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ACbot:an IIoT platform for industrial robots

Frontiers of computer science 2025年第4期19卷 13-27页

作者： Rui WANG Xudong MOU Tianyu WO Mingyang ZHANG Yuxin LIU Tiejun WANG Pin LIU Jihong YAN Xudong LIU School of Computer Science and Engineering Beihang UniversityBeijing 100191China Zhongguancun Laboratory Beijing 100194China School of Software Beihang UniversityBeijing 100191China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China Hangzhou Innovation Institute Beihang UniversityHangzhou 310051China School of Information Engineering China University of GeosciencesBeijing 100083China

As the application of Industrial Robots(IRs)scales and related participants increase,the demands for intelligent Operation and Maintenance(O&M)and multi-tenant collaboration *** methods could no longer cover the requirements,while the Industrial Internet of Things(IIoT)has been considered a promising ***,there’s a lack of IIoT platforms dedicated to IR O&M,including IR maintenance,process optimization,and knowledge *** this context,this paper puts forward the multi-tenant-oriented ACbot platform,which attempts to provide the first holistic IIoT-based solution for O&M of *** on an information model designed for the IR field,ACbot has implemented an application architecture with resource and microservice management across the cloud and multiple *** this basis,we develop four vital applications including real-time monitoring,health management,process optimization,and knowledge *** have deployed the ACbot platform in real-world scenarios that contain various participants,types of IRs,and *** date,ACbot has been accessed by 10 organizations and managed 60 industrial robots,demonstrating that the platform fulfills our ***,the application results also showcase its robustness,versatility,and adaptability for developing and hosting intelligent robot applications.

关键词： IIoT platform industrial robots cloud-edge collaboration intelligent applications

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Fluid Antenna-Assisted Simultaneous Wireless Information and Power Transfer Systems

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IEEE Transactions on Vehicular Technology 2025年第5期74卷 8285-8290页

作者： Zhou, Liaoshi Yao, Junteng Wu, Tuo Jin, Ming Yuen, Chau Adachi, Fumiyuki Ningbo University faculty of Electrical Engineering and Computer Science Ningbo315211 China Nanyang Technological University School of Electrical and Electronic Engineering 639798 Singapore Sendai Japan

This paper examines a fluid antenna (FA)-assisted simultaneous wireless information and power transfer (SWIPT) system. Unlike traditional SWIPT systems with fixed-position antennas (FPAs), our FA-assisted system enables dynamic reconfiguration of the radio propagation environment by adjusting the positions of FAs. This capability enhances both energy harvesting and communication performance. The system comprises a base station (BS) equipped with multiple FAs that transmit signals to an energy receiver (ER) and an information receiver (IR), both equipped with a single FA. Our objective is to maximize the communication rate between the BS and the IR while satisfying the harvested power requirement of the ER. This involves jointly optimizing the BS's transmit beamforming and the positions of all FAs. To address this complex convex optimization problem, we employ an alternating optimization (AO) approach, decomposing it into three sub-problems and solving them iteratively using first and second-order Taylor expansions. Simulation results validate the effectiveness of our proposed FA-assisted SWIPT system, demonstrating significant performance improvements over traditional FPA-based systems. © 2025 IEEE.

关键词： Convex optimization

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Development of Technologies for Prevention of Wild-Animal Related Losses to Agricultural Fields

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Journal of The Institution of Engineers (India): Series B 2025年第2期106卷 635-646页

作者： Doss, Srinath Kumar, Rajiv Paranthaman, Jothi Faculty of Engineering and Technology Botho University Gaborone Botswana School of Computer Science Engineering and Technology Bennett University Uttar Pradesh Greater Noida India Faculty of Engineering Gaborone University College of Law and Professional studies Gaborone Botswana

Over the past decades, integration of wireless sensor networks (WSNs) and computer vision (CV) technology has shown promising results in mitigating crop losses caused by wild animal attacks. Studies have demonstrated the effectiveness of these technologies in providing real-time monitoring and early detection of animal intrusions into agricultural fields. By deploying WSNs equipped with motion sensors and cameras, farmers can receive instant alerts when wild animals enter their fields, allowing for timely intervention to prevent crop damage. Furthermore, advancements in CV algorithms possess made possible to automatically detect and classify the animal species, facilitating targeted response strategies. For example, sophisticated image processing techniques can differentiate between harmless birds and destructive mammals, allowing farmers to focus their efforts on deterring the most damaging species. Field trials and pilot projects implementing WSN-CV systems have reported significant reductions in crop losses attributed to wild animal raids. By leveraging data collected through sensor networks and analyzed using computer vision algorithms, farmers can make informed decisions regarding pest and insect management strategies. This data-driven approach has led to more efficient utilization of resources, such as targeted application of insecticides and pesticides, resulting in both economic and environmental benefits. Moreover, the integration of WSN-CV technology has enabled the development of innovative deterrent systems that leverage artificial intelligence and automation. These systems can deploy non-lethal methods, such as sound or light-based repellents, to deter wild animals without causing harm to the environment or wildlife populations. Overall, the combination of wireless sensor networks and computer vision technology provides the promising resolution to the long-standing issue of wild animal-related losses in agriculture. By harnessing the power of data and a

关键词： Wireless sensor networks

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Joint V2V Group Association and Transmission Power Control in Federated Vehicular Networks

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IEEE Internet of Things Journal 2025年第11期12卷 18167-18182页

作者： Liu, Su Guan, Peiyuan Li, Yushuai Li, Tianyi Zolfagharian, Zolaikha Yu, Jiong Huang, Tingwen Xinjiang University School of Computer Science and Technology Urumqi830046 China University of Oslo Department of Informatics Oslo0316 Norway Aalborg University Department of Computer Science Aalborg9220 Denmark University of Tehran School of Electrical and Computer Engineering Iran Shenzhen University of Advanced Technology Faculty of Computer Science and Control Engineering Shenzhen518055 China

With growing awareness of privacy protection, Federated Learning (FL) in vehicular network scenarios effectively addresses privacy concerns, leading to the development of Federated Vehicular Networks (FVN). In FVN, vehicles maintain a global model by transmitting local models and iterative processing, resulting in significant communication overhead. In the Internet of Vehicles (IoV), as the majority of the spectrum resources are allocated to Vehicle-to-Vehicle (V2V) communication, vehicles engaged in FL encounter uplink interference when these resources are reused. This compromises the efficacy of FL vehicle communication. To address this issue, we propose FedCDC, a new Federated learning framework with adaptive weight Clustering with knowledge Distillation and Channel sharing-based resource allocation. First, we implement a communication compression strategy based on clustering and distillation to alleviate transmission load. Then, we develop a resource allocation strategy to maximize the Signal-to-Interference-plus-Noise Ratio (SINR) for both FL vehicles and V2V groups, which investigates two critical components: channel pairing and power coordination. We formulate the optimization issue as a multi-objective optimization problem that is solved offline using the MIDACO solver. Due to the dynamic characteristics of FVN, we employ a Multi-Agent Deep Deterministic Policy Gradient (MADDPG) to enhance efficiency. Finally, extensive experiments demonstrate that our approach significantly reduces data transmission and offers an efficient resource coordination plan, thus improving FL communication efficiency and ensuring the Quality of Service (QoS) for both V2V groups and FL vehicles. © 2014 IEEE.

关键词： Differential privacy

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Towards Secure AI-driven Industrial Metaverse with NFT Digital Twins 17

Towards Secure AI-driven Industrial Metaverse with NFT Digit...

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17th International Conference on COMmunication Systems and NETworkS, COMSNETS 2025

作者： Prakash, Ravi Thomas, Tony Kerala University of Digital Sciences Innovation and Technology School of Computer Science and Engineering Kerala India

ISBN: (纸本)9798331531195

The rise of the industrial metaverse has brought digital twins (DTs) to the forefront. Blockchain-powered non-fungible tokens (NFTs) offer a decentralized approach to creating and owning these cloneable DTs. However, the potential for unauthorized duplication, or counterfeiting, poses a significant threat to the security of NFT-DTs. Existing NFT clone detection methods often rely on static information like metadata and images, which can be easily manipulated. To address these limitations, we propose a novel deep-learning-based solution as a combination of an autoencoder and RNN-based classifier. This solution enables real-time pattern recognition to detect fake NFT-DTs. Additionally, we introduce the concept of dynamic metadata, providing a more reliable way to verify authenticity through AI-integrated smart contracts. By effectively identifying counterfeit DTs, our system contributes to strengthening the security of NFT-based assets in the metaverse. © 2025 IEEE.

关键词： Smart contract

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T-SNVAE: Deep probabilistic learning with local and global structure for industrial process monitoring

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2025年第06期6卷 1603-1613页

作者： Huang, Jian Liu, Zizhuo Yang, Xu Liu, Yupeng Lv, Zhaomin Peng, Kaixiang Ersoy, Okan K. University of Science and Technology Beijing Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering China University of Science and Technology Beijing Shunde Innovation School Foshan China Shanghai University of Engineering Science School of Urban Railway Transportation China Purdue University Electrical and Computer Engineering West Lafayette United States

Variational autoencoder is a generative deep learning model with a probabilistic structure, which makes it tolerant to process uncertainties and more suitable for process monitoring. However, the probabilistic model may disrupt the topological structure of data and lead to the loss of neighborhood information. To address this issue, a process monitoring approach based on t-distributed stochastic neighbor variational autoencoder (t- SNVAE) is proposed to capture probabilistic features that elucidate both local and global structures within the raw data. Specifically, the distances between neighboring data points are transformed into joint probabilities by using t-SN Embedding. Through minimizing the Kullback-Leibler divergence of joint probabilities between the original data and the reconstructed data, variational autoencoder learns Gaussian features containing both local and global neighborhood information. Finally, monitoring statistics are constructed for monitoring. The efficiency of the proposed approach is verified on a multiphase flow facility and a waste-water treatment process. © 2020 IEEE.

关键词： Embeddings

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A Parallel Color Image Encryption Algorithm Based on a 2D Logistic-Rulkov Neuron Map

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IEEE Internet of Things Journal 2025年第11期12卷 18115-18124页

作者： Gao, Suo Zhang, Zheyi Ho-Ching Iu, Herbert Ding, Siqi Mou, Jun Erkan, Uğur Toktas, Abdurrahim Li, Qi Wang, Chunpeng Cao, Yinghong The School of Information Science and Engineering Dalian Polytechnic University Dalian116034 China School of Electrical Electronic and Computer Engineering The University of Western Australia Perth6009 Australia School of Mathematical Sciences Dalian University of Technology Dalian116024 China Department of Computer Engineering Faculty of Engineering Karamanoglu Mehmetbey University Karaman70200 Turkey Department of Artificial Intelligence and Data Engineering Engineering Faculty Ankara University Ankara06830 Turkey Jinan250000 China

Images are widely used in social networks, necessitating efficient and secure transmission, especially in bandwidth-constrained environments. This paper aims to develop a color image encryption algorithm that enhances security while optimizing computational efficiency. A novel parallel color image encryption algorithm based on the 2D Logistic-Rulkov neuron map (2D-LRNM) is proposed. In this approach, the three channels of the color image are first separated. Cross-channel information interaction is introduced to form three new channels, which are then processed in parallel. During the encryption process of each channel, a block-wise parallel encryption mechanism is applied, ensuring simultaneous encryption of each block. This block-wise strategy effectively leverages parallel computing resources and balances the task load. To meet the demand for a large number of keystreams during encryption, the 2D-LRNM is introduced. It combines the simplicity and chaotic properties of the Logistic map with the multi-timescale dynamics and neurodynamic behaviors of the Rulkov map. By overcoming the dimensional limitations inherent in the single Logistic map, this approach extends the system to a two-dimensional framework, significantly increasing the complexity of chaotic behavior and improving its unpredictability. Experimental results demonstrate that the proposed encryption algorithm achieves high security and reduces computation time by approximately 83.3%. © 2014 IEEE.

关键词： Encryption algorithms

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Grape Guard:A YOLO-based mobile application for detecting grape leaf diseases

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Journal of Electronic science and Technology 2025年第1期23卷 60-75页

作者： Sajib Bin Mamun Israt Jahan Payel Md.Taimur Ahad Anthony S.Atkins Bo Song Yan Li Department of Computer Science and Engineering Daffodil International UniversityDhaka1207Bangladesh Department of Computer Science University of Southern QueenslandToowoomba4350Australia Faculty of Digital TechnologyInnovationand BusinessStaffordshire UniversityStoke-on-TrentST42DEUnited Kingdom School of Engineering University of Southern QueenslandToowoomba4350Australia School of Mathematics Physics and ComputingUniversity of Southern QueenslandToowoomba4350Australia

Grape crops are a great source of income for *** yield and quality of grapes can be improved by preventing and treating *** farmer’s yield will be dramatically impacted if diseases are found on grape *** detection can reduce the chances of leaf diseases affecting other healthy *** studies have been conducted to detect grape leaf diseases,but most fail to engage with end users and integrate the model with real-time mobile *** study developed a mobile-based grape leaf disease detection(GLDD)application to identify infected leaves,Grape Guard,based on a TensorFlow Lite(TFLite)model generated from the You Only Look Once(YOLO)v8 model.A public grape leaf disease dataset containing four classes was used to train the *** results of this study were relied on the YOLO architecture,specifically YOLOv5 and *** extensive experiments with different image sizes,YOLOv8 performed better than ***8 achieved 99.9%precision,100%recall,99.5%mean average precision(mAP),and 88%mAP50-95 for all classes to detect grape leaf *** Grape Guard android mobile application can accurately detect the grape leaf disease by capturing images from grape vines.

关键词： Bacterial diseases Grape Guard Mobile-based application YOLOv5 YOLOv8

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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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Resilient Distributed Optimization for Multi-Agent Cyberphysical Systems

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IEEE Transactions on Automatic Control 2025年第6期70卷 3952-3967页

作者： Yemini, Michal Nedic, Angelia Goldsmith, Andrea J. Gil, Stephanie Bar-Ilan University Faculty of Engineering Israel Arizona State University School of Electrical Computer and Energy Engineering TempeAZ85281 United States Princeton University Department of Electrical and Computer Engineering PrincetonNJ08544 United States Harvard University Computer Science Department School of Engineering and Applied Sciences CambridgeMA02139 United States

This work focuses on the problem of distributed optimization in multi-agent cyberphysical systems, where a legitimate agent's iterates are influenced both by the values it receives from potentially malicious neighboring agents, and by its own self-serving target function. We develop a new algorithmic and analytical framework to achieve resilience for the class of problems where stochastic values of trust between agents exist and can be exploited. In this case, we show that convergence to the true global optimal point can be recovered, both in mean and almost surely, even in the presence of malicious agents. Furthermore, we provide expected convergence rate guarantees in the form of upper bounds on the expected squared distance to the optimal value. Finally, numerical results are presented that validate our analytical convergence guarantees even when the malicious agents compose the majority of agents in the network and where existing methods fail to converge to the optimal nominal points. © 1963-2012 IEEE.

关键词： Multi agent systems

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