Background Bone fracture fixation surgery is one of the most commonly performed surgical procedures in the orthopedic field. However, fracture healing complications occur frequently, and the choice of the most optimal surgical approach often remains challenging. In the last years, computational tools have been developed with the aim to assist preoperative planning procedures of bone fracture fixation surgery. Objectives The aims of this review are (1) to provide a comprehensive overview of the state-of-the-art in computer-assisted preoperative planning of bone fracture fixation surgery, (2) to assess the clinical feasibility of the existing virtual planning approaches, and (3) to assess their clinical efficacy in terms of clinical outcomes as compared to conventional planning methods. Methods A literature search was performed in the MEDLINE-PubMed, Ovid-EMBASE, Ovid-EMCARE, Web of Science, and Cochrane libraries to identify articles reporting on the clinical use of computer-assisted preoperative planning of bone fracture fixation. Results 79 articles were included to provide an overview of the state-of-the art in virtual planning. While patient-specific geometrical model construction, virtual bone fracture reduction, and virtual fixation planning are routinely applied in virtual planning, biomechanical analysis is rarely included in the planning framework. 21 of the included studies were used to assess the feasibility and efficacy of computer-assisted planning methods. The reported total mean planning duration ranged from 22 to 258 minutes in different studies. Computer-assisted planning resulted in reduced operation time (Standardized Mean Difference (SMD): -2.19; 95% Confidence Interval (CI): -2.87, -1.50), less blood loss (SMD: -1.99; 95% CI: -2.75, -1.24), decreased frequency of fluoroscopy (SMD: -2.18; 95% CI: -2.74, -1.61), shortened fracture healing times (SMD:-0.51; 95% CI: -0.97, -0.05) and less postoperative complications (Risk Ratio (RR): 0.64, 95% CI: 0.46, 0.90). No significant differences were found in hospitalization duration. Some studies reported improvements in reduction quality and functional outcomes but these results were not pooled for meta-analysis, since the reported outcome measures were too heterogeneous. Conclusions Current computer-assisted planning approaches are feasible to be used in clinical practice and have been shown to improve clinical outcomes. Including biomechanical analysis into the framework has the potential to further improve clinical outcome.

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

Home confinement during the COVID-19 pandemic has been accompanied by dramatic changes in household food dynamics that can significantly influence health. This systematic literature review presents parental perspectives of the impact of COVID-19 lockdown on food preparation and meal routines, as well as other food-related behaviors, capturing both favorable and unfavorable changes in the family food environment (FFE). Themes and trends are identified and associations with other lifestyle factors are assessed. In overall, families enjoyed more time together around food, including planning meals, cooking, and eating together. Eating more diverse foods and balanced meals was combined with overeating and increased snacking, as parents became more permissive towards food; however, food insecurity increased among families with the lowest income. Adoption of meal planning skills and online shopping behavior emerged alongside behaviors aimed at self-sufficiency, such as bulk purchasing and stockpiling. These results are an important first step in recognizing how this pandemic may be affecting the FFE, including low-income families. Future obesity prevention and treatment initiatives, but also ongoing efforts to address food management, parental feeding practices, and food insecurity, can account for these changes moving forward.

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

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

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

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

There is an increasing pressure by community and customers forcing companies to insert environmental concerns in their practices. To help companies initiatives, the green bonds market was incepted. Our research question is how to select bonds in a growing billion-dollar market. This paper presents a multi-criteria decision analysis (MCDA) model to enable investors identify opportunities based not only in opinions, but grounded on objective facts. Analytic Hierarchy Process (AHP) and Complex Proportional Assessment (COPRAS) are two MCDA methods applied in this paper. Top-fifteen green bonds ranked by specialized media were assessed with the proposed MCDA model. Criteria included the Environmental Performance Index (EPI) proposed by Yale University, and common financial indicators as assets, risks (β), and dividends. The new AHP–COPRAS rank is compared with another published by specialized media.

In the software development process, the decision-maker (DM) has a range of problems inherent to its function. Wrong choices during software planning can bring great risk to the project. Therefore, the planning of software releases to be delivered to the customer should be well done. This is not an easy task because releases are made up of many requirements that contain complex variables that must be considered, such as precedence, cost, requirement stability, among other features that make the requirements-selection process challenging. To make this process less exhaustive, DM can use tools that facilitate this work. In software engineering, we can find fields of research specialists in this context, such as Search-Based Software Engineering (SBSE). The SBSE makes use of advanced metaheuristics to search for optimal solutions or the closest to it. In this work, we try to use another field of research to solve this same problem type, the Verbal Decision Analysis (VDA). To do this, we elaborate a workflow that will use the same source data, execute two solutions using the two search fields (SBSE and VDA) and compare the results. In the end, we evaluated and commented on the results.

Model predictive control (MPC) is a multi-objective control technique that can handle 2 system constraints. However, the performance of an MPC controller highly relies on a proper 3 prioritization weight for each objective, which highlights the need for a precise weight tuning 4 technique. In this paper, we propose an analytical tuning technique by matching the MPC 5 controller performance with the performance of a linear quadratic regulator (LQR) controller. The 6 proposedmethodology derives the transformation of LQRweightingmatrixwith a fixedweighting 7 factor using discrete algebraic Riccati equation (DARE) and designs MPC controller using the 8 idea of discrete time linear quadratic tracking problem (LQT) in the presence of constraints. 9 The proposed methodology ensures the optimal performance between unconstrained MPC and 10 LQR controller and provides a sub-optimal solution while the constraints are active during 11 transient operations. The resultingMPC behaves as the discrete time LQR by selecting appropriate 12 weighting matrix in the MPC control problem and ensures the asymptotic stability of the system. 13 In this paper, the effectiveness of the proposed technique is investigated in the application of 14 a novel vehicle collision avoidance system which is designed in the form of linear inequality 15 constraints within MPC. The simulation results confirm the potency of the proposed MPC control 16 technique in performing a safe, feasible and collision free path while respecting the inputs, states 17 and collision avoidance constraints.

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

Port cities’ sustainable development can start from innovation in maritime culture to build new urban visions based on the goals of Agenda 2030 and oriented towards local and international cooperation. In the international debate innovative strategies on cultural heritage enhancement contaminate the research and production contexts of ports. In addition, numerous cities have implemented creative and cultural responses to climate change and environmental sustainability. Creativity and cultural heritage enhancement can guide the definition of new trajectories of sustainable urban development, particularly in port-city interaction areas. In Europe, port-city interaction areas have been transformed into laboratories of cultural and creative experimentation for the sustainable management of cultural heritage and the urban quality of public spaces. In this perspective, the paper, starting from the studies developed on the main measurement frameworks of creative cities and sustainable development policies, aims to investigate the possibility of developing a "Port-cities Creative Heritage Enhancement" approach to assess and plan possible cultural and creative transformations of historical-architectural buildings, industrial archaeologies and symbolic urban spaces in the port-city interaction areas of Naples.

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

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

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

Current species’ range displacements are mostly triggered by climate change but European landscapes are largely dominated by human activities. In this study we identify the most promising spatial adaptive trajectories (SATs) for the thirty most threatened non volant mammal species in Europe up to 2080 (under three climate and land change scenarios) and where/when SATs of each species synchronically converge. We found large contrasts on the persistence of species in SATs, with some species largely reliant on the functionality of areas where many SATs converge. Overall, SATs and convergence centers are not adequately covered by existing conservation areas and coincide with crop and arable lands, compromising species persistence. It is important to invest in the protection of SATs and convergence centers through a mix of conventional instruments and new collaborative forms with the socio-economy. Anticipative plans at long-term coupled with risk analysis offer decision–makers templates to prevent negative surprises.

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

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

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

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

Biodiversity conservation questions human practices towards biodiversity and, therefore, largely conflicts with ordinary societal aspirations. Decisions on the location of protected areas, one of the most convincing conservation tools, reflect such a competitive endeavor. Operations Research (OR) brings a set of analytical models and tools capable of resolving the conflicting interests between ecology and economy. Recent technological advances have boosted the size and variety of data available to planners, thus challenging conventional approaches bounded on optimized solutions. New models and methods are requested to use such a massive amount of data in integrative schemes addressing a large variety of concerns. Here, we provide an overview on the past, present and future challenges that characterize spatial conservation models supported by OR. By enlarging the spatial, temporal, taxonomic and societal horizons of biodiversity conservation planners navigate around multiple bio-socioeconomic equilibria and are able to decide on cost-effective strategies to improve biodiversity persistence.

We have an aversion to density in America. Density is a continual trope in this country, blamed for all of the ills of urban life, from crime and racial unrest in the middle of the 20th century to public health concerns today. In the early stages of the COVID pandemic density was the culprit, even though we’ve subsequently seen outbreaks in rural areas and sprawling cities across the United States. This paper will look into the root of America’s problems with density and argue that density is not the problem but the solution to the challenges of today’s and tomorrow’s cities. As we deplete the resources of the planet, density is our most direct pathway to recover some balance with nature. Dense living is more efficient, less carbon intensive and more environmentally sustainable. As geospatial differentiations matter less due to advances in communication technology, it's the density of people and ideas that will continue to fuel innovation. Finally, in a world that is increasingly dominated by pluralism, denser living promotes openness, tolerance and diversity.

The energy transition towards renewable and more decentral power production triggers the need for grid and storage expansion on all voltage levels. Today's power system planning focuses on certain voltage levels or spatial resolutions. In this work we present an open source software tool eGo which is able to optimize grid and storage expansion throughout all voltage levels in a developed top-down approach. System costs are minimized by applying a linear optimal power flow considering the grid infrastructure of the extra-high and high-voltage (380 to 110 kV) level. Hence, the common differentiation of transmission and distribution grid is partly dissolved, integrating the high-voltage level into the optimization problem. Consecutively, optimized curtailment and storage units are allocated in the medium voltage grid in order to lower medium and low voltage grid expansion needs, that are consequently determined. Here, heuristic optimization methods using the non-linear power flow were developed. Applying the tool on future scenarios we derived cost-efficient grid and storage expansion for all voltage levels in Germany. Due to the integrated approach storage expansion and curtailment can significantly lower grid expansion costs in medium and low voltage grids and at the same time serve the optimal functioning of the overall system. Nevertheless, the cost-reducing effect for the whole of Germany was marginal. Instead, the consideration of realistic, spatially differentiated time series lead to substantial overall savings.

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

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

Effective water resources management requires assessments of water availability within a framework of complex institutions and infrastructure employed to manage extremely variable stream flow shared by numerous often competing water users and diverse types of use. The Water Rights Analysis Package (WRAP) modeling system is fundamental to water allocation and planning in the state of Texas in the United States. Integration of environmental flow standards into both the modeling system and comprehensive statewide water management is a high priority for continuing research and development. The public domain WRAP software and documentation are generalized for application any place in the world. Lessons learned in developing and implementing the modeling system in Texas are relevant worldwide. The modeling system combines: (1) detailed simulation of water right systems, interstate compacts, international treaties, federal/state/local agreements, and operations of storage and conveyance facilities; (2) simulation of river system hydrology; and (3) statistical frequency and reliability analyses. The continually evolving modeling system has been implemented in Texas by a water management community that includes the state legislature, planning and regulatory agencies, river authorities, water districts, cities, industries, engineering consulting firms, and university researchers. The shared modeling system contributes significantly to integration of water allocation, planning, system operations, and research.

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

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

UN 2030 Sustainable Development Goal 6 presents difficulties for small island developing states such as the Kingdom of Tonga, which relies on rainwater and groundwater lenses for freshwater supply. Planning and managing water resources to supply demands in dispersed small islands under variable climate and frequent extreme events is challenging. Tensions between water planning using top-down versus bottom-up processes have long been recognized. Tonga’s overarching national planning instrument is the Tonga Strategic Development Framework, 2015-2025 (TSDFII). This identifies desired national outcomes and is used to direct and resource Ministries and address international and regional commitments. Water supply was a low priority in the three-month consultations that led to TSDFII. Community Development Plans (CDPs), developed by rural villages throughout Tonga’s five Island Groups over nine years, involved participation from 80% of each village population who ranked local priorities. Analysis of priorities in 117 available village CDPs reveals improvements to village water supply was the highest overall priority in all five Island Groups and ranked within the top three priorities by 76% of all villages, with women, youth and men returning figures of 83%, 66% and 80% respectively. The mismatch between top-down and bottom-up priorities appears to result from an urban/rural divide.

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

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

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

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

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

Over the years, researchers have been studying the effect of weather and context data on the transport mode choice. The majority of these works are based on survey data, however the accuracy of their findings relies on how respondents give accurate and honest answers. In this paper, the potential of using GPS trajectories as an alternative to travel surveys in studying the impact of weather and context data on transport mode choices is investigated in Beijing city. In the analysis, we apply both descriptive and statistical models such as the MNL and MNP models. Our findings indicate that temperature has the most prominent effect among weather conditions. For instance, for temperatures greater than 25 °C, the walking share increases by 27% and the bike share reduces by 21%, which is line with the results from several survey studies. In addition, the evidence of government policy on transport regulation is revealed when the air quality becomes hazardous as people are encouraged to use environmentally friendly travel mode choices such as the bike instead of the bus and car, which are known CO2 emitters. Moreover, due to a series of traffic restrictions introduced by the Beijing government during the 2008 summer Olympics, a decrease of 17.5% in the car share and an increase of 13% and 10% in the walking and bus shares, respectively are observed. These findings provide a scientific basis for effective transport regulation and planning purposes.

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

Forest planners have traditionally used expected growth and yield coefficients to predict future merchantable timber volumes. However, because climate change affects forest growth, the typical forest planning methods using expected value of forest growth can lead to sub-optimal harvest decisions. We proposed in this paper to formulate the harvest planning with growth uncertainty due to climate change problem as a multistage stochastic optimization problem and use sample average approximation (SAA) as a tool for finding the best set of forest units that should be harvested in the first period even though we have a limited knowledge of what future climate will be. The objective of the harvest planning model is to maximize the expected value of the net present value (NPV) considering the uncertainty in forest growth and thus in revenues from timber harvest. The proposed model was tested on a small forest with 89 stands and the numerical results showed that the approach allows to have superior solutions in terms of net present value and robustness in face of different climate scenarios compared to the approach using the expected growth and yield. The SAA methods requires to generate samples from the distribution of the random parameter. Our results suggested that a sampling scheme that focuses on generating high number of samples in distant future stages is favorable compared to having large sample sizes for the near future stages. Finally, we demonstrated that, depending on the level of forest growth change, ignoring this uncertainty can negatively affect forest resources sustainability.

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

Current acceleration in digital innovations, unexpected challenges in our social interactions, acceleration to virtualization, limitation in our physical spaces, and unpredictable changes in our Old lifestyles - as originated from the COVID-19 global pandemic 2020 - continue to provide us with a framework, rapidly updating under our eyes, of the modifications our world is undergoing by pursuing into a New “digital age”. Or, as many scholars say nowadays, into the New Normal! These are shared and deep changes that concretely stress their effects on how ideally a city should function. Forcing us to reflect on the capability to achieve shared choices and visions for the future by taking vantage from both the New digital platforms and New suddenly opened paths. In the pages of this article authors, through different but shared viewpoints, propose an answer to the topic of "Governance 3.0", addressing the attempt of a radical change of those paradigms, now consolidated, within which the spatial dimensions, in which we live and act, are shaped. Also analyzing the relationship between Technocracy and Democracy as defined by Khanna, it is argued that it is possible to realize new forecasts and acquire a more democratic and participatory (inclusive) dimension of Governance, also thanks to new digital technologies, by exploring the general unconscious "feeling" of people, through anonymous data collection and without any direct or indirect interference with it. The analysis of the "Sentiment", already developed in other fields but easily exportable within the urban discipline, can be considered as the beginning of hybrid practices where digital and analogic find a compromise to make the "Urbs" more attractive and inclusive, while the "Civitas", connected to the Internet, can contribute to the optimization of services, of the "Polis" and a new social/spatial reorganization.

Public green and open spaces fulfil various social, ecological, economic, and aesthetic roles, which complement each another, but can also compete with one another. COVID-19 pandemic catalysed multiple societal changes, including citizens’ perception, needs and expectations posed towards urban green spaces. This article discusses the extent to which the temporally and geographically changed patterns of experiencing these natural spaces also influenced users’ perception and behaviour as well as their appreciation of the conservation areas. The study is based upon two surveys carried out in the greater metropolitan region of Vienna, the capital city of Austria. A quantitative survey (representative online panel) among Viennese population (n=1012), as well as qualitive interviews with experts responsible for conservation areas, administrators of federal parks, along with NGOs representatives were carried out in spring and summer 2021. Our study shows the changed use of urban and suburban large green spaces and conservation areas: first, from the perspective of those responsible for the areas as well as the visitors. Both perspectives supplement one another. They highlight also changed perception of urban citizens towards green spaces during COVID-19 pandemic. An increased importance of time spent in nature (68%) and possibility to visit large green areas (67%) was reported by Viennese citizens. Also, higher recognition of green spaces located close to home was observed among 69% of the respondents. Thus, the presented study contributes to the ongoing international discussion on the transition of societal needs and its effects on urban green spaces induced by the pandemic. Presented results deliver solid arguments highlighting the need of urgent transformation towards a more sustainable, resilient and healthy urban space.

The problem of identifying functional regions in an urban setting has been approached in literature using two general methodologies: top-down, encoding expert knowledge on urban planning and design (e.g. into patterns) and using that knowledge for identification, and bottom-up, relying on crowdsourcing and Volunteered Geographic Information (VGI) to train learning models, using techniques such as Latent Dirichlet Allocation (LDA) topic modeling. Both approaches have their advantages but also face important limitations, with knowledge-based approaches being criticized for scalability and transferability issues and data-driven approaches for lacking interpretability and depending heavily on data quality. To mitigate these disadvantages, we propose a novel framework that fuses data and knowledge in three different ways: functional regions identified from individual approaches are evaluated against each other, knowledge from patterns is used to adjust learning model results and topic models are used to adjust pattern-based results. The proposed methodologies are demonstrated through the use case of identifying shopping-related functional regions in the Los Angeles metropolitan area. Results show that the combination of results from knowledge-based and data-driven techniques can help uncover discrepancies between the two different approaches and smoothen inaccuracies caused by the limitations of each approach.

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

Healthcare professionals and resource planners can use healthcare delivery process mining to ensure the optimal utilisation of scarce healthcare resources when developing policies. Within hospitals, patients' Length of Stay (LOS) and volume of admitted patients, in terms of number and characteristics (age, gender, and social deter-minants), are significant factors determining daily resource requirements. In this study, we used Coxian phase-type Distribution (C-PHD) based Phase-Type Survival (PTS) trees for analysing how covariates such as admission date, gender, age, district, and admissions source influence the admission rate and LOS distribution. PTS trees. This study used a two-year data set (2011-2012) of patients admitted to the Emergency Department at Mater Dei Hospital to generate models and an independent one-year data set (2013) of patients admitted to the Emergency Department at Mater Dei Hospital to evaluate. The PTS tree effectively clusters patients based on their LOS, considering the prognostic significance of different covariates related to patients' characteristics. Charac-terising these covariates provided meaningful results about LOS. Similarly, the PTS tree was used to effectively cluster patients based on the admission rate, considering the prognostic significance of these covariates.

This paper proposed a triangular inequality-based rewiring method for the Rapidly exploring Random Tree (RRT)-Connect robot path-planning algorithm that guarantees the planning time compared to the RRT algorithm, to bring it closer to the optimum. To check the proposed algorithm’s performance, this paper compared the RRT and RRT-Connect algorithms in various environments through simulation. From these experimental results, the proposed algorithm shows both quicker planning time and shorter path length than the RRT algorithm and shorter path length than the RRT-Connect algorithm with a similar number of samples and planning time.

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

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

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

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

To solve the problem that sampling-based Rapidly-exploring Random Tree (RRT) method is difficult to guarantee optimality. This paper proposed the Post Triangular Processing of Midpoint Interpolation method minimized the planning time and shorter path length of the sampling-based algorithm. The proposed Post Triangular Processing of Midpoint Interpolation method makes a closer to the optimal path and somewhat solves the sharp path problem through the interpolation process. The experiments were conducted to verify the performance of the proposed method. Applying the method proposed in this paper to the RRT algorithm increases the efficiency of optimization compared to the planning time.

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

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

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.

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

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

A particular challenge in the conceptual design of direct-from orbit delivery systems is the seemingly well-known kinematics retain fallacies whose efficacies are reduced over great distances. Rotation about the local wing of an aerospace vehicle is almost never the pitch angle, yet modern application of kinematics often assumes such (with accompanying angular error). The same assertion is usually true about the nature of roll and yaw angles. Expressing motion in coordinates of rotating reference frames necessitates transformation between reference frames, and one such transformation is embodied in the Direction Cosine Matrices (DCM) formed by a sequence of three successive frame rotations. One of two ubiquitous sequences of three rotations used to construct the DCM involves first a rotation around the inertial z-axis, then intermediate y-axis, then finally about the body’s x-axis; a sequence commonly called the “aerospace sequence” or the a “3-2-1 rotation sequence”. The second ubiquitous sequence is the so-called “orbital sequence” or “3-1-3 rotation sequence” with rotations about the inertial z axis first, then about the intermediate x-axis, then finally about the body z-axis. This manuscript evaluates which sequence is the most advantageous for an object starting in space and then travels through the atmosphere to a target on the Earth’s surface. Six degrees of freedom of vehicle motion were simulated starting in orbit with a given thrust and commanded maneuver. The simulation performs all twelve possible rotation sequences (transforming inertial coordinates to body coordinates) with comparison by computational burden and error representing rotations about body axes (roll, pitch, and yaw respectively). Simulation precision is validated using the quaternion normalization condition indicating near machine precision (0.9\times{10}^{-15}) and reveals the so-called 132 rotation is the most accurate with an average error of 0.14° and a computational time of 0.013 seconds: resulting in a 97.95% increase in accuracy over the so-called 321 rotation and a 99.84% increase over the so-called 313 rotation.

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

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

This paper proposes a mathematical model to simulate Day-ahead markets of large-scale multi-energy systems with high share of renewable energy. Furthermore, it analyses the importance of including unit commitment when performing such analysis. The results of the case study, which is performed for the North Sea region, show the influence of massive renewable penetration in the energy sector and increasing electrification of the district heating sector towards 2050, and how this impacts the role of other energy sources such as thermal and hydro. The penetration of wind and solar is likely to challenge the need for balancing in the system as well as the profitability of thermal units. The degree of influence of the unit commitment approach is found to be dependent on the configuration of the energy system. Overall, including unit commitment constraints with integer variables leads to more realistic behaviour of the units, at the cost of increasing considerably the computational time. Relaxing integer variables reduces significantly the computational time, without highly compromising the accuracy of the results. The proposed model, together with the insights from the study case, can be specially useful for system operators for optimal operational planning.

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

Remote sensing (RS) as a landscape planning and management tool for socio-cultural diversity and inclusiveness in protected(reserved) areas through monitoring of the land-use changes, settlement/living patterns, predominant trades/socio-economic activities in the urban-rural locations, and the demography in Sub-Saharan Africa (SSA). The eighteen federal governments recognized nature reserves in Nigeria being the giant of Africa because of their green landscapes, rich biodiversity, and human resources. This study aimed to explore the application of remote sensing to assess the extent of land degradation and encroachment in the 18 recognized national parks in Nigeria. A review of the protection of national parks using remote sensing and monitoring the trend of national park invasions which could either be natural or man-made. The study is in line with the United Nations SDG Goal 15: Life on Land- “Protect, restore and promote sustainable use of terrestrial ecosystems, sustainably manage forests, combat desertification, and halt and reverse land degradation and halt biodiversity loss”. Located in the West Africa subregion lying on Latitude: 9° 04' 39.90" N (9.077899) and Longitude: 8° 40' 38.84" E (8.677599), with an estimated population of over 220,000,000 people. This study through an intensive review of various literature adopted a mixed approach for the analysis and assessment of the geospatial data, the updated aerial photographs obtained through the Landsat imageries (Google Earth Pro, 2023), and the use of GIS for Geospatial analysis which enables the collection and analysis of spatial and geographic data gathering land use/land covers (LULC) maps, soil type, and elevation maps. While exploring the geophysical ecology and biodiversity conservation of some selected national parks in Nigeria, while also providing cost-effective alternatives for biodiversity monitoring and conservation strategy development. A review of national implementation strategies on biodiversity conservation with the deployment of remote sensing technologies, it is now feasible to obtain large details of the surface of the planet without conducting arduous field activities with the assistance of the availability of multi-date, multi-resolution, multi-sensor aerial information to help prevent for encroachment, loss, and degradation of the natural landscapes.

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

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

The quickest and easiest way to avoid greenhouse gas (GHG) emissions is to purchase renewable electricity and offset the remaining emissions. However, the industrial sector’s electricity needs already exceed renewable electricity generation. Moreover, electricity accounts for only one third of the industry’s energy needs. Simultaneously, the advance of sectoral coupling and the decarbonisation of industrial processes, as well as the desire to rapidly decrease dependence on fossil fuels, are creating significant additional demand for renewable energy. Neither existing nor planned generation and transmission infrastructure will suffice to meet the expected short-term demand. Based on survey data from the German Industry Energy Efficiency Index, this article therefore examines the share of GHG savings that companies intend to achieve on- and off-site. Understanding how much additional generation and transmission capacity is needed by the industry to decarbonise and by when is crucial to identify and address the extent of excess demand. On average, companies plan to avoid 22 % of their 2019 emissions by 2025 and 27 % by 2030, primarily through on-site measures. In combination with the extrapolation of the entire industry’s needs for off-site capacity, the data calls for a rapid expansion of planning authority and green generation capacities.

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

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

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

The documentation and management of the cultural heritage of the COVID-19 pandemic as well as the heritage digital age are emerging discourses in cultural heritage management. The enthusiastic uptake of a generative artificial intelligence application (ChatGPT) by the general public and academics alike has provided an opportunity to explore i) whether, and to what extent, generative AI can conceptualize an emergent, not well-described field of cultural heritage (the heritage of COVID-19, ii), whether it can design an exhibition on the topic and iii) whether it can identify sites associated with the pandemic that may be(come) significant heritage. Drawing on an extended ‘conversation’ with ChatGPT, this paper shows that generative AI is capable of not only developing a concept for an exhibition of the heritage of COVID-19 but also that it can provide a defensible array of exhibition topics as well as a relevant selection of exhibition objects. ChatGPT is also capable of making suggestions on the selection of cultural heritage sites associated with the pandemic, but these lack specificity. The discrepancy between ChatGPT’s responses to the exhibition concept and its responses regarding potential heritage sites suggests differential selection and access to data that were used to train the model, with a seemingly heavy reliance on Wikipedia. The ‘conversation’ has shown that ChatGPT can serve as a brainstorming tool, but that a curator’s considered interpretation of the responses is still essential.

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

The potency and challenges of sorghum development in tidal swamplands in Indonesia have yet to be well studied. Our research was the first to evaluate land suitability, economic performance, and strategies for developing sorghum in tidal swamplands in Central Kalimantan. The assessment methods for the potency and utilization of sorghum used the land suitability evaluation method, gross margin and profit analysis, break-even, and competitive analysis. As a tool for decision-making, we used SWOT followed by the quantitative strategic planning matrix (QSPM) analysis. The results showed that the potency of arable land suitable for sorghum development was 578,511 ha. Economically, sorghum farming can generate an IDR 12,894,000 per ha with a revenue-cost ratio of 1.72; the break-even price was IDR 2,447 per kg, around 42% lower than the current market price. Sorghum was also more competitive than cassava, sweet potato, and soybeans (Q values of 0.76, 0.58, and 0.61, respectively) and less competitive than maize (Q = 1.33). Based on the QSPM, there were five alternative strategies for developing sorghum in tidal swamplands, i.e., (1) Optimization of productivity, (2) Improving the quality of human resources of farmers, (3) Facilitation of partnership cooperation, (4) Application of site-specific technology, and (5) Optimization of waste utilization. Those strategies show the potential expansion of sorghum planting in the tidal swamplands and the economic value enhancement for the community.

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

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

Abstract: Fertility tracking of menstrual cycles during perimenopause with a quantitative hormone monitor is a novel undertaking. Women in regular menstrual cycles have been tracking their fertility using different biomarkers since the 1960’s [1]. Presently, there are newer electronic hormonal devices used to track fertility that provide more exact and objective data to help delineate the fertile time frame of a woman’s cycle. These devices measure quantitative levels of estrogen, luteinizing hormone, progesterone, and follicle stimulating hormone, all of which occur at varying levels during the menstrual cycle. As women advance toward menopause, their cycles vary in length and their hormones fluctuate [2]. In this retrospective analysis, forty-two women aged 40 to 50 tracked their cycles over time and eight of the forty-two women used the quantitative hormonal device. With the use of this device, the perimenopausal period has revealed distinct hormonal cycle characteristics unique to this group of women. It is the purpose of this paper to discuss those cycle characteristics during perimenopause that were found with the use of the quantitative hormonal device.

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

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

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

The advent of AI in medicine has transformed various medical specialties, including orthodontics. AI has shown promising results in enhancing the accuracy of diagnoses, treatment planning, and predicting treatment outcomes. With the growing number of AI applications and commercially available tools, there is an increase in their usage in orthodontic practices worldwide. This review aims to explore the principles of artificial intelligence (AI), its applications in the diagnostic process of modern orthodontic practices, and concerns associated with the implementation of AI algorithms in clinical practice. A comprehensive review of the literature was conducted, focusing on five categories where AI has been applied in orthodontics: dental diagnostics, cephalometric evaluation, skeletal age determination, temporomandibular joint (TMJ) evaluation, and extraction decision making. AI has demonstrated high efficacy in all those fields. However, variations in performance and the necessity of manual supervision indicate that AI should be used cautiously in clinical settings. Nevertheless, the high complexity and potential unpredictability of AI algorithms call for cautious implementation and regular manual validation of results. Continuous AI learning, proper governance, and addressing privacy and ethical concerns are crucial for the successful integration of AI into orthodontic practice.

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

The construction of sustainable road and highway networks in the world, despite numerous feasibility, pre-feasibility and execution studies, are always confronted with the demands and vagaries of foreseeable and unforeseeable natural disasters. Studying cyclones, earthquakes, fracturing and landslide zones along roads is therefore a challenge for the sustainability of these infrastructures. In many countries around the world, the methods generally used for these studies are not only expensive and time-consuming, but the results obtained are not always efficient. This work examines whether Landsat 8 (with a high cloud level) and SRTM data can be used in both equatorial and coastal Central Africa zones to produce relevant mapping, locating fracture and landslide zones, in order to contribute not only to better road layout at lower cost and in a relatively short time, but also to better prevention of geological disasters that may occur on its network. To this end, a map of the main road network was produced and validated with field data, as well as the maps of the main unstable slopes, faults and fractures zones intersecting the road or highway network. These approaches are useful for sustainable planning, management, monitoring and extension of roads worldwide especially, in Central Africa.

Keywords: Ecosystem services; Cultural Ecosystem Services; marine/maritime spatial planning; mapping, assessment, tools, methods, PPGIS

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

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

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

Human motor planning combines such interesting aspects as modular organization in motor primitives and characteristics of stochastic optimality. Motor primitives aided in the description of motor skill learning. In this study, for the first time, an interpretation is proposed to explain how motor primitives are shaped in a stochastic optimality process.To this end, sensory information is assumed to be random variables at each moment. Theoretically, the results confirmed that the variability of a movement increased with passing time. As a result, motor planning should be performed in shorter durations to achieve an accurate movement. It means that a task should be divided into several subtasks at various stages of time. Moreover, theoretically, the results confirmed that motor planning is statistically optimal if the movement is planned in minimum jerk space, which is in accordance with what is reported in the literature. Comparing the proposed mathematical model with the results of experimental data in two different types of motor action (i.e., arm reaching movement and sit-to-stand transfer from a chair) confirmed that the proposed model can be considered a framework to investigate the effect of bottom-up information on human motor planning level. Further experiments need to investigate it more deeply.

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

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

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

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

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

Energy storage systems (ESSs) are the key elements to improve the operation of power systems. On the other hand, these elements challenge the power system planners. The difficulties arise as a result of the ESSs' economic and technological features. The cycle life of ESSs is a critical aspect that influences the choices made during expansion planning processes. In this manuscript, we have focused on a new model for the expansion planning of ESSs considering the impacts of technical properties, such as the cycle life and depth of discharge. For this purpose, the proposed model consists of the hourly operation planning of ESSs in the sample days of year. A new indicator is proposed to determine the daily charging/discharging cycles of ESSs. Numerical results show the ability of the proposed model to determine the optimal technology and capacity of ESSs.

In this study we present a hybrid approach of ACO with fuzzy logic and clustering methods to solve multi-objective path planning problems in case of swarm USVs. This study aims to enhance the performance of ACO algorithm by integrating fuzzy logic in order to cope with the multiple contradicting objectives and generate quality solutions by in parallel identifying the mission areas of each USV to reach the desired targets. The objectives that are taken into account are the minimization of traveled distance and energy consumption, and the maximization of path smoothness. A comparative evaluation is conducted among ACO and fuzzy inference systems, Mamdani (ACO-M) and Takagi–Sugeno–Kang (ACO-TSK). The results showed that depending on the needs of the application, each methodology can contribute respectively. ACO-M generates better paths but ACO-TSK presents higher computation efficiency.

Multimodal traveling is expected to enhance mobility for users, reduce inequalities of car ownership and reduce emissions. In the same context, ride-sharing aims to minimize negative impacts related to emissions, reduce travelling costs and congestion, and increase passenger vehicle occupancy, and public transit ridership when planned for first/last mile trips. The goal of this study is to present the planning of a multimodal pilot demonstration and the challenges that emerged during and after its implementation in Athens, Greece. The demo aims to enhance the connection of low-density Attica Region areas to public transport (PT) modes, and specifically to the metro, through the provision of demand responsive ride-sharing services. During the demo period two different applications were utilized: the “Travel Companion” app and the “Driver Companion” app, which refer to passengers and drivers of the ride-sharing service. Identification of demo participants is performed through a Stated Preference (SP) experiment. Results of the demo implementation, as well as challenges that were faced show that although participants are willing to try new mobility solutions, the readiness and reliability of the new service are essential attributes towards maintaining existing users and engaging new ones.

The combination of interstitial hyperthermia treatment (IHT) with high dose rate brachytherapy (HDR-BT) for prostate cancer treatment and has the potential to improve clinical outcome, since it highly enhances the efficiency of cell kill, especially when applied simultaneously. Therefore, we have developed the ThermoBrachy applicators. To effectively apply optimal targeted IHT, treatment planning is considered essential. However, treatment planning in IHT is rarely applied since it is regarded difficult to accurately calculate the deposited energy in the tissue in a short enough time for clinical practice. In this study, we investigated various time-efficient methods for fast computation of the electromagnetic (EM) energy deposition resulting from the ThermoBrachy applicators. Initially, we investigated the use of an electro-quasistatic solver. Next, we extended our investigation to the application of geometric simplifications. Furthermore, we investigated the validity of the superpositioning principle, which can enable adaptive treatment plan optimization without the need for continuous recomputation of the EM field. Finally, we evaluated the accuracy of the methods by comparing them to the golden standard Finite-Difference Time-Domain calculation method using gamma-index analysis. The simplifications considerably reduced the computation time needed, improving from &gt;12 h to a few seconds. All investigated methods showed excellent agreement with the golden standard by showing a &gt;99% passing rate with 1%/0.5 mm Dose Difference and Distance-to-Agreement criteria. These results allow the proposed electromagnetic simulation method to be used for fast and accurate adaptive treatment planning.

The aim of this paper is to provide a new perspective on the conditions for the multiple dimensions of concerns, and to understand why some wind power projects run smoothly while others lead to unexpected outcomes due to local resistance. The paper described how multiple community concerns about wind power project planning can be described using conflict management theory and by using different procedures to handle tangible and intangible concerns. Policy recommendations are given on how: to minimise overflowing and the risk of the conflicts; to avoid “boxing” community concerns in categories; to give more attention to the intangible and less calculable concerns; to secure appropriate and early planning with proactive involvement of local communities.

Relay protection service is the most crucial service carried by the electric power communication network, which is directly linked to the safe operation of the power grid. In the route planning of power services, a route planning architecture for the power communication network is constructed in this paper, considering the operation and maintenance requirements, such as relay protection service overload (RPSO) and dual route. To minimize network risk variance, the problem of single-service route allocation is formulated by taking the factors into account such as service delay, link bandwidth utilization, and RPSO constraints. Based on $k$ shortest paths algorithm, a route planning scheme for the power services is proposed, which considers RPSO and risk balance, and a strategy for implementing multi-service route planning of the communication network is studied. The simulation results show that the proposed route planning strategy can effectively avoid relay protection service overload, reduce network risk variance, and balance network risk.

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

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

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

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

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

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