Review of Vision-Based Environmental Perception for Lower-Limb Exoskeleton Robots.

The exoskeleton robot is a wearable electromechanical device inspired by animal exoskeletons. It combines technologies such as sensing, control, information, and mobile computing, enhancing human physical abilities and assisting in rehabilitation training. In recent years, with the development of visual sensors and deep learning, the environmental perception of exoskeletons has drawn widespread attention in the industry. Environmental perception can provide exoskeletons with a certain level of autonomous perception and decision-making ability, enhance their stability and safety in complex environments, and improve the human-machine-environment interaction loop. This paper provides a review of environmental perception and its related technologies of lower-limb exoskeleton robots. First, we briefly introduce the visual sensors and control system. Second, we analyze and summarize the key technologies of environmental perception, including related datasets, detection of critical terrains, and environment-oriented adaptive gait planning. Finally, we analyze the current factors limiting the development of exoskeleton environmental perception and propose future directions.

A systematic review of the relationship between natural environments and physiological and mental health during different stages of the COVID-19 pandemic.

COVID-19 has altered how individuals interact with natural environments. Numerous studies have investigated the effects of such environments on health. However, how natural environments influenced individuals' physiological and mental health during various stages of the COVID-19 pandemic remains unclear. Therefore, we conducted this study to investigate the effects of natural environments on individuals' physiological and mental health during different stages of the pandemic; we also identified factors that mediated these effects. Overall, we evaluated the importance of natural environments during challenging times. This study adhered to the Preferred Reporting Items for Systematic Review and Meta-Analysis guidelines. The pandemic period was divided into three stages on the basis of severity: pandemic (March 2020 - February 2022), easing (February 2022-September 2022), and post-acute COVID pandemic (September 2022 - present). An initial pool of 3018 studies was narrowed down to a final sample of 73 studies. During the pandemic stage, individuals frequenting public green spaces exhibited improved well-being, reduced stress levels, and a sense of nature deprivation. Private green spaces played crucial roles in maintaining health during the pandemic stage. Highquality window views were associated with improved well-being and reduced depression. During the easing stage, the environmental quality of public green spaces influenced individuals' perceived safety and sense of belonging. And coastal areas were the preferred natural destinations in this stage. During the post-acute COVID pandemic stage, individuals acknowledged the importance of natural environments in maintaining physiological and mental health as they gradually returned to prepandemic normalcy. In conclusion, the COVID-19 pandemic highlighted humanity's reliance on nature. Therefore, sufficient urban spaces should be dedicated to preservation of natural environments to mitigate negative emotions arising from prolonged indoor stays.

The perception of fungi among Karajá indigenous children and adolescents from Brazil.

BACKGROUND: Environmental perception involves the interpretation and interaction of individuals with their surroundings, influenced by cultural, social, and individual factors. Analyzing the environmental perception of children and adolescents contributes to fostering awareness and ethical behavior toward the environment. Indigenous communities, such as the Karajá from Brazil, possess significant environmental knowledge due to their connection with nature, providing distinctive insights into biodiversity and natural interconnections. In this study, the perception of fungi among Karajá indigenous children and adolescents was investigated. METHODS: The study involved 229 elementary school students from the Macaúba, Fontoura and Santa Isabel do Morro communities, located on Bananal Island, Brazil. Students were encouraged to draw what they knew about fungi and answer where they learned about fungi and what name they give to these organisms. The drawings were analyzed considering seven categories. RESULTS: The term most used to refer to fungi was hedoro(u) (56%), followed by fungus (21%) and mushroom (11%). Most students said they had learned about fungi in nature (38%) and at school (36%). The most represented organisms were in fact fungi (93%), mainly being portrayed in nature (94%). Most participants did not attribute any ecological function to fungi (83%), although 16% of them recognized fungi as decomposers and 1% as phytopathogenic agents. Negative aspects, particularly food contamination, were more frequently represented (13%) than positive aspects (4%). The drawings identified two morphological types: mushrooms (87%) and mold (13%). Among these mushrooms, 68% possibly represent the Amanita muscaria species. CONCLUSIONS: Although the children and adolescents showed that they noticed the fungi around them, the group's concept and understanding were limited to the figure of the mushroom and the negative aspects related to food contamination. Strong association of the fungi with the A. muscaria is noteworthy, since it does not occur in the environment in which the participants live, suggesting that external stimuli, such as TV or the internet, can influence their perception more than the nature they are exposed to.

A New Semantic Segmentation Framework Based on UNet.

This paper discusses a semantic segmentation framework and shows its application in agricultural intelligence, such as providing environmental awareness for agricultural robots to work autonomously and efficiently. We propose an ensemble framework based on the bagging strategy and the UNet network, using RGB and HSV color spaces. We evaluated the framework on our self-built dataset (Maize) and a public dataset (Sugar Beets). Then, we compared it with UNet-based methods (single RGB and single HSV), DeepLab V3+, and SegNet. Experimental results show that our ensemble framework can synthesize the advantages of each color space and obtain the best IoUs (0.8276 and 0.6972) on the datasets (Maize and Sugar Beets), respectively. In addition, including our framework, the UNet-based methods have faster speed and a smaller parameter space than DeepLab V3+ and SegNet, which are more suitable for deployment in resource-constrained environments such as mobile robots.

Trajectory Planner for UAVs Based on Potential Field Obtained by a Kinodynamic Gene Regulation Network.

Quadrotor unmanned aerial vehicles (UAVs) often encounter intricate environmental and dynamic limitations in real-world applications, underscoring the significance of proficient trajectory planning for ensuring both safety and efficiency during flights. To tackle this challenge, we introduce an innovative approach that harmonizes sophisticated environmental insights with the dynamic state of a UAV within a potential field framework. Our proposition entails a quadrotor trajectory planner grounded in a kinodynamic gene regulation network potential field. The pivotal contribution of this study lies in the amalgamation of environmental perceptions and kinodynamic constraints within a newly devised gene regulation network (GRN) potential field. By enhancing the gene regulation network model, the potential field becomes adaptable to the UAV's dynamic conditions and its surroundings, thereby extending the GRN into a kinodynamic GRN (K-GRN). The trajectory planner excels at charting courses that guide the quadrotor UAV through intricate environments while taking dynamic constraints into account. The amalgamation of environmental insights and kinodynamic constraints within the potential field framework bolsters the adaptability and stability of the generated trajectories. Empirical results substantiate the efficacy of our proposed methodology.

Learning in the forest: environmental perception of Brazilian teenagers.

The idea of separation between person and nature, accentuated by current production and consumption models, has generated unthinkable impacts, causing an unprecedented loss and degradation of the global environment. Occupying 13% of the Brazilian territory, the Atlantic Forest is the second-largest tropical rainforest on the American continent; however, it is one of the most threatened biomes in the world, with only 12% of the original cover. In this study, we consider that enabling young people to experience direct contact with nearby natural environments can positively influence their knowledge and feelings about the biodiversity that occurs there, contributing to its protection and conservation for current and future generations. In this study, we explore how teenagers (n = 17) aged between 13 and 17 years old describe and perceive the nearby natural environment before and after an interpretive trail in Una, Bahia, Brazil. Participants were asked to draw the Atlantic Forest with colored pencils on white paper and, based on the drawing, they answered the following questions: "What is in your drawing? and "What is happening in your drawing?," in addition to other information such as the title of the drawing, difficulty of the activity, and sociodemographic aspects. Content analysis was used to analyze the information collected. From the drawings and responses of the participants, categories related to knowledge, experiences, and types of relationships with the visited place emerged. We count the frequency of drawing elements before and after the visit, together with a qualitative analysis of the descriptions of their feelings and meanings attributed to the visit, highlighting the different elements and their relationships. The results showed that, after the trail, the participants manifested bonds of proximity with the visited environment and the organisms protected there, evidencing expressive changes in their perceptions of the person-nature interaction, in the specific knowledge of the visited ecosystem, and in the different forms of relationship provided by the visitation itinerary.

Direct and cross-generational effects of reproduction on fitness and behavioral variability in male-biased environments.

Population structure determines individuals' interactions and trade-offs with evolutionary consequences. Male-biased populations increase intrasexual competition and intersexual harassment, reducing female resource acquisition, and thus, resources availability for the following generation. We analyzed direct and cross-generational effects of male harassment in two generations of damselflies (Odonata). We exposed adult females to treatments with different sex-ratio and density (balanced and male-biased) to modify the male harassment level. We analyzed female fecundity, fertility, and number of faecal deposits as an indirect measure of resources acquisition. We studied female flight performance after repeated exposures to males. We analyzed survivorship, development, exploration, thigmotaxis, and feeding latency of larvae produced by the experimental females. In both generations, we analyzed four metrics of behavior: mean value, interindividual differences in plasticity, intra-individual unpredictability, and repeatability. Mating duration increased in male-biased treatment, whereas female resources acquisition and fertility decreased. Females that mated longer showed higher fecundity when they were exposed to balanced treatment, but not if they were exposed to male-biased treatment. Females from the male-biased treatment showed interindividual differences in plasticity and no repeatability in flight performance. Offspring showed balanced sex-ratio and similar survivorship, development, and feeding latency independently of the parental treatment; however, females exposed to male-biased treatment produced offspring with higher differences in exploration plasticity and daughters less explorative and with higher unpredictable thigmotaxis. We propose prolonged copulation as courtship at balanced sex-ratio but a cost to females under male-biased sex-ratio. Cross-generational effects in behavioral variability may be a mechanism to cope with predicted future environments.

Is Walk Score Associated With Physical Activity and Screen Time in Brazilian Older Adults?

This study aimed to examine the relationship between Walk Score index with walking to commuting, moderate-to-vigorous physical activity, and screen time in older adults. Georeferenced addresses were entered into the Walk Score platform. Walking to commute and moderate-to-vigorous physical activity were assessed using the International Physical Activity Questionnaire and categorized according to the World Health Organization recommendations. Screen time was analyzed through self-reported time watching television/being on the computer. We used binary logistic regression to estimate the association between variables. Older adults who lived in places with higher Walk Score had a higher prevalence of walking to commuting (odds ratio = 1.73; 95% confidence interval [1.18, 2.55]) and engaging in moderate-to-vigorous physical activity (odds ratio = 1.76; 95% confidence interval [1.05, 2.98]). A relationship also was observed between higher Walk Score and more time in screen time (odds ratio = 1.67; 95% confidence interval [1.19, 2.34]). The results showed that residing in a more walkable neighborhood increased the chances of the older adults spending 3 hr or more in front of a screen.

Learning physical characteristics like animals for legged robots.

Physical characteristics of terrains, such as softness and friction, provide essential information for legged robots to avoid non-geometric obstacles, like mires and slippery stones, in the wild. The perception of such characteristics often relies on tactile perception and vision prediction. Although tactile perception is more accurate, it is limited to close-range use; by contrast, establishing a supervised or self-supervised contactless prediction system using computer vision requires adequate labeled data and lacks the ability to adapt to the dynamic environment. In this paper, we simulate the behavior of animals and propose an unsupervised learning framework for legged robots to learn the physical characteristics of terrains, which is the first report to manage it online, incrementally and with the ability to solve cognitive conflicts. The proposed scheme allows robots to interact with the environment and adjust their cognition in real time, therefore endowing robots with the adaptation ability. Indoor and outdoor experiments on a hexapod robot are carried out to show that the robot can extract tactile and visual features of terrains to create cognitive networks independently; an associative layer between visual and tactile features is created during the robot's exploration; with the layer, the robot can autonomously generate a physical segmentation model of terrains and solve cognitive conflicts in an ever-changing environment, facilitating its safe navigation.

Analysis of the Impact of Environmental Perception on the Health Status of Middle-Aged and Older Adults: A Study Based on CFPS 2020 Data.

Health risks and hazards caused by the environment have long been one of the most important public issues of concern to the state, society, and the public. At the same time, population aging is becoming a global issue, and residents' health is the most important component of people's livelihood, and residents can only pursue other rights and interests if they can protect their own health. Therefore, based on the micro data from the fifth round of the China Family Panel Studies (CFPS), this paper uses binary logistic regression with propensity score matching (PSM) to analyze the effect of environmental perception on the health status (including mental health and physical health) of middle-aged and older adults. It was found that environmental perceptions significantly affect the depressive state and sickness status of middle-aged and older adults. Among them, middle-aged and older adults who were female, of rural households, with low education and relatively low income were more affected by environmental shocks on their health. Therefore, we should pay attention to the mental and physical health of middle-aged and older adults and change the existing design concept of aging policy: the government should formulate effective policies and increase corresponding social support; and society and families should also give corresponding care and encourage middle-aged and older adults to exercise more and provide reasonable psychological guidance.

Analyzing point cloud of coal mining process in much dust environment based on dynamic graph convolution neural network.

Environmental perception is an important research direction of coal mine sustainable development. There is much dust in the underground working environment of coal mine. This study is to identify the marker (ball) in the coal mine, which provides a basic to convert the coordinate of large-scale fully mechanized mining face point cloud to the geodetic coordinate. Firstly, in the face of the phenomenon that the uneven distribution of underground point cloud is more serious, this study further has studied on the basis of complete and incomplete geometry point cloud and generated multi-density geometry point cloud for the first time. Secondly, aiming at the problem that the geometric features of underground point cloud are not obvious enough, this study has increased the weight of point cloud normal vector in the training process of network model, so that the network model is more sensitive to different geometric features. Finally, this study has used a variety of advanced deep neural networks to directly analyze point clouds to verify the proposed method. The results show that the method proposed in this study has been combined with the dynamic graph convolution neural network (DGCNN) established earlier, which can more accurately identify the ball in tens of millions of the point clouds of coal mining process. Most importantly, this work is not only of great significance to improve the production efficiency and safety in fully mechanized mining face but also lays a foundation for realizing intelligence in the mining field and avoiding the harm of dust explosion and other accidents to workers.

Attitudes and willingness to pay for clean heating by typical households: a case study of rural areas in Yongcheng City, Henan Province, China.

Understanding households' attitudes and willingness to pay (WTP) for clean heating can provide a scientific basis for decision-makers to assess the potential to develop clean heating, choose heating methods, and formulate subsidy standards in the region. In this paper, the double-bounded dichotomous contingent valuation method-modified by the spike model-was used to better estimate the actual WTP of households through a sample survey of 456 households in rural areas of Yongcheng City, China, in 2021. The factors influencing attitudes and WTP were examined to reveal mechanisms of accepting clean heating. The results showed that 94.96% of households were willing to pay for clean heating. The annual WTP was 1071 yuan per household, more than eight times the current heating cost. Factors that affect clean heating attitudes do not necessarily affect the WTP. Specifically, gender, length of time spent living at home, and family income had significant influences on WTP, whereas the educational level, adaptive perceptions in relation to environmental perceptions, and the recognition variables for gender equality in energy consumption had a significant impact on attitudes. It is worth noting that elderly people and females were identified as vulnerable groups in the implementation of clean heating.

Waste sorting behaviors promote subjective well-being: A perspective of the self-nature association.

As one of the most important pro-environmental behaviors, individuals' waste sorting behaviors are positively associated with their subjective well-being. This relationship is usually explained by the "self-other association", regarding waste sorting behaviors as pro-social deeds, thus elevating people's positive self-perception and strengthening a sense of interpersonal relatedness. Distinct from the general "good deeds", the ultimate beneficiary of waste sorting behaviors is the natural environment instead of other people, so the mechanism underlying the positive relationship between performing a general good deed and subjective well-being might not suffice to explain the positive association between waste sorting behaviors and subjective well-being. The current study proposed the "self-nature association" with the cognitive (i.e., environmental perception) and the affective (i.e., nature connectedness) pathways. Using a large sample national survey in China (N = 4,705), we confirmed the positive link between waste sorting behaviors and subjective well-being, and the dual pathway was verified by a parallel mediation analysis. The theoretical and practical values of the present work were further explicated.

Analysis of Lane-Changing Decision-Making Behavior of Autonomous Vehicles Based on Molecular Dynamics.

Along with the rapid development of autonomous driving technology, autonomous vehicles are showing a trend of practicality and popularity. Autonomous vehicles perceive environmental information through sensors to provide a basis for the decision making of vehicles. Based on this, this paper investigates the lane-changing decision-making behavior of autonomous vehicles. First, the similarity between autonomous vehicles and moving molecules is sought based on a system-similarity analysis. The microscopic lane-changing behavior of vehicles is analyzed by the molecular-dynamics theory. Based on the objective quantification of the lane-changing intention, the interaction potential is further introduced to establish the molecular-dynamics lane-changing model. Second, the relationship between the lane-changing initial time and lane-changing completed time, and the dynamic influencing factors of the lane changing, were systematically analyzed to explore the influence of the microscopic lane-changing behavior on the macroscopic traffic flow. Finally, the SL2015 lane-changing model was compared with the molecular-dynamics lane-changing model using the SUMO platform. SUMO is an open-source and multimodal traffic experimental platform that can realize and evaluate traffic research. The results show that the speed fluctuation of autonomous vehicles under the molecular-dynamics lane-changing model was reduced by 15.45%, and the number of passed vehicles was increased by 5.93%, on average, which means that it has better safety, stability, and efficiency. The molecular-dynamics lane-changing model of autonomous vehicles takes into account the dynamic factors in the traffic scene, and it reasonably shows the characteristics of the lane-changing behavior for autonomous vehicles.

Design and Calibration of Plane Mirror Setups for Mobile Robots with a 2D-Lidar.

Lidar sensors are widely used for environmental perception on autonomous robot vehicles (ARV). The field of view (FOV) of Lidar sensors can be reshaped by positioning plane mirrors in their vicinity. Mirror setups can especially improve the FOV for ground detection of ARVs with 2D-Lidar sensors. This paper presents an overview of several geometric designs and their strengths for certain vehicle types. Additionally, a new and easy-to-implement calibration procedure for setups of 2D-Lidar sensors with mirrors is presented to determine precise mirror orientations and positions, using a single flat calibration object with a pre-aligned simple fiducial marker. Measurement data from a prototype vehicle with a 2D-Lidar with a 2 m range using this new calibration procedure are presented. We show that the calibrated mirror orientations are accurate to less than 0.6° in this short range, which is a significant improvement over the orientation angles taken directly from the CAD. The accuracy of the point cloud data improved, and no significant decrease in distance noise was introduced. We deduced general guidelines for successful calibration setups using our method. In conclusion, a 2D-Lidar sensor and two plane mirrors calibrated with this method are a cost-effective and accurate way for robot engineers to improve the environmental perception of ARVs.

Experience Them, Love Them, Protect Them-Has the COVID-19 Pandemic Changed People's Perception of Urban and Suburban Green Spaces and Their Conservation Targets?

Public green and open spaces fulfil various social, ecological, economic, and aesthetic roles, which can be complementary while also competing with one another. The COVID-19 pandemic catalysed multiple societal changes, including citizens' perception, needs and expectations relating to urban green spaces. This article discusses the extent to which the temporally and geographically changed patterns of experiencing these natural spaces also influenced users' perception and behaviour as well as their appreciation of the conservation areas. The study is based upon two surveys carried out in the greater metropolitan region of Vienna, the capital city of Austria. A quantitative survey (representative online panel) among Viennese population (n = 1012), as well as qualitive interviews with experts responsible for conservation areas, administrators of federal parks, along with NGOs representatives were carried out in spring and summer 2021. Our study shows changed perception of urban citizens towards green spaces during the COVID-19 pandemic. An increased importance of time spent in nature (68%) and possibility to visit large green areas (67%) was reported by Viennese citizens. Also, higher recognition of green spaces located close to home was observed among 69% of the respondents. There were significant differences in opinions on green areas during the pandemic in various age and gender groups. Thus, the presented study contributes to the ongoing international discussion on the transition of societal needs and its effects on urban green spaces induced by the pandemic. Presented results highlight the need of urgent transformation towards a more sustainable, resilient and healthy urban space. Graphical abstract.

Does Water Quality Matter for Life Quality? A Study of the Impact of Water Quality on Well-being in a Coastal Community.

Most studies of life quality are concentrated on a country-level scale, while local differences within a country or area are less studied. Thus, the effect of the environment on life quality on a local scale remains understudied and is often represented by one generalized common factor. In this study, we investigated the effect of an objectively measured environmental quality variable and subjective reflections of this (perceptions of environmental quality) in relation to life quality in a coastal community. Hence, we tested the effect of objective and subjective water quality measures using a model, accounting for other traditional variables (e.g., income and health) that predict life quality variations. Our findings indicate that perceptions of the environment are strongly associated with life quality, whereas objectively measured environmental quality is associated with life quality to a lesser extent. Thus, our results suggest that the impact of the environment on life quality is mediated via the way the environment is perceived (psychological effects) and less by the actual conditions of the environment.

Post-survey Likert constructions: an adaptive method for generalizing perceptions of environmental variability.

Environmental perceptions are inherently based on an individual's existing knowledge, experiences, and future expectations. Methods for measuring environmental perception, therefore, must capture a range of experiences while also being flexible enough to integrate these experiences into a coherent unit for analysis. Many research topics require cross-cultural comparisons in order to corroborate findings; however, assessments of environmental perception are often place- and context-specific. We propose here post-survey Likert constructions (PSLCs), using semi-structured interviews to construct a five-point scale system from multiple household responses after the completion of interviews. This method is able to capture the natural variability in the population using the respondents' own language and characterizations of phenomena. We applied this method to measure the perceived environmental variability of residents living in a dynamic flooding landscape in the Okavango Delta, Botswana. The PSLC method captures the differences in environmental perception in a location with different settlement and cultural histories, multiple language groups, and different environmental conditions. The method easily transfers to other environments and populations, allowing for potential cross-cultural comparisons of perceived environmental variability. This publication responds to calls for increased transparency in reporting the development, execution, advantages, and disadvantages of methods related to environmental change.

Relations among Pro-Environmental Behavior, Environmental Knowledge, Environmental Perception, and Post-Materialistic Values in China.

During the economic boom, China's government was mainly concerned with economic development; however, numerous environmental problems have arisen. Evidence suggests that Chinese individuals' pro-environmental behavior (PEB) is at a low level in Asia. However, it does not match their high-quality environmental knowledge. In this paper, the database of the Chinese General Social Survey was used to explore the correlation between environmental knowledge and PEB in a broader context. Subsequently, environmental perception and post-materialistic values (PMV) were taken as the mediator and moderator into structural equation modeling, and every variable kept robust and consistent through exploratory factor analysis. The empirical results indicated that: (i) individuals with higher environmental knowledge always show higher passion to PEB; (ii) environmental perception plays a partially mediating role between environmental knowledge and PEB; (iii) PMV moderate the formation of environmental behavior systematically; and (iv) compared with public counterpart, the relation between environmental knowledge and PEB is significantly higher in private environmental behavior. The study results could become the basis for the Chinese government and environmental NGOs to effectively spread environmental knowledge, advocate a post-materialistic lifestyle, and improve the authenticity of online media reports on environmental issues.