding driving tasks. More complex and intelligent vehicle systems are being developed toward fully autonomous and cooperative driving. Apart from the technical development challenges, training of drivers with these complex vehicle systems represents an important concern for automotive manufacturers. This paper highlights the new evolving requirements concerning the training of drivers with future complex vehicle systems. In accordance with these requirements, a new training concept is introduced, and a prototype of a training platform is implemented for utilization in future driving schools. The developed training platform has a scalable and modular architecture so that more than one driving simulator can be networked to a common driving instructor unit. The participating driving simulators provide fully immersive visualization to the drivers by utilizing head-mounted displays instead of conventional display screens and projectors. The driving instructor unit consists of a computer with a developed software tool for training session control, monitoring, and evaluation. Moreover, the driving instructor can use a head-mounted display to participate interactively within the same virtual environment of any selected driver. A simulation model of an autonomous driving system was implemented and integrated in the participating driving simulators. Using this simulation model, training sessions were conducted with the help of a group of test drivers and professional driving instructors to prove the validity of the developed concept and show the usability of the implemented training platform.

Non-isocyanate polyurethane synthesis by non-Sn catalysis is an essential challenge toward green polyurethane synthesis. Bismuth compounds are attractive candidates due to their low cost, low toxicity, and availability to urethane chemistry. We applied various Bi catalysts to the self-polycondensation of a bishydroxyurethane monomer and found BiCl3 to be an excellent catalyst through optimization. The catalytic activity and price of BiCl3 are comparable to those of Bu2SnO, while its toxicity is significantly low. BiCl3 is, therefore, a promising alternative to Sn-based catalysts in non-isocyanate polyurethane synthesis.

Wine is a processed beverage that offers high nutritional and health benefits. It is produced from grape must, which undergoes fermentation by yeasts (and sometimes lactic acid bacteria) to create a product that is highly appreciated by consumers worldwide. However, if only one type of yeast, specifically Saccharomyces cerevisiae, were used in the fermentation process, the resulting wine would lack aroma and flavor and may be rejected by consumers. To produce wine with a desirable taste and aroma, non-Saccharomyces yeasts are necessary. These yeasts contribute volatile aromatic compounds that significantly impact the wine’s final taste. They promote the release of primary aromatic compounds through a sequential hydrolysis mechanism involving several glycosidases unique to these yeasts. This review will discuss the unique characteristics of these yeasts (Schizosaccharomyces pombe, Pichia kluyveri, Torulaspora delbrueckii, Wickerhamomyces anomalus, Metschnikowia pulcherrima, Hanseniaspora vineae, Lachancea thermotolerans, Candida stellata, and others) and their impact on wine fermentations and co-fermentations. Their existence and the metabolites they produce enhance the complexity of wine flavor, resulting in a more enjoyable drinking experience.

Post-quantum public cryptosystems introduced so far do not define an scalable public key infrastructure for the quantum era. We demonstrate here a public certification system based in Lizama’s non-invertible Key Exchange Protocol which can be used to implement a public key infrastructure (PKI), secure, scalable, interoperable and efficient. We show functionality of certificates across different certification domains. Finally, we discuss that non-invertible certificates can exhibit Perfect Forward Secrecy (PFS).

It is well established in literature that the public debt and economic growth bear positive and non-linear relationship. However, in recent literature, evidence of no causal relationship is found when accounted for endogeneity in case of advanced economies (Panizza & Presbitero, 2014). Chudik, Mohaddes, Pesaran, & Raissi, (2017) analyse the data on forty countries and find no evidence of universally applicable threshold effect in the relationship between debt and growth. These advancements in the debt-growth literature provides the motivation to re-explore the relationship between public debt and economic growth under non-linearity and endogeneity in context of developing economies of South Asia including Pakistan, India, Bangladesh and Sri-Lanka for the period 1980-2014. There exists a significant, positive but nonlinear relationship between the public debt and economic growth for the selected set of developing countries when accounted for endogeneity and non-linearity. The negative association between the public debt and economic growth for SAARC region is found when the debt level is higher than 61% of GDP which is quite lower than developed economies (90% of GDP). Individual threshold levels for debt-to-GDP ratio divulge that Sri Lanka, Pakistan and India need to control their public borrowings as their current debt levels are higher and/or around the respective threshold levels.

We establish a new Gagliardo-Nirenberg inequality characterized by radial symmetry and involving potentials exhibiting pure power polynomial behaviour. As an application of our result, we investigate the existence of extremals for this inequality, which also correspond to stationary solutions for the nonlinear Schrödinger equation with inhomogeneous nonlinearity, competing with Hs-subcritical nonlinearities, either of local or non-local nature.

Non-alcoholic steatohepatitis (NASH), which is the most severe manifestation of non-alcoholic fatty liver disease (NAFLD), has been recognized as a major hepatocellular carcinoma (HCC) catalyst. However, the molecular mechanism of NAFLD-NASH-HCC sequence remains unclear and a specific and effective treatment for NASH has not yet been established. The progress in this field depends on the availability of reliable preclinical models which show the steady progress to NASH, liver cirrhosis, and HCC. However, most of NASH mouse models that have been described to date develop NASH generally for more than 24 weeks and there is an uncertainty of HCC development. To overcome such shortcomings of experimental NASH studies, we established a novel NASH-HCC mouse model with very high reproducibility, generality, and convenience. We treated male C57BL/6J mice with a newly developed choline-deficient and methionine-restricted high-fat diet (CDMRHFD) for 60 weeks. Treatment of CDMRHFD for 3 weeks revealed marked steatosis, lobular inflammation, and fibrosis, histologically diagnosed as NASH. Liver cirrhosis was observed in all mice with 36-week treatment. Liver nodule emerged at 12 weeks of the treatment, and diameter >2 mm liver tumors developed in all mice at 24 weeks of the treatment. In conclusion, our rapidly progressive and highly reproducible NASH-liver cirrhosis-HCC model is helpful for preclinical development and research on the pathogenesis of human NAFLD-NASH-HCC. Our mouse model would be useful for the development of novel chemistry for NASH-HCC-targeted therapies or HCC prevention strategies.

The current work reveals the fine tuning between stability zones and randomness of GI/M/1 Pointwise Stationary Fluid Flow Approximation (PSFFA) model of the non-stationary D/M/1 queueing system. More specifically, this clearly provides more insights into developing a contemporary PSFFA theory that unifies non-stationary queueing theory with chaos theory and fields in both theoretical physics and chaotic systems. This opens new grounds for stability analysis of non-stationary queueing systems. A notable application of GI/M/1 queueing model to achieve ultra-low latency of autonomous driving service is highlighted. Concluding remarks associated with future avenues of research are given.

The home is becoming a key location for healthcare delivery, including the use of technology driven by autonomous systems (AS) to monitor and support healthcare plans. Using the example of a smart mirror, this paper describes the outcomes of focus groups with people with multiple sclerosis (MS; n=6) and people who have had a stroke (n=15) to understand their attitudes towards the use of AS for healthcare in the home. We thematic analysis to analyse the data. The results indicate that the use of such technology depends on the level of adaptability and responsiveness to the users’ specific circumstances, including their relationships with the healthcare system. A smart mirror would need to support manual entry, responsive goal setting, effective aggregation of data sources and integration with other technology, have a range of input methods, be supportive rather than prescriptive in messaging, and give the user full control of their data. Barriers to adoption include a perceived lack of portability and practicality, lack of accessibility and inclusivity, a sense of redundancy, being overwhelmed by multiple technological devices, and a lack of trust in data sharing. These results inform the development and deployment of future health technologies based on the lived experiences of people with health conditions who require ongoing care.

In various domains such as energy, manufacturing, and maritime, cyber-physical systems (CPS) have seen increased interest. Both academia and industry have focused on the cybersecurity aspects of such systems. The assessment of cyber risks in CPS is a popular research area with many existing approaches that aim to suggest relevant methods and practices. However, few works have addressed the extensive and objective evaluation of the proposed approaches. In this paper, a standard-aligned evaluation methodology is presented and empirically conducted to evaluate a newly proposed cyber risk assessment approach for CPS. The approach, which is called FMECA-ATT&CK is based on Failure Mode, Effects & Criticality Analysis (FMECA) risk assessment process and enriched with the semantics and encoded knowledge in the Adversarial Tactics, Techniques, and Common Knowledge framework (ATT&CK). Several experts were involved in conducting two risk assessment processes, FMECA-ATT\&CK and Bow-Tie, against two use cases in different application domains, particularly an autonomous passenger ship (APS) as a maritime use case and a digital substation as an energy use case. This allows for the evaluation of the approach based on a group of characteristics, namely, applicability, feasibility, accuracy, comprehensiveness, adaptability, scalability, and usability. The results highlight the positive utility of FMECA-ATT&CK in model-based, design-level, and component-level cyber risk assessment of CPS with several identified directions for improvements. Moreover, the standard-aligned evaluation method and the evaluation characteristics have been demonstrated as enablers for the thorough evaluation of cyber risk assessment methods.

The recent advancements in the field of communication have led data sharing to become an integral part of today's smart cities with the evolution of concepts such as the internet of vehicles (IoV) paradigm. As a part of IoV, Electric Vehicles (EVs) have recently gained momentum as authorities have started expanding their Low Emission Zones (LEZ) in an effort to build green cities with low carbon footprints. Energy is one of the key requirements of EVs not only to support the smooth and sustainable operation of EV itself but to also ensure connectivity between the vehicles and infrastructure with controlling devices like sensors and actuators installed within an EV. In this context, renewable energy sources (such as wind energy) dramatically play their parts in the automobile sector towards designing the energy harvesting electric vehicles (EH-EV) to pare the energy reliance on the national grid. In this article, a novel approach is presented to achieve electric generation due to vehicle mobility to support the communication primitives in electric vehicles which enables plenty of IoV use cases in the presence of surplus energy at hand. A small-scale wind turbine is designed to harness wind power for converting it into mechanical power. This power is then fed to the onboard DC generator to produce electrical energy. Furthermore, the acquired power is processed through a regulation circuitry to consequently achieve the desired power supply for the end load, i.e. the batteries installed. The suitable orientation for efficient power generation is proposed on ANSYS-based aerodynamics analysis. The voltages induced by DC generator at No-Load condition are 35V while at Full-Load 25V are generated at rated current of 6.9A, along with the generation of power at around 100W (at constant voltage) at the rated speed of 90 mph for nominal battery charging. Moreover, the acquired data can be monitored via an android application interface by using a Bluetooth module.

In emergency scenarios service vehicles must identify potential route(s) and use the best available route. However, route identification requires intelligent decision-support systems which generally use non-traditional approaches with tools characterised by flexible non-hierarchical structures. Conventional models using group decision-support systems have been applied; however, when used in smart urban environments, emergency response services have limitations in their ability to identify unobstructed paths (routes) in dynamic operating environments. In this paper we introduce a novel path planning method for autonomous vehicle control in emergency situations. The proposed model uses self-organizing maps in an integrated Spiral STC algorithm termed the: Hybrid SOM-Spiral STC model which uses hedge algebras and \emph{Kansei} evaluation in group decision-support. The proposed model has been designed to quantify qualitative factors using sensor derived data processed with human sensibilities and preferences in emergency decision support. The experimental results show that the proposed model achieves significant improvements in group decision-support under dynamic uncertainty. We posit that our novel approach holds the prospect of improvements in the provision of emergency services.

(1) Background: Although multiple studies have reported on the therapeutic effects of Atezo+Bev for the treatment of NASH-related liver cancer, few studies have focused on its effect on liver reserve. Here, we aimed to compare the changes in hepatic reserve during the Atezo+Bev treatment of NAFLD/NASH-related HCC and of non-NAFLD/non-NASH-related HCC. (2) Methods: We retrospectively compared the changes in ALBI score in 109 patients with NAFLD/NASH or non-NAFLD/non-NASH during 12 weeks of treatment with Atezo+Bev for advanced HCC between September 2019 and January 2022. PSM was performed, and the OS, PFS, and PPS of the two groups were compared. (3)Results: The ALBI after 12 weeks of Atezo+Bev treatment was significantly worse in the NAFLD/NASH group than in the non-NAFLD/non-NASH group. Analysis of the 24 propensity score-matched pairs of cases with NAFLD/NASH or non-NAFLD non-NASH yielded similar results. The prognoses of the two groups were similar with respect to OS and PFS, but the NAFLD/NASH group had a significantly shorter PPS. The 24 matched pairs had similar OS and PFS, but the PPS of the NAFLD/NASH group was shorter. (4)Conclusion: Atezo+Bev treatment may worsen hepatic reserve, and there-fore life expectancy, in patients with NAFLD/NASH-related liver cancer.

This article develops a duality principle and a related convex dual formulation suitable for a large class of models in physics and engineering. The results are based on standard tools of functional analysis, calculus of variations and duality theory. In particular, we develop applications to a model in non-linear elasticity.

Near-fault ground motions can cause severe damage to civil structures, including bridges. Safety assessment of these structures for near fault ground motion is usually performed through Non-Linear Dynamic Analyses, while faster methods are often used. IMPAb (Incremental Modal Pushover Analysis for Bridges) permits to investigate the seismic response of a bridge by considering the effects of higher modes, which are often relevant for bridges. In this work, IMPAb is applied to a bridge case study considering near-fault pulse-like ground motion records. The records were analyzed and selected from the European Strong Motion Database and the pulse parameters were evaluated. In the paper results from standard pushover procedures and IMPAb are compared with nonlinear Response-History Analysis (NRHA), considering also the vertical component of the motion, as benchmark solutions and incremental dynamic analysis (IDA). Results from the case study demonstrate that the vertical seismic action has a minor influence on the structural response of the bridge. Therefore IMPAb, which can be applied considering vertical motion, remains very effective conserving the original formulation of the procedure, and can be considered a well performing procedure also for near-fault events.

Background: Rapid advancements in Distributed Ledger Technology (DLT), including blockchain, are foundational to a new era of digital innovation. This innovation has catalyzed the emergence of ‘Decentralized Science (DeSci),’ a new concept and movement that aims to address the challenges of modern science. Objective: Given the novelty of the field of DeSci, this study aims to provide a comprehensive definition of the term as well as explore and conceptualize shared values and guiding principles inherent to DeSci. Methods: In line with the objectives of this study, an exploratory literature review was conducted to identify and synthesize the scholarly and secondary literature. The search and selection process included six databases (PubMed, Google Scholar, Web of Science, IEEE Xplore, arXiv, and Social Science Research Network), and the search period was limited to the last 15 years, from 2008 to 2023. To identify relevant secondary literature, such as articles, reports, blog posts, and website content, a keyword search was conducted in three search engines (Google.com, Bing.com, and Yahoo.com). Owing to the novelty of the concept and movement of DeSci, the exploratory literature review was supplemented by an anonymous online-based expert survey using a combination of single-choice and open-ended questions. The experts were selected based on predefined inclusion criteria, in association with their activities in the field of DeSci. The responses to the single-choice questions were subject to statistical analysis, whereas the open-ended questions were analyzed using qualitative content analysis. Results: Seven studies were selected for evaluation as part of the search and selection process to identify relevant scholarly literature. Following the review of secondary literature, additional 24 publications were included in the analysis. In the expert survey, 39 valid datasets were collected and analyzed. Following the synthesis of the results of the exploratory literature review and expert survey, a comprehensive definition of the term ‘Decentralized Science’ (DeSci) was formulated to reflect recurring themes. As no publications that explicitly discussed or addressed the values or principles of DeSci in the exploratory literature review could be identified, a set of shared values and guiding principles for DeSci were defined based on the results of the expert survey. Conclusion: The results of this study underscore the emerging nature of DeSci, as evidenced by the limited availability of relevant information and scarcity of academic publications. While this study proposes a comprehensive definition of DeSci as well as a set of shared values and guiding principles, the results of this study highlight the importance of ongoing evaluation and validation. Furthermore, the results of this study indicate a clear need for future research in the field of DeSci, emphasizing its dynamic and developing nature.

This paper develops feasible control strategies and associated system responses to bring an autonomous front-axle bicycle robot from specified initial conditions to final conditions such that a specific performance index is minimized. To solve the problem, the following approach is used: The feasible controls derived from the normal equations of optimality are substituted into the state and the costate systems and form a combined control-free state-costate system which is vectorized to enable and ease the application of a numerical method. A computer program written in Matlab computer programming language, codes a fourth-order Runge-Kutta numerical method and then solve the combined state-costate system of ordinary differential equations. The obtained results are the feasible bicycle robot trajectory, the feasible state functions, the feasible costate functions and the feasible control functions. Associated Computational Simulations are designed and provided to persuade on the effectiveness and the reliability of the approach.

Imaging lidars are one of the hottest topics in the optronics industry. The need to sense the surroundings of every autonomous vehicle has pushed forward a career to decide the final solution to be implemented. The diversity of state-of-the art approaches to the solution brings, however, a large uncertainty towards such decision. This results often in contradictory claims from different manufacturers and developers. Within this paper we intend to provide an introductory overview of the technology linked to imaging lidars for autonomous vehicles. We start with the main single-point measurement principles, and then present the different imaging strategies implemented 8 in the different solutions. An overview of the main components most frequently used in practice is also presented. Finally, a brief section on pending issues for lidar development has been included, 10 in order to discuss some of the problems which still need to be solved before an efficient final implementation.Beyond this introduction, the reader is provided with a detailed bibliography containing both relevant books and state of the art papers.

Autonomous and cooperative vehicle systems represent a key priority in the automotive realm. Networked driving simulation can be utilized as a safe, cost-effective experimental replica of real traffic environments in order to support and accelerate the development of such systems. In networked driving simulation, different independent systems collaborate to achieve a common task: multi-driver traffic scenario simulation. Yet distinct system complexity levels are necessary to fulfill the requirements of various application scenarios, such as development of vehicle systems, analysis of driving behavior, and training of drivers. With myriad alternatives of available systems and components, developers of networked driving simulation are typically confronted with high design complexity. There are no systematic approaches to date for the design of networked driving simulation in accordance with the specific requirements of the concerned application scenarios. This paper presents a novel design method for networked driving simulation. The method consists mainly of a procedure model that is accompanied by a configuration software. The procedure model includes the necessary phases for the systematic design of application-oriented platforms for networked driving simulation. The configuration software embeds supportive decision-making processes that enable developers to apply the design method and easily create different system models. The design method was validated by generating system models and developing platforms of networked driving simulation for three different application scenarios.

Metabolites present in the hemolymph of honey bees play a crucial role in modulating the metamorphic process within the species. However, the precise alterations in metabolite composition, along with the associated variances and regulatory pathways implicated during the larvae-to-pupae metamorphosis of honey bees, remain incompletely elucidated. In this investigation, we gathered hemolymph samples from honey bee larvae at three distinct physiological stages-feeding, prepupal, and pupae and subjected them to metabolite analysis utilizing the liquid chromatography-mass spectrometry (LC-MS) technique. Employing principal component analysis (PCA) and partial least squares-discriminant analysis (PLS-DA), we identified significant differential metabolites and conducted a metabolic pathway analysis on those differentially up-regulated during the prepupal and pupae stages. Notably, metabolites up-regulated in the hemolymph of prepupal stage larvae primarily governed glucose metabolism and fat digestion and absorption, while those in pupae stage larvae were involved in regulating chitin and lipopolysaccharide precursor formation, as well as the biosynthesis of phenylalanine, tyrosine, and tryptophan. These findings bear significant implications for advancing our comprehension of the metamorphic processes in honey bees.

Abrasive Water Jet Machining (AWJM) is a non-conventional machining process that, unlike other methods, is deemed superior because of its applicability, versatility, and no heat-affected zones in the target material. The main objective of this paper was to develop a cheap, practical model for a low-pressure water jet cutting machine and provide some empirical test data for cutting delicate materials. Proper design calculations were performed and are included for both the water jet machine and the two-axis numerical control. Finite Element Analysis results validate the structural integrity of beams and columns in AWJM. Computational Fluid Dynamic analysis of the nozzle shows good agreement with the theoretical calculations regarding the pressure and velocity of the water-abrasive mixture exiting the nozzle. Modal analysis in ANSYS was done to mitigate potential failure due to resonance induced by vibrations. Limited testing on various thicknesses of polystyrene foam ranging from 1-5 mm thickness and rubber sheet of 1 mm thickness showed that even low pressure of 25-30 bar was sufficient to produce a kerf without any burr. However, extensive testing to report optimized parameters like nozzle transverse speed, standoff distance, abrasive flow rate, etc for working at low-pressure ranges is still a consideration for future investigation.

Postprandial glucose levels between 4 and 7.9 hours (PPG4–7.9h) correlate with mortality from various diseases including hypertension, diabetes, cardiovascular disease, and cancer. This study aimed to assess if predicted PPG4–7.9h could diagnose diabetes. Two groups of participants were involved: Group 1 (4420 participants) had actual PPG4–7.9h, while Group 2 (8422 participants) lacked this measure but had all the diabetes diagnostic measures. Group 1 underwent multiple linear regression to predict PPG4–7.9h using 30 predictors, achieving accuracy within 11.1 mg/dL in 80% of the participants. Group 2 had PPG4–7.9h predicted using this model. Receiver operating characteristic curve analysis showed that predicted PPG4–7.9h could diagnose diabetes with an accuracy of 87.3% in Group 2, with a sensitivity of 75.1% and specificity of 84.1% at the optimal cutoff of 102.5 mg/dL. Simulation on 10,000 random samples from Group 2 revealed that 175 participants may be needed to investigate PPG4–7.9h as a diabetes diagnostic marker with a power of at least 80%. In conclusion, predicted PPG4–7.9h appears to be a promising diagnostic indicator for diabetes. Future studies seeking to ascertain its definitive diagnostic value might require a minimum sample size of 175 participants.

Turbulent dissipation is a central issue in the star and galaxy formation process. Its fundamental property of space-time intermittency, well characterised in incompressible laboratory experiments, remains elusive in cosmic turbulence. Progress requires the combination of state-of-the-art modelling, numerical simulations and observations. The power of such a combination is illustrated here where the statistical method intended to locate extrema of velocity shears in a turbulent field is applied to numerical simulations of compressible magneto-hydrodynamical (MHD) turbulence dedicated to dissipation scales and to a nearby turbulent diffuse molecular cloud. We demonstrate that short-spacing increments of observables can detect strongly dissipative structures. In our simulations, we compute structure functions of various synthetic observables and show that they verify Extended Self-Similarity. This allows to compute their intermittency exponents and we show how they could help constraining some properties of the underlying three-dimensional turbulence. In observations of a turbulent cloud close to the Sun in our Galaxy, a remarkable coherent structure of velocity shear extremum is disclosed . At the location of the largest velocity shear, this coherent structure is found to foster 10 × more carbon monoxide molecules than standard diffuse molecular gas, an enrichment supported by models of non-equilibrium warm chemistry triggered by turbulent dissipation. The power of the combination between modelling and observations is also illustrated by observations of the CH+ cation that provide unique quantitative informations on the kinetic energy trail in the massive, multi-phase and turbulent circum-galactic medium of a galaxy group at redshift z = 2.8.

In this paper is presented the design and syntheis of a dynamic output feedback neural network controller for a non-holonomic mobile robot. First the dynamic model of a non-holonomic mobile robot is presented, in which these constraints are considered for the mathematical derivation of a feasable representation for this kind of robot. Then two control strategies are provided based on kinematic control for this kind of robot. The first control strategy is based on driftless control, this means, that considering that the velocity vector of the mobile robot is orthogonal to its restriction a dynamic output feedback and neural network controller is designed in order that the control action would be zero only when the velocity of the mobile robot is zero. The Lyapunov stability theorem is implemented in order to find a suitable control law. Then another control strategy is designed for trajectory tracking purposes, which similar to the driftless controller, a kinematic control scheme is provided but suitable to implement in more sophisticated hardware. In both control strategy a dynamic control law is provided along with a feedforward neural network controller, so in this way, by the Lyapunov theory the stability and convergence to the origin of the mobile robot position coordinates is ensured. Finally, two numerical experiment are presented in order to validate the theoretical results synthetized in this research study. Discussions and conclusions are provided in order to analyze the results found in this research study.

Non-vertebrate species represent about ~95% of known metazoan (animal) diversity. They remain to this day relatively unexplored genetically, but understanding their genome structure and function is pivotal for expanding our current knowledge of evolution, ecology and biodiversity. Following the continuous improvements and decreasing costs of sequencing technologies, many genome assembly tools have been released, leading to a significant amount of genome projects being completed in recent years. In this review, we examine the current state of genome projects of non-vertebrate animal species. We present an overview of available sequencing technologies, assembly approaches, as well as pre and post-processing steps, genome assembly evaluation methods, and their application to non-vertebrate animal genomes.

Background: Thousands of genetic variants have been associated with hematological traits, though target genes remain unknown at most loci. Also, limited analyses have been conducted in African ancestry and Hispanic/Latino populations; hematological trait associated variants more common in these populations have likely been missed. Methods: To derive gene expression prediction models, we used ancestry-stratified datasets from the Multi-Ethnic Study of Atherosclerosis (MESA, including N=229 African American and N=381 Hispanic/Latino participants, monocytes) and the Depression Genes and Networks study (DGN, N = 922 European ancestry participants, whole blood). We then performed a transcriptome-wide association study (TWAS) for platelet count, hemoglobin, hematocrit, and white blood cell count in African (N = 27,955) and Hispanic/Latino (N = 28,324) ancestry participants. Results: Our results revealed 24 suggestive signals (p < 1×10^(-4)) that were conditionally distinct from known GWAS identified variants and successfully replicated these signals in European ancestry subjects from UK Biobank. We found modestly improved correlation of predicted and measured gene expression in an independent African American cohort (the Genetic Epidemiology Network of Arteriopathy (GENOA) study (N=802), lymphoblastoid cell lines) using the larger DGN reference panel; however, some genes were well predicted using MESA but not DGN. Conclusions: These analyses demonstrate the importance of performing TWAS and other genetic analyses across diverse populations and of balancing sample size and ancestry background matching when selecting a TWAS reference panel.