Multilevel Research Articles

Sustainable assessment of concrete structures using BIM–LCA–AHP integrated approach

Recently, sustainability has become one of the most critical goals to be accomplished in the construction industry to mitigate its environmental impacts, energy consumption, waste, and cost. Therefore, this research aims to assess the sustainability of concrete structures using the Building Information Modeling and Life Cycle Assessment (BIM–LCA) approach. It can aid to rank and select the type of concrete based on sustainability criteria including CO2 emissions, embodied energy, and cost using analytical hierarchy process (AHP) method. One-Click LCA tool has been used for the recognition of the distinctions in the LCA results by adopting different environmental product declaration databases. HBERT is used as a verification tool for One-Click LCA results. A comparative study is applied to a multi-story car park concrete structure using both traditional concrete and green concrete that includes supplementary waste materials. Three different models of concrete that have the same compressive strength are selected: traditional concrete, green concrete using 30% fly ash, and green concrete using 50% ground granulated blast-furnace slag (GGBFS). The results showed that using 50% GGBFS in the concrete mix is the most sustainable alternative in terms of CO2 emissions and embodied energy. Finally, it is concluded that using BIM–LCA–AHP integrated approach can help engineers to design computerized models that improve the sustainability of construction by evaluation based on sustainable objectives.

Occurrence, Sources, and Health Risks of Polycyclic Aromatic Hydrocarbons in Road Environments from Harbin, a Megacity of China.

To obtain a comprehensive understanding about that occurrence, sources, and effects on human health of polycyclic aromatic hydrocarbons (PAHs) in road environmental samples from Harbin, concentrations of 32 PAHs in road dust, green belt soil, and parking lot dust samples were quantified. The total PAH concentrations ranged from 0.95 to 40.7 μg/g and 0.39 to 43.9 μg/g in road dust and green belt soil, respectively, and were dominated by high molecular weight PAHs (HMW-PAHs). Despite the content of PAHs in arterial roads being higher, the composition profile of PAHs was hardly influenced by road types. For parking lot dust, the range of total PAH concentrations was 0.81-190 μg/g, and three-ring to five-ring PAHs produced the maximum contribution. Compared with surface parking lots (mean: 6.12 μg/g), higher total PAH concentrations were detected in underground parking lots (mean: 33.1 μg/g). The diagnostic ratios of PAHs showed that petroleum, petroleum combustion, and biomass/coal combustion were major sources of PAHs in the samples. Furthermore, according to the Incremental Lifetime Cancer Risk model, the cancer risks of three kinds of samples for adults and children were above the threshold (10-6). Overall, this study demonstrated that PAHs in the road environment of Harbin have a certain health impact on local citizens.

Implementation of dynamic selective location in new radio communication services of the 5th generation based on the «vehicle connected to everything» technology

Problem statement. The principle of operation of dynamic selective positioning in fifth generation (5G) networks is especially relevant in the “vehicle connected to everything” (V2X) technology used in the automotive communication system, which includes types of communication that occur between one “vehicle” object and objects such as "infrastructure", "network", "pedestrian" or "device". To achieve high accuracy in V2X services, it is necessary to provide stable and uninterrupted connection, coverage with a minimum number of available communication points and wide bandwidth. Lack of line of sight is one of the major challenges in achieving accurate positioning in many locations, such as urban environments, tunnels, and underground parking lots. Today, the development of potential solutions to provide new users of the V2X service with high positioning accuracy is an urgent task for promising versions of the 5th generation mobile communication technology, which is being formed by the 3rd Generation Partnership Project (3GPP) consortium. Target. Introduce a new selective positioning method based on the dispersion of adjacent signal arrival times for dynamic switching between RAT-dependent methods and GNSS positioning methods. Results. Promising solutions have been explored to provide NR V2X users with long-term and highly accurate positioning. A selective positioning method is shown to dynamically switch between GNSS and DL-TDOA measurements based on the location of V2X users and improve the accuracy of the collected measurements using a MAP-based criterion to evaluate performance gains by combining measurements from different technologies in services. NR V2X. The proposed hybrid methods were evaluated using system-level simulations, the results of which demonstrated that the proposed algorithms can achieve position errors ≤ 3 m with an availability of approximately 76% compared to the 51 and 58% availability obtained using only GNSS measurements. or DL-TDOA, respectively. It is shown that in order to improve the tail of the distribution of user positioning errors by more than 56%, it is necessary to apply the deployment of roadside communication units. Practical significance. The implementation of the selective positioning method based on the dispersion of adjacent times of signal arrivals makes it possible to improve the accuracy of determining the location of a moving object in networks built on the basis of V2X technology. Thus, the developed solution helps to ensure stable data transmission with minimal interference due to dynamic switching between different detection methods.

ASSESSMENT OF CORROSION IN A PARKING DECK USING GPR

This research focused on finding the structural condition of a precast parking deck using a GPR. A GSSI SIR 4000 Bridge Scanner GPR was deployed for corrosiveness mapping of a precast deck. Small concrete slabs were prepared in the laboratory with fresh and corroded rebars to identify their differences in GPR scanned images. The GPR response from the slab indicated that the reflection amplitude obtained from the scan of the target rebar decreases with increasing depth. GPR B-scans from the fresh and corroded rebar indicated increase in corrosion. The field experiment was performed following the standard bridge deck survey procedures. Both numerical and image-based analysis methods were followed for developing the corrosiveness maps of the precast deck section. The corrosiveness map showed a few critical sections in the precast deck. A visual inspection of the precast deck matched the fault locations in the corrosiveness map. The present condition of a precast deck section was found satisfactory except for a few areas of serious cracking that need repairs to control the further growth of corrosion. GPR results showed higher accuracy with the field inspection outcomes demonstrating that a GPR can be used as a reliable non-destructive tool for the condition assessment of concrete structures.

Willingness to walk - pedestrianism in the city of Aalborg, Denmark

ABSTRACT This paper discusses pedestrianism within the contemporary city. We do so by referring to two empirical studies of walking in the City of Aalborg, Denmark. The approach is a mix of qualitative and quantitative empirical documentation, focusing on what we term the “willingness to walk”. Exploring what motivates pedestrians and how car-drivers consider modal shifts to walking, we argue, may be seen as discussion of willingness to walk. This may not be simply understood as instrumental acts of moving from A to B but rather as existentialist expressions of “floating life”. To walk under the theoretical auspices of floating life means to be attentive to the mundane, embodied, and multi-sensorial qualities of moving physically by foot in the city. In the paper, we explore pedestrian practices in light of particular routes in the city, as well as in relation to the placement of parking garages in the city’s mobility network. The purpose is to discuss how to approach and balance the development of car-free city centers within the conceptual idea of walking lines, framed as diagonals. From the data, we find that the willingness to walk from the car park to the main destination is on average 416 meters. Moreover, our data indicates that people are willing to walk 1.5 times the average distance if parking is appreciably cheaper and a free spot seems guaranteed.

Joint Node Selection and Power Allocation for Cooperative Positioning Based on Bidding Auction in VANET

Due to buildings blocking GPS and Wi-Fi signals, traditional techniques can’t offer the user’s required positioning accuracy in resource-constrained underground parking, but the cooperation of agent nodes can provide the exact localization information to improve the positioning accuracy. However, some well-localized agents may not be willing to sacrifice additional power to improve the others’ positioning accuracy. To encourage cooperation among nodes and allocate transmission power reasonably, this paper proposes a bidding-auction-based cooperative localization (BACL) algorithm to improve the positioning accuracy of agent nodes by joint node selection incentive and power allocation strategy. Firstly, the contribution of channel parameters and prior localization information of agent nodes for positioning accuracy are quantified and an incentive mechanism of cooperative localization from an economic perspective is proposed. Secondly, a virtual currency incentive rule is developed to compensate agent nodes of cooperative localization reasonably due to the consumption of energy for transmitting their location information. Finally, the simulation results have shown that the proposed BACL algorithm has excellent performance in terms of localization accuracy in resource-constrained scenarios. Compared with the full-power cooperative localization (FPCL) and non-cooperative localization (NCL) algorithms, the proposed BACL algorithm improved the positioning accuracy by 10% and 65%, respectively. Meanwhile, compared with the FPCL algorithm, the proposed algorithm reduced resource consumption by 50%.

Analysis of underground garage roof slab no-return roof structure in the construction phase travel route area

This paper adopts the calculation method of finite element combined with manual analysis to analyze the structural deformation of the underground garage roof slab without back roofing in the construction stage of the traffic route part, and proposes the structural slab reinforcement method combined with the actual construction situation, which shortens the construction period and reduces the cost compared with the traditional full scaffolding back roofing method and has a strong promotion, which can provide the theoretical reference basis for the subsequent works.

Experimental Assessment of Electromagnetic Fields Inside a Vehicle for Different Wireless Communication Scenarios: A New Alternative Source of Energy

The search for new energy sources in the 21st century is a crucial topic with an essential economic and societal meaning. Today, energy from electromagnetic fields (EMFs) is considered a promising new energy source for ultra-low-power consumption devices, such as wearable devices and Internet of Things (IoT) sensors. The research goal of this study was to experimentally evaluate the electric field (E-field) inside a compact car for several realistic wireless communication scenarios and to explore the possibility of using these EMFs in energy-harvesting applications. For each scenario, we performed measurements of E-fields in an urban area, in two cases: when the car was in an open space without a direct line of sight to a base station, and when the car was in underground parking. The results show that the highest measured value of the electric field appeared during the voice calls via the GSM network. Moreover, the maximum measured values of the electric field during a UMTS, LTE and 5G voice call were five to six times lower than those in the GSM network.

Design of Hybrid multi-level inverter for photovoltaic(PV) application

Nowadays the demand and consumption of energy increase in the word. Due to high cost of fossil fuel it’s not able to meet the required power generation demand. But the developed and developing countries encourage to generate power from renewable energy sources. The developed countries manage their resources in such a manner that they will fulfill their needs today and in the future as well. Nevertheless, the developing countries have limited sources of fossil fuels, which may decrease day by day. For this problem, the alternate solution is required, which is renewable energy. The output of renewable i.e. photovoltaic (PV) is DC. Now this is a challenging task for the researcher to integrate the renewable energy into the ac grid. For the reliable future of the power system, it is imperative for the modern era to integrate non-conventional sources into the AC power grid.The use of photovoltaic cells is increasing dramatically in all areas of life because of their small environmental impact, pollution-free, minimal maintenance, and zero noise. The real work focuses on the integration of PV systems with the proposed new topology called Multi-level inverters based on switch dc sources for low, medium and high power applications. An inverter is a power electronics device that converts DC input to AC output voltage. Input DC voltage is obtains from PV cell array, fuel cell or any other source.The output of PV panels is use as DC input voltage source for the proposed inverter. Single-phase multi level inverter is use to convert dc power receiving form PV array to AC power. First single phase two level inverter introduce which have many problems like those that high value capacitor required at output and high total harmonics distortion’s (THD). Nevertheless, as the number of level increased in inverter output the number of electronic switches also increased which may increase the losses.Multi-level inverters are gave more attention for high power applications. In recent years, lower order harmonic components has been developed to operate at higher switching frequencies.On the other side as the number of level increased the output waveform approach to sinusoidal waveform and the harmonics decreased. Output voltage and current waveforms are obtains and THDs are analyze. The multi-level inverter used in un-interrupted power supply (UPS), variable frequency drives (VFD), pumps etc. The performance of single-phase multi-level inverter will be analyzed in MATLAB / Simulink software.

Optimal P2P based energy trading of flexible smart inter-city electric traction system and a wayside network: A case study in Alexandria, Egypt

In an open energy market, the peer-to-peer (P2P) energy trading policy became more applicable. Therefore, while planning for new electrified systems, such a trading policy is taken into consideration. On the other hand, as the electrification of railway systems along with the use of electric vehicles serve several sustainable development goals, plans are studied for the electrification of the inter-city railway system in Alexandria, Egypt, in order to connect it with the high-speed inter-provincial electric railway system. In addition, other plans are studied for local production of electric vehicles. For this purpose, this paper presents a study regarding P2P based optimal energy management (EM) of a flexible smart railway substation taking into consideration multiple energy sources of the traction system and the wayside distribution network. The energy sources of the substation include captured regenerative braking energy (RBE), photovoltaic (PV) units and a multistory parking garage of electric vehicles (EVs). The wayside distribution network also contains several energy sources including distributed generation and multiple energy hubs (EHs) in addition to district distribution area with flexible loads. Optimal energy management is carried out including optimal demand side management of flexible loads and EHs. The optimization study takes into consideration several operational uncertainties arising from several components of the system. The simulation results show the feasibility of applying the proposed EM algorithm with an improvement of the energy economics of the system.

The genesis of an extremely acidic perched aquifer within roasted pyrite waste in a fully urbanized area (Zaragoza, Spain)

Contaminated groundwater is a serious problem in developed countries. The abandonment of industrial waste may lead to acid drainage affecting groundwater and severely impacting the environment and urban infrastructure. We examined the hydrogeology and hydrochemistry of an urban area in Almozara (Zaragoza, Spain); built over an old industrial zone, with pyrite roasting waste deposits, there were acid drainage problems in underground car parks. Drilling and piezometer construction, and groundwater samples revealed the existence of a perched aquifer within old sulfide mill tailings, where the building basements interrupted groundwater flow, leading to a water stagnation zone that reached extreme acidity values (pH < 2). A groundwater flow reactive transport model was developed using PHAST to reproduce flow and groundwater chemistry, in order to be used as a predictive tool for guiding remediation actions. The model reproduced the measured groundwater chemistry by simulating the kinetically controlled pyrite and portlandite dissolution. The model predicts that an extreme acidity front (pH < 2), coincident with the Fe (III) pyrite oxidation mechanism taking dominance, is propagating by 30 m/year if constant flow is assumed. The incomplete dissolution of residual pyrite (up to 18 % dissolved) predicted by the model indicates that the acid drainage is limited by the flow regime rather than sulfide availability. The installation of additional water collectors between the recharge source and the stagnation zone has been proposed, together with periodic pumping of the stagnation zone. The study findings are expected to serve as a useful background for the assessment of acid drainage in urban areas, since urbanization of old industrial land is rapidly increasing worldwide.

Enhanced Autonomous Vehicle Positioning Using a Loosely Coupled INS/GNSS-Based Invariant-EKF Integration.

High-precision navigation solutions are a main requirement for autonomous vehicle (AV) applications. Global navigation satellite systems (GNSSs) are the prime source of navigation information for such applications. However, some places such as tunnels, underpasses, inside parking garages, and urban high-rise buildings suffer from GNSS signal degradation or unavailability. Therefore, another system is required to provide a continuous navigation solution, such as the inertial navigation system (INS). The vehicle's onboard inertial measuring unit (IMU) is the main INS input measurement source. However, the INS solution drifts over time due to IMU-associated errors and the mechanization process itself. Therefore, INS/GNSS integration is the proper solution for both systems' drawbacks. Traditionally, a linearized Kalman filter (LKF) such as the extended Kalman filter (EKF) is utilized as a navigation filter. The EKF deals only with the linearized errors and suppresses the higher orders using the Taylor expansion up to the first order. This paper introduces a loosely coupled INS/GNSS integration scheme using the invariant extended Kalman filter (IEKF). The IEKF state estimate is independent of the Jacobians that are derived in the EKF; instead, it uses the matrix Lie group. The proposed INS/GNSS integration using IEKF is applied to a real road trajectory for performance validation. The results show a significant enhancement when using the proposed system compared to the traditional INS/GNSS integrated system that uses EKF in both GNSS signal presence and blockage cases. The overall trajectory 2D-position RMS error reduced from 19.4 m to 3.3 m with 82.98% improvement and the 2D-position max error reduced from 73.9 m to 14.2 m with 80.78% improvement.

An Underground Parking Lot Mask for the Long-Term Visual Localization of Intelligent Vehicles

In the underground parking lot (UPL) scenario, appearance changes in an indoor environment cause visual feature matching failures between features extracted from the image and features in the map, and further, lead to vehicle localization loss. In this article, a prior UPL mask is proposed for long-term vehicle localization. First, the UPL polygonal pattern is summarized based on structured environment characteristics. Then, feature matching is performed on the unannotated video data that reflect the degree of environmental change, and the polygonal pattern parameters are determined by a rule-based method using the statistical results of feature matching. Thus, the main distribution area of long-term static features in the mask is obtained quantitatively. Finally, the extraction of features in the mask for mapping and localization allows more static feature pairs to be matched for motion estimation. A real vehicle platform with stereo vision was set up for experimental verification. The comparison results demonstrated that the proposed method improved long-term vehicle localization stability and adaptability to overcome environmental changes.

An Evaluation of Parking Facilities on Selected Shopping Complexes in Minna, Nigeria to Achieve Sustainability

Shopping complex is a collection of spaces that offer different types of services to the public including selling and buying of daily needs. A shopping complex is expected to possess adequate parking facilities in order to ease the movement of its occupants and increase the productivity of the staff, thereby ensuring conducive shopping activities. On the other hand, the parking structures comprise one of the largest land uses in modern cities which make them functionally inefficient. Conventional parking method is one of the most difficult barriers to achieve sustainability. So, a great attention is being paid upon the creation of smaller, high-density, low-energy and more eco-friendly parking facilities. Due to the incessant growth of shopping complexes in and around Minna metropolis, there seems to be not only inadequate parking facilities around such shopping complexes. But, the facilities also follow unsustainable development approaches which results in inefficient usage and wastage of the energy. These inadequate parking facilities make users to park their vehicles indiscriminately which in turn causes discomfort and accidents while moving in and around the perimeter of the complexes. Moreover, other pressing issues include the lack of greenery and the use of non-permeable paving which resulted in unsustainable solutions in the creation of an environmental-friendly area. In this background, the current research article evaluates the parking facilities within the complexes from a sustainability point of perspective. The aim of the research is to develop practical solutions for better applications. For this purpose, the data was collected through personal observations in order to analyze the parking facilities in the shopping complexes located in the study area. The results infer that there is a lack of law enforcement by the professionals in the built environment in terms of implementing the planning standards and building laws for sustainable development. Conclusions and recommendations are made in this paper for the architect and other allied professionals to design the shopping complexes with an emphasis on parking spaces. Both design and planning of the parking spaces should be given adequate consideration by the approval body in Minna prior to the approval of any shopping complex.

The Impact Of The Loss Of The Basement Seen From The Side Of The Principle Of Social Function

The basement is a building that is below ground level; currently, with the increasing need for land to be built because of the increasing population, a basement will be built to be used as an underground building. The MRT, basement parking lots, and shops are examples of buildings currently being built. The building must follow the social function regulated in the UUPA so that it can be enjoyed and used by all parties and communities so that what is achieved for the greatest prosperity of the people has been achieved properly. However, it does not rule out the possibility of damage or loss of the underground, causing a negative social impact on the damage and loss of the basement. This research uses a type of normative research by analyzing using a statutory approach and a conceptual approach. The source of legal materials is the UUPA, the 1945 Constitution, and Government Regulation 18 of 2021 which regulates a few concerning using basements. The goal is to be able to answer all the problems that will be raised in the research in this article.

Strategi Komunikasi Persuasif Member Bisnis MLM Millionaire Club Indonesia(MCI) untuk Meningkatkan Penjualan di Kabupaten Karawang

&#x0D; Multi-Level Marketing (MLM) is a branch of direct selling, in which sellers are expected to have persuasive communication skills to influence consumer attitudes and generate interest in the offered products. Millionaire Club Indonesia (MCI) is one model of Multi Level Marketing (MLM) business that sells and produces health and beauty products and has been established since 2010. Multi Level Marketing (MLM) members of Millionaire Club Indonesia (MCI) are spread across Indonesia, including in Karawang Regency. The objective of this research is to understand the persuasive communication strategies used by MLM members of Millionaire Club Indonesia (MCI) to enhance sales in Karawang Regency, West Java. The theory employed in this study is the AIDDA Theory proposed by Wilbur Schramm. The research findings indicate that Multi Level Marketing (MLM) members of Millionaire Club Indonesia (MCI) employ various persuasive communication strategies such as promoting on social media with appealing captions, sharing testimonials, providing direct consumer education, delivering excellent customer service, offering promotions and easy payment solutions. This aligns with the AIDDA theory, as Multi Level Marketing (MLM) members of Millionaire Club Indonesia (MCI) engage in communication to generate consumer interest (Interest). Once consumers show interest in knowing about the products offered by Millionaire Club Indonesia (MCI) members, the members must strive to cultivate desire (Desire) in the consumers' minds, as interest serves as the starting point for generating the decision (Decision) to purchase the offered products. This is followed by the consumers making the decision to take (Action).&#x0D; Keywords: Multi-Level Marketing (MLM), Millionaire Club Indonesia (MCI), AIDDA

Analysis of existing methods for calculating retaining walls from bored piles

An overview analysis of the methods of calculating retaining walls from driven piles was performed. Analytical calculation of piles in accordance with SNiP 2.02.03–85, calculation taking into account the requirements of change No. 1 DBN V.2.1-10-2009 on the calculation of horizontal stiffness of piles and static calculation of the section using the Lira-CAD software complex were considered, and calculation of a plane cross-section using the finite element method according to the Coulomb-Mohr model in the Plaxis 2D software complex.With population growth and the expansion of cities, the need for new residential, commercial and industrial buildings increases. Modern urbanization leads to an increase in the population density and densification of buildings. This requires the construction of multi-story buildings and infrastructure to ensure efficient use of the limited land area, construction on areas with significant elevation differences, or the construction of underground parking lots. Under such conditions, engineers increasingly have to solve construction problems in the conditions of compacted buildings, or in conditions of significant differences in the height of the building site.One of the most common engineering solutions to solve these problems is the implementation of massive retaining walls in the soil in the form of bored piles connected by a binding grid. The calculation of such structures requires special attention to the determination of the initial parameters of the considered problem and the choice of an approach to the calculation and analysis of the stress-strain state of the elements of the pit enclosure structures and the base.On the example, the calculation of the pile was performed in the engineering and geological conditions of the city of Kyiv with the same calculation parameters and different calculation methods. For the reliability of the comparison of loading results for all three cases, it was accepted according to DSTU NB V.2.1-31:2014. The obtained movements of the piles at the level of the bottom of the pit and the top of the pile were analyzed in three ways, and based on them, preliminary conclusions were formulated with prospects for further research.

Field Studies of the Stressed State of the «soil base – combined pile raft foundation» System of the Multifunctional Complex in Kharkiv City

In the projects of buildings and structures, in the last two to twenty-five years, in world practice, the so-called combined pile raft foundation (CPRF) is increasingly used, for which, in the design and calculations, it is assumed that the calculated load from the building is distributed between the piles and the raft, allowing up to 50% inclusion in the work (resistance) of the raft. As part of the scientific and technical support [1-8] of the construction object, instrumental automated monitoring of the stress state of the «soil foundation - combined pile raft foundation» system of the multifunctional complex on St. Pushkinska, 2 in Kharkiv (Ukraine) is carried out. The building has 7 floors and a mezzanine floor, including 2 floors of underground parking, 5 floors of shopping and entertainment area. There is a parking lot on the first 2 floors. The building system is a monolithic reinforced concrete frame with beamless floor slabs. The foundation of the building is a combined pile raft foundation with the centering of bored piles under the load-bearing elements of the frame. The soil base is represented by Quaternary alluvial-deluvial sediments – loams, sands and clays. As part of the implementation of the project, 23 sensors of two types were installed during the zero-cycle construction works: strain gauges (Geosense, England) to determine the stresses in the shafts of bored piles and in the upper and lower grids of the raft reinforcement and soil pressure sensors (Geokon, USA), which were placed under the sole of the raft. The results of the monitoring showed that the actual pressure under the raft does not exceed the pressure from its own weight of the raft (≈25kN/m2), which indicates the absence of inclusion in the work of the raft due to insignificant relative settlements of the combined pile raft foundation. Taking this fact into account when modeling the "base - foundation - structure" system and calculation in the SOFiSTiK showed a qualitative and quantitative convergence of effort values in reinforced concrete structures of a combined pile raft foundation.

Deep learning-based obstacle-avoiding autonomous UAVs with fiducial marker-based localization for structural health monitoring

This paper proposes a framework for obstacle-avoiding autonomous unmanned aerial vehicle (UAV) systems with a new obstacle avoidance method (OAM) and localization method for autonomous UAVs for structural health monitoring (SHM) in GPS-denied areas. There are high possibilities of obstacles in the planned trajectory of autonomous UAVs used for monitoring purposes. A traditional UAV localization method with an ultrasonic beacon is limited to the scope of the monitoring and vulnerable to both depleted battery and environmental electromagnetic fields. To overcome these critical problems, a deep learning-based OAM with the integration of You Only Look Once version 3 (YOLOv3) and a fiducial marker-based UAV localization method are proposed. These new obstacle avoidance and localization methods are integrated with a real-time damage segmentation method as an autonomous UAV system for SHM. In indoor testing and outdoor tests in a large parking structure, the proposed methods showed superior performances in obstacle avoidance and UAV localization compared to traditional approaches.

NOWA INSTYTUCJA PRAWA CYWILNEGO: PRAWO WŁASNOŚCI WARSTWOWEJ CZY PRAWO ZABUDOWY

The aim of the article is to compare the layered property ownership right and the heritable building right as potential solutions that could fill the gap in Polish law. Currently, there is no legal institution that would encourage commercial investors to implement investments on or below the ground. In Poland, there are many undeveloped properties located over railway tracks, tunnels or underground car parks. For years, there has been a public debate on the possibility of introducing layer ownership in Poland. The subject of discussion are the solutions used in other countries. The article discusses the draft law introducing the heritable building right. The heritable building right was also compared to the right of perpetual usufruct functioning in Polish law system. An analysis of the currently applicable legal standards was also made in the context of the possibility of introducing three-dimensional properties.