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

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

This paper proposes an approach for image data extraction and driving behavior analysis using geographic information and driving data. Information derived from geographic and global positioning systems was used for image data extraction. In addition, we used an onboard diagnostic II and a controller area network bus logger to record driving data for driving behavior analysis. Driving behavior was analyzed using sparse automatic encoders and data exploration to detect abnormal and aggressive behavior. A regression analysis was used to derive the relationship between aggressive driving behavior and road facilities. Several traffic improvements were proposed for specific intersections and roads. The results indicate that lane ratios without lane markings and with straight lane markings are important features that affect aggressive driving behaviors.

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

This paper concerns a new methodology for accuracy assessment of global positioning system verified experimentally with LiDAR (Light Detection and Ranging) data alignment at continent scale for autonomous driving safety analysis. Accuracy of GPS (Global Positioning System) positioning of an autonomous driving vehicle within a lane on the road is one of the key safety considerations. Safety is addressed as a geometry of the problem, where the aim is to maintain knowledge that the vehicle (its bounding box) is within its lane. Accuracy of GPS positioning is checked by comparing it with mobile mapping tracks in the recorded high definition source. The aim of the comparison is to see if the GPS positioning remains accurate up to the dimensions of the lane where the vehicle is driving. For this reason, a new methodology is proposed. Methodology is composed of six elements: 1) Mobile mapping system minimal setup, 2) Global positioning data processing, 3) LiDAR data processing, 4) Alignment algorithm, 5) Accuracy assessment confirmation and 6) Autonomous driving safety analysis. The research challenge is to assess positioning accuracy of moving cars taking into account the constraints of the coverage of limited access highways in the United States of America. The available coverage limits the possibility of repeatable measurements and introduces an important challenge being the lack the ground truth data. State-of-the-art methods are not applicable for this particular application, therefore a novel approach is proposed. The method is to align all the available LiDAR car trajectories to confirm the GNSS+INS (Global Navigation Satellite System + Inertial Navigation System) accuracy. For this reason, the use of LiDAR metric measurements for data alignment implemented using SLAM (Simultaneous Localization and Mapping) was investigated, assuring no systematic drift by applying GNSS+INS constraints. SLAM implementation used state-of-the-art observation equations and the Weighted Non-Linear Least Square optimization technique that enables integration of the required constraints. The methodology was verified experimentally using arbitrarily chosen measurement instruments (NovAtel GNSS+INS, LiDAR Velodyne HDL32) mounted onto mobile mapping systems. The accuracy was assessed and confirmed by the alignment of 32785 trajectories with total length of 1,159,956.9~km and of total $186.4*10^{9}$~optimized parameters (six degrees of freedom of poses) that cover the United States region in the 2016--2019 period. It is demonstrated that the alignment improves the trajectories, thus final map is consistent. The proposed methodology extends the existing methods of global positioning system accuracy assessment focusing on realistic environmental and driving conditions. The impact of global positioning system accuracy on autonomous car safety is discussed. It is shown that 99\% of the assessed data satisfies the safety requirements (driving within lanes of 3.6~m) for Mid-Size (width 1.85~m, length 4.87~m) vehicle and 95\% for 6-Wheel Pickup (width 2.03--2.43~m, length 5.32--6.76~m). The conclusion is that this methodology has great potential for global positioning accuracy assessment at global scale for autonomous driving applications. LiDAR data alignment is introduced as a novel approach to GNSS+INS accuracy confirmation. Further research is needed to solve the identified challenges.

Nowadays, the development or improvement of actuation mechanisms is a crucial topic for the achievement of dextrous manipulation using soft robots. Then, a primary target of research is the design of actuation and driving devices. Consequently, in this paper, we introduce a soft driving epicyclical mechanism that mimics human muscle behavior and fulfills motion requirements to achieve grasping gestures using a robotic finger. The prototype is experimentally assessed, and results show that our approach has enough performance for the implementation in grasping tasks. Furthermore, we introduce the basis for a new soft epicyclical mechanism merger with shape memory alloys to allow active stiffness control of the mechanism.

This comprehensive review explores the principles, applications, and future directions of human-powered energy generation technologies. It begins by providing a detailed examination of viable human energy sources, elucidating the physical principles behind various energy harvesting devices. The review then compiles and assesses existing products in the field of human power generation, while also outlining the opportunities and challenges it presents. Finally, an innovative concept of an eco-village system is introduced to demonstrate a future potential application scenario for human-generated electricity. It outlines two developmental stages for this system and underscores its significance in the construction of the harmonious and sustainable communities. This forward-thinking approach could pave the way for broader discussions on sustainable living and eco-friendly energy generation in a world increasingly focused on environmental concerns and social stability.

The objective of this study was to apply simulation and computational intelligence techniques using artificial intelligence and genetic algorithm for economic and environmental optimization of the reverse network (manufacturers, waste managers and recyclers in São Paulo, Brazil) of waste electrical and electronic equipment (WEEE) to promote circular economy. For the economic evaluation, the reduction of: fuel, drivers, insurance, depreciation, maintenance and charges was considered and for the environmental evaluation, the environmental impact was measured in the abiotic, biotic, water, land, air and greenhouse gases compartments. It is concluded that the optimized structure of the WEEE reverse chain for São Paulo, Brazil reduced the number of collections, making the most of the cubage. It also generated economic and environmental gains, contributing to the strategic actions of the circular economy. Thus, the proposed simulation allows replication in organizational practice, mainly to meet the 2030 agenda on reducing the carbon footprint generated in transport in large cities. Thus, this study can guide companies on structuring the reverse WEEE chain in São Paulo, Brazil for economic and environmental optimization, a relevant aspect considering the exponential generation of WEEE, requiring the implementation of the national solid waste policy, and subsequently the signature of the electronics sector agreement in São Paulo.

Eco-labels are an instrument for enabling informed food choices and supporting a demand-sided change towards a more and urgently needed sustainable food system. Lately, novel eco-labels that depict a product’s environmental life-cycle assessment on a multi-level scale are being tested across Europe’s retailers. This study elicits consumers preferences and willingness to pay (WTP) for a multi-level eco-label. A Discrete Choice Experiment was conducted in Austria. Individual partworth utilities were estimated by means of Hierarchical Bayes. Results show higher WTP for a positive evaluated multi-level label, revealing consumers’ perceived benefits of colorful multi-level labels over binary black-and-white designs. Even a negative evaluated multi-level label showed higher WTP compared to no label, pointing towards limited effectiveness of eco-labels. Respondents’ preferences for eco-labels were independent from their subjective eco-label knowledge, health consciousness, and environmental concern. The attribute “protein source” was most important, and preferences for animal-based protein source (beef) was strongly correlated with consumers’ meat attachment, implying that a shift towards more sustainable protein sources is challenging and sustainability labels have only a small impact on the meat product choice of average consumers.

Cellular Vehicle-to-Everything (C-V2X) is a communication technology that supports various safety, mobility, and environmental applications given its higher reliability properties compared to other communication technologies. The performance of these C-V2X-enabled Intelligent Transportation System (ITS) applications is affected by the performance of the C-V2X communication technology (mainly packet loss). Similarly, the performance of the C-V2X communication is dependent on the vehicular traffic density which is affected by the traffic mobility patterns, and vehicle routing strategies. Consequently, it is critical to develop a tool that can simulate, analyze, and evaluate the mutual interactions of the transportation and communication systems at the application level and to the evaluate the benefits of the C-V2X enabled ITS applications. In this paper, we demonstrate the benefits gained when using C-V2X Vehicle-to-Infrastructure (V2I) communication technology in an energy-efficient dynamic routing application. Specifically, we develop a Connected Energy-Efficient Dynamic Routing (C-EEDR) application using C-V2X as a communication medium in an integrated vehicular traffic and communication simulator (INTEGRATION). The results demonstrate that the C-EEDR application achieves fuel savings of up to 16.6% and 14.7% in the IDEAL and C-V2X communication cases, respectively for a peak hour demand on the downtown Los Angeles network considering a 50% level of market penetration of connected vehicles. The results demonstrate that the fuel savings increase with increasing levels of market penetration at lower traffic demand levels (25% and 50% the peak demand). At higher traffic demand levels (75% and 100%) the fuel savings increase with increasing levels of market penetration with maximum benefits at a 50% market penetration rate. Although the communication system is affected by the high density of vehicles at the high traffic demand levels (75% and 100% the peak demand), the C-EEDR application manages to perform reliably producing system-wide fuel consumption savings.The C-EEDR application achieves fuel savings of 15.2% and 11.7% for the IDEAL communication and 14% and 9% for the C-V2X communication at the 75% and 100% market penetration rates, respectively. Finally, the paper demonstrates that the C-V2X communication constraints only affect the performance of the C-EEDR application at the full demand level when the market penetration of connected vehicles exceeds 25%. This degradation, however is minimal (less than a 2.5% reduction in fuel savings).

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

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

In this paper, we propose a method for the generation of simulation test scenarios for autonomous driving. Based on the requirements of standard regulatory test scenarios, we can generate virtual simulation scenarios and functional scenario libraries for autonomous driving, which can be used for simulation verification of different ADAS functions. Firstly, the design operation domain (ODD) of the functional scenario is selected and the weight values of the ODD elements taken are calculated; then a combination test algorithm based on parameter weights is improved to generate autonomous driving virtual simulation test cases for the ODD elements, which can effectively reduce the number of generated test cases compared with the traditional combination test algorithm; then the traffic participant elements under each test case are Then, the values of the subelements under the traffic participant element in each test case are sampled and clustered to obtain hazard specific scenarios. Finally, the specific scenarios are applied to the automatic emergency braking (AEB) system on the model-in-the-loop (MIL) testbed to verify the effectiveness of this scenario generation method.

The software design of autonomous vehicles (AVs) incorporates artificial intelligence (AI) characteristics to enhance their safety and overall driving performance. Central to vehicle’s operation is the ability to reason effectively in complex and uncertain environments. However, traditional logical systems, such as monotonic logic, often struggle to handle the inherent uncertainties and exceptions encountered in real-world scenarios. This paper proposes the utilization of non-monotonic logic in order to enhance the reasoning capabilities of autonomous vehicles. By incorporating non-monotonic reasoning, vehicles can navigate intricate traffic scenarios, make plausible inferences, and adapt their decisions when faced with conflicting information. This research aims to provide a comprehensive review of non-monotonic logic's application in autonomous vehicles, highlighting its advantages over traditional logical systems and its potential impact on safety and performance. Additionally, through this research, we seek to contribute to the advancement of autonomous driving technology by enhancing the reasoning capabilities of vehicles in various scenarios, such as car- following related to critical safety events. The personalized cognitive agent is proposed in driving behavior to consider particularly in their assumptions of homogeneous drivers. The personalized cognitive agent is incorporating heterogeneous driving behaviors, based on individual user preferences, characteristics, and needs. Driving behavior is a complex interplay of various factors, encompassing both human and external elements. Human factors, including age, experience, and gender, contribute significantly to how individuals navigate the roads. These factors influence decisions, reactions, and risk-taking tendencies on the part of drivers. Additionally, external factors such as weather conditions further compound this intricate dynamic, requiring drivers to adapt their behavior to the prevailing environment. The goal of a personalized cognitive agent is to provide tailored and customized experiences to cognitive vehicles, taking into account the unique requirements and individual preferences of occupants inside autonomous vehicles.

Land use and land cover (LULC) datasets for Jinan in 1992, 1998, 2002, 2006, 2011, 2017, and 2022 were developed from Landsat images using the Random Forest (RF) classification approach. The relationships between social-economic, political factors and time-series LULC data were exam-ined for the periods between 1992 and 2022. The results showed the effectiveness of using the RF classification method for LULC classification with time series of Landsat images. Combined with driving forces analysis, our research can effectively explain the detailed LULC change tra-jectories corresponding to different stages and give new insights into Jinan LULC change pat-terns. The results show a significant increase in impervious surface which opposite change to bare land which experienced a huge decline declined by 95%, due to urbanization and rapid in-crease of population. The driving forces behind these changes are related to population growth, economic development, and climate change. Moreover, the present research employed Principal Components Analysis (PCA) methodology in order to understand the relative significance of disparate driving factors. The analysis results prove that the economy (population, GDP) and climate change were the primary factors that have an obvious impact on land use/land cover changes and that the driving factors for impervious surface, bare land, woodland, farmland, and water were distinct. Government policies also have a substantial impact on LULC change as well, such as the Construction of Harmonious Jinan (COHJ). The results were helpful for better understanding the mechanisms of LULC change and can provide useful knowledge for effective land resource management and planning.

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

As a part of the European Green Deal, the Corporate Sustainable Reporting Directive will apply to over 50,000 companies in Europe, meant to advance the quality of sustainability reporting in the EU, and reduce global emissions and emission distribution inequality. Part of the requirements centre around organisational emission quantification, which will bring much attention to the methodological aspects and resulting decision support capability, which calls for synthesis and argues for clarity. Currently, quantifying the emissions embedded in global transactions mostly focus on direct value-chain attributes, and do not consider unintended consequences beyond the scope of assessment. To achieve genuine reductions, estimated emissions must be considered from a systems perspective to accurately reflect their true impact. While emission inventories serve several purposes, incorrect application limits their potential. The CSRD aligns itself with the GHG Protocol, which does not explicitly facilitate this distinction, although new Land Sector and Removals Guidance draft does, in part. With first CSRD reports expected in 2025, and the GHG protocol entering a revisions period, it presents an opportunity to marry systems thinking with carbon literacy, thereby equipping the expected surge of activity with the sufficient tools for an accelerated transition.

The population growth, economic development and urbanization of the city of Douala in Cameroon are facing great challenges, particularly environmental and economic problems. However, there is an evolution of the road transport sector that has led to an excessive increase in the consumption of fossil fuels and over the last decades to an increase in greenhouse gases in the road transport sector. From this observation, no real policy has yet been put in place with a view to improving the energy efficiency of the transport sector. This work aim at analyzing the driving force factors of energy consumption in road transport in the city of Douala. In this study, a decomposition analysis through the Logarithmic Mean Divisa Index (LMDI) method is used during the period 2010-2019 to quantify their respective contributions in energy consumption. We have broken down road transport energy consumption into four main factors as main determinants such as: vehicle energy intensity, vehicle intensity, Gross Domestic Product (GDP) per capita and population. The results show that vehicle energy intensity, vehicle intensity, GDP per capita and population effect all have a positive impact on energy consumption and therefore main responsible for the increase in fuel consumption energy contributing respectively to 13.06%, 31.30%, 12.85% and 42.76% of the total variation of energy consumption. It is therefore necessary to implement several energy saving strategies in order to achieve a rationalization of energy consumption for a reduction of road transport energy. Political decision-makers must take such a study into account to better integrate the notion of sustainable transport.

Desertification is a global environmental and socio-economical issue threatening humanity's survival and development. The Shiyang River Basin ecosystem is vulnerable and prone to desertification. In addition, establishing the quantitative analysis of desertification driving factors and understanding their relative contribution, separately or combined, is still an unresolved problem. The present study applied geographic information system (GIS) techniques and a geographic detector model to quantify desertification spatial extent and driving mechanisms. This research utilized Fractional Vegetation Cover (FVC) to elucidate desertification spatial heterogeneity. The 30 years Coefficient of Variation (CV) of the Normalized Difference Vegetation Index (NDVI) was a dependent variable and indicator of ecosystem terrestrial conditions; Elevation, near-surface air temperature, precipitation, wind velocity, land cover change, soil salinity, road buffers, waterway buffers, and soil types were independent variables. The results showed that 89.41% of the total area is under desertification risk, where 20.99% is extremely desertified, 34.45% is severely desertified, 12.05% is moderately, and 21.92% is slightly desertified. The results from the Geodetector model showed that Power Determinant (PD) values ranged between 0.004 and 0.270. Elevation and soil types had the highest contributing factors with PD values of 0.270 and 0.227, whereas precipitation, soil salinity, the buffer of the waterway, and wind velocity played a moderate role with PD values of 0.146, 0.117, 0.107, and 0.071. Near-surface air temperature, road buffer, and land cover dynamics exhibited lower impact with PD values of 0.028, 0.013, and 0.004. In most cases, investigating the interaction between driving factors resulted in a mutual or non-linear enhancement. There was an apparent linear and mutual enhancement between elevation and soil salinity, precipitation, and soil types with values of 0.3513, 0.3232, and 0.3204, respectively. In addition, there was a mutual enhancement between soil salinity and soil types with a value of 0.2962. On the other hand, a non-linear enhancement was observed between Elevation and near-surface air temperature (0.3116), Elevation and Land cover dynamics (0.2759), soil types and near-surface air temperature (0.2687), land cover dynamics and soil types (0.234), precipitation and near-surface air temperature (0.2248), precipitation and wind velocity (0.2248), and between land cover dynamics and precipitation (0.223). This research revealed irrefutable evidence that environmental factors might be the primary drivers of ecosystem disturbance, provided the basis for the environmental footprint of desertification mechanism, and might be a cornerstone for future policy on ecological restoration sustainability in the Shiyang River Basin.

Biodiversity loss has been identified as one of the environmental impacts where humankind has been tres-passing planetary boundaries most significantly. Going beyond the pressures causing damages (calling them ‘direct drivers’) and analysing their underlying driving forces, IPBES, the Intergovernmental Sci-ence-Policy Platform for Biodiversity and Ecosystem Services, also identified a series of indirect drivers. The Montreal-Kunming Global Biodiversity Framework GBF including its suggested monitoring approach is intended to and claims to be a policy response to such analyses. However, to assess the human impact on ecosystems as a basis for planning conservation and restoration, as foreseen in the GBF, monitoring ecosystem typologies (in the GBF with reference to the UN statistical standard SEEA ES, which in turn refers to the IUCN ecosystem classification) is not enough. It needs to be complemented with data on the severity of human impacts, and on the history of places, i.e. how and when the current ecosystem status was brought about. In this conceptual paper we suggest LUI, a deliberately simple ordinal scale index for land use intensity changes, to address these two gaps. It is based on the hemeroby concept, measuring the human impact as deviation from naturalness. This makes it an information collection and presentation tool for those working in landscape planning and management. LUI’s simple and intuitively understandable structure makes it suitable for citizens’ science applications, and thus for participative monitoring when extensive statistical data gathering is not feasible, and past data are not available. Of course is can also be used as a simple too for communicating when detailed statistical data series are available. While the aggregate index is expected to communicate well, its components are more relevant to motivate and help policy makers to prioritise their decisions according to the severity of recent anthropogenic ecosystem disturabances.

This study aimed to identify the influencing factors that drive the adoption of smart construction technologies by highway construction companies. Using expert interviews and expert scoring, interview data were collected from 25 experts in the field, and the TOSE framework was proposed based on the TOE framework, identifying four dimensions and fourteen influencing factors. The results were analyzed using the Fuzzy-DEMATEL-ISM method, and the findings were then summarized according to the evaluation criteria to determine the validity of the fourteen hypotheses and the extent to which they drive the adoption of intelligent construction technologies by motorway construction companies. The findings of this paper will be of great value to decision-makers and participants in highway construction companies, as well as to other companies in the construction industry, in their decision to adopt smart construction technologies.

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

To explore the spatial network structure characteristics and driving effects of carbon emission intensity in China's construction industry, the investigation combined the modified gravity model and social network analysis method to deeply analyze the spatially associated network structure characteristics and driving effects of carbon emission intensity in China's construction industry, based on the measurement of carbon emission data of China's construction industry from 2006 to 2017. The results show that the regional differences of carbon emission of construction industry are significant, and the carbon emission intensity of construction industry show a fluctuation trend. The overall network of carbon emission intensity shows an obvious “core-edge” state, the hierarchical network structure is gradually broken. Economically developed provinces generally play a leading role in the network, and play an intermediary role to guide other provinces to develop together with them. Among the network blocks, most of the blocks play the role of “brokers”. The block with the leading economic development has a strong influence on the other blocks. The increase of network density, the decrease of network hierarchy and network efficiency will reduce the construction carbon emission intensity.

There is an accelerating requirement for ocean sensing where autonomous vehicles can play an essential role in assisting engineers, researchers, and scientists with environmental monitoring and collecting oceanographic data. This paper is performed to develop a rigid sail for the autonomous sailing drone. Our study aims to numerically analyze the aerodynamic characteristics of curvy twin sail and compare it with wing sail. Because racing regulations limit the sail shape, only the two-dimensional geometry was open for an optimization. Therefore, this study’s first objective was to identify the aerodynamic performance of such curvy twin sails. Simultaneously, a secondary objective was to estimate the effect of the sail’s spacing and shapes. A viscous Navier-Stokes flow solver is used for the numerical aerodynamic analysis. The 2D aerodynamic investigation is a preliminary evaluation. The results have shown that the curvy twin sail designs have improved lift, drag, and driving force coefficient compared to the wing sails. The spacing between the port and starboard sails of curvy twin sail is an important parameter. The spacing is 0.035L, 0.07L, and 0.14L shows the lift coefficient reduction because of dramatically stall effect, while flow separation is improved with spacing is 0.21L, 0.28L, and 0.35L. Significantly, the spacing 0.28L shows the maximum high pressure at the lower area and the small low pressure area at leading edges, so the highest lift is generated.

Safety of source water streams is an urgent environmental issue, while protections in monsoon controlled subtropical regions face difficulties because of the lack of small scaled observation and analysis in small source water catchments. Basing on continuous weekly water quality data (2014-2017) in Pingqiao River Catchment, the annual average values of TN, NO₃, NH₄ and TP are 3.36, 1.64, 0.28 and 0.02 (mg/L) respectively. During dry, normal and wet seasons, the variability of parameters is over 35%, which indicates an obvious seasonality. Multiple methods are combined in order to assess the water quality and find the driving factors during dry, normal and wet seasons. This study suggests precipitation and fertilization are the mainly seasonal factors, which can make water quality better in wet season than dry season due to the dilution effect. The mechanism between seasonality and compound of nutrients can also be traced by log(TN:TP), and log(NO₃:NH₄). Among six main land use types (forest, tea plantation, cropland (paddy), urban, bare soil and water), the former three ones are influential mostly during dry and wet season. Tea plantation has the largest nutrients discharge amount per area, which is similar to cropland in dry season. By contrary, forest has the double power in reducing nitrogen release in wet and normal seasons. When transformed into paddies, croplands can lower the phosphorus concentration. Conclusions of this study can be used in southeastern China and similar regions on source water protection and agricultural plans.

Aiming at the problem of model error and tracking dependence in the process of intelligent vehicle motion planning, an intelligent vehicle model transfer trajectory planning method based on deep reinforcement learning is proposed, which obtain an effective control action sequence directly. Firstly, an abstract model of the real environment is extracted. On this basis, Deep Deterministic Policy Gradient (DDPG) and vehicle dynamic model are adopted to jointly train a reinforcement learning model, and to decide the optimal intelligent driving maneuver. Secondly, the actual scene is transferred to equivalent virtual abstract scene by transfer model, furthermore, the control action and trajectory sequences are calculated according to trained deep reinforcement learning model. Thirdly, the optimal trajectory sequence is selected according to evaluation function in the real environment. Finally, the results demonstrate that the proposed method can deal with the problem of intelligent vehicle trajectory planning for continuous input and continuous output. The model transfer method improves the model generalization performance. Compared with the traditional trajectory planning, the proposed method output continuous rotation angle control sequence, meanwhile, the lateral control error is also reduced.

Driving factors of smart city construction are exploratively studied by grounded theory method based on text sources from journal papers in SCI and CSSCI databases. Initial scale of driving factors about smart city construction is obtained on the basis of above analyses. This paper modifies measuring items of the initial scale with a small sample pretest and reliability test, then forms final items by exploratory factor analysis. According to the above scale, questionnaires are designed to obtain empirical data, and confirmatory factor analysis is used to verify further validity and reliability of the scale. The results show that driving factors of smart city construction include three main dimensions: problem-oriented factors, business- or technology-driven factors and endogenous development requirements.

In the sustainable economy, consumer preferences are gradually coming to prioritise environmentally friendly products and services. A sustainable economy is directly linked to the growth of consumer welfare and environmental culture. The success of environmental projects is largely determined by approaches to the management of complex interconnected objects. Technological integration and the value chain from raw material extraction to the marketing of environmentally friendly products add to the growth factors. In this regard, we formulate the purpose of this study: to generalise the approaches and improve the mechanism of the ecological branding of the industrial complex of a region through conscious ESG transformation. For this purpose, we studied statistics and principles of management systems of Kazakh companies and their stakeholders. We analysed the situation of industrial complexes and their partners in the external environment to identify barriers to the development and implementation of eco-branding tools. The theoretical significance of the study helps to reveal the influence of ecological principles of modern production organisation on the speed of transition to green technologies. Its practical significance is seen in the formation of a system for measuring the level of readiness of companies to promote the ecological branding of a region’s industry outside its country.

Wildlife tourism and wildlife trade may appear juxtaposed, but are two, potentially aligning, in-come generators that could benefit conservation in developing countries. Utilising data sets collated from Madagascar’s Ministère du Tourisme and CITES respectively for the period 2007 to 2018, this study estimated levels of income from wildlife tourism and wildlife trade for Madagascar. Between 2007-2018, tourism reported yearly incomes ranging from a low of US \$1.4 million up to a high of US \$15.7 million. However, it was unclear what percentage of this figure flowed to benefit local communities. Alternatively, using reported networks for the live wildlife trade, the estimated eco-nomic value reaching collectors and/or intermediaries on Madagascar was US $72,299.80 for the period 2007 to 2018. Both revenue generators operated within different geographical areas, with tourism opportunities presenting themselves to communities adjacent NPs, while wildlife trade networks were not restricted to National Parks and operated sporadically across Madagascar. Hence, the economic benefits reached different Malagasy participants across the country. The management of both activities needs great care to ensure that environmental impacts and sus-tainability are core measures on any such activities. Whilst this study shines light on economic values and novel perspectives regarding these two trade types, it also highlighted knowledge gaps. Thus, indicating where much greater research attentions was required to allow better understanding of the specific benefits and risks from engaging with both trade types for local Malagasy people and their environments.

Shear thickening fluids (STF) are a class of fluids whose viscosity significantly rises under external loads. The research on these fluids has been advancing in recent years regarding prospective practical applications, including developing impact-absorbing composites. Following the green agendas governments and legislators advocate, this study investigates the combination of STF and other sustainable materials. Cork is a naturally occurring cellular material with a negative carbon footprint and superior energy absorption properties. With varying concentrations of STF material, cork agglomerates were formed. Notably, the analysed blends are homogeneous, contrasting with previous literary works. A series of experiments were conducted in quasi-static and dynamic conditions to determine the various mechanical responses. STF appears to influence the mechanical behaviour of cork agglomerates by providing softer deceleration rates and dispersing more energy through disaggregation mechanisms.

The continuing development of industrialization and increasing population density has led to the emergence of noise as an increasingly common problem, requiring various types of sound absorption and insulation methods to address it. Meanwhile, the recycling of resources to ensure a sustainable future for the planet and mankind is also required. Therefore, this study investigates the potential of corrugated cardboard as a resource for noise reduction. The sound absorption and insulation performance of non-perforated corrugated cardboard (NPCC) were measured, and modified corrugated boards were fabricated by drilling holes either through the surface of the corrugated board alone or through the corrugated board in its entirety. The sound absorption/insulation performance both of perforated corrugated cardboard (PCC), and perforated corrugated cardboard with multi frequency resonators (PCCM) were measured using the transfer function method and the transmission matrix method. To determine the effectiveness of NPCC, PCC, and PCCM in noise reduction, the sound pressure level was analyzed by applying it to a home blender. The results showed PCCM’s sound absorption and insulation performance to be excellent. On the basis of these findings, we propose the use of PMMC as an eco-friendly noise reduction material.

Tunnel-interchange connecting sections pose significant safety challenges on mountainous expressways due to their high incidence of accidents. Improving road safety necessitates a comprehensive understanding of driver behavior in such areas. This study explores the influences of road characteristics, signage information volume, and traffic conditions on drivers' car-following and lane-changing behavior in tunnel-interchange diverging areas. Utilizing driving data from 25 subjects of 72 simulated road models, driving performance is assessed using Friedman rank test and multivariate variance analysis. The results highlight the significant influence of both connection distance and signage information load on driving behavior. In tunnel-interchange scenarios, the reduction of velocity increased by 62.61%, and speed variability surged by 61.11%, indicating potential adverse effects on driving stability due to the environmental transitions. Decreased connection distances are associated with reduced lane-changing durations, larger steering angles, and increased failure rates. Furthermore, every two units increase in signage information leads to a 13.16% rise in maximum deceleration and a 5% increase in time headway. Notably, the signage information volume shows a significant interaction with connection distance (F=1.60, P=0.045) for most car-following indicators. Hence, the study recommends a maximum connection distance of 700 m and signage information not exceeding nine units for optimal safety and stability.

This paper focuses on the impact that urban traffic has on the environment. The study characterizes the global effect of GHG emissions, including the ecologic evaluation and the characterization, normalization, and evaluation factor. The work makes a detailed survey of the different modes of driving and their influence on engine performance as one of the principal causes of gas emissions during the combustion process. The article analyzes six types of vehicles equipped with different engine configurations: diesel and gasoline, GLP and GNC, hybrid electric, and plug-in hybrid electric. Simulation of the driving mode under various operational conditions for every type of engine results in energy consumption, thus, in GHG emissions, carbon dioxide and monoxide, nitrogen oxides, and Sulphur dioxide. The study concludes that a reduction in vehicle speed, thus in the engine revolutions, has positive effects on engine combustion and gasses emissions, which is reduced by 27.5%. The study also concludes that the limitation in driving mode, avoiding sharp and sudden acceleration, may reduce up to 45% of GHG emissions. The changes applied in the driving mode improve the air quality in the urban environment, reducing the content of GHG from 39% to 61%.

The thermal degradation of brakes has a significant impact on the stability of pure electric commercial vehicles during long downhill braking. Based on road slope and using fuzzy control method, design strategies for motor regenerative braking force and friction braking force distribution, with the aim of reducing friction braking force, improving braking stability, and recovering braking energy. By establishing driving conditions on roads with different slopes and using numerical analysis methods to verify the proposed control strategy. the results show that under the 6% constant slope driving condition, the vehicle maintains a constant speed of 30km/h downhill driving, and the braking energy recovery rate reaches 50.93%; Under the condition of 3% -6% gradient driving, the vehicle speed fluctuates slightly, but it can still be maintained at a constant speed of 30km/h for downhill driving through the adjustment of the motor's reverse drag characteristic, with a braking energy recovery rate of 49.97%; During the process of driving downhill at a constant speed, the frictional braking force does not participate in braking; The braking energy recovery rate is determined by the slope and braking deceleration.

Efficient train driving plays a vital role in reducing the overall energy consumption in the railway sector. An energy minimising control strategy can be computed using the framework given by optimal control theory, in particular the Pontryagin maximum principle. Our optimisation approach is based on an algorithm presented by Khmelnitsky that considers electric trains equipped with regenerative braking. A derivation of Khmelnitsky’s theory from a more general formulation of the maximum principle is given in this article, and a complete list of switching cases between different driving regimes has been included that is essential for practical application. A number of numerical examples are added to visualise the various switching cases. Energy consumption data from real-life operation of passenger trains are compared to the calculated energy minimum. In the presented study, the optimised strategy was able to save 37 percent of the average energy demand of the train in operation.

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

The gravel road pavement has a lower construction cost but poorer performance than the asphalt surface. It also emits dust and deforms under the impact of vehicle loads and ambient air factors. The resulting ripples and ruts are constantly deepening, increasing vehicle vibrations and fuel consumption, reducing safe driving speed and comfort. In this article, existing pavement quality evaluation indexes are analysed, and a methodology for their adaptation for roads with gravel pavement is proposed. This article reports the measured wave depth and length of the gravel pavement profile by the straightedge method of a 160 m long road section in three road exploitation stages. The measured pavement elevation was processed according to ISO 8608, and vehicle frequency response has been investigated using simulations in MATLAB/Simulink. The applied International Roughness Index (IRI) analysis showed that a speed of 30-45 km/h instead of 80 km/h provides the objective results of IRI calculation on the flexible pavement due to a decreasing velocity of vehicle's unsprung mass on a more deteriorated road pavement state. The influence of the corrugation phenomenon of gravel pavement has been explored, identifying specific driving safety and comfort cases. Finally, an increase in the Dynamic Load Coefficient (DLC) at a low speed of 30 km/h on the most deteriorated pavement and a high speed of 90 km/h on the middle-quality pavement demonstrates the demand for timely gravel pavement maintenance and the complicated prediction of a safe driving speed for drivers.

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

Visual-inertial integrated navigation system (VINS) has been extensively studied over the past decades to provide accurate and low-cost positioning solutions for autonomous systems. Satisfactory performance can be obtained in an ideal scenario with sufficient and static environment features. However, there are usually numerous dynamic objects in deep urban areas, and these moving objects can severely distort the feature tracking process which is fatal to the feature-based VINS. The well-known method mitigates the effects of dynamic objects is to detect the vehicles using deep neural networks and remove the features belongs to the surrounding vehicle. However, excessive exclusion of features can severely distort the geometry of feature distribution, leading to limited visual measurements. Instead of directly eliminating the features from dynamic objects, this paper proposes to adopt the visual measurement model based on the quality of feature tracking to improve the performance of VINS. Firstly, a self-tuning covariance estimation approach is proposed to model the uncertainty of each feature measurements by integrating two parts: 1) the geometry of feature distribution (GFD), 2) the quality of feature tracking. Secondly, an adaptive M-estimator is proposed to correct the measurement residual model to further mitigate the impacts of outlier measurements, such as the dynamic features. Different from the conventional M-estimator, the proposed method effectively alleviates the reliance of excessive parameterization of M-estimator. Experiments are conducted in a typical urban area of Hong Kong with numerous dynamic objects, and the results show that the proposed method could effectively mitigate the effects of dynamic objects and improved accuracy of VINS is obtained when compared with the conventional method.

In networked driving simulation, two or more human drivers participate interactively within a shared virtual environment. Thereby, typical applications of driving simulation can be extended to consider multi-driver scenarios, where a much closer approximation of reality with its unpredictability is achieved. However, the utilized network is typically prone to a considerable amount of message traffic. In addition to restricted system scalability, the resulting degradation of network performance leads to invalid simulation outcomes or unacceptable system behavior. High-level architecture (HLA) is an IEEE standard for networked simulation. Data distribution management (DDM) is one of the service groups provided by HLA standard. The aim of the DDM service is to reduce network traffic and to save effort required to process unnecessary received data. However, different approaches for current DDM implementations show major drawbacks in terms of utilization complexity, inefficiency, and yet added network overhead. This paper presents a concept of an interest manager that takes over the DDM functionality and avoids these drawbacks. Simulation data is exchanged between the participating driving simulators only when it is necessary according to the driving situations. The concept is validated by analyzing the network load of two driving maneuvers with and without the interest manager.

.Various synthetic nematicides are currently used effectively in the control of plant parasitic nematodes. However, these nematicides have adverse effects on humans and the environment. Neem oil is eco-friendly alternatives to synthetic nematicides. The effectiveness of repeated neem oil application in suppressing the root-knot nematodes infestation in figs seedlings was therefore examined in this study, both in its natural form (10 ml/L) and in its nano-emulsion form (5 and 7 ml/L). The recorded reduction parameters of M. incognita were J2/250g soil, galls and egg masses / 5g roots of infected fig seedlings were measured at that time, and the effects of these natural additives were compared with the Fosthiazate (Krenkel 75%EC). The impact of such soil amendments on some typical plant parameters, the total microbial count of soil, and the overall enzymatic activity of the fig rhizosphere were also included. Obtained results revealed that the soil population density of root knot nematode suppressed by 80.3% , reduction of nematode egg masses (60.4%) due to the application of nano-emulsion of neem oil (at 7ml/L). Present work recommend the use of nano-emulsion of neem oil as one of the effective and eco-friendly means to reduce the root- knot nematode on fig .

The global textile sector, pivotal to economic development, significantly contributes to environmental degradation, prompting a shift towards sustainable raw material sources. Embracing circular economy principles, this industry is exploring the valorization of agricultural by-products. This study introduces an innovative approach to repurposing mango waste into valuable textile fibers, a byproduct of the fruit processing industry, predominantly generated during juice and jam production. The focus is on the lignocellulosic constituents of mango waste, specifically the peel, seed, and fibrous material, traditionally considered as refuse. Previous research has predominantly utilized mango peel in pectin extraction for food applications, whereas the potential of seed and fibrous content remains underexplored. This investigation endeavors to transform these fibrous by-products into high-value materials suitable for textile manufacturing. The process involved washing, drying, and comprehensive physicochemical characterization of mango fibers, emphasizing lignin quantification, revealing a composition of 12.2% lignin. An experimental design was employed to elucidate the impact of variables such as liquid-to-solid ratio, reaction duration, and sodium hydroxide concentration on lignin dissolution through alkaline hydrolysis. Optimal conditions—10% NaOH concentration, 30 mL/g liquid-to-solid ratio over six hours—achieved an 83% reduction in lignin content. The resulting fibers exhibited properties akin to conventional natural fibers, including a favorable aspect ratio indicative of their suitability for textile applications. A subsequent softening process using propylene glycol enhanced the fibers' spinability, producing a durable, textured fabric ideal for eco-conscious fashion applications, including bags, footwear, and accessories. This research demonstrates the feasibility of converting mango waste into a textile-worthy material and underscores the importance of waste revalorization in promoting sustainability within the circular economy framework.

Ecological changes evoke many felt losses and types of grief. These affect sustainability efforts in profound ways. Scholarship on the topic is growing, but the relationship between general grief research and ecological grief has received surprisingly little attention. This interdisciplinary article applies theories of grief, loss, and bereavement to ecological grief. Special attention is given to research about “non-death loss” and other broad frameworks about grief. Dynamics related to both local and global ecological grief are discussed. Kinds of potential losses arising out of ecological issues are clarified with the frameworks of tangible/intangible loss, ambiguous loss, nonfinite loss, and shattered assumptions. Various possible types of ecological grief are illuminated by discussing the frameworks of chronic sorrow and anticipatory grief/mourning. Earlier scholarship about disenfranchised ecological grief is augmented by further distinctions about various forms it may take. The difficulties in defining complicated or prolonged grief in ecological context are discussed, and four types of “complicated ecological grief” are explored. Based on the findings, three special forms of ecological loss and grief are named and discussed: transitional loss and grief, lifeworld loss, and shattered dreams. The implications of the results for ecological grief scholarship, counselling and coping are briefly discussed. The results can be used by psychological and healthcare professionals and researchers, but also by members of the public who wish to reflect on their eco-emotions.

The eco-efficiency of cultivated land use (ECLU) is an important indicator for the construction of ecological civilization in China. Exploring the spatiotemporal dynamic evolution of the ECLU is helpful for sustainable use of arable land, ensuring food security and ecological security. However, previous studies have mostly focused on the use of a slacks-based measure (SBM) model for ECLU measurement, ignoring the more accurate epsilon-based measure (EBM) model. Therefore, in this study, firstly, we explored the conceptual framework of ECLU, and then, based on the panel data of the counties in the region around Beijing and Tianjin from 2005 to 2020, we investigated the spatial and temporal evolution of ECLU by using the Super-EBM model, kernel density estimation method, and spatial Markov chain model. Results displayed: (1) From 2005 to 2020, the ECLU in the region around Beijing and Tianjin displayed an increasing state, but the average value was only 0.55. (2) The time evolution of the ECLU has gradually polarized, the internal gap has widened, but it tends to stabilize. (3) The ECLU in the region around Beijing-Tianjin was more inclined to keep it the same and there was a "club convergence" phenomenon, which was meaningfully affected by the background of neighboring areas. In the light of local conditions, the government should reasonably formulate the path to optimize the ECLU, strengthen the linkage with the surrounding cities, and bring into play the positive spillover effect.

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

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

The study was conducted on applying machine learning and data mining methods to personalizing the treatment. This allows investigating individual patient characteristics. Personalization is built on the clustering method and associative rules. It was suggested to determine the average distance between instances for optimal performance metrics finding. The formalization of the medical data pre-processing stage for finding personalized solutions based on current standards and pharmaceutical protocols is proposed. The model of patient data is built. The paper presents the novel approach to clustering built on ensemble of cluster algorithm with better than k-means algorithm Hopkins metrics. The personalized treatment usually is based on decision tree. Such approach requires a lot of computation time and cannot be paralyzed. Therefore, it is proposed to classify persons by conditions, to determine deviations of parameters from the normative parameters of the group, as well as the average parameters. This made it possible to create a personalized approach to treatment for each patient based on long-term monitoring. According to the results of the analysis, it becomes possible to predict the optimal conditions for a particular patient and to find the medicaments treatment according to personal characteristics.

Abstract: Changes in forest landscapes have been connected with human activity for centuries, which can be considered as one of the main driving forces of change in the global perspective. The spatial distribution of forests changes along with the geopolitical situation, demographic changes, intensification of agriculture, urbanization or changes in the land use policy. However, due to the limited availability of historical data, the driving forces of changes in forest landscapes are most often considered in relation to recent decades, without taking into account long-term analyzes. The aim of this paper is to determine the impact of natural and socio-economic factors on changes in forest landscapes within the protected area – Ślęża Landscape Park and its buffer zone in the aspect of long-term analyzes covering the period of 140 years (1883-2013). The comparison of historical and current maps, demographic data on 4 different periods as well as natural and location factors by using the ArcGIS software allowed analyzing selected driving forces of forest landscape transformations. We took into account natural factors like altitude, slope, exposure of the hillside and socio-economic drivers like population changes, distances to centers of municipalities, main roads and built-up areas.

Digital agricultural technology extension service and sustainable food production have attracted attention from academia. However, the association between digital agricultural technology extension service and sustainable food production has not yet been fully investigated. This research investigates the average and heterogeneous impacts of digital agricultural technology extension service use on eco-efficiency among 1302 maize producing farmers from Northeast China major maize producing area in 2022 to fill this knowledge gap. The slack-based measure model with undesirable outputs is applied to calculate the eco-efficiency of maize production. To obtain an unbiased estimation of the average effect, the self-selection problem generated by observable and unobservable factors is solved by the endogenous switching regression model. Quantile regression is utilized to analyze the heterogeneous effect. Notably, the mediated effects model is utilized to examine the potential mechanism between them. Our findings indicate that digital agricultural technology extension service use can increase maize production's eco-efficiency. Digital agricultural technology extension service users would reduce eco-efficiency by 0.148 (21.11%) if they had not used the digital agricultural technology extension service. Digital agricultural technology extension service nonusers would improve eco-efficiency by 0.214 (35.20%) if they had used it. The robustness check reconfirms the results. Moreover, digital agricultural technology extension service use is more helpful to maize farmers who have lower eco-efficiency than those who have higher eco-efficiency. Digital agricultural technology extension service use can improve eco-efficiency of maize production through the application of organic fertilizers, green pesticides and biodegradable agricultural films.

Business school curriculums are designed to improve business skills and a student’s eventual workplace performance. In addition to these business skill sets the emerging business environment demands softer skills associated with ethical decision-making and sustainable business practices. Understanding the key influencers of ethical orientation and attitudes towards the environment is the first critical step for curriculum planning designed to develop both ethical decision-making and environmental sensibilities of students in business schools. Using a bivariate regression analysis (OLS) that compared the established New Ecological Paradigm (NEP) scale and the newly introduced Ethical Orientation Scale (EOS), this study assesses environmental eco-consciousness and ethical orientation over time and across varying socio-demographic variables. The study shows first, that in addition to socio-cultural variables, situational factors influence ethical decision-making. Secondly, it illuminates that ethical orientations as measured by the EOS predicts beliefs about the environment as measured by the NEP scale. It further provides evidence of the ethical underpinnings of the New Ecological Paradigm as well as provides initial validation for the new EOS. These outcomes provide additional levers to assist business educators in the creation of high impact teaching strategies to measure and encourage ethical decision-making and sustainable business practices that protect the environment.

In-depth insights into the profound impacts of climate change and human activities on water resources are garnered through the dynamic changes in surface water, a crucial aspect of effective water resource management and the preservation of aquatic ecosystems. This paper introduces an innovative approach employing the random forest algorithm for the systematic extraction and monitoring of surface water at large regional or national scales. This method integrates spectral bands, spectral indices, and digital elevation model data, offering a novel perspective on this critical task. A data filling model is proposed to mitigate the impact of missing data due to cloud cover. Leveraging the capabilities of the Google Earth Engine (GEE), detailed information on surface water dynamics during the rainy and dry seasons in the Yangtze River Basin (YRB) from 1991 to 2021 is extracted using Landsat time series imagery. The analysis encompasses spatial-temporal variation characteristics and trends, with a specific focus on the intricate interplay between the areal extent of surface water and hydro-meteorological factors in each sub-basin of the YRB. Importantly, this includes considerations of potential groundwater contributions to surface water. Key findings from our research include: (1) Achieving a remarkable overall accuracy of 0.96 ± 0.03 in obtaining reliable surface water datasets with the support of GEE. (2) Identifying significant trends, such as a noteworthy increase in rainy season surface water bodies (+248.0 km2·yr−1) and a concerning decrease in surface ice/snow cover during both rainy and dry seasons, with change rates of −39.7 km2·yr−1 and −651.3 km2·yr−1, respectively. (3) Uncovering the driving mechanisms behind these changes, revealing positive correlations between the areal extent of rainy season surface water bodies and precipitation, as well as negative correlations between surface ice/snow cover area and average surface skin temperature. It is crucial to note that these driving factors exhibit variation among secondary river systems, underscoring the complexity of surface water dynamics. Furthermore, comparative analyses with existing surface water products are conducted, contributing to a deeper understanding of the advantages and uncertainties inherent in our proposed extraction method. The proposed method for large-scale surface water extraction not only enhances the monitoring of spatio-temporal surface water dynamics in the YRB but also provides valuable insights for the sustainable utilization and protection of water resources, considering the potential role of groundwater in supplementing surface water.

The article is dedicated to addressing the current challenge of augmenting the load- bearing ca-pability of pile foundations. This predicament is most effectively addressed by employing piles with unconventional geometries, along with atypical methodologies for installing these foun-dation piles. The primary objective of research is to examine the impact of various fill materials (including both soil and rigid substances) on the energy consumption during pile driving and the resistance to static loads by piles with multiple shaft expansions. The findings derived from model-based investigations demonstrate that the load-bearing capacity of piles with shaft ex-pansions, installed with bulk material filling, surpasses that of conventional piles (prismatic and pyramidal) by a factor ranging from 1.5 to 4.6. Furthermore, the research outcomes also indicate greater energy consumption (1.14-1.66 times) and enhanced load-bearing capacity (1.15-1.68 times) for piles with shaft expansions driven with backfill, in comparison to piles installed without backfill. It is noteworthy that the type of backfill material significantly influences the energy consumption during pile driving and their stability under axial static loads. The correla-tion relationships can be applied to approximate projection of the energy-related and structural parameters of piles with shaft expansions embedded with the addition of bulk materials.

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.

The vegetation types on the Qinghai-Tibet Plateau are complex and diverse, and the ecological environment is fragile and sensitive. It is very important to study the dynamic changes in vegetation and the main factors related to these changes to grasp the present state of the regional ecosystem, maintain the balance of the ecosystem and promote the sustainable development of the ecosystem. Therefore, this paper is based on SPOT/VEG NDVI (normalized difference vegetation index) data, land use data, topographic data and meteorological data from 1999 to 2019. The spatiotemporal variation in the NDVI over the Tibetan Plateau in the last 21 years and its response to different driving factors were investigated by using the Sen slope method, Mann–Kendall mutation test, partial correlation analysis and geographical detector method. The results showed that (1) the vegetation coverage on the Qinghai-Tibet Plateau showed an increasing trend from 1999 to 2019, with increases in approximately 67.00% of the plateau area. (2) The spatial differences in vegetation coverage were large; notably, low-density vegetation areas decreased obviously, moderate-density vegetation areas accounted for approximately 50% of the total area, high-density vegetation areas were the least common, and the overall growth rate was significant. (3) The NDVI was positively correlated with temperature and precipitation, and a positive correlation was observed in more than 66% of the region. (4) The order of the influence of single driving factors on the NDVI was as follows: precipitation > soil type > altitude > temperature > gradient > slope > population density > GDP. (5) The effect of multiple factors was significantly higher than that of single driving factors, with a notable nonlinear influence. The interactions between meteorological factors, such as precipitation, and topographic factors, such as altitude, were important, with a q value over 0.79.

To remain relevant in the green transition, companies are beginning to voluntarily account for the exchange of emissions in their supply chain transactions and using the resulting greenhouse gas inventories for climate resilient decision support. Market advantages of sustainability and transparency see a shift from internal decision support tools to external communication tools which potentially expose companies to the risk of uncovering greenwashing if claims are not supported by transparent data, sound modelling, and a climate just emissions inventory, which considers external impacts connected to the production system. The different methods and standards in place for such greenhouse gas inventories, despite all referring to the ISO life cycle analysis standards and guidelines, present mixed signals and leave room for different interpretations, that may ultimately lead to cascading greenwashing, misleading results, and false successes. The new GHG Protocol Land Sector and Removals Guidance draft addresses this in part. With the GHG Protocol moving into revision periods, we identify gaps that present barriers to companies, or allow for interpretations that goes against the intentions of reporting GHG emissions related to an activity or organisation. The literature agrees that not rectifying these subtle-ties present counterproductive decision support for the green transition’s overall goal: to reduce global emissions.

This research aims to understand the Cambodian green economy transition and analyze its strengths, weaknesses, opportunities, and threats (SWOT). The research showed that Cambodia has been significantly transitioning its green economy since 2009 as evidenced by the National Green Growth Roadmap. Cambodia also established the National Council for Green Growth in 2012 and upgraded it to the National Council for Sustainable Development in 2015 in alignment with 2030 Agenda for Sustainable Development of the United Nations. The members of the Council are from all the government’s ministries and relevant inter-ministerial councils/committees, which are significant for policymaking. All governors of the capital and provincial administrations are also its members, which are significant for supporting and implementing the works at the subnational levels. Under the structure of the Council’s Secretariat, Department of Green Economy is playing an important role in promoting green economic development in Cambodia by looking at national policies and strategic plans, undertaking projects, and mobilizing resources. Through coordination between this Department and UNIDO, Cambodia in 2022 became a Member of the United Nations Partnership for Action on Green Economy. The findings showed that Cambodia is transitioning its green economy at the right time, especially the new government’s Pentagonal Strategy strongly supported this green economy transition with a clear and strong political commitment. The national inter-ministerial council for sustainable development is also very significant for cross sectoral policy-making and implementing levels, inclusively for promoting green economic development.

Harnessing the Remarkable Bio-Remediation Potential of Vernonia spp. for the Sustainable Restoration of Hydrocarbon-Polluted Clay Soil in Ogoni Land, Nigeria This study explores the potential of utilizing Vernonia spp. for eco-friendly bio-remediation of hydrocarbon-polluted clay soil in Ogoni Land, Nigeria. The aim is to find a sustainable and effective solution that promotes the restoration of the polluted soil while minimizing the use of external additives. The process of bio-remediation can occur naturally, through natural attenuation or intrinsic bio-remediation. However, it has been observed that in certain cases, the addition of fertilizers, oxygen, or organic matter is required to enhance the effectiveness of bio-remediation. In this research, we focus on the bio-remediation potential of Vernonia spp., a native plant species known for its strong phytoremediation abilities. By harnessing the remarkable bio-remediation properties of Vernonia spp., we seek to restore the hydrocarbon-polluted clay soil in Ogoni Land in an environmentally friendly and sustainable manner. Our methodology involves conducting greenhouse experiments to assess the bio-remediation efficiency of Vernonia spp. in different soil conditions. We will analyze the soil's physical and chemical properties, as well as the degradation of hydrocarbons over time. The experimental results will provide valuable insights into the effectiveness of Vernonia spp. in removing hydrocarbon pollutants from clay soil. Through this study, we aim to develop a cost-effective and sustainable approach to restore hydrocarbon-polluted clay soil in Ogoni Land. By leveraging the natural bio-remediation potential of Vernonia spp., we can potentially reduce the reliance on external additives, thus minimizing the environmental impact associated with traditional remediation methods. The research article explores methods to promote the growth of pollution-eating microbes in order to enhance bio-remediation. Bio-remediation refers to the use of naturally occurring organisms to break down harmful substances into less toxic or non-toxic forms. In situ bio-remediation involves treating the contaminated material directly at the site, while ex-situ bio-remediation involves removing the contaminated material for treatment elsewhere. This study specifically investigates ex-situ bio-remediation techniques for hydrocarbon-contaminated clay soil. The researchers found that the application of room dry and wet blended bitter leaf showed promising results in the bio-remediation of hydrocarbons in the clay soil. Using Vernonia galamensis, a concentration as high as 0.55 ug/ml was achieved, while Vernonia amygdalina yielded a concentration as high as 0.67 ug/ml when applied at 35g and 40g respectively, based on the wet blended approach. These findings highlight the effectiveness of wet blended Vernonia species in the bio-remediation process.During the remediation process of the clay soil, the pH levels showed a trend of increasing from acidic to normal to alkaline. This can be attributed to the remediation of excessive metals present in the soil. After 40 days, the pH of the clay soil reached 6.97 when treated with 40 grams of Vernonia galamensis, and 7.00 when treated with 40 grams of Vernonia amygdalina. Interestingly, while the remediation efficiency of HC (hydrocarbon) decreased with increasing mass of Vernonia galamensis, the remediation efficiency of HC increased when using Vernonia amygdalina. These observations highlight the varying effects of different Vernonia species on hydrocarbon remediation.The highest remediation values were observed when using Vernonia galamensis at 35g and Vernonia amygdalina at 40g. These particular amounts of these Vernonia species demonstrated effective remediation of the targeted pollutants. However, in comparison to other metals, the remediation effects were relatively lower for zinc (Zn), with only approximately 0.25 ug/ml being remediated. This suggests that the remediation potential of the Vernonia species may vary depending on the specific contaminant.The higher remediation effects observed for Zn metal in the soil can be attributed to the wet blended preparation method of the Vernonia species. In contrast, the room dried Vernonia species exhibited the lowest performance in remediating the soil, with approximately 0.17 ug/ml and 0.10 ug/ml remediation for galamensis and amygdalina, respectively. Both Vernonia leaf extracts achieved a remediation of 0.5 ug/ml for chromium. The sun dried and room dried methods also showed considerable remediation potential, with values above 0.4 ug/ml. The level of significance for the model was attained at 0.05, and the r2 value was appreciable. These findings indicate the effectiveness of different preparation methods and Vernonia species in soil remediation

Climate changes challenges people’s life and sustainability. Environmental problems seem to derive from human behavior. Dentistry has a high environmental footprint that needs to be controlled worldwide. Thus, the change of behavior of dentists is a necessary condition to improve the environmental situation. In this study we use a system dynamics approach to analyze pro-environmental behavior in dentists. Systemic modelling in this case, allow us to make a clear prediction of how the population of non-eco dentists will change in the future if certain factors will be affected and how much time will be needed by the system of a group of dental professionals to become eco- dentists. The ECODENT model was designed with Vensim software. It was based on the influence of WOM (word of mouth) spread of information among colleagues and stakeholders (e.g. patients, auxiliary staff and community) and other factors such as dental income, state support, CaPex and OpEx, education hours, level of urbanization and time to react. By changing each one of them we can observe the changes in the groups of non-eco and eco dentists as well as the flow of the phenomenon. It is tested that by augmenting WOM parameter, state economic support or education hours, while diminishing CaPex and OpEx, changes in pro-environmental behaviors of dentist will be reported in a shorter time. The ECODENT model can be used to further study pro-environmentalism in different dental groups and associations and design relevant eco-friendly educational programs.

The A.C.Q.U.A. (Advisable Conscious Quality Use from Assisi) project, promoted by the Climate and Energy and Heritage Design courses of the Planet Life Design Master Program, addresses the theme of the recovery and regeneration of ancient wash-houses in the context of energy, environmental sustainability and innovation, a way of understanding cultural heritage in the wider sense of heritage community through the active participation of all the actors involved: universities, institutions, businesses, students and citizens. The proposal, tested in the municipalities of Assisi and Ruviano (ITALY), involves the creation of a "Community Wash House", a new way of carrying out the usual domestic act of washing clothes in the open air, next to the places where this rite was traditionally performed, in technologically innovative constructions that use renewable energy sources and encourage a reduction in household consumption of water and energy. This project is part of the training of professionals in the new inter-university course that combines knowledge of the tools of technical and scientific design with historical and cultural perspectives in a perspective of sustainable redevelopment of existing structures in the area and the use of alternative energy sources with low climate impact, calculated using the statistics of the Copernicus CDS.

Objectives: We study partial unlock or reopening interaction with seasonal effects in a managed epidemic to quantify overshoot effects on small and large unlock steps and discover robust strategies for reducing overshoot. Methods: We simulate partial unlock of social distancing for epidemics over a range of replication factor, immunity duration and seasonality factor for strategies targeting immunity thresholds using overshoot optimization. Results: Seasonality change must be taken into account as one of the steps in an easing sequence, and a two step unlock, including seasonal effects, minimizes overshoot and deaths. It may cause undershoot, which causes rebounds and assists survival of the pathogen. Conclusions: Partial easing levels, even low levels for economic relief while waiting on a vaccine, have population immunity thresholds based on the reduced replication rates and may experience overshoot as well. We further find a two step strategy remains highly sensitive to variations in case ratio, replication factor, seasonality and timing. We demonstrate a three or more step strategy is more robust, and conclude that the best possible approach minimizes deaths under a range of likely actual conditions which include public response.

Distracted driving is a major cause of road traffic crashes in Yaoundé. Partly due to scarcity of enforcement, lack of evidence and investigation of distraction safety performance indicator (SPI), hindering evidence-based intervention. This study aimed to address this evidence gap by evaluating the distraction SPI using proven methodology. Data on distracted driving (handheld mobile device; interaction; eating/smoking/drinking) were collected from roadside observation on 36 randomly selected road sections carefully spread to cover the city. SPI were computed and weighted with traffic volume to ensure representativeness of values. A total of 41,004 drivers were observed (38,248 in car; 1,116 in van; 977 in truck; 663 in bus). The prevalence of distracted driving in Yaoundé is 13.69% for the three distractions type combined. The prevalence is 7.84% for interaction, 4.89% for handled mobile device usage and 0.96% for eating/smoking/drinking. Leveraging these insights, a seven year (2024 - 2030) fighting strategy aiming at halving the prevalence was developed. The strategy contains intervention including on legislation/enforcement, which have been proven effective. This study, pioneer in Yaoundé, provide stakeholders with evidence of the issue and measures to implement and can also serve when developing road safety strategy.Future research should consider investigation at national level.

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.

Abstract: High power semiconductor laser is a kind of photoelectric device with high efficiency and high stability, the performance of its drive system directly affects its output characteristics and service life. In order to solve the problems of stability and robustness of the output power of semiconductor laser, a semiconductor laser driving power supply with high efficiency, low ripple and strong anti-interference ability was developed. The power supply adopts full-bridge LCC resonant power topology. Firstly, a mathematical model is established to analyze the relationship between LCC resonator parameters and output current gain. Secondly, a LCC resonator parameter design method is proposed to reduce the current stress of components, and the variable frequency phase shift (PFM-PWM) composite control strategy and linear active disturbance rejection control (LADRC) algorithm are proposed, which not only ensures the zero voltage (ZVS) conduction of MOS tube, but also reduces the on-off loss of MOS tube. Improved power efficiency and suppressed output current ripple; At the same time, the instability of the output current is ensured due to the input voltage, load and parasitic parameter change of the circuit. Finally, the simulation and experimental results show that the power supply can be continuously adjustable in the output current range of 0-40A, the current ripple is less than 0.8%, and the working efficiency is up to 92%. It has the characteristics of high stability, small ripple, high efficiency, low cost and good robustness.

This study presents a dynamic model of a passenger vehicle and analyzes its dynamic characteristics and responses. A dynamic vehicle model with seven degrees of freedom was established to analyze the behavior of a driving vehicle. The vehicle model had three degrees of freedom for the motion of the sprung mass and four degrees of freedom for the unsprung masses. For this model, the equations of motion were derived using Lagrange’s equation. To verify the model, the suspension deformations computed using the model were compared with the deformations measured through three actual vehicle driving tests which are the slalom, double lane change, and step steer tests. Furthermore, we investigated the effects of suspension stiffness, suspension damping, and anti-roll bar torsional stiffness on the dynamic characteristics and responses of the vehicle model. The developed dynamic vehicle model may help vehicle designers predict the dynamic responses of a vehicle through simulation without performing a driving test.

Studies on the characteristics of hazardous air pollutants (HAPs) in the emissions of medium-duty diesel trucks are significantly insufficient compared to that on heavy-duty trucks. This study investigates the characteristics of regulated pollutants and HAPs such as volatile organic compounds (VOCs), aldehydes, and polycyclic aromatic hydrocarbons (PAHs), and estimates non-methane hydrocarbon (NMHC) speciation in the emissions of medium-duty diesel trucks. Ten medium-duty diesel trucks conforming to Euros 5 and 6 were tested for worldwide harmonized light duty driving test cycle (WLTC), new European driving cycle (NEDC), constant volume sampler (CVS)-75, and National Institute of Environmental Research (NIER)-9 using a chassis dynamometer. CO and NMHC emissions were the highest in the NEDC because of its longer low-speed driving time. NOx emissions were the highest in WLTC owing to the influence of thermal NOx in the high-speed phase. Alkanes dominated non-methane volatile compound (NMVOC) emissions owing to the low reaction of the diesel oxidation catalyst. After-treatment system, driving, and engine conditions influenced the individual components of NMVOC emissions. Formaldehyde emissions were the highest among aldehydes irrespective of driving cycles. By sampling the particle-phase of PAHs, we detected benzo(k)fluoranthene and benzo(a)pyrene and estimated the concentrations of the gas-phase PAHs with models to obtain the total PAH concentrations. The toxic equivalency quantities of benzo(k)fluoranthene and benzo(a)pyrene from NIER-9 (cold) for both Euro 5 and Euro 6 vehicles were more than five times higher than that of NIER (hot) and NEDC. In the case of NMHC speciation, formaldehyde emissions were the highest in all the driving cycles. Formaldehyde and benzene must be controlled in the emissions of medium-duty diesel trucks to reduce their health threats. The results of this study will aid in establishing a national emission inventory system for HAPs of mobile sources in Korea.

The move to a low carbon economy is very important for enhancing international competitiveness. The eco-innovation is the critical factor of the green paradigm. This study is designed to investigate deeply the determinants of eco-innovation of manufacturing firms in Korea by suggesting anticipated regulations, self-regulations, and industry-specific characteristics as external factors and open information sources as internal factors. The data used in the analysis is 1946 sample firms from Korean Innovation Survey 2010 based on the Oslo Manual. Using the multi-variate probit analysis and the zero-inflated negative binomial (ZINB) regression analysis, we have found out that the anticipated regulations and self-regulations have significant influences both on eco-process innovation and eco-product innovation, while industrial characteristics have no effects. The empirical results also show that the breadth of information sources has a positive effect on businesses in implementing eco-innovations. Our findings show that the Korean government should provide a good platform where firms can better understand the future trends of environmental policies, particularly policies on anticipated and self-regulations. At the same time, Korean firms should establish a voluntary system to control environmental activities so that they can improve eco-innovations through integrating external information.

Advanced composite materials have drawn significant interest in the last years as an alternative to traditional materials due to their higher performance. However, industry struggle to provide low-cost, higher occupational safety, lower footprint with composites, making them suitable for holistic analyses. Therefore, the material design becomes an essential element that can impact the competitiveness, particularly in terms of productivity, circularity, safety, sustainability, and quality of the value chain. The Material Design-for-eXcellence is a state-of-art methodology for material performance multi-dimensional assessment along its life cycle phases, either useful to support ma-terial selection for new products or also to new material design support optimizing resource effi-ciency. In this methodology, the material behaviour and its multiple characteristics assessment, and the manufacturing processes efficiency are evaluated. The framework considers the analogy of product design holistic approaches, as Lean Design-for-X, to organize and assess the mul-ti-dimensional performance for each “X” Material Property. In this work, it was possible to observe that the bio-based composites solutions could be a good sustainable alternative for several sectors. Every day researchers are creating more new materials, having a diversity of properties at different scales, Material Design-for-eXcellence must also in the near future consider other factors. Hence, additional studies are thus foreseen to explore and develop this new tool.

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

Reducing GHG emissions is a crucial challenge in urban areas, characterized by high energy consumption and reduced exposure to nature. In this context, the urban green system could play a pivotal role. In the literature, scholars analyzed both the ability of species-specific and layout-specific green infrastructures to increase carbon sequestration and the best location sites of new green infrastructures, to increase the provision of overall ecosystem services. There is a lack of studies helping green urban planners and designers choose where and which green infrastructure to implement, based on vegetation species-specific performance and local carbon emissions of city components. This paper uses tree inventory data from a medium-sized city in central Italy (Perugia) to develop a spatial analysis of the urban parks' performance in carbon sequestration. Then, the method evaluates the carbon emission of a public city building to generate a spatialized balance between buildings’ demand and trees’ supply, to support local decisions about the best locations for new green infrastructures and the choice between species. The paper contributes to GIS-based tools that vary the recommended location sites and species for new green infrastructures based on the demanded ecosystem service.

In this paper, the performance of Cu-(In,Ga)-S2 (CIGS2) solar cells with adjusting composite CGI-ratio absorber is explored and compared through an improved three-stage co-evaporation technique. For co-evaporating CIGS2 absorber as a less toxic alternative to Cd-containing film, we analyse the effect of the CGI-ratio stoichiometry and crystallinity, and explore its opto-electric sensing characteristic of individual solar cell. The results of this research signify the potential of high-performance CIGS2-absorption solar cells for photovoltaic (PV)-module industrial applications. For the optimal CIGS2-absorption film (CGI=0.95), the Raman main-phase signal (A1) falls at 291 cm-1, which is excited by the 532-nm line of Ar+-laser. Using photo-luminescence (PL) spectroscopy, the corresponding main-peak bandgaps measured is 1.59 eV at the same CGI-ratio film. Meanwhile, the best conversion efficiency (=3.212%) and the average external quantum efficiency (EQE=51.1% in the visible-wavelength region) of photo-electric properties were achieved for the developed CIGS2-solar cells (CGI=0.95). The discoveries of this CIGS2-absorption PV research provide a new scientific understanding of solar cells. Moreover, this research undeniably contributes to a major advancement towards practical PV-module applications and can help more to build an eco-friendly community.

Ultrasonic sensors are inexpensive and can take measurements with high accuracy, even with simple hardware configurations, so they are used in various fields. When multiple ultrasonic sensors exist in the measurement space, crosstalk occurs due to other nodes, which causes measurement errors. Crosstalk includes not only receiving homogeneous signals from other nodes, but also overlap by other signals, and interference by heterogeneous signals. This paper proposes a method that uses frequency sweep keying modulation to be robust against overlap and a faster region-based convolutional neural networks (R-CNN)-based demodulator to reduce the interference caused by heterogeneous signals. The demodulator works by training faster R-CNN with the spectrograms of various received signals and classifying the received signals using a faster R-CNN. Experiments implementing an ultrasonic crosstalk environment showed that compared to on-off keying (OOK), phase-shift keying (PSK), and frequency-shift keying (FSK), the proposed method can implement CDMA even with shorter codes, and is robust against overlap. Compared to correlation-based frequency sweep keying, the time-of-flight error was reduced by approximately 75%. While existing demodulators did not consider heterogeneous signals, the proposed method ignored approximately 99% of the OOK and PSK signals, and approximately 79% of the FSK signals. The proposed method performs better than the existing methods and is expected to be used in various applications.

Leader-follower autonomy (LFA) systems have so far only focused on vehicles following other vehicles. Though there have been several decades of research into this topic, there has not yet been any work on human-vehicle leader-follower systems. We present a system in which an autonomous vehicle — our ACTor 1 platform — can follow a human leader who controls the vehicle through gestures. We successfully developed a modular pipeline that uses artificial intelligence/deep learning to recognize hand-and-body gestures from a user in view of the vehicle’s camera and translate those gestures into physical action by the vehicle. We demonstrate our work using our ACTor 1 platform, a modified Polaris Gem 2 electric vehicle. This work has numerous applications, such as material transport in industrial contexts.

This paper proposes a Case-Based Reasoning (CBR) system to contribute to reinforce the sustainable performance of an environmental management system. The CBR system aims to support the decision-making process to select environmental management actions aimed at reducing risky trends of the environmental state of a region. The CBR system takes advantage of a set of situation-solution pairs called cases, which are stored in a memory and then retrieved as candidates to solve new problems. Situations in this work are represented by a set of risky trends of the following key environmental variables: CO2 emissions, Air-Quality, Loss of Vegetation Cover, Water Availability, and Solid Waste, whose combination damage the environmental state quality of a region. Meanwhile, solutions are represented by a set of environmental management actions. Similar situations to a given current situation are retrieved from the memory of cases and then their solutions are combined, through an adaptation mechanism, until the solution of the current problem is obtained. We used risky trends derived from real data related to the environmental states of a Mexican region to test the proposed CBR system. The results obtained provided insights into the potential of CBR systems to support the decision-making process to select environmental management actions aimed at reducing risky trends of current environmental states.

Currently, the most important challenge in any assessment of state-of-the-art sensor technology and its reliability is to achieve road traffic safety targets. The research reported in this paper is focused on the design of a procedure for evaluating the reliability of Internet-of-Things (IoT) sensors and the use of a Cyber-Physical System (CPS) for the implementation of that evaluation procedure to gauge reliability. An important requirement for the generation of real critical situations under safety conditions is the capability of managing a co-simulation environment, in which both real and virtual data sensory information can be processed. An IoT case study that consists of a LiDAR-based collaborative map is then proposed, in which both real and virtual computing nodes with their corresponding sensors exchange information. Specifically, the sensor chosen for this study is a Ibeo Lux 4-layer LiDAR sensor with IoT added capabilities. Implementation is through an artificial-intelligence-based modeling library for sensor data-prediction error, at a local level, and a self-learning-based decision-making model supported on a Q-learning method, at a global level. Its aim is to determine the best model behavior and to trigger the updating procedure, if required. Finally, an experimental evaluation of this framework is also performed using simulated and real data

In the area of dental healthcare services, where patients and professionals deal with multiple auditory stimuli, this cross-sectional study reports on the intricate dynamics of sound preferences, noise obstacles, and the profound impact of music on anxiety reduction within dental office set-tings. The sample comprises of 134 dental patients, primarily females (56.7%), with varying age groups, education levels, and therapy durations in the university clinics of the department of Dentistry, National and Kapodistrian University of Athens and four private dental offices at the metropolitan area of Athens, Greece. Notably, 92.5% of the participants report no hearing loss, and 56.7% exhibit some level of noise sensitivity. The study reveals a moderate to good perceived health status (M=3.84, SD=0.95) among participants, with low perceived noise disturbance in university dental clinics. Preferences for instrumental music, foreign pop, and classical music are prominent during waiting times. Potential irritations include impersonal treatment (44%) and staff behavior (41.8%). Music player usage within the settings of the dental clinic involves radios (49.3%) and headphones (41.0%). Correlations and predictors indicate associations between health status, music preferences, and noise disturbances. More specifically, visiting the university dental clinics (β = .300, p = .005) as well as younger age (β = .300, p = .034) were significant predictors of better perceived health status. Clearer perception of external sounds while using the music player (β = .190, p = .039) was a significant predictor of better perceived health status, while poorer health was predicted by the preference of Greek folk songs (β = -.200, p = .030). Also, the use of smartphones for playing music was related to poorer health (β = -.370, p < .001). Following, younger age (β = -.270, p = .015), lower education (β = -.210, p = .035), higher noise sensitivity (β = .190, p = .027), as well as feelings of anxiety and nervousness due to ambient noise from people and machines (β = .510, p = .027) were significant predictors of noise disturbance from machines. Also, visiting private clinics (β = .240, p = .018), preferences of specific playlist (β = .310, p = .012), no music (β = .280, p = .016) and use of smartphones to play music (β = .230, p = .029) were significant predictors of noise disturbance from patients or staff. Finally, the preference of listening to a specific playlist was related to better health status (r = .190, p < .05). Findings aim to optimize eco-soundscapes in dental offices, con-tributing to enhanced patient well-being. The research underscores the potential of music inter-ventions to alleviate dental anxiety and improve the overall dental experience and quality care.

A few empirical examples document fixed alternative male mating strategies in animals. Here we focus on the polymorphism of male mating strategies in the ruff (Calidris pugnax, Aves Charadriiformes). In ruffs, three fixed alternative male mating strategies coexist and are signaled by extreme plumage polymorphism. We first present relevant data on the biology of the species. Then we review the available knowledge of the behavioral ecology of ruffs during the breeding season and we detail the characteristics of each of the three known fixed male mating strategies. We next turn to the exceptional quality results accumulated on both the structural and functional genomics of the ruff over the past few years. We show how much these genomic data can shed a new, mechanistic light on the evolution and maintenance of the three fixed alternative male mating strategies. We then look if there are sufficient indication to support frequency-dependent selection as key mechanism in maintaining these three strategies. Specifically, we search for evidences of equal fitness among individuals using each of the three strategies. Finally, we propose three lines of research avenues that will help to understand the eco-evolutionary dynamics of phenotypic differences within natural populations of this iconic model species.

The article studies and analyzes a hybrid power source system, lithium battery, and fuel cell assisted by flexible photovoltaic panels for hybrid electric vehicles (HEVs). The new configuration operates based on optimizing the performance of the dual power source to maximize the available energy and operating time. The operational mode simulates specific driving conditions in urban, peripheral, and intercity routes under variable driving patterns and traffic conditions. The simulation results show that the new configuration increases the hybrid electric vehicle performance, providing higher reliability despite the more complex design. The proposed system reduces the external power supply dependence and avoids unexpected sudden stops due to energy exhaustion. The new configuration also extends the vehicle driving range depending on driving mode and route conditions. The vehicle driving range extension may reach up to 276.3 km. The hybridization of fuel cells with lithium battery and PV panel assistance enhances battery management, reducing battery servicing and increasing lifespan. The proposed topology is cheaper than a single fuel cell power system by 17.2%, reducing the total cost related to the single battery power system if we consider the battery recharge for its entire lifespan. The cost saving is 2.6% for the American market and 14.8% for the European one.

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 need to address climate change and establish sustainable urban environments has driven increased efforts in Europe to develop climate-neutral cities. This study highlights the importance of integrating solar energy technologies and nature-based solutions as key strategies to achieve climate neutrality. By examining current practices, emerging trends, and case examples, it explores the benefits, challenges, and prospects associated with the integration of solar energy and nature-based solutions in urban contexts. The study presents a pioneering approach to assess the urban heat and climate change mitigation benefits of combining building-integrated photovoltaics and nature-based solutions specifically within the European context. The results emphasize the synergistic relationship between nature-based components and solar conversion technology, identifying effective combinations for different climatic zones. In warmer regions of Southern Europe, strategies like rooftop photovoltaics on cool roofs, photovoltaics shadings, green walls, and urban trees have demonstrated effectiveness. Conversely, mid- and high-latitude European cities have seen positive impacts through the integration of rooftop photovoltaics and photovoltaics facades with green roofs and green spaces. As solar cell conversion efficiency improves, the environmental impact of photovoltaics is expected to decrease, facilitating their integration into urban environments. The study emphasizes the importance of incorporating water bodies, cool pavements, spaces with high sky-view factors, and effective planning in urban design to maximize resilience benefits. It also highlights the significance of prioritizing mitigation actions in low-income regions and engaging citizens in the development of social photovoltaics positive energy houses, resilient neighbourhoods, and green spaces. By adopting these recommendations, European cities can lead the way in creating climate-neutral urban environments that prioritize clean energy, nature-based solutions, and the overall well-being of residents. The findings underscore the need for a multidisciplinary approach that combines technological innovation, urban planning strategies, and policy frameworks to effectively achieve climate neutrality in European cities.

Ultrasonic imaging & NDE applications can greatly improve their signal-to-noise ratios (SNR) by driving each transducer (composing piezoelectric arrays) with a spike giving pulsed power of k-Watts, repetitively at a PRF = 5000 spikes/s, by using a HV capacitive-discharge generator. However very-high levels, of pulsed intensities (3-10 A) and voltages (300-700 V) must be considered for a rigorous spike modeling. Even though the consumed "average" power will be small, the intensity through each transducer achieves several amperes, so the pulsed powers delivered by each HV generator can attain levels higher than in CW high-power ultrasonic applications: e.g., up to 5 kW / spike. This is concluded here from a transient modeling of the loaded generator. Then, unforeseen phenomena rise: intense brief pulses of driving power & emitted force in transducers, and non-linearities in driver semiconductors, because their characteristic curves only include linear ranges. But fortunately, piezoelectric devices working in this intense regime do not show serious heating problems, because the average power remains being moderate. Intensity, power and voltage, driving a broadband transducer from a HV capacitive pulser, are calculated to drastically improve (in ≅ 40 dB) the ultrasonic net dynamic range available, with emitted forces ≅ 250 Newtons pp and E/R received pulses of 70 V pp.

In this paper, the overall performance of Cu-(In,Ga)-Se₂ (CIGSe) solar cells was improved in the ultraviolet (UV)–visible wavelength region by two-segment process. In which, adjusting DC sputtering powers (20–40 W) for absorbers (segment I), and metal-alloy compositions (CdS, ZnO/CdS, ZnMgO/CdS and ZnMgO) for buffers (segment II) were explored and characterized. Upon choosing the optimal-30-W CIGSe-absorber (with 0.95-CGI ratio) sputtered by the segment-I process, the Cu-rich film can distinctly boost grain growth, thus reducing the trap state density. After segment-II process as the toxic-CdS alternative, the optimal Zn_0.9Mg_0.1O-alloy buffer can reach the best conversion efficiency (η = 8.70%) was attained for the environmental protection. Meanwhile, and the overall internal/external quantum efficiencies (IQE/EQE) were improved by 13.15%, respectively for the 2.48–3.62-eV bandgap (short wavelength) range. The developed photovoltaic (PV) module (with 9 optimum-CIGSe cells) exhibits acceptable stability with a variance within ±5% over the 60-day experiment. This discovery in PV-device research contributes to a new scientific understanding of renewable energy. Furthermore, this study undeniably enhances the progress of practical applications for PV-modules in alignment with sustainable development goals. It also actively supports the development of eco-friendly communities.

An advanced driver-assistance system (ADAS) is critical to driver-vehicle-interaction systems. Driving behaviour modelling and control significantly improves the global performance of ADAS. A haptic assistive system assists the driver by providing a specific torque on the steering wheel according to the driving-vehicle-road profile to improve the steering control. However, the main problem is designing a compensator dealing with the high-level uncertainties in different driving scenarios with haptic driver assistance, where different personalities and diverse perceptions of drivers are considered. If not properly accounted for, these differences can lead to poor driving performance. This paper focuses on designing a data-driven model-free compensator considering various driving behaviours with a haptic feedback system. A back propagation neural network (BPNN) models driving behaviour based on real driving data (speed, acceleration, vehicle orientation, and current steering angle). Then using the genetic algorithm (GA) and the integral time absolute error (ITEA) criterion to optimize multiple PID compensation parameters for various driving behaviour (such as speeding/braking, lane-keeping and turning), which are then be combined by the fuzzy logic to provide different driving commands. An experiment was conducted with 5 participants in a driving simulator. During the second experiment, seven participants drove in the simulator to evaluate the robustness of the proposed combined GA-PID offline and the Fuzzy-PID controller applied online. The experiment results evaluated the ITAE of lateral displacement and yaw angle, during various driving behaviour. The results validated the proposed method by significantly enhancing the driving performance.

This article challenges the notion of the randomness of mutations in eukaryotic cells by unveiling stress-induced human non-random genome editing mechanisms. To account for the existence of such mechanisms, I have developed molecular concepts of the cell environment and cell environmental stressors and, making use of a large quantity of published data, hypothesized the origin of some crucial biological leaps along the evolutionary path of life on Earth under the pressure of natural selection, in particular, 1) virus-cell mating as a primordial form of sexual recombination and symbiosis; 2) Lamarckian CRISPR-Cas systems; 3) eukaryotic gene development; 4) antiviral activity of retrotransposon-guided mutagenic enzymes and finally; 5) the exaptation of antiviral mutagenic mechanisms to stress-induced genome editing mechanisms directed at “hypertranscribed” endogenous genes. Genes transcribed at their maximum rate (hypertranscribed), yet still unable to meet new chronic environmental demands generated by “pollution”, are inadequate and generate more and more intronic retrotransposon transcripts. In this scenario, RNA-guided mutagenic enzymes (e.g. AID/APOBECs), which have been shown to bind to retrotransposon RNA-repetitive sequences, would be surgically targeted by intronic retrotransposons on opened chromatin regions of the same “hypertranscribed” genes. RNA-guided mutagenic enzymes may therefore “Lamarkianly” generate single nucleotide polymorphisms (SNP) and copy number variations (CNV), as well as transposon transposition and chromosomal translocations in the restricted areas of hyperfunctional and inadequate genes, leaving intact the rest of the genome. CNV and SNP of hypertranscribed genes may allow cells to surgically explore a new fitness scenario, which increases their adaptability to stressful environmental conditions. Like the mechanisms of immunoglobulin somatic hypermutation, non-random genome editing mechanisms may generate several cell mutants, and those codifying for the most environmentally-adequate proteins would have a survival advantage and would therefore be Darwinianly selected. Non-random genome editing mechanisms represent a link between environmental changes and biological novelty and plasticity, and provide a molecular basis to reconcile gene-centered and “ecological” views of evolution.

We introduce the Transformation Flower Approach (TFA), a Theory of Change that attends to multiple value creation and institutional change as a dual design challenge. We highlight how the TFA integrates social scientific theories and models relevant for transformative change (in particular focusing on pathways, leverage points, governance, power, and values) and demonstrate its practical value by an application to the ongoing transformation of the Dutch food system. By providing a holistic, transdisciplinary and practically relevant approach that aims to support new social contract formation, the TFA goes beyond other transformative change approaches. Based on the notion of pathways, it offers a toolbox that aids in working towards desired futures, involving both incumbents and challengers in an effort to harness untapped yet proximal potentials in a forward-looking way. By embracing an innovation approach, it not only promises to circumvent resistance to change, but also serves as a step-by-step approach to identify options for multiple value creation and effective cooperation. We demonstrate the analytical and practical value of the TFA by discussing action perspectives at various levels and scales in the context of the Dutch food system transition, including (1) area-oriented approaches, (2) acceleration agendas for specific transformation pathways, and (3) actor-specific transformation flowers. In developing these, we emphasize the importance of interdependencies between leverage points. Our approach helps to identify opportunities to link transformative options (the what), actors (the who) and levers (the how) in dynamic interaction to embark on transformative pathways.

Nodule bacteria (rhizobia) represent a suitable model to address a range of evolutionary prob-lems including the tradeoff between genetic polymorphism and natural selection. Rhizobia possess the complicated genomes in which symbiotically specialized (sym) genes differ in their natural histories from core genes encoding for housekeeping functions. Diversification of sym genes is responsible for the rhizobia microevolution which depends on the host-induced natural selection. For the rhizobia speciation, diversification of core genes is responsible for which the selective factors are unclear. In this paper we demonstrate that in the goats’ rue rhizobia (Neorhizobium galegae) populations collected at North Caucasus and composed of two host-specific biovars orientalis and officianalis (N2-fixing symbionts of Galega orientalis and G. officinalis, respectively), evolutionary mechanisms are different for core and sym genes. In both N. galegae biovars, core genes are more polymorphic than sym genes. In bv. orientalis, evolution of core genes occurs under the impacts of driving se-lection (dN/dS > 1), while evolution of sym genes is close to neutral (dN/dS ≈ 1). In bv. officinalis, evolution of core genes is neutral, while for sym genes, it is dependent on purifying selection (dN/dS < 1). A marked phylogenetic congruence of core and sym genes revealed using the ANI analysis may be due to a low intensity of gene transfer within and between N. galegae biovars. Polymorphism of both gene groups and the impacts of driving selection on the core gene evolu-tion are more pronounced in bv. orientalis than in bv. officianalis reflecting the diversities of re-spective host plant species. In bv. orientalis, highly significant (P0 < 0,001) positive correlation was revealed between the p-distance and dN/dS values for core genes, while in bv. officinalis this cor-relation is lowly significant (0,05 < P0 < 0,10). For sym genes, correlation between the p-distance and dN/dS values is negative in bv. officinalis but is not revealed in bv. orientalis. These data along with the functional annotation of core genes implemented using the Gene Ontology tools sug-gests that evolution of bv. officinalis is based mostly on adaptation for in planta niches while in bv. orientalis evolution presumable depends on adaptation for soil niches. New insights into the tradeoff between natural selection and genetic diversity are presented suggesting that the gene polymorphism may be extended by driving selection only in the ecologically versatile organ-isms capable to support a broad spectrum of gene alleles in their genepools.