Treating inertial measurement unit (IMU) measurements as inputs to a motion model and then preintegrating these measurements have almost become a de facto standard in many robotics applications. However, this approach has a few shortcomings. First, it conflates the IMU measurement noise with the underlying process noise. Second, it is unclear how the state will be propagated in the case of IMU measurement dropout. Third, it does not lend itself well to dealing with multiple high-rate sensors such as a lidar and an IMU or multiple asynchronous IMUs. In this paper, we compare treating an IMU as an input to a motion model against treating it as a measurement of the state in a continuous-time state estimation framework. We methodically compare the performance of these two approaches on a 1D simulation and show that they perform identically, assuming that each method’s hyperparameters have been tuned on a training set. We also provide results for our continuous-time lidar-inertial odometry in simulation and on the Newer College Dataset. In simulation, our approach exceeds the performance of an imu-as-input baseline during highly aggressive motion. On the Newer College Dataset, we demonstrate state-of-the art results. These results show that continuous-time techniques and the treatment of the IMU as a measurement of the state are promising areas of further research. Code for our lidar-inertial odometry can be found at: https://github.com/utiasASRL/steam_icp.

Some effects are considered to be higher level than others. High-level effects provide expressive and succinct abstraction of programming concepts, while low-level effects allow more fine-grained control over program execution and resources. Yet, often it is desirable to write programs using the convenient abstraction offered by high-level effects, and meanwhile still benefit from the optimizations enabled by low-level effects. One solution is to translate high-level effects to low-level ones.

This paper studies how algebraic effects and handlers allow us to simulate high-level effects in terms of low-level effects. In particular, we focus on the interaction between state and nondeterminism known as the local state, as provided by Prolog. We map this high-level semantics in successive steps onto a low-level composite state effect, similar to that managed by Prolog’s Warren Abstract Machine. We first give a translation from the high-level local-state semantics to the low-level global-state semantics, by explicitly restoring state updates on backtracking. Next, we eliminate nondeterminism altogether in favour of a lower-level state containing a choicepoint stack. Then we avoid copying the state by restricting ourselves to incremental, reversible state updates. We show how these updates can be stored on a trail stack with another state effect. We prove the correctness of all our steps using program calculation where the fusion laws of effect handlers play a central role.

Biped wall-climbing robots (BWCRs) serve as viable alternatives to human workers for inspection and maintenance tasks within three-dimensional (3D) curtain wall environments. However, autonomous climbing in such environments presents significant challenges, particularly related to localization and navigation. This paper presents a pioneering navigation framework tailored for BWCRs to navigate through 3D curtain wall environments. The framework comprises three essential stages: Building Information Model (BIM)-based map extraction, 3D climbing path planning (based on our previous work), and path tracking. An algorithm is developed to extract a detailed 3D map from the BIM, including structural elements such as walls, frames, and ArUco markers. This generated map is input into a proposed path planner to compute a viable climbing motion. For path tracking during actual climbing, an ArUco marker-based global localization method is introduced to estimate the pose of the robot, enabling adjustments to the target foothold by comparing desired and actual poses. The conducted experiments validate the feasibility and efficacy of the proposed navigation framework and associated algorithms, aiming to enhance the autonomous climbing capability of BWCRs.

Risk-based surveillance is now a well-established paradigm in epidemiology, involving the distribution of sampling efforts differentially in time, space, and within populations, based on multiple risk factors. To assess and map the risk of the presence of the bacterium Xylella fastidiosa, we have compiled a dataset that includes factors influencing plant development and thus the spread of such harmful organism. To this end, we have collected, preprocessed, and gathered information and data related to land types, soil compositions, and climatic conditions to predict and assess the probability of risk associated with X. fastidiosa in relation to environmental features. This resource can be of interest to researchers conducting analyses on X. fastidiosa and, more generally, to researchers working on geospatial modeling of risk related to plant infectious diseases.

Both energy performance certificates (EPCs) and thermal infrared (TIR) images play key roles in mapping the energy performance of the urban building stock. In this paper, we developed parametric building archetypes using an EPC database and conducted temperature clustering on TIR images acquired from drones and satellite datasets. We evaluated 1,725 EPCs of existing building stock in Cambridge, UK, to generate energy consumption profiles. Drone-based TIR images of individual buildings in two Cambridge University colleges were processed using a machine learning pipeline for thermal anomaly detection and investigated the influence of two specific factors that affect the reliability of TIR for energy management applications: ground sample distance (GSD) and angle of view (AOV). The EPC results suggest that the construction year of the buildings influences their energy consumption. For example, modern buildings were over 30% more energy-efficient than older ones. In parallel, older buildings were found to show almost double the energy savings potential through retrofitting compared to newly constructed buildings. TIR imaging results showed that thermal anomalies can only be properly identified in images with a GSD of 1 m/pixel or less. A GSD of 1-6 m/pixel can detect hot areas of building surfaces. We found that a GSD > 6 m/pixel cannot characterize individual buildings but does help identify urban heat island effects. Additional sensitivity analysis showed that building thermal anomaly detection is more sensitive to AOV than to GSD. Our study informs newer approaches to building energy diagnostics using thermography and supports decision-making for large-scale retrofitting.

Recent advancements in Earth system science have been marked by the exponential increase in the availability of diverse, multivariate datasets characterised by moderate to high spatio-temporal resolutions. Earth System Data Cubes (ESDCs) have emerged as one suitable solution for transforming this flood of data into a simple yet robust data structure. ESDCs achieve this by organising data into an analysis-ready format aligned with a spatio-temporal grid, facilitating user-friendly analysis and diminishing the need for extensive technical data processing knowledge. Despite these significant benefits, the completion of the entire ESDC life cycle remains a challenging task. Obstacles are not only of a technical nature but also relate to domain-specific problems in Earth system research. There exist barriers to realising the full potential of data collections in light of novel cloud-based technologies, particularly in curating data tailored for specific application domains. These include transforming data to conform to a spatio-temporal grid with minimum distortions and managing complexities such as spatio-temporal autocorrelation issues. Addressing these challenges is pivotal for the effective application of Artificial Intelligence (AI) approaches. Furthermore, adhering to open science principles for data dissemination, reproducibility, visualisation, and reuse is crucial for fostering sustainable research. Overcoming these challenges offers a substantial opportunity to advance data-driven Earth system research, unlocking the full potential of an integrated, multidimensional view of Earth system processes. This is particularly true when such research is coupled with innovative research paradigms and technological progress.

Automatic license plate recognition (ALPR) systems are increasingly used to solve issues related to surveillance and security. However, these systems assume constrained recognition scenarios, thereby restricting their practical use. Therefore, we address in this article the challenge of recognizing vehicle license plates (LPs) from the video feeds of a mobile security robot by proposing an efficient two-stage ALPR system. Our ALPR system combines the on-the-shelf YOLOv7x model with a novel LP recognition model, called vision transformer-based LP recognizer (ViTLPR). ViTLPR is based on the self-attention mechanism to read character sequences on LPs. To ease the deployment of our ALPR system on mobile security robots and improve its inference speed, we also propose an optimization strategy. As an additional contribution, we provide an ALPR dataset, named PGTLP-v2, collected from surveillance robots patrolling several plants. The PGTLP-v2 dataset has multiple features to cover chiefly the in-the-wild scenario. To evaluate the effectiveness of our ALPR system, experiments are carried out on the PGTLP-v2 dataset and five benchmark ALPR datasets collected from different countries. Extensive experiments demonstrate that our proposed ALPR system outperforms state-of-the-art baselines.

Sea Surface Height Anomaly (SLA) is a signature of the mesoscale dynamics of the upper ocean. Sea surface temperature (SST) is driven by these dynamics and can be used to improve the spatial interpolation of SLA fields. In this study, we focused on the temporal evolution of SLA fields. We explored the capacity of deep learning (DL) methods to predict short-term SLA fields using SST fields. We used simulated daily SLA and SST data from the Mercator Global Analysis and Forecasting System, with a resolution of (1/12)° in the North Atlantic Ocean (26.5–44.42°N, −64.25–41.83°E), covering the period from 1993 to 2019. Using a slightly modified image-to-image convolutional DL architecture, we demonstrated that SST is a relevant variable for controlling the SLA prediction. With a learning process inspired by the teaching-forcing method, we managed to improve the SLA forecast at 5 days by using the SST fields as additional information. We obtained predictions of 12 cm (20 cm) error of SLA evolution for scales smaller than mesoscales and at time scales of 5 days (20 days) respectively. Moreover, the information provided by the SST allows us to limit the SLA error to 16 cm at 20 days when learning the trajectory.

Outdoor air pollution is estimated to cause a huge number of premature deaths worldwide. It catalyzes many diseases on a variety of time scales, and it has a detrimental effect on the environment. In light of these impacts, it is necessary to obtain a better understanding of the dynamics and statistics of measured air pollution concentrations, including temporal fluctuations of observed concentrations and spatial heterogeneities. Here, we present an extensive analysis for measured data from Europe. The observed probability density functions (PDFs) of air pollution concentrations depend very much on the spatial location and the pollutant substance. We analyze a large number of time series data from 3544 different European monitoring sites and show that the PDFs of nitric oxide ($ NO $), nitrogen dioxide ($ {NO}_2 $), and particulate matter ($ {PM}_{10} $ and $ {PM}_{2.5} $) concentrations generically exhibit heavy tails. These are asymptotically well approximated by $ q $-exponential distributions with a given entropic index $ q $ and width parameter $ \lambda $. We observe that the power-law parameter $ q $ and the width parameter $ \lambda $ vary widely for the different spatial locations. We present the results of our data analysis in the form of a map that shows which parameters $ q $ and $ \lambda $ are most relevant in a given region. A variety of interesting spatial patterns is observed that correlate to the properties of the geographical region. We also present results on typical time scales associated with the dynamical behavior.

Snow is a crucial element of the sea ice system, affecting the sea ice growth and decay due to its low thermal conductivity and high albedo. Despite its importance, present-day climate models have a very idealized representation of snow, often including just one-layer thermodynamics, omitting several processes that shape its properties. Even though sophisticated snow process models exist, they tend to be excluded in climate modeling due to their prohibitive computational costs. For example, SnowModel is a numerical snow process model developed to simulate the evolution of snow depth and density, blowing snow redistribution and sublimation, snow grain size, and thermal conductivity in a spatially distributed, multilayer snowpack framework. SnowModel can simulate snow distributions on sea ice floes in high spatial (1-m horizontal grid) and temporal (1-hour time step) resolution. However, for simulations spanning over large regions, such as the Arctic Ocean, high-resolution runs face challenges of slow processing speeds and the need for large computational resources. To address these common issues in high-resolution numerical modeling, data-driven emulators are often used. However, these emulators have their caveats, primarily a lack of generalizability and inconsistency with physical laws. In our study, we address these challenges by using a physics-guided approach in developing our emulator. By integrating physical laws that govern changes in snow density due to compaction, we aim to create an emulator that is efficient while also adhering to essential physical principles. We evaluated this approach by comparing three machine learning models: long short-term memory (LSTM), physics-guided LSTM, and Random Forest, across five distinct Arctic regions. Our evaluations indicate that all models achieved high accuracy, with the physics-guided LSTM model demonstrating the most promising results in terms of accuracy and generalizability. Our approach offers a computationally faster way to emulate the SnowModel with high fidelity and a speedup of over 9000 times.

Sustainability practices of a company reflect its commitments to the environment, societal good, and good governance. Institutional investors take these into account for decision-making purposes, since these factors are known to affect public opinion and thereby the stock indices of companies. Though sustainability score is usually derived from information available in self-published reports, News articles published by regulatory agencies and social media posts also contain critical information that may affect the image of a company. Language technologies have a critical role to play in the analytics process. In this paper, we present an event detection model for detecting sustainability-related incidents and violations from reports published by various monitoring and regulatory agencies. The proposed model uses a multi-tasking sequence labeling architecture that works with transformer-based document embeddings. We have created a large annotated corpus containing relevant articles published over three years (2015–2018) for training and evaluating the model. Knowledge about sustainability practices and reporting incidents using the Global Reporting Initiative (GRI) standards have been used for the above task. The proposed event detection model achieves high accuracy in detecting sustainability incidents and violations reported about an organization, as measured using cross-validation techniques. The model is thereafter applied to articles published from 2019 to 2022, and insights obtained through aggregated analysis of incidents identified from them are also presented in the paper. The proposed model is envisaged to play a significant role in sustainability monitoring by detecting organizational violations as soon as they are reported by regulatory agencies and thereby supplement the Environmental, Social, and Governance (ESG) scores issued by third-party agencies.

Machine learning (ML) techniques have emerged as a powerful tool for predicting weather and climate systems. However, much of the progress to date focuses on predicting the short-term evolution of the atmosphere. Here, we look at the potential for ML methodology to predict the evolution of the ocean. The presence of land in the domain is a key difference between ocean modeling and previous work looking at atmospheric modeling. Here, we look to train a convolutional neural network (CNN) to emulate a process-based General Circulation Model (GCM) of the ocean, in a configuration which contains land. We assess performance on predictions over the entire domain and near to the land (coastal points). Our results show that the CNN replicates the underlying GCM well when assessed over the entire domain. RMS errors over the test dataset are low in comparison to the signal being predicted, and the CNN model gives an order of magnitude improvement over a persistence forecast. When we partition the domain into near land and the ocean interior and assess performance over these two regions, we see that the model performs notably worse over the near land region. Near land, RMS scores are comparable to those from a simple persistence forecast. Our results indicate that ocean interaction with land is something the network struggles with and highlight that this is may be an area where advanced ML techniques specifically designed for, or adapted for, the geosciences could bring further benefits.

Nature-based solutions are becoming increasingly recognized as effective tools for addressing various environmental problems. This study presents a novel approach to selecting optimal blue–green infrastructure (BGI) solutions tailored to the unique environmental and climatic challenges of Istanbul, Türkiye. The primary objective is to utilize a Bayesian Belief Network (BBN) model for assisting in the identification of the most effective BGI solutions, considering the city’s distinct environmental conditions and vulnerabilities to climate change. Our methodology integrates comprehensive data collection, including meteorological and land use data, and employs a BBN model to analyze and weigh the complex network of factors influencing BGI suitability. Key findings reveal the model’s capacity to effectively predict BGI applicability across diverse climate scenarios, with quantitative results demonstrating a notable enhancement in decision-making processes for urban sustainability. Quantitative results from our model reveal a significant improvement in decision-making accuracy, with a predictive accuracy rate of 82% in identifying suitable BGI solutions for various urban scenarios. This enhancement is particularly notable in densely populated districts, where our model predicted a 25% greater efficiency in stormwater management and urban heat island mitigation compared to traditional planning methods. The study also acknowledges the limitations, such as data scarcity and the need for further model refinement. The results highlight the model’s potential for application in other complex urban areas, making it a valuable tool for improving urban sustainability and climate change adaptation. This study shows the importance of incorporating detailed meteorological and local climate zones data into urban planning processes and suggests that similar methodologies could be beneficial for addressing environmental challenges in diverse urban settings.

This article addresses the challenges of assessing pedestrian-level wind conditions in urban environments using a deep learning approach. The influence of large buildings on urban wind patterns has significant implications for thermal comfort, pollutant transport, pedestrian safety, and energy usage. Traditional methods, such as wind tunnel testing, are time-consuming and costly, leading to a growing interest in computational methods like computational fluid dynamics (CFD) simulations. However, CFD still requires a significant time investment for such studies, limiting the available time for design modification prior to lockdown. This study proposes a deep learning surrogate model based on a MLP-mixer architecture to predict mean flow conditions for complex arrays of buildings. The model is trained on a diverse dataset of synthetic geometries and corresponding CFD simulations, demonstrating its effectiveness in capturing intricate wind dynamics. The article discusses the model architecture and data preparation and evaluates its performance qualitatively and quantitatively. Results show promising capabilities in replicating key wind features with a mean error of 0.3 m/s and rarely exceeding 0.75 m/s, making the proposed model a valuable tool for early-stage urban wind modelling.

Comprehensive housing stock information is crucial for informing the development of climate resilience strategies aiming to reduce the adverse impacts of extreme climate hazards in high-risk regions like the Caribbean. In this study, we propose an end-to-end workflow for rapidly generating critical baseline exposure data using very high-resolution drone imagery and deep learning techniques. Specifically, our work leverages the segment anything model (SAM) and convolutional neural networks (CNNs) to automate the generation of building footprints and roof classification maps. We evaluate the cross-country generalizability of the CNN models to determine how well models trained in one geographical context can be adapted to another. Finally, we discuss our initiatives for training and upskilling government staff, community mappers, and disaster responders in the use of geospatial technologies. Our work emphasizes the importance of local capacity building in the adoption of AI and Earth Observation for climate resilience in the Caribbean.

High-resolution simulations such as the ICOsahedral Non-hydrostatic Large-Eddy Model (ICON-LEM) can be used to understand the interactions among aerosols, clouds, and precipitation processes that currently represent the largest source of uncertainty involved in determining the radiative forcing of climate change. Nevertheless, due to the exceptionally high computing cost required, this simulation-based approach can only be employed for a short period within a limited area. Despite the potential of machine learning to alleviate this issue, the associated model and data uncertainties may impact its reliability. To address this, we developed a neural network (NN) model powered by evidential learning, which is easy to implement, to assess both data (aleatoric) and model (epistemic) uncertainties applied to satellite observation data. By differentiating whether uncertainties stem from data or the model, we can adapt our strategies accordingly. Our study focuses on estimating the autoconversion rates, a process in which small droplets (cloud droplets) collide and coalesce to become larger droplets (raindrops). This process is one of the key contributors to the precipitation formation of liquid clouds, crucial for a better understanding of cloud responses to anthropogenic aerosols and, subsequently, climate change. We demonstrate that incorporating evidential regression enhances the model’s credibility by accounting for uncertainties without compromising performance or requiring additional training or inference. Additionally, the uncertainty estimation shows good calibration and provides valuable insights for future enhancements, potentially encouraging more open discussions and exploration, especially in the field of atmospheric science.

Edge AI is the fusion of edge computing and artificial intelligence (AI). It promises responsiveness, privacy preservation, and fault tolerance by moving parts of the AI workflow from centralized cloud data centers to geographically dispersed edge servers, which are located at the source of the data. The scale of edge AI can vary from simple data preprocessing tasks to the whole machine learning stack. However, most edge AI implementations so far are limited to urban areas, where the infrastructure is highly dependable. This work instead focuses on a class of applications involved in environmental monitoring in remote, rural areas such as forests and rivers. Such applications have additional challenges, including failure proneness and access to the electricity grid and communication networks. We propose neuromorphic computing as a promising solution to the energy, communication, and computation constraints in such scenarios and identify directions for future research in neuromorphic edge AI for rural environmental monitoring. Proposed directions are distributed model synchronization, edge-only learning, aerial networks, spiking neural networks, and sensor integration.

Atmospheric models used for weather and climate prediction are traditionally formulated in a deterministic manner. In other words, given a particular state of the resolved scale variables, the most likely forcing from the subgrid scale processes is estimated and used to predict the evolution of the large-scale flow. However, the lack of scale separation in the atmosphere means that this approach is a large source of error in forecasts. Over recent years, an alternative paradigm has developed: the use of stochastic techniques to characterize uncertainty in small-scale processes. These techniques are now widely used across weather, subseasonal, seasonal, and climate timescales. In parallel, recent years have also seen significant progress in replacing parametrization schemes using machine learning (ML). This has the potential to both speed up and improve our numerical models. However, the focus to date has largely been on deterministic approaches. In this position paper, we bring together these two key developments and discuss the potential for data-driven approaches for stochastic parametrization. We highlight early studies in this area and draw attention to the novel challenges that remain.

Stochastic generators are useful for estimating climate impacts on various sectors. Projecting climate risk in various sectors, e.g. energy systems, requires generators that are accurate (statistical resemblance to ground-truth), reliable (do not produce erroneous examples), and efficient. Leveraging data from the North American Land Data Assimilation System, we introduce TemperatureGAN, a Generative Adversarial Network conditioned on months, regions, and time periods, to generate 2 m above ground atmospheric temperatures at an hourly resolution. We propose evaluation methods and metrics to measure the quality of generated samples. We show that TemperatureGAN produces high-fidelity examples with good spatial representation and temporal dynamics consistent with known diurnal cycles.

Airborne radar sensors capture the profile of snow layers present on top of an ice sheet. Accurate tracking of these layers is essential to calculate their thicknesses, which are required to investigate the contribution of polar ice cap melt to sea-level rise. However, automatically processing the radar echograms to detect the underlying snow layers is a challenging problem. In our work, we develop wavelet-based multi-scale deep learning architectures for these radar echograms to improve snow layer detection. These architectures estimate the layer depths with a mean absolute error of 3.31 pixels and 94.3% average precision, achieving higher generalizability as compared to state-of-the-art snow layer detection networks. These depth estimates also agree well with physically drilled stake measurements. Such robust architectures can be used on echograms from future missions to efficiently trace snow layers, estimate their individual thicknesses, and thus support sea-level rise projection models.