Search Results (812)

Although research on hotel service robots has been continuously increasing, the existing literature still lacks a systematic exploration of the multiple concurrent mechanisms involved in the formation of user experience. Based on the theory of value co-creation, this study first extracted the key service robot attributes that affect user experience by analyzing 3200 online user notes from the Chinese platform Xiaohongshu. Then, using 433 valid questionnaires, it employed SEM and fsQCA to examine the influence mechanism of service robot comprehensively attributes on user experience. The results of the SEM study showed that the attributes of perceived usefulness, perceived ease of use, anthropomorphism, and service remediation ability of service robots positively influenced customers’ willingness to co-create value, thereby further enhancing the user experience. The perceived privacy risk attribute did not significantly affect customers’ willingness to co-create value. The fsQCA analysis further identified multiple effective configurations, including antecedent configurations with high customer willingness to co-create value, high usage intention, high satisfaction, and high forgiveness intention as outcome variables. This study, through a combination of methods, revealed the complex experiences users encounter during interactions with service robots and regarded customers’ willingness to participate in value creation as a front-end psychological mechanism, providing a new theoretical perspective on the value co-creation process in human–machine collaboration. At the same time, this study, from the user perspective, provided strategies for optimizing user experience and service deployment for Chinese hotel managers. Full article

This study stems from the clear need to understand why and how organizations in Romania integrate emerging digital technologies into circular economy (CE) practices, given the critical role of this integration in improving resource efficiency and supporting sustainable business models. Data were collected through a structured questionnaire applied to 149 organizations of different sizes, ranging from SMEs (fewer than 50 employees) to large corporations (over 500 employees), operating across multiple sectors, including agriculture, construction, security, services and research. The questionnaire assessed organizations’ familiarity with CE principles, their stage of CE implementation, and their adoption of digital technologies, including artificial intelligence (AI), Internet of Things (IoT), blockchain, cloud computing and robotics. The results indicate that most organizations are aware of the potential benefits of digital technologies, particularly in terms of resource efficiency, enhanced product traceability and support for sustainability goals. However, effective implementation remains quite limited in many cases due to inadequate or outdated infrastructure, lack of technical skills, and organizational resistance to changes. At the same time, the findings further reveal a growing strategic interest in digitalization: approximately 41% of SMEs and 59% of large organizations plan to increase investments in digitalization, primarily to improve sustainability performance and foster innovation. Overall, the study provides a comprehensive overview of the current state of digitalization in support of CE in Romania and proposes practical recommendations for organizations and decision-makers, highlighting both emerging opportunities and persistent barriers. Full article

The Beijing–Tianjin–Hebei (BTH) region is a critical political and economic hub in China, which has long faced challenges related to atmospheric conditions. Traditional aerosol optical depth (AOD) monitoring methods suffer from issues of data discontinuity and gaps, limiting the ability for continuous long-term observation of aerosols. Aerosols have significant impacts on climate change and air quality, with AOD serving as a key indicator for characterizing atmospheric particulate concentration. Therefore, this study applied a machine learning model to improve all-day AOD estimation based on ground-level air quality and meteorological data, generating a long-term dataset spanning from 2018 to 2023. The results of the all-day AOD estimation method were evaluated through comparisons with Himawari-8, the Aerosol Robotic Network (AERONET), and the Copernicus Atmosphere Monitoring Service (CAMS). The estimated AOD demonstrated good agreement with AHI data, achieving an annual R² greater than 0.96 and RMSE less than 0.1. Spatially, the estimated AOD also showed strong consistency with AHI, AERONET, and CAMS. Additionally, the annual, seasonal, and hourly distribution characteristics of AOD from 2018 to 2023 were analyzed. Two typical cases of aerosol variation in the BTH region were selected and examined: a dust storm event in 2023 and changes during the Spring Festival in 2021. This method provides continuous data support for air pollution monitoring and control in the BTH region and offers valuable references for pollution prevention efforts. Full article

Accurate braking-distance prediction for heavy-duty multi-axle trucks remains challenging due to the large gross vehicle weight, tandem-axle interactions, and strong transient load transfer during emergency braking. Recent studies on tire–road friction estimation, commercial-vehicle braking control (EBS/AEBS), and weigh-in-motion (WIM) sensing have highlighted that unmeasured vertical-load dynamics and time-varying friction are key sources of prediction uncertainty. To address these limitations, this study proposes an integrated sensing–simulation–AI framework that combines real-time axle-load estimation, full-scale robotic braking tests, fused road-friction sensing, and physics-consistent machine-learning modeling. A micro-electro-mechanical systems (MEMS)-based load-angle sensor was installed on the leaf-spring panel linking tandem axles, enabling the continuous estimation of dynamic vertical loads via a polynomial calibration model. Full-scale on-road braking tests were conducted at 40–60 km/h under systematically varied payloads (0–15.5 t) using an actuator-based braking robot to eliminate driver variability. A forward-looking optical friction module was synchronized with dynamic axle-load estimates and deceleration signals, and additional scenarios generated in a commercial ASM environment expanded the operational domain across a broader range of friction, grade, and loading conditions. A gradient-boosting regression model trained on the hybrid dataset reproduced measured stopping distances with a mean absolute error (MAE) of 1.58 m and a mean absolute percentage error (MAPE) of 2.46%, with most predictions falling within ±5 m across all test conditions. The results indicate that incorporating real-time dynamic axle-load sensing together with fused friction estimation improves braking-distance prediction compared with static-load assumptions and purely kinematic formulations. The proposed load-aware framework provides a scalable basis for advanced driver-assistance functions, autonomous emergency braking for heavy trucks, and infrastructure-integrated freight safety management. All full-scale braking tests were carried out at approximately 60% of the nominal service-brake pressure, representing non-panic but moderately severe braking conditions, and the proposed model is designed to accurately predict the resulting stopping distance under this prescribed braking regime rather than to minimize the absolute stopping distance itself. Full article

Future in-orbit servicing missions, such as spacecraft capture, repair, and assembly, demand robotic systems capable of autonomously computing dynamically feasible, constrained trajectories in real time. Sequential Convex Programming (SCP) has emerged as an effective method for online trajectory optimization in these resource-constrained settings, addressing nonconvex problems through iterative refinement while maintaining the formal guarantees essential for safety-critical applications. While emerging machine learning (ML) methods offer potential enhancements to trajectory generation, they often lack these rigorous guarantees. To address this, we propose a hybrid trajectory optimization framework for robotic servicers, using autoregressive trajectory-generator networks to produce high-quality initial guesses and warm-start an SCP module, enabling the system to produce optimal trajectories quickly and reliably. A key advantage of this approach is the elimination of inverse-kinematics optimization for redundant manipulators during both guess generation and subsequent refinement. By conditioning on exogenous inputs shared with the SCP solver, the networks are inherently task- and obstacle-aware, yielding a tightly integrated architecture that minimizes on-board computational requirements. Results demonstrate that this network-based warm-starting strategy substantially accelerates trajectory generation, reducing both SCP computational time and iterations, while preserving the theoretical guarantees of convex optimization. Full article

The agricultural sector, a vital industry for human survival and a primary source of food and raw materials, faces increasing pressure due to global population growth and environmental strains. Productivity, efficiency, and sustainability constraints are preventing traditional farming methods from adequately meeting the growing demand for food. Precision farming has emerged as a transformative paradigm to address these issues. It integrates advanced technologies to improve decision making, optimize yield, and conserve resources. This approach leverages technologies such as wireless sensor networks, the Internet of Things (IoT), robotics, drones, artificial intelligence (AI), and cloud computing to provide effective and cost-efficient agricultural services. Smart sensor technologies are foundational to precision farming. They offer crucial information regarding soil conditions, plant growth, and environmental factors in real time. This review explores the status, challenges, and prospects of smart sensor technologies in precision farming. The integration of smart sensors with the IoT and AI has significantly transformed how agricultural data is collected, analyzed, and utilized to optimize yield, conserve resources, and enhance overall farm efficiency. The review delves into various types of smart sensors used, their applications, and emerging technologies that promise to further innovate data acquisition and decision making in agriculture. Despite progress, challenges persist. They include sensor calibration, data privacy, interoperability, and adoption barriers. To fully realize the potential of smart sensors in ensuring global food security and promoting sustainable farming, the challenges need to be addressed. Full article

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

The proliferation of air travel demand necessitates innovative solutions to enhance passenger experience while optimizing airport operational efficiency. This paper presents the pilot-scale implementation and evaluation of an AI-powered service robot ecosystem integrated with thermal cameras and 5G wireless connectivity at Athens International Airport. The system addresses critical challenges in passenger flow management through real-time crowd analytics, congestion detection, and personalized robotic assistance. Eight strategically deployed thermal cameras monitor passenger movements across check-in areas, security zones, and departure entrances while employing privacy-by-design principles through thermal imaging technology that reduces personally identifiable information capture. A humanoid service robot, equipped with Robot Operating System navigation capabilities and natural language processing interfaces, provides real-time passenger assistance including flight information, wayfinding guidance, and congestion avoidance recommendations. The wi.move platform serves as the central intelligence hub, processing video streams through advanced computer vision algorithms to generate actionable insights including passenger count statistics, flow rate analysis, queue length monitoring, and anomaly detection. Formal trial evaluation conducted on 10 April 2025, with extended operational monitoring from April to June 2025, demonstrated strong technical performance with application round-trip latency achieving 42.9 milliseconds, perfect service reliability and availability ratings of one hundred percent, and comprehensive passenger satisfaction scores exceeding 4.3/5 across all evaluated dimensions. Results indicate promising potential for scalable deployment across major international airports, with identified requirements for sixth-generation network capabilities to support enhanced multi-robot coordination and advanced predictive analytics functionalities in future implementations. Full article

The use of robots in various industries has increased significantly in recent years, with mobile robots playing a central role in automation. Their applications range from service robotics and automated material handling to bomb disposal and planetary exploration. A rapidly growing area of mobile robotics involves coordinated groups of autonomous robots, commonly referred to as swarms. However, only a limited number of studies have addressed systems in which ropes or wires physically connect robots. Connecting multiple autonomous robotic vehicles with a tensioned wire can form a movable fence, enabling coordinated motion as a single dynamic entity. This paper presents a real-time control approach for the off-road motion of physically connected skid-steering robotic vehicles. A numerical-simulation-driven artificial neural network is employed as a surrogate model to estimate wheel–ground load distribution online, enabling stable steering control and accurate trajectory tracking on rough terrain while accounting for wire-induced coupling effects. Full article

Manual window cleaning in high-rise urban buildings is labor-intensive, risky, and resource-inefficient. This study addresses these challenges by investigating a resource-aware mechatronic architecture through the design, development, and experimental validation of a modular Automated Window Cleaning System (AWCS). Unlike conventional open-loop solutions, the AWCS integrates mechanical scrubbing with a closed-loop fluid management system, featuring precise dispensing and vacuum-assisted recovery. The system is governed by a deterministic finite state machine implemented on an ESP32 microcontroller, enabling low-latency IoT connectivity and autonomous operation. Two implementation variants—integrated and retrofit—were validated to ensure structural adaptability. Experimental results across 30 cycles demonstrate a cleaning efficiency of ~2 min/m², a water consumption of <150 mL/m² (representing a >95% reduction compared to manual methods), and an optical cleaning efficacy of 96.9% ± 1.4%. Safety protocols were substantiated through a calculated mechanical safety factor of 6.12 for retrofit applications. This research establishes the AWCS as a sustainable, safe, and scalable solution for autonomous building maintenance, contributing to the advancement of resource-circular domestic robotics and smart home automation. Full article

Humans could sensitively perceive and identify objects through dense mechanoreceptors distributed on the skin of curved fingertips. Inspired by this biological structure, this study presents a general conformal integration method for flexible tactile sensors on curved fingertip surfaces. By adopting a spherical partition design and an inverse mode auxiliary layering process, it ensures the uniform distribution of stress at different curvatures. The sensor adopts a 3 × 3 tactile array configuration, replicating the 3D curved surface distribution of human mechanoreceptors. By analyzing multi-point outputs, the sensor reconstructs contact pressure gradients and infers the softness or stiffness of touched objects, thereby realizing both structural and functional bionics. These sensors exhibit excellent linearity within 0–100 kPa (sensitivity ≈ 36.86 kPa⁻¹), fast response (2 ms), and outstanding durability (signal decay of only 1.94% after 30,000 cycles). It is worth noting that this conformal tactile fingertip integration method not only exhibits uniform responses at each unit, but also has the preload-free advantage, and then performs well in pulse detection and hardness discrimination. This work provides a novel bioinspired pathway for conformal integration of tactile sensors, enabling artificial skins and robotic fingertips with human-like tactile perception. Full article

This paper presents an immersive teleoperation framework for service robots that combines real-time 3D human pose estimation with a Virtual Reality (VR) interface to support intuitive, natural robot control. The operator is tracked using MediaPipe for 2D landmark detection and an Intel RealSense D455 RGB-D (Red-Green-Blue plus Depth) camera for depth acquisition, enabling 3D reconstruction of key joints. Joint angles are computed using efficient vector operations and mapped to the kinematic constraints of an anthropomorphic arm on the CHARMIE service robot. A VR-based telepresence interface provides stereoscopic video and head-motion-based view control to improve situational awareness during manipulation tasks. Experiments in real-world object grasping demonstrate reliable arm teleoperation and effective telepresence; however, vision-only estimation remains limited for axial rotations (e.g., elbow and wrist yaw), particularly under occlusions and unfavorable viewpoints. The proposed system provides a practical pathway toward low-cost, sensor-driven, immersive human–robot interaction for service robotics in dynamic environments. Full article

Interest in the adoption of autonomous vehicles (AVs) continues to grow. It is essential to design new software architectures that meet stringent real-time, safety, and scalability requirements while integrating heterogeneous hardware and software solutions from different vendors and developers. This paper presents a lightweight, modular, and scalable architecture grounded in Service-Oriented Architecture (SOA) principles and implemented in ROS 2 (Robot Operating System 2). The proposed design leverages ROS 2’s Data Distribution System-based Quality-of-Service model to provide reliable communication, structured lifecycle management, and fault containment across distributed compute nodes. The architecture is organized into Perception, Planning, and Control layers with decoupled sensor access paths to satisfy heterogeneous frequency and hardware constraints. The decision-making core follows an event-driven policy that prioritizes fresh updates without enforcing global synchronization, applying zero-order hold where inputs are not refreshed. The architecture was validated on a 1:10-scale autonomous vehicle operating on a city-like track. The test environment covered canonical urban scenarios (lane-keeping, obstacle avoidance, traffic-sign recognition, intersections, overtaking, parking, and pedestrian interaction), with absolute positioning provided by an indoor GPS (Global Positioning System) localization setup. This work shows that the end-to-end Perception–Planning pipeline consistently met worst-case deadlines, yielding deterministic behaviour even under stress. The proposed architecture can be deemed compliant with real-time application standards for our use case on the 1:10 test vehicle, providing a robust foundation for deployment and further refinement. Full article

Industrial Internet of Things (IIoT) networks, Microsoft Azure Internet of Things (IoT) Hub, and device twins (DvT) are increasingly recognized as core enablers of adaptive, data-driven manufacturing. This paper proposes a hierarchical IIoT framework that integrates industrial IoT networking, DvT for asset-level virtualisation, system-level digital twins (DT) for cell orchestration, and cloud-native services to support the digital transformation of brownfield, programmable logic controller (PLC)-centric modular automation (MA) environments. Traditional PLC/supervisory control and data acquisition (SCADA) paradigms struggle to meet interoperability, observability, and adaptability requirements at scale, motivating architectures in which DvT and IoT Hub underpin real-time orchestration, virtualisation, and predictive-maintenance workflows. Building on and extending a previously introduced conceptual model, the present work instantiates a multilayered, end-to-end design that combines a federated Message Queuing Telemetry Transport (MQTT) mesh on the on-premises side, a ZigBee-based backup mesh, and a secure bridge to Azure IoT Hub, together with a systematic DvT modelling and orchestration strategy. The methodology is supported by a structured analysis of relevant IIoT and DvT design choices and by a concrete implementation in a nine-cell MA laboratory featuring a robotic arm predictive-maintenance scenario. The resulting framework sustains closed-loop monitoring, anomaly detection, and control under realistic workloads, while providing explicit envelopes for telemetry volume, buffering depth, and latency budgets in edge-cloud integration. Overall, the proposed architecture offers a transferable blueprint for evolving PLC-centric automation toward more adaptive, secure, and scalable IIoT systems and establishes a foundation for future extensions toward full DvT ecosystems, tighter artificial intelligence/machine learning (AI/ML) integration, and fifth/sixth generation (5G/6G) and time-sensitive networking (TSN) support in industrial networks. Full article

Text-to-Speech (TTS) methods typically employ a sequential approach with an Acoustic Model (AM) and a vocoder, using a Mel spectrogram as an intermediate representation. However, in home environments, TTS systems often struggle with issues such as inadequate robustness against environmental noise and limited adaptability to diverse speaker characteristics. The quality of the Mel spectrogram directly affects the performance of TTS systems, yet existing methods overlook the potential of enhancing Mel spectrogram quality through more comprehensive speech features. To address the complex acoustic characteristics of home environments, this paper introduces AirSpeech, a post-processing model for Mel-spectrogram synthesis. We adopt a Generative Adversarial Network (GAN) to improve the accuracy of Mel spectrogram prediction and enhance the expressiveness of synthesized speech. By incorporating additional conditioning extracted from synthesized audio using specified speech feature parameters, our method significantly enhances the expressiveness and emotional adaptability of synthesized speech in home environments. Furthermore, we propose a global normalization strategy to stabilize the GAN training process. Through extensive evaluations, we demonstrate that the proposed method significantly improves the signal quality and naturalness of synthesized speech, providing a more user-friendly speech interaction solution for smart home applications. Full article