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This study aims to achieve superior localization and mapping performance in point cloud degradation scenarios through the effective removal of dynamic obstacles. With the continuous development of various technologies for autonomous vehicles, the LIDAR-based Simultaneous localization and mapping (SLAM) system is becoming increasingly important. However, in SLAM systems, effectively addressing the challenges of point cloud degradation scenarios is essential for accurate localization and mapping, with dynamic obstacle removal being a key component.

This paper proposes a method that combines adaptive feature extraction and loop closure detection algorithms to address this challenge. In the SLAM system, the ground point cloud and non-ground point cloud are separated to reduce the impact of noise. And based on the cylindrical projection image of the point cloud, the intensity features are adaptively extracted, the degradation direction is determined by the degradation factor and the intensity features are matched with the map to correct the degraded pose. Moreover, through the difference in raster distribution of the point clouds before and after two frames in the loop process, the dynamic point clouds are identified and removed, and the map is updated.

Experimental results show that the method has good performance. The absolute displacement accuracy of the laser odometer is improved by 27.1%, the relative displacement accuracy is improved by 33.5% and the relative angle accuracy is improved by 23.8% after using the adaptive intensity feature extraction method. The position error is reduced by 30% after removing the dynamic target.

Compared with LiDAR odometry and mapping algorithm, the method has greater robustness and accuracy in mapping and localization.

Autonomous mobile robots (AMRs) play a crucial role in industrial and service fields. The paper aims to build a LiDAR-based simultaneous localization and mapping (SLAM) system used by AMRs to overcome challenges in dynamic and changing environments.

This research introduces SLAM-RAMU, a lifelong SLAM system that addresses these challenges by providing precise and consistent relocalization and autonomous map updating (RAMU). During the mapping process, local odometry is obtained using iterative error state Kalman filtering, while back-end loop detection and global pose graph optimization are used for accurate trajectory correction. In addition, a fast point cloud segmentation module is incorporated to robustly distinguish between floor, walls and roof in the environment. The segmented point clouds are then used to generate a 2.5D grid map, with particular emphasis on floor detection to filter the prior map and eliminate dynamic artifacts. In the positioning process, an initial pose alignment method is designed, which combines 2D branch-and-bound search with 3D iterative closest point registration. This method ensures high accuracy even in scenes with similar characteristics. Subsequently, scan-to-map registration is performed using the segmented point cloud on the prior map. The system also includes a map updating module that takes into account historical point cloud segmentation results. It selectively incorporates or excludes new point cloud data to ensure consistent reflection of the real environment in the map.

The performance of the SLAM-RAMU system was evaluated in real-world environments and compared against state-of-the-art (SOTA) methods. The results demonstrate that SLAM-RAMU achieves higher mapping quality and relocalization accuracy and exhibits robustness against dynamic obstacles and environmental changes.

Compared to other SOTA methods in simulation and real environments, SLAM-RAMU showed higher mapping quality, faster initial aligning speed and higher repeated localization accuracy.

This study aims to introduce a novel noise filter module designed for LiDAR simultaneous localization and mapping (SLAM) systems. The primary objective is to enhance pose estimation accuracy and improve the overall system performance in outdoor environments.

Distinct from traditional approaches, MCFilter emphasizes enhancing point cloud data quality at the pixel level. This framework hinges on two primary elements. First, the D-Tracker, a tracking algorithm, is grounded on multiresolution three-dimensional (3D) descriptors and adeptly maintains a balance between precision and efficiency. Second, the R-Filter introduces a pixel-level attribute named motion-correlation, which effectively identifies and removes dynamic points. Furthermore, designed as a modular component, MCFilter ensures seamless integration into existing LiDAR SLAM systems.

Based on rigorous testing with public data sets and real-world conditions, the MCFilter reported an increase in average accuracy of 12.39% and reduced processing time by 24.18%. These outcomes emphasize the method’s effectiveness in refining the performance of current LiDAR SLAM systems.

In this study, the authors present a novel 3D descriptor tracker designed for consistent feature point matching across successive frames. The authors also propose an innovative attribute to detect and eliminate noise points. Experimental results demonstrate that integrating this method into existing LiDAR SLAM systems yields state-of-the-art performance.

Instantaneous unloading with equal force is usually used to simulate the sudden failure of cables. This simulation method with equivalent force requires obtaining the magnitude and direction of the force for the failed cable in the normal state. It is difficult, however, to determine the magnitude or direction of the equivalent force when the shape of the cable is complex (space curve). This model of equivalent force may be difficult to establish. Thus, a numerical simulation method, the instantaneous temperature rise method, was proposed to address the dynamic response caused by failures of the cables with complex structural form.

This method can instantly reduce the cable force to zero through the instantaneous temperature rise process of the cable. Combined with theoretical formula and finite element model, the numerical calculation principle and two key parameters (temperature rise value and temperature rise time) of this method were detailed. The validity of this approach was verified by comparing it with equivalent force models. Two cable-net case with saddle curved surfaces were presented. Their static failure behaviors were compared with the dynamic failure behaviors calculated by this method.

This simulation method can effectively address the structural dynamic response caused by cable failure and may be applied to all cable structures.

An instantaneous temperature rise method (ITRM) is proposed and verified. Its calculation theory is detailed. Two key parameters, temperature rise value and temperature rise time, of this method are discussed and the corresponding reference values are recommended.

Existing Simultaneous Localization and Mapping (SLAM) algorithms have been relatively well developed. However, when in complex dynamic environments, the movement of the dynamic points on the dynamic objects in the image in the mapping can have an impact on the observation of the system, and thus there will be biases and errors in the position estimation and the creation of map points. The aim of this paper is to achieve more accurate accuracy in SLAM algorithms compared to traditional methods through semantic approaches.

In this paper, the semantic segmentation of dynamic objects is realized based on U-Net semantic segmentation network, followed by motion consistency detection through motion detection method to determine whether the segmented objects are moving in the current scene or not, and combined with the motion compensation method to eliminate dynamic points and compensate for the current local image, so as to make the system robust.

Experiments comparing the effect of detecting dynamic points and removing outliers are conducted on a dynamic data set of Technische Universität München, and the results show that the absolute trajectory accuracy of this paper's method is significantly improved compared with ORB-SLAM3 and DS-SLAM.

In this paper, in the semantic segmentation network part, the segmentation mask is combined with the method of dynamic point detection, elimination and compensation, which reduces the influence of dynamic objects, thus effectively improving the accuracy of localization in dynamic environments.

The lightweight design of aircraft seats can significantly improve fuel efficiency and reduce greenhouse gas emissions. Metal additive manufacturing (MAM) can produce lightweight topology-optimized designs with improved performance, but limited build volume restricts the printing of large components. The purpose of this paper is to design a lightweight aircraft seat leg structure using topology optimization (TO) and MAM with build volume restrictions, while satisfying structural airworthiness certification requirements.

TO was used to determine a lightweight conceptual design for the seat leg structure. The conceptual design was decomposed to meet the machine build volume, a detailed CAD assembly was designed and print orientation was selected for each component. Static and dynamic verification was performed, the design was updated to meet the structural requirements and a prototype was manufactured.

The final topology-optimized seat leg structure was decomposed into three parts, yielding a 57% reduction in the number of parts compared to a reference design. In addition, the design achieved an 8.5% mass reduction while satisfying structural requirements for airworthiness certification.

To the best of the authors’ knowledge, this study is the first paper to design an aircraft seat leg structure manufactured with MAM using a rigorous TO approach. The resultant design reduces mass and part count compared to a reference design and is verified with respect to real-world aircraft certification requirements.

In academics and industry, significant efforts have been made to lead planners and control teams in evaluating project performance and control. In this context, numerous control metrics have been devised and put into practice, often with little emphasis on analyzing their underlying concepts. To cover this gap, this research aims to identify and analyze a holistic list of control metrics and their functionalities in the construction industry.

A multi-step analytical approach was conducted to achieve the study’s objectives. First, a holistic list of control metrics and their functionalities in the construction industry was identified. Second, a quantitative analysis based on social network analysis (SNA) was implemented to discover the most important functionalities.

The results revealed that the most important control metrics' functionalities (CMF) could differ depending on the type of metrics (lagging and leading) and levels of control. However, in general, the most significant functionalities include managing project progress and performance, evaluating the look-ahead level’s performance, measuring the reliability and stability of workflow, measuring the make-ready process, constraint management and measuring the quality of construction flow.

This research will assist the project team in getting a comprehensive sensemaking of planning and control systems and their functionalities to plan and control different dynamic aspects of the project.

The purpose of this review is to comprehensively consider the material properties and processing of additive titanium alloy and provide a new perspective for the robotic grinding and polishing of additive titanium alloy blades to ensure the surface integrity and machining accuracy of the blades.

At present, robot grinding and polishing are mainstream processing methods in blade automatic processing. This review systematically summarizes the processing characteristics and processing methods of additive manufacturing (AM) titanium alloy blades. On the one hand, the unique manufacturing process and thermal effect of AM have created the unique processing characteristics of additive titanium alloy blades. On the other hand, the robot grinding and polishing process needs to incorporate the material removal model into the traditional processing flow according to the processing characteristics of the additive titanium alloy.

Robot belt grinding can solve the processing problem of additive titanium alloy blades. The complex surface of the blade generates a robot grinding trajectory through trajectory planning. The trajectory planning of the robot profoundly affects the machining accuracy and surface quality of the blade. Subsequent research is needed to solve the problems of high machining accuracy of blade profiles, complex surface material removal models and uneven distribution of blade machining allowance. In the process parameters of the robot, the grinding parameters, trajectory planning and error compensation affect the surface quality of the blade through the material removal method, grinding force and grinding temperature. The machining accuracy of the blade surface is affected by robot vibration and stiffness.

This review systematically summarizes the processing characteristics and processing methods of aviation titanium alloy blades manufactured by AM. Combined with the material properties of additive titanium alloy, it provides a new idea for robot grinding and polishing of aviation titanium alloy blades manufactured by AM.

Earned value management (EVM)–based models for estimating project actual duration (AD) and cost at completion using various methods are continuously developed to improve the accuracy and actualization of predicted values. This study primarily aimed to examine natural gradient boosting (NGBoost-2020) with the classification and regression trees (CART) base model (base learner). To the best of the authors' knowledge, this concept has never been applied to EVM AD forecasting problem. Consequently, the authors compared this method to the single K-nearest neighbor (KNN) method, the ensemble method of extreme gradient boosting (XGBoost-2016) with the CART base model and the optimal equation of EVM, the earned schedule (ES) equation with the performance factor equal to 1 (ES1). The paper also sought to determine the extent to which the World Bank's two legal factors affect countries and how the two legal causes of delay (related to institutional flaws) influence AD prediction models.

In this paper, data from 30 construction projects of various building types in Iran, Pakistan, India, Turkey, Malaysia and Nigeria (due to the high number of delayed projects and the detrimental effects of these delays in these countries) were used to develop three models. The target variable of the models was a dimensionless output, the ratio of estimated duration to completion (ETC(t)) to planned duration (PD). Furthermore, 426 tracking periods were used to build the three models, with 353 samples and 23 projects in the training set, 73 patterns (17% of the total) and six projects (21% of the total) in the testing set. Furthermore, 17 dimensionless input variables were used, including ten variables based on the main variables and performance indices of EVM and several other variables detailed in the study. The three models were subsequently created using Python and several GitHub-hosted codes.

For the testing set of the optimal model (NGBoost), the better percentage mean (better%) of the prediction error (based on projects with a lower error percentage) of the NGBoost compared to two KNN and ES1 single models, as well as the total mean absolute percentage error (MAPE) and mean lags (MeLa) (indicating model stability) were 100, 83.33, 5.62 and 3.17%, respectively. Notably, the total MAPE and MeLa for the NGBoost model testing set, which had ten EVM-based input variables, were 6.74 and 5.20%, respectively. The ensemble artificial intelligence (AI) models exhibited a much lower MAPE than ES1. Additionally, ES1 was less stable in prediction than NGBoost. The possibility of excessive and unusual MAPE and MeLa values occurred only in the two single models. However, on some data sets, ES1 outperformed AI models. NGBoost also outperformed other models, especially single models for most developing countries, and was more accurate than previously presented optimized models. In addition, sensitivity analysis was conducted on the NGBoost predicted outputs of 30 projects using the SHapley Additive exPlanations (SHAP) method. All variables demonstrated an effect on ETC(t)/PD. The results revealed that the most influential input variables in order of importance were actual time (AT) to PD, regulatory quality (RQ), earned duration (ED) to PD, schedule cost index (SCI), planned complete percentage, rule of law (RL), actual complete percentage (ACP) and ETC(t) of the ES optimal equation to PD. The probabilistic hybrid model was selected based on the outputs predicted by the NGBoost and XGBoost models and the MAPE values from three AI models. The 95% prediction interval of the NGBoost–XGBoost model revealed that 96.10 and 98.60% of the actual output values of the testing and training sets are within this interval, respectively.

Due to the use of projects performed in different countries, it was not possible to distribute the questionnaire to the managers and stakeholders of 30 projects in six developing countries. Due to the low number of EVM-based projects in various references, it was unfeasible to utilize other types of projects. Future prospects include evaluating the accuracy and stability of NGBoost for timely and non-fluctuating projects (mostly in developed countries), considering a greater number of legal/institutional variables as input, using legal/institutional/internal/inflation inputs for complex projects with extremely high uncertainty (such as bridge and road construction) and integrating these inputs and NGBoost with new technologies (such as blockchain, radio frequency identification (RFID) systems, building information modeling (BIM) and Internet of things (IoT)).

The legal/intuitive recommendations made to governments are strict control of prices, adequate supervision, removal of additional rules, removal of unfair regulations, clarification of the future trend of a law change, strict monitoring of property rights, simplification of the processes for obtaining permits and elimination of unnecessary changes particularly in developing countries and at the onset of irregular projects with limited information and numerous uncertainties. Furthermore, the managers and stakeholders of this group of projects were informed of the significance of seven construction variables (institutional/legal external risks, internal factors and inflation) at an early stage, using time series (dynamic) models to predict AD, accurate calculation of progress percentage variables, the effectiveness of building type in non-residential projects, regular updating inflation during implementation, effectiveness of employer type in the early stage of public projects in addition to the late stage of private projects, and allocating reserve duration (buffer) in order to respond to institutional/legal risks.

Ensemble methods were optimized in 70% of references. To the authors' knowledge, NGBoost from the set of ensemble methods was not used to estimate construction project duration and delays. NGBoost is an effective method for considering uncertainties in irregular projects and is often implemented in developing countries. Furthermore, AD estimation models do fail to incorporate RQ and RL from the World Bank's worldwide governance indicators (WGI) as risk-based inputs. In addition, the various WGI, EVM and inflation variables are not combined with substantial degrees of delay institutional risks as inputs. Consequently, due to the existence of critical and complex risks in different countries, it is vital to consider legal and institutional factors. This is especially recommended if an in-depth, accurate and reality-based method like SHAP is used for analysis.

The purpose of this study is to unfold the role of managerial characteristics in developing the dynamic capabilities necessary to serve foreign customers and compete in export market ventures.

The authors test their proposed model using path analysis with data collected from export managers working in 204 small- and medium-sized Turkish exporters operating in various sectors.

The findings suggest that the positive effect of export managers’ process thinking skills on dynamic capabilities increases when the export managers’ learning and avoid orientations are low and prove orientation is high and export venture experience (duration and scope) increases. In addition, it has been found that export managers’ process thinking skills have an indirect effect on export performance through export venture dynamic capabilities.

This study makes three contributions. First, the authors conceptualize and operationalize dynamic capabilities in the context of exporting. The authors empirically validate export venture dynamic capabilities as a higher-level construct composed of sensing, seizing and reconfiguring elements pertinent to the firm’s export market operations. Second, based on the micro-foundations approach of competitive advantage, the authors study managers’ process thinking skills in exporting firms and how these abilities support dynamic capability development in export ventures. Finally, the authors investigate how the impact of export managers’ process thinking skills on export venture dynamic capabilities is influenced by their goal orientations and certain objective exporter characteristics pertaining to different aspects of export venture experience.