Search Results (703)

This paper presents a Digital Twin (DT)-based framework for the control, monitoring, and intelligent optimization of an Assembly/Disassembly/Repair Mechatronic Production Line (A/D/R MPL), developed as a laboratory platform aligned with Industry/Education 4.0/5.0 paradigms. The A/D/R MPL is assisted by two complementary cyber–physical robotic systems: an Assembly/Disassembly/Replacement Cyber–Physical Robotic System (A/D/R CPRS), and a Mobile Cyber–Physical Robotic System (MCPRS), enabling both fixed and mobile intelligent operations. The CPRS is equipped with an industrial robotic manipulator (IRM) responsible for A/D/R tasks, while the A/D Mechatronic Line (A/D ML) consists of seven interconnected workstations (WS1–WS7) dedicated to storage, transport, quality control, and final product handling. MCPRS includes a wheeled mobile robot (WMR), carrying a robotic manipulator (RM) and Mobile Visual Servoing System (MVSS). Each workstation is connected to a local slave programmable logic controller (PLC), which communicates via PROFIBUS with a master PLC located at the CPRS level. Additional communication infrastructures include LAN PROFINET and LAN Ethernet for local integration, and WAN Ethernet connectivity enabled through open platform Communication-Unified Architecture (OPC-UA), ensuring interoperability, scalability, and remote accessibility. Also, MODBUS TCP as serial industrial communication is used between the master PLC and the MCPRS. Virtual environment supports task planning through Augmented Reality (AR) and real-time monitoring through Virtual Reality (VR). The system behaviour is modelled with synchronized hybrid Petri Nets (SHPNs) which describe the discrete and hybrid dynamics of A/D/R processes. Artificial intelligence (AI) techniques are integrated into the DT framework for optimal task scheduling and adaptive decision-making. As a laboratory-scale implementation, the proposed system provides a comprehensive platform for experimentation, validation, and education. It supports Education 4.0/5.0 objectives by facilitating hands-on learning, human–machine interaction, and the integration of emerging technologies such as AI, Digital Twins, AR/VR, and cyber–physical systems. At the same time, it embodies Industry 4.0/5.0 principles, including interoperability, decentralization, sustainability, robustness, and human-centric design. Full article

Wearable devices increasingly capture biosignals such as electrocardiograms, photoplethysmograms, inertial signals, and electrodermal activity during daily life, enabling earlier detection and continuous monitoring outside the clinic. Real-time edge machine learning can convert these streams into timely, privacy-preserving inference by placing computation on a wearable (device-only) or a paired phone, with intermittent cloud assist used selectively for dashboards, summarisation, and lifecycle management. Clinical adoption remains uneven because free-living data are noisy, labels are often delayed, and device ecosystems evolve over time. This narrative review organises the literature as an end-to-end deployment pathway: sensing and artefact management, streaming windowing and multimodal alignment, and model families suited to on-device inference. We compare classical feature-based pipelines with learned representations, including compact CNN/TCN and recurrent and efficient attention-based models, and discuss when self-supervised pretraining and distillation are most useful in low-label settings. We then synthesise deployment engineering levers (quantisation, pruning, and distillation) and benchmarking requirements, emphasising runtime constraints that determine feasibility: latency per update, peak RAM, energy per inference, duty cycle, and thermal behaviour. Applications are grouped across cardiovascular monitoring, blood pressure and haemodynamics, sleep and respiration, and movement and stress, with explicit attention to false-alert burden, adherence, and workflow integration. To support translation, we provide a validation ladder and a reliability toolkit covering calibration, uncertainty-aware thresholds and deferral, drift monitoring triggers, and safe update governance. The novelty of this review is a deployment-oriented synthesis that ties modelling choices to edge tiers and resource budgets and provides reusable reporting templates, including an edge-cost card and comparative tables spanning modalities, models, deployment levers, applications, and reliability requirements. Full article

The segmentation of 3D point clouds of plant organs, such as leaves and stems, helps to monitor plant growth and is a key step in plant growth phenotype analysis. Compared to point cloud segmentation tasks in other fields, plant point cloud segmentation is more challenging due to the interwoven distribution of various parts such as stems, leaves, and flowers. In this paper, we propose a universal point cloud segmentation network PlantEFRSegnet that can be used for multi-species of plants. The proposed PlantEFRSegnet utilizes a newly designed edge point preservation downsampling module to identify and preserve the points at the edges of plant organs during the downsampling process, in order to assist the segmentation network in learning the contours of various plant organs. PlantEFRSegnet performs supervised feature repair on the point cloud features obtained through downsampling to mitigate the impact of feature loss on segmentation performance during feature embedding. The encoder of the segmentation network is composed of four local feature extraction modules. These four modules can not only extract features but also enhance the features corresponding to points with high contributions in local regions based on point attention mechanism. We evaluated the proposed PlantEFRSegnet on a laser-scanned plant point cloud dataset. Compared with the state-of-the-art approaches, the proposed PlantEFRSegnet achieved better segmentation results. Full article

This case report describes a digital workflow for the aesthetic rehabilitation of a 30-year-old male patient with unaesthetic anterior teeth. The treatment incorporated AI-assisted smile design software (SmileCloud Biometrics) for 2D/3D digital planning and patient communication. Six lithium disilicate veneers (IPS e.max CAD) were fabricated using CAD/CAM technology following mock-up-guided minimally invasive preparation (0.2–0.9 mm reduction). The restorations were adhesively cemented under rubber dam isolation. One-week follow-up confirmed aesthetic integration, occlusal harmony, and patient satisfaction. This case illustrates how digital workflows with AI-assisted tools can support veneer rehabilitation through data-informed planning and conservative preparation while maintaining aesthetic outcomes. Full article

The generation of reliable and up-to-date national land cover information is essential for environmental management, climate action, and territorial planning. In Colombia, the CORINE Land Cover Colombia (CLCC) framework has been the official reference for land cover monitoring since 2000, traditionally updated through expert-based Computer-Assisted PhotoInterpretation (CAPI) at a 1:100,000 scale. However, increasing demands for higher spatial resolution and more frequent temporal updates have made process optimization necessary, driving the incorporation of cloud-based processing and artificial intelligence (AI), including machine learning and deep learning algorithms. This study presents a semi-automated methodology for generating a new generation of harmonized CLCC-compatible raster land cover maps at a 1:50,000 scale—offering four times greater spatial detail than the official vector product—with the capacity for semi-automated annual updates. The approach combines legend harmonization from 55 to 23 classes, historical CORINE Land Cover (CLC) polygon-guided sample generation, spectral stability analysis, and regionalized classification across 190 homogeneous subregions, supported by a reproducible cloud-based architecture. National land cover maps were produced for 2020, 2022, and 2024 with thematic accuracies above 80% and Kappa coefficients up to 0.87, alongside change maps for the 2022–2024 period capturing key dynamics in agricultural frontier expansion, wetland variability, and urban expansion. The resulting products also provide structured inputs for expert-based CAPI workflows, supporting the continuous updating of the official 1:100,000 CLCC map. The results demonstrate the operational capacity of integrating AI, cloud computing, and expert knowledge to strengthen Colombia’s national land cover monitoring system. Full article

Geometric deviations are inevitably generated during tunnel lining construction. These deviations result from construction inaccuracies. They pose potential risks to long-term structural safety and engineering quality. Traditional numerical simulations are based on idealized design cross-sections. This approach is limited in reflecting actual mechanical behavior. In this study, a refined modeling and safety assessment method is developed. Construction-induced geometric deviations are incorporated into the analysis. Optimized geometric fitting and mesh reconstruction algorithms are employed. Large-scale irregular point cloud data are efficiently processed. A full-scale solid finite element model is constructed. Actual construction deviations are represented in this model. The results are systematically compared with those from the conventional design model. It is revealed that construction-induced geometric deviations alter internal force transmission paths. Asymmetric deformation is induced. Localized stress concentrations are observed. The ideal stress state is predicted by the design model. In contrast, stiffness degradation is observed in the as-built model. This degradation is significant in vulnerable regions such as the haunch on the heavily loaded side. A considerable reduction in the local safety factor is also observed. The overestimation of safety redundancy is quantified when geometric variations are neglected. The results indicate that incorporating field-measured point cloud data into structural simulations can improve the geometric realism of tunnel-lining assessment and assist in identifying potential high-risk zones. Full article

Additive manufacturing (AM) enables the fabrication of complex three-dimensional components with embedded internal flow channels, but the as-built inner surfaces often exhibit high roughness and poor surface-quality uniformity, particularly at non-coplanar corner regions such as sharp bends and junctions. Conventional abrasive flow machining (AFM) can improve the overall surface finish of such channels; however, corner regions commonly remain weak-removal zones because of local flow stagnation and insufficient abrasive action. To address this limitation, this study proposes a six-degree-of-freedom (6-DOF) robotic-arm-assisted liquid metal-driven abrasive flow (LM-AF) polishing strategy in which robotic pose regulation is used to guide the liquid metal droplet to designated corner regions while preserving its responsiveness to the electric field. Numerical simulations and conventional AFM experiments on S-shaped and M-shaped spatial channels were first conducted to identify the corner regions as the primary sources of polishing non-uniformity. A robotic posture-control framework was then established through manipulator kinematics, point-cloud-based flow-direction identification, and Rodrigues-matrix-based pose transformation. On this basis, localized secondary polishing was experimentally performed on an S-shaped channel using an AC electric-field-driven liquid-metal abrasive system. The results show that corner-region roughness was significantly reduced and approached the straight-channel benchmark after secondary polishing, demonstrating a marked improvement in inner-surface uniformity. This study provides a practical route for targeted compensation polishing in complex three-dimensional internal channels and offers a new framework for robotic-assisted post-processing of AM-fabricated flow paths. Full article

Airfield lighting control (ALC) is critical for ensuring safe, efficient, and compliant airport operations, especially under low-visibility conditions. However, current centralized control architectures cannot adequately meet the real-time responsiveness, scalability, and reliability requirements of Advanced Surface Movement Guidance and Control Systems (A-SMGCS) Level IV. To overcome these limitations, this paper proposes a novel cloud–edge–end collaborative architecture for a mobile ALC scenario, in which we formulate a joint task computing and energy consumption optimization problem to maximize long-term system utility under latency, computation, and communication constraints. In this way, the mobile airfield lighting (MAL) system can also quickly adapt its optimal formation pattern based on the airport environment, lighting conditions, and the type of aircraft taking off or landing via efficient computation, thereby achieving the best navigational assistance effect. For solving such an optimization problem, a framework that combines K-medoids with the Improved Twin Delayed Deep Deterministic Policy Gradient (ITD3) is proposed to integrate the efficiency of clustering for rough allocation and the high-precision dynamic optimization capability of the improved TD3. The training depends on edge nodes and the cloud to achieve online performance. Finally, the extensive simulation proved that our novel algorithm is efficient. Full article

Antivirus systems have evolved from static pattern matchers into complex algorithmic ecosystems that encapsulate the broader logic of modern cybersecurity. This review deconstructs their internal architecture, tracing the transition from deterministic string-matching automata to probabilistic, behavioral, and cloud-assisted paradigms. Foundational modules such as scanners, heuristic analyzers, behavioral monitors, and sandbox environments operate as interconnected computational strata, forming adaptive feedback loops that mirror principles of distributed intelligence. Signature-based methods, such as Aho-Corasick, Boyer-Moore, and Wu-Manber, remain core to real-time filtering, while probabilistic reasoning through Bayesian inference, Markov modeling, and Hidden Markov Models extends detection to polymorphic and metamorphic threats. Behavioral analysis, empowered by Support Vector Machines, deep neural architectures, and temporal models, enables semantic inference over system-call graphs and runtime telemetry. Moreover, cloud-assisted frameworks integrate federated learning and global reputation graphs, which transform detection into a collective intelligence process. Full article

This paper presents a prototype for an assistive navigation system that integrates three-dimensional audio spatialization with computer vision to improve the mobility of visually impaired individuals. The system uses stereoscopic depth perception and real-time point cloud reconstruction alongside a modified YOLO convolutional neural network for object detection and auralization techniques with head-related impulse response functions. Twenty participants (ten who were visually impaired and ten who were blindfolded) navigated controlled obstacle scenarios while wearing a chest-mounted camera and specialized headphones. The prototype achieved 95.00% precision in object classification across eleven obstacle categories and a 33.19% recall, indicating conservative detection behavior. The processing efficiency was 0.042489 s per image, which exceeds real-time requirements. User evaluation revealed an average collision rate of 0.5 per scenario and a mean completion time of 48 s. Statistical analysis showed no significant difference in collision rates between participant groups ($p=0.172$), though visually impaired participants demonstrated faster completion times ($p=0.003$). Integrating segmented, convolution-based audio processing with stereoscopic depth estimation enabled users to perceive obstacle locations through spatial sound cues, establishing a foundation for advancing assistive navigation technologies without extensive training. Full article

Sleep disorders, such as insomnia, obstructive sleep apnea (OSA), narcolepsy, REM sleep behavior disorder, and circadian rhythm disturbances, represent a rapidly expanding global health burden that is strongly associated with cardiovascular, metabolic, neurological, and psychiatric diseases. Advancements in wearable sensing technologies and Internet of Medical Things (IoMT) infrastructures have expanded the possibilities for continuous, home-based sleep assessment beyond conventional polysomnography laboratories. These Sleep Health Internet of Things (S-HIoT) systems combine multimodal physiological sensing (EEG, ECG, SpO₂, respiratory effort and actigraphy) with wireless communication and cloud-based analytics for automated sleep-stage classification and disorder detection. Nonetheless, the digitization of sleep medicine brings about significant cybersecurity concerns. The constant transmission of sensitive biomedical information makes S-HIoT networks open to anomalous traffic flows, signal manipulation, replay attacks, spoofing, and data integrity violation. Existing studies mostly focus on analyzing physiological signals and network intrusion detection independently, resulting in a systemic vulnerability of cyber–physical sleep monitoring ecosystems. With the aim of addressing this empirical deficiency, this review integrates emerging advances (2022–2026) in the AI-assisted categorization of sleep phases and IoMT anomaly detector designs on the finer analysis of CNN, LSTM/BiLSTM, Transformer-based systems, and a component part of federated schemes and the lightweight, edge-deployable intruder assessor models available. The aim of this study is to uncover a gap in the literature: integrated architectures to trade off audiences of faithfulness of physiological modeling with communication-layer security. To counter it, we present a single framework to include CNN-based spatial feature extraction, Bidirectional Long Short-Term Memory (BiLSTM)-based temporal models and Random Forest-based ensemble classification using a dual task-learning approach. We propose a multi-objective optimization framework to jointly optimize the performance of sleep-stage prediction and that of network anomaly detection. Performance on publicly available datasets (Sleep-EDF and CICIoMT2024) confirms that hybrid integration can be tailored to achieve high accuracy [99.8% sleep staging; 98.6% anomaly detection] whilst being characterized by low inference latency (<45 ms), which is promising for feasibility in real-time deployment in view of targeting edge devices. This work presents a comprehensive framework for developing secure, intelligent, and clinically robust digital sleep health ecosystems by bridging chronobiological signal modeling with cybersecurity mechanisms. Furthermore, it highlights future research directions, including explainable AI, federated secure learning, adversarial robustness, and energy-aware edge optimization. Full article

Odometry estimation, which calculates the trajectory of a moving object across timeframes, is a critical and time-consuming function in SLAM (Simultaneous Localization and Mapping) systems. Although LiDAR-based sensing is most popular for outdoor and long-range applications because of its ranging accuracy, the sparsity of laser point cloud poses a significant challenge to feature extraction and matching in odometry estimation. In this paper, we investigate odometry estimation from two aspects, i.e., algorithm optimization, and system design/implementation. In algorithm optimization, we present an image feature-assisted odometry estimation scheme that leverages the richness of image information captured by a companion camera to enhance the accuracy of laser point cloud matching. This also serves as a screening mechanism to reduce the matching size and lower the computing complexity for a higher estimation rate. In addition, various schemes, such as adaptive threshold in image feature point selection, principal component analysis (PCA)-based plane fitting for laser point interpolation, and Gauss–Newton optimization for calculating the transform matrix, are also employed to improve the accuracy of odometry estimation. The performance of improved odometry estimation is verified using an existing FLOAM (Fast Lidar Odometry and Mapping) framework. The KITTI dataset for autonomous vehicles with ground truth was used as the test bench. Simulation results indicate that the translation error and rotation error can be reduced by 16.6% and 1.3%, respectively. Computing complexity, measured as the software execution time, also reduced by 63%. In system implementation, a hardware/software (HW/SW) co-design strategy was adopted, where complexity profiling was first conducted to determine the task partitioning and time-consuming tasks are offloaded to a hardware accelerator. This facilitates real-time execution on a resource-constrained embedded platform consisting of a microprocessor module (Raspberry Pi) and an attached FPGA board (Pynq Z2). Efficient hardware designs for customized DSP functions (adaptive threshold and PCA) were developed in an FPGA capable of completing one data frame in 20ms. The final system implementation met the target throughput of 10 estimations per second, and can be scaled up further. Full article

Beekeeping is a profitable and mind-relaxing practice; however, monitoring beehives poses significant challenges, such as consuming time and potentially disturbing hive equilibrium, which may lead to colony collapse. Developing precision beekeeping (PB) systems is crucial to assist beekeepers in decision-making, automate redundant hive maintenance, and enhance the security and comfort of bee life. This review systematically explores research on PB systems, based on a keyword-driven search of Scopus and Web of Science databases, yielding 46 relevant publications. The analysis highlights a notable increase in research activity in the field since 2016. The integration of advanced technologies, including machine learning, cloud computing, IoT, and scenario-based communication methods, has proven instrumental in predicting hive states such as queen status, enemy attacks, readiness for harvest, swarming events, and population decline. Commonly measured parameters include hive weight, temperature, and relative humidity, with various sensors employed to ensure precision while minimizing bee disturbance. Additionally, bee traffic monitoring has emerged as a critical approach to assessing hive health. Most studies focus on honeybees rather than stingless bees and, in the context of enemy identification, Varroa destructor is the primary target. This review underscores the potential of novel technologies to revolutionize apiculture and enhance hive management practices. Full article

Background/Objectives: Osteoarthritis has been increasingly described as associated with systemic inflammation, raising the question of how it would affect fertility in young women with or without reproductive hormone administration. We studied oogenesis in mice with collagenase-induced osteoarthritis (CIOA) as a model system with fewer ethical limitations after estradiol (E2) or follicle-stimulating hormone (FSH) treatment. Methods: Oocytes have been isolated from mice subjected to various treatment regimens. The meiotic spindle, the chromatin, and the actin cap were fluorescently labeled and analyzed. Results: In addition to reduced maturation rates, specific oocyte abnormalities were registered when CIOA, FSH, or E2 were applied in isolation. Combined treatments showed that the spindle, chromatin, and actin cytoskeleton parameters were differently affected in oocytes from groups with CIOA treated by estradiol and those treated with FSH. Enlarged spindles, ooplasmic tubulin asters, aligned metaphases, and predominantly normal actin caps, often with an actin halo, were typical for groups with CIOA combined with estradiol. The groups with CIOA and FSH had slightly enlarged spindles, unaligned metaphases with degenerated chromatin surrounded by a cloud of depolymerized tubulin, and small actin caps. Conclusions: Our results show that experimental osteoarthritis with or without exogenous reproductive hormones negatively affects oogenesis, presumably due to systemic inflammatory factors making the ovarian microenvironment less capable of supporting oocyte maturation. Estradiol supplementation does not benefit oogenesis. FSH treatment induced cytoskeletal and chromatin abnormalities that presumably disturb the fertilization and development potential of affected oocytes. These data can have implications for assisted reproduction in cases of patients with osteoarthritis. Full article

With the rapid development of applications such as smart cities and the industrial internet, the computation-intensive tasks generated by massive sensing devices pose significant challenges to traditional cloud computing paradigms. Unmanned aerial vehicle (UAV)-assisted edge computing systems, leveraging their high mobility and wide-area coverage capabilities, offer an innovative architecture for low-latency and highly reliable edge services. However, the practical deployment of such systems faces a highly complex multi-objective optimization problem featured by the tight coupling of task offloading decisions, UAV trajectory planning, and edge server resource allocation. Conventional optimization methods are difficult to adapt to the dynamic and high-dimensional characteristics of this problem, leading to suboptimal system performance. To address this critical challenge, this paper constructs an intelligent collaborative optimization framework for UAV-assisted edge computing systems and formulates the system quality of service (QoS) optimization problem as a mixed-integer non-convex programming problem with the dual objectives of minimizing task processing latency and reducing overall system energy consumption. A multi-agent joint task association and trajectory optimization (MA-JTATO) algorithm based on hybrid reinforcement learning is proposed to solve this intractable problem, which innovatively decouples the original coupled optimization problem into three interrelated subproblems and realizes their collaborative and efficient solution. Specifically, the Advantage Actor-Critic (A2C) algorithm is adopted to realize dynamic and optimal task association between UAVs and edge servers for discrete decision-making requirements; the multi-agent deep deterministic policy gradient (MADDPG) method is employed to achieve cooperative and energy-efficient trajectory planning for multiple UAVs to meet the needs of continuous control in dynamic environments; and convex optimization theory is applied to obtain a closed-form optimal solution for the efficient allocation of computational resources on edge servers. Simulation results demonstrate that the proposed MA-JTATO algorithm significantly outperforms traditional baseline algorithms in enhancing overall QoS, effectively validating the framework’s superior performance and robustness in dynamic and complex scenarios. Full article