Soft pneumatic actuators/robotics have received significant interest in the medical and health fields, due to their intrinsic elasticity and simple control strategies enabling desired interaction. However, current soft hand pneumatic exoskeletons often exhibit uniform deformation, mismatch the profile of the interacted objects, and seldom quantify the assistive effects during activities of daily life (ADL), such as extension angle and joint stiffness predicted. The lack of quantification poses challenges to the effective and sustainable advancement of rehabilitation technology. This paper introduces the design, modeling, and testing of pneumatic bioinspired Segmented Composite Proprioceptive Bending Actuators (SCPBAs) for hand rehabilitation in ADL tasks. The actuator’s soft-joint/rigid-bone segmented structure, inspired by the human finger anatomy, provides a superior fit compared to traditional continuous structures. A quasi-static model is established to predict the bending angles based on geometrical parameters. The SCPBAs also include a quantitative evaluation of joint stiffness and extension angle utilizing proprioceptive bending information. Additionally, a soft under-actuated hand exoskeleton equipped with SCPBAs demonstrates its potential in ADL rehabilitation scenarios.

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

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

Asymmetric lithium salts, such as Lithium (difluoromethanesulfonyl)(trifluoromethanesulfonyl)imide (LiDFTFSI), have been demonstrated to surpass traditional symmetric lithium salts with improved Li+ conductivity and the capacity to generate stable solid electrolyte interphase (SEI) while maintaining compatibility with aluminum (Al0) current collector. However, the intrinsic reductive mechanism through which LiDFTFSI influences battery performance remains unclear and under debate. Herein, the detailed SEI reactions of LiDFTFSI-based electrolytes were investigated by combining density functional theory and molecular dynamics, aiming to clarify the formation process and atomic structure of SEI. Our results show that asymmetric DFTFSI– weakens the interaction between carbonate solvents and Li+, and substantially alter the solvation structure, exhibiting a well-balanced coordination capacity to bis(trifluoromethanesulfonyl)imide (TFSI–). Nanoseconds hybrid molecular dynamics simulation further reveals that the preferential decomposition of LiDFTFSI produces sufficient LiF and Li2O to facilitate a robust SEI. Moreover, the abundant F– generated from LiDFTFSI decomposition accumulates on the Al surface and subsequently combines with Al3+ from the current collector to form AlF3, potentially inhibiting corrosion of the current collector. Overall, these findings elucidate how LiDFTFSI regulates the solvation sheath and SEI structure, advancing the development of high-performance electrolytes compatible with current collector.

In this paper, we present a full coverage path planning (CPP) algorithm for the marine surveys conducted in the convex polygon shaped search area. The survey is supposed to carry out by torpedo-type AUVs (autonomous underwater vehicles). Due to their nonholonomic mechanical characteristics, these vehicles have nonzero minimum turning radius. For any given polygon shaped search area, it can always be partitioned into one or more convex polygons. With this in mind, this paper proposes a novel search algorithm called CbSPSA (Calculation based Shortest Path Search Algorithm) for full coverage of any given convex polygon shaped search area. By aligning the search inter-tracks alongside the edge with the minimum height, we can guarantee the minimum number of the vehicle’s turns. In addition, the proposed method can guarantee the planned path is strictly located inside the polygon area without overlapped or crossed path lines, and also has the total path length as short as possible. Considering the vehicle’s nonzero minimum turning radius, we also propose a sort of smoothing algorithm to smooth the waypoint path searched by CbSPSA so as for the vehicle to exactly follow it. The smoothed path is also guaranteed to be strictly located inside the polygon. Numerical simulation analyses are also carried out to verify the effectiveness of the proposed schemes.

Crawling robots are the focus of intelligent inspection research, and the main feature of this type of robot is the flexibility of in-plane attitude adjustment. The crawling robot HIT_Spibot is a new type of steam generator heat transfer tube inspection robot with a unique mobility capability different from traditional quadrupedal robots. This paper introduces a hierachical motion planning approach for HIT_Spibot, aiming to achieve efficient and agile maneuverability. The proposed method integrates three distinct planners to handle complex motion tasks: a nonlinear optimization-based base motion planner, a TOPSIS-based base orientation planner, and a Mask-D3QN (MD3QN) algorithm-based gait motion planner. Initially, the robot's base and foot workspace are delineated through envelope analysis, followed by trajectory computation using Larangian methods. Subsequently, the TOPSIS algorithm is employed to establish an evaluation framework conducive to foundational turning planning. Finally, the MD3QN algorithm trains foot points to facilitate robot movement along predefined paths. Experimental results demonstrate the method's adaptability across diverse tube structures, showcasing robust performance even in environments with random obstacles. Compared to the D3QN algorithm, MD3QN achieves a 100% success rate, enhances average overall scores by 6.27%, reduces average stride lengths by 39.04%, and attains a stability rate of 58.02%. These results not only validate the effectiveness and practicality of the method but also showcase the significant potential of HIT_Spibot in the field of industrial inspection.

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

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

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

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

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

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

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

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

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

(1) Exoskeletons offer potential benefits for overhead working tasks, but gender effects or differences are unclear. This study aimed to compare the performance, strain, and comfort of men and women using an upper-body exoskeleton. (2) n=20 female and n=16 male participants performed an overhead drilling task with and without a passive upper-body exoskeleton in a randomized cross-over study. Task performance of different movement phases, perceived exertion, and ease of use were measured to compare gender differences. One and two-way analyses were used to com-pare genders in the different conditions. (3) Gender differences after controlling for BMI in task performance were found for error integrals (p <.001) with higher values in male participants. Moreover, there was a significant interaction effect for gender x exoskeleton use. While females showed performance decrements in aiming with exoskeleton use, the male's performance increased (p=.025). No other gender differences were observed. (4) Gender differences in task performance using an upper-body industrial exoskeleton were less detectable than expected after controlling for BMI, indicating that body composition and anthropometrics might be valuable indicators for per-formance including assisting devices. Moreover, future studies should also integrate the examina-tion of muscle activity to gain more insights into potential gender movement control patterns.

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

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

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

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

The article focusses on detecting the unbalance of a mechanical component in the electric drive system of a two-mass servomechanism with a PMSM motor, which is connected to the load via a long, flexible shaft. In the example analysed, the degree of unbalance was determined using the reference current signal from the speed controller of the FOC control system. The authors pre-sented a two-mass model with an unbalanced mechanical system. The STFT transform was used to analyse the symptoms of unbalance and an artificial neural network MLP was used for system state inference. The effectiveness of the presented analysis, based on the reference current signal from the sensor embedded in the control system, was experimentally confirmed.

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

This paper presents a biologically inspired flocking-based aggregation behaviour of a swarm of mobile robots. Aggregation behaviour is essential to many swarm systems, such as swarm robotics systems, in order to accomplish complex tasks that are impossible for a single agent. We developed a robot controller using Reynolds’ flocking rules to coordinate the movements of multiple e-puck robots during the aggregation process. To improve aggregation behaviour among these robots and address the scalability issues in current flocking-based aggregation approaches, we used a K-means algorithm to identify clusters of agents. Using the developed controller, we simulated the aggregation behaviour among the swarm of robots. Five experiments were conducted using Webots simulation software. The performance of the developed system was evaluated under a variety of environments and conditions, such as various obstacles, agent failure, different numbers of robots and arena sizes. The results of the experiments demonstrated that the proposed algorithm is robust and scalable. Moreover, we compared our proposed algorithm with another implementation of the flocking-based self-organizing aggregation behaviour based on Reynolds’ rules in a swarm of e-puck robots. Our algorithms outperformed this method in terms of cohesion performance and aggregation completion time.

The use of educational robotics has become increasingly popular in STEM education, offering motivating and hands-on learning experiences. This paper explores the potential of educational robotics for teaching plane curves at the university level. Specifically, it investigates the development and implementation of a LEGO SPIKE Prime robot designed to draw various central trochoids, including epicycloids and hypocycloids. The robot’s construction and programming are described, emphasizing the relationship between the robot’s physical movements and the mathematical equations of the curves it produces. The study also examines the integration of dynamic geometry software, which allows for visualization of the curves and verification of the robot’s accuracy. The paper concludes that educational robotics can serve as a valuable tool for enhancing both theoretical and practical understanding of mathematical and engineering concepts, offering a more engaging and interactive approach to learning.

The relationship between pangolin-CoV and SARS-CoV-2 has been a subject of debate. Further evidence of a special relationship between the two viruses can be found by the fact that all known COVID-19 viruses have abnormally hard outer shell (low M disorder; i.e., low content of intrinsically disordered residues in the membrane (M) protein) that so far was found in CoVs associated with burrowing animals, such as rabbits and pangolins, in which transmission involves virus remaining in buried feces for a long time. While a hard outer shell is necessary for viral survival, a harder inner shell could also help. For this reason, the N disorder range of pangolin-CoVs, not bat-CoVs, more closely matches that of SARS-CoV-2 especially when Omicron is included. The low N disorder (i.e., low content of intrinsically disordered residues in the nucleocapsid (N) protein), first observed in pangolin-CoV-2017 amd later in Omicron, is associated with attenuation according to the Shell-Disorder-Model. Our experimental study revealed that pangolin-CoV-2017 and SARS-CoV-2 Omicron (XBB.1.16 subvariant) show similar attenuations with respect to viral growth and plaque formation. Subtle differences have been observed that are consistent with disorder-centric computational analysis.

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

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

The incidence of right-turning pedestrian accidents is increasing in South Korea. Most of the accidents occurred when the larger vehicle was turning right, and the main cause of the accidents was found to be the driver's limited field of vision. After these accidents, the government has implemented a series of institutional measures with the objective of preventing such accidents. However, despite the institutional arrangements in place, pedestrian accidents continue to occur. We focused on the many limitations that autonomous vehicles, like humans, can face in such situations. To address this issue, we propose a right-turn pedestrian collision avoidance system by installing a LiDAR sensor in the center of the intersection to facilitate pedestrian detection. Furthermore, the urban road environment is considered, as this provides the optimal conditions for the model to perform at its best. During this research, we collected data on right-turn accidents using the CARLA simulator and ROS interface and demonstrated the effectiveness of our approach in preventing such incidents. Our results suggest that the implementation of this method can effectively reduce the incidence of right-turn accidents in autonomous vehicles.

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

Will human societies accommodate social robots, given the current development rate? Are we under a novelty effect? Can (and should) social robots compete with intelligent agents (e.g., software robots) for the attention of humans? Will the current development of machine learning be the motor of social robotics? What kind of robotics products and culture can we expect that will emerge? These are relevant questions to assess the sustainability of social robots and how they will change business practices and lifestyle. Speculative/exploratory arguments on these topics are possible and have been mostly left out of research papers. This, however, results in an unconventional structure where the novelty comes from the questioning of the role of Social Robotics that has not been duly addressed in the literature. The paper raises questions and (i) presents arguments supporting sustainability grounded on experiments in real-world scenarios, and (ii) identifies challenges according to multiple viewpoints. These are questions for which assertive answers are not found in the literature. Besides the answers to the above questions, the conclusions point to pathways we believe social robotics can evolve, e.g., incorporating maximal knowledge on how humans work.

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

This paper introduces a quantitative methodology for assessing drone pilot performance, aiming to reduce drone-related incidents by understanding the human factors influencing performance. The challenge lies in balancing evaluations in operationally relevant environments with those in a standardized test environment for statistical relevance. The proposed methodology employs a novel virtual test environment that records not only basic flight metrics but also complex mission performance metrics, such as the video quality from a target. A group of Belgian Defence drone pilots were trained using this simulator system, yielding several practical results. These include a human performance model linking human factors to pilot performance, an AI co-pilot providing real-time flight performance guidance, a tool for generating optimal flight trajectories, a mission planning tool for ideal pilot assignment, and a method for iterative training improvement based on quantitative input. The training results with real pilots demonstrate the methodology’s effectiveness in evaluating pilot performance for complex military missions, suggesting its potential as a valuable addition to new pilot training programs.

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

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

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

The importance of bio robotics has been increasing day by day. Researchers are trying to mimic nature in a more creative way so that, the system can easily adopt the complex nature and its environment. Hence, bio robotic gripper plays a role in physical connection between the environment and bio robotics system. While handling the physical world in biorobots gripper, the complexity occurs in feedback system where sensor plays a vital role. Therefore, human centered gripper sensor has a good impact on bio robotics field. But categorical classification and their selection process is not very systematic. This review paper follows PRISMA methodology to summarize the previous works on bio robotics gripper sensor and its selection process.. This paper discusses challenges in soft robotics systems, and the importance of sensing systems to facilitate critical control mechanisms along with their selection considerations. Furthermore, a classification of soft actuation based on gripper has been introduced. Moreover, some unique characteristics for soft robotics sensor are explored namely compliance, flexibility, multifunctionality, sensor nature, surface properties, and material requirements. In addition, a categorization of sensors for soft robotic gripper in terms of modalities has been established ranging from the tactile and force sensor to slippage sensor. Various tactile sensors ranging from piezoelectric sensing to optical sensing are explored as it has utmost importance in soft gripper to effectively address the increasing requirements for intelligence and automation. Finally, taking everything into consideration, a flow diagram has been suggested for selecting sensors specific to soft robotics applications.

The development of ballistic protection vests (BPVs) has become increasingly significant, particularly in the design of soft panels, which are critical to the overall size and configuration of these vests. Despite their importance, a standardized design process for soft panels is lacking in the literature. This research addresses this gap by creating soft panels tailored to the body types of regional soldiers while adhering to relevant standards. We propose a comprehensive design algorithm and evaluate the applicability of the National Institute of Justice (NIJ) standard 0101.06 test templates for configuring these panels. This study aims to design soft ballistic panels for BPVs that cater to the body type requirements of regional soldiers and comply with NIJ 0101.06 standards. We have developed an algorithm for designing soft panels and analyzed the feasibility of using NIJ test templates for their configuration. The research encompasses a detailed literature review, analysis of existing BPV soft panels, and comparison with NIJ test templates. The panels were designed and scaled using computer-aided design (CAD) systems and evaluated through by physical fitting on mannequins and virtual fitting using the Clo3D program. Our findings indicate that the NIJ standard test templates are only partially applicable to the design of soft panels. The developed methodology includes an algorithm and size specifications tailored to regional covers. A coefficient (K) was identified to calculate the soft panel surface area prior to design, thereby saving time and resources.

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

In the dynamic arena of healthcare research, where the complexities of data often rival the intricacies of biological systems, the ability to model and analyze such multifaceted datasets is crucial. This comprehensive review delves into the evolution and application of Soft Sets and their extensions, including HyperSoft Sets, SuperHyperSoft Sets, IndetermSoft Sets, IndetermHyperSoft Sets, and TreeSoft Sets, in healthcare claims data analysis. These extensions address intricate challenges in data analysis, offering versatile frameworks for managing uncertainty and indeterminacy inherent in healthcare claims data. By exploring their definitions and applications, this review elucidates how these mathematical tools have evolved and their significance in advancing healthcare research and enhancing data analysis methodologies. Real-world examples underscore the implications of these tools, emphasizing their pivotal role in facilitating informed decision-making and knowledge discovery in healthcare. The review systematically examines various case studies and research findings to illustrate the practical utility of Soft Set extensions. Detailed analyses of real-world scenarios highlight advancements in processing complex healthcare data. The conclusions drawn from this analysis indicate that the adoption of Soft Sets and their extensions can significantly improve the accuracy and efficiency of healthcare data analysis, ultimately contributing to better healthcare outcomes and more informed policy-making. Future research directions are also discussed, suggesting further potential applications and developments in this field.

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

Purpose of research was to determine changes in optical quality for monthly disposable soft contact lenses (SCL) wearers with new and monthly worn SCL. Retinal straylight was assessed in SCL wearers using a C-Quant straylight meter. The study included 33 participants (age 22 ± 1.4 years) who wore monthly disposable silicone hydrogel contact lenses. Measurements were taken with month-old SCL that had been worn for no more than 4 hours. Participants then replaced the old lenses with new ones. After a 15-minute adaptation period, straylight measurements were taken with the new SCL. A questionnaire was administered to all participants, inquiring about vision complaints and the type of contact lens material used. The decimal logarithm of the stray-light parameter, log(s), was notably higher with month-old SCL (log(s) = 0.97±0.17) than with brand-new SCL (log(s) = 0.86±0.15), p < 0.001. The average increase in retinal straylight after a month of SCL use was log(s) = 0.11 ± 0.08. The questionnaire revealed that 35% of participants observed a reduction in visual quality after wearing the contact lenses for a month. Results showed that monthly disposable soft contact lenses could reduce visual quality when scheduled replacement time has been reached.

Soft robotic manipulators consisting of serially-stacked segments combine actuation and structure in an integrated design. This design can be miniaturised while providing suitable actuation for applications such as minimally invasive surgery and for inspections in confined environments. The control of these robots, however, remains challenging, due to the difficulty in accurately modelling the robots, in coping with their redundancies, and in solving their full inverse kinematics. In this work, we explore a hybrid approach to control serial soft robotic manipulators that combines machine learning (ML) to estimate the inverse kinematics with a closed-loop control to compensate the remaining errors. For the ML part, we compare various approaches, including both kernel-based learning and more general neural networks. We validate the selected ML model experimentally. For the closed-loop control part, we first explore Jacobian formulations using both synthetic models and numerical approximations from experimental data. We then implement integral control actions using both these Jacobians, and evaluate them experimentally. In an experimental validation, we demonstrate that the hybrid control approach achieves setpoint regulation in a robot with 6 inputs and 4 outputs.

Mining industry is undergoing a revolution with the introduction of automation, especially through autonomous haul truck systems and is expected to have further essential developments due to advancements in swarm robotics and its applications. This study evaluates the performance of four different swarm robot models, i.e. baseline, ant, firefly, and honeybee, focusing on mining efficiency, scalability, reliability, and selectivity. Enhancements such as role specialization in the ant model, advanced communication in the firefly model, improved localization and the hybrid control system combining centralized and decentralized controls in the honeybee model are integrated to optimize their functionality. Mining simulations presented in this study include swarm robots of various designs, each resulting in certain advantages for autonomous operations. Their capabilities have been evaluated against performance criteria on a spider chart, identifying where each model excelled or failed in an actual extraction operation in mining. This study aims to identify the most optimal swarm models in relation to unique mining site conditions and goals. The applications of the suggested swarm models could contribute to achieving further improvement in productivity, scalability, selectivity and reliability, resulting in a more sustainable, automated and effective operations in mining.

Tellurium exhibits exceptional intrinsic electronic properties. However, investigations into the modulation of tellurium's electronic properties through physical modification are notably scarce. Here, we present a comprehensive study focused on the evolution of the electronic properties of tellurium crystal flakes under plasma irradiation treatment by employing conductive atomic force microscopy and Raman spectroscopy. The plasma-treated tellurium experienced a process of defect generation through lattice broken. Prior to the degradation of electronic transport performance due to plasma irradiation treatment, a remarkable observation emerged: in the low-energy region of hydrogen plasma-treated tellurium, a notable enhancement in conductivity was unexpectedly detected. The mechanism underlying this enhancement in electronic transport performance was thoroughly elucidated by comparing it with the electronic structure induced by argon plasma irradiation. This study not only fundamentally uncovers the effects of plasma irradiation on tellurium crystal flakes, but also unearths an unprecedented trend of enhanced electronic transport performance at low irradiation energies when utilizing hydrogen plasma. This abnormal trend bears significant implications for guiding the prospective application of tellurium-based 2D materials in the realm of electronic devices.

In 1999, Molodtsov initiated the theory of soft sets as a new mathematical tool for dealing with uncertainties in many fields of applied sciences. In 2011, Shabir and Naz introduced and studied the notion of soft topological spaces, also defining and investigating many new soft properties as generalization of the classical ones. In this paper, we introduce the notions of soft separation between soft points and soft closed sets in order to obtain a generalization of the well-known Embedding Lemma to the class of soft topological spaces.

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

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

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

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

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

In this paper, we first define the concepts of r-fuzzy soft α-open (semi-open and δ-open) sets on fuzzy soft topological spaces based on the article Aygunoglu et al. (Hacet. J. Math. Stat., 43 (2014), 193-208), and the relations of these sets with each other are established. In addition, we introduce the concepts of fuzzy soft δ-closure (δ-interior) operators, and study some properties of them. Also, the concept of r-fuzzy soft δ-connected sets is introduced and studied with help of fuzzy soft δ-closure operators. Thereafter, we define the concepts of fuzzy soft α-continuous (β-continuous, semi-continuous, pre-continuous and δ-continuous) functions, which are weaker forms of fuzzy soft continuity, and some properties of these functions along with their mutual relationships are discussed. Moreover, a decomposition of fuzzy soft α-continuity and a decomposition of fuzzy soft semi-continuity is obtained. Finally, as a weaker form of a fuzzy soft continuity, the concepts of fuzzy soft almost (weakly) continuous functions are defined, and some properties are specified. Additionally, we explore the notion of continuity in a very general setting called, fuzzy soft (L, M, N, O)-continuous functions and a historical justification is introduced.

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

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

In nature and engineering applications, flexible fiber beds covering biological surfaces can play a role in reducing resistance. These fibers deform under the action of fluids, and this deformation affects the fluid flow state, forming a complex fluid-solid interaction phenomenon. To quantitatively analyze such issues, the physical model is simplified to the deformation problem of an soft hair bed caused by Stokes flow, and the deformation problem of a single fiber caused by Stokes flow is further studied. The deformation problem of an elastic single fiber in a channel caused by Stokes flow can be described by a nonlinear integral equation. We have obtained a new series solution, which has been compared with the previous perturbation method to verify the accuracy and effectiveness of the series solution. Meanwhile, we have further provided an extended form of flexible fiber deformation through experimental fitting. This fluid-solid interaction problem involves multiple fields and is very important in many natural and engineering systems. The research in this paper can not only help us better understand complex phenomena in nature but also delve into the interaction mechanism between fluids and solids, providing a theoretical basis for future scientific research and engineering applications.

The present review compared the efficacy of soft tissue substitutes (STS) and autogenous free gingival graft (FGG) or connective tissue graft (CTG) in mucogingival procedures to increase keratinized tissue (KT) width around teeth and implants. Two independent examiners performed the electronic search on Medline and Cochrane Library based on the following PICO’s format: (P) adult patients; (I) soft tissue substitutes and FGG/CTG; (C) STS vs CTG; STS vs FGG; STS vs CTR; (O) KT width gain; (S) Systematic Reviews, Randomized Controlled Trials. Results showed that around teeth, all biomaterials showed superior performance compared to CAF alone for treating gingival recessions. However, when compared to CTG, ADM yields the most similar outcomes to the gold standard (CTG), even though in multiple recessions CTG still continue to be considered the most favorable approach. Use of STSs (acellular matrix or tissue engineered) in combination with an apically positioned flap resulted in a significantly less gain of KTW compared to what achieved with FGG and APF. Around dental implants, free gingival grafts were deemed more effective than soft tissue substitutes in enhancing keratinized mucosa width.

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

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

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

In this manuscript, we first introduce some properties of r-fuzzy soft α-open sets in fuzzy soft topological spaces based on the manuscript Aygunoglu et al. (Hacet. J. Math. Stat. 2014, 43, 193-208). In addition, we define the concepts of fuzzy soft α-closure (α-interior) operators, and investigate some properties of them. Furthermore, the concept of r-fuzzy soft α-connected sets is defined and characterized with help of fuzzy soft α-closure operators. Thereafter, we introduce and study the concepts of fuzzy soft almost (weakly) α-continuous mappings, which are weaker forms of fuzzy soft α-continuous mappings, and we discuss some properties of fuzzy soft α-continuity. Moreover, we establish that fuzzy soft α-continuity → fuzzy soft almost α-continuity → fuzzy soft weakly α-continuity, but the converse may not be true. It is also we show that the composition is fuzzy soft almost α-continuous mapping if, is fuzzy soft α-continuous mapping and is fuzzy soft almost continuous mapping. Finally, some new types of compactness via r-fuzzy soft α-open sets are defined, and the relationships between them are examined.

This paper deals with the design and kinematic analysis of a novel mechanism for the elbow joint of an upper-limb exoskeleton, with the aim of helping operators, in terms of effort and physical resistance, in carrying out heavy operations. In particular, the proposed eight-bar el-bow joint exoskeleton mechanism consists of a motorized Watt I six-bar linkage and a suitable RP dyad, which connects mechanically the external parts of the human arm with the corre-sponding forearm by hook and loop velcro and thus, helping their closing relative motion for lifting objects during repetitive and heavy operations. This relative motion is not a pure rotation and thus, the upper part of the exoskeleton is fastened to the arm, while the lower part is not rigidly connected to the forearm, but through a prismatic pair which allows both rotation and sliding along the forearm axis. Instead, the human arm is sketched by means of a crossed four-bar linkage, which coupler link is considered as attached to the glyph of the prismatic pair, that is fastened to the forearm. Therefore, the kinematic analysis of the whole ten-bar mecha-nism, which is obtained by joining the Watt I six-bar linkage and the RP dyad to the crossed four-bar linkage, is formulated to investigate the main kinematic performance and for design purposes. The proposed algorithm has given several numerical and graphical results. Finally, a double-parallelogram linkage, as particular case of the Watt I six-bar linkage, was considered in combination with the RP dyad and the crossed four-bar linkage, by giving a first mechanical de-sign and a 3D printed prototype.

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

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

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

The physical properties of a structure such stiffness although can be determined by some statical tests, the identification of damping parameter requires a dynamic test. In general, both theoretical prediction and experimental identification of damping are quite difficult. There are many different techniques available for damping identification, and each method gives a different damping parameter. The dynamic indentation method, rheometry, atomic force microscopy, and resonant vibration tests are commonly used to identify the damping of materials, including soft materials. While the viscous damping ratio, loss factor, complex modulus and viscosity are quite common to describe damping of materials, there are also other parameters such as the specific damping capacity, loss angle, half-power bandwidth, and logarithmic decrement to describe damping of various materials. Often one of these parameters is measured in practical applications and the measured damping parameter needs to be converted into another damping parameter for comparison purposes. In this review, the theoretical derivations of different parameters for the description and quantification of damping and their relationships, and the methods for damping identification are presented. The expressions for both high damping and low damping are included and evaluated. This paper could be a primary resource for damping research and teaching.

The clinical application of collagen-based biomaterials is expanding rapidly, especially in tissue engineering and cosmetics. While oral supplements and injectable skin boosters are popular for enhancing skin health, clinical evidence supporting their effectiveness remains limited. Injectable products show potential in revitalizing skin, but safety concerns persist due to challenges in sterilization and the risk of biological contamination. Traditional methods of sterilization (heat and irradiation) can denature collagen. This study addresses these issues by introducing a novel technique: double filtration and low-temperature steam sterilization of a collagen gel. In vitro tests document sterility and confirm that the collagen structure remained intact without modification. An in vivo study found no adverse effects in rats or significant lesions at the implantation site over 13 weeks. These results suggest that this novel method to process collagen gels is a safe and effective skin booster. Advanced processing methods are likely to mitigate safety risks associated with injectable collagen products, though further research is needed to validate their biological effectiveness and clinical benefits.

In this article, we introduce the concept of soft intervals, soft ordering and sequences of soft real numbers, and some of their structural properties are studied. The notion of soft Lebesgue measure on the soft real numbers has been introduced. Also, a correspondence relationship has been established between the soft Lebesgue measure and the classical Lebesgue measure. Furthermore, we have studied some exciting results and relations between the soft Lebesgue measure and the Lebesgue measure of soft real sets.

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

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

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

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

Dynamic sparse training is an effective strategy to alleviate the training and inference demands of artificial neural networks. However, current sparse training methods face a challenge in achieving high levels of sparsity while maintaining performance comparable to that of their fully connected counterparts. The Cannistraci-Hebb training (CHT) method produces an ultra-sparse advantage compared to fully connected training in various tasks by using a gradient-free link regrowth method, which relies solely on the network topology. However, its rigid selection based on link prediction scores may lead to epitopological local minima, especially at the beginning of the training process when the network topology might be noisy and unreliable. In this article, we introduce the Cannistraci-Hebb training soft rule (CHTs), which applies a flexible approach to both the removal and regrowth of links during training, fostering a balance between exploring and exploiting network topology. Additionally, we investigate the network topology initialization using several approaches, including the bipartite scale-free and bipartite small-world network models. Empirical results show that CHTs can surpass the performance of fully connected networks with MLP architecture by using only 1% of the connections (99% sparsity) on the MNIST, EMNIST, and Fashion MNIST datasets and can provide remarkable results with only 0.1% of the links (99.9% sparsity). In some MLPs for image classification tasks, CHTs can reduce the active neuron network size to 20% of the original nodes (neurons), demonstrating a remarkable ability to generalize better than fully connected architectures, reducing the entire model size. This represents a relevant result for dynamic sparse training. Finally, we present evidence from larger network models such as Transformers, with 10% of the connections (90% sparsity), where CHTs outperform other prevalent dynamic sparse training methods in machine translation tasks.

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

Background: One challenge in implant dentistry is to reduce marginal bone resorption to avoid long-term esthetic and biological complications. Sub-gingival implant placement has been suggested as a suitable strategy. Methods: 38 healthy patients were enrolled to receive bone level (BL – Control group) or 2 mm sub-crestal (SC - Test group) conical connection, platform-switched implants. An immediate tissue level abutment was used in the Test group by following a One Time Abutment (OTA) restorative procedure. Marginal Bone Modification (MBM) was calcu-latied on standardized radiographs at surgery (T0), loading (T1), and 6 months (T2) and 12 months after loading (T3), and cathegorised in Bone Loss (BL) if the resorption occurred below the implant neck and Bone Remodeling (BR) if above. Pocket probing depth (PPD), Bleeding on probing (BoP) and Plaque Index (PI) were also collected. Results: The mean MBM in the test group after 12 months was 0.61mm, compared to 0.52mm in the control group. However, no BL was observed in the test group, as the MBM completely occurred above the implant neck as BR, whilst in the control group MBM corresponded in total to BL. The average PPD was 2.38mm in the test group and 3.04mm in the control group after 12 months, BoP 50% and 43%, PI 33% and 19.44% respectively. Conclusions: Sub-crestal conical connection, platform-switched implants could be a suitable clinical choice to avoid BL with exposure of the treated implants surfaces.

Proteins have the ability to adsorb on the surface of materials, such as soft contact lenses (SCLs), and can affect the hydrophobicity, roughness and surface properties of the contact lenses (CLs), which, in turn, can influence the friction between the lenses and the ocular surface. Excessive friction between contact lenses and the ocular surface can lead to discomfort for the wearer and may cause irritation or inflammation of the cornea, better known as corneal ulcers (keratitis). Bovine serum albumin (BSA) is often used as a standard protein in biocompatibility testing of materials, including contact lenses. One standard commercial contact lenses was tested under lubricated conditions to access the coefficient of friction (CoF), being the contact lubricated with a tear like fluid (TLF) solution containing six different concentrations of BSA. In all cases, a good linearity of the results of the friction force was verified, so the first friction law can be applied to determine the value of the coefficient of friction. It was found that friction increases with increasing protein concentration.

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

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

Wheat is used for making many food products due to its diverse quality profile found among different wheat classes. Since laboratory analysis of these end-use quality traits is costly and time-consuming, genetic dissection of the traits is preferential. This study used a genome-wide association study (GWAS) of 10 end-use quality traits, including kernel protein, flour protein, flour yield, softness equivalence, solvent’s retention capacity, cookie diameter, and top-grain, in soft red winter wheat (SRWW) adapted to US southeast. The GWAS study included 266 SRWW genotypes that were evaluated in two locations over two years (2020-2022). A total of 27,466 single nucleotide markers were used and a total of 80 significant marker-trait associations were identified. There were 13 major effect quantitative trait loci (QTLs) explaining &gt; 10% phenotypic variance out of which 12 were considered as novel. Five of the major effect QTLs were found to be stably expressed across multiple datasets, and four showed associations with multiple traits. Candidate genes were identified for eight of the major-effect QTLs including genes associated with starch biosynthesis and nutritional homeostasis in plants. These findings increase genetic comprehension of these end-use quality traits and could potentially be used for improving the quality of SRWW.

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

Alzheimer’s is a degenerative brain condition brought on by intricate brain changes after cell injury. The prevalence of Alzheimer’s disease is highest in those over 65. Presently, AD is detected by manual examination of a patient’s Magnetic Resonance Imaging (MRI) scan and neuropsychological assessments. Due to its subpar accuracy and performance, solutions based on artificial intelligence (AI) have not been made more widely available. This paper proposes a deep Convolutional Neural Network (CNN) with the pre-trained MobileNet-V2 architecture as the model’s base for feature extraction and reducing the parameter size and training time. The proposed model accurately classifies various early stages of AD. The proposed approach visualizes the class activation maps in the form of a heat map on brain MRI scans via the Grad-CAM algorithm that lifts the black-box nature of the deep model. To handle the imbalance problem of the AD data set acquired from Kaggle, the oversampling algorithm SMOTE interpolates new images to even the class samples. The proposed multi-class classification deep model is named Bio-AD and evaluated using different quality metrics. The Bio-AD model has the following values for evaluation metrics: 97.92%, 99.87%, 97.87%, 98%, 98%, and 0.0646 for accuracy, Area Under the Curve (AUC), F1-score, Precision, Recall, and loss respectively. The proposed Bio-AD model is compared with DenseNet-169, VGG-19, and InceptionResNet-V2 using different quality metrics and outperformed in comparison with all other models using the AD data set.

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

The advantage of FPGAs lies in the ability to implement a fully hardware solution for interfacing with various input/output (I/O) devices. Each block can work in parallel with all the others, simplifying the satisfaction of timing constraints. However, this hardware utilization consumes FPGA resources that could otherwise be allocated to the primary project. An alternative involves employing a small "soft-core" processor implementing I/O in software. With the goal to design and evaluate a new tiny soft-core processor optimized for FPGA resources in I/O , a novel processor named Baby8 is developed. It is an 8-bit CISC soft-core processor optimized for reduced FPGA resources including program size for 8-bit applications. The number of instructions is not large but any instruction can access arbitrary memory locations. The performance and resource utilization of the newly designed processor are evaluated and compared with a variety of other soft-core processors. The results demonstrate its competitive performance, achieving an average maximum clock frequency of approximately 57 MHz and a power consumption of around 2mW. Furthermore, it conserves nearly half of the FPGA resources in implementation.

The soft robot has many degrees of freedom, strong environmental adaptability and good human-computer interaction ability. As the end-effector of the soft robot, the soft gripper can grasp objects of different shapes without destructivity. Based on the theoretical analysis of the soft robot, the kinematics model of the flexible gripper and the theoretical model of the bending deformation of the air cavity were established. Accordingly, the relationship between the bending angle of the soft gripper and the air pressure was determined. Through the application of finite element software, the bending degree of pneumatic network multi-cavity soft gripper was simulated by finite element software, and the influence of structural parameters of soft actuator on bending deformation was determined. In addition, with the 3D technology conducting the printing of soft gripper fixtures and molds, the injection molding the actuator and the human-computer interaction interface controlling the movement of the gripper, the adaptability of the soft gripper in grasping object was verified. The result shows that the software gripper possesses good flexibility and can better grasp objects of different shapes.

Two polyurethanes (PUs) were similarly synthesized by reacting a cycloaliphatic isocyanate with 1,4 butanediol and two polyols of different nature (polyester, polycarbonate diol) with molecular weights of 1000 Da. The PU made with polycarbonate diol polyol (YCD) was the only showing intrinsic self-healing at 20 °C. For assessing the mechanism of intrinsic self-healing of YCD, a structural characterization by molecular weights determination, infrared and X-ray photoelectronic spectroscopies, differential scanning calorimetry, X-ray diffraction, thermal gravimetric analysis and dynamic mechanical thermal analysis was carried out. It was concluded that the self-healing at 20 °C of YCD was due to non-covalent dynamic exchange interactions among the carbonate groups of the soft segments. Therefore, the chemical nature of the polyol played a key role in developing PUs with intrinsic self-healing at 20 °C.

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

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

In the present study. At first, some properties of r-fuzzy soft β-closed sets are introduced on fuzzy soft topological spaces based on the paper Aygunoglu et al. (Hacet. J. Math. Stat. 2014, 43, 193-208). Also, we define the closure and interior operators with respect to the classes of r-fuzzy soft β-closed and r-fuzzy soft β-open sets, and investigate some of their properties. In addition, the concept of r-fuzzy soft β-connected sets is introduced and characterized with help of fuzzy soft β-closure operators. Thereafter, some properties of a fuzzy soft β-continuity are studied. Furthermore, we introduce and study the concepts of fuzzy soft almost (weakly) β-continuous functions, which are weaker forms of a fuzzy soft β-continuity. Also, the relationships between these classes of functions are specified with the help of some illustrative examples. Finally, we explore new types of fuzzy soft functions called, fuzzy soft β-irresolute (strongly β-irresolute, β-irresolute open, β-irresolute closed and β-irresolute homeomorphism) functions, and discuss some properties of them. Also, we show that fuzzy soft strongly β-irresolute → fuzzy soft β-irresolute → fuzzy soft β-continuity, but the converse may not be true.

Introduction and Purpose: Nurses are expected to be competent in practice based on the domain of standards and interpersonal soft skills (ISS). Nurses are faced with inadequate physical assessment 28%, formulating diagnoses 56%, plans 34%, implementation 31%, evaluation 37,5%, and communication skills 41%. Aims to develop an ISS learning model based on transformative learning theory and digitalization (TLTD) to improve nurses’ competencies. Method: Used Explanatory cross-sectional involved 190 practitioner nurses. Variables of individual characters (X1), facilities (X2), Social environment support/SES (X3), TLTD (X4), ISS (X5), and nursing competencies (Y) were measured. Data was collected using a checklist questionnaire, conducted on 6 June to 10 August 2022 at Dili, Baucau, and Maliana hospitals. Used descriptive and inferential analysis with SEM-PLS. Result: Five of the 11 hypotheses of statistical p-value < 0,05 and T-Test > 1,96, including X2>X4, X3>X5, X4>X5, and X5>y, to form ISS learning model. The characteristic of respondents were 81,8% young adults, 67,9% women, 57,8% undergraduates, judging the previous training 35% was unsuccessful, and 45,8% did not meet expectations. Learning facilities that are still lacking include policies 23,7%, curriculum 23,4%, guideline 22,7%, modules 27,9%, infrastructure 20,3%, social environment support 24,2% low, organizational support, 30,0% low peer support and 26,3% low family support. The average TLTD is 25,3% to 34,2%, ISS 22,1% to 30,5%, and nurse competence 25,3% to 30,5%.Suggestion: Result of the study become base to improve nurse’s competencies. Conclusion: Learning model was formed by facilities, SES, TLTD, ISS, and nurses’ competencies.

Knowledge graphs (KGs) play a crucial role in many applications, such as question answering, but incompleteness is an urgent issue for their broad application. Much research in knowledge graph completion (KGC) has been performed to resolve this issue. The methods of KGC can be classified into two major categories: rule-based reasoning and embedding-based reasoning. The former has high accuracy and good interpretability, but a major challenge is to obtain effective rules on large-scale KGs. The latter has good efficiency and scalability, but it relies heavily on data richness and cannot fully use domain knowledge in the form of logical rules. We propose a novel method that injects rules and learns representations iteratively to take full advantage of rules and embeddings. Specifically, we model the conclusions of rule groundings as 0-1 variables and use a rule confidence regularizer to remove the uncertainty of the conclusions. The proposed approach has the following advantages: 1) It combines the benefits of both rules and knowledge graph embeddings (KGEs) and achieves a good balance between efficiency and scalability. 2) It uses an iterative method to continuously improve KGEs and remove incorrect rule conclusions. Evaluations on two public datasets show that our method outperforms the current state-of-the-art methods, improving performance by 2.7% and 4.3% in mean reciprocal rank (MRR).

Confinement can induce substantial changes in the physical properties of macromolecules in suspension. Soft confinement is a particular class of restriction where the boundaries that constraint the particles in a region of the space are not well-defined. This scenario leads to a broader structural and dynamical behavior than the observed in systems enclosed between rigid walls. In this contribution, we study the ordering and diffusive properties of a two-dimensional colloidal model system subjected to a one-dimensional parabolic trap. Increasing the trap strength makes it possible to go through weak to strong confinement, allowing a dimensional transition from two- to one-dimension. The non-monotonic response of the static and dynamical properties to the gradual dimensionality change affects the system phase behavior. We find that the particle dynamics is connected with the structural transitions induced by the parabolic trap. In particular, at low and intermediate confinement regimes, complex structural and dynamical scenarios arise, where the softness of the external potential induces melting and freezing, resulting in faster and slower particle diffusion, respectively. Besides, at strong confinements, colloids move basically along one direction, and the whole system behaves structurally and dynamically similar to a one-dimensional colloidal system.

The reliability analysis allows to estimate the system's probability of detecting and identifying outlier. Failure to identify an outlier can jeopardise the reliability level of a system. Due to its importance, outliers must be appropriately treated to ensure the normal operation of a system. The system models are usually developed from certain constraints. Constraints play a central role in model precision and validity. In this work, we present a detailed optical investigation of the effects of the hard and soft constraints on the reliability of a measurement system model. Hard constraints represent a case in which there exist known functional relations between the unknown model parameters, whereas the soft constraints are employed for the case where such functional relations can slightly be violated depending on their uncertainty. The results highlighted that the success rate of identifying an outlier for the case of hard constraints is larger than soft constraints. This suggested that hard constraints should be used in the stage of pre-processing data for the purpose of identifying and removing possible outlying measurements. After identifying and removing possible outliers, one should set up the soft constraints to propagate the uncertainties of the constraints during the data processing. This recommendation is valid for outlier detection and identification purpose.

In this paper, we present the design, manufacturing and characterization of a soft textile-based clutch (TBC) that switches between locking and unlocking of its linear displacement by exploiting vacuum stimulation. The applied vacuum locks the relative sliding motion between two elaborated textile webbings covered by an elastic silicone rubber bag. Based on different fabrication techniques, such as silicone casting on textile, melt embossing for direct fabrication of miniature patterns on textile and sewing, we developed three groups of TBC samples based on friction and interlocking principles and we compared their performance in blocking configuration. The clutch with interlocking mechanism presented the highest withstanding force (150 N) respect to the one (54 N) recorded for the friction-based clutch. The simple and compact structure of the proposed clutch, together with the intrinsic adaptability of fabric with other clothing and soft materials, make it a proper solution for applications in soft wearable robotics and generally as locking and variable stiffness solution for soft robotic applications.

Biomimetic stimuli-responsive materials can respond to various external stimuli in the form of structural or morphological transformations by actively or passively converting input energy into mechanical energy. They are the core element of soft actuators for typical smart devices like soft robots, artificial muscles, intelligent sensors and nanogenerators. While significant progresses have been made in bioinspired stimuli-responsive materials, they have not yet achieved the remarkable properties in biological systems. In this review, we will discuss recent advances in biomimetic stimuli-responsive materials that are instrumental for soft actuators. Different stimuli-responsive principles for soft actuators are firstly discussed, including fluidic, electrical, thermal, magnetic, light and chemical stimuli. We further summarize the state-of-the-art stimuli-responsive materials for soft actuators and explore the advantages and disadvantages of using electroactive polymers, magnetic soft composites, hydrogels, liquid crystal elastomers, shape memory alloys and chemical-responsive materials. Finally, we provide a critical outlook on the field of stimuli-responsive soft actuators, and emphasize the challenges in the process of their implementation to various industries.

Plasmonics is the study of resonant oscillations of free electrons in metals caused by incident electromagnetic radiation. Surface plasmons can focus and steer light on the subwavelength scale. Apart from metals, plasmonic phenomena can be observed in soft matter systems such as electrolytes where resonant charge oscillations can be induced for ions in solution. Due to their larger mass, they are plasmon-active in a lower frequency regime and on a larger wavelength scale. Spatial confinement allows increasingly strong charge interactions and gives rise to nonlocality or spatial dispersion effects. These effects manifest as additional longitudinal propagation modes and are known to cause plasmonic broadening and resonance shifts in metal nanostructures. We derive and discuss the nonlocal optical response of ionic plasmons using a hydrodynamic, two-fluid model in a planar homogeneous three-layer system with electrolyte-dielectric interfaces. Studying such systems enables us to identify and understand plasmonic phenomena in biological and chemical systems.

Nowadays, the development or improvement of actuation mechanisms is a crucial topic for the achievement of dextrous manipulation using soft robots. Then, a primary target of research is the design of actuation and driving devices. Consequently, in this paper, we introduce a soft driving epicyclical mechanism that mimics human muscle behavior and fulfills motion requirements to achieve grasping gestures using a robotic finger. The prototype is experimentally assessed, and results show that our approach has enough performance for the implementation in grasping tasks. Furthermore, we introduce the basis for a new soft epicyclical mechanism merger with shape memory alloys to allow active stiffness control of the mechanism.

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

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

Amylose content (AC) stands as a pivotal determinant of rice grain quality, primarily governed by the Waxy gene (Wx), with its allelic diversity significantly influencing AC variation. In the current culinary landscape, soft rice varieties, known for their low AC and superior palatability, are particularly sought after by consumers. Notably, many soft japonica rice varieties cultivated in southern China, including the Nangeng series, are characterized by the presence of the Wxmp allele, derived from the ancestral Wxmq allele. While both alleles are associated with reduced AC, there remains a paucity of detailed understanding regarding the interplay between specific functional single nucleotide polymorphisms (SNPs) within these alleles and the overarching rice grain quality. Employing site-directed mutagenesis, we engineered three distinct transgenic rice lines, each harboring either the Wxmp, Wxmq, or Wxb-5c alleles, against the background of the glutinous rice cultivar Nip(wx). This suite of transgenic rice showcased a gradation ingrain transparency inversely correlated to AC, delineating a sequence from Wxmq, signifying the lowest, through Wxmp, to Wxb-5c, indicating the highest. Consequently, this gradation in AC precipitated variations in other rice grain physicochemical attributes, such as the taste value of cooked rice, gel consistency (GC), and starch pasting properties. Furthermore, analyses of gene expression and enzyme activity revealed that the functional SNPs, Ex4-53G/A and Ex5-53T/C, lead to a decline in the GBSSI enzyme activity without affecting expression levels. These findings underscore the potential of harnessing these SNPs in breeding programs aimed at developing soft rice varieties endowed with enhanced culinary qualities.

Measurements of the properties of soft materials are important from the point of view of medical diagnostics of soft tissues as well as testing the quality of food products and many technical materials. One of the frequently used techniques for testing such materials, attractive due to its non-invasive nature, is the indentation technique, which does not puncture the material. The difficulty of testing soft materials, which affects the objectivity of its results, is related to the problems of stable positioning of the studied material in relation to the indentation apparatus, especially with a device held by the operator. This work concerns the comparison of test results using an indentation apparatus mounted in mobile and stationary handles. The tested materials are cylindrical samples of polyurethane foams with three different stiffnesses and the same samples with a 0.5- or 1-mm-thick silicone layer. The presented research uses an apparatus with a flat cylindrical indenter, with a surface area of 1 cm2, pressed to a depth of 10 mm (so-called deep tests). Based on the recorded force changes over time, five descriptors of the indentation test were determined and compared for both types of handles. The tests performed showed that the elastic properties of foam materials alone and with a silicone layer can be effectively characterized by the maximum forces during recessing and retraction, and the slopes of the recessing and retraction curves. In the case of two-layer materials, these descriptors reflect both the characteristics of the foams and the silicone layer. The results showed that the above property of the deep indentation method distinguishes it from the shallow indentation method. The repeatability of tests performed in the mobile and stationary holders were determined to be comparable.

Soft set theory is a mathematical tool for dealing with uncertainty. This paper investigates limits of interval type of soft sets (for short, it-soft sets). The concept of it-soft sets is first introduced. Then, limits of it-soft sets are proposed and their properties are obtained. Next, point-wise continuity of it-soft sets and continuous it-soft sets are discussed. Finally, an application for rough sets is given.

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 &amp; 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 &amp; lift a weight of up to 2.075 kg.