Energy-efficient UAV communication: A NOMA scheme with resource allocation and trajectory optimization.

This work investigates a downlink nonorthogonal multiple access (NOMA) scheme with unmanned aerial vehicle (UAV) aided wireless communication, where a single UAV was regarded as an air base station (ABS) to communicate with multiple ground users. Considering the constraints of velocity and maneuverability, a UAV energy efficiency (EE) model was proposed via collaborative design resource allocation and trajectory optimization. Based on this, an EE maximization problem was formulated to jointly optimize the transmit power of ground users and the trajectory of the UAV. To obtain the optimal solutions, this nonconvex problem was transformed into an equivalent convex optimization problem on the basis of three user clustering algorithms. After several alternating iterations, our proposed algorithms converged quickly. The simulation results show an enhancement in EE with NOMA because our proposed algorithm is nearly 99.6% superior to other OMA schemes.

AI-PUCMDL: artificial intelligence assisted plant counting through unmanned aerial vehicles in India's mountainous regions.

This work introduces a novel approach to remotely count and monitor potato plants in high-altitude regions of India using an unmanned aerial vehicle (UAV) and an artificial intelligence (AI)-based deep learning (DL) network. The proposed methodology involves the use of a self-created AI model called PlantSegNet, which is based on VGG-16 and U-Net architectures, to analyze aerial RGB images captured by a UAV. To evaluate the proposed approach, a self-created dataset of aerial images from different planting blocks is used to train and test the PlantSegNet model. The experimental results demonstrate the effectiveness and validity of the proposed method in challenging environmental conditions. The proposed approach achieves pixel accuracy of 98.65%, a loss of 0.004, an Intersection over Union (IoU) of 0.95, and an F1-Score of 0.94. Comparing the proposed model with existing models, such as Mask-RCNN and U-NET, demonstrates that PlantSegNet outperforms both models in terms of performance parameters. The proposed methodology provides a reliable solution for remote crop counting in challenging terrain, which can be beneficial for farmers in the Himalayan regions of India. The methods and results presented in this paper offer a promising foundation for the development of advanced decision support systems for planning planting operations.

Development of a deep learning-based surveillance system for forest fire detection and monitoring using UAV.

This study presents a surveillance system developed for early detection of forest fires. Deep learning is utilized for aerial detection of fires using images obtained from a camera mounted on a designed four-rotor Unmanned Aerial Vehicle (UAV). The object detection performance of YOLOv8 and YOLOv5 was examined for identifying forest fires, and a CNN-RCNN network was constructed to classify images as containing fire or not. Additionally, this classification approach was compared with the YOLOv8 classification. Onboard NVIDIA Jetson Nano, an embedded artificial intelligence computer, is used as hardware for real-time forest fire detection. Also, a ground station interface was developed to receive and display fire-related data. Thus, access to fire images and coordinate information was provided for targeted intervention in case of a fire. The UAV autonomously monitored the designated area and captured images continuously. Embedded deep learning algorithms on the Nano board enable the UAV to detect forest fires within its operational area. The detection methods produced the following results: 96% accuracy for YOLOv8 classification, 89% accuracy for YOLOv8n object detection, 96% accuracy for CNN-RCNN classification, and 89% accuracy for YOLOv5n object detection.

Identification of particle distribution pattern in vertical profile via unmanned aerial vehicles observation.

Below the boundary layer, the air pollutants have been confirmed to present the decreasing trend with the height in most situaitons. However, the disperiosn rate of air pollutants in the vertical profile is rarely investigated in detail, especially through in-situ measurement. With this consideration, we employed an unmanned aerial vehicle equipped with portable monitoring equipments to scrutinize the vertical distribution of PM2.5. Based on the original data, we found that PM2.5 concentration decreases gradually with altitude below the boundary layer and demonstrated an obvious linear correlation. Therefore, the vertical distribution of PM2.5 was quantified by representing the distribution of PM2.5 with the slope of PM2.5 vertical distribution. We used backward trajectories to reveal the causes of outliers (PM2.5 increasing with altitude), and found that PM2.5 in the high altitude came from the southwest. Besides, the relationship between the vertical distribution of PM2.5 and various meteorological factors was investigated using stepwise regression analysis. The results show that the four meteorological factors most strongly correlated with the slope values are: (a) the difference in relative humidity between the ground and the air; (b) the difference in temperature between the ground and the air; (c) the height of the boundary layer; and (d) the wind speed. The slope values increase with increasing the difference in relative humidity between ground and air and the difference in temperature between the ground and the air, and decrease with increasing boundary layer height and wind speed. According to the Random Forest calculations, the ground-to-air relative humidity difference is the most important at 0.718; the wind speed is the least important at 0.053; and the ground-to-air temperature difference and boundary layer height are 0.140 and 0.088, respectively.

Incorporation of Drone Technology Into the Chain of Survival for OHCA: Estimation of Time Needed for Bystander Treatment of OHCA and CPR Performance.

BACKGROUND: Drone-delivered automated external defibrillators (AEDs) hold promises in the treatment of out-of-hospital cardiac arrest. Our objective was to estimate the time needed to perform resuscitation with a drone-delivered AED and to measure cardiopulmonary resuscitation (CPR) quality. METHODS: Mock out-of-hospital cardiac arrest simulations that included a 9-1-1 call, CPR, and drone-delivered AED were conducted. Each simulation was timed and video-recorded. CPR performance metrics were recorded by a Laerdal Resusci Anne Quality Feedback System. Multivariable regression modeling examined factors associated with time from 9-1-1 call to AED shock and CPR quality metrics (compression rate, depth, recoil, and chest compression fraction). Comparisons were made among those with recent CPR training (≤2 years) versus no recent (>2 years) or prior CPR training. RESULTS: We recruited 51 research participants between September 2019 and March 2020. The median age was 34 (Q1-Q3, 23-54) years, 56.9% were female, and 41.2% had recent CPR training. The median time from 9-1-1 call to initiation of CPR was 1:19 (Q1-Q3, 1:06-1:26) minutes. A median time of 1:59 (Q1-Q3, 01:50-02:20) minutes was needed to retrieve a drone-delivered AED and deliver a shock. The median CPR compression rate was 115 (Q1-Q3, 109-124) beats per minute, the correct compression depth percentage was 92% (Q1-Q3, 25-98), and the chest compression fraction was 46.7% (Q1-Q3, 39.9%-50.6%). Recent CPR training was not associated with CPR quality or time from 9-1-1 call to AED shock. Younger age (per 10-year increase; ß, 9.97 [95% CI, 4.63-15.31] s; P<0.001) and prior experience with AED (ß, -30.0 [95% CI, -50.1 to -10.0] s; P=0.004) were associated with more rapid time from 9-1-1 call to AED shock. Prior AED use (ß, 6.71 [95% CI, 1.62-11.79]; P=0.011) was associated with improved chest compression fraction percentage. CONCLUSION: Research participants were able to rapidly retrieve an AED from a drone while largely maintaining CPR quality according to American Heart Association guidelines. Chest compression fraction was lower than expected.

Viability of unmanned aerial vehicles in identifying potential breeding sites for mosquito.

INTRODUCTION: Surveillance of mosquito breeding sites is essential because it provides the information needed to assess risks and thus respond to dengue outbreaks. This article aims to review existing research on the viability of using unmanned aerial vehicles (drones) to identify potential breeding sites for Aedes mosquitoes and highlight the issues related to their implementation. MATERIALS AND METHODS: The authors conducted a literature search in four databases (Scopus, Web of Science, Science Direct, and IEEE Xplore) and completed it in December 2022. Articles that do not directly address the application of drones for surveillance and control of mosquito breeding sites were excluded. RESULTS: The initial search using the keywords yielded 623 documents. After screening abstracts and reviewing the full text, only 17 articles met the inclusion criteria. Most of the studies were in the proof-of-concept stage. Many studies have also incorporated drone technologies and machine learning techniques into surveillance efforts. The authors have highlighted seven key issues related to the operational aspects of using drones. Those are hardware, software, law and regulation, operating time, expertise, geography, and community involvement. CONCLUSION: With rapid developments in drone technologies and machine learning techniques, the viability of drones as surveillance tools can be enhanced, thus effectively responding to global public health concerns.

Using drone-retrieved multispectral data for phenomic selection in potato breeding.

Predictive breeding approaches, like phenomic or genomic selection, have the potential to increase the selection gain for potato breeding programs which are characterized by very large numbers of entries in early stages and the availability of very few tubers per entry in these stages. The objectives of this study were to (i) explore the capabilities of phenomic prediction based on drone-derived multispectral reflectance data in potato breeding by testing different prediction scenarios on a diverse panel of tetraploid potato material from all market segments and considering a broad range of traits, (ii) compare the performance of phenomic and genomic predictions, and (iii) assess the predictive power of mixed relationship matrices utilizing weighted SNP array and multispectral reflectance data. Predictive abilities of phenomic prediction scenarios varied greatly within a range of - 0.15 and 0.88 and were strongly dependent on the environment, predicted trait, and considered prediction scenario. We observed high predictive abilities with phenomic prediction for yield (0.45), maturity (0.88), foliage development (0.73), and emergence (0.73), while all other traits achieved higher predictive ability with genomic compared to phenomic prediction. When a mixed relationship matrix was used for prediction, higher predictive abilities were observed for 20 out of 22 traits, showcasing that phenomic and genomic data contained complementary information. We see the main application of phenomic selection in potato breeding programs to allow for the use of the principle of predictive breeding in the pot seedling or single hill stage where genotyping is not recommended due to high costs.

Short report: unmanned aerial vehicle for wide area larvicide spraying (WALS) using Vectobac® WG at Kota Kinabalu, Sabah.

INTRODUCTION: Given the stagnating progress in the fight against dengue in Kota Kinabalu, there is an urgent need to use other strategies to complement the existing vector control, focusing on larviciding. Unmanned aerial vehicle (UAV) technology has been used in vector control programs in many countries. The aim of this study was to determine the feasibility of using UAVs for larviciding to control Aedes mosquitoes in urban areas. METHODOLOGY: The Hexarotor Agro Drone (Polardrone Sdn Bhd, Malaysia) was used to carry out larviciding using Vectobac® manufactured by Valent BioSciences LLC, Libertyville, USA. The drone flew at a height of 10 feet and at a speed of 5 m/s. A total of 32 items with 10 larvae in each item were placed to test the effectiveness of larviciding using UAV. RESULTS: Out of 32 items used, 4 containers had a 100% larva mortality (13.3% mortality). The drone was not able to reach the designated spraying route that had been pre-programmed. This was due to interference with the electromagnetic waves emitted from the home satellite dishes, that were in front of the houses along the route. CONCLUSIONS: This trial showed that UAVs will be more suitable for use in larviciding in an open area without electromagnetic disturbances from electric house poles and satellite TV dishes that are commonly present in urban areas.

Heatwave-like events affect drone production and brood-care behaviour in bumblebees.

Climate change is currently considered one of the major threats to biodiversity and is associated with an increase in the frequency and intensity of extreme weather events, such as heatwaves. Heatwaves create acutely stressful conditions that may lead to disruption in the performance and survival of ecologically and economically important organisms, such as insect pollinators. In this study, we investigated the impact of simulated heatwaves on the performance of queenless microcolonies of Bombus terrestris audax under laboratory conditions. Our results indicate that heatwaves can have significant impacts on bumblebee performance. However, contrary to our expectations, exposure to heatwaves did not affect survival. Exposure to a mild 5-day heatwave (30-32 °C) resulted in increased offspring production compared to those exposed to an extreme heatwave (34-36 °C) and to the control group (24 °C). We also found that brood-care behaviours were impacted by the magnitude of the heatwave. Wing fanning occurred occasionally at temperatures of 30-32 °C, whereas at 34-36 °C the proportion of workers engaged in this thermoregulatory behaviour increased significantly. Our results provide insights into the effects of heatwaves on bumblebee colony performance and underscore the use of microcolonies as a valuable tool for studying the effects of extreme weather events. Future research, especially field-based studies replicating natural foraging conditions, is crucial to complement laboratory-based studies to comprehend how heatwaves compromise the performance of pollinators. Such studies may potentially help to identify those species more resilient to climate change, as well as those that are most vulnerable.

UAV and satellite remote sensing for inland water quality assessments: a literature review.

High spatial and temporal resolution data is crucial to comprehend the dynamics of water quality fully, support informed decision-making, and allow efficient management and protection of water resources. Traditional in situ water quality measurement techniques are both time-consuming and labor-intensive, resulting in databases with limited spatial and temporal frequency. To address these challenges, satellite-driven water quality assessment has emerged as an efficient and effective solution, offering comprehensive data on larger-scale water bodies. Numerous studies have utilized multispectral and hyperspectral remote sensing data from various sensors to assess water quality, yielding promising results. However, the recent popularity of unmanned aerial vehicle (UAV) remote sensing can be attributed to its high spatial and temporal resolution, flexibility, ability to capture data at different times of day, and relatively low cost compared to traditional platforms. This study presents a comprehensive review of the current state of the art in monitoring water quality in small inland water bodies using satellite and UAV remote sensing data. It encompasses an overview of atmospheric correction algorithms and the assessment of different water quality parameters. Furthermore, the review addresses the challenges associated with monitoring water quality in these bodies of water and emphasizes the potential of UAVs to overcome these challenges by providing accurate and reliable data.

Use of thermal drone in detection and assessment of larval mass temperature in decomposed rabbit carcasses.

Manual ground searches and cadaver dogs are traditional methods for locating remains, but they can be time- and resource-intensive, resulting in the decomposition of bodies and delay in victim identification. Therefore, thermal imaging has been proposed as a potentially useful tool for detecting remains based on their temperature. This study investigated the potential of a novel search technique of thermal drones to detect surface remains through the detection of maggot mass temperatures. Two trials were carried out at Selangor, Malaysia, each utilizing 12 healthy male Oryctolagus cuniculus European white rabbits and DJI Matrice 300 RTK drone China, equipped with a thermal camera; Zenmuse H20T to record the thermal imaging footage of the carcasses at various heights (15, 30, 60-100 m) for 14 days for each trial. Our results demonstrated that the larval masses and corresponding heat emissions were at their largest during the active decay stage; therefore, all the carcasses were observable in thermal images on day 5 and remained until day 7. Statistical analyses showed that (1) no statistically significant differences in thermal images between clothed and unclothed subjects (p > 0.05); (2) 15 m above ground level was proven to be the optimal height, as it showed the greatest contrast between the carcass heat signature and the background (p < 0.005). Our data suggested the potential window of detection of thermal signatures was detectable up to 7 days post-deposition. This could be an important guideline for the search and recovery teams for operational implementation in this tropical region.

Monitoring of Antarctica's Fragile Vegetation Using Drone-Based Remote Sensing, Multispectral Imagery and AI.

Vegetation in East Antarctica, such as moss and lichen, vulnerable to the effects of climate change and ozone depletion, requires robust non-invasive methods to monitor its health condition. Despite the increasing use of unmanned aerial vehicles (UAVs) to acquire high-resolution data for vegetation analysis in Antarctic regions through artificial intelligence (AI) techniques, the use of multispectral imagery and deep learning (DL) is quite limited. This study addresses this gap with two pivotal contributions: (1) it underscores the potential of deep learning (DL) in a field with notably limited implementations for these datasets; and (2) it introduces an innovative workflow that compares the performance between two supervised machine learning (ML) classifiers: Extreme Gradient Boosting (XGBoost) and U-Net. The proposed workflow is validated by detecting and mapping moss and lichen using data collected in the highly biodiverse Antarctic Specially Protected Area (ASPA) 135, situated near Casey Station, between January and February 2023. The implemented ML models were trained against five classes: Healthy Moss, Stressed Moss, Moribund Moss, Lichen, and Non-vegetated. In the development of the U-Net model, two methods were applied: Method (1) which utilised the original labelled data as those used for XGBoost; and Method (2) which incorporated XGBoost predictions as additional input to that version of U-Net. Results indicate that XGBoost demonstrated robust performance, exceeding 85% in key metrics such as precision, recall, and F1-score. The workflow suggested enhanced accuracy in the classification outputs for U-Net, as Method 2 demonstrated a substantial increase in precision, recall and F1-score compared to Method 1, with notable improvements such as precision for Healthy Moss (Method 2: 94% vs. Method 1: 74%) and recall for Stressed Moss (Method 2: 86% vs. Method 1: 69%). These findings contribute to advancing non-invasive monitoring techniques for the delicate Antarctic ecosystems, showcasing the potential of UAVs, high-resolution multispectral imagery, and ML models in remote sensing applications.

Remote Sensing Evaluation Drone Herbicide Application Effectiveness for Controlling Echinochloa spp. in Rice Crop in Valencia (Spain).

Rice (Oryza sativa L.) is a staple cereal in the diet of more than half of the world's population. Within the European Union, Spain is a leader in rice production due to its climate and tradition, accounting for 26% of total EU production in 2020. The Valencian rice area covers around 15,000 hectares and is strongly influenced by biotic and abiotic factors. An important biotic factor affecting rice production is weeds, which compete with rice for sunlight, water and nutrients. The dominant weed in Spain is Echinochloa spp., although wild rice is becoming increasingly important. Rice cultivation in Valencia takes place in the area of L'Albufera de Valencia, which is a natural park, i.e., a special protection area. In this natural area, the use of phytosanitary products is limited, so it is necessary to use the minimum amount possible. Therefore, the objective of this work is to evaluate the possibility of using remote sensing effectively to determine the effectiveness of the application of the herbicide cyhalofop-butyl by drone for the control of Echinochloa spp. in rice crops in Valencia. The results will be compared with those obtained by using sterilisation machines (electric backpack sprayers) to apply the herbicide. To evaluate the effectiveness of the application, the reflectance obtained by the satellite sensors in the red and near infrared (NIR) wavelengths, as well as the normalised difference vegetation index (NDVI), were used. The remote sensing results were analysed and complemented by the number of rice plants and weeds per area, plant dry weight, leaf area, BBCH phenological state, SPAD index values, chlorophyll content and relative growth rate. Remote sensing is validated as an effective tool for determining the efficacy of an herbicide in controlling weeds applied by both the drone and the electric backpack sprayer. The weeds slowed down their development after the treatment. Depending on the phenological state of the crop and the active ingredient of the herbicide, these results are applicable to other areas with different climatic and environmental conditions.

YOLO-IHD: Improved Real-Time Human Detection System for Indoor Drones.

In the field of unmanned systems, the combination of artificial intelligence with self-operating functionalities is becoming increasingly important. This study introduces a new method for autonomously detecting humans in indoor environments using unmanned aerial vehicles, utilizing the advanced techniques of a deep learning framework commonly known as "You Only Look Once" (YOLO). The key contribution of this research is the development of a new model (YOLO-IHD), specifically designed for human detection in indoor using drones. This model is created using a unique dataset gathered from aerial vehicle footage in various indoor environments. It significantly improves the accuracy of detecting people in these complex environments. The model achieves a notable advancement in autonomous monitoring and search-and-rescue operations, highlighting its importance for tasks that require precise human detection. The improved performance of the new model is due to its optimized convolutional layers and an attention mechanism that process complex visual data from indoor environments. This results in more dependable operation in critical situations like disaster response and indoor rescue missions. Moreover, when combined with an accelerating processing library, the model shows enhanced real-time detection capabilities and operates effectively in a real-world environment with a custom designed indoor drone. This research lays the groundwork for future enhancements designed to significantly increase the model's accuracy and the reliability of indoor human detection in real-time drone applications.

Unmanned aerial vehicles and pre-hospital emergency medicine.

Unmanned aerial vehicles (UAVs) are used in many industrial and commercial roles and have an increasing number of medical applications. This article reviews the characteristics of UAVs and their current applications in pre-hospital emergency medicine. The key roles are transport of equipment and medications and potentially passengers to or from a scene and the use of cameras to observe or communicate with remote scenes. The potential hazards of UAVs both deliberate or accidental are also discussed.

Ethical considerations related to drone use for environment and health research: A scoping review protocol.

INTRODUCTION: The use of drones in environment and health research is a relatively new phenomenon. A principal research activity drones are used for is environmental monitoring, which can raise concerns in local communities. Existing ethical guidance for researchers is often not specific to drone technology and practices vary between research settings. Therefore, this scoping review aims to gather the evidence available on ethical considerations surrounding drone use as perceived by local communities, ethical considerations reported on by researchers implementing drone research, and published ethical guidance related to drone deployment. METHODS AND ANALYSIS: This scoping review will follow the Preferred Reporting Items for Systematic Reviews and Meta-Analyses extension for scoping reviews (PRISMA-ScR) and the Joanna Briggs Institute (JBI) guidelines. The literature search will be conducted using academic databases and grey literature sources. After pilot testing the inclusion criteria and data extraction tool, two researchers will double-screen and then chart available evidence independently. A content analysis will be carried out to identify patterns of categories or terms used to describe ethical considerations related to drone usage for environmental monitoring in the literature using the R Package RQDA. Discrepancies in any phase of the project will be solved through consensus between the two reviewers. If consensus cannot be reached, a third arbitrator will be consulted. ETHICS AND DISSEMINATION: Ethical approval is not required; only secondary data will be used. This protocol is registered on the Open Science Framework (osf.io/a78et). The results will be disseminated through publication in a scientific journal and will be used to inform drone field campaigns in the Wellcome Trust funded HARMONIZE project. HARMONIZE aims to develop cost-effective and reproducible digital infrastructure for stakeholders in climate change hotspots in Latin America & the Caribbean and will use drone technology to collect data on fine scale landscape changes.

Enhancing citrus fruit yield investigations through flight height optimization with UAV imaging.

Citrus fruit yield is essential for market stability, as it allows businesses to plan for production and distribution. However, yield estimation is a complex and time-consuming process that often requires a large number of field samples to ensure representativeness. To address this challenge, we investigated the optimal altitude for unmanned aerial vehicle (UAV) imaging to estimate the yield of Citrus unshiu fruit. We captured images from five different altitudes (30 m, 50 m, 70 m, 90 m, and 110 m), and determined that a resolution of approximately 5 pixels/cm is necessary for reliable estimation of fruit size based on the average diameter of C. unshiu fruit (46.7 mm). Additionally, we found that histogram equalization of the images improved fruit count estimation compared to using untreated images. At the images from 30 m height, the normal image estimates fruit numbers as 73, 55, and 88. However, the histogram equalized image estimates 88, 71, 105. The actual number of fruits is 124, 88, and 141. Using a Vegetation Index such as IPCA showed a similar estimation value to histogram equalization, but I1 estimation represents a gap to actual yields. Our results provide a valuable database for future UAV field investigations of citrus fruit yield. Using flying platforms like UAVs can provide a step towards adopting this sort of model spanning ever greater regions at a cheap cost, with this system generating accurate results in this manner.

Effects of alpha lipoic acid supplementation on post-thaw quality of drone semen.

This study aimed to determine the effect of alpha-lipoic acid (ALA) on post-thaw quality of bee semen. In the study, semen from sexually mature drone were collected. A series of experiments were carried out in which the retrieved semen was diluted with diluents containing different ALA concentrations or without ALA supplement (control). Cryopreserved sperm were thawed, and evaluated for motility (phase-contrast microscope), plasma and acrosomal membrane integrity, mitochondrial membrane potential, and DNA fregmantation. The results obtained showed that the highest motility after thawing was observed in the groups containing ALA 0.25 mmol (P < 0.05). Likewise, plasma membrane integrity was found to be better preserved in the ALA 0.25 mmol-added group than in other groups. Acrosomal integrity were also higher in the ALA-containing groups than in the control group (P < 0.05). The results of this study show that ALA supplementation especially at 0.25 mmol improved post-thawed sperm motility, plasma membrane functionality, and mitochondrial membrane potantial quality of honeybee semen.

A PSO-based energy-efficient data collection optimization algorithm for UAV mission planning.

With the development of the Internet of Things (IoT), the use of UAV-based data collection systems has become a very popular research topic. This paper focuses on the energy consumption problem of this system. Genetic algorithms and swarm algorithms are effective approaches for solving this problem. However, optimizing UAV energy consumption remains a challenging task due to the inherent characteristics of these algorithms, which make it difficult to achieve the optimum solution. In this paper, a novel particle swarm optimization (PSO) algorithm called Double Self-Limiting PSO (DSLPSO) is proposed to minimize the energy consumption of the unmanned aerial vehicle (UAV). DSLPSO refers to the operational principle of PSO and incorporates two new mechanisms. The first mechanism is to restrict the particle movement, improving the local search capability of the algorithm. The second mechanism dynamically adjusts the search range, which improves the algorithm's global search capability. DSLPSO employs a variable population strategy that treats the entire population as a single mission plan for the UAV and dynamically adjusts the number of stopping points. In addition, the proposed algorithm was also simulated using public and random datasets. The effectiveness of the proposed DSLPSO and the two new mechanisms has been verified through experiments. The DSLPSO algorithm can effectively improve the lifetime of the UAV, and the two newly proposed mechanisms have potential for optimization work.