This paper presents a system for identification of wind features, such as gusts and wind shear. These are of particular interest in the context of energy-efficient navigation of Small Unmanned Aerial Systems (UAS). The proposed system generates real-time wind vector estimates and a novel algorithm to generate wind field predictions. Estimations are based on the integration of an off-the-shelf navigation system and airspeed readings in a so-called direct approach. Wind predictions use atmospheric models to characterize the wind field with different statistical analyses. During the prediction stage, the system is able to incorporate, in a big-data approach, wind measurements from previous flights in order to enhance the approximations. Wind estimates are classified and fitted into a Weibull probability density function. A Genetic Algorithm (GA) is utilized to determine the shaping and scale parameters of the distribution, which are employed to determine the most probable wind speed at a certain position. The system uses this information to characterize a wind shear or a discrete gust and also utilizes a Gaussian Process regression to characterize continuous gusts. The knowledge of the wind features is crucial for computing energy-efficient trajectories with low cost and payload. Therefore, the system provides a solution that does not require any additional sensors. The system architecture presents a modular decentralized approach, in which the main parts of the system are separated in modules and the exchange of information is managed by a communication handler to enhance upgradeability and maintainability. Validation is done providing preliminary results of both simulations and Software-In-The-Loop testing. Telemetry data collected from real flights, performed in the Seville Metropolitan Area in Andalusia (Spain), was used for testing. Results show that wind estimation and predictions can be calculated at 1 Hz and a wind map can be updated at 0.4 Hz. Predictions show a convergence time with a 95% confidence interval of approximately 30 s.

The e-commerce sector is in a constant state of growth and evolution, particularly within its subdomain of online food delivery. As such, ensuring customer satisfaction is critical for companies working in this field. One way to achieve this is by providing accurate delivery time estimation. While companies can track couriers via GPS, they often lack real-time data on traffic and road conditions, complicating delivery time predictions. To address this, a range of statistical and machine learning techniques are being employed, including neural networks and specialized expert systems, with different degree of success. One issue with neural networks and machine learning models is their heavy dependence on vast, high quality data. To mitigate this issue we propose two Bayesian generalized linear models to predict time of the delivery. Utilizing a linear combination of predictor variables, we generate practical range of outputs with Hamiltonian Monte Carlo sampling method. These models offer a balance of generality and adaptability, allowing for tuning with expert knowledge. They were compared with PSIS-LOO and WAIC criteria. Results show that both models accurately estimated delivery times from the dataset, while maintaining numerical stability. Model with more predictor variables proved to be more accurate.

In this paper, a new axial-type magnetic gear with auxiliary flux-enhancing structure (AFS-AMG) is proposed. Compared to conventional AFS-AMG, it has the higher torque density and higher permanent magnet (PM) utilization factor. Firstly, the design rules and operating principles of proposed AFS-AMG are elaborated. Then, the mapping relation between the radial-type magnetic gears (RMGs) and AMGs are elucidated. Compared to its counterpart in RMGs, AFS-AMGs achieve small size. Then, the geometrical parameters of AFS-AMGs are optimized to obtain the better electromagnetic performances, where the torque density per volume and per PM volume is adopted as the evaluation standard. Finally, three different AMG topologies are constructed in finite element analysis (FEA) software for comparison. It is proven that the AFS-AMG has the largest torque density per volume and per PM volume.

As the global population faces an increasing prevalence of physical disabilities, the challenge of motor rehabilitation has become increasingly urgent. Considering that approximately 15% of the global population lives with some form of disability, with a significant number having motor disa-bilities that greatly impact their quality of life, the integration of robotic technologies into rehabili-tation processes offers an opportunity for significant improvement in functional recovery and pa-tient autonomy. This analysis aims to evaluate the progress and challenges encountered in imple-menting robotic technology for the rehabilitation of patients with physical disabilities, highlighting the potential of emerging technologies such as exoskeletons, assisted training devices, and brain-computer interface systems in facilitating motor recovery. By examining relevant clinical studies, the analysis demonstrates the varied effectiveness of robotic therapies compared to traditional re-habilitation methods, while also highlighting the need for ongoing research to optimize care prac-tices and address challenges related to cost, accessibility, and treatment personalization. In con-clusion, robotic technologies represent a promising direction in motor rehabilitation, with the po-tential to revolutionize the care of patients with physical disabilities, significantly improving quali-ty of life and social integration.

In this paper, we perform the neural cryptanalysis and comprehensively analyze five block ciphers, Data Encryption Standard (DES), Simplified DES (SDES), Advanced Encryption Standard (AES), Simplified AES (SAES), and SPECK. The vulnerability of the block ciphers is investigated in three different attacks, such as Encryption Emulation (EE), Plaintext Recovery (PR), Key Recovery (KR), and Ciphertext Classification (CC) attacks. For the plaintexts, randomly generated block-sized bit arrays and texts are used. The block ciphers apply different numbers of round functions in the encryption of the block-sized bit arrays, and they are investigated by using the deep learning models trained with different numbers of data in EE, PR, and KR attacks. Moreover, the block ciphers use two different text encryption methods, Word-based Text Encryption (WTE) and Sentence-based Text Encryption (STE), to encrypt the texts in various operation modes, and they are analyzed with deep learning models in EE, PR, and CC attacks. As a result, the block ciphers can be vulnerable to deep learning-based EE and PR attacks using a large amount of train data, and STE can improve the strength of the block ciphers, unlike WTE, which shows almost the same classification accuracy as the plaintexts, especially in CC attack. Additionally, when the keys that are the same as the plaintexts are used in encryption, the block ciphers can be perfectly broken in KR attack. Moreover, especially in KR attack, the RNN-based deep learning model shows higher average Bit Accuracy Probability (BAPavg) than the fully connected-based deep learning model, which is used more often in previous works of neural cryptanalysis. Furthermore, although the transformer-based deep learning model is a state-of-the-art model in Natural Language Processing (NLP), the RNN-based deep learning model is more suitable for CC attack and shows higher classification accuracy.

Intelligent fault diagnosis techniques have replaced the time-consuming and unreliable human analysis, increasing the efficiency of fault diagnosis. Deep learning model can improve the accuracy of intelligent fault diagnosis with the help of its multilayer nonlinear mapping ability. This paper has proposed a novel method named Deep Convolutional Neural Networks with Wide First-layer Kernels (WDCNN). The proposed method uses raw vibration signals as input (data augmentation is used to generate more inputs), and uses the wide kernels in first convolutional layer for extracting feature and suppressing high frequency noise. Small convolutional kernels in the preceding layers are used for multilayer nonlinear mapping. AdaBN is implemented to improve the domain adaptation ability of the model. The proposed model addresses the problem that currently, the accuracy of CNN applied to fault diagnosis is not very high. WDCNN can not only achieve 100% classification accuracy on normal signals, but also outperform state of the art DNN model which is based on frequency features under different working load and noisy environment.

The article presents several innovative systems developed through student laboratory projects, including two autonomous vehicles, a four-legged walking robot, an active ankle-foot orthosis, a ball on beam balancing mechanism, a ball on plate system, and a manipulator arm—all powered by pneumatic artificial muscles (PAMs). Fluidic muscles offer significant potential in various mechatronic systems, robots, and manipulators due to their flexible, lightweight nature and compliance. Their ability to produce smooth and adaptable motions is particularly beneficial in applications requiring natural and human-like movement, such as rehabilitation and assistive devices. Although PAMs powered control systems face challenges with nonlinear phenomena, their biologically inspired design holds promise for future applications across various industries. These may include innovative applicability in industrial, automotive, and aerospace sectors, as well as use in sports, medical aids, entertainment, and animatronics. Incorporating self-made laboratory systems actuated by PAMs into control systems education offers a comprehensive learning opportunity that combines theoretical concepts with hands-on experience. This approach develops the necessary skills of future engineers, expanding their understanding of technical principles and preparing them for future challenges in engineering practice.

In this paper, a method is developed for presenting a novel virtual torque sensor based on precise model and position measurements avoids the need of traditional strain gauges and amplifiers. More specifically, the harmonic drive compliance model and the Gaussian process regression (GPR) technique are used together to achieve virtual torque sensor measurement. While the harmonic drive compliance model provides the analytic part, the Gaussian process regression method is used to reconstruct the unmolded part based on motor-side and link-side joint angles as well as motor current. After an automatic offline calibration, the method allows for a lean online implementation. The virtual torque sensor measurement is compared with measurements of a commercial torque sensor, and the results have attested the effectiveness of the proposed method.

The paper delineates the developed vision system of the UR5 cobot and the operating algorithm of the robotic quality control station. The hardware-software architecture of the developed robotic station was shown, consisting of a UR5 cobot equipped with a web camera and a stationary industrial camera with a lighting system. Image processing and analysis algorithms were described, the method of control and communication between the station components was discussed, and two operating scenarios were presented as a single robotic station and a robotic line. Based on the results obtained, the level of measurement noise, accuracy, and repeatability of the developed vision system were estimated.

This study presents an advanced Simulated Shearer Machine Cutting Experiment System enhanced with digital twin technology. Central to this system is a simulated shearer drum, designed based on similarity theory to mirror the operational dynamics of actual mining cutters accurately. The setup incorporates a modified machining center equipped with sophisticated sensors that monitor various parameters such as cutting states, forces, torque, vibration, temperature and sound. These sensors are crucial for precisely simulating the shearer cutting actions. The integration of digital twin technology is pivotal, featuring a real-time data management layer, a dynamic simulation mechanism model layer, and an application service layer that facilitates virtual experiments and algorithm refinement. This multifaceted approach allows for in-depth analysis of simulated coal cutting, utilizing sensor data to comprehensively evaluate the shearer's performance. The study also includes tests on simulated coal samples. The system effectively conducts experiments and captures cutting condition signals via the sensors. Through time-domain analysis of these signals, gathered while cutting materials of varying strengths, it is determined that the cutting force signal characteristics are particularly distinct. By isolating the cutting force signal as a key feature, the system can effectively distinguish between different cutting modes. This capability provides a robust experimental basis for coal-rock identification research, offering significant insights into the nuances of shearer operation.

Aquifer karstic structures, due to their complex nature, present significant challenges in accurately mapping their intricate features. Traditional methods often rely on invasive techniques or sophisticated equipment, limiting accessibility and feasibility. In this paper, we propose a new approach to non-invasive, low-cost 3D reconstruction using a camera that observes the light projection of a simple diving lamp. Our method capitalizes on the principles of structured light, leveraging the projection of light contours onto the karstic surfaces. By capturing the resultant light patterns with a camera, we reconstruct three-dimensional representations of the structures. The simplicity and portability of the equipment required make this method highly versatile, enabling deployment in diverse underwater environments. We validate our approach through extensive field experiments conducted in various aquifer karstic settings. The results demonstrate the efficacy of our method in accurately delineating intricate karstic features with remarkable detail and resolution. Furthermore, the non-destructive nature of this technique minimizes disturbance to delicate aquatic ecosystems while providing valuable insights into the subterranean landscape. This innovative methodology not only offers a cost-effective and non-invasive means of mapping aquifer karstic structures but also opens avenues for comprehensive environmental monitoring and resource management. Its potential applications span hydrogeological studies, environmental conservation efforts, and sustainable water resource management in karstic terrains worldwide.

Это исследование сосредоточено на разработке системы искусственного зрения для гибкого дельта-робота-манипулятора и ее интеграции с межмашинной связью для оптимизации взаимодействия устройств в реальном времени. Эта интеграция направлена ​​на увеличение скорости роботизированной системы и улучшение ее общей производительности. Предлагаемое сочетание системы искусственного зрения с межмашинной связью позволяет обнаруживать и распознавать цели с высокой точностью в режиме реального времени в ограниченном пространстве, предназначенном для позиционирования, дальнейшей локализации и выполнения производственных процессов, таких как сборка или сортировка деталей. . В данном исследовании RGB-изображения используются в качестве входных данных для алгоритма MASK-R-CNN, а результаты обрабатываются в соответствии с особенностями прототипа дельта-манипулятора робота. Данные, полученные от MASK-R-CNN, адаптированы для использования в системе управления дельта-роботом с учетом ее уникальных характеристик и требований к позиционированию. Технология M2M позволяет манипулятору робота быстро реагировать на изменения, например, на перемещение объектов или изменение их положения, что имеет решающее значение для задач сортировки и упаковки. Система была протестирована в условиях, близких к реальным, чтобы оценить ее производительность и надежность.

In the field of quality control, the critical challenge of analyzing microdefects in steel filament holds significant importance. This is particularly vital as steel filaments serve as reinforced fibers in the use and applications within various component manufacturing industries. This paper addresses the crucial requirement of identifying and investigating microdefects on steel filaments. Eddy current signals are used for the identification of microdefects, and an in-depth investigation is conducted. The core objective is to establish the relationship between the depth of defects and the signals detected through the eddy current sensing principle. The threshold of eddy current instrument was set at 10%, corresponding to a created depth of 20 µm, to identify defective specimens. A total of 30 defective samples were analyzed, and the phase angles between the experimental and theoretical results were compared. The depths of defects ranged from 20 to 60 µm, with one sample having a depth exceeding 75 µm. The calculated threshold of 10.18% closely aligns with the set threshold of 10%, with a difference of only 1.77%. The resulting root mean square error (RMSE) was found to be 10.53 degrees, equivalent to 3.49 µm for the difference in depth and phase between measured results and estimated results. This underscores the methodology's accuracy and its applicability across diverse manufacturing industries.

Online food delivery services are rapidly growing in popularity, making customer satisfaction critical for company success in a competitive market. Accurate delivery time predictions are key to ensuring high customer satisfaction. While various methods for travel time estimation exist, effective data analysis and processing are often overlooked. This paper addresses this gap by leveraging spatial data analysis and preprocessing techniques to enhance the data quality used in Bayesian models for predicting food delivery times. We utilized the OSRM API to generate routes that accurately reflect real-world conditions. Next, we visualized these routes using various techniques to identify and examine suspicious results. Our analysis of route distribution identified two groups of outliers, leading us to establish an appropriate boundary for maximum route distance to be used in future Bayesian modelling. The spatial analysis revealed that these outliers were primarily deliveries to the outskirts or beyond the city limits. By refining the data quality through these methods, we aim to improve the accuracy of delivery time predictions, ultimately enhancing customer satisfaction.

Design process can be divided into stages of analysis and synthesis. This paper presents the application of the object-oriented technique to the synthesis as well as theoretical considerations concerning to design of gear size ranges. The synthesis consists in composition (aggregation) of single details into units – according to the rule: “from details up to general view”. The basics of the object-oriented synthesis were formulated. Furthermore, the consecutive stages of synthesis were formulated. The interactions between these stages were discussed. Some aspects were described in details e.g.: creation of interfaces for performance of the embodiment phase the designed artefact via CAD system drawing with specification (dimensions are still parametrically set). The final step of the procedure is creation of so called substantial (concrete) form of artifacts i.e. final assignment of dimensions which stored in the special data base. The final stage of the design process is issuing of technical documentation (technical drawings) created automatically via CAD system. The considerations are terminated by the list of advantages connected with the object-oriented approach to design (in comparison to the traditional way).

A review of literature, supporting the view on the psychophysical origins of some acceptance effects of cyber-physical systems (CPSs), is presented and discussed in the paper. Psychological effects like the reactance to a robot or the uncanny valley phenomenon suggest that CPSs are perceived as a special type of ‘being’, a phylogenetically emergent category, or a novel ontology in a philosophical sense, culturally developing as a function of the social brain. Justification of this view is provided by the psychophysically-relevant human responses to technologically and socially ambiguous stimuli on the one hand, and the probabilistic independence of the proposed ontology to similar ontologies, subjectively experienced by the human, on the other. The results of the presented in the paper analysis demonstrate the feasibility of the proposed hypothesis of ontological ‘near independence’ of the distribution of the probabilistic psychophysical processes in response to the cyber-physical stimulus as a socially evolving phenomenon.

The extensive collection of paper documents and books stored in the archives of universities worldwide is a hidden cultural heritage that is frequently inaccessible. To overcome this problem, the University of Genoa, Italy, seeks to collect, store, and digitize a wide variety of items, encompassing books, manuscripts, archival materials, and documents related to museum artifacts, which together form a cultural heritage of great importance and historical significance. To make such a cultural heritage accessible to both humans and machines, images and videos must be provided with alternate descriptions, metadata, and speech-to-text transcriptions while ancient texts, for which OCR techniques are often not effective, must be accompanied by word-for-word transcripts. This work presents the design of a transcription system for the “University Museum System” at the University of Genoa, Italy (SMA-UniGe), including user interface elements and users’ engagement techniques. The goal is to create an accessible digital heritage that can be enjoyed by all, facilitated by a community of digital volunteers who are eager to dedicate their time, have a great experience, socialize, and interact on the proposed transcription system. The system exploits gamification theory to transform the typically monotonous task of transcription into a captivating experience. This activity is in line with the so-called University third mission, i.e., the activity of public engagement that aims at generating knowledge outside the academic environment to the benefit of the social, cultural, and economic development.

Controlling robots in space with necessarily low material and structural stiffness is quite challenging at least in part due to the resulting very low structural resonant frequencies. The frequencies are sometimes so low, the vary act of controlling the robot with medium or high bandwidth controllers lead to excitation of resonant vibrations. Biomimetics or biomimicry emulates models, systems, and elements of nature for solving such complex problems. Recent seminal publications have re-introduced the viability of optimal command shaping, and one recent instantiation mimics baseball pitching to propose control of highly flexible space robots. The readership will find a perhaps dizzying array of thirteen decently performing alternatives in the literature but could be left bereft selecting a method(s) deemed to be best suited for a particular application. Bio–inspired control of space robotics is presented in a quite substantial (perhaps not comprehensive) comparison, and the conclusions of the study indicate the top three performing methods based on minimizing control effort (i.e., fuel) usage, tracking error mean, and tracking error deviation include.

In this work, we introduce the first pipeline that combines a refraction-aware Structure-from-Motion (SfM) method with a deep learning model specifically designed for airborne bathymetry. We accurately estimate the 3D positions of the submerged points by integrating refraction geometry within the SfM optimization problem. This way, no refraction correction as post-processing is required. Experiments with simulated data that approach the real-world capturing conditions demonstrate that SfM with refraction correction is extremely accurate, with submillimeter errors. We integrate our refraction-aware SfM within a deep learning framework that also takes into account radiometrical information, developing a combined spectral and geometry-based approach, with further improvements on accuracy and robustness to different seafloor types, both textured and textureless. We conducted experiments with real-world data at 2 locations in the southern Mediterranean Sea, with varying seafloor types which demonstrate the benefits of refraction correction for the deep learning framework. We open-source our refraction-aware SfM, providing researchers in airborne bathymetry with a practical tool to apply SfM in shallow water areas.

This research presents the creation of a Virtual Reality experience for the Balzi Rossi museum, commemorating the centenary of Prince Albert I Grimaldi's archaeological work at the site. The project, a collaboration between the University of Genoa's 3D Lab Factory, Eurodrone, and the Balzi Rossi archaeological museum, aims to preserve and convey the site's heritage through advanced VR technology. Initially employing Unreal Engine 4, the team used photogrammetry for 3D reconstruction of the "Caviglione" and "Florestano" caves, notable for their ancient rock engravings. This first VR model, despite hardware limitations, provided an interactive exploration of the site. The subsequent development phase utilized Unreal Engine 5, incorporating Nanite technology for enhanced visual fidelity. This advancement resulted in a more detailed and immersive VR experience, presenting the Balzi Rossi cliff across different historical periods, including the Würm glaciation. Key to this phase was optimizing the VR experience for performance, focusing on stable frame rates and minimizing motion sickness, and integrating a multi-lingual interface for broader accessibility. Since November 2023, the VR setup at the Balzi Rossi Museum has been an educational and interactive feature, enabling visitors to explore the site's history virtually. This research demonstrates the potential of VR in cultural heritage preservation and education, providing a foundation for future technological improvements in the field.

Active ageing is defined as the process of optimizing opportunities for physical, social and mental health to enable older people to take an active part in society without discrimination and to enjoy an independent and good quality of life. The World Health Organization assumed this as a process for increasing and maintaining an individual’s participation in activities to enhance his/her quality of life. In this survey, the authors addressed the following question: “Is assistive technology (AT) for mobility contributing to enhancement of lifelong capacity and performance?”. From June 2015 until February 2016, 96 community dwelling adults, AT users for mobility (powered wheelchairs, manual wheelchairs, lower limb prostheses, walkers, crutches and canes), aged 45-97, mean 67.02 +/- 14.24 years old, 56.3% female, were interviewed using the Psychosocial Impact of Assistive Devices Scale (P-PIADS), the Activities and Participation Profile related to Mobility (APPM) and demographics, clinical and questions about AT use and training. The participants’ profiles revealed moderate limitation and restrictions in participation, measured by the APPM (2.03). Most participants showed positive impact of AT; average scores obtained from the P-PIADS subscales were: Self-esteem 0.62, Competency 1.11 and Adaptability 1.10. P-PIADS total was 0.96, with the powered wheelchair users scoring the highest (1.53) and the walker users scoring the lowest (0.73). All subscales and P-PIADS total were positively correlated with the activities and participation profile. There was no relation between age and the psychosocial impact of AT or activities and participation profile. These results encourage the authors to follow these participants up for a lifelong intervention. To accomplish that aim, currently, the protocol is implemented at the AT prescribing centers in Coimbra, Portugal in order to assess the impact of AT on participation in society, one of the domains of the Active Ageing Index, a new analytical tool to help policy makers in developing policies for active and healthy ageing.

This scientific paper explores the increasingly widespread use of collaborative robots in the industrial environment, highlighting them as a solution to challenges related to the high costs of human labour and the associated management difficulties. The authors focus on the process of defining requirements for the implementation of collaborative robots, providing strategies based on mathematical management models. This approach translates into significant benefits for companies, such as cost reduction, quality improvement, and increased operational efficiency. Additionally, the paper proposes an innovative mathematical model for assessing total costs, budgeting, profitability, and electric power consumption associated with the operation of collaborative robots. This model allows for a comparison between the costs involved in using human labour and those associated with collaborative robots, providing critical information for technological investment decisions. The efficiency of this mathematical model is demonstrated through a practical application, where collaborative robots were integrated into a production environment, and costs and efficiency were evaluated compared to the use of human labour. This scientific paper provides a systematic and efficient approach to implementing collaborative robots in industrial processes, benefiting from strategies based on mathematical management models and an original mathematical model for evaluating performance and associated costs.

Depth-sensing technology has led to broad applications of inexpensive depth cameras that can capture human motion and scenes in 3D space. Background subtraction algorithms can be improved by fusing color and depth cues, thereby allowing many issues encountered in classical color segmentation to be solved. In this paper, we propose a new fusion method that combines depth and color information for foreground segmentation based on an advanced color-based algorithm. First, a background model and a depth model are developed. Then, based on these models, we propose a new updating strategy that can eliminate ghosting and black shadows almost completely. Extensive experiments have been performed to compare the proposed algorithm with other, conventional RGB-D algorithms. The experimental results suggest that our method extracts foregrounds with higher effectiveness and efficiency.

The use of new assistive technologies in general, and Socially Assistive Robots (SAR) in particular is becoming increasingly common for supporting people’s health and well-being. However, it still faces many issues regarding long-term adherence, acceptability and utility. Most of these issues are due to design processes that insufficiently take into account the needs, preferences and values of intended users. Other issues are related to the currently very limited amount of long-term evaluations, performed in real world settings, for SAR. This study presents the results of two regional projects that consider as a starting hypothesis that the assessment in controlled environments and/or with short exposures may not be enough in the design of a SAR deployed in a retirement home and the necessity of designing for and with users. Thus, the proposed methodology has focused in use cases definitions that follow a human-centred and participatory design approach. The main goals have been facilitating system acceptance and attachment by involving stakeholders in the robots design and evaluation, overcoming usage barriers and considering user’s needs integration. The implementation of the first use case deployed and the two-phase pilot test performed in the retirement home are presented. In particular, a detailed description of the interface re-design process based on improving a basic prototype with users’ feedback and recommendations is presented together with main results of a formal evaluation that has highlighted the impact of changes and improvements addressed in the first redesign loop of the system.

Periacetabular osteotomy (PAO) is an effective approach for surgical treatment of developmental dysplasia of the hip (DDH). However, due to the complex anatomical structure around the hip and limited field of view (FoV) during the surgery, it is challenging for surgeons to perform a PAO surgery. To solve this challenge, we propose a robot-assisted augmented reality (AR)-guided surgical navigation system for PAO. The system mainly consists of a robot arm, an optical tracker, and a Microsoft HoloLens 2 which is a state-of-the-art (SOTA) optical see-through head-mounted display (OST-HMD). For AR guidance, we propose an optical marker-based virtual-physical registration method to estimate a transformation from the optical tracker coordinate system (COS) to the virtual space COS, such that virtual models can be superimposed on the corresponding physical counterparts. Furthermore, to guide the osteotomy, the developed system automatically aligns the bone saw with osteotomy planes planned in preoperative images, and then provides surgeons with not only robot assistance but also AR guidance. Comprehensive experiments were conducted to evaluate both virtual-physical registration accuracy and osteotomy accuracy of the developed navigation system. The proposed virtual-physical registration method achieved an average mean absolute distance error (mADE) of 1.96 ± 0.43 mm. The developed system achieved an average distance deviation of 0.82 ± 0.17 mm and an average angular deviation of 3.77 ± 0.85 . Experimental results demonstrated high virtual-physical registration accuracy. The sub-millimeter distance deviation demonstrated the osteotomy accuracy of the proposed system.

The strong competition in the automotive industry has required manufacturers to implement lean production, both with methods and techniques specific to Industry 4.0. At the same time, universities must provide graduates with specific skills for applying these new production methods and techniques. In this context, a Lean Learning Factory was developed in the Pitesti University Center, which allows students to learn, experiment, and research, in an environment similar to that of enterprises, the new Lean Manufacturing methods and techniques, and Industry 4.0. The research presented in this study had as its objective identifying the minimum number of repetitions necessary to train operators who serve two differently organized workstations, one classic, the other including digital techniques, but on which the same assembly operation is performed. Several indicators were considered in the analysis, such as the number of errors, the number of stops, the effective duration of the work cycle, and the percentage ratio between the standard duration of cyclical activities and the effective duration of the work cycle. The evolution of these indicators was mathematically modelled by regression functions, using the least squares method. The obtained results also highlight the usefulness of applying the DOJO method as a Lean manufacturing-specific learning technique and the efficiency of implementing digital techniques in work organization.

Zero-shot learning ability robotics enables robots to generalize their knowledge and perform tasks for which they have not been explicitly trained. This ability is extremely helpful because in classic learning approaches, robots are trained on specific tasks and require extensive data and labeled examples to perform accurately. However, in real-world scenarios, robots often encounter new or unseen tasks that were not part of their training data. We briefly survey works in this area to give the reader a perspective about progresses in this area.

Compared with the traditional robots on earth, space robotics present additional difficulties including complicated, multi–body dynamics (including anti–resonances absent with earthly robotic systems), space environmental forces and torques, communication delays, and high expense. Pointing accuracy requirements necessitate control algorithms that can accommodate flexible, multi–body dynamics particularly. The high cost of placing systems in space drives necessarily lightweight systems lacking structural stiffness. Natural frequencies of space robot vibration are often so low, the act of implementing control torques causes structural resonance. Seeking improved performance, this manuscript introduces and compares a dozen options, revealing seventy–percent reduction in tracking error may be achieved with only ten percent increase in control effort. Prequel work recommended tracking sinusoidal shaped trajectories while structurally filtering the first mode’s resonance and anti–resonance. The future research recommended in that prequel is manifest in this present work which recommends a simpler system of lower order, eliminating the notch compensation of the first resonance while no longer compensating the first anti–resonance.

Infrastructure monitoring, inspection, repair, and replacement in space is crucial for continued usage and safety, yet it is expensive, time-consuming, and technical very challenging. New robotics technologies and artificial intelligence algorithms are potentially novel approaches that may alleviate such demanding operations using existing or novel sensing technologies. Space structures must necessarily be very light weight due to high costs of placing robots in space. Several methods are proposed and compared to control highly flexible space robotics, where a key challenge is the presence of flexible resonant modes at frequencies so low as to reside inside typical feedback controller bandwidths. Such conditions imply the very action of sending control signals to the ultra-light weight robotics will cause structural resonance. Implementations of incrementally increasing order are offered, achieving over ninety percent performance improvement in trajectory tracking errors, while improvement using unshaped methods merely achieve twenty-four percent improvement in direct comparison (where the only modification is the proposed control methodology). Based on superior performance, single-sinusoidal trajectory shaping is recommended with a corollary benefit of preparing future research into applying deterministic artificial intelligence whose current instantiation relies on single-sinusoidal, autonomous trajectory generation.

In this work we report on our effort to design and implement an early introduction to basic robotics principles for children at kindergarten age. The humanoid robot Pepper, which is a great platform for human-robot interaction experiments, was presenting the lecture by reading out the contents to the children making use of its speech synthesis capability. One of the main challenges of this effort was to explain complex robotics contents in a way that pre-school children could follow the basic principles and ideas using examples from their world of experience. A quiz in a Runaround-game-show style after the lecture activated the children to recap the contents they acquired about how mobile robots work in principle. Besides the thrill being exposed to a mobile robot that would also react to the children, they were very excited and at the same time very concentrated. What sets apart our effort from other work is that part of the lecturing is actually done by a robot itself and that a quiz at the end of the lesson is done using robots as well. To the best of our knowledge this is one of only few attempts to use Pepper not as a tele-teaching tool, but as the teacher itself in order to engage pre-school children with complex robotics contents. We got very positive feedback from the children as well as from their educators.

This paper presents a comprehensive comparative analysis of four different computational vision algorithms for implementing an unpalleting system in a factory environment, under typical edge computing constraints. The primary objective is to automate the process of detecting and locating specific variable-shaped objects on a pallet, enabling a robotic system to accurately unstack them. The four algorithms evaluated are Pattern Matching, Scale-Invariant Feature Transform, Oriented FAST and Rotated BRIEF, and Haar cascade classifiers. Each technique is described in detail in this paper, and their implementations are outlined. Experimental results are thoroughly analyzed, assessing the algorithms’ performance based on accuracy, robustness to variability, computational speed, detection sensitivity, and resource consumption. The findings reveal the strengths and limitations of each algorithm, providing valuable insights for selecting the most appropriate technique based on the specific requirements of the unpalleting system. This research contributes to the advancement of automated object detection and localization in industrial environments, paving the way for more efficient and reliable unpalleting systems.

Electromagnetic actuation can support many fields of technology, such as robotics or biomedical applications. In this context, fully understanding the system behavior and proposing a low-cost package for feedback control is challenging. Modeling the electromagnetic force is particularly tricky because it is a nonlinear function of the actuated object’s position and coil’s current. Measuring in real time the position of the actuated object with the precision required for accurate motion control is also nontrivial. In this study, we propose a novel, cost-effective electromagnetic set-up to achieve position control via visual feedback. We actuate vertically and under different experimental conditions a 10 mm diameter steel ball hanging on a low-stiffness spring, demonstrating good tracking performance (the position error remains within ±0.5 mm with a negligible phase delay in the best scenarios). The experimental results confirm the feasibility of the proposed set-up, which is characterized by minimum complexity and realized with off-the-shelf and cost-effective components. For these reasons, such a contribution helps to understand and apply electromagnetic actuation even further.

Palpation is a simple but effective method to differentiate tumors from healthy tissues. Development of miniaturized tactile sensors embedded on endoscopic or robotic devices are the key toward precise palpation diagnosis and the subsequent timely treatment. This paper reports on the fabrication and characterization of a novel tactile sensor with mechanical flexibility and optical transparency that can be easily mounted on soft surgical endoscopes and robotics. Utilizing the pneumatic sensing mechanism, the sensor offers a high sensitivity of 1.25 mbar and negligible hysteresis, enabling the detection of phantom tissues with different stiffnesses ranging from 0 to 2.5 MPa. Our configuration combining pneumatic sensing and hydraulic actuating also eliminates electrical wiring from the functional elements located at the robot end-effector, thereby enhancing the system safety. The optical transparency path in the sensors together with its mechanical sensing capability open interesting possibility in early detection of solid tumor as well as in the development of all in-one soft surgical robots that can perform visual/mechanical feedback and optical therapy.

In this systematic survey, an overview of non-conventional and soft-actuators is presented. The review is performed by using well-defined performance criteria with a direction to identify the exemplary applications in robotics. In addition to this, initial guidelines to measure the performance and applicability of soft actuators are provided. The meta-analysis is restricted to four main types of soft actuators: shape memory alloys (SMA), fluidic elastomer actuators (FEA), dielectric electro-activated polymers (DEAP) and shape morphing polymers (SMP). In exploring and comparing the capabilities of these actuators, the focus was on seven different aspects: compliance, topology, scalability-complexity, energy efficiency, operation range, performance and technological readiness level. The overview presented here provides a state-of-the-art summary of the advancements and can help researchers to select the most convenient soft actuators using the comprehensive comparison of the performance criteria.

Classically the walk in biped robotics was obtained controlling balance during the whole step, i.e. guaranteeing that the pressure point under the soles always stayed in the polygon of the supporting feet. However, this assumed that the feet were able to transfer torque to the ground during the whole gait cycle. In spite of the fact that the amount of transferrable torque in the feet-ground contact is limited, it is possible only during some phases of the step, and the overall process is energetically inefficient. On the other side, starting from the passive motion of the rimless wheel falling on an inclined surface, and ending to the inverted pendulum with a compass, balance in the whole was proven in spite of dynamical instability inside each step. Along this line results of Foot Placement Estimation (FPE) in 2-D and 3-D showed how energy efficient walk was possible, emulating the human walk with a free fall on the swing foot and energy restitution at the foot collision with the ground for the next step. This model assumes pointy feet, so without torque transfer to the ground. In the realm of FPE, in previous papers the present author adopted the 3-D inverted pendulum in polar coordinates (Spherical Inverted Pendulum - SIP) to introduce omnidirectional walks with arbitrarily changing characteristics. No torque control was used during the step, i.e the pendulum was always in free fall at each step, the only control actions were at the beginning of the next step. These actions are: the change of angular velocities at the start of a new step, with respect to those given after the collision (emulating the torque action in the brief double stance period), to recover for the losses, and the preparation of the position in the frontal and sagittal planes of the swing foot for the next collision. The present paper improves this paradigm, proposing a general model to account for all characteristics of the biped and of the gait, with adding a minimum of dynamical complexity with respect to the SIP. This model allows, not only to walk omnidirectionally on a flat surface, but also to go up and down staircases.

3D/4D printing technologies are currently among the fastest growing, cutting edge fabrication technologies. The scale of their applications is vast and applicable to nearly all industries. 3D printing technologies are particularly popular in robotics, and especially in advanced design innovative solutions for areas such as manufacturing, space technology and medicine. The development of robotics, and in particular of the precision of manufactured components, such as actuators, pneumatic muscles, power transmission units, etc., means that new prototypes are still being made, where the use of 3D printers reduces the production time severalfold and allows for completing the necessary simulations and tests. In addition, the use of 3D printers allows for the production of thin-walled and cellular structures, which is a great advantage compared to conventional fabrication technologies. In the range of 3D printers available on the market, only a few selected technologies allow for actual use in the construction of advanced robot elements (muscles, vibration dampers, etc.). In the era of rapid growth of the precision of the available 3D printers and modern materials, 3D printing may soon become a major tool in robotics. This article presents an overview of 3D printing technologies and materials in terms of their application in robotics and provides examples of the use of 3D and 4D printing in prototyping and fabrication of robotic elements with particular emphasis on the current state of the art. The study considered the possibilities of using 3D/4D printing in robotics with the use of polymeric materials. The review of the literature and the research work currently being carried out in this area is very promising and it seems that 3D/4D printing in robotics is widely used and is still developing, which allows to conclude that in the near future the number of research works in this field will increase rapidly.

Crack inspection is important to monitor the structural health of pavement structures and to facilitate an easier rehabilitation process. Currently, pavement crack inspection is conducted manually, which is inefficient and costly at the same time. For solving the problem, this work has developed a robotic system for automated data collection and analysis in real-time. The robotic system navigates on the pavement and collects visual images from the surface. A deep learning-based semantic segmentation framework named RCDNet was proposed and implemented on the onboard computer of the robot to identify cracks from the visual images. Simulation results show that the deep learning model obtained 96.29% accuracy for predicting the images. The proposed robotic system was tested on both indoor and outdoor environments and was observed that it can complete inspecting a 3m × 2m grid within 10 minutes and a 2.5m × 1m grid within 6 minutes. This outcome shows that the proposed robotic method can drastically reduce the time of manual inspection. Furthermore, a severity map based on the results from visual images was also generated to provide an idea of which locations should be paid more attention to repair in a test grid.

The problem addressed in this article consists of the motion control of a quadrotor, comprising model disturbances and uncertainties. In order to tackle model uncertainty, adaptive control based on reinforcement learning is used. The distinctive feature of this article, in comparison with other works on quadrotor control using reinforcement learning is the exploration of the underlying optimal control problem in which a quadratic cost and a linear dynamics allow an algorithm that runs in real time. Instead of identifying a plant model, adaptation is obtained by approximating the performance index given by the Q-function using directional forgetting recursive least squares that rely on a linear regressor build from quadratic functions of input/output data. The adaptive algorithm proposed is tested in simulation in a cascade control structure that drives a quadrotor. Simulations show the improvement in performance that results when the proposed algorithm is turned on.

By combining stochastic variational inference with message passing algorithms we show how to solve the highly complex problem of navigation and avoidance in distributed multi-robot systems in a computationally tractable manner, allowing online implementation. Subsequently, the proposed variational method lends itself to more flexible solutions than prior methodologies. Furthermore, the derived method is verified both through simulations with multiple mobile robots and a real world experiment with two mobile robots. In both cases the robots shares the operating space and needs to cross each other’s paths multiple times without colliding.

Data mining techniques have garnered significant attention within the realm of education. However, the procurement of ample student data poses a formidable challenge. In response to this challenge, we present a student dataset characterized by its size and distinctive attributes. This dataset encompasses various task-related topics interconnected through a learning pathway, thereby enabling researchers to delve into the data from novel perspectives. Moreover, it encompasses extensive longitudinal student behavioral data, a rarity that adds substantial value. Spanning the years from 2010 to 2021, our dataset comprises a cohort of 7,933 students, 64,344 test scores, and 183,390 behavior records, solidifying its status as a valuable resource for educational research. In our experiments, we achieved successful predictions of students' test outcomes based on behavioral learning data. The strengths of our dataset render it apt for analyzing the nexus between student conduct and academic performance, crafting personalized learning recommendations, and pursuing various other research pursuits.

According to the World Health Organization, about 15% of the world’s population has some form of disability. Assistive Technology, in this context, contributes directly to the overcoming of difficulties encountered by people with disabilities in their daily lives, allowing them to receive education and become part of the labor market and society in a worthy manner. Assistive Technology has made great advances in its integration with Artificial Intelligence of Things (AIoT) devices. AIoT processes and analyzes the large amount of data generated by IoT devices and applies Artificial Intelligence models, specifically Machine Learning, to discover patterns for generating insights and assisting in decision making. Based on a systematic literature review, this article aims at identifying the Machine Learning models used in multiple different research about Artificial Intelligence of Things applied to Assistive Technology. The survey of the topics approached in this article also highlights the context of such research, their application, IoT devices used, and gaps and opportunities for further development. Survey results show that 50% of the analyzed research address visual impairment, and for this reason, most of the topics cover issues related to computational vision. Portable devices, wearables, and smartphones constituted the majority of IoT devices. Deep Neural Networks represent 81% of the Machine Learning models applied in the reviewed research.

In contemporary design practices, there is a disconnect between the design techniques used for early-stage design experimentation and performance analysis, and those used for the manufacture and construction. This study addresses the problems in developing an integrated digital design workflow and provides a research framework for integrating environmental performance requirements with robotic manufacturing processes on a construction site. The proposed method enables the user to import a design surface, identify design parameters, set several environmental performance goals, and thereafter simulate and select a robotic building strategy. Based on these inputs, design alternatives are developed and evaluated, considering their robotically simulated constructibility, in terms of their performance criteria. To validate the proposed method, the design is evaluated in an experiment wherein a double-skin facade perforation is generated using the proposed methodology. The results suggest a heuristic feature to improve the simulated robotic constructibility. Moreover, the functionality of the prototype is demonstrated.

Continuum robots play the role of end-effector in various surgical robots and endoscopic devices. The robots may be categorized as rigid or soft continuum robots (SCRs). While the SCRs have proven advantages such as safety and compliance, more research and development are required to enhance their capability for specific medical scenarios. This research aims at designing a soft robot considering concepts of geometric and kinematic similarities. The chosen application is a semi-invasive medical application known as Transesophageal Echocardiography (TEE), but the methodology can be implemented in other similar applications. Since established rigid carrier construction make use of principles we find as well embodied in vertebral spines, the paragon for soft robot solution can be the phylogenetic precursor of the spine, the Chorda dorsalis. The feasibility of fabrication of a soft endoscopic device derived from that paragon within a robotics laboratory was shown empirically by producing a three-segment pneumatic SCR. The kinematic model was proposed based on the method of transformation matrices, and an algorithm based on a self-organizing map (SOM) was proposed and applied to realize kinematic similarity. The simulation results indicate that the algorithm acting as an open-loop controller forces the soft robot tip to follow the desired path which in this case is the path of the rigid probe. It is concluded that the solution provides a soft robot that can surrogate and succeed the traditional rigid counterpart owing to size, workspace, and kinematics.

Estimates by the World Health Authority suggest that 1 billion people do not have access to the assistive technologies they require. Over the past decade, the design of products that empower people with a disability has shifted from specialised and dedicated products designed only for those with a disability to features and functions integrated into cost-effective consumer technologies for the benefit of all. The opportunity for expansion of the availability of such technologies is at risk of being ignored as a result of models of delivery that are founded in medical devices and which have failed to reflect trends in our understanding of technology and the choices and preferences expressed by persons with a disability. This research undertaken suggests that the opportunities of such expansion offer significant benefits to people with a disability and better both economic and social return on investment for authorities.

Robotic systems are increasingly being used in healthcare to improve patient care and support healthcare professionals. These robots are especially effective at performing repetitive tasks. In complex cancer cases, robots can enhance surgical precision and efficiency, resulting in reduced pain for patients and a lower risk of complications. Robot-assisted surgery offers high-quality 3D imaging, improved clarity, and increased efficiency. This review paper examines the application of Artificial Intelligence (AI) and robotic systems in the healthcare domain, specifically focusing on the interaction among operators, patients, and robots. The goal is to promote collaboration and improve healthcare provision through human-robot interaction. We considered already published articles by relevance, to identify the primary safety issues that need addressing for the integration of AI and robots in hospitals. Concluding with insights into understanding the focal points of social errors in Human-Robot Interaction (HRI) is crucial for mitigating these errors. While current technologies have reached a certain level of maturity, there are still numerous challenges in utilizing robot-assisted clinical practice, including technological, safety, clinical, financial, insurance, psychological, social, ethical, and legal issues. In addition, there is an urgent issue that needs to be addressed: the alignment of values in artificial intelligence, ensuring that AI systems reflect ethical principles and human values is crucial to avoid negative consequences such as bias, discrimination, and prejudicial decisions. Resolving this complex issue requires collaboration among clinical staff, researchers, programmers, and political decision-makers from various fields.

The rapid advancement of artificial intelligence (AI) and robotics has led to significant progress in various medical fields, including interventional radiology (IR). This review focuses on the research progress and applications of AI and robotics in IR, including deep learning (DL), machine learning (ML), and convolutional neural networks (CNNs) across specialties such as oncology, neurology, and cardiology. To ensure the breadth and depth of this review, we implemented a systematic literature search strategy, selecting research published within the last five years. We conducted searches in databases such as PubMed and Google Scholar to find relevant literature. Special emphasis was placed on selecting large-scale studies to ensure comprehensiveness and reliability of the results. We discuss the role of AI techniques used before, during, and after intervention treatments and the advantages of robotics in achieving precise operations and reducing intra-operative risks. Challenges faced in the implementation of these techniques are also addressed. Finally, we explore the future trends and potential applications of AI and robotics in interventional therapy, highlighting their potential to improve patient treatment outcomes and quality of life.

This paper presents a state machine based architecture which enhances flexibility and reusability of industrial robots, more concretely dual-arm multisensor robots. The proposed architecture, in addition to allowing absolute control of the execution, eases the programming of new applications by increasing the reusability of the developed modules. Through an easy-to-use graphical user interface, operators are able to create, modify, reuse and maintain industrial processes increasing the flexibility of the cell. Moreover, the proposed approach is applied in a real use case in order to demonstrate its capabilities and feasibility in industrial environments. A comparative analysis is presented for evaluating presented approach versus traditional robot programming techniques.

Wheeled mobile robot dynamics and suitable controller design are challenging but rewarding fields of study. By understanding the dynamics of wheeled mobile robots, it could be possible to design suitable hybrid control schemes for wheeled mobile robots. Since hybrid control schemes involve combining individual control methods to create a more effective overall control strategy. This can be done in a variety of ways, such as using fuzzy linear quadratic Gaussian control. We were therefore inspired to create dynamic models and their controller designs for the wheeled mobile robot by examining the dynamics of the wheeled mobile robot. The novelty of the current paper is to hybridize the different control schemes for wheeled mobile robots in order to get better performance. Entire systems models were simulated in a MATLAB/SIMULINK environment. The results obtained for the settling time response by FLQG were 87.1% over LQG; this study compared the effectiveness of current and previous FLQG controllers in external disturbances and found peak amplitude improvements of 71.25%. Therefore, the proposed controller is suitable for use with the wheeled mobile robot.

An advanced driver-assistance system (ADAS) is critical to driver-vehicle-interaction systems. Driving behaviour modelling and control significantly improves the global performance of ADAS. A haptic assistive system assists the driver by providing a specific torque on the steering wheel according to the driving-vehicle-road profile to improve the steering control. However, the main problem is designing a compensator dealing with the high-level uncertainties in different driving scenarios with haptic driver assistance, where different personalities and diverse perceptions of drivers are considered. If not properly accounted for, these differences can lead to poor driving performance. This paper focuses on designing a data-driven model-free compensator considering various driving behaviours with a haptic feedback system. A back propagation neural network (BPNN) models driving behaviour based on real driving data (speed, acceleration, vehicle orientation, and current steering angle). Then using the genetic algorithm (GA) and the integral time absolute error (ITEA) criterion to optimize multiple PID compensation parameters for various driving behaviour (such as speeding/braking, lane-keeping and turning), which are then be combined by the fuzzy logic to provide different driving commands. An experiment was conducted with 5 participants in a driving simulator. During the second experiment, seven participants drove in the simulator to evaluate the robustness of the proposed combined GA-PID offline and the Fuzzy-PID controller applied online. The experiment results evaluated the ITAE of lateral displacement and yaw angle, during various driving behaviour. The results validated the proposed method by significantly enhancing the driving performance.

Purpose: Hearing assistive technology (HAT) has been shown to be a viable solution to the speech-in-noise perception (SPIN) issue in children with autism spectrum disorder (ASD); however, little is known about its efficacy in tonal language speakers. This study compared sentence-level SPIN performance between Chinese children with ASD and neurotypical (NT) children and evaluated HAT use in improving SPIN performance and easing SPIN difficulty. Methods: Children with ASD (n=26) and NT children (n=19) aged 6-12 performed two adaptive tests in steady-state noise and three fixed-level tests in quiet and steady-state noise with and without using HAT. Speech recognition thresholds (SRT) and accuracy rates were assessed using adaptive and fixed-level tests, respectively. Parents or teachers of the ASD group completed a questionnaire regarding children’s listening difficulty under six circumstances before and after a ten-day trial period of HAT use. Results: Although the two groups of children had comparable SRTs, the ASD group showed a significantly lower SPIN accuracy rate than the NT group. Also, a significant impact of noise was found in the ASD group’s accuracy rate, but not in the NT group’s. There was a general improvement in the ASD group’s SPIN performance with HAT and a decrease in their listening difficulty ratings across all conditions after the device trial. Conclusion: The findings indicated inadequate SPIN in the ASD group using a relatively sensitive measure to gauge SPIN performance among children. The markedly increased accuracy rate in noise during HAT-on sessions for the ASD group confirmed the feasibility of HAT for improving SPIN performance in controlled laboratory settings, and the reduced post-use ratings of listening difficulty further confirmed the benefits of HAT use in daily scenarios.

In contemporary construction, the prevalence of vibration serviceability issues in lightweight and slender structures has become increasingly common, owing to advancements in building materials and construction methods. While these structures often meet the criteria for ultimate limit states, they can still elicit complaints due to excessive vibrations induced by human activity. To address this challenge, the Integral Resonant Control (IRC) technique has emerged as a favored approach for actively damping vibrations in various systems. This study introduces a fresh perspective on implementing a multi-input multi-output (MIMO) IRC scheme for active vibration control (AVC) specifically tailored for pedestrian structures utilizing inertial mass actuators. Building upon a common framework and design methodology outlined in previous research, this work presents a novel application of MIMO IRC for AVC. The designed controller is rigorously tested and implemented on a laboratory floor structure to validate its efficacy.

This article explores the implementation of high accuracy GPS denied Ad-Hoc localization. There is little research on Ad-Hock UWB-enabled localization systems with mobile and stationary nodes. This work aims to demonstrate the localization of bicycle-modeled robots in a non-static environment through a mesh network of mobile, stationary robots and ultra-wideband sensors. The non-static environment adds a layer of complexity when actors can enter and exit the node’s field of view. The method starts with an initial localization step where each unmanned ground vehicle (UGV) uses the surrounding, available anchors to derive an initial local or, if possible, global position estimate. The initial localization uses a simplified implementation of the iterative multi-iteration Ad-Hoc Localization System (AHLos). This estimate was refined using an unscented Kalman filter (UKF) following a constant turn rate and velocity magnitude model (CTRV). The UKF fuses the robot’s odometry and the range measurements from the Decawave ultra-wideband receivers stationed on the network nodes. Through this position estimation stage, the robot broadcasts to its neighbors its estimated position to help the others further improve their localization estimates and localize themselves. This wave-like cycle of nodes helping to localize each other allows the network to act as a mobile Ad-Hoc localization network.

Automation is the key aspect of science and technology field and refers to controlling the systems for efficient output requirements. The development of robotics and similar, technologies in 21st century is a vast topic of research and significant progress has been made on this field. This research study focuses on building a ribbon-cutting robot with a Bluetooth interface for event inaugurations. The entire system hinges on constructing a prototype that is mounted on a robotic car frame with four wheels and an Arduino controller. In this case, ribbons are cut using a nickel wire, and it may be paired with an Android device via Bluetooth or an application. The robot is one of the first steps toward the development of autonomous, cognitive robots and can be used in a variety of events. Efficient temperature monitoring is done with help of LM35 sensor and Bluetooth based communication in order to monitor the conditions and effectively control the actions for which robot is designed. The robot has significantly allowed authors for desired tests on ribbon cutting and final results obtained were very exciting for its desired application target. Ribbon-cutting robots find applications in various events, including inaugurations, exhibitions, and ceremonies. Their precision and novelty add value to such occasions.

Unmanned vehicles (UVs) have become increasingly important in various scenarios of civil and military operations. The present work aims at the conceptual design of a modular Amphibious Unmanned Ground Vehicle (A-UGV), that can be easily adapted for different types of land and/or water missions, with low monetary cost (<5k€, without sensors). Basing the design on the needs highlighted in the 2021 review of the Strategic Directive of the Portuguese Navy, the necessary specifications and requirements are established for two mission scenarios. Then a market research analysis focused on vehicles currently available, and their technological advances, is conducted to identify existing UVs solutions and respective characteristics/capabilities of interest to the current work. To study and define the geometry of the hull and the configuration of the A-UGV itself, preliminary computational structural and fluid analyses are carried out to ensure it complies with the specifications initially established. As a result, one obtains a fully electric vehicle, with approximate dimensions of 1050×670×450mm (length-width-height), enabled with 6×6 traction capable of reaching 20km/h in land, possesses amphibious capabilities of independent propulsion in water up to 8kts, and with an estimated autonomy of over 60 minutes.

Over a billion people around the world are disabled, among them, 253 million are visually impaired or blind, and this number is greatly increasing due to ageing, chronic diseases, poor environment, and health. Despite many proposals, the current devices and systems lack maturity and do not completely fulfill user requirements and satisfaction. Increased research activity in this field is required to encourage the development, commercialization, and widespread acceptance of low-cost and affordable assistive technologies for visual impairment and other disabilities. This paper proposes a novel approach using a LiDAR with a servo motor and an ultrasonic sensor to collect data and predict objects using deep learning for environment perception and navigation. We adopted this approach in a pair of smart glasses, called LidSonic V2.0, to enable the identification of obstacles for the visually impaired. The LidSonic system consists of an Arduino Uno edge computing device integrated into the smart glasses and a smartphone app that transmits data via Bluetooth. Arduino gathers data, operates the sensors on smart glasses, detects obstacles using simple data processing, and provides buzzer feedback to visually impaired users. The smartphone application collects data from Arduino, detects and classifies items in the spatial environment, and gives spoken feedback to the user on the detected objects. In comparison to image processing-based glasses, LidSonic uses far less processing time and energy to classify obstacles using simple LiDAR data, according to several integer measurements. We comprehensively describe the proposed system's hardware and software design, construct their prototype implementations, and test them in real-world environments. Using the open platforms, WEKA and TensorFlow, the entire LidSonic system is built with affordable off-the-shelf sensors and a microcontroller board costing less than $80. Essentially, we provide designs of an inexpensive, miniature, green device that can be built into, or mounted on, any pair of glasses or even a wheelchair to help the visually impaired. Our approach affords faster inference and decision-making using relatively low energy with smaller data sizes as well as faster communications for the edge, fog, and cloud computing.

(1) Background: This paper details the development process of two assistive technology products (ATs) implemented in the PAID project, aiming to promote the social, educational, and labor inclusion of people with disabilities across 10 municipalities of Antioquia, Colombia. (2) Methods: Applying Design Thinking (DT) methodology, including stages of empathizing, defining, ideating, prototyping, and testing, alongside a demographic study where specific needs of people with disabilities (PwDs) were identified. (3) Results: As a result, the construction process of two specific cases of assistive technology products (ATs) is detailed, including finite element simulation, mechanical testing, and delivery to end-users. Additionally, workshops for assistive product fabrication conducted in select municipalities of the project are highlighted. (4) Conclusions: the information gathered guided the development of the ATs, focusing on their features on accessibility and ease of replication. The primary objective is to facilitate the participation of PwDs in educational environments, thus promoting inclusion and accessibility. This article describes the results of two of these ATs; however, it is worth noting that this process was performed for 112 ATs delivered through the duration of the project.

Unmanned aerial vehicles (UAVs) represent a new model of social robots for home care of dependent persons. In this regard, this article introduces a study on people’s feeling of safety and comfort while watching the monitoring trajectory of a quadrotor dedicated to determining their condition. Three main parameters are evaluated: the relative monitoring altitude, the monitoring velocity and the shape of the monitoring path around the person (ellipsoidal or circular). For this purpose, a new trajectory generator based on a state machine, which is successfully implemented and simulated in MATLAB/Simulink®, is described. The study is carried out with 37 participants using a virtual reality (VR) platform based on two modules, UAV Simulator and VR Visualiser, both communicating through the MQTT protocol. The participants’ preferences have been a high relative monitoring altitude, a high monitoring velocity and a circular path. These choices are a starting point for the design of trustworthy socially assistive UAVs flying in real homes.

This paper used the decolonial theory to analyse provision of Assistive Technology and assistive devices at an institution of higher education in South African. It was an empirical study, in which data were collected through interviews with students with disabilities and the Disability Rights Centre staff members. The paper sought to understand the invisible hidden implications of provision of Assistive Technology and assistive devices. The finding was that it is students with disabilities who were provided with Assistive Technology and assistive devices at the institution. The institution provided them through the Centre, to support their learning. However, this way of provision was found to be stigmatising and segregative. Furthermore, while the provision on one hand enabled students with disabilities’ learning, on the other, it constrained it. The argument of the paper is that when provision of Assistive Technology and assistive devices is for a particular group of students it defeats the whole purpose for it is intended, and could hinder rather than promote learning. It is hoped that the paper will contribute to contemporary debate on provision of Assistive Technology and support services for people with disabilities in low resource settings, from a South African context specifically, and in higher education broadly.

Collaborative robotics is a major topic in current robotics research posing new challenges, especially in Human-Robot Interaction. The crucial aspect in this area of research focuses on understanding the behavior of robots when engaging with humans, where reinforcement learning is a key discipline that allows us to explore sophisticated emerging reactions. This review aims to delve into the relevance of different sensors and techniques, with special attention to EEG (electroencephalography data on brain activity) and its influence on the behavior of robots interacting with humans. In addition, mechanisms available to mitigate potential risks during the experimentation process such as virtual reality will also be addressed. In the final part of the paper, future lines of research combining the areas of collaborative robotics, reinforcement learning, virtual reality and human factors will be explored, as this last aspect is vital to ensure safe and effective Human-Robot Interactions.

Commonly, professors, students and researchers from universities around the world use software distributed under a license agreement for computer simulation purposes, which requires a computer with considerable hardware capabilities. Consequently, this implies a high cost to conduct simulations that require implementing numerical methods in all areas of engineering, particularly in the field of robotics and nonlinear control. This paper presents the design and results analysis of a low-cost and open-source frugal computer simulation tool with applications to robotic nonlinear control, for instance, for numerical simulations of manipulator robot control based on dynamic models. Using a single board minicomputer with with reduced computing power, Raspberry Pi, together with free software, GNU-Octave, trajectory tracking control simulations in the joint space of a Selective Conformal Assembly Robot Arm (SCARA) are achieved by solving a system of nonlinear differential equations, represented in matrix form, which includes the control law and the system model. The results of the proposed alternative are compared by running the same simulation code on a laptop computer using MATLAB and GNU Octave, which show minimal deviations and reasonable time complexity. Moreover, considering the frugality curve calculated for this approach, in addition to the low acquisition cost of the simulation software tool, it would allow the creation of a simulation laboratory in some universities with budgetary constraints for educational and research purposes.

The human-centric approach is a leading trend for future production processes, and collaborative roboticists are key to its realization. This article addresses the challenge of designing a new cus-tom-made non-conventional machine or robot involving toolpath control (interpolated axes) with collaborative functionalities but by using “general-purpose standard" safety and motion control technologies. This is done on a non-conventional Cable-Driven Parallel Robot (CDPR). Safety is assured by safe commands to individual axes, known as Safe Motion Monitoring Functionalities, which limits the axes speed in the event of human intrusion. At the same time, the robot's Motion Controller applies an override to the toolpath speed to accommodate the robot's path speed to the axis’s limitations. The implementation of a new Pre-Warning Zone, prevent unnecessary stops due to the approach of the human operator. The article also details a real experiment that validates the effectiveness of the proposed strategy.

Recently, new semantic segmentation and object detection methods have been proposed for direct processing of three-dimensional (3D) LiDAR sensor point clouds. LiDAR can produce highly accurate and detailed 3D maps of natural and man-made environments and is used for sensing in many contexts due to its ability to capture more information and its robustness to dynamic changes in the environment. In addition, the cost of LiDAR sensors has decreased in recent years, which is an important factor for many application scenarios. The challenge with 3D LiDAR sensors like the Velodyne HDL-64E S2 is that they can output large 3D data at up to 1,300,000 points per second, which is difficult to process in real time when applying complex algorithms and models for efficient semantic segmentation. Most existing approaches are either only suitable for relatively small point clouds or rely on computationally intensive sampling techniques to reduce their size. As a result, most of these methods do not work in real-time in realistic field robotics application scenarios, making them unsuitable for practical applications. Systematic point selection is a possible solution to reduce the amount of data to be processed, but although it is memory and computationally efficient, it selects only a small subset of points, which may result in important features being missed. To address this problem, we propose a new approach to semantic segmentation in forestry that uses a systematic sampling method in which the local neighbors of each point are retained to preserve geometric details. Our approach has been shown to process up to 1 million points in a single pass. It outperforms the state of the art in efficient semantic segmentation in large datasets such as Semantic3D. We also present a preliminary study on the performance of LiDAR-only data, i.e., intensity values from LiDAR sensors without RGB values for semi-autonomous robot perception.

Cybersecurity is a crucial concern for local governments, as they serve as the primary interface between public and government services, managing sensitive data and critical infrastructure. While technical safeguards are integral to cybersecurity, the role of well-structured policy is equally important, as it provides structured guidance to translate technical requirements into actionable protocols. This study reviews local governments’ cybersecurity policies to provide a comprehensive assessment of how these policies align with NIST CSF, which is a widely adopted and commonly used cybersecurity assessment framework. The review offers local governments a mirror to reflect on their cybersecurity stance, identifying potential vulnerabilities and areas needing urgent attention. The study further extends to developing a cybersecurity policy framework, which local governments can use as a strategic tool. It provides valuable information on crucial cybersecurity elements that local governments must incorporate into their policies to protect confidential data and critical infrastructure.

Underwater robotics equipped with visual detection systems have the function of detecting un-derwater artifacts, which is of great significance to deep-sea archaeology. Underwater artifacts are located in complex environments with poor imaging conditions, and the targets have chal-lenging problems such as breakage, stacking, and sediment burial, which causes the marine cul-tural target detection failures. To solve these problems, this paper proposes an underwater cul-tural target detection algorithm based on the deformable deep aggregation network model for underwater robotics exploration. To fully extract the target feature information of underwater targets in complex environments, this paper designs a multi-scale deep aggregation network with deformable convolutional layers. Besides, the BAM attention module is designed for fea-ture optimization, which enhances the potential feature information of the target while weak-ening the background interference information. Finally, the target prediction is achieved through feature fusion at different scales. The proposed algorithm has been extensively validat-ed and analyzed on the collected underwater artifact datasets, and the precision, recall, and mAP of the algorithm have reached 93.1%, 91.4%, and 92.8%, respectively. In addition, the present al-gorithm has been practically deployed on the underwater robotics. In the deep-sea tests, the ar-tifact detection frame rate reaches up to 19 fps, which satisfies the real-time target detection。

Robotics and autonomous technologies enable space travel. Robotics change space colonization. We study space-based robotics. Human-centric missions need robotics. Vision, decision-making, movement, and manipulation follow. These developments influence resource utilization, extravehicular activities, planetary surface exploration, long-duration space missions, and colonization. Robots improve research, productivity, and astronaut safety but present problems. Highlighting research and knowledge gaps. Space ethics, human-robot interaction, and failure recovery are gaps. This extensive study showed how robots and autonomous systems may transform space exploration and colonization. Researchers, engineers, and mission planners may benefit. Robotics and autonomy will improve space exploration.

Goal-conditioned reinforcement learning (RL) holds promise for addressing intricate control challenges by enabling agents to learn and execute desired skills through separate decision modules. However, the irregular occurrence of required skills poses a significant challenge to effective learning. In this paper, we demonstrate the detrimental effects of this imbalanced skill(sub-goal) distribution and propose a novel training approach, Classified Experience Replay (CER), designed to mitigate this challenge. We demonstrate that adapting our method to conventional RL methods significantly enhances the performance of the RL agent. Considering the challenges inherent in tasks such as driving, characterized by biased occurrences of required sub-goals, our study demonstrates the improvement in trained outcomes facilitated by the proposed method. In addition, we introduce a specialized framework tailored for self-driving tasks on highways, integrating Model Predictive Control (MPC) into our RL trajectory optimization training paradigm. Our approach, utilizing CER with the suggested framework, yields remarkable advancements in trajectory optimization for RL agents operating in highway environments.

The rapid convergence of Artificial General Intelligence (AGI), autonomous drones, and applied robotics presents a transformative opportunity for many sectors. However, this advancement also raises critical ethical and existential questions, particularly in warfare. This paper explores the concept of entropy as a metaphor for the potential disorder introduced by these increasingly complex technologies. We examine the risks of AGI surpassing human control in conflict situations, where autonomous decision-making could have disastrous consequences. We then analyze autonomous drones, scrutinizing their impact on warfare tactics and the ethical dilemmas surrounding independent, real-time decision-making. Finally, we investigate applied robotics in military operations, focusing on the delicate balance between enhanced capabilities and the potential for uncontrollable systems. Through a multidisciplinary lens, drawing on technology ethics, military strategy, and AI safety, this paper utilizes the concept of entropy to highlight the need for caution in developing these technologies. We propose a scientifically grounded and ethically sound framework to guide policymakers, technologists, and ethicists in navigating the path between innovation and global stability. This framework concludes with recommendations for responsible development and deployment strategies that can mitigate the risks associated with these powerful tools.

One of the critical tools for early detection and subsequent evaluation of the incidence of lung diseases is chest radiography. This study presents a real-world implementation of a convolutional neural network (CNN) based Carebot Covid app to detect COVID-19 from chest X-ray (CXR) images. Our proposed model takes the form of a simple and intuitive application. Used CNN can be deployed as a STOW-RS prediction endpoint for direct implementation into DICOM viewers. The results of this study show that the deep learning model based on DenseNet and ResNet architecture can detect SARS-CoV-2 from CXR images with precision of 0.981, recall of 0.962 and AP of 0.993.

In order to improve contrast and restore color for underwater image captured by camera sensors without suffering from insufficient details and color cast, a fusion algorithm for image enhancement in different color spaces based on contrast limited adaptive histogram equalization (CLAHE) is proposed in this article. The original color image is first converted from RGB color space to two different special color spaces: YIQ and HSI. The color space conversion from RGB to YIQ is a linear transformation, while the RGB to HSI conversion is nonlinear. Then, the algorithm separately operates CLAHE in YIQ and HSI color spaces to obtain two different enhancement images. The luminance component (Y) in the YIQ color space and the intensity component (I) in the HSI color space are enhanced with CLAHE algorithm. The CLAHE has two key parameters: Block Size and Clip Limit, which mainly control the quality of CLAHE enhancement image. After that, the YIQ and HSI enhancement images are respectively converted backward to RGB color. When the three components of red, green, and blue are not coherent in the YIQ-RGB or HSI-RGB images, the three components will have to be harmonized with the CLAHE algorithm in RGB space. Finally, with 4 direction Sobel edge detector in the bounded general logarithm ratio operation, a self-adaptive weight selection nonlinear image enhancement is carried out to fuse YIQ-RGB and HSI-RGB images together to achieve the final fused image. The enhancement fusion algorithm has two key factors: average of Sobel edge detector and fusion coefficient, and these two factors determine the effects of enhancement fusion algorithm. A series of evaluate metrics such as mean, contrast, entropy, colorfulness metric (CM), mean square error (MSE) and peak signal to noise ratio (PSNR) are used to assess the proposed enhancement algorithm. The experiments results showed that the proposed algorithm provides more detail enhancement and higher values of colorfulness restoration as compared to other existing image enhancement algorithms. The proposed algorithm can suppress effectively noise interference, improve the image quality for underwater image availably.

Using the potent tools of information geometry (IG), the current research analyses the information geometrics of the five-dimensional HTBFC Manifold. By enabling a unique revolutionary analysis for the performance of Human-Trust Based Feedback Control (HTBFC), the integration of information geometry into HTBFC facilitates the relativistic analysis of the five-dimensional HTBFC manifold. Both the two- and three-dimensional manifold subcases are investigated. This work provides a ground-breaking approach to IG unification of Human- Machine Interactions (HMIs). Some potential applications of HTBFC to robotics are presented.Conclusions are provided, along with some emerging open problems and recommendations for future research.

In an era marked by swift technological progress, the pivotal role of Artificial Intelligence (AI) is increasingly evident across various sectors, including local governments. These governmental bodies are progressively leveraging AI technologies to enhance service delivery to their communities, ranging from simple task automation to more complicated engineering endeavours. While more and more local governments are adopting AI, it is imperative to understand the functions, implications, and consequences of AI. Despite the growing importance of this domain, a significant gap persists within the scholarly discourse. This study strives to bridge this void by exploring the applications of AI technologies within the context of local government service provision and using this inquiry to generate lessons and best practices for similar smart city initiatives. Through a comprehensive grey literature review, we analysed 262 real-world AI implementations across 170 local governments worldwide. The findings underscore several key points: (a) There has been a consistent upward trajectory in the adoption of AI by local governments over the last decade; (b) Local governments from China, the US, and the UK are at the forefront of AI adoption; (c) Among local government AI technologies, Natural Language Processing and Robotic Process Automation emerge as the most prevalent ones; (d) Local governments primarily deploy AI across 28 distinct services; (e) Information management, back-office work, and transportation and traffic management are leading domains in terms of AI adoption. This study enriches the extant body of knowledge by providing an overview of existing AI applications within the sphere of local governance. It offers insights for smart city policymakers and decision-makers considering the adoption, expansion, or refinement of AI technologies in urban service provision. Additionally, it underscores the importance of using these insights to guide the successful integration and optimisation of AI in future smart city projects, ensuring they meet the evolving needs of communities.

Outliers seriously affect the accuracy in geometric model fitting. Previous works in coping with outliers involve threshold selection and scale estimation. However most scale estimators suppose the inlier distribution as a Gaussian model, which usually poorly meets the cases in geometric model fitting. Outliers, considered as the points with big residuals to all the true models, share common items with big values in quantized residual preferences, thus making the outliers gather away from the inliers in quantized residual preference space. In this paper we make use of this outlier consensus in quantized residual preference space by extending the usage of energy minimization to combine the model error and the spatial smoothness in quantized residual preference space for outlier detection. The energy minimization based outlier detection process follows an alternate sampling and labeling framework. After the outlier detection, an ordinary energy minimization method is employed to optimize the inlier labels, which also follows the framework of alternate sampling and labeling. The experimental results in this study show that the energy minimization based outlier detection method can detect most of the outliers in the data. Furthermore, the proposed energy minimization based inlier segmentation process segments the inliers into different models quite accurately. Overall, the performance of the proposed method is better than most of the state-of-the-art methods.

In this work, we proposed a novel design of microfluidic mixer utilizing the amplified Marangoni chaotic advection induced by AC continuous electrowetting of a metal droplet situated in electrolyte solution, due to the linear and quadratic voltage-dependence of flow velocity at small or large voltages, respectively. Unlike previous researchers exploiting the unidirectional surface stress with DC bias at droplet/medium interface for pumping of electrolyte where the resulting flow rate is linearly proportional to the field intensity, dominance of another kind of dipolar flow pattern caused by local Marangoni stress at the drop surface in sufficiently intense AC electric field is demonstrated by both theoretical analysis and experimental observation, which exhibits a quadratic growth trend as a function of the applied voltage. The dipolar shear stress merely appears at larger voltages and greatly enhances the mixing performance by inducing chaotic advection between the neighboring laminar flow. The mixer design developed herein, on the basis of amplified Marangoni chaotic advection around a liquid metal droplet at larger AC voltages, has great potential for chemical reaction and MEMS actuator applications, because of generating high-throughput and excellent mixing performance at the same time.

The paper provides and comments on the results of studies of the effect of sandstone-based abrasives and quartz sand alone on the wear of martensitic surfaces of wear-resistant steels. The wear process was examined on a ring-on-ring test rig seeking to determine the mass decrement parameter which characterised wear. The tests were conducted for three sandstone varieties: Carboniferous, Permian, and Cretaceous, and they made it possible to determine that the most intense process of deterioration of wear-resistant steels took place in the presence of quartz sand grain, while less intense wear was observed in the case of sandstone-based abrasives. The mass decrement values established in the presence of the sandstones in question did not differ significantly between individual sandstone varieties. Based on a surface damage analysis, the basic damage mechanism was found to be micro-scratching, however, with regard to the sandstones examined, it was also determined that individual grains could be pressed into surface irregularities, as well as that films of soft hematite cement developed in the Permian sandstone and that inclusions of carbonaceous matter were formed in the Carboniferous sandstone. With reference to the wear process observations, a wear model was described for the surface of the steels examined in the presence of sandstone-based abrasives.

High-precision conical threads are widely used in responsible joints in the drilling of oil and gas wells. Difficult underground drilling conditions due to the occurrence of significant mechanical loads and an aggressive environment in wells require the use of workable materials that are often difficult to machine. The huge need for such connections dictates the use of high-performance cutting tools, which means that high demands are placed on their effective geometric performance. The study describes the theoretical dependence of the profile precision of the tapered drill-string tool-joint threads of all standard sizes on the complex of a cutting tool geometric parameters and cutting tool setting accuracy. The experiments include an assessment of the geometric accuracy of the profile of the obtained NC23 thread connector, depending on the values of the installation angles and the declared tangential displacement of the standard threaded carbide insert.

This study presents review of 7580 papers in 13 academic journals, published from January 2015 to January 2020. After a detailed analysis of all papers, 46 papers were further selected showing research on a student population aged between 6 and 15 years old. In order for the paper to be included in the research, the condition was that the paper deals with teaching at least one of the following content areas: programming languages, game design, computer thinking (CT), algorithmic thinking and robotics programming. This study shows the representation of the listed content area in reviewed papers for the specified time period as well as a detailed analysis of the selected papers. Available data about study, participants and education level, country (first author), learning domain, teaching tools, research questions, hypothesis, pre/post-test results, interviews, control groups, course duration, research design, previous experience, project or grant and re-search purpose in detected papers were analysed. In addition, impact of studying some of the listed content areas on student learning performance, motivation, attitude and perception were investigated.

We presented unusual case of double left ventricular false aneurysm complicating late presentation AMI successfully treated with the combination of urgent surgical drainage of tamponade, staged PCI of non-culprit lesion, preventive implantation of ICD-DR, guideline directed heart failure medical therapy and delayed but effective reconstructive operation.

Milk serves as a crucial source of natural bioactive compounds essential for human nutrition and health. The gastrointestinal digestion of milk proteins releases various biologically active peptides that positively impact human health and enhance physiological performance. With the growing production of cheese, Greek yogurt, and other dairy products, the volume of unutilized acid whey is significantly increasing. Acid whey, containing almost all whey proteins and approximately one-quarter of casein, presents a valuable raw material for generating peptides with potential health benefits. These peptides exhibit properties such as antioxidant, antimicrobial, anti-inflammatory, anticarcinogenic, antihypertensive, antithrombotic, opioid, mineral-binding, and growth-stimulating activities, contributing to improved human immunity and the treatment of chronic diseases. Enzymatic hydrolysis of milk proteins has been developed as a method to produce these peptides, facilitating their use in food fortification. To incorporate whey into functional beverages, it undergoes fermentation by lactic acid bacteria with proteolytic activity. To specifically enrich these beverages with peptides exhibiting targeted bioactivities, it is essential to select lactic acid bacteria strains possessing the requisite protease profiles. Additionally, the sensory properties of the final product can be enhanced using starter cultures with diverse metabolic capabilities, even in the absence of added flavoring agents. Given the imperative to develop waste-free technologies and enhance the profitability of the dairy industry, there is a growing need to efficiently utilize and transform acid whey into a broad spectrum of valuable products and food additives. This approach is justified not only by the nutritional benefits of the bioactive components in whey but also by the commercial potential of safe and health-enhancing products.

The paper focuses on the application of a multilevel, integrative and territorial approach to the protection of cultural heritage through planning instruments in Serbia. It points out the problems of the sectoral approach and discusses international recommendations that can be integrated into the planning methodology. The case study is the area of Djerdap National Park, which has an already established international and national importance. The research suggests that the cultural heritage in the area, with the exception of the Roman limes, is still recognized at the level of individual localities. The study emphasizes the importance of aligning all levels of governance to safeguard the whole spatial entity rather than focusing solely on its particular areas. The interna-tional and national importance of the planning area contributes to the strengthening of awareness of heritage and its institutional protection. However, the vitality of the area, which is key to its sustainable development, comes from the local level. Planning documents contribute to the inte-gration of local values and local communities into development programs and projects.

In order to shorten the detection time and improve the average precision on embedded devices, A lightweight and high accuracy model is proposed for passion fruit in complex environments (backlight, occlusion, overlap, sunny, cloudy, rainy). Firstly, replacing the backbone network of YOLOv5 with a lightweight GhostNet model reduces the number of parameters and computation while improving detection speed. Secondly, a new feature branch is added to the GhostNet network, and the feature fusion layer in the neck network is reconstructed to effectively combine the lower-level and higher-level features, which not only improves the accuracy of the model but also maintains its lightweight. Finally, the knowledge distillation methods are used to transfer the knowledge from the more capable teacher model to the less capable student model, which significantly improving the detection accuracy. The improved model is denoted as G-YOLO-NK. The average accuracy of the G-YOLO-NK network is 96.00%, which is 1.00% higher than the original YOLOv5s model. Furthermore, the improved model size is 7.14MB, reduced to half of the original model, and the real-time detection frame rate is 11.25 FPS on the Jetson Nano. Compared to the state-of-the-art model, the proposed model outperforms them in terms of average precision and detection performance. The present work provides an effective model for real-time detection of passion fruits in complex orchard scenes, which can provide valuable technical support for the development of orchard picking robots and greatly improve the intelligence level of orchards.

The impact of interaction SS with MJO on rainfall along Java Island to East Nusa Tenggara has been studied using daily rainfall observation data from 2140 weather observation stations, which are also equipped with GSMaP, OLR, and ERA5 data. There were 61 SS events found, 17 during active MJO and 44 in inactive MJO. Rainfall increases more in the western study area when the active MJO and more in the eastern study area when the inactive MJO is due to SS. SS reduces rainfall in the Jakarta region, regardless of the activity or inactivity of the MJO. SS causes extreme rainfall to only occur in a small part of certain areas, so it tends to significantly reduce the possibility of extreme rainfall. In the southern part of the IMC, SS predominates over MJO in supporting increased water vapor transport. Large-scale synoptic circulations like the monsoon, SS, and MJO can interact with local land-sea wind circulation to produce spatiotemporal variability in rainfall on Java Island. Rainfall mostly increases in the afternoon and decreases in the morning when SS occurs, whether there is MJO or not. Convective instability analysis indicates that SS increases precipitation, most likely by lowering CIN and raising VIMFC.

The Simultaneous Localization And Mapping (SLAM) scanner is an easy and portable Light Detection And Ranging (LiDAR) data acquisition device. Its main output is a 3D point cloud covering the scanned scene. Regarding the importance of accuracy in the survey domain, this paper aims to assess the accuracy of two SLAM scanners: the NavVis VLX and the BLK2GO Scanner. This assessment is conducted for both outdoor and indoor environments. In this context, two types of reference data are used: the Total Station (TS) and the static scanner Z+F Imager 5016. To carry out the assessment, four comparisons are tested: cloud to cloud, cloud to mesh, mesh to mesh, and edge detection board assessment. However, the results of the assessments confirm that the accuracy of indoor SLAM scanner measurements (5 mm) is greater than that of outdoor ones (between 10 mm and 60 mm). Moreover, the comparison of cloud to cloud provides the best accuracy regarding direct accuracy measurement without manipulations. Finally, based on the high accuracy, scanning speed, flexibility, and the accuracy differences between tested cases, it is confirmed that SLAM scanners are effective tools for data acquisition.

Glycosidic linkage analysis was conducted on the unfractionated polysaccharides in the alcohol-insoluble residues (AIRs) prepared from six red seaweeds (Gracilariopsis sp., Prionitis sp., Mastocarpus papillatus, Callophyllis sp., Mazzaella splendens, and Palmaria palmata) using GC-MS/FID analysis of partially methylated alditol acetates (PMAAs). The cell walls of P. palmata primarily contained mixed-linkage xylans and small amounts of sulfated galactans and cellulose. In contrast, the unfractionated polysaccharides of the other five species were rich in galactans displaying diverse 3,6-anhydro-galactose and galactose linkages with varied sulfation patterns. Different levels of cellulose were also observed. This glycosidic linkage method offers advantages for cellulose analysis over traditional monosaccharide analysis that is known for underrepresenting glucose in crystalline cellulose. Relative linkage compositions calculated from GC-MS and GC-FID measurements showed that anhydro sugar linkages generated more response in the latter detection method. This improved linkage workflow presents a useful tool for studying polysaccharide structural variations across red seaweed species. Furthermore, for the first time, relative linkage compositions from GC-MS and GC-FID measurements, along with normalized FID and total ion current (TIC) chromatograms without peak assignments, were analyzed using principal component analysis (PCA) as a proof-of-concept demonstration of the technique's potential to differentiate various red seaweed species.

Background: Educating college students about the importance of good sleep habits could lead to the adoption of healthier sleep routines, including sufficient sleep duration and sleep quality. The current pre-post study examines the impact of completing a sleep education program called “Sleep 101” on (1) sleep hygiene practices, (2) sleep quality, and (3) weekday and weekend sleep behaviors among college students. “Sleep 101” is an interactive online course developed to educate college students about the importance of sleep by addressing basic sleep physiology, the impact of sleep on mood, academic and physical performance, the interactions between sleep and various substances, and common sleep disorders. Methods: 338 college students were recruited from a midsized public university in the US and invited to participate in “Sleep 101”, of which 25 participants completed the baseline and post-intervention questionnaire. The Sleep Hygiene Index (SHI) was utilized to evaluate sleep hygiene practices, while standard questions were employed to assess weekday and weekend sleep behaviors and overall sleep quality. Results: Those who completed the study demonstrated a significant increase in weekday sleep duration and were less likely to engage in negative prior bedtime activities. In addition, 40% of those who completed baseline and post-intervention assessments noticed improvements in their sleep quality. Conclusion: These findings suggest that a brief online program is beneficial in improving sleep behaviors among college and could be a scalable approach to addressing current sleep issues and preventing future sleep problems in college students.

The profile of secondary metabolites occurring in apple cuticular layer is not only characteristic for particular apple cultivar, but also dynamically reflects various external factors in growing environment. In this study, the possibility to authenticate apple samples based on analysis of their cuticular layer extracts was investigated. Ultra-high-performance liquid chromatography coupled to high resolution tandem mass spectrometry (UHPLC-HRMS/MS) was employed for obtaining metabolomic fingerprints. In total, 274 authentic apple samples, four cultivars harvested within the seasons 2020 to 2022 in the Czech Republic and Poland were analysed. The generated complex data processed by univariate and multivariate statistical methods enabled to build classification models for discrimination of apple cultivars as well as their geographical origin. The models showed very good performance in differentiation of Czech and Polish samples for three of four cultivars: ‘Gala’, ‘Golden Delicious’ and ‘Idared’, moreover, the validity of the models was verified over harvest seasons. The diagnostic markers, besides metabolites of triterpene biosynthetic pathway, mainly represented wax esters. ‘Jonagold’, which is known to be susceptible to mutations, was the only cultivar for which the unambiguous classification of geographical origin was not possible.

Superior fiber quality is one of the most important objectives in cotton breeding. To detect the genetic basis underlying fiber quality, an F2 population containing 413 plants was constructed by crossing Jifeng 914 and Jifeng 173, both of which have superior fiber quality, with Jifeng 173 being better. Five fiber quality traits were investigated in the F2, F2:3, F2:4, and F2:5 populations. Quantitative trait loci (QTL) mapping was conducted based on a high-density genetic map containing 11,488 single nucleotide polymorphisms (SNPs) and spanning 4,202.12 cM in length. Transgressive segregation patterns and complex correlations in the five tested traits were observed. A total of 108 QTLs were found, including 27 for fiber length (FL), 16 for fiber strength (FS), 24 for micronaire (MC), 17 for fiber uniformity (FU), and 24 for fiber elongation rate (FE). Chromosome A7 contained 12 QTL, ranking the first. No QTL was found on chromosome D1 and D11. Each QTL contributed 1.98%–21.45% to the phenotypic variation (PV), including 13 major effect QTLs that contributed more than 10% toward PV. Two QTLs could be repeatedly detected in three populations, including qFL-D3-2 in F2, F2:4, and F2:5 with 9.18%–21.45% of PV, qFS-A11-1 in F2:3, F2:4 and F2:5 with 6.05%–10.41% of PV. Another seven stable QTLs could be detected in two populations, including four major effect QTLs: qFL-A12-3, qFS-D10-2, qMC-D6-2, and qMC-D8-1. Fourteen QTL-overlapping regions were found, which might explain the complex correlations among the five phenotypic traits. Four regions on chromosome A11, D3, D6, and D10 covered by both stable and major effect QTLs are promising for further fine mapping. The genomic regions of the two QTLs detected in three populations and the four major effect QTLs contain 810 genes. Gene functional analysis revealed that the annotated genes are mainly involved in protein binding and metabolic pathways. Fifteen candidate genes in the qFL-D3-2 region are highly expressed in fiber or ovules during fiber initiation, elongation, secondary cell wall thickening, or maturation stages. qRT-PCR revealed that Ghir_D03G005440.1 and Ghir_D03G011310.1 may play a role in promoting fiber initiation, Ghir_D03G006470.1 may be beneficial for promoting fiber elongation. This study provides more information for revealing the molecular genetic basis underlying cotton fiber quality.

Currently there are fewer depth models applied to pepper picking detection, while the existing generalized neural networks have problems such as large model parameters, long training time, and low model accuracy.In order to solve the above problems, this paper proposes a Yolo-chili target detection algorithm for chili pepper detection. First, the classical target detection algorithm yolov5 is used as a benchmark model, and an adaptive spatial feature pyramid structure combining the attention mechanism and the idea of multi-scale prediction is introduced to improve the model's detection effect on occluded peppers and small target peppers. Secondly, a three-channel attention mechanism module is introduced to improve the algorithm's long-distance recognition ability and reduce the interference of redundant testers. Finally, the quantized pruning method is used to reduce the model parameters and realize the lightweight processing of the model. Applying the method to the homemade chili pepper dataset, the AP value of chili pepper reaches 93.11%; the accuracy rate is 93.51% and the recall rate is 92.55%.The experimental results show that yolo-chili is able to achieve accurate and real-time pepper detection under complex orchards.

The temporary immersion system bioreactor named GreenTray®[2], [3]presents advantages over the existing ones. Firstly, there is no need to use forceps to move the shoots or plantlets in or out of the recipient, neither the use of scalpel to divide them. Secondly, the basis of the shoot can remain in the GreenTray® and can sprout again in several cycles of growth. These two characteristics reduce the costs in the process of micropropagation. Besides, shoots or plantlets development is enhanced by the aeration of the recipient, thus enriching with CO2 the recipient atmosphere. The chapter describes and provides images and values of interest in (1) the micropropagation process of some commercial Prunus or Pyrus rootstocks; (2) the plantlet growth under autotrophic conditions; and (2) the inoculation of plants with pathogens that reproduce in vitro the symptoms observed in vivo, using the GreenTray® bioreactor.

Aiming at the problems of inaccurate segmentation of long object and information loss of small object in real-time semantic segmentation algorithm, this paper proposes a lightweight multi-branch real-time semantic segmentation network based on BiseNetV2. The new auxiliary branch makes full use of spatial details and context information to cover the long object in the field of view. Meanwhile, in order to ensure the inference speed of the model, the asymmetric convolution is used in each stage of the auxiliary branch to design a structure with low computational complexity. In the multi-branch fusion stage, the alignment and fusion module is designed to provide guidance information for deep and shallow feature mapping, so as to make up for the problem of feature misalignment in the fusion of information at different scales, and thus reduce the loss of small target information. In order to further improve the model’s awareness of key information, a global context module is designed to capture the most important features in the input data. The proposed network uses NVIDIA GeForce RTX 3080 Laptop GPU experiment, on the road street view data set Cityscapes and CamVid average occurring simultaneously ratio reached 77.1% and 78.4% respectively, with running speed of 127 frames/s respectively and 112 frames/s. The experimental results show that the proposed algorithm can achieve real-time segmentation and improve the accuracy significantly, showing good semantic segmentation performance

Strawberry root rot caused by Neopestalotiopsis clavispora is one of the main diseases of strawberry and significantly impacts the yield and quality of strawberry fruit. There are now no effective control techniques available except for fungicide sprays, which may directly impact consumers. Biological control is becoming an alternative method for the control of plant diseases to replace or decrease the application of traditional synthetic chemical fungicides. Trichoderma is widely used as a biological agent for controlling strawberry root rot. In order to provide resources for screening the highly effective biocontrol fungus for controlling strawberry root rot caused by Neopestalotiopsis clavispora, the biocontrol mechanism,the control effects of Trichoderma asperellum CMT10 against strawberry root rot and growth-promoting effects on strawberry seedlings were investigated by plate culture, microscopy observation and root drenching methods.The results showed that CMT10 had obvious competitive, antibiotic and hyperparasitism effects on Neopestalotiopsis clavispora CMGF3. The CMT10 could quickly occupy nutritional space, and the inhibition rates of CMT10 against CMGF3 in confrontation culture on 7 d was 65.49%. The inhibition rates of volatile metabolite and fermentation metabolite produced by CMT10 against CMGF3 were 79.67% and 69.84%, respectively. The mycelium of strain CMT10 can act as hyperparasites by making contacting, winding and penetrating hyphae of CMGF3. Pot experiment showed that the biocontrol efficacy of CMT10 on strawberry root rot caused by Neopestalotiopsis clavispora was 63.00%. CMT10 had obvious promotion effect on strawberry growth, the plant height, root length, total fresh weight, root fresh weight, stem fresh weight and root dry weight, with the promotion rates were 20.09%, 22.39%, 87.11%, 101.58%, 79.82% and 72.33%, respectively. Overall, this study showed the ability of Trichoderma asperellum CMT10 to control strawberry root rot and their potential to develop as novel biocontrol agents to replace chemical fungicides for eco-friendly, sustainable agriculture.

In this paper we study a class of impulsive delayed neural networks with parameter uncertainties and reaction-diffusion terms. Using the properties of M-matrices and some inequality techniques, some sufficient conditions are derived to guarantee the global exponential stability of the given system. The results obtained are presented by simple algebraic inequalities, which are certainly more concise than previous methods. Finally, the validity and usefulness of our results are illustrated by arithmetic examples.

Pyrops candelaria is one of the common pests of fruit trees, but the research on the pathogenic microorganisms it may carry is very limited. Therefore, it is essential to reveal the pathogenic microbes it carries and their potential hazards. This study found a new virus from the transcriptome of P. candelaria, which was first reported in P. candelaria and named as PyCaV (Pyrops candelaria associated virus). RACE and bioinformatics assay revealed that the full-length of PyCaV is 10855 bp with the polyA tail, containing a single open reading frame (ORF) encoding a polyprotein consisting of 3171 amino acid (aa). The virus has a typical Iflavirus structure, including two rhv domains, a RNA helicase domain (HEL), a 3C cysteine protease domain (Pro), and a RNA-dependent RNA polymerase domain (RdRp). Further phylogenetic analysis revealed that this virus belongs to family Iflaviridae and sequence alignements analysis suggedted PyCaV is new member in unassigned genus of family Iflaviridae. Further in-depth analysis of virus-infection-part showed that PyCaV is distributing in the whole longan lanternfly, including its head, chest, and abdomen, but more PyCaV was identified in the chest. The distribution of PyCaV in different parts of P. candelaria was further explored, which showed that more PyCaV were detected in its piercing-sucking mouthparts and chest viscera. Statistical analysis showed that the PyCaV infection was affected by time and locations.

Apis mellifera, especially weak ones, are highly vulnerable to Carpoglyphus lactis mites, which can rapidly infest and consume stored pollen, leading to weakened colonies and potentially colony collapse. This study aimed to ascertain and investigate the prevalence of this mite in honeybee colonies across 9 provinces in the Republic of Korea (ROK). A total of 615 honeybee colonies were collected, from 66 apiaries during the spring and 58 apiaries during the summer of 2023. A 1,242 bp segment of the the Cytochrome c oxidase subunit 1 (COI) gene was amplified using the polymerase chain reaction method. The detection levels of C. lactis in the honeybees were compared between winter and summer. Based on the COI sequence analysis, the nucleotide sequence similarity of C. lactis mites isolated in the ROK with those from China (NC048990.1) was found to be 99.5%, and with those from the United Kingdom (KY922482.1) was 99.3%. This study is the first report of C. lactis in Korean apiaries. The findings in this study demonstrate a significantly higher detection rate in winter, which is 4.1 times greater than that in summer (p < 0.001). Furthermore, the results underscore the usefulness of molecular diagnostic techniques for detecting C. lactis mites.

With the burgeoning growth of online retail, the issue of counterfeit products has become a significant threat to both consumer trust and brand integrity, posing challenges to sustainable market practices. Online retail platforms are promoted to redesign their channel structures and enhance brand traceability to tackle counterfeits using blockchain technology. To investigate the interactions between blockchain technology and the channel structures of online retail platforms, we design a game theory model incorporating a manufacturer with(out) blockchain participation selling products via an online retail platform that operates an agency channel and/or a reselling channel. We show that the critical trade-off of blockchain participation comprises the brand assurance effect of the blockchain, the channel competition intensification effect, and the blockchain adoption cost. The platform is capable of strategically designing the channel structure to encourage (while discouraging) blockchain participation by the manufacturer. Our analysis highlights the complementarity between blockchain participation and the channel structure. Furthermore, the effect of the consumer’s belief in the reselling channel, the commission fee in the agency channel, and the substitutability between channels are investigated in depth. The research provides valuable insights for online retail platforms and policymakers seeking to foster a sustainable and trustworthy e-commerce ecosystem.

COX II containing a dual core CuA active site is one of the three core subunits of mitochondrial Cco, which plays a significant role in the physiological process. In this report, the full-length cDNA of COXⅡ gene was cloned from Sitophilus zeamais, which had an ORF of 684 bp encoding 227 amino acids residues. The predicted COXⅡ protein had a molecular mass of 26.2 kDa with pI value of 6.37, and multiple sequence alignment and phylogenetic analysis indicated that Sitophilus zeamais COXⅡ had high sequence identity 78.51% with the COXⅡ of other insect species, especially similarity to sitophilus oryzae. This gene was subcloned into the prokaryotic expression vector pET-32a, and induced by IPTG in E.coli Transetta (DE3) expression system. Finally the COXⅡ with 6-His tag was purified using affinity chromatography with Ni²⁺-NTA agarose. WB showed the recombinant COXⅡ was about 44 kD, and the concentration of fusion protein was 50μg/mL. UV-spectrophotometer and infrared spectrometer analysis showed that recombinant COXⅡ could catalyze the oxidation of substrate Cytc, and influenced by AITC. It was found that AITC could form a hydrophobic region with COXⅡ protein via molecular docking, besides, a sulfur atom of AITC structure could form a length of 2.9 Å hydrogen bond with Leu-31. These results will provide valuable information for elucidating the role of COXⅡ in Sitophilus zeamais responses to AITC, meanwhile, it will helpful to carry out a point mutation in AITC binding sites for the future research.

The properties of the annual, semiannual and triennial oscillations (AO, SAO and TO) in the middle atmosphere have been investigated using the TIMED/SABER temperature data. The Lomb-Scargle and wavelet spectra were used to determine the dominant oscillations in the background temperature field. The AO is prominent at the mid-latitudes. The AO amplitudes present an asymmetry between the two Hemispheres, being larger in the mesosphere than in the stratosphere. The SAO dominates the tropical regions, with three amplitude maxima at altitudes of 45, 75, and 85 km. The SAOs in the upper mesosphere (75 km) are out of phase with those in the mesopause (85 km) in the tropical regions, which can generate an enhancement of 11 K at each equinox, contributing to the lower mesospheric inversion layer. The TO is significant in the tropical region, with amplitude being maximum at 35, 45 and 85 km. Result shows that there may be potential interaction by the TO with SAO at 85km at the equator. The relation between ENSO and TO has also been discussed. The ENSO signal may modulate the amplitude of the TO, mainly in the lower stratosphere. The real origin of the TO may lie in the wave-mean-flow interaction.

The paper describes the new method for image compression based on coordinated group signal transformation. The algorithm is a type of difference coding. Coordinated processing significantly simplifies the difference signal conversion scheme using a single group codec for all signals. The described method considers color channels as correlated signals of a multi-channel communication system. The specifics of the processed data required modification of the coordinated group processing algorithm. First, we changed how to calculate the difference signals to prevent data loss. Secondly, the group codec was supplemented with a neural network to improve the quality of reconstructed images. We considered the following types of neural networks: fully connected, recurrent, convolution, and convolution in the Fourier space. Based on the simulation results, it is best to use fully connected neural networks if the goal is to minimize processing delay time. These networks have a response time of 13 ms. On the other hand, if the priority is to improve quality in cases where delays are not critical, then convolution neural networks in the Fourier space should be used. These networks have a response time of 140 ms and are of significant interest.

As the world population grows, fulfilling the need for biomaterials in the healthcare system becomes increasingly important. Biomaterials, which include metals, polymers, ceramics, and composites, play an important role in the creation of medical devices that improve people's lives. The European Society for Biomaterials described biomaterials as non-biological materials used in medical devices to interact with biological systems. This definition has developed to encompass materials that treat, assess, or replace tissues or bodily functions. Biocompatibility, as defined by the FDA, is a key feature of biomaterials, as is the requirement to fulfil design requirements such as mechanical performance, geometry, and electrical control. Over the last decade, advances in regenerative medicine and tissue engineering have boosted biomaterials' usage in medical applications dramatically. Despite its promise, scientists, engineers, and physicians continue to face significant challenges due to the complexity of biomaterials. Biomaterials have various benefits, including biodegradability, non-toxicity, and biocompatibility, making them extremely useful for replacing, sustaining, or improving biological activities in damaged tissues. They are used in a wide range of applications, including tissue engineering implants, human tissue healing and regeneration, medication delivery systems, and biosensors. This study gives insights into the fundamental characteristics, case studies, and ethical issues associated with the usage and use of biomaterials, further examining their potential and significance in healthcare and medicine.

The studied solar pot is a recent invention, which gained a utility model protection in 2021 from the Hungarian Intellectual Property Office under patent number 5489. The device is made for environmentally friendly cooking or heating (by utilizing solar energy) of foods and liquids. Its structure is similar to a double pipe heat exchanger, it has an outer mantle and an inner cooking tank. The goals of the paper are proposing a new physically-based mathematical model describing the solar pot and carrying out computer experiments with it, assembling an experimental system of the pot connected with a solar collector and performing measurements on it. Based on the results, the solar pot can successfully be used for cooking or sterilizing foods or liquids during the studied time period, in Hungary.

The research reported on this paper was aimed at improving the overall efficiency of a PDO certified artisanal cheese production process. Being a PDO certified foodstuff by the EU, it is considered to have properties and qualities determined by the geographical environment in which is made, with its production taking place in a specific and determined geographical location, in this case the Serra da Estrela region. In that sense, the authors conducted a mapping according to a systemic perspective of the processes involved in the context of manufacturing and distribution of certified Serra da Estrela cheese. Numerous methods were used throughout the process, such as a systemic design analysis, and techniques derived from ethnographic methods, which led to the collection of data in the field and consequently provided the immersion of the researcher in genuine work situations. Critical points were identified and emphasized in the systemic map with the purpose of encouraging initiatives to address and overcome the gaps and inefficiencies detected. The systemic design analysis triggered the development of design work. Observations following an ethnographic approach identified ergonomic risks in cheese making during the process of cutting excess chips, fostering the emergence of musculoskeletal disorders at the wrist. A tool that fits best to the task at hand was developed. A prototype of the new tool enabled collecting feedback from use in the work context, in order to inform product development. The domains of agricultural production and microbiology, considering the specific microorganisms developed trough the ripening process of the cheese, turned out to be aspects of high importance for the issue under focus, contributing to a broader understanding of the ripening process and its risks, simultaneously improving the efficiency and success of cheese production. If it were not for the systemic analysis, which served as a link between the boundaries of distinct domains such as the risk of microorganism contamination, ergonomics, energy efficiency, legislation and regulation policies, transportation challenges and economic viability, approached throughout the research. Simultaneously creating bridges between them, the various problems might not have been detected in the first place, as they are usually addressed in specialized disciplines, predetermined by the restrictions of each specific area of knowledge. As a consequence of the development of this research, which was based on an analysis that sought to establish possible connections between various disciplines and tried to constantly maintain a holistic perspective, making new connections and observing the issues from a new angle, apart from the already established methodologies. All this allowed to lay out the seeds for the development of a plan to tackle the critical points identified by the systemic analysis reported in this paper.