The Last Planner System (LPS) aims to enhance planning reliability by reducing variability in construction processes. While LPS applications have been explored in construction and detailed design, its application in architectural design remains underrepresented due to its abstract nature. This study addresses this gap by proposing an LPS framework tailored for architectural design, utilizing LPS metrics to assess planning reliability. Key issues hindering formal planning methods' implementation are identified, and relevant LPS principles are aligned with these challenges, culminating in a conceptual LPS model designed for architectural projects. Building upon the conceptual model, an implementation model is then developed and put into practice within an architectural design company in the United States, resulting in measured improvements in planning reliability and responsiveness. Additionally, it unveils hidden challenges associated with emerging tasks, guiding future design process enhancements. This study demonstrates how tracking design planning performance with LPS metrics can promote LPS adoption in architectural design, offering a benchmark for necessary interventions to achieve desired performance in architectural design.

Transportation electrification has been identified as a crucial shift to be made for achieving energy security and emission reduction targets. Electric Vehicles (EVs) play a significant role in achieving these targets; therefore, there is a growing trend to develop new EV technologies and associated infrastructure. Along with these developments, EVs' Quality of Service (QoS) aspects should be enhanced to increase the number of EVs on the road. Various QoS factors are defined to assess the QoS of EVs, and one of the two aims of this paper is to provide a comprehensive review of these factors. The other aim is to review recent developments of associated communication technologies which are essential for exchanging information between EVs and charging stations. This paper serves as a comprehensive review and useful reference for researchers working on QoS aspects of EVs and associated communication systems aiming to enhance the QoS.

For effective warehouse management, various criteria should be taken into consideration in terms of inventory management, demand, transportation distance, usage area, delivery-waiting times, and minimizing the costs that may arise from them. Because, the purpose of the product assignment problem is to minimize the total transport distance during storage and to reduce the space required for product assignment. However, the storage location assignment problem (SLAP) occurs simultaneously with production planning activities in real life. In this study, an integrated mixed-integer nonlinear (MINLP) mathematical model is proposed, which includes the assignment of products to storage areas and production planning, using the TOPSIS (Technique for Order Preference by Similarity to Ideal Solution) class based policy for storage systems where multiple criteria are important. In the TOPSIS class-based policy, weight and waiting time criteria are taken into account, as well as the COI (Cube-per-order index index), which is widely used in the literature. In addition, a decision support system flow has been proposed that takes into account the single criterion, multiple criteria and COI index criteria of the developed model and provides its integration with different product assignment policies. Detailed literature research; It has been revealed that the proposed mathematical model and decision support system flow have the feature of applying an existing field of science to a new problem.

This work aims to produce a cartographic model that identifies areas with a greater probability of finding karstic caves - the endokarst potential - in the northern sector of Santo António Plateau (Estremadura Limestone Massif, Central Portugal). Geological, topographic, hydrogeological, and vegetation cover data were collected, processed, and integrated into a spatial database using a geographic information system (GIS). The location of known cave entrances in the study area was also identified from the records of local public institutions and speleological teams. Four conditioning factors were extracted from the collected data, including lithostratigraphic units, fracture density, relief energy, and land cover. In a multi-criteria decision-making analysis framework, each previously chosen conditioning factor and respective classes/categories were weighted using the analytic hierarchy process (AHP). With an agreement of 81.9%, the results of the cartographic model constructed in GIS seem to be promising, considering that the entrances of the known caves are mainly located in areas classified as having high to very high endokarst potential. This prototype of the endokarst potential map for the study area can be used in strategic and operational environmental planning (at least on a local scale), as it can assist decision-makers, competent authorities, and local speleological teams in a more accurate and thoughtful definition of the areas that should be investigated, providing a substantial reduction in times and costs field prospecting.

As a rapidly growing coastal megacity, Shanghai is continuously threatened with land subsidence issues since 1920s. Land subsidence was controlled in 1960s, however in 1990s, unconscious and dangerous urban underground space (UUS) exploration and tunneling development are causing further land subsidence. It is imperative to study previous relations towards future adaptive and resilient scenario modelling and planning. There are multiple cause-effect factors determined in the urban built environment of Shanghai megacity. This paper presents the current evidence based on the relations of the multifactor of the spectrum. Methods consist of understanding the cause-effect relations and spatiotemporal from the crucial period of 1960-2020. Data are collected secondarily from multiple open sourced databases. The results determine Shanghai are highly influenced by the UUS development induced-subsidence, tunneling leakage and weak spatial modelling. Spatiotemporal pattern has shown a mixed positive-negative impact: population, land subsidence is growing in parallel distribution (positive) with tunneling leakage, construction of tunneling, metro system, UUS development, building price, reconstruction area, GDP growth, land price, arable land decrease and further tunnel settlement in Urban City Centre, Pudong New Area, Minhang, Baoshan and Songjiang districts. These results are useful for further adaptive and resilient scenario modelling and spatial planning.

Patients living with cancer often experience serious adverse events due to their condition or its treatments. Those events may lead to a critical care unit admission or even result in death. One of the most important but challenging part of care is to build a caring plan according to the patient’s wishes, meeting his goals and values. Advance directives (ADs) allow everyone to give their preferences in advance regarding life sustaining treatments, continuation, and withdrawal or withholding of treatments in case one is not able to speak his mind anymore. While the absence of ADs is associated with a greater probability of receiving unwanted intensive care around the end of his life, their existence correlates with the respect of the patient’s desires and his greater satisfaction. Although progress has been made to promote ADs’ completion, they are still scarcely used among cancer patients in many countries. Several limitations to their acceptation and use can be detected. Efforts should be made to provide tailored solutions for the identified hindrances. This narrative review aims to depict the situation of ADs in the oncology context, and to highlight the future areas of improvement.

Sinkhole flooding is an essential hydrological process to recharge karst aquifer in arid to dry sub-humid regions. On the other hand, the increase of rain extremes is one of the major consequences of the global warming, together with the expansion of drylands. Thus, appropriate runoff regulation in endorheic karst basins in order to reduce the risk of flooding and improve the quantity and quality of the water drained by sinkholes will be more and more crucial. With these premises, a systematic review was performed by using WoS engine to infer the best practices for the karst water management in regions actually or potentially affected by water scarcity. Hydrological models are essential to manage the consequences of climate change on karst water resource, however the review shows that providing the tools necessary for reliable modeling is still challenging. Finally, due to the intrinsic vulnerability of the karst aquifers, pollution reduction and wastewater recycling policy will play key role in the next decades.

As is known, the construction industry has one of the highest occupational accidents incidence rates among all economic sectors. Currently, Building Information Modeling (BIM) appears as a tool that addresses occupational safety issues throughout the construction life cycle projects, avoiding hazards and risks and, consequently, increasing safety. This work investigates BIM methodology and related technologies application for building safety planning in construction and demonstrates the potential of this technology for the integrated implementation of safety measures during the design phase and the construction site management. The first step consisted of a literature review on the application of BIM in safety in the design and planning phases. Following, to show the potentialities of construction simulation, a case study based on BIM 4D to prevent falls from height was developed. With BIM 4D, it is possible to follow the construction process over time, giving the construction safety technicians’, designers, supervisors and managers the capability to analyse, in each phase, the potential risks and which safety measures should be implemented. BIM can effectively integrate safety measures from the design phase to the construction and use phase and do integrated safety planning within construction planning, leading to reliable safety management throughout the construction process.

Objectives: Our objective was to assess employer preparedness to protect their employees’ health and safety and promote their well-being in the face of potential disasters in a sample of Northeast United States employers. We developed survey instrument and index based on our model of Total Worker Health® (TWH) Employer Preparedness.Methods: We conducted a 40-question on-line survey with the membership of the Northeast Human Resources Association (US). Human resource managers reported their perceptions of their employers’ preparedness in seven domains: planning, human resources policies, hazard reduction, training, staffing, communications, and resources for resilience. Respondents were categorized by size, sector and reach and their responses scored.Results: Seventy-six individuals representing a diverse group of employers responded to the survey. Mean preparedness was “moderate,” with almost an equal number reporting a high level of preparedness as no preparedness. Employers were most prepared for severe weather events and least prepared for acts of violence. There were no significant differences by sector, size, or reach, although the healthcare sector was more prepared than others.Conclusions: There is a range of TWH® Employer Preparedness among Northeast US employers. The survey and model are important tools that can aid employers in the face of growing threats to “business as usual.”

The paper makes a critical assessment of urban development in Nigeria against the backdrop of a rapidly changing population and growth rate. The Authors interrogated the effects of development control- mechanisms through the lenses of identified social anomalies in three selected pilot cities of Nigeria (Kaduna, Abuja FCT, and Lagos). Thematic areas examined include, the state of critical infrastructure, population dynamics, urban sprawl, city polarization, transportation, waste management systems, security/crime and economics. The Authors identified structural transformation of three Nigerian cities with focus on the causes and attendant consequences on urban development. The study found that urban growth has over-stretched the state of critical infrastructure in the cities and the mechanisms of development control seem ineffective in stemming unregulated growth, compromises and unplanned ‘development’. The paper noted that the impact of these developments has overstretched the state of critical infrastructure with far-reaching consequences. The authors conclude with some recommendations for strategic planning and sustainable development strategies aimed at mitigating the problems of urban development in Nigeria.

The recent growth of high-resolution spatial data, especially in developing urban environments, is enabling new approaches to civic activism, urban planning and the provision of services necessary for sustainable development. A special area of great potential and urgent need deals with urban expansion through informal settlements (slums). These neighborhoods are too often characterized by a lack of connections, both physical and socioeconomic, with detrimental effects to residents and their cities. Here, we show how a scalable computational approach based on the topological properties of digital maps can identify local infrastructural deficits and propose context-appropriate minimal solutions. We analyze 1 terabyte of OpenStreetMap (OSM) crowdsourced data to create worldwide indices of street block accessibility and local cadastral maps and propose infrastructure extensions with a focus on 120 Low and Middle Income Countries (LMIC) in the Global South. We illustrate how the lack of physical accessibility can be identified in detail, how the complexity and costs of solutions can be assessed and how detailed spatial proposals are generated. We discuss how these diagnostics and solutions provide a multiscalar set of new capabilities – from individual neighborhoods to global regions – that can coordinate local community knowledge with political agency, technical capability, and further research.

Estimation and planning play a vital role in the construction of an autonomous navigation framework. However, these problems are often considered separately, while planning gives robot a free-collision path towards the desired goal, estimation algorithm presents the executed trajectory in the sense that it has to be closed to the ground truth path as much as possible. Recently, a unified probabilistic framework, which supports solving these problems simultaneously, dubbed STEAP has been proposed. Nevertheless, its current version is only designated for an omni wheels robot, which allows robot to move and turn in vertical direction. Differential drive robot, on the other hand, though limited to move along only one direction, has been used in various situations due to its flexibility and lower cost in hardware designing. Thus, in this extension, our aim is to control a differential drive robot via STEAP. Moreover, in a more complicated environment such as labyrinth or maze, the original STEAP sometimes fails to find a path. Indeed, this problem is mainly caused by the poor initialization and the non-linearity in optimizer constraints. In our implementation, instead of dealing with these constraints, we employ a global planner algorithm such as Dijkstra or RRT to treat STEAP as an effective local planner module that focus on following the global path. Consequently, the experimental results show that the extended STEAP not only able to navigate a differential drive robot but also in a more complicated and unstructured environment.

The failure to acknowledge and account for environmental externalities or spillovers in climate change adaptation policy, advocacy and programming spaces exercabates the risk of ecological degradation, more so, degradation of land. In particular use of unsuitable water sources for irrigation may increase salinisation risks. However, little if any policy assessments and research effort has been directed at investigating how farmer perceptions mediate spillovers from the ubiquitous irrigation adaptation strategy. In this study cognitive failure and/or bias construct is examined and proposed as an analytical lens in research, policy and learning and the convergence of disaster risk reduction and climate change adaptation discourses. The findings from small-scale farmers, Machakos and Kakamega counties, Kenya, suggest multifaceted biases and failures about the existence and importance of externalities in adaptation planning discourses. Among other dimensions, cognitive failure which encompasses fragmented approaches among institutions for use and management of resources, inadequate policy and information support, as well as, poor integration of actors in adaptation planning accounts for adaptation failure. The failures in such Human-Environment system interactions have the potential to exercabate existing vulnerability of farmer production systems in the long run. The findings further suggest that in absence of risk message information dissemination, education level, farming experience and information accumulation, as integral elements to human capital, do not seem to have significant effect on behaviour about mitigation of environmental spillovers. Implicitly, reversing the inherent adaptation failures calls for system approaches that enhance coordinated adaptation planning, prioritises proactive mitigation of slow onset disaster risks and broadens decision support systems, such as, risk information dissemination integration into the existing adaptation policy discourses and practice.

Damage to crops from wildlife interference is a common threat to food security among rural communities in or near Game Management Areas (GMAs) in Zambia. This study uses a two-stage econometric model and cross-sectional data from a survey of 2,769 households to determine the impact of land use planning on the probability and extent of wildlife-inflicted crop damage. The results show that crop damage is higher in GMAs as compared to non-GMAs, and that land use planning could be an effective tool to significantly reduce the likelihood of such damage. These findings suggest that there is merit in the current drive to develop and implement land use plans as means to minimize human-wildlife conflict such as crop damage. This is especially critical as Zambian conservation policies do not have an explicit provision for compensation in the event of damage from wildlife.

A particular challenge in the conceptual design of direct-from orbit delivery systems is the seemingly well-known kinematics retain fallacies whose efficacies are reduced over great distances. 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. 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. One of two ubiquitous sequences of three rotations used to construct the DCM involves first a rotation around the inertial z-axis, then intermediate y-axis, then finally about the body’s x-axis; a sequence commonly called the “aerospace sequence” or the a “3-2-1 rotation sequence”. The second ubiquitous sequence is the so-called “orbital sequence” or “3-1-3 rotation sequence” with rotations about the inertial z axis first, then about the intermediate x-axis, then finally about the body z-axis. 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. Six degrees of freedom of vehicle motion were simulated starting in orbit with a given thrust and commanded maneuver. The simulation performs all twelve possible rotation sequences (transforming inertial coordinates to body coordinates) with comparison by computational burden and error representing rotations about body axes (roll, pitch, and yaw respectively). Simulation precision is validated using the quaternion normalization condition indicating near machine precision (0.9\times{10}^{-15}) and 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 so-called 321 rotation and a 99.84% increase over the so-called 313 rotation.

This paper explores the urgent necessity for practical guidance of infrastructure stakeholders aimed to promote sustainable infrastructure development, aligning with the United Nations Sustainable Development Goals (SDGs) and European Union (EU) regulations. Despite overarching definitions, there is a noticeable absence of a unified set of sustainability criteria, which delays the integration of sustainability principles into infrastructure planning, development, and operations. Through a systematic literature review and content analysis, this study seeks to clarify characteristics of sustainable infrastructure. Utilizing a content analysis of 124 sources, carefully selected through a structured exclusion process, the authors construct a comprehensive set of indicators. Subsequently, these indicators undergo rigorous evaluation by sector experts through structured focused group discussions on the relevance of the proposed sustainable infrastructure criteria to local planning contexts. The study's findings underscore the adequacy of the proposed criteria, albeit with variations in perceived importance. Additionally, focus group participants encourage for field-testing the criteria within a municipal setting before scaling up to national-level policy frameworks.

Biodiversity conservation is a key factor in meeting sustainable development goals. This is even more important in cities, where green spaces are becoming increasingly scarce. This study analyzes the Kinshasa's proliferating ornamental plant nurseries, known as informal horticultural sites (IHS). The analysis focused on characterizing the profile of horticulturists, their production conditions and the ornamental species produced. Fifteen IHSs were sampled using the "snowball" technique, and 178 horticulturists were surveyed. Based on the socio-professional profile of the horticulturists, five groups of IHS are distinguished after a hierarchical classification on principal components. We found that IHSs exclusively employed men, most of whom were new to the trade, from all levels of education, and most of whom ranged from 19 to 45 years old. Production conditions are relatively similar from one site to another. However, all IHS are characterized by permanent land insecurity, the use of phytosanitary products, plant conditioning methods that are not very diversified and calibrated to growers' investment capacities, and diversified seed acquisition methods. A total of 139 ornamental species, most of them exotic, were identified. Of these, 37% are phanerophytes and 24% are considered potentially invasive. We suggest ways of professionalizing the activity and protecting the urban environment.

Robot workpiece machining is interesting in industry since it offers some advantages, such as higher flexibility in comparison with the conventional approach based on the CNC technology. However, in recent years we have been facing a strong progressive shift to custom based manufacturing and low volume/high mix production, which require a novel approach to automation by the employment of collaborative robotics. However, collaborative robots feature only limited motion capability, to provide safety in cooperation with human workers. Thus, it is highly necessary to perform more detailed robot task planning to ensure its feasibility and optimal performance. In this paper, we deal with the problem of studying kinematic robot performance in the case of such manufacturing tasks, where the robot tool is constrained to follow the machining path embedded on the workpiece surface at a prescribed orientation. The presented approach is based on the well-known concept of manipulability, although the latter suffers from physical inconsistency due to mixing different units of linear and angular velocity in a general 6 DOF task case. Therefore, we introduce the characteristics of the workpiece surface constraint in the robot kinematic analysis, that enables evaluation of its available velocity capability in a reduced dimension space. Such constrained robot kinematics transform the robot`s task space to a two-dimensional surface tangent plane, and the manipulability analysis may be limited to the space of linear velocity only. Thus, the problem of physical inconsistency is avoided effectively. We show the theoretical derivation of the proposed method, which was verified by numerical experiments.

Understanding aspects of maritime/underwater cultural heritage (MUCH) and the associated cultural values and integrating them into maritime spatial planning (MSP) endeavors, is a new global challenge, alongside the rapid increase of human activities at sea and climate change impacts on the seas and the oceans. The article highlights the significance of cultural values in shaping human interactions with the marine environments, and how MSP can address the cultural dimensions of marine resources management. To this end, a systematic literature review was carried out to address the research question on how maritime/underwater cultural heritage is incorporated into MSP and map relevant academic literature. Following, a methodology that entailed an academic database search and the application of exclusion criteria, 346 articles resulted from Scopus. These articles were classified using science mapping techniques (i.e the VOSviewer Software ) and several categories (clusters) were created. The research showed a diversity of literature addressing the relationship between MUCH and MSP with a strong focus on sustainability, the significance of cultural ecosystem services (CES) and cultural values, the role of indigenous and local communities, but also of local stakeholders, the transfer of traditional knowledge to MSP and the participatory approaches and tools. The article concludes that for MSPlans to be innovative and acceptable by local communities, the “missing layer”of socio-cultural values and data is indispensable. In the MSP process, MUCH should be understood within this broader framework of socio-cultural considerations and values.

In an ever-evolving landscape of higher education institution, the College of Arts and Sciences at St. Michael's College, Iligan City, Philippines, embarked on a strategic journey to navigate the challenges and opportunities of the post-pandemic era. This study, conducted in August 2022, delves into the multifaceted dimensions of their strategic planning processes. Through qualitative methods that use intensive in-depth reviews of literature, informal interviews, observation, and thematic analysis, this research unveils a narrative of adaptation, innovation, and internationalization. It explores how the institution resiliently adapted to the COVID-19 pandemic, leveraged technological advancements to enhance educational delivery, fostered interdisciplinary collaboration at the nexus of arts and sciences, and embraced internationalization through partnerships and cultural exchange. Anchored in a robust theoretical framework, this study resonates with broader trends in higher education, echoing the global call for agile, student-centric, and forward-thinking institutions. As this institution's journey unfolds, its experiences and lessons resonate with academic leaders, administrators, faculty, students, and stakeholders, inviting reflection and dialogue on the future of higher education.

In order to solve the problem of many constraints and complex navigation environment in the path planning of unmanned surface vehicle(USV), an improved Sparrow search algorithm com-bining Cubic chaotic map and Gaussian random walk strategy was proposed to plan it. Firstly, in the population initialization stage, Cubic chaotic map was used to replace the random generation method of the traditional sparrow search algorithm to optimize the uneven initial distribution of the population and improve the global search ability of the population. Secondly, in the late it-eration of the algorithm, the standard deviation of fitness is introduced to determine whether the population is trapped in the local optimum. If true, the Gaussian random walk strategy is used to perturb the optimal individual and assist the algorithm to escape the local optimum. Thirdly, the chosen water environment is modeled, and the navigation information of the original inland electronic navigation chart(ENC) is preprocessed, gridized, and the obstacle swelling is processed. Finally, the path planning experiments of USV are carried out in inland ENC grid environment. The experimental results show that, compared with the traditional sparrow search algorithm, the average fitness value of the path planned by improved sparrow search algorithm is reduced by 14.8%, and the variance is reduced by 49.9%. The path planned by the algorithm is of good quality and high stability, and combined with ENC, it can provide a reliable path for USV.

In the last two centuries, land use change (LUC) has been the most important direct changes driver for terrestrial ecosystems. To contrast the consequent ecosystems degradation, forward-looking spatial policies and target landscape and land-use planning processes, promoting a sustainable land use change, are needed. The present paper proposes a framework of action including different landscape planning and ecological approaches: from the spatial modelling to recognize the LUC and build different scenarios, to the ecosystem services (ESs) assessment to evaluate the possible environmental impacts. Three different scenarios were built: Trend, No-Tillage and Energy crops. The Sediment Delivery Ratio and Carbon Storage and Sequestration ESs were assessed and compared for each scenario. The aim of the paper is to support decision-makers and local communities into the landscape planning process. Results show that a regional development in line with past trend could lead to further land degradation. Instead, the two scenarios proposed in compliance with EU policies, could bring benefits only if related to moderate LUCs and respecting the naturally grass-vegetated land. From the local to global scale, a guided and shared LUC management allows implementing sustainable development, basing on a deep knowledge of physical-environmental but also social and economic issues.

Linear programming formulations of forest ecosystem management (FEM) problems proposed in the 60s have been adapted and improved upon over the years. Generating management alternatives for forest management planning is a key step in building these models. Global forests are diverse, and a variety of models have been developed to simulate management alternatives. Climate change has made forest management calculations even more complex, requiring flexibility, diverse parameters, models, and methods. Despite this complexity, consistent concepts can be applied in developing management alternatives for forest management planning. This work describes iGen, a flexible forest prescription generator that applies the AI technique Rule-Based System (AI-RBS). iGen projects the state and associated inputs and outputs for a set of management units using rules from its knowledge base. An Inference Engine uses the rules to simulate a set of prescriptions in a tree-like graph structure. Without needing IT specialists, forest managers can describe the potential development of their forest through variables, rules, formulas, functions, and procedures. A key feature of iGen is that it is not limited to, adapted to, or focused on any specific region, landscape, forest condition, projection method, or yield function. Instead, it aims to maximize generality, enabling it to address a broad range of FEM problems. This article introduces iGen, explaining its concepts, structure, and algorithms through two FEM problems: natural regeneration with shelterwood harvests and plantation/coppice. For data and iGen source programs, visit github.com/…/iGen.

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

The threat posed by climate change, the progressive erosion of natural resources, the polluting effects related to private motorization, energy waste, excessive consumption of agricultural and natural soils and their progressive waterproofing and reduction in vegetation cover, with the subsequent environmental degradation, have highlighted the need for a sustainable management of natural resources, in terms of an equitable and ethical development, to build inclusive communities able to adapt to the negative effects of emergency phenomena, through new capacities of economic, cultural and social resilience. This contribution presents the results of the activities conducted in the RivEr/Generation_LAB, a project organized by three CIVIS members (Sapienza University of Rome, Universitè libre de Bruxelles, Universidad Autonoma de Madrid) as a part of the CIVIS Project "RivEr/Generation_LAB. Linking resilience with inclusiveness in the urban built environment of Rome, Brussels, and Madrid", financed into the Hub4 Cities, Territories & Mobilities’ Call for proposals 2021. The project proposes a methodology of intervention in the Flaminio district, in particular on the 'Olympic Village' and its relationship with the Tiber River, in line with the Sustainable Development Goals, the Millennium Ecosystem Assessment and the New European Bauhaus, to establish new relationships between cities and the natural environment, favouring sustainable and inclusive public spaces.

We assessed how close human perceptions of landscape modification matched a multivariate index based on remotely sensed data of the same locations. Using a Human Footprint (HF) map of the continental U.S. (scaled 0-100), we created three series of aerial images, each with ten images distributed evenly across the 10 deciles of HF score. Using a web-based survey, 290 members of the global public ranked the images in one series based on their perception of the degree of human modification. Respondents also reported age, sex, and country. The degree of correspondence between rankings by respondents and by HF score was high, an average of 1.29 units of difference out of a maximum possible of 5.0. Differences among respondents were not explained by age, sex, or general geographic location. These results suggest that human perception of relative landscape modification conforms closely with the relative ranking made by a multivariate, analytical index.

This article is an effort to scrutinize the role of Information Technology development in the chronological transformation of Urban Planning domain using the exploratory research approach. In this research, it is argued that the theoretical and practical understanding of Urban Planning should absorb and integrate the bright outcome of the rise of Information and Technology to foster congruent future urban development. The article addresses the trends of transformation in the urban planning domain through the myopic lens of the expansion of information and communications technology era followed by investigating the key drivers shaping the interaction between modern-day urban planning and information technology considering both the dark and bright sides into account.

Refinery planning optimization is a challenging problem as regards handling the nonconvex bilinearity mainly due to pooling operations in processes such as crude oil distillation and product blending. This work investigates the performance of several representative piecewise-linear (or piecewise-affine) relaxation schemes (referred to as McCormick, bm, nf5, nf6t, and de (which is a new approach proposed based on eigenvector decomposition) that mainly give rise to mixed-integer optimization programs to convexify a bilinear term using predetermined univariate partitioning for instances of uniform and non-uniform partition sizes. Computational results show that applying these schemes give improved relaxation tightness than only applying convex and concave envelopes as estimators. Uniform partition sizes typically perform better in terms of relaxation solution quality and convergence behavior. It is also seen that there is a limit on the number of partitions that contributes to relaxation tightness, which does not necessarily correspond to a larger number of partitions, while a direct relation between relaxation size and tightness does not always hold for non-uniform partition sizes.

Current acceleration in digital innovations, the unexpected challenges in our social interactions, open access to virtualization, huge limitation in our physical spaces, and unpredictable changes in our old lifestyles - as originated from the COVID-19 global pandemic in 2020 - continue to provide us with a framework, rapidly updating under our eyes, of the modifications our world is undergoing by pursuing into the “new digital age”. Or, as many scholars say nowadays, into the new normal! These are shared and deep changes that, regardless of their permanence or temporariness in the time, concretely stress, ever more greatly, their “own” effects on how ideally a city should function. Forcing us to reflect on the real ability to achieve choices and visions for the future by taking vantage from the new digital platforms. In the pages of this article authors, through different eyes but sharing an early response to the matter of new Governance, explore the theme of a radical change of those already consolidated paradigms and, therefore, of the innovations that are transforming the way we understand our society and its technologic advancements, economics, and culture, as defined through dimensions of time and space. This article identifies a methodologic vision for acquiring a more democratic and participatory (inclusive) dimension in the newest configuration of contemporary cities, the new smart city, and in the possible innovations in reading the common sentiments and wishes through the new digitalized world. The analysis investigates how ICT is altering the meanings/ideas of “urban planning”, driving us toward a more effective “governance” through a citizen-centred digital approach. Indeed, city governance's success must be measured based on the “listening capacity” of the inhabitants and the facilities that we are capable to provide to citizens. “Sentiment Analysis” tool is tested as a useful tool to achieve these aims.

The military areas in Sardinia are around 234 km2, which constitutes 59.97% of the national surface affected by military easements. This situation is due to its geographic centrality in the Mediterranean. This contribution evaluates the performance of the Local Coastline Plan (LCP) and the Site Management Plan of Community Interest (SCI) in conditions of military constraint. The case study is the Municipality of Villaputzu where an important coastal military easement and the use of the coast for recreational tourism purposes coexist together through specific planning, a consequence of institutional agreements between the Municipal Administration of Villaputzu and the Ministry of Defense. The evaluation of the congruence of the specific objectives of the LCP and the SCI shows how their combined action favors the environmental enhancement of Sardinia, contributing to the formation of ecosystem services, even in particular conditions arising from military easements. These are sites that pass from the status of "anti-commons" to "semi-commons". In fact, the military release process in Sardinia, together with the promiscuous military and civil use, activates unique governance policies of their kind that find a significant field of application in Sardinia to guarantee a sustainable renewal of economic development of the ‘semi-commons’ awaiting to become ‘commons’

With the pressure of the increasing density of urban areas, some public infrastructures are moving to the underground to free up space above, such as utility lines, rail lines and roads. In the big data era, the three dimensional (3D) data can be beneficial to understand the complex urban area. Comparing to spatial data and information of the above ground, we lack of the precise and detailed information about underground infrastructures, such as the spatial information of underground infrastructure, the ownership of underground objects and the interdependence of infrastructures in the above and below ground. How to map reliable 3D underground utility networks and use it in the land administration? First, to explain the importance of this work and find a possible solution, this paper observes the current issues of the existing underground utility database in Singapore. A framework for utility data governance is proposed to manage the work process from the underground utility data capture to data usage. This is the backbone to support the coordination of different roles in the utility data governance and usage. Then, an initial design of the 3D underground utility data model is introduced to describe the 3D geometric and spatial information about underground utility data and connect it to the cadastral parcel for land administration. In the case study, the newly collected data from mobile Ground Penetrating Radar is integrated with the existing utility data for 3D modelling. It is expected to explore the integration of new collected 3D data, the existing 2D data and cadastral information for land administration of underground utilities.

Abstract This trial was realized in Yenisehir Vocational School between 2007 and 2008 on the purpose of study out the influence of lack of water in four growth periods of cabbage. In this trial, fourteen irrigation treatments was formed considering the growth periods (establishment, vegetative, yield formation and ripening) of cabbage (Brassicaceae Oleracea var. capitata L. Grandslam F1) and the results obtained from these treatments were evaluated. According to the content of the treatments, the water amount to the plants varied between 0 and 524 mm in the 2007 year, and between 0 and 536 mm in the 2008 year. Water consumption of cabbage in the 2007 year ranged between 200 and 795 mm and in the 2008 year ranged between 190 and 802 mm. Yield, head weight, diameter, height and dry matter ratio were determined statistically important. In 2007 and 2008 years, the maximal yield were found as 74.2 t ha-1 and 72.4 t ha-1 in the E100V100Y100R100 treatments, while the minimal yield were found as 2.0 t ha-1 and 4.0 ha-1 in the E0V0Y0R0 treatments, respectively. Water- yield relationship factor (ky) in 2007 and 2008 years were found as 0.96 and 0.97, respectively.

This paper reports the findings from a pilot study designed to explore the barriers, facilitators and similarities with the delivery and implementation of two distinct models of Advance Care Planning (ACP) documentation for older adults in their last year of life used by health care professionals in their clinical practice. PACe (Proactive Anticipatory Care Plan): a GP led model and PEACE (Proactive Elderly Persons’ Advisory CarE): a nurse led model with community geriatrician oversight were used by participants in their clinical practice. Telephone interviews were conducted with general practitioners (GPs) to explore their views of using the PACe tool. Hospital admission avoidance matrons took part in face to face interviews and care staff employed in private residential care homes took part in individual telephone interviews to explore their views of using the PEACE tool. GPs and admission avoidance matrons were employed by Clinical Commissioning Groups (CCGs) and all study participants were recruited from the South East of England where data collection took place in 2015. Nine telephone interviews and two face-to-face interviews (one joint and one individual) were conducted with twelve participants. The data was analysed thematically. Participants highlighted the similarity of both tools in providing focus to ACP discussions to inform individual end-of-life care preferences. The importance of relationships was a pivotal theme-established, trusting inter-professional relationships to enable multidisciplinary teamwork and a prior relationship with the older person (or their proxy in the case of cognitive impairment) to enable conversations of this nature. Using both tools enabled participants to think critically and reflect on their own practice was another theme identified. Notwithstanding participants’ views to improve the layout of both tools, using a paper-based approach to deliver streamlined ACP and end-of-life care was a theme to emerge as a barrier which focused on the problems with access to paper-based documentation, accuracy and care co-ordination in the context of multidisciplinary team working. The value of technology in overcoming this barrier and underpin ACP as a means to help simplify service provision, promote integrated professional practice and provide seamless care was put forward as the solution.

Transition to renewable energy has been recognized as a crucial step to addressing climate change and achieving greenhouse gas reduction targets, but it can also cause energy sprawl if not planned properly. Clean renewable energy communities (CREC) are emerging globally as an approach for decentralized energy systems and an alternative to traditional centralized energy systems. CREC aims to lower the energy carbon footprint, enhance local energy resilience, and improve the quality of life of residents. Through a comprehensive literature review, this study reviews metrics that can assess the impact of energy transition plans and support decision-making to select technologies that create efficient, reliable, and accessible energy systems. It classifies these metrics into a five-dimensional sustainability approach: environmental, technical, social, economic, political and institutional. The paper proposes a conceptual framework to guide decision-makers in recognizing the role of sustainable land development, sustainable energy planning, and resiliency as an integrated approach to energy transition planning. This framework stresses mapping the place-based potential for clean renewable energy at various scales, highlights the importance of resilience in energy planning, and addresses challenges associated with energy source selection, built environment efficiency, and energy trade. While the framework can serve as a starting point for evaluating energy transition plans, further work is needed to address the limitations of existing metrics and identify additional evaluations for energy mixed land use that are critical to managing energy sprawl on ecosystem services and other land uses.

The seismic events of 2015 in Nepal exposed the challenges associated with constructing earthquake-resistant 2-story self-built stone masonry structures in high-elevation rural regions, especially post-disaster. The Department of Urban Development and Building Construction (DUDBC) provided designs that failed to preserve the local architectural landscape and craftsmanship while adding unfamiliar knowledge and technology. To address the challenges related to architecture, structure, and socio-economic concerns in designing and implementing post-earthquake houses, a need-based building development framework is required for standardized practice. This study presents a novel framework to assess, design, and implement a self-built house after a disaster, consisting of five stages: 1) post-disaster problem assessment, 2) need identification, 3) material selection, 4) design development, and 5) validation and implementation. Based on this framework, we proposed a novel gabions building construction technology for two-story stone masonry structures that effectively mitigate post-disaster challenges such as logistic, resilience, and socioeconomic aspects while improving disaster resiliency specifically in the high-elevation rural areas of Nepal. The proposed two-story gabion building preserves architectural values, enhances structural integrity, and provides cost-effectiveness when compared with its DUDBC peer models while providing much-needed relief to the vulnerable community. The proposed resilient house, G- 2.1, utilizes locally sourced materials and craftsmanship, and innovative gabion technology that ensures affordability and facilitates knowledge transfer. The contribution of this study includes a development framework and a two-story gabions house that is most suitable for self-built post-disaster reconstruction and resilient to local architecture and socio-economic conditions while providing structural integrity and safety.

The purpose of this article is to investigate and analyze the practices of scientific management within the County Departments of Sports and Youth (CDYS) in Romania. Conducted through a comprehensive research endeavor spanning from January to June 2022, the study utilized a standardized questionnaire as its primary instrument for data collection, distributed among CDYS directors. A notable finding from the study indicates that a significant proportion of respondents (44.9%) perceive notable disparities in the normative-functional elements governing the National Sports System in Romania compared to international standards. Moreover, the majority (51%) consistently adhere to regulatory acts, while a substantial portion (69.4%) underscore the importance of strict adherence to internal regulations in strategy formulation. Furthermore, an overwhelming majority (88.9%) acknowledge the substantial influence of available resources on strategy development, with collaboration with authorities primarily occurring through direct communication channels. Respondents prioritize multiple objectives (44.9%), affirm the necessity of various competencies (53.1%), and identify a lack of human and financial resources (59.2%) as the most significant obstacle. Notable achievements highlighted in the study include the improvement of the county's sports performance (53.1%). Respondents also believe that setting clear and realistic objectives (38.8%) is pivotal to enhancing CDYS management, while considerations in formulating strategies emphasize trends in the sports domain (42.9%) and the specific needs of the local sports community (42.9%). Overall, this research contributes to the understanding and promotion of more efficient practices in managing sports and youth departments within Romania's counties.

This article describes the POTENTIALS project, which aimed to develop business models for the reuse of former industrial and mining sites in different regions. The project focused on the creation of eco-industrial parks as a result to enable sustainable energy production and reduce waste and pollution. A key aspect was the Territorial Impact Assessment (TIA), a new and complex policy assessment tool. Therefore, the TEQUILA (Territorial Efficiency Quality and Identity Layer Assessment) approach is used to describe the TIA and emphasizes its application in assessing the impact of EU policies and projects on territorial cohesion. It underlines the need for a differentiated understanding of the regional characteristics and potential impacts of policies; and stresses the importance of regionalized impact models for the assessment. Furthermore, the process and results of applying the TEQUILA methodology to assess the territorial impact of different scenarios of business models within the POTENTIALS project is given.

Canadians overwhelmingly do not want to live in long-term-care (LTC) facilities when they age; yet many end up there for lack of homecare, because family caregivers burn out, or because they and their professional advisors are unaware of alternatives to institutions. Not only is institutional dementia care problem-driven, it segregates disabled people, thereby abrogating human rights. Because systemic ageism and ableism cloud elder care, institutions remain the default option for Canadians with dementia. Yet, decades of deinstitutionalization enabled younger disabled Canadians to live in the community with supports. Why not elders? We describe a plethora of noninstitutional dementia-care alternatives. We then present a roadmap for considering all relevant care options in service plans, one that incorporates supported decision-making by people with dementia. We propose a paradigm shift in how Canada serves its elder citizens—not just the current generation, but those to come, including ourselves.

In response to a threefold increase in osteoporotic vertebral fractures (OVF) at our institution over the past decade and the subsequent development of new fractures within a year in a third of cases, we evaluated the effectiveness of STIR MRI scans in conjunction with CT scans for initial OVF diagnosis. This study, conducted over five months, involved full spine sagittal STIR MRI scans alongside CT scans for patients over 50 with minor injury-related vertebral fractures. The independent assessments by radiologists and neurosurgeons of 64 patients revealed that while CT scans identified 161 fresh fractures, of which only 68 were previously reported, MRI detected 266 fractures, 1.65 times more than CT. CT scans showed single fractures in 27% of patients and multiple fractures in 73%, whereas MRI identified single fractures in 9% and multiple fractures in 91% of patients. Additionally, MRI demonstrated a 1.5-fold increase in adjacent fracture detection. The use of MRI influenced treatment plans in 67% of cases. Given these findings, we advocate for including a STIR MRI of the entire spine alongside CT scans in OVF cases, as it significantly enhances fracture detection and can alter treatment strategies.

Delta parallel robot has been widely used in precision parts processing, handling, sorting, and precision assembly, with high efficiency and motion stability being its important performance indexes. Any small line segment corner in trajectory planning causes tangential discontinuous trajectory abrupt change, and the process vibration and shock caused by it seriously affect its high-speed and high-precision performance. In this paper, a trajectory planning method combining Cartesian space and joint space is proposed. Firstly, the vector method and micro-element integration method are used to establish the complete kinematics and dynamics equations of the Delta parallel robot, and the inverse kinematics/dynamics model-solving program is written based on Matlab software. Secondly, the end-effector trajectory of the Delta parallel robot is planned in Cartesian space, and the data points and inverse control points of the end-effector trajectory are obtained by the normalization method. Finally, the data points and control points are mapped to the joint space through the inverse kinematics equation, and the fifth-order B-spline curve is adopted for quadratic trajectory planning, which realizes the high-order continuous smoothing of trajectory planning. The simulation and experiment results show that the trajectory smoothing performance of continuous high-order curvature change can be improved using the proposed method, the tracking error of the end-effector is reduced by 21.12%, and the peak torques change of three joints is reduced by 3.5%, 11.6% and 1.6%, respectively.

U-Net, based on a deep convolutional neural network (CNN), has been clinically used to au-to-segment normal organs and potentially target volumes. However, CNNs with local geometric dependencies may limit the accuracy of segmentation. Additionally, the performance of CNNs can vary depending on the selection of network hyper-parameters, which was mitigated by the proposition of nnU-Net. We chose a vision transformer architecture called VT U-Net, which features a self-attention excluding the convolution layer, to overcome the limitations of CNNs by utilizing global geometric information of images. The VT U-Net v.2 became more powerful thanks to the adaptive hyper-parameter optimizer embedded in nnU-Net. However, despite leveraging the benefits of nnU-Net, VT U-Net v.2 still had additional network hyper-parameters that needed to be optimally chosen. Accordingly, among various hyper-parameters, this study attempted to find the optimal combination of the patch size and the embedded dimension regarding the transformer. From the 4-fold cross-validation, the modified VT U-Net v.2 showed the highest average performance for planning target volume (PTV) segmentation among the investigated networks. Though nnU-Net was based on convolution layers, the adaptive hyper-parameter optimizers turned out to enhance the performance. It was also confirmed that network hyper-parameters affected the segmentation accuracy of vision transformers.

In autonomous driving systems, high-speed and real-time image processing, along with object recognition, are crucial technologies. This paper builds upon the research achievements in in-dustrial item sorting systems and proposes an object recognition and sorting system for auton-omous driving. In industrial sorting lines, goods sorting robots often need to work at high speeds to efficiently sort large volumes of items. This poses a challenge to the robot's real-time vision and sorting capabilities, making it both practical and economically viable to implement a real-time and low-cost sorting system in a real-world industrial sorting line. Existing sorting systems have limitations such as high cost, high computing resource consumption, and high power consump-tion. These issues lead to the fact that existing sorting systems are typically used only in large industrial plants. In this paper, we design a high-speed, low-cost, low-resource-consumption FPGA (Field-Programmable Gate Array) based item sorting system that achieves similar perfor-mance to current mainstream sorting systems at a lower cost and consumption than existing sorting systems. The recognition part employs a morphological recognition method, which segments the image using a frame difference algorithm and then extracts the color and shape features of the items. To handle sorting, a six-degree-of-freedom robotic arm is introduced in the sorting segment. The improved cubic B-spline interpolation algorithm is employed to plan the motion trajectory and consequently control the robotic arm to execute the corresponding actions. Through a series of experiments, this system achieves an average recognition delay of 25.26ms, ensures smooth operation of the gripping motion trajectory, minimizes resource consumption, and reduces implementation costs.

This comprehensive review explores the advancements in Orthognathic and Oral Maxillofacial Surgery, focusing on the integration of 3D Printing and Virtual Surgical Planning (VSP). Traditional surgical methods, while effective, come with inherent risks and complications, and can lead to variability in outcomes due to the reliance on the surgeon's skill and experience. The shift towards patient-centric care necessitates personalized surgical methods, which can be achieved through advanced technology. The amalgamation of 3D printing and VSP revolutionizes surgical planning and implementation by providing tactile 3D models for visualization and planning, and accurately designed surgical guides for execution. This convergence of digital planning and physical modeling facilitates a more predictable, personalized, and precise surgical process. However, the adoption of these technologies presents challenges, including the need for extensive software training and the steep learning curve associated with computer-aided design programs. Despite these challenges, the integration of 3D printing and VSP paves the way for advanced patient care in orthognathic and oral maxillofacial surgery.

The main question proposed in this research is if different types of organizational approach, adapted from rapidly changing disciplines — such as IT industry, and software engineering in particular — could help overcome this gap by shortening the response time needed to analyze advanced solutions in accordance with changed circumstances, thus allowing for architectural programming to obtain different positions in the timeline of project planning and realization. We propose a novel methodology of architectural design as a self-reliant instrument inspired by Agile Manifesto and some of its instantiations, most notably by the Scrum Framework.

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

This paper aims at computing feasible control strategies and the corresponding feasible state trajectories to drive an autonomous rear-axle bicycle robot from a given initial state to a final state such that the total running cost is minimized. Pontryagin’s Minimum Principle is applied and derives the optimality conditions from which the feasible control functions, expressed as functions of state and costate variables, are substituted into the combined state-costate system to obtain a new free-control state-costate nonlinear system of ordinary differential equations. A computer program was written in Scilab to solve the combined state-costate system and obtain the feasible state functions, the feasible costate functions and the feasible control functions. Associated Computational Simulations were provided to show the effectiveness and the reliability of the approach.

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

The need for Transit Oriented Development (TOD) around railway stations has been well accepted and continues to be needed in cities looking to regenerate both transit and urban development. Large parts of suburban areas remain without quality transit down Main Roads which are usually filled with traffic resulting in reduced urban value. The need to regenerate both the mobility and land development along such roads will likely be the next big agenda in transport policy. This paper learns from century-old experiences in public-private approaches to railway systems from around the world, along with new insights from entrepreneurship theory and urban planning to create the notion of a ‘Transit Activated Corridor’ (TAC). TAC’s prioritise fast transit and a string of station precincts along urban Main Roads. TOD’s were primarily a government role, whereas TAC’s will be primarily a private sector, entrepreneurship role. The core policy processes for a TAC are outlined with some early case studies. Five design principles for delivering a TAC are presented in this paper, three principles from entrepreneurship theory and two from urban planning. The potential for Trackless Trams to enable TAC’s is used to illustrate how these design processes can be an effective approach for designing, financing and delivering a ‘Transit Activated Corridor’.

Maze navigation using one or more robots has become a recurring challenge in scientific literature and real life practice, with fleets having to find faster and better ways to navigate environments such as a travel hub (e.g. airports) or to evacuate a disaster zone. Many methods have been used to solve this issue, including the implementation of a variety of sensors and other signal receiving systems. Most interestingly, camera-based techniques have increasingly become more popular in this kind of applications, given their robustness and scalability. In this paper, we have implemented an end-to-end strategy to address this scenario, allowing a robot to solve a maze in an autonomous way, by using computer vision and path planning. In addition, this robot shares the generated knowledge to another by means of communication protocols, having to adapt its mechanical characteristics to be able to solve the same challenge. The paper presents experimental validation of the four components of this solution, namely camera calibration, maze mapping, path planning and robot communication. Finally, we present the integration and functionality of these methods applied in a pair of NAO robots.

The recent advancements of the Semantic Web and Linked Data have changed the working of the traditional web. There is significant adoption of the Resource Description Framework (RDF) format for saving of web-based data. This massive adoption has paved the way for the development of various centralized and distributed RDF processing engines. These engines employ various mechanisms to implement critical components of the query processing engines such as data storage, indexing, language support, and query execution. All these components govern how queries are executed and can have a substantial effect on the query runtime. For example, the storage of RDF data in various ways significantly affects the data storage space required and the query runtime performance. The type of indexing approach used in RDF engines is critical for fast data lookup. The type of the underlying querying language (e.g., SPARQL or SQL) used for query execution is a crucial optimization component of the RDF storage solutions. Finally, query execution involving different join orders significantly affects the query response time. This paper provides a comprehensive review of centralized and distributed RDF engines in terms of storage, indexing, language support, and query execution.

Recent technological improvements have made abundant changes in construction industry. In specific, some technical applications, such as Building Information Modeling (BIM) opens up many possibilities. Some studies have articulated the use of BIM and its advantages in construction, but most of them are theoretical, not practical. This study is to provide an insight to such obstacles in BIM research. By investigating a real project that could utilize BIM in planning and construction phases, the authors try to investigate a possible outline of advantages in BIM implementation. The study area was set to a railway construction site in South Korea. The site covers a multiple railway tracks, stations, telecommunication facilities, infrastructure facilities, railway structures, and so numerous. In the site, the authors have identified 12 errors in 7 projects that could be prevented if BIM was utilized before the construction. The total upfront costs required to provide a BIM for 7 projects were $116,348. On the other hand, the total costs required to fix the errors in 7 projects were $166,486. This can be regarded as the benefits of using BIM because if BIM was implemented then the associated errors are easily replaced. Therefore, the benefit-cost ratio can be estimated as 1.32 for one-month delay and 1.36 for a three-month delay.

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

In graduate programs such as social work, field education is the signature pedagogy of education. As such, student placement with an appropriate field education agency is critical to ensure academic success and career readiness. A variety of Learning Management System (LMS) and Integrated Planning and Advising Service (IPAS) technologies have been developed to fully integrate technology into the educational system and streamline and improve the learning experience for students, educators, and administrators. Few (if any) of the existing solutions have capabilities to match students with field educators on the basis of an individual student’s completed coursework and area of specialization, as well as field educator needs and opportunities. This paper describes our experience developing a custom LMS/IPAS system—the School of Social Work information System (SSWiS)—that was designed specifically for student learning, faculty advising, and academic administration within our social work graduate program. We present the challenges that motivated the design of the SSWiS before describing the architecture and functionality of our solution. We then discuss our preliminary evaluation results. We conclude with a discussion of the benefits and limitations of our system in the context of today’s technical needs in graduate education in social work and other fields.

Autonomous driving navigation relies on diverse approaches, each with advantages and limitations depending on various factors. For HD maps, modular systems excel, while end-to-end methods dominate mapless scenarios. However, few leverage the strengths of both. This paper innovates by proposing a hybrid architecture that seamlessly integrates modular perception and control modules with data-driven path planning. This innovative design leverages the strengths of both approaches, enabling a clear understanding and debugging of individual components while simultaneously harnessing the learning power of end-to-end approaches. Our proposed architecture achieved 1st and 2nd place in the 2023 CARLA Autonomous Driving Challenge’s SENSORS and MAP tracks, respectively. These results demonstrate the architecture’s effectiveness in both map-based and mapless navigation.

The introduction of digitization has changed all spheres of business on a global level, including geospatial data. In the Republic of Serbia, the process on this topic should begin with the introduction of the terms ePlan and eSpace. The general goal of the paper implies the construction and implementation of the ePlan as a future part of the eSpace for digital management of geospatial data, by creating co-creating value. For this purpose, the authors conducted research in which representatives of local self-governments and holders of public authority participated, by means of structured online research. The focus was on the digitization of urban and planning documents and the establishment a central database of spatial and planning documents in electronic format, and its further distribution through the one system. In that way, easy access to digital plan data expands the user community, and enables communication with different stakeholder groups. Ac-cording to the results of the research, the authors point out that it is necessary to form a new model for managing geospatial data through a eSpace system. This is achieved by shifting the focus from urban and spatial planning to other databases and their registers that are related to geospatial data. The goal of the paper indicates that it is necessary to raise the awareness of society, to introduce the concept of value co-creation, because conditions are created for the implementation of all measures aimed at digitization and management of electronic services in sustainable project society, at all countries.

The Victorian Government Inquiry into wildfires that killed 173 people in 2009 has driven an Australian policy shift from self-evacuation or staying and defending a well-prepared property (‘go or stay’) to self-evacuation under catastrophic fire weather (‘leave early’). The Inquiry also led to the establishment of national ‘performance standards’ for Private Fire Shelters (PFS, that also known as bunkers). Nonetheless, incorporation of PFS into national bushfire policy remains embryonic with only Victoria having streamlined accreditation and planning approval processes. Arguments against PFS include potentially engendering complacency about preparing dwellings to survive fire and encourage risky behavior in response to a fire threat. Counteracting these arguments is research that shows that residents without PFS have low engagement with bushfire preparation and typically delay evacuation. In any case, because wildfire is unpredictable it is accepted that self-evacuation plans must have fallback positions that include sheltering ‘in place’ from the bushfire, making properly used and well maintained PFS an important element of bushfire safety. A less discussed barrier to PFS uptake outside Victoria appears to hinge on a lack of clarity about obligations for their design, certification, and consistency with planning approvals. The escalating Australian fire crisis demands much greater research and development in legal frameworks, policy and planning processes for PFS, as well as design and construction standards.

Electric energy has become essential nowadays not only for the daily life of each of us but also for the economy of different countries. The dissemination of geographic information plays an important role in national development as it facilitates communication between managers, investors, and consumers in this sector. Since the management of electricity network data was previously done in Tunisia based on paper maps and plans, the purpose of this article is to present a case of planning based on GIS, Web, and 3D Web GIS, which would have significant positive consequences on this sector from a technical and financial sides with an improvement in customer satisfaction and the creation of an intelligent electricity network which will be a real decision-making tool. This work draws up an inventory of the network MV (Medium Voltage)/LV (Low Voltage) of the region of Medjez El Bab which routes electricity to the big centers of consumption with access to MV/LV subscribers. The analysis of the network's impedance allowed carrying out different scenarios to optimize performance and obtain more realistic routes. Many thematic maps were produced as part of this project (Slope map, Land use map, map of the MV voltage domains, map of the MV/LV transformer stations power, etc.). A three-dimensional virtual city has been developed to visualize the graphical and attribute data for the study area. A Web and 3D Web GIS applications that allows the publication of the interactive maps on the Web as well as the database information have been developed to offer users the possibility of consulting the produced products by internet. Finally, a website related to the study was developed.

Mild Cognitive Impairment (MCI) is a clinical syndrome characterized by a moderate decline in one or more cognitive functions with a preserved autonomy in daily life activities [1]. MCI exhibits cognitive, behavioral, psychological symptoms [2]. The executive functions (EFs) are a set of key functions for everyday life and physical and mental health; and allow adapting the behavior to external changes [3-5]. Higher-level executive functions develop from basic EFs (inhibition, working memory, attentional control, and cognitive flexibility). They are planning, reasoning, problem- solving, and fluid intelligence (Gf) [3]. This systematic review investigates the relationship between higher-level executive functions and healthy and pathological aging, assuming the role of executive functions deficits as a predictor of cognitive decline. The systematic review was conducted according to the PRISMA Statement [6-7]. A total of 73 studies were identified. The results indicate that 65.8% of the studies confirm significant EFs alterations in MCI (100% problem solving, 71.4% fluid intelligence, 56.8% planning, 50% reasoning). These results seem to highlight a strong prevalence of higher-level executive functions deficits in MCI elderly than in healthy elderly.

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

Considering citizens' perceptions of their living environment is very helpful in making the right decisions for city planners who intend to build a sustainable society. Mental map analyses are widely used in understanding the level of perception of individuals regarding the surrounding environment. The present study introduces Aram Mental Map Analyzer (AMMA), an open-source program, which allows researchers to use special features and new analytical methods to receive outputs in numerical data and analytical maps with greater accuracy and speed. AMMA performance is contingent upon two principles of accuracy and complexity, the accuracy of the program is measured by Accuracy Placed Landmarks (APL) and General Orientation (GO), which respectively analyses the landmark placement accuracy and the main route mapping accuracy. Also, the complexity section is examined through two analyses Cell Percentage (CP) and General Structure (GS), which calculates the complexity of citizens’ perception of space based on the criteria derived from previous studies. AMMA examines all the dimensions and features of the graphic maps, and its outputs have a wide range of valid and differentiated information, which is tailored to the research and information subject matter that is required.

Although our emotional connection with the physical urban setting is often valued, it is rarely recognised or used as a resource to understand future actions in city planning. Yet, despite the importance of emotion, citizens’ emotions are typically seen as difficult to quantify and individualistic, even though knowledge about people’s response to space could help planners understand people’s behaviours and learn about how citizens use and live in the city. The study explores the relationship between the physical space and emotions through identifying the links between stress levels, and specific features of the urban environment. This study aims to show the potential of integrating the use of galvanic skin response (GSR) within urban spatial analysis and city planning, in order to address the relationship between emotions and urban spaces. This method involved participants using a (GSR) device linked to location data to measure participant’s emotional responses along a walking route in a city centre environment. Findings show correlations between characteristics of environment and stress levels, as well as how specific features of the city spaces such as road crossing create stress ‘hotspots’. We suggest that the data obtained could contribute to citizens creating their own information layer - an emotional layer- that could inform urban planning decision-making. The implications of this application of this method as an approach to public participation in urban planning are also discussed.

There is increasing demand from stakeholders for tools to support outcome-based approaches in environmental management. For such tools to be useful, understanding user requirements is key. In Scotland, UK, stakeholders were engaged in the development of an Environmental Decision Support System (EDSS) to support the management of land and freshwater resources for multiple policy outcomes. A structured participatory engagement process was employed to determine stakeholder requirements, establish development principles to fulfil these requirements and road-test prototypes. The EDSS specification that emerged from this bottom-up process was spatially-explicit, free at the point of use, and touch and mobile device compatible. This application, which is under development, does not closely resemble most existing published EDSS. We suggest that there is a mismatch between the way scientists typically conceptualise EDSS and the kinds of applications that are likely to be useful to decision-makers on the ground. Interactive mobile and web-based geospatial information services have become ubiquitous in our daily lives, but their importance is not reflected in current literature on EDSS. The current focus in environmental management on adaptive, stakeholder-centred strategies based on outcomes offers an opportunity to make better use of these new technologies to aid decision-making processes.

The urban heat island (UHI) and its intensity is one of the phenomena that are of determining importance for the comfort of living in cities and their sustainable development in the face of deepening climate change. The study is objectively difficult due to the large dynamics like land cover and the considerable diversity of land use patterns in urban areas. Various approaches and methods are used in research practice, based both on ground measurements and in the use of remote methods and satellite information. However, most of these approaches provide information with problematic spatial and temporal resolution, making them difficult to apply for sustainable urban planning purposes, which require adequate information provision. This paper presents the results of the application of thermal photogrammetry based on the use of unmanned aerial systems (UAS), combined with geographic information systems (GIS), in the study of surface urban heat island intensity (SUHI), at the local level for the largest housing complex in Bulgaria - Lyulin district of the capital of Sofia city. The studies were carried out during a heat wave in July 2023. A difference of 16.5oC was found between locations with SUHI occurrence and suburban areas. The information benefits of locally addressed data and their direct applicability are discussed to support decision-making processes in the planning and management of urban areas, including their climate adaptation and sustainable development.

Continuous greenhouse gas emissions are causing global warming and impacting the habitats of many animals. Researchers in the field of electric power are making efforts to mitigate this situation. Operating and maintaining the power grid in an economic, low-carbon, and stable is challenging. To address the issue, we propose a grid dispatching technique that combines prediction technology, reinforcement learning, and optimization technology. Prediction technology can forecast future power demand and solar power generation, while reinforcement learning and optimization technology can make charging and discharging decisions for energy storage devices based on current and future grid conditions. In the power system, the aggregation of distributed energy resources increases uncertainty, particularly due to the fluctuating generation of renewable energy. This requires the use of advanced predictive control techniques to ensure long-term economic and decarbonization goals. In this paper, we present a real-time dispatching framework that integrates deep learning-based prediction, reinforcement learning-based decision-making, and stochastic optimization techniques. The framework can rapidly adapt to target uncertainty caused by various factors in real-time data distribution and control processes. The proposed framework achieved global Champion in the NeurIPS Challenge 2022 competition and demonstrated its effectiveness in practical scenarios of intelligent building energy management.

It is important that both static and dynamic information is efficiently used to create a suitable tourism plan. However, collecting, accumulating and managing dynamic information can cost tourists time, money and energy. The present study developed an original tourism support system was designed and developed with the purpose of reducing the burden of tourists who are unfamiliar with the tourist destinations in particular. An original tourism planning support system and web-geographic information systems (Web-GIS) were integrated into a single system, and two original functions were implemented. The system was operated targeting Osaka City, Japan for a period of one month. The information concerning 529 sightseeing spots was collected from tourism-related web media and then saved to the database of the system beforehand. During the operation period, a cumulative total of 160 users accessed the system. Based on the questionnaire survey results, most of the main functions were highly rated regardless of users’ travel experiences to the operation target area. Additionally, based on the access log analysis results, it was clear that the use of the system was in line with the purpose of the present study, as the number of visits to the page for the main functions were high.

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

Published data or available literature on sustainable building plan-design, construction, performance, and renovation criteria have covered some stages or some parts of each stage. These data usually have been published partially in many different papers―there have not been any papers that published these data together. Hence, this paper aims to collectively review these data and publish them together. The collection and review of these data were carried out by our twenty-five team members who specialized in sustainable urban, architectural, and civil engineering and construction management. The gathered and reviewed outputs were combined and validated based on a general group consensus. This consensus decision-making proceeded through two major group meetings with several follow-up meetings. The first major meeting was to combine and improve the gathered reviewed sustainable building criteria for Cambodia. The second major meeting was to validate the improved reviewed sustainable building criteria for Cambodia. The several follow-up meetings were to discuss the relevance and importance of the validated data “criteria and their classifications and descriptions” in all stages and more focused on their importance and applicability to Cambodia. The collective reviewed data in this paper would be useful to researchers in the fields. They could also be useful collective knowledge and information for policymakers from governmental agencies and development partners, particularly for sustainable building and construction companies.

Human-Robot Interaction (HRI) for collaborative robots has become an active research topic recently. Collaborative robots assist the human workers in their tasks and improve their efficiency. But the worker should also feel safe and comfortable while interacting with the robot. In this paper, we propose a human-following motion planning and control scheme for a collaborative robot which supplies the necessary parts and tools to a worker in an assembly process in a factory. In our proposed scheme, a 3-D sensing system is employed to measure the skeletal data of the worker. At each sampling time of the sensing system, an optimal delivery position is estimated using the real-time worker data. At the same time, the future positions of the worker are predicted as probabilistic distributions. A Model Predictive Control (MPC) based trajectory planner is used to calculate a robot trajectory that supplies the required parts and tools to the worker and follows the predicted future positions of the worker. We have installed our proposed scheme in a collaborative robot system with a 2-DOF planar manipulator. Experimental results show that the proposed scheme enables the robot to provide anytime assistance to a worker who is moving around in the workspace while ensuring the safety and comfort of the worker.

An increasingly frail population in nursing homes accentuates the need for high quality care at the end of life and better access to palliative care in this context. Implementation of palliative care and its outcomes can be monitored by using quality indicators. Therefore, we developed a quality indicator set for palliative care in nursing homes and a tailored measurement procedure using a mixed-methods design. We developed the instrument in three phases: 1) literature search, 2) interviews with experts and 3) indicator and measurement selection by expert consensus (RAND/UCLA). Second, we pilot tested and evaluated the instrument in nine nursing homes in Flanders, Belgium. After identifying 26 indicators in the literature and expert interviews, 19 of them were selected through expert consensus. Setting-specific themes were advance care planning, autonomy and communication with family. The quantitative and qualitative analyses showed the indicators were measurable, had good preliminary face validity and discriminative power and were considered useful in terms of quality monitoring according to the caregivers. The quality indicators can be used in a large implementation study and process evaluation in order to achieve continuous monitoring of the access to palliative care for all residents in nursing homes.

Few prior works study self-driving cars by deep learning with IoT collaboration. SDC-Net, which is an end-to-end multitask self-driving car camera cocoon IoT-based system, is one of the research that tackles this direction. However, by design SDC-Net is not able to identify the accident locations, it only classifies if it is a crash scene or not. In this work, we introduce an enhanced design for the SDC-Net system by 1) replacing the classification network with a detection one, 2) adapting our benchmark dataset labels built on the CARLA simulator to include the vehicles bounding boxes while keeping the same training, validation, and testing samples, 3) modifying the shared information via IoT to include the accident location. We keep the same path planning and automatic emergency braking network, the digital automation platform, and the input representations to formulate the comparative study. SDC-Net++ system is proposed to 1) output the relevant control actions, especially in case of accidents: accelerate, decelerate, maneuver, and brake, and 2) share the most critical information to the connected vehicles via IoT, especially the accident locations. A comparative study is also conducted between SDC-Net and SDC-Net++ with the same input representations: front camera only, panorama and bird-eye views, and with single-task networks: crash avoidance only, and multitask networks. Multitask network with a BEV input representation outperforms the nearest representation in precision, recall, f1-score, and accuracy by more than 15.134%, 12.046%, 13.593%, and 5%, respectively. SDC-Net++ multitask network with BEV outperforms SDC-Net multitask with BEV in precision, recall, f1-score, accuracy, and average MSE by more than 2.201%, 2.8%, 2.505%, 2%, and 18.677% respectively.

Abstract: The internationally accepted goals of eliminating climate gas emissions implies substantial investments in renewable energy (RE) facilities. This will inevitably lead to major impacts on landscapes. Landscape concerns linked to RE facilities are already leading to controversies in many local communities. In this article, we focus on the question of landscape democracy related to the establishment of RE facilities. Based on recommendations from the European Landscape Convention, an analytical framework is presented identifying three main dimensions of landscape democracy, followed by an overview of arrangements, procedures and methods that are or may be used to encourage democracy. The procedures and methods are analysed based on examples from Denmark and Norway. This is followed by an analysis of decision levels with a special focus on the principle of subsidiarity. Finally, recommendations are presented to strengthen landscape democracy in relation to the installation of RE-facilities.

Gravity-aided inertial navigation system (GAINS) is an important development in autonomous underwater vehicle (AUV) navigation. An effective path planning algorithm plays an important role in the performance of navigation in long-term underwater missions. By combining the gravity information obtained at each position with the error information from the INS, the posterior Cram\'er-Rao bound (PCRB) of GAINS is derived in this paper. The PCRB is the estimated lower bound of position variance for navigation along the planned trajectory. And the sum of PCRB is used as the minimum cost from the initial state to the current state in the state space, and the position error prediction variance of inertial navigation system (INS) is used as the minimum estimated cost of the path from the current state to the goal state in the A* algorithm. Thus, a path planning method with optimal navigation accuracy is proposed. According to simulation results, traveling along the path planed by the proposed method can rapidly improve the positioning accuracy while consuming just slightly more distance. Even when measuring noise changes, the planned path can still maintain optimal positioning accuracy, and high positioning accuracy is possible for any trajectory located within a certain range of the planned path.

This paper aims at computing feasible control strategies and the corresponding feasible state trajectories to drive an autonomous rear-axle bicycle robot from a given initial state to a final state such that the total running cost is minimized. Pontryagin’s Minimum Principle is applied and derives the optimality conditions from which the feasible control functions, expressed as functions of state and costate variables, are substituted into the combined state-costate system to obtain a new free-control state-costate nonlinear system of ordinary differential equations. A computer program was written in Scilab to solve the combined state-costate system and obtain the feasible state functions, the feasible costate functions and the feasible control functions. Associated Computational Simulations were provided to show the effectiveness and the reliability of the approach.

How robust is our assessment of impacts to ecosystems and species from a rapidly changing climate during the 21st century? We examine the challenges of uncertainty, complexity and constraints associated with applying climate projections to understanding future biological responses. This includes an evaluation of how to incorporate the uncertainty associated with different greenhouse gas emissions scenarios and climate models, and constraints of spatiotemporal scales and resolution of climate data into impact assessments. We describe the challenges of identifying relevant climate metrics for ecological models and evaluate the usefulness and limitations of different methodologies of applying climate change to both quantitative and qualitative ecological response models. We discuss the importance of incorporating extreme climate events and their stochastic tendencies in assessing ecological impacts and transformation, and provide recommendations for better integration of complex climate-ecological interactions at relevant spatiotemporal scales. We further recognize the compounding nature of uncertainty when accounting for our limited understanding of the interactions between climate and biological processes. Given the inherent complexity in ecological processes and their interactions with climate, we recommend integrating quantitative modeling with expert elicitation from diverse disciplines and experiential understanding of recent climate-driven ecological processes to develop more robust understanding of ecological responses under different scenarios of future climate change. Inherently complex interactions between climate and biological systems also provide an opportunity to develop wide-ranging strategies that resource managers can employ to prepare for the future.

he paper presents an innovative method for tourist route planning inside a destination. The necessity of reorganizing the tourist routes within a destination comes as an immediate response to the Covid-19 crisis. The implementation of the method inside tourist destinations can bring an important advantage in transforming a destination into a safer destination in times of Covid-19 and post-Covid-19. The existing trend of shortening the tourist stay length has been accelerated while the epidemic became a pandemic. Moreover, the wariness for future pandemics has brought into spotlight the issue of overcrowded attractions inside a destination at certain moments. The method presented in this paper proposes a backtracking algorithm, more precisely an adaptation of the travelling salesman problem. The method presented is aimed to facilitate the navigation inside a destination and to revive certain less-visited sightseeing spots inside a destination while facilitating conformation with the social distancing measures imposed for Covid-19 control.

Unmanned aerial vehicles (UAVs) represent a new model of social robots for home care of dependent persons. In this regard, this article introduces a study on people’s feeling of safety and comfort while watching the monitoring trajectory of a quadrotor dedicated to determining their condition. Three main parameters are evaluated: the relative monitoring altitude, the monitoring velocity and the shape of the monitoring path around the person (ellipsoidal or circular). For this purpose, a new trajectory generator based on a state machine, which is successfully implemented and simulated in MATLAB/Simulink®, is described. The study is carried out with 37 participants using a virtual reality (VR) platform based on two modules, UAV Simulator and VR Visualiser, both communicating through the MQTT protocol. The participants’ preferences have been a high relative monitoring altitude, a high monitoring velocity and a circular path. These choices are a starting point for the design of trustworthy socially assistive UAVs flying in real homes.

The planning and decision-making for a distributed energy supply concept in complex actor structures like in districts calls for the approach to be highly structured. Here, a strategy with strong use of energetic simulations is developed, the core elements are presented and research gaps are identified. The exemplary implementation is shown using the case study of a new district on the former Oldenburg airbase in northwestern Germany. The process is divided into four consecutive phases, which are carried out with different stakeholder participation and use of different simulation tools. Based on a common objective, a superstructure of the applicable technologies is developed. Detailed planning is then carried out with the help of a multi-objective optimal sizing algorithm and Monte Carlo based risk assessment. The process ends with the operating phase, which is to guarantee a further optimal and dynamic mode of operation. The main objective of this publication is present the core elements of the planning processes and decision-making framework based on the case study and to find and identify research gaps that will have to be addressed in the future.

European strategic policy directions towards a sustainable blue economy have strengthened interest in maritime investments, thus increasing sectoral competition for marine space. Emerging repercussions out of such a rising interest need to be handled by Marine Spatial Planning (MSP) as a means for: properly allocating marine space to diverse uses; managing conflicts and promoting synergies among them; and pursuing a multi-use perspective of this space. A critical stage of each MSP exercise is the exploration of land-based spatial/developmental directions and their current or potential repercussions in the marine environment in order for constraints but also perspectives in policy choices/maritime uses in the MSP context to be featured; and attainment of a successful coherence or coordination between land and marine spatial/developmental policies to be ensured, by analyzing Land-Sea-Interaction (LSI) and embedding it in the MSP. The latter is the focus of this paper aiming to illuminate critical issues emerging from land-based (terrestrial) policy frameworks for feeding MSP endeavors; and is accomplished in the Northern Aegean Sea, Greece. Towards this end, a multilevel approach is adopted, delving into diverse policy contexts at the local, regional and national/European level and aiming to attain more informed MSP decisions in the specific study region.

Ecosystemic services are those that provide material or immaterial benefits to the inhabitants of a landscape from its water, food, medicines and raw materials. They are classified into four types: provisioning, regulating, supporting and cultural. The latter can be defined as those non-material benefits that humans obtain through ecosystems. They include educational value, cultural diversity, sources of inspiration, spirituality and religious values, aesthetic value, social relations, rootedness or belonging, cultural heritage, recreational and ecotourism services, and scientific knowledge, among others. Characterising such diverse factors requires a systematisation in study facets for their management. We propose three: memory, image and socio-system, as differentiated spheres of approach to the urban landscape. The memory facet would include the ecosystemic services of belonging, cultural heritage and, in certain themes, cultural diversity, sources of inspiration and religious values. The image facet includes the aesthetic value and perceptual aspects of ecotourism. In the socio-system we would study the educational value, scientific knowledge and recreational or spirituality services, reflected in the endowments; but also social relations, rootedness and another vision of ecotourism.

The impact of the climate crisis on urban environments and life within them is evident. In the face of challenges like heatwaves, floodings and other extreme events, pollution, and declining quality of life in cities, there is a growing demand for the preservation and expansion of urban green spaces, often driven by citizen-led transformations. This paper examines 100 urban greening projects initiated or supported by citizens globally, categorizing them according to the type of greenery, the stakeholders involved, the mode of implementation and the use of smart technologies incorporated. We notice variations in green endeavors based on the stakeholders spearheading them, however most of entirely citizen-led initiatives aimed at the creation of urban farms and food growing, demonstrating the pressuring needs for food securing and self-determination in communities. More than half of the assessed initiatives that managed to scale up and multiply had public authorities providing a framework or a type of support for their development or an NGO or other organization providing expertise and mobilize citizens at various stages. In terms of technological use, we find mostly websites and social media platforms easing participatory endeavors and knowledge sharing of best practices, accelerating scaling efforts, while there is a low integration of more advanced digital technologies, which if used, could enable real-time monitoring of green spaces, inform evidence-based decision-making, and streamline processes in scaling up green initiatives.

In order to achieve its carbon peak and neutrality targets, a high proportion of distributed power sources are connected to the distribution network in China, which greatly increases the risk of distribution network operation. Aiming at the above problems, this paper proposes an active distribution network risk planning model based on multi-source data from carbon capture and power internet of things, and conducts exceeding testing of distribution network based on the stochastic load flow algorithm with semi-invariant and level expansion, calculates the semi-invariant of each order of node state vectors and branch current vectors, and then utilizes the Gram-Charlier level expansion to obtain the exceeding probability density function and probability distribution function of the node voltages and line powers of the distribution network. The probability density function and probability distribution function of the exceeding are obtained using the Gram-Charlier series expansion. Combined with multi-source data, the active distribution network with integrated energy system considering carbon capture is modeled. According to the risk scenario of the distribution network, the nonconvex constraints in the model are simplified by the second-order cone relaxation, and the optimal planning scheme of the distribution network is solved by combining the gurobi solver with the risk index as the first-level objective and the economic benefit as the second-level objective. The simulation results of a coupled network consisting of a 39-node distribution network and an 11-node transportation network verify the effectiveness of the proposed model.

With Unmanned Aerial Vehicles (UAV), a swift response to urgent needs like search \& rescue missions or medical deliveries can be realized. Simultaneously, the legislator is establishing so-called geographical zones, which restrict UAV operations to mitigate the air and ground risk to third parties. These geographical zones serve a particular safety interest, but they may also hinder the efficient usage of UAVs on time-critical missions with a range-limiting battery capacity. In this study, we address a facility location problem for up to two UAV hangars with a robust optimization model considering demand hotspots, geographical zones as restricted areas, a standard mission to satisfy battery capacity constraints, and the impact of wind scenarios. To this end, water rescue missions are used exemplary, for which positive and negative location factors for UAV hangars and areas of increased drowning risk as demand points are derived from open-source georeferenced data. Optimal UAV mission trajectories are computed with an A* algorithm considering five different restriction scenarios. As this pathfinding is very time-consuming, binary occupancy grids and image processing algorithms accelerate the computation by identifying either entirely inaccessible or restriction-free connections beforehand. For the optimal UAV hangar locations, we maximize accessibility while minimizing the service time to the hotspots, resulting in a decrease from the average service time of 570.4 s for all facility candidates to 351.1 s for one and 287.2 s for two optimal UAV hangar locations.

Currently, an interactive environmental planning analysis system platform based on " Three Lines One Permit " (TLOP) is being developed to support environmental planning, construction project approval, and the application of TLOP outcome data in Guangzhou. The main objective is to provide governments, businesses and the public with environmental planning analysis tools to determine the site of construction projects. The platform is using the system architecture of the browser and server. Its core functions are interactive environmental planning analysis tool for construction project and the results display tool supporting map viewing. It provides users with a large number of detailed geospatial data and TLOP results data access and environmental planning analysis functions. This article describes the system architecture and implementation of the system platform and has a case study illustrating the system functionality. At present, the platform has been deployed and trial-operated. The content of the analysis framework is constantly expanding. This promotes the matching of environmental planning and analysis with local conditions. This will implement the application of TLOP and improve the efficiency of project construction and the level of ecological environment planning and management.

Regionalization of food systems for shortening supply chains and developing local agriculture to feed city-regions presents particular challenges for food planning and policy. Existing foodshed approaches enable to assess the theoretical capacity of food self-sufficiency of a specific region, but they struggle to consider the diversity of existing crops in a way that could be usable for informing decisions and support urban food strategies. Most studies are based on the definition of the area required to meet local consumption, obtaining a map represented as an isotropic circle around the city, without considering the site-specific pedoclimatic, geographical and socio-economic conditions, which are essential for the development of local food supply chains. In this study we propose a first stage to fill this gap by combining the Metropolitan Foodshed and Self-sufficiency Scenario (MFSS) model, which already considers regional yields and specific land use covers, with spatially explicit data on cropping pattern, soil and topography. We use European-wide available data and apply the methodology in the city-region of Avignon (France), initially considering a foodshed with a radius of 30 Km. Our results show that even though a theoretical high potential self-sufficiency could be achieved for the whole food commodities consumed (>80%), when considering the specific pedological conditions of the area, this could be suitable only for domestic plant-based products, whereas for animal products an expansion of the initial foodshed to a radius of 100Km was required to provide >70% of self-sufficiency. We conclude that it is necessary to shift the analysis from the size assessment to the commodity-group specific spatial configuration of the foodshed based on biophysical and socio-economic features, and discuss avenues for further researches enabling to develop a foodshed assessment as a complex of complementary pieces: the foodshed archipelago.

Keywords: Requirements prioritization, Next release plan, Software product planning, Decision support, MoSCoW, AHP, K-Menas, GMM, BIRCH, PAM, Hierarchical, Clustering, Clusters Evaluation

Sacroiliac (SI) joint dysfunction can lead to debilitating pain but can be treated with minimally invasive sacroiliac joint fusion (SIJF). This treatment is commonly performed using 2D fluoroscopic guidance. This makes placing the implants without damaging surrounding neural structures challenging. Virtual surgical planning (VSP) using simulated fluoroscopic images may improve perioperative guidance. This article describes a workflow with VSP in SIJF using simulated fluoroscopic images and evaluates achieved implant placement accuracy. Routinely collected survey data on the added value of VSP were also evaluated. Ten interventions were performed on 10 patients by the same surgeon, comprising 30 implants; the median age was 39 years, and all patients were female. The overall mean implant placement accuracy was 4.9 ± 1.26 mm and 4.0 ± 1.44°. There were no malpositioning complications. The VSP helped the surgeon understand the anatomy and determine the optimal position and length of the implants. The average Likert scale score of the survey was 4.7, suggesting a positive role of VSP for SIJF. Planned positions of the implants could be reproduced in surgery with clinically acceptable accuracy and VSP was a valuable asset for the surgeon.

Artificial Intelligence (AI) has the power to generate scenarios and make predictions through the use of advanced algorithms and machine learning techniques. OpenAI’s GPT-3 AI is a state-of-the-art language model that has been trained on a large dataset of text, which allows it to generate hu-man-like text, and it can generate scenarios for different fields. However, GPT-3 was trained on data available up until June 2021, had no access to more recent data nor was connected to the internet. In this study, we investigated the capability of OpenAI’s GPT-3 AI to predict the Ukrainian war es-calation, which started in 2022 and had massive geopolitical effects. We used GPT-3´s capability to generate future scenarios, to check those scenarios for internal consistency, and to create a proba-bility estimate. The results showed that although GPT-3 described an open war as one of the low probability scenarios, its capability on predicting the future was limited. Furthermore, it became evident that checking internal consistency of the generated scenarios could be improved. We ap-preciated GPT-3 as very useful and powerful for generating future scenarios, but also concluded that its prediction capabilities of real-world events are limited, should be used with caution, and require further development.

Specific climate adaptation and resilience measures can be efficiently designed and implemented at the regional and local level. Climate and environmental databases are of critical importance to achieving sustainability goals (SDGs) and for the efficient planning and implementation of suitable mitigation measures: Available databases can serve municipalities as a vital starting points to determine requirements, prioritize resources and allocate investments under consideration of commonly tight budget restrictions. High-quality geo, climate and environmental data are now available – data from remote sensing, i.e. Copernicus services will be of crucial importance. Forward-looking approaches exist to using such data to derive forecasts for urban planning process optimization for municipal administrations. On municipal level, however, the existing data have so far only been used to a limited extent, since there are no practical tools for urban planning that can be used to merge and meaningfully combine remote sensing data with local data and to further process and apply in municipal planning processes. Therefore, our project CoKLIMAx aims at the development of new digital products, advanced urban services and procedures, such as the development of practice-oriented technical tools that acquire various remote sensing and in-situ data sets for validation and further processing.

Urban transit planning is going through a transition to greater private investment in many parts of the world and is now on the agenda in Australia. After showing examples of private investment in transit globally the paper focuses on historical case studies of private rail investment in Western Australia. These case studies mirror the historical experience in rapidly growing railway cities in Europe, North America and Asia (particularly Japan), and also the land grant railways that facilitated settlement in North America. The Western Australian experience is noteworthy for the small but rapidly growing populations of the settlements involved, suggesting that growth, rather than size, is the key to successfully raising funding for railways through land development. The paper shows through the history of transport, with particular reference to Perth, that the practice of private infrastructure provision can provide lessons for how to enable this again. It suggests that new partnerships with private transport investment as set out in the Federal Government City Deal process, should create many more opportunities to improve the future of cities through once again integrating transit, land development and private finance.

The medium-voltage DC (MVDC) technology has gained increasing interests in recent years. Power electronics devices dominate those grids. Accurate simulation of such a grid, with detailed models of switching semiconductors, can quickly became very time-consuming, according to the number of connected devices to be simulated. A simulation approach based on interactions on a continuous time model can be very interesting, especially for developing a system level control model of such a modern MVDC distribution grid. Aim of this paper is to present all the steps required for obtaining a continuous time modelling of a +/- 10 kV MVDC grid case study, including Solid State Transformer (SST) and Modular Multilevel Converter (MMC) based Active Front End (AFE). Additional aim of this paper is to supply an educational content about the use of the continuous time simulation approach, thanks to a detailed description of the various devices modelled into the presented MVDC grid. The results of a certain number of simulation scenarios are eventually presented.

Autonomous shuttles have been used as end mile solutions for smart mobility in smart cities. The urban driving conditions of smart cities with many other actors sharing the road and the presence of intersections have posed challenges to the use of autonomous shuttles. Round intersections are more challenging as it is more difficult to perceive the other vehicles in and near the intersection. Thus, this paper focuses on decision making of autonomous vehicles for handling round intersections. The round intersection is introduced first, followed by introductions of the Markov Decision Process (MDP), the Partially Observable Markov Decision Process (POMDP) and the Object Oriented Partially Observable Markov Decision Process (OOPOMDP) which are used for decision making with uncertain knowledge of the motion of the other vehicles. The Partially Observable Monte-Carlo Planning (POMCP) algorithm is used as the solution method and OOPOMDP is applied to decision making for autonomous vehicles in round intersections. Decision making is formulated first as a POMDP problem, and the penalty function is formulated and set accordingly. This is followed by improvement of decision making with policy prediction. Augmented objective state and policy-based state transition are introduced and simulations are used to demonstrate the effectiveness of the proposed method for collision free handling of round intersections by the ego vehicle.

The paper provides a comprehensive review of the recent advancements and methodologies in Human-Robot Collaboration (HRC) applied to the manufacturing assembly process. In modern manufacturing, the assembly process involves intricate and time-consuming operations, often necessitating flexible manual interventions. However, the cost and stability issues associated with manual labor highlight the need for collaborative solutions integrating humans and robots. HRC, as a viable solution, involves the joint effort of humans and robots in manufacturing tasks, presenting advantages in terms of precision, reproducibility, and cycle time. This review categorizes and discusses methodologies such as task allocation, reinforcement learning, and Cyber-Physical Systems (CPS)-based planning approaches that facilitate HRC in the assembly process. It also explores experiments and future trends to address challenges and enhance efficiency in manufacturing assembly through intelligent collaboration between humans and robots. The objective of this research is to provide insights and directions for further research in HRC to optimize manufacturing processes. By analyzing the existing state-of-the-art and presenting future prospects, this paper aims to guide researchers and practitioners toward more effective implementations of HRC in manufacturing assembly, ultimately leading to improved operational efficiency and productivity.

The innovation driven Industry 5.0, in agreement with Industry 4.0, leads to consider human in a prominence position as the center of manufacturing field. This pushes towards the hybridization of manufacturing plants promoting a fully collaboration between human and robot. Furthermore, the new paradigm of "human centred design" and "anthropocentric design" allows enabling a synergistic combination of human and robot skills. However, properly collaborative workplaces are currently very few. Industry is still not confident, and systems integrators hesitate to venture into Human-Robot Collaboration (HRC). Despite the effort in collaborative robotics, a general solution to overcome the current limitations in designing of collaborative workplaces still misses. In the current work, a Knowledge-Based Approach (KBA) is adopted to face collaborative workplace designing problem. The framework resulting from the KBA allows developing a modelling paradigm that enable to define a streamlined approach for the layout designing of a collaborative workplace. Finally, a what-if analysis and a ANOVA analysis are performed to generate and evaluate a set of scenarios related to a collaborative workplace for quality inspection of welded parts. Facing the high complexity and multidisciplinary of HRC can be conveyed to develop a general design approach aimed at overcoming the difficulties that limit the spread of HRC in the manufacturing field.

For water-stressed regions like Iran improving the effectiveness and productivity of agricultural water-use is of utmost importance due to climate change and unsustainable demands. Therefore, a hydro-economic model has been developed here for the Zarrine River Basin with the central concept of that demands are value-sensitive functions, where quantities of water-uses at different locations and times have a changeable economic benefits. To do this, the potential crop yields and the surface and groundwater resources, especially Boukan Dam inflow are simulated using the hydrologic model, SWAT, based on predicted climatic scenarios i.e. quantile mapping-downscaled projections. Then, to allocate the agricultural water based on the agro- economic crop water productivity (AEWP) of crops, a basin-wide water management tool, MODSIM, is customized. Next, a simulation- optimization model has been developed using a coupled CSPSO-MODSIM, to optimize the total AEWP, considering climatic impact and crop pattern scenarios, for 2020-2038, 2050-2068 and 2080-2098 periods. Finally, the optimum crop pattern and crop water irrigation depths are presented for different RCPs and periods. The results indicated that this approach will improve considerably the AEWPs and decrease the agricultural water-use up to 40%. Thus, this integrated model is able to support water authorities and other stakeholder in a water-scarce basin, as is the study area.

: Seasonal influenza (a.k.a flu) is responsible for considerable morbidity and mortality across the globe. The three recognized pathogens that cause epidemics during the winter season are influenza A, B and C. The influenza virus is particularly dangerous due to its mutability. Vaccines are an effective tool in preventing seasonal influenza, and their formulas are updated yearly according to WHO recommendations. However, in order to facilitate decision-making in the planning of the intervention, policymakers need information on the projected costs and quantities related to introducing the influenza vaccine, in order to help governments obtain an optimal allocation of the vaccine each year. In this paper, an approach based on a Controlled Elitism Non-Dominated Sorting Genetic Algorithm (CENSGA) model is introduced to optimize the allocation of influenza vaccination. A bi-objective model is formulated to control the infection volume, and reduce the unit cost of the vaccination campaign. An SIR (Susceptible–Infected–Recovered) model is employed for representing a potential epidemic. The model constraints are based on the epidemiological model, time management, and vaccine quantity. A two-phase optimization process is proposed: guardian control followed by contingent controls. The proposed approach is an evolutionary metaheuristic multi-objective optimization algorithm with a local search procedure based on a hash table. Moreover, in order to optimize the scheduling of a set of policies over a predetermined time to form a complete campaign, an extended CENSGA is introduced with a variable-length chromosome (VLC) along with mutation and crossover operations. To validate the applicability of the proposed CENSGA, it is compared with the classical Non-Dominated Sorting Genetic Algorithm (NSGA-II). The results are analyzed using graphical and statistical comparisons in terms of cardinality, convergence, distribution and spread quality metrics, illustrating that the proposed CENSGA is effective and useful for determining the optimal vaccination allocation campaigns.

Electrical energy demand increase does evolve rapidly due to several socioeconomic factors such as industrialization, population growth, urbanization and of course the evolution of modern technologies in this 4th industrial revolution era. Such rapid increase in energy demand introduces a huge challenge in power system. Such has paved way for network operators to seek for alternative energy resources other than the conventional fossil fuel system. Hence, the penetration of renewable energy into the electricity supply mix has evolved rapidly in the past three decades. However, the grid system has to be well planned ahead to accommodate such increase in energy demand in the long run. Transmission Network Expansion Planning (TNEP) is a well ordered and profitable expansion of power facilities that meets the expected electric energy demand with an allowable degree of reliability. This paper proposes a TNEP model that minimises the network reinforcements, operational costs and costs of renewable energy penetrations, while satisfying the increase in demand. The problem is formulated as a mixed integer linear programming (MILP) problem. The developed model has been tested in several IEEE test systems in multi-period scenarios. The paper also carried out a detailed derivation of the new non-negative variables in terms of the power flow magnitudes, the bus voltage phase angles and the lines’ phase angles for proper mixed integer variables’ decomposition techniques. Moreover, this paper tends to provide additional recommendation in terms of which particular year (within 20 years of planning period) can the network operators install new line(s), new corridor(s) and/or additional generation capacity to the respective existing power networks. Such is achieved by running incremental periods simulations from base year through the planning horizon. The results show the efficacy of the developed model in solving the TNEP problem with a reduced and acceptable computation time even for large power grid system.

Appropriate governance structures are extremely important for the fishery dependent communities to develop integrated territorial development strategies and adaptive capacity to change, including the climate one. This paper assesses to what extent fisheries co-management schemes (e.g Fisheries LAGs, being regional/local governance instruments in fishing communities) are strengthening sustainability. The latter includes improving energy efficiency, promoting renewable energy sources (RES), coping with climate crisis, minimizing environmental impacts, and promoting sustainable blue economy. For detecting policy aspects of aligning climate neutrality and sustainable blue economy, the research lens focuses on the Greek Fisheries Local Action Groups (FLAGs) given that these are mostly located in coastal/marine and insular territories with significant blue growth potential. To map and assess their capacity and efficiency in pursuing Green Deal objectives, a co-development process with FLAG managers was put in place. The results and findings of this process reveal the scarcity of sustainability and blue economy related strategies. Key conclusion is that transition to a post-carbon blue economy on a local level, requires the understanding of the evolutionary dynamics of fisheries co-management schemes. The latter, being multi-sectoral structures, may boost dialogue and cooperation to harmonize local development strategies and EU policies. Maritime Spatial Planning (MSP) as an evolutionary governance process itself, can be a driver for making FLAGs evolve, and strengthen commonization and blue justice and equity for fishers.

: Foodshed approaches allow the assessment of the theoretical food self-sufficiency capacity of a specific region based on biophysical conditions. Recent analyses show that the focus needs to be shifted from foodshed size portrayed as an isotropic circle to a commodity-group-specific spatial configuration of the foodshed that takes into account the socio-economic and biophysical conditions essential to the development of local food supply chains. We focus on a specific animal product (beef) and use an innovative modeling approach based on spatial analysis to detect the areas of the foodshed dedicated to beef feeding (forage, pasture, and grassland), considering the foodshed as a complex of complementary areas called an archipelago. We use available statistical data including a census to address the city-region of Avignon (France) covering a 100 km radius. Our results show that the factors driving the use of short supply chains for beef feeding areas are the foodshed archipelago’s number of patches, the connectivity between them, and the rugosity of the boundaries. In addition, our beef self-sufficiency assessment results differ depending on geographical context. For instance, being located within the perimeters of a nature park seems to help orient beef production towards short supply chains. We discuss possible leverage for public action to reconnect beef production areas to consumption areas (the city) via short supply chains (e.g. green, home-grown school food programs) so as to increase local food security through increased local food self-sufficiency.

The COVID-19 pandemic has resulted in a wide range of spatial interventions to slow down the spread of the virus. The spatial limitations of narrow public circulation spaces within informal settlements, which house over one billion people around the world, make it impossible for pedestrians to practice physical distancing (or social distancing). In this paper, we propose a flexible mathematical method, named the Cluster Lane Method, for turning a planar circulation network of any size or complexity into a network of unidirectional lanes, making physical distancing possible in narrow circulation spaces by limiting face-to-face interactions. New notions and theorems about oriented graphs in graph theory are introduced. The paper ends with a discussion of the potential implementation of this cost-efficient, low-tech, sustainable solution, and with the introduction of a novel unidirectional tactile paving for the visually impaired.

Off-grid electrification planning increasingly recognizes the importance of productive use of electricity (PUE) to promote community value creation and (financial) project sustainability. To ensure a sustainable and efficient integration in the community and energy system, PUE assets must carefully be evaluated to match both the community needs and the residential electricity demand patterns. We propose a novel methodology interlinking qualitative interviews, statistical analysis, and energy system modelling to optimize decision-making for PUE integration in off-grid energy systems in rural Madagascar by aligning relevant PUE effectively with anticipated residential electricity demand patterns based on socio-economic determinants of the community. We find that a possible contribution of the PUE to reducing the electricity costs depends signifi-cantly on three factors: 1. the residential electricity consumption patterns that are influenced by the socio-economic composition of the community, 2. the degree of flexibility of i) PUE assets and ii) operational preferences of the PUE user, and 3. the capacity of community members to finance and operate PUE assets. Our study demonstrates that significant cost reductions for PUE-integrated off-grid energy systems can be achieved by applying our proposed methodology. When matching PUE and residential consumption patterns, the integration of PUE assets in residential community energy system can reduce the financial risk of operators, provided the PUE enterprise operates reliably and sustainably. We highlight that the consideration of local value chains and co-creation approaches are essential to ensure the energy system is addressing the community’s needs, creates value for the community, enhances the project´s financial sustainability, and is achieving the overall objectives of decentralized energy system planning.