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Digital Twins and Cyber-Physical Systems:A New Frontier in computer Modeling

computer Modeling in Engineering & sciences 2025年第4期143卷 51-113页

作者： Vidyalakshmi G S Gopikrishnan Wadii Boulila Anis Koubaa Gautam Srivastava Department of Computer Science and Engineering SRM University APAmaravati522240India School of Computer Science and Engineering VIT-AP UniversityAmaravathi522240India Robotics and Internet-of-Things Laboratory Prince Sultan UniversityRiyadh12435Saudi Arabia Department of Math and Computer Science Brandon UniversityBrandonMB R7A6A9Canada Research Centre for Interneural Computing China Medical UniversityTaichung40402Taiwan

Cyber-Physical Systems(CPS)represent an integration of computational and physical elements,revolutionizing industries by enabling real-time monitoring,control,and optimization.A complementary technology,Digital Twin(DT),acts as a virtual replica of physical assets or processes,facilitating better decision making through simulations and predictive *** and DT underpin the evolution of Industry 4.0 by bridging the physical and digital *** survey explores their synergy,highlighting how DT enriches CPS with dynamic modeling,realtime data integration,and advanced simulation *** layered architecture of DTs within CPS is examined,showcasing the enabling technologies and tools vital for seamless *** study addresses key challenges in CPS modeling,such as concurrency and communication,and underscores the importance of DT in overcoming these *** in various sectors are analyzed,including smart manufacturing,healthcare,and urban planning,emphasizing the transformative potential of CPS-DT *** addition,the review identifies gaps in existing methodologies and proposes future research directions to develop comprehensive,scalable,and secure CPSDT *** synthesizing insights fromthe current literature and presenting a taxonomy of CPS and DT,this survey serves as a foundational reference for academics and *** findings stress the need for unified frameworks that align CPS and DT with emerging technologies,fostering innovation and efficiency in the digital transformation era.

关键词： Cyber physical systems digital twin efficiency Industry 4.0 robustness and intelligence

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Audio-Visual Navigation with Anti-Backtracking 27th

Audio-Visual Navigation with Anti-Backtracking

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27th International Conference on Pattern Recognition, ICPR 2024

作者： Zhao, Zhenghao Tang, Hao Yan, Yan Department of Computer Science University of Illinois Chicago Chicago United States Robotics Institute Carnegie Mellon University Pittsburgh United States

ISBN: (纸本)9783031784552

Embodied navigation, which involves robotic agents exploring an unknown environment to reach target locations with egocentric observation, is a complex problem in the field of embodied AI. Audio-visual navigation extends this concept by equipping agents with both visual and auditory sensors. Recent studies have explored the audio-visual navigation task, exploring its potential and intricacies. Current methodologies, despite their achievements, often fail to fully utilize the capabilities of these sensory modalities, leading to sub-optimal designs and inefficiencies. In addition, the prevalent backtracking problem in navigation tasks often leads to redundant movements by robots. To address these challenges, we introduce the Audio-Visual Guided Navigation (AVGN) model. At its core, AVGN champions the fusion of visual and auditory data through sophisticated modality fusion layers. Our model represents a significant advancement by employing transformers for visual encoding and deploying a novel Dual Stage Feature Integration (DSFI) to decode latent interrelationships between the visual and audio realms. With AVGN, the backtracking issue is mitigated, as the acoustic map synergizes more effectively with visual features for informed action decisions. Furthermore, targeting the backtracking problem, we propose a unique set of reward structures to guide and refine the actions of the agent. Benchmark evaluations on Replica and Matterport3D datasets validate our claims, and AVGN notably surpasses existing methodologies in audio-visual navigation tasks. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Reinforcement learning

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Real-Time Multi-object Tracking Using YOLOv8 and SORT on a SoC FPGA 21st

Real-Time Multi-object Tracking Using YOLOv8 and SORT on a...

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21st International Symposium on Applied Reconfigurable Computing, ARC 2025

作者： Danilowicz, Michal Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9783031879944

Multi-object tracking (MOT) is one of the most important problems in computer vision and a key component of any vision-based perception system used in advanced autonomous mobile robotics. Therefore, its implementation on low-power and real-time embedded platforms is highly desirable. Modern MOT algorithms should be able to track objects of a given class (e.g. people or vehicles). In addition, the number of objects to be tracked is not known in advance, and they may appear and disappear at any time, as well as be obscured. For these reasons, the most popular and successful approaches have recently been based on the tracking paradigm. Therefore, the presence of a high quality object detector is essential, which in practice accounts for the vast majority of the computational and memory complexity of the whole MOT system. In this paper, we propose an FPGA (Field-Programmable Gate Array) implementation of an embedded MOT system based on a quantized YOLOv8 detector and the SORT (Simple Online Realtime Tracker) tracker. We use a modified version of the FINN framework to utilize external memory for model parameters and to support operations necessary required by YOLOv8. We discuss the evaluation of detection and tracking performance using the COCO and MOT15 datasets, where we achieve 0.21 mAP and 38.9 MOTA respectively. As the computational platform, we use an MPSoC system (Zynq UltraScale+ device from AMD/Xilinx) where the detector is deployed in reprogrammable logic and the tracking algorithm is implemented in the processor system. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： System-on-chip

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Secrecy Performance Review for IoT-based Cognitive Farming System

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Recent Patents on Engineering 2024年第7期18卷 66-75页

作者： Chopra, Khyati Alam, M. Afshar Department of CSE Jamia Hamdard University New Dehli India University School of Automation and Robotics GGSIPU New Delhi110032 India Department of Computer Science and Engineering Jamia Hamdard University New Delhi110062 India

Smart farm management has complex challenges;therefore, there is a need to improve the overall adaptability, profitability, and environmental soundness of the farming systems. Agricultural production can be enhanced with the help of IoT-based cognitive tools. The rapid increase in IoT-based smart systems has raised critical concerns about efficiently utilizing the wireless spectrum. To drastically bring the improvement in the utilization of the wireless spectrum, cognitive radio (CR) has emerged as an effective solution. The inherent openness and broadcast nature of the wireless medium have given rise to many security issues in cooperative networks. Information-theoretic security or physical layer security (PLS) is evolved as an efficacious wireless prototype for reliable transmissions to avert the eavesdropper from expropriating transmittal data on the wireless connections. Security is the key factor in these networks as they are exposed and active in be-havior, thus, are susceptible to fraudulent activities. In this patent study, we investigated the performance of the CR system in terms of secrecy and also examined the system in terms of diversity receipt and selection of relay. The secrecy outcome of channel state information at the sender was also studied. The detrimental effects of fading in cooperative networks were also extensively discussed. Cooperative diversity was examined by deploying MRC and SC strategies at receptors. It has been deduced that CSI knowledge at the sender also has an eloquent concussion on the secrecy of the cognitive system. © 2024 Bentham science Publishers.

关键词： Cognitive radio

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Hand Gestures and Machine Learning: A Novel Path to Number Prediction

Hand Gestures and Machine Learning: A Novel Path to Number P...

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2023 International Conference on Recent Advances in science and Engineering Technology, ICRASET 2023

作者： Karegoudra, Shilpa Veeresha, R.K. Department of Computer Science and Engineering Udupi574110 India Department of Robotics and Artificial Intelligence Udupi574110 India

ISBN: (纸本)9798350306927

The gesture-based communication system proves highly valuable for individuals who are almost deaf and discourse disabled. It allows them to convey messages effectively through gestures. The objective of this application is to provide a platform that accurately interprets these signs, enabling regular individuals to understand the gestures. The system detects and recognizes the gestures and displays the corresponding characters. This technology, which utilizes the PCA method, achieves comparable accuracy to other existing systems and methods. The system we have developed plays a crucial role in enabling individuals to understand and communicate like normal people using static gestures. While various proposals exist for gesture systems with specific languages like ASL, ISL, etc., we introduce a new set of static gestures using MATLAB, building upon existing systems. The system involves capturing input through a camera, after which the system applies preprocessing techniques to enhance the captured image. Next, a set of features is extracted from the preprocessed image using PCA (Principal Component Analysis). To identify the gestures, the system compares these features with those in the training sets, using the Euclidean Distance method. Our hand gesture system has been designed to recognize and interpret numbers from 0 to 5. Once a gesture is identified, the system can produce the output in the form of text ensuring effective communication for the users. © 2023 IEEE.

关键词： Principal component analysis

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Test-Time Adaptation for Nighttime Color-Thermal Semantic Segmentation

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第10期5卷 4893-4904页

作者： Liu, Yexin Zhang, Weiming Zhao, Guoyang Zhu, Jinjing Vasilakos, Athanasios V. Wang, Lin Robotics and Autonomous Systems Thrust Guangzhou511458 China Grimstad4879 Norway Artificial Intelligence Thrust Guangzhou511458 China The Hong Kong University of Science and Technology Department of Computer Science and Engineering Hong Kong999077 Hong Kong

The ability to scene understanding in adverse visual conditions, e.g., nighttime, has sparked active research for color-thermal semantic segmentation. However, it is essentially hampered by two critical problems: 1) the day-night gap of color images is larger than that of thermal images;and 2) the classwise performance of color images at night is not consistently higher or lower than that of thermal images. We propose the first test-time adaptation (TTA) framework, dubbed Night-TTA, to address the problems for nighttime color-thermal semantic segmentation without access to the source (daytime) data during adaptation. Our method enjoys three key technical parts. First, as one modality (e.g., color) suffers from a larger domain gap than that of the other (e.g., thermal), imaging heterogeneity refinement (IHR) employs an interaction branch on the basis of color and thermal branches to prevent cross-modal discrepancy and performance degradation. Then, class aware refinement (CAR) is introduced to obtain reliable ensemble logits based on pixel-level distribution aggregation of the three branches. In addition, we also design a specific learning scheme for our TTA framework, which enables the ensemble logits and three student logits to collaboratively learn to improve the quality of predictions during the testing phase of our Night-TTA. Extensive experiments show that our method achieves state-of-the-art (SoTA) performance with a 13.07% boost in mean intersection over union (mIoU). © 2020 IEEE.

关键词： Color

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Versatile Tasks on Integrated Aerial Platforms Using Only Onboard Sensors: Control, Estimation, and Validation

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IEEE Transactions on robotics 2025年 41卷 3518-3538页

作者： Wang, Kaidi Lai, Ganghua Yu, Yushu Du, Jianrui Sun, Jiali Xu, Bin Franchi, Antonio Sun, Fuchun Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beijing Institute of Technology School of Mechanical Engineering Beijing100081 China University of Twente Robotics and Mechatronics Lab Faculty of Electrical Engineering Mathematics and Computer Science Enschede7500 AE Netherlands Tsinghua University Department of Computer Science and Technology China

Connecting multiple aerial vehicles to a rigid central platform through passive spherical joints holds the potential to construct a fully-actuated aerial platform. The integration of multiple vehicles enhances efficiency in tasks like mapping and object reconnaissance. This paper proposes a control and state estimation framework for the Integrated Aerial Platform (IAP), enabling it to perform versatile tasks like object reconnaissance and physical interactive tasks with only onboard sensors. In the framework, the 6D motion control serves as the low-level controller, while the high-level controller comprises a 6D admittance filter and a perception-aware attitude correction module. The 6D admittance filter, serving as the interaction controller, is adaptable for aerial interaction tasks. The perception-aware attitude correction algorithm is carefully designed by adopting a geometric Model Predictive Controller (MPC). This algorithm, incorporating both offline and online calculations, proves to be well-suited for the intricate dynamics of an IAP. A 6D direct wrench controller is also developed for the IAP. Notably, both the interaction controller and the direct wrench controller operate without reliance on force/torque sensors. Instead, a wrench observer algorithm is devised, considering external disturbances. Additionally, based on the kinematics constraints of the multiple aerials in the platform, a fusion algorithm for multiple Visual-Inertial Odometry (VIO) and kinematics constraints is developed, providing more accurate localization. A prototype of the IAP is constructed, and its capabilities are demonstrated through experiments including perception-aware object reconnaissance, aerial mapping, aerial peg-in-hole task, and 6D contact wrench generation. All experiments are conducted exclusively with onboard sensors. These tasks exemplify the merits of the proposed IAP and validate the effectiveness of the proposed control framework and fusion algorithm. © 2004-2012

关键词： State estimation

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India's Stake in Emerging Technology - A Review 18

India's Stake in Emerging Technology - A Review

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18th INDIAcom;11th International Conference on Computing for Sustainable Global Development, INDIACom 2024

作者： Singh, Sugandha China Ramu, S. Lalit, Ruchika Sgt University Department of Computer Science and Engineering Gurugram India Chaitanya Bharathi Institute of Technology Department of Computer Science and Engineering Hyderabad India University School of Automation and Robotics Ggsipu East Campus New Delhi India

ISBN: (纸本)9789380544519

Emerging technologies of today are altering the way we think about the built environment. In the meantime, many technologies have undergone revolutionary changes, and India, an expanding nation, offers opportunities for development in several new areas. The goal of the study is to show how organizations need to adapt their perspective and create new strategies for emerging technologies such as artificial intelligence (AI), machine learning (ML), big data, quantum, and space exploration in light of the swift advancements in technology. This paper presents that although India has come across a lot of advancements in this era of emerging technology, certain challenges have been faced in aspects like adapting, feasibility, and approval which brought many changes across the country, which in turn is impacting the pace to transform the country towards Industry 4.0 and Industry 5.0. Therefore a study is presented to understand the impact of emerging technologies for countries coming up as Industry 4.0 and Industry 5.0. This paper emphasizes on for India's initiatives for emerging technologies to come up as VIKSIT BHARAT @2047. © 2024 Bharati Vidyapeeth, New Delhi.

关键词： Artificial Intelligence Big Data Fabrication Hypersonic platforms Industry 4.0 and Industry 5.0 Quantum computing

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Arbitrarily Scalable Environment Generators via Neural Cellular Automata (Extended Abstract) 17th

Arbitrarily Scalable Environment Generators via Neural Cellu...

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17th International Symposium on Combinatorial Search, SoCS 2024

作者： Zhang, Yulun Fontaine, Matthew C. Bhatt, Varun Nikolaidis, Stefanos Li, Jiaoyang Robotics Institute Carnegie Mellon University United States Thomas Lord Department of Computer Science University of Southern California United States

ISBN: (纸本)9781577358916

We study the problem of generating arbitrarily large environments to improve the throughput of multi-robot systems. Prior work proposes Quality Diversity (QD) algorithms as an effective method for optimizing the environments of automated warehouses. However, these approaches optimize only relatively small environments, falling short when it comes to replicating real-world warehouse sizes. The challenge arises from the exponential increase in the search space as the environment size increases. Additionally, the previous methods have only been tested with up to 350 robots in simulations, while practical warehouses could host thousands of robots. In this paper, instead of optimizing environments, we propose to optimize Neural Cellular Automata (NCA) environment generators via QD algorithms. We train a collection of NCA generators with QD algorithms in small environments and then generate arbitrarily large environments from the generators at test time. We show that NCA environment generators maintain consistent, regularized patterns regardless of environment size, significantly enhancing the scalability of multi-robot systems in two different domains with up to 2,350 robots. Additionally, we demonstrate that our method scales a single-agent reinforcement learning policy to arbitrarily large environments with similar patterns. We include the source code at https://***/lunjohnzhang/warehouse_env_gen_nca_public. © 2024, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Multipurpose robots

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Specular Region Detection and Covariant Feature Extraction 27th

Specular Region Detection and Covariant Feature Extraction

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27th International Conference on Pattern Recognition, ICPR 2024

作者： Bappy, D.M. Kang, Donghwa Lee, Jinkyu Lee, Youngmoon Koo, Minsuk Baek, Hyeongboo Department of Computer Science and Engineering Incheon National University Incheon Korea Republic of Department of Computer Science and Engineering Sungkyunkwan University Suwon Korea Republic of Department of Robotics Hanyang University Ansan Korea Republic of Department of Artificial Intelligence University of Seoul Seoul Korea Republic of

ISBN: (纸本)9783031781971

Endoscopy images pose a distinct set of challenges, such as specularity, uniformity, and deformation, which can obstruct surgeons’ observations and decision-making processes. These hurdles complicate feature extraction and may ultimately lead to the failure of a surgical navigation system. To tackle these obstacles, we introduce a Modified Maximal Stable Extremal Region (MMSER) detector that specifically targets fine specular regions. Subsequently, we ingeniously fuse the capabilities of MMSER and saturation region properties to precisely identify specular regions within endoscopy images. Furthermore, our approach harnesses the shared properties of covariant features and endoscopic imaging to detect features in intricate regions, such as low-textured and deformed areas. Surpassing contemporary methods, our proposed technique demonstrates remarkable performance when evaluated on the available CVC-ClinicSpec datasets. Our method has shown improvements in accuracy, recall, f1-score, and Jaccard index by 0.21%,25.42%,7.77% snd 11.77%, respectively, when compared to recent techniques. Owing to its exceptional ability to accurately pinpoint specular regions and extract features from complex areas, our approach holds the potential to significantly advance surgical navigation. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Endoscopy

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