Healthy urban greenery is a fundamental asset to mitigate climate change phenomena such as extreme heat and air pollution. However, urban trees are often affected by abiotic and biotic stressors that hamper their functionality, and whenever not timely managed, even their survival. While the current greenery inspection techniques can help in taking effective measures, they often require a high amount of human labor, making frequent assessments infeasible at city-wide scales. In this article, we present GreenScan, a ground-based sensing system designed to provide health assessments of urban trees at high spatio-temporal resolutions, with low costs. The system uses thermal and multispectral imaging sensors fused using a custom computer vision model to estimate two tree health indexes. The evaluation of the system was performed through data collection experiments in Cambridge, USA. Overall, this work illustrates a novel approach for autonomous mobile ground-based tree health monitoring on city-wide scales at high temporal resolutions with low costs.

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Accurate fishing activity detection from the trajectories of fishing vessels can not only achieve high-precision fishery management but also ensure the reasonable and sustainable development of marine fishery resources. This paper proposes a new method to detect fishing vessels’ fishing activities based on the defined local dynamic parameters and global statistical characteristics of vessel trajectories. On a local scale, the stop points and points of interest (POIs) in the vessel trajectory are extracted. Voyage extraction can then be conducted on this basis. After that, multiple characteristics based on motion and morphology on a global scale are defined to construct a logistic regression model for fishing behavior detection. To verify the effectiveness and feasibility of the method, vessel trajectory data, and fishing log data collected from Chinese ocean squid fishing vessels in Argentine waters in 2020 are integrated for fishing operation detection. Multiple evaluation metrics show that the proposed method can provide robust and accurate recognition results. Moreover, further analysis of the temporal and spatial distribution and seasonal changes in squid fishing activities in Argentine waters has been performed. A more refined assessment of the fishing activities of individual fishing vessels can also be provided quantitatively. All the results above can benefit the regulation of fishing activities.@en

This article aims to realize event-triggered constrained consensus tracking for high-order nonlinear multiagent networks subject to full-state constraints. The main challenge of achieving such goals lies in the fact that the standard designs [e.g., backstepping, event-triggered control, and barrier Lyapunov functions (BLFs)] successfully developed for low-order dynamics fail to work for high-order dynamics. To tackle these issues, a novel high-order event-triggered mechanism is devised to update the actual control input, lowering the communication and computation burden. More precisely, compared with the conventional event-triggered mechanism, not only the amplitudes of control signals and a fixed threshold are considered but a monotonically decreasing function is introduced to allow a relatively big threshold, while guaranteeing consensus tracking error to be small. Then, a high-order tan-type BLF working for both constrained and unconstrained scenarios is incorporated into the distributed adding-one-power-integrator design for the purpose of confining full states within some compact sets all the time. A finite-time convergent differentiator (FTCD) is introduced to circumvent the ``explosion of complexity.'' The consensus tracking error is shown to eventually converge to a residual set whose size can be adjusted as small as desired through choosing appropriate design parameters. Comparative simulations have been conducted to highlight the superiorities of the developed scheme.

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The remote monitoring method based on air-quality monitoring sensors is a common way to monitor the FSC (fuel sulfur content) of oils for ships. Considering the influences of geographical environments, atmospheric conditions, regional ship traffic flow, emission characteristics of ships, and height of monitoring sensors on the monitor station chosen, a new method was proposed to optimize the site selection for monitoring the FSC of fuel oils used by ships in waters of the port. SO2 numeric simulation and observation from sensors were integrated to estimate the FSCs. The proposed method was utilized to recommend the sites of the fixed sniffing monitoring stations in Yantian port, Shenzhen, China from June and July 2018. The results showed that the experimental stations could monitor FSCs, and the relative difference between the estimated and actual FSCs of ships was 16.34%. The proposed method for recommending sites of FSC monitoring sensors contributed to intelligently supervising air pollutants emitted from ships and fuel oils of ships in the emission control areas of China.@en

Radiant cooling (RC) systems have attracted more attention due to their advantages of better thermal comfort and higher energy saving potential compared with the conventional cooling systems in China. This paper comprehensively reviews the current status of RC systems in terms of their application and mechanism research. First, current policies and standards of RC technology applications are sorted out. Then, the current application cases and existing engineering difficulties for RC technologies are discussed in China. This shows the degree of the adaption problem of RC technology in China due to the issues of condensation, fewer natural cooling sources, etc. Furthermore, the energy-saving potential of RC technology indeed does not achieve the expected objectives in China, according to most of the conclusions of previous research studies. The key reason for this lies in the change of heat exchange method to RC technology. Current methods are often limited in analyzing the impact of this change. Then, the special characters are reviewed and discussed in relation to topic of comfort and energy saving. Additionally, a novel analyzing method is proposed for solving the problems comprehensively. Finally, this review suggests future areas of research directions and methods. It will be conducive to a deeper understanding of design and application of RC systems for researchers and policymakers.

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Aiming at the cognition problem of systematic ship behavior in harbor, a behavior recognition model based on semantic reasoning based on discrete event system modeling theory was proposed. Firstly, the hierarchical modeling of the behavior of ships in port waters is divided into data layer, event layer, activity layer and process layer. Based on a certain theoretical understanding of ship behavior on different time scales and space scales, build a ship behavior cognitive model; Secondly, in the data layer, the trajectory key point detection and segmentation extraction of the motion trajectory of port ship AIS data are performed by integrating port navigation rules to realize the labeling of ship trajectories. Finally, based on the labeling results of the data layer, the ontology is used to make inferences to discover the implicit ship behavior, and realize the trajectory of the ship from the data layer to the semantic layer. Experiments were performed using Xiamen Port data. The experimental results show that the behavioral cognitive ontology based on discrete system modeling can realize the cognitive and semantic reasoning of ship behavior at different time and space scales.@en

This paper studies distributed singularity-free finite-time consensus tracking control for quite a large class of high-order (powers are positive odd integers) nonlinear multi-agent networks in the presence of unknown asymmetric dead zone. Achieving finite-time consensus tracking for such dynamics is extremely challenging because feedback linearization and backstepping methods successfully developed for low-order systems fail to work, and some appropriate exponential terms typically arising from finite-time stability are difficult to design due to the existence of high powers and strong couplings among distinct agents. To this purpose, an adding-one-power-integrator methodology is skillfully incorporated into the finite-time stability theory so as to stabilize the closed-loop system. Over the course of design, a variable-separable lemma is utilized to extract the unknown asymmetric dead-zone input in a “linear-like” manner and fuzzy logic systems are utilized to estimate the unknown system continuous nonlinearities over some compact sets. The singularity issue typical of finite-time control is overcome by delicately introducing a switching function. It is rigorously proved that the consensus tracking error eventually converges to a residual set, whose size can be made as small as desired, in finite time, while guaranteeing the boundedness of all closed-loop signals. Comparative simulations are finally provided to verify the effectiveness of the presented scheme on the existing control methods.

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The tethered formation system has been widely studied due to its extensive use in aerospace engineering, such as Earth observation, orbital location, and deep space exploration. The deployment of such a multitethered system is a problem because of the oscillations and complex formation maintenance caused by the space tether's elasticity and flexibility. In this article, a triangle tethered formation system is modeled, and an exact stable condition for the system's maintaining is carefully analyzed, which is given as the desired trajectories; then, a new control scheme is designed for its spinning deployment and stable maintenance. In the proposed scheme, a novel second-order sliding mode controller is given with a designed nonsingular sliding-variable. Based on the theoretical proof, the addressed sliding variable from the arbitrary initial condition can converge to the manifold in finite time, and then sliding to the equilibrium in finite time as well. The simulation results show that compared with classic second sliding-mode control, the proposed scheme can speed up the convergence of the states and sliding variables.

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The snubber circuit is a cost-effective solution to reduce the severe turn-off overvoltage and oscillation caused by the fast switching characteristics of SiC MOSFET. However, the turn-on switching losses will significantly increase as the snubber decouples the power loop parasitic inductance during the switching process. In this article, the effect of the power loop parasitic inductance on the switch performance of SiC MOSFETs and the quasi-zero voltage switching (QZVS) turn-on condition are studied. On this basis, an SiC MOSFET overvoltage and oscillation suppression circuit (OVSC) with not only the switching losses optimization feature but also the clamping energy feedback characteristic is proposed. The overvoltage and oscillation can be effectively suppressed by clamping capacitors, and those capacitors do not participate in the switching process until the overvoltage occurs, which is of benefit to the switching losses reduction compared with the other normal snubber circuits. Besides, the turn-off overvoltage and oscillation energy stored in the clamping capacitors can be feedback to dc and load side through a passive branch composed of an energy feedback inductor and a diode. The experimental studies and comprehensive comparison studies are carried out to verify the validity of the proposed OVSC. The experimental results show that OVSC has excellent overvoltage and oscillation suppression performance and can significantly reduce the switching losses.

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The special SOX Emission Control Areas (ECAs) had been established to reduce pollution in coastal region. Real-time ship emissions monitoring should be strengthened in SECA. The mainstream remote measurements of gas concentrations are the optical or sniffer monitoring methods. Exhaust emissions location and intensity could not be acquired by methods of remote measurements. Based on monitoring multiple sensors, this paper presents a new inversion method for characteristics of single ship emissions. The Gaussian plume diffusion model (GPDM) and Genetic Algorithm (GA) to calculate the position and concentration of single ship emissions. Simultaneous measurements of CO2, SO2 and NOX concentrations can be achieved by several monitoring stations on the wharf. Multiple solutions of the ship emissions location and intensity have been calculated by the selection, crossover and mutation of GA. As parameters of Gaussian plume diffusion model, those solutions are employed to calculate the gas concentrations on the location of the monitoring stations. The optimal one can be acquired by comparing the measurement and the calculation. The presented algorithm is verified by the real practice for Yantian harbor in Shenzhen.@en

With the booming of marine industry, occurrence of maritime oil spills will not only loss of life and property, but also has brought about a long-term and bad influence to ocean environment and ecosystem system. This paper introduces a platform architecture for marine oil spill response capacity visualization, and elaborates the visualization of oil spill emergency elements, emergency resources dynamic interconnection and regional oil spill response capability with marine oil spill accidents. The platform is based on the B/S (browser/server) framework along with the tools of Baidu map API and MapV visualization system to realize the oil spill emergency resources visualization, oil spill emergency capability visualization and oil spill emergency response. The successful running of the platform provides scientific support for the decision-making in handling the oil spill emergency.@en

Recognizing ship behavior is important for maritime situation awareness and intelligent transportation management. Some scholars extracted ship behaviors from massive trajectory data by statistical analysis. However, the meaning of the behaviors, i.e., semantic meanings of behaviors and their relationships, are not explicit. Ship behaviors are affected by navigational area and traffic rules, so their meanings can be obtained only in specific maritime situations. The work establishes the semantic model of ship behavior (SMSB) to represent and reason the meaning of the behaviors. Firstly, a semantic network is built based on maritime traffic rules and good seamanship. The corresponding detection methods are then proposed to identify basic ship behaviors in various maritime scenes, including dock, anchorage, traffic lane, and general scenes. After that, dynamic Bayesian network (DBN) is used to reason potential ship behaviors. Finally, trajectory annotation and semantic query of the model are validated in the different scenes of harbor. The basic behaviors and potential behaviors in all typical scenes of any harbor can be obtained accurately and expressed conveniently using the proposed model. The model facilitates the ships behavior research, contributing to the semantic trajectory analysis.@en

A trajectory-cell based method was proposed for unmanned surface vehicle (USV) motion planning to combine the expression of the dynamic constraints and the discretization of the search space. The dynamic constraints were expressed by the USV trajectories produced by the mathematical model. The search space was performed by the discretization rules with the consideration of the path continuity, the search convenience and the maneuvering simplification. Therefore, the trajectory-cells were the discretized trajectories, which made the search space meet the USV dynamic constraints, and guaranteed the final spliced path continuous. After abstracting the characteristics of those cells, the available waypoints and headings were represented as the search indexes. Finally, a trajectory-cell based path searching strategy was proposed by determining the cost function of the A* algorithm. The results showed that the proposed algorithm can plan a practical motion path for the USV.@en

In smart buildings, the models used for energy management and those used for maintenance scheduling differ in scope and structure: while the models for energy management describe continuous states (energy, temperature), the models used for maintenance scheduling describe only a few discrete states (healthy/faulty equipment, and fault typology). In addition, models for energy management typically assume the Heating, Ventilation, and Air Conditioning (HVAC) equipment to be healthy, whereas the models for maintenance scheduling are rarely human-centric, i.e. they do not take possible human factors (e.g. discomfort) into account. As a result, it is very difficult to integrate energy management and maintenance scheduling strategies in an efficient way. In this work, a holistic framework for energy-aware and comfort-driven maintenance is proposed: energy management and maintenance scheduling are integrated in the same optimization framework. Continuous and discrete states are embedded as hybrid dynamics of the system, while considering both continuous controls (for energy management) and discrete controls (for maintenance scheduling). To account for the need to estimate the equipment efficiency online, the solution to the problem is addressed via an adaptive dual control formulation. We show, via a zone-boiler-radiator simulator, that the best economic cost of the system is achieved by active learning strategies, in which control interacts with estimation (dual control design).

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This work proposes for the first time a model reference adaptive asymptotic tracking method for a class of uncertain switched linear systems with nonnegative orthant state constraints and dwell time switching. In contrast with the state-of-the-art switched adaptive methods, the main characteristic of this method consists in guaranteeing that the systems states remain in the nonnegative orthant of the state space. To achieve asymptotic tracking, an interpolated Lyapunov function is adopted. To ensure the positivity of the system states, a parameter projection law is needed, because some knowledge of the bounds of the parameter estimates is required to guarantee that the closed-loop system is a switched positive system. A benchmark traffic flow example (a switched positive linear system commonly used in literature) is adopted to verify the effectiveness of the proposed approach.

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Aiming at fine motion control on a small scale area for unmanned surface vehicle (USV), an approach for motion planning based on Trajectory Unit has been proposed. By making use of USV's hydrodynamic model and combining corresponding rules, the method generates a Trajectory Unit set which contains different orbit segments. Through the location and direction that the set of tracks can reach, the route searching in research waters can be done. Finally, a practical motion route will be planned for an USV. The experimental results show that, the planning route can not only avoid obstacles, but also meet the movement characteristics of an USV. And the approach has realized the fine motion control for an USV in a small range of scenarios.@en

Atmosphere pollution brought by rapid development of shipping industry becomes increasingly serious, and has brought great challenges to maritime supervision and management. With the popularization of AIS (Automatic Identification System) technology, massive navigation logs recording rich ship activities can be collected. These logs make it possible to apply a data-driven method to quantify exhaust emissions from ships. This paper is therefore motivated to research methods of approximately estimating ship exhaust emissions and exploring its spatial distribution and variation rules. Firstly, ship static and dynamic information extracted from AIS logs are utilized to distinguish different ship navigational states. A quantitative model is then created to estimate ship emissions from main engine, auxiliary engine and boiler with varied work conditions in different states. Spatio-temporal analysis methods are further applied to comprehensively discovery knowledge hidden in ship emission inventories. Typical analyses from space, time and attributes have uncovered much useful knowledge for ship emission supervision, such as high-polluted area, peak-emission time, least environmentally friendly ship type, etc. Finally, Ningbo-Zhoushan port plays a role as case study in validating the proposed method. The experiment results illustrate this research can be helpful to make efficient emission control measures and improve the capability of environmental management.@en

At present, the supervision mode of inland ferrying was conducted passively by mainly human analysis and judgement based on VTS and AIS, which is not favorable to reply increasingly serious situation of marine security supervision. The historical AIS data of the ferryboat was analyzed to explore its motion pattern and obtain the probability density spatial distribution of motion characteristics of location, course and speed by using the kernel density estimation. Then on this basis, the detection algorithm of the ferryboat abnormal behaviors was established for location and speed abnormity, and actual AIS data was used to verify the algorithm. Experimental results show that the proposed algorithm can accurately recognize the abnormal behaviors of the ferryboat, which is helpful to the marine supervision.@en