Over the last decade, there has been an increased interest in developing aerial robotic platforms that exhibit grasping and perching capabilities not only within the research community but also in companies across different industry sectors. Aerial robots range from standard multicopter vehicles/drones, to autonomous helicopters, and fixed-wing or hybrid devices. Such devices rely on a range of different solutions for achieving grasping and perching. These solutions can be classified as: 1) simple gripper systems, 2) arm-gripper systems, 3) tethered gripping mechanisms, 4) reconfigurable robot frames, 5) adhesion solutions, and 6) embedment solutions. Grasping and perching are two crucial capabilities that allow aerial robots to interact with the environment and execute a plethora of complex tasks, facilitating new applications that range from autonomous package delivery and search and rescue to autonomous inspection of dangerous or remote environments. In this review paper, we present the state-of-the-art in aerial grasping and perching mechanisms and we provide a comprehensive comparison of their characteristics. Furthermore, we analyze these mechanisms by comparing the advantages and disadvantages of the proposed technologies and we summarize the significant achievements in these two research topics. Finally, we conclude the review by suggesting a series of potential future research directions that we believe that are promising.

In the past decade, there is an increasing interest in the deployment of unmanned surface vehicles (USVs) for undertaking ocean missions in dynamic, complex maritime environments. The success of these missions largely relies on motion planning algorithms that can generate optimal navigational trajectories to guide a USV. Apart from minimising the distance of a path, when deployed a USVs’ motion planning algorithms also need to consider other constraints such as energy consumption, the affected of ocean currents as well as the fast collision avoidance capability. In this paper, we propose a new algorithm named anisotropic GPMP2 to revolutionise motion planning for USVs based upon the fundamentals of GP (Gaussian process) motion planning (GPMP, or its updated version GPMP2). Firstly, we integrated the anisotropy into GPMP2 to make the generated trajectories follow ocean currents where necessary to reduce energy consumption on resisting ocean currents. Secondly, to further improve the computational speed and trajectory quality, a dynamic fast GP interpolation is integrated in the algorithm. Finally, the new algorithm has been validated on a WAM-V 20 USV in a ROS environment to show the practicability of anisotropic GPMP2. Note to Practitioners—The work reported in this article will be significant for USVs to conduct missions in complex, dynamic maritime environments where various obstacles and time-varying ocean currents exit. We develop this novel motion planning algorithm based on Gaussian process and optimise the trajectory using probabilistic inferences. The new algorithm can generate collision free trajectories that also minimise the influences caused by adverse ocean currents in a highly efficient way. In addition, the planning has been undertaken in a continuous-time domain making the generated trajectory have a guaranteed smoothness and readily feasible for autopilots to track. We use a coastal area with time-varying vortexes to present a challenging practical maritime environment. The presented algorithm integrates the available information about a fluid field regarding energy consumption and hazard level, along with the density of obstacles to plan a navigational route efficiently. To increase the practical performance of the proposed method, diverse models for generating ocean currents need to be developed in the future to tackle unpredictable situations.

Unmanned surface vehicles (USVs) are of increasing importance to a growing number of sectors in the maritime industry, including offshore exploration, marine transportation, and defense operations. A major factor in the growth in use and deployment of USVs is the increased operational flexibility that is offered through use of optimized motion planners that generate optimized trajectories. Unlike path planning in terrestrial environments, planning in the maritime environment is more demanding as there is need to assure mitigating action is taken against the significant, random, and often unpredictable environmental influences from winds and ocean currents. With the focus on these necessary requirements as the main basis of motivation, this article proposes a novel motion planner, denoted as Gaussian process motion planning 2 star (GPMP2*), extending the application scope of the fundamental Gaussian-process-based motion planner, Gaussian process motion planning 2 (GPMP2), into complex maritime environments. An interpolation strategy based on Monte Carlo stochasticity has been innovatively added to GPMP2* to produce a new algorithm named GPMP2* with Monte Carlo stochasticity, which can increase the diversity of the paths generated. In parallel with algorithm design, a robotic operating system (ROS)-based fully-autonomous framework for an advanced USV, the Wave Adaptive Modular Vessel 20, has been proposed. The practicability of the proposed motion planner as well as the fully-autonomous framework has been functionally validated in a simulated inspection missions for an offshore wind farm in ROS.

Apples are one of the most widely planted fruits in the world, with an extremely high annual production. Several issues should be addressed to avoid the damaging of samples during the quality grading process of apples (e.g., the long detection period and the inability to detect the internal quality of apples). In this study, an electronic nose (e-nose) detection system for apple quality grading based on the K-nearest neighbor support vector machine (KNN-SVM) was designed, and the nasal cavity structure of the e-nose was optimized by computational fluid dynamics (CFD) simulation. A KNN-SVM classifier was also proposed to overcome the shortcomings of the traditional SVMs. The performance of the developed device was experimentally verified in the following steps. The apples were divided into three groups according to their external and internal quality. The e-nose data were pre-processed before features extraction, and then Principal Component Analysis (PCA) and Linear Discriminant Analysis (LDA) were used to reduce the dimension of the datasets. The recognition accuracy of the PCA–KNN-SVM classifier was 96.45%, and the LDA–KNN-SVM classifier achieved 97.78%. Compared with other commonly used classifiers, (traditional KNN, SVM, Decision Tree, and Random Forest), KNN-SVM is more efficient in terms of training time and accuracy of classification. Generally, the apple grading system can be used to evaluate the quality of apples during storage.

With the development of science and technology, mobile robots are playing a significant role in the new round of world revolution. Mobile robots could serve as assistants or substitutes for humans across a wide range of applications. To enhance mobile robot automation, advanced motion planners must be integrated to handle diverse environments. Navigating complex maze environments is a key challenge for mobile robots in various practical scenarios. Therefore, this article proposes a novel hierarchical motion planner named the rapidly exploring random tree-based Gaussian process motion planner 2, which aims to tackle the motion planning problem for mobile robots in complex maze environments. Specifically, the proposed motion planner successfully combines the advantages of the trajectory optimisation motion planning method and sampling-based motion planning method. To validate the performance and practicability of the proposed motion planner, we tested it in a series of self-constructed maze simulations and applied it on a surface marine robot in a high-fidelity maritime simulation environment in the Robot operating system.

Poultry breeding is one of the most significant components of agriculture and an essential link of material exchange between humans and nature. Moreover, poultry breeding technology has a considerable impact on the life quality of human beings, and could even influence the survival of human beings. As one of the most popular poultry, broiler has a good economic benefit due to its excellent taste and fast growing cycle. This paper aims to improve the efficiency of raising broilers by understanding the impact of ammonia concentration distribution within a smart broiler breeding chamber, and the rationality of the system’s design. More specifically, we used computational fluid dynamics (CFD) technology to simulate the process of ammonia production and identify the characteristics of ammonia concentration. Based on the simulation results, the structure of the broiler chamber was reformed, and the ammonia uniformity was significantly improved after the structural modification of the broiler chamber and the ammonia concentration in the chamber had remained extremely low. In general, this study provides a reference for structural optimization of the design of broiler chambers and the environmental regulation of ammonia.