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.

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.

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.

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.

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.

In order to investigate the size distributions and seasonal variations of carbonaceous aerosols (OC and EC), the carbonaceous species were collected and then analyzed by using a 9-stage Anderson-type aerosol sampler and DRI Model 2001A Thermal/Optical Carbon Analyzer on the typical industrial city Nanjing in Yangtze River Delta, China in the summer, autumn and winter of 2013 and spring of 2014. OC, EC, SOC and POC exhibited obvious seasonal variations, with the highest level in winter (39.1±14.0, 5.7±2.1, 23.6±11.7 and 14.1±5.7 μg•m^-3) and the lowest level in summer (20.6±6.7, 3.3±2.0, 12.2±3.8 and 8.4±4.1 μg•m^-3), and were mainly centralized in PM_1.1 in four seasons. The concentrations of OC in PM_1.1 varied in the order of winter > autumn > spring > summer, while EC ranked in the order of autumn > winter > summer > spring. In the PM_1.1-2.1 and PM_2.1-10, the concentrations of OC and EC decreased in the sequence of winter > spring > autumn > summer. The size spectra of OC, EC and SOC had bimodal distributions in four seasons, except for EC with four peaks in summer. The size spectra of POC varied greatly with seasons, exhibiting bimodal distribution in winter, trimodal distribution in spring and summer, and four peaks in autumn. The OC/EC ratios were 7.0, 6.3, 7.6 and 6.9 in spring, summer, autumn and winter, respectively, which demonstrated the abundance of secondary organic aerosols in Nanjing. The sources of carbonaceous aerosol varied significantly with seasons, and were dominated by vehicle exhaust, coal and biomass burning in PM_2.1, and dominant by dust, coal and biomass burning in PM_2.1-10.

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).

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.

A high intake of carbohydrates, associated with obesity, is one of the major causes of fatty liver disease in humans. This study investigated how high carbohydrate intake induces fatty liver disease in Blunt snout bream (Megalobrama amblycephala). Blunt snout bream were fed a high-carbohydrate diet (HCBD) for 60 days. Their growth indices were evaluated, and the transcriptomes, metabolites, biochemistry, and histology of their blood and livers were analyzed. The final weight, weight gain, specific growth rate, and feed conversion ratio were all higher in the HCBD group than in the control group, but not significantly so (P > 0.05). The hepatosomatic index (HSI) differed significantly in the two groups (P < 0.05), and the metabolomics results showed that a high carbohydrate intake induced significant increases in plasma α/β-glucose, succinate, and tyrosine, which could increase hepatic glycogen and triglyceride. Low levels of betaine were also found in the livers of the HCBD group. The histology and blood biochemistry results suggested abnormal liver, with excessive lipid accumulation and liver damage. A transcriptome analysis and quantitative reverse transcription–PCR (RT–qPCR) indicated that the expression of the factors INSR, IRS, PI3K, PDK, AKT, ACC, IL6, AP1, ChREBP-MLX, PEPCK, and FBP in the insulin signaling pathway was significantly upregulated and that of SOCS3, GSK3β, and AMPK significantly downregulated in the HCBD. This pattern is associated with the nonalcoholic fatty liver disease (NAFLD) pathway. This study extends our understanding of how high carbohydrate causes increased fat deposition in the liver, enhanced glycolysis (α/β-glucose) in the plasma, and reduced betaine in the liver. This leads to activation of hepatocyte insulin resistance and lipogenesis by regulating the expression of genes related to fatty liver disease.

Pardosa pseudoannulata is one of the most common wandering spiders in agricultural fields and a potentially good bioindicator for heavy metal contamination. However, little is known about the mechanism by which spiders respond to heavy metals at the molecular level. In this study, high-throughput transcriptome sequencing was employed to characterize the de novo transcriptome of the spiders and to identify differentially expressed genes (DEGs) after cadmium exposure. We obtained 60,489 assembled unigenes, 18,773 of which were annotated in the public databases. Ultimately, 3450 cDNA simple sequence repeats were identified and validated as potential molecular markers in the unigenes. A total of 2939, 2491 and 3759 DEGs were detected among the three libraries of two Cd-treated groups and the control. Functional enrichment analysis revealed that metabolism processes and digestive system function were predominately enriched in response to Cd stress. At the cellular and molecular levels, significantly enriched pathways in lysosomes and phagosomes as well as replication, recombination and repair demonstrated that oxidative damage resulted from Cd exposure. Based on the selected DEGs, certain critical genes involved in defence and detoxification were analysed. These results may elucidate the molecular mechanism underlying spiders' responses to heavy metal stress.

Cadmium (Cd) is a metal with no nutritional or physiological value, but is found in most people because it is a contaminant in nearly all food types. The intestinal absorption rate determines the body burden of Cd because humans lack a physiologic mechanism for excretion of the metal. Most acquired Cd accumulates in the kidneys, in which the Cd content increases through age 50 but falls thereafter. The decline from maximal kidney content is probably due to release of Cd from injured tubular cells into urine and replacement of destroyed nephrons by scar tissue. Chronic kidney disease is diagnosed when the estimated glomerular filtration rate (eGFR) falls below 60 mL/min/1.73 m2, or when albuminuria is present. Albuminuria is defined as an albumin-to-creatinine ratio ≥ 30 mg/g creatinine in women or ≥ 20 mg/g creatinine in men that persists for at least 3 months. Generally, Cd-induced reductions in eGFR are not reversible, and Cd nephropathy may progress to end-stage kidney disease. There is no evidence that elimination of current environmental exposure can reverse Cd nephropathy, and no theoretical reason to believe that such a reversal is possible. This review provides an update of knowledge concerning CKD in population environmentally exposed to Cd. Special attention is devoted to mechanisms of Cd-induced albuminuria concurrently with eGFR reductions, and the difficult challenge of exposure guidelines sufficient to eliminate the risk of Cd-induced CKD is addressed.

Earth observation satellites can capture images of specific areas in Earth's orbit based on user requirements. Despite the high demand for satellite imagery, satellites remain a scarce resource. When there are many observation tasks that are large and dense, they may interfere with each other due to satellite mobility. To address this issue, a multi-satellite scheduling algorithm based on a task merging mechanism has been proposed. This paper proposes a two-stage approach to the problem: task merging phase and merging task scheduling phase. The task merging phase introduces two methods based on Mean Shift and Complete Graph to generate the merging task set. In the merging task scheduling phase, a multi-satellite scheduling algorithm based on merging tasks is employed to solve the problem. Finally, certain measurement experiments suggest the effectiveness of the algorithm.

There are many uncertainties and risks in residential electricity consumption during the economic development. Knowledge of the relationship between residential electricity consumption and its key determinant—income—are important to the sustainable development of electric power industry. Using panel data from 30 provinces for the 1995-2012 period, this study investigates how residential electricity consumption changes as incomes increase in China. Previous studies typically used linear or quadratic double-logarithmic models imposing ex ante restrictions on the indistinct relationship between residential electricity consumption and income. Contrary to those models, we employed a reduced piecewise linear model that is self-adaptive and highly flexible and circumvents the problem of “prior restrictions.” Robust tests of different segment specifications and regression methods are performed to ensure the conservatism of the research. The results provide strong evidence that the income elasticity was approximately one, and it remained stable throughout the estimation period. The income threshold at which residential electricity consumption automatically remains stable or slows has not been reached. To ensure the sustainable development of the electric power industry, introducing higher energy efficiency standards for electrical appliances and improving income levels are vital. And government should emphasize electricity conservation in industrial sector rather than in residential sector.

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

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.

The latest developments in digital humanities have increasingly enabled the construction of large data sets which can easily be accessed and used. These data sets often contain indirect localisation information, such as historical addresses. Historical geocoding is the process of transforming the indirect localisation information to direct localisation that can be placed on a map, which enables spatial analysis and cross-referencing. Many efficient geocoders exist for current addresses, but they do not deal with temporal information and are usually based on a strict hierarchy (country, city, street, house number, etc.) that is hard, if not impossible, to use with historical data. Indeed, historical data are full of uncertainties (temporal, textual, positional accuracy, confidence in historical sources) that can not be ignored or entirely resolved. We propose an open source, open data, extensible solution for geocoding that is based on gazetteers composed of geohistorical objects extracted from historical topographical maps. Once the gazetteers are available, geocoding an historical address is a matter of finding the geohistorical object in the gazetteers that is the best match to the historical address searched by the user. The matching criteria are customisable and include several dimensions (fuzzy string, fuzzy temporal, level of detail, positional accuracy). As the goal is to facilitate historical work, we also propose web-based user interfaces that help geocode (one address or batch mode) and display over current or historical topographical maps, so that geocoding results can be checked and collaboratively edited. The system has been tested on the city of Paris, France, for the 19th and the 20th centuries. It shows high response rates and is fast enough to be used interactively.

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.

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

Solid waste management in Accra is a major challenge to the Metropolitan Authorities and inhabitants. The rapidly increasing population coupled with poor capacity of the municipal and private waste management companies to management waste effectively has created issues of environmental concern. Due to poor waste managements systems, most household dispose waste indiscriminately leading to floods and health issues. The study showed that about 60% of household waste is organic materials which has the potential to be converted to compost for agriculture purpose. Meanwhile plastics and rubbers which litters the environment as well as blocking major storm drains and gutters hence creating huge environmental hazard is made of 11% of the total component of most household waste generated daily. The study also revealed that among the methods of disposing waste, dumping waste in skip containers located at authorized places was the preferred means of disposing waste by household though others also dispose waste by other means such as burying and burning. Inadequate skip containers per population of household in an area coupled with irregularity of tracks picking these containers makes skip containers dumping site ugly scene, hence creating health issues. Among the constraints that impact negatively on sustainable waste management in Accra Metropolis, economic constraints was perceived as the main challenge which affect efficient waste management. Currently the country is going through serious economic challenges so government does not release money timely to fund projects which waste management is key. Most donor partners that use to support the government with funds have either reduced or redrawn their services as they have no confidence in the state of Ghana economy. Aside the constrains, the study also indicated that factors such as poor public attitude towards waste management, poor enforcement of sanitation by-laws, inadequate and untimely release of government funds were also seen as the main factors affecting waste management.

Green spaces take part a vital role in reducing the harmful effects occurred through the process of rapid urbanization. This study focuses on evaluating the change of green space and per capita green space in Colombo District, Sri Lanka in between 2008 and 2015 using Landsat images. The NDVI differencing method and classification method were used to detect the change of land cover. According to the results, a gradual decline of green space from 629.1km2 to 591.16km2 with a rate of 6.03% can be depicted. The change is considerable in Kaduwela, Moratuwa and Maharagama DSDs and quite better in the areas such as Avissawella, Homagama and Padukka. The per capita green space has been decreased from 272.361 m2 to 248.811 m2. Though these rates are very well higher than the UN, EU and WHO standards for the district, Colombo DSD do not comply with UN and EU standards. The case would turn into worst in 2025, as the predictions with current rates. Therefore, the study recommends taking immediate actions to make a greener city. Further, a tax system is proposed to get the attraction of the general public.

For multi-sensor integrated systems, such as a mobile mapping system (MMS), data fusion at sensor-level, i.e., the 2D-3D registration between optical camera and LiDAR, is a prerequisite for higher level fusion and further applications. This paper proposes a line-based registration method for panoramic images and LiDAR point cloud collected by a MMS. We first introduce the system configuration and specification, including the coordinate systems of the MMS, the 3D LiDAR scanners, and the two panoramic camera models. We then establish the line-based transformation model for panoramic camera. Finally, the proposed registration method is evaluated for two types of camera models by visual inspection and quantitative comparison. The results demonstrate that the line-based registration method can significantly improve the alignment of the panoramic image and LiDAR datasets under either the ideal spherical or the rigorous panoramic camera model, though the latter is more reliable.

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.

Collaborative robots have experienced low acceptance in applications, especially in industry. 1 This fact has attracted the attention of researchers and practitioners, who point to different causes 2 for this low acceptance. One of the main reasons is the difficulty in converging on suitable methods 3 for modeling collaborative interactions between robots and their surrounding context during the 4 requirements phase. These interactions must be elicited and modeled during requirements modeling 5 to maximize value creation through collaboration and must be formally verified, taking into account 6 the risks of human-robot interaction. However, such modeling is often not present in collaborative 7 robot design, and the choice of an appropriate approach remains an open problem. In this paper, 8 this problem is addressed from a requirements engineering perspective, a goal-oriented model and 9 a service-based approach supported by an additional verification method based on Petri nets is 10 proposed. A case study based on collaborative robots used in a hospital environment is presented.

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

The present work investigates primarily the morphology evolution of the body-centered-cubic (BCC)/B2 phases in AlxNiCoFeCr high-entropy alloys (HEAs) with increasing Al content, which has been neglected so far. There exist two types of microscopic morphologies of BCC and B2 phases in this HEA series: one is the weave-like morphology induced by the spinodal decomposition, and the other is the microstructure of a spherical disordered BCC precipitation on the ordered B2 matrix that appears in HEAs with a much higher Al content. The shape of coherent precipitates is found to be closely related to the lattice misfit between BCC and B2 phases, which is sensitive to Al. The mechanical properties, including the compressive yielding strength and microhardness of the AlxNiCoFeCr HEAs, are also discussed in light of the concept of the valence electron concentration (VEC).

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.

Numerous companies frequently engage in collaborative cooperation to exchange intelligence rather than resorting to competing strategies to achieve higher levels of intelligence. \textit{Intelligence} is essential in determining \textit{collaborative intelligence} . Intelligence can be discerned by a range of behaviors and actions that go beyond the mere individual observable activity. Collaborative intelligence is often defined as the combined actions of individuals (such as humans and machines) working towards a common goal. It encompasses more than just behaviour and includes other crucial elements such as the sharing of intelligence. The ontological view concerns the system's understanding and representation of information, data, and the fundamental reality it aims to capture and manage. This paper aims to expand upon our previous research on Intelligence in decentralized environments. The methodology utilized in this paper involves employing an ontological view to derive intelligence, encompassing its various forms, such as data, information, and knowledge. The paper explores the fundamental significance of intelligence and semantic integration in supporting the collaborative intelligence framework. Semantic integration is crucial to establishing a shared understanding of individuals' data, information, and concepts. It is fundamental in facilitating effective communication, intelligence sharing, and decision-making within a collaborative environment.

The availability of current land cover and land use (LCLU) information for monitoring the status of land resources has considerable value in ensuring sustainable land use planning. Similarly, the need to provide updated information on the extent of LCLU change in West Africa has become apparent, given the increasing demand for land resources driven by the rapid population growth in the sub-region. SERVIR West Africa, a regional consortium jointly supported by USAID and NASA to foster the use of geospatial and earth observation data and science for decision-making on critical environmental and food security challenges, in collaboration with the Food and Agriculture Organization of the United Nations (FAO), is building technical capacity in the sub-region to develop and implement harmonized regional land cover classification system for LULC change monitoring in West Africa, based on the Land Cover Meta Language (LCML-ISO 19144-2). This article focuses on the process, potential opportunities, outputs of this collaboration, exemplary use cases, and recommendations for the next steps.

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.

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.

This qualitative research explores the dynamics of collaborative marketing and supply chain strategies for enhanced product lifecycle management. Through in-depth interviews with industry stakeholders, key themes, challenges, and implications of collaboration emerge. Trust, communication, technology, strategic alignment, and sustainability are identified as critical factors driving successful collaboration. The study highlights the transformative potential of collaboration in driving innovation, efficiency, and customer satisfaction. Despite challenges such as aligning objectives and ensuring data security, collaborative strategies offer significant opportunities for value creation and differentiation. The findings underscore the importance of building trust, leveraging technology, and integrating sustainability considerations in collaborative efforts. Strategic alignment and cultural fit among partners are essential for overcoming differences and achieving common goals. The implications of the research extend to practitioners seeking to enhance collaboration in their organizations and researchers exploring collaborative practices in different industries and contexts. Future research could further explore the impact of collaboration on stakeholder perspectives and outcomes. By addressing challenges and leveraging opportunities, organizations can maximize the benefits of collaborative marketing and supply chain strategies to drive sustainable growth and competitive advantage in today's dynamic business landscape.

Robotic path planning and navigation algorithms enable autonomous mobile robots to navigate complex environments. These algorithms allow robots to be deployed in search and rescue missions, where they can locate victims in hazardous areas inaccessible to humans. Additionally, autonomous driving algorithms hold the potential to revolutionize transportation by enabling self-driving cars to navigate roads safely and efficiently. This paper focuses on developing an algorithm for autonomous navigation of the mobile robot (Tortoise bot) using robot operating system (ROS), based on publish-subscribe communication facilitating seamless interaction between various nodes. Tortoise Bot is a differential wheeled robot whose movement is based on two separately driven wheels placed on either side of the robot body. The Raspberry Pi acts as the controller. A 360-degree LiDAR and RGB-D camera are used for creating a 3D map of the environment. Various state-of-the art software tools, such as Gazebo, Ubuntu, MATLAB and RPI imager are used. Initially, a simulation based on simple obstacle avoidance is done using gazebo and MATLAB. Another simulation based on trajectory tracking is implemented using MATLAB to study the kinematic model. Online navigation and path planning are executed with the help of teleoperation and Dynamic Window Approach algorithm. A novel Wander algorithm is created that avoids obstacles on its path. Object recognition is also implemented during autonomous navigation using YOLO.

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.

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.

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.

Infrared small target detection (ISTD) plays a crucial role in both civilian and military applications. The detection of small targets against dense cluttered backgrounds remains a challenging task, requiring the collaboration of false alarm source elimination and target detection. Existing approaches primarily focus on modeling targets while often neglecting false alarm sources. To address this limitation, we propose a Target and False Alarm Collaborative Detection Network to leverage the information provided by false alarm sources and the background. Firstly, we introduce a False Alarm Source Estimation Block (FEB) that estimates potential interferences present in the background by extracting features on multiple scales and employing stepwise upsampling for feature fusion. Subsequently, we propose a framework that employs multiple FEBs to eliminate false alarm sources across multiple scales. Finally, a Target Segmentation Block (TSB) is introduced to accurately segment the targets to produce the final detection result. Experiments on public datasets demonstrate that, compared to other methods, our model achieves high accuracy in segmenting targets while being able to extract false alarm sources which can be used for further studies.

Algologists and neurologists play a significant role in management of headache. The study aimed to compare the headache management approaches of algologist and neurologists and evaluate the impact of telehealth education on their practices. A questionnaire was developed and sent to algologists and neurologists through social media and email. Demographic information, diagnostic and treatment approaches to a headache case, and the impact of telehealth education were evaluated 82 algologists and 97 neurologists completed the survey. There was no significant difference between diagnosis. However, the examination methods differed, with the neurologists relying on history and the algologists suggesting further investigations. Both groups agreed on the application of prophylaxis treatment, with botulinum toxin administration and classical prophylactic agents being accepted in both groups. The newest preventive treatment method was used more frequently in the Neurologists. Participants reported that online meetings had a positive impact on their daily practices, with 48% stating that they were reflected in their practice. Those who attended online meetings marked more up- to-date treatment options such as CGRP antagonists and Botulinum toxin. The study showed that algologists and neurologists had similar approaches to headache management, with differences in examination methods and the use of newer preventive treatment methods. Telehealth education had a positive impact on the participants, improving their knowledge of up-to-date treatment options.

Massification in higher education has made the satisfaction of students’ needs a difficult conundrum among university lecturers. In contrast, the use of innovative design for collaborative learning enhances student engagement in the populous student’s context. Moreover, this paper aims to extensively explore innovative designs for fostering student engagement and collaborative learning among first-year students at the University of Venda. The study employed a qualitative research method with the purposive sampling technique. Subsequently, a group of 200 students was the population of this study. Participant Observation and narrative inquiry were used as data collection instruments. The students in their respective groups were assigned topics from the module content to use their talents to demonstrate their understanding of certain content in the module. The non-surprising findings of this paper elucidated that collaborative learning expedites students’ mastery of key concepts and subject content. The module lecturers introduced students to these innovative designs to ensure collaborative learning and effective student engagement. The key findings elucidated these aspects namely, role-playing exercises, group projects, peer-to-peer learning, use of talents, and peer feedback. The implication of this study is that students learn to work together, delegate responsibilities and communicate effectively to attain a common goal. Using these strategies, the lecturers promote collaboration among students and foster a more engaging and interactive learning experience. This paper further recommends efficient and effective techniques and strategies to foster student engagement and collaboration to track and monitor at-risk students timeously.

With the rapid development of the Internet of Things, massive amounts of data will be generated at the network edge, resulting in increased latency of the traditional cloud computing model. Cloud service providers deploy edge servers near the users to improve the quality of service. Due to the large scale of networks, the inefficiency of edge server deployment and task scheduling will result in excessive latency and severe workload imbalance among edge servers. In this paper, we propose a Server Deployment and Task Scheduling (SDTS) framework in multi-edge collaborative computing, which can effectively reduce latency and ensure workload balancing. First, a metropolitan area network (MAN) is divided into dense candidate regions (DCRs) based on the density characteristics of mobile end devices, and then servers are deployed independently in each sub-region. Then, a two-step clustering algorithm is designed to deploy servers as close as possible to the mobile devices. Finally, a task scheduling algorithm is presented based on an edge scheduling layer in DCRs, which can leverage collaboration between edge servers to improve the performance of the entire edge computing system. The experimental results based on the Cellular Base Station (CBS) dataset of Shanghai Telecom indicate that the proposed approach outperforms several representative strategies in terms of latency and workload balancing.

This paper describes some of the challenges that need to be addressed in order to develop collaborative spectrum sharing systems. The importance of these challenges stems from the assumption that rules for spectrum sharing can change after the deployment of radio networks and the whole system must be able to adapt to them. To address such a requirement, we used a policy-based approach in which transmissions are controlled by a policy interpreter system, and the policies can be modified during system operation. Our primary goal was to develop a prototype of such a system. In this paper, we outline the implementation of policy interpretation, automatic generation of transmission opportunities in case a request for transmission is denied by the policy reasoner, and the generation of rendezvous channels for the synchronization of otherwise asynchronously running software defined radios.

We first review the literature on machine behavior which may contain the interaction between machines, and then discuss the methodology and the related case involving collaboration between robots to instantiate the concept with AI empowerment. The navigation case aims to a security application with autonomous control and roadside agent embedded in a mobile edge computing structure. In the studied navigation based on the artificial potential field method, robots need to use position information to calculate the moving direction frequently. In the case of high motion speed as well as GPS positioning error, the path trajectory may show a sharp change of direction. In order to mitigate the trajectory oscillation, this paper proposes a path planning design where training process and motion direction prediction are integrated by using artificial neural network. The auxiliary navigation agent near multiple obstacles can first extract the past movement information of the robot and then determines whether there is a serious path jitter event. Computer simulation analysis shows that the combination of autonomous control and cooperative behavior can effectively reduce the path jitter so as to achieve a fast and safe path planning.

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.

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.

Background This paper draws learnings and successes based on field implementation experience spanning four years (2016–2019) of implementing CLTS by Prince of Peace Orphans and Widows Vision, a community-based organization located in Kaberamaido district in eastern Uganda. Methods The study aimed to document, disseminate and inform from an evidence-based point of view how adaptation and collaborative engagements triggers learning from mistakes to inform iterative changes from improvements and success.This is a descriptive paper that used project documents review based on field implementation experience. Existing project reports were synthesised, collated and curated for evidence. Data were drawn from project reports and records to inform narratives in writing. Implementation of the project was executed in homogenous rural communities occupied by people of the same dialect, cultural and social settings. Results We note that success in CLTS implementation can hardly be achieved by merely following prescriptions in handbooks and guidelines but rather by devising innovative community engagement and other participatory and community-driven techniques that foster adaptive management, promote ownership, and buy-in.Having learned from our failures, we used data to inform decisions and transformatively deviated from traditional CLTS implementation and introduced high impact and innovative approaches such as the use of CLTS helpdesks and Situation room, the Pamoja approach, learning labs and iterative feedback loops, innovatively tackling slippage and carefully introducing the follow-up mandona approach. These enhanced experiential learning and ultimately resulted in sustained sanitation behaviour. Conclusions The CLTS approach as outlined in the handbook needs to be flexibly adapted to address contextual needs. Reflective and learning sessions reinforced with routine feedback loops from implementers and beneficiaries yields tremendous results, propagates experiential learning, and ultimately results in a transformative deviation from undesirable to desired sanitation behaviours. These innovative approaches once carefully blended have proved to be sustainable, are adaptable and can work in an even larger scale and in a variety of contexts.

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.

Maze navigation using one or more robots has become a recurring challenge in scientific literature and real life practice, with fleets having to find faster and better ways to navigate environments such as a travel hub (e.g. airports) or to evacuate a disaster zone. Many methods have been used to solve this issue, including the implementation of a variety of sensors and other signal receiving systems. Most interestingly, camera-based techniques have increasingly become more popular in this kind of applications, given their robustness and scalability. In this paper, we have implemented an end-to-end strategy to address this scenario, allowing a robot to solve a maze in an autonomous way, by using computer vision and path planning. In addition, this robot shares the generated knowledge to another by means of communication protocols, having to adapt its mechanical characteristics to be able to solve the same challenge. The paper presents experimental validation of the four components of this solution, namely camera calibration, maze mapping, path planning and robot communication. Finally, we present the integration and functionality of these methods applied in a pair of NAO robots.

This paper summarizes over a decade of collaborative eco-archaeological research along the central coast of California involving researchers from the University of California, Berkeley, tribal citizens from the Amah Mutsun Tribal Band, and California Department of Parks and Recreation archaeologists. Our research employs remote sensing methods to document and assess cultural resources threatened by coastal erosion and geophysical methods to identify archaeological deposits, minimize impacts on sensitive cultural resources, and provide tribal and state collaborators with a suite of data to consider before proceeding with any form of invasive archaeological excavation. Our case study of recent eco-archaeological research developed to define the historical biogeography of threatened and endangered anadromous salmonids demonstrates how remote sensing technologies help identify dense archaeological deposits, remove barriers, and create bridges through equitable and inclusive research practices between archaeologists and the Amah Mutsun Tribal Band. These experiences have resulted in the incorporation of remote sensing techniques as a central approach of the Amah Mutsun Tribal Band when conducting archaeology in their traditional territories.

Transdisciplinary research approach requires that different scientists with their discipline-specific theories, concepts and methods find ways to work together with other societal players to solve a real-life problem. In order to put this into practice, Trans-disciplinary Action Research (TDR) approach was applied in this study using Push pull technology (PPT) as a boundary object. The study was conducted in Bako Tibe, Jimma arjo and Yayu Woredas (Districts) in the Oromia region of Ethiopia from August 2014 to April 2015. PPT is a biological based mechanism developed by researchers for stemborer pest control in maize. It involves inter-cropping maize with a stemborer moth-repellent silverleaf or Greenleaf Desmodium (push), and planting an attractive trap crop, Napier or Brachiaria grass (pull), around the maize crop. On farm PPT implementation was used to provide an opportunity for collaboration, interaction and learning among heterogeneous set of stakeholders comprising of researchers from Ethiopian Institute of Agricultural research and the practitioners from the ministry of agriculture and smallholder farmers/traders. The data was collected using mixed methods approach comprising of key informant interviews, Focus Group discussions, workshops, on-farm practical demonstrations and participant observations. The findings shows that; collaborative leadership provides a chance for the stakeholders to participate in the technology learning and decision making by enabling them to jointly contribute skills towards development, refinement and adaptation of PPT. In situations where there are conflicts, they are embraced and become opportunities for in-depth learning, finding solutions and adaptation rather than being sources of contradictions or misunderstandings. Leadership roles taken by farmers play a key role in terms of ability to reflect on their own practices and drawing on scientific explanations from researchers. It also enables them take lead in new technology implementation and information sharing in free and easy manner with fellow farmers and other stakeholders. Although PPT perennial nature of cropping provides opportunities for continuous stakeholder interaction and learning, it requires a personally committed leadership and formal institutional engagements for the sustainability of its activities spanning over several cropping seasons. Market forces and the involvement of private sector players also has a role to achieve this as shown from the involvement of individual farmers and traders in Desmodium and Brachiaria seed production, collection and distribution.

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.

The dynamic and unpredictable nature of modern supply chains necessitates the development of resilient systems capable of withstanding various disruptions. This qualitative study examines the impact of collaborative practices on supply chain resilience, providing an in-depth analysis of their contributions to the robustness and adaptability of supply chains. Through extensive interviews with industry professionals, including supply chain managers, logistics coordinators, and strategic planners, the study identifies key collaborative practices—such as information sharing, joint decision-making, and coordinated response strategies—that significantly enhance resilience. These practices facilitate proactive risk management, improve response times during disruptions, and foster innovation through shared knowledge and resources. Thematic analysis of the collected data reveals that strong relationships among supply chain partners and integrated approaches that leverage each participant's strengths are crucial for effective risk mitigation and recovery. Additionally, the study underscores the role of technology in enabling real-time information sharing and decision-making, which are essential for effective collaboration. The findings highlight the importance of investing in robust collaborative networks and adopting supportive technologies to enhance communication and coordination. This research contributes to the existing body of knowledge by offering a nuanced understanding of how strategic implementation of collaborative practices can build more resilient supply chains. It provides practical recommendations for businesses seeking to improve their resilience, emphasizing the qualitative aspects of collaboration and its impact on supply chain management. Overall, this study presents a comprehensive exploration of how collaboration can bolster supply chain resilience, offering valuable insights for practitioners and scholars focused on creating stable and sustainable supply chain operations in the face of growing uncertainties.

Fine-tuning is an important technique in transfer learning that has achieved significant success in tasks that lack training data. However, as it is difficult to extract effective features for single-source domain fine-tuning when the data distribution difference between the source and the target domain is large, we propose a transfer learning framework based on multi-source domain called adaptive multi-source domain collaborative fine-tuning to address this issue. This approach utilizes multiple source domain models for collaborative fine-tuning, thereby improving the model's feature extraction capability in the target task. Specifically, this approach employs an adaptive multi-source domain layer selection strategy to customize appropriate layer fine-tuning schemes for the target task among multiple source domain models. The objective is to extract more efficient features. Furthermore, a novel multi-source domain collaborative loss function is designed to facilitate the precise extraction of target data features by each source domain model. Simultaneously, it works towards minimizing the output difference among various source domain models, thereby enhancing the adaptability of the source domain model to the target data. In order to validate the effectiveness of the proposed the adaptive multi-source domain collaborative fine-tuning framework, it is analyzed and compared with the most widely used fine-tuning methods by applying them to seven publicly available visual categorization datasets commonly employed in transfer learning. Experimental results demonstrate that, in comparison with the existing fine-tuning approaches, our method not only enhances the accuracy of feature extraction in the model but also provides precise layer fine-tuning schemes for the target task, resulting in state-of-the-art performance.

The collaborative economy comprises resource circulation systems where consumers can act as both obtainers and providers of products and services. Despite considerable research on collaborative economies, there is a dearth of understanding of how individuals switch from being an obtainer to a provider. We address this void by drawing on 31 in-depth semi-structured interviews with collaborative economy obtainers. The findings suggest that personal values, learning experience, social benefits, mutuality, and peer influence drive obtainers to become providers. In contrast, distrusting strangers, a sense of intimacy, a lack of resources to share, and a lack of skills inhibit the switchover process. Our findings contextualize the drivers and inhibitors idiosyncratically to convert obtainers into providers, offer important implications for managers, contribute to the collaborative economy and sharing economy literature, and suggest compelling avenues for future research.

Despite the increasing interest in ‘smart city’ initiatives worldwide, current literature still lacks the approaches and models that address challenges in organization and collaboration, which boost sustainability and ‘smartness’ in modern cities. This paper provides an overview of ‘smart city’ ecosystems as a mechanism to promote the expected outcomes of their sustainable development, and highlights the importance of conceptualizing cities from organizational and managerial perspectives. Representative exploratory models of ‘city organization’, which emphasize on the role of ‘governance’ and synergies, are presented to ‘decode’ complex city mechanisms and to determine key components that lead to ‘smart’ initiatives. Interesting case studies and applications are then analysed to examine the practical dimension of these approaches. As a review paper, this article lays out a general framework on the importance of ‘collaboration’, ‘governance’, ‘management’, and ‘ecosystem’. However, 'planning smartly’ and achieving ‘sustainability’ at the level of city ‘organization’ remain as challenges in this pioneering study of smart cities.

Islam is not a mono-dimensional religion, therefore studying Islam with all its aspects is not enough with the scientific method, ie philosophical, human, historical, sociological methods. Likewise, understanding Islam with all its aspects can not be-be doctrinaire. A scientific and doctrinal approach should be used together (Scientific Cum Doctrine).

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.

The abstract summarizes the transformative impact of artificial intelligence (AI) on employment in Malaysia, highlighting the need for comprehensive strategies to ensure inclusivity and equitable access to AI-driven opportunities and digital skills training. It addresses the research problem of potential inequalities and marginalization among vulnerable populations due to uneven distribution of AI-related employment opportunities and training. The research objectives focus on developing decentralized strategies tailored to rural communities and marginalized groups, alongside evaluating policy interventions for equitable access. The literature review provides theoretical frameworks emphasizing skill development, understanding structural shifts, fostering inclusive innovation, and promoting collaborative governance. Future research directions include implementing and evaluating strategies in real-world contexts, exploring technological solutions, conducting qualitative research on individuals' experiences, and adopting interdisciplinary approaches. Overall, a multidimensional approach combining theoretical insights, empirical evidence, and stakeholder engagement is essential for developing inclusive and sustainable solutions to harness AI's potential for the benefit of all Malaysians.

The present work fronts the human pose estimation problem, developing a method that enables automated ergonomic risk assessment. A research methodology is developed to calculate joint angles from digital snapshots or videos by using computer vision and machine learning techniques to get a more accurate ergonomic risk assessment. Starting from an ergonomic analysis, the study explores the use of a semi-supervised training method to detect the skeletons of workers. The research methodology developed aims to infer the positions and angles of the joints, to calculate the criticality index based on the RULA scores and fuzzy rules. Then, to prevent work-related musculoskeletal disorders (WMSD), improve production capacity and decrease the ergonomic risk, the system uses joint with a collaborative robot to support the worker in carrying out the most critical operations. The method has been tested on a real industrial case in which manual assembly activities of electrical components are conducted. The approach developed can overcome the limitations of recent developments based on computer vision or wearable measurement, sensors by performing an assessment with an objective and flexible ap-proach to postural analysis development.

Levels of trace element pollution in surface soil can be estimated using soil analyses and leaching tests. These methods may reveal different results due to the effect of soil properties, such as grain size and mineral composition, on elemental availability. Therefore, this study advocates an alternative method for monitoring and assessment of trace element pollution in surface soil using terricolous fruticose lichens. Lichens growing at abandoned mine sites and unpolluted areas in southwest Japan and their substrata were analyzed using inductively coupled plasma-mass spectrometry and X-ray fluorescence spectrometry to clarify the relationships between Cu, Zn, As, and Pb concentrations in lichens and soils, including their absorption properties. Concentrations of these elements in the lichens were positively correlated with those in the soils regardless of lichen species, location, habitat, or conditions of soils. The analyzed lichens had neither competitive nor antagonistic properties in their elemental absorption, which made them good biomonitors of trace element pollution in surface soil. The distribution maps of average Cu, Zn, As, and Pb concentrations at each sampling region detected almost all of the Cu, Zn, and As pollution of the soils. Therefore, lichens could be used in practical applications to monitor Cu, Zn, and As pollution in surface soils.

The Digital electronics collaborative enhanced learning (DECEL) project has recently developed an international collaborative education course. Its main objective is to enhance the digital electronics skills of international students by working on a complex, multidisciplinary applied problem using a mixed digital architecture. We have developed a logic level synthesis and dedicated software layers on the Red Pitaya FPGA platform. The diversity of digital concepts to be implemented, from hardware description language (HDL) to high-level languages such as Python or Matlab, forced the students to work together and rapidly improve their skills. Their motivation was fueled by the curiosity of controlling an ultrasound probe to obtain ultrasound signatures. This particular physics, little known to the students, was an additional source of curiosity. The goal of forming an image in a liquid medium was an additional motivating factor for them. The students reported that they learned a lot from the experiment. Thus, the technical parts and pedagogical results are documented in this work for reproducibility.

For the purpose of improve the sustainability of products sold in the EU, Digital Product Passports is a mandatory solution. These passports would systematically gather information about products, such as detailing the materials involved to aid recycling and remanufacturing efforts, or recording the emissions produced throughout the manufacturing process. The overall goal is the establishment of a circular economy in the EU. Current research on Digital Product Passports is focused on collating content for sector-specific applications. However, achieving sustainability goals through Digital Product Passports will require new methods and technical solutions for digital collaboration between supply chain participants, especially in the manufacturing sector. Collaborative work on Digital Product Passports requires trust and traceability in data and access management to ensure privacy over the data contained. One way to enable this securely and confidentially is through the use of blockchain technology, in which stored data cannot be concealed, which is key to the traceability of digital product data documentation. This paper therefore presents a concept for the implementation of generically applicable cross-industry blockchain-based digital product passports. To this end, generic supply chain processes have been abstracted and condensed into the architecture of smart contracts. Great attention is paid to the establishment of traceability as well as privacy through the selection of the blockchain technology Secret Network in combination with Gaia-X functionalities. An illustrative use case for digital product passports in manufacturing is used to demonstrate the applicability of the presented concept. In this use case information about the digital nameplate and carbon footprint is exchanged securely and confidentially in a multi-tenant supply chain network based on the Industry 4.0 infomation model of the Asset Administration Shell.

Language bias stands as a noteworthy concern in Visual Question Answering (VQA), wherein models tend to rely on spurious correlations between questions and answers for prediction. This prevents the models from effectively generalizing, leading to a decrease in performance. To address this bias, we propose a novel modality fusion collaborative de-biasing algorithm (CoD). In our approach, bias is considered as the model’s neglect of information from a particular modality during prediction. We employ a collaborative training approach to facilitate mutual modeling between different modalities, achieving efficient feature fusion and enabling the model to fully leverage multi-modal knowledge for prediction. Our experiments on various datasets, including VQA-CP v2, VQA v2, and VQA-VS, using different validation strategies, demonstrate the effectiveness of our approach. Notably, employing a basic baseline model resulted in an accuracy of 60.14% on VQA-CP v2.

Background and objectives: Effective management for chronic diseases, hereditary and rare diseases and Thalassaemia in particular constitutes an important indicator for the quality of healthcare systems. We aimed at assessing healthcare services in different countries by using publicly available health indicators and by surveying Thalassaemia patients and their caregivers. Materials and Methods: We reviewed official worldwide databases from the WHO, World Bank, and scientific resources and also used a structured patient tailored self-completed questionnaire to survey Thalassaemia patients and their caregivers in 2023. Results: A total of 2,082 participants were surveyed (mean age 27 years, males 42%). About 1 in 4 respondents had less than high school education, while 24% had a bachelor degree. About a third of respondents were married and had either full- or part-time employment. The vast majority (~80%) had initiated transfusion therapy between 1 – 4 years of age. Only 42% reported no delays in receiving blood transfusion, while 47% reported occasional delays and 8% serious delays. About half of patients reported being very satisfied (11%) or satisfied (38%) with the quality of provided services, while 1 in 3 patients reported being unsatisfied or very unsatisfied, and their access to treatment was difficult or very difficult due to traveling expenses and high cost of treatment. Conclusion: Important improvements in the care of Thalassaemia patients have been documented during the past decades. Nevertheless, our recent survey reveals many unmet needs where additional focus is required through national healthcare systems in order to address them effectively and achieve satisfactory patient outcomes.

Cloud computing appears to be the dreamed vision of the healthcare industry; it refers to means of storing and accessing data and programs over the internet instead of the computer’s hard drive. However, the adoption of cloud computing requires solving several issues and infor-mation privacy is a major one. This work proposes a cloud architecture design for the healthcare information system. The proposed architecture enables for storing and sharing information in a privacy-preserving manner. Patients’ information in the proposed architecture is divided into four categories identified in the case study data analysis. User identity management protocol (U-IDM) is employed for controlling the access to patients’ information, and patients have means of control over who can access their information. A scenario-based instantiation validated the proposed architecture's privacy-preserving patient data exchange. The instantiation proved that the proposed architecture allows sharing healthcare information without violating the privacy of patients.

This paper presents a system that merges computer vision and surface electromyography techniques to carry out grasping tasks. To perform this, the vision-driven system is used to compute pre-grasping poses of the robotic system based on the analysis of tridimensional object features. Then, the human operator can correct the pre-grasping pose of the robot using surface electromyographic signals from the forearm during wrist flexion and extension. Weak wrist flexions and extensions allow a fine adjustment of the robotic system to grasp the object and finally, when the operator considers that the grasping position is optimal, a strong flexion is performed to initiate the grasping of the object. The system has been tested with several subjects to check its performance showing a grasping accuracy of around 95% of the attempted grasps which increases by around a 9% the grasping accuracy of previous experiments in which electromyographic control was not implemented.

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.

Scene classification plays an important role in the intelligent processing of high-resolution satellite (HRS) remotely sensed image. In HRS image classification, multiple features, e.g. shape, color, and texture features, are employed to represent scenes from different perspectives. Accordingly, effective integration of multiple features always results in better performance compared to methods based on a single feature in the interpretation of HRS image. In this paper, we introduce a multi-task joint sparse and low-rank representation model to combine the strength of multiple features for HRS image interpretation. Specifically, a multi-task learning formulation is applied to simultaneously consider sparse and low-rank structure across multiple tasks. The proposed model is optimized as a non-smooth convex optimization problem using an accelerated proximal gradient method. Experiments on two public scene classification datasets demonstrate that the proposed method achieves remarkable performance and improves upon the state-of-art methods in respective applications.

Although the concept of additive manufacturing has been proposed for several decades, momentum of selective laser melting (SLM) is finally starting to build. In SLM, density and surface roughness, as the important quality indexes of SLMed parts, are dependent on the processing parameters. However, there are few studies on their collaborative optimization in SLM to obtain high relative density and low surface roughness simultaneously in the previous literature. In this work, the response surface method was adopted to study the influences of different processing parameters (laser power, scanning speed and hatch space) on density and surface roughness of 316L stainless steel parts fabricated by SLM. The statistical relationship model between processing parameters and manufacturing quality is established. A multi-objective collaborative optimization strategy considering both density and surface roughness is proposed. The experimental results show that the main effects of processing parameters on the density and surface roughness are similar. It is noted that the effects of the laser power and scanning speed on the above objective quality show highly significant, while hatch space behaves an insignificant impact. Based on the above optimization, 316L stainless steel parts with excellent surface roughness and relative density can be obtained by SLM with optimized processing parameters.

Due to the limitations on the capabilities of current robots regarding task learning and performance, imitation is an efficient social learning approach that endows a robot with the ability to transmit and reproduce human postures, actions, behaviors, etc., as a human does. Stable whole-body imitation and task-oriented teleoperation via imitation are challenging issues. In this paper, a novel comprehensive and unrestricted real-time whole-body imitation system for humanoid robots is designed and developed. To map human motions to a robot, an analytical method called geometrical analysis based on link vectors and virtual joints (GA-LVVJ) is proposed. In addition, a real-time locomotion method is employed to realize a natural mode of operation. To achieve safe mode switching, a filter strategy is proposed. Then, two quantitative vector-set-based methods of similarity evaluation focusing on the whole body and local links, called the Whole-Body-Focused (WBF) method and the Local-Link-Focused (LLF) method, respectively, are proposed and compared. Two experiments conducted to verify the effectiveness of the proposed methods and system are reported. Specifically, the first experiment validates the good stability and similarity features of our system, and the second experiment verifies the effectiveness with which complicated tasks can be executed. At last, an imitation learning mechanism in which the joint angles of demonstrators are mapped by GA-LVVJ is presented and developed to extend the proposed system.

This research aims to contribute to the growing body of knowledge of Collaborative Consumption (CC) by exploring the motivations that influence the use of Peer-to-Peer (P2P) accommodation platforms from the demand side. There has been a significant increase in interest in sustainable choices regarding P2P accommodation in recent years. To address this gap and contribute to the collaborative consumption and P2P accommodation theory a quantitative study was conducted through a survey yielding 235 responses from both users and non-users of P2P platforms. The findings of this study suggest that P2P accommodation platform usage is influenced by multiple motivations, including sustainability, belonging, economic benefits, and convenience. Interestingly, the study also found that individuals with higher levels of academic qualifications are more likely to adopt this mode of consumption. Moreover, the study is the first of its kind to quantitatively address this topic and, therefore, contributes significantly to the field of collaborative consumption and P2P accommodation theory. By understanding the motivations of P2P platform users, policymakers and practitioners can develop targeted strategies to promote sustainable choices in this sector. Overall, this study provides a useful framework for future research on collaborative consumption and sustainable P2P accommodation.

In a collaborative forecasting task, experts may have unequal authority levels. However, this has rarely been considered reasonably in the existing fuzzy collaborative forecasting methods. In addition, experts may not be willing to discriminate their authority levels. To address these issues, an auto-weighting fuzzy weighted intersection (FWI) fuzzy collaborative intelligence approach is proposed in this study. In the proposed auto-weighting FWI fuzzy collaborative intelligence approach, experts’ authority levels are automatically and reasonably assigned based on their past forecasting performances. Subsequently, the auto-weighting FWI mechanism is established to aggregate experts’ fuzzy forecasts. The theoretical properties of the auto-weighting FWI mechanism have been discussed and compared with those of the existing fuzzy aggregation operators. After applying the auto-weighting FWI fuzzy collaborative intelligence approach to a case of forecasting the yield of a DRAM product from the literature, its advantages over several existing methods were clearly illustrated.

The sense of uncertainty and fragility due to the effects and magnitude of global challenges we are facing (from pandemic circumstances to climate change impacts) requires – much more than in the past – the capacity to generate a visionary and forefront design approach in the young gen-erations aiming at stimulating their reaction attitude rather than providing consolidated tools from past conditions that no longer exist or will rapidly evolve. Within this general framework, we have investigated the effectiveness and impacts of experienced-based methods of learning and innovative educational tools in architecture aimed at shaping expertise in which the environ-mental dimension and the climate-change challenge dialogues with the context's complexity in terms of socio-cultural dynamics, real potentialities and constrains, addressing their transdisci-plinary trajectories. The paper analyses 5 international pioneering teaching experiences that provide the opportunity to understand the outcomes of collaborative and experiential learning processes in which the educational activities leverage a dialogue between diverse communities (academia-citizens-policymakers-practitioners). The study outcomes show that shifting the pedagogical paradigm towards in-field-experience-based models can improve the awareness of future practitioners for climate implications of architectural design, implement their analysis and project skills while triggering processes of knowledge transfer and co-production at community level, and allow them to better address the societal and cultural issues involved within decision making.

Accurate localization of road agents is the basis of intelligent transportation systems, which is still difficult to achieve for GNSS positioning in urban areas due to the signal interferences from buildings. Various collaborative positioning techniques are recently developed to improve the positioning performance by the aid from neighboring agents. However, it is still challenging to study their performances comprehensively. The GNSS measurement error behavior is complicated in urban areas and unable to be represented by naive models. On the other hand, real experiment requiring numbers of devices is hard to be conducted, especially for a large-scale test. Therefore, a GNSS realistic urban measurement simulator is developed to provide measurements for collaborative positioning studies. The proposed simulator employs a ray-tracing technique searching for all possible interferences in the urban area. Then, it categorizes them into direct, reflected, diffracted, and multipath signal to simulate the pseudorange, carrier-phase, 〖C/N〗_0, and Doppler shift measurements correspondingly. The performance of the proposed simulator is validated through real experimental comparisons with different scenarios. The proposed simulator is also applied with different positioning algorithms, which verifies it is sophisticated enough for the collaborative positioning studies in the urban area.

To encourage proper waste management from electrical and electronic devices (e-waste), it is necessary to invest heavily in the development of recycling technologies. One way to improve the process is to automate separating the shredded parts of e-waste using a robot. This paper's literature review, utilizing the Preferred Reporting Items for Systematic reviews and Meta-Analyses (PRISMA) framework, showcases potential robotic technologies for e-waste separation. However, the intricate design of these devices can pose significant challenges in their implementation. Various legal, organizational, and sociological obstacles have left Serbia's e-waste management practice underdeveloped, resulting in an unsatisfactory recycling rate. In this paper we examined the possibility of using robots on the precise example of recycling refrigerators in a recycling center in Eastern Serbia, concluding that such a solution would have multiple positive effects, both on the employees and the working environment, on the operations of the recycling center itself, and on increasing the e-waste recycling rate in the country.

In swarm-robotics foraging, the purpose of task allocation is to adjust the number of active foraging robots dynamically based on the task demands and changing environment. It is a difficult challenge to generate self-organized foraging behavior in which each robot can adapt to environmental changes. To complete the foraging task efficiently, this paper presents a novel self-organized task allocation strategy known as the dynamic response threshold model (DRTM). To adjust the behavior of the active foraging robots, the proposed DRTM newly introduces the traffic flow density, which can be used to evaluate the robot density. First, the traffic flow density and the amount of obstacle avoidance are used to adjust the threshold which determines the tendency of a robot to respond to a stimulus in the environment. Then, each individual robot uses the threshold and external stimulus to calculate the foraging probability that determines whether or not to go foraging. Simulation and physical experiments are carried out to evaluate the performance of the proposed method. The experimental results show that the DRTM is superior to and more efficient than the adaptive response threshold model (ARTM) in swarm foraging.

In this discussion paper, I give an account for non-experts of, arguably, quantum dynamics in the brain, underlying the modeling of affective behavior of humanoid robots in the making. Outreach to the larger audience inevitably leads to abbreviations and simplifications; nonetheless, I try to offer the backgrounds of why it is important to study the virtual aspects of ‘people’ we meet online, what dimensions play a role in assessing such creatures, what humanities, psychology, communication, and computer science provide to help us understand how we become attached to non-existent others. As its capstone for the time being, an approach derived from physics is discussed for a robot to handle emotional ambiguity and vagueness of its user. Two computational models, Silicon and Quantum Coppélia, are discussed for their potential and limitations in explaining human affective behavior while dealing with mediated characters.

This article presents a methodology for the design of rehabilitation devices that considers factors involved in a clinical environment. This methodology integrates different disciplines that work together. The methodology is composed by 3 phases and 13 stages with specific tasks, the first phase includes the clinical context considering the requirements of the patient and therapist during the rehabilitation, the second phase is focused in engineering based on the philosophy of digital twin, and in the third phase is evaluated the device. This article explains the characteristics of the methodology and how it was applied in the design of an exoskeleton for passive rehabilitation of the upper limb.

Estimating ground surface PM2.5 with fine spatiotemporal resolution is a critical technique for exposure assessments in epidemiological studies of its health risks. Previous studies have utilized monitoring, satellite remote sensing or air quality modeling data to evaluate the spatiotemporal variations of PM2.5 concentrations, but such studies rarely combined these data simultaneously. We develop a three-stage model to fuse PM2.5 monitoring data, satellite-derived aerosol optical depth (AOD) and community multi-scale air quality (CMAQ) simulations together and apply it to estimate daily PM2.5 at a spatial resolution of 0.1˚ over China. Performance of the three-stage model is evaluated using a cross-validation (CV) method step by step. CV results show that the finally fused estimator of PM2.5 is in good agreement with the observational data (RMSE = 23.00 μg/m^3 and R2 = 0.72) and outperforms either AOD-retrieved PM2.5 (R2 = 0.62) or CMAQ simulations (R2 = 0.51). According to step-specific CVs, in data fusion, AOD-retrieved PM2.5 plays a key role to reduce mean bias, whereas CMAQ provides all-spacetime-covered predictions, which avoids sampling bias caused by non-random incompleteness in satellite-derived AOD. Our fused products are more capable than either CMAQ simulations or AOD-based estimates in characterizing the polluting procedure during haze episodes and thus can support both chronic and acute exposure assessments of ambient PM2.5. Based on the products, averaged concentration of annual exposure to PM2.5 was 55.75 μg/m3, while averaged count of polluted days (PM2.5 > 75 μg/m3) was 81, across China during 2014. Fused estimates will be publicly available for future health-related studies.

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

The supply of mental health processes in primary care has gaps. This study aims to analyze the association of agreement criteria and flows between primary care teams and the Family Health Support Center (NASF) for mental health collaborative care, considering the difference between capital and non-capital cities in Brazil. This cross-sectional study was conducted based on secondary data from the Primary Care Access and Quality Improvement Program. Agreement criteria and flows were obtained from 3883 NASF teams of the matrix support or collaborative care. The Chi-square test and multiple Poisson regression were used; p &lt; 0.05 was considered statistically significant. Prevalence ratios of negative associations demonstrated protective factors for support actions: follow-up at Psychosocial Care Center, management of psychopharmacotherapy, offer of other therapeutic actions, care process for users of psychoactive substances, and offer of activities to prevent the use of psychoactive substances. Collaborative care in primary care was effective, and capital cities were a protective factor compared with non-capital cities.

Recent research has highlighted associations between sleep and microbial taxa and pathways. However, the causal effect of these associations remains unknown. To investigate this, we performed a two-sample bidirectional Mendelian randomization (MR) analysis using summary statistics of genome-wide association studies (GWAS) from 412 gut microbiome traits (N = 7,738) and GWAS studies from seven sleep-associated traits (N = 345,552 to 386577). We employed multiple MR methods to assess causality, with Inverse Variance Weighted (IVW) as the primary method. We further applied Cochran’s Q statistical analysis, MR-Egger intercept, and MR-PRESSO for heterogeneity and pleiotropy assessment, alongside a Bonferroni correction ((P

Numerous studies have shown the multiple benefits of plant biodiversity and the crucial role of resident’s awareness in conservation and land management. Plant biodiversity is investigated in an analytical monitoring report conducted jointly with local population engaged in livestock activities and the young residents who are shifting toward hospitality and tourism. The study area, covering over 800 km2 in Sardinia, is half forested and has landscape interest. During the research, genotypes of Quercus ilex L. with sweet acorns and richer in polyphenols were discovered, the oldest ecosystem services in those rural communities. Collaborative monitoring focused attention on the benefits of plants in different habitats: 53% of these have been known to livestock farmers as food for local breeds of goats and pigs; 15% are officinal and 13% endemic. They have also been used in human nutrition within the Mediterranean diet, and they have landscape and garden interest. The study analyzes numerical data from a critical and educational perspective. These data serve as indicators of ecosystem health for the purpose of sustainable management policies, and attest to collaborative monitoring as a tool for analyzing human activities and the necessary balance between profit and biodiversity conservation, given the current challenging climate change conditions.

This paper presents a novel framework for Collaborative Learning Networks (CLNs) in classrooms, aiming to optimize resource utilization and enhance educational services. The study addresses the inefficiencies of traditional education models, particularly the underutilization of computational resources and limited access to specialized software. The proposed framework employs a mix of task-based and random allocation strategies to distribute computational tasks within the CLN, considering each device’s capabilities and task requirements. The findings show significant improvement in resource utilization, facilitated by device-to-device collaboration and task sharing, thus enriching students’ learning experiences. This work contributes to optimizing resource utilization in education, advancing the field of CLNs.

The problem of antimicrobial resistance has created a new need for alternative/ complementary treatments. To this end, bacteriophages offer an exciting prospect, as they can infect and kill specific bacteria without harming the host. This survey aimed to evaluate the state of applied phage research in Africa, among the members of the Africa phage Forum (APF). This was a cross-sectional survey whereby a google form was created for the members of the Africa Phage forum to fill so as to access the stage of phage research in Africa. Data was collected between June and July 2021 using a structured questionnaire form. A total of 65 out of a total of 101 forum members completed the questionnaire. The survey indicated that a majority 68% of phage researchers in Africa were at the training stages of their career. Some available participants were limited (8%). Most of the members identified funding, lack of skill set, near absence of adequate laboratory infrastructure as major hurdles for phage research. Despite these challenges, 73.3% of APF members work with the ESKAPE group with the majority of its members carrying out research in Phage in Biocontrol (80%), whereas others perform research related to human phage therapy (60%). However, it appeared this research has not yet reached the stage of commercialization. Overall, Phage research is in its infancy in Africa. Key challenges included poor laboratory infrastructure, lack of capacity building in the phage field, and lack of local awareness on the significance of phages for policymakers and governments. APF could, therefore, play a role in creating phage awareness in Africa; mobilizing resources; enhancing networks and collaborations amongst APF members and beyond, especially with more experienced phage mentors in the Western countries, to greatly reduce the gap in knowledge and enhance phage research in Africa.

Increasing the metacognitive abilities of chemistry students is an indisputable output of the teaching and learning process today. Collaborative problem based learning is a learning method that has been tested and proven to be applied, especially in Western countries in increasing the metacognitive abilities of students, but it is still very minimal applied in Asian countries, including Indonesia. Thus, this study was conducted to explore previous studies that examined collaborative problem-based learning in improving students' metacognitive abilities. The research design used in this study is a Systematic Literature Review with the requirements of the inclusion of articles on collaborative problem-based learning in improving the metacognitive abilities of chemistry students, accredited national and international publications between 2010 and 2020, full text, journal articles, and open access. The results of the exploration that were carried out found 102 articles, then the title and abstract were read into 20 articles, and 4 articles were read in full, which fulfilled all the stipulated inclusion requirements. The results of the systematic literature review conducted in this study provide empirical evidence of literacy that problem based learning improves the metacognitive abilities of chemistry students. However, most of research conducted still uses various instruments, which are not standardized and validated.

In recent years, online social networks have received important consideration in spatial modelling fields given the critical information that can be extracted from them for events in real time; one of the most latent issues is that regarding various natural disasters such as earthquakes. Although it is possible to retrieve data from these social networks with embedded geographic information provided by GPS, in many cases this is not possible. An alternative solution is to reconstruct specific locations using probabilistic language models, more specifically those based on Name Entity Recognition (NER), which extracts names from a user’s description about an event occurring in a specific place (e.g., a collapsed building on a specific avenue). In this work, we present a methodology to use twitter as a social sensor system for disasters. The methodology scores NER locations with a kernel density estimation function for different subtopics originating from a natural disaster and that maps them into a geographic space is proposed. The proposed methodology is evaluated with tweets related to the 2017 earthquake in Mexico.

This study investigated whether reciprocal collaborative pedagogy significantly impacts Indonesian electrical engineering polytechnic students in reducing reading anxiety and improving self-efficacy in ESP reading comprehension skills. Fifty Polytechnic students were equally assigned to two groups. Control groups learned in the traditional reciprocal teaching method individually. Experimental group engaged in reciprocal collaborative pedagogy. Each group received a 6-week reading strategy training. E-learning platforms were used in this study as a complementary tool to distribute ESP reading materials, announcements, and the experiment details being taught. The quantitative and qualitative results demonstrated that the tasks in reciprocal collaborative pedagogy positively affects Indonesian electrical engineering polytechnic students' learning experience and outcomes. This pedagogy promotes a productive learning environment through peer interaction, active engagement, and peer group discussions of the whole learning activities, reducing feelings of anxiety and building confidence in ESP-specialized text.