A fuzzy control algorithm for tracing air pollution based on unmanned aerial vehicles

The process of atmospheric pollutants traceability based on unmanned aerial vehicles (UAVs) is affected by many factors that can impact and increase the complexity of the traceability of atmospheric pollutants. In this study, we proposed a new algorithm called the fuzzy control traceability (FCT) to track odor plumes. Our proposed algorithm combined the characteristics and fuzzy control of the UAV and designed a controller based on the actual environment of the UAV. The fuzzy controller fuzzed the input gas concentration information, established fuzzy control rules by imitating human brain thinking, and outputted the turning angle and the move length according to rules, thus realizing intelligent tracking of the odor plume by the UAV. We compared the FCT algorithm with the bio-inspired "ZigZag" algorithm to validate its performance. Various concentration fields were constructed, and ten sets of experiments are performed using the two algorithms in different concentration fields. The average success rate of the FCT algorithm under different concentration fields was 95.4% higher than that of the ZigZag algorithm.Implications: Fuzzy control logic is applied to the field of air pollutant traceability of drones, and a single drone traceability algorithm based on fuzzy control is proposed; and in view of the shortcomings of a single traceability subject in the traceability, multiple traceability subjects are introduced to optimize fuzzy control.

Evaluation of Selected Algorithms for Air Pollution Source Localisation Using Drones

Polluted air causes enormous damage to human health. There is a high demand to find a solution for locating the places of illegal waste incineration due to the persistent smog problem. The use of multi-rotor drones for that purpose has now become one of the important research topics. The aim of the work was to check the possibility of using simple algorithms to search for the source of pollution. The algorithms that require low computing power, which may be part of the robot’s measurement and the control system’s internal software, were considered. The focus was on building a system based on a single robot that independently searches an area of a certain size. The simulation of the accuracy and scalability of the three different search algorithms was analysed for areas up to 200 m × 200 m. Two multi-rotor robots were prepared for the fieldwork. The validation of the two selected algorithms was carried out in outdoor environmental conditions. The fieldwork tests were carried out in areas with a maximum size of 100 m × 100 m. The obtained results were different, in particular on the wind speed and direction and the intensity of the pollution source. The random influence of these factors can verify the operation of the proposed system in practical applications. The difference between the true and the position of the source indicated by the robot was up to 15 m. That difference depended on the mutual arrangement of the measurement points and the pollution source location.

Continuous and near real-time measurements of gaseous elemental mercury (GEM) from an Unmanned Aerial Vehicle: A new approach to investigate the 3D distribution of GEM in the lower atmosphere

We present the first real attempt to directly and continuously measure GEM through a Lumex RA-915 M, designed for real-time detection of mercury vapor, mounted on an UAV (Unmanned Aerial Vehicle, namely a heavy-lift octocopter), inside and outside the former Hg-mining area of Abbadia San Salvatore (Mt. Amiata, Italy), known as a GEM source. We tested the effectiveness of the UAV-Lumex combination at different heights in selected sites pertaining to both mining facilities and surrounding urban zones, shedding light on the GEM spatial distribution and concentration variability. The Lumex great sensitivity and the octocopter optimal versatility and maneuverability, both horizontally and vertically, allowed to depict the GEM distribution in the atmosphere up to 60 m above the ground. The acquisition system was further optimized by: i) synchronizing Lumex and UAV GPS data by means of a stand-alone GPS that was previously synchronized with Lumex; ii) using a vertical sampling tube (1.20 m high) connected to the Lumex inlet to overcome the rotors strong airflows and turbulence that would have affected GEM measurements; iii) supplying the octocopter with batteries for power supply to avoid the release of exhaust gases; iv) taking the advantage of the UAV ability to land in small spaces and stop at selected altitudes. The resulting dot-map graphical representations, providing a realistic 3D picture of GEM vertical profiling during the flights in near real-time, were useful to verify whether the guideline concentrations indicated by competent authorities were exceeded. The results showed that the GEM concentrations in the urban area, located a few hundred meters from the mining structures, and close to already reclaimed areas remained at relatively low values. Contrarily, GEM contents showed significant variations and the highest concentrations above the facilities containing the old furnaces, where increasing GEM concentrations were recorded at decreasing heights or downwind.

A Detailed Survey and Future Directions of Unmanned Aerial Vehicles (UAVs) with Potential Applications

Recently, unmanned aerial vehicles (UAVs), also known as drones, have gained widespread interest in civilian and military applications, which has led to the development of novel UAVs that can perform various operations. UAVs are aircraft that can fly without the need of a human pilot onboard, meaning they can fly either autonomously or be remotely piloted. They can be equipped with multiple sensors, including cameras, inertial measurement units (IMUs), LiDAR, and GPS, to collect and transmit data in real time. Due to the demand for UAVs in various applications such as precision agriculture, search and rescue, wireless communications, and surveillance, several types of UAVs have been invented with different specifications for their size, weight, range and endurance, engine type, and configuration. Because of this variety, the design process and analysis are based on the type of UAV, with the availability of several control techniques that could be used to improve the flight of the UAV in order to avoid obstacles and potential collisions, as well as find the shortest path to save the battery life with the support of optimization techniques. However, UAVs face several challenges in order to fly smoothly, including collision avoidance, battery life, and intruders. This review paper presents UAVs’ classification, control applications, and future directions in industry and research interest. For the design process, fabrication, and analysis, various control approaches are discussed in detail. Furthermore, the challenges for UAVs, including battery charging, collision avoidance, and security, are also presented and discussed.

A comprehensive review and analysis of supervised-learning and soft computing techniques for stress diagnosis in humans

Stress is the most prevailing and global psychological condition that inevitably disrupts the mood and behavior of individuals. Chronic stress may gravely affect the physical, mental, and social behavior of victims and consequently induce myriad critical human disorders. Herein, a review has been presented where supervised learning (SL) and soft computing (SC) techniques used in stress diagnosis have been meticulously investigated to highlight the contributions, strengths, and challenges faced in the implementation of these methods in stress diagnostic models. A three-tier review strategy comprising of manuscript selection, data synthesis, and data analysis was adopted. The issues in SL strategies and the potential possibility of using hybrid techniques in stress diagnosis have been intensively investigated. The strengths and weaknesses of different SL (Bayesian classifier, random forest, support vector machine, and nearest neighbours) and SC (fuzzy logic, nature-inspired, and deep learning) techniques have been presented to obtain clear insights into these optimization strategies. The effects of social, behavioral, and biological stresses have been highlighted. The psychological, biological, and behavioral responses to stress have also been briefly elucidated. The findings of the study confirmed that different types of data/signals (related to skin temperature, electro-dermal activity, blood circulation, heart rate, facial expressions, etc.) have been used in stress diagnosis. Moreover, there is a potential scope for using distinct nature-inspired computing techniques (Genetic Algorithm, Particle Swarm Optimization, Ant Colony Optimization, Whale Optimization Algorithm, Butterfly Optimization, Harris Hawks Optimizer, and Crow Search Algorithm) and deep learning techniques (Deep-Belief Network, Convolutional-Neural Network, and Recurrent-Neural Network) on multimodal data compiled using behavioral testing, electroencephalogram signals, finger temperature, respiration rate, pupil diameter, galvanic-skin-response, and blood pressure. Likewise, there is a wider scope to investigate the use of SL and SC techniques in stress diagnosis using distinct dimensions such as sentiment analysis, speech recognition, handwriting recognition, and facial expressions. Finally, a hybrid model based on distinct computational methods influenced by both SL and SC techniques, adaption, parameter tuning, and the use of chaos, levy, and Gaussian distribution may address exploration and exploitation issues. However, factors such as real-time data collection, bias, integrity, multi-dimensional data, and data privacy make it challenging to design precise and innovative stress diagnostic systems based on artificial intelligence.

Environmental chemical sensing using small drones: A review

Recent advances in miniaturization of chemical instrumentation and in low-cost small drones are catalyzing exponential growth in the use of such platforms for environmental chemical sensing applications. The versatility of chemically sensitive drones is reflected by their rapid adoption in scientific, industrial, and regulatory domains, such as in atmospheric research studies, industrial emission monitoring, and in enforcement of environmental regulations. As a result of this interdisciplinarity, progress to date has been reported across a broad spread of scientific and non-scientific databases, including scientific journals, press releases, company websites, and field reports. The aim of this paper is to assemble all of these pieces of information into a comprehensive, structured and updated review of the field of chemical sensing using small drones. We exhaustively review current and emerging applications of this technology, as well as sensing platforms and algorithms developed by research groups and companies for tasks such as gas concentration mapping, source localization, and flux estimation. We conclude with a discussion of the most pressing technological and regulatory limitations in current practice, and how these could be addressed by future research.

Elevating Chemistry Research with a Modern Electronics Toolkit

With the rapid development of high technology, chemical science is not as it used to be a century ago. Many chemists acquire and utilize skills that are well beyond the traditional definition of chemistry. The digital age has transformed chemistry laboratories. One aspect of this transformation is the progressing implementation of electronics and computer science in chemistry research. In the past decade, numerous chemistry-oriented studies have benefited from the implementation of electronic modules, including microcontroller boards (MCBs), single-board computers (SBCs), professional grade control and data acquisition systems, as well as field-programmable gate arrays (FPGAs). In particular, MCBs and SBCs provide good value for money. The application areas for electronic modules in chemistry research include construction of simple detection systems based on spectrophotometry and spectrofluorometry principles, customizing laboratory devices for automation of common laboratory practices, control of reaction systems (batch- and flow-based), extraction systems, chromatographic and electrophoretic systems, microfluidic systems (classical and nonclassical), custom-built polymerase chain reaction devices, gas-phase analyte detection systems, chemical robots and drones, construction of FPGA-based imaging systems, and the Internet-of-Chemical-Things. The technology is easy to handle, and many chemists have managed to train themselves in its implementation. The only major obstacle in its implementation is probably one's imagination.

The Gray-Box Based Modeling Approach Integrating Both Mechanism-Model and Data-Model: The Case of Atmospheric Contaminant Dispersion

With the profound understanding of the world, modeling and simulation has been used to solve the problems of complex systems. Generally, mechanism-models are often used to model the engineering systems following the Newton laws, and this kind of modeling approach is called white-box modeling; however, when the internal structure and characteristics of some systems are hard to understand, the black-box modeling based on statistic and data-modeling is often used. For most complex real systems, a single modeling approach can hardly describe the target system accurately. In this paper, we firstly discuss and compare the white-box and black-box modeling approaches. Then, to mitigate the limitations of these two modeling methods in mechanism-partially-observed systems, the gray-box based modeling approach integrating both a mechanism model and data model is proposed. In order to explain the idea of gray-box based modeling, the atmosphere dispersion modeling is studied in practical cases from two symmetric aspects. Specifically, the framework of data assimilation is used to illustrate the modeling from white-box to gray-box, while the Gauss features based Support Vector Regression (SVR) models are used to illustrate the modeling from black-box to gray-box. To verify the feasibility of the gray-box modeling method, we conducted both simulation experiments and real dataset symmetry experiments. The experiment results show the enhanced performance of the gray-box based modeling approach. In the end, we expect that this gray-box based modeling approach will be an alternative modeling approach for different existing systems.

Strategically Patrolling in a Chemical Cluster Addressing Gas Pollutants' Releases through a Game-Theoretic Model

Chemical production activities in chemical clusters, if not well managed, will pose great threats to the surrounding air environment and impose great burden on emergency handling. Therefore, it is urgent and substantial in a chemical cluster to develop proper and suitable pollution controlling strategies for an inspection agency to monitor chemical production processes. Apart from the static monitoring resources (e.g., monitoring stations and gas sensor modules), patrolling by mobile vehicle resources is arranged for better detecting the illegal releasing behaviors of emission spots in different chemical plants. However, it has been proven that the commonly used patrolling strategies (i.e., the fixed route strategy and the purely randomized route strategy) are non-optimal and fail to interact with intelligent chemical plants. Therefore, we proposed the Chemical Cluster Environmental Protection Patrolling (CCEPP) game to tackle the problem in this paper. Through combining the source estimation process, the game is modeled to detect the illegal releasing behaviors of chemical plants by randomly and strategically arranging the patrolling routes and intensities in different chemical sites. In this game-theoretic model, players (patroller and chemical sites), strategies, payoffs, and game solvers are modeled in sequence. More importantly, this game model also considers traffic delays or bounded cognition of patrollers on patrolling plans. Therefore, a discrete Markov decision process was used to model this stochastic process. Further, the model is illustrated by a case study. Results imply that the patrolling strategy suggested by the CCEPP game outperforms both the fixed route strategy and the purely randomized route strategy.

A data-driven approach for optimal design of integrated air quality monitoring network in a chemical cluster

The chemical industry is of paramount importance to the world economy and this industrial sector represents a substantial income source for developing countries. However, the chemical plants producing inside an industrial district pose a great threat to the surrounding atmospheric environment and human health. Therefore, designing an appropriate and available air quality monitoring network (AQMN) is essential for assessing the effectiveness of deployed pollution-controlling strategies and facilities. As monitoring facilities located at inappropriate sites would affect data validity, a two-stage data-driven approach constituted of a spatio-temporal technique (i.e. Bayesian maximum entropy) and a multi-objective optimization model (i.e. maximum concentration detection capability and maximum dosage detection capability) is proposed in this paper. The approach aims at optimizing the design of an AQMN formed by gas sensor modules. Owing to the lack of long-term measurement data, our developed atmospheric dispersion simulation system was employed to generate simulated data for the above method. Finally, an illustrative case study was implemented to illustrate the feasibility of the proposed approach, and results imply that this work is able to design an appropriate AQMN with acceptable accuracy and efficiency.

An Extended Chemical Plant Environmental Protection Game on Addressing Uncertainties of Human Adversaries

Chemical production activities in industrial districts pose great threats to the surrounding atmospheric environment and human health. Therefore, developing appropriate and intelligent pollution controlling strategies for the management team to monitor chemical production processes is significantly essential in a chemical industrial district. The literature shows that playing a chemical plant environmental protection (CPEP) game can force the chemical plants to be more compliant with environmental protection authorities and reduce the potential risks of hazardous gas dispersion accidents. However, results of the current literature strictly rely on several perfect assumptions which rarely hold in real-world domains, especially when dealing with human adversaries. To address bounded rationality and limited observability in human cognition, the CPEP game is extended to generate robust schedules of inspection resources for inspection agencies. The present paper is innovative on the following contributions: (i) The CPEP model is extended by taking observation frequency and observation cost of adversaries into account, and thus better reflects the industrial reality; (ii) Uncertainties such as attackers with bounded rationality, attackers with limited observation and incomplete information (i.e., the attacker’s parameters) are integrated into the extended CPEP model; (iii) Learning curve theory is employed to determine the attacker’s observability in the game solver. Results in the case study imply that this work improves the decision-making process for environmental protection authorities in practical fields by bringing more rewards to the inspection agencies and by acquiring more compliance from chemical plants.

Playing Chemical Plant Environmental Protection Games with Historical Monitoring Data

The chemical industry is very important for the world economy and this industrial sector represents a substantial income source for developing countries. However, existing regulations on controlling atmospheric pollutants, and the enforcement of these regulations, often are insufficient in such countries. As a result, the deterioration of surrounding ecosystems and a quality decrease of the atmospheric environment can be observed. Previous works in this domain fail to generate executable and pragmatic solutions for inspection agencies due to practical challenges. In addressing these challenges, we introduce a so-called Chemical Plant Environment Protection Game (CPEP) to generate reasonable schedules of high-accuracy air quality monitoring stations (i.e., daily management plans) for inspection agencies. First, so-called Stackelberg Security Games (SSGs) in conjunction with source estimation methods are applied into this research. Second, high-accuracy air quality monitoring stations as well as gas sensor modules are modeled in the CPEP game. Third, simplified data analysis on the regularly discharging of chemical plants is utilized to construct the CPEP game. Finally, an illustrative case study is used to investigate the effectiveness of the CPEP game, and a realistic case study is conducted to illustrate how the models and algorithms being proposed in this paper, work in daily practice. Results show that playing a CPEP game can reduce operational costs of high-accuracy air quality monitoring stations. Moreover, evidence suggests that playing the game leads to more compliance from the chemical plants towards the inspection agencies. Therefore, the CPEP game is able to assist the environmental protection authorities in daily management work and reduce the potential risks of gaseous pollutants dispersion incidents.