Abstract

Abstract
This article describes the construction path of a Responsible Research and Innovation (RRI) tool, starting with a systematic literature review of all responsible innovation tools to extract the essential dimensions and exclude overlapping. Those dimensions were presented in a series of workshops within a Research and Innovation Action European Project where 35 Innovation Actions (IA) were developed. Focusgroup methodology was followed, including the IA's leaders, to generate discussion around the sixteen dimensions and the meanings of the different grades of the Likert scale of an assessment tool to be applied to innovation processes and results.

Abstract
Multimodal perception systems enhance the robustness and adaptability of autonomous mobile robots by integrating heterogeneous sensor modalities, improving long-term localisation and mapping in dynamic environments and human-robot interaction. Current mobile platforms often focus on specific sensor configurations and prioritise cost-effectiveness, possibly limiting the flexibility of the user to extend the original robots further. This paper presents a methodology to integrate multimodal perception into a ground mobile platform, incorporating wheel odometry, 2D laser scanners, 3D Light Detection and Ranging (LiDAR), and RGBD cameras. The methodology describes the electronics design to power devices, firmware, computation and networking architecture aspects, and mechanical mounting for the sensory system based on 3D printing, laser cutting, and bending metal sheet processes. Experiments demonstrate the usage of the revised platform in 2D and 3D localisation and mapping and pallet pocket estimation applications. All the documentation and designs are accessible in a public repository. © 2025 IEEE.

Abstract
Robotics education plays a crucial role in developing STEM skills. However, university-level courses often emphasize theoretical learning, which can lead to decreased student engagement and motivation. In this paper, we tackle the challenge of providing hands-on robotics experience in higher education by adapting a mobile robot originally designed for competitions to be used in laboratory classes. Our approach integrates real-world robot operation into coursework, bridging the gap between simulation and physical implementation while maintaining accessibility. The robot's software is developed using ROS, and its effectiveness is assessed through student surveys. The results indicate that the platform increases student engagement and interest in robotics topics. Furthermore, feedback from teachers is also collected and confirmed that the platform boosts students' confidence and understanding of robotics. © 2025 IEEE.

Abstract
The retention of public transport users is widely acknowledged as a paramount challenge in the path towards the establishment of more sustainable cities and societies. In this setting, in which no contractual relationship with customers exists, an early and accurate prediction of whether a customer will remain with the company or leave, assumes great significance for businesses to develop effective retention strategies. This work focuses on this topic by identifying potential churners based on their past travel behavior. To achieve this, we developed a set of classification models using various machine learning techniques. These models were then employed as base learners within a stacking ensemble. All classifiers were developed with a profit-driven approach, optimizing for expected maximum profit. Finally, we calculated Shapley Additive Explanation values to enhance the interpretability of the proposed classifiers. The performance of the predictive models was evaluated using the data of taxi services recorded in a Portuguese city for 52 months. A broad range of predictors is proposed, including recency and frequency measures of taxi usage as well as others related to customers' satisfaction level. The predictive power of the models was also assessed for specific proportions of higher risk customers. All models have shown the capability to identify churners accurately. This study innovates in evaluating the one-to-one service provider company-customer relationship in the context of taxi industry. Retention actions to promote customers loyalty and enhance retention are also suggested. © 2025 The Author(s)

Abstract
This paper presents a novel Nonlinear Model Predictive Controller (NMPC) architecture for trajectory tracking of omnidirectional robots. The key innovation lies in the method of handling constraints on maximum velocity and acceleration outside of the optimization process, significantly reducing computation time. The controller uses a simplified process model to predict the robot’s state evolution, enabling real-time cost function minimization through gradient descent methods. The cost function penalizes position and orientation errors as well as control effort variation. Experimental results compare the performance of the proposed controller with a generic Proportional-Derivative (PD) controller and a NMPC with integrated optimization constraints. The findings reveal that the proposed controller achieves higher precision than the PD controller and similar precision to the NMPC with integrated constraints, but with substantially lower computational effort. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.