Search Results (579)

Autonomous navigation in cluttered and dynamic industrial environments remains a major challenge for mobile robots. Traditional occupancy-grid and geometric planning approaches often struggle in such unstructured settings due to partial observability, sensor noise, and the frequent presence of moving agents (machinery, vehicles, humans). These limitations seriously undermine long-term reliability and safety compliance—both essential for Industry 4.0 applications. This paper introduces S3PM, a lightweight entropy-regularized framework for simultaneous mapping and path planning that operates directly on dense 3D point clouds. Its key innovation is a dynamics-aware entropy field that fuses per-voxel occupancy probabilities with motion cues derived from residual optical flow. Each voxel is assigned a risk-weighted entropy score that accounts for both geometric uncertainty and predicted object dynamics. This representation enables (i) robust differentiation between reliable free space and ambiguous/hazardous regions, (ii) proactive collision avoidance, and (iii) real-time trajectory replanning. The resulting multi-objective cost function effectively balances path length, smoothness, safety margins, and expected information gain, while maintaining high computational efficiency through voxel hashing and incremental distance transforms. Extensive experiments in both real-world and simulated settings, conducted on a Raspberry Pi 5 (with and without the Hailo-8 NPU), show that S3PM achieves 18–27% higher IoU in static/dynamic segmentation, 0.94–0.97 AUC in motion detection, and 30–45% fewer collisions compared to OctoMap + RRT* and standard probabilistic baselines. The full pipeline runs at 12–15 Hz on the bare Pi 5 and 25–30 Hz with NPU acceleration, making S3PM highly suitable for deployment on resource-constrained embedded platforms. Full article

The growing pressure on industrial organizations to align digital transformation with sustainability objectives has intensified the need to systematically understand the role of emerging digital technologies in sustainable industrial development. The accelerated digitalization of industrial ecosystems has positioned the Internet of Things (IoT) as a critical enabler of corporate sustainability within Industry 4.0. However, evidence on how IoT contributes to environmental, social, and economic performance remains fragmented. This study conducts a systematic literature review following PRISMA 2020 guidelines to consolidate the scientific advances linking IoT with sustainable corporate management. The search covered 2009–2025 and included publications indexed in Scopus, EBSCO Essential, and MDPI, identifying 65 empirical and conceptual studies that met the inclusion criteria. Bibliometric analyses—such as keyword co-occurrence mapping and temporal heatmaps—were performed using VOSviewer v. 2023 to detect dominant research clusters and emerging thematic trajectories. Results reveal four domains in which IoT significantly influences sustainability: (1) resource-efficient operations enabled by real-time sensing and predictive analytics; (2) energy optimization and green digital transformation initiatives; (3) circular-economy practices supported by data-driven decision-making; and (4) the integration of IoT with Green Human Resource Management to strengthen environmentally responsible organizational cultures. Despite these advances, gaps persist related to Latin American contexts, theoretical integration, and longitudinal assessment. This study proposes a conceptual model illustrating how IoT-enabled technologies enhance corporate sustainability and offers strategic insights for aligning Industry 4.0 transformations with the Sustainable Development Goals (SDGs), particularly SDGs 7, 9, and 12. Full article

Accurate diagnosis of aero-engine faults and precise signal characterization are crucial to ensuring operational reliability and service life prediction. The structural complexity of engines and the variability of operating conditions pose significant challenges for fault diagnosis and identification. Based on an analysis and emphasis on the critical importance of aero-engine fault signal recognition and diagnosis, this paper comprehensively reviews and discusses the classification and evolution of aero-engine fault signal recognition techniques. The review traces this evolution along its developmental trajectory, from classical methods to emerging approaches such as quantum signal processing for weak feature extraction. It also examines characteristics of different types of aviation engine failures and the progression of diagnostic research over time. This review provides multiple tables to compare the applicability, advantages, and limitations of various signal recognition methods and deep learning diagnostic architectures. Detailed discussions synthesize the relative merits of different approaches and their selection trade-offs. Based on this overview, the paper outlines the complexity of real aero-engine faults and key research directions. Building on these developments in fault signal recognition and diagnosis, the paper addresses the complexity and the research areas receiving particular attention within real aero-engine faults. It highlights key research areas, including handling data imbalance, adapting to variable and cross-domain conditions, and advancing diagnostic and data enhancement methods for weak composite faults. Finally, the paper analyzes the multifaceted challenges in the field and identifies future trends in aero-engine fault signal recognition and intelligent diagnosis. Full article

An accurate assessment of the state of health (SOH) of lithium-ion batteries (LIBs) is crucial for ensuring the safety and reliability of energy storage systems and electric vehicles. However, existing methods face challenges: physics-based models are computationally complex, traditional data-driven methods rely heavily on manual feature engineering, and single models lack the ability to capture both local and global degradation patterns. To address these issues, this paper proposes a novel hybrid LSTM–Transformer model for LIB SOH estimation using actual measurement data. The model integrates Long Short-Term Memory (LSTM) networks to capture local temporal dependencies with the Trans-former architecture to model global degradation trends through self-attention mechanisms. Experimental validation was conducted using eight 18650 Nickel Cobalt Manganese (NCM) LIBs subjected to 750 charge–discharge cycles under room temperature conditions. Sixteen statistical features were extracted from voltage and current data during constant current–constant voltage (CC-CV) phases, with feature selection based on the Pearson correlation coefficient and maximum information coefficient analysis. The proposed LSTM–Transformer model demonstrated superior performance compared to the standalone LSTM and Transformer models, achieving a mean absolute error (MAE) as low as 0.001775, root mean square error (RMSE) of 0.002147, and mean absolute percentage error (MAPE) of 0.196% for individual batteries. Core features including cumulative charge (CC Q), charging time, and voltage slope during the constant current phase showed a strong correlation with the SOH (absolute PCC > 0.8). The hybrid model exhibited excellent generalization across different battery cells with consistent error distributions and nearly overlapping prediction curves with actual SOH trajectories. The symmetrical LSTM–Transformer hybrid architecture provides an accurate, robust, and generalizable solution for LIB SOH assessment, effectively overcoming the limitations of traditional methods while offering potential for real-time battery management system applications. This approach enables health feature learning without manual feature engineering, representing an advancement in data-driven battery health monitoring. Full article

Unmanned Aerial Vehicles (UAVs) have become essential tools across critical domains, including infrastructure inspection, public safety monitoring, traffic surveillance, environmental sensing, and target tracking, owing to their ability to collect high-resolution spatial data rapidly. However, maintaining stable and accurate flight trajectories remains a significant challenge, particularly during autonomous missions in dynamic or uncertain environments. This study presents a novel flight path prediction framework based on Gated Recurrent Units (GRUs), designed for both single-step and multi-step-ahead forecasting of four-dimensional UAV coordinates, Easting (X), Northing (Y), Altitude (Z), and Time (T), using historical sensor flight data. Model performance was systematically validated against traditional Recurrent Neural Network architectures. On unseen test data, the GRU model demonstrated enhanced predictive accuracy in single-step prediction, achieving a MAE of 0.0036, Root Mean Square Error (RMSE) of 0.0054, and a (R²) of 0.9923. Crucially, in multi-step-ahead forecasting designed to simulate real-world challenges such as GPS outages, the GRU model maintained exceptional stability and low error, confirming its resilience to error accumulation. The findings establish that the GRU-based model is a highly accurate, computationally efficient, and reliable solution for UAV trajectory forecasting. This framework enhances autonomous navigation and directly supports the data integrity required for high-fidelity photogrammetric mapping, ensuring reliable site assessment in complex and dynamic environments. Full article

Existing detection-based trackers exploit temporal contexts by updating appearance models or modeling target motion. However, the sequential one-shot integration of temporal priors risks amplifying error accumulation, as frame-level template matching restricts comprehensive spatiotemporal analysis. To address this, we propose SCT-Diff, a video-level framework that holistically estimates target trajectories. Specifically, SCT-Diff processes video clips globally via a diffusion model to incorporate bidirectional spatiotemporal awareness, where reverse diffusion steps progressively refine noisy trajectory proposals into optimal predictions. Crucially, SCT-Diff enables iterative correction of historical trajectory hypotheses by observing future contexts within a sliding time window. This closed-loop feedback from future frames preserves temporal consistency and breaks the error propagation chain under complex appearance variations. For joint modeling of appearance and motion dynamics, we formulate trajectories as unified discrete token sequences. The designed Mamba-based expert decoder bridges visual features with language-formulated trajectories, enabling lightweight yet coherent sequence modeling. Extensive experiments demonstrate SCT-Diff’s superior efficiency and performance, achieving 75.4% AO on GOT-10k while maintaining real-time computational efficiency. Full article

Ship weather routing optimization has evolved from deterministic great-circle navigation to sophisticated frameworks that account for dynamic environmental conditions and operational constraints. This paper presents a waypoint-sequencing Model Predictive Control (MPC) approach for energy-efficient ship weather routing under forecast uncertainty. The proposed rolling horizon framework integrates neural network-based vessel performance models with ensemble weather forecasts to enable real-time route adaptation while balancing fuel efficiency, navigational safety, and path smoothness objectives. The MPC controller operates with a 6 h control horizon and 24 h prediction horizon, re-optimizing every 6 h using updated meteorological forecasts. A multi-objective cost function prioritizes fuel consumption (60%), safety considerations (30%), and trajectory smoothness (10%), with an exponential discount factor (γ = 0.95) to account for increasing forecast uncertainty. The framework discretises planned routes into waypoints and optimizes heading angles and discrete speed options (12.0, 13.5, and 14.5 knots) at each control step. Validation using 21 transatlantic voyage scenarios with real hindcast weather data demonstrates the method’s capability to propagate uncertainties through ship performance models, yielding probabilistic estimates for attainable speed, fuel consumption, and estimated time of arrival (ETA). The methodology establishes a foundation for more advanced stochastic optimization approaches while offering immediate operational value through its computational tractability and integration with existing ship decision support systems. Full article

Aerodynamic manoeuvring technology for spacecraft actively utilizes aerodynamic forces to alter orbital trajectories. This approach not only substantially reduces propellant consumption but also expands the range of accessible orbits, representing a key technological pathway to address the demands of increasingly complex yet cost-effective space missions. The theoretical prototype of this technology was proposed by Howard London. Over the course of more than half a century of development, it has evolved into four distinct modes: aeroglide, aerocruise, aerobang, and aerogravity assist. These modes have been engineered and applied in scenarios such as in-orbit manoeuvring of reusable vehicles, rapid response to space missions, and interplanetary exploration. Our research centers on two core domains: trajectory optimization and control guidance. Trajectory optimization employs numerical methods such as pseudo-spectral techniques and sequential convex optimization to achieve multi-objective optimization of fuel and time under constraints, including heat flux and overload. Control guidance focuses on standard orbital guidance and predictive correction guidance, progressively evolving into adaptive and robust control to address atmospheric uncertainties and the challenges of strong nonlinear coupling. Although breakthroughs have been achieved in deep-space exploration missions, critical challenges remain, including constructing high-fidelity models, enhancing real-time computational efficiency, ensuring the explainability of artificial intelligence methods, and designing integrated framework architectures. As these technical hurdles are progressively overcome, this technology will find broader engineering applications in diverse space missions such as lunar return and in-orbit servicing, driving continuous innovation in the field of space dynamics and control. Full article

To mitigate the frequent occurrence of rear-end collisions on urban expressways under rainy weather conditions, firstly, accident risk levels were classified using traffic conflict indicators. Secondly, three machine learning models were employed to predict the accident severity across different scenarios. Furthermore, key influencing factors of rear-end collisions were identified and analyzed based on SHAP values. Case studies were conducted by simulating vehicle trajectory data under light, moderate, and heavy rain scenarios, using an open urban expressway dataset and car-following parameters for rainy conditions. Next, the Modified Time-to-Collision (MTTC) metric was calculated. Risk thresholds for low-, medium-, and high-risk levels were established for each rainfall category using percentile-based cumulative distribution analysis. Finally, real-time risk prediction under the three rainfall scenarios was conducted using XGBoost, LightGBM, and Random Forest models. The model performances were evaluated in terms of accuracy, recall, precision, and AUC. Overall, the study finds that the LightGBM model achieves the highest predictive capability, with AUC values exceeding 0.78 under all weather conditions. Moreover, the study concludes that factors ranked by SHAP values reveal that the minimum distance has the greatest influence in light rain scenarios. As rainfall intensity increases, the influences of minimum headway time and average vehicle speed are found to grow, highlighting an interaction pattern characterized by “speed-distance-flow” coupling. Full article

Human gait exhibits stable contralateral coupling, making healthy-side motion a viable predictor for affected-limb kinematics. Leveraging this property, this study develops FusionTCN–Attention, a causality-preserving temporal model designed to forecast contralateral hip and knee trajectories from unilateral IMU measurements. The model integrates dilated temporal convolutions with a lightweight attention mechanism to enhance feature representation while maintaining strict real-time causality. Evaluated on twenty-one subjects, the method achieves hip and knee RMSEs of 5.71° and 7.43°, correlation coefficients over 0.9, and a deterministic phase lag of 14.56 ms, consistently outperforming conventional sequence models including Seq2Seq and causal Transformers. These results demonstrate that unilateral IMU sensing supports low-latency, stable prediction, thereby establishing a control-oriented methodological basis for unilateral prediction as a necessary engineering prerequisite for future hemiparetic exoskeleton applications. Full article

In order to effectively ensure the flight safety of unmanned aerial vehicles (UAVs) and effectively deal with the risk of integrated airspace operation, this study carried out a series of key technology exploration and verification. In terms of data processing, Density-based spatial clustering of applications with noise (DBSCAN) clustering method is used to preprocess the characteristics of UAV automatic dependent surveillance–broadcast (ADS-B) data, effectively purify the data from the source, eliminate the noise and outliers of track data in spatial dimension and spatial-temporal dimension, significantly improve the data quality and standardize the data characteristics, and lay a reliable and high-quality data foundation for subsequent trajectory analysis and prediction. In terms of trajectory prediction, the convolutional neural networks-bidirectional gated recurrent unit (CNN-BiGRU) trajectory prediction model is innovatively constructed, and the integrated intelligent calculation of ‘prediction-judgment’ is successfully realized. The output of the model can accurately and prospectively judge the conflict situation and conflict degree between any two trajectories, and provide core and direct technical support for trajectory conflict warning. In the aspect of conflict detection, the performance of the model and the effect of conflict detection are fully verified by simulation experiments. By comparing the predicted data of the model with the real track data, it is confirmed that the CNN-BiGRU prediction model has high accuracy and reliability in calculating the distance between aircraft. At the same time, the preset conflict detection method is used for further verification. The results show that there is no conflict risk between the UAV and the manned aircraft in integrated airspace during the full 800 s of terminal area flight. In summary, the trajectory prediction model and conflict detection method proposed in this study provide a key technical guarantee for the construction of an active and accurate integrated airspace security management and control system, and have important application value and reference significance for improving airspace management efficiency and preventing flight conflicts. Full article

With the rapid development of mobile edge computing (MEC) and unmanned aerial vehicle (UAV) communication networks, UAV-assisted edge computing has emerged as a promising paradigm for low-latency and energy-efficient computation. However, the time-varying nature of air-to-ground channels and the coupling between UAV trajectories and computation offloading decisions significantly increase system complexity. To address these challenges, this paper proposes an Adaptive UAV Edge Intelligence Framework (AUEIF) for joint UAV computation offloading and trajectory optimization under dynamic channels. Specifically, a dynamic graph-based system model is constructed to characterize the spatio-temporal correlation between UAV motion and channel variations. A hierarchical reinforcement learning-based optimization framework is developed, in which a high-level actor–critic module is responsible for generating coarse-grained UAV flight trajectories, while a low-level deep Q-network performs fine-grained optimization of task offloading ratios and computational resource allocation in real time. In addition, an adaptive channel prediction module leveraging long short-term memory (LSTM) networks is integrated to model temporal channel state transitions and to assist policy learning and updates. Extensive simulation results demonstrate that the proposed AUEIF achieves significant improvements in end-to-end latency, energy efficiency, and overall system stability compared with conventional deep reinforcement learning approaches and heuristic-based schemes while exhibiting strong robustness against dynamic and fluctuating wireless channel conditions. Full article

Background: Artificial intelligence (AI) is increasingly used in intensive care units (ICUs) to enable personalized care, real-time analytics, and decision support. Nutritional therapy—a major determinant of ICU outcomes—often remains delayed or non-individualized. Objective: This study aimed to review current and emerging AI applications in ICU nutrition, highlighting clinical potential, implementation barriers, and ethical considerations. Methods: A narrative review of English-language literature (January 2018–November 2025) searched in PubMed/MEDLINE, Scopus, and Web of Science, complemented by a pragmatic Google Scholar sweep and backward/forward citation tracking, was conducted. We focused on machine learning (ML), deep learning (DL), natural language processing (NLP), and reinforcement learning (RL) applications for energy/protein estimation, feeding tolerance prediction, complication prevention, and adaptive decision support in critical-care nutrition. Results: AI models can estimate energy/protein needs, optimize EN/PN initiation and composition, predict gastrointestinal (GI) intolerance and metabolic complications, and adapt therapy in real time. Reinforcement learning (RL) and multi-omics integration enable precision nutrition by leveraging longitudinal physiology and biomarker trajectories. Key barriers are data quality/standardization, interoperability, model interpretability, staff training, and governance (privacy, fairness, accountability). Conclusions: With high-quality data, robust oversight, and clinician education, AI can complement human expertise to deliver safer, more targeted ICU nutrition. Implementation should prioritize transparency, equity, and workflow integration. Full article

Accurate distance perception and collision reasoning are crucial for robotic manipulation in the confined interior of tokamak vacuum vessels. Traditional mesh- or voxel-based methods suffer from discretization artifacts, discontinuities, and heavy memory requirements, making them unsuitable for continuous geometric reasoning and optimization-based planning. This paper presents an Occupancy-Aware Neural Distance Perception (ONDP) framework that serves as a compact and differentiable geometric sensor for manipulator obstacle avoidance in reactor-like environments. To address the inadequacy of conventional sampling methods in such constrained environments, we introduce a Physically-Stratified Sampling strategy. This approach moves beyond heuristic adaptation to explicitly dictate data distribution based on specific engineering constraints. By injecting weighted quotas into critical safety buffers and enforcing symmetric boundary constraints, we ensure robust gradient learning in high-risk regions. A lightweight neural network is trained directly in physical units (millimeters) using a mean absolute error loss, ensuring strict adherence to engineering tolerances. The resulting model achieves approximately 2–3 mm near-surface accuracy and supports high-frequency distance and normal queries for real-time perception, monitoring, and motion planning. Experiments on a tokamak vessel model demonstrate that ONDP provides continuous, sub-centimeter geometric fidelity. Crucially, benchmark results confirm that the proposed method achieves a query frequency exceeding 15 kHz for large-scale batches, representing a 5911× speed-up over mesh-based queries. This breakthrough performance enables its seamless integration with trajectory optimization and model-predictive control frameworks for confined-space robotic manipulation. Full article

In modern high-demand applications, such as real-time video communication, cloud gaming, and high-definition live streaming, achieving both superior transmission speed and high visual fidelity is paramount. However, unstable networks and packet loss remain major bottlenecks, making accurate and low-latency video error concealment a critical challenge. Traditional error control strategies, such as Forward Error Correction (FEC) and Automatic Repeat Request (ARQ), often introduce excessive latency or bandwidth overhead. Meanwhile, receiver-side concealment methods struggle under high motion or significant packet loss, motivating the exploration of predictive models. SimVP-v2, with its efficient convolutional architecture and Gated Spatiotemporal Attention (GSTA) mechanism, provides a strong baseline by reducing complexity and achieving competitive prediction performance. Despite its merits, SimVP-v2’s reliance on 2D convolutions for implicit temporal aggregation limits its capacity to capture complex motion trajectories and long-term dependencies. This often results in artifacts such as motion blur, detail loss, and accumulated errors. Furthermore, its single-modality design ignores the complementary contextual cues embedded in the audio stream. To overcome these issues, we propose A3DSimVP (Audio- and 3D-Enhanced SimVP-v2), which integrates explicit spatio-temporal modeling with multimodal feature fusion. Architecturally, we replace the 2D depthwise separable convolutions within the GSTA module with their 3D counterparts, introducing a redesigned GSTA-3D module that significantly improves motion coherence across frames. Additionally, an efficient audio–visual fusion strategy supplements visual features with contextual audio guidance, thereby enhancing the model’s robustness and perceptual realism. We validate the effectiveness of A3DSimVP’s improvements through extensive experiments on the KTH dataset. Our model achieves a PSNR of 27.35 dB, surpassing the 27.04 of the SimVP-v2 baseline. Concurrently, our improved A3DSimVP model reduces the loss metrics on the KTH dataset, achieving an MSE of 43.82 and an MAE of 385.73, both lower than the baseline. Crucially, our LPIPS metric is substantially lowered to 0.22. These data tangibly confirm that A3DSimVP significantly enhances both structural fidelity and perceptual quality while maintaining high predictive accuracy. Notably, A3DSimVP attains faster inference speeds than the baseline with only a marginal increase in computational overhead. These results establish A3DSimVP as an efficient and robust solution for latency-critical video applications. Full article