Ground Planning Research Articles

A brief review of the History of Computational Intelligence, Bio-Inspired Computing and Scientific Computing

The use of computational tools to solve real problems of different industries has been in increased significantly. Software is used to solve problems of the air, sea, ground, pipes, and aerospace transportation planning; problems related to the science of sport, chemistry, medicine, nursing, mechatronics, robotics; business problems related to minimize costs and maximize profits, problems of management of small, medium and large companies; agro-industrial problems, environment, among many others. To solve real problems using scientific computation, Bio-inspired and computational intelligence. This paper aims to present a review of the history of Computational Intelligence Bio-Inspired Computing and scientific computing.

Implementation of MIMO Radar-Based Point Cloud Images for Environmental Recognition of Unmanned Vehicles and Its Application

High-performance radar systems are becoming increasingly popular for accurately detecting obstacles in front of unmanned vehicles in fog, snow, rain, night and other scenarios. The use of these systems is gradually expanding, such as indicating empty space and environment detection rather than just detecting and tracking the moving targets. In this paper, based on our high-resolution radar system, a three-dimensional point cloud image algorithm is developed and implemented. An axis translation and compensation algorithm is applied to minimize the point spreading caused by the different mounting positions and the alignment error of the Global Navigation Satellite System (GNSS) and radar. After applying the algorithm, a point cloud image for a corner reflector target and a parked vehicle is created to directly compare the improved results. A recently developed radar system is mounted on the vehicle and it collects data through actual road driving. Based on this, a three-dimensional point cloud image including an axis translation and compensation algorithm is created. As a results, not only the curbstones of the road but also street trees and walls are well represented. In addition, this point cloud image is made to overlap and align with an open source web browser (QtWeb)-based navigation map image to implement the imaging algorithm and thus determine the location of the vehicle. This application algorithm can be very useful for positioning unmanned vehicles in urban area where GNSS signals cannot be received due to a large number of buildings. Furthermore, sensor fusion, in which a three-dimensional point cloud radar image appears on the camera image, is also implemented. The position alignment of the sensors is realized through intrinsic and extrinsic parameter optimization. This high-performance radar application algorithm is expected to work well for unmanned ground or aerial vehicle route planning and avoidance maneuvers in emergencies regardless of weather conditions, as it can obtain detailed information on space and obstacles not only in the front but also around them.

A Geospatial Analysis Model for the Selection of Post-Mining Land Uses in Surface Lignite Mines: Application in the Ptolemais Mines, Greece

Among the procedures included in surface mines’ closure, the determination of post-mining land uses constitutes one of the early but primary steps. This research aims to develop an algorithm for the selection of the most suitable land use spatial distribution in the post-mining area of a surface lignite mine in northern Greece. Considering the already reclaimed areas and the local socioeconomic conditions, six distinct criteria that concern physical local characteristics were selected and, in turn, spatially combined with parameters affecting the mining area. Mining experts attributed weights to the criteria regarding their importance for the examined land uses. The six criteria concerned physical local characteristics (slope, elevation, and distance from villages, rivers, roads, and transmission lines), while the parameters affecting the mining area referred to the type of ground (undisturbed or graded areas), existing infrastructure, and mine closure planning, emphasizing the final landscape of the mining area. The investigated land uses encompassed agricultural, forest, industrial (including buildings, infrastructure, and photovoltaic parks), and recreational parks. Through the application of a fuzzification algorithm within a geographical information system (GIS) environment, four land use suitability maps were generated, which were subsequently overlaid to derive a comprehensive suitability map. The final suitability map was derived from the integration of the mining parameters as spatial information into the algorithm. The findings indicate that, even though the land use suitability analysis could be derived from a mathematical model, the integration of qualitative information related to the mining specifications is necessary to produce more reliable results. The proposed algorithm can be used as a useful tool by decision-makers in the mining industry to plan post-mining reclamation based on suitable criteria.

General Architecture of Sustainable Urban Spatial Development Model Based on Smart Cities

Abstract With the rapid growth of China’s national economy and urbanization, the use of urban space in China has developed greatly. At the same time, there are also many problems, the relationship between urban space planning and ground planning is not coordinated enough, and there are certain contradictions in the development of different levels of space, which will inevitably affect the sustainable development of urban space in China in the long run. The fuzzy comprehensive evaluation method is adopted as the evaluation method for the sustainability of urban space development. Firstly, the AHP method is applied to determine the weights of each specific indicator in the index layer. The sustainability of the current status of underground space development reflected by each indicator is determined by the expert scoring method. Finally, the evaluation results of “sustainable urban spatial development” were obtained using the spatial sustainability model for the example of the cities. In summary, the sustainable urban spatial development model based on smart cities can reflect the development status, development trend, and coordination with the comprehensive external environment of urban space in a comprehensive manner, and can measure and evaluate the degree of sustainable development, thus helping to identify problems that limit sustainable development.

Editorial Issue 2/2022: The Heritage of Water-Related Infrastructures and Governance

Editorial Issue 2/2022: The Heritage of Water-Related Infrastructures and Governance

Indoor Top Mobile Service Robot Based on Improved RRT Algorithm

An indoor top mobile service robot based on the improved RRT algorithm is proposed. The robot is mainly composed of a lifting truss platform and a manipulator, which avoids the mapping and positioning of complex ground and obstacle avoidance planning. At the same time, the kinematics analysis of the manipulator is carried out. In view of the function of obstacle avoidance planning when the manipulator completes the task, the traditional RRT algorithm is improved to overcome the shortcomings of the low efficiency of path planning in the traditional RRT algorithm, and the planned path quality is uncertain and not smooth enough. The simulation environment is built based on ROS platform to verify the feasibility of the algorithm. To a certain extent, it improves the autonomy of robots to complete tasks.

The FF Heuristic for Lifted Classical Planning

Heuristics for lifted planning are not yet as informed as the best heuristics for ground planning. Recent work introduced the idea of using Datalog programs to compute the additive heuristic over lifted tasks. Based on this work, we show how to compute the more informed FF heuristic in a lifted manner. We extend the Datalog program with executable annotations that can also be used to define other delete-relaxation heuristics. In our experiments, we show that a planner using the lifted FF implementation produces state-of-the-art results for lifted planners. It also reduces the gap to state-of-the-art ground planners in domains where grounding is feasible.

Best-First Width Search for Lifted Classical Planning

Lifted planners are useful to solve tasks that are too hard to ground. Still, computing informative lifted heuristics is difficult: directly adapting ground heuristics to the lifted setting is often too expensive, and extracting heuristics from the lifted representation can be uninformative. A natural alternative for lifted planners is to use width-based search. These algorithms are among the strongest for ground planning, even the variants that do not access the action model. In this work, we adapt best-first width search to the lifted setting and show that this yields state-of-the-art performance for hard-to-ground planning tasks.

Contribution of Connectivity Assessments to Green Infrastructure (GI)

A major goal of green infrastructure (GI) is to provide functional networks of habitats and ecosystems to maintain biodiversity long-term, while at the same time optimizing landscape and ecosystem functions and services to meet human needs. Traditionally, connectivity studies are informed by movement ecology with species-specific attributes of the type and timing of movement (e.g., dispersal, foraging, mating) and movement distances, while spatial environmental data help delineate movement pathways across landscapes. To date, a range of methods and approaches are available that (a) are relevant across any organism and movement type independent of time and space scales, (b) are ready-to-use as standalone freeware or custom GIS implementation, and (c) produce appealing visual outputs that facilitate communication with land managers. However, to enhance the robustness of connectivity assessments and ensure that current trends in connectivity modeling contribute to GI with their full potential, common denominators on which to ground planning and design strategies are required. Likewise, comparable, repeatable connectivity assessments will be needed to put results of these scientific tools into practice for multi-functional GI plans and implementation. In this paper, we discuss use and limitations of state-of-the-art connectivity methods in contributing to GI implementation.

Advanced DINSAR analysis on dam stability monitoring: A case study in the Germano mining complex (Mariana, Brazil) with SBAS and PSI techniques

This work presents an investigation of detection and monitoring of surface motions using Advanced Differential SAR Interferometry (A-DInSAR) with SBAS (Small Baseline Subset) and PSI (Persistent Scatterer Interferometry) techniques in the Germano iron mining complex region (Mariana, Brazil), after the collapse of the Fundão tailing dam occurred on November 5th, 2015. The research was carried out aiming to provide useful information about ground movement monitoring, planning and risk assessment in the area after the tragic event. The analysis was performed using 46 TerraSAR-X images and a Digital Elevation Model (DEM) obtained by Pleiades data. A-DInSAR processing provided the removal of the atmospheric phase artifacts, baseline related errors, DEM height error estimation and finally the ground displacement determination. The results pointed out that with both techniques it was possible to assess the stability conditions of the Germano mining assets, particularly the main structures of the Germano dam and the detection of small settlements in the mining tailings storage, pointing out that these may be an important components for risk management of open pit mining operations, including tailings dams.

Air-ground cooperative topometric mapping of traversable ground

In this paper, we propose an approach for cooperative mapping of traversable ground from aerial and ground views in structured outdoor and indoor environments. The presented approach achieves a hybrid map building based on traversable ground skeletonization and graph matching. The obtained map is an augmented ground traversability map, represented as a hybrid topological/metric graph from heterogeneous sources. This approach provides a very suitable representation for ground navigation and planning. To validate this approach, the proposed algorithm is applied between aerial views, provided by a UAV flying over an experimental site, and ground maps from ground robots at different exploration stages, in realistic simulation and real-world environments.

Analysis of Information Interaction Efficiency in Low-Orbit Satellite Constellations

The objects of the research are networks and information interactions in low-orbit satellite constellations performing tasks of remote sensing of the Earth. Research of network creation questions in this case is a necessary condition as opportunities and efficiency of information interaction directly depend on opportunities of a network. DTN (Delay-and-Disruption Tolerant Networking) technology is a basis of the network creation and CGR (Contact Graph Routing) approach is a basis of message routing. DTN technology and CGR approach are originally developed and used to provide communication with spacecraft located in a deep space. Therefore, the article discusses issues and problems arising in the context of their use in relation to low-orbit satellite constellations. The purpose of the information interaction study is development of effective interaction schemes (protocols). In the paper, the schemes of information interaction that can be used by a group of satellites in case of autonomous planning are considered. Along with autonomous planning, the paper also considers information interaction that can be used to implement network control of a satellite constellation in the case of ground planning. The effectiveness of the information interaction schemes are assessed by efficiency of orders’ execution. Measurement of efficiency is estimated via simulation of the communication network and the corresponding scheme of information interaction.

Joint Ground and Aerial Package Delivery Services: A Stochastic Optimization Approach

Unmanned aerial vehicles (UAVs), also known as drones, have emerged as a promising mode of fast, energy-efficient, and cost-effective package delivery. A considerable number of works have studied different aspects of drone package delivery service by a supplier, one of which is delivery planning. However, existing works addressing the planning issues consider a simple case of perfect delivery without service interruption, e.g., due to accident which is common and realistic. Therefore, this paper introduces the joint ground and aerial delivery service optimization and planning (GADOP) framework. The framework explicitly incorporates uncertainty of drone package delivery, i.e., takeoff and breakdown conditions. The GADOP framework aims to minimize the total delivery cost given practical constraints, e.g., traveling distance limit. Specifically, we formulate the GADOP framework as a three-stage stochastic integer programming model. To deal with the high complexity issue of the problem, a decomposition method is adopted. Then, the performance of the GADOP framework is evaluated by using two data sets including Solomon benchmark suite and the real data from one of the Singapore logistics companies. The performance evaluation clearly shows that the GADOP framework can achieve significantly lower total payment than that of the baseline methods which do not take uncertainty into account.

Satellite group autonomous operation mechanism and planning algorithm for marine target surveillance

In terms of fast response problem of unanticipated marine target, it is necessary to design the satellite-ground-combined operation mechanism and planning algorithm for autonomous task planning. Firstly, based on the autonomous operation and task planning of remote sensing satellite group, it is divided into two parts: ground planning and satellite autonomous planning. Secondly, the satellite-ground-combined operation mechanism and operation flow for task planning are proposed after fully considering the resource characteristics and task demand characteristics of the ground and satellite. The satellite autonomous task planning algorithm based on extended contract net is designed. Through the simulation operation of the self-developed distributed simulation demonstration software, it shows that the operation mechanism can coordinate and cooperate effectively between the satellite autonomous task planning and ground planning. It can give full play to the advantages of the ground computing resources, reflect the control intention, make full use of the real-time feature and flexibility of the satellite calculation, and respond fast to the unanticipated task. Besides, it has solved problems of the untimely response of ground control on unanticipated observation task, the limitation of satellite computing resources and satellite-ground planning and coordination, which can effectively improve the responsiveness of remote sensing satellite to the observation task of maritime unanticipated target.

Perencanaan Bumi Perkemahan Alun-Alun Suryakencana Taman Nasional Gunung Gede Pangrango, Jawa Barat

Camping ground planning of Alun-alun Suryakencana in Mt. Gede Pangrango National Park, West Java. A good campsite requires a plan. Planning is done zoning area that can be used as a camping area without disturbing the existing ecosystem and equipped facilities so that users can feel comfortable while in the area of the campground. Alun-alun Suryakencana at an altitude of 2750 m asl is part of the Mount Gede Pangrango National Park of West Java. This research was conducted in October 2016-August 2017, this research method refers to Rachman's (1984) complete thinking process in Norma (2013) which applies secondary data analysis at field study stage which consists of inventory, analysis, synthesis, concept, and planning. The final result of this planning is a Campsite Plan that is implemented in Alun-alun Suryakencana.

خصائص المياه الجوفية في الجزء الشمالي من قطر ، الدراسات الهيدرولوجية والمائية الكيميائية ، الاستخدامات والقضايا ، قطر

الملخص: بما أن المياه الجوفية هي المصدر الوحيد للمياه ، فإن هناك حاجة ماسة لاستكشاف طبقة المياه الجوفية إلى جانب استيراد المياه من الدول المجاورة وفرض ضغوط خدمة على موارد المياه الجوفية المتاحة. يتناول العمل الحالي الجيولوجيا المائية ، والجيوفيزياء المائية ، والكيمياء المائية ، وإدارة المياه الجوفية والتخطيط في شبه جزيرة قطر. ولهذا الغرض ، تم إجراء رحلات ميدانية لقياس الخصائص الجيوكهربائية للوحدات الصخرية التي تتكون منها التتابعات الجيولوجية ، وكذلك قياس عمق المياه وخصم منسوب المياه الجوفية للآبار المختارة والاختبارية للاستفادة من طبقات المياه الجوفية المثبتة بالفعل (خزانات المياه الجوفية بالدمام ، والروس ، وأم الرضومة). بالإضافة إلى ذلك ، تم جمع عينات المياه الجوفية من الآبار المختارة للتحليل الكيميائي. تم تضمين وصف موجز لجيولوجيا قطر في هذا العمل مع إيلاء اهتمام خاص لعلم الصخر للتكوينات الحاملة للمياه ، وتأثير الهيكل على الظروف الهيدروجيولوجية. تمت دراسة الظروف الجيولوجية تحت السطحية لشبه جزيرة قطر من خلال تفسير بيانات المسح الجيوكهربائي. تم إجراء 19 سبر كهربائي رأسي (VESes) في منطقة الدراسة. ارتبطت القياسات الجيوكهربائية المفسرة بالمعلومات المتوفرة عن بعض الآبار. تعتمد دراسة الظروف المائية الكيميائية لطبقات المياه الجوفية في قطر بشكل أساسي على التحليل الكيميائي لعينات المياه التي جمعها المؤلف الحالي. تم تحديد إجمالي المواد الصلبة الذائبة (TDS) ، الكاتيونات الرئيسية ، الأنيونات الرئيسية (Na + ، Cl- ، Ca + 2 ، SO4-2 ، Mg + 2 ، CO3-2 ، HCO3-) و PH. بالإضافة إلى ذلك ، تم حساب المعاملات المائية الكيميائية لتحديد أصل المياه الجوفية ومدى ملاءمة المياه الجوفية لأغراض الري. تهدف الدراسة الحالية إلى: التعرف على الظروف الجيولوجية تحت السطحية اللازمة لتوضيح الظروف الهيدروجيولوجية لشبه جزيرة قطر. ودراسة الظروف الهيدروجيولوجية الجماعية لشبه جزيرة قطر في ضوء البيانات الجديدة والمعلومات التفصيلية التي تتيح إمكانية وجود موارد مائية جوفية إضافية واقتراح خريطة هيدروجيولوجية لدولة قطر. وتخطيط موارد المياه الجوفية بهدف تعظيم الاستفادة من المياه الجوفية في ضوء كمية ونوعية المياه الجوفية. تعرض دراسة بعض المناطق في شمال دولة قطر نتائج التحليل الجيوكيميائي للمياه في طبقات المياه الجوفية ، والتغير في منسوب المياه الجوفية وملوحة الآبار. بناءً على عينات من المياه تتراوح بين 1500-12000 جزء في المليون في الملوحة (TDS) ، يتراوح منسوب المياه الجوفية بعمق 35-200 متر. تقدم هذه الدراسة أفضل طريقة مفيدة لاستخدامها في عدة مجالات وفقًا للعديد من العوامل. الأنيونات الرئيسية والكاتيونات هي مؤشرات مفيدة للجيوكيميائية وتوافر المياه في طبقات المياه الجوفية ، وتتراوح الوحدات المناسبة لمياه الري والاستخدامات البشرية بين 1000-5000 جزء في المليون ، وهذا تأثير المشكلة على الاستخدامات السطحية. توضح الدراسة الجيولوجية الطبقات الصخرية التي تحتوي على الماء وتكوينها وسمكها وتركيبها. حوالي ثلاثة خزانات مياه جوفية رئيسية في قطر (طبقة المياه الجوفية بأم رداهما باليوسين ، خزان تكوين روس الأيوسين ، خزان تكوين الدمام الإيوسيني). تدعم طرق الجيوفيزياء الدراسات الجيولوجية للحصول على معلومات مفصلة حول منسوب المياه الجوفية وتمديد الخزان الجوفي. يلعب علم الصخور وتركيب طبقة المياه الجوفية في قطر دورًا مهمًا في الاحتفاظ بالمياه بين الطبقات. تعتبر النتائج الرئيسية للعينة الجيوكيميائية للمياه ورسم خرائط المياه الجوفية بين طبقات المياه الجوفية مهمة في تفسير البيانات من الخزان الجوفي ، والتي تعمل على تذكيرنا بالاستخدامات المختلفة للمياه الجوفية.

Drawing the subsurface: an integrative design approach

The sub-surface, with its man-made and natural components, plays an important, if not crucial, role in the urban climate and global energy transition. On the one hand, the sub-surface is associated with a variety of challenges such as subsidence, pollution, damage to infrastructure and shortages of space for new urban systems. On the other hand, the sub-surface presents opportunities in terms of solutions for flooding, reduction in heat stress, and decentralized energy systems. Therefore, it is necessary to place sub-surface issues in their appropriate perspective, to enable a more resilient design that brings together ecosystem services, climate and urban systems, and which takes full account of the dynamics of the subsoil. To achieve this, the sub-surface must be an integral part of above ground planning and design. Organization of the sub-surface needs to be reflected visually in relation to - consideration of (surface) spatial morphology. The objective of this paper is to question the role of architectural representation of the subsurface. Discussion of architectural representation should include ‘design thinking’. An important element of design thinking is the concepts that are used to guide the design process. For this reason, this research tests the role of visualization in relation to a case from the Dutch context and more specifically to subsidence. The approach is built on a systematic processing of contextual information of the site under development, using the System Exploration Environment, Subsurface and results in a Technical Profile. Using input from subsurface specialists to rethink the urban landscape results in realisation of synergies between subsurface elements and the (re)design of vital urban infrastructure.

The probability of exceeding the dose load for population in Narodychi distrct by the size of radioactive contamination of vegetation

The estimation results of exceeding risk of the dose loading of population in Narodychi district are resulted, according to radiological contamination of natural grass, depending on ground conditions. The destabilizing factors of radionuclide migration are set in the system of «soil–grass». The received results can be used for substantiation for changing the status of settlements, definition the sequence of ground rehabilitation, planning and purposeful application counter-measures for qualitative agricultural production on critical territories in future.

Survey and the assimilation of a modernist narrative in urbanism

The presence of civic and regional survey as a locus of discussion in early British planning texts is closely associated with the involvement of the Scottish biologist planner Patrick Geddes in the early planning movement. This paper reads the Geddesian survey idea and its assimilation into planning discourse as the expression of a modern apology of planning. Geddes's understanding of survey places science and society in a relationship in which society is not merely determined by the progressive development of scientific insights. Instead, survey is understood as a process in which a growing awareness of the urban environment encourages an informed and self-conscious citizenry to take charge of its own future. In the Geddesian survey-project the citizen appears as the modern subject, caught in an ambiguous relationship to the environment. He or she seems to be fully determined by the environment, while at the same time able to shape that environment freely and independently. The effort to ground planning in scientific survey inserts the planning process within a logic of environmental determinism, while attempting to safeguard a place for planning as an emancipated act of self-determination. Planning appears both as a process determined by 'nature' as well as the quintessential expression of the human con trol over 'nature'. Survey, presented as preliminary to planning, is understood as a thought vehicle which opens up a space for the development of the modern plan in its full reformist breath of both physical reform and social reconstruction.

Artificial reefs in Japan — A general outline

The author had the opportunity to study in detail the history and ‘state of the art’ of artificial reefs in Japan, during a two-year research program under a scholarship of the French Foreign Affairs Ministry. Compilation of original papers in the Japanese literature since 1966 and discussions with specialists allowed him to state that methodology as well as results in artificial reef research are very weak and need to be re-evaluated: after thirty years, no clear conclusions can be drawn from Japanese research. As a contribution to a better understanding of artificial reef techniques, a synthetic classification is proposed together with a rational survey method. The stage of fisheries is briefly presented (as of 1985) and aquacultural engineering problems applied to artificial fishing ground planning are analyzed. Considering the powerful means available in Japan for fisheries development, research works should provide better results within the coming years — particularly through international cooperation.