Automation

Poultry waste composting is a necessary technique for agricultural farm sustainability. Composting is a dynamic process influenced by multiple variables. Humidity and temperature play fundamental roles in analyzing its different phases according to the environment and composting technique. Current developments for monitoring these variables include automation via intelligent Internet of Things (IoT)-based sensor networks for variable tracking. These advancements serve as efficient tools for modeling that facilitate the simulation and prediction of composting process variables to improve system efficiency. Therefore, this paper presents the dynamic modeling of composting via forced aeration processes in high-mountain climates, with the intent of estimating biomass temperature dynamics in different phases using system identification techniques. To this end, four dynamic model estimation structures are employed: transfer function (TF), state space (SS), process (P), and Hammerstein–Wiener (HW). The and model quality, fitting results, and standard error metrics of the different models found in each phase are assessed through residual analysis from each structure by validation with real system data. Our results show that the second-order underdamped multiple-input–single-output (MISO) process model with added noise demonstrates the best fit and validation performance. Full article

Deep learning with unmanned aerial vehicles (UAVs) is transforming maritime search and rescue (SAR) by enabling rapid object identification in challenging marine environments. This study benchmarks the performance of YOLO models for maritime SAR under diverse weather conditions using the SeaDronesSee and AFO datasets. The results show that while YOLOv7 achieved the highest mAP@50, it struggled with detecting small objects. In contrast, YOLOv10 and YOLOv11 deliver faster inference speeds but compromise slightly on precision. The key challenges discussed include environmental variability, sensor limitations, and scarce annotated data, which can be addressed by such techniques as attention modules and multimodal data fusion. Overall, the research results provide practical guidance for deploying efficient deep learning models in SAR, emphasizing specialized datasets and lightweight architectures for edge devices. Full article

In the context of the mining industry, the belt conveyor is a critical piece of equipment. The motor constitutes the primary component of the belt conveyor apparatus, and its stable and accurate operation can significantly influence the performance of the belt conveyor apparatus. This paper introduces an integrated control approach combining vector control methodology with active disturbance rejection control (ADRC) for velocity regulation and model predictive control (MPC) for current tracking. The ADRC framework actively compensates for load disturbances and parameter variations during speed control, while MPC achieves precise current regulation with minimal tracking error. Validation involved comprehensive MATLAB/Simulink R2024a simulations modeling PMSM behavior under mining-specific operating conditions. The results demonstrate substantial improvements in dynamic response characteristics and disturbance rejection capabilities compared to conventional control strategies. The proposed methodology effectively addresses critical challenges in mining conveyor applications, enhancing operational reliability and system longevity. Full article

This paper focuses on the complex dynamics that concern assembly line balance in the context of mass customization within manufacturing. In fact, the increase in demand for customized products has heightened the complexities associated with achieving optimal efficiency, productivity, product quality, and customer satisfaction. The research proposes a multi-criteria analysis of statistical methods to determine the fluctuation of parameters affecting the state of balance of an assembly line. A 3D matrix model is suggested to analyze the parameters managing the assembly line. This representation is executed using the MATLAB R2024b tool, and a methodology for finding the variability of parameters affecting balance through statistical approaches is proposed. We observed that changes in parameters such as task times, worker efficiency, or material flow led to significant changes in the line’s overall balance. As a result, static balancing becomes inadequate to deal with the complexities introduced by these highly variable parameters. The novelty of this paper consists of the innovative integration of multi-criteria statistical analysis and 3D matrix modeling to detect parameter variability and optimize assembly line balancing. Conventional static approaches are often unable to capture the process-dynamic aspect of modern manufacturing. This work presents a systematic methodology capable of identifying, quantifying, and moderating the variability of key operating parameters. This methodology, carried out using MATLAB-based simulations, is based on principal component analysis (PCA) and correlation analysis to detect critical factors influencing balancing efficiency. By structuring assembly line parameters in a 3D matrix representation, this research gives a holistic, data-based method for improving decision-making in balancing procedures. The research goes beyond theoretical modeling by applying the approach to a real automotive assembly line, validating its effectiveness and demonstrating its practical applicability in industrial conditions. Full article

Disturbance rejection in localized continuous linear systems remains challenging due to the interplay between spatial constraints, exact invariance conditions, and discretization effects. Existing methods either lack rigorous guarantees for exact rejection in continuous time or fail to address the subtleties of weak rejection in discrete-time implementations. In this work, we first establish necessary and sufficient conditions for exact disturbance rejection in the continuous-time output case, deriving control laws that enforce output invariance. For the discrete-time output scenario, we resolve the weak rejection problem by proving that—under stabilizability assumptions and an optimal discretization step—the system can achieve practical disturbance attenuation. Our results unify these two regimes, providing explicit design criteria for robust control in localized linear systems. Full article

Wheel loaders in mines and construction sites repeatedly load soil from a pile to load receivers. Automating this task presents a challenging planning problem since each loading’s performance depends on the pile state, which depends on previous loadings. We investigate an end-to-end optimization approach considering future loading outcomes and transportation costs between the pile and load receivers. To predict the evolution of the pile state and the loading performance, we use world models that leverage deep neural networks trained on numerous simulated loading cycles. A look-ahead tree search optimizes the sequence of loading actions by evaluating the performance of thousands of action candidates, which expand into subsequent action candidates under the predicted pile states recursively. Test results demonstrate that, over a horizon of 15 sequential loadings, the look-ahead tree search is 6% more efficient than a greedy strategy, which always selects the action that maximizes the current single loading performance, and 14% more efficient than using a fixed loading controller optimized for the nominal case. Full article

This paper presents an advanced rescheduling approach that jointly applies two sets of objective functions within a novel multi-objective search algorithm and a production simulation of the manufacturing system. The role of the first set of objective functions is to optimize the performance of production systems, while the second newly proposed set of objective functions aims to minimize the intervention changes from the original schedule, thereby supporting schedule stability and smooth manufacturing processes. The combined use of these two objective sets is ensured by a flexible candidate-qualification method, which allows for priorities to be assigned to each objective function, offering precise control over the rescheduling process. The applicability of this approach is presented through an example of an extended flexible flow shop manufacturing system. A new test problem containing 16 objective functions has been developed. The effectiveness of the proposed new objective functions and rescheduling method is validated by a simulation model. The obtained numerical results are also presented in this paper. The aim of this study is not to compare different search algorithms but rather to demonstrate the beneficial impact of change-minimizing objective functions within a given search framework. Full article

Urban systems are transforming as artificial intelligence (AI) evolves from automation to Agentic Urban AI (AI systems with autonomous goal-setting and decision-making capabilities), which independently define and pursue urban objectives. This shift necessitates reassessing governance, planning, and ethics. Using a conceptual-methodological approach, this study integrates urban studies, AI ethics, and governance theory. Through a literature review and case studies of platforms like Alibaba’s City Brain and CityMind AI Agent, it identifies early agency indicators, such as strategic adaptation and goal re-prioritisation. A typology distinguishing automation, autonomy, and agency clarifies AI-driven urban decision-making. Three trajectories are proposed: fully autonomous Agentic AI, collaborative Hybrid Urban Agency, and constrained Non-Agentic AI to mitigate ethical risks. The findings highlight the need for participatory, transparent governance to ensure democratic accountability and social equity in cognitive urban ecosystems. Full article

This paper presents a non-fragile observer-based dissipative control strategy for the suspension systems of electric vehicles equipped with in-wheel motors, accounting for input delays, actuator faults, and observer gain uncertainty. Traditional control approaches—such as $H_{\infty }$, passive control, and robust feedback schemes, often address these challenges in isolation and with increased conservatism. In contrast, this work introduces a unified framework that integrates fault-tolerant control, delay compensation, and robust state estimation within a dissipativity-based setting. A novel dissipativity analysis tailored to Electric Vehicle Active Suspension Systems (EV-ASSs) is developed, with nonzero delay bounds explicitly incorporated into the stability conditions. The observer is designed to ensure accurate state estimation under gain perturbations, enabling robust full-state feedback control. Stability and performance criteria are formulated via Linear Matrix Inequalities (LMIs) using advanced integral inequalities to reduce conservatism. Numerical simulations validate the proposed method, demonstrating effective fault-tolerant performance, disturbance rejection, and precise state reconstruction, thereby extending beyond the capabilities of traditional control frameworks. Full article

The control of multichannel objects is an independent section of cybernetics. Traditionally, objects are considered in which the number of inputs coincides with the number of outputs, but there are separate publications devoted to cases when the number of inputs does not coincide with the number of outputs. Even for this purpose, special terminology has been invented. If traditionally the mathematical model of an object is a square matrix transfer function, then in this case the term “non-square matrix transfer function” is used. This term is unsuccessful, as shown in this article, since it combines problems that are simplified in comparison with traditional ones, and problems that are, strictly speaking, unsolvable. This article demonstrates that an additional number of object inputs is not only not a problem, but also offers additional opportunities, while an excess number of outputs is an insurmountable problem: one can only abandon the problem of controlling redundant outputs. This situation should not be confused with the situation of the presence of additional outputs of sensors of the controlled variable or intermediate values, which also serve to simplify the solution of the problem and not to complicate it. If output signals are understood as independent output values that should be independently controlled, then the number of outputs should never exceed the number of inputs, although this situation can easily be confused with some other similar situations. This article also shows an example of how additional signals, sometimes mistakenly called additional outputs, can be used, and gives recommendations for various situations. Full article

Autonomous vehicles are increasingly being adopted, with manufacturers competing to enhance automation capabilities. While full automation eliminates human input, lower levels still require driver intervention under specific conditions. This study presents the design and development of a prototype vehicle featuring both low- and high-level control systems, integrated with a 5G-based teleoperation interface that enables seamless switching between autonomous and remote-control modes. The system includes a malfunction surveillance unit that monitors communication latency and obstacle conditions, triggering a hardware-based emergency braking mechanism when safety thresholds are exceeded. Field experiments conducted over four test phases around Chulalongkorn University demonstrated stable performance under both driving modes. Mean lateral deviations ranged from 0.19 m to 0.33 m, with maximum deviations up to 0.88 m. Average end-to-end latency was 109.7 ms, with worst-case spikes of 316.6 ms. The emergency fallback system successfully identified all predefined fault conditions and responded with timely braking. Latency-aware stopping analysis showed an increase in braking distance from 1.42 m to 2.37 m at 3 m/s. In scenarios with extreme latency (>500 ms), the system required operator steering input or fallback to autonomous mode to avoid obstacles. These results confirm the platform’s effectiveness in real-world teleoperation over public 5G networks and its potential scalability for broader deployment. Full article

This paper describes an innovative wireless mobile robotics control system based on speech recognition, where the ESP32 microcontroller is used to control motors, facilitate Bluetooth communication, and deploy an Android application for the real-time speech recognition logic. With speech processed on the Android device and motor commands handled on the ESP32, the study achieves significant performance gains through distributed architectures while maintaining low latency for feedback control. In experimental tests over a range of 1–10 m, stable 110–140 ms command latencies, with low variation (±15 ms) were observed. The system’s voice and manual button modes both yield over 92% accuracy with the aid of natural language processing, resulting in training requirements being low, and displaying strong performance in high-noise environments. The novelty of this work is evident through an adaptive keyword spotting algorithm for improved recognition performance in high-noise environments and a gradual latency management system that optimizes processing parameters in the presence of noise. By providing a user-friendly, real-time speech interface, this work serves to enhance human–robot interaction when considering future assistive devices, educational platforms, and advanced automated navigation research. Full article

Continuous flight auger piles (CFAPs) are highly versatile and productive deep foundation elements. Known for their execution speed, low noise, and minimal vibration, they are extensively used in Brazil, particularly for urban projects or environmentally sensitive areas. Technologically, they employ a Real-Time Operation System (RTOS) to control the execution energy for each drilled pile. When used effectively, this energy-based monitoring system can provide information that replaces or correlates with other challenging-to-measure variables, accommodating the impact of various exogenous variables on a pile’s execution and performance. Foundation designers often define one or more characteristic lengths for different pile groups, considered representative for each group despite uncertainties and morphological changes along the terrain. Hence, considering an energy-based control, which enables an individual assessment for each pile, is beneficial given soil’s complexity, which can vary significantly even within a small area. By determining the optimal execution energy, individualized stopping criteria for piles can be established, directly influencing costs and productivity and enhancing reliability. The present paper proposes a methodological workflow to automate the necessary calculations for execution energies, correlate them with bearing capacities measured by load tests or estimated from standard soil surveys, and predict the execution energy and corresponding stopping criteria for the drilling depth of each pile. This study presents a case study to illustrate the methodology proposed, accounting for a real construction site with multiple piles. It shows that considering fixed-length piles may not favor safety, as the energy-based analysis revealed that some piles needed longer shafts. This study also shows that for the 316 CFAPs analyzed with depths ranging from 8 to 14 m, a total of 564 m of pile shafts was unnecessary (which accounted for more than 110 m³ of concrete), indicating that cost optimization is possible. Overall, these analyses improve design safety and reliability while reducing execution costs. The results demonstrate that execution energy can serve as a proxy for subsurface resistance, correlating well with NSPT values and bearing capacity estimations. The methodology enables the individualized assessment of pile performance and reveal the potential for improving the reliability and cost-effectiveness of the geotechnical design process. Full article

Corrosion, a naturally occurring process leading to the deterioration of metallic materials, demands diligent detection for quality control and the preservation of metal-based objects, especially within industrial contexts. Traditional techniques for corrosion identification, including ultrasonic testing, radiographic testing, and magnetic flux leakage, necessitate the deployment of expensive and bulky equipment on-site for effective data acquisition. An unexplored alternative involves employing lightweight, conventional camera systems and state-of-the-art computer vision methods for its identification. In this work, we propose a complete system for semi-automated corrosion identification and mapping in industrial environments. We leverage recent advances in three-dimensional (3D) point-cloud-based methods for localization and mapping, with vision-based semantic segmentation deep learning techniques, in order to build semantic–geometric maps of industrial environments. Unlike the previous corrosion identification systems available in the literature, which are either intrusive (e.g., electrochemical testing) or based on costly equipment (e.g., ultrasonic sensors), our designed multi-modal vision-based system is low cost, portable, and semi-autonomous and allows the collection of large datasets by untrained personnel. A set of experiments performed in relevant test environments demonstrated quantitatively the high accuracy of the employed 3D mapping and localization system, using a light detection and ranging (LiDAR) device, with less than $0.05$ m and $0.02$ m average absolute and relative pose errors. Also, our data-driven semantic segmentation model was shown to achieve $70\%$ precision in corrosion detection when trained with our pixel-wise manually annotated dataset. Full article

Concrete-printing robots have become an advanced technology in the construction industry that allows the creation of complex structures, while saving materials and shortening construction time compared to traditional methods. With the structure of a concrete 3D printing robot using a concrete extruder with a screw, this mechanism provides stable flow of concrete, and less pressure fluctuation. However, using a large mass extruder changes the inertia of the joint and the mass coefficient of the arm when the mass changes, leading to a position error. With the high demands for precision and stability in the operation of 3D concrete printing robots, advanced control methods have become essential to ensure trajectory tracking and robustness in complex real-world environments. This study provides a sliding mode controller with an error and integral, and derivatives are introduced into the sliding surface to improve the stability of the robot without chattering. The controller exhibits fast convergence times and small trajectory tracking errors, at less than 0.1 mm. Simulation results show that this controller is suitable for concrete 3D printing applications, and the controller exhibits fast and good responses to continuously changing extruder mass. This enables the robot to track the expected trajectory with high accuracy. Full article

The integration of 3D printing technologies in automated manufacturing systems marks a significant progression in the manufacturing industry, enabling elevated degrees of customization, efficiency, and sustainability. This paper explores the synergy between 3D printing and automation by conducting a critical literature review combined with case study analysis, focusing on their roles in enhancing production lines within the framework of Industry 4.0 and smart factories. Key opportunities presented by this integration include mass customization at scale, reduced material waste, and improved just-in-time manufacturing processes. However, challenges related to quality control, scalability, and workforce adaptation remain critical issues that require careful consideration. The study also examines the emerging role of hybrid manufacturing systems that combine additive and subtractive processes, alongside the growing need for standardized regulations and frameworks to ensure consistency and safety. Case studies are highlighted, showcasing real-world applications of automated 3D printing technologies and AI-driven print optimization techniques. In conclusion, this paper contributes to advancing the scholarly understanding of automated 3D printing by synthesizing technical, organizational, and regulatory insights and outlining future trajectories for sustainable and agile production ecosystems. Full article

Static Timing Analysis (STA) plays a crucial role in realizing timing convergence of integrated circuits. In recent years, there has been growing research on pre-routing timing prediction using Graph Neural Networks (GNNs). However, existing approaches struggle with scalability on large graphs and lack generalizability to new designs, limiting their applicability to large-scale, complex circuit problems. To address this issue, this paper proposes a timing engine based on Graph Attention Network (GAT) to predict the slack of timing endpoints. Firstly, our model computes net embeddings for each node prior to training using a gated self-attention module. Subsequently, inspired by the Nonlinear Delay Model (NLDM), the node embeddings are propagated through multiple levels by alternately applying net propagation layers and cell propagation layers. Evaluated on 21 real circuits, the framework achieved a 16.62% improvement in average $R^2$ score for slack prediction and a 15.55% reduction in runtime compared to the state-of-the-art (SOTA) method. Full article

The energy consumption of rotary-wing unmanned aerial vehicles has become an important factor restricting their long-term application. This article focuses on decoupling the motion channel and reducing control energy consumption, and proposes a decoupling controller based on dynamic inversion for the complete dynamics of quadcopter unmanned aerial vehicles. Firstly, we design a direct closed-loop feedback controller for the z-channel to exhibit second-order linear dynamic characteristics with adjustable parameters. Then, the specific functions of pitch angle and yaw angle are combined as virtual control variables for the comprehensive decoupling design of the x-direction and y-direction, so that the x-channel and y-channel also exhibit independent parameter-adjustable second-order linear dynamic characteristics. Next, by solving the actual control variables, a fast convergence system is dynamically formed by the deviation between the virtual control variables and their actual values, ensuring that the specific function combination of pitch angle and yaw angle quickly converges to the expected value. Finally, the effectiveness and low energy consumption control characteristics of the decoupling control scheme were demonstrated through simulation comparison with other control methods (such as classical PID) in terms of energy consumption. Full article

Given the growing need to enhance the accuracy of exploration robots, this study focuses on designing a teleoperated navigation system for a robot equipped with a continuous-track traction system. The goal was to improve navigation performance by developing mathematical models that describe the robot’s behavior, which were validated through experimental measurements. The system incorporates a digital twin based on ROS (Robot Operating System) to configure the nodes responsible for teleoperated navigation. A PID controller is implemented for each motor, with zero-pole cancellation to achieve first-order dynamics, and anti-windup to prevent integral error accumulation when the reference is not met. Finally, a physical implementation was carried out to validate the functionality of the proposed navigation system. The results demonstrated that the system ensured precise and stable navigation, highlighting the effectiveness of the proposed approach in dynamic environments. This work contributes to advancing robotic navigation in controlled environments and offers potential for improving teleoperation systems in more complex scenarios. Full article