Cities require flexible and participatory planning methodologies to address complex and evolving urban challenges. In Italy, the legislative framework is defined at the Regional level, according to the National laws and jurisprudence. The Lombardy region introduced the Planning Document (PD) in the Territorial Government Plan (PGT), as a strategic tool capable of adapting to changes. Based on a strategic vision, this document is useful to guide concrete actions for urban transformation, actively involving stakeholders, including citizens. The PD has the role to translate the political program into an urban planning design. So, the role it has is both technical and political. The political dimension is usually deepened in the strategic component of the document. Following the formation process of the whole city plan, the authors define the key strategies in the PD for a healthier urban future for the city of Voghera. It emerges as a balanced urban development that combines economic growth, environmental preservation, and community well-being. In the paper the authors synthesize the Voghera’s PD as an example of strategic planning that interacts with the practical planning actions and that guides both the public and the private decisions about the city development towards a healthier city.

In both capitalist and socialist economies, agricultural planning has been un-derstood as the allocation of planting areas to certain products, and the exist-ence of farmers, who are the main productive actors, as humans, their pro-duction potential and their ability to act rationally have been neglected. In ad-dition, in both economic structures, the desired results have only been achieved partially by determining prices. These experiences also reveal two important results: Agriculture is not fully planned, but it cannot be continued without planning either. Secondly, in a structure where production is social, it is nec-essary for agricultural products to have an exchange value, but price is a mul-tifunctional phenomenon and how it is determined is important. The current equivalent of the claim that prices are determined through the market mecha-nism is to advocate that prices are determined by capitalist companies that have monopoly power in the markets. The increasingly severe problems and in-creasing fragility of agricultural-food markets, which are already largely under the control of these institutions, already prove that this structure is not a solu-tion. On the other hand, it is no longer possible to provide food security by planning primary agricultural products alone, agri-food production and dis-tribution have acquired different structural characteristics, and it has become necessary to address food security within the framework of agri-food systems. Therefore, effective agricultural planning actually requires the planning of the agricultural food system as a whole. The e-nam system, which is being popu-larized in India and has achieved a certain success, points out that it is possible to organize and manage agricultural food markets after primary production. Moreover, it also shows that technological opportunities offer more effective planning opportunities. In this study, first of all, based on historical and current experiences, the inadequacies of the market mechanism, the fact that agricul-tural production is carried out by using living things to produce living things and depending on uncontrollable factors have been taken into consideration. Then, it has been concluded that a democratic, mix of centralized and decen-tralized planning, aiming to determine both production quantities and prices by utilizing the capacity and conditions of farmers and technological opportunities will meet today's needs. And in accordance with this result, a basic planning proposal has been presented.

Urban planning in third-world development cannot only refer to its outward appearance. The lack of urban physiognomy caused many problems regarding ineffective planning policies. Palangka Raya is the only capital city in Indonesia where President Sukarno inaugurated it in 1957. Then Tjilik Riwut, the first governor of Central Kalimantan province, who was also a Dayak ethnic leader, proposed Palangka Raya to be the capital of Indonesia at a National Council meeting in 1958, replacing Jakarta. President Sukarno, who chaired the meeting, agreed to further research on the idea. However, the emergence of Palangka Raya in 1957 and the initiation of the Trans Kalimantan National Road project in the 1990s have changed the spatial patterns of ancient Dayak cities that believed in rivers. This qualitative research investigates vernacular settlement planning in Central Kalimantan, collecting data related to photographs, drawings, sketches, and documents from the Tjilik Riwut Museum. Through social construction, this study narrates the meanings that arise in social relations, both individuals and groups. So far, the study of urban analysis using physiognomy is still lacking in depth and limited to persona and gestures. This paper is about the non-existent planning policies, looking at shadow aspects and subjectivity.

This research paper is to analyze the planning and design techniques of the tourism complexes in the process of municipalities’ master planning. First, it explains the importance of the tourism industry with the help of theories of scholars and experts. Then, it emphasizes the link between the economic developments of cities/regions with the development of the tourism industry. The innovation of this work is to integrate tourism industry planning and comprehensive regional/ urban planning. The main way of doing this is to plan and design the tourism complexes in the early stages of the master planning of the municipality. Urban land-use policies and locating techniques are suggested through this research. Land-use policies and new urban design models for the regional/urban sustainable development are some of the other handouts in this paper. The outcome of this research is good assistance for engineers, planners, and students of urban and regional development.

Resuscitation plans (RP) are an important clinical indicator relating to care at the end of life in pediatrics. A retrospective review of the medical records of children who had been referred to the Royal Children’s Hospital, Brisbane, Australia who died in the calendar year 2011 was performed. Of 62 records available, 40 patients (65%) had a life limiting condition and 43 medical records (69%) contained a documented (RP). This study demonstrated that both the underlying condition (life-limiting or life-threatening) and the setting of care (PICU or home) influenced the development of resuscitation plans. Patients referred to the paediatric palliative care (PPC) service had a significantly longer time interval from documentation of a resuscitation plan to death and were more likely to die at home. All of the patients who died in the paediatric intensive care unit (PICU) had a RP which was documented within the last 48 hours of life. Most RPs were not easy to locate. Documentation of discussions related to resuscitation planning should accommodate patient and family centered care based on individual needs. With varied diagnoses and settings of care, it is important that there is inter-professional collaboration (particularly involving PICU and PPC services) in developing protocols of how to manage this difficult but inevitable clinical scenario.

The paper focuses on the Maritime Spatial Planning (MSP) and the importance of incorporating participatory democracy and inclusivity, from a region-wise perspective. Traditionally MSP is a top-down central government process. Most responsibilities, competencies and jurisdiction lie at the national level, with limited input from local or regional stakeholders. However, the growing complexity of marine activities and the need for sustainable management of marine environment re-quires more inclusive and collaborative approaches. Drawing on the REGINA-MSP project, the paper explores how regional stakeholders can be more effectively engaged in MSP processes. The project, co-funded by the EU/EMFF, aims to consolidate MSP in the member states, through the strengthening of the role of regions and regional stakeholders. It does so, by applying a 3-step methodology, using tools like stakeholder database and ranking, interest-influence matrices and questionnaires. The paper emphasizes that achieving inclusivity in MSP at the regional level is highly associated with involving all relevant stakeholders. The paper identifies seven categories of regional stakeholders. Among them fishers are the ones having the lowest level of engagement and degree of representativeness in the MSP process, despite being among the most traditional marine users, and by association the more experienced holders of citizen science. Regarding regions and regional authorities (NUTS 2), they may also be considered as “outsiders” in the -nationally driven- MSP process, although this can be reversed, using regional and cross-regional Communities of Practice. In conclusion, the paper highlights the value of participatory democracy in MSP, and the importance to go regional and explore a more bottom-up approach that works in favor of advanced participatory democracy and inclusiveness in terms of stakeholders. The REGINA-MSP project provides valuable insights into how this can be achieved through a structured stakeholder engagement and the development of Communities of Practice.

Crawling robots are the focus of intelligent inspection research, and the main feature of this type of robot is the flexibility of in-plane attitude adjustment. The crawling robot HIT_Spibot is a new type of steam generator heat transfer tube inspection robot with a unique mobility capability different from traditional quadrupedal robots. This paper introduces a hierachical motion planning approach for HIT_Spibot, aiming to achieve efficient and agile maneuverability. The proposed method integrates three distinct planners to handle complex motion tasks: a nonlinear optimization-based base motion planner, a TOPSIS-based base orientation planner, and a Mask-D3QN (MD3QN) algorithm-based gait motion planner. Initially, the robot's base and foot workspace are delineated through envelope analysis, followed by trajectory computation using Larangian methods. Subsequently, the TOPSIS algorithm is employed to establish an evaluation framework conducive to foundational turning planning. Finally, the MD3QN algorithm trains foot points to facilitate robot movement along predefined paths. Experimental results demonstrate the method's adaptability across diverse tube structures, showcasing robust performance even in environments with random obstacles. Compared to the D3QN algorithm, MD3QN achieves a 100% success rate, enhances average overall scores by 6.27%, reduces average stride lengths by 39.04%, and attains a stability rate of 58.02%. These results not only validate the effectiveness and practicality of the method but also showcase the significant potential of HIT_Spibot in the field of industrial inspection.

The benefits of multi-robot systems are substantial, bringing gains in efficiency, quality, and cost, and are useful in a wide range of environments from warehouse automation, to agriculture, and even extend in part to entertainment. In multi-robot system research, the main focus is on ensuring efficient coordination in the operation of the robots, both in task allocation and navigation. However, much of this research seldom strays from theoretical bounds; there are many reasons for this, with the most prominent and impactful being resource limitations. This is especially true for research in areas such as multi-robot path planning (MRPP) and navigation coordination. This is a large issue in practice as many approaches are not designed with meaningful real-world implications in mind and are not scalable to large multi-robot systems. This survey aims to look into the coordination and path-planning issues and challenges faced when working with multi-robot systems, especially those using a prioritised planning approach and identify key areas which are not well-explored and the scope of applying existing MRPP approaches to real-world settings.

This study presents the substantiation, development, and analysis of a technique for planning the autonomous vehicle (AV) motion reference parameters. The trajectory plan, speed and acceleration distributions, including other AV's kinematic parameters, are determined using sequential optimization. The study objectives are based on an analysis of the fundamental problems of AV motion planning summarized in this area's latest publications. The proposed approach combines the basic principles of the finite element method (FEM) and nonlinear optimization with nonlinear constraints. First, the generalization on representing an investigated function by finite elements (FE) is briefly described. A one-dimension FE with two nodes and three degrees of freedom (DOF) in a node was chosen as the basic one, corresponding to the 5th-degree polynomial. Next, a method for determining the motion trajectory is presented. The following are considered: formation of a restricted space for the AV's allowable maneuvering, the geometry of motion trajectory and its relation with vehicle steerability parameters, cost functions and their influences on the desirable trajectory's nature, compliance of nonlinear restrictions of the node parameters with the motion area boundaries. At the second stage, a technique for optimizing AV speed and acceleration redistribution is presented. The model considers possible combinations of cost functions, conditions of limiting the kinematic parameters with the tire slip critical speed, maximum speed level, maximum longitudinal acceleration, and critical lateral acceleration. In the simulation section, several variants of trajectories were searched and compared. Several versions of distributing the longitudinal speed and acceleration curves are determined, and their comparative analysis is fulfilled. At the end of the paper, the advantages and drawbacks of the proposed technique are noted. The conclusion is made regarding the options for improving the method in further studies.

BACKGROUND: Family planning services are essential to promote family health and reduce maternal morbidity and mortality by preventing unwanted and high-risk pregnancies. Services are aimed at women with serious underlying medical conditions, grand multipara, couples who have reached their desired family size, sexually active teenagers, and anyone else who needs or wants to avoid pregnancy. AIM: This study aims to investigate the use of family planning services among women attending Better Life Primary Healthcare Centre for Family Planning Services in Ondo City, Ondo State, Nigeria. METHODOLOGY: This study included ninety-one (91) women who attended the health centre for family planning services. For this study, a descriptive cross-sectional study and a systematic random sample were adopted. The results were analyzed using SPSS version 21. RESULTS: The results show mean age of the respondents is 30.75 + 6.207. 39 (42.9%) were between the age of 26 – 30 years, 82 (90.1%) were Christians, 23 (25.3 %) were traders and 53 (58.2%) had tertiary education. 27 (29.7%) had 1 – 3 children, 41 (45.1%) weighed between 60 – 70kg, 60 (65.9%) had blood pressure less than 120/80mmHg and 52 (57.1%) utilized Jadelle contraceptive for their family planning services. CONCLUSION: Family planning (FP) has numerous benefits for the mother, the children, the family and society at large. All policies and programs aimed at encouraging women of childbearing age in the community to seek family planning services should be encouraged.

A university campus is a place full of memorable experiences and a sense of place. It is an environment that potentially creates a social and intellectual exchange of ideas and brings together diverse people. Campus planning is one essential need for any higher institution and is an instrument used for directing, promoting, and securing orderly physical development of an institution Campus planning present unique opportunities for demonstrating and popularizing contemporary tendencies in urban planning. The purpose of this study is to explore the overall concepts of the campus planning and architecture of the Kwame Nkrumah University of Science and Technology (Knust) And University of Ghana (Legon). The Study was based mainly on two methods; Documentary research and qualitative Observation to have in depth knowledge about the campuses. Through field observation, the study was limited to the spatial organization and planning, site layout and master planning, land use, use of space, and architectural details. The study adopts A Comparative Analysis Approach and found out that Campus Planning Concept varies and unique to campuses and in developing a campus plan, it involves a time-consuming dynamic process and besides, there are neither shortcuts nor one approach or generic solution to that. The study also revealed that Iconic and unique buildings are usually found on university campuses.

Abstract: The planning of innovative changes in socio-economic systems should focus on the effective utilization of the existing potential for innovative development. This research proposes a method for strategic planning of innovative changes, which enables the determination of development goals, approaches to problem-solving, and a system of indicators to optimize plans for innovative change. The stages of organizing innovative activities, aligned with the mechanism of project development and implementation, are identified. The technique is improved through a system of analytical indicators that assess the state of innovative activity and the scientific and technical level of innovations. The establishment of admissible sets of elementary processes and their combinations leading to innovative changes is also discussed. The planning algorithm is adapted to the type of innovative behavior and the state of the innovation potential within the socio-economic system. The potential for innovation in socio-economic systems is exemplified by the case of Ukraine, with the determination of the strategy for its innovative development in relation to the potentially optimal state.

Micro-level language policy and planning (LPP) primarily concerns local actors' decision-making on matters in relation to language(s) and its users. Despite a growing body of literature focusing on micro language planning in educational settings, there is a scarcity of research examining early childhood education settings such as micro-level LPP context for young English language learners. By adopting a case study approach, the present study examined the educators' enactment of agency in micro-planning the English language education policy (LEP) in one Chinese kindergarten and the associated factors shaping their agency. Our study revealed that the sustainable implementation of the kindergarten English LEP depended on the principal, native English-speaking teachers, and the Chinese assistant teachers' different degrees of agency. Also, the research findings indicated an array of contextual and individual factors nested in a hierarchical structure that facilitated, guided, and constrained the educators' agency in a role-and circumstance-dependent manner. This study contributes to the pertinent literature by casting nuanced light on the different educators' contributions to the micro-level LPP against a national policy that does not endorse early-year English language education.

The planning of bicycle infrastructure across our cities remains is a complex task involving many key stakeholders including the community, who traditionally have had limited involvement in the planning process. This research develops an interactive bicycle prioritisation index tool which includes participatory spatial and textual citizen feedback. The research involves three components. Firstly, a survey of current cyclists in Sydney, their current level of participation, priorities in investment in cycling, and preferred locations for cycling infrastructure. Secondly, it documents the development of an interactive digital bicycle planning tool which is informed through citizen feedback. Thirdly, it evaluates the approach in conversation with potential end-users, including government, planning practitioners, and advocacy group members. The research proposes the combination of multiple passive and active data traces with end-user evaluation to legitimise the citizen co-design of bicycle investment prioritisation initiatives. A case study approach has been taken, focusing on the city of Sydney, Australia. The bicycle planning support system can be used by cities when engaging in cycle prioritisation initiatives, particularly with a focus on integrating citizen feedback and navigating new and complex data landscapes introduced through recent, passively collected big data sets.

Autonomous Underwater Vehicles (AUVs) are emerging as pivotal tools in underwater applications such as seafloor exploration and the inspection of pipelines or cables. Traditional land-based avoidance methods prove insufficient when applied to the complex underwater environment, largely due to the unique constraints presented by marine environments and the specific dynamics of AUVs. In this study, we introduce an improved stream function-based obstacle avoidance algorithm specifically tailored for autonomous underwater vehicles. The proposed algorithm is based on a stream function that is derived from the stream function. The stream function is characterized by a radial histogram for the cost function. In addition, constraints related to the maximum path curvature are discussed to optimize the utility of the path. Our exhaustive simulation cases validate the robustness and adaptability of the proposed algorithm, demonstrating its ability to produce feasible and optimized avoidance paths in a variety of scenarios.

With the continuous emergence and application of new technologies, the construction of smart cities has entered the practical promotion period. Since 2012, the pilot construction of smart city has been promoted by the government in China. On the basis of these practical experiences, this paper presents an overview of the latest technologies and applications for smart city construction in China and demonstrates that smart city strategy needs to be implemented according to local conditions, adhering to the people-oriented concept and using scientific and effective top-level design and planning. The construction of smart city is comprehensive system engineering, including the integration of geographic information sharing service platform, full-cycle management and control system of urban planning, construction and social management, as well as intelligent business information management system of gardening, water conservancy, environmental protection and other industries and departments. The information system (GIS), satellite remote sensing (SRS), global navigation satellite system (GNSS), Internet of things, mobile applications, cloud computing, visualization technology ware used to promote urban construction and sustainable development, and to meet the needs of future smart city development. Results show that centralized management is very important for the construction of smart city. The government plays a major role in the construction of smart city, which will be conducive to the development of new technologies and the effective use of smart city construction resources.

The evaluation of spatial planning results, or outcomes, has been rather neglected by scholars and practitioners. The causes of this neglect are linked to the characteristics of the planning systems in use or difficulties in quantifying results. To advance the state of the art of outcome evaluation, this paper focuses on assessing the implementation of national spatial planning objectives in urban landscapes, through the use of an evaluation framework that makes use of spatially explicit information. The framework is built on four dimensions which reflect the main domains of spatial planning: efficient built-up development, conservation of agricultural land, landscape preservation, and human perception. Indicators capable of capturing landscape changes in both time and space are used to verify degree of conformance between adopted objectives and actual development patterns. We make use of spatially explicit data and assess whether and where landscape changes occurred, by integrating the framework into a multi-criteria analysis. In the present study, the framework is tested in two study areas in Switzerland and Romania, and the results are interpreted from the perspective of spatial planning approaches in the two countries. The efficiency and utility of the framework is demonstrated by its ability to provide valuable information facilitating improvement in the performance of planning processes, such as identifying where the implementation of objectives is less effective, and the domains of spatial planning that are affected. Our findings highlight that the distance between objectives and outcomes can be attributed to differences in countries’ spatial planning approaches, particularly regarding landscape preservation and management. Our study provides valuable insights for the integration of time series of spatial data into the evaluation procedure.

On February 28th, 2023, Spanish Royal Decree 150/2023 as published, approving the plans for the management of the maritime space of the five Spanish marine demarcations. This Royal Decree Law inaugurates the Planning of the Maritime Space in Spain. Terrestrial Space Planning is very advanced, both in the legislation and in the instruments that are enabled to organize this space, from the national scale to the municipal scale, passing through the regional, provincial, and supra-municipal scales. Naturally, both Planning must converge and thus speak of an Integrated Space Planning. In some of the countries that we can take as global references, this convergence in the form of integration is taking place. On the other hand, and within the context of climate change, coastal cities will be the most affected, both by the potential rise in sea level and by the increasingly continuous and greater extreme events. Integrated Space Planning is postulated as the most effective tool to carry out adequate territorial and urban planning of our coastal cities, as well as to analyse the influence and possible corrective measures to apply against the effects produced by climate change.

Automated Guided Vehicles are self-guided vehicles used in manufacturing and warehouses for material transport. They play a vital role in just-in-time material delivery, ensuring smooth production lines. However, disruptions in their fixed routes can lead to efficiency losses. This paper studies unexpected disruptions in mobile robot routes, assessing the costs of rectification using the E* analysis. The study highlights the significant additional cost of such disruptions, underscoring the importance of their consideration in AGV route planning to enhance system resilience.

Recently on the November 4, 2022 at 03:00 PM, a M_ww 5.6 earthquake struck Cianjur district of West Java province, Indonesia. To our best knowledge, an earthquake will cause a massive damage to the manmade infrastructure and this responsible for a massive casualty. A building damage is affected by various determinant factors. One of important factors is the geological bedrock variations. Here this research aiming to elaborate the associations of geological bedrocks in Cianjur district with residential building damages caused by recent earthquakes. The results confirm that majority of building damages account for 54.67% of the total building was associated with quaternary volcanic bedrocks. The second massive building damages were observed for Andesitic Dacitic volcanic rocks accounted for 32.07%. To conclude, elaborations of geological bedrock-building damage will contribute to the better planning in the future that can reduce the damages in the urban settings.

This manuscript proposes a novel tangent-graph-based method that provides all distinctive topology paths, as a set of trajectories that can not be transformed into each other by gradual bending and stretching without colliding with obstacles. As the global optimal trajectory (limited by dynamic constraints) may not correspond to the shortest path (almost without dynamic constraints), it is important to provide all distinctive topology paths rather than just the globally shortest one. One of the application is provide initial paths for trajectory planning methods, such as time elastic band (TEB) and dynamic window approach (DWA). Considering that a mobile platform is always working in a dynamic changing environment and that update the whole graph is time consuming, a dynamic rectify method is proposed to update tangents according to local map provided by sensor reading. Finally, results under real grid maps are presented.

Path planning in 3D environment is a fundamental research area for robots and autonomous vehicles. Based on the principle ``the shortest path consists of tangents'', RimJump* is proposed as a tangent-based path planning method suitable for finding the shortest path (both off-ground and on-ground) in 3D space (e.g., octomap and point cloud) for mobile platform to follow. RimJump* searches the tangent graph in the form of a path tree and considers the geometrical properties of the locally shortest path. Therefore, the method can provide all of the locally shortest paths that connect the starting point and the target, including the globally shortest path. And the time cost of RimJump* is insensitive to map scale increases in comparison to methods that search the whole passable space rather than the surface of the obstacle, e.g., Dijkstra and A*. In the Results, RimJump* is compared with other methods in terms of path length and time cost.

Analyses of faculty citation activity usually focus on counts as a function of author characteristics such as rank, gender, previous citation levels, and other factors influencing productivity and career path. Citation analyses of publications consider aspects such as number of authors, author reputation, author order, length of the title, methodology, and impact factors of the publication. While publication topics or discipline are considered to be important factors, they are more difficult to analyze, and therefore performed less frequently. This paper attempts to do that for the field of urban planning. Urban planning is multi-disciplinary and includes consideration of social, economic, technological, environmental, and political systems that shape human settlement patterns. It has been suspected that some topics are more “popular” and have larger audiences, therefore are cited more often. Using nearly 15,000 urban planning publications, this paper presents an analysis of topics to assess which are cited most frequently. The classification of publications was performed using a Support Vector Machine (SVM), a machine learning (ML) approach to text classification, using citation data from Google Scholar. The citation levels for the resulting categories are analyzed and discussed.

Resilience has emerged as a buzzword among researchers and practitioners. However, despite its popularity, there has been little progress in moving it from an elaborate metaphor describing an idyllic state of the system to a tool for planning and managing adaptation. While case study research is rich with examples of systems that have proven to be resilient or are striving to develop resilience, there is no defined approach that operationalises concepts described in the literature into the planning process. This paper helps close this gap by illustrating how facilitated modelling can be used for resilience planning in socio-ecological systems. The paper summarizes our experience using facilitated system dynamics to inform a model-based discussion of food security resilience to climate change in Guatemala. We identify at least three positive outcomes from the intervention, which a) helped to build consensus about the meaning of resilience, b) improved stakeholders understanding of adaptation and c) outlined potential policies to enhance resilience.

Robotic path planning is a field of research which is gaining traction given the broad domains of interest to which path planning is an important systemic requirement; the aim being to optimise the efficacy of robotic movements in a defined operational environment. For example, robots have been employed in many domains including: cleaning robots (such as vacuum cleaners), automated paint spraying robots, window cleaning robots, forest monitoring robots, agricultural robots (often driven using satellite and geostationary positional satellite data). Additionally, mobile robotic systems have been utilised in disaster areas and locations hazardous to humans (such as war zones in mine clearance). The coverage path planning problem describes an approach which is designed to determine the path that traverses all points in a defined operational environment while avoiding static and dynamic (moving) obstacles. In this paper we present our proposed Smooth-STC model, the aim of the model being to identify an optimal path, avoid all obstacles, prevent (or at least minimise) backtracking, and maximise the coverage in any defined operational environment. The experimental results in a simulation show that, in uncertain environments, our proposed smooth STC method achieves an almost absolute coverage rate and demonstrates improvement when measured against alternative conventional algorithms.

Threats to natural ecosystems are closely linked to human development, and the lack, insufficiency or inefficiency of public policies are some of the most important drivers of negative effects on the environment. The contribution of the IUCN’s Red List of Ecosystems (RLE) to conservation topics has been discussed in previous studies; however, to date its implications for conservation in public policies have not been addressed. This perspective discusses how the RLE may support the improvement and development of these policies, specifically through the implications for public policy of each of the criteria that substantiate the threat status of ecosystems. We aim to provide a plausible baseline to the operationalization of RLE in public and conservation policy, facilitating the work of governments, practitioners and decision makers. Finally, we provide recommendations and examples as to how to proceed in creating and modifying different public policy instruments, such as land-use planning, spatial zoning, tax reduction, compensation schemes, climate change adaptation plans, management of introduced species, development offsets and restoration investment. This perspective contributes to implement RLE into public policy and to improve ecosystem conservation by expanding the current scope of RLE into practical and political dimensions through plausible actions, policies and strategies.

Ecological city is currently a hot topic in urban planning research. How to balance urban development and ecological environment protection has become a focus and difficulty of research. Traditional urban planning is mainly based on experience, but its disadvantage is that it is easy to overlook key geographical factors such as terrain and vegetation, and cannot fully reflect the actual spatial characteristics of the city. Therefore, this article applied the combination of urban and rural planning and environmental remote sensing technology to urban planning and design, obtaining a massive amount of data. Through the actual analysis of Langfang, this paper monitored the vegetation, water, land and landscape data of Langfang through environmental remote sensing technology. By using these data to identify existing problems, this article proposed reasonable planning for the problems, in order to achieve the effective goal of ecological city planning and design. It provided a more accurate analysis of urban structure, including urban planning and urban ecological landscape planning. Among them, ecological landscape planning includes renovating ecological embankments, protecting ecological green belts around the city, and creating characteristic landscape areas, thereby providing more scientific basis for urban planning and design, making urban planning and design more reasonable and scientific. This paper investigated the planned Langfang City, and the average errors of vegetation, soil, water quality, and landscape data obtained from traditional field surveys were 0.35, 0.33, 0.34, and 0.31, respectively. The average errors of remote sensing technology in obtaining vegetation, soil, water quality, and landscape data were 0.16, 0.15, 0.17, and 0.15, respectively. The total suspended solids content of waterscape 1-10 before planning was 5.51mg/L and 7.41mg/L, respectively. After planning, the total suspended solids content of waterscape 1-10 was 3.60mg/L and 4.47mg/L, respectively. From this, it can be seen that the error in obtaining data after planning has decreased, and the total suspended solids content has also decreased.

This article focuses on the issue of urban development of cities and their residential development from the perspective of spatial planning. Spatial planning fundamentally determines, what kind of construction is feasible in cities. However, spatial plans often do not consider spatial limits, which often go against the proposed ways of using of the given sites, or make their use fundamentally difficult, for example by disproportionately increasing of the costs of residential construction, when it is necessary to remediate old burdens in the defined locality. The subject of the presented research was to examine the possibility of establishing an Index of Residential Development (IoRD), which evaluates the possibilities of residential development in the territory of urban agglomerations. The aim of the research, in the form of establishing of an Index of Residential Development (IoRD), was to assess, how it is possible to consider spatial limits associated with residential construction in urban intravilanes in order to identify the objectives of further spatial development planned by cities. Subsequently, the partial aim of the research was also to create a usable tool for support in the decision making of development organizations on the location of their project in a given space. Based on the results of the research, it was deduced that the limits associated with the residential development in intravilanes based on the IoRD could be considered. Clear links were also shown between the limits in the territory and the impaired possibility of construction in cities with zoning plans, which did not respond to the limits in the territory by adding other design zones, or completely ignored them. Although the methodology for determining of the Index of Residential Development (IoRD) was verified due to the availability of data in the case study carried out in the Czech Republic – the city of Brno, the methodology is applicable to any urban agglomeration even outside the Czech Republic when fulfilling the conditions defined in the article.

Background: Strengthening adherence to self-care behaviors in patients with periodontal disease (PD) and reducing plaque index is crucial for improving PD treatment. We evaluated the effectiveness of a theory of planned behavior (TPB)-based health education intervention involving planning strategy on self-care behaviors in patients with PD. Methods: A randomized controlled trial was conducted; 158 and 139 patients comprised the experimental group (EG) and control group (CG), respectively. Both groups received a leaflet, and the EG also received a planning intervention, which was a brief one-on-one counseling session with a planning sheet. Data were collected using a self-administered questionnaire. Results: Between-group comparisons of TPB measures revealed significant differences in all domains when controlling for baseline covariates. The EG exhibited significantly higher levels of action and coping planning than the CG at 2-week follow-up (effect size (ES) = 5.54 and 5.57, respectively) and 6-week follow-up (ES = 5.66 and 5.66, respectively). Between-group differences in changes of brushing behaviors increased significantly. More frequent use of dental floss was observed in the EG than in the CG at 2-week and 6-week follow-ups (24.7% and 22.8%, respectively). Conclusions: The intervention involving planning strategy effectively promoted adherence to self-care behaviors in patients with PD.

This study aimed to explore the sociocultural determinants of family planning (FP) utilization among women in pastoralist areas of Ethiopia. A community based cross-sectional survey was conducted involving 682 re-productive aged women selected from three regions in pastoralist districts. Hierarchical logistic regression was used to identify factors associated with women who did not use FP. This study revealed that 47% of women did not use FP. Women who did not use FP were more likely to shorter spaces between births, lack of partners’ support, when only a husband or someone else decides on large household purchases, and low use of household expenditure were some of the factors associated with not using FP. Overall, the prevalence of not using FP is significantly high in pastoralist communities of Ethiopia. The authors recommend that investment in women’s health and FP be targeted at educational campaigns to raise awareness about FP and its importance. Engaging men and community leaders, promoting their support for FP and contraceptive use, and providing financial assistance to address financial barriers such as transportation costs and healthcare fees, are important aspects that can increase the utilization of FP methods.

Planning regulations determine a substantial part of buildings but their constraints are usually not included in the setup of a BIM model or used explicitly for design guidance. This is symptomatic of wider tendencies and ingrained biases that emphasize tacit knowledge and assume that information in a project starts from scratch – an assumption that runs contrary to predesign information ordering practices, as well as to the findings of creativity studies. In terms of process control, it negates important possibilities for feedforward. The paper describes an exercise in which students collected planning regulations for a particular plot of land and modelled their constraints in BIM. The results suggest that converting such information into a foundation for design is constructive and feasible, even for novices, and produce a bandwidth view of project information that acknowledges pre-existing information and includes it in the BIM workflow. They also verify that, for a large part of Dutch housing, this foundation amounts to a considerable and binding part of the design that guides subsequent decisions.

The population growth and its needs, has increasingly demanded water resources, requiring managers to adopt mechanisms to guarantee the availability and quality of water from springs. Among the instruments defined by law n. 9433/1997, water charges stand out. In this sense, the objective was to evaluate the evolution of charging for the use of water resources in Brazil, with emphasis on the channel of the Hydrographic Basin of the Paranaíba River. The methodology used was based on two phases, one of reviewing the articles available in Capes journals and the other, consulting the spreadsheets of the Araguari River Basin Agency with information on charges for the use of water within the competence of the Union in the Hydrographic Basin of the Paranaiba River. The results showed that charging for the use of water resources establish a relevant instrument for disciplining and raising financial resources that will enable improvements in the planning and management of water use. It should be noted that irrigation emerges as the main user of the flow captured from the Paranaíba River. However, the main source of funds for charging comes from the public supply. Among the Federation Units, the Federal District proved to be the largest source of contributions for charging the use of the Union's water resources in the Paranaíba River Basin.

We consider a stochastic production planning problem with regime switching. There are k≥1 regimes corresponding to different economic cycles. The problem is to minimize the production costs and analyze the problem by the value function approach. Our main contribution is to show that the optimal production is characterized by an exact solution of an elliptic system of partial differential equations. A verification result is given for the determined solution.

Obtaining a proper position for THA’s components is a crucial aspect for the implant perfor-mance and consequently patient outcomes. Patient specific kinematic seems to be a key factor to reach the optimal implant positioning. The aim of this study was to assess the accuracy and safety of a computed dynamic analysis system which through patient specific guides tries to improve implant positioning and functional orientation according to patient’s spinopelvic mobility and anatomy.A total of 100 consecutive patients were prospectively enrolled. All patients received an OPS dynamic hip preoperative planning. A TC scan protocol follow up analysis has done at 6 month after surgery.The mean deviation from the planned acetabular inclination and anteversion was 4.3° e 3.8° respectively. The 98% of cases was within +/- 10° of Lewinnek safe zone both for inclination and anterversion. The height of osteotomy deviated on the average of 1.6mm. The 100% cases were included within 4mm of osteotomy. Patient specific and laser guided instru-mentation is safe and accurately reproduce the dynamic planning in terms of components orien-tation, osteotomy level, leg length and offset.

The Aviation industry in Malaysia is categorized as highly regulated and dominated by Government Linked Companies (GLCs) via monopolistic concessions due to its nature of strategic national importance and security. Connectivity is an essential component of economic activity and a catalyst for business growth. Since the invention of aircraft, air connectivity has expanded businesses and markets, facilitating trade, encouraging Foreign Direct Investment (FDI) and enabling tourism. This case study aims to provide a holistic analysis of the Malaysia Airport Holdings Berhad (MAHB) strategic planning framework and discuss its effectiveness towards its strategy formulation to address its market dynamics, both domestically and abroad. From military superiority to economic connectivity, aviation, one of humanity's greatest inventions, has advanced human civilization over the past 150 years. With the emergence of low-cost carriers, air travel patterns have shifted dramatically, with the increase of travel and trade, due to its time efficiency. With the trend of globalization and the liberation of airspace in recent decades, aviation enables the movement of people and goods that foster a borderless marketplace at an exponential growth rate. With technological innovation, pressure over climate change and the shift in travelers' behavior and patterns, strategic planning becomes more crucial and complex for aerodrome operators to create a sustainable competitive advantage among their regional rivals. However, strategic planning is dependent on several critical success factors. The role of management leadership and an inclusive strategy to adapt to the changes in market dynamics are essential for survival in business competition.

The paper provides a critical synthesis of analysis and evaluation of some case studies in the Italian national context, which allowed, through an inductive method, to assess, in terms of integration and coherence, the process of transposition of climate change adaptation contents, possibly already contained within a regional urban framework (Regional Urban Laws) or specific Regional Adaptation Strategies or Local Adaptation Plans, within the territorial and urban planning tools of metropolitan or local scale.

Urban planning is recognized as an interaction between the state and society, which aims to articulate public policies in the territory, facilitating their administration in favor of greater development and well-being of society. However, this interaction becomes complex because consumption demands increase, and the needs of the community exceed the capacity of the urban ecosystem to supply them, hindering its sustainable functionality. With this panorama, it becomes relevant to study urban planning from a sustainable environmental planning perspective, based on four topics: urban planning, sustainability, resilience and smart cities. The methodology used is based on a bibliometric study through a PRISMA adjustment to 87 articles, supported by VOSviewer® to construct and visualize the co-occurrence networks of important terms extracted from a body of scientific literature. The main result is to consider cities with a complex systems approach that works like a gear, that is, there is a connective element between inter- and intra-urban processes. This relationship is the key factor that allows understanding their synchronization, stating that the deepening of each of these topics is crucial to the ideal of a territorial administration through time scales, by means of adaptive cycles, allowing to provide new tools to concepts such as carrying capacity and the measurement of the environmental footprint.

The UN’s 2030 Agenda brings new governance challenges to municipal environmental planning, both in large urban centres and in metropolitan peripheries. The opportunities of the new framework of action proposed by the United Nations (UN) and its integrative, global and transversal nature constitute advances from the previous models of municipal management based on the Local Agenda 21. This text provides evidence to apply quality criteria and validated instruments of participatory evaluation. These instruments have been built on the foundation of Evaluative Research, a scientific discipline that provides rigour and validity to those decisions adopted at a municipal level. A case study focused on a metropolitan area serves as a field of experimentation for this model of the modernization of environmental management structures at a local level. Details of the instruments, agents, priority decision areas, methodologies, participation processes and quality criteria are provided, as well as an empirically validated model for participatory municipal management based on action research processes and strategic planning that favours a shared responsibility across all social groups in the decision-making process and in the development of continuous improvement activities that are committed to sustainability. Finally, a critical comparison of weaknesses and strengths is included in light of the evidence collected.

The purpose of this article is to analyze urban form through the mapping of morphological indices, namely impervious surface fraction, building density, verticality, height/width ratio, roughness length, and porosity, to support urban planning in the city of João Pessoa, PB, in northeastern Brazil. The application of this study identifies and calculates such significant indices for the city's urban space from a Geographic Information System (GIS) model. The spatial indices play notable roles in climate at different scales, developing guidelines to maximize environmental quality, promote improvements to thermal comfort, minimize the urban heat island in the city of João Pessoa, and provide relevant data (considering microclimate aspects), guiding decisions related to the planning process.

This document presents, from environmental thinking (ecosystem - culture relations), the concept of the Main Agroecological Structure of Agroecosystems (MAS, EAP, for its acronym in Spanish), considered as a dissipative cultural structure. It discusses its possible applications (resilience, production, diversity) both inside and outside the farms. The MAS can be useful in the land planning on the farms, based on the concept of potential MAS that allows the quantification of the management of internal and external corridors, including natural vegetation. At the same time, it can be useful in the context of landscape management because it shows a series of cultural relations (economic, social, symbolic and technological) hidden from the partial analysis of landscape ecology.

Rapid urbanization and climate change effects may cause dramatic change of ecosystem functions in cities, thereby inevitably affecting the growth performance of ancient trees. Few studies have explored species diversity and spatial differentiation in Benin urban area. Here, we took Cotonou city to do that. The objective of the study conducted in the city of Cotonou, was to determine the predominant level of plant diversity in the city's land-use units. The urban green frame was subdivided into six land use units, namely establishments, residences, green spaces, commercial areas, administrative areas, and roads. The forest inventories were carried out in 149 plots with surfaces evaluated at 2500 m2 each. A total of 62 tree species in 55 genera and 27 families were recorded. The results show that the flora of the city of Cotonou is characterized by a strong preponderance of exotic species. The most abundant species with high ecological importance (IVI) in the different type of land use of the city are Terminalia catappa (IVI=121.47%), Terminalia mentally (IVI=90.50%), Mangifera indica (IVI=64.06%) and Khaya senegalensis (IVI=151.16%). This study shows that a directed development of this urban vegetation could improve the resilience of urban life to climate hazards through the provision of urban ecosystem services, potential ecological infrastructure foundations and urban nature-based solutions.

Spatial planning processes generally consider three levels of planning, which are applied to three types of territory: state, county and city. As the coastal areas are of a significant natural, cultural, economic and social value, as well as are characterized by a diverse range of involved society with specific interests and needs, there is a necessity for an innovative and new approach to sustainable development planning in accordance with the modern age of growth, as well as to work with local communities in specific areas. Planning of a small populated area like village territory is more diverse and subject to the wishes and needs of the population. Small territory planning involves a very narrow circle of individuals or communities that identify spatial development needs for the future, including socio-economic, cultural, and environmental and climate change scenarios. In order to assess the development opportunities and needs of the area, it is necessary to monitor the area by regularly updating data. As it is well known, methodically derived data (facts) provide objectivity and transparency. Nowadays, when information about the present and the past is circulating very fast, it is possible to analyze the current situation, to forecast the future using databases, and to show several constructed realities (scenarios) using the geographic information system (GIS). Therefore, it is crucial to explore and find out the local needs-based planning approach to the development of village in coastal areas.

This paper proposes an optimal path type classification scheme for the three-point Dubins problem. It allows to directly extract the shortest path type from a Dubins set, evaluating only the relative initial and final configurations with the via point position using a suitable partition of the Cartesian plane. Two alternative approaches are proposed to address the problem: an analytical approach and a heuristic one. The latter was revealed to be much faster from a computational point of view. The proposed classification logic makes the path planning for the three-point Dubins problem much more effective and suitable for real-time applications. Numerical examples are provided to show the efficiency of the proposed strategy.

To further enhance the intelligence level of coal mining faces and achieve autonomous derivation, learning, and optimization of shearer navigation cutting, this paper proposes the methods of shearer digital twin navigation cutting motion planning based on the concept of shearer autonomous navigation cutting technology and intelligent coal mining face digital twins. The study includes the digital twin theory and the construction method of the shearer digital twin navigation cutting motion planning system based on this theory. Based on the digital twin theory, a shearer digital twin navigation cutting motion planning system was constructed. This system supports the service functions of shearer cutting digital twin, dynamic navigation map digital twin, reinforcement learning environment construction, and motion planning through the physical perception layer, comprehensive data layer, and digital-model fusion analysis layer. Finally, by comparing the effects of the DQN-NAF and DDPG deep reinforcement learning algorithms in the shearer motion planning task within the constructed digital twin environment, the results show that the DQN-NAF algorithm demonstrates better performance and stability in solving the shearer digital twin motion planning task.

The present paper deals with research on maintenance strategy and maintenance process improvement procedures to increase the efficiency and quality of the production system. It includes the design of maintenance performance indicators relevant to today's manufacturing systems to track improvements in the sustainable development of the manufacturing system. There are also the basic principles of maintenance strategy with linkages to the manufacturing system and selecting the strategy for the organization. The paper emphasizes maintenance management auditing and quality implementation in maintenance. Further, there is the process of changing the maintenance strategy described. This process includes reassessing the criticality of machines and equipment and their design units, then resource and capacity planning and input for maintenance management. It describes the impact of changing the maintenance management organization and maintenance capacity considering the change of strategy and the evaluation of maintenance choice alternatives, together with an analysis of the optimization procedure, which has an impact on social implication. The paper concludes by presenting the achieved impacts of maintenance strategy are: (1) increase in production efficiency (10%), (2) quality improvement in production (20%), (3) performance improvement (30%), (4) reduction of maintenance process costs (35%).

Robotic path planning and navigation algorithms enable autonomous mobile robots to navigate complex environments. These algorithms allow robots to be deployed in search and rescue missions, where they can locate victims in hazardous areas inaccessible to humans. Additionally, autonomous driving algorithms hold the potential to revolutionize transportation by enabling self-driving cars to navigate roads safely and efficiently. This paper focuses on developing an algorithm for autonomous navigation of the mobile robot (Tortoise bot) using robot operating system (ROS), based on publish-subscribe communication facilitating seamless interaction between various nodes. Tortoise Bot is a differential wheeled robot whose movement is based on two separately driven wheels placed on either side of the robot body. The Raspberry Pi acts as the controller. A 360-degree LiDAR and RGB-D camera are used for creating a 3D map of the environment. Various state-of-the art software tools, such as Gazebo, Ubuntu, MATLAB and RPI imager are used. Initially, a simulation based on simple obstacle avoidance is done using gazebo and MATLAB. Another simulation based on trajectory tracking is implemented using MATLAB to study the kinematic model. Online navigation and path planning are executed with the help of teleoperation and Dynamic Window Approach algorithm. A novel Wander algorithm is created that avoids obstacles on its path. Object recognition is also implemented during autonomous navigation using YOLO.

Contemporary cities are facing many challenges, from social and economic issues to the new risks related to the impacts of climate change. Focusing on energy consumptions, and the related GHG emissions, cities are considered not only the main global contributors but also the areas most exposed to risks, because of their density of population and economic activities. Implementing urban planning strategies with the purpose of increasing energy efficiency and resilience overall are, for all these reasons, considered a top priority. This paper investigates the innovative contents about energy-efficient and energy-resilient urban planning solutions that have started to be implemented in the cities of the Emilia-Romagna region. Two kinds of planning instruments are therefore analyzed: the voluntary Sustainable Energy and Climate Action Plans (SECAPs) and the mandatory General Urban Plans (GUPs), recently approved in several cities of Emilia-Romagna. A comparative analysis of three cities in the Emilia-Romagna region, Bologna, Modena and Ravenna, is proposed on the strategies of their newly local city plans and SECAPs with focus on energy management and planning. The aim is to assess whether the new structure of local city plans and the influence of SECAPs could be useful in implementing such urban energy resiliency solutions.

Calculating a minimum-time trajectory requires the solving of a boundary value problem resulting from invocation of necessary conditions of optimality to set up a set of ordinary differential equations to solve the trajectory between the initial position and desired ending position with set constraints on the path between the two. This manuscript expresses the minimum time optimum trajectory between a satellite in a geosynchronous orbit and a target set on earth’s surface utilizing a non-rotating earth centric coordinate system. Expressing motion in coordinates of rotating reference frames necessitates transformation between reference frames, and one such transformation is embodied in the Direction Cosine Matrices (DCM) formed by a sequence of three successive frame rotations. Rotation about the local wing of an aerospace vehicle is almost never the pitch angle, yet modern application of kinematics often assumes such (with accompanying angular error). The same assertion is usually true about the nature of roll and yaw angles. This manuscript evaluates which sequence is the most advantageous for an object starting in space and then travels through the atmosphere to a target on the Earth’s surface. Simulation precision (validated by the quaternion normalization condition) reveals the so-called 132 rotation is the most accurate with an average error of 0.14° and a computational time of 0.013 seconds: resulting in a 97.95% increase in accuracy over the ubiquitous 321 “aerospace” rotation sequence and a 99.84% increase over the so-called 313 “orbital” rotation sequence. Utilizing the proposed optimal trajectory candidate yields a total flight time of 2 hours, 34 minutes and 46 seconds, or an average velocity of 3.85 kilometers per second, while impacting the target with a velocity of 11.54 kilometers per second.

The urban planning transformations modify the morphological shape of the territory changing land uses and permeability of the areas involved in the evolution processes, thus also altering the hydrologic responses to climatic events, namely the urban drainage runoffs that impact on the environmental risk of modern cities. Using the watershed hydrologic concept, in its dynamic evolution, it is possible to consider the morphological layout together with the transformations implemented by the human activities and any different territorial portions could be analyzed in connection with the other areas related by the dynamics of the surface runoff, thus highlighting the reciprocal influences between the different areas. By examining the morphological shapes impacting surface outflows, the hydrological roles of upper-mountain, intermediate-hillside, and lower-valley areas reveal urban and non-urban connections. This elucidates hydromorphic complexities in urban transformations and assesses climate change adaptability. The proposed approach has been applied to the urban district of “Sasso Caveoso”, belonging to the city of Matera and consents to quantitatively synthesize the response of the context analyzed, referring to different scenarios and providing useful decision support tools.

The study proposes planning independent children's mobility through geoinformation technologies for listening to children. This research assumes that children’s values and expectations must be considered in city planning. A bibliographic review identifies 15 indicators which make spaces safe and attractive for children to circulate and play. Thematic maps of the indicators are prepared, integrated by Multicriteria Analysis by Weights of Evidence, according to the hierarchical importance of each variable. The definition of weights considers the opinion of children and technicians. Consultation with children is carried out by Mapping Volunteers (VGI), Consultation on Hierarchy, Geodesign of Ideas for the area and Artistic Workshop. In the technical study, the query applies the Delphi method. It uses the VGI – Volunteered Geographic Information – web-based platform, where children record places of topophilia and topophobia, while technicians map the presence of 15 indicators. The set of information is made available on a web-based platform of SDI – Spatial Data Infrastructure, in which there are resources for a Geodesign workshop when ideas for the area are elaborated through negotiation and co-creation. The product is a transformation design for the area through urban design and parameterisation of uses.

Factory safety inspections are crucial for ensuring safe production. However, manual inspections present issues such as low efficiency and high workload. Inspection robots provide an efficient and reliable solution for completing patrol tasks. The development of robot localization and path planning technologies provides guarantees for factory inspection robots to autonomously complete inspection tasks in complex environments. This paper studies mapping and localization, as well as path planning methods for robots in order to meet the application requirements of factory inspections. Two SLAM application systems based on multiple-line laser radar and vision are designed for different scenarios in consideration of the limitations of cameras and laser sensors in terms of their own characteristics and applicability in different environments. To address the issue of low efficiency in inspection tasks, a hybrid path planning algorithm that integrates the A-star algorithm and time elasticity band algorithm is proposed. This algorithm effectively solves the problem of path planning in complex environments that is prone to falling into local optimal solutions, thereby improving the inspection efficiency of robots. Experimental tests show that the designed SLAM and path planning methods can meet the needs of robot inspection in complex scenes and have good reliability and stability. The code used in this article is open source and can be accessed at https://github.com/Mxiii99/RSPP_CS.git.

It is difficult to effectively operate a dual-arm robot using only the information written in a cooking recipe. To cope with this problem, this paper proposes a graph based approach on bimanual cooking motion planning from a cooking recipe. In our approach, we first decompose the cooking recipe into graph elements. Then, we try to connect the graph elements taking into account the attributes of the input/output nodes. If two graph elements cannot be connected each other, we search for a graph element that can be inserted between them from the database of graph elements. Since the constructed graph includes the whole sequence of the robot’s motions to perform the cooking task, we can generate a task sequence of a dual-arm manipulator simultaneously performing two different tasks by using two arms. Through experimental study, we show that it is possible to generate robot motions from a cooking recipe and perform the cooking motions while simultaneously moving the left and right arms.

This research has critically argued that a vigilant combination of flexibility and certainty in spatial planning can bring about the most optimum planning outcomes. Therefore, to reproachfully evaluate the core argument, this research has tried to empirically respond to the research question of which balance of government intervention and market freedom produces the optimal economic, social and spatial outcomes. This research question has been further translated into an associated central hypothesis i.e., a hybrid planning system with an optimal balance between discretionary and regulatory planning approach can bring about the desired economic, social, and spatial outcomes.

The main focus of this paper is to analyze the effect of local public finance on spatial land use through economic models and empirical evidence from Israel. The theoretic models extends the Alonso-Mill-Muth model by incorporating local public finance. The first finding is that steady population growth provides a channel for land capitalization through the mechanism of long term land property right. This implies a possible conflict of interest if ownership of land leasing revenue and the ad valorem property tax are not consistent. The empirical section examines one of the implications derived from the models highlighting a possible inconsistency between central and local governments due to land ownership centralization. This causes local tax revenue inequality among Israeli municipalities. Statistical evidence shows that cities with a larger share business land use can generate more tax without assistance from the central government, and are therefore more fiscal independent. Fiscal status has a significant effect on the planning time of residential construction. Municipalities with higher local tax revenues have shorter planning time(higher probability of acceptance) conditional on the plan’s size and other features.

Background: Intrauterine device is a modern contraceptive method used in family planning process, it prevents conception (pregnancy) and it has duration of 12years. There some women of reproductive age who don’t use this method, which necessitates our concern to why they don’t use it. The aim of this study is to explore the knowledge and attitude toward utilization of IUCD as family planning method among women attending at Makambako RCH. Methods: A descriptive cross-sectional quantitative study was used to assess knowledge and attitude concerning use of intrauterine contraceptive device among 384 women of reproductive age. Random sampling was conducted in which every individual had an equal chance to be selected and structured self-administered questionnaire were used to collect data. Data was entered to Microsoft excel and then exported to SPSS version 20.0 for further analysis. Results: Findings of the study about 333 (86.7%) respondents had knowledge on IUD while 51 (13.3%) they lack knowledge on IUD and they agreed it helps to prevent unwanted pregnancies and they heard it from social media like radio and television, health care providers, friends and school. About 46 (12%) of the respondents had positive attitude and used IUD method of family planning, and they got influence of using IUD from health care providers, 82 (21.4%) got influence of using IUD from their partners and 27 (7.0%) influenced to use IUD due to the side effects of other family planning methods like Depo Provera and pills. 25 (5.7%) were not influenced by anyone to use IUD as family planning method. While 338 (88.0%) participants had negative attitude on IUD method and had never used IUD as family planning method. Conclusion: The findings show that IUD usage was found to be poor and majority of them they didn’t prefer it, despite of having less complications.

Dump design and scheduling are critical elements to effective mine planning, especially if several of them are required in large-scale open pit mines. Infrastructure capital and transportation costs are considerable from an early stage in the mining project, and through the life-of-mine as these dumps gradually become immense structures. Delivered mining rates, as well as certain spatial and physical constraints, provide a set of parameters of mathematical and economic relationship that creates opportunities for modelling and thus facilitates the measuring and optimization of ultimate dump design by using programming and empirical techniques while achieving economic objectives. This paper presents a methodology to model and optimize the design of a mine dump by minimizing the total haulage costs. The proposed methodology consists on: (i) Formulation of a dump model based on a system of equations relying on multiple relevant parameters; (ii) Solves by minimizing the total cost using linear programming and determines a ‘preliminary’ dump design; (iii) Through a series of iterations, modifies the ‘preliminary’ footprint by projecting it to the topography and creates the ultimate dump design. Finally, an example application for a waste rock dump illustrates this methodology.

The sustainable development of public open spaces (POS) in suburban areas is crucial to enhancing neighborhood livability, especially in the face of uncontrolled urban sprawl. Therefore, the question was asked: what forms of gathering and recreation places are in suburbs that are subjected to mature urban planning? The research focuses on the Netherlands (Bunnik commune), a country known for its sustainable suburban areas. By conducting field research that involved analyzing physical traces and engaging in non-participatory observation, the study identified and categorized 18 distinct spatial-functional units of POS looking from a top-down design and planning lens. The types of gathering and recreation places identified through top-down development included: estates with recreational areas for neighbors; communal playgrounds; greenery sites by pedestrian routes; social places in central zone; open sports grounds; public allotment gardens; multi-purpose recreational areas at schools, communal facilities generating informal meetings. POS types created as a result of both top-down and bottom-up development were: entrance zones to public facilities with a social value; viewpoints accompanying pedestrian routes; network of green walks for recreation in rural and natural landscapes. Other POS types (resulting from bottom-up development): diner's garden and urban farm.

Drone imagery has the potential to enrich urban planning and preservation, especially where it converges with the growing creation and use of 3D models. The authors have conducted a systematic literature review of articles published between 2002 and 2022, drawing from reputable academic repositories including Science Direct, Web of Science, and China National Knowledge Infrastructure (CNKI), to identify current gaps in existing research in the application of UAVs to the creation of 3D models in urban planning and preservation. Findings indicate five research shortcomings: limited participation of planning experts, research focus imbalance, lack of usage for special scenarios, lack of integration with smart city planning, and limited interdisciplinary collaboration. The study also acknowledges current limitations with UAV applications and discusses possible countermeasures as well as future prospects.

In this paper, we present findings from a recently completed research about the use of enterprise resource planning (ERP) in travel, trade, and tourism businesses. Initially, we selected twelve existing travel, trade, and tourism ERP systems and preform practical analysis and testing of these systems via JMETER and Google chrome Lighthouse tools. In addition to that, an online survey was conducted (with an e-mail invitation and telephone call reminder) to collect data from three Pakistani Travel, Trade, and Tourism organizations. Furthermore, we adopted qualitative research practices by going through various research papers and research studies from journals, books, and internet, etc. This study is constructed on only secondary statistics. The goal of this article is to look at ERP systems in terms of their concept and use, as well as how they affect the modern travel business. An ERP system is a business system that integrates several corporate processes into a single database, such as supply chain management, manufacturing, financial management, and project management. ERP systems are utilized in a variety of businesses around the world, including in the manufacturing and service industries. Across a range of industries, service firms have recently spent significant resources on the implementation of Enterprise Resource Planning (ERP) systems to improve the efficiency, cost-effectiveness, and quality of service operations. To assist them to build their businesses, the travel, trade, and tourist industries all rely on an integrated information network. The work focuses on only one industry i-e Travel, Trade, and Tourism. This may limit the applicability of its broad conclusions to other industries or industries. The findings of this study compare and contrast the ERP implementation challenges faced by existing organizations of travel, trade, and tourism companies. This is the first empirical study on the difficulties surrounding ERP installation in travel, trade, and tourism companies. It is also the first study to compare ERP adoption in multiple companies in the areas of travel, trade, and tourism.

The mining industry, critical for global resource supply, has historically been linked to significant environmental degradation and social challenges including habitat disruption, water and soil contamination as well as fatalities. But recently the industry has been undergoing a transformative change to meet evolving environmental and societal expectations. Operations Research (OR) provides essential tools and techniques to optimize decision-making processes in this context. This paper presents a comprehensive review of different OR methods and their applications in balancing economic, social and environmental objectives in surface mine planning. By evaluating the strengths and limitations of these techniques, this review offers valuable insights for researchers and practitioners aiming to improve production efficiency and sustainability through advanced planning strategies.

Videogames are recognized as significant tools and mediums to be used in civic participation in spatial planning and fostering local communities. As the phenomenon is widely recognized in papers presenting singular case studies and broader analyses in the field, selecting such serious games with certain characteristics remains unclear. The informed process of choosing games with particular properties regarding genesis, graphic style, genre, and complexity as the response for specified needs and process assumptions appears to be supportive in preventing unnecessary costs and data overproduction. Such avoidance is an important part of sustainable digital transformation. Therefore there is a need for the more conscious process of selecting videogames to be used in a participatory process. The following paper aims to propose a decisional instrument that could be useful for specifying the characteristics of games to be utilized in participation. They performed a multicriteria analysis of documented cases of implementing video games in civic engagement, allowing the creation of a set of numeric indicators that help determine the properties of games that will be most appropriate for given process assumptions. Such a tool can prevent overproducing data on the one hand and may cause dissemination presented way of handling the participation process on the other.

Protected and conserved areas are a key area-based strategy to address the biodiversity and climate change crises. Fundamental to understand their performance over time are indicators. The Digital Observatory for Protected Areas (DOPA) was born in 2013 as a set of open access web services and applications to be used to assess, monitor, and report on protected and conserved areas. For over a decade it has delivered over 50 indicators to support policy processes, national and regional governments, and practitioners. DOPA has also developed a versatile and efficient back-end approach that is widely applicable in other area-based conservation contexts. Here, we describe the methods and workflows behind DOPA´s back end and provide examples of policy relevant questions it can answer. We discuss key advantages and limitations of this systematic and replicable approach and explore the use of this back-end architecture to inform progress in area-based conservation targets for the following decades. This approach, embedded in multiple services provided by the Knowledge Centre for Biodiversity of the European Commission (KCBD), can also support the implementation and monitoring of area-based targets of the Kunming Montreal Global Biodiversity Framework at international, regional, and national levels.

The effect of the heterogeneity in sex factor is considered in the Markovian manpower modeling model. The estimation of the transition probability matrix of the staff flow was done using the maximum likelihood method. The expected future durations of the individuals in the manpower system were obtained under the aggregated and disaggregated (male and female) staff flow as well as their variances. Test for the heterogeneity of the staff based on sex factor was performed and the result of the heterogeneity test shows that there is difference between the disaggregated staff flows. The computed entrant probabilities also indicate that the male group has higher probabilities of attaining higher grades than the female group.

The practice of stormwater management has evolved from a singular focus on drainage to a multifaceted approach to support integrated urban development. By contributing to healthy, livable, ecological, and water sensitive cities, it is a key tool to promote Sustainable Development Goal 11 from neighborhood to metropolitan scales. A review of the knowledge base for stormwater management shows several attributes that favor an integrative approach to achieve co-benefits across several sectors. Functional areas of its contributions include drainage, flood control, flood plain management, water quality control, urban ecology, recreation, and city beautification. Legacy path dependance affects the potential to reform land use practices, while stormwater management practice is being affected by climate change, sea level rise, urbanization, inequality, and poor governance. Technical methods for stormwater management are well advanced, but integrative frameworks to address social, ecological and infrastructure needs are more challenging. The sensitivity of ecological issues is most evident in cities in coastal zones. Organizational initiatives are needed to counter neglect of essential maintenance and sustain flood risk reduction in cities. Stormwater management is related to other integrative tools, including IWRM, One Water, One Health, and integrated flood management, as well as the broader concept of urban planning. Stormwater capture and rainfall harvesting offer major opportunities to augment scarce water supplies. Nature-based solutions like low-impact development and the Sponge City concept show promise to transform cities. Major cities face challenges to sustain conveyance corridors for major flows and to store and treat combined sewer runoff. The neighborhood focus of stormwater management elevates the importance of participation and inclusion to advance environmental justice and strengthen social capital. Integrating organizational initiatives from local to city scale and funding improvements to stormwater systems are major challenges that require leadership from higher governance levels, although governments face resistance to change toward integration, especially in countries with poor land use and public works management systems. Finding solutions to neighborhood issues and the connectivity of water systems at larger scales requires complex approaches to urban planning and represent an important agenda for urban and water governance going forward.

Saudi Arabian cities have experienced a rapid expansion of their urban areas - particularly their city centers - over the last four decades. This has resulted to an increase in vehicular usage, which has adversely affected the daily walking experience of the residents. Walkability has several positive effects on people's health as well as the environment in cities. In addition to being a means of transportation, it also helps people create a sense of place, enhancing their image ability to be easily understood as a legible urban structure, and deepen their emotional bond with the city. Using the medium-sized Saudi Arabian city of Onaizah as a case study, this study looks into the feasibility of creating urban walking corridors to encourage users to walk more. According to Saudi Arabia's Vision 2030, which emphasizes the value of sustainable urban development and raising quality of life for residents, the study addresses walkability as a generator to maintain and improve the urban scene of the city center. Geographic Information Systems (GIS) was used to analyze the data and generate the urban corridors in the city center. The results showed the possibility of improving walking in Onaizah through three urban corridors to the city center, measuring 1,401 meters, 1,283 meters, and 1,507 meters, respectively. These corridors represent urban, commercial and heritage corridors, giving an opportunity for planners and decision makers to challenge prioritize pedestrian connectivity and enhance the physical environment, leading to sustainable urban development. This research paper used various criteria analysis methods to provide a comprehensive assessment of various factors to conclude these urban corridors; for example, assessments of land use, transportation and environmental considerations. The study aligns with Saudi Arabia's vision 2030 by promoting walking and enhancing the city's overall walkability while offering Onaizah society by creating and suggesting urban corridors to the city center a sustainable and livable urban environment.

Trade-offs in ecosystem services (ES) manifest when the enhancement of one service leads to the diminishing of another. These trade-offs pose a notable challenge, impacting the sustainability of particular socio-ecological systems peri-urban landscapes (PULs). This issue arises from the dynamic processes associated with peri-urbanization, posing threats to natural ecosystems and their services in peri-urban areas. Additionally, the escalating demand for ecosystem services in PULs contributes to these trade-offs. Policy making and planning concerning ecosystem ES trade-offs in PULs should prioritize the promotion of a balance between conflicting services and foster synergies among them. However, it is noteworthy that ES trade-offs in PULs are not given high priority on policy and planning agendas. Knowledge regarding policy development and planning for ES trade-offs in PULs often remains concealed within specific country and regional case studies. Consequently, this research seeks to characterize the ES trade-offs in the selected PUL case studies, with the objective of identifying potential commonalities among them. Furthermore, the study aims to identify: (i) the factors driving ES trade-offs, (ii) challenges pertaining to how policy-making and planning address ES trade-offs in PULs, and (iii) recommendations for enhancing governance practices to better manage peri-urban ES trade-offs. We designed a semi-quantitative survey and collected information about 23 different case studies, located across the world. Answers from this survey were analyzed with the help of Principal Component Analysis approach. The results showed that the most common trade-off occurred between “cultural and provisioning” and “regulating and provisioning” ES. It was found that urban development is the basic driver behind emerging of the examined trade-offs. To tackle this issue at the governance level, the study recommends establishing mechanisms to facilitate collaboration among stakeholders. This should be accompanied by robust dissemination efforts and the promotion of awareness among actors regarding the fundamental concepts of ES and PULs.

As the adoption of renewable energy sources grows, ensuring a stable power balance across various time frames has become a central challenge for modern power systems. In line with the "dual carbon" objectives and the seamless integration of renewable energy sources, harnessing the advantages of various energy storage resources and coordinating the operation of long-term and short-term storage have become pivotal directions for future energy storage deployment. To address the complexities arising from the coupling of different time scales in optimizing energy storage capacity, this paper proposes a method for energy storage planning that accounts for power imbalance risks across multiple time scales. Initially, the Seasonal and Trend decomposition using the Loess (STL) decomposition method is utilized to temporally decouple actual operational data. Subsequently, power balance computations are performed based on the obtained data at various time scales to optimize the allocation of different types of energy storage capacities and assess the associated imbalance risks. Finally, the effectiveness of the proposed approach is validated through hourly applications using real-world data from a province in China over recent years.

There has been a rapid increase in the use of Marine Spatial Planning (MSP) throughout the world recently, partly due to the continued loss of marine biodiversity and habitat. The sustainability of marine resources is threatened in all regions of the world by major events such as climate change, marine pollution, overfishing, illegal, unreported and unregulated fishing both on the high seas and in country waters. Here, we present a comprehensive review and analysis of how economic information has been applied and used to inform decisions about MSP in British Columbia (BC), Canada and other similar jurisdictions. This focus for the paper was selected because important gaps remain in the literature in terms of incorporating economic questions into MSP. We first present different definitions of MSP, and then we extract useful lessons from MSP regimes with well–tested decision support tools, and use this to guide MSP implementation in BC. We finally present and discuss case studies from Australia, South Africa and Belgium. Our review suggests that applying economic information to support the design and implementation of MSPs would lead to better decisions. This in turn would foster livelihoods, attract finance, increase buy–in and advance United Nations Sustainable Development Goal 14: Life Below Water, thereby achieving Infinity Fish, i.e., ensuring that ocean benefits flow to humanity forever.

Consideration of the individual bone characteristics of the wrist plays a key role in well-functioning biomedical devices and successful surgical procedures. Although geometric differences and individual bone sizes have been analyzed in the literature, detailed morphologic descriptions and correlations covering the entire wrist reported in a clinical context are lacking. This study aimed to perform a comprehensive and automatic analysis of wrist morphology using the freely available “Open Source Carpal Database” (OSCD). We quantified the dimensions of each of the individual carpal bones and their combination. These dimensions were extracted in n=117 datasets of the wrist of the OSCD in anatomical directions and analyzed using descriptive statics and correlation analysis to investigate morphological characteristics under gender-specific aspects. We found that there exist statistical differences between genders, and we concluded that gender specificity is an important variable affecting the utilization of biomedical device designs and clinical treatment.

Autonomous navigation of a mobile robot in dynamic environments presents a significant challenge in the field of robotics. The primary objective for mobile robot navigation is to ensure both smoothness and safety of movement. A path planning is applied to generate a trajectory that allows the robot to move smoothly while avoiding collisions with both stationary and moving obstacles. This study aims to introduce an Adaptive Neuro-Fuzzy Inference System (ANFIS)-based control strategy for a mobile robot navigating in dynamic environments, with a significant focus on ensuring collision-free path planning. The developed control strategy incorporates four ANFIS controllers, each regulating the robot's responsive behaviors. The experimental scene includes a mobile robot moving in an environment with static and dynamic obstacles without colliding with the obstacles. The experimental tests confirm the model's capability to facilitate collision-free motion, employing a path planning algorithm for determining the shortest route to the target destination. Simulations are conducted to show the effectiveness of the proposed algorithm, highlighting the mobile robot's efficiency in navigating without collisions while avoiding both stationary and moving obstacles using the integration of ultrasonic sensors.

With a high proportion of distributed photovoltaic and lower fossil energy integrated into the distribution network, it is very difficult to ensure the reliability of power supply. The distributed photovoltaic planning model based on big data is proposed. According to the impact stochastic photovoltaics and loads on reliability planning, the static and dynamic capacity-load ratios are proposed. The big data analysis model of distributed photovoltaic planning is established. The big data multi-scenario generation and reduction algorithm of stochastic distributed photovoltaic and load planning is studied, and a source-load big data scenario matching model is proposed. Ac-cording to the source load big data scenario, the dynamic capacity-load ratio of the distribution network is obtained. The static capacity-load ratio calculation method in distribution network planning is studied to ensure the reliability of power supply. Finally, the IEEE 33-bus system is used as an example. The results show that distributed photovoltaic planning based on big data and multi-scenario methods can improve photovoltaic utilization and power supply reliability.

The contribution of academics and researchers to the discussion around sustainable rural development planning and its impact on rural communities has grown exponentially in recent years. Understanding trends in sustainable rural development research requires considering the different factors involved and affecting people from a holistic approach. This review examines, through bibliometric studies, the scientific knowledge generated on sustainable rural development planning in the last 50 years, analyzing 6,895 articles published in journals between 1970 and 2020. The results reveal the existence of three clusters and an important growth is observed to respond to the continuous needs in relation to sustainable rural development. This research shows the evolution of a new approach for the planning of sustainable rural development projects in postmodernity: Working with People (WWP). This WWP model, as a conceptual framework from social learning has been validated as a novel proposal in numerous contexts. The bibliometric analysis shows an evolution "From Putting the Last first" to "Working with People in Rural Development" research and the contributions of influential teachers such as Chambers and Cernea. These bibliometric analyses demonstrate the correct approach of WWP model, and open new fields of research in the planning of sustainable rural development projects.

Study aimed to evaluate the impact of integrating family planning with maternal, newborn, and child health (FP-MNCH) on uptake of modern contraceptive methods and related health outcomes in two districts of the province of Sindh, Pakistan. Impact of intervention was evaluated using a quasi-experimental control before-after study design. Intervention included capacity building of healthcare providers and outreach workers, ensuring sustained supplies of family planning commodities, data-driven decision-making, and community engagement activities. Data was collected through household surveys at baseline (December2020) and endline (December 2022). The sample size was estimated as 880 married women of reproductive age (MWRA) in each district. The Difference and Difference(DiD) analytical method was used to estimate the impact of intervention adjusted for potential confounding factors. There was statistically significant increase of 11.3% in the current use of MCM in the intervention group compared to the control group (p value <0.001), with increases observed in the uptake of injection , implants, and condoms. Additionally, there was an increase in the proportion of women who had ANC visits (DiD 10.5% p value 0.003), FP counselling during ANC (DiD 15.6% p value < 0.001), LHW visits during pregnancy (DiD 15.1% p value 0.021), PNC check-ups for mother (DiD 25.2% p value <0.001), LHW visits after delivery (DiD 20.4% p value <0.001), and LHW advised for family planning at PNC visit n (DiD 14.5% p value 0.030). This study provides strong evidence for the scaling-up of integrated interventions through existing health care platforms utilizing human resources deployed by the government. This FP-MNCH model has the potential to be adopted in other provinces and at federally administered areas for both health and population planning. This model should be considered for replication in other districts of Sindh to accelerate current level of integration already existing.

With considerable growth in the Information &amp; Communication Technologies, several smartphone-based mobility platforms have already sprung up and they have the potential of transforming the mobility ecosystem completely. However, mobility-based smartphone app usage pattern across various user groups in Indian cities is unknown, and this knowledge is vital for introducing new consolidated apps-based services. Therefore, using primary data from a survey carried out in Bhopal (India), this article analyses the usage pattern of smartphone apps for trip planning activities and travel outcomes across various user groups at the personal and household level. The research offers empirical indication of relationships between smartphone app usage for trip planning (like departure time, choosing a destination, choosing the mode, se-lecting route, communicating, and coordinating trips, and performing tasks online instead of visiting) and resulting travel outcomes including vehicle kilometers travelled (for purposes like work/education, shopping, and recreation), social gathering, new place visits and group trips. The chi-square test has been used to test and interpret several socioeconomic variables that could in-fluence this relationship, such as gender, age, income, etc. This study's findings provide important behavioral insights that may be useful in policy discussions.

A graph based path planning method consisting of off-line part and on-line part for multi-UAV system in windy condition is proposed. In the off-line part, the task area is divided into grids. When two nodes is close enough, they are connected and weighted by the cost, obtained by solving an optimization problem based on difference method, between them. In order to ensure the accuracy of the difference method, the adjacent radius is set to be small enough. In order to ensure the generated paths close to analytical solution, the grid size is set to be much smaller than the adjacent radius. The shortest path algorithm is used to update the adjacent matrix and path matrix. In the on-line part, the target position assignment and optimal velocity can be obtained by accessing the adjacent matrix and path matrix. At the end of this paper, some numerical examples are taken to illustrate the validity of our method and the influence of the parameters.

Cancer patients and their family caregivers experience various losses when patients become terminally ill, yet little is known about the grief experienced by patients and caregivers and factors that influence grief as patients approach death. Additionally, few, if any, studies have explored associations between advance care planning (ACP) and grief resolution among cancer patients and caregivers. To fill this knowledge gap, the current study examined changes in grief over time in patients and their family caregivers and whether changes in patient grief are associated with changes in caregiver grief. We also sought to determine how grief changed following completion of advance directives. The sample included advanced cancer patients and caregivers (n=98 dyads) from Coping with Cancer III, a federally funded, multi-site prospective longitudinal study of end-stage cancer care. Participants were interviewed at baseline and at follow-up roughly 2 months later. Results suggest synchrony, whereby changes in patient grief were associated with changes in caregiver grief. We also found that patients who completed a living will (LW) experienced increases in grief, while caregivers of patients who completed a do-not-resuscitate (DNR) order experienced reductions in grief, suggesting that ACP may prompt “grief work” in patients while promoting grief resolution in caregivers.

Over the last decade, there has been a renewed interest in oral health workforce planning. The purpose of this review is to examine oral health workforce planning models on supply, demand and needs, mainly in respect to their data sources, modelling technique and use of skill mix. A search was carried out on PubMed, Web of Science, and Google Scholar databases for published scientific articles on oral health workforce planning models between 2010 to 2020. No restrictions were placed on the type of modelling philosophy, and all studies including supply, demand or needs based models were included. Rapid review methods guided the review process. Twenty-three studies from 15 different countries were included in the review. A majority were from high income countries (n=17). Dentists were the sole oral health workforce group modelled in 13 studies; only five studied included skill mix (allied dental personnel) considerations. The most common application of modelling was a workforce to population ratio or a needs-based demand weighted variant. Nearly all studies presented weaknesses in modelling process due to the limitations in data sources and/or non availability of necessary data to inform oral health workforce planning. Skill mix considerations in planning models were also limited to horizontal integration within oral health professionals. Planning for the future oral health workforce is heavily reliant on quality data being available for supply, demand and needs models. Integrated methodologies that expand skill mix considerations and account for uncertainty are essential for future planning exercises.

This paper discusses Green Infrastructure, which can be considered a useful tool in the process of ensuring the sustainable development of urban structures in the Carpathian region. It allows for achieving a better quality of the environment of human life and healthy wildlife linkages. The element that supports defining information about the existing state of Green Infrastructure and its resources is the Green Infrastructure fragmentation coefficient based on edge effect calculations, which is the relation between the edge of the patch (circumference) to its surface area [1, 2]. With the use of model analysis of Green Infrastructure, it is possible to implement the provisions of the Carpathian Convention and coordinate planning documents that facilitate the sustainable development of spatial structures. Our study on the state of Green Infrastructure in rural areas of the Polish Carpathian Mountains is a source of knowledge about the quality of this area, its natural environment and fragmentation. Determining the territory’s Green Infrastructure fragmentation coefficient provides an opportunity for higher-precision studies and the detection of threats and integration of GI fragments and addressing proper solutions in conflict areas.

Raw material logistics reflects an important aspect of global trade. Raw materials form an essential basis for society, for daily life, and range from apples to zinc. This paper addresses the analysis and optimization of supply chains of raw materials in terms of their economic viability and their sustainability. Type representatives are chosen according to annual transported quantities. Hard coal represents bulk goods, aluminum primary raw materials with medium quantities, and rare earths primary raw materials with small quantities. Their respective supply chains are analyzed and subsequently possible strategies and methods and their application are discussed. The paper shows for the first time that the selection and application of optimization priorities (e.g. profitability or sustainability) depends on the primary raw material and its integration into global production chains.

Numerous cities in our modern world are unfortunately encountering the negative effects of urban sprawl: this includes unrestricted settlement, degradation in the quality of their environment, traffic congestion, sub-standard buildings, and air pollution as well as flooding, swampy areas, landslides, and settlement zones with dilapidated utilities and infrastructures that are not safe for living. The Ulaanbaatar City land management master plan defined the settlement zone area suitable for living as 33,698 hectares. However, due to unrestricted urban sprawl caused by exponential growth of the city’s population, the settlement zone area reached 39,235 hectares, which exceeds the limit by 5,537 hectares. In order to tackle this issue, several urban planning concepts were developed to be implemented within the Ulaanbaatar City urban planning framework. It is, in any case, problematic to choose a single planning concept due to the fact that neither measurements nor analyses are being made of the respective spatial quantitative indicators in urban planning assumptions that are taking the current situation into consideration. One of the prerequisites for identifying an optimal concept in urban planning is an assessment of the current situation, and measuring the impacts against its quantitative data. In the current research, when defining Ulaanbaatar city sprawl, the base year was selected as 1990, the time when the city started to sprawl. Research analyses were made using geographic information systems based on the satellite data 1990, 1995, 2000, 2005 Landsat ТМ-5, 2010 Quickbird, 2015 World View and 2020 Sentinel2, respectively. Based on the results of determining the city sprawl using spatial indicators, the urban planning concepts applied thus far have been analyzed in relation to land use efficiency and land use structural changes. This research paper addresses the issue of reducing unrestricted urban sprawl by increasing the internal density of the city. The research results show that, by applying the concept of a compact city in urban redevelopment planning for 4,604 hectares, and by allocating the settlements in 12,479 hectares, it is possible to reduce the urban expansion threefold and increase land use efficiency accordingly.

The paper presents models of path and control planning for parking, docking, and movement of autonomous vehicles at low speeds considering space constraints. Given the low speed of motion, and in order to test and approve the proposed algorithms, vehicle kinematic models are used. Recent works on the development of parking algorithms for autonomous vehicles are reviewed. Bicycle kinematic models for vehicle motion are considered for three basic types of vehicles: passenger car, long wheelbase truck, and articulated vehicles with and without steered semitrailer axes. Mathematical descriptions of systems of differential equations in matrix form and expressions for determining the linearization elements of nonlinear motion equations that increase the speed of finding the optimal solution are presented. Options are proposed for describing the interaction of vehicle overall dimensions with the space boundaries, within which a maneuver should be performed. An original algorithm that considers numerous constraints is developed for determining vehicle permissible positions within the closed boundaries of the parking area, which are directly used in the iterative process of searching for the optimal plan solution using nonlinear model predictive control (NMPC). The process of using NMPC to find the best trajectories and control laws while moving in a semi-limited space of constant curvature (turnabouts, roundabouts) are described. Simulation tests were used to validate the proposed models for both constrained and unconstrained conditions and the output (state-space) and control parameters' dependencies are shown. The proposed models represent an initial effort to model the movement of autonomous vehicles for parking and has the potential for other highway applications.

Interactive Planning Support Systems (PSS) implemented on a maptable are deemed suitable to support participatory planning processes. Through their interactive nature and user-friendly interface they are supposed to facilitate exchange of knowledge between stakeholders, consensus building among them, group learning processes, and thereby strengthen participation. We analyze in this systematic review, based on 16 case studies using interactive PSS, how such PSS have contributed to the goal of strengthening stakeholder participation. Results show that tools and applications have become more sophisticated in recent years and the goals of the studies changed from collaboratively designing interventions to observing and understanding how the application of such tools contributes to improved plan outcomes and group based learning. However, many case studies lack a proper framework and operationalization for investigating the impacts of the tools and applications on participation. Consequently, impacts on participation are assessed rather incidentally based on implicit assumptions and often no distinction is made between the different aspects of participation. In conclusion, further theoretical studies conceptualizing impacts of interactive PSS on participation are needed as well as empirical studies testing these impacts in real world case contexts with various groups of stakeholders.

Controlling and managing risk is always a critical point for the managers, investors and even consultants. Having clear and better percepts about future can reduce the risk of fail. In addition it is important for a risk analyzer to consider the stakeholders views and senses about the risk. This research aimed at framing a comprehensive risk management model which builds up on stakeholder requirements and forecasting techniques. This conceptual model attempts to use the stakeholder’s points of view to write prefer and probable scenarios to neglect critical risks and increase the chance of success in long-term plannings. Using futures studies methods prepare decision makers for the possible upcoming events and donate them a powerful tool to handle the uncertainties cover the future.

The non-existence of a land ownership database in most of the developing countries moves the inhabitants to the occupation of public lands. Some of this situation are the origin to areas of informal housing, commerce and agriculture and in the end into new ​​informal settlements. Informal settlements become a serious problem in developing countries. The most common typology of informal settlements is that they are the population settled in public lands without any infrastructures and against the administrator's will. Thought this action the result in an uncontrolled land occupation process that promotes new informal areas without any proper built-up utilities, located in risk areas on the territory, barely ensuring the minimum requirements for a heaty living of the population and in various cases incentives to an informal economy. The process of build a cadastral map in informal settlement areas is a fundamental base to support the future transformation of illegal areas and to regulate the occupation of new subdivision planning and into the creation of new expansion areas. In this paper, it is presented a methodology developed to be applied to support a new register of land and to management. The transformation of informal settlement areas. The model to register the land tenure has been associated with allows the process application to multiple typology of informal settlements. The model to register land tenure has developed on a series of qualitative and quantitative data that determine the identification and classification of the buildings and its physical and functional description. The model was developed using Geographic Information System and with an initial survey of existing land titles of possession and public proposals to develop new expansion areas. A case study of the method is presented, where the land management model was implemented - Chã da Caldeiras in Ilha do Fogo an informal settlement in Cape Verde. The results are a great acceptance of the proposal by the population and local authorities and the starting of the implementation phase.

Planning, development and design policies influence sense of safety of people touse the City centre or Central Business District (CBD) and therefore city centres can becomeactive and vibrant during the day and night. This paper reviews past and present planningpolicies relevant for feeling of personal safety in the context of housing, retail, amenities,street infrastructure, building design and transportation aspects. The past development trendsshow that insignificant attention has been paid to people's sense of safety when using publicspaces, particularly at night, a factor identified important in creating attractive city centressince 1960s. Local plans primarily refer to safety in relation to roads, accessibility andworkability. Local policies also show the dominance of CCTV since the 1990s has becomeubiquitous, but changes to sense of safety in urban spaces now may actually be a betterreflection of planning and design decisions made over the past 20 years.

Real-time strategy (RTS) game has proposed many challenges for AI research for its large state spaces, enormous branch factors, limited decision time and dynamic adversarial environment. To tackle above problems, the method called Adversarial Hierarchical Task Network planning (AHTN) has been proposed and achieves favorable performance. However, the HTN description it used cannot express complex relationships among tasks and impacts of environment on tasks. Moreover, the AHTN cannot handle task failures during plan execution. In this paper, we propose a modified AHTN planning algorithm named AHTNR. The algorithm introduces three elements essential task, phase and exit condition to extend the HTN description. To deal with possible task failures, the AHTNR first uses the extended HTN description to identify failed tasks. And then a novel task repair strategy is proposed based on historical information to maintain the validity of previous plan. Finally, empirical results are presented for the μRTS game, comparing AHTNR to the state-of-the-art search algorithms for RTS games.

Linear programming models have been used in forest management planning since the 1960s. These models have been formulated in three basic ways: Models I, II, and III, which are defined by the sequences of management unit states represented by the variables. In Model I, variables represent sequences of states from the beginning of the planning horizon to the end. In Model II, variables represent sequences of states from one intervention to the next. Finally, in Model III, variables represent a single arc in a management unit’s decision tree, i.e., two states. The objectives of this paper are to clarify the definitions of these model variations and evaluate the advantages and disadvantages of each model. This second objective was achieved by formulating a case study problem using each model type. The case study includes three increasingly complex scenarios, each incorporating additional ecosystem services. Results show that despite having more variables and constraints, Model III requires the least time to formulate due to its less dense parameter matrix. Model II has the shortest solution times, followed closely by Model III, while Model I requires the longest times for both formulation and solution. These results are increasingly apparent in more complex scenarios.

Food tourism, an increasingly vital sector within tourism, significantly impacts both the economic vitality and cultural enrichment of tourist destinations. It attracts a diverse range of visitors, both local and international, while enhancing appreciation for regional culinary traditions. This study employs scenario planning to uncover pivotal factors influencing food tourism in rural Iran. Methodologically, it combines objective-driven, descriptive-analytical approaches with future studies methodologies. Data sourced from literature reviews, field studies, and expert surveys, facilitated by MICMAC and ScenarioWizard software, identified six key drivers: promotional activities, pricing, food quality, infrastructure, government support, and investment. The study forecasts future scenarios based on these drivers, revealing optimistic, stagnant, and crisis condi-tions impacting food tourism development. To achieve favorable outcomes, prioritizing these drivers is essential, ensuring sustainable growth and seizing tourism opportunities in rural Iran. This research contributes by systematically analyzing critical factors driving food tourism using scenario-based insights, essential for sector longevity and prosperity.

The flooding phenomenon in Pekanbaru City is an interrelated problem between socio-economic and environmental problems. Changes or conversion of land from non-built areas to residential areas or other uses result in the area of water catchment areas being reduced. Another no less important factor is socio-economic factors. One of the socio-economic problems that causes flooding every year in Pekanbaru City is waste management. Garbage thrown carelessly by Pekanbaru people obstructs drainage channels and river flows and causes flooding. Another socio-economic problem is water use behavior. The majority of water used for daily needs, bathing and washing toilets comes from groundwater. The use of groundwater in large and continuous quantities results in land subsidence and contributes to an increase in flood inundation. Analysis of spatial planning strategies and community behavior towards flood control efforts using Participatory Prospective Analysis (PPA). Prospective analysis in this study was used to determine the dominant variables that influence strategy determination. This method is a tool designed to find out or investigate and anticipate changes with the participation of experts or stakeholders. The prospective method is a tool used for policy analysis, especially in research involving sustainable development, because it can facilitate the anticipation of change in an unstable environment. The results of the research show that spatial planning strategies and community behavior in flood control are carried out with the coordination of technical stakeholders related to flood control, flood management includes before a disaster occurs, during a disaster and after a disaster, flood plain management, includes determining flood boundaries, determining zoning, supervision and monitoring as well as community involvement.

Drone technology has undoubtedly become an integral part of our everyday life these days. The business and industrial use of unmanned aerial vehicles (UAV) can provide advantageous solutions in many areas of life, and they are also optimal for emergency situations and for accessing hard-to-reach places. However, their application poses numerous technological and regulatory challenges to be overcome. One of the weak links in the operation of UAVs is the limited availability of energy. In order to address this issue authors developed a novel trajectory planning method for UAVs to optimize the energy necessity during flight. First, an “energy map” was created, which was the basis for trajectory planning, i.e., determining the energy consumption of the individual components. This was followed by configuring the 3D environment including partitioning of the work space (WS), in fact, defining the free spaces, occupied spaces (obstacles) and semi-occupied/free spaces. Then the corresponding graph-like path(s) were generated on the basis of the partitioned space, where a graph search-based heuristic trajectory planning was initiated, taking into account the most important wind conditions including velocity and direction. Finally, in order to test the theoretical results, some sample environments were created to test and analyse the proposed path generations. The method eventually proposed was able to determine the optimal path in terms of energy consumption.

Since the 1960s, forest planners have used linear programming models to develop management plans for large, forested areas. Hundreds of academic papers have presented such models, incorporating multiple objectives, a growing diversity of management interventions, and uncertainty, among other things. Three basic ways to formulate these models have been used: Model I, III, and III. We define these models based on the sequence of management unit states represented by the variables. In Model I, variables represent a sequence of states from the beginning of the planning horizon to the end. In Model II, variables represent a sequence of states from one intervention to the next. Finally, in Model III, variables represent a single arc in a management unit’s decision tree, including only a beginning and an ending state. We formulate each type of model for a case study with three increasingly complex scenarios incorporating additional ecosystem services. Our results indicate that, despite requiring more variables and constraints, Model III requires the least time to formulate, largely because it has the least dense parameter matrix. Model II has the shortest solution times, with Model III close behind. Model I requires both the longest formulation and solution times.

This paper investigates the possible failure modes of the product development process in production companies that are active in the B2C markets with a focus on household products. Since these cases require short lead times and are difficult to differentiate, in many instances the end result will not be the desired one and could affect profitability for a season or for good. A model of these possibilities is created and an approach to plan contingencies for their solutioning is proposed in the article. The main guideline is to switch from failure probability determination to accepting failure as inevitable and using digital solutions to reinforce the development process in order to offset its impact. For this goal, an Industry 5.0 Abatement Factor (abbreviated IFAF) is introduced in the contingency planning approach, that factors in the evaluation the low cost of digital instruments and the proper mix of Technology, Humans and AI (abbreviated THAI). The new working procedure based on these concepts and their interlinkages is discussed based on specific examples.

The advancement of autonomous capabilities in maritime navigation has gained significant attention, with a trajectory moving from decision support systems to full autonomy. This push towards autonomy has led to extensive research focusing on collision avoidance, a critical aspect of safe navigation. Among the various possible approaches, Dynamic Programming is a promising tool for optimizing collision avoidance maneuvers. This paper presents a DP formulation for collision avoidance of autonomous vessels. We set up the problem framework, formulate it as a multi-stage decision process, define cost functions and constraints focusing on the actual requirements a marine maneuver must comply with, and propose a solution algorithm leveraging parallel computing. Additionally, we present a greedy approximation to reduce algorithm complexity. Through case studies, we demonstrate the effectiveness of the proposed approach in navigating complex scenarios, contributing to the future of autonomous maritime navigation. Through case studies, we show the efficacy of our approach in navigating complex scenarios.

Dynamic systems which underly controlled systems are expected to increase in complexity as robots, devices, and connected networks become more intelligent. While classical stable systems converge to a stable point (a sink), another type of stability is to consider a stable path rather than a single point. Such stable paths can be made of saddles which draw in trajectories from certain regions, and then push the trajectory toward the next saddle point. These are chains of saddles are called stable heteroclinic channels (SHCs), and can be used in robotic control to represent time sequences. While we have previously shown that each saddle is visualizable as a trajectory waypoint in phase space, how to increase the fidelity of the trajectory was unclear. In this paper, we hypothesized that the waypoints can be individually modified to locally vary fidelity. Specifically, we expected that increasing the saddle value (ratio of saddle eigenvalues) causes the trajectory to slow to more closely approach a particular saddle. Combined with other parameters that control speed and magnitude, a system expressed with an SHC can be modified locally, point by point, without disrupting the rest of the path, supporting their use in motion primitives. However, even more complex trajectory shape modifications are possible. While some combinations can enable a trajectory to better reach into corners, other combinations can rotate, distort and round the trajectory in the region of a corner. In our example, modifying select saddle values produced a 32% decrease in the trajectory error of a complex trajectory produced using this system. This is an effect not visible in previous 1D studies, that can lead to different learnable and tunable representations of dynamic systems.

Achieving sustainable development will require improved water management, but the main framework to address it, Integrated Water Resources Management (IWRM), lacks clarity and acceptance among a diverse community of many stakeholders. This creates communication problems and obscures issues that people care about like drinking water and pollution prevention. As a process within IWRM, the concept of water resources assessment also suffers from a lack of clarity, which leads to ambiguity and reports that are too general to lead to action. This lack of acceptance of IWRM and water resources assessment saps support for essential data collection, analysis, and reporting. Clarifying IWRM will require work within the water community and better messaging to stakeholders. Methods for water resources assessment can be clarified by linking outcomes to higher level reporting of policy and issues. Acceptance of the role of water resources assessment can be facilitated by adding it to the management instruments in the IWRM Toolbox. Stovepipes among water management agencies require coordination to achieve this, usually through framework studies. Improved messaging will involve what people and stakeholders care about and will require changed approaches to presentation of outcomes by categories, such as drinking water, pollution prevention, and flood risk reduction. Researchers can report outcomes with technical messaging that trends toward uniform language and definitions and the water resources management community can nudge its media outlets to carry unifying messages.

In Bangladesh, family businesses play a significant role in the country's business landscape because so few private companies are set up as large-scale, non-family ownership firms. Thus, it is vital to comprehend family businesses in order to comprehend Bangladeshi company dynamics. In this paper, authors attempted to survey the existing research in the area of family business in Bangladesh. It was found that the area as a research is totally an open field and a lot of new research can be done in the said area. Although a good number of studies can be classified as focused on the SME (small and medium enterprise) domain, a major shortcoming of those SME studies is that the SMEs themselves vary greatly in terms of size, scope, and technology. Whereas most of the family businesses can be predominantly put in the SME category, the particular issue of family business and family dynamics is not very common in those studies. This paper suggests that a good amount of research or studies can be done focusing on family business constitution, family members' participation norm, recruitment and promotion norm, family business succession rules and succession planning, training for family business leadership and management, training for board and directorial supervision, and so on.

The paper in question explores the connection between green areas and urban well-being in an effort to give readers a comprehensive grasp of the topic. The major goals of this study are to evaluate how green spaces affect urban residents' physical and mental health, sense of community, and general quality of life. This research presents numerous major conclusions through a thorough investigation of the current literature and empirical analysis of urban environments across various areas. First of all, it shows that being close to green spaces is associated with better physical health, including a decline in obesity and cardiovascular disease rates. Second, green areas are linked to better mental health, with residents of greener neighbourhoods reporting reduced levels of stress, anxiety, and sadness. However, neighbourhoods having green open grass areas have greater levels of social interaction, and cohesion, which encourages residents to feel a sense of belonging. Lastly, this study highlights the positive impact of green spaces on overall urban quality of life, as they contribute to cleaner air, lower noise pollution, and increased property values. The implications of these findings are significant for urban planning and policy development. They underscore the importance of prioritizing green spaces in urban design, as investments in such areas not only promote physical and mental health but also enhance social bonds and elevate the overall liveability of cities. This research provides a foundation for evidence-based decision-making in urban development to create healthier, more vibrant, and sustainable urban environments.

The study focuses on solving urban challenges such as temperature reduction, urban stormwater management, noise reduction, air quality improvement, and CO2 concentrations reduction, and suggests terrestrial and freshwater habitat types (HTs) found in Europe, as innovative forms of nature-based solutions (NBS) for them. Establishment of native HTs in different urban environments to solve urban challenges would enhance biodiversity at different levels and integrate this aspect in urban planning. This contribution builds on the recognition that surfaces of vegetated terrain are the most versatile NBS in addressing the broadest range of environmental problems in urban areas and that the processes running within these green spaces offer the key to socio-ecological improvements of such areas. Employing narrative literature review, qualitative content analysis, and interdisciplinary expert discussion this paper defines why and how native HTs of unchanged nature can be implemented as NBS in the urban environment, indicate potential HTs for specific urban challenges and presents an approach to the inclusion of HTs as NBS into spatial planning documents at national, regional, and local levels. The proposed planning approach attributes added value to HT, and by linking the concepts of NBS and HT integrates them into urban planning.

This paper introduces a novel algorithm for solving the point-to-point shortest path problem in a static regular 8-neighbor connectivity (G8) grid. This algorithm can be seen as a generalization of Hadlock algorithm to G8 grids, and is shown to be theoretically equivalent to the relaxed A* (RA*) algorithm in terms of the provided solution's path length, but with substantial time and memory savings, due to a completely different computation strategy, based on defining a set of lookup matrices. Through an experimental study on grid maps of various types and sizes (1290 runs on 43 maps), it is proven to be 2.25 times faster than RA* and 17 times faster than the original A*, in average. Moreover, it is more memory-efficient, since it does not need to store a G score matrix.

This article deals with the governance of common goods within regeneration projects of UNESCO heritage sites. The main objective is to evaluate the existence of conditions that prove the con-temporary function of common goods as drivers of strategic regeneration of complex territories with high cultural value. The research identifies some of the strategic planning policies implemented for the historical centre of Naples and analyses their proactive function in the enhancement, conser-vation and reuse of built commons. The expected result is to contribute to the debate on the cultural planning of the territory, aimed at the diversification of services and the fight against the process of touristisation. Through desk research and consultation of primary sources, a brief outline is given of the historical process that led to the birth of the "Great UNESCO Project" in the historical centre of Naples. The paper then analyses the "Discipline of the common goods - Principles for the govern-ance and management of the commons in the city of Naples", defining its addresses, opportunities and limitations as a contribution to relational, oriented and sustainable strategic territorial planning.