Learning-Initialized Trajectory Planning in Unknown Environments

Autonomous flight in unknown environments requires precise planning for both the spatial and temporal profiles of trajectories, which generally involves nonconvex optimization, leading to high time costs and susceptibility to local optima. To address these limitations, we introduce the Learning-Initialized Trajectory Planner (LIT-Planner), a novel approach that guides optimization using a Neural Network (NN) Planner to provide initial values. We first leverage the spatial-temporal optimization with batch sampling to generate training cases, aiming to capture multimodality in trajectories. Based on these data, the NN-Planner maps visual and inertial observations to trajectory parameters for handling unknown environments. The network outputs are then optimized to enhance both reliability and explainability, ensuring robust performance. Furthermore, we propose a framework that supports robust online replanning with tolerance to planning latency. Comprehensive simulations validate the LIT-Planner's time efficiency without compromising trajectory quality compared to optimization-based methods. Real-world experiments further demonstrate its practical suitability for autonomous drone navigation

Using computed tomography angiography and computational fluid dynamics to study aortic coarctation in different arch morphologies

ObjectiveTo study the differences in computed tomography angiography (CTA) imaging of gothic arches, crenel arches, and romanesque arches in children with Aortic Coarctation (CoA), and to apply computational fluid dynamics (CFD) to study hemodynamic changes in CoA children with gothic arch aorta.MethodsThe case data and CTA data of children diagnosed with CoA (95 cases) in our hospital were retrospectively collected, and the morphology of the aortic arch in the children was defined as gothic arch (n = 27), crenel arch (n = 25) and romanesque arch (n = 43). The three groups were compared with D1/AOA, D2/AOA, D3/AOA, D4/AOA, D5/AOA, and AAO-DAO angle, TAO-DAO angle, and aortic arch height to width ratio (A/T). Computational fluid dynamics was applied to assess hemodynamic changes in children with gothic arches.ResultsThere were no significant differences between D1/AOA and D2/AOA among gothic arch, crenel arch, and romanesque arch (P > 0.05). The differences in D3/AOA, D4/AOA, and D5/AOA among the three groups were statistically significant (P < 0.05), D4/AOA, D5/AOA of the gothic arch group were smaller than the crenel arch group, and the D3/AOA and D5/AOA of the gothic arch group were smaller than the romanesque arch group (P < 0.05). The difference in AAO-DAO angle among the three groups was statistically significant (P < 0.05), and the AAO-DAO angle of gothic arch was smaller than that of romanesque arch and crenel arch group (P < 0.05). There was no significant difference in the TAO-DAO angle between the three groups (P > 0.05). The difference in A/T values among the three groups was statistically significant (P < 0.05), and the A/T values: gothic arch > romanesque arch > crenel arch (P < 0.05). The CFD calculation of children with gothic arch showed that the pressure drop between the distal stenosis and the descending aorta was 58 mmHg, and the flow rate at the isthmus and descending aorta was high and turbulent.ConclusionGothic aortic arch is common in CoA, it may put adverse effects on the development of the aortic isthmus and descending aorta, and its A/T value and AAO-DAO angle are high. CFD could assess hemodynamic changes in CoA

The diploid genome sequence of an Asian individual

Here we present the first diploid genome sequence of an Asian individual. The genome was sequenced to 36-fold average coverage using massively parallel sequencing technology. We aligned the short reads onto the NCBI human reference genome to 99.97% coverage, and guided by the reference genome, we used uniquely mapped reads to assemble a high-quality consensus sequence for 92% of the Asian individual's genome. We identified approximately 3 million single-nucleotide polymorphisms (SNPs) inside this region, of which 13.6% were not in the dbSNP database. Genotyping analysis showed that SNP identification had high accuracy and consistency, indicating the high sequence quality of this assembly. We also carried out heterozygote phasing and haplotype prediction against HapMap CHB and JPT haplotypes (Chinese and Japanese, respectively), sequence comparison with the two available individual genomes (J. D. Watson and J. C. Venter), and structural variation identification. These variations were considered for their potential biological impact. Our sequence data and analyses demonstrate the potential usefulness of next-generation sequencing technologies for personal genomics

A Practical Split-Window Algorithm for Estimating Land Surface Temperature from Landsat 8 Data

This paper developed a practical split-window (SW) algorithm to estimate land surface temperature (LST) from Thermal Infrared Sensor (TIRS) aboard Landsat 8. The coefficients of the SW algorithm were determined based on atmospheric water vapor sub-ranges, which were obtained through a modified split-window covariance–variance ratio method. The channel emissivities were acquired from newly released global land cover products at 30 m and from a fraction of the vegetation cover calculated from visible and near-infrared images aboard Landsat 8. Simulation results showed that the new algorithm can obtain LST with an accuracy of better than 1.0 K. The model consistency to the noise of the brightness temperature, emissivity and water vapor was conducted, which indicated the robustness of the new algorithm in LST retrieval. Furthermore, based on comparisons, the new algorithm performed better than the existing algorithms in retrieving LST from TIRS data. Finally, the SW algorithm was proven to be reliable through application in different regions. To further confirm the credibility of the SW algorithm, the LST will be validated in the future

Split-Window algorithm for estimating land surface temperature from Landsat 8 TIRS data

On the basis of the thermal infrared radiative transfer theory, this paper addressed the retrieval of Land Surface Temperature (LST) from Landsat 8--the latest satellite in the Landsat Data Continuity Mission (LDCM) project in two thermal infrared channels, using the Generalized Split-Window (GSW) algorithm. Meanwhile, a linear bidirectional reflectance distribution function (BRDF) models were used to estimate the emissivity according to different surface classification. A series of ranging of typical surface emissivity and the atmospheric water vapor content (WV) were used into an accurate atmospheric radiative transfer model MODTRAN 4.3 to derive the coefficients in the algorithm. The simulation result showed the LST estimated by the algorithm with the Root Mean Square Error (RMSE) is 1.26K for the all ranges of the atmospheric WV and the results could be better in lower atmospheric WV condition.Engineering, Electrical & ElectronicGeosciences, MultidisciplinaryRemote SensingEICPCI-S(ISTP)

Atmospheric water vapor retrieval from Landsat 8 and its validation

This objective of this paper is to estimate atmospheric water vapor (m)) from the latest Landsat 8 Thermal InfRared Sensor (TIRS) image by using a new modified split-window covariance-variance ratio (MSWCVR) method. Model analysis showed that the MSWCVR method can theoretically retrieve wv with an accuracy better than 0.45g/cm(2) for most atmospheric moisture conditions. The MSWCVR was evaluated by using AERONET ground-measured data and cross-compared with MODIS products in 2013 at forty two ground sites, and results presented that the retrieved wv from TIRS data was highly correlated with but generally larger (about 1.0 g/cm(2)) than two others. The reasons for this uncertainty were mainly ascribed to data systematic noise and radiative calibration error. Future work must pay more attention to the data quality and radiative calibration of Landsat 8 TIRS data.http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000349688104083&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=8e1609b174ce4e31116a60747a720701Engineering, Electrical & ElectronicGeosciences, MultidisciplinaryRemote SensingEICPCI-S(ISTP)

Evaluation of Radiometric Performance for the Thermal Infrared Sensor Onboard Landsat 8

The radiometric performance of remotely-sensed images is important for the applications of such data in monitoring land surface, ocean and atmospheric status. One requirement placed on the Thermal Infrared Sensor (TIRS) onboard Landsat 8 was that the noise-equivalent change in temperature (NEΔT) should be ≤0.4 K at 300 K for its two thermal infrared bands. In order to optimize the use of TIRS data, this study investigated the on-orbit NEΔT of the TIRS two bands from a scene-based method using clear-sky images over uniform ground surfaces, including lake, deep ocean, snow, desert and Gobi, as well as dense vegetation. Results showed that the NEΔTs of the two bands were 0.051 and 0.06 K at 300 K, which exceeded the design specification by an order of magnitude. The effect of NEΔT on the land surface temperature (LST) retrieval using a split window algorithm was discussed, and the estimated NEΔT could contribute only 3.5% to the final LST error in theory, whereas the required NEΔT could contribute up to 26.4%. Low NEΔT could improve the application of TIRS images. However, efforts are needed in the future to remove the effects of unwanted stray light that appears in the current TIRS images

Spatio-Temporal Changes in Water Use Efficiency and Its Driving Factors in Central Asia (2001–2021)

Although understanding the carbon and water cycles of dryland ecosystems in terms of water use efficiency (WUE) is important, WUE and its driving mechanisms are less understood in Central Asia. This study calculated Central Asian WUE for 2001–2021 based on the Google Earth Engine (GEE) platform and analyzed its spatial and temporal variability using temporal information entropy. The importance of atmospheric factors, hydrological factors, and biological factors in driving WUE in Central Asia was also explored using a geographic detector. The results show the following: (1) the average WUE in Central Asia from 2001–2021 is 2.584–3.607 gCkg−1H2O, with weak inter-annual variability and significant intra-annual variability and spatial distribution changes; (2) atmospheric and hydrological factors are strong drivers, with land surface temperature (LST) being the strongest driver of WUE, explaining 54.8% of variation; (3) the interaction of the driving factors can enhance the driving effect by more than 60% for the interaction between most atmospheric factors and vegetation factors, of which the effect of the interaction of temperature (TEM) with vegetation cover (FVC) is the greatest, explaining 68.1% of the change in WUE. Furthermore, the interaction of driving factors with very low explanatory power (e.g., water pressure (VAP), aerosol optical depth over land (AOD), and groundwater (GWS)) has a significant enhancement effect. Vegetation is an important link in driving WUE, and it is important to understand the mechanisms of WUE change to guide ecological restoration projects

Impacts of climate change on the wetlands in the arid region of Northwestern China over the past 2 decades

Climate change has caused inland wetlands shrinkage and exacerbated problems, such as sustainable development and ecological security, for years. These issues are mainly pronounced in the inland arid area. The ecological environment’s deterioration is especially severe in the drylands of the interior. However, dryland wetland changes and their response to climate are poorly understood. This study uses the K-means algorithm in Google Earth Engine (GEE) to classify two typical dryland wetlands (Ebinur and Bosten Lakes) for rapidly and accurately detecting dryland wetland changes. Moreover, it explores the long-term spatial–temporal variation in wetland distribution. In addition, it investigates the response of various lakes to climate change in northern and southern Xinjiang using wavelet analysis. The study’s results showed that K-means clustering in the GEE platform has a high classification accuracy (Kappa > 0.8) in wetland classification, making it a feasible approach. The terminal lake wetland types, represented by the Ebinur Lake, changed significantly between 2001 and 2021. In contrast, the inflow-outflow lake wetland types, represented by the Bosten Lake, perform more consistently. Significant spatial–temporal variation is observed at Ebinur Lake, with the lake gradually shrinking and transforming into a marsh, where the largest marsh proportion degrades into non-wetland during the year. Bosten Lake experienced frequent conversions between marsh and non-wetland throughout the year. Furthermore, the responses of various dryland lakes to climate change are consistent, and a low precedes precipitation and follows evapotranspiration. However, their sensitivity to climate response varies, with the terminal lake being most affected by climate change. Mastering the dynamic changes and climate response of dryland wetlands achieves the sustainable development goals of drylands, including carbon neutrality and peak carbon dioxide emissions