The Mar Menor, Europe's largest coastal lagoon, located in Spain, has undergone severe eutrophication crises. Monitoring chlorophyll-a (Chl-a) is essential to anticipate harmful algal blooms and guide mitigation. Traditional in situ measurements are spatially and temporally limited. Satellite-based approaches provide a more comprehensive view, enabling scalable, long-term, and transferable monitoring. This study aims to overcome limitations of chlorophyll monitoring, often restricted to surface estimates or limited temporal coverage, by developing a reliable methodology to predict and map Chl-a across the water column of the Mar Menor. The work integrates Sentinel 2 imagery with buoy-based ground truth to create models capable of high-resolution, depth-specific monitoring, enhancing early-warning capabilities for eutrophication. Nearly a decade of Sentinel 2 images was atmospherically corrected using C2RCC processors. Buoy data were aggregated by depth (0-1 m, 1-2 m, 2-3 m, 3-4 m). Multiple ML and DL algorithms-including RF, XGBoost, CatBoost, Multilater Perceptron Networks, and ensembles-were trained and validated using cross-validation. Systematic band-combination experiments and spatial aggregation strategies were tested to optimize prediction. Results show depth-dependent performance. At the surface, C2X-Complex with XGBoost and ensemble models achieved R2 = 0.89; at 1-2 m, CatBoost and ensemble models reached R2 = 0.87; at 2-3 m, TOA reflectances with KNN performed best (R2 = 0.81); while at 3-4 m, RF achieved R2 = 0.66. Generated maps successfully reproduced known eutrophication events (e.g., 2016 crisis, 2025 surge), confirming robustness. The study delivers an end-to-end, validated methodology for depth-specific Chl-amapping. Its integration of multispectral band combinations, buoy calibration, and ML/DL modeling offers a transferable framework for other turbid coastal systems.

Shroud of Turin mystery deepens as surgeon spots hidden detail that points to Jesus' resurrection I was so happy after trying a trendy new cosmetic procedure. But 10 years later I suffered a devastating side effect... the doctor had lied I'm no longer sleeping with my husband - and never will again, says MOLLY RYDDELL. I love him, but counted down the moments until he climaxed. Then I couldn't bear it any more and the truth spilled out... so many women feel the same The'middle-class kinks' saving marriages: Wives reveal the eight buzzy sex trends that revived their lagging libidos - including the fantasy husbands are secretly obsessed with I'm a woman with autism... here are the signs you might be masking, even from yourself Lori Loughlin's husband Mossimo Giannulli seen with mystery brunette in tiny skirt day after shock split Body count from Houston's bayous rises as serial killer whispers grip city and residents are told: 'Be vigilant' Cake-faced 90s sitcom star looks unrecognizable as she ditches the heavy eyeshadow for an LA errand run can you guess who? Trump dollar coin design released by Treasury... and it's inspired by the most iconic political photo of the century I've loved Taylor Swift for years. Mystery deepens over Hulk Hogan's death as his widow faces fresh anguish Prison chief reveals exactly where Diddy could end up... and the one horrifying jail he MUST avoid Is THIS Amelia Earhart's missing plane?

Drone-based remote sensing combined with AI-driven methodologies has shown great potential for accurate mapping and monitoring of coral reef ecosystems. This study presents a novel multi-scale approach to coral reef monitoring, integrating fine-scale underwater imagery with medium-scale aerial imagery. Underwater images are captured using an Autonomous Surface Vehicle (ASV), while aerial images are acquired with an aerial drone. A transformer-based deep-learning model is trained on underwater images to detect the presence of 31 classes covering various coral morphotypes, associated fauna, and habitats. These predictions serve as annotations for training a second model applied to aerial images. The transfer of information across scales is achieved through a weighted footprint method that accounts for partial overlaps between underwater image footprints and aerial image tiles. The results show that the multi-scale methodology successfully extends fine-scale classification to larger reef areas, achieving a high degree of accuracy in predicting coral morphotypes and associated habitats. The method showed a strong alignment between underwater-derived annotations and ground truth data, reflected by an AUC (Area Under the Curve) score of 0.9251. This shows that the integration of underwater and aerial imagery, supported by deep-learning models, can facilitate scalable and accurate reef assessments. This study demonstrates the potential of combining multi-scale imaging and AI to facilitate the monitoring and conservation of coral reefs. Our approach leverages the strengths of underwater and aerial imagery, ensuring the precision of fine-scale analysis while extending it to cover a broader reef area.

Oceans are vital for sustaining require continuous monitoring of various indicators to detect life on Earth and they contribute substantially to global food or alert us to changes. Current observational deployments sources, oxygen production, and carbon dioxide absorption are often restricted to the ocean surface and a few measurable (Riebesell et al., 2009). Marine environments suffer from variables and there are limited tools to process the data numerous sources of stress, mostly from human activities in and extract useful knowledge. This underscores the need coastal areas, urban, agricultural, and industrial discharges, for advanced modeling techniques to bridge gaps in our habitat destruction, introduction of invasive species, and oil comprehension and to allow intelligent action-taking. But, spills, which interact synergistically with the consequences more importantly, the mere detection of problems may not of climate change. In addition to classic pollutants, such be sufficient since, on the one hand, the homeorhetic mechanisms as heavy metals or pesticides, with a long tradition in human of biological systems may mask such indicators until activities such as mining, industry, or agriculture, new it is too late and, on the other hand, the speed of ecosystem emerging pollutants are continually appearing, derived from deterioration is often greater than the human capacity to take drugs or cosmetics, whose effects on health are not always corrective and management measures.

We aim to control a robot to physically behave in the real world following any high-level language command like "cartwheel" or "kick. " Although human motion datasets exist, this task remains particularly challenging since generative models can produce physically unrealistic motions, which will be more severe for robots due to different body structures and physical properties. In addition, to control a physical robot to perform a desired motion, a control policy must be learned. We develop LAnguage-Guided mOtion cONtrol (LAGOON), a multi-phase method to generate physically realistic robot motions under language commands. LAGOON first leverages a pre-trained model to generate human motion from a language command. Then an RL phase is adopted to train a control policy in simulation to mimic the generated human motion. Finally, with domain randomization, we show that our learned policy can be successfully deployed to a quadrupedal robot, leading to a robot dog that can stand up and wave its front legs in the real world to mimic the behavior of a hand-waving human.

In a lagoon in Venice, robotic lily pads float on the surface, with clusters of electronic mussels resting on the bed below. In July, a self-organising team of robots will be released into the murky waters of a lagoon near Venice, Italy. To continue reading this premium article, subscribe for unlimited access. Existing subscribers, please log in with your email address to link your account access.

In this paper we present a new approach to modeling finite set domain constraint problems using Reduced Ordered Binary Decision Diagrams (ROBDDs). We show that it is possible to construct an efficient set domain propagator which compactly represents many set domains and set constraints using ROBDDs. We demonstrate that the ROBDD-based approach provides unprecedented flexibility in modeling constraint satisfaction problems, leading to performance improvements. We also show that the ROBDD-based modeling approach can be extended to the modeling of integer and multiset constraint problems in a straightforward manner. Since domain propagation is not always practical, we also show how to incorporate less strict consistency notions into the ROBDD framework, such as set bounds, cardinality bounds and lexicographic bounds consistency. Finally, we present experimental results that demonstrate the ROBDD-based solver performs better than various more conventional constraint solvers on several standard set constraint problems.

This paper presents a Prolog interface to the MiniSat satisfiability solver. Logic program- ming with satisfiability combines the strengths of the two paradigms: logic programming for encoding search problems into satisfiability on the one hand and efficient SAT solving on the other. This synergy between these two exposes a programming paradigm which we propose here as a logic programming pearl. To illustrate logic programming with SAT solving we give an example Prolog program which solves instances of Partial MAXSAT.

In this paper we present a new approach to modeling finite set domain constraint problems using Reduced Ordered Binary Decision Diagrams (ROBDDs). We show that it is possible to construct an efficient set domain propagator which compactly represents many set domains and set constraints using ROBDDs. We demonstrate that the ROBDD-based approach provides unprecedented flexibility in modeling constraint satisfaction problems, leading to performance improvements. We also show that the ROBDD-based modeling approach can be extended to the modeling of integer and multiset constraint problems in a straightforward manner. Since domain propagation is not always practical, we also show how to incorporate less strict consistency notions into the ROBDD framework, such as set bounds, cardinality bounds and lexicographic bounds consistency. Finally, we present experimental results that demonstrate the ROBDD-based solver performs better than various more conventional constraint solvers on several standard set constraint problems.