Adhesion systems are very important in robots for infrastructure inspection (especially in vertical walls). They present the challenge of optimizing the ratio vacuum/power consumption in battery-powered robots. In this paper a CFD (Computer Fluid Dynamics) modelling and optimization process of a robot adhesion system is carried out to determine the best performing configuration in terms of vacuum and power consumption. Analytical and numerical models were developed to predict the behaviour of the system for different configurations. The models were validated, using test rig measurements, by calibrating an arbitrary defined inlet height that simulates the leakage flow. Then, different geometric parameters were varied to determine the best performing configuration based on the vacuum/power consumption ratio value. The model presented in the paper was capable of predicting the behaviour of the system for different configurations, with a margin of error of 15% for the vacuum prediction and a 25% for the motor power calculation. Finally, the model was used to optimize parameters of the system, like the number of blades of the impeller. The adhesion system was conceived for the modular autonomous climbing legged robot ROMERIN.

Wearable technology has been proposed as a potential tool to change the way of human life, such as the smart bracelet and the Google Glass. In the wearable technology, the inertial sensor has great significance in tracking the object movements. The paper focused on detecting the movements of user’s finger based on the inertial sensor to give the control signals. Firstly, the attitude matrix, which represented the transformation relation of carrier coordinate system and the navigation coordinate system, was obtained. Secondly, the attitude matrix was expressed based on the quaternions. Thirdly, the finger gesture was processed by the attitude matrix to get the attitude angle. Finally, the robot was controlled by attitude angle to make the moving action. The experimental results showed the detection of the finger movement is effective.

Transformation formula under the action of a general linear fractional transformation for generalized Dedekind eta-function has been a subject of intensive study, Rademacher, Dieter, Meyer et al. However, the (Hecke) modular relation structure has not been recognized until the work of Goldstein-de la Torre, and streamlining the classical proofs in the modular relation will reveal the meaning hidden in those works. Our main aim is to elucidate the works of these researchers in the context of modular relations.

Modular steel buildings (MSBs) interlocking inter-module connections (IMCs) have piqued researchers’ interest. However, the existing literature has not yet studied the optimisation of its plate thicknesses. This paper, therefore, focuses on optimising interlocking (IMCs) plate thickness in (MSBs), leveraging previous experimental and numerical simulation methodologies. Various numerical models for four MSBs interlocking (IMCs) with plate thicknesses (4 mm, 6 mm, 10 mm, and 12 mm) were developed under compression loading conditions. The study’s novelty lay in its comprehensive parametric analysis, which evaluated the slip phenomenon in (MSBs) connections and introduced a slip prediction model validated against empirical data. Further innovative machine learning approach was utilised to predict slip values based on applied force through a random forest regression model trained using the 'Treebagger' function. Sensitivity analysis and comparisons with alternative methods were utilised to underscore the reliability and applicability of the findings. The results showed that 11.03 mm was the optimal plate thickness for interlocking (IMCs) in modular steel buildings, with up to 8.08% reduced material costs. Increasing plate thickness boosts its deformation resistance by up to 50.75%. ‘TreeBagger’ random forest for anomaly detection and machine learning improves slip prediction up to 7% at higher force levels.

This paper proposed a three-layer distributed simulation network architecture: 1. Distributed virtual simulation network, 2. Perception and control sub-network, and 3. Collaborative communication service network. This simulation architecture runs on a distributed platform. The platform can provide a unique virtual scenario and several simulation services to verify the individual robot system's basic perception, control, and planning algorithms and the distributed collaborative algorithms of heterogeneous multi-robot systems. Furthermore, we designed a simulation experiment scenario for classical heterogeneous robot systems such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). At last, We gave a rough estimation model of the bandwidth.

Day by day, the share of renewable energy-based power plants such as offshore wind farms and photovoltaic power plants, in the present-day power systems is escalating. Nevertheless, most of these power-producing facilities have been located quite far away from the load centers. At this stage, HVDC power systems provide satisfactory options due to qualities such as reduced line losses, substantial controllability, and environmental advantages. Nevertheless, unique converter designs are required to combine asynchronous HVDC networks with each other and with already existing high voltage alternating current (HVAC) networks. In this study, based on the above special cases, a unique DC-DC modular multilevel converter (MMC) architecture is presented that provides an excellent solution for both integrating modern asynchronous HVDC networks and integrating these modern HVDC power systems with existing asynchronous HVAC power systems. The mathematical analysis of the recommended DC-DC MMC design has been examined in detail and the power transfer between two asynchronous power grids has been realized in a simulation environment. Efficient bilateral power transmission has been made achievable by the control system. The recommended DC-DC MMC topology has shown to be a highly successful approach, in the interconnection of HVDC power systems, according to the simulation results.

In this paper, the integrated performance of a modular biomass boiler with an existing industrial Rankine steam heat and power cycle and a supplementary supercritical-CO2 (sCO2) Brayton cycle is analyzed. The aim is to leverage the high efficiency supplementary sCO2 cycle to increase net generation and energy efficiency from the existing biomass boiler. Two sCO2 heater configurations situated within the flue gas flow path are investigated, namely a single convective-dominant heater, and a dual heater configuration with a radiative and a convective heater. A quasi-steady-state 1D model was developed to simulate the integrated cycle, including detailed component characteristics for the Rankine and Brayton cycles. The model solves the mass, energy, momentum, and species balance equations. The system is analyzed for three cases: (i) the existing Rankine cycle without the sCO2 integration, (ii) with the single convective-dominant sCO2 heater configuration, and (iii) the dual sCO2 heater configuration. The results show the required rate of overfiring for the sCO2 configurations, with a 15.3% increase in fuel flowrate resulting in an additional 21.2% in net power output. The model quantifies the impact of the sCO2 heaters, with reduced heat uptakes for downstream boiler heat exchangers. Furnace water wall heat uptake increased due to overfiring, offsetting the reduced heat uptakes at downstream evaporative heat exchangers. The dual configuration has more impact on Rankine cycle operation due to the radiative sCO2 heater placement in front of the second superheater, absorbing some of the direct radiation from the furnace.

Khosravi, Drnov\v{s}ek and Moslehian [\textit{Filomat, 2012}] derived Buzano inequality for Hilbert C*-modules. Using this inequality we derive Deutsch entropic uncertainty principle for Hilbert C*-modules over commutative unital C*-algebras.

The applicability of the distance aggregation problem has attracted the interest of many authors. Motivated by this fact, in this paper we face the modular quasi-(pseudo-)metric aggregation problem. We characterize those functions that allow merging a collection of modular quasi-(pseudo-)metrics into a single one. Specifically, a description of such functions in terms of triangle triplets is given and, in addition, the relationship between modular quasi-(pseudo-)metric aggregation functions and modular (pseudo-)metric aggregation functions is discussed. Such characterizations are illustrated with appropriate examples. A few methods to construct modular quasi-(pseudo-)metrics are yielded. Several properties of modular quasi-(pseudo-)metric aggregation functions are explored and used to develop quick tests for discarding candidate functions to aggregate modular quasi-(pseudo-)metrics. Moreover, a characterization of those modular quasi-(pseudo-)metric aggregation functions that preserve modular quasi-(pseudo-)metrics is also provided. Furthermore, the relationship between modular quasi-(pseudo-)metric aggregation functions and quasi-(pseudo-)metric aggregation functions is studied in such a way that significative differences are displayed.

Conventional sensors used to measure properties such as deformation or pressure, etc. often make use of metals, ceramics, piezos, and other materials. Many of those materials are very hard, so if they are used as sensors, when the object is deformed, or when the pressure on the object changes from time to time, it is necessary to prepare a variety of sensors with different properties. In this experiment, a dielectric elastomer (DE) pressure sensor was fabricated using a hydrogenated nitrile rubber (HNBR) film with improved hardness and elongation. With this, even very thin film (0.2mm) can be measured at any pressure between 1gf and 20kgf. Previously developed film was harder and less stretchy than the current one, with a pressure detection width from 4 kgf to 120 kgf. This time, however, the pressure sensitivity of the finger has been made more sensitive, making it possible to measure even smaller values. A DE stretch sensor was also developed using single-walled carbon nanotube (SWCNT) electrodes with larger stretchability and flexibility, utilizing this HNBR. This greatly improved the mechanical flexibility and stretchability of the DES. Using this stretch sensor, it became possible to sense the motion of the robot's fingers, and to sense the force (pressure) when the fingertip touched the target object with the DE pressure sensor. In addition, it was confirmed that the sensation of the robot's finger touching an object can be fed back to a human finger by using a small diaphragm type vibrator DE actuator.

Cyberattacks are rapidly evolving both in terms of techniques and frequency, from low-level attacks through to sophisticated Advanced Persistent Threat (APT). There is a need to consider how testbed environments such as cyber ranges can be readily deployed to improve examination of attack characteristics and the assessment of defences. Whilst cyber ranges are not new, they can often be computational expensive, require significant setup and configuration, or may not provide full support for areas such as logging or ongoing learning. In this paper, we propose GoibhniUWE, a container-based cyber range that provides a flexible platform for investigating the full lifecycle of a cyber attack. Adopting a modular approach, users can seamlessly switch out existing, containerised vulnerable services, deploying multiple different services at once allowing for the creation of complex and realistic deployments. The range is fully instrumented with logging capabilities from a variety of sources including Intrusion Detection Systems (IDS), service logging, and network traffic captures. To demonstrate the effectiveness of our approach, we deploy the GoibhniUWE range under multiple conditions to simulate various vulnerable environments, reporting on and comparing key metrics such as CPU and memory usage. We simulate complex attacks which span multiple services and networks, with logging at multiple levels, modelling an Advance Persistent Threat (APT) and their associated Tactics, Techniques, and Procedures (TTPs). We find that even under continuous, active and targeted deployment GoibhniUWE averaged a CPU usage of less than 2 processors and memory usage of less than 4.5 GB.

We establish certain modular equations of degree three based on some results of Ramanujan's theta functions.

We recently formulated Modular Dvoretzky, Type-Cotype, Khinchin-Kahane and Grothendieck Inequality problems in the Appendix of \textit{[arXiv:2302.03718v1]}. For the sake of wide accessibility we give a separate treatment of them.

This paper describes RTMN 2.0 - an extension of the modeling language RTMN. RTMN combines process modeling and robot execution. The reusability and intuitive robot programming allows people without programming expertise to plan and control robots. While RTMN focuses on the ease of use and flexibility of robot programming by providing an intuitive modelling language, RTMN 2.0 concentrates on Human Robot Collaboration (HRC), which represents the current trend of the industry shift from ‘mass-production’ to ‘mass-customization’. While traditional robot systems provide high payload capabilities and repeatability, they suffer from limited flexibility and dexterity. Therefore, human-robot collaboration is a suitable arrangement to leverage the unique capabilities of both humans and robots for increased efficiency and quality in industrial scenarios. HRC has made a great impact on the robotic industry: increased efficiency, reduced costs and improved productivity, which can be adopted to make up for the skill gap of a shortage of workers in the manufacturing industry. The extension in RTMN 2.0 includes the following notations: HRC tasks, requirement, Key Performance Indicator (KPI), condition check and decision making, join/split and data association. With all these additional elements RTMN 2.0 covers the full scale of agile manufacturing – light out and collaborative.

Manufacturing environments, characterized by rapid, unpredictable changes, uncertainties, risks, and uncontrollable fluctuations, pose significant challenges to minimizing disruptions in processes. This study introduces an innovative approach that prioritizes curbing risk propagation among processes to enhance robustness. It emphasizes the integration of engineering management principles and modular design within manufacturing. Adopting a system engineering perspective, all manufacturing process activities are viewed as interrelated components within a unified system. By employing Axiomatic Design (AD) theory and the Design Structure Matrix (DSM) method, manufacturing process architecture is modularized, yielding heightened robustness. The proposed mathematical model equips engineering and manufacturing managers with a potent tool for designing robust processes while adeptly managing system complexity. The study's outcomes underscore a substantial enhancement in modularization, leading to elevated overall robustness in manufacturing processes. To validate the methodology, the architectural design of manufacturing processes is examined in a real-case scenario, specifically the Barez Industrial Group in Iran. This verification substantiates the 'manufacturing processes' of the case, presenting an optimally modularized architecture. The results affirm the proposed approach's efficacy, demonstrating improved modularization that contributes to bolstered robustness in manufacturing processes.

Industrial pilot projects often rely on proprietary and expensive electronic hardware to control and monitor experiments. This raises costs and retards innovation. Open-source hardware tools exist for implementing these processes individually, however, they are not easily integrated with other designs. The Broadly Reconfigurable and Expandable Automation Device (BREAD) framework provides many open-source devices which can be connected to create more complex data acquisition and control systems. This article explores the feasibility of using BREAD plug-and-play open hardware to quickly design and test monitoring and control electronics for an industrial materials processing prototype pyrolysis reactor. Generally, pilot-scale pyrolysis plants are expensive custom designed systems. The plug-and-play prototype approach is first tested by connecting it to the pyrolysis reactor and ensuring it can measure temperature and actuate heaters and a stirring motor. Next, a single circuit board system was created and tested using the designs from the BREAD prototype to reduce the number of microcontrollers required. Both open-source control systems were capable of reliably running the pyrolysis reactor continuously and the overall cost of control was reduced by more than 10X. Open-source, plug-and-play hardware provides a reliable avenue for researchers to quickly develop data acquisition and control electronics for industrial-scale experiments.

Modularity is arguably one of the most influential theses guiding research on brain and cognitive function since phrenology. This paper considers the following question: is modularity entailed by recent Bayesian models of brain and cognitive function, especially the predictive processing framework? It starts by considering three of the most well-articulated arguments for the view that modularity and predictive processing work well together. It argues that all three kinds of arguments for modularity come up short, albeit for different reasons. The analysis in this paper, although formulated in the context of predictive processing, speaks to broader issues with how to understand the relationship between functional segregation and integration and the reciprocal architecture of the predictive brain. These conclusions have implications for how to study brain and cognitive function. Specifically, when cognitive neuroscience works within an acyclic Markov decision scheme, adopted by most Bayesian models of brain and cognitive function, it may very well be methodologically misguided. This speaks to an increasing tendency within the cognitive neurosciences to emphasise recurrent and reciprocal neuronal processing captured within newly emerging dynamical causal modelling frameworks. The conclusions also suggest that functional integration is an organising principle of brain and cognitive function.

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

The process industry is confronted with rising demands for flexibility and efficiency. One way to achieve this are modular process plants that consist of pre-manufactured modules with their own decentralized intelligence. Plants are then composed of these modules as unchangeable building blocks and can be easily re-configured for different products. Condition monitoring of such plants is necessary, but available solutions are not applicable. The authors suggest an approach in which model-based symptoms are derived from few measurements and observers that are based on manufacturer knowledge. The comparisons of redundant observers lead to residuals that are classified to obtain symptoms. These symptoms can be communicated to the plant control and are inputs to an easily adaptable diagnosis. The implementation and validation at a modular mixing plant showcases the feasibility and the potential of this approach.

Methods for cost calculation of Laser-based Additive Manufacturing (LAM) have evolved over the last two decades. Starting from a rapid prototyping manufacturing method, cost calculation over time included more than single part production for small series or mixed batches. New machine developments nowadays aim at large scale production and introduce modular machine designs that give LAM factory operators more decision freedom on machine configurations and expansibility. To leverage this new possibilities, LAM costing methods must be adapted to calculate and visualize the economic consequences of different module configurations.In this work a modelling architecture of L-PBF machines using virtual modules is presented. Using principles of the industry 4.0 communication standard OPC UA, a virtual machine is set up, parametrized and connected to the AM digital process chain. Two different views on the cost information are used, optimized for different use cases.First, the product view allows detailed analysis of cost allocation to parts in mixed batches and the layered geometry of the part. Second, the machine view tracks utilization of all machine modules, divided into the states idle, active, off and maintenance. The theoretical Overall Equipment Effectiveness (OEE) is calculated on a module basis, enabling economic analysis and optimization of module composition as well as module improvements and new modular machine constellations. This allows focusing research and development on most valuable improvements. By calculating different scenarios like spare part production, mass production or rapid prototyping, the part portfolio to be manufactured can be considered.

3D printing facilitates the straightforward construction of microchannels with complex three-dimensional architectures. Here, we demonstrate 3D-printed modular mixing components that operate on the basis of splitting and recombining fluid streams to decrease interstream diffusion length. These are compared to helical mixers that operate on the principle of chaotic advection.

Robot Operating System 2 (ROS 2) is a robotic software that uses a set of Quality of Service (QoS) policies to manage the quality of robot data transmissions in a network, such as the RELIABLE and KEEP_LAST options. In ROS 2 node communication, the RELIABLE connection guarantees that all message data can be properly sent from the publisher to the subscriber. However, strict reliability is not guaranteed if the RELIABLE connection uses the KEEP_LAST option to transmit the robot data in the publish-subscribe communication. This study aims to analyze the efficiency of local cache, cache control, and QoS balancing optimization to improve ROS 2 node communication when using the RELIABLE and KEEP_LAST options to transmit multi-robot data in Aggregated Robot Processing (ARP) architecture. Our idea in local cache and cache control is to streamline the sensor data output before processing it when the sensor device produces the data with the same value in a row. Furthermore, QoS balancing optimization aims to balance the DEPTH and DEADLINE QoS configuration to determine the rates and buffer size in ROS 2 node communication. This study shows that combining local cache and QoS balancing optimization improves multi-robot data transmission and cooperation in ARP architecture.

Recognizing trust as a pivotal element for success within Human-Robot Collaboration (HRC) environments, this article examines its nature, exploring the different dimensions of trust, analysing the factors affecting each of them, and proposing alternatives for trust measurement. To do so, we designed an experimental procedure involving 50 participants interacting with a modified 'Inspector game' while we monitor their brain, electrodermal, respiratory, and ocular activities. This procedure allowed us to map dispositional (static individual baseline) and learned (dynamic, based on prior interactions) dimensions of trust considering both demographic and psychophysiological aspects. Our findings challenge traditional assumptions regarding the dispositional dimension of trust and establish clear evidence that the first interactions are critical for the trust-building process and the temporal evolution of trust. By identifying more significant psychophysiological features for trust detection and underscoring the importance of individualized trust assessment, this research contributes to understanding the nature of trust in HRC. Such insights are crucial for enabling more seamless human-robot interaction in collaborative environments.

Motivated from the theory of Hilbert-Schmidt morphisms between Hilbert C*-modules over commutative C*-algebras by Stern and van Suijlekom [J. Funct. Anal., 2021], we introduce the notion of p-absolutely summing morphisms between Hilbert C*-modules over commutative C*-algebras. We show that an adjointable morphism between Hilbert C*-modules over monotone closed commutative C*-algebra is 2-absolutely summing if and only if it is Hilbert-Schmidt. We formulate version of Pietsch factorization problem for p-absolutely summing morphisms and solve partially.

Shell-like, double curved and thus above-average performance structures, are usually produced monolithically on site. For industrial advancement, however, they must be divided into transportable modules which can be assembled on the construction site (design for assembly). Models are lattice shells made of steel and glass, in which predominantly flat sub-surfaces (modules) are used. Therefore, the main question is: Which modularizations are suitable for flow production with mineral building materials? In this paper designed free-form surface is going to be discretized as PQ circular mesh system, suitable modules for 3D concrete printing. Moreover, the multi-criteria optimization is done with Response Surface Methodology (RSM) in order to get optimal final shape. The goal is to start from the arbitrary shape, that can be generated from two curves, with possible two-way division into modules and compare it with the resulted discretized PQ circular mesh system, realized with new algorithm. The comparison can be defined through two main criteria: geometrical and structural.

This paper addresses the approach of fully automated intelligent control systems in production organizations, focusing on intelligent production systems research. The overview highlights a gap in control operations ahead of assembly as single-purpose control machines are frequently employed, which is precisely their drawback. Conversely, there are accurate multipurpose measurement centers that do not provide total quality control over the manufactured parts because of the cost and length of the measuring procedure. The study's primary objective was to create an intelligent modular control system, whose concept enables it to control various components. The purpose of the modular intelligent control system is to keep an eye on each module's quality during the pre-assembly phase. This system ensures exact control over the production process of modules by integrating sophisticated sensors, diagnostic tools, and intelligent control mechanisms. The technology makes it possible to monitor several parameters and important quality features. Integrated sensors and diagnostic technologies identify possible inaccuracies and disparities, guaranteeing prompt diagnosis of issues in specific modules. The system's intelligent control algorithms streamline the production process and guarantee synchronization between individual modules to achieve consistent quality and performance. One advantage of implementing the solution is that, on average, inspection time is reduced by 40 to 60% as compared to the prior manual inspection approach. In addition, full measurement data archiving was made available, and finally, the human element—which introduced a substantial error rate into this process—was removed. This system also helps to increase the project's overall efficiency, predictability, and safety while allowing for quick adjustments by standards and requirements.

The need for a relatively quick solution to the problem of providing highways with roadside service facilities necessitates the development of a series of appropriate standard projects. To increase the efficiency of these series, it is advisable to carry out the interconnection of space-planning solutions based on a particular module. Taking into account the variety of planning and landscape characteristics of the sites for the placement of objects of the mainline service, it seems advisable to choose as a module not a square or rectangular, but a triangular configuration, which allows in most cases to harmoniously block the modules. The proposed roof module in the form of a "regular" triangle facing the tetrahedron has a structural basis in the form of a single-tier rod spatial plate. The principal space-planning solutions of all four dozen objects from the approved nomenclature of the mainline service performed in the process of analyzing the possibilities show the real possibility of solving the development tasks on the basis of this system. The use of the proposed modular system makes it possible to successfully solve a number of tasks to reduce the harmful impact on the environment and effectively use renewable energy sources.

We analyze the modular geometry of the variable exponent Lebesgue space L^p(.). We show that L^p(.) possesses a modular uniform convexity property. Part of the novelty is that the property holds even in the case supp(x) = ∞ . We present specific applications to fixed point theory. xÆΩ

This paper presents the design and implementation of a multichannel bio-impedance spectroscopy system on field programmable gate arrays (FPGA). The proposed system is capable of acquiring multiple signals from multiple bio-impedance sensors, process the data on the FPGA and store the final data in the on-board Memory. The system employs the Digital Automatic Balance Bridge (DABB) method to acquire data from biosensors. The DABB measures initial data of a known impedance to extrapolate the value of the impedance for the device under test. This method offers a simpler design because the balancing of the circuit is done digitally in the FPGA rather than using an external circuit. Calculations of the impedance values for the device under test were done in the processor. The final data is sent to an onboard Flash Memory to be stored for later access. The control unit handles the interfacing and the scheduling between these different modules (Processor, Flash Memory) as well as interfacing to multiple Balance Bridge and multiple biosensors. The system has been simulated successfully and has comparable performance to other FPGA based solutions. The system has a robust design that is capable of handling and interfacing input from multiple biosensors. Data processing and storage is also performed with minimal resources on the FPGA.

The agricultural industry places a high priority on crop protection, especially when it comes to protecting cotton crops against pink bollworm infestations. Rapid disease identification is essential for effective crop management at the same time. In order to overcome these difficulties, this study offers a thorough process for utilizing the Robot Operating System (ROS) to deploy an autonomous robot. The robot is intended to identify infestations of pink bollworm in addition to counting and tracking red Disease that impact cotton harvests. Drones are used to check the condition of cotton fields, and the autonomous robot's path planning component is closely related to this process. Large fields are photographed by these drones in multispectral mode, and the robot's course planning technique is done by calculating the Normalized Difference Vegetation Index (NDVI) based on these images. This approach ensures targeted surveillance and intervention, optimizing the use of resources. A customized dataset was created especially for this application to improve the robot's detecting abilities. The dataset was utilized to train a YOLOV8 model, a state-of-the-art object detection architecture. Performance characteristics of the trained model are impressive; it has a mean Average Precision (mAP) of 67.1%, Precision of 67.9%, and Recall of 61.8%. These metrics highlight how well the model works to precisely locate and measure interesting occurrences in the cotton fields. In order to address the particular challenges presented by pink bollworm infestations and crop diseases in the context of cotton cultivation, this research contributes a comprehensive solution for autonomous crop monitoring and protection by seamlessly integrating ROS, drones, NDVI calculations, and a robust detection model.

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

The daVinci Surgical Robot has revolutionized minimally invasive surgery by enabling greater accuracy and less invasive procedures. However, the system lacks advanced features and autonomy necessary for it to function as a true partner. To enhance its usability, we introduce the implementation of a ChatGPT-based natural language robot interface. Overall, our integration of a ChatGPT-enabled daVinci Surgical Robot has potential to expand the utility of the surgical platform by supplying a more accessible interface. Our system can listen to the operator speak and, through the ChatGPT-enabled interface, translate the sentence and context to execute specific commands to alter the robot’s behavior or to activate certain features. For instance, the surgeon could say (even in Spanish) “please track my left tool” and the system will translate the sentence into a specific track command. This specific error-checked command will then be sent to the hardware which will respond by controlling the camera of the system to continuously adjust to center the left tool in the field of view. We have implemented many commands including “Find my tools” (tools that are not in the field of view) or start/stop recording that can be triggered based on a natural conversational context. Here, we present details of our prototype system, give some accuracy results, and explore its potential implications and limitations. We also discuss how artificial intelligence tools (such as ChatGPT) of the future could be leveraged by robotic surgeons to reduce errors and enhance the efficiency and safety of surgical procedures and even ask for help.

This paper develops feasible control strategies and associated system responses to bring an autonomous front-axle bicycle robot from specified initial conditions to final conditions such that a specific performance index is minimized. To solve the problem, the following approach is used: The feasible controls derived from the normal equations of optimality are substituted into the state and the costate systems and form a combined control-free state-costate system which is vectorized to enable and ease the application of a numerical method. A computer program written in Matlab computer programming language, codes a fourth-order Runge-Kutta numerical method and then solve the combined state-costate system of ordinary differential equations. The obtained results are the feasible bicycle robot trajectory, the feasible state functions, the feasible costate functions and the feasible control functions. Associated Computational Simulations are designed and provided to persuade on the effectiveness and the reliability of the approach.

Estimation and planning play a vital role in the construction of an autonomous navigation framework. However, these problems are often considered separately, while planning gives robot a free-collision path towards the desired goal, estimation algorithm presents the executed trajectory in the sense that it has to be closed to the ground truth path as much as possible. Recently, a unified probabilistic framework, which supports solving these problems simultaneously, dubbed STEAP has been proposed. Nevertheless, its current version is only designated for an omni wheels robot, which allows robot to move and turn in vertical direction. Differential drive robot, on the other hand, though limited to move along only one direction, has been used in various situations due to its flexibility and lower cost in hardware designing. Thus, in this extension, our aim is to control a differential drive robot via STEAP. Moreover, in a more complicated environment such as labyrinth or maze, the original STEAP sometimes fails to find a path. Indeed, this problem is mainly caused by the poor initialization and the non-linearity in optimizer constraints. In our implementation, instead of dealing with these constraints, we employ a global planner algorithm such as Dijkstra or RRT to treat STEAP as an effective local planner module that focus on following the global path. Consequently, the experimental results show that the extended STEAP not only able to navigate a differential drive robot but also in a more complicated and unstructured environment.

This paper studies the dynamic response of corner supported modular steel buildings with a core wall system, under progressive collapse scenarios, associated with corner module removals. Since using secondary systems such as concrete core in mid- to high-rise buildings is currently una-voidable, understanding their impact on load transfer between modules during collapse scenarios becomes essential. The designated buildings with four-, eight- and twelve-story were modelled using the macro-model based finite element method in Abaqus. Also, three different locations are considered for the concrete shear core within the building plan, leading to nine various case scenarios. Each vertical and horizontal inter-module connection was modelled by one axial and two shear springs with predefined nonlinear force-displacement behaviour. The local and global buckling, which plays an essential role in the building's stability, was considered to obtain accurate results. Finally, parametric studies on the building response were carried out, including the intra-module connection rigidity and inter-module connection stiffness. The results demonstrated that the core wall could maintain the robustness of modular steel building through two mechanisms dependent on its location within the plan. Also, preventing plastic hinges from forming in beams could be introduced as an anti-collapse mechanism in the corner module removal scenarios

The Robotics Vision Lab of Northwest Nazarene University has developed Orchard Robot (OrBot), which was designed for harvesting fruits. OrBot is composed of a machine vision system to locate fruits on the tree, a robotic manipulator to approach the target fruit, and a gripper to remove the target fruit. Field trials conducted at commercial orchards for apples and peaches during the harvesting season of 2021 yielded a harvesting success rate of about 85% and had an average harvesting cycle time of 12 seconds. Building upon this success, the goal of this study is to evaluate the performance of OrBot during nighttime harvesting. The idea is to have OrBot harvest at night, and then human pickers continue the harvesting operation during the day. This human and robot collaboration will leverage the labor shortage issue with a relatively slower robot working at night. The specific objectives are to determine the artificial lighting parameters suitable for nighttime harvesting and to evaluate the harvesting viability of OrBot during the night. LED lighting was selected as the source for artificial illumination with a color temperature of 5600 K and 10% intensity. This combination resulted with the lowest noise in the images. OrBot was tested in a commercial orchard using twenty Pink Lady apple trees. Results showed an increased success rate during the night, with OrBot gaining 94%. compared to 88% during the daytime operations.

Using insights from cybernetics and an information-based understanding of biological systems, a precise, scientifically inspired, definition of free-will is offered and the essential requirements for an agent to possess it in principle are set out. These are: a) there must be a self to self-determine; b) there must be a non-zero probability of more than one option being enacted; c) there must be an internal means of choosing among options (which is not merely random, since randomness is not a choice). For (a) to be fulfilled, the agent of self-determination must be organisationally closed (a `Kantian whole'). For (c) to be fulfilled: d) options must be generated from an internal model of the self which can calculate future states contingent on possible responses; e) choosing among these options requires their evaluation using an internally generated goal defined on an objective function representing the overall `master function' of the agent and f) for `deep free-will', at least two nested levels of choice and goal (d-e) must be enacted by the agent. The agent must also be able to enact its choice in physical reality. The only systems known to meet all these criteria are living organisms, not just humans, but a wide range of organisms. The main impediment to free-will in present-day artificial robots, is their lack of being a Kantian whole. Consciousness does not seem to be a requirement and the minimum complexity for a free-will system may be quite low and include relatively simple life-forms that are at least able to learn.

Flexible implementations of Monte Carlo Tree Search (MCTS), combined with domain specific knowledge and hybridization with other search algorithms, can be a very powerful for the solution of problems in complex planning. We introduce mctreesearch4j, a standard MCTS implementation written as a standard JVM library following key design principles of object oriented programming. We define key class abstractions allowing the MCTS library to flexibly adapt to any well defined Markov Decision Process or turn-based adversarial game. Furthermore, our library is designed to be modular and extensible, utilizing class inheritance and generic typing to standardize custom algorithm definitions. We demon- strate that the design of the MCTS implementation provides ease of adaptation for unique heuristics and customization across varying Markov Decision Process (MDP) domains. In addition, the implementation is reasonably performant and accurate for standard MDP’s. In addition, via the implementation of mctreesearch4j, the nuances of different types of MCTS algorithms are discussed.

This article reevaluates the Woesean concept of crossing a ‘Darwinian threshold’ from pre-genomic communality, as prevailing in an ancestral ‘progenote’ state, to vertically stable lineages of autonomous and self-similar cells. This transition from collective trunk-line evolution to Darwinian speciation is dependent on the generation of modular organismal genomes. The same general principle should be valid at subcellular levels, allowing the emergence of semi-autonomous genomic agents, such as viruses and plasmid-carrying endogenous vesicles with organelle-like properties. As compartmentalized agents of endogenous nature could start with smaller genomes than those required for fully autonomous cells, it is conjectured that stable subcellular lineages emerged earlier than their cellular counterparts. Referring to the recent ‘pre-endosymbiont hypothesis’, it is proposed that free-living bacteria (the first ‘prokaryote’ cells) arose by ‘lineage escape’ from plasmid-bearing organelle-like compartments, evolving inside the internally complexifying ‘paracells’ of the progenote community. The double-membrane envelopes of diderm bacteria may have resulted from cell-biological processes facilitating cellular lineage escape. The later emergence of archaeal cells (resembling bacteria in ‘prokaryote’ appearance with unichromosomal genomes) and eukaryotic organisms (with compartmented cells and multichromosal genomes) can also be interpreted in terms of this modified progenote hypothesis. Conceivably, the multichromosomal genomes of eukaryotes were bundled in endogenous nuclear compartments to organize a ‘nuclear-cytoplasmic lineage’, which became vertically stable by perfecting mitosis/meiosis-like divisions and yet retained some intra-species population confluence by sexual division-fusion cycles.

This paper presents ROSGPT, an innovative concept that harnesses the capabilities of large language models (LLMs) to significantly advance human-robot interaction. We develop ROSGPT as a ROS2 package that seamlessly integrates ChatGPT with ROS2-based robotic systems. The core idea is to leverage prompt engineering with LLMs, specifically ChatGPT, utilizing its unique properties such as ability eliciting, chain-of-thought, and instruction tuning. The concept employs ontology development to convert unstructured natural language commands into structured robotic instructions specific to the application context through prompt engineering. We capitalize on LLMs' zero-shots and few-shots learning capabilities by eliciting \textit{structured} robotic commands from \textit{unstructured} human language inputs. To demonstrate the feasibility of this concept, we implemented a proof-of-concept that integrates ChatGPT with ROS2, showcasing the transformation of human language instructions into spatial navigation commands for a ROS2-enabled robot. This versatile concept can be easily adapted to various other robotic missions. ROSGPT serves as a new stride towards Artificial General Intelligence (AGI) and paves the way for the robotics and natural language processing communities to collaborate in creating novel, intuitive human-robot interactions. The open-source implementation of ROSGPT on ROS 2 is available on GitHub.

Purpose: The ongoing COVID-19 crisis has created the need for social distancing between medical staff and patients, therefore, healthcare robotics is increasingly important as regards infectious control. The purpose of this study was to design and fabricate a remote controlled transport robot that could provide an optimum technology base for developing countries, having dual functions of telepresence and delivery operations inside or outside buildings, is easy to assemble and also easily able to be cleaned using standard chemical agents.Methods: This machine was designed and fabricated to incorporate two main functions; delivery and telepresence. The robot consists of a base frame, DC motors for driving and steering systems, actuator motor for driving wheel elevation, Wi-Fi AP/Repeater, network camera, and a necessary a back-up power system.Results: This robot can be used both indoors and outdoors. It can carry loads of more than 80 kg. The machine can cross obstacles greater than 3 cm. It can be cleaned by disinfectant agents. An actuator motor can lift the driving wheels above the surface to prevent gear damage. Conclusion: This article demonstrates the concept of a healthcare telepresence and delivery robot that can provide distancing during the present COVID-19 crisis, using optimum technology for low and middle-income countries. In the future, the researcher should consider development of the delivery controls, combined with the telepresence system using the internet of things, to improve the navigation system, the manipulator system for supporting multi-floor transportation, and also other multi-functional purposes.

The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enables the robot to walk with simple gait by very few motors. In the paper, the forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrain.

With the increase in technological advancements, architects and engineers over the past couple of decades have been trying to achieve high efficiency within construction projects. Their goals also include reducing global warming effects from construction and building new construction faster for the growing population in urban cities. This requires using a construction method that is less harmful to the environment and faster than other traditional methods. Modular construction, also known as modular construction, is the method that has the potential to make this happen. This review paper discusses what modular construction is and how it is different from the traditional on-site construction. Environmental impacts of using modular construction and what leads to it being more efficient and faster than on-site construction. The study doesn’t suggest that modular construction is the solution to all the problems being faced in the construction industry today, but it is a potential solution that if used in the right situation and correct manner, can have a huge positive impact on the construction industry.

In the wake of the rapid deployment of Small Modular Reactors (SMRs), this study aims to enhance the efficiency, reliability, and safety of SMR operations through a deeper understanding of human factors in their interaction within digital control room systems. Recognizing the pivotal role of human understanding in this new era of nuclear power, we employed electroencephalogram (EEG)-based monitoring to provide an unparalleled real-time view into operators' cognitive states. By interfacing detailed human models, informed by EEG metrics, with specific operational tasks, we recreate potential operational scenarios using an SMR simulator and capture intricate human responses therein. Our results elucidated the intricate relationship between EEG-derived data and human performance shaping factors, indicating a marked correlation between certain EEG patterns and operational efficiencies. Conclusively, these findings underscore the potential of EEG monitoring not only as a diagnostic tool but as an instrumental aid in the design and operation of future SMR digital control rooms. The insights derived offer a roadmap for the development of practical strategies, ensuring more effective and safer SMR operations.

Treatment of various diseases, in particular cancer, usually needs targeting biologically active molecules at a selected subcellular compartment. We modified our previously developed modular nanotransporters (MNTs) for targeting mitochondria. The new MNTs are capable of binding to the protein predominantly localized on the outer mitochondrial membrane, Keap1. These MNTs possessing antiKeap1 monobody co-localize with mitochondria upon addition to the cells. They efficiently interact with Keap1 both in solution and within living cells. A conjugate of the MNT with a photosensitizer, chlorin e6, demonstrates significantly higher photocytotoxicity than chlorine e6 alone. We assume that MNTs of this kind can improve efficiency of therapeutic photosensitizers and radionuclides emitting short-range particles.

Centralized control algorithm limits the hardware flexibility of a Modular Multilevel Converter (MMC). Therefore, industrial MMC applications have started adopting distributed control structures. Even though distributed controller reduces a single point of failure risk compared to the centralized controller, the failure risk of the entire control systems increases due to the number of local controllers. However, the distributed controller can be programmed in such a way as to bypass the faulty local controller and take care of the power modules with the adjacent local controllers. This paper implements a modular distributed fault-tolerant controller for a scaled laboratory MMC prototype. Experimental results show that an MMC can operate without interruption, even under two local controller failures. Besides, the experimental results are verified with the Opal-RT, a real-time simulator with the same controller in a Control Hardware in Loop (CHIL) environment.

This manuscript introduces prospective hard engineering solutions to continuous episodic erosional events on beaches utilized for recreation and tourism. The basis of this paper is information from a modeling study completed in 2011 on a two mile stretch of beach in South Carolina. The study utilized three alternative groin systems and a no groin option. The optimum spacing of the groin applications and the retention rate of a replenished beach at the location was determined based on running a computer model (Genesis) for the environmental conditions (wave climate, littoral transport, etc.) at the demonstration site. It was also determined that the innovative groin alternative presented in this paper would likely develop as the most effective cost/benefit relationship among the more conventional alternatives utilized in the United States. The experimental groin system (modular adjustable permeable groin(s) MAPG) was calculated to save initial construction costs by 25% to 30%as compared to the other alternatives. This was significant when considering that adjacent beach impacts are minimized and the beach berm is better protected over the typical beach re-nourishment cycle. This paper attempts to facilitate further discussion of regional sediment budget and (coastal zone) management by bridging the divide between choosing only sand nourishment vs. engineered structures. We demonstrate that reintroducing engineered structures in combination with beach nourishment can be a cost effective solution to episodic erosional events over time while allowing longshore sediment transport.

In this work, we extend the fundamental results of Schu to the class of monotone asymptotically nonexpansive mappings in modular function spaces. In particular, we study the behavior of the Fibonacci-Mann iteration process defined by $$x_{n+1} = t_n T^{\phi(n)}(x_n) + (1-t_n)x_n,$$ for $n \in \mathbb{N}$, when $T$ is a monotone asymptotically nonexpansive self-mapping.

This paper introduces an innovative framework for the integration of artificial empathy into robot swarms to enhance communication and cooperation. The proposed model relies on fuzzy state vectors to represent the knowledge and environment of individual agents, accommodating uncertainties in the real world. Utilizing similarity measures, the model compares states, enabling empathetic reasoning for synchronized swarm behavior. A practical application example demonstrates the model’s efficacy in a robot swarm striving for a common goal. The evaluation methodology involves the Open Source Physical-based Experimentation Platform (OPEP), emphasizing empirical validation in real-world scenarios. The paper proposes a transitional environment that allows automated and repeatable execution of experiments on a swarm of robots using physical devices.

The paper provides a comprehensive review of the recent advancements and methodologies in Human-Robot Collaboration (HRC) applied to the manufacturing assembly process. In modern manufacturing, the assembly process involves intricate and time-consuming operations, often necessitating flexible manual interventions. However, the cost and stability issues associated with manual labor highlight the need for collaborative solutions integrating humans and robots. HRC, as a viable solution, involves the joint effort of humans and robots in manufacturing tasks, presenting advantages in terms of precision, reproducibility, and cycle time. This review categorizes and discusses methodologies such as task allocation, reinforcement learning, and Cyber-Physical Systems (CPS)-based planning approaches that facilitate HRC in the assembly process. It also explores experiments and future trends to address challenges and enhance efficiency in manufacturing assembly through intelligent collaboration between humans and robots. The objective of this research is to provide insights and directions for further research in HRC to optimize manufacturing processes. By analyzing the existing state-of-the-art and presenting future prospects, this paper aims to guide researchers and practitioners toward more effective implementations of HRC in manufacturing assembly, ultimately leading to improved operational efficiency and productivity.

Control of autonomous robot motion in radial mass density field is presented. In that sense the robot motion is described as the function of the radial mass density parameters. The radial mass density field is between the maximal radial mass density and the minimal radial mass density. Between these two limited values one can use n points (n = 1, 2, . . . nmax) and calculate the related radial mass density for each point. The radial mass density is maximal at the minimal gravitational radius and minimal at the maximal gravitational radius. This conclusion is valid for Planck scale, but also for the scales that are less or higher of that one. Using the ratio of the Planck mass and Planck radius it is generated energy conservation constant with value κ = 0.99993392118. Further, in this theory it is possible to connect Planck’s and gravitational parameters as functions of the maximal (or minimal) radial mass density. In that sense the autonomous robot motion in radial mass density field is important for the control of the robot motion at micro and nano scales.

Background: Gait analysis systems offer invaluable insights for rehabilitation, yet their expense limits clinician access. We developed GAITWell®, a low-cost modular system for capturing spatiotemporal gait variables, and evaluated its measurement properties. Methods: The GAITWell® uses discreet binary sensors on interconnected boards to collect gait data, which is then analyzed using the DBSCAN algorithm on the Cartesian points from sensor outputs. Reliability was assessed using ICC2,1, standard error of the mean (SEM) and Bland-Altman plots. Validity was determined by comparing GAITWell® with the Qualisys Pro-Reflex system. Results: Participated 38 healthy adults, with an average age of 33.2 years (SD 13.0). Correlations between GAITWell® and the Qualisys system ranged from moderate to very high for most gait variables, with the exception of stride length, which demonstrated a low but significant correlation (r = .360, p < .05). The ICC2,1 indicated moderate to good agreement for most gait variables. Stance and double support times, cadence, and base of support exhibited poor reliability, characterized by larger SEM and limits of agreement. Conclusions: Our findings indicate that the GAITWell® system is a promising tool for gait analysis. Future research will enhance sensor accuracy and refine algorithms to improve reliability.

Various methods of water purification, the aim of which is to obtain such a purity class that makes it suitable for consumption are presented in the article. It is a review of solutions, ranging from methods known and used for over 100 years, through research and experiments underway, to those that are only a concept. Some of the solutions are so effective that they should also be combined with the possibility of safe storage of purified water. Flexible tanks are used for this, which significantly improve logistics and provide a supply of water in all places where it is needed.

In this paper is shown the dynamic modeling and design of a passivity based controller for the RV-3SB robot. Firstly, the dynamic modeling of the of the Mitsubishi Rv-3SB robot is done by the Euler-Lagrange formulation in order to obtain a decoupled dynamic model considering the actuators orientation besides the position of this analyzed robot. It is important to remark that the dynamic model of the RV-3SB robot is done based in the kinematic model obtention in which is developed by the implementation of screw theory. Then the passivity based controller is obtained by separating the end effector variables and the actuator variables by making an appropriate coordinate transformation. The passivity based controller is obtained by selecting an appropriate storage function and by the Lyapunov theory the passivity based control law is obtained in order to drive the error variaable, which is the difference between the measured end effector position variable and the end effector desired position variable. The passivity based controller makes that the error variable reach the origin in finite time taking into consideration the dissipation properties of the proposed controller in order to stabilizes the desired end effector position. A numerical simulation experiement is performed in order to validate the theoretical results obtained in this research study. It is verified by numerical experimentation that the proposed control strategy is efficient and effective in order to drive the error variable to the origin in comparison with other modified techniques found in the literature. Finally, the appropriate discussion and conclusion of this research study are provided.

Multimodal user interfaces hold the promise to enable natural and intuitive means of human-machine interaction. But is the effort of using many sensors rewarded by the users - or is a single modality sufficient? For an industrial use case of a weld seam inspection workstation we study three independent interfaces (augmented spatial button interaction on (1) a workpiece or (2) a worktable and through (3) speech commands) and their combination (4). While users preferred the interaction on the augmented worktable when comparing single modalities, they used all three in multimodal user interface. From the isolated test of an input modality it is not possible to infer its use in a complex system. Therefore, the effort implementing and using multiple input modalities is reasonable.

By constructing a static map, the library robot can navigate and access documents autonomously, which greatly improves efficiency; however, for libraries where shelves can be moved, map changes do not allow for direct navigation, and also sensors such as radar and camera are relatively expensive, so we propose a low-cost navigation algorithm based on real-time ranging data and map matrices, and designed a mobile archive access robot. In order to obtain real-time distance data, nine near/long range sensors were mounted on the chassis and a composite digital filtering algorithm was designed based on different moving area characteristics; then the access task matrix and map matrix were designed based on the archive access task and the location characteristics of the archive shelf placement, the robot can rely on the range data to update the map matrix during the moving process, complete its own positioning, and use the task matrix The robot can use the task matrix to complete autonomous navigation and access to multiple files. Experiments show that the filtered positioning accuracy can reach 1cm, while the robot can move to the target shelf autonomously, which is more practical and less costly.

Imitation Learning is a discipline of Machine Learning primarily concerned with replicating observed behavior of agents known to perform well on a given task, collected in demonstration data sets. In this paper, we set out to introduce a pipeline for collecting demonstrations and training models that can produce motion plans for industrial robots. Object throwing is defined as the motivating use case. Multiple input data modalities are surveyed, and motion capture is selected as the most practicable. Two model architectures operating autoregressively are examined -- feedforward and recurrent neural networks. Trained models execute throws on a real robot successfully, and a battery of quantitative evaluation metrics is proposed, including extrapolated throw accuracy estimates. Recurrent neural networks outperform feedforward ones in most respects, with the best models having an assessed mean throw error on the order of 0.1...0.2 m at distances of 1.5...2.0 m. The data collection, pre-processing, and model training aspects of our proposed approach show promise, but further work is required in developing Cartesian motion planning tools before it is suitable for application in production.

Designing and development of agricultural robot is always a challenging issue, because of robot intends to work an unstructured environment and at the same time, it should be safe for the surrounded plants. Therefore, traditional robots cannot meet the high demands of modern challenges, such as working in confined and unstructured workspaces. Based on current issues, we developed a new tomato harvesting wire-driven discrete continuum robot arm with a flexible backbone structure for working in confined and extremely constrained spaces. Moreover, we optimized a tomato detaching process by using newly designed gripper with passive stem cutting function. Moreover, by designing the robot we also developed ripe tomato recognition by using machine learning. This paper explains the proposed continuum robot structure, gripper design, and development of tomato recognition system.

Roaming complexity in terrains and unexpected environments poses significant difficulties in robotic exploration of an area. In a broader sense, robots have to face two common tasks during exploration namely walking on the drylands and swimming through the water. This research aims to design and develop an amphibious robot, which incorporates webbed duck feet design to walk on different terrains, swim in water and tackle obstructions on its way. The designed robot is compact and easy-to-use and also has the abilities to work autonomously. Such a mechanism is implemented by designing a novel robotic webbed foot consisting of two hinged plates. Due to the design, the webbed feet are able to open and close with the help of water pressure. The Klann linkage has been used to convert rotational motion to walking and swimming as an animal’s gait. Because of its amphibian nature, the designed robot can be used for exploring the tight caves, closed spaces and moving on uneven challenging terrains such as sand, mud or water. The presented model and design of the amphibious robot has been inspired by the working principle of duck feet. The propulsion generated through this feet system has been observed to be better and more controlled then the initial design and prototype of designed duck feet robot reported in [1]. The direction of movement can be managed, and the speed can be controlled using a larger contact area with water. Since duck is able to roam on both land and water, their feet movement during walking and swimming is adopted in designing the robot’s four legs. Klann linkage is used to mimic such duck feet motion and the control mechanism of the feet is driven by DC motors and DC servo motors which are governed by an Arduino microcontroller. The robot is capable of sensing the presence of water through conductive sensors and detects obstacles using ultrasonic sensor while walking. Due to its amphibian nature and other features in movement, the robot is capable of traversing diversified terrains. It is envisaged that the proposed design will be appreciated in the industry to design amphibious robots in near future.

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

This paper investigates the hydroelastic responses of offshore floating solar photovoltaic farms (OFPVs) to minimize structural motion. The OFPV usually occupies a large sea space in the order of hectares and due to its huge structural length-to-thickness ratio, the structural deformation under wave action has to be taken into consideration. The flexible deformation of the structure under hydrodynamic loading is termed the hydroelastic response. Due to the relatively long structural length with respect to the encountering wavelength, the diffraction and radiation of waves have to be taken into account to accurately represent the hydrodynamic loadings on the floating platform. The numerical model is first validated by comparing the eigenvalues and eigenvectors of the OFPV obtained from the proposed numerical scheme with their counterparts obtained from an established finite element software. This is followed by the investigation of the hydroelastic response of various OFPVs designed in varying layout configurations. The various layout configurations are obtained by altering the floating modular units’ dimensions as well as the spacing of the OFPVs when deployed adjacent to each other. The optimal configuration that gives the best performance in terms of the overall smallest response, known as compliance, is then suggested. The results suggest that a longish OFPV layout has a lower hydroelastic response and the motion could be further reduced by increasing the global flexural stiffness via layout arrangement.

Convolutional Neural Networks (CNNs) and Recurrent Neural Networks (RNNs) have been utilised to forecast the foreign exchange market (Forex). However, such models usually exhibit unstable behaviour, as data perturbations often downgrade the functionality of the entire network due to their monolithic architecture. Hence, this study proposes a novel neuroscience-informed modular network applied to the closing prices and the sentiments retrieved from Yahoo Finance and Twitter APIs, aiming to anticipate better price fluctuations in Euro to British Pound Sterling (EUR/GBP) rather than monolithic methods. The proposed model is based on a new modular CNN, replacing pooling layers with orthogonal kernel initialisation RNNs coupled with Monte Carlo Dropout (MCD), namely MCoRNNMCD. It combines two modules: i) a convolutional simple RNN and ii) a convolutional Gated Recurrent Unit (GRU), where orthogonality and MCD are added to reduce the overfitting, assessing each module's uncertainty. These parallel feature extraction modules concatenate their outputs to a final three-layer Artificial Neural Network (ANN) decision-making module. A comprehensive comparison viewing objective evaluation metrics such as the Mean Square Error (MSE) proved that the proposed MCoRNNMCD-ANN outperformed single CNN, LSTM, GRU, and the state-of-the-art hybrid BiCuDNNLSTM, CLSTM, CNN-LSTM, and LSTM-GRU in forecasting hourly EUR/GBP closing price fluctuations.

This work explores an additive-manufacturing-enabled combination-of-function approach for design of modular products. AM technologies allow the design and manufacturing of nearly free-form geometry, which can be used to create more complex, multi-function or multi-feature parts. The approach presented here replaces sub-assemblies within a modular product or system with more complex single parts that are designed and manufactured using AM technologies. This approach can increase the reliability of systems and products by reducing the number of interfaces, as well as allowing the optimization of the more complex parts during the design. The smaller part count and the ability of users to replace or upgrade the system or product parts on-demand should reduce user risk, life-cycle costs, and prevent obsolescence for the user of many systems. This study presents a detailed review on the current state-of-the-art in modular product design in order to demonstrate the place, need and usefulness of this AM-enabled method for systems and products that could benefit from it. A detailed case study is developed and presented to demonstrate the concepts.

Robots in space are necessarily extremely light and lack structural stiffness resulting in natural frequencies of resonance so low as to reside inside the attitude controller’s bandwidth. A variety of input trajectories can be used to drive a controller’s attempt to ameliorate the control-structural interactions where feedback is provided by low-quality, noisy sensors. Traditionally, step functions are used as the ideal input trajectory. However, step functions are not ideal in many applications, as they are discontinuous. Alternative input trajectories are explored in this manuscript and applied to an example system that includes a flexible appendage attached to a rigid main body. The main body is controlled by a reaction wheel. The equations of motion of the flexible appendage, rigid body, and reaction wheel are derived. A feedback controller is developed to account for the rigid body modes. Additional filters are added to compensate for the system’s flexible modes. Sinusoidal trajectories are autonomously generated to feed the controller. Whiplash compensation is additionally implemented for comparison. The control method without random errors with the smallest error is the sinusoidal trajectory method, which showed a 97.39% improvement when compared to the baseline response when step trajectories were commanded, while the sinusoidal method was inferior to traditional step trajectories when sensor noise and random errors were present.

China is rich in coal resources, but the complex hydrogeological conditions lead to difficulties in coal mining, such as coal mine collapse, roof and water damage, and other accidents that occur frequently, resulting in many casualties and property losses. The use of coal mine hole detection technology to detect and analyze the internal environment of the coal mine in advance helps to reduce safety hazards and prevent coal mine accidents, for the existing coal mine hole detection technology operation is cumbersome, not easy to control, and insufficient depth of jacking prob-lems, this paper designs a new type of mine hole detection small robot. Firstly, this paper ana-lyzes the function and structural design of the mine hole detection robot, designs the variable diameter function according to the characteristics of narrow and uneven mine holes in coal mines, and analyzes the mechanics of the critical parts through theoretical calculations; secondly, based on the three-dimensional modeling software, established the structural model of the small robot for mine hole detection; after that, designed the robot's hardware circuits and control pro-grams for the presence of water and gas inside the mine hole, highlighting the need to carry out a new type of mine hole detection small robot. After that, we designed the robot's hardware circuit and control program, giving particular emphasis to the safety design of the circuit for the pres-ence of water and gas inside the mine hole of the coal mine. Finally, to verify the feasibility of the design program, the basic parameters and function tests of the mine hole detection small robot are carried out. The experimental results show that the mine hole inspection small robot realized by this design can adapt to the working hole diameter from 65 mm to 100 mm, the maximum working power is only 12 W, and the maximum crawling speed is 3.96 m/min. The maximum crawling slope reaches 90°, which can meet the actual mine hole inspection needs. The research can provide theoretical and design guidance for developing the mine hole detection robot with substantial engineering practical reference value.

In recent times, the soft robotics field is gaining numerous research focus owing to its high level of manipulation capabilities unlike traditional rigid robots, which gives room for an increasing use in other areas. However, compared to traditional rigid gripper robots, being capable of controlling/obtaining overall body stiffness when required is yet to be further explored since soft gripper robots have inherently less rigid properties. unlike previous designs with very complex variable stiffness systems, this paper demonstrates a soft gripper design with minimum system complexity while being capable of varying the stiffness of a continuum soft robotic actuator and proves to have potential applications in gripping objects of various shapes, weights & sizes. The soft gripper actuator comprises two separate mechanisms; the pneumatic mechanism for bending control and the mechanical structure for stiffness variation by pulling tendons using stepper motors which compresses the actuator, thereby changing the overall stiffness. The pneumatic mechanism was first fabricated and then embedded into another silicon layer during which it was as well merged with the mechanical structure for stiffness control. By first pneumatically actuating the actuator which causes bending and then pulling the tendons, we found out that the actuator stiffness value can be increased up to 145 % its initial value, and the gripper can grasp & lift a weight of up to 2.075 kg.

A nuclear reactor leak is undesirable and unpredictable occurrence in the plant of nuclear energy generation. For this reason, an accurate equipment is needed to inspect and supervise reactors. There are two kind of reactors for research and industry reactors, both of them are needed to inspect. Concern to inspection, regularly check is needed to ensure reactor conditions are always safe to operate. For that reason, an application of advanced technology for detecting leaks is priority. In this research, we are using underwater robot to be implemented. Using the robot is able to detect periodically, continuously with accurate reports to the operator or reactor supervisor. Furthermore, Underwater Robot namely Robaru, with 4 propellers equipped at the robot, Robaru can move on 3 axes x, y and z and rotate. The use of cameras, as well as temperature measurements to obtain data when conducting inspections of the reactor. The survey method used is direct observation to detect leaks. The robot is at a certain distance by following a predetermined connection or path. The robot has successfully performed a good check with an accurate level of positioning accuracy.

The increasing number of robots around us will soon create a demand for connecting these robots in order to achieve goal-driven teamwork in heterogeneous multi-robot systems. In this paper, we focus on robot teamwork specifically in dynamic environments. While the conceptual modeling of multi-agent teamwork has been studied extensively during the last two decades, related engineering concerns have not received the same degree of attention. Therefore, this paper makes two contributions. The analysis part discusses general design challenges that apply to robot teamwork in dynamic application domains. The constructive part presents a review of existing engineering approaches for challenges that arise with dynamically changing runtime conditions. An exhaustive survey of robot teamwork aspects would be beyond the scope of this paper. Instead, we aim at creating awareness for the manifold dimensions of the design space and highlight state-of-the-art technical solutions for dynamically adaptive teamwork, thus pointing at open research questions that need to be tackled in future work.

First, a brief overview is provided on humanoid robots, and also models for the dynamic behavior are discussed. As base for these models these two methods Denavit-Hartenberg and Newton-Euler are used. Main aim of this work is to investigate the stability of a biped robot developed from IHRT. There is currently the low base of robot - consisting of feet, legs, hips and upper part of robots body. This structure currently has ten degrees of freedom.

Low-frequency electromagnetic induction (EMI) is a non-invasive geophysical method that is based on the induction of electromagnetic (EM) waves into the subsurface to quantify changes in electrical conductivity. In this study we present an open (design details and software are accessible) and modular system for the collection of EMI data. The instrument proposed allows to adjust the separations between the transmitter and up to four receiving antennas as well as the acquisition frequency (in the range between 3 and 50 kHz) to permit measurements with variable depth of investigation. The sensor provides access to raw data and the software described in this study allows control of the signal processing chain. The design specifications permit apparent conductivity measurements in the range of between 1 mS/m and 1000 mS/m, with a resolution of 1.0 mS/m and with a sampling rate of up to 10 samples per second. The sensor allows for a synchronous acquisition of a time stamp and a location stamp for each data sample. The sensor has a mass of less than 5 kg, is portable and suitable for 1-person operation, provides 4 hours of operation time on one battery charge, and provides sufficient rigidity for practical field operations.

Current methods for the hardening step of functional coatings over different materials imply the use of high temperatures, high energy consumption or long periods of time, which have repercussions on the speed and cost of the product. We report here a simple and low cost methodology for the functionalization of low cost stainless steel, which is modular, depending of the functionality pursued: a levelling layer for smooth the surface of the material, an “easy to clean” property, or both of them. The research is based on sol-gel coatings cured under UV light without requiring high thermal hardening processes making it applicable to plastics and other sensible materials and possessing high chemical and thermal stability. The film ensures lower processing costs, and higher rates of hardening if the adequate medium-pressure lamps are employed. This formulation is also well defined for scaling up the process, so it is possible to perform a continuous coating in large areas by employing mild processing conditions (low temperature, atmospheric pressure). In addition, the sol gel solution was fully characterized and studied in order to guarantee a long service life before deposition, with a focus on industrial applications in the domestic sector.

This paper proposes a new structure of the dual-rotor hybrid-excited axial-flux permanent magnet vernier machine (DR-HEAFPMVM) with the modular stator and the consequent-pole PM (CPM) rotor for low-speed, high torque density applications such as in-wheel electric vehicles. The tooth-wound non-overlapping armature windings and direct current (DC) excitation windings are respectively arranged in stator main-teeth and split-teeth to obtain the modulated and adjustable air-gap flux densities, which result in the high torque density and outstanding flux-weakening capability. First, the design consideration, operation principle, and the air-gap flux density distributions of the proposed machine are elaborated based on the air-gap permeance function. Then, the influence of the pole ratios (PRs) and the DC excitation currents on the main electromagnetic performances of the DR-HEAFPMVM, such as the flux-weakening capability, back-electromotive force (back-EMF), on-load electromagnetic torque, loss distribution, and efficiencies, is investigated using the 3-D finite-element method (FEM). Results verify the feasibility of the flux adjustment of the DC excitation windings equipped in the split-tooth, and the design with a pole ratio of 8/1 tends to have higher torque density, higher machine efficiency, and considerable flux-weakening capability compared with the other two PRs.

According to the requirement of 20kg load of casting barrel, we design a three-dimensional model of the robot and analyze the three stages of liquid level change in the casting barrel during the casting process. Through the analysis, it is determined that the time and angle function is an implicit function, and it is impossible to find the analytical expression of time about angle. The kinetic function of the casting barrel is simulated by MATLAB, and it is found that the function image has mutation points, and when the original function is fitted and approximated by fifth-degree polynomial interpolation, the fifth-degree polynomial function image of the time versus the angular acceleration has a large amplitude of oscillation, especially the mutation points. A PID algorithm based on the discretization of the time and acceleration function is introduced for correction, and the results show that this method effectively reduces the oscillation amplitude of the image and improves the coincidence with the original function.

Background: Robot-assisted laparoscopic surgery robot-assisted surgical system has gained significant popularity over open and laparoscopic interventions. However, given its high costs, it remains unclear what clinical advantages robot-assisted laparoscopic surgery offers over conventional laparoscopic surgery. Objective: This umbrella review aims to synthesize and compare the clinical outcomes of robot-assisted laparoscopic surgery versus conventional laparoscopic surgery for five surgical procedures. Inclusion criteria: All systematic reviews and meta-analyses published in the past five years that compared the clinical outcomes of conventional laparoscopic surgery and robot-assisted laparoscopic surgery for cholecystectomy, colectomy, hysterectomy, nephrectomy and/or prostatectomy were included. Methods: A systematic literature search was conducted in PubMed and Scopus. The quality of all included reviews was assessed with the AMSTAR 2 quality assessment tool. Each review’s study characteristics (and a list of primary sources) were extracted, along with the quantitative and qualitative data for the following ten clinical outcomes: blood loss, rate of conversion to open surgery, hospitalization costs, incisional hernia rate, intraoperative complication rate, postoperative complication rate, length of hospital stay, operative time, readmission rate and wound infection rate. Results: Fifty-two systematic reviews and (network) meta-analyses were included in this umbrella review, covering more than 1,288,425 patients from 1046 primary sources published between 1996 and 2022. The overall quality of the included reviews was assessed to be low or critically low. Robot-assisted laparoscopic surgery yielded comparable results as conventional laparoscopic surgery in terms of blood loss, conversion to open surgery rate, intraoperative complication rate, postoperative complication rate, readmission rate and wound infection rate for most surgical procedures. While the hospitalization costs of robot-assisted laparoscopic surgery were higher and the operative times of robot-assisted laparoscopic surgery were longer than conventional laparoscopic surgery, robot-assisted laparoscopic surgery reduced the length of hospital stay of patients in nearly all cases. Conclusion: Robot-assisted laparoscopic surgery achieved comparable results with conventional laparoscopic surgery for cholecystectomy, colectomy, hysterectomy, nephrectomy and prostatectomy based on ten clinical outcomes. Further research is needed to prove that robot-assisted laparoscopy is as safe and reliable as conventional laparoscopic surgery.

Delta parallel robot has been widely used in precision parts processing, handling, sorting, and precision assembly, with high efficiency and motion stability being its important performance indexes. Any small line segment corner in trajectory planning causes tangential discontinuous trajectory abrupt change, and the process vibration and shock caused by it seriously affect its high-speed and high-precision performance. In this paper, a trajectory planning method combining Cartesian space and joint space is proposed. Firstly, the vector method and micro-element integration method are used to establish the complete kinematics and dynamics equations of the Delta parallel robot, and the inverse kinematics/dynamics model-solving program is written based on Matlab software. Secondly, the end-effector trajectory of the Delta parallel robot is planned in Cartesian space, and the data points and inverse control points of the end-effector trajectory are obtained by the normalization method. Finally, the data points and control points are mapped to the joint space through the inverse kinematics equation, and the fifth-order B-spline curve is adopted for quadratic trajectory planning, which realizes the high-order continuous smoothing of trajectory planning. The simulation and experiment results show that the trajectory smoothing performance of continuous high-order curvature change can be improved using the proposed method, the tracking error of the end-effector is reduced by 21.12%, and the peak torques change of three joints is reduced by 3.5%, 11.6% and 1.6%, respectively.

The benefits of multi-robot systems are substantial, bringing gains in efficiency, quality, and cost, and are useful in a wide range of environments from warehouse automation, to agriculture, and even extend in part to entertainment. In multi-robot system research, the main focus is on ensuring efficient coordination in the operation of the robots, both in task allocation and navigation. However, much of this research seldom strays from theoretical bounds; there are many reasons for this, with the most prominent and impactful being resource limitations. This is especially true for research in areas such as multi-robot path planning (MRPP) and navigation coordination. This is a large issue in practice as many approaches are not designed with meaningful real-world implications in mind and are not scalable to large multi-robot systems. This survey aims to look into the coordination and path-planning issues and challenges faced when working with multi-robot systems, especially those using a prioritised planning approach and identify key areas which are not well-explored and the scope of applying existing MRPP approaches to real-world settings.

(1) Background: The social robot interaction design is critical in determining acceptance and user experience. However, few studies have systematically discussed the current focus and future research directions of social robot interaction design from a bibliometric perspective. Therefore, in order to identify the latest research progress and evolution trajectory of research hotspots in social robot interaction design over the last decade. (2) Methods: based on 2416 papers related to social robot interaction design collected in the Web of Science (WOS) database, a comprehensive review was conducted by using bibliometrics to draw a knowledge map using VOSviewer and CiteSpace in an integrated manner. (3) Conclusions: The current research hotspots of social robot interaction design mainly focus on #1the study of human-robot relationships in social robot, #2Research on the Emotional Design of Social Robot, #3research on social robot for children's psychotherapy, #4research on companion robot for elderly rehabilitation, and #5research on educational social robot. The reference co-citation identifies the classic literature that forms the basis of the current research, which provides theoretical guidance and methods for the current research. Finally, we discuss several future research directions and challenges in this field.

This paper describes the development of a laser-based people detection and obstacle avoidance algorithm for a differential-drive robot, which is used for transporting materials along a reference path in hospital domains. Detecting humans from laser data is an important functionality for the safety of navigation in the shared workspace with people. Nevertheless, traditional methods normally utilize machine learning techniques on hand-crafted geometrical features extracted from individual clusters. Moreover, the datasets used to train the models are usually small and need to manually label every laser scan, increasing the difficulty and cost of deploying people detection algorithms in new environments. To tackle these problems, (1) we propose a novel deep learning-based method, which uses the deep neural network in a sliding window fashion to effectively classify every single point of a laser scan. (2) To increase the speed of inference without losing performance, we use a jump distance clustering method to decrease the number of points needed to be evaluated. (3) To reduce the workload of labeling data, we also propose an approach to automatically annotate datasets collected in real scenarios. In general, the proposed approach runs in real-time, performs much better than traditional methods, and can be straightforwardly extended to 3D laser data. Secondly, conventional pure reactive obstacle avoidance algorithms can produce inefficient and oscillatory behaviors in dynamic environments, making pedestrians confused and possibly leading to dangerous reactions. To improve the legibility and naturalness of obstacle avoidance in human crowded environments, we introduce a sampling-based local path planner, similar to the method used in autonomous driving cars. The key idea is to avoid obstacles by switching lanes. We also adopt a simple rule to decrease the number of unnecessary deviations from the reference path. Experiments carried out in real-world environments confirmed the effectiveness of the proposed algorithms.

Energy conversion and distribution (heat and electricity) is characterized by long planning horizons, investment periods and depreciation times, and it is thus difficult to plan and tell the technology that optimally fits for decades. Uncertainties include future energy prices, applicable subsidies, regulation, and even the evolution of market designs. To achieve higher adaptability to arbitrary transition paths, a technical concept based on integrated energy systems is envisioned and described. The problem of intermediate steps of evolution is tackled by introducing a novel paradigm in urban infrastructure design.It builds on standardization, modularization and economies of scale for underlying conversion units. Building on conceptual arguments for such a platform, it is then argued how actors like (among others) municipalities and district heating system operators can use this as a practical starting point for a manageable and smooth transition towards more environmental friendly supply technologies, and to commit to their own pace of transition (bearable investment/risk). environmental friendly supply technologies. Merits are not only supported by technical arguments but also by strategical and societal prospects like technology neutrality and availability of real options.

We present a laser-plasma electron accelerator module designed to be driven by high repetition rate lasers for industrial applications of laser-driven electron beams. It consists of a single vacuum chamber containing all the necessary components for producing, optimizing, and monitoring electron beams generated via laser wakefield acceleration in a gas jet. The core methods involve comprehensive metrological assessments, including rigorous temporal laser pulse characterization and contrast measurements, supplemented by detailed spatio-temporal distribution analyses of the laser system. Results demonstrate the good stability and reproducibility of the laser system, confirming its suitability for advanced scientific and industrial applications. We demonstrate the full functionality of the laser-plasma accelerator module and perform target density and laser-plasma characterizations. Our work is a first step towards the wide dissemination of fully integrated laser-plasma accelerator technology.

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.

mRNA vaccines have attracted widespread research attention with clear advantages in terms of molecular flexibility, rapid development, and potential for personalization. However, current mRNA vaccine platforms have not been optimized for induction of CD4/CD8 T cell responses. In addition, mucosal administration of mRNA based on lipid nanoparticle technology faces challenges in clinical translation. In contrast, adenovirus-based vaccines induce strong T-cell responses and have been approved for intranasal delivery. To leverage the inherent strengths of both the mRNA and adenovirus platforms, we developed a novel modular adenoviral mRNA delivery platform based on Tag/Catcher bioconjugation. Specifically, we engineered adenoviral vectors integrating Tag/Catcher proteins at specific locales on the Ad capsid proteins, allowing us to anchor mRNA to the surface of engineered Ad viruses. In proof-of-concept studies, the Ad-mRNA platform successfully mediated mRNA delivery and could be optimized via the highly flexible modular design of both the Ad-mRNA and protein bioconjugation systems.

Elliptic curve cryptography (ECC) over prime fields relies on scalar point multiplication realized by point addition and point doubling. Point addition and point doubling operations consist of many modular multiplications of large operands (256 bits for example), especially in projective and Jacobian coordinates which eliminate the modular inversion required in affine coordinates for every point addition or point doubling operation. Accelerating modular multiplication is therefore important for high-performance ECC. This paper presents the hardware implementations of modular multiplication algorithms, including 1) Interleaved modular multiplication (IMM), 2) Montgomery modular multiplication (MMM), 3) Shift-sub modular multiplication (SSMM), 4) SSMM with advance preparation (SSMMPRE), and 5) SSMM with CSAs and sign detection (SSMMCSA) algorithms, and evaluates their execution time (the number of clock cycles and clock frequency) and required hardware resources (ALMs and registers). Experimental results show that SSMM is 1.76 times faster than IMM, and SSMMCSA is 3.21 times faster than IMM. We also present the ECC hardware implementations based on the Secp256k1 protocol in affine, projective, and Jacobian coordinates using the IMM, SSMM, SSMMPRE, and SSMMCSA algorithms, and investigate their cost and performance. Our ECC implementations can be applied to the design of hardware security module systems.

For technical or medical applications, the knowledge of the exact kinematics of the human hand is key to utilizing its capability to handle and manipulate objects and to communicate with other humans or machines. The optimal relationship between the number of measurement parameters, measurement accuracy as well as complexity, usability and cost of the measuring systems is hard to find. Biomechanic assumptions, the concepts of a biomechatronic system and the mechatronic design process as well as commercially available components are used to develop a sensorized glove. The proposed wearable can measure 14 of 15 angular values of a simplified hand model introduced in this paper. Additionally, five contact pressure values at the fingertips and inertial data of the whole hand with a degree of freedom of six are gathered. Due to the modular design and a hand size examination based on anthropometric parameters, the concept of the wearable is applicable for a large variety of hand sizes and adaptable to different use cases. Validations show a combined root-mean-square error of 0.99° to 2.38° for the measurement of all joint angles at one finger, surpassing the human perception threshold and the current state of the art in science and technology for comparable systems.

In recent years, numerous topologies of single phase and three phase Field Excited Flux-Switching Machine (FEFSM) have been developed for several applications. Comparative study of three types of single-phase low-priced Field Excited Flux-Switching Machine (FEFSM) is presented in this paper. Both the conventional 8S/4P sub-part rotor design and 6S/3P salient rotor design have an overlapped winding arrangements between armature coil and field excitation coil that depicts high copper losses as well as results in increased size of motor. Additionally, FEFSM with salient structure of the rotor have high flux strength in the stator-core that has much impact on high iron losses. Copper consumption and iron loss being a crucial proportion in total machine losses. Therefore a novel topology of single phase modular rotor field excited FSM with 8S/6P configuration is proposed, which enable non-overlap arrangement between armature coil and FEC winding that facilitates devaluation in the copper losses. The proposed modular rotor design acquires reduced iron losses as well as reduced active rotor mass comparatively to conventional rotor design. It is very persuasive to analyze the best range of speed for these rotors to avoid cracks and deformation, the maximum tensile strength (can be measured with principal stress in research) of the rotor analysis is conducted using JMAG. A deterministic optimization technique is used to enhance the performance of 8S/6P modular rotor design. The electromagnetic performance of conventional sub-part rotor design, F1-A3-3P design and proposed novel-modular rotor design are analyzed by 3D-Finite Element Analysis (3D-FEA), includes flux linkage, flux distribution, flux strength, back-EMF, cogging torque, torque characteristics, iron losses and efficiency.

Ice covering on overhead transmission lines would cause damage to transmission system and long-term power outage. Among various de-icing devices, modular multilevel converter (MMC) based DC de-icer (MMC-DDI) is recognized as a promising solution due to its excellent technical performance. Its principle feasibility has been well studied, but few literature discuss its economy or hardware optimization, thus the designed MMC-DDI for high voltage transmission lines is usually too large and too expensive for engineering applications. To fill this gap, this paper presents a quantitative analysis on the converter characteristics of MMC-DDI, and calculates the minimal converter rating and its influencing factors. It reals that, for a given de-icing requirement, the converter rating varies greatly with its AC-side voltage. Then an optimization configuration is proposed to reduce the converter rating and improve its economy. The proposed configuration is verified in a MMC-DDI for a 500kV transmission line as a case study. The result shows, in the case of outputting same de-icing characteristics, the optimized converter rating is reduced from 151 MVA to 68 MVA, and total cost of MMC-DDI is reduced by 48%. This analysis and conclusion are conductive to the optimized design of multilevel DC de-icer, then to its engineering application.

A modular switched-capacitor (SC) DC-DC converter (MSCC) is introduced in this paper. It is designed to boost a low input voltage to a high voltage level and can be applied for photovoltaics and electric vehicles. This topology has high extensibility for high voltage gain output. The merits of the converters also lie in the fault tolerance operation and the voltage regulation with a minimum change in the duty ratio. Those features are built in when designing the modules and then integrating these into the DC-DC converter. Converter performance including voltage gain, voltage and current stress are focused and tested. The converter is modelled analytically, and its control algorithm is analyzed in detailed. Both simulation and experiment are carried out to verify the topology under normal operation and fault mode operation.

The provenance of the aminoacyl-tRNA synthetases (aaRS) poses challenging questions because of their role in the emergence and evolution of genetic coding. We investigate evidence about their ancestry from curated structure-based multiple sequence alignments of a structurally invariant “scaffold” shared by all 10 canonical Class I aaRS. Three uncorrelated phylogenetic metrics—residue-by-residue conservation, its variance, and row-by-row cladistic congruence—imply that the Class I scaffold is a mosaic assembled from distinct, successive genetic sources. These data are especially significant in light of: (i) experimental fragmentations of the Class I scaffold into three partitions that retain catalytic activities in proportion to their length; and (ii) evidence that two of these partitions arose from an ancestral Class I aaRS gene encoding a Class II ancestor in frame on the opposite strand. Phylogenetic metrics of different modules vary in accordance with their presumed functionality. A 46-residue Class I “protozyme” roots the Class I molecular tree prior to the adaptive radiation of the Rossmann dinucleotide binding fold that refined substrate discrimination. Such rooting is consistent with near simultaneous emergence of genetic coding and the origin of the proteome, resolving a conundrum posed by previous inferences that Class I aaRS evolved long after the genetic code had been implemented in an RNA world. Further, pinpointing discontinuous enhancements of aaRS fidelity establishes a timeline for the growth of coding from a binary amino acid alphabet.

Underwater robots often encounter the influence of confined underwater environments during underwater exploration. These environments include underwater caves, sunken ships, submerged houses, and pipeline structures. Robot positioning in these environments is strongly disturbed, leading not only to the failure of some commonly used positioning methods but also to an increase in errors in positioning systems that normally function well in open water. In order to overcome the limitations of positioning methods in underwater confined environments, researchers have studied different underwater positioning methods and selected suitable methods for positioning in such environments. These methods can achieve high-precision positioning without relying on assistance from other platforms, and are referred to as autonomous positioning methods. Autonomous positioning methods for underwater robots mainly include SINS/DR positioning and SLAM positioning. In addition, in recent years, researchers have also developed some bio-inspired autonomous positioning methods. This article introduces the applicable robot positioning methods and sensors in underwater confined environments and discusses the research directions of robot positioning methods in such environments.

Autonomous navigation of a mobile robot in dynamic environments presents a significant challenge in the field of robotics. The primary objective for mobile robot navigation is to ensure both smoothness and safety of movement. A path planning is applied to generate a trajectory that allows the robot to move smoothly while avoiding collisions with both stationary and moving obstacles. This study aims to introduce an Adaptive Neuro-Fuzzy Inference System (ANFIS)-based control strategy for a mobile robot navigating in dynamic environments, with a significant focus on ensuring collision-free path planning. The developed control strategy incorporates four ANFIS controllers, each regulating the robot's responsive behaviors. The experimental scene includes a mobile robot moving in an environment with static and dynamic obstacles without colliding with the obstacles. The experimental tests confirm the model's capability to facilitate collision-free motion, employing a path planning algorithm for determining the shortest route to the target destination. Simulations are conducted to show the effectiveness of the proposed algorithm, highlighting the mobile robot's efficiency in navigating without collisions while avoiding both stationary and moving obstacles using the integration of ultrasonic sensors.

In the field of vision-based robot grasping, effectively leveraging RGB and depth information to accurately determine the position and pose of a target is a critical issue. To address this challenge, we propose a tri-stream cross-modal fusion architecture for 2-DoF visual grasp detection. This architecture facilitates the interaction of RGB and depth bilateral information and is designed to efficiently aggregate multiscale information. Our novel modal interaction module (MIM) with spatial-wise cross-attention algorithm adaptively captures cross-modal feature information. Meanwhile, the channel interaction modules (CIM) further enhance the aggregation of different modal streams. In addition, we efficiently aggregate global multiscale information through a hierarchical structure with skipping connections. To evaluate the performance of our proposed method, we conduct validation experiments on standard public datasets and real robot grasping experiments. We achieve the image-wise detection accuracy of 99.4% and 96.7% on Cornell and Jacquard datasets respectively. The object-wise detection accuracy reaches 97.8% and 94.6% on the same datasets. Furthermore, physical experiments using the 6-DoF Elite robot demonstrate a success rate of 94.5%. These experiments highlight the superior accuracy of our proposed method.

For a mobile robot, navigation in a densely crowded space can be a challenging and sometimes impossible task, especially with traditional techniques. In this paper, we present a framework to train neural controllers for differential drive mobile robots which must safely navigate a crowded environment while trying to reach a target location. To learn the robot’s policy, we train a convolutional neural network using two reinforcement learning algorithms, Deep Q-Networks (DQN) and Asynchronous Advantage Actor Critic (A3C), and develop a training pipeline that allows to scale the process to several compute nodes. We show that the asynchronous training procedure in A3C can be leveraged to quickly train neural controllers and test them on a real robot in a crowded environment.

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

This study presents a path planning method for a mobile robot to be effectively operated through a multi-objective decision-making problem. Specifically, the proposed Fuzzy analytic hierarchy process (FAHP) determines an optimal position as a sub-goal within the multi-objective boundary. The key features of the proposed FAHP are evaluating the candidates according to the fuzzified relative importance among objectives to select an optimal solution. In order to incorporate FAHP into path planning, an AHP framework is defined, which includes the highest level (goal), middle level (objectives), and the lowest level (alternatives). The distance to the target, robot’s rotation, and safety against collision between obstacles are considered as objective functions. Comparative results obtained from the artificial potential field and AHP/FAHP simulations show that FAHP is much preferable for the mobile robot’s path planning than typical AHP.

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.

As a typical visual positioning system, monocular ranging is widely used in various fields. However, when the distance increases, there is a greater error. YOLOv8 network has the advantages of fast recognition speed and high accuracy. This paper proposes a method by combining YOLOv8 network recognition with a monocular ranging method to achieve target localization and grasping for the NAO robots. By establishing a visual distance error compensation model and applying it to correct the estimation results of the monocular distance measurement model, the accuracy of the NAO robot's long-distance monocular visual positioning is improved. Additionally, a grasping control strategy based on pose interpolation is proposed. Throughout, the proposed method's advantage in measurement accuracy was confirmed via experiments, and the grasping strategy has been implemented to accurately grasp the target object.

(1) Background: The aim of this study was to compare the survival benefit of radical ante-grade-modular pancreato-splenectomy (RAMPS) with conventional distal pancreato-splenectomy (cDPS) in left-sided pancreatic cancer. (2) Methods: A retrospective propensity score matching (PSM) analysis was conducted on 333 patients who underwent RAMPS or cDPS for left-sided pancreatic cancer at four tertiary cancer centers. The study assessed prognostic factors and com-pared survival and operative outcomes. (3) Results: After PSM, 99 patients were matched in each group. RAMPS resulted in a higher retrieved lymph node count than cDPS (15.0 vs. 10.0, p < 0.001). No significant differences were observed between the two groups in terms of R0 resection rate, blood loss, hospital stay, or morbidity. The 5-year overall survival rate was similar in both groups (cDPS vs. RAMPS, 44.4% vs. 45.2%, p = 0.853), and disease-free survival was also comparable. Multivariate analysis revealed that ASA score, preoperative CA19-9, histologic differentiation, R1 resection, adjuvant treatment, and lymphovascular invasion were significant prognostic factors for overall survival. Preoperative CA19-9, histologic differentiation, T-stage, adjuvant treatment, and lymphovascular invasion were independent significant prognostic factors for disease-free survival. (4) Conclusions: Although RAMPS resulted in a higher retrieved lymph node count, survival outcomes were not different between two groups. RAMPS was a surgical option to achieve R0 resection rather than a standard procedure. Adjuvant treatment was an independent prognostic factor for both overall and disease-free survival.

Fully mechanized mining face production involves complex geological conditions; mining pressure; gas, water, fire and other mining environments. The working face needs a shearer, hydraulic support, a scraper conveyor and other equipment for coordination. The deep integration of intelligent technology with factors such as "humans, machines, the environment, and management" in the workplace is the core content of intelligent coal mines. This paper puts forward an advanced framework for coal mining robot technology systems, including single robots, robotized equipment, robot clusters and unmanned systems. The framework clarifies the common key technologies of coal mining robot research and development and cross-integration with new technologies such as 5G, the industrial internet, big data, artificial intelligence, and digital twins to improve the autonomous and intelligent application of coal mining robots. By establishing a scientific and complete standard system for coal mining robots, we aim to achieve customized research and development and standardized production of various types of robots. A specific analysis was conducted on the research progress of common key technologies such as explosion-proof design, mechanical system innovation, power drive, intelligent sensing, positioning and navigation, and underground communication of coal mining robots. The current research and application status of various types of coal mining robots in China are summarized. A new direction for future coal mine robot research and development is proposed. Moreover, robotic mining systems should be promoted to enhance the overall intelligence level and mining efficiency of mining equipment. To develop human‒machine environment-integrated robots to improve the autonomy and collaboration level of coal mining robots. The digital twinning of the entire mine robot system should be accelerated, the normalized operation level of coal mine robots should be improved, research on coal mining robots, support robots, and transportation robots should be carried out, intelligence should be achieved in fully mechanized mining faces, and equipment support for fewer and unmanned fully mechanized mining faces should be provided. The practical process of implementing coal mining robotization has been summarized, and the technical and engineering feasibility of the coal mining machine population has been verified.

Cochlear implantation (CI) allows rehabilitation for patients with severe to profound hearing impairment. Although the use of a robotic assistant provides technical assistance to the surgeon, the assessment of the impact of its use on auditory outcomes remains uncertain. We aim to com-pare the hearing results of patients who underwent bilateral cochlear implantation, one side was performed with manual insertion and the other side with robot-assisted insertion. The electrode array intrascalar positioning and the surgery duration were also studied. This retrospective intra-individual study involved 10 patients who underwent bilateral cochlear implantation. The study included 2 infants and 8 adults. The unique composition of this cohort enabled us to utilize each patient as their own control. Regarding speech disyllabic recognition, pure tone average, ECAP, ratio of array translocation, basilar membrane rupture, percentage of translocated electrodes there was no difference between manual and robot-assisted CI groups. This study is the first to compare intra-individual hearing performance after cochlear implantation either manually or robot-assisted. The number of patients and the time delay between manual and robotic implantation may have led to a lack of power, but there was no apparent difference in hearing performance between manual and robotic implantation.

In this paper is presented the design and syntheis of a dynamic output feedback neural network controller for a non-holonomic mobile robot. First the dynamic model of a non-holonomic mobile robot is presented, in which these constraints are considered for the mathematical derivation of a feasable representation for this kind of robot. Then two control strategies are provided based on kinematic control for this kind of robot. The first control strategy is based on driftless control, this means, that considering that the velocity vector of the mobile robot is orthogonal to its restriction a dynamic output feedback and neural network controller is designed in order that the control action would be zero only when the velocity of the mobile robot is zero. The Lyapunov stability theorem is implemented in order to find a suitable control law. Then another control strategy is designed for trajectory tracking purposes, which similar to the driftless controller, a kinematic control scheme is provided but suitable to implement in more sophisticated hardware. In both control strategy a dynamic control law is provided along with a feedforward neural network controller, so in this way, by the Lyapunov theory the stability and convergence to the origin of the mobile robot position coordinates is ensured. Finally, two numerical experiment are presented in order to validate the theoretical results synthetized in this research study. Discussions and conclusions are provided in order to analyze the results found in this research study.