A survey on the application of path-planning algorithms for multi-rotor UAVs in precision agriculture

Multi-rotor Unmanned Aerial Vehicles (UAVs), although originally designed and developed for defence and military purposes, in the last ten years have gained momentum, especially for civilian applications, such as search and rescue, surveying and mapping, and agricultural crops and monitoring. Thanks to their hovering and Vertical Take-Off and Landing (VTOL) capabilities and the capacity to carry out tasks with complete autonomy, they are now a standard platform for both research and industrial uses. However, while the flight control architecture is well established in the literature, there are still many challenges in designing autonomous guidance and navigation systems to make the UAV able to work in constrained and cluttered environments or also indoors. Therefore, the main motivation of this work is to provide a comprehensive and exhaustive literature review on the numerous methods and approaches to address path-planning problems for multi-rotor UAVs. In particular, the inclusion of a review of the related research in the context of Precision Agriculture (PA) provides a unified and accessible presentation for researchers who are initiating their endeavours in this subject.

URBAN CONSCIOUSNESS, CULTURE, QUALITY OF LIFE AND TAMBOV RESIDENTS’ IDEA OF FAVORABLE URBAN ENVIRONMENT

В статье изложены результаты полевых социологических исследований по проблемам оценки горожанами градостроительных проблем и городской среды в г. Тамбове в 2008 и 2020 гг. Показано, что количественный состав жителей г. Тамбова в последние 30 лет остается стабильным, при возросшем жилищном фонде за это время на 1 жителя с 14,1 м до 29,6 м. Из 75 городов России г. Тамбов находится, на основании мнений тамбовчан, на 36-м месте по качеству жизни. Актуальность статьи обусловлена научным интересом к проблеме взаимодействия горожан со средой обитания и формирования комфортной городской среды. Целью статьи является срез субъективного мнения горожан о градостроительных проблемах и условиях формирования оптимальной среды проживания. По результатам опросов установлены основные негативные факторы городской среды, в частности, плохая экология, отсутствие благоустройства. Названы предпочитаемые и нежелательные районы города для проживания. На основе ответов респондентов сформирован «социальный заказ» по оптимизации городской среды, решению градостроительных проблем. Показано, что приобщение населения к решению городских проблем повышает социальную ответственность горожан за создание комфортной среды проживания. На основании эмпирического исследования делается вывод о том, что для создания благоприятной городской среды обитания в самих горожанах должны появиться градостроительное сознание и культура с человеческим измерением. The paper presents the results of field sociological research on the problems of assessing urban planning problems and urban environment in Tambov in 2008 and 2020. The research shows that the quantitative composition of Tambov inhabitants in the last 30 years remains stable, but the housing stock during this time increased from 14.1 m to 29.6 m per inhabitant. Tambov is ranked 36th out of 75 cities in Russia in terms of quality of life according to the opinions of Tambov residents. The relevance of the publication is due to the scientific interest in the sphere of interaction of citizens with the environment and comfortable urban environment formation. The purpose of the paper is to analyze the subjective opinion of residents about urban planning problems and the conditions of optimal living environment formation. Based on the results of the polls the main negative factors of the urban environment were identified, in particular, poor ecology, lack of landscaping. Preferred and undesirable areas of the city for living have been named. Based on the respondents' answers, a “social order” was formed to optimize the urban environment and solve urban planning problems. The authors suggest that involving the citizens in solving urban problems increases their social responsibility for creating a comfortable living environment. The empirical research allows us to think that in order to create a favorable urban environment, urban planning consciousness and culture with a human dimension must appear among townspeople. In this article according to sociological surveys, we have broadly subjectively revealed and assessed the quality of life of respondents in the non-production fixed assets of social consumption in Tambov.

An Analysis of Research Trends in the Sustainability of Production Palnning

Sustainability has become of great interest in many fields, especially in production systems due to the continual increase in the scarcity of raw materials and environmental awareness. Recent literature has given significant attention to considering the three sustainability pillars (i.e., environmental, economic, and social sustainability) in solving production planning problems. Therefore, the present study conducts a review of the literature on sustainable production planning to analyze the relationships among different production planning problems (e.g., scheduling, lot sizing, aggregate planning, etc.) and the three sustainability pillars. In addition, we analyze the identified studies based on the indicators that define each pillar. The results show that the literature most frequently addresses production scheduling problems while it lacks studies on aggregate production planning problems that consider the sustainability pillars. In addition, there is a growing trend towards obtaining integrated solutions of different planning problems, e.g., combining production planning problems with maintenance planning or energy planning. Additionally, around 45% of the identified studies considered the integration of the economic and the environmental pillars in different production planning problems. In addition, energy consumption and greenhouse gas emissions are the most frequent sustainability indicators considered in the literature, while less attention has been given to social indicators. Another issue is the low number of studies that have considered all three sustainability pillars simultaneously. The finidings highlight the need for more future research towards holistic sustainable production planning approaches.

INTELLECTUAL PROCEDURES FOR ORDERING SEQUENCE ORDERS BY INHOMOGENEOUS FORMING OPERATORS

The researches results of discrete optimal planning problems of a wide range of production-technological, logistic and other service processes are presented. The planning methods are based on new intelligent procedures for ordering (IPO) sequences of elements (orders), which are implemented by means of constructive modeling. Purpose of procedures is to increase the efficiency of ordering receiving of orders, taking into account the complexity of the formation operations, as well as resource constraints. The article considers the models and methods of IPO application, which are focused on the processes of disbandment-formation (DF) of multigroup railway trains at sorting stations. Formally, such processes are represented by new models of ordering multi-sequences of orders taking into account the complexity of operations (OMSCE). In the search for optimal solutions, models of Hamming's associative memory are used, which allow to classify the current situations of OMSCE processes. In them, each class of certain states (taking into account the incompleteness and data perturbation) corresponds to one or more rational operators from among the possible ones. IPO procedures reduce the number of analysis options and increase the numerical efficiency of the optimizing multi-sequence orders method. The article presents the formalization of multilayer constructive models of OMSCE processes, intelligent procedures for methods of their implementation, the formation of the procedure for operations classification based on models of Hemming neural networks. At the same time, an improved structure of DF information technology with the use of intelligent procedures is also developed, examples of their application are given.

PENDAMPINGAN PADA PASANGAN USIA SUBUR DALAM PENGGUNAAN KONTRASEPSI SEBAGAI UPAYA MENEKAN UNMET NEED KB DI MASA ADAPTASI KEBIASAAN BARU

ABSTRAKTingginya angka unmet need bukan hanya menjadi permasalahan dalam program Keluarga Berencana di Indonesia, namun juga dihadapai oleh tiap belahan dunia. Kelompok unmet need merupakan sasaran yang perlu mendapatkan perhatian khusus dalam pelayanan KB. Pada masa awal pandemi Covid-19, angka unmet need KB cenderung mengalami peningkatan. Berdasarkan laporan dari BKKBN 2020 tercatat sebanyak 36 juta peserta KB aktif pada bulan Maret mengalami penurunan menjadi 26 juta peserta dibulan April, sehingga terdapat selisih 10 juta akseptor yang tidak menggunakan alat kontrasepsi dan 25% diantaranya merupakan Pasangan Usia Subur (PUS). Penurunan kepesertaan KB aktif ini dapat berdampak pada resiko terjadi Kehamilan Yang Tidak Diinginkan (KTD), maupun peningkatan “baby boom” pasca pandemi. Tujuan dari kegiatan ini adalah membantu PUS dalam memecahkan dan menemukan solusi terhadap permasalahan terkait KB serta memberikan layanan KB. Kegiatan ini dikemas dalam bentuk pendampingan konseling dan pelayanan KB gratis terutama bagi PUS yang tergolong unmet need. Dilakukan secara tatap muka dengan menerapkan protokol kesehatan yang ketat. Hasil kegiatan Pengabdian kepada Masyarakat ini yaitu dari 20 orang PUS yang melakukan konseling, sebanyak 15 orang (75%), bersedia menjadi akseptor KB aktif sedangkan 2 orang (10%) akan mendiskusikan kembali dengan pasangannya dan 3 orang lainnya (15%) belum siap untuk menggunakan kontrasepsi. Kata kunci: pendampingan; PUS; unmet Need KB; adaptasi kebiasaan baru ABSTRACTThe high number of unmet need is not only a family planning problem in Indonesia, but also in every part of the world. Unmet need target groups that need special attention. At the beginning of the Covid-19 pandemic, the number of unmet need for family planning tends to increase.Reports from the BKKBN in 2020, from March to April there was a decrease in active family planning acceptors by 10 million participants and 25% of them are couples of childbearing age. This decrease in participation has an impact on the risk of unwanted pregnancies and an increase in the post-pandemic "baby boom". The purpose of this activity is to assist couples in solving and finding solutions to family planning problems and providing family planning services. This activity is packaged in the form of counseling assistance and free family planning services, especially for couples of childbearing age with unmet need. The results of this Community Service activity are from 20 people who did counseling, as many as 15 people (75%), were willing to become active family planning acceptors while 2 people (10%) would discuss again with their partners and 3 other people (15%) were not ready to use contraception. Keywords: accompaniment; couples of childbearing age; unmet need KB; new habit adaptation

Combining Polyhedral Approaches and Stochastic Dual Dynamic Integer Programming for Solving the Uncapacitated Lot-Sizing Problem Under Uncertainty

We study the uncapacitated lot-sizing problem with uncertain demand and costs. The problem is modeled as a multistage stochastic mixed-integer linear program in which the evolution of the uncertain parameters is represented by a scenario tree. To solve this problem, we propose a new extension of the stochastic dual dynamic integer programming algorithm (SDDiP). This extension aims at being more computationally efficient in the management of the expected cost-to-go functions involved in the model, in particular by reducing their number and by exploiting the current knowledge on the polyhedral structure of the stochastic uncapacitated lot-sizing problem. The algorithm is based on a partial decomposition of the problem into a set of stochastic subproblems, each one involving a subset of nodes forming a subtree of the initial scenario tree. We then introduce a cutting plane–generation procedure that iteratively strengthens the linear relaxation of these subproblems and enables the generation of an additional strengthened Benders’ cut, which improves the convergence of the method. We carry out extensive computational experiments on randomly generated large-size instances. Our numerical results show that the proposed algorithm significantly outperforms the SDDiP algorithm at providing good-quality solutions within the computation time limit. Summary of Contribution: This paper investigates a combinatorial optimization problem called the uncapacitated lot-sizing problem. This problem has been widely studied in the operations research literature as it appears as a core subproblem in many industrial production planning problems. We consider a stochastic extension in which the input parameters are subject to uncertainty and model the resulting stochastic optimization problem as a multistage stochastic integer program. To solve this stochastic problem, we propose a novel extension of the recently published stochastic dual dynamic integer programming (SDDiP) algorithm. The proposed extension relies on two main ideas: the use of a partial decomposition of the scenario tree and the exploitation of existing knowledge on the polyhedral structure of the stochastic uncapacitated lot-sizing problem. We provide the results of extensive computational experiments carried out on large-size randomly generated instances. These results show that the proposed extended algorithm significantly outperforms the SDDiP at providing good-quality solutions for the stochastic uncapacitated lot-sizing problem. Although the paper focuses on a basic lot-sizing problem, the proposed algorithmic framework may be useful to solve more complex practical production planning problems.

Can the Brain Use Waves to Solve Planning Problems?

A variety of behaviors like spatial navigation or bodily motion can be formulated as graph traversal problems through cognitive maps. We present a neural network model which can solve such tasks and is compatible with a broad range of empirical findings about the mammalian neocortex and hippocampus. The neurons and synaptic connections in the model represent structures that can result from self-organization into a cognitive map via Hebbian learning, i.e. into a graph in which each neuron represents a point of some abstract task-relevant manifold and the recurrent connections encode a distance metric on the manifold. Graph traversal problems are solved by wave-like activation patterns which travel through the recurrent network and guide a localized peak of activity onto a path from some starting position to a target state.