An integrated spatial planning of the mountainous landscapes for ski sports in a case area at the eastern Türkiye

Mountainous regions have disadvantages in economic development because of harsh physical and climatic conditions.However,winter tourism activities are one of the key components for supporting economic development in the highlands.Establishing a ski resort area supports direct and indirect employment in a region,and it stops immigration from mountainous regions to other places.This research aimed to assess the potential ski areas using a multi criteria evaluation technique in the Van region which is located in the eastern part of Türkiye.In this context,snow cover duration,sun effect,slope,slope length,elevation,population density,distance from main roads and lake visibility were used as input factors in the decision making process.Each factor was standardized using a fuzzy technique based on existing well-known ski centers in Türkiye.The weight of inputs was defined by applying a survey to the professional skiers.The most important factors were detected as transportation opportunities and snow covers whereas,the least important factors were elevation and population density.Additionally,lake visibility was very important to make a difference from other existing facilities in the region.Therefore,it was included as constraints and lake visible areas were extracted at the final stage of the research.Potential ski areas were mapped in three levels as professional,intermediate and beginner skiers.One of the suitable areas was selected as a sample projection and for the 3D simulation of the ski investment area.Potential costs and benefits were discussed.It was found that a ski tourism area investment can be amortized in 3 years in the region.

Function Evolution and Landscape Planning Strategy of Inland Rivers in Beilun Port City of Ningbo

In the history, the main roles of inland rivers in Beilun Port City of Ningbo were desalination,blocking tides, shipping, and flood control. Nowadays, with the continuous spread and deepening ofurbanization, the ecological environment of river courses has been destroyed. In the past, remediationmeasures based on engineering and technology played a certain role, but can not “cure the root cause”. Itshould respect the historical evolution process of river courses, and highlight the ecological service functionand leisure tourism value of river courses from the coordination perspective of urban and rural ecologicalenvironment, economic industries, society and culture in the planning ideas of ecology, production, andlife integration. Four aspects of the measures are as below: protecting and repairing the ecological matrixof river courses;building green space system and maintaining flood control functions through the waternetwork;protecting cultural heritage along the rivers;developing waterfront leisure tourism scenic area.

Landscape Architecture Planning and Design Based on Landscape Ecology Theory:A Case Study of Waterfront Landscape Planning and Design of Dapo Town

With the rapid development of urbanization,landscape architecture has become an indispensable component of daily life.In order to achieve better landscape effects and protect the ecological environment,landscape ecology theory can be integrated into landscape planning to carry out disciplinary crossing and integration research between landscape ecology and landscape architecture.In this study,based on the basic theories of landscape ecology,the waterfront landscape of Dapo Town was designed,with the aim to achieve ecological balance in planning,showcase biodiversity,and create a harmonious landscape ecological environment which can benefit both nature and people.This design combined artificial and natural elements while improving the natural environment,which promoted a harmonious relationship between humans and nature,thus enriching the spatial organization of the city,and playing a role in regulating the urban environment and climate.

Planning and Design of Geological Landscape Popular Science Exhibition in Urban Geopark:A Case Study of Zhengzhou Yellow River National Geopark

Urban geopark is the backyard garden of urban residents’life.Geological landscape popular science exhibition enables people to receive geological popular science knowledge easily and happily while playing,which will virtually strengthen people’s protection awareness of urban geological landscape.Urban geopark landscape is featured by unique typical geological characteristics.It is a realistic problem that troubles the planning and design of geological landscape popular science exhibition in urban geopark by effectively protecting these geological landscapes and upgrading them into urban popular science leisure tourism resources.Taking Zhengzhou Yellow River National Geopark as an example,this paper systematically studies the planning and design of geological landscape popular science exhibition in urban geopark.

基于模型构建器与Landscape的地形可视化研究

三维地形数据是数字孪生建设中重要的数字底板要素。本文以Unreal Engine 4渲染为例提出一种基于ArcGIS模型构建器和Landscape的三维地形模型数据构建方法。该方法利用原始地形数据的文件组织,通过模型构建器解析获取转换信息,构建数据读取树;迭代节点时分别对栅格数据与影像数据进行转换,完成地形要素和纹理重组。将该方法应用于重庆市中心城区地形三维数据,实践结果表明本文方法能准确实现地形三维模型数据至Unreal Engine 4渲染资源的转换,可为类似三维模型数据转换问题提供理论与技术参考。

Conception and Planning of Campus Landscape Combined with Nature Education Based on Species Survey:A Case Study of North China University of Technology

From the perspective of habitats and species diversity in biodiversity,the species and richness of plants and animals in the campus green spaces of North China University of Technology were surveyed comprehensively by natural observation and field investigation.A total of 118 species of plants and 70species of animals were investigated.The relationship between plants and animals on the campus was analyzed qualitatively.Based on this,the richness of species in the plots suitable for natural education in the sites was investigated and analyzed,and the situations in different seasons were compared to plan natural education areas and trails.In addition,the ways to increase the biodiversity of the sites,the connection between habitats and landscape elements,and the setting of relevant landscape sites were discussed,and it was proposed to integrate more natural education methods to attract people to carry out natural education of biodiversity in the university campus with a learning atmosphere.

Frontier Progress of Landscape Character Assessment in China

The role of Landscape Character Assessment(LCA)at the level of territorial landscape governance spans both natural and social sciences.By analyzing the development history,research distribution,methods and applications of cutting-edge cases of LCA in China,the following conclusions are drawn:①the LCA research in China originated earlier than that in Europe,but has not yet been systematically applied to the implementation of urban and rural planning at all levels;②the fundamental theory of LCA in China has been well constructed,with three main research directions:technologyled,assessment-led,and assessment combined with other theories;③the development of LCA in rural areas is more mature than in urban areas,but the progress of research is uneven across regions;④the current research presents significant“bottom-up”academic characteristics,and there is an urgent need for government decision-making authorities and academia to jointly promote a“top-down”standardized governance mechanism to comprehensively promote the modernization of territorial landscape governance.

Optimal search path planning of UUV in battlefeld ambush scene

Aiming at the practical application of Unmanned Underwater Vehicle(UUV)in underwater combat,this paper proposes a battlefield ambush scene with UUV considering ocean current.Firstly,by establishing these mathematical models of ocean current environment,target movement,and sonar detection,the probability calculation methods of single UUV searching target and multiple UUV cooperatively searching target are given respectively.Then,based on the Hybrid Quantum-behaved Particle Swarm Optimization(HQPSO)algorithm,the path with the highest target search probability is found.Finally,through simulation calculations,the influence of different UUV parameters and target parameters on the target search probability is analyzed,and the minimum number of UUVs that need to be deployed to complete the ambush task is demonstrated,and the optimal search path scheme is obtained.The method proposed in this paper provides a theoretical basis for the practical application of UUV in the future combat.

Contribution of GIS to Soil Landscape Mapping by Multi-Criteria Analysis Using Weighting: The Case of the Square Degrees of M’Bahiakro (Centre) and Daloa (Centre-West) in Ivory Coast

As part of the drive to improve coffee and cocoa production in Ivory Coast, studies are carried out to identify soils that are favourable for these crops. It is therefore necessary to orientate soil investigations based on reliable criteria that best discriminate soil cover. With this in mind, this study is being carried out to help improve survey methods by mapping soil landscapes. It uses GIS and weighted multicriteria analysis. To do this, satellite images were processed and the geological map of the square degrees of M’Bahiakro and Daloa was reclassified. The results show that relief is the main factor in soil landscape differentiation, with respective weights of 0.58 and 0.67 for the forest and pre-forest zones. In contrast, the weight of geological formation in soil landscape differentiation remains low (0.05 for the forest zone and 0.07 for the pre-forest zone). The criteria used on the base of aggregation sum methods have made it possible to formulate soil landscape mapping prediction functions according to agro-ecological environments in the humid intertropical zone. This is essential for the orientation of soil survey work. Nevertheless, other comparative methods, such as the coding mapping method, could provide elements for discussion to validate the models.

Effects of landscape fragmentation of plantation forests on carbon storage in the Loess Plateau,China

Tree plantation and forest restoration are the major strategies for enhancing terrestrial carbon sequestration and mitigating climate change.The Grain for Green Project in China has positively impacted global carbon sequestration and the trend towards fragmentation of plantation forests.Limited studies have been conducted on changes in plantation biomass and stand structure caused by fragmentation,and the effect of fragmentation on the carbon storage of plantation forests remains unclear.This study evaluated the differences between carbon storage and stand structure in black locust forests in fragmented and continuous landscape in the Ansai District,China and discussed the effects of ecological significance of four landscape indices on carbon storage and tree density.We used structural equation modelling to explore the direct and indirect effects of fragmentation,edge,abiotic factors,and stand structure on above-ground carbon storage.Diameter at breast height(DBH)in fragmented forests was 53.3%thicker,tree density was 40.9%lower,and carbon storage was 49.8%higher than those in continuous forests;for all given DBH>10 cm,the trees in fragmented forests were shorter than those in continuous forests.The patch area had a negative impact on carbon storage,i.e.,the higher the degree of fragmentation,the lower the density of the tree;and fragmentation and distance to edge(DTE)directly increased canopy coverage.However,canopy coverage directly decreased carbon storage,and fragmentation directly increased carbon storage and tree density.In non-commercial forests,fragmentation reduces the carbon storage potential of plantation,and the influence of patch area,edge,and patchy connection on plantation should be considered when follow-up trees are planted and for the plantation management.Thus,expanding the area of plantation patches,repairing the edges of complex-shaped patches,enhancing the connectivity of similar patches,and applying nutrients to plantation forests at regular intervals are recommended in fragmented areas of the Loess Plateau.

Stochastic programming based coordinated expansion planning of generation,transmission,demand side resources,and energy storage considering the DC transmission system

With the increasing penetration of wind and solar energies,the accompanying uncertainty that propagates in the system places higher requirements on the expansion planning of power systems.A source-grid-load-storage coordinated expansion planning model based on stochastic programming was proposed to suppress the impact of wind and solar energy fluctuations.Multiple types of system components,including demand response service entities,converter stations,DC transmission systems,cascade hydropower stations,and other traditional components,have been extensively modeled.Moreover,energy storage systems are considered to improve the accommodation level of renewable energy and alleviate the influence of intermittence.Demand-response service entities from the load side are used to reduce and move the demand during peak load periods.The uncertainties in wind,solar energy,and loads were simulated using stochastic programming.Finally,the effectiveness of the proposed model is verified through numerical simulations.

A Reverse Path Planning Approach for Enhanced Performance of Multi-Degree-of-Freedom Industrial Manipulators

In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and stacking.While Multi-Degree-of-Freedom(MDOF)manipulators offer kinematic redundancy,aiding in the derivation of optimal inverse kinematic solutions to meet position and posture requisites,their path planning entails intricate multiobjective optimization,encompassing path,posture,and joint motion optimization.Achieving satisfactory results in practical scenarios remains challenging.In response,this study introduces a novel Reverse Path Planning(RPP)methodology tailored for industrial manipulators.The approach commences by conceptualizing the manipulator’s end-effector as an agent within a reinforcement learning(RL)framework,wherein the state space,action set,and reward function are precisely defined to expedite the search for an initial collision-free path.To enhance convergence speed,the Q-learning algorithm in RL is augmented with Dyna-Q.Additionally,we formulate the cylindrical bounding box of the manipulator based on its Denavit-Hartenberg(DH)parameters and propose a swift collision detection technique.Furthermore,the motion performance of the end-effector is refined through a bidirectional search,and joint weighting coefficients are introduced to mitigate motion in high-power joints.The efficacy of the proposed RPP methodology is rigorously examined through extensive simulations conducted on a six-degree-of-freedom(6-DOF)manipulator encountering two distinct obstacle configurations and target positions.Experimental results substantiate that the RPP method adeptly orchestrates the computation of the shortest collision-free path while adhering to specific posture constraints at the target point.Moreover,itminimizes both posture angle deviations and joint motion,showcasing its prowess in enhancing the operational performance of MDOF industrial manipulators.

A Planning Method for Operational Test of UAV Swarm Based on Mission Reliability

The unmanned aerial vehicle(UAV)swarm plays an increasingly important role in the modern battlefield,and the UAV swarm operational test is a vital means to validate the combat effectiveness of the UAV swarm.Due to the high cost and long duration of operational tests,it is essential to plan the test in advance.To solve the problem of planning UAV swarm operational test,this study considers the multi-stage feature of a UAV swarm mission,composed of launch,flight and combat stages,and proposes a method to find test plans that can maximize mission reliability.Therefore,a multi-stage mission reliability model for a UAV swarm is proposed to ensure successful implementation of the mission.A multi-objective integer optimization method that considers both mission reliability and cost is then formulated to obtain the optimal test plans.This study first constructs a mission reliability model for the UAV swarm in the combat stage.Then,the launch stage and flight stage are integrated to develop a complete PMS(Phased Mission Systems)reliability model.Finally,the Binary Decision Diagrams(BDD)and Multi Objective Quantum Particle Swarm Optimization(MOQPSO)methods are proposed to solve the model.The optimal plans considering both reliability and cost are obtained.The proposed model supports the planning of UAV swarm operational tests and represents a meaningful exploration of UAV swarm test planning.

Correlates of Mistimed Pregnancy and Unmet Need for Family Planning among Women of Reproductive Age in Sandema, Ghana

Background: Globally, an estimated 80 million unintended pregnancies comprising both mistimed and unwanted pregnancies are recorded yearly. Yet only half of the women at risk of mistimed pregnancy use contraceptives. In developing countries, over 100 million females have unmet need, and national surveys in Ghana indicate 23% unmet need rate. Methods: Using a cross-sectional community-based approach, a sample size of 300 women of reproductive age were selected using multi-step cluster sampling techniques. The study was quantitative, using structured interviewer-administered questionnaires. Results: Two-third (66%) of the women in reproductive age still had unmet need, 71% were currently pregnant, and more than a third (36%) confirmed ever having a mistimed pregnancy. Fifty-three percent (53%) of the women confirmed never communicating with their partners on family planning issues, a little below half (45%) took their own health care decisions. Seventy nine percent (79%) ever received family planning services from a health professional. Factors related to unmet needs included mistimed pregnancy, level of education, preferred birth/pregnancy interval, communication between partners and the autonomy to spend self-earnings. Conclusion: Considering that high rates of unmet need results in mistimed pregnancy, improved policies around the influence of unmet need on mistimed pregnancies are needed.

Ground threat prediction-based path planning of unmanned autonomous helicopter using hybrid enhanced artificial bee colony algorithm

Unmanned autonomous helicopter(UAH)path planning problem is an important component of the UAH mission planning system.Aiming to reduce the influence of non-complete ground threat information on UAH path planning,a ground threat prediction-based path planning method is proposed based on artificial bee colony(ABC)algorithm by collaborative thinking strategy.Firstly,a dynamic threat distribution probability model is developed based on the characteristics of typical ground threats.The dynamic no-fly zone of the UAH is simulated and established by calculating the distribution probability of ground threats in real time.Then,a dynamic path planning method for UAH is designed in complex environment based on the real-time prediction of ground threats.By adding the collision warning mechanism to the path planning model,the flight path could be dynamically adjusted according to changing no-fly zones.Furthermore,a hybrid enhanced ABC algorithm is proposed based on collaborative thinking strategy.The proposed algorithm applies the leader-member thinking mechanism to guide the direction of population evolution,and reduces the negative impact of local optimal solutions caused by collaborative learning update strategy,which makes the optimization performance of ABC algorithm more controllable and efficient.Finally,simulation results verify the feasibility and effectiveness of the proposed ground threat prediction path planning method.

Trajectory planning for multi-robot coordinated towing system based on stability

Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to resist external disturbances and makes it difficult to control the trajectory of the suspended object.Based on the kinematics and statics of the multi-robot coordinated towing system with fixed base,the dynamic model of the system is established by using the Newton-Euler equations and the Udwadia-Kalaba equations.To plan the trajectories with high stability and strong control,trajectory planning is performed by combining the dynamics and stability of the towing system.Based on the dynamic stability of the motion trajectory of the suspended object,the stability of the suspended object is effectively improved through online real-time planning and offline manual adjustment.The effectiveness of the proposed method is verified by comparing the motion stability of the suspended object before and after planning.The results provide a foundation for the motion planning and coordinated control of the towing system.

Safe Motion Planning and Control Framework for Automated Vehicles with Zonotopic TRMPC

Model mismatches can cause multi-dimensional uncertainties for the receding horizon control strategies of automated vehicles(AVs).The uncertainties may lead to potentially hazardous behaviors when the AV tracks ideal trajectories that are individually optimized by the AV's planning layer.To address this issue,this study proposes a safe motion planning and control(SMPAC)framework for AVs.For the control layer,a dynamic model including multi-dimensional uncertainties is established.A zonotopic tube-based robust model predictive control scheme is proposed to constrain the uncertain system in a bounded minimum robust positive invariant set.A flexible tube with varying cross-sections is constructed to reduce the controller conservatism.For the planning layer,a concept of safety sets,representing the geometric boundaries of the ego vehicle and obstacles under uncertainties,is proposed.The safety sets provide the basis for the subsequent evaluation and ranking of the generated trajectories.An efficient collision avoidance algorithm decides the desired trajectory through the intersection detection of the safety sets between the ego vehicle and obstacles.A numerical simulation and hardware-in-the-loop experiment validate the effectiveness and real-time performance of the SMPAC.The result of two driving scenarios indicates that the SMPAC can guarantee the safety of automated driving under multi-dimensional uncertainties.

Evolutionary Decision-Making and Planning for Autonomous Driving Based on Safe and Rational Exploration and Exploitation

Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven method.First,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as possible.Then,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning tasks.Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements.Finally,two principles of safety and rationality for the self-evolution of autonomous driving are proposed.A motion envelope is established and embedded into a rational exploration and exploitation scheme,which filters out unreasonable experiences by masking unsafe actions so as to collect high-quality training data for the DRL agent.Experiments with a high-fidelity vehicle model and MATLAB/Simulink co-simulation environment are conducted,and the results show that the proposed online-evolution framework is able to generate safer,more rational,and more efficient driving action in a real-world environment.

General Optimal Trajectory Planning:Enabling Autonomous Vehicles with the Principle of Least Action

This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently.Firstly,we employ the fifth-order Bezier curve to generate and smooth the reference path along the road centerline.Cartesian coordinates are then transformed to achieve the curvature continuity of the generated curve.Considering the road constraints and vehicle dynamics,limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate system.Furthermore,in selecting the optimal trajectory,we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’behavior and summarizing their manipulation characteristics of“seeking benefits and avoiding losses.”Finally,by integrating the idea of receding-horizon optimization,the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility,optimality,and adaptability.Extensive simulations and experiments are performed,and the results demonstrate the framework’s feasibility and effectiveness,which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic participants.Moreover,we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’manipulation.

Multi-UAVs Collaborative Path Planning in the Cramped Environment

Due to its flexibility and complementarity, the multiUAVs system is well adapted to complex and cramped workspaces, with great application potential in the search and rescue(SAR) and indoor goods delivery fields. However, safe and effective path planning of multiple unmanned aerial vehicles(UAVs)in the cramped environment is always challenging: conflicts with each other are frequent because of high-density flight paths, collision probability increases because of space constraints, and the search space increases significantly, including time scale, 3D scale and model scale. Thus, this paper proposes a hierarchical collaborative planning framework with a conflict avoidance module at the high level and a path generation module at the low level. The enhanced conflict-base search(ECBS) in our framework is improved to handle the conflicts in the global path planning and avoid the occurrence of local deadlock. And both the collision and kinematic models of UAVs are considered to improve path smoothness and flight safety. Moreover, we specifically designed and published the cramped environment test set containing various unique obstacles to evaluating our framework performance thoroughly. Experiments are carried out relying on Rviz, with multiple flight missions: random, opposite, and staggered, which showed that the proposed method can generate smooth cooperative paths without conflict for at least 60 UAVs in a few minutes.The benchmark and source code are released in https://github.com/inin-xingtian/multi-UAVs-path-planner.