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.

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

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

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

Background: Intrauterine device is a modern contraceptive method used in family planning process, it prevents conception (pregnancy) and it has duration of 12years. There some women of reproductive age who don’t use this method, which necessitates our concern to why they don’t use it. The aim of this study is to explore the knowledge and attitude toward utilization of IUCD as family planning method among women attending at Makambako RCH. Methods: A descriptive cross-sectional quantitative study was used to assess knowledge and attitude concerning use of intrauterine contraceptive device among 384 women of reproductive age. Random sampling was conducted in which every individual had an equal chance to be selected and structured self-administered questionnaire were used to collect data. Data was entered to Microsoft excel and then exported to SPSS version 20.0 for further analysis. Results: Findings of the study about 333 (86.7%) respondents had knowledge on IUD while 51 (13.3%) they lack knowledge on IUD and they agreed it helps to prevent unwanted pregnancies and they heard it from social media like radio and television, health care providers, friends and school. About 46 (12%) of the respondents had positive attitude and used IUD method of family planning, and they got influence of using IUD from health care providers, 82 (21.4%) got influence of using IUD from their partners and 27 (7.0%) influenced to use IUD due to the side effects of other family planning methods like Depo Provera and pills. 25 (5.7%) were not influenced by anyone to use IUD as family planning method. While 338 (88.0%) participants had negative attitude on IUD method and had never used IUD as family planning method. Conclusion: The findings show that IUD usage was found to be poor and majority of them they didn’t prefer it, despite of having less complications.

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

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

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

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

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

The manuscript wants to investigate the debate on urban resilience and climate change linking theory and practice, describing the possible innovations that concern urban design, urban normative and regional laws developing in different countries. The approach pursued would encourage resilience and flood protection through smart planning and through the architectural and urban project; considering public space as strategic soil where developing the resilient city, using engineering technical climate defence as new space for citizens and communities. Resilience themes are included in all levels of government and in spatial and strategic development policies such as in some project concerning public and private space and in municipal plans; the urban defense structures has to become new pleasant space for the city; these actions will not only contribute to making cities more resilient but will contribute to the creation of a more pleasant and attractive urban environment. The Resilience is the main keyword of some strategic vision of the Netherlands and of Italian laws and the concept is tested in some best practice such as in Rotterdam, in Bordeaux, in London and in the research carried out by "Arquitectos de Cabecera" in Barcelona. Resilience is seen as a new paradigm of smart planning.

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

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

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

Reasonable trajectory planning is the precondition for the parafoil airdrop system to achieve autonomous accurate homing and safe landing. In order to successfully realize the self-homing of the parafoil airdrop system, a new trajectory optimization design scheme is proposed in this paper. The scheme is based on the parafoil's unique flight and control characteristics and adopts a segmented homing design. Compared with the current common trajectory design method, its core feature is to avoid the problem that the straight-line flight distance before landing is limited by the radius of the height-reducing area and ensure landing accuracy and safety. Firstly, the different starting states of the parafoil airdrop system and the landing requirements were comprehensively considered, and the homing trajectory is reasonably segmented. Based on the requirements of energy control, stable flight, and landing accuracy, the optimal objective function of the trajectory was established, and the trajectory parameters, calculation methods, and constraints were given. Secondly, the cuckoo search algorithm was applied to optimize the objective function to obtain the final home trajectory. Finally, the trajectory planning under different airdrop conditions was simulated and verified. The results showed that the planned trajectories could reach the target point accurately and meet the flight direction requirements, proving the proposed scheme's correctness and feasibility.

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

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

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

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

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

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

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

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

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

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

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

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

Rural landscapes all over the world are subject to great transformations, first of all the continuous and slow depopulation of land and villages. It is a dramatic phenomenon that causes devastating consequences for environmental systems and for the tangible and intangible heritage of entire territories. The situation becomes more ambiguous when it comes to cultural landscapes, especially those internationally recognized as exceptional (i.e. inscribed on the UNESCO World Heritage List). In this case, the risk is to abandon agricultural production in favor of consumerist tourist economies, which can damage the territorial authenticity. In this paper we question the role of the landscape project in strengthening territorial resilience. In particular, a composite and interdependent action is proposed between landscape design and implementation of a multifunctional agriculture model, oriented towards teaching and tourism. To undertake this investigation, a master's thesis work on Landscape Architecture is examined, as an opportunity for a research-by-design method. The application case is the Italian UNESCO site of Vignale Monferrato, a depopulated rural village, characterized by abandoned land and buildings. The paper concludes by outlining replicability application scenarios for the proposed model.

As the adoption of renewable energy sources grows, ensuring a stable power balance across various time frames has become a central challenge for modern power systems. In line with the "dual carbon" objectives and the seamless integration of renewable energy sources, harnessing the advantages of various energy storage resources and coordinating the operation of long-term and short-term storage have become pivotal directions for future energy storage deployment. To address the complexities arising from the coupling of different time scales in optimizing energy storage capacity, this paper proposes a method for energy storage planning that accounts for power imbalance risks across multiple time scales. Initially, the Seasonal and Trend decomposition using the Loess (STL) decomposition method is utilized to temporally decouple actual operational data. Subsequently, power balance computations are performed based on the obtained data at various time scales to optimize the allocation of different types of energy storage capacities and assess the associated imbalance risks. Finally, the effectiveness of the proposed approach is validated through hourly applications using real-world data from a province in China over recent years.

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

This article focuses on the issue of urban development of cities and their residential development from the perspective of spatial planning. Spatial planning fundamentally determines, what kind of construction is feasible in cities. However, spatial plans often do not consider spatial limits, which often go against the proposed ways of using of the given sites, or make their use fundamentally difficult, for example by disproportionately increasing of the costs of residential construction, when it is necessary to remediate old burdens in the defined locality. The subject of the presented research was to examine the possibility of establishing an Index of Residential Development (IoRD), which evaluates the possibilities of residential development in the territory of urban agglomerations. The aim of the research, in the form of establishing of an Index of Residential Development (IoRD), was to assess, how it is possible to consider spatial limits associated with residential construction in urban intravilanes in order to identify the objectives of further spatial development planned by cities. Subsequently, the partial aim of the research was also to create a usable tool for support in the decision making of development organizations on the location of their project in a given space. Based on the results of the research, it was deduced that the limits associated with the residential development in intravilanes based on the IoRD could be considered. Clear links were also shown between the limits in the territory and the impaired possibility of construction in cities with zoning plans, which did not respond to the limits in the territory by adding other design zones, or completely ignored them. Although the methodology for determining of the Index of Residential Development (IoRD) was verified due to the availability of data in the case study carried out in the Czech Republic – the city of Brno, the methodology is applicable to any urban agglomeration even outside the Czech Republic when fulfilling the conditions defined in the article.

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

This paper presents an experimental scenario aimed at bridging the gap between the cities we have and the cities we need, not only in the 21^st century but also beyond, using the integrated tools of development control and holistic land development model to achieve a planner-led vision of city sustainability. Due to scathing criticisms against the development control system, the paper contends that planners as development approving officers and public interest specialists are better positioned than allied professionals to increase city sustainability through a holistic development process that benefits from the concept of strong sustainability posited by ecological economists. The paper adopts a seven-stage, 56-cell land development matrix (model) to simulate the development of the typical high-rise residential condominium in Ontario, supported with secondary data and the author’s ground experience as a planner and realtor with condominium customer service experience across Toronto and Mississauga cities between 2008 and 2017. Findings reveal that planners can seize the opportunity of being leaders of the development team to synergize the risks and value creation in land development that are key drivers of strong sustainability. The paper suggests some policy implications for averting disasters like fire hazards and terror attacks in high-rise residential buildings.

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

Obtaining a proper position for THA’s components is a crucial aspect for the implant perfor-mance and consequently patient outcomes. Patient specific kinematic seems to be a key factor to reach the optimal implant positioning. The aim of this study was to assess the accuracy and safety of a computed dynamic analysis system which through patient specific guides tries to improve implant positioning and functional orientation according to patient’s spinopelvic mobility and anatomy.A total of 100 consecutive patients were prospectively enrolled. All patients received an OPS dynamic hip preoperative planning. A TC scan protocol follow up analysis has done at 6 month after surgery.The mean deviation from the planned acetabular inclination and anteversion was 4.3° e 3.8° respectively. The 98% of cases was within +/- 10° of Lewinnek safe zone both for inclination and anterversion. The height of osteotomy deviated on the average of 1.6mm. The 100% cases were included within 4mm of osteotomy. Patient specific and laser guided instru-mentation is safe and accurately reproduce the dynamic planning in terms of components orien-tation, osteotomy level, leg length and offset.

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

Robotic decision-support systems must facilitate a robots interactions with their environment, this demands adaptability. Adaptability relates to awareness of the environment and `self-awareness', human behaviour exemplifies the concept of awareness to arrive at an optimal choice of action or decision based on reasoning and inference with learned preferences. A similar conceptual approach is required to implement awareness in autonomous robotic systems which must adapt to the current dynamic environment (the context of use). By incorporating `self-awareness' with knowledge of a Robot's preferences (in decision making) the decision maker interface should adapt to the current context of use. This paper proposes a novel approach to enable an autonomous robotics which implements path planning combining adaptation with knowledge reasoning techniques and hedge algebra to enable an autonomous robot to realise optimal coverage path planning under dynamic uncertainty. The results for a cleaning robot show that using our proposed approach demonstrated the capability to avoid both static and dynamic obstacles while achieving optimal path planning with increased efficiency. The proposed approach achieves the multiple decision-making objectives (path planning) with a high-coverage and low repetition rates. Compared to other current approaches, the proposed approach has demonstrated improved performance over the conventional robot control algorithms.

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

Automated Guided Vehicles are self-guided vehicles used in manufacturing and warehouses for material transport. They play a vital role in just-in-time material delivery, ensuring smooth production lines. However, disruptions in their fixed routes can lead to efficiency losses. This paper studies unexpected disruptions in mobile robot routes, assessing the costs of rectification using the E* analysis. The study highlights the significant additional cost of such disruptions, underscoring the importance of their consideration in AGV route planning to enhance system resilience.

This study employs Geographic Information System (GIS) techniques to evaluate the walkability of Onaizah City, which serves as a representative model for a Saudi city situated in the Qassim region, north of the capital city, Riyadh. The goal is to evaluate how easily pedestrians can navigate the street network and identify areas that excel or need improvement in terms of walkability. The results offer insights for planning and development supporting sustainable initiatives. Approach; The study involves integrating GIS data, such as street layouts, land use patterns, and demographic information. By analyzing factors like integration values and choice values within the street network the study gauges’ walkability aspects. Furthermore, correlation analysis explores how spatial arrangements, influence walkability. By studying the case of a medium-sized Saudi city, which can then be applied to several Saudi cities. Cost distance analysis and cost-back correlation calculations are employed to determine pedestrian routes. Findings and Discussion; Through GIS techniques the study effectively assesses the walkability of Onaizah City by identifying three walking paths with lengths of (1401m, 1283m, and 1507m). The study reveals pedestrians' actual city distance. Weighted criteria assign 40% to heritage sites, 30% to green spaces, and 15% each to mosques/commercial sites. Preserving access to heritage sites and incorporating areas enhance walkability. Conclusion: Study enhances walkability understanding, offering data-driven planning suggestions. Urban planners prioritize pedestrian connectivity, considering GIS effectiveness and physical environment importance. Findings support walkability research and sustainable urban development.

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

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

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

This study assessed the impact of counter-mapping on university students' perception and knowledge of their cities, focusing on cultural diversity, urban dynamics, and social challenges. Using a quasi-experimental design with pretests and posttests in the province of Alicante, Spain, changes in the understanding of urban geography, everyday life, and cultural diversity were analyzed among 54 Geography Didactics students. Likert scale surveys and open-ended questions were employed, complemented by statistical and qualitative analyses, to measure knowledge and perceptions before and after the counter-mapping project. The results indicate that although quantitative correlations did not show statistically significant significance, qualitative analysis revealed significant and profound learning. Participants uncovered the hidden layers of their urban environments and gained a better understanding of the complexities and challenges of their cities. The project promoted the development of critical skills such as analytical thinking, active research, and effective communication, proving to be a valuable pedagogical tool that surpasses the limitations of traditional teaching methods and encourages active and committed citizenship. This inclusive and multidimensional approach enriches the diversity of experiences and knowledge, significantly contributing to the teaching of urban subjects, community engagement, and social responsibility, laying the groundwork for proper tourist, cultural, social, or urban planning of city spaces.

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

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

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

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

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

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

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

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

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

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

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

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

Raw material logistics reflects an important aspect of global trade. Raw materials form an essential basis for society, for daily life, and range from apples to zinc. This paper addresses the analysis and optimization of supply chains of raw materials in terms of their economic viability and their sustainability. Type representatives are chosen according to annual transported quantities. Hard coal represents bulk goods, aluminum primary raw materials with medium quantities, and rare earths primary raw materials with small quantities. Their respective supply chains are analyzed and subsequently possible strategies and methods and their application are discussed. The paper shows for the first time that the selection and application of optimization priorities (e.g. profitability or sustainability) depends on the primary raw material and its integration into global production chains.

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

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

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

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

Smart, reliable, and connected multi-modal mobility has been a long-standing goal of transit services. This paper focuses on the smart, seamless, and multi-modal mobility service in the context of “Mobility as a Service” (MaaS). Intelligent mobility is the smarter, greener, and more efficient movement of passengers around the world. Increasingly, mobility is approached as a service. This study first conducts an extensive literature review on mobility behavior and demand pattern of MaaS end-users. It then extends the mechanism of supply chain, MaaS, synergy (i.e., vertical cooperation synergy, horizontal competition synergy), and coopetition to develop the multi-tier closed-loop intelligent mobility service supply chain network. This paper explains the intelligent mobility service supply chain network from following perspectives: (i) mobility service taxonomy of MaaS; (ii) aims of intelligent mobility service supply chain network; (iii) urban rail transit (URT)-centered alternatives for integrated multimodal journey planning, i.e. access + URT + egress, and both access and egress can be served by Mobility-On-Demand (MOD) transport; (iv) node member imperatives. From a synthesis of insights from the ‘during’ journey, this study puts forward the synergetic design of intelligent mobility service supply chain network, including: (i) multi-tier closed-loop structure; (ii) key nodes identification for the physical multimodal transport network in the supply chain; (iii) hybrid synergy mechanisms among the partners, i.e., synergy principle, temporal splitting approach for coopetition synergy; (iv) index systems and evaluation methods for synergy measurement. This study also contributes to the integrated multimodal journey planning. In concluding, the paper highlights the important implications of the proposed intelligent mobility service supply chain network for MaaS bundle design and adverse effects reduction, resulting from 1 + 1 > 2 synergy effects.

The activity of prioritizing software requirements should be done as efficiently as possible. Selecting the most stable requirements for the most important customers for the development company can be a positive factor when we consider that the available resource does not always encompass the implementation of all requirements. Quantitative methods for reaching software prioritization in releases are many in the field of Search-Based Software Engineering (SBSE). However, we show that it is possible to use qualitative Verbal Decision Analysis (VDA) methods to solve this same type of problem. Moreover, we will use the ZAPROS III-i methods to prioritize requirements considering the opinion of the decision-maker, who will participate in this process. Finally, the results obtained in the VDA structured methods were quite satisfactory when compared to the methods using SBSE. A comparison of results between quantitative and qualitative methods will be made and discussed later.

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

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

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

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

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

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

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

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

Biodiversity conservation planning is highly important in the current context of global change. Biodiversity conservation can be achieved by understanding changes in land use at the landscape scale. Such understanding is needed to reverse the unprecedented pressure on natural resources that has been reported by many studies conducted on biodiversity conservation within the Oti-Keran-Mandouri protected areas. Land cover maps reflecting different dates (1987, 2000, and 2013) and depicting different management systems, with overall accuracy ranging from 73% to 79%, were analyzed to understand the processes that lead to habitat degradation within these protected areas. The nature of change, within a given land cover class, was determined by comparing land cover maps on different dates using a decision tree algorithm that compares the number of patches, their areas, and their perimeters at different time periods (T₁ and T₂). Specifically, two time-periods were considered for this analysis: 1987–2000 and 2000–2013. Croplands and settlements increased at an average of 108.13% and 5.45%, respectively, from 1987 to 2000. From 2000 to 2013, croplands gained from all other land categories and continued to increase at a rate of 11.77% per year, whereas forests and savannas decreased at an annual average rate by 5.79% and 2.32%, respectively. The dominant processes of habitat change from 1987 to 2000 were the creation of forests, dissection of savannas, attrition of wetlands, and creation of croplands. Meanwhile, from 2000 to 2013, there was attrition of forests, as well as attrition of savannas, dissection of wetlands, and aggregation of croplands. In general, from 1987 to 2013, natural habitats regressed and were replaced by croplands; forests, savannas, and wetlands decreased at an average annual percentage 5.74%, 3.94%, and 2.02%, respectively, whereas croplands increased at an average annual rate of 285.39% of their own area. Aggregation, attrition, dissection, and creation were the main habitat change processes identified for the overall period from 1987 to 2013. There was habitat loss in forests and savannas and habitat fragmentation in wetland due to attrition and dissection, respectively. Identifying and understanding habitat change processes would enable the taking of appropriate biodiversity conservation actions.

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

Autonomous Underwater Vehicles (AUVs) are emerging as pivotal tools in underwater applications such as seafloor exploration and the inspection of pipelines or cables. Traditional land-based avoidance methods prove insufficient when applied to the complex underwater environment, largely due to the unique constraints presented by marine environments and the specific dynamics of AUVs. In this study, we introduce an improved stream function-based obstacle avoidance algorithm specifically tailored for autonomous underwater vehicles. The proposed algorithm is based on a stream function that is derived from the stream function. The stream function is characterized by a radial histogram for the cost function. In addition, constraints related to the maximum path curvature are discussed to optimize the utility of the path. Our exhaustive simulation cases validate the robustness and adaptability of the proposed algorithm, demonstrating its ability to produce feasible and optimized avoidance paths in a variety of scenarios.

With the continuous emergence and application of new technologies, the construction of smart cities has entered the practical promotion period. Since 2012, the pilot construction of smart city has been promoted by the government in China. On the basis of these practical experiences, this paper presents an overview of the latest technologies and applications for smart city construction in China and demonstrates that smart city strategy needs to be implemented according to local conditions, adhering to the people-oriented concept and using scientific and effective top-level design and planning. The construction of smart city is comprehensive system engineering, including the integration of geographic information sharing service platform, full-cycle management and control system of urban planning, construction and social management, as well as intelligent business information management system of gardening, water conservancy, environmental protection and other industries and departments. The information system (GIS), satellite remote sensing (SRS), global navigation satellite system (GNSS), Internet of things, mobile applications, cloud computing, visualization technology ware used to promote urban construction and sustainable development, and to meet the needs of future smart city development. Results show that centralized management is very important for the construction of smart city. The government plays a major role in the construction of smart city, which will be conducive to the development of new technologies and the effective use of smart city construction resources.

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

Robotic path planning is a field of research which is gaining traction given the broad domains of interest to which path planning is an important systemic requirement; the aim being to optimise the efficacy of robotic movements in a defined operational environment. For example, robots have been employed in many domains including: cleaning robots (such as vacuum cleaners), automated paint spraying robots, window cleaning robots, forest monitoring robots, agricultural robots (often driven using satellite and geostationary positional satellite data). Additionally, mobile robotic systems have been utilised in disaster areas and locations hazardous to humans (such as war zones in mine clearance). The coverage path planning problem describes an approach which is designed to determine the path that traverses all points in a defined operational environment while avoiding static and dynamic (moving) obstacles. In this paper we present our proposed Smooth-STC model, the aim of the model being to identify an optimal path, avoid all obstacles, prevent (or at least minimise) backtracking, and maximise the coverage in any defined operational environment. The experimental results in a simulation show that, in uncertain environments, our proposed smooth STC method achieves an almost absolute coverage rate and demonstrates improvement when measured against alternative conventional algorithms.

Threats to natural ecosystems are closely linked to human development, and the lack, insufficiency or inefficiency of public policies are some of the most important drivers of negative effects on the environment. The contribution of the IUCN’s Red List of Ecosystems (RLE) to conservation topics has been discussed in previous studies; however, to date its implications for conservation in public policies have not been addressed. This perspective discusses how the RLE may support the improvement and development of these policies, specifically through the implications for public policy of each of the criteria that substantiate the threat status of ecosystems. We aim to provide a plausible baseline to the operationalization of RLE in public and conservation policy, facilitating the work of governments, practitioners and decision makers. Finally, we provide recommendations and examples as to how to proceed in creating and modifying different public policy instruments, such as land-use planning, spatial zoning, tax reduction, compensation schemes, climate change adaptation plans, management of introduced species, development offsets and restoration investment. This perspective contributes to implement RLE into public policy and to improve ecosystem conservation by expanding the current scope of RLE into practical and political dimensions through plausible actions, policies and strategies.

The population growth and its needs, has increasingly demanded water resources, requiring managers to adopt mechanisms to guarantee the availability and quality of water from springs. Among the instruments defined by law n. 9433/1997, water charges stand out. In this sense, the objective was to evaluate the evolution of charging for the use of water resources in Brazil, with emphasis on the channel of the Hydrographic Basin of the Paranaíba River. The methodology used was based on two phases, one of reviewing the articles available in Capes journals and the other, consulting the spreadsheets of the Araguari River Basin Agency with information on charges for the use of water within the competence of the Union in the Hydrographic Basin of the Paranaiba River. The results showed that charging for the use of water resources establish a relevant instrument for disciplining and raising financial resources that will enable improvements in the planning and management of water use. It should be noted that irrigation emerges as the main user of the flow captured from the Paranaíba River. However, the main source of funds for charging comes from the public supply. Among the Federation Units, the Federal District proved to be the largest source of contributions for charging the use of the Union's water resources in the Paranaíba River Basin.

The Aviation industry in Malaysia is categorized as highly regulated and dominated by Government Linked Companies (GLCs) via monopolistic concessions due to its nature of strategic national importance and security. Connectivity is an essential component of economic activity and a catalyst for business growth. Since the invention of aircraft, air connectivity has expanded businesses and markets, facilitating trade, encouraging Foreign Direct Investment (FDI) and enabling tourism. This case study aims to provide a holistic analysis of the Malaysia Airport Holdings Berhad (MAHB) strategic planning framework and discuss its effectiveness towards its strategy formulation to address its market dynamics, both domestically and abroad. From military superiority to economic connectivity, aviation, one of humanity's greatest inventions, has advanced human civilization over the past 150 years. With the emergence of low-cost carriers, air travel patterns have shifted dramatically, with the increase of travel and trade, due to its time efficiency. With the trend of globalization and the liberation of airspace in recent decades, aviation enables the movement of people and goods that foster a borderless marketplace at an exponential growth rate. With technological innovation, pressure over climate change and the shift in travelers' behavior and patterns, strategic planning becomes more crucial and complex for aerodrome operators to create a sustainable competitive advantage among their regional rivals. However, strategic planning is dependent on several critical success factors. The role of management leadership and an inclusive strategy to adapt to the changes in market dynamics are essential for survival in business competition.

This document presents, from environmental thinking (ecosystem - culture relations), the concept of the Main Agroecological Structure of Agroecosystems (MAS, EAP, for its acronym in Spanish), considered as a dissipative cultural structure. It discusses its possible applications (resilience, production, diversity) both inside and outside the farms. The MAS can be useful in the land planning on the farms, based on the concept of potential MAS that allows the quantification of the management of internal and external corridors, including natural vegetation. At the same time, it can be useful in the context of landscape management because it shows a series of cultural relations (economic, social, symbolic and technological) hidden from the partial analysis of landscape ecology.

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

Calculating a minimum-time trajectory requires the solving of a boundary value problem resulting from invocation of necessary conditions of optimality to set up a set of ordinary differential equations to solve the trajectory between the initial position and desired ending position with set constraints on the path between the two. This manuscript expresses the minimum time optimum trajectory between a satellite in a geosynchronous orbit and a target set on earth’s surface utilizing a non-rotating earth centric coordinate system. Expressing motion in coordinates of rotating reference frames necessitates transformation between reference frames, and one such transformation is embodied in the Direction Cosine Matrices (DCM) formed by a sequence of three successive frame rotations. Rotation about the local wing of an aerospace vehicle is almost never the pitch angle, yet modern application of kinematics often assumes such (with accompanying angular error). The same assertion is usually true about the nature of roll and yaw angles. This manuscript evaluates which sequence is the most advantageous for an object starting in space and then travels through the atmosphere to a target on the Earth’s surface. Simulation precision (validated by the quaternion normalization condition) reveals the so-called 132 rotation is the most accurate with an average error of 0.14° and a computational time of 0.013 seconds: resulting in a 97.95% increase in accuracy over the ubiquitous 321 “aerospace” rotation sequence and a 99.84% increase over the so-called 313 “orbital” rotation sequence. Utilizing the proposed optimal trajectory candidate yields a total flight time of 2 hours, 34 minutes and 46 seconds, or an average velocity of 3.85 kilometers per second, while impacting the target with a velocity of 11.54 kilometers per second.

Dump design and scheduling are critical elements to effective mine planning, especially if several of them are required in large-scale open pit mines. Infrastructure capital and transportation costs are considerable from an early stage in the mining project, and through the life-of-mine as these dumps gradually become immense structures. Delivered mining rates, as well as certain spatial and physical constraints, provide a set of parameters of mathematical and economic relationship that creates opportunities for modelling and thus facilitates the measuring and optimization of ultimate dump design by using programming and empirical techniques while achieving economic objectives. This paper presents a methodology to model and optimize the design of a mine dump by minimizing the total haulage costs. The proposed methodology consists on: (i) Formulation of a dump model based on a system of equations relying on multiple relevant parameters; (ii) Solves by minimizing the total cost using linear programming and determines a ‘preliminary’ dump design; (iii) Through a series of iterations, modifies the ‘preliminary’ footprint by projecting it to the topography and creates the ultimate dump design. Finally, an example application for a waste rock dump illustrates this methodology.

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

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

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

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

The advancement of autonomous capabilities in maritime navigation has gained significant attention, with a trajectory moving from decision support systems to full autonomy. This push towards autonomy has led to extensive research focusing on collision avoidance, a critical aspect of safe navigation. Among the various possible approaches, Dynamic Programming is a promising tool for optimizing collision avoidance maneuvers. This paper presents a DP formulation for collision avoidance of autonomous vessels. We set up the problem framework, formulate it as a multi-stage decision process, define cost functions and constraints focusing on the actual requirements a marine maneuver must comply with, and propose a solution algorithm leveraging parallel computing. Additionally, we present a greedy approximation to reduce algorithm complexity. Through case studies, we demonstrate the effectiveness of the proposed approach in navigating complex scenarios, contributing to the future of autonomous maritime navigation. Through case studies, we show the efficacy of our approach in navigating complex scenarios.

Dynamic systems which underly controlled systems are expected to increase in complexity as robots, devices, and connected networks become more intelligent. While classical stable systems converge to a stable point (a sink), another type of stability is to consider a stable path rather than a single point. Such stable paths can be made of saddles which draw in trajectories from certain regions, and then push the trajectory toward the next saddle point. These are chains of saddles are called stable heteroclinic channels (SHCs), and can be used in robotic control to represent time sequences. While we have previously shown that each saddle is visualizable as a trajectory waypoint in phase space, how to increase the fidelity of the trajectory was unclear. In this paper, we hypothesized that the waypoints can be individually modified to locally vary fidelity. Specifically, we expected that increasing the saddle value (ratio of saddle eigenvalues) causes the trajectory to slow to more closely approach a particular saddle. Combined with other parameters that control speed and magnitude, a system expressed with an SHC can be modified locally, point by point, without disrupting the rest of the path, supporting their use in motion primitives. However, even more complex trajectory shape modifications are possible. While some combinations can enable a trajectory to better reach into corners, other combinations can rotate, distort and round the trajectory in the region of a corner. In our example, modifying select saddle values produced a 32% decrease in the trajectory error of a complex trajectory produced using this system. This is an effect not visible in previous 1D studies, that can lead to different learnable and tunable representations of dynamic systems.

Achieving sustainable development will require improved water management, but the main framework to address it, Integrated Water Resources Management (IWRM), lacks clarity and acceptance among a diverse community of many stakeholders. This creates communication problems and obscures issues that people care about like drinking water and pollution prevention. As a process within IWRM, the concept of water resources assessment also suffers from a lack of clarity, which leads to ambiguity and reports that are too general to lead to action. This lack of acceptance of IWRM and water resources assessment saps support for essential data collection, analysis, and reporting. Clarifying IWRM will require work within the water community and better messaging to stakeholders. Methods for water resources assessment can be clarified by linking outcomes to higher level reporting of policy and issues. Acceptance of the role of water resources assessment can be facilitated by adding it to the management instruments in the IWRM Toolbox. Stovepipes among water management agencies require coordination to achieve this, usually through framework studies. Improved messaging will involve what people and stakeholders care about and will require changed approaches to presentation of outcomes by categories, such as drinking water, pollution prevention, and flood risk reduction. Researchers can report outcomes with technical messaging that trends toward uniform language and definitions and the water resources management community can nudge its media outlets to carry unifying messages.

In Bangladesh, family businesses play a significant role in the country's business landscape because so few private companies are set up as large-scale, non-family ownership firms. Thus, it is vital to comprehend family businesses in order to comprehend Bangladeshi company dynamics. In this paper, authors attempted to survey the existing research in the area of family business in Bangladesh. It was found that the area as a research is totally an open field and a lot of new research can be done in the said area. Although a good number of studies can be classified as focused on the SME (small and medium enterprise) domain, a major shortcoming of those SME studies is that the SMEs themselves vary greatly in terms of size, scope, and technology. Whereas most of the family businesses can be predominantly put in the SME category, the particular issue of family business and family dynamics is not very common in those studies. This paper suggests that a good amount of research or studies can be done focusing on family business constitution, family members' participation norm, recruitment and promotion norm, family business succession rules and succession planning, training for family business leadership and management, training for board and directorial supervision, and so on.

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

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

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

In this paper we present the exploration of indoor positioning technologies for UAVs, and navigation techniques for path planning and obstacle avoidance. The objective is to perform warehouse inventory tasks using a drone to search for barcodes or markers to identify the objects. For the indoor positioning techniques, we employ Visual-Inertial Odometry (VIO), Ultra-Wideband (UWB), AprilTag fiducial markers, and Simultaneous Localization and Mapping (SLAM). These algorithms encompass global positioning, local positioning, and pre-mapping positioning, comparing the merits and drawbacks of various techniques and trajectories. In UAV navigation, we combine SLAM-based RTAB-Map indoor mapping and navigation path planning of the ROS for indoor environments. This system enables precise drone positioning indoors and utilizes global and local path planners to generate flight paths that avoid dynamic, static, unknown, and known obstacles, demonstrating high practicality and feasibility. To achieve the warehouse inventory inspection, a reinforcement learning approach is proposed to recognize the markers by adjusting the UAV's viewpoint. We address several main problems in inventory management, including efficiently planning paths while ensuring a certain level of detection rate. Two reinforcement learning techniques, AC (Actor-Critic) and PPO (Proximal Policy Optimization), are implemented based on AprilTag identification. Testing is performed in both simulated and real-world environments, and the effectiveness of the proposed method is validated.Code is available at https://github.com/kellen080/Navigation and https://github.com/kellen080/Indoor\_Positioning.

Cultural routes are a composite set of heritage, referring to any ancient routes of human communication. As one of the key products of cultural tourism, they providing visitors with a rich cultural experience across regions. We systematically review reports and studies related to the tourism development of 38 cultural routes cases around the world, with a special focus on their distribution, typology, planning patterns and tools for cultural tourism. We summarized eight tools, there are some differences in how often these eight tools are used by the different types of routes and different planning patterns for routes tourism. The study also made an evaluation system based on the conservation principles of cultural routes to find out how different tools of tourism affect the conservation and development of the historical region. It was found that although many efforts have been made by tourism decision-makers to protect and develop cultural routes there are still many problems and challenges in the process of tourism development along cultural routes. We close the paper by making a few recommendations for decision makers and researchers concerning future routes’ tourism planning and study.

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

Traditional Corporate Social Responsibility (CSR)-programs rarely include participatory components that connect CSR-activities of private companies with their local communities. However, there is an increasing demand to include citizens as well as the resources and expertise of the private sector in the design and implementation of local community planning processes. To assess the potential, opportunities, and challenges of including private companies into participatory community planning at a local level, we analyzed the experiences that we collected during the piloting phase and the commercial roll-out of the ‘Bürgercockpit’-application for citizen participation, as well as the results of a digital CSR-questionnaire that we shared with different companies in Austria. Our research indicates that most of the participating companies are interested in including local communities into their CSR-projects using a digital tool, if this tool is easy-to-use, easy-to-access, and provides a flexible structure to address specific project requirements as well as properly designed features for stakeholder communication and user feedback. The findings of both, the ‘Bürgercockpit’-pilot study and the CSR-questionnaire provided us valuable input for designing a prototype solution of a digital CSR-tool for participatory community planning at a local level as well as recommendations for future research in this topic of growing interest.

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