In this paper we introduce a novel method to improve the general performance of fast marching tree for collision-free path planning called obstacle-based fast marching tree. Our proposed OB-FMT∗ samples the map in dis...
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With the widespread use of network infrastructures such as 5G and low-power wide-area networks,a large number of the Internet of Things(IoT)device nodes are connected to the network,generating massive amounts of ***,i...
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With the widespread use of network infrastructures such as 5G and low-power wide-area networks,a large number of the Internet of Things(IoT)device nodes are connected to the network,generating massive amounts of ***,it is a great challenge to achieve anonymous authentication of IoT nodes and secure data *** present,blockchain technology is widely used in authentication and s data storage due to its decentralization and ***,Fan et *** a secure and efficient blockchain-based IoT authentication and data sharing *** studied it as one of the state-of-the-art protocols and found that this scheme does not consider the resistance to ephemeral secret compromise attacks and the anonymity of IoT *** overcome these security flaws,this paper proposes an enhanced authentication and data transmission scheme,which is verified by formal security proofs and informal security ***,Scyther is applied to prove the security of the proposed ***,it is demonstrated that the proposed scheme achieves better performance in terms of communication and computational cost compared to other related schemes.
The field of quantum computing has developed rapidly in recent years due to its promising trend of surpassing traditional machine learning in terms of speed and effectiveness. Quantum kernel learning is one of the par...
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For a reliable and controllable wireless power transfer (WPT) system, the simultaneous wireless power and information transfer (SWPIT) technology has recently attracted special consideration to achieve real-time infor...
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For a reliable and controllable wireless power transfer (WPT) system, the simultaneous wireless power and information transfer (SWPIT) technology has recently attracted special consideration to achieve real-time information exchange between the transmitter and receiver. In this article, a novel SWPIT system with an integrated signal magnetic coupler is proposed for wireless charging applications. The signal detection coil integrated with the receiver coil is designed to utilize the existing ferrite cores of the magnetic coupler, reducing the overall cost, and obtaining a more compact design. Meanwhile, the deviation frequency enlargement effect principle and the frequency shift keying technology are used to realize SWPIT in a wireless charger. The equivalent circuit of the proposed system is modeled and analyzed considering the cross-couplings between the integrated signal coil and the main coils. The finite element analysis (FEA) is presented through Ansys Maxwell software to select the optimal ferrite core structure and eliminate these unwanted cross-couplings. Finally, a 70-$W$ power experimental prototype is established, and comprehensive experimental results are given to verify the feasibility and effectiveness of the proposed SWPIT system. Furthermore, the experimental results demonstrate that the measured output power fluctuation is below 0.5% during information transmission, the transmission rate is up to 9.6 kbps, and the system efficiency can be maintained at 88.76%.
Non-orthogonal multiple access (NOMA) technology has recently been widely integrated into multi-access edge computing (MEC) to support task offloading in industrial wireless networks (IWNs) with limited radio resource...
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Non-orthogonal multiple access (NOMA) technology has recently been widely integrated into multi-access edge computing (MEC) to support task offloading in industrial wireless networks (IWNs) with limited radio resources. This paper minimizes the system overhead regarding task processing delay and energy consumption for the IWN with hybrid NOMA and orthogonal multiple access (OMA) schemes. Specifically, we formulate the system overhead minimization (SOM) problem by considering the limited computation and communication resources and NOMA efficiency. To solve the complex mixed-integer nonconvex problem, we combine the multi-agent twin delayed deep deterministic policy gradient (MATD3) and convex optimization, namely MATD3-CO, for iterative optimization. Specifically, we first decouple SOM into two sub-problems, i.e., joint sub-channel allocation and task offloading sub-problem, and computation resource allocation sub-problem. Then, we propose MATD3 to optimize the sub-channel allocation and task offloading ratio, and employ the convex optimization to allocate the computation resource with a closed-form expression derived by the Karush-Kuhn-Tucker (KKT) conditions. The solution is obtained by iteratively solving these two sub-problems. The experimental results indicate that the MATD3-CO scheme, when compared to the benchmark schemes, significantly decreases system overhead with respect to both delay and energy consumption.
Bio-inspired magnetic helical microrobots have great potential for biomedical and micromanipulation applications. Precise interaction with objects in liquid environments is an important prerequisite and challenge for ...
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Bio-inspired magnetic helical microrobots have great potential for biomedical and micromanipulation applications. Precise interaction with objects in liquid environments is an important prerequisite and challenge for helical microrobots to perform various tasks. In this study, an automatic control method is proposed to realize the axial docking of helical microrobots with arbitrarily placed cylindrical objects in liquid environments. The docking process is divided into ascent, approach, alignment, and insertion stages. First, a 3D docking path is planned according to the positions and orientations of the microrobot and the target object. Second, a steering-based 3D path-following controller guides the helical microrobot to rise away from the container bottom and approach the target along the path. Third, based on path design with gravity compensation and steering output limits, alignment of position and orientation can be accomplished simultaneously. Finally, the helical microrobot completes the docking under the rotating magnetic field along the target orientation. Experiments verified the automatic docking of the helical microrobot with static targets, including connecting with micro-shafts and inserting into micro-tubes. The object grasping of a reconfigurable helical microrobot aided by 3D automatic docking was also demonstrated. This method enables precise docking of helical microrobots with objects, which might be used for capture and sampling, in vivo navigation control, and functional assembly of microrobots.
Automated synthesis of zeolite, one of the most important catalysts in chemical industries, holds great significance for attaining economic and environmental benefits. Structural synthesis data extracted through NLP t...
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Unmanned systems are increasingly adopted in various fields,becoming an indispensable technology in daily *** systems are the lifeblood of unmanned systems,and affect the working time and task ***,traditional power sy...
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Unmanned systems are increasingly adopted in various fields,becoming an indispensable technology in daily *** systems are the lifeblood of unmanned systems,and affect the working time and task ***,traditional power systems,such as batteries and fuels have a fixed ***,once the power supply is exhausted and cannot be replenished in time,the unmanned systems will stop ***,researchers have increasingly begun paying attention to renewable energy generation *** principles,advantages,and limitations of renewable energy generation technologies are different,and their application effects in different unmanned systems are also *** paper presents a comprehensive study of the application and development status of photovoltaic,thermoelectric,and magnetoelectric generation technologies in four kinds of unmanned systems,including space,aviation,ground,and water,and then summarizes the adaptability and limitations of the three technologies to different ***,future development directions are predicted to enhance the reliability of renewable energy generation technologies in unmanned *** is the first study to conduct a comprehensive and detailed study of renewable energy generation technologies applied in unmanned *** present work is critical for the development of renewable energy generation technologies and power systems for unmanned systems.
Model Predictive control (MPC)-based trajectory planning has been widely used in robotics, and incorporating control Barrier Function (CBF) constraints into MPC can greatly improve its obstacle avoidance efficiency. U...
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Reinforcement learning (RL) has demonstrated impressive performance in legged locomotion over various challenging environments. However, due to the sim-to-real gap and lack of explainability, unconstrained RL policies...
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