Search Results (16,401)

This paper presents a robust point cloud registration method based on a multi-scale covariance matrix descriptor and an accurate transformation estimation. Compared with state-of-the-art feature descriptors, such as FPH, 3DSC, spin image, etc., our proposed multi-scale covariance matrix descriptor is superior for dealing with registration problems in a higher noise environment since the mean operation in generating the covariance matrix can filter out most of the noise-damaged samples or outliers and also make itself robust to noise. Compared with transformation estimation, such as feature matching, clustering, ICP, RANSAC, etc., our transformation estimation is able to find a better optimal transformation between a pair of point clouds since our transformation estimation is a multi-level point cloud transformation estimator including feature matching, coarse transformation estimation based on clustering, and a fine transformation estimation based on ICP. Experiment findings reveal that our proposed feature descriptor and transformation estimation outperforms state-of-the-art feature descriptors and transformation estimation, and registration effectiveness based on our registration framework of point cloud is extremely successful in the Stanford 3D Scanning Repository, the SpaceTime dataset, and the Kinect dataset, where the Stanford 3D Scanning Repository is known for its comprehensive collection of high-quality 3D scans, and the SpaceTime dataset and the Kinect dataset are captured by a SpaceTime Stereo scanner and a low-cost Microsoft Kinect scanner, respectively. Full article

The present work proposes a new model based on a convolutional neural network (CNN) to retrieve solar shortwave (SW) irradiance via the estimation of the cloud modification factor (CMF) from daytime sky images captured by all-sky cameras; this model is named CNN-CMF. To this end, a total of 237,669 sky images paired with SW irradiance measurements obtained by using pyranometers were selected at the following three sites: Valladolid and Izaña, Spain, and Lindenberg, Germany. This dataset was randomly split into training and testing sets, with the latter excluded from the training model in order to validate it using the same locations. Subsequently, the test dataset was compared with the corresponding SW irradiance measurements obtained by the pyranometers in scatter density plots. The linear fit shows a high determination coefficient (R2) of 0.99. Statistical analyses based on the mean bias error (MBE) values and the standard deviation (SD) of the SW irradiance differences yield results close to −2% and 9%, respectively. The MBE indicates a slight underestimation of the CNN-CMF model compared to the measurement values. After its validation, model performance was evaluated at the Antarctic station of Marambio (Argentina), a location not used in the training process. A similar comparison between the model-predicted SW irradiance and pyranometer measurements yielded R2=0.95, with an MBE of around 2% and an SD of approximately 26%. Although the precision provided by the SD at the Marambio station is lower, the MBE shows that the model’s accuracy is similar to previous results but with a slight overestimation of the SW irradiance. Finally, the determination coefficient improved to 0.99, and the MBE and SD are about 3% and 11%, respectively, when the CNN-CMF model is used to estimate daily SW irradiation values. Full article

Carbon dioxide is one of the most influential greenhouse gases affecting human life. CO2 data can be obtained through three methods: ground-based, airborne, and satellite-based observations. However, ground-based monitoring is typically composed of sparsely distributed stations, while airborne monitoring has limited coverage and spatial resolution; they cannot fully reflect the spatiotemporal distribution of CO2. Satellite remote sensing plays a crucial role in monitoring the global distribution of atmospheric CO2, offering high observation accuracy and wide coverage. However, satellite remote sensing still faces spatiotemporal constraints, such as interference from clouds (or aerosols) and limitations from satellite orbits, which can lead to significant data loss. Therefore, the reconstruction of satellite-based CO2 data becomes particularly important. This article summarizes methods for the reconstruction of satellite-based CO2 data, including interpolation, data fusion, and super-resolution reconstruction techniques, and their advantages and disadvantages, it also provides a comprehensive overview of the classification and applications of super-resolution reconstruction techniques. Finally, the article offers future perspectives, suggesting that ideas like image super-resolution reconstruction represent the future trend in the field of satellite-based CO2 data reconstruction. Full article

Today, historic villages represent a widespread and relevant reality of the Italian administrative structure. To preserve their value for future generations, smart city applications can contribute to implement effective monitoring and decision-making processes devoted to safeguarding their fragile ecosystem. Starting from a situational awareness model, this study proposes a method for designing human-in-the-loop cyber-physical systems that allow the design of monitoring and decision-making applications for historic villages. Both the model and the design method can be used as a reference for the realization of human-in-the-loop cyber-physical systems that consist of human beings, smart objects, edge devices, and cloud components in edge-cloud architectures. The output of the research, consisting of the graphical models for the definition of monitoring architectures and the method for the design of human-in-the-loop cyber-physical systems, was validated in the context of the village of Sant’Agata dei Goti through the implementation of a human-in-the-loop cyber-physical system for monitoring sites aiming at their management, conservation, protection, and fruition. Full article

This study uses idealized simulations to investigate the impact of cloud condensation nuclei (CCN) on a cumulus congestus. Thirteen cases with the initial CCN_C, which is the CCN concentration at 1% supersaturation with respect to water, from 10 to 10,000 cm⁻³ are simulated. The analysis focuses on the liquid phase due to the negligible ice phase in this study. A non-monotonic response of cloud properties and precipitation to CCN concentration is observed. When CCN_C is increased from 10 to 50 cm⁻³, the enhanced condensation due to the more numerous droplets invigorates the cumulus congestus. The delayed precipitation formation due to the smaller droplets also facilitates the cloud development. The two processes together lead to a higher liquid water path (LWP), higher cloud top, and heavier precipitation. The cumulus congestus has the highest cloud top, the strongest updraft, and the most accumulated precipitation and at CCN_C = 50 cm⁻³. When CCN_C is increased from 50 to 500 cm⁻³, the condensation near the cloud base is further enhanced and the precipitation is further delayed, both of which lead to more liquid water remaining in the cloud, and thus an even higher LWP and heavier precipitation rate in the later stage. However, the significantly enhanced evaporation near the cloud top limits the vertical development of the cumulus congestus, leading to a lower cloud top. When CCN_C is further increased to be higher than 1000 cm⁻³, the cumulus congestus is strongly suppressed, and no precipitation forms. The ratio of the precipitation production rate to vertical cloud water flux in the updraft is not a constant, as is generally assumed in cumulus parameterization schemes, but decreases significantly with increasing CCN concentration. It is also found that the CCN effect on the cumulus congestus relies on which parameters are used to describe the cloud strength. In this study, as CCN_C increases, the LWP and the maximum precipitation rate peak at CCN_C = 500 cm⁻³, while the cloud top height, maximum updraft, and accumulated precipitation amount peak at CCN_C = 50 cm⁻³. Full article

With the rapid development of the general aviation industry in China, the influence of high-impact aeronautical weather events, such as aircraft icing, on flight safety has become more and more prominent. On 1 March 2021, an aircraft conducting weather modification operations crashed over Ji’an City, due to severe icing. Using multi-source meteorological observations and atmospheric numerical simulations, we analyzed the meteorological causes of this icing accident. The results indicate that a cold front formed in northwestern China and then moved southward, which is the main weather system in the icing area. Based on the icing index, we conducted an analysis of the temperature, relative humidity, cloud liquid water path, effective particle radius, and vertical flow field, it was found that aircraft icing occurred behind the ground front, where warm-moist airflows rose along the front to result in a rapid increase of water vapor in 600–500 hPa. The increase of water vapor, in conjunction with low temperature, led to the formation of a cold stratiform cloud system. In this cloud system, there were a large number of large cloud droplets. In addition, the frontal inversion increased the atmospheric stability, allowing cloud droplets to accumulate in the low-temperature region and forming meteorological conditions conducive to icing. The Weather Research and Forecasting model was employed to provide a detailed description of the formation process of the atmospheric conditions conducive to icing, such as the uplifting motion along the front and supercooled water. Based on a real case, we investigated the formation process of icing-inducing meteorological conditions under the influence of a front in detail in this study and verified the capability of a numerical model to simulate the meteorological environment of frontal icing, in order to provide a valuable reference for meteorological early warnings and forecasts for general aviation. Full article

In agricultural field inspection robots, constructing accurate environmental maps and achieving precise localization are essential for effective Light Detection And Ranging (LiDAR) Simultaneous Localization And Mapping (SLAM) navigation. However, navigating in occluded environments, such as mapping distortion and substantial cumulative errors, presents challenges. Although current filter-based algorithms and graph optimization-based algorithms are exceptionally outstanding, they exhibit a high degree of complexity. This paper aims to investigate precise mapping and localization methods for robots, facilitating accurate LiDAR SLAM navigation in agricultural environments characterized by occlusions. Initially, a LiDAR SLAM point cloud mapping scheme is proposed based on the LiDAR Odometry And Mapping (LOAM) framework, tailored to the operational requirements of the robot. Then, the GNU Image Manipulation Program (GIMP) is employed for map optimization. This approach simplifies the map optimization process for autonomous navigation systems and aids in converting the Costmap. Finally, the Adaptive Monte Carlo Localization (AMCL) method is implemented for the robot’s positioning, using sensor data from the robot. Experimental results highlight that during outdoor navigation tests, when the robot operates at a speed of 1.6 m/s, the average error between the mapped values and actual measurements is 0.205 m. The results demonstrate that our method effectively prevents navigation mapping distortion and facilitates reliable robot positioning in experimental settings. Full article

Mining activities, particularly in large excavations like the Bingham Canyon Copper Mine in Utah, have been increasingly linked to respiratory conditions due to heavy-metal-enriched waste and dust. Operating continuously since 1906, the Bingham Canyon Copper Mine contributes 4.4% of the Salt Lake Valley PM2.5 pollution. However, the extent of its contributions to larger-sized particulate matter (PM10) dust, soil and water contamination, and human health impacts is largely unknown. Aerosol optical depth data from Sentinel-2 imagery revealed discernible dust clouds downwind of the mine and smelter on non-prevailing-wind days, suggesting potential heavy metal dispersion from this fugitive dust and subsequent deposition to nearby surface soils. Our analysis of topsoils from across the western Salt Lake Valley found mean arsenic, copper, lead, and zinc concentrations to be well above global background concentrations. Also, the minimum values for arsenic and maximum values for lead were well above the US EPA regional screening levels for residential soils. Thus, arsenic is the metal of greatest concern for impacts on human health. Elevated concentrations of all metals were most notable near the mine, smelter, and tailings pond. Our study linked these elevated heavy metal levels to regional asthma outcomes through cluster analysis and distance-related comparison tests. Significant clusters of high asthma rates were observed in regions with elevated topsoil heavy metal concentrations, impacting both low- and high-income neighborhoods. The findings of this preliminary study suggest that the mine, smelter, and recent construction activities, especially on lands reclaimed from former tailings ponds, could be contributing to atmospheric dust containing high levels of heavy metals and exacerbating asthma outcomes for residents. However, the methods used in the study with aggregated health outcome data cannot determine causal links between the heavy metal contents of soil and health outcomes; they can only point to potential links and a need for further investigation. Such further investigation should involve individual-level data and control for potential confounding factors, such as socioeconomic status, access to healthcare, and lifestyle factors, to isolate the effect of metal exposures on asthma outcomes. This study focused on atmospheric deposition as a source of heavy metal enrichment of topsoil. However, future research is also essential to assess levels of heavy metals in subsoil parent materials and local surface and groundwaters to be able to assess the links between the sources or methods of soil contamination and health outcomes. Full article

In the traditional decision-making process for product form design, designers and experts often prioritize schemes based on their own knowledge and experience. This approach can lead to an oversight of user preferences, ultimately affecting decision outcomes. In contrast, crowd-intelligence-driven, multi-attribute decision-making for product form design in the cloud environment builds upon traditional approaches by leveraging the vast and diverse expertise of individuals on cloud platforms, engaging participants from various fields and roles in the decision-making process to enhance comprehensiveness and accuracy. To address the issue of a single decision-maker and limited user participation in the decision-making process for product form design schemes in the cloud environment, a multi-attribute decision-making method integrating expert knowledge and user preferences is proposed. This method aims to select a product form design scheme that optimally balances expert and user satisfaction. Initially, the Pythagorean Hesitant Fuzzy Set (PHFS) is used to quantify qualitative product attributes and to establish a comprehensive multi-attribute evaluation system. In the aspect of expert decision-making, a gray correlation coefficient decision matrix based on expert knowledge is established and the overall score of the base alternative is calculated by the ViseKriterijumska Optimizacija I Kompromisno Resenje (VIKOR) method and the Improved Osculating Value method. In terms of user decision-making, weights are determined by calculating the similarity between user evaluation matrices, and the Technique for Order Preference by Similarity to an Ideal Solution (TOPSIS) is used to calculate scores for product form designs based on user preferences. Ultimately, optimal selection is achieved by aggregating the aforementioned expert evaluation values and user preference values. The method’s effectiveness and feasibility are confirmed through a case study of coffee machine product form design schemes. Full article

Intelligent construction is vital for achieving new building industrialization by enhancing prefabricated buildings through integrated, digital, and intelligent management across production and construction processes. Despite its significance, detailed research on evaluating the intelligent construction management (ICM) level of prefabricated projects remains limited. This study aims to develop a comprehensive, multi-level, multi-dimensional ICM assessment system. By reviewing the literature, engaging in expert discussions, and conducting case studies—specifically using a project in Guangzhou as an example—this study employs the Analytic Hierarchy Process (AHP) and entropy weight methods to assign indicator weights. Utilizing cloud model theory, it establishes evaluation standards for intelligent construction management. This model identifies the project’s ICM level, suggests practical improvement methods, and validates its applicability. This work not only advances theoretical understanding but also provides a practical framework for assessing ICM levels in prefabricated projects, thus contributing significantly to the field by offering new research perspectives and empirical evidence. Full article

This research work focuses on the development and application of a storm-tracking algorithm for identifying and tracking storm cells. The algorithm first identifies storm cells on the basis of reflectivity thresholds and then matches the cells in the tracking procedure on the basis of their geometrical characteristics and the distance within the weather radar image. A sensitivity analysis was performed to evaluate the preferable thresholds for each case and test the algorithm’s ability to perform in different time step resolutions. Following this, we applied the algorithm to 54 rainfall events recorded by the National Technical University X-Band weather radar, the rainscanner system, from 2018 to 2023 in the Attica region of Greece. Testing of the algorithm demonstrated its efficiency in tracking storm cells over various time intervals and reflecting changes such as merging or dissipation. The results reveal the predominant southwest-to-east storm directions in 40% of cases examined, followed by northwest-to-east and south-to-north patterns. Additionally, stratiform storms showed slower north-to-west trajectories, while convective storms exhibited faster west-to-east movement. These findings provide valuable insights into storm behavior in Athens and highlight the algorithm’s potential for integration into nowcasting systems, particularly for flood early warning systems. Full article

This paper proposes an embedded Internet of Things (IoT) system for bioreactor sensor integration, aimed at optimizing temperature and turbidity control during cell cultivation. Utilizing an ESP32 development board, the system makes advances on previous iterations by incorporating superior analog-to-digital conversion capabilities, dual-core processing, and integrated Wi-Fi and Bluetooth connectivity. The key components include a DS18B20 digital temperature sensor, a TS-300B turbidity sensor, and a Peltier module for temperature regulation. Through real-time monitoring and data transmission to cloud platforms, the system facilitates advanced process control and optimization. The experimental results on yeast cultures demonstrate the system’s effectiveness at maintaining optimal growth, highlighting its potential to enhance bioprocessing techniques. The proposed solution underscores the practical applications of the IoT in bioreactor environments, offering insights into the improved efficiency and reliability of culture cultivation processes. Full article

Salvia miltiorrhiza (SM) contains the tanshinones, a compound with various pharmacological effects, and has been extensively studied as a pharmaceutical material. However, conventional methods for extracting tanshinones face challenges such as environmental hazards and high cost. In this study, we aimed to effectively extract tanshinones from SM using cloud point extraction (CPE) with lecithin, a natural surfactant. By optimizing various extraction conditions including the solid-to-liquid ratio, lecithin concentration, NaCl concentration, pH, and equilibrium temperature, the optimal extraction efficiency was achieved using 20 mL of solvent per 1 g of sample, 3% lecithin (w/v), 2% NaCl (w/v), pH 6, and room temperature (25 ± 2 °C). The CPE method, which minimizes the use of organic solvent and is eco-friendly, demonstrated improvements in extraction efficiency, with a 4.55% increase for dihydrotanshinone I, 8.32% for cryptotanshinone, 15.77% for tanshinone I, and 6.81% for tanshinone IIA compared to the conventional water extraction method. These results suggest that CPE is a promising, environmentally friendly, and efficient approach for extracting hydrophobic components from pharmacologically active materials such as SM, with potential applications across various fields of natural product extraction. Full article

In the process of construction, pouring and vibrating concrete on existing reinforced structures is a necessary process. This paper presents an automatic vibration position detecting method based on the feature extraction of 3D lidar point clouds. Compared with the image-based method, this method has better anti-interference performance to light with reduced computational consumption. First, lidar scans are used to capture multiple frames of local steel bar point clouds. Then, the clouds are stitched by Normal Distribution Transform (NDT) for preliminary matching and Iterative Closest Point (ICP) for fine-matching. The Graph-Based Optimization (g2o) method further refines the precision of the 3D registration. Afterwards, the 3D point clouds are projected into a 2D image. Finally, the locations of concrete vibration points and concrete casting points are discerned through point cloud and image processing technologies. Experiments demonstrate that the proposed automatic method outperforms ICP and NDT algorithms, reducing the mean square error (MSE) by 11.5% and 11.37%, respectively. The maximum discrepancies in identifying concrete vibration points and concrete casting points are 0.059 ± 0.031 m and 0.089 ± 0.0493 m, respectively, fulfilling the requirement for concrete vibration detection. Full article

Deep-learning-based convection schemes have garnered significant attention for their notable improvements in simulating precipitation distribution and tropical convection in Earth system models. However, these schemes struggle to capture the stochastic nature of moist physics, which can degrade the simulation of large-scale circulations, climate means, and variability. To address this issue, a stochastic parameterization scheme called DIFF-MP, based on a probabilistic diffusion model, is developed. Cloud-resolving data are coarse-grained into resolved-scale variables and subgrid contributions, which serve as conditional inputs and outputs for DIFF-MP. The performance of DIFF-MP is compared with that of generative adversarial networks and variational autoencoders. The results demonstrate that DIFF-MP consistently outperforms these models in terms of prediction error, coverage ratio, and spread–skill correlation. Furthermore, the standard deviation, skewness, and kurtosis of the subgrid contributions generated by DIFF-MP more closely match the test data than those produced by the other models. Interpretability experiments confirm that DIFF-MP’s parameterization of moist physics is physically consistent. Full article