9,996 research outputs found
Multilink and AUV-Assisted Energy-Efficient Underwater Emergency Communications
Recent development in wireless communications has provided many reliable
solutions to emergency response issues, especially in scenarios with
dysfunctional or congested base stations. Prior studies on underwater emergency
communications, however, remain under-studied, which poses a need for combining
the merits of different underwater communication links (UCLs) and the
manipulability of unmanned vehicles. To realize energy-efficient underwater
emergency communications, we develop a novel underwater emergency communication
network (UECN) assisted by multiple links, including underwater light,
acoustic, and radio frequency links, and autonomous underwater vehicles (AUVs)
for collecting and transmitting underwater emergency data. First, we determine
the optimal emergency response mode for an underwater sensor node (USN) using
greedy search and reinforcement learning (RL), so that isolated USNs (I-USNs)
can be identified. Second, according to the distribution of I-USNs, we dispatch
AUVs to assist I-USNs in data transmission, i.e., jointly optimizing the
locations and controls of AUVs to minimize the time for data collection and
underwater movement. Finally, an adaptive clustering-based multi-objective
evolutionary algorithm is proposed to jointly optimize the number of AUVs and
the transmit power of I-USNs, subject to a given set of constraints on transmit
power, signal-to-interference-plus-noise ratios (SINRs), outage probabilities,
and energy, which achieves the best tradeoff between the maximum emergency
response time (ERT) and the total energy consumption (EC). Simulation results
indicate that our proposed approach outperforms benchmark schemes in terms of
energy efficiency (EE), contributing to underwater emergency communications.Comment: 15 page
Towards Autonomous Selective Harvesting: A Review of Robot Perception, Robot Design, Motion Planning and Control
This paper provides an overview of the current state-of-the-art in selective
harvesting robots (SHRs) and their potential for addressing the challenges of
global food production. SHRs have the potential to increase productivity,
reduce labour costs, and minimise food waste by selectively harvesting only
ripe fruits and vegetables. The paper discusses the main components of SHRs,
including perception, grasping, cutting, motion planning, and control. It also
highlights the challenges in developing SHR technologies, particularly in the
areas of robot design, motion planning and control. The paper also discusses
the potential benefits of integrating AI and soft robots and data-driven
methods to enhance the performance and robustness of SHR systems. Finally, the
paper identifies several open research questions in the field and highlights
the need for further research and development efforts to advance SHR
technologies to meet the challenges of global food production. Overall, this
paper provides a starting point for researchers and practitioners interested in
developing SHRs and highlights the need for more research in this field.Comment: Preprint: to be appeared in Journal of Field Robotic
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Ensuring Access to Safe and Nutritious Food for All Through the Transformation of Food Systems
Redefining Community in the Age of the Internet: Will the Internet of Things (IoT) generate sustainable and equitable community development?
There is a problem so immense in our built world that it is often not fully realized. This problem is the disconnection between humanity and the physical world. In an era of limitless data and information at our fingertips, buildings, public spaces, and landscapes are divided from us due to their physical nature. Compared with the intense flow of information from our online world driven by the beating engine of the internet, our physical world is silent. This lack of connection not only has consequences for sustainability but also for how we perceive and communicate with our built environment in the modern age. A possible solution to bridge the gap between our physical and online worlds is a technology known as the Internet of Things (IoT). What is IoT? How does it work? Will IoT change the concept of the built environment for a participant within it, and in doing so enhance the dynamic link between humans and place? And what are the implications of IoT for privacy, security, and data for the public good? Lastly, we will identify the most pressing issues existing in the built environment by conducting and analyzing case studies from Pomona College and California State University, Northridge. By analyzing IoT in the context of case studies we can assess its viability and value as a tool for sustainability and equality in communities across the world
A Decision Support System for Economic Viability and Environmental Impact Assessment of Vertical Farms
Vertical farming (VF) is the practice of growing crops or animals using the vertical dimension via multi-tier racks or vertically inclined surfaces. In this thesis, I focus on the emerging industry of plant-specific VF. Vertical plant farming (VPF) is a promising and relatively novel practice that can be conducted in buildings with environmental control and artificial lighting. However, the nascent sector has experienced challenges in economic viability, standardisation, and environmental sustainability. Practitioners and academics call for a comprehensive financial analysis of VPF, but efforts are stifled by a lack of valid and available data.
A review of economic estimation and horticultural software identifies a need for a decision support system (DSS) that facilitates risk-empowered business planning for vertical farmers. This thesis proposes an open-source DSS framework to evaluate business sustainability through financial risk and environmental impact assessments. Data from the literature, alongside lessons learned from industry practitioners, would be centralised in the proposed DSS using imprecise data techniques. These techniques have been applied in engineering but are seldom used in financial forecasting. This could benefit complex sectors which only have scarce data to predict business viability.
To begin the execution of the DSS framework, VPF practitioners were interviewed using a mixed-methods approach. Learnings from over 19 shuttered and operational VPF projects provide insights into the barriers inhibiting scalability and identifying risks to form a risk taxonomy. Labour was the most commonly reported top challenge. Therefore, research was conducted to explore lean principles to improve productivity.
A probabilistic model representing a spectrum of variables and their associated uncertainty was built according to the DSS framework to evaluate the financial risk for VF projects. This enabled flexible computation without precise production or financial data to improve economic estimation accuracy. The model assessed two VPF cases (one in the UK and another in Japan), demonstrating the first risk and uncertainty quantification of VPF business models in the literature. The results highlighted measures to improve economic viability and the viability of the UK and Japan case.
The environmental impact assessment model was developed, allowing VPF operators to evaluate their carbon footprint compared to traditional agriculture using life-cycle assessment. I explore strategies for net-zero carbon production through sensitivity analysis. Renewable energies, especially solar, geothermal, and tidal power, show promise for reducing the carbon emissions of indoor VPF. Results show that renewably-powered VPF can reduce carbon emissions compared to field-based agriculture when considering the land-use change.
The drivers for DSS adoption have been researched, showing a pathway of compliance and design thinking to overcome the ‘problem of implementation’ and enable commercialisation. Further work is suggested to standardise VF equipment, collect benchmarking data, and characterise risks. This work will reduce risk and uncertainty and accelerate the sector’s emergence
Annals [...].
Pedometrics: innovation in tropics; Legacy data: how turn it useful?; Advances in soil sensing; Pedometric guidelines to systematic soil surveys.Evento online. Coordenado por: Waldir de Carvalho Junior, Helena Saraiva Koenow Pinheiro, Ricardo Simão Diniz Dalmolin
Desarrollo de una herramienta integral de gestión de gases de efecto invernadero para la toma de decisión contra el cambio climático a nivel regional y local en la Comunitat Valenciana
Tesis por compendio[ES] Actualmente, los responsables de tomar decisiones contra el cambio climático carecen de herramientas para desarrollar inventarios de emisiones de gases de efecto invernadero (GEI) con suficiente rigor científico-técnico y precisión para priorizar e invertir los recursos disponibles de manera eficiente en las medidas necesarias para luchar contra el cambio climático. Por ello, en esta tesis se expone el desarrollo de un sistema de información territorial y sectorial (SITE) para monitorear las emisiones de GEI que sirva como herramienta de gobernanza climática local y regional. SITE combina las ventajas de los enfoques metodológicos descendente o top-down (de arriba hacia abajo) y ascendente o bottom-up (de abajo hacia arriba), para lograr un enfoque híbrido innovador para contabilizar y gestionar de manera eficiente las emisiones de GEI. Por tanto, en esta tesis se definen los diferentes desarrollos metodológicos, tanto generales como específicos de sectores clave del Panel Intergubernamental de Cambio Climático (IPPC) (edificación, transporte, sector forestal, etc.), un desarrollo informático para la parte de SITE que se ejecuta del lado del servidor, que de ahora en adelante denominaremos back-end del sistema, y siete implementaciones como casos de estudio representativos, a diferentes escalas y aplicados sobre diferentes sectores.
Estas implementaciones a diferentes escalas y sectores demuestran el potencial del sistema como herramienta de apoyo en la toma de decisión contra el cambio climático a nivel regional y local. Las diferentes implementaciones en casos piloto representativos, tanto a nivel regional en la Comunitat Valenciana como a nivel local en municipios grandes (València) y medianos (Quart de Poblet y Llíria) muestran el potencial de adaptación territorial y sectorial que tiene la herramienta. Las metodologías desarrolladas para los sectores específicos de tráfico rodado, edificación o sector forestal, ofrecen cuantificaciones con una resolución espacial con gran capacidad de optimizar las políticas locales y regionales. Por tanto, la herramienta cuenta con un gran potencial de escalabilidad y gran capacidad de mejora continua mediante la inclusión de nuevos enfoques metodológicos, adaptación de las metodologías a la disponibilidad de datos, metodologías concretas para sectores clave y actualización a las mejores metodologías disponibles derivadas de actividades de investigación de la comunidad científica.[CA] Actualment, els responsables de prendre decisions contra el canvi climàtic no tenen eines per aconseguir inventaris d'emissions de gasos d'efecte hivernacle (GEH) amb prou cientificotècnic rigor, precisió i integritat per invertir els recursos disponibles de manera eficient en les mesures necessàries contra el canvi climàtic. Per això, en aquesta tesis se exposa el desenvolupa un sistema d'informació territorial i sectorial (SITE) per monitoritzar les emissions de GEH com a eina de governança climàtica local i regional. Aquest sistema combina els avantatges dels enfocaments metodològics descendent o top-down (de dalt a baix) i ascendent o bottom-up (de baix a dalt), per aconseguir un enfocament híbrid innovador per comptabilitzar i gestionar de manera eficient les emissions de GEH. Per tant, en aquesta tesi doctoral es descriuen els diferents desenvolupaments metodològics, tant generals com específics de sectors clau del Panel Intergovernamental contra el Canvi Climàtic (edificació, transport, forestal, etc.), un desenvolupament informàtic per al back-end del sistema i set implementacions com a casos d'estudi representatius, a diferents escales, amb els diferents enfocaments metodològics i aplicats sobre diferents sectors. Això queda descrit en sis capítols.
Aquestes implementacions a diferents escales i sectors demostren el potencial del sistema com a eina de suport en la presa de decisió contra el canvi climàtic a nivell regional i local. Les diferents implementacions en casos pilot representatius, tant a nivell regional a la Comunitat Valenciana com a nivell local en municipis grans (València) i mitjans (Quart de Poblet i Llíria,) mostren el potencial d'adaptació territorial i sectorial que té l'eina. Les metodologies desenvolupades per als sectors específics de trànsit rodat, edificació i forestal, ofereixen quantificacions amb una resolució espacial amb gran capacitat d'optimitzar les polítiques locals i regionals. Per tant, l'eina compta amb un gran potencial d'escalabilitat i gran capacitat de millora contínua mitjançant la inclusió de nous enfocaments metodològics, adaptació de les metodologies a la disponibilitat de dades, metodologies concretes per a sectors clau, i actualització a les millors metodologies disponibles derivades de activitats de investigació de la comunitat científica.[EN] Currently, regional and local decision-makers lack of tools to achieve greenhouse gases (GHG) emissions inventories with enough rigor, accuracy and completeness in order to prioritize available resources efficiently against climate change. Thus, in this thesis the development of a territorial and sectoral information system (SITE) to monitor GHG emissions as a local and regional climate governance tool is exposed. This system combines the advantages of both, top-down and bottom-up approaches, to achieve an innovative hybrid approach to account and manage efficiently GHG emissions. Furthermore, this thesis defines the methodologies developed, a computer proposal for the back-end of the system and seven implementations as representative case studies at different scales (local and regional level), with the different methodological approaches and applied to different sectors.
Thus, these implementations demonstrate the potential of the system as decision-making tool against climate change at the regional and local level as climate governance tool. The different implementations in representative pilot cases, both at the regional level in the Valencian Community and at the local level in large (Valencia) and medium-sized municipalities (Quart de Poblet and Llíria) demonstrate the potential for territorial and sectoral adaptation of the system developed. The methodologies developed for the specific sectors of road transport, building and forestry, offer quantifications with a spatial resolution with a great capacity to optimize local and regional policies. Therefore, the tool has a great potential for scalability and a great capacity for continuous improvement through the inclusion of new methodological approaches, adapting the methodologies to the availability of data, specific methodologies for key sectors, and updating to the best methodologies available in the scientific community.Lorenzo Sáez, E. (2022). Desarrollo de una herramienta integral de gestión de gases de efecto invernadero para la toma de decisión contra el cambio climático a nivel regional y local en la Comunitat Valenciana [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/181662TESISCompendi
Interference mitigation in LiFi networks
Due to the increasing demand for wireless data, the radio frequency (RF) spectrum has
become a very limited resource. Alternative approaches are under investigation to support
the future growth in data traffic and next-generation high-speed wireless communication
systems. Techniques such as massive multiple-input multiple-output (MIMO), millimeter
wave (mmWave) communications and light-fidelity (LiFi) are being explored. Among
these technologies, LiFi is a novel bi-directional, high-speed and fully networked wireless
communication technology. However, inter-cell interference (ICI) can significantly restrict the
system performance of LiFi attocell networks. This thesis focuses on interference mitigation
in LiFi attocell networks.
The angle diversity receiver (ADR) is one solution to address the issue of ICI as well as
frequency reuse in LiFi attocell networks. With the property of high concentration gain and
narrow field of view (FOV), the ADR is very beneficial for interference mitigation. However,
the optimum structure of the ADR has not been investigated. This motivates us to propose the
optimum structures for the ADRs in order to fully exploit the performance gain. The impact
of random device orientation and diffuse link signal propagation are taken into consideration.
The performance comparison between the select best combining (SBC) and maximum ratio
combining (MRC) is carried out under different noise levels. In addition, the double source
(DS) system, where each LiFi access point (AP) consists of two sources transmitting the same
information signals but with opposite polarity, is proven to outperform the single source (SS)
system under certain conditions.
Then, to overcome issues around ICI, random device orientation and link blockage, hybrid
LiFi/WiFi networks (HLWNs) are considered. In this thesis, dynamic load balancing (LB)
considering handover in HLWNs is studied. The orientation-based random waypoint (ORWP)
mobility model is considered to provide a more realistic framework to evaluate the performance
of HLWNs. Based on the low-pass filtering effect of the LiFi channel, we firstly propose
an orthogonal frequency division multiple access (OFDMA)-based resource allocation (RA)
method in LiFi systems. Also, an enhanced evolutionary game theory (EGT)-based LB scheme
with handover in HLWNs is proposed.
Finally, due to the characteristic of high directivity and narrow beams, a vertical-cavity
surface-emitting laser (VCSEL) array transmission system has been proposed to mitigate
ICI. In order to support mobile users, two beam activation methods are proposed. The
beam activation based on the corner-cube retroreflector (CCR) can achieve low power
consumption and almost-zero delay, allowing real-time beam activation for high-speed users.
The mechanism based on the omnidirectional transmitter (ODTx) is suitable for low-speed
users and very robust to random orientation
Cultivating Agrobiodiversity in the U.S.: Barriers and Bridges at Multiple Scales
The diversity of crops grown in the United States (U.S.) is declining, causing agricultural landscapes to become more and more simplified. This trend is concerning for the loss of important plant, insect, and animal species, as well as the pollution and degradation of our environment. Through three separate but related studies, this dissertation addresses the need to increase the diversity of these agricultural landscapes in the U.S., particularly through diversifying the type and number of crops grown. The first study uses multiple, openly accessible datasets related to agricultural land use and policies to document and visualize change over recent decades. Through this, I show that U.S. agriculture has gradually become more specialized in the crops grown, crop production is heavily concentrated in certain areas, and crop diversity is continuing to decline. Meanwhile, federal agricultural policy, while having become more influential over how U.S. agriculture operates, incentivizes this specialization. The second study uses nonlinear statistical modeling to identify and compare social, political, and ecological factors that best predict crop diversity across nine regions in the U.S. Factors of climate, prior land use, and farm inputs best predict diversity across regions, but regions show key differences in how factors are important, indicating that patterns at the regional scale constrain and enable further diversification. Finally, the third study relied on interviews with farmers and key informants in southern Idaho’s Magic Valley – a cluster of eight counties that is known to be agriculturally diverse. Interviews gauge what farmers are currently doing to manage crop diversity (the present) and how they imagine alternative landscapes (the imaginary). We found that farmers in the Magic Valley manage current diversity mainly through cover cropping and diverse crop rotations, but daily struggles and political barriers make experimenting with and imagining alternative landscapes difficult and unlikely to occur. Together, these three studies provide an integrated view of how and why U.S. agriculture landscapes simplify or diversify, as well as the barriers and bridges such pathways of diversification
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Reliable Decision-Making with Imprecise Models
The rapid growth in the deployment of autonomous systems across various sectors has generated considerable interest in how these systems can operate reliably in large, stochastic, and unstructured environments. Despite recent advances in artificial intelligence and machine learning, it is challenging to assure that autonomous systems will operate reliably in the open world. One of the causes of unreliable behavior is the impreciseness of the model used for decision-making. Due to the practical challenges in data collection and precise model specification, autonomous systems often operate based on models that do not represent all the details in the environment. Even if the system has access to a comprehensive decision-making model that accounts for all the details in the environment and all possible scenarios the agent may encounter, it may be intractable to solve this complex model optimally. Consequently, this complex, high fidelity model may be simplified to accelerate planning, introducing imprecision. Reasoning with such imprecise models affects the reliability of autonomous systems. A system\u27s actions may sometimes produce unexpected, undesirable consequences, which are often identified after deployment. How can we design autonomous systems that can operate reliably in the presence of uncertainty and model imprecision?
This dissertation presents solutions to address three classes of model imprecision in a Markov decision process, along with an analysis of the conditions under which bounded-performance can be guaranteed. First, an adaptive outcome selection approach is introduced to devise risk-aware reduced models of the environment that efficiently balance the trade-off between model simplicity and fidelity, to accelerate planning in resource-constrained settings. Second, a framework that extends stochastic shortest path framework to problems with imperfect information about the goal state during planning is introduced, along with two solution approaches to solve this problem. Finally, two complementary solution approaches are presented to minimize the negative side effects of agent actions. The techniques presented in this dissertation enable an autonomous system to detect and mitigate undesirable behavior, without redesigning the model entirely
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