This paper is focused on typical rural settlements in the Stara Planina Mountain area in Serbia. They are distinguished by their authenticity, identity and character, and they have still not been destroyed by inappropriate development as is the case in some other mountain areas in Serbia, where the effects of urbanization, globalization and homogenization are obvious. Consequently, there is a need to prevent these effects in mountain areas where there is a threat of disbalance between development and the inherited natural and cultural values. The paper starts from several important concepts that relate contemporary approaches to cultural heritage preservation, place morphology and planning future development. The concept definitions from recent documents from related fields are used. These concepts are then applied to the area of Stara Planina Mountain and its rural settlements. The necessity for an integrative approach to planning this area with significant natural and anthropogenic potential is pointed out, including its integration into international programs of sustainable development.

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

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.

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.

Historically, urban development has always been centered on coastal areas – with access to waterbodies – seas, rivers and canals being a significant advantage for movement and trade. With most of the world’s megapolises located on coasts, land reclamation offers a solution for the expansion of city centers which are otherwise restricted by the coastline. The current understanding of urban regeneration and development on reclaimed lands is defined in this study, answering the basic questions of what, why and how. This study aims to assess the urban regeneration on reclaimed coastal land based on the principles of sustainable development defined by existing studies. The literature review establishes a theoretical framework and defines performance-based benchmarks identifying the spatial indicators of urban development. Composite indicators namely open space coverage, land use mix, percentage of coast for people, accessibility to public transportation and amenities, availability of pedestrian paths and cycling tracks and adequate road networks are considered for this framework. The conclusions are drawn based on the results of the analysis of spatial layout using GIS as a tool to map and empirically measure each indicator. The framework is validated using a major land reclamation project, West Bay, in the coastal urban area of ​​the city of Doha. The results determine that West Bay has achieved a good level of sustainability, although there are areas that could be enhanced to further improve the overall sustainability of urban development. These findings can serve as a guide for policymakers and various stakeholders for sustainable urban planning on reclaimed coastal lands.

The planning of rural land depends to a large extent on the agrarian and forestry development model agreed upon for it. Within the framework of agrarian multifunctionality, to evaluate different development alternatives and their effect on territorial planning, its multiple dimensions must be considered as well as the interests and needs of the stakeholders. This work thus addresses the comprehensive evaluation of development alternatives for the rural area of a municipality of the Basque Country (Spain) through the implementation of a multi-criteria evaluation method with social participation. The results show, firstly, the existence of trade-offs between the functions to be promoted in the various development models evaluated. Secondly, the results indicate the need to reverse recent trends in the sector and the convenience of moving towards an agro-livestock model of greater ecological and local character, independently of the followed forest model. In fact, the evaluation carried out also reveals, thirdly, the existence of more or less latent conflicts, in particular with regards to forest policy.

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

Today's city needs more than ever methodological devices that ensure a specific urbanism, in keeping with the complexity of relationships that occur in the urban space. Networks or systems of diverse nature must be activated to achieve a certain success of the city, even more so in its fragile central fabrics. The study is focused on the historic neighborhoods of the city of Jaén (Spain), which have a high vulnerability index. The aim is to establish a strategy to revitalize their urban and social capital and improve their articulation with the rest of the urban and territorial structure. A methodological proposal for the analysis of vulnerability factors and an urban and cartographic analysis of the public space is addressed through an interweaving of a triple network: environmental, social, and urban. For this purpose, the configuration of this overlapping network of analysis and formulation of criteria is presented, which considers the urban multiplicity and promotes new dynamics for the integrated urban regeneration of the area and for the activation of public and collective urban spaces.

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.

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.

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.

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.

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.

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.

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.

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

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

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

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

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

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.

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.

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

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

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

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

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

Since the public inauguration of the URP (Urban and Regional Planning) Bill in 2009, which is now law (The Urban and Regional Planning Act No. 3 of 2015), urban planning in Zambia has undergone changes. In partnership with the Volunteer Service Overseas (VSO) Federation, the Zambian parliament put into effect pilot urban planning assistance programs to assist districts around the country, including Chipata District in 2011, transition to a more decentralized, integrated and locally-defined approach to urban planning. However, the presence of discrimination, corruption, and negative attitudes towards urban planning engagement, social maladies prominently displayed in Zambian society, pose challenges to implementing the ideal goals of the 2009 URP Bill. The extreme, widespread poverty in Zambia merely exacerbates the propensity towards corrupt and discriminatory behavior, and influences poor attitudes toward urban planning engagement. This paper describes the projects undertaken by the VSO volunteer from the USA between 2011 and 2012 in the light of the specific urban problems facing Chipata District, and discusses the ways the social maladies play out in Zambian society to pose challenges to implementing the recommended changes to the planning system scribed in the 2009 URP Bill.

This investigation explores a novel path-planning and optimization strategy for multiple cooperative robotic agents, applied in a fully observable and dynamically changing obstacle field. Current dynamic path planning strategies employ static algorithms operating over incremental time-steps. We propose a cooperative multi-agent (CMA) based algorithm, based on natural flocking of animals, using vector operations. It is preferred over more common graph search algorithms like A* as it can be easily applied for dynamic environments. CMA algorithm executes obstacle avoidance using static potential fields around obstacles, that scale based on relative motion. Optimization strategies including interpolation and Bezier curves are applied to the algorithm. To validate effectiveness, CMA algorithm is compared with A* using static obstacles due to lack of equivalent algorithms for dynamic environments. CMA performed comparably to A* with difference ranging from -0.2% to 1.3%. CMA algorithm is applied experimentally to achieve comparable performance, with an error range of -0.5% to 5.2%. These errors are attributed to the limitations of the Kinect V1 sensor used for obstacle detection. The algorithm was finally implemented in a 3D simulated space, indicating that it is possible to apply with drones. This algorithm shows promise for application in warehouse and inventory automation, especially when the workspace is observable.

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.

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

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.

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.

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

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.

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.

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

According to the Global Report on Internal Displacement (GRID, 2022), the number of displaced people worldwide at the end of 2021 was 59.1 million, with 53.2 million of them being the result of conflicts and violence, and 5.9 million caused by climate-related disasters. Furthermore, the In-ternational Organization for Migration (IOM) predicts that the climate crisis will be solely re-sponsible for one billion migrants by 2050. In this context, the research examines the issue of coastal multi-risk arising from a combination of heavy rainfall, river's overflow, and sea-level rise phenomena, analysing it through the disciplinary perspective of urban planning. Specifically, the study focuses on the need to upgrade the Local Urban Plan from a climate-proof perspective by defining a method aimed at updating the territory's cognitive framework through the preparation of a multi-risk map (which considers different time horizons), as well as the prescriptive apparatus of the Plan through the definition of a toolkit of site-specific design actions oriented towards urban adaptation. The proposed methodology is verified on the case study of Isola Sacra, Fiumicino (Italy), and it is intended to be applicable to other territorial contexts. The research aims to outline guidelines for updating urban planning tools from a climate-proof perspective to promote long-term resilient urban development in risk-prone areas.

Microgrid is one of the important ways to accommodate distributed PV generation. However, the optimal planning scheme of microgrids is closely related to solar resources, load characteristics, and the key components of microgrid systems. This paper uses HOMER software to conduct collaborative planning for grid-connected PV-storage microgrids with electric vehicles in multiple scenarios. Specifically, we construct a multi-scenario capacity optimization model for PV generation, energy storage, and converters, considering both the cleanliness and economic performance of microgrids. The performance is quantified using indices such as net present cost, levelized cost of electricity, and carbon dioxide emission under multiple scenarios. Finally, we conduct extensive case studies on a business park in Wuhan, China, to compare and discuss the planning performance under multiple scenarios, as well as sensitivity analysis with specific cases.

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

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

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

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

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.

Climate change is a major development challenge to Ethiopia. Unless adaptation measures are widely implemented, climate change can set back development efforts and achievements by years. Recognizing this, the Government of Ethiopia (GoE) and civil society organizations have since recently been making considerable efforts to tackle the climate change problem. This paper documents the experience of CARE International in Ethiopia in facilitating bottom-up approaches to promote community-led disaster risk management and climate change adaptation planning through a participator scenario planning (PSP) methodology. PSP is a coordinated approach which leverages a variety of stakeholders' skills and mandates to explore potential climate change risks and their impacts, and then develop locally relevant and shared adaptation action plans that support livelihoods, social capital and ecosystem resilience. The approach has facilitated timely access to and communication of seasonal climate advisories which in turn is empowering communities to take advantage of opportunities that climate presents, which is a key part of adapting to climate change. The institutionalization of the approach by district and regional disaster prevention and food security coordination offices in the southern pastoral regions of Ethiopia encouraged integration of PSP into community livelihood adaptation and local government development planning, hence continuity of the process. Sustainability is expected to be fully achieved when local government planning processes recognize the importance of and provides resources for the participation of meteorological services and community forecasting experts to help refine plans on a seasonal basis, and for systems for dissemination of advisories. Key words: Climate Change, Disaster Risk Reduction, Adaptation, Pastoralism, Ethiopia,

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

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

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

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

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

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

In the quest for more sustainable urban landscape development, the concept of ‘green infrastructure’ (GI) has become central in policy documents and as a multifunctional general planning tool. GI is not however a simple and unambiguous solution. While there in policy documents are claims for more and connected GI, actual urban development takes another direction. The densifying imperative is hard to combine with an increased and more connected GI. This paper argues for a critical and diversified approach to the concept of GI, to facilitate its implementation in urban planning and management. While GI most often is seen as a common asset and a public good, the actual land use negotiations and management responsibilities cannot be limited to a public service discourse, but should address more clearly a variety of actors. Linguistic as well as spatial definitions of the two relevant dichotomies of ‘green-grey’ and ‘public-private’ are crucial in GI location, design, construction and management, it is argued. Overarching representations of GI will be needed, but also – and linked to it – a spatial storm water plan and an overall plan for public space. The development over time will need an intersectorial implementation and management program. Thus some of the GI intentions may be implemented in planning processes, some through reorganisation and redesign of public space, and some by agreements with landowners.

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

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.

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

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

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

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

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

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

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

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

Background: Delivery of quality family planning services depends on availability of skilled health care providers, which is often a challenge in Low- and middle-income countries. This study evaluates the effects of a targeted training program on family planning services delivered by the Lady Health Workers (LHWs) in six districts of Punjab, Pakistan. The primary goal was to enhance the quality and accessibility of family planning services, recognizing the pivotal role of LHWs in community health. Methods: Using a robust panel data difference-in-differences (DiD) approach, we analyzed the electronic medical records (EMR) of 1,410 LHWs over a nine-month period. This timeframe in-cluded both pre-training (July to December 2022) and post-training (April to June 2023) phases. Our assessment focused on the impact of training on five outcome variables: the number of follow-up clients, the number of Intrauterine Contraceptive Device (IUCD) clients, the number of condom clients, the number of modern method clients, and the number of injection clients. We also con-sidered control variables such as LHW age, LHW education, the number of eligible couples in each LHW's catchment area, and a categorical variable for the districts. Results: The positive and statistically significant (p<0.05) coefficients across various service cat-egories – Follow Up Clients [Coeff: 1.00, CI: (0.30 - 1.70)], IUCD Clients [Coeff: 0.23, CI: (-0.01 - 0.46)], Condom Clients [Coeff: 1.41, CI: (0.97 – 1.86)], Modern Method Clients [Coeff: 1.82, CI: (0.96 – 2.68)], and Injection Clients [Coeff: 0.32, CI: (0.14 – 0.50)]. These findings indicate enhanced productivity among LHWs who have received training, with results significant at the 95% con-fidence interval (CI). Conclusion: The study highlights the effectiveness of targeted training programs in boosting family planning services at the community level and offers insightful implications for policy-makers and health practitioners. While focused on six districts in Punjab, these promising results emphasize the need for ongoing training and support for frontline health workers to bolster family planning initiatives.

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

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.

It is currently difficult to obtain accurate fine dust information in residential areas due to the insufficient number of air quality monitoring systems and spatial imbalances. Therefore, a detailed particulate matter dispersion model including factors such as land use and meteorological information was developed in this study and used to create fine dust concentration distribution maps. The fine dust concentration distribution maps currently available to citizens were compared with those obtained by dispersion modeling, and population distribution data were employed to compare the populations exposed to fine dust according to the two methods. The results of the existing method and the developed particulate matter dispersion model differed significantly. For instance, the PM2.5 concentrations in Daejeon, South Korea, on February 17, 2018, were 56% “Good” and 44% “Moderate,” according to the existing method, while they were 31% “Good,” 26% “Moderate,” 28% “Unhealthy,” and 15% “Very Unhealthy,” according to the dispersion model. Furthermore, the existing method indicated that no portion of the population was exposed to poor fine dust concentrations, while the proposed model revealed that over 170 thousand people were exposed to such concentrations. These results on fine dust distributions will contribute to sustainable urban and environmental planning.

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

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.

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

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

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

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

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

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.

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

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

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

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.

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

In this article, a critical reflection is made that involves questioning the notion of historic urban landscapes profiled in the Memorandum of Vienna (UNESCO, 2005) and the Paris Recommendation (UNESCO, 2011) as a conceptual paradigm on which to base urban conservation in the 21st century. Its limited methodological development and the assumption of change as an inherent part of the urban condition constitutes the source of many of the problems and difficulties posed by management and protection of contemporary cities, since there is no consensus as to what the acceptable limits of change should be in historic urban landscapes - difficulties that become ever more apparent, given the background of Weberian administrative doctrines present in current governance models. Likewise, the concept of Buffer Zones as a landscape management tool is analyzed, with the aim of establishing new methodological proposals that enable spatial organization to be regulated by defining areas of harmonization that are made up of flexible and multifunctional spaces for cooperation where territorial scale comes into contact with modernization of the historical fabric.

This study presents a path planning method for a mobile robot to be effectively operated through a multi-objective decision-making problem. Specifically, the proposed Fuzzy analytic hierarchy process (FAHP) determines an optimal position as a sub-goal within the multi-objective boundary. The key features of the proposed FAHP are evaluating the candidates according to the fuzzified relative importance among objectives to select an optimal solution. In order to incorporate FAHP into path planning, an AHP framework is defined, which includes the highest level (goal), middle level (objectives), and the lowest level (alternatives). The distance to the target, robot’s rotation, and safety against collision between obstacles are considered as objective functions. Comparative results obtained from the artificial potential field and AHP/FAHP simulations show that FAHP is much preferable for the mobile robot’s path planning than typical AHP.

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.

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.

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.

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.

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

We first review the literature on machine behavior which may contain the interaction between machines, and then discuss the methodology and the related case involving collaboration between robots to instantiate the concept with AI empowerment. The navigation case aims to a security application with autonomous control and roadside agent embedded in a mobile edge computing structure. In the studied navigation based on the artificial potential field method, robots need to use position information to calculate the moving direction frequently. In the case of high motion speed as well as GPS positioning error, the path trajectory may show a sharp change of direction. In order to mitigate the trajectory oscillation, this paper proposes a path planning design where training process and motion direction prediction are integrated by using artificial neural network. The auxiliary navigation agent near multiple obstacles can first extract the past movement information of the robot and then determines whether there is a serious path jitter event. Computer simulation analysis shows that the combination of autonomous control and cooperative behavior can effectively reduce the path jitter so as to achieve a fast and safe path planning.

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.

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

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.

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 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.

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.

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.

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

Building more energy efficient and sustainable urban areas that will both mitigate the effect of climate change and adapt for the future climate, requires the development new tools and methods that can help urban planners, architect and communities achieve this goal. In the current study, we designed a workflow that links different methodologies developed separately, to derive the energy consumption of a university school campus for the future. Three different scenarios for typical future years (2039, 2069, 2099) were run as well as a renovation scenario (Minergie-P). We analyse the impact of climate change on the heating and cooling demand of the buildings and determined the relevance of the accounting of the local climate in this particular context. The results from the simulations showed that in the future there will a constant decrease in the heating demand while for the cooling demand there will be a significant increase. It was further demonstrated that when the local climate was taken into account there was an even higher rise in the cooling demand but also that the proposed renovations were not sufficient to design resilient buildings. We then discuss the implication of this work on the simulation of building energy consumption at the neighbourhood scale and the impact of future local climate on energy system design. We finally give a few perspective regarding improved urban design and possible pathways for the future urban areas.

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.

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.