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Physical Layer Security Scheme With AoI-Awareness for industrial IoT Based on Covert Communications

IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 276-278页

作者： Yaping Li Zhi-Xin Liu Jia-Wei Su Ya-Zhou Yuan the Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University

Dear Editor,industrial Internet of things(IIoT) is a typical application of cyberphysical system(CPS). In the IIoT, wireless communication is an inevitable trend to replace the deployment-limited wired transmission for cases with large-scale and mobile devices. However, wireless communication gives rise to critical issues related to physical security, such as malicious detections and attacks [1].

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DESIGN AND EXPERIMENTAL VALIDATION OF A WEARABLE ANKLE EXOSKELETON WITH A SELF-LOCKING MECHANISM BASED ON PLANTAR PRESSURE

International Journal of Mechatronics and Applied Mechanics

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International Journal of Mechatronics and Applied Mechanics 2025年第19期1卷 122-132页

作者： Wang, Dengze Zheng, Yi Wang, Feiyang Li, Chang School of Mechanical and Automotive Engineering Qingdao University of Technology Qingdao266520 China Key Lab of Industrial Fluid Energy Conservation and Pollution Control Qingdao266520 China

As an important weight-bearing joint of the human body, the ankle joint is vulnerable to injury during exercise due to its complex structure and high frequency of use. After the initial injury, the ankle joint is more susceptible to secondary injury due to decreased joint stability and weakened proprioception, significantly affecting the patient's rehabilitation and motor function. To this end, this study designed a wearable ankle exoskeleton active protection system based on plantar pressure feedback, which innovatively combined passive self-locking and active control strategies to achieve dynamic ankle joint protection. A virtual prototype model was constructed in the study, and a structural diagram was drawn. Kinematic modeling was performed using the D-H parameter method, and the forward and inverse equations were derived. The rationality of the mechanism movement was verified by combining Adams software. The results showed that the design can meet the needs of plantar flexion-dorsiflexion movement of the ankle joint. Further, combined with real-time plantar pressure monitoring and patient movement intention analysis, the active following and self-locking protection functions of the body falling were realized through the collaboration of software and hardware. The active protection system effectively integrates plantar pressure feedback and patient posture analysis, providing an efficient and intelligent solution for preventing secondary ankle injuries, and has significant clinical application potential. © 2025 The Author(s).

关键词： Exoskeleton (Robotics)

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Small Signal Stability-Guaranteed Moving Target Defense Against Load Redistribution Attack On IoT-based Smart Grid

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IEEE Internet of Things Journal 2025年第11期12卷 17413-17429页

作者： Wang, Bingdong Zhang, Zhenyong Wang, Mufeng Liu, Mengxiang Ye, Rui Deng, Ruilong Zhang, Xin Guizhou University State Key Laboratory of Public Big Data College of Computer Science and Technology Guiyang550025 China China Industrial Control Systems Cyber Emergency Response Team Beijing100040 China University of Sheffield Department of Automatic Control and System Engineering Sheffield United Kingdom Guizhou Power Grid Co. Ltd. Intelligent Operation Center China Zhejiang University State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou310027 China Huzhou Institute of Industrial Control Technology Huzhou313000 China

Moving target defense (MTD) is a promising approach to defend against load redistribution attacks on the internet-of-things (IoT)-based smart grid networks by probing the distorted state estimates with the distributed flexible AC transmission system. However, existing studies mainly focus on optimizing the performance of MTD and ignore the safety effect of it on the system’s operation. In this paper, we fill this gap by deeply analyzing the effect of MTD on the small signal stability and aim to alleviate the negative impact and guarantee its defending performance simultaneously. Firstly, the stability is formally described using the eigenvalue sensitivity. The relationship between the MTD-induced perturbation (MTDper) and the stability criteria is derived. Secondly, a new indicator is proposed to measure the effectiveness of MTDper. Thirdly, a constrained optimization problem is formulated to compute the bound of MTDper for guaranteeing the small signal stability. In addition, a surprising finding is that the stability margin can be improved and enhanced by optimizing the value of MTDper without losing the MTD’s effectiveness. Finally, we evaluate the performance of MTDper and its impact on the small signal stability with extensive simulations on the IEEE 30-bus, 39-bus, and 68-bus test power systems. © 2014 IEEE.

关键词： Constrained optimization

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End-to-End Audio Pattern Recognition Network for Overcoming Feature Limitations in Human-Machine Interaction

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computers, Materials & Continua 2025年第5期83卷 3187-3210页

作者： Zijian Sun Yaqian Li Haoran Liu Haibin Li Wenming Zhang School of Information Science and Engineering Yanshan UniversityQinhuangdao066004China The Key Laboratory for Special Fiber and Fiber Sensor of Hebei Province Yanshan UniversityQinhuangdao066004China School of Electrical Engineering Yanshan UniversityQinhuangdao066004China Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan UniversityQinhuangdao066004China

In recent years,audio pattern recognition has emerged as a key area of research,driven by its applications in human-computer interaction,robotics,and *** methods,which rely heavily on handcrafted features such asMel filters,often suffer frominformation loss and limited feature representation *** address these limitations,this study proposes an innovative end-to-end audio pattern recognition framework that directly processes raw audio signals,preserving original information and extracting effective classification *** proposed framework utilizes a dual-branch architecture:a global refinement module that retains channel and temporal details and a multi-scale embedding module that captures high-level semantic ***,a guided fusion module integrates complementary features from both branches,ensuring a comprehensive representation of audio ***,the multi-scale audio context embedding module is designed to effectively extract spatiotemporal dependencies,while the global refinement module aggregates multi-scale channel and temporal cues for enhanced *** guided fusion module leverages these features to achieve efficient integration of complementary information,resulting in improved classification *** results demonstrate the model’s superior performance on multiple datasets,including ESC-50,UrbanSound8K,RAVDESS,and CREMA-D,with classification accuracies of 93.25%,90.91%,92.36%,and 70.50%,*** results highlight the robustness and effectiveness of the proposed framework,which significantly outperforms existing *** addressing critical challenges such as information loss and limited feature representation,thiswork provides newinsights and methodologies for advancing audio classification and multimodal interaction systems.

关键词： Audio pattern recognition raw audio end-to-end network feature fusion

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Minimum Initial Marking Estimation in labeled Petri Nets Using Minimum Token Number Prediction

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IEEE Transactions on Automatic control 2025年第5期70卷 3296-3302页

作者： Yue, Hao Xu, Yakun Hu, Hesuan Wu, Weimin Li, Lingxi College of Computer Science and Technology Qingdao266580 China Xidian University School of Electro-Mechanical Engineering Xi'an710071 China Nanyang Technological University School of Computer Science and Engineering College of Engineering 639798 Singapore Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China Zhejiang University Institute of Cyber-Systems and Control Hangzhou310027 China Purdue University Elmore Family School of Electrical and Computer Engineering College of Engineering IndianapolisIN46202 United States

This article proposes an approach to addressing the problem of minimum initial marking (MuIM) estimation for labeled Petri nets (LPNs). We introduce the important concept of a label synthesis net for LPNs and develop a method for predicting the minimum number of tokens. By using this prediction method, we develop an algorithm that has polynomial complexity in the length of the observed label sequence for estimating MuIMs. An illustrative example is provided to show the effectiveness and efficiency of our proposed approach. Moreover, experimental results demonstrate its advantage over existing work. Finally, we provide a comparison of some representative studies in the literature for MuIM estimation. © 1963-2012 IEEE.

关键词： Discrete event simulation

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Analysis of the Film-Forming Characteristics of Water Lubrication Assisted by Small Amount of Secondary Lubricating Oil

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Journal of Tribology 2025年第7期147卷 072202页

作者： Zhang, Xiaohan Liu, Yao Duan, Wenbin Jing, Zhaogang Guo, Feng Liang, Peng Ma, Ling School of Mechanical and Automotive Engineering Qingdao University of Technology Key Lab of Industrial Fluid Energy Conservation and Pollution Control Qingdao University of Technology Ministry of Education Qingdao266520 China School of Mechanical and Automotive Engineering Qingdao University of Technology Qingdao266520 China

This study investigates the film formation mechanism of lubrication using a small quantity of lubricating medium in a water environment. A roller-on-disc test rig combined with a fluorescent technique is employed to directly measure and observe the film formation behavior when a small amount of lubricating medium is introduced into the water. Additionally, a surface-modified disc is used to examine the impact of wettability gradients on the film-forming capability of the lubricating medium. The results indicate that the film thickness between the roller and the disc increases with the injection of two types of lubricating oils into the water at varying disc speeds, both for the original and modified discs. During the 10-second oil supply period, the spreading behavior of the lubricating oil on the lubricating track influences the film thickness stability. Furthermore, the surface-modified disc demonstrates an enhanced film thickness compared to the original disc, and viscosity becomes a key factor limiting the film-forming capability of the lubricating oil as the disc speed increases for both disc types. This research offers valuable insights for the design of new water-lubricated bearings. Copyright © 2024 by ASME.

关键词： Lubricating oils

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Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 126-137页

作者： Dongfang Li Jie Huang Rob Law Xin Xu Limin Zhu Edmond Q.Wu IEEE the School of Electrical Engineering and Automation Fuzhou University the Key Laboratory of System Control and Information Processing Ministry of Education the School of Electrical Engineering and Automation Fuzhou University 5G+Industrial Internet Institute Fuzhou University the University of Macau the College of Mechatronics and Automation National University of Defense Technology the School of Mechanical Engineering Shanghai Jiao Tong University the Department of Computer Science and Engineering Shanghai Jiao Tong University

This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance rule is designed to eliminate dynamics interference and sideslip issues. Limited-time yaw and surge speed observers are reported to fit disturbance variables in the model. The approximation values can compensate for the system's control input and improve the robots' tracking ***, this work develops a terminal sliding mode controller and third-order differential processor to determine the rotational torque and reduce the robots' run jitter. Then, Lyapunov's theory proves the uniform ultimate boundedness of the proposed method. Simulation and physical experiments confirm that the technology improves the tracking error convergence speed and stability of robotic fishes.

关键词： Adaptive integral surge line-of-sight approximation robotic fish speed observer

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Cutting force modeling in high-speed machining of selective laser melted Ti6Al4V alloys based on a modified constitutive model considering thermally activated effect

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Science China(Technological Sciences) 2025年第3期68卷 138-155页

作者： Dejian LIU Chenbing NI Youqiang WANG Lida ZHU Zhongpeng ZHENG Wei LU Naixin ZHANG Xingbao HUANG School of Mechanical and Automotive Engineering Qingdao University of TechnologyQingdao266520China Key Lab of Industrial Fluid Energy Conservation and Pollution Control Ministry of EducationQingdao266520China School of Mechanical Engineering and Automation Northeastern UniversityShenyang110819China School of Mechanical Engineering Tsinghua UniversityBeijing100084China Shandong Zhongheng Jingxin Carbon Fiber Technology Development Co. LtdDezhou251100China State Key Laboratory of Bridge Safety and Resilience College of Civil EngineeringHunan UniversityChangsha410082China

The thermally activated effect can produce a vital influence on the mechanical property and cutting force of metal materials in the machining *** insight can be gained into the action criteria of the thermally activated effect on the cutting force,which provides a solid basis of the research of material performance and *** this study,a cutting force model of selective laser melted(SLMed)Ti6Al4V alloy is proposed by introducing the modified constitutive model with thermally activated effects and the analytical model of the deformation zone into the cutting force *** anisotropic properties of SLMed Ti6Al4V alloy under different scanning strategies(0°,67.5°,and 90°)are explored by combining with the cutting force model,constitutive model and analytical model of deformation zone(primary deformation and tool-chip contact area).The action of thermally activated effects on the cutting force,primary deformation and tool-chip contact zone is also researched in *** experiments and predictions of SLMed Ti6Al4V alloy under different scanning strategies have been implemented to reveal the effectiveness of this new *** comparison results indicate that the proposed milling force model can effectively predict milling force and reflect well on the anisotropy of SLMed Ti6Al4V *** addition,this proposed force model can well analyze the action mechanism of the thermally activated effect on the milling force of SLMed Ti6Al4V alloy,which is significantly essential for the machining mechanism research in terms of a microscopic perspective.

关键词： cutting force model modified constitutive model thermally activated effect SLMed Ti6Al4V alloy laser scanning strategies anisotropic properties

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Pervasive Indoor User Identification Leveraging Mobile Single Station Localization

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IEEE Internet of Things Journal 2025年第11期12卷 15224-15237页

作者： Nie, Wendi Liu, Zexing Wang, Xiaoyang Duan, Yaoxin Lam, Kam-Yiu Liu, Kai Ng, Joseph K. Y. Xue, Chun Jason Gui, Guan Ministry of Education Key Laboratory of Industrial Internet of Things and Networked Control China Chongqing University of Posts and Telecommunications School of Automation/School of Industrial Internet Chongqing40065 China Institute of Industrial Internet Chongqing401120 China City University of Hong Kong Computer Science Department Hong Kong Chongqing University College of Computer Science Chongqing400030 China Hong Kong Baptist University Computer Science Department Hong Kong Mohamed Bin Zayed University of Artificial Intelligence Department of Computer Science Abu Dhabi United Arab Emirates Nanjing University of Posts and Telecommunications College of Telecommunications and Information Engineering Nanjing210003 China

The utilization of Wi-Fi-based technology for pervasive indoor user identification has gained prominence due to its cost-effective nature and compatibility with user devices. Previous works proposed capturing the media access control (MAC) address emitted from a user's device and using Information Elements (IE)-based MAC de-randomization methods to mitigate the impairment caused by random MAC. However, IE types of different Wi-Fi devices are not consistently differentiated, leading to identification errors in IE-based methods. Additionally, typical Wi-Fi fingerprinting approaches require densely pre-deployed Wi-Fi stations, contradicting the principle of pervasive localization. To address these challenges, we propose the mobile single station-based user identification (***) technique, which leverages Wi-Fi mobile single stations for pervasive indoor user identification. *** includes mobile single station localization (MSL) and MAC de-randomization based on users' spatio-temporal location and IE information (***). MSL can be implemented on a standard mobile Wi-Fi station without extensive pre-deployment. *** performs MAC de-randomization using the LIC algorithm to identify users with random MAC addresses. Experimental results demonstrate that *** outperforms previous IE-based user identification methods and multi-station localization techniques. MSL achieves a localization error of 1.15 meters which is better than multi-station with 12 APs of 1.40 meters. *** demonstrates an identification accuracy of 95.24% which is better than AIMAC of 85.48%. © 2014 IEEE.

关键词： Medium access control

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Configuration Synthesis of Weakly Coupled Parallel Hip Exoskeletons With Large Workspace

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Journal of Mechanisms and Robotics 2025年第7期17卷 074502页

作者： Xu, Jilong Liu, Fucai Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment Yanshan University Qinhuangdao 066004 China Key Lab of Industrial Computer Control of Heibei Province Yanshan University Qinhuangdao 066004 China

To address the issues of strong motion coupling, high control difficulty, and insufficient degrees-of-freedom (DoFs) in existing bio-syncretic parallel hip exoskeletons, a design scheme characterized by weak coupling is proposed. A configuration synthesis method for weakly coupled parallel hip exoskeletons is introduced by deriving the conditions that the transmission wrench screws (TWSs) in each limb must satisfy. Furthermore, to tackle the problem of limited workspace in parallel hip exoskeletons, a design method aimed at increasing the operational workspace is presented. By applying the proposed methods to the configuration synthesis of the hip exoskeleton, several weakly coupled configurations with expanded workspaces are generated. Finally, the correctness and effectiveness of the proposed methods are validated through case analyses.

关键词： weakly coupled hip exoskeleton configuration synthesis parallel robots Screws mechanism synthesis and analysis wearable devices parallel mechanism Exoskeleton devices workspace mechanisms and robots

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