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Digital modelling stands as a pivotal step in the realm of Digital Twinning. The future trend of Digital Twinning involves automated exploration and environmental modelling in complex scenes. In our study, we propose an innovative solution for robot odometry, path planning, and exploration in unknown outdoor environments, with a focus on Digital modelling. The approach uses a minimum cost formulation with pseudo-randomly generated objectives, integrating multi-path planning and evaluation, with emphasis on full coverage of unknown maps based on feasible boundaries of interest. The approach allows for dynamic changes to expected targets and behaviours. The evaluation is conducted on a robotic platform with a lightweight 3D LiDAR sensor model. The robustness of different types of odometry is compared, and the impact of parameters on motion planning is explored. The consistency and efficiency of exploring completely unknown areas are assessed in both indoor and outdoor scenarios. The experiment shows that the method proposed in this article can complete autonomous exploration and environmental modelling tasks in complex indoor and outdoor scenes. Finally, the study concludes by summarizing the reasons for exploration failures and outlining future focuses in this domain. [ABSTRACT FROM AUTHOR]

Strain sensing technology using fibre Bragg grating (FBG) sensors is an attractive capability for aerospace structural health monitoring (SHM) and assessment because they offer resistance to harsh environments, low maintenance, and potential for high density and high strain sensing. The development of FBG inscription techniques through the fibre polymer coating using infrared (IR) lasers has overcome the mechanical weaknesses introduced by removal of the fibre coating, which is typically required for conventional UV laser inscription of FBGs. Type I and Type II femtosecond gratings are fabricated using through-coating inscription techniques, but the higher laser energy used for Type II gratings damages the glass fibre core, impacting mechanical performance. This paper investigates the fatigue performance of Type I and Type II through-coating FBG sensors with different fibre geometries and photosensitisation approaches to evaluate their overall reliability and durability, with a view to assess their performance for potential use in civil and defence SHM applications. The fatigue performance of FBG sensors was assessed under high-strain and high-frequency mechanical loading conditions by using a custom-designed electro-dynamically actuated loading assembly. In addition, pre- and post-fatigue microscopic analyses and high-resolution reflection spectrum characterisation were conducted to investigate the failure regions of the fibres and the effect of fatigue loading on reflection spectrum features. As expected, Type I gratings had a significantly higher fatigue life compared to Type II gratings. However, Type II gratings performed significantly better than conventional UV laser-inscribed FBGs and electrical foil strain gauges. Type II gratings withstand higher temperatures, and are therefore more suitable for application in harsh environments. [ABSTRACT FROM AUTHOR]

Although fibre Bragg gratings (FBGs) offer obvious potential for use in high-density, high-strain sensing applications, the adoption of this technology in the historically conservative aerospace industry has been slow. There are several contributing factors, one of which is variability in the reported performance of these sensors in harsh and fatigue prone environments. This paper reports on a comparative evaluation of the fatigue performance of FBG sensors written according to the same specifications using three different grating manufacturing processes: sensors written in stripped and re-coated fibres, sensors written during the fibre draw process and sensors written through fibre coating. Fatigue cycling of the fibres is provided by a customized electro-dynamically actuated loading assembly designed to provide high frequency and amplitude loading. Pre- and post-fatigue microscopic analysis and high-resolution transmission and reflection spectra scanning are conducted to investigate the fatigue performance of FBGs, the failure regions of fibres as well as any fatigue-related effects on the spectral profiles. It was found that because of the unique fabrication method, the sensors written through the fibre coating, also known as trans-jacket FBGs, show better fatigue performance than stripped and re-coated FBGs with greater control possible to tailor the optical reflection properties compared to gratings written in the draw tower. This emerging method for inscription of Type I gratings opens up the potential for mass production of higher reflectivity, apodised sensors with dense or complex array architectures which can be adopted as sensors for harsh environments such as in defence and aerospace industries. [ABSTRACT FROM AUTHOR]