Aiming at effectively generating safe and reliable motion paths for quadruped robots, a hierar-chical path planning approach driven by dynamic 3D point cloud is proposed in this article. The developed path planning model is essentially constituted of two layers: global path planning layer and local path planning layer. At the global path planning layer, a new method is proposed for calculating terrain potential field based on point cloud height segmentation. Variable step size is employed to improve the path smoothness. At the local path planning layer, a real-time prediction method for potential collision area and a strategy for temporary target point selection is developed. Quadruped robot experiments were carried out in an outdoor complex environment. The experi-mental results verified that, for global path planning, the smoothness of the path is improved and the complexity of the passing ground is reduced. The effective step size is increased by a maxi-mum of 13.4 times, and the number of iterations is decreased by up to 1/6, compared with the traditional fixed step size planning algorithm. For local path planning, the path length is short-ened by 20%, more efficient dynamic obstacle avoidance and more stable velocity planning are achieved by using the improved dynamic window approach (DWA).

The Dubai Digital Government launched its recent guidelines, which call for artificial intelligence systems to be subject to legal accountability. This study discusses the extent to which autonomous robots can be granted legal personality in UAE law and the consistency of this approach with the provisions of Islamic jurisprudence. This research paper answered two main questions: First, the extent to which these guidelines are considered the beginning of work on granting legal personality to AI systems in the UAE. Second, what form of legal personality can be given to autonomous robots in UAE law to be consistent with the provisions of Islamic jurisprudence as a primary source of legislation in the country? The research concluded the impossibility of considering autonomous robots as a "thing" and classifying them within the concept of "persons." It also concluded that it is possible to give them legal personality according to two legislative solutions: granting them partial or incomplete performance eligibility like minors.

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.

The Giant Babax, an endemic bird in China and a nationally protected wildlife species of Class Ⅱ, is primarily distributed in southern and southeastern Tibet. To investigate the factors influencing nesting site selection, this study conducted research on nest characteristics and nesting site preferences at four sample sites around Lhasa from March to October 2023y, using systematic search methods, tracking methods, and sampling methods. The research findings are as follows: (1) The average nest depth was (7.70±1.47)cm, nest height was (19.58±2.97)cm, inner diameter was (10.64±1.73)cm, outer diameter was (24.65±4.8)cm, average weight was (162.3±13.5)g, and average nest spacing within the plot was 396.93m. (2) The nests of Giant Babax were predominantly found on vegetation such as Salix longistamina (38%), Hippophae gyantsensis (20%), Rosa sericea Lindl. (14%), and Populus szechuanica Schneid(11%). They showed a preference for artificial secondary forests as nesting sites. (3) Giant Babax exhibited a preference for habitats with robust trees that had high canopies while being distant from houses and roads, but close to water sources; moreover, the canopy of the nesting tree played a crucial role in their choice of nesting sites. (4) The reproductive success rate reached 76%, with key factors affecting it being the canopy coverage of the nesting tree and the number of helpers. These research results provide fundamental data support for population conservation efforts and ecological resource management strategies concerning the Giant Babax.

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.

Diacylglycerol kinase (DGK) is a lipid kinase that phosphorylates diacylglycerol (DAG) to generate phosphatidic acid (PA). Based on converting one important signaling molecule (DAG) to another (PA), DGK plays an important role in plant responses to abiotic stress including waterlogging stress. However, no studies have been reported on the characterization of the DGK gene family in the waterlogging-tolerant kiwifruit germplasm, Actinidia valvata Dunn. Here, we identified 18 AvDGK genes in the A. valvata genome. The phylogenetic analysis showed that AvDGKs can be classified into three clusters, and members within the same cluster have similar domain distribution, exon-intron structures and conserved motif compositions. Chromosome localization analysis revealed that all the AvDGK genes are located across 18 different chromosomes. There were 29 duplicated gene pairs in kiwifruit and all had undergone purifying selection during evolution. Promoter cis-element analysis revealed that the cis-elements within AvDGK genes are associated with multiple functions, including phytohormone signal transduction, stress response, and plant growth and development. The expression pattern analyses indicated that AvDGK play an important role in the fruit development and plant response to waterlogging stress. AvDGKs gene family in the tetraploid A. valvata genome might promote PA synthesis and subsequent signal transduction both under short-term and long-term waterlogging stress. These results provide information regarding the structural characteristics and potential function of DGK genes within kiwifruit and lay a fundamental basis for further research into breeding for enhancing the kiwifruit’s tolerance to waterlogging stress.

Aiming at the limitations of single-functionality, limited applicability, and complex designs prevalent in current metasurfaces, we propose a terahertz multifunctional and multiband tunable metasurface utilizing a VO2-metal hybrid structure. This metasurface structure comprises a top VO2-metal resonance layer, a middle polyimide dielectric layer, and a gold film reflective layer at the bottom. This metasurface exhibits multifunctionality, operating independently of polarization and incident angle. The varying conductivity states of the VO2 layers, enable the metasurface to achieve various terahertz functionalities, including single-band absorption, broadband THz absorption, and multiband perfect polarization conversion for linear (LP) and circularly polarized (CP) incident waves. Finally, we believe that the functional adaptability of the proposed metasurface expands the repertoire of options available for future terahertz device designs.

ACL instability poses a significant challenge in traumatology and orthopedic medicine, often requiring accurate diagnosis for appropriate treatment. While the pivot-shift test offers a crucial means of assessment, its reliance on subjective interpretation underscores the need for supplementary imaging studies. This study aims to address this limitation by developing a Bayesian classification algorithm tailored for integration into a mobile application. Using the built-in inertial sensors of smartphones, this new approach aims to dynamically evaluate rotational stability during knee examinations. Orthopedic specialists conducted knee evaluations on 52 subjects, with subsequent analysis revealing interesting insights. Intraobserver and interobserver analyses, as measured by ICC, demonstrated strong agreement both in terms of timing between maneuvers (ICC = 0.94) and signal amplitude (ICC = 0.71-0.66). Notably, the Bayesian algorithm successfully classified 95% of joint hypermobility cases, with an additional 7 cases of hyperlaxity identified by the Pivot-Shift Meter (PSM). These findings highlight the practicality and effectiveness of implementing a Bayesian classification algorithm within a mobile application for assessing and categorizing signals captured by smartphone inertial sensors during the pivot-shift test.

We analyze the transformation of a very broad class of metrics that can be put in terms of static coordinates. Starting from a general ansatz, we obtain a relation for the parameters in which one can impose further symmetries, or restrictions. One of the simplest restrictions leads to FLRW cases, while transforming from the initial static to other static-type coordinates can lead to near horizon coordinates, Wheeler-Regge, isotropic coordinates, among others. As less restrictive cases, we show an indirect route for obtaining Kruskal-Szekeres within this approach, as well as Lema\^{\i}tre coordinates. We use Schwarzschild spacetime as prototype for testing the procedure in individual cases. However, application to other spacetimes, such as de-Sitter, Reissner-Nordstr\"{o}m or Schwarzschild de Sitter, can be readily generalized.

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.

Road cracks significantly affect the serviceability and safety of roadways, especially in mountainous terrain. Traditional inspection methods, such as manual detection, are excessively time-consuming, labor-intensive, and inefficient. Additionally, multi-function detection vehicles equipped with various sensors are expensive and not suitable for mountainous roads due to poor conditions. To address these challenges, this study proposes a customized Unmanned Aerial Vehicles (UAV) inspection system designed for automatic crack detection. The system focuses on enhancing autonomous capabilities in mountainous terrains by incorporating embedded algorithms for route planning, autonomous navigation, and automatic crack detection. The slide window method is proposed to enhance the autonomous navigation of UAV flights by generating path planning in mountainous roads. This method compensates for GPS/IMU positioning errors, particularly in GPS-denied or GPS-drift scenarios. Moreover, the YOLOv8 algorithm is introduced to conduct autonomous crack detection from UAV imagery in the offboard module. To validate our UAV inspection system's performance, we conducted several experiments to assess its accuracy, robustness, and efficiency. The experimental results demonstrate that our UAS inspection system accurately estimates the flight trajectory along the mountainous road for autonomous navigation. Furthermore, the experimental detection results also demonstrate that the YOLOv8 algorithm achieves higher recognition accuracy compared to the YOLOv5, and YOLOv7-tiny algorithms, exceeding 3.1%,and 6.8% of mAP, respectively. In summary, the UAV inspection system proposed in this study can provide a useful tool and technological guidance for the regular inspection of mountainous roads.

To characterize the fecal microbiota of lactating Bactrian camels, this study employed a random selection of camels, assigning them to three groups: the first parity group, the third parity group, and the fifth parity group. The fecal microbial community of lactating camels was assessed using 16S rRNA amplicon sequencing, and the resulting library was sequenced on an Illumina NovaSeq platform. The first parity group was characterized by Verrucomicrobiaceae as a distinctive bi-omarker, whereas Clostridiaceae exhibited a similar role to the third parity group. In terms of functional analysis, the relative abundance of the Steroid biosynthesis pathway was highest in the first parity group, whereas the fifth parity group demonstrated a higher relative abundance of the Tuberculosis pathway compared to the other groups. The first parity group exhibited the greatest presence of seven types of enzymes, whereas the fifth parity group displayed the highest levels of two specific enzymes. Additionally, a positive association was observed between the relative abundance of the Steroid biosynthesis pathway and Verrucomicrobiaceae. Furthermore, the relative abundance of the Tuberculosis pathway displayed positive correlations with 14 enzymes. In conclusion, this study revealed that different parity was associated with distinct fecal microbial ecologies in lactating Bactrian camels.

Currently, agro-industrial residues have been used to obtain bioactive compounds. The fermentation process is an alternative for the use of these residues and to be able to accumulate metabolites that may be of interest to different industrial sectors. The aim of this study was to evaluate solid-state fermentation conditions using pineapple waste as substrate with Aspergillus niger spp., to release polyphenolic compounds using a Plackett-Burman exploratory design. Temperature, humidity, inoculum, NaNO3, MgSO4, KCl and KH2PO4 conditions in the fermentation process were evaluated. The results revealed that the Aspergillus niger HT3 strain reached a hydrolyzable tannins accumulation of 10.00 mg/g, while Aspergillus niger Aa20 reached a condensed tannins release of 82.59 mg/g. The KH2PO4 affect the release of condensed tannins with A. niger Aa20 and MgSO4 affect the release of hydrolyzable tannins with A. niger HT3. In addition, a positive antioxidant activity was demonstrated for the DPPH, ABTS and FRAP technique. The HPLC analysis was able to identify compounds in the fermented pineapple peel such as 3-feruloylquinic acid, caffeic acid, lariciresinol and 3-hydroxyphloretin 2'-O-xylosyl-glucoside, among others. The solid-state fermentation process is a biotechnological alternative for the release of bioactive compounds.

The advancement of autonomous capabilities in maritime navigation has gained significant attention, with a trajectory moving from decision support systems to full autonomy. This push towards autonomy has led to extensive research focusing on collision avoidance, a critical aspect of safe navigation. Among the various possible approaches, Dynamic Programming is a promising tool for optimizing collision avoidance maneuvers. This paper presents a DP formulation for collision avoidance of autonomous vessels. We set up the problem framework, formulate it as a multi-stage decision process, define cost functions and constraints focusing on the actual requirements a marine maneuver must comply with, and propose a solution algorithm leveraging parallel computing. Additionally, we present a greedy approximation to reduce algorithm complexity. Through case studies, we demonstrate the effectiveness of the proposed approach in navigating complex scenarios, contributing to the future of autonomous maritime navigation. Through case studies, we show the efficacy of our approach in navigating complex scenarios.

Mining wastes generate a high environmental impact, and population exposure to metals and metalloids. Phytoremediation is a technology that uses plants to remediate polluted sites, one of its limitations is seed germination in soil with high content of metals and metalloids. B. dactyloides is a native specie from semiarid regions, while C. dactylon is an introduced specie, both are tolerant to drought and low temperatures. Owing, the objective of this research was to evaluate the germination of both species, exposed to a multi-polluted soil with As, Cd, Pb and Zn of a mining site, pondering different pH conditions (from 5.0 to 9.0). The study considered 4 repetitions by type of seed and soil pH. B. dactyloides showed higher germination percentage (83%) with pH 7.8; while the greater germination of C. dactylon was 34 % at pH 6.0. In the soil at pH 5, the germination in both species was not reached, owing that metals are more bioavailable in an acid environment. C. dactylon is less tolerant to As, Cd, Pb and Zn, so it is considered not effective for phytoremediation process. B. dactyloides has a high phytoremediation potential for multi-polluted sites, but further experiments are needed.

Chronic conditions like type 2 diabetes mellitus (T2DM), arterial hypertension (HTN), and obesity are major global health issues, causing significant morbidity and mortality. In Latin America, these conditions contribute to millions of premature deaths annually, posing challenges exacerbated by limited healthcare access and poor primary care quality, particularly in Mexico. Complementary medicine presents a potential solution, offering minimally invasive techniques to improve physical, mental, and spiritual well-being. Effective treatment adherence, crucial for positive outcomes, is influenced by self-efficacy, the ability to manage one's behavior in response to medical conditions. However, treatment adherence rates remain low, indicating a pressing public health concern. This study aimed to explore how perception of complementary medicine and treatment adherence predict self-efficacy among individuals with chronic conditions in Mexico. Analyzing data from 113 participants revealed significant correlations between variables, with treatment adherence positively associated with self-efficacy and perception of holistic medicine negatively correlated with self-efficacy. Regression analysis showed that incorporating perception of complementary medicine and treatment adherence significantly explained self-efficacy levels, suggesting the potential of complementary therapies in holistic healthcare approaches. However, collinearity between variables highlights the need for further research to better understand these relationships and their implications for improving healthcare outcomes in Mexico. Integrating complementary therapies with conventional treatments could enhance overall well-being and treatment adherence, offering promising avenues for addressing chronic conditions in the region. These findings underscore the importance of comprehensive healthcare approaches that integrate both conventional and complementary modalities to optimize health outcomes and quality of life for individuals with chronic conditions in Mexico and beyond.

Environmental monitoring programs rely on periodic spot sampling at specific locations, followed by laboratory analysis, aiming at the evaluation of water quality at a catchment scale. For this purpose, automatic telemetric stations for specific parameters have been installed by the Institute of Marine Biological Resources and Inland Waters of Hellenic Centre for Marine Research (IMBRIW-HCMR) within several Greek rivers and lakes, providing continuous and temporal monitoring possibilities. Nevertheless, the employment of unmanned surface vehicles (USV) equipped with integrated sensors represents a tool valuable to several monitoring strategies, offering enhanced temporal and spatial coverage over specific timeframes, allowing for targeted examination of sites or events of interest. The USVs have been deployed by Athens Water and Sewerage Company (EYDAP) as a cost-effective tool for the environmental monitoring of surface water bodies of interest, with emphasis on the spatial fluctuations of chlorophyllα, electrical conductivity, dissolved oxygen and pH, observed in Koumoundourou Lake and rivers Acheloos, Asopos and Kifissos. The effectiveness of an innovative heavy metal (HM) system installed in the USV for thein situ determination of copper and lead was also evaluated herewith. The results obtained demonstrate that both the timely detection of potential pollution from both anthropogenic activities and natural processes as well as the monitoring of inland waters are made feasible through the employment of USV.

Present paper is dealing with the adaptive static balancing of robot or other mechatronic arms that are moving in vertical plane and whose static loads are variable, by using counterweights and springs. Some simple passive and approximate solutions are proposed and an example is shown. The active and exact solutions by using adaptive real time control in the case of unknown variation of static loads are simulated on VIPRO platform developed at Institute of Solid Mechanics of Romanian Academy.

This paper deals with the analytical modeling and control of rectilinear snake robots. During recent times snake robots have created much interest among researchers. The rectilinear pattern gait is one of the four biological snake locomotion modes. Rectilinear snakes have been widely used in rescue operations especially in rough terrains especially in narrow spaces where human intervention is not easy. Computational analysis of rectilinear motion is done using MATLAB.

This article presents a combined route and path planning strategy to guide Skid-Steer Mobile Robots (SSMRs) in scheduled harvest tasks within expansive crop rows with complex terrain conditions. The proposed strategy integrates: i) a global planning algorithm based on the Traveling Salesman Problem under the Capacitated Vehicle Routing approach and Optimization Routing (OR-tools from Google) to prioritize harvesting positions by minimum path length, unexplored harvest points, and vehicle payload capacity, and ii) a local planning strategy using Informed Rapidly-exploring Random Tree (IRRT*) to coordinate scheduled harvesting points while avoiding low-traction terrain obstacles. The global approach generates an ordered queue of harvesting locations, maximizing the crop yield in a workspace map. In the second stage, the IRRT* planner avoids potential obstacles, including farm layout and slippery terrain. The path planning scheme incorporates a traversability model and a motion model of SSMRs to meet kinematic constraints. Experimental results in a generic fruit orchard demonstrated the effectiveness of the proposed strategy. In particular, the IRRT* algorithm outperformed RRT and RRT* with 96.1% and 97.6% smoother paths, respectively. The IRRT* also showed improved navigation efficiency, avoiding obstacles and slippage zones, making it suitable for precision agriculture.

The application of space robotic manipulators and heightened autonomy for ios represents a paramount pursuit for leading space agencies, given the substantial threat posed by space debris to operational satellites and forthcoming space endeavors. This work presents a guidance algorithm based on drl to solve for the space manipulator path-planning during the motion synchronization phase with the mission target. The goal is the trajectory generation and control of a spacecraft equipped with a 7-dof robotic manipulator, such that its end effector remains stationary with respect to the target point of capture. The ppo drl algorithm is used to optimize the manipulator’s guidance law, and the autonomous agent generates the desired joints rates of the robotic arm, which are then integrated and passed to a model-based feedback linearization controller. The agent is first trained to optimize its guidance policy and then tested extensively to validate the results against a simulated environment representing the motion synchronization scenario of an ios mission.

During the most recent years, a lot of research has been done in creating robots with more self-governance so that they can overcome the challenges that real world environments present. The robot's limited versatility in real world applications can be overcome by the development of Legged robots. Also, as they permit movement in unavailable territory to robots with wheels, Legged Robots are more advantageous. But the potency of the legged robots explicitly its energy usage among alternate points of view really fall behind robots that use wheels. So, the present status of development, there are as yet a few perspectives that need to be analysed, optimized and enhanced. This paper presents review of literature of various biologically inspired legged robots, various techniques adopted for their analysis and optimization and the analysis and optimization of the ones that are not biologically inspired

Keywords: Echocardiographic alterations; left ventricle; dog; Trypanosoma cruzi; flow patterns; dilated cardiomyopathy; Chagas disease

Nowadays the dynamism induced by the constant change of strategic decisions on the markets produces an extra difficulty in the management of an organization. The strategic decisions made by managers can become obsolete in a short period of time. One of the major difficulties in managing a commercial organization is to predict, with some precision degree, the impact some strategic decisions have on the financial results. Business Intelligence (BI) is an area widely used to help managers to make strategic decisions. But the methods used, behind the scenes, to achieve the conclusions are kept secret by BI company-based services. Modelling the environment can be a good option to study the impact of an action, provided by a strategic decision, in a real environment. A good model should give an approximate result of an action applied to a previous state of the environment. Artificial Neural Networks (ANNs) are proven to be excellent in modeling environments with some level of data noise. The same strategic action can have different results in different organizations. A tool that allows an evaluation of a strategic action applied to an environment should have a major importance in the management scope. Modeling the environment should save time and money for the organization to improve the performance of the strategic plan. If one evaluates the state of the environment after a strategic action being applied, it can be possible to mitigate the risk of failure of the strategic plan. As we will be able to verify, it is possible to use ANNs to model strategic environments that should allow the prediction of sales and operating results by the used strategies with some precision, although the level of success will be directly related with the user’s necessity.

The wave energy converter (WEC) technology constantly develops new designs and models. To encourage its development within the energy sector, research is required to improve current designs and create durable and effective devices. However, it is also crucial to investigate the suitability of a WEC to a site-specific sea condition as this can impact its optimal power absorption and constructability. This study evaluates and compares the efficiency of a heaving buoy with varied geometries in one of the most energetic places along the Mexican coast. A statistical analysis of the wave climate on the coast of Ensenada during the last 42 years is performed to define the conditions to which the device is subjected. The location of the WEC in shallow waters is chosen using a computational model which solves the modified mild slope equation in its elliptic shape. The heaving buoy floater is studied using three distinct geometries: a semi-sphere, a cylinder, and a proposed rounded semi-rectangle. The hydrodynamic response of the three geometries is then analysed in the frequency and time domain using ANSYS AQWA. The hydrodynamic study involves the assessment of the floating body dynamics, exerted forces, the power absorbed as well as the suitability of the proposed power take-off (PTO) system. Findings reveal that the proposed geometry absorbs the most energy, with an annual power of 135.11 MW, and that the transmission PTO design is appropriate for this type of technology.

The objective of this study was to carry out the extraction and characterization of chitin and chitosan from the exoskeletons of the Farfantepenaeus californiensis species of shrimp, as well as its application in the formulation of polymeric films plasticized with glycerol used in the process of food packaging. The characterization of the extracted polymer was made by Fourier transform infrared spectroscopy (FTIR), Scanning electron microscopy (SEM), and physicochemical analysis of chitin and chitosan, resulting in a theoretical performance of 29.33% and 16.46%, respectively. In terms of quality, it was determined that the extracted chitosan had a molecular weight of 1.10 x105 g/mol and a deacetylation degree of 80.23%, which classifies it as a low-molecular weight chitosan, suitable for food packaging. It was shown that the extracted chitosan is fit for the production of the films by using the casting method, presenting a tension resistance of 1 MPa. The Antibacterial analysis was carried out using Staphylococcus aureus (S. aureus) and Escherichia coli (E. coli), bacterial models commonly found in food. The results showed an effective inhibition capability of the polymeric materials. Overall, the results for both chitosan and the films indicate a high potential for application in the food packaging sector.

The cooperation between humans and robots is becoming increasingly important in our society. Consequently, there is a growing interest in the development of models that can enhance the interaction between humans and robots. A key challenge in the Human-Robot Interaction (HRI) field is to provide robots with cognitive and affective capabilities, developing architectures that let them establish empathetic relationships with users. Several models have been proposed in recent years to solve this open-challenge. This work provides a survey of the most relevant attempts/works. In details, it offers an overview of the architectures present in literature focusing on three specific aspects of HRI: the development of adaptive behavioural models, the design of cognitive architectures, and the ability to establish empathy with the user. The research was conducted within two databases: Scopus and Web of Science. Accurate exclusion criteria were applied to screen the 1007 articles found (at the end 30 articles were selected). For each work, an evaluation of the model is made. Pros and cons of each work are detailed by analysing the aspects that can be improved so that an enjoyable interaction between robots and users can be established.

Since it was proposed, the Robot Operating System (ROS) has fostered solutions for various problems in robotics in the form of ROS packages. One of these problems is Simultaneous Localization and Mapping (SLAM), a problem solved by computing the robot pose and a map of its environment of operation at the same time. The increasingly availability of robot kits ready to be programmed and also of RGB-D sensors often pose the question of which SLAM package should be used given the application requirements. When the SLAM subsystem must deliver estimates for robot navigation, as is the case of applications involving autonomous navigation, this question is even more relevant. This work introduces an experimental analysis of GMapping and RTAB-Map, two ROS compatible SLAM packages, regarding their SLAM accuracy, quality of produced maps and use of produced maps in navigation tasks. Our analysis aims ground robots equipped with RGB-D sensors for indoor environments and is supported by experiments conducted on datasets from simulation, benchmarks and from our own robot.

The economic, social and environmental benefits generated by the use of urban public transportation infrastructure constitute a complex dynamic urban public transportation infrastructure utilization benefit system. This paper evaluates the coupling coordination among these three benefits taking four Chinese autonomous municipalities as an example. These four cities have large-scale urban public transportation infrastructures but their utilization has many serious problems. The basic function of urban public transportation infrastructure has not been fully played in these cities. Whether the different benefits of urban public transportation infrastructure have been developed in harmony or not is unclear. We analyzed the coordinated development among three benefits by constructing coupling coordination degree model and used Gini coefficient to study the difference of coordinated development among three benefits of four cities. The result shows that the levels of coordinated development among three benefits of urban public transportation infrastructure were lower in these four cities and have positive correlation with it of urban public transportation infrastructure utilization benefit. Raising the level of urban public transportation infrastructure utilization benefit is the most crucial solution of promoting the coordinated development among three benefits.

This article presents an innovative approach to the design of a safe adaptive backstepping control system. Tailored specifically for underactuated marine robots, the system utilizes simple sensors for enhanced practicality and efficiency. Given their operation in diverse oceanic environments fraught with various sources of uncertainties, ensuring the system's safe and robust behavior holds paramount importance in the control literature. To address this concern, this paper introduces a control strategy designed to ensure robustness at both the kinematic and dynamic levels. By emphasizing the compensation for the system uncertainties, the design integrates a straightforward fuzzy system structure. To further ensure the system's safety, a funnel surface is defined, followed by the design of a suitable nonlinear sliding surface as a function of the funnel and tracking error. Specifically leveraging the Lyapunov function, the study formally establishes the Semi-globally Practically Finite-time Stability of the closed-loop system, validated through simulations conducted on underactuated marine robots.

Autonomous vehicle technology, employing image sensors for road marking recognition, is largely dependent on the Lane Departure Warning System (LDWS) to prevent vehicular deviations from driving lanes. The effectiveness of image-based lane recognition, however, is susceptible to environmental influences like weather conditions and the surrounding road environment. This study investigates the impact of road marking retro-reflectivity on LDWS under varied environmental conditions. Conducted at the Yeoncheon SOC Demonstration Research Center, the experiments encompassed a spectrum of weather scenarios, incorporating rainfall and shifts between day and night lighting. Controlled wear was applied to white, yellow, and blue road markings, followed by measuring their retro-reflectivity at different stages of degradation. The LDWS's performance was evaluated by assessing the recognition rates of these markings under these diverse environmental settings. The study reveals that enhanced retro-reflectivity significantly boosts LDWS detection, especially in challenging weather conditions. Furthermore, the research led to the development of a simulation framework to analyze the cost-effectiveness of road marking maintenance, aligning it with the safety needs of autonomous vehicles. This framework suggests the necessity for updated road marking guidelines that cater to the advanced needs of driver assistance systems and autonomous vehicle technology.

Background: Vaccine hesitancy was one of India's problems after the COVID-19 vaccine roll-out. Earlier studies carried out to understand people's perception of the vaccine were mainly based on online or offline community-based surveys. These studies do not help to understand the actions taken by people towards vaccination. Hence, this study has been designed to understand the exact behavior of people toward the vaccine. Methods: Age-wise, the population was sub-grouped into three groups, above 18 years, 12-14 years, and 15-18 years. The data analysis has been done using cumulative coverage of vaccines in the said age groups. Results: The study shows a substantial population has missed second and booster doses of vaccine at the state, regional, and national levels in all three age groups. Even for the states that have shown the smallest number of people who missed their dose, their number is in the thousands. Conclusion: Further research is needed to know, in total population, how many people have not even taken a single dose of vaccine. Policy-level efforts are needed to cover the entire population of the country for at least a single dose and vulnerable populations, for additional booster doses after primary doses.

Various designs of spherical robots using barycenter offset mechanisms were previously reported. This kind of robots offers advantages such as turning in placeor moving in any direction at any time. Yet, the approaches resulting in a balanced robot, which could roll with reduced energy costs once accelerated, are scarce. We introduce anovel robot of this type. The feasibility of the approach is verified on a cylindrical robot. This paper presents an open-source, remotely controlled, robotic cylinder. The robot uses a specifically designed mechanism to displace a mass in its center, which causes the cylinder to roll forwards or backwards. The movement characteristics of the cylinder, as well as the mathematical and physical limitations of the mechanism were studied. An intuitive user interface allows the robot to be controlled through WiFi. This robot was manufactured only with readily available and inexpensive materials, which would make it a suitable platform for education, typically in the fields of physics and engineering.

In this work we present some driving strategies for a type of omnidirectional mobile robot, the offset-differential robot. This system presents omnidirectionality while using any type of standard wheels, allowing for applications in all terrain. The work is based on the full kinematic and dynamic analysis of the robot, including the passive elements, to explain some unexpected behaviors that appear during its motion. The stable and unstable behaviors are characterized and some driving strategies are stated in order to achieve the desired performance regarding precise positioning and speed.

In recent decades, many attempts have been made to automate the entire welding process, how-ever, there remain many non-automated welding operations that present a constant hazard to workers. This article presents an automated welding solution with collaborative robots, with this contribution, we intend to help companies in this sector increase productivity, improve quality, effectively reduce costs, and improve working conditions.

An easier method for the calibration of differential drive robots is presented. Most of the calibration is done on-board and it is not necessary to expend too much time taking note of the robot's position. The calibration method does not need a big free space to perform the tests. The bigger space is just in a straight line, which is easy to find. Results with the proposed method are compared with those from UMB as a reference, and they show very little deviation while the proposed calibration is much simpler.

The difficult current environmental situation, caused by construction industry residues containing ceramic materials could be improved by using these materials as recycled aggregates in mortars, with their processing causing a reduction in their use in landfill, contributing to recycling and also minimizing the consumption of virgin materials. Although some research is currently being carried out into recycled mortars, little is known about their stress-strain (σ-ε); therefore this work will provide the experimental results obtained from recycled mortars with recycled ceramic aggregates (with contents of 0, 10, 20, 30, 50 and 100%), such as: the density, the compression strength, as well as the σ-ε curves representative of their behavior. The values obtained from the analysis process of the results are those of: σ (elastic ranges and failure maximum), ε (elastic ranges and failure maximum), and Resilience and Toughness; in order to finally obtain, through numerical analysis, the equations to predict their behavior (related to their recycled content). At the end of the investigation it is established that mortars with recycled ceramic aggregate contents of up to 20% could be assimilated just like mortars with the usual aggregates, and the prediction equations produced could be used in cases of similar applications.

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.

The relative position of the orchard robot to the rows of fruit trees is an important parameter for achieving autonomous navigations. The current methods for estimating the position parameters between rows of orchard robots obtain low parameter accuracy, and to address this problem, this paper proposes a machine vision-based method for detecting the relative position of orchard robots and fruit tree rows. Firstly, the fruit tree trunk is identified based on the improved YOLOv4 model; secondly, the camera coordinates of the tree trunk are calculated from the principle of binocular camera triangulation, and the ground projection coordinates of the tree trunk are obtained through coordinate conversion; finally, the midpoints of the projection coordinates of different sides are combined and the navigation path is obtained by linear fitting with the least squares method, and the position parameters of the orchard robot are obtained through calculation. The experimental results show that the average accuracy and average recall of the improved YOLOv4 model for fruit tree trunk detection are 97.05% and 95.42%, respectively, which are 5.92 and 7.91 percentage points higher than those of the original YOLOv4 model. The average errors of heading angle and lateral deviation estimates obtained based on the method in this paper are 0.57° and 0.02 m. The method can accurately calculate heading angle and lateral deviation values at different positions between rows, and can provide a reference for autonomous visual navigation of orchard robots.

Autonomous Driving (AD) has become a prominent research area in the field of Artificial Intelligence (AI) and Machine Learning (ML) in recent years. This opens the door wider for self-driving cars to surpass conventional vehicles in the current market share. Despite its apparent simplicity, AD is composed of complex and heterogeneous systems, which are in need of a high level of coordination and alignment to ensure both full automation and safety. Therefore, numerous research studies have been conducted over the last few years to facilitate such coordination and accelerate the capacity of these types of vehicles to be self-managed in complex situations. The paper summarises these approaches that led to building what is known nowadays as the autonomous driving pipeline. Moreover, although skepticism exists regarding the practicality of AD as a viable alternative to traditional vehicles, extensive research suggests the multiple benefits of relying on them for mobility. While challenges remain in implementing AD in the real world, including regulation and technical issues, substantial progress in recent years indicates a growing acceptance of AD in the near future. This paper further explores the advantages and opportunities of the conducted such systems in facilitating the practicality of Autonomous Driving.

Fires pose a significant threat to human life and property. An autonomous fire detection and fighting robot has the potential to mitigate the challenges associated with firefighting. This paper presents the implementation of an autonomous fire detection and fighting robot equipped with sensors, algorithms, and actuators to detect, locate, and suppress fires autonomously. The robot's mechanical and electrical components were designed, prototyped, and tested in a controlled environment to evaluate its ability to navigate through obstacles, detect fires, and suppress them autonomously. The results show that the robot effectively detects and suppresses fires, making it a promising solution for firefighting applications. The study contributes to the development of autonomous robots for firefighting, enhancing the safety of firefighters and the effectiveness of firefighting operations.

Emotion plays a powerful role in humans’ interaction with robots. In order to express more human-friendly emotions, robots need the capability of contextual appraisal that expresses the emotional relevance of various targets in the spatiotemporal situation. In this paper, an emotional appraisal methodology is proposed in this study to cope with such contexts. Specifically, the Ortony, Clore, and Collins model is abstracted and simplified to approximate an emotional appraisal model in the form of a sentence-based cognitive system. The contextual emotion appraisal is modeled by formulating the emotional relationships among multiple targets and the emotional transition with events and time passing. To verify the proposed robotic system’s feasibility, simulations were conducted for scenarios where it emotional interacts with humans manipulating liked or disliked objects on a table. This experiment demonstrated that the robot's emotion can variously change over time like human by using a proposed formula for emotional valence, which is moderated by emotion appraisal of occurring events.

This work presents the development and implementation of a distributed navigation system based on computer vision. The autonomous system consists of a wheeled mobile robot with an integrated colour camera. The robot navigates through a laboratory scenario where the track and several traffic signals must be detected and recognized by using the images acquired with its on-board camera. The images are sent to a computer server that processes them and calculates the corresponding speeds of the robot using a cascade of trained classifiers. These speeds are sent back to the robot, which acts to carry out the corresponding manoeuvre. The classifier cascade should be trained before experimentation with two sets of positive and negative images. The number of images in these sets should be considered to limit the training stage time and avoid overtraining the system.

Introduction: In the year 2022, 4.9 million children died worldwide before five years of age. United Nations General Assembly has set the target of bringing down under-five child mortality to 25 deaths per 1000 live births by 2030. However, the United Nations Inter-Agency Group for Child Mortality Estimation highlights, that without rapid action many low and Lower Middle-Income Countries (LMICs) will not be able to achieve this target and 35 million under-five children will die before 2030. In such a scenario understanding the determinants that bring down preventable deaths in children is important. Design: Anonymized, publicly available data from the India National Family Health Survey (NFHS-5) is collected. The sample consisted of 724,115 women in the age group of 15-49 years has been sub-grouped as urban and rural women. Data on the number of Anganwadi centers per state has been collected from the Ministry of Women and Child Development. For better analysis of data, the country is divided into regions. Union territories are grouped in these regions as per their geographical locations. Descriptive statistical analysis, correlation coefficient analysis, and linear regression analysis were done. Results: Results of the Pearson correlation indicated that there is a significantly large positive relationship between operational AWCs (%) and U5MR (r = 0.542, p < .001) whereas there is a significantly large negative relationship between women with Internet access (%) and U5MR, (r = -0.738, p < .001). For our data, the multiple regression equation for y is U5MR (per 1000 live births) = 0.77266. AWCs (%) - 0.58788. women with Internet access (%) + 53.68073. Conclusion: Compared to NFHS-4 (2015-16) U5MR has reduced in almost all states of the country. The study shows more urban women have access to the Internet as compared to rural women. Child mortality is higher in rural areas in every state as compared to urban areas. Urban women have more access to health information because of internet access which may be the reason for lesser child mortality in urban areas compared to rural areas. Internet access for women (individual level) is far more effective in bringing down U5MR if compared to the community-level approach of Daycare centers.

In recent years, both domestic and international research on quadruped robots has advanced towards high dynamics and agility, with a focus on high-speed locomotion as a representative motion in high-dynamic activities. Quadruped animals like cheetahs exhibit high-speed running capabilities, attributed to the indispensable role played by their flexible spines during the flight phase motion. This paper establishes dynamic models of quadruped robots with different degrees of spine flexibility, providing a parameterized description of the flight phase motion for both rigid trunks and flexible spine quadruped robots. By setting different initial values for the spine joint and calculating the flight phase results for both types of robots at various initial velocities, the study compares and analyzes the impact of a flexible spine on the flight phase motion of quadruped robots. Through comparative experiments, the research aims to validate the influence of a flexible spine during the flight phase motion, providing insights into how spine flexibility affects the flight phase motion of quadruped robots.

The COVID-19 outbreak demonstrated the viability of various remote working solutions, telepresence robots (TPRs) being one of them. High-quality video transmission is one of the cornerstones of using such solutions, as most of the information about the environment is acquired through vision. This study aims to compare the camera capabilities of four models of popular telepresence robots using compact reduced LogMAR and Snellen optometry charts as well as text displayed on the projector screen. The symbols from the images are extracted using OCR (Optical Character Recognition) software and the results of the recognition are compared with the symbols on the charts. Double 3 TPR provides the best quality images of optometric charts, but the OCR results of measurements of the image on the projector do not show the clear advantage of one single model over the others. The results demonstrated by Temi 2 and Double 3 TPRs are generally better than the others, suggesting that these TPRs are more feasible to be used in teaching and learning scenarios.

Some traditional robots are based on offline programming reciprocal motion, and with the continuous upgrading of vision technology, more and more tasks are replaced by machine vision. For the current problem of insufficient accuracy of robot target localization based on binocular vision, and an improved random sampling consistency algorithm is proposed to complete parallel robot target localization and grasping under the guidance For the current problem of insufficient accuracy of robot target localization based on binocular vision, an improved random sampling consistency algorithm is proposed to complete parallel robot target localization and grasping under the guidance of multi Firstly, the RANSAC algorithm is improved based on the SURF algorithm; then the parallax gradient method is applied to iterate the matched point pairs several times to further optimize the data; then the 3D reconstruction is completed by the program technique; finally the obtained data is finally the obtained data is input into the robot arm and the camera internal and external parameters are obtained by the calibration method so that the robot can accurately locate and The experiments show that the improved algorithm has advantages in recognition accuracy and grasping success rate under multi- The experiments show that the improved algorithm has advantages in recognition accuracy and grasping success rate under multi-vision system.

Human-Robot Interaction (HRI) for collaborative robots has become an active research topic recently. Collaborative robots assist the human workers in their tasks and improve their efficiency. But the worker should also feel safe and comfortable while interacting with the robot. In this paper, we propose a human-following motion planning and control scheme for a collaborative robot which supplies the necessary parts and tools to a worker in an assembly process in a factory. In our proposed scheme, a 3-D sensing system is employed to measure the skeletal data of the worker. At each sampling time of the sensing system, an optimal delivery position is estimated using the real-time worker data. At the same time, the future positions of the worker are predicted as probabilistic distributions. A Model Predictive Control (MPC) based trajectory planner is used to calculate a robot trajectory that supplies the required parts and tools to the worker and follows the predicted future positions of the worker. We have installed our proposed scheme in a collaborative robot system with a 2-DOF planar manipulator. Experimental results show that the proposed scheme enables the robot to provide anytime assistance to a worker who is moving around in the workspace while ensuring the safety and comfort of the worker.

UAVs are becoming a crucial tool in modern warfare, primarily due to their cost-effectiveness, risk reduction, and ability to perform a wider range of activities. The use of autonomous UAVs to conduct strike missions against highly valuable targets is the focus of this research. Due to developments in ledger technology, smart contracts, and machine learning, such activities formerly carried out by professionals or remotely flown UAVs are now feasible. Our study provides the first in-depth analysis of challenges and potential solutions for successful implementation of an autonomous UAV mission.

This work presents a new scheme for autonomous control and obstacle detection of a catamaran unmanned surface vessel. Based on the Newtonian mechanics, hydrodynamics, and maneuvering modelling group modelling principles in the attached coordinate system, a three-degree-of-freedom motion model of the catamaran unmanned surface vessel is constructed. The fuzzy inference method is used to overcome the drawback that the traditional PID control cannot tune the PID parameters online, and the trajectory controller is designed. Meanwhile, 3D LIDAR is used to achieve obstacle detection. The results of the trajectory tracking simulations and experiments verify the accuracy of the model design and the effectiveness of the autonomous control design.

The market for autonomous vehicles (AV) is expected to experience significant growth over the coming decades and to revolutionize the future of transportation and mobility. The AV is a vehicle that is capable of perceiving its environment and perform driving tasks safely and efficiently with little or no human intervention and is anticipated to eventually replace conventional vehicles. Self-driving vehicles employ various sensors to sense and perceive their surroundings and, also rely on advances in 5G communication technology to achieve this objective. Sensors are fundamental to the perception of surroundings and the development of sensor technologies associated with AVs has advanced at a significant pace in recent years. Despite remarkable advancements, sensors can still fail to operate as required, due to for example, hardware defects, noise and environment conditions. Hence, it is not desirable to rely on a single sensor for any autonomous driving task. The practical approaches shown in recent research is to incorporate multiple, complementary sensors to overcome the shortcomings of individual sensors operating independently. This article reviews the technical performance and capabilities of sensors applicable to autonomous vehicles, mainly focusing on vision cameras, LiDAR and Radar sensors. The review also considers the compatibility of sensors with various software systems enabling the multi-sensor fusion approach for obstacle detection. This review article concludes by highlighting some of the challenges and possible future research directions.

Integrated Model of Distributed Systems is used for modeling and verification. In formalism, the distributed system is modeled as a collection of server states and agent messages. The evolution of the system takes the form of actions that transform the global system configuration (states and messages) into a new configuration. Formalism is used in the Dedan verification environment for finding different kinds of deadlocks: communication deadlocks in the server view and resource deadlocks in the agent view. For other purposes, a conversion has been developed to equivalent models: to Petri nets for structural analysis and do Distributed Autonomous and Asynchronous Automata (DA3) for easy graphical modeling in terms of system components. In addition, it is possible to simulate a verified system on distributed components in DA3. The automata have two forms: Server-DA3 (S-DA3) for the server view and Agent-DA3 (A-DA3) for the agent view. DA3 formalism is compared to other concepts of distributed automata known from the literature.

The performance of the presurgical test (preSurg) for temporal lobe epilepsy (TLE) was evaluated via video-electroencephalography (VEEG), electroencephalography (EEG), 99mTc-HmPAO single-photon emission tomography (SPECT) and 1.5 T magnetic resonance imaging (MRI) in a group of 112 men (37.0 ± 1.1 years) and 106 women (39.7 ± 1.1 years) operated on for TLE. The epileptic zone (EZ) was adequately identified to determine whether the patient reached an Engel I grade (EI) at least one year postop. Accuracy was evaluated by the coefficient α, ranging from 3 (when result = EZ) to 2 (result in the same hemisphere as the EZ), 1 (noninformative result) or 0 (EZ in the contralateral hemisphere). The simplicity of diagnosis was defined as the number of preSurg surgeries needed to identify the EZ. EI was obtained in 85.8% of patients even though 42.2% of patients had noninformative MRI results. For preSurg α was (mean ± SEM) = VEEG (2.83 ± 0.04) &gt; MRI (2.14 ± 0.08) &gt; EEG (1.87 ± 0.09) &gt; SPECT (1.71 ± 0.09). The accuracy (combination of sensitivity and specificity) was calculated as follows: VEEG (0.797) &gt; MRI (0.518) &gt; EEG (0.446) &gt; SPECT (0.360). The likelihood positive ratio was greater, and the likelihood negative ratio was lower for VEEG. The most relevant factor for the regression model was VEEG (3.106) &gt; MRI (2.558) &gt; EEG (1.905), and the factors were not significantly related to SPECT. EZs in EI patients with low simplicity were identified mainly by VEEG. A very good postoperative outcome can be obtained even in TLE patients with no lesions on MRI. The VEEG is the most reliable preSurg test and may be the only reliable test for patients with very low simplicity (i.e., difficult).single paragraph of about 200 words maximum. For research articles, abstracts should give a pertinent overview of the work. We strongly encourage authors to use the following style of structured abstracts, but without headings: (1) Background: Place the question addressed in a broad context and highlight the purpose of the study; (2) Methods: briefly describe the main methods or treatments applied; (3) Results: summarize the article’s main findings; (4) Conclusions: indicate the main conclusions or interpretations. The abstract should be an objective representation of the article and it must not contain results that are not presented and substantiated in the main text and should not exaggerate the main conclusions.

Healthy aging among older adults requires the maintenance of good physical and cognitive activity. However, in the natural course of aging, older adults usually experience a decline in their physical and cognitive activity, causing an increasingly sedentary lifestyle. Some older adults may not have a choice but to become increasingly sedentary as they age due to injury or deteriorated physicality. As such they require a manner of assistive technologies to aid in their daily lives and activities to maintain healthy cognitive function. Social Robots are a newer form of assistive technology, specifically designed for social interactions and gameplay. As with other assistive technologies, compliance barriers to the acceptance and use of social robots and types of meaningful, seated activities among older adults are expected. To better explore this phenomenon, improve quality of life and understand what drives older adults to accept and use newer forms of technology like social robots, this research conjoins two conceptual frameworks: The Activity Theory of Aging (ATA) and the Unified Theory of Acceptance and Use of Technology (UTAUT). As social robots hold great promise for improving the quality of life for older adults, exploring what driving factors could enable their greater acceptance and use is essential to furthering this field of study within Australia.

Simultaneous Localization and Mapping (SLAM), as one of the core technologies in intelligent robotics, has gained substantial attention in recent years. Addressing the limitations of SLAM systems in dynamic environments, this research proposes a system specifically designed for plant factory transportation environments, named GY-SLAM. GY-SLAM incorporates a lightweight target detection network GY based on YOLOv5, which utilizes GhostNet as the backbone network. This integration is further enhanced with CoordConv coordinate convolution, CARAFE up-sampling operators, and SE attention mechanism, leading to simultaneous improvements in detection accuracy and model complexity reduction. While improving [email protected] by 0.514%, the model simultaneously reduces the number of parameters by 43.976%, computational cost by 46.488%, and model size by 41.752%. Additionally, the system constructs pure static octree maps and grid maps. Tests conducted on the TUM dataset and a proprietary dataset demonstrate that GY-SLAM significantly outperforms ORB-SLAM3 in dynamic scenarios in terms of system local-ization accuracy and robustness. It shows a remarkable 92.58% improvement in RMSE for Absolute Trajectory Error (ATE). Compared to YOLOv5s, the GY model brings a 41.5944% improvement in detection speed and a 17.7975% increase in SLAM operation speed to the system, indicating strong competitiveness and real-time capabilities. These results validate the effectiveness of GY-SLAM in dynamic environments and provide substantial support for the automation of logistics tasks by robots in specific contexts.

Obstacle-avoidance robots have become an essential field of study in recent years. This paper analyzes two cases that extend reactive systems focused on obstacle detection and its avoidance. The scenarios explored get data from their environments through sensors and generate information for the models based on artificial intelligence to obtain a reactive decision. The main contribution is focused on the discussion of aspects that allow comparing both approaches, such as the heuristic approach implemented, requirements, restrictions, response time, and performance. The first case presents a mobile robot that applies fuzzy logic to achieve soft turning basing its decision on depth image information. The second case introduces a mobile robot based on multi-layer perceptron and ultrasonic sensors to decide how to move in an uncontrolled environment. The analysis of both options offers perspectives to choose between reactive obstacle-avoidance systems based on ultrasonic or Kinect sensors, models that infer optimal decisions applying fuzzy logic or artificial neural networks, with key elements and methods to design mobile robots with wheels. Therefore, we show how AI or Fuzzy Logic techniques allow us to design mobile robots that learn from their “ experience ” by making them safe and adjustable for new tasks, unlike traditional robots that use large programs to perform a specific task.

The object of this research is designing of new robot-to-robot communication system working in the middle of highway/roads to support mobile safety for approaching vehicles. The result of research project directs to a group of safety robot devices which induce a vehicle on a bypass route, as a vehicle guidance method using the same, and a vehicle safety guidance system. According to an embodiment of the present invention, a safety device includes a detector configured to detect a vehicle approaching the safety device, and an image projector configured to project an image onto a road surface approaching the vehicle when the detector recognizes an approach of the vehicle. It can include. According to the present invention, when it is necessary to guide the vehicle to the bypass route, the driver of the vehicle can grasp the detour route in time and move the vehicle to the next lane.

Cloud robotics is becoming an alternative to support advanced services of robots with low computing power as network technology advances. Recently, fog robotics has gained attention since the approach has merit relieving latency and security issues over the conventional cloud robotics. In this paper, a Function-as-a-Service based Fog Robotic (FaaS-FR) for cognitive robots is proposed. The model distributes the cognitive functions according to the computational power, latency and security with a public robot cloud and fog robot server. During the experiment with a Raspberry Pi as an edge, the proposed FaaS-FR model shows efficient and practical performance in the proper distribution of the computational work of the cognitive system.

In the paper, by a very simple approach, the author establishes an expression in terms of a lower Hessenberg determinant for the Euler polynomials. By the determinantal expression, the author finds a recurrence relation for the Euler polynomials. By the way, the author derives the corresponding expression and recurrence relation for the Euler numbers.

The fast-paced evolution of artificial intelligence (AI), machine learning (ML), natural language processing (NLP), large language model (LLM) applications, and generative pre-trained transformer (GPT) have set the stage for improved and autonomous project scheduling models. This study demonstrates how project scheduling can be enhanced by employing building information modeling (BIM) to predict reliable schedules for each project element. The research is based on design science research (DSR) methodology and focus group discussion. The proposed system consists of six components: project analyzer, data warehouse, activity identifier and sequencing, activity magnitude and direct cost calculator, activity duration calculator, and schedule analyzer. Unlike other solutions, the proposed solution sequences activities based on an ML model rather than constraint matrices. The proposed solution thus enhances project performance through proactive planning and risk management. Integrating the autonomous project scheduling solution with the other components of an autonomous project management system would surmount schedule challenges and would result in greater cost efficiency and fewer delays.

Autonomous differential equations of fractional order and non-singular kernel are solved. While solutions can be obtained through numerical, graphical, or analytical solutions, we seek an implicit analytical solution.

This manuscript presented an autonomous home farm for predicting metrological characteristics that can not only automate the process of growing crops but also, due to a neural network, significantly increase the productivity of the farm. The developed farm monitors and manages the following indicators: illumination, soil PH, air temperature, earth temperature, air humidity, CO2 concentration, and soil moisture. The presented farm can also be considered as a device for testing various weather conditions to determine the optimal temperature characteristics for different crops. This farm as a result is completely autonomous grows tomatoes at home.

Autonomous systems require identifying the environment and it has a long way to go before putting it safely into practice. In autonomous driving systems, the detection of obstacles and traffic lights are of importance as well as lane tracking. In this study, an autonomous driving system is developed and tested in the experimental environment designed for this purpose. In this system, a model vehicle having a camera is used to trace the lanes and avoid obstacles to experimentally study autonomous driving behavior. Convolutional Neural Network models were trained for Lane tracking. For the vehicle to avoid obstacles, corner detection, optical flow, focus of expansion, time to collision, balance calculation, and decision mechanism were created, respectively.

Here, I introduce a concept called autonomous selection to refer to a source of selection that is part of the individuals upon which it acts. The concept is motivated by a set of phenomena with the following characteristics: Natural selection shaped a variant (e.g., gene, epigenetic mark, or combination thereof) to act in a manner that reduces the frequency of one or more heritable traits of the individual in which it is located if those traits are detrimental to individual or group fitness. Phenomena with these characteristics are peculiar to traditional evolutionary theory but have been identified rather frequently in recent decades. They are also relevant to adaptive evolution: By reducing the frequency of a trait detrimental to fitness, the variant accelerates the evolution of adaptations, which allows its holders to adapt better to constantly changing environments. The variant is shaped by (natural) selection, but also does (autonomous) selection. Several phenomena with these characteristics have been invoked by proponents of the extended evolutionary synthesis (EES). The concept of autonomous selection helps resolve some of the controversy surrounding the EES: EES proponents call attention to the incompleteness of contemporary theory, emphasizing individuals’ processes that influence which adaptations those individuals evolve. I argue for the special importance of individuals’ processes that do not just influence those individuals’ adaptations, but also accelerate the adaptive evolution of those individuals. All known phenomena that fit this description are examples of autonomous selection. Other phenomena raised by EES proponents do not meet this threshold.

Beginning with navigation system design, this paper presents a comprehensive strategy for enhancing the search and rescue capabilities of agile mobile robots. Towards this, the autonomous ground vehicle (AGV) utilizes surface classification to determine and prioritize the terrain it is traversing. Our developed system design incorporates real-time terrain data with task objectives at a high level, ensuring that the robot can effectively navigate complex and ever-changing environments. This design, in conjunction with the introduction of a novel lightweight surface classification model, forms the basis of our adaptive terrain perception and decision-making systems, enabling robots such as Jackal to adapt rapidly and make the decisions necessary to complete the task. Subsequently, we exhaustively validated these systems through a series of extensive experiments in a variety of terrains, including normal and mixed terrains, demonstrating their robustness and efficacy in real-life situations.

As a result of extensive research in the field of mobile robots (rovers) and swarms, a number of algorithms exist to assist them for executing a mission in the three levels of software architecture: strategic (interaction loop level), tactic (planning) and operational (sensing, control and actuation). They allow them to achieve their goals while adapting to their environment through a multitude of methods designed for each situation. For this reason, a literature review of the latest research conducted in previous years is required to identify new research trends in human-swarm interaction applied to help humans in hazardous environment such as militarized zone. In this paper, we will present some interesting algorithms for interactive and autonomous mobile robots acting in swarms in an open and crowded environment. A discussion will focus on comparing different algorithms and their advantages and disadvantages.

In the paper, the authors find closed forms for derangement numbers in terms of the Hessenberg determinants, discover a recurrence relation of derangement numbers, present a formula for any higher order derivative of the exponential generating function of derangement numbers, and compute some related Hessenberg and tridiagonal determinants.

Diversified techniques have been applied in many research papers for the optimization of rehabilitation robotic movements in order to maintain smoothness and accuracy. Smooth and precise control is needed necessarily for upper limb rehabilitation robotic applications having five degree of freedom. The preferred parameters which are used for the controlling were validated by mathematical model and these tuning parameters were optimized. Designing optimization algorithms to control complex physical robots has been a challenging task. In this study, a number of optimization techniques will be analyzed to determine the optimal parameters of a PID controller with a dynamic model of the upper limb rehabilitation system. For determining optimal control parameters for PID, there exists a number of tuning methods such as Zeigler Nichols and fuzzy logic which are classical methods. Swarm intelligence-based optimization algorithms are inspired by the behaviors of living things in nature. Several researchers have reported the optimal design of PID controller parameters using optimization techniques. The proposed control technique has been implemented on a 5-DOF RAX hardware and before any clinical trials, six healthy subjects went for trials under strict protocol. It has been discovered that the proposed control technique rejects the external unwanted disturbances as well as keeps the system stable under extreme perturbed and harsh conditions. In this research paper mathematical models have been validated to determine the PID parameters for the optimization. The comparative study is carried out with four different cost functions since a well-designed objective function leads to better performance of the system and indicates control design expectations. These objective functions are an integral squared error (ISE) and integral absolute error (IAE). In this research work, the effects of different cost functions on optimization techniques for controller parameters were analyzed. The performance of the controller with different cost functions has examined for robustness analysis. The cost function of particle swarm optimization, Firefly, Ant Bee Colony and Ant Colony optimization were developed for the better optimization results.

Walking of humanoid robots is dependent on precise tracking of the center of gravity and foot trajectories. Trajectory tracking is achieved by mobilizing the robot joints to produce the correct trajectory. Errors are being occurred because of assumptions on tracking the center of gravity and the foot trajectories. In this study, a numerical algorithm has been developed that produces an exact and single kinematic solution in which the center of gravity and foot trajectories can be tracked with the desired precision. The effectiveness of the algorithm was examined with a dynamic simulation and compared with the method given in the literature The main highlight of this study, using the presented algorithm, the robot can walk even if the position of its center of gravity is lower than its hips, resulting tracking error was smaller than reported in the literature.

Exploring the fundamental mechanisms of locomotion extends beyond mere simulation and modeling. It necessitates the utilization of physical test benches to validate hypotheses regarding real-world applications of locomotion. This study introduces cost-effective modular robotic platforms designed specifically for investigating the intricacies of locomotion and control strategies. Expanding upon our prior research in Electric-Pneumatic Actuation (EPA), we present the mechanical and electrical designs of the latest developments in the EPA robot series. These include EPA Jumper, a human-sized segmented monopod robot, and its extension EPA Walker, a human-sized bipedal robot. Both replicate the human weight and inertia distributions, featuring co-actuation through electrical motors and pneumatic artificial muscles. These low-cost modular platforms, with considerations for degrees of freedom and redundant actuation, 1) provide opportunities to study different locomotor subfunctions— stance, swing, and balance; 2) help investigate the role of actuation schemes in tasks such as hopping and walking; and 3) allow testing hypotheses regarding biological locomotors in real-world physical test benches.

This study presents a literature review focused on nonverbal communication in human-robot interaction (HRI) that involves service robots with social capabilities. We aim to list the types of robots used and nonverbal communication cues examined in the reviewed studies; and the main research objectives, participant characteristics, data collection methods, and primary findings of these studies. To achieve this, we conducted a literature review of 39 relevant open access academic papers published from 2006 to 2023 that examined the utilization of nonverbal cues by both humans and robots during HRI. The results suggest that enhancing the quality of communication between humans and service robots must be improved, while there are several aspects that require more thorough exploring, needed to strengthen robot self-efficacy, trust and trustworthiness in HRI or overcome cultural differences. The results emphasize the importance of nonverbal communication in shaping the dynamics of interactions between humans and service robots.

MultiCal is an affordable, high-precision measuring device designed for the on-site calibration of industrial robots. Its design features a long measuring rod with a spherical tip that is attached to the robot. By restricting the rod’s tip to multiple fixed points under different rod orientations, the relative positions of these points are accurately measured beforehand. A common issue with MultiCal is the gravity deformation of the long measuring rod, which introduces measurement errors into the system. This problem becomes especially serious when calibrating large robots, as the length of the measuring rod needs to be increased to enable the robot to move in a sufficient space. To address this issue, we propose two improvements in this paper. Firstly, we suggest the use of a new design of the measuring rod that is lightweight yet has high rigidity. Secondly, we propose a deformation compensation algorithm. Experimental results have shown that the new measuring rod improves calibration accuracy by 20% to 39%, while by using the deformation compensation algorithm, the accuracy increases by 6% to 16%. In the best configuration, the calibration accuracy is similar to that of a measuring arm with a laser scanner, producing an average positioning error of 0.274 mm and a maximum positioning error of 0.838 mm. The improved design is cost-affordable, robust, and has sufficient accuracy, making MultiCal a more reliable tool for industrial robot calibration.

This paper focuses on enhancing the object detection and decision-making capabilities of Autonomous Emergency Medical Response Systems (AEMRS). Using advanced sensors, Convolutional Neural Networks (CNN), and reinforcement learning, we propose a model that processes environmental data to identify obstacles and make optimal navigation decisions. The integration of these technologies aims to minimize response time and improve the efficiency of emergency medical services. The perception system utilizes radar, LiDAR, and camera inputs to create a comprehensive understanding of the environment. These data are processed through a series of CNN layers to detect and classify objects such as vehicles, pedestrians, and road signs. On the decision-making front, a Q-learning algorithm is employed to enable the ambulance to learn from its interactions with the environment, continuously improving its route planning and collision avoidance strategies. By combining these advanced AI techniques, the proposed AEMRS can significantly enhance the speed and reliability of emergency responses, ultimately saving more lives. This paper presents the design, implementation, and simulation results of the proposed system, demonstrating its potential to revolutionize emergency medical services.

The development of autonomous vehicles is becoming increasingly popular and gathering real world data is considered a valuable task. Many datasets have been published recently in the autonomous vehicle sector, with synthetic datasets gaining particular interest due to availability and cost. For a real implementation and correct evaluation of vehicles at higher levels of autonomy it is also necessary to consider human interaction, which is precisely something that lacks in existing datasets. In this article the UPCT dataset is presented, a public dataset containing high quality, multimodal data obtained using state of the art sensors and equipment installed onboard the UPCT’s CICar autonomous vehicle. The dataset includes data from a variety of perception sensors including 3D LiDAR, cameras, IMU, GPS, encoders, as well as driver biometric data and driver behaviour questionnaires. In addition to the dataset, the software developed for data synchronisation and processing has been made available. The quality of the dataset was validated using an end-to-end neural network model with multiple inputs to obtain speed and steering wheel angle and obtained very promising results.

With the current technological transformation in the automotive industry, autonomous vehicles are getting closer to the Society of Automative Engineers (SAE) automation level 5. This level corresponds to the full vehicle automation, where the driving system autonomously monitors and navigates the environment. With SAE-level 5, the concept of a Shared Autonomous Vehicle (SAV) will soon become a reality and mainstream. The main purpose of an SAV is to allow unrelated passengers to share an autonomous vehicle without a driver/moderator inside the shared space. However, to ensure their safety and well-being until they reach their final destination, it is required an active monitoring of all passengers. In this context, this article presents a microphone-based sensor system that is able to localize sound events inside an SAV. The solution is composed of a Micro-Electro-Mechanical System (MEMS) microphone array with a circular geometry connected to an embedded processing platform that resorts to Field-Programmable Gate Array (FPGA) technology to successfully process in hardware the sound localization algorithms.

Autonomous image recognition has numerous potential applications in the field of planetary science and geology. For instance, having the ability to classify images of rocks would allow geologists to have immediate feedback without having to bring back samples to the laboratory. Also, planetary rovers could classify rocks in remote places and even in other planets without needing human intervention. Shu et al. classified 9 different types of rock images using a Support Vector Machine (SVM) with the image features extracted autonomously. Through this method, the authors achieved a test accuracy of 96.71%. In this research, Convolutional Neural Networks(CNN) have been used to classify the same set of rock images. Results show that a 3-layer network obtains an average accuracy of 99.60% across 10 trials on the test set. A version of Self-taught Learning was also implemented to prove the generalizability of the features extracted by the CNN. Finally, one model has been chosen to be deployed on a mobile device to demonstrate practicality and portability. The deployed model achieves a perfect classification accuracy on the test set, while taking only 0.068 seconds to make a prediction, equivalent to about 14 frames per second.

The important characteristic that could assist in autonomous navigation is the ability of a mobile robot to concurrently construct a map for an unknown environment and localize itself within the same environment. This computational problem is known as Simultaneous Localization and Mapping (SLAM). In literature, researchers have studied this approach extensively and have proposed a lot of improvement towards it. More so, we are experiencing a steady transition of this technology to industries. However, there are still setbacks limiting the full acceptance of this technology even though the research had been conducted over the last 30 years. Thus, to determine the problems facing SLAM, this paper conducted a review on various foundation and recent SLAM algorithms. Challenges and open issues alongside the research direction for this area were discussed. However, towards addressing the problem discussed, a novel SLAM technique will be proposed.

In the paper, by virtue of the Faá di Bruno formula and two identities for the Bell polynomial of the second kind, the authors find a closed form for the Stirling polynomials in terms of the Stirling numbers of the first and second kinds.

In the paper, the authors present an explicit form for a family of inhomogeneous linear ordinary differential equations, find a more significant expression for all derivatives of a function related to the solution to the family of inhomogeneous linear ordinary differential equations in terms of the Lerch transcendent, establish an explicit formula for computing all derivatives of the solution to the family of inhomogeneous linear ordinary differential equations, acquire the absolute monotonicity, complete monotonicity, the Bernstein function property of several functions related to the solution to the family of inhomogeneous linear ordinary differential equations, discover a diagonal recurrence relation of the Stirling numbers of the first kind, and derive an inequality for bounding the logarithmic function.

In the paper, the authors consider the generating functions of the Hermite polynomials and their squares, present explicit formulas for higher order derivatives of the generating functions of the Hermite polynomials and their squares, which can be viewed as ordinary differential equations or derivative polynomials, find differential equations that the generating functions of the Hermite polynomials and their squares satisfy, and derive explicit formulas and recurrence relations for the Hermite polynomials and their squares.

Autonomous search is an ongoing cycle of sensing, statistical estimation and motion control with objective to find and localise targets in a designated search area. Traditionally, the theoretical framework for autonomous search combines the sequential Bayesian estimation with the information theoretic motion control. This paper formulates autonomous search in the framework of possibility theory. Although the possibilistic formulation is slightly more involved than the traditional, it provides means for quantitative modelling and reasoning in the presence of epistemic uncertainty. This feature is demonstrated in the paper in the context of partially known probability of detection, expressed as an interval value. The paper presents an elegant Bayes-like solution to sequential estimation, with the reward function for motion control defined to take into account the epistemic uncertainty. The advantages of the proposed search algorithm are demonstrated by numerical simulations.

Autonomous vehicles (AV)s will transform transport, but public opinion will play a key role in the decision how widely and quickly, they will be adopted. The purpose of the study presented here, was to investigate community’s views on the transition. As a method for primary data collection on public awareness, attitudes, and readiness to use autonomous cars, survey was conducted in Saudi Arabia. Following that, we have used statistical tools to analyse responses. Our findings indicate that the participants are mainly open to use new technology and had favourable attitude towards transition. Ordinal logistic regression model showed a wide variation in public opinion regarding the expected benefits that may accompany the transition, despite an average high score on this factor. Our findings reveal that awareness of AVs' benefits is more positively correlated to the age of participants. Perceived cost, on one side, and convenience, and safety, on the other side, have substantial impact on opinions. Investigation, presented here, shows how AVs are seen in Saudi Arabia. This can guide the development of AVs and deployment in that region.

In the era of electrification and artificial intelligence, direct current motors are widely utilized with numerous innovative adaptive and learning methods. Traditional methods utilize model-based algebraic techniques with system identification, such as recursive least squares, extended least squares, and autoregressive moving averages. The new method known as deterministic artificial intelligence asserts physical-based process dynamics to achieve target trajectory tracking. There are two common autonomous trajectory generation algorithms: sinusoidal function and Pontryagin's based generation algorithm. This thesis aims to simulate model-following and deterministic artificial intelligence methods using sinusoidal and Pontryagin's methods and compare their performance difference when following challenging step function slew maneuver.

This short report contains a result that characterizes almost global pullback attractor of discrete-time non-autonomous systems. Analogously to the multiple Lyapunov functions approach for switched systems, we show here that existence of multiple Lyapunov densities implies pullback convergence of almost all initial states to the origin for a discrete-time non-autonomous system.

Object segmentation is still considered a challenging problem in autonomous driving, particularly in consideration of real world conditions. Following this line of research, this paper approaches the problem of object segmentation using LiDAR-camera fusion and semi-supervised learning implemented in a fully-convolutional neural network. Our method is tested on real-world data acquired using our custom vehicle iseAuto shuttle. The data include all-weather scenarios, featuring night and rainy weather. In this work, it is shown that LiDAR-camera fusion with only a few annotated scenarios and semi-supervised learning, it is possible to achieve robust performance on real-world data in a multi-class object segmentation problem. The performance of our algorithm is measured in terms of intersection over union, precision, recall and area-under-the-curve average precision. Our network achieves 82% IoU in vehicle detection in day fair scenarios and 64% IoU in vehicle segmentation in night rain scenarios.

Autonomous aerial refueling technology is an effective solution to extend flight duration of unmanned aerial vehicles, and also a great challenge due to its high risk. For autonomous probe-and-drogue refueling tasks, relative navigation to provide relative position between the receiver aircraft and the refueling drogue is the first and essential step, and vision-based method is the most frequently used. A new monocular vision navigation sensor with image processing strategy consisting of the drogue detection method and the tracking method is developed for autonomous aerial refueling in this paper. In the drogue detection method, thresholding and mathematical morphology method are adopted to eliminate image interference, and contours extraction method is applied to obtain all contours, which are then subsequently checked to achieve target contour of drogue. In the tracking method, a rectangle of interest (ROI) of current frame image is determined by positioning results of last frame, and then processed by the previous drogue detection method. Finally, the proposed image processing strategy in monocular vision navigation sensor is validated using real flight images, which are captured from an autonomous aerial refueling testbed using a micro six-rotor aircraft as receiver aircraft.

The paper presents models of path and control planning for parking, docking, and movement of autonomous vehicles at low speeds considering space constraints. Given the low speed of motion, and in order to test and approve the proposed algorithms, vehicle kinematic models are used. Recent works on the development of parking algorithms for autonomous vehicles are reviewed. Bicycle kinematic models for vehicle motion are considered for three basic types of vehicles: passenger car, long wheelbase truck, and articulated vehicles with and without steered semitrailer axes. Mathematical descriptions of systems of differential equations in matrix form and expressions for determining the linearization elements of nonlinear motion equations that increase the speed of finding the optimal solution are presented. Options are proposed for describing the interaction of vehicle overall dimensions with the space boundaries, within which a maneuver should be performed. An original algorithm that considers numerous constraints is developed for determining vehicle permissible positions within the closed boundaries of the parking area, which are directly used in the iterative process of searching for the optimal plan solution using nonlinear model predictive control (NMPC). The process of using NMPC to find the best trajectories and control laws while moving in a semi-limited space of constant curvature (turnabouts, roundabouts) are described. Simulation tests were used to validate the proposed models for both constrained and unconstrained conditions and the output (state-space) and control parameters' dependencies are shown. The proposed models represent an initial effort to model the movement of autonomous vehicles for parking and has the potential for other highway applications.

Retinal vein cannulation involves puncturing an occluded vessel on the micron scale. Even single millinewton force can cause permanent damage. An ophthalmic robot with a piezo-driven injector is precious enough to perform this delicate procedure, but the uncertain viscoelastic characteristics of the vessel makes it difficult to achieve the desired contact force without harming the retina. The paper utilizes a viscoelastic contact model to explain the mechanical characteristics of retinal blood vessels in order to tackle this issue. The uncertainty in the viscoelastic properties is considered an internal disturbance of the contact model, and an active disturbance rejection controller is then proposed to precisely control the contact force. The experimental results show that this method can precisely adjust the contact force at the millinewton level even when the viscoelastic parameters vary significantly (up to 403.8%). The root mean square (RMS) and maximum value of steady-state error are 0.32 mN and 0.41 mN. The response time below 2.51 s with no obvious overshoot.

: In this paper, we examine potential methods for autonomously tracking and landing multi-rotor unmanned aerial vehicles (UAVs), a complex yet essential problem. Autonomous tracking and landing control technology utilizes visual navigation, relying solely on vision and landmarks to track targets and achieve autonomous landing. This technology improves the UAV's environment perception and autonomous flight capabilities in GPS-free scenarios. In particular, we are researching tracking and landing as a cohesive unit, devising a switching plan for various UAV tracking and landing modes, and creating a flight controller that has an inner and outer loop structure based on relative position estimation. The inner and outer nested markers aid in the independent monitoring and touchdown of UAV. Optimal parameters are determined via optimized experiments on the measurements of the inner and outer markers. An indoor experimental platform for tracking and landing UAV was established. Tracking performance was verified by tracking three trajectories of unmanned ground vehicle (UGV) at varying speeds, and landing accuracy was confirmed through static and dynamic landing experiments. The experimental results show that the proposed scheme has good dynamic tracking and landing performance.

Recent deep learning frameworks draw a strong research interest in the application of ego-motion estimation as they demonstrate a superior result compared to geometric approaches. However, due to the lack of multimodal datasets, most of these studies primarily focused on a single sensor-based estimation. To overcome this challenge, we collect a unique multimodal dataset named LboroAV2, using multiple sensors including camera, Light Detecting And Ranging (LiDAR), ultrasound, e-compass and rotary encoder. We also propose an end-to-end deep learning architecture for fusion of RGB images and LiDAR laser scan data for odometry application. The proposed method contains a convolutional encoder, a compressed representation and a recurrent neural network. Besides feature extraction and outlier rejection, the convolutional encoder produces a compressed representation which is used to visualise the network's learning process and to pass useful sequential information. The recurrent neural network uses this compressed sequential data to learn the relation between consecutive time steps. We use the LboroAV2 and KITTI VO datasets to experiment and evaluate our results. In addition to visualising the network's learning process, our approach gives superior results compared to other similar methods. The code for the proposed architecture is released in GitHub and accessible publicly.

Autonomous weapons systems (AWS), sometimes referred to as “killer robots”, are receiving evermore attention, both in public discourse as well as by scholars and policymakers. Much of this interest is connected with emerging ethical and legal problems linked to increasing autonomy in weapons systems, but there is a general underappreciation for the ways in which existing law might impact on these new technologies. In this paper, we argue that as AWS become more sophisticated and increasingly more capable than flesh-and-blood soldiers, it will increasingly be the case that such soldiers are “in the power” of those AWS which fight against them. This implies that such soldiers ought to be considered hors de combat, and not targeted. In arguing for this point, we draw out a broader conclusion regarding hors de combat status, namely that it must be viewed contextually, with close reference to the capabilities of combatants on both sides of any discreet engagement. Given this point, and the fact that AWS may come in many shapes and sizes, and can be made for many different missions, we argue that each particular AWS will likely need its own standard for when enemy soldiers are deemed hors de combat. We conclude by examining how these nuanced views of hors de combat status might impact on meaningful human control of AWS.

Autonomous driving systems are increasingly becoming a necessary trend towards building smart cities of the future. Numerous proposals have been presented in recent years to tackle particular aspects of the working pipeline towards creating a functional end-to-end system, such as object detection, tracking, path planning, sentiment or intent detection. Nevertheless, few efforts have been made to systematically compile all of these systems into a single proposal that effectively considers the real challenges these systems will have on the road, such as real-time computation, hardware capabilities, etc. This paper has reviewed various techniques towards proposing our own end-to-end autonomous vehicle system, considering the latest state on the art on computer vision, DSs, path planning, and parallelization.

There is an accelerating requirement for ocean sensing where autonomous vehicles can play an essential role in assisting engineers, researchers, and scientists with environmental monitoring and collecting oceanographic data. This paper is performed to develop a rigid sail for the autonomous sailing drone. Our study aims to numerically analyze the aerodynamic characteristics of curvy twin sail and compare it with wing sail. Because racing regulations limit the sail shape, only the two-dimensional geometry was open for an optimization. Therefore, this study’s first objective was to identify the aerodynamic performance of such curvy twin sails. Simultaneously, a secondary objective was to estimate the effect of the sail’s spacing and shapes. A viscous Navier-Stokes flow solver is used for the numerical aerodynamic analysis. The 2D aerodynamic investigation is a preliminary evaluation. The results have shown that the curvy twin sail designs have improved lift, drag, and driving force coefficient compared to the wing sails. The spacing between the port and starboard sails of curvy twin sail is an important parameter. The spacing is 0.035L, 0.07L, and 0.14L shows the lift coefficient reduction because of dramatically stall effect, while flow separation is improved with spacing is 0.21L, 0.28L, and 0.35L. Significantly, the spacing 0.28L shows the maximum high pressure at the lower area and the small low pressure area at leading edges, so the highest lift is generated.

Several design methods and principles have been presented so far, in order to guide the design of autonomous operations. Putting the required efforts into learning and using the methods for designing autonomous operations is a daunting task. Experiences so far have shown that the use of methods meant to the help the design process are often ignored. One reason could be that the design guidelines are too complex and contain much information often not relevant for the project at hand, and therefore there is no easy way to distinguish what is important from what is not. This is an issue that needs to be solved with our approach. In this article, the Autonomous Job Analysis (AJA) method is presented. The proposed methodology is created in order to guide the design of autonomous operations in maritime systems by breaking them down in to sub-operations in order to reveal challenges, needs and limitations regarding autonomous behavior. The canvas contains the categories of the AJA method on a single page format -the canvas- and each category is supported with questions to be asked during the design procedure, as well as example answers. We will describe the AJA method and the AJA canvas in detail, and present a use case scenario of an autonomous operation in order to show how they can be applied. The particular use-case is the design of an autonomous operation for the detection, inspection and tracking of a waste water plume.

Background: In India, 26 million children are born every year. These Children (0-6 years) comprise 13% of the country's total population. Methods: We used anonymized, publicly available secondary data from the India National Family Health Survey (NFHS-5). Descriptive statistical analysis and regression analysis of the data have been done. Results: The study shows a linear correlation between the variables of internet access to women and children under five years who are underweight (weight-for-age) in India. The analysis shows Goodness of Fit with an R square value of 0.9960. Conclusion: The study clearly shows that when compared, community daycare centers (AWCs) have a limited role in the child's nutrition, but Internet access to the mothers can be a determinant of the child's nutrition. Internet access to women can help reduce the number of underweight children under five years and improve overall maternal and child health as well as public health.

In the paper, the authors generalize the notion "k-Mittag-Leffler function'', establish some integral transforms of the generalized k-Mittag-Leffler function, and derive several special and known conclusions in terms of the generalized Wright function and the generalized k-Wright function.

The aviation industry has proposed multiple solutions to reduce fuel consumption, air pollution and noise at airports, one of which involves deploying electric trucks for aircraft towing between the stand and the runway. However, the introduction of tow trucks results in increased surface traffic, posing challenges from the perspective of Air Traffic Controller's (ATCO). Various solutions involving automated planning and execution have been proposed, but many are constrained by their inability to manage multiple active runways simultaneously, and their failure to account for tow truck battery state-of-charge during assignments. This paper presents a novel system for taxi operations that employs autonomous tow trucks to enhance ground operations and address deficiencies in existing approaches. The system focuses on identifying conflict-free solutions that minimize taxi-related delays and route length while maximising the efficient use of the tow trucks. The algorithm operates at a strategic level and uses a centralised approach. It has the capacity to cater for multiple active runways and considers factors such as tow truck battery state-of-charge and availability of charging stations. Furthermore, the proposed algorithm is capable of scheduling and routing tow trucks for aircraft taxiing without generating traffic conflicts.

In this paper, the problem of autonomous optimal absolute orbit keeping for a satellite mission in Low Earth Orbit using electric propulsion is considered. The main peculiarity of the approach is to support small satellite missions in which the platform is equipped with a single thruster nozzle which provides acceleration on a single direction at a time. This constraint implies that an attitude maneuver is necessary before or during each thrusting arc to direct the nozzle into the desired direction. In this context, an attitude guidance algorithm specific for the orbit maneuver has been developed. A Model Predictive Control scheme is proposed, where the attitude kinematics are coupled with the orbital dynamics in order to obtain the optimal guidance profiles in terms of satellite state, reference attitude, and thrust magnitude. The proposed control scheme is developed exploiting Formation Flying techniques where the reference orbit is that of a virtual spacecraft that the main satellite is required to rendezvous with. In addition to the controller design, the closed loop configuration is presented supported by numerical simulations. The efficacy of the proposed autonomous orbit keeping approach is shown in several application scenarios.

In recent years, Cloud Computing and Big Data have been considered the most attractive areas that are revolutionizing the IT world. Cloud Computing paradigm has recently appeared that allows running proprietary or difficult portable applications outside their original software environment on one or more virtual hardware platforms. Therefore, we are to developing such techniques which make it possible to secure communication between the communicating Cloud entities. These techniques must take into account several factors due to the data transmitted in this type of environment is proprietary and of significant size. Conventional data security techniques are not suitable for today's cloud usage. Hence, the main research of this thesis is to define an adaptable architecture with the aim to propose a scalable system that supports cloud services. We will define feasible security solutions dedicated to the Cloud computing context in order to robustly protect data stored in the Cloud. We are more precisely looking for working on NoSQL databases. We also intend to propose a secure solution based on the blockchain that has powerful features like decentralization, autonomy, security, reliability, and transparency.

There is great interest in automatically detecting road weather and understanding its impacts on the overall safety of the transport network. This can, for example, support road condition-based maintenance or even serve as detection systems that assist safe driving during adverse climate conditions. In computer vision, previous work has demonstrated the effectiveness of deep learning in predicting weather conditions from outdoor images. However, training deep learning models to accurately predict weather conditions using real-world road-facing images is difficult due to: (1) the simultaneous occurrence of multiple weather conditions; (2) imbalanced occurrence of weather conditions throughout the year; and (3) road idiosyncrasies, such as road layouts, illumination, road objects etc. In this paper, we explore the use of focal loss function to force the learning process to focus on weather instances that are hard to learn with the objective to help address data imbalance. In addition, we explore the attention mechanism for pixel based dynamic weight adjustment to handle road idiosyncrasies using state-of-the-art vision transformer models. Experiments with a novel multi-label road weather dataset show that focal loss significantly increases the accuracy of computer vision approaches for imbalanced weather conditions. Furthermore, vision transformers outperforms current state-of-the-art convolutional neural networks in predicting weather conditions with a validation accuracy of 92% and F1-score of 81.22%, which is impressive considering the imbalanced nature of the dataset.