Abstract
In urban environments, last-mile item delivery relies heavily on trucks, causing issues like noise pollution and traffic congestion. Unmanned Aerial Vehicles (UAVs) offer a promising solution to these challenges. This study compares the effectiveness of delivery using trucks versus drones. Two customer datasets, one clustered and one random, were used for testing. Route optimization involved four deterministic and four non-deterministic algorithms. The performance of these algorithms, considering the total distance traveled, was evaluated across different datasets and vehicle types. The top two algorithms were further assessed for environmental impact and cost efficiency. Battery consumption along the routes was also analyzed to gauge operational feasibility.

Abstract
Cooperative robotics is exponentially gaining strength in scientific research, especially regarding the cooperation between ground mobile robots and Unmanned Aerial Vehicles (UAVs), where the remaining challenges are equipollent to its potential uses in different fields, such as agriculture and electrical tower inspections. Due to the complexity involved in the process, precision landing by UAVs on moving robotic platforms for tasks such as battery hot-swapping is a major open research question. This work explores the feasibility and accuracy of different fiducial markers to aid in the precision landing process by a UAV on a mobile robotic platform. For this purpose, a TelloUAV was used to acquire images at different positions, angles, and distances from ArUco, ARTag, and ArUco Board markers to evaluate their detection precision. The analyses demonstrate the highest reliability in the measurements performed through the ArUco marker. Future work will be devoted to using the ArUco marker to perform precision landing on a mobile robotic platform, considering the necessary adjustments to lessen the impact of errors intrinsic to detecting the fiducial marker during the landing procedure.

Abstract
Autonomous vehicles and robotic manipulators are two examples of mechanically distinct systems. Whether these areas are indoors or outside, the environment in which such vehicles will be employed will play a crucial role in how their locomotion systems develop. The speed and stability of wheeled traditional mobility on ordinary flooring are superior. Leg traction is an efficient method for navigating uneven floors, but it takes more time and uses more energy. The foundation of the hybrid configuration is the creation of a leg that enables the interchange and fusion of the two previously described locomotion methods. One advantage of the hybrid arrangement is that the robot may now be deployed in a wider variety of environments. The goal of this paper is to showcase the creation of a leg for a hybrid locomotive robot. The leg can be printed and constructed at a reasonably low-cost thanks to the design of the numerous 3D modules, which will be made accessible later. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

Abstract
In the last few decades, the area of robotics has evolved immensely, creating new and improved robot mobility solutions for industrial, scientific, medical, and several other purposes. Among these solutions is the car-like robot, using wheels to move. However, there are many different options within this solution, different types of wheels and configurations on the robot that each offer key advantages for a variety of objectives. Choosing a wheel configuration for robot vehicles is extremely important for the robot’s mobility, and its purpose must be considered while studying all the options. Starting on an existing prototype with a differential configuration, other configurations were implemented to study their differences, their strong and weak points, and the trajectories they allow the robot to make. This analysis will make the choice of configuration for each scenario clearer. This paper presents three types of robot configurations and compares them according to requirements using real prototype robots that are shared with the community for many purposes, such as education, among others. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

Abstract
The practical application of knowledge acquired during undergraduate studies is crucial for students to address real-world problems and seek solutions. The SMAR PD3 didactic plant provides a conducive environment for experiments in systems such as level and flow, common in various industrial sectors. Cascade control, an approach that sequentially uses two or more controllers, stands out as a promising strategy to enhance precision and stability in industrial processes. This work proposes a study on cascade control in flow and level systems, demonstrating its application in the didactic plant. The process involved system identification, tuning of conventional and cascade PI and PID controllers, followed by the implementation of the Successive Loop Closure technique. Results, in line with specialized literature, indicate that the implementation of cascade controllers in the industry can improve specific processes affected by disturbances or changes in variables, directly impacting the overall functioning of the process.

Abstract
This paper describes the development of a complete controller for the FANUC S-420FD 6-axis industrial robot. The original controller of the robot presented failures that made it impossible to operate and that negatively impacted the academic and research activities. To solve this problem, it was proposed the development of a new open-technology controller and also the design of an intuitive and functional graphical interface, allowing the programming, control and monitoring of the robot parameters. The developed interface offers advanced features such as trajectory programming, custom parameter configuration, and real-time visualization of the robot's state. This work highlights the importance of efficient and affordable solutions for the maintenance of industrial robots in university environments, encouraging scientific and technological advancement in these areas of study.