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Political Science in the United States has focused too much on variable-oriented, quantitative methods and thus lost its ability to ask “big questions.” Stein Rokkan (d. 1979) was an eminent comparativist who asked big questions and provided such qualitative tools as conceptual maps, grids, and clustered comparisons. Ibn Khaldun (d. 1406), arguably the first social scientist, also asked big questions and provided a universal explanation about the dialectical relationship between nomads and sedentary people. This article analyzes to what extent Ibn Khaldun's concepts of asabiyya and sedentary culture help understand the rise and fall of the Muslim civilization. It also explores my alternative, class-based perspective in Islam, Authoritarianism, and Underdevelopment. Moreover, the article explores how Rokkan's analysis of cultural, geographical, economic, and religio-political variations within Western European states can provide insights to the examination of such variations in the Muslim world.

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.

To solve the obstacle detection problem in robot autonomous obstacle negotiation, this paper aims to propose an obstacle detection system based on elevation maps for three types of obstacles: positive obstacles, negative obstacles and trench obstacles.

The system framework includes mapping, ground segmentation, obstacle clustering and obstacle recognition. The positive obstacle detection is realized by calculating its minimum rectangle bounding boxes, which includes convex hull calculation, minimum area rectangle calculation and bounding box generation. The detection of negative obstacles and trench obstacles is implemented on the basis of information absence in the map, including obstacles discovery method and type confirmation method.

The obstacle detection system has been thoroughly tested in various environments. In the outdoor experiment, with an average speed of 22.2 ms, the system successfully detected obstacles with a 95% success rate, indicating the effectiveness of the detection algorithm. Moreover, the system’s error range for obstacle detection falls between 4% and 6.6%, meeting the necessary requirements for obstacle negotiation in the next stage.

This paper studies how to solve the obstacle detection problem when the robot obstacle negotiation.

This paper aims to focus on solving the path optimization problem by modifying the probabilistic roadmap (PRM) technique as it suffers from the selection of the optimal number of nodes and deploy in free space for reliable trajectory planning.

Traditional PRM is modified by developing a decision-making strategy for the selection of optimal nodes w.r.t. the complexity of the environment and deploying the optimal number of nodes outside the closed segment. Subsequently, the generated trajectory is made smoother by implementing the modified Bezier curve technique, which selects an optimal number of control points near the sharp turns for the reliable convergence of the trajectory that reduces the sum of the robot’s turning angles.

The proposed technique is compared with state-of-the-art techniques that show the reduction of computational load by 12.46%, the number of sharp turns by 100%, the number of collisions by 100% and increase the velocity parameter by 19.91%.

The proposed adaptive technique provides a better solution for autonomous navigation of unmanned ground vehicles, transportation, warehouse applications, etc.

In recent decades, the field of robotic mapping has witnessed widespread research and development in light detection and ranging (LiDAR)-based simultaneous localization and mapping (SLAM) techniques. This paper aims to provide a significant reference for researchers and engineers in robotic mapping.

This paper focused on the research state of LiDAR-based SLAM for robotic mapping as well as a literature survey from the perspective of various LiDAR types and configurations.

This paper conducted a comprehensive literature review of the LiDAR-based SLAM system based on three distinct LiDAR forms and configurations. The authors concluded that multi-robot collaborative mapping and multi-source fusion SLAM systems based on 3D LiDAR with deep learning will be new trends in the future.

To the best of the authors’ knowledge, this is the first thorough survey of robotic mapping from the perspective of various LiDAR types and configurations. It can serve as a theoretical and practical guide for the advancement of academic and industrial robot mapping.

This study investigates Rokkan's research programme in the light of the differences between case- and variables-based methodologies. Three phases of the research process are distinguished. Studying the way Rokkan actually proceeded in the research within his Europe project, we find that he follows the protocols of case-methodologies such as grounded theory. In the second phase of the research process, however, he constructs variables-based models as tools for his macro-historical comparisons. To get to variables from the sensitizing concepts coded in the first phase, Rokkan defines his variables as close to cases as possible: variables as nominal level typologies, types as variable values. He thus faces two interrelated dilemmas. First, a philosophy of science dissonance: he legitimates his research only with reference to a variable-methodology, while his research is thoroughly case based. Second, a paradox of double coding: using variable-based models in the second phase, the status of the knowledge available in the first phase memos is degraded. Rokkan cannot decide between the two main solutions to these dilemmas: The first solution is to discard his heterogeneous data, instead working only with homogeneous data that opens up to more consistently variables-oriented research. The second solution is to replace the notion of variables/variable values with typology/types, thereby returning to cases, pursuing comparative case reconstructions in the third phase of research. The study concludes in favour of the second solution.

This study aims to realize efficient, fast and safe robot search task, the belief criteria decision-making approach is proposed to solve the object search task with an uncertain location.

The study formulates the robot search task as a partially observable Markov decision process, uses the semantic information to evaluate the belief state and designs the belief criteria decision-making approach. A cost function considering a trade-off among belief state, path length and movement effort is modelled to select the next best location in path planning.

The semantic information is successfully modelled and propagated, which can represent the belief of finding object. The belief criteria decision-making (BCDM) approach is evaluated in both Gazebo simulation platform and physical experiments. Compared to greedy, uniform and random methods, the performance index of path length and execution time is superior by BCDM approach.

The prior knowledge of robot working environment, especially semantic information, can be used for path planning to achieve efficient task execution in path length and execution time. The modelling and updating of environment information can lead a promising research topic to realize a more intelligent decision-making method for object search task.

The aim of this paper is to provide a narrative review of previous research on tourism demand modelling and forecasting and potential future developments.

A narrative approach is taken in this review of the current body of knowledge.

Significant methodological advancements in tourism demand modelling and forecasting over the past two decades are identified.

The distinct characteristics of the various methods applied in the field are summarised and a research agenda for future investigations is proposed.

本文旨在对先前关于旅游需求建模和预测的研究进行叙述性回顾并对未来潜在发展进行展望。

本文采用叙述性回顾方法对当前知识体系进行了评论。

本文确认了过去二十年旅游需求建模和预测方法论方面的重要进展。

本文总结了该领域应用的各种方法的独特特征, 并对未来研究提出了建议。

El objetivo de este documento es ofrecer una revisión narrativa de la investigación previa sobre modelización y previsión de la demanda turística y los posibles desarrollos futuros.

En esta revisión del marco actual de conocimientos sobre modelización y previsión de la demanda turística y los posibles desarrollos futuros,se adopta un enfoque narrativo.

Se identifican avances metodológicos significativos en la modelización y previsión de la demanda turística en las dos últimas décadas.

Se resumen las características propias de los diversos métodos aplicados en este campo y se propone una agenda de investigación para futuros trabajos.

Many existing trajectory optimization algorithms use parameters like maximum velocity or acceleration to formulate constraints. Due to the ignoring of the quadrotor actual tracking capability, the generated trajectories may not be suitable for tracking control. The purpose of this paper is to design an online adjustment algorithm to improve the overall quadrotor trajectory tracking performance.

The authors propose a reference trajectory resampling layer (RTRL) to dynamically adjust the reference signals according to the current tracking status and future tracking risks. First, the authors design a risk-aware tracking monitor that uses the Frenét tracking errors and the curvature and torsion of the reference trajectory to evaluate tracking risks. Then, the authors propose an online adjusting algorithm by using the time scaling method.

The proposed RTRL is shown to be effective in improving the quadrotor trajectory tracking accuracy by both simulation and experiment results.

Infeasible reference trajectories may cause serious accidents for autonomous quadrotors. The results of this paper can improve the safety of autonomous quadrotor in application.

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.