The paper introduces a computationally efficient semantic-aware route planning framework for indoor mobile robots, designed for real-time execution on resource-constrained edge hardware (Raspberry Pi 5, CPU-only). The proposed architecture fuses monocular object detection with 2D LiDAR-based range estimation and integrates the resulting semantic annotations into the Nav2 Route Server for penalty-weighted route selection. Object localization in the map frame is achieved through the Angular Sector Fusion (ASF) pipeline, a deterministic geometric method requiring no parameter tuning. The ASF projects YOLO bounding boxes onto LiDAR angular sectors and estimates the object range using a 25th-percentile distance statistic, providing robustness to sparse returns and partial occlusions. All intrinsic and extrinsic sensor parameters are resolved at runtime via ROS 2 topic introspection and the URDF transform tree, enabling platform-agnostic deployment. Detected entities are classified according to mobility semantics (dynamic, static, and minor) and persistently encoded in a GeoJSON-based semantic map, with these annotations subsequently propagated to navigation graph edges as additive penalties and velocity constraints. Route computation is performed by the Nav2 Route Server through the minimization of a composite cost functional combining geometric path length with semantic penalties. A reactive replanning module monitors semantic cost updates during execution and triggers route invalidation and re-computation when threshold violations occur. Experimental evaluation over 115 navigation segments (legs) on three heterogeneous robotic platforms (two single-board RPi5 configurations and one dual-board setup with inference offloading) yielded an overall success rate of 97% (baseline: 100%, adaptive: 94%), with 42 replanning events observed in 57% of adaptive trials. Navigation time distributions exhibited statistically significant departures from normality (Shapiro–Wilk, p < 0.005). While central tendency differences between the baseline and adaptive modes were not significant (Mann–Whitney U, p = 0.157), the adaptive planner reduced temporal variance substantially (σ = 11.0 s vs. 31.1 s; Levene’s test W = 3.14, p = 0.082), primarily by mitigating AMCL recovery-induced outliers. On-device YOLO26n inference, executed via the NCNN backend, achieved 5.5 ± 0.7 FPS (167 ± 21 ms latency), and distributed inference reduced the average system CPU load from 85% to 48%. The study further reports deployment-level observations relevant to the Nav2 ecosystem, including GeoJSON metadata persistence constraints, graph discontinuity (“path-gap”) artifacts, and practical Route Server configuration patterns for semantic cost integration.

The paper deals with comparative analysis of machined surfaces by classic electrical discharge machining (EDM) and hybrid ultrasonic EDM of CoCr alloys, using computer vision aimed at emphasizing the advantages of this hybrid technology. The analysis revealed generally the superior stability of EDM+US process against classic EDM explained by better evacuation of debris from the working gap due to ultrasonically induced cavitation. This key phenomenon also contributed to the enhancement of machining rate by removing the material in liquid state and also the in solid state from the microgeometry peaks but also reducing the surface roughness if the power on the ultrasonic chain is optimzed.

The paper deals with the comparative analysis, at microgeometric scale, of machined surfaces by classic electrical discharge machining (EDM) and hybrid ultrasonic EDM of CoCr alloys, using computer vision aimed at emphasizing the advantages of this hybrid technology. The analysis generally revealed the superior stability of EDM+US process against classic EDM, explained by the better evacuation of debris from the working gap due to ultrasonically induced cavitation. This key phenomenon also contributed to the enhancement of machining rate by removing the material in liquid and solid state from the microgeometry peaks, while also reducing the surface roughness if the power on the ultrasonic chain was optimized.