The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enables the robot to walk with simple gait by very few motors. In the paper, the forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrain.

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.

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.

Introduction: Since its discovery in late 2019, the novel coronavirus (SARSCOVID-2) that causes COVID-19 has spread fast, prompting the World Health Organization (WHO) to designate the disease a worldwide pandemic on March 11, 2020.The epidemic has profoundly altered the preexisting global sexual and reproductive health landscape .The virus’s load has put ordinary services in jeopardy and harmed other health priorities. This encompasses both the provision and the supply of contraceptives, sexual health, new born and maternal health services. This Scoping review therefore mapped the availability evidence on the impact and effects of the COVID-19 disease outbreak on sexual and reproductive health. Methods: The methodological framework by Arksey and O’Malley guided this scoping review. A literature search was conducted from the following databases: Embase, PubMed, CINAHL, Scopus, WOS, and AJOL. The preferred reporting items for systematic reviews and meta-analyses (PRISMA) flow diagram and the preferred reporting items for systematic reviews and meta-analyses extension for scoping reviews (PRISMA-ScR) checklist were used to document the review process. The Strobe critical review checklist was used to determine the quality of the included studies. Results:19 studies were reviewed, out of which 4 were cross sectional studies, 1 was an observational study, 1 was a descriptive analytical study and the rest were qualitative studies .Majority of the studies showed evidence on the impact of COVID-19 and family planning service, maternal and child services, and three studies reported on COVID-19 and sexual behaviour. Five of the nineteen included studies reported on the impact of COVID-19 and family planning service. Conclusion: This scoping review has granted the assessment of the impact of novel SARS-CoV-2 on Sexual and reproductive health services with regards to sexual behaviour, family planning and maternal, neonatal and child health. From the 18 articles identified and reviewed, the overall responses stipulated a significant reduction in client’s utilization of services due to challenges experiences in service implementation such as stock outs. In addition, low demand for reproductive health services by clients due to restrictions imposed on the movements of people to curb the spread of the virus. It is therefore important that Governments and relevant stakeholders in Maternal and Sexual Reproductive Health prioritize development of policies and practices that protect women from the impacts of the pandemic. Furthermore, regular audits to detect trends in MSRH are necessary to inform on going mitigation efforts.

Many research work has demonstrated that taken the Combined Cooling Heating and Power system (CCHP) as the core equipment, the integrated energy system (IES) can bring obvious benefit to energy efficiency, CO2 emission reduction and operation economy in urban areas. Compared with isolated IES, integrated energy micro-grid (IEMG) which is formed by connecting multiple regions IES together, through distribution and thermal network, can further improve the reliability, flexibility, cleanliness and economy of regional energy supply. Based on the existing IES model, this paper describes the basic structure of IEMG and built a IEMG planning model. The planning based on the mixed integer linear programming, and economically construction planning scheme are calculated by using known electricity, heating and cooling loads information and the given multiple equipment selection schemes. At last, the model is validated by a case study. The results show that the application of IEMG can effectively improve the economy of regional energy supply.

Men are perceived as significant barriers to the uptake of contraception in some communities, and lack of spousal communication regarding contraception is evident in some studies conducted in South-West and Northern Nigeria. The objective is to identify and discuss how husband consent to family planning (FP) and spousal communication influence family planning use among peri-urban dwellers in Nigeria. The study was limited to the primary dataset collected among young mothers that resides in peri-urban between the age of 15-30 years in South West, Nigeria. The result showed that the use of family planning was high among the respondents whose husband give consent to the use of family planning, and respondents who had appropriate spousal communication. Similarly, respondents whose spouse asks questions or whose husband advises on communication are likely to use FP. On the other hand, respondents whose husband didn’t give consent, respondents with inappropriate communication with the spouse, respondents whose spouses didn’t give advice, and those whose spouses didn’t ask questions are less likely to use FP.

Biodiversity has long been the main objectives in conservation planning while protecting ecosystem services are rarely concerned with. Protecting ecosystem services are gradually recognized by researchers to be included in conservation planning as its significant benefits to human beings. Currently, the most commonly used protecting strategies only focused on high-value areas so that not all the valuable areas would be protected. Furthermore, there are correlation of trade-off and synergy between ecosystem services, aiming at protecting one ecosystem service may have to sacrifice the conservation effectiveness for others. To ensure all the ecosystem services are adequately protected, spatial explicit relations between all the paired ecosystem services were identified via the calculation of Local Moran’s I, a local scale relationship between ecosystem services were defined and they were classified into 5 kinds of cluster. To alleviate the conflict solutions for multiple ecosystem services goals, we used methodology of Systematic Conservation Planning to identify the priority areas for ecosystem service protection, which act the plan with principles of representativeness, complementarity and persistence. By setting scenarios of optimizing each and all the ecosystem services at the target level from 10% to 90%, we found that positive correlation between each of the 4 ecosystem services occupied large areas in the Yangtze River Basin and all the high-value areas were not congruence in spatial distributions. The optimal conservation spatial pattern showed that the priority areas were quite different when the target level was low. Our results implicated that an integrated conservation planning of achieving objectives of all the ecosystem services is more efficient than superposing multiple planning time after time.

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.

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.

Lymphoma diagnoses in the U.S. are substantial, with an estimated 89,380 new cases in 2023, necessitating innovative treatment approaches. Phase 1 clinical trials play a pivotal role in this context. We developed a binary predictive model to assess trial adherence to expected average durations, analyzing 1,089 completed Phase 1 lymphoma trials from clinicaltrials.gov. Using machine learning, the Random Forest model demonstrated high efficacy with an accuracy of 0.7248 and ROC-AUC of 0.7701 for lymphoma trials. Importantly, this model maintained an accuracy of 0.7405 when applied to lung cancer trials, showcasing its versatility. A key insight is the correlation between higher predicted probabilities and extended trial durations, offering nuanced insights beyond binary predictions. Our research contributes to enhanced clinical research planning and potential improvements in patient outcomes in oncology.

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.

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

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

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

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

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.

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

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

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

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

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

Background: Recent disasters have demonstrated gaps in employers’ preparedness to protect employees and promote their well-being in the face of emergencies and disasters affecting the workplace and their communities. Total Worker Health (TWH), a comprehensive perspective developed by the National Institute for Occupational Safety and Health, is a helpful framework for addressing employer preparedness. It includes attention to health and safety at work, and the promotion of the health and well-being of the employee in the context of social determinants of health, such as work-life balance. Methods: TWH concepts, including the domains of TWH and the TWH Hierarchy of Controls, were investigated for their relevance to protecting employees and promoting their well-being during and after crises such as weather disasters, pandemics, and acts of terrorism. Building upon TWH concepts, an employer preparedness framework and model is proposed. Findings: The Model emphasizes upstream prevention, workplace-community linkages, social and economic impacts, and employer leadership through a cyclical planning process. Conclusions/Application to Practice: The Model can assist employers in advancing their preparedness for all hazards through self-assessment and planning agendas based upon the proposed domains.

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.

Sustainable urban design or planning is not a LEGO-like assembly of prefabricated elements, but an embryo-like growth with persistent differentiation and adaptation towards a coherent whole. The coherent whole has a striking character – called living structure – that consists of far more small substructures than large ones. To detect the living structure, natural streets or axial lines have been previously adopted to be topologically represent an urban environment as a coherent whole. This paper develops a new approach to detecting the underlying living structure of urban environments. The approach takes an urban environment as a whole and recursively decomposes it into meaningful subwholes at different levels of hierarchy or scale ranging from the largest to the smallest. We compared the new approach to natural street and axial line approaches and demonstrated, through four case studies, that the new approach is better and more powerful. Based on the study, we further discuss how the new approach can be used not only for understanding, but also for effectively designing or planning the living structure of an urban environment to be more living or more livable.

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

In recent years, music education in Ibero-America has been losing ground within the school environment in favor of the development of curricular systems that benefit academic results in standardized tests. Despite this, several studies in the field of cognitive neurosciences have found evidence of great relevance and in which it can be observed how music education can favor cognitive development and performance in practically all stages of human development, with important results in language tasks, attention, and executive functions such as planning, inhibition, cognitive flexibility and working memory.

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.

There is an increasing trend that Unmanned Combat Air Vehicles (UCAVs) are employed to complete different combat missions in modern wars. This paper investigates a UCAV routing problem, which simultaneously considers the decisions for the configuration of weapons carried by the UCAV subject to its capacity and the allocation of weapons to the targets subject to their destroying requirements. An integer linear programming model is developed to formulate the problem. An adaptive large neighborhood search (ALNS) heuristic is proposed to solve the problem, in which seven neighborhood structures are designed and employed. Randomly generated instances covering the small, medium and large sizes are used to test the proposed ALNS algorithm. CPLEX is also utilized to solve the small-size instances, whose results are compared with that obtained by the ALNS algorithm. And the extensive experimental results confirm the effectiveness and superiority of the proposed ALNS algorithm.

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.

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.

Rapid population growth causes smallholders to practice unsustainable forms of land intensification to meet increasing food demand. Food insecurity is exacerbated by unreliable rainfall. We revisit family planning, smallholder irrigation, and agricultural cooperatives as potential sustainable solutions. We use descriptive statistics based on primary data from Kakamega Central and Navakholo in Kenya. Results from respondents indicate 83% had no family planning information, while 82% had no access to irrigation. The major reasons are poverty, illiteracy, misconceptions, gender inequality, constraints in accessing credit, lack of investment in water resources, and family planning. Lack of access to agricultural extension services limits the adoption of sustainable farming practices. Cooperatives’ principles and values make them suitable pathways to reach the poorest and facilitate members’ access to productive resources. Cooperatives can be used to train members in sustainable agricultural practices and educate members on family planning issues. Cooperatives have contributed to better yields, incomes, nutritional status, and reduced poverty. However are constrained by a lack of capital, credit, infrastructure, markets, training and technology, delayed payment, and low prices. Governments and development agencies should support the establishment and development of cooperatives with capacity building, market infrastructure, finance, and education in cooperative principles and values.

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

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

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

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

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.

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.

Recent developments in US immigration policies have brought tired attention to the problems of immigration in the United States. Although there has been growing awareness of the need to manage immigration that address the economic causal factors underlying the motivation to cross borders, the recent changes in immigration policies fail to do so. This paper brings attention to the futility of border control laws and calls on urban planners to address immigration through strategic planning for a socially-responsible, sustainable economic development in sending countries. This paper concludes with recommendations for how to do this.

This study aims to open a discussion on the concept “cultural sustainability” in architectural design. We asked the question if spatial planning has a role in cultural sustainability and in which terms cultural sustainability could be considered or discussed in design process. We started with a presupposition of an example which achieved cultural sustainability in time. We exemplified a holiday resort village designed in 1970 and is still in use with inconsiderable transformations. As being a social engineering was a necessity for the architects, Altuğ and Behruz Çinici [1], it can be said that their design approach was to achieve a sustainable living considering the financial, ecological, environmental and cultural dimensions. Behruz Çinici and his wife Altuğ Çinici are influential and proclaimed architects of their time. For understanding Çinici’s design concepts, we first looked at his inspiration sources as he verbalized in his conferences. After studying on their village projects, we suggested four spatial concepts for reading the projects from the perspective of cultural sustainability. We analyzed their three resort villages designed in the same decade through the criteria we have suggested. In evaluation; the distinguished features of Çinici’s resort projects are discussed in relation with the concept cultural sustainability. In conclusion, we intended to open a discussion for the criteria we proposed for cultural sustainability in spatial planning and put the importance of cultural practices for housing policies for regional identity in global world.

This study aims to find a communication model of contingency plan for disaster risk management of Sinabung Volcano eruption, in North Sumatera. The object of the research is communication and coordination across the government, non-government organization, and community. This study used planning theory, the concept of communication planning, and types of disaster management plan as tools for analysing. Descriptive qualitative is used as the method. Data collection was obtained from the focus group discussion (FGD), in-depth interviews, observation, and study documentation. There are three stages in descriptive qualitative research that is data reduction, data presentation, and conclusion. An analysis was conducted qualitatively on the program and competence actors. The results found the communication model of disaster risk management through documents of contingency planning to overcome the threat of Mount Sinabung eruption. During the emergency response period a core model was used to reduce the impact of the Mount Sinabung eruption. The contingency plan becomes the Karo District Government’s document. This document were authorized by an authorized official and is ready to be applied to the Emergency Response Operation Plan. Plans for emergency response operations are carried out based on information regarding damage and the need to obtain results of a quick review. Contingency plans are submitted to the legislature for political commitment and support and budget allocation.

The meaning of a good social outcome in land use transport policy/planning has been relatively underdeveloped, compared to economic and environmental sustainability goals, but this is now changing. Cities are increasingly prioritizing reducing social exclusion, with the allied intent of providing all residents with equitable access to the benefits of their city. However, in jurisdictions that use cost-benefit analysis to guide government decision-making, this poses a challenge: monetization of the benefits of reducing social exclusion is poorly developed. An evaluation gap thus confronts benefit-cost based assessment of initiatives intended to reduce social exclusion, compared to initiatives directed towards societal economic and environmental goals. This is a particular problem for public transport services that primarily enable people at risk of mobility-related social exclusion to access more opportunities in their society (social transit). The benefits of reducing social exclusion associated with these services have not been monetized, so social transit initiatives are poorly placed to argue their merits against competing initiatives where benefit monetization is more advanced (e.g., mass public transport and roads). The paper summarizes Australian research that has developed monetized measures for the value of increased trip making, bridging/bonding social capital, sense of community and several conceptions of wellbeing, and of reducing neighbourhood disadvantage, as these contribute to reducing social exclusion. New Singaporean research on the value of trip making to support reduced exclusion is also presented, affirming the Australian trip values. Trip values are then used in case study examples to show they can make a material difference to the societal worth of initiatives intended to reduce exclusion. Using these trip values, and other pathway values linked to reducing social exclusion, closes or at least substantially reduces the evaluation gap confronting social goal achievement in land use transport policy and planning, strengthening the case for reducing exclusion. These values will assist jurisdictions that are seeking to provide their residents with more equitable access to the benefits of their city.

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.

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

Spatial planning holds a key role in preventing or mitigating the impacts of climate change on both cities and rural areas, taking a forward-thinking and holistic approach to urban and regional development. As such, spatial planning deals with challenges occurring at different scales and across sectors. The international literature points out the need for horizontal and vertical cooperation to tackle climate change impacts. While there is abundant knowledge regarding the challenges related to climate change at different spatial levels, procedural integration into planning frameworks and practice is currently under-researched. This paper presents a novel theoretical framework that integrates various steps towards a holistic, integrative and adaptive climate proofing process. An iterative process was used for conceptual development, based on literature review followed by external feedback meetings and two workshops with the core team of planning experts responsible for exchange across federal states. By specifically addressing the challenges relating to cross-regional and cross-sectoral planning, this novel framework attempts to (i) facilitate a hierarchy of measures, (ii) maximise co-benefits for various adaptation purposes and climate change mitigation and (iii) foster the long-term institutionalisation of integrative processes across sectors, planning areas and policy levels.

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.

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

Anarchic urbanization and land artificialization expose urban ecosystems and Ecosystem Services (ES) to the threat. Urban ecosystems and trees play a crucial role in improving urban environments, and their management depends on the perceptions and preferences of urban residents. An assessment of the socio-ecological factors determining the perception of the actors allows for the proper design and planning of ecological urban policies and urban adaptation to climate change. In this study, we assessed the perception and discriminating variables of the different stakeholders of urban ES provided in the city of Cotonou. Thus, 381 city dwellers were individually interviewed after statistical sampling. Focus group discussions with the stakeholders also made it possible to highlight the ES provided in the different Land Use Units (LU). The results show that 73.23% of the city dwellers agreed that they were aware of ecosystem services. The hierarchical classification shows two homogeneous groups of perceivers with ethnicity, age and education as statistically discriminating sociological variables (pv˂0.001). Urban dwellers in the city of Cotonou perceived more SEs in the cultural and regulatory services category significantly (pv<0.001; v-test>3). The principal component analysis (PCA) reveals the varying availability of ES according to the different LU in the city. This study adds scientific value in the application of urban ecology to decision-making in climate and environment policy planning for sustainable cities in Africa and all over the world.

The COVID-19 pandemic has put lifestyles in question, changed daily routines and limited citizen freedoms that seemed inalienable before. A human activity that was greatly affected since the beginning of the health crisis is mobility. Focusing on mobility, we aim to discuss the transformational impact that the pandemic brought on this specific urban domain, especially with regards to the promotion of the smart growth agenda and the acceleration towards the smart city paradigm. We collect 60 initial policy responses related to urban mobility from 86 cities around the world and analyse them based on the challenge they aim to address, the exact principles of smart growth and sustainable mobility that they encapsulate and the level of ICT penetration. Our findings suggest that emerging strategies, although mainly temporary, are transformational, in line with the principles of smart growth. As a result the pandemic becomes an opportunity for shifting towards more sustainable urban planning and mobility practices. However, most policy responses adopted during the first months of the pandemic fail to leverage advancements made in the field of smart cities, and to adopt off-the-shelf solutions such as in monitoring, alerting and operations management.

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.

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

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

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.

A long-term forecast study on the electricity demand of Taoussa of Mali is conducted in this paper, with various scenarios of socioeconomic and technological conditions. The analysis tool, which is applied in scenarios simulation, is the Model for Analysis of Energy Demand from the International Atomic Energy Agency. The analysis results are annual electricity demand and peak load forecast for the electrification from the period 2020 to 2035. During the planning period, the analysis results show that the electricity demand will increase to 49.40 MW (332.57 GWh) for the low scenario (LS), 66.46 MW (472.61 GWh) for the reference scenario (RS), and 89.47 MW (635 GWh) for the high scenario (HS). In addition, the total electricity demand increased at an average rate of 8.13% in the LS, 10.31% in the RS and 12.56% in the HS in all sectors. The electricity peak demand is expected to grow at 7.92%, 10.53% and 12.91% corresponding to the three scenarios; in this case, the system peak demand in 2035 will increase to 64.88 MW for the LS, 92.2 MW for the RS and 126.22 MW, the days of peak load are between 17th -23rd in May. The Industry sector will be the biggest electricity consumer of Taoussa area.

Traditional path planning algorithms have drawbacks in unmanned vehicle path planning, such as low efficiency, unsuitability for dynamic environments, and high computational complexity. To address these issues, this paper proposes a dynamic path planning method for unmanned vehicles that combines the A* algorithm with an improved Dynamic Window Approach (DWA). Firstly, a collision risk function is incorporated into the DWA algorithm to evaluate scores based on the braking distance corresponding to the current vehicle speed and the distance to obstacles, determining whether timely braking or obstacle avoidance is feasible. The earlier the braking or obstacle avoidance, the higher the score, thereby enhancing the evaluation algorithm of the DWA. Secondly, the key points extracted by the A* algorithm are used as temporary target points for the DWA algorithm, reducing the eight search directions to five. Finally, the key points of the A* algorithm’s path are set as the temporary end points for the DWA algorithm, integrating the two algorithms to plan a smoother curved path that can avoid unknown and dynamic obstacles. Simulation data demonstrates that compared to traditional artificial potential field methods, RRT, and Dijkstra’s algorithm, the new fusion algorithm reduces time by 11.71 seconds, a decrease of 6.9%, and shortens path length by 3.093 meters, a reduction of 4.16%, while increasing average linear velocity by 2.9%. The proposed algorithm ensures smoother paths while also making paths more rational and efficient

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.

In the context of the energy transition, the integration of land use considerations into energy planning is increasingly vital, especially in scenarios where land availability is a constraint. This study addresses the challenge of incorporating land-use aspects into Energy System Optimization Models (ESOMs), with a focus on the unique context of Pantelleria Island. It aims to bridge the gap in methodologies for renewable energy potential assessment and model integration, considering the critical role of land pricing and availability. It combines geospatial data aggregation with model adaptation to include detailed land use aspects. Findings highlight the substantial impact of land costs on renewable energy planning, with land pricing significantly altering model outcomes. This research offers key insights for sustainable energy planning and underscores the importance of considering land use in energy transition strategies.

Tourism is widely recognised as a significant economic source for local communities. Nevertheless, tourism may potentially result in adverse effects on the environment. In order to mitigate adverse effects and enhance the advantages, tourism development necessitates a comprehensive planning process. In order to effectively manage and guide the growth of tourism, it is imperative to ensure that local-level spatial plans are integrated with national policies and regional strategies. The aim of this article is to investigate the impact of national policies and regional strategies on local spatial plans in tourism destinations, specifically, by analysing the land-use/land-cover changes along the western coastline of Mersin, with a particular emphasis on the Kızkalesi tourism destination.

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.

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.

Navigation is the most challenging issue in autonomous vehicles. Researchers in the current era have developed many Artificial Intelligence techniques to navigate, generate paths, and avoid obstacles for optimum path planning for autonomous vehicles. Different studies have investigated bio-inspired techniques to overcome the navigation issue, including obstacle avoidance. This paper uses new meta-heuristic optimization techniques called Dragonfly Algorithm (DA) to set the goal by detecting and avoiding obstacles with minimum human interference. For effective results, the Dragonfly-Fuzzy hybrid algorithm is analyzed over the unstructured environment because individual techniques may not be sure of an optimal solution over all configurations. The main advantage of the proposed hybrid controller is that it combines the multiple features of different approaches into a single controller. This paper compares simulation and experimental findings over various environmental conditions to the individual algorithm. Regarding time and path optimization, the hybrid Dragonfly-Fuzzy controller performs better than the respective controller.

This study’s primary goal was to conduct an analysis on the flood propensity of the Tabua (Ribeira Brava) drainage basin’s main watercourse. In addition to that, this study also recommends two different methodologies in order to mitigate flood’s impacts, namely by dimensioning a detention basin and adjusting the riverbed roughness coefficient. Regarding the study on the flood propensity, it was necessary to resort to geomorphological data, which was obtained when characterizing the watershed; that data was crucial to determine the expected peak flow rate, according to the Gumbel Distribution methodology and considering a 100 years return period, and to perform necessary tasks in the SIG ArcGIS software. Lastly, it was also analyzed the drainage capacity of this drainage basin’s river mouth, in order to conclude whether it would have the capacity to drain the total volume of rainwater if an extreme flood event was to happen. Indeed, the main results point out that this watershed’s river mouth doesn’t have the necessary drainage capacity to cope with an extreme event, for the return period that was considered. As a consequence of that, the two mitigation measures aforementioned were developed considering Tabua (Ribeira Brava) drainage basin’s specific features: the sizing of the detention basin was estimated through the Dutch Method and the Simplified Triangular Hydrograph Method, while the adjustment of the roughness coefficient was considered a valid solution to enhance the drainage capacity of this river mouth.

The Complete Coverage Path Planning (CCPP) is a key technology in the field of agricultural robot, and has great significance for improving the efficiency and quality of tillage, fertilization, harvesting and other agricultural robot operations, as well as reducing the operation energy consumption. The traditional boustrophedon or heuristic search algorithm based CCPP methods, when coping with the field with irregular boundaries, obstacles and other complex environments, still face many problems and challenges, such as large repeated work areas, multiple turns or U-turns, low operation efficiency and prone to local optimum. In order to solve the above problems, an improved-genetic-algorithm-based CCPP method was proposed in this paper, which introduces the idea of chromosome pairs and multi-points mutation to improve its global optimization ability in complex environments, reduce the repeated work areas and the number of turns and U-turns, and thereby improve the operation efficiency. The simulation and experimental results on simple regular fields showed that the proposed improved genetic algorithm-based CCPP method achieved the comparable performance with the traditional boustrophedon-based CCPP method. However, on the complex irregular fields, although the proposed CCPP method increased the number of turns by 13.76%, the area of repeated operation and the number of U-turns were decreased by 38.54% and 35.00% respectively, and saves the battery voltage by 7.82% on average compared to the boustrophedon-based CCPP method. This proved that the proposed CCPP method has strong adaptive capacity to the environment, and has practical application value in improving the efficiency and quality of agricultural machinery operations, and reducing the energy consumption.

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.

Solar energy (SE) is essential for decarbonization of our economy and for energetic transition. Solar energy can be a sustainable economic activity as long as a balance is struck between the benefits it brings to climate change mitigation and the damage it can cause to biodiversity and ecosystems. Here we study this balance in an area with high biodiversity under pressure for installation of numerous photovoltaic plants (PPs). Our results show that developers give priority to the cheapest land close to connection points, while other values (e.g., environmental, landscape) are secondary. The regulatory process carried out by the Administration does not ensure the preservation of natural values, as several PPs with a high impact on important conservation areas have been approved. Experts' allegations provide quality information to the Administration to evaluate and demand changes to the projects presented. Such demands show that companies are willing to relocate plants to land occupied by olive groves. In this way, greater efficiency is achieved in land occupation, as well as shorter evacuation lines, water savings and less environmental impact. Prior strategic territorial planning could have avoided the impact of PPs already built, made the deployment of new PPs compatible with biodiversity conservation, and contributed to improving the management of key resources, such as subway aquifers. The proposed regulatory changes to the environmental assessment procedure (exclusion of renewables and public participation from the procedure) are detrimental, as they will make SE unable to meet the requirements of the Taxonomy Regulation.

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.

Utilising Canterbury Christ Church University (CCCU) as a case example, this report will provide information about the strategic challenges that many modern universities in the UK face in creating a flexible delivery of education. Using strategic concepts and analysis, the current short report will examine the competitiveness within the higher education sector in the UK and explore key external and internal environmental factors of CCCU, gaining a greater understanding of their current position. From these analyses, strategic recommendations as to how universities such as CCCU can create a competitive advantage through a new form of flexible learning delivery.

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.

Trajectory Optimization (TO) is the sequence of processes that are considered in order to produce the best path that mends the overall performance or reduces the consumption of the resources where the restriction system remains maintained. In this survey, an inclusive review of the latest advancements in modeling and optimization of trajectory generation in robotic applications will be discussed broadly. In recent times, numerous studies have employed optimal control techniques involving direct and indirect methods in order to convert the authentic Trajectory Optimization problem into a constrained parameter optimization problem. Moreover, a huge variety of optimization algorithms such as Genetic Algorithms (GA), Simulated Annealing (SA), Sequential Quadratic Programming (SQP), and Particle Swarm Optimization (PSO) are used aiming to find the optimal solutions for trajectory planning. It is observable that, minimizing the jerk, energy consumption, and execution time among the most widely used design objectives, on the other hand, the robot’s joints configurations and the motor torques are the most used design variables. This paper aims to review the fundamental techniques and their coincident robotic applications in the field of trajectory optimization aiming to afford some steering for related researchers.

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.

In the last decade, the objectives outlined by the needs of personal robotics have led to the rise of new biologically-inspired techniques for arm motion planning. This paper presents a literature review of the most recent research on the generation of human-like arm movements in humanoid and manipulation robotic systems. Search methods and inclusion criteria are described. The studies are analysed taking into consideration the sources of publication, the experimental settings, the type of movements, the technical approach, and the human motor principles that have been used to inspire and assess human-likeness. Results show that there is a strong focus on the generation of single-arm reaching movements and biomimetic-based methods. However, there has been poor attention to manipulation, obstacle-avoidance mechanisms, and dual-arm motion generation. For these reasons, human-like arm motion generation may not fully respect human behavioural and neurological key features and may result restricted to specific tasks of human-robot interaction. Limitations and challenges are discussed to provide meaningful directions for future investigations.

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.

Keyhole neurosurgery implies reaching a target area inside the brain through an entry point specified by the neurosurgeon. In order to avoid complications, a risk assessment procedure must be done to establish the minimum risk trajectory from the entry point to the target area. The neurosurgeon establishes the risk values for the brain structure according to the type of intervention. The preset brain structure risk value is used to assess the risk value for each voxel of the brain. This paper proposes an improved risk assessment methodology based on the sum of N maximum risk values for each voxel. Then, risk assessment for a trajectory is done by adding the risk of all voxels that are part of the path. The safest trajectory is defined as the trajectory with the lower risk. Our proposed search trajectory methodology includes a Genetic Algorithm (GA) for finding the safest trajectories. The use of a GA drastically reduces the number of trajectories to analyze, speeding up the planning procedure. The achieved results were qualified by expert neurosurgeons as satisfactory. Our proposed method allows neurosurgeons to calibrate the surgical planning system by allowing them to establish the risk brain structure and the risk value for each structure.

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.

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

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

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

This 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.

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

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

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

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.

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

This research investigates the utilization of human driving models in autonomous vehicles, particularly in scenarios with minimal or no interactions with other vehicles. Human driving models provide valuable insights into driver behavior and play a crucial role in shaping the behavior of autonomous vehicles, enhancing their performance and user experience. The primary focus of the study is the creation of a planning model for autonomous vehicles when navigating roundabouts in the absence of traffic. This model seeks to emulate human driving behavior, ensuring predictability, safety, optimization of traffic flow, and adaptation to various roundabout geometries. To achieve this, the research introduces a trajectory model that takes into account geometric attributes and speed variations within roundabouts. The model is calibrated using empirical data and generalizes parameters through statistical regression methodologies. This model is referred to as "MRoundabout" and is evaluated for its consistency in generating plans that closely mimic human driving behavior within roundabouts. While the study presents a promising approach, it acknowledges limitations related to the model's reliance on geometric attributes and its inability to account for external factors like weather conditions. This research underscores the importance of bridging the gap between theoretical research and practical application, with the aim of enhancing safety and the overall user experience in real-world driving scenarios.

Local Authorities have significant tourism planning responsibilities and can benefit from evidence-based approaches. Qualitative interviews with 29 Local Authorities identified impediments to adopting indicators. Key barriers included more knowledge of indicator systems, training in using systems and understanding sustainability value and governance issues. However, transitioning to sustainable tourism through monitoring requires efficient resourcing of Local Authorities. Statutory adoption of indicators may be needed to enable evidence-based planning and policymaking. More informed planning approaches can help destinations respond to tourism issues and sustainability threats. Findings have implications for facilitating indicator implementation and evidence-based planning in other tourism destinations internationally.

Elders have a higher rate of return visits to the emergency department (ED) than other patients. It is critical to understand the risk factors for return visits to the ED by elders. The aim of this study was to determine the factors associated with return visits to the ED by elders. This study retrospectively reviewed the hospital charts of elders who return visits to the ED within 72 hours after discharge. The risk factors identified in the Triage Risk Screening Tool were applied in this study. Of the elders discharged from the ED, 8.64% made a return visit to the ED within 72 hours. The highest revisit rate occurred within 24 hours after discharge. Factors associated with return ED visits within 24 hours by elders were difficulty walking and having discharge care needs. Factors associated with ED return visits within 24–48 hours were cognitive impairment and polypharmacy. Difficulty walking, having discharge care needs and hospitalization within the past 120 days were associated with return visits made within 48–72 hours following discharge. Identifying the reasons for return visits to the ED and providing a continuous review of geriatric assessment and discharge planning could reduce unnecessary revisits.

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.

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.

In this research, the accessibility in the footpath-level walkability condition of old core cities of India has been assessed, considering Central Kolkata, India as a case. Post-2015, after the implementation of Goal Number 11 of United Nations Sustainable Development Goals (i.e. Sustainable Cities and Communities), the significance of universal mobility has globally manifolded in the walkability sector. This research has been done in theoretical, ideological, and methodological patterns using Architectural Planning Research for promoting Universal Mobility in old Indian cities. The variables (categorical) used in this research are related to pedestrian infrastructure. The categorical variables are: 1) Building Typology of Stretch, 2) Footpath Dimensions, 3) Temporary Encroachment, 4) Permanent Encroachment, 5) Bus Stop, 6) Metro Rail Entrance, 7) Railings, 8) Storm Water Drains, 9) Public Toilet, 10) Trash Bins, 11) Street Lights, 12) Flooring, 13) Manholes, 14) Kerb, 15) Pedestrian Crossing, 16) Street Furniture, 17) Safety and Security, and 18) Additional Inclusive Features like signage. This research shows that the footpath stretches in Central Kolkata, India are inadequate in terms of ideal accessibility. In addition to this, the result of this research portrays complexities in the adaptability of accessible walkability-related considerations; thereby suggesting a new accessibility audit format for old core Indian cities for achieving Universal Mobility standards in the future. The authors also propose quantitative methods to conduct future research in the same domain.

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 this research, users’ perception towards Universal Mobility in old core cities of India has been critically analyzed. Despite Universal Design guidelines from the United Nations and Union Government of India, old cities in India are seldom having Universal Mobility, in effect endangering the lifestyle of senior citizens and differently-abled people. The core of Kolkata Municipal Corporation in Kolkata, India has been considered as a case example for this research. This research has considered three types of data sets for analysis. First, the authors interviewed 310 respondents from the Indian design fraternity, with the objective of understanding their opinion on the concept of Universal Design. In the next investigative study of 125 respondents from different wards of Kolkata Municipal Corporation, the purpose was to comprehend people’s perception about walkability and mobility in an old Indian city. In the last visual survey of a stretch in Central Kolkata, the focus was identifying the hindrance in Universal Mobility in an old city core of Indian origin. Significant dissatisfaction was found in walkability amongst all user groups; which is linked to poor infrastructural conditions. Furthermore, accessing public transportation is difficult due to improper waiting facilities. However, the design fraternity in India suggests the need of separate accessibility guidelines for old and new cities in India. The design fraternity also recommends a customized rating system for accessing Universal Design. The result of this study indicates a need of recognizing the difficulty in imparting Universal Mobility in old core cities in India. This information can be used for preparing an Access Audit Checklist through Architectural Planning, which is the first step in proposing a framework for Universal Mobility in old core cities in India.

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.

Food exchange lists have been widely used in dietary practice in health and disease situations, but there are still no exchange lists for sports foods. The aim of this study was to develop a sports foods exchange list based on previously published statistical criteria. A cross-sectional study of the nutritional composition of sports foods, regarding macronutrients and energy, was carried out. A total of 323 sports foods from 18 companies were selected and divided into seven groups: sports drinks; sports gels; sports bars; sports confectionery; protein powders; protein bars; and liquid meals. A sports foods composition database based on portion size was created. Food exchange groups, with the definition of the amounts - in grams - of each sports foods within each group, were designed using the same methodology and statistical criteria as previously published. The nutritional composition of the portions usually consumed by athletes and/or recommended in commercial packaging was used to calculate the mean energy and macronutrient values for each group. Within each sports foods group, different subgroups were defined due to differences in the main and/or secondary macronutrient. The mean nutrient values of each exchange group and the subgroups were determined according to previously established rounding criteria. This sports foods exchange list, made up of commercial sports products, is a novel tool for dietetic practice. Its management will allow dietitians to adapt dietary plans more precisely to the training and/or competition of the athlete.

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.

Pit lakes can represent significant liabilities at mine closure. However, pit lakes also present opportunities to provide significant regional benefit and address residual closure risks of both their own and overall project closure, and even offset the environmental costs of mining by creating new end uses. Unfortunately, many pit lakes have continued to be abandoned without repurposing for an end use. We reviewed published pit lake repurposing case studies of abandoned mine pit lakes. We found beneficial end use type and outcome varied dependent upon climate and commodity; but equally important social and political dynamics that manifest as mining company commitments or regulatory requirements. Many end uses have been realized: passive and active recreation, nature conservation, fishery and aquaculture, drinking and industrial water storage, greenhouse carbon fixation, flood protection and waterway remediation, disposal of mine and other waste, mine water treatment and containment, and education and research. Common attributes and reasons that led to successful repurposing of abandoned pit lakes as beneficial end uses are discussed. Recommendations are given for all stages of mine closure planning to prevent pit lake abandonment and to achieve successful pit lake closure with beneficial end uses.

Rapid technological advancements in information communication technologies have enabled water resource data collection at greater spatial and temporal scale. However, this water data is often limited to the purposes of its primary collection, and limits decisions made by stakeholders towards sustainable urban water management. This empirically focused research paper examines how water practitioners involved in strategic planning can capture additional values from integrating different water data. Furthermore, the perception of 22 urban water practitioners across Australia are presented, regarding the importance of and difficulty in using water data for strategic planning, and the necessary steps for achieving integrated water management practices. Interviewees perception revealed gaps in available water resource data (i.e. water quality, ground water, stormwater, and urban water use), and limitations of industry guidelines for operating within existing governance frameworks. Overall, the research highlights the Australian urban water sector’s perception of water data’s crucial role in representing stakeholders interest; however, changes made in water data’s collection are required for an integrated water management approach. Implications for future open water data standard are discussed.

This research presents a solution to the problem of planning the optimum area for economic crops by developed mathematical models and developed an algorithm to solve the problem of planning the optimum area by considered economic value for the maximize profit of farmers. The data were collected from farmers in 8 provinces in the northeastern region of Thailand. The 3 economic crops studied were rice, cassava and sugarcane. The solving problem methods were 1) Created mathematical models and solved the problems with Lingo V.11. 2) Improved Differential Evolution algorithms (I-DE) to solve the problems, which had 3 local search methods included (Swap, Cyclic Move and K-variable moves). The results of this study showed that in the small and medium problems instances, Lingo V.11 and DE provided equal profit outcome but DE was faster but in the large size of test instances DE generated better solution than that of Lingo v.11 when Lingo simulation time is set to 250 hours and DE simulation time has set to maximum 21.82 minutes. 2) Comparing DE and I-DE , I-DE outperforms DE in finding the better solution for all size of test instances (small, medium and large).

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

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

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