Search Results (654)

Ensuring production safety and enabling rapid emergency response in complex industrial environments remains a critical challenge. Traditional inspection robots are often limited by perception delays when confronted with sudden dynamic threats. This paper presents a vision-driven dynamic digital twin system designed to enhance real-time monitoring and emergency management capabilities. The framework constructs high-fidelity 3D models using SolidWorks 2024, Scaniverse 5.0.0, and 3ds Max 2024, and integrates them into a unified digital twin environment via the Unity 3D engine. Its core contribution is a vision-driven dynamic mapping mechanism: robots operating on the Robot Operating System (ROS) and equipped with ZED stereo cameras and embedded YOLOv5m models perform real-time detection, such as personnel and fire sources. Recognized targets trigger the dynamic instantiation of corresponding virtual models from a pre-built library, enabling automated, real-time reconstruction within the digital twin. An integrated service platform further supports early warning, status monitoring, and maintenance functions. Experimental validation confirms that the system satisfies key performance metrics, including data collection completeness exceeding 99.99%, incident detection accuracy of 80%, and state synchronization latency below 90 milliseconds. The system improves the dynamic updating efficiency of digital twins and demonstrates strong potential for proactive safety assurance and efficient emergency response in dynamic industrial settings. Full article

We present a virtual reality (VR) framework for controlling dual-arm robotic manipulators through immersive interfaces, integrating both simulated and real-world platforms. The system combines the Webots robotics simulator with Unreal Engine 5.6.1 to provide real-time visualization and interaction, enabling users to manipulate each arm’s tool point via VR controllers with natural depth perception and motion tracking. The same control interface is seamlessly extended to a physical dual-arm robot, enabling teleoperation within the same VR environment. Our architecture supports real-time bidirectional communication between the VR layer and both the simulator and hardware, enabling responsive control and feedback. We describe the system design and performance evaluation in both domains, demonstrating the viability of immersive VR as a unified interface for simulation and physical robot control. Full article

We envision a minimalist way to explain a number of astronomical facts associated with the unsolved missing mass problem by considering a new phenomenological paradigm. In this model, no new exotic particles need to be added, and the gravity is not modified; it is the perception that we have of a purely Newtonian (or purely Einsteinian) Universe, dubbed the Newton basis or Einstein basis (actually “viewed through a pinhole” which is “optically” distorted in some manner by a so-called magnifying effect). The $\kappa$ model is not a theory but rather an exploratory technique that assumes that the sizes of the astronomical objects (galaxies and galaxy clusters or fluctuations in the CMB) are not commensurable with respect to our usual standard measurement. To address this problem, we propose a rescaling of the lengths when these are larger than some critical values, say >100 pc - 1 kpc for the galaxies and ∼1 Mpc for the galaxy clusters. At the scale of the solar system or of a binary star system, the $\kappa$ effect is not suspected, and the undistorted Newtonian metric fully prevails. A key point of an ontological nature rising from the $\kappa$ model is the distinction which is made between the distances depending on how they are obtained: (1) distances deduced from luminosity measurements (i.e. the real distances as potentially measured in the Newton basis, which are currently used in the standard cosmological model) and (2) even though it is not technically possible to deduce them, the distances which would be deduced by trigonometry. Those “trigonometric” distances are, in our model, altered by the kappa effect, except in the solar environment where they are obviously accurate. In outer galaxies, the determination of distances (by parallax measurement) cannot be carried out, and it is difficult to validate or falsify the kappa model with this method. On the other hand, it is not the same within the Milky Way, for which we have valuable trigonometric data (from the Gaia satellite). Interestingly, it turns out that for this particular object, there is strong tension between the results of different works regarding the rotation curve of the galaxy. At the present time, when the dark matter concept seems to be more and more illusive, it is important to explore new ideas, even the seemingly incredibly odd ones, with an open mind. The approach taken here is, however, different from that adopted in previous papers. The analysis is first carried out in a space called the Newton basis with pure Newtonian gravity (the gravity is not modified) and in the absence of dark matter-type exotic particles. Then, the results (velocity fields) are transported into the leaves of a bundle (observer space) using a universal transformation associated with the average mass density expressed in the Newton basis. This approach will make it much easier to deal with situations where matter is not distributed centrosymmetrically around a center of maximum density. As examples, we can cite the interaction of two galaxies or the case of the collision between two galaxy clusters in the bullet cluster. These few examples are difficult to treat directly in the bundle, especially since we would include time-based monitoring (with an evolving $\kappa$ effect in the bundle). We will return to these questions later, as well as the concept of average mass density at a point. The relationship between this density and the coefficient $\kappa$ must also be precisely defined. Full article

The grid-forming static var generator (SVG) is a key device that supports the stable operation of power grids with a high penetration of renewable energy. The cooling efficiency of its forced water-cooling system directly determines the reliability of the entire unit. However, existing wired monitoring methods suffer from complex cabling and limited capacity to provide a full perception of the water-cooling condition. To address these limitations, this study develops a wireless monitoring system based on multi-source information fusion for real-time evaluation of cooling efficiency and early fault warning. A heterogeneous wireless sensor network was designed and implemented by deploying liquid-level, vibration, sound, and infrared sensors at critical locations of the SVG water-cooling system. These nodes work collaboratively to collect multi-physical field data—thermal, acoustic, vibrational, and visual information—in an integrated manner. The system adopts a hybrid Wireless Fidelity/Bluetooth (Wi-Fi/Bluetooth) networking scheme with electromagnetic interference-resistant design to ensure reliable data transmission in the complex environment of converter valve halls. To achieve precise and robust diagnosis, a three-layer hierarchical weighted fusion framework was established, consisting of individual sensor feature extraction and preliminary analysis, feature-level weighted fusion, and final fault classification. Experimental validation indicates that the proposed system achieves highly reliable data transmission with a packet loss rate below 1.5%. Compared with single-sensor monitoring, the multi-source fusion approach improves the diagnostic accuracy for pump bearing wear, pipeline micro-leakage, and radiator blockage to 98.2% and effectively distinguishes fault causes and degradation tendencies of cooling efficiency. Overall, the developed wireless monitoring system overcomes the limitations of traditional wired approaches and, by leveraging multi-source fusion technology, enables a comprehensive assessment of cooling efficiency and intelligent fault diagnosis. This advancement significantly enhances the precision and reliability of SVG operation and maintenance, providing an effective solution to ensure the safe and stable operation of both grid-forming SVG units and the broader power grid. Full article

Segmentation of tomato fruits under complex lighting conditions remains technically challenging, especially in low illumination or overexposure, where RGB-only methods often suffer from blurred boundaries and missed small or occluded instances, and simple multimodal fusion cannot fully exploit complementary cues. To address these gaps, we propose YOLO-MSRF, a lightweight RGB–NIR multimodal segmentation and refinement framework for robust tomato perception in facility agriculture. Firstly, we propose a dual-branch multimodal backbone, introduce Cross-Modality Difference Complement Fusion (C-MDCF) for difference-based complementary RGB–NIR fusion, and design C2f-DCB to reduce computation while strengthening feature extraction. Furthermore, we develop a cross-scale attention fusion network and introduce the proposed MS-CPAM to jointly model multi-scale channel and position cues, strengthening fine-grained detail representation and spatial context aggregation for small and occluded tomatoes. Finally, we design the Multi-Scale Fusion and Semantic Refinement Network, MSF-SRNet, which combines the Scale-Concatenate Fusion Module (Scale-Concat) fusion with SDI-based cross-layer detail injection to progressively align and refine multi-scale features, improving representation quality and segmentation accuracy. Extensive experiments show that YOLO-MSRF achieves substantial gains under weak and low-light conditions, where RGB-only models are most prone to boundary degradation and missed instances, and it still delivers consistent improvements on the mixed four-light validation set, increasing $mA{P}_{0.5}$ by 2.3 points, $mA{P}_{0.5–0.95}$ by 2.4 points, and mIoU by 3.60 points while maintaining real-time inference at 105.07 FPS. The proposed system further supports counting, size estimation, and maturity analysis of harvestable tomatoes, and can be integrated with depth sensing and yield estimation to enable real-time yield prediction in practical greenhouse operations. Full article

Manual alignment between the trocar, surgical instrument, and robot during minimally invasive surgery (MIS) can be time-consuming and error-prone, and many existing systems do not provide autonomous localization and pose estimation. This paper presents an artificial intelligence (AI)-assisted, vision-guided framework for automated localization and positioning of the ATHENA parallel surgical robot. The proposed approach combines an Intel RealSense RGB–depth (RGB-D) camera with a You Only Look Once version 11 (YOLO11) object detection model to estimate the 3D spatial coordinates of key surgical components in real time. The estimated coordinates are streamed over Transmission Control Protocol/Internet Protocol (TCP/IP) to a programmable logic controller (PLC) using Modbus/TCP, enabling closed-loop robot positioning for automated docking. Experimental validation in a controlled setup designed to replicate key intraoperative constraints demonstrated submillimeter positioning accuracy (≤0.8 mm), an average end-to-end latency of 67 ms, and a 42% reduction in setup time compared with manual alignment, while remaining robust under variable lighting. These results indicate that the proposed perception-to-control pipeline is a practical step toward reliable autonomous robotic docking in MIS workflows. Full article

In response to the demand for real-time monitoring of the nitrogen nutritional status of peanut populations, this paper proposes a real-time monitoring system for the nitrogen nutritional status of peanut populations based on the YOLOv11 framework and spectral attention module. Traditional nitrogen detection methods have problems such as low efficiency and difficulty in achieving population-scale monitoring, while crop phenotyping technology based on computer vision faces challenges such as small leaf targets, severe occlusion, easy confusion of nitrogen deficiency symptoms, and difficulty in deploying deep learning models on mobile terminals. This study improves the YOLOv11 model, introduces the ASF (Attentional Scale Fusion) module and the DySample dynamic upsampling mechanism, enhances the model’s perception and feature expression capabilities for multi-scale targets, and effectively improves the monitoring accuracy and robustness of the nitrogen nutritional status of peanut populations. Experimental results show that the ADS-YOLO model performs well in evaluation indicators such as accuracy, recall, and mean average precision (mAP), providing technical support for precision fertilization of peanuts. Full article

Reliable autonomy for drones operating in GNSS-intermittent or denied environments requires both stable inter-vehicle coordination and a shared global understanding of the environment. This paper presents a unified vision-based framework in which UAVs use biologically inspired swarm behaviors together with online monocular point-cloud registration to achieve real-time global localization. First, we apply a passive-perception strategy, bird-inspired drone swarm-keeping, enabling each UAV to estimate the relative motion and proximity of its neighbors using only monocular visual cues. This decentralized mechanism provides cohesive and collision-free group motion without GNSS, active ranging, or explicit communication. Second, we integrate this capability with a cooperative mapping pipeline in which one or more drones acting as global anchors generate a globally referenced monocular SLAM map. Vehicles lacking global positioning progressively align their locally generated point clouds to this shared global reference using an iterative registration strategy, allowing them to infer consistent global poses online. Other autonomous vehicles optionally contribute complementary viewpoints, but UAVs remain the core autonomous agents driving both mapping and coordination due to their privileged visual perspective. Experimental validation in simulation and indoor testbeds with drones demonstrates that the integrated system maintains swarm cohesion, improves spatial alignment by more than a factor of four over baseline monocular SLAM, and preserves reliable global localization throughout extended GNSS outages. The results highlight a scalable, lightweight, and vision-based approach to resilient UAV autonomy in tunnels, industrial environments, and other GNSS-challenged settings. Full article

This paper proposes E-MOTE (Emotion-aware Teacher Education Framework), an ethically grounded conceptual model aimed at enhancing teacher education through the integrated use of the Facial Action Coding System (FACS), Artificial Intelligence (AI), and Virtual Reality (VR). As a conceptual and design-oriented proposal, E-MOTE is presented as a structured blueprint for future development and empirical validation, not as an implemented or evaluated system. Grounded in neuroscientific and educational research, E-MOTE seeks to strengthen teachers’ emotional awareness, teacher noticing, and social–emotional learning competencies. Rather than reporting empirical findings, this article offers a theoretically structured framework and an operational blueprint for the design of emotion-aware teacher training environments, establishing a structured foundation for future empirical validation. E-MOTE articulates three core contributions: (1) it clarifies the multi-layered construct of emotion-aware teaching by distinguishing between emotion detection, perception, awareness, and regulation; (2) it proposes an integrated AI–FACS–VR architecture for real-time and post hoc feedback on teachers’ perceptual performance; and (3) it outlines a staged experimental blueprint for future empirical validation under ethically governed conditions. As a design-oriented proposal, E-MOTE provides a structured foundation for cultivating emotionally responsive pedagogy and inclusive classroom management, supporting the development of perceptual micro-skills in teacher practice. Its distinctive contribution lies in proposing a shift from predominantly macro-behavioral simulation toward the deliberate cultivation of perceptual micro-skills through FACS-informed analytics integrated with AI-driven simulations. Full article

The integration of large models and multimodal foundation models into the low-altitude economy is driving a transformative shift, enabling intelligent, autonomous, and efficient operations for low-altitude vehicles (LAVs). This article provides a comprehensive analysis of the role these large models play within the smart integrated lower airspace system (SILAS), focusing on their applications across the four fundamental networks: facility, information, air route, and service. Our analysis yields several key findings, which pave the way for enhancing the application of large models in the low-altitude economy. By leveraging advanced capabilities in perception, reasoning, and interaction, large models are demonstrated to enhance critical functions such as high-precision remote sensing interpretation, robust meteorological forecasting, reliable visual localization, intelligent path planning, and collaborative multi-agent decision-making. Furthermore, we find that the integration of these models with key enabling technologies, including edge computing, sixth-generation (6G) communication networks, and integrated sensing and communication (ISAC), effectively addresses challenges related to real-time processing, resource constraints, and dynamic operational environments. Significant challenges, including sustainable operation under severe resource limitations, data security, network resilience, and system interoperability, are examined alongside potential solutions. Based on our survey, we discuss future research directions, such as the development of specialized low-altitude models, high-efficiency deployment paradigms, advanced multimodal fusion, and the establishment of trustworthy distributed intelligence frameworks. This survey offers a forward-looking perspective on this rapidly evolving field and underscores the pivotal role of large models in unlocking the full potential of the next-generation low-altitude economy. Full article

Three-dimensional multi-object tracking (3D MOT) plays a vital role in enabling reliable perception for LiDAR-based autonomous systems. However, LiDAR measurements often exhibit sparsity, occlusion, and sensor noise that lead to uncertainty and instability in downstream tracking. To address these challenges, we propose FGO-PMB, a unified probabilistic framework that integrates the Poisson Multi-Bernoulli (PMB) filter from Random Finite Set (RFS) theory with Factor Graph Optimization (FGO) for robust LiDAR-based object tracking. In the proposed framework, object states, existence probabilities, and association weights are jointly formulated as optimizable variables within a factor graph. Four factors, including state transition, observation, existence, and association consistency, are formulated to uniformly encode the spatio-temporal constraints among these variables. By unifying the uncertainty modeling capability of RFS with the global optimization strength of FGO, the proposed framework achieves temporally consistent and uncertainty-aware estimation across continuous LiDAR scans. Experiments on KITTI and nuScenes indicate that the proposed method achieves competitive 3D MOT accuracy while maintaining real-time performance. Full article

Efficient and reliable road damage detection is a critical component of intelligent transportation and infrastructure control systems that rely on visual sensing technologies. Existing road damage detection models are facing challenges such as missed detection of fine cracks, poor adaptability to lighting changes, and false positives under complex backgrounds. In this study, we propose an enhanced YOLO-based framework, YOLO-ERCD, designed to improve the accuracy and robustness of sensor-acquired image data for road crack detection. The datasets used in this work were collected from vehicle-mounted and traffic surveillance camera sensors, representing typical visual sensing systems in automated road inspection. The proposed architecture integrates three key components: (1) a residual convolutional block attention module, which preserves original feature information through residual connections while strengthening spatial and channel feature representation; (2) a channel-wise adaptive gamma correction module that models the nonlinear response of the human visual system to light intensity, adaptively enhancing brightness details for improved robustness under diverse lighting conditions; (3) a visual focus noise modulation module that reduces background interference by selectively introducing noise, emphasizing damage-specific features. These three modules are specifically designed to address the limitations of YOLOv10 in feature representation, lighting adaptation, and background interference suppression, working synergistically to enhance the model’s detection accuracy and robustness, and closely aligning with the practical needs of road monitoring applications. Experimental results on both proprietary and public datasets demonstrate that YOLO-ERCD outperforms recent road damage detection models in accuracy and computational efficiency. The lightweight design also supports real-time deployment on edge sensing and control devices. These findings highlight the potential of integrating AI-based visual sensing and intelligent control, contributing to the development of robust, efficient, and perception-aware road monitoring systems. Full article

Recent advancements in prosthetic technology have increasingly focused on enhancing dexterity and autonomy through intelligent control systems. Vision-based approaches offer promising results for enabling prosthetic hands to interact more naturally with diverse objects in dynamic environments. Building on this foundation, the paper presents a vision-guided grasping algorithm for a prosthetic hand, integrating perception, planning, and control for dexterous manipulation. A camera mounted on the set up captures the scene, and a Bounding Volume Hierarchy (BVH)-based vision algorithm is employed to segment an object for grasping and define its bounding box. Grasp contact points are then computed by generating candidate trajectories using Rapidly-exploring Random Tree Star (RRT*) algorithm, and selecting fingertip end poses based on the minimum Euclidean distance between these trajectories and the object’s point cloud. Each finger’s grasp pose is determined independently, enabling adaptive, object-specific configurations. Damped Least Square (DLS) based Inverse kinematics solver is used to compute the corresponding joint angles, which are subsequently transmitted to the finger actuators for execution. Our intention in this work was to present a proof-of-concept pipeline demonstrating that fingertip poses derived from a simple, computationally lightweight geometric representation, specifically an AABB-based segmentation can be successfully propagated through per-finger planning and executed in real time on the Linker Hand O7 platform. The proposed method is validated in simulation, and experimental integration on a Linker Hand O7 platform. Full article

Background: Non-syndromic cleft lip/palate (NCL/P) is a prevalent congenital anomaly. Despite an unclear epidemiological link between orofacial clefts and dental caries, genetic studies suggest that polymorphisms in taste receptor genes may influence caries risk. Objectives: This study had two primary objectives: (1) to compare SNPs in NCL/P-associated genes (IRF6, FOXE1) between Kuwaiti NCL/P cases and controls, and (2) to explore whether variants in caries-associated (KLK4, DSPP) and taste receptor (TAS1R2, TAS2R38) genes are associated with dental caries susceptibility in individuals with NCL/P, independent of overall caries prevalence. Methods: A case–control design was employed, with 25 NCL/P cases and 25 unaffected controls recruited from a Dental Craniofacial Clinic in Kuwait. Genomic DNA was extracted from buccal swabs, and SNP genotyping was performed using real-time PCR for genes related to NCL/P, dental caries, and taste perception. Caries status was assessed using the dmft/DMFT scoring system. The genotyped genes included NCL/P-related (IRF6, FOXE1), caries-related (KLK4, DSPP), and taste receptor genes (TAS1R2, TAS2R38). Results: At nominal significance, KLK4, DSPP, and TAS1R2 showed associations with NCL/P status, while IRF6 and FOXE1 did not. After applying Benjamini–Hochberg FDR correction across 10 SNPs, no allele- or genotype-level association remained significant (q < 0.05). The strongest signal was KLK4 rs2235091 (allele-level p = 0.016; q = 0.159). An exploratory age- and sex-adjusted logistic model for KLK4 suggested a possible effect (aOR 0.40; 95% CI 0.18–0.87; p = 0.021). Within-group analyses of caries burden revealed no associations that survived FDR control (lowest q = 0.056 for FOXE1 in controls). Conclusions: After controlling for multiple testing, no SNP showed a statistically significant association with NCL/P or caries burden. Nominal signals for KLK4, DSPP, and TAS1R2 did not survive FDR correction; an exploratory adjusted model suggested a possible KLK4 effect, but this requires cautious interpretation. The small sample size is a key limitation, and the findings highlight the need for larger, well-powered studies to clarify genetic contributions to NCL/P and caries risk. Full article

The deterioration of civil infrastructure poses a significant threat to public safety, yet conventional manual inspections remain subjective, labor-intensive, and constrained by accessibility. To address these challenges, this paper presents a real-time robotic inspection system that integrates deep learning perception and autonomous navigation. The proposed framework employs a two-stage neural network: a U-Net for initial segmentation followed by a Pix2Pix conditional generative adversarial network (GAN) that utilizes adversarial residual learning to refine boundary accuracy and suppress false positives. When deployed on an Unmanned Ground Vehicle (UGV) equipped with an RGB-D camera and LiDAR, this framework enables simultaneous automated crack detection and collision-free autonomous navigation. Evaluated on the CrackSeg9k dataset, the two-stage model achieved a mean Intersection over Union (mIoU) of 73.9 ± 0.6% and an F1-score of 76.4 ± 0.3%. Beyond benchmark testing, the robotic system was further validated through simulation, laboratory experiments, and real-world campus hallway tests, successfully detecting micro-cracks as narrow as 0.3 mm. Collectively, these results demonstrate the system’s potential for robust, autonomous, and field-deployable infrastructure inspection. Full article