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Automated fruit harvesting systems rely heavily on accurate visual perception, particularly for crops such as the Arbutus tree (Arbutus unedo), which holds both ecological and economic significance. However, this species poses considerable challenges for computer vision due to its dense foliage and the morphological variability of its berries across different ripening stages. Despite its importance, the Arbutus tree remains under-explored in the context of precision agriculture and robotic harvesting. This study addresses that gap by evaluating a computer vision-based approach to detect and classify Arbutus berries into three ripeness categories: green, yellow-orange, and red. A significant contribution of this work is the release of two fully annotated open-access datasets, Arbutus Berry Detection Dataset and Arbutus Berry Ripeness Level Detection Dataset, developed through a structured manual labeling process. Additionally, we benchmarked four YOLO architectures - YOLOv8n, YOLOv9t, YOLOv10n, and YOLO11n - as well as the RT-DETR models, using these datasets. Among these, RT-DETR-L demonstrated the most consistent performance in terms of precision, recall, and generalization, outperforming the lighter YOLO models in both speed and accuracy. This highlights RT-DETR's strong potential for deployment in real-time automated harvesting systems, where robust detection and efficient inference are critical. © 2025 IEEE.

Abstract
Digital twins enable real-time modeling, simulation, and monitoring of complex systems, driving advancements in automation, robotics, and industrial applications. This study presents a large-scale digital twin-testing facility for evaluating mobile robots and pilot robotic systems in a research laboratory environment. The platform integrates high-fidelity physical and environmental models, providing a controlled yet dynamic setting for analyzing robotic behavior. A key feature of the system is its comprehensive data collection framework, capturing critical parameters such as position, orientation, and velocity, which can be leveraged for machine learning, performance optimization, and decision-making. The facility also supports the simulation of discrete operational systems, using predictive modeling to bridge informational gaps when real-time data updates are unavailable. The digital twin was validated through a matrix manufacturing system simulation, with an Augmented Reality (AR) interface on the HoloLens 2 to overlay digital information onto mobile platform controllers, enhancing situational awareness. The main contributions include a digital twin framework for deploying data-driven robotic systems and three key AR/VR integration optimization methods. Demonstrated in a laboratory setting, the system is a versatile tool for research and industrial applications, fostering insights into robotic automation and digital twin scalability while reducing costs and risks associated with real-world testing.

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Background This scoping review systematically maps externally validated machine learning (ML)-based models in cancer patient care, quantifying their performance, and clinical utility, and examining relationships between models, cancer types, and clinical decisions. By synthesizing evidence, this study identifies, strengths, limitations, and areas requiring further research. Methods The review followed the Joanna Briggs Institute's methodology, Preferred Reporting Items for Systematic Reviews and Meta-Analyses extension for Scoping Reviews guidelines, and the Population, Concept, and Context mnemonic. Searches were conducted across Embase, IEEE Xplore, PubMed, Scopus, and Web of Science (January 2014-September 2022), targeting English-language quantitative studies in Q1 journals (SciMago Journal and Country Ranking > 1) that used ML to evaluate clinical outcomes for human cancer patients with commonly available data. Eligible models required external validation, clinical utility assessment, and performance metric reporting. Studies involving genetics, synthetic patients, plants, or animals were excluded. Results were presented in tabular, graphical, and descriptive form. Results From 4023 deduplicated abstracts and 636 full-text reviews, 56 studies (2018-2022) met the inclusion criteria, covering diverse cancer types and applications. Convolutional neural networks were most prevalent, demonstrating high performance, followed by gradient- and decision tree-based algorithms. Other algorithms, though underrepresented, showed promise. Lung and digestive system cancers were most frequently studied, focusing on diagnosis and outcome predictions. Most studies were retrospective and multi-institutional, primarily using image-based data, followed by text-based and hybrid approaches. Clinical utility assessments involved 499 clinicians and 12 tools, indicating improved clinician performance with AI assistance and superior performance to standard clinical systems. Discussion Interest in ML-based clinical decision-making has grown in recent years alongside increased multi-institutional collaboration. However, small sample sizes likely impacted data quality and generalizability. Persistent challenges include limited international validation across ethnicities, inconsistent data sharing, disparities in validation metrics, and insufficient calibration reporting, hindering model comparison reliability.

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The autonomous navigation of unmanned ground vehicles (UGVs) in unstructured environments, such as agricultural or forestry settings, has been the subject of extensive research by various investigators. The navigation capability of a UGV in unstructured environments requires considering numerous factors, including the quality of data reception that allows reliable interpretation of what the UGV perceives in a given environment, as well as the use these data to control the UGV's navigation. This article aims to study different PID control algorithms to enable autonomous navigation on a robotic platform. The robotic platform consists of a forestry tractor, used for forest cleaning tasks, which was converted into a UGV through the integration of sensors. Using sensor data, the UGV's position and orientation are obtained and utilized for navigation by inputting these data into a PID control algorithm. The correct choice of PID control algorithm involved the study, analysis, and implementation of different controllers, leading to the conclusion that the Vector Field control algorithm demonstrated better performance compared to the others studied and implemented in this paper.

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