Search Results (1,906)

Transportation is often cited as a significant barrier to healthcare access by Veterans, particularly those from minority groups, who have disabilities, or live in rural areas. Autonomous shuttles (AS) offer a potential solution, yet limited research has explored Veterans’ experiences with this technology. This study qualitatively investigated Veterans’ lived experiences with AS through focus groups, enrolling participants aged 18+ from Gainesville, The Villages, and Lake Nona, Florida. Via a directed content analysis, six key themes were identified: Perceived Benefits, Safety, Experience with Autonomous Vehicles (AV), AS Experience, AV Adoption, and Perception Change. Among 26 participants (aged 30–85; 77% men; 88% urban residents), prominent themes included Safety (n = 161), Perceived Benefits (n = 153), and AS Experience (n = 118), with predominantly positive counts in all themes except AS Experience. Participants acknowledged safety advantages and multitasking potential of AS over human-operated vehicles while recommending improvements to the shuttle’s slow speed, availability and convenience. While the AS ride was positively received overall, some participants noted issues with comfort and braking, emphasizing the need for further technological enhancements. Real-world exposure to AS appeared to influence acceptance positively, offering insights for policymakers and industry stakeholders aiming to optimize AS deployment for mobility-vulnerable Veterans. Full article

This paper presents a multi-strategy enhanced bald eagle search algorithm (EAB-BES) for 3D UAV path planning in urban environments. EAB-BES addresses key limitations of the traditional bald eagle search (BES) algorithm, including slow convergence, susceptibility to local optima, and poor adaptability in complex urban scenarios. The algorithm enhances solution space exploration through elite opposition-based learning, balances global search and local exploitation via an adaptive weight mechanism, and refines local search directions using block-based elite-guided differential mutation. These innovations significantly improve BES’s convergence speed, path accuracy, and adaptability to urban constraints. To validate its effectiveness, six high-density urban environments with varied obstacles were used for comparative experiments against nine advanced algorithms. The results demonstrate that EAB-BES achieves the fastest convergence speed and lowest stable fitness values and generates the shortest, smoothest collision-free 3D paths. Statistical tests and box plot analysis further confirm its superior performance in multiple performance metrics. EAB-BES has greater competitiveness compared with the comparative algorithms and can provide an efficient, reliable and robust solution for UAV autonomous navigation in complex urban environments. Full article

Despite rapid advances in robot learning, the coordination of closed-loop manipulation in cluttered environments remains a challenging and relatively underexplored problem. We present a novel two-level hierarchical architecture for a depth vision-equipped robotic arm that integrates pushing, grasping, and high-level decision making. Central to our approach is a prioritised action–selection mechanism that facilitates efficient early-stage learning via behaviour cloning (BC), while enabling scalable exploration through reinforcement learning (RL). A high-level decision neural network (DNN) selects between grasping and pushing actions, and two low-level action neural networks (ANNs) execute the selected primitive. The DNN is trained with RL, while the ANNs follow a hybrid learning scheme combining BC and RL. Notably, we introduce an automated demonstration generator based on oriented bounding boxes, eliminating the need for manual data collection and enabling precise, reproducible BC training signals. We evaluate our method on a challenging manipulation task involving five closely packed cubic objects. Our system achieves a completion rate (CR) of 100%, an average grasping success (AGS) of 93.1% per completion, and only 7.8 average decisions taken for completion (DTC). Comparative analysis against three baselines—a grasping-only policy, a fixed grasp-then-push sequence, and a cloned demonstration policy—highlights the necessity of dynamic decision making and the efficiency of our hierarchical design. In particular, the baselines yield lower AGS (86.6%) and higher DTC (10.6 and 11.4) scores, underscoring the advantages of content-aware, closed-loop control. These results demonstrate that our architecture supports robust, adaptive manipulation and scalable learning, offering a promising direction for autonomous skill coordination in complex environments. Full article

Magnetic climbing robots hold significant value for operations in complex industrial environments, particularly for the inspection and maintenance of large-scale metal structures. High-precision spatial positioning is the foundation for enabling autonomous and intelligent operations in such environments. However, the existing literature lacks a systematic and comprehensive review of spatial positioning techniques tailored to magnetic climbing robots. This paper addresses this gap by categorizing and evaluating current spatial positioning approaches. Initially, single-sensor-based methods are analyzed with a focus on external sensor approaches. Then, multi-sensor fusion methods are explored to overcome the shortcomings of single-sensor-based approaches. Multi-sensor fusion methods include simultaneous localization and mapping (SLAM), integrated positioning systems, and multi-robot cooperative positioning. To address non-uniform noise and environmental interference, both analytical and learning-based reinforcement approaches are reviewed. Common analytical methods include Kalman-type filtering, particle filtering, and correlation filtering, while typical learning-based approaches involve deep reinforcement learning (DRL) and neural networks (NNs). Finally, challenges and future development trends are discussed. Multi-sensor fusion and lightweight design are the future trends in the advancement of spatial positioning technologies for magnetic climbing robots. Full article

This paper presents a simulation-based investigation into control strategies for mitigating the consequences of cyber-assault on the steering systems of the Maritime Autonomous Surface Ships (MASS). The study focuses on two simulation experiments conducted within the Simulink/MATLAB environment, utilizing the catamaran “Nymo” MASS mathematical model to represent vessel dynamics. Cyber-attacks are modeled as external disturbances affecting the rudder control signal, emulating realistic interference scenarios. To assess control resilience, two configurations are compared during a representative turning maneuver to a specified heading: (1) a Proportional–Integral–Derivative (PID) regulator augmented with a Least Mean Squares (LMS) adaptive filter, and (2) a Nonlinear Autoregressive Moving Average with Exogenous Input (NARMA-L2) neural network regulator. The PID and LMS configurations aim to enhance the disturbance rejection capabilities of the classical controller through adaptive filtering, while the NARMA-L2 approach represents a data-driven, nonlinear control alternative. Simulation results indicate that although the PID and LMS setups demonstrate improved performance over standalone PID in the presence of cyber-induced disturbances, the NARMA-L2 controller exhibits superior adaptability, accuracy, and robustness under adversarial conditions. These findings suggest that neural network-based control offers a promising pathway for developing cyber-resilient steering systems in autonomous maritime vessels. Full article

Background/Objectives: The aim was to identify patterns of autonomic and neuroendocrine reactivity to an immersive virtual reality (VR) social-emotional stressor and explore their associations with perceived stress and eating behavior. Methods: This one-group pretest–posttest study included 30 children and adolescents with obesity (15 boys and 15 girls), aged 8 to 17 years. The VR protocol consisted of two consecutive phases: a 5 min relaxation phase using the Forest application and a 5 min stimulation phase using a cognitively engaging VR game designed to elicit social-emotional stress. Physiological responses were measured using heart rate variability (HRV) indices and salivary stress biomarkers, including cortisol and alpha amylase. Subjective stress and eating responses were assessed via visual analogue scales (VAS) administered immediately post-exposure. The Three-Factor Eating Questionnaire (TFEQ-R21C) was used to evaluate cognitive restraint (CR), uncontrolled eating (UE), and emotional eating (EE). Results: The cortisol reactivity was blunted and may reflect both the attenuated HPA axis responsiveness characteristic of pediatric obesity and the moderate psychological challenge of the VR stressor used in this study. Two distinct autonomic response patterns were identified via exploratory factor analysis: (1) parasympathetic reactivity, associated with increased RMSSD and SDNN and decreased LF/HF, and (2) sympathetic activation, associated with increased heart rate and alpha-amylase levels and reduced RR intervals. Parasympathetic reactivity was correlated with lower perceived stress and anxiety, but also paradoxically with higher uncontrolled eating (UE). In contrast, sympathetic activation was associated with greater cognitive restraint (CR) and higher anxiety ratings. Conclusions: This study demonstrates that immersive VR game exposure elicits measurable autonomic and subjective stress responses in children and adolescents with obesity, and that individual differences in physiological reactivity are relevantly associated with eating behavior traits. The findings suggest that parasympathetic and sympathetic profiles may represent distinct behavioral patterns with implications for targeted intervention. Full article

This paper presents a novel four-dimensional autonomous conservative model characterized by an infinite set of equilibrium points and an unusual algebraic structure in which all eigenvalues of the Jacobian matrix are zero. The linearization of the proposed model implies that classical stability analysis is inadequate, as only the center manifolds are obtained. Consequently, the stability of the system is investigated through both analytical and numerical methods using Lyapunov functions and numerical simulations. The proposed model exhibits rich dynamics, including hyperchaotic behavior, which is characterized using the Lyapunov exponents, bifurcation diagrams, sensitivity analysis, attractor projections, and Poincaré map. Moreover, in this paper, we explore the model with fractional-order derivatives, demonstrating that the fractional dynamics fundamentally change the geometrical structure of the attractors and significantly change the system stability. The Grünwald–Letnikov formulation is used for modeling, while numerical integration is performed using the Caputo operator to capture the memory effects inherent in fractional models. Finally, an analog electronic circuit realization is provided to experimentally validate the theoretical and numerical findings. Full article

Sudden Unexpected Death in Epilepsy (SUDEP) is a leading cause of mortality among individuals with epilepsy, particularly those with drug-resistant forms. This review explores the complex multisystem mechanisms underpinning SUDEP, integrating recent findings on brain, cardiac, and pulmonary dysfunctions. Background/Objectives: The main objective of this review is to elucidate how seizures disrupt critical physiological systems, especially the brainstem, heart, and lungs, contributing to SUDEP, with emphasis on respiratory control failure and autonomic instability. Methods: The literature from experimental models, clinical observations, neuroimaging studies, and genetic analyses was systematically examined. Results: SUDEP is frequently preceded by generalized tonic–clonic seizures, which trigger central and obstructive apnea, hypoventilation, and cardiac arrhythmias. Brainstem dysfunction, particularly in areas such as the pre-Bötzinger complex and nucleus tractus solitarius, plays a central role. Genetic mutations affecting ion channels (e.g., SCN1A, KCNQ1) and neurotransmitter imbalances (notably serotonin and GABA) exacerbate autonomic dysregulation. Risk is compounded by a prone sleeping position, reduced arousal capacity, and impaired ventilatory responses. Conclusions: SUDEP arises from a cascade of interrelated failures in respiratory and cardiac regulation initiated by seizure activity. The recognition of modifiable risk factors, implementation of monitoring technologies, and targeted therapies such as serotonergic agents may reduce mortality. Multidisciplinary approaches integrating neurology, cardiology, and respiratory medicine are essential for effective prevention strategies. Full article

The human interpretation of medical images, especially for the detection of cancer in the prostate, has traditionally been a time-consuming and challenging process. Manual examination for the detection of prostate cancer is not only time-consuming but also prone to errors, carrying the risk of an excess biopsy due to the inherent limitations of human visual interpretation. With the technical advancements and rapid growth of computer resources, machine learning (ML) and deep learning (DL) models have been experimentally used for medical image analysis, particularly in lesion detection. However, several state-of-the-art models have shown promising results. There are still challenges when analysing prostate lesion images due to the distinctive and complex nature of medical images. This study offers an elaborate review of the techniques that are used to diagnose prostate cancer using medical images. The goal is to provide a comprehensive and valuable resource that helps researchers develop accurate and autonomous models for effectively detecting prostate cancer. This paper is structured as follows: First, we outline the issues with prostate lesion detection. We then review the methods for analysing prostate lesion images and classification approaches. We then examine convolutional neural network (CNN) architectures and explore their applications in deep learning (DL) for image-based prostate cancer diagnosis. Finally, we provide an overview of prostate cancer datasets and evaluation metrics in deep learning. In conclusion, this review analyses key findings, highlights the challenges in prostate lesion detection, and evaluates the effectiveness and limitations of current deep learning techniques. Full article

Complex regional pain syndrome (CRPS) is a disabling pain condition, which is distinct from other pain syndromes by the presence of autonomic dysfunction and regional inflammatory changes. Objectives: To explore the impact of pharmacological treatment strategies, specifically scheduled, on-demand dosing regimens versus lack of medical treatment, on pain-related and functional outcomes in rehabilitation for individuals with CRPS. Methods: A total of 32 participants with CRPS were assigned to three treatment groups depending on analgesic treatment during the course of complex rehabilitation. Pre- and post-rehabilitation assessments were conducted using validated measures, including the Numerical Rating Scale (NRS) for pain, the Short-Form McGill Pain Questionnaire (SF-MPQ), PainDETECT, the Disabilities of the Arm, Shoulder, and Hand (DASH), and the Lower Extremity Functional Scale (LEFS). Results: Significant improvements in pain and upper limb function (DASH scores) were observed across all groups (p < 0.05). No statistically significant changes were found in lower limb function (LEFS). Between-group comparisons revealed significant differences in post-treatment pain scores (SFMPQ-B), particularly between groups with a constant treatment regimen and those without treatment. Conclusions: There were no statistically significant changes compared to different treatment regimen groups. The constant treatment group showed slightly better average improvements in pain and disability compared to other groups. Statistically significant improvements in all CRPS patients were observed in pain-related and functional measures. Full article

The rapid expansion of deep-sea sensing networks underscores the critical need for accurate underwater positioning of observation base stations. However, achieving precise acoustic localization, particularly at depths exceeding 4 km, remains a significant challenge due to systematic ranging errors, clock drift, and inaccuracies in sound speed modeling. This study proposes and validates a three-tier calibration framework consisting of a Dynamic Single-Difference (DSD) solver, a geometrically optimized reference buoy selection algorithm, and a Virtual Beacon (VB) depth inversion method based on sound speed profiles. Through simulations under varying noise conditions, the DSD method effectively mitigates common ranging and clock errors. The geometric reference optimization algorithm enhances the selection of optimal buoy layouts and reference points. At a depth of 4 km, the VB method improves vertical positioning accuracy by 15% compared to the DSD method alone, and nearly doubles vertical accuracy compared to traditional non-differential approaches. This research demonstrates that deep-sea underwater target calibration can be achieved without high-precision time synchronization and in the presence of fixed ranging errors. The proposed framework has the potential to lower technological barriers for large-scale deep-sea network deployments and provides a robust foundation for autonomous deep-sea exploration. Full article

In nature, organisms often rely on the integration of local sensory information and prior experience to flexibly adapt to complex and dynamic environments, enabling efficient path selection. This bio-inspired mechanism of perception and behavioral adjustment provides important insights for path planning in mobile robots operating under uncertainty. In recent years, the introduction of deep reinforcement learning (DRL) has empowered mobile robots to autonomously learn navigation strategies through interaction with the environment, allowing them to identify obstacle distributions and perform path planning even in unknown scenarios. To further enhance the adaptability and path planning performance of robots in complex environments, this paper develops a deep reinforcement learning framework based on the Soft Actor–Critic (SAC) algorithm. First, to address the limited adaptability of existing transfer learning methods, we propose an action-level fusion mechanism that dynamically integrates prior and current policies during inference, enabling more flexible knowledge transfer. Second, a bio-inspired radar perception optimization method is introduced, which mimics the biological mechanism of focusing on key regions while ignoring redundant information, thereby enhancing the expressiveness of sensory inputs. Finally, a reward function based on ineffective behavior recognition is designed to reduce unnecessary exploration during training. The proposed method is validated in both the Gazebo simulation environment and real-world scenarios. Experimental results demonstrate that the approach achieves faster convergence and superior obstacle avoidance performance in path planning tasks, exhibiting strong transferability and generalization across various obstacle configurations. Full article

Autonomous drones may be called on to perform search-and-rescue operations in environments without access to signals from the global navigation satellite system (GNSS), such as underground mines, subterranean caverns, or confined tunnels. While technology to perform such missions has been demonstrated at events such as DARPA’s Subterranean (Sub-T) Challenge, the hardware deployed for these missions relies on heavy and expensive sensors, such as LiDAR, carried by costly mobile platforms, such as legged robots and heavy-lift multicopters, creating barriers for deployment and training with this technology for all but the wealthiest search-and-rescue organizations. To address this issue, we have developed a custom four-rotor aerial drone platform specifically built around low-cost low-weight sensors in order to minimize costs and maximize flight time for search-and-rescue operations in GNSS-denied environments. We document the various issues we encountered during the building and testing of the vehicle and how they were solved, for instance a novel redesign of the airframe to handle the aggressive yaw maneuvers commanded by the FUEL exploration framework running onboard the drone. The resulting system is successfully validated through a hardware autonomous flight experiment performed in an underground environment without access to GNSS signals. The contribution of the article is to share our experiences with other groups interested in low-cost search-and-rescue drones to help them advance their own programs. Full article

Apple harvesting faces increasing challenges owing to rising labor costs and the limited seasonal workforce availability, highlighting the need for robotic harvesting solutions in precision agriculture. This study presents a 6-DOF robotic arm system designed for harvesting in dwarf hedge-planted orchards, featuring a lightweight perception module, a task-adaptive motion planner, and an adaptive soft gripper. A lightweight approach was introduced by integrating the Faster module within the C2f module of the You Only Look Once (YOLO) v8n architecture to optimize the real-time apple detection efficiency. For motion planning, a Dynamic Temperature Simplified Transition Adaptive Cost Bidirectional Transition-Based Rapidly Exploring Random Tree (DSA-BiTRRT) algorithm was developed, demonstrating significant improvements in the path planning performance. The adaptive soft gripper was evaluated for its detachment and load-bearing capacities. Field experiments revealed that the direct-pull method at 150 mN·m torque outperformed the rotation-pull method at both 100 mN·m and 150 mN·m. A custom control system integrating all components was validated in partially controlled orchards, where obstacle clearance and thinning were conducted to ensure operation safety. Tests conducted on 80 apples showed a 52.5% detachment success rate and a 47.5% overall harvesting success rate, with average detachment and full-cycle times of 7.7 s and 15.3 s per apple, respectively. These results highlight the system’s potential for advancing robotic fruit harvesting and contribute to the ongoing development of autonomous agricultural technologies. Full article

The use of aerial robots for inspection and maintenance in industrial settings demands high maneuverability, precise control, and reliable measurements. This study explores the development of a fully customized unmanned aerial manipulator (UAM), composed of a tilting drone and an articulated robotic arm, designed to perform non-destructive in-contact inspections of iron structures. The system is intended to operate in complex and potentially hazardous environments, where autonomous execution is supported by shared-control strategies that include human supervision. A parallel force–impedance control framework is implemented to enable smooth and repeatable contact between a sensor for ultrasonic testing (UT) and the inspected surface. During interaction, the arm applies a controlled push to create a vacuum seal, allowing accurate thickness measurements. The control strategy is validated through repeated trials in both indoor and outdoor scenarios, demonstrating consistency and robustness. The paper also addresses the mechanical and control integration of the complex robotic system, highlighting the challenges and solutions in achieving a responsive and reliable aerial platform. The combination of semi-autonomous control and human-in-the-loop operation significantly improves the effectiveness of inspection tasks in hard-to-reach environments, enhancing both human safety and task performance. Full article