Search Results (1,097)

The use of resource-constrained Low-Power and Lossy Networks (LLNs), where the IPv6 Routing Protocol for LLNs (RPL) is the de facto routing standard, has increased due to the Internet of Things’ (IoT) explosive growth. Because of the dynamic nature of IoT deployments and the lack of in-protocol security, RPL is still quite susceptible to routing-layer attacks like Blackhole, Lowered Rank, version number manipulation, and Flooding despite its lightweight architecture. Lightweight, data-driven intrusion detection methods are necessary since traditional cryptographic countermeasures are frequently unfeasible for LLNs. However, the lack of RPL-specific control-plane semantics in current cybersecurity datasets restricts the use of machine learning (ML) for practical anomaly identification. In order to close this gap, this work models both static and mobile networks under benign and adversarial settings by creating a novel, large-scale multiclass RPL attack dataset using Contiki-NG’s Cooja simulator. To record detailed packet-level and control-plane activity including DODAG Information Object (DIO), DODAG Information Solicitation (DIS), and Destination Advertisement Object (DAO) message statistics along with forwarding and dropping patterns and objective-function fluctuations, a protocol-aware feature extraction pipeline is developed. This dataset is used to evaluate fifteen classifiers, including Logistic Regression (LR), Support Vector Machine (SVM), Decision Tree (DT), k-Nearest Neighbors (KNN), Random Forest (RF), Extra Trees (ET), Gradient Boosting (GB), AdaBoost (AB), and XGBoost (XGB) and several ensemble strategies like soft/hard voting, stacking, and bagging, as part of a comprehensive ML-based detection system. Numerous tests show that ensemble approaches offer better generalization and prediction performance. With overfitting gaps less than 0.006 and low cross-validation variance, the Soft Voting Classifier obtains the greatest accuracy of 99.47%, closely followed by XGBoost with 99.45% and Random Forest with 99.44%. Full article

Achieving high-precision motion control for hydraulic manipulators presents a challenging task. Addressing the issue of low motion control accuracy caused by the strong electromechanical-hydraulic coupling characteristics of hydraulic manipulator systems, this paper innovatively introduces an RBF neural network and an Actor–Critic reinforcement learning architecture within a performance-based control framework designed using the inverse method. This approach enables dual compensation for both internal uncertainties and external disturbances within the manipulator, thereby enhancing the system’s control performance. First, within the control architecture, the performance function ensures system transient performance while employing an RBF neural network to estimate and compensate for internal unmodeled errors caused by mechanical coupling and hydraulic parameter uncertainties. Stability proofs are used to derive the network weight update rate. Second, a disturbance compensator is designed based on reinforcement learning. Deployed into the controller through offline training and online adaptation, it compensates for external system disturbances, further improving control accuracy. Finally, comparative and ablation experiments conducted on a hydraulic manipulator testbed demonstrate the effectiveness of the disturbance compensator. Compared to PID control, the proposed approach achieves a 60–65% improvement in control accuracy. Full article

Shape Memory Alloy (SMA) actuators offer strong potential for compact, lightweight, silent, and compliant robotic grippers; however, their practical deployment is limited by the challenge of controlling nonlinear and hysteretic thermal dynamics. This paper presents a complete Sim-to-Real control framework for precise temperature regulation of a tendon-driven SMA gripper using Deep Reinforcement Learning (DRL). A novel 12-action discrete control space is introduced, comprising 11 heating levels (0–100% PWM) and one active cooling action, enabling effective management of thermal inertia and environmental disturbances. The DRL agent is trained entirely in a calibrated thermo-mechanical simulation and deployed directly on physical hardware without real-world fine-tuning. Experimental results demonstrate accurate temperature tracking over a wide operating range (35–70 °C), achieving a mean steady-state error of approximately 0.26 °C below 50 °C and 0.41 °C at higher temperatures. Non-contact thermal imaging further confirms spatial temperature uniformity and the reliability of thermistor-based feedback. Finally, grasping experiments validate the practical effectiveness of the proposed controller, enabling reliable manipulation of delicate objects without crushing or slippage. These results demonstrate that the proposed DRL-based Sim-to-Real framework provides a robust and practical solution for high-precision SMA temperature control in soft robotic systems. Full article

Nowadays, despite the advancements in several technological areas, the education process of various subjects shows minimal evolution from the approaches used in prior years. In light of these, some fields struggle to capture the student’s attention and motivation, in particular, when the subject addresses remote locations that students are unable to visit and relate to. Therefore, an opportunity exists to explore novel technologies for such scenarios. This work introduces an educational approach that integrates 3D Reconstruction, Virtual Reality (VR), and a Large Display to enrich Geoscience learning at the university level. In this teacher-centric approach, manipulation of virtual replicas of real-world geological sites can be performed, creating an immersive yet asymmetric collaborative environment for students in the classroom. The teacher’s VR interactions are mirrored on a large display, enabling clear demonstrations of complex concepts. This allows students, who cannot physically visit these locations, to explore and understand the sites more deeply. To evaluate the effectiveness of this approach, a user study was conducted with 20 participants from Geoscience and Computer Science disciplines, comparing the VR-based method with a conventional approach. Analysis of the collected data suggests that, across multiple relevant dimensions, participants generally favored the VR condition, highlighting its potential for enhancing engagement and comprehension. Full article

This work proposes a non-singular fast terminal sliding mode control (NFTSMC) strategy based on the Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm and a nonlinear disturbance observer (NDO) to address the issues of modeling errors, motion disturbances, and transmission friction in robotic manipulators. Firstly, a novel modular serial 5-DOF robotic manipulator configuration is designed, and its kinematic and dynamic models are established. Secondly, a nonlinear disturbance observer is employed to estimate the total disturbance of the system and apply feedforward compensation. Based on boundary layer technology, an improved NFTSMC method is proposed to accelerate the convergence of tracking errors, reduce chattering, and avoid singularity issues inherent in traditional terminal sliding mode control. The stability of the designed control system is proved using Lyapunov stability theory. Subsequently, a deep reinforcement learning (DRL) agent based on the TD3 algorithm is trained to adaptively adjust the control gains of the non-singular fast terminal sliding mode controller. The dynamic information of the robotic manipulator is used as the input to the TD3 agent, which searches for optimal controller parameters within a continuous action space. A composite reward function is designed to ensure the stable and efficient learning of the TD3 agent. Finally, the motion characteristics of three joints for the designed 5-DOF robotic manipulator are analyzed. The results show that compared to the non-singular fast terminal sliding mode control algorithm based on a nonlinear disturbance observer (NDONFT), the non-singular fast terminal sliding mode control algorithm integrating a nonlinear disturbance observer and the Twin Delayed Deep Deterministic Policy Gradient algorithm (TD3NDONFT) reduces the mean absolute error of position tracking for the three joints by 7.14%, 19.94%, and 6.14%, respectively, and reduces the mean absolute error of velocity tracking by 1.78%, 9.10%, and 2.11%, respectively. These results verify the effectiveness of the proposed algorithm in enhancing the trajectory tracking accuracy of the robotic manipulator under unknown time-varying disturbances and demonstrate its strong robustness against sudden disturbances. Full article

The internal temperature of a vehicle is influenced by various factors such as the external environment (temperature, solar radiation, and humidity) and the air conditioning habits of the driver. Even when the air conditioning system is set to a specific temperature, the internal temperature can vary depending on the time, weather, and driver’s manipulation of the system. In this study, we developed and evaluated a deep learning-based vehicle cabin temperature prediction system using CAN (Controller Area Network) data collected from the vehicle and temperature data from thermometers installed on the roof and seats of an electric vehicle (EV). The models used in the temperature prediction system were evaluated by applying various deep learning architectures that consider the characteristics of time series data, and their accuracy was measured using the mean absolute percentage error (MAPE) metric. Additionally, a low-pass filter was applied to the prediction results, which reduced the MAPE from 4.2798% to 4.1433%, indicating an improvement in prediction accuracy. Among the deep learning models, the model with the highest performance achieved an MAPE of 3.5287%, corresponding to an approximate error of 0.88 °C at an actual temperature of 25 °C. The results of this study contribute significantly to enhancing the accuracy and reliability of EV interior temperature predictions, enabling more precise simulations, and improving the thermal comfort and energy efficiency of EVs. The proposed temperature-prediction system is expected to contribute to the comfort of EV users and overall performance of vehicles, thereby strengthening the role of EVs as a sustainable means of transportation. Full article

Accurate distance perception and collision reasoning are crucial for robotic manipulation in the confined interior of tokamak vacuum vessels. Traditional mesh- or voxel-based methods suffer from discretization artifacts, discontinuities, and heavy memory requirements, making them unsuitable for continuous geometric reasoning and optimization-based planning. This paper presents an Occupancy-Aware Neural Distance Perception (ONDP) framework that serves as a compact and differentiable geometric sensor for manipulator obstacle avoidance in reactor-like environments. To address the inadequacy of conventional sampling methods in such constrained environments, we introduce a Physically-Stratified Sampling strategy. This approach moves beyond heuristic adaptation to explicitly dictate data distribution based on specific engineering constraints. By injecting weighted quotas into critical safety buffers and enforcing symmetric boundary constraints, we ensure robust gradient learning in high-risk regions. A lightweight neural network is trained directly in physical units (millimeters) using a mean absolute error loss, ensuring strict adherence to engineering tolerances. The resulting model achieves approximately 2–3 mm near-surface accuracy and supports high-frequency distance and normal queries for real-time perception, monitoring, and motion planning. Experiments on a tokamak vessel model demonstrate that ONDP provides continuous, sub-centimeter geometric fidelity. Crucially, benchmark results confirm that the proposed method achieves a query frequency exceeding 15 kHz for large-scale batches, representing a 5911× speed-up over mesh-based queries. This breakthrough performance enables its seamless integration with trajectory optimization and model-predictive control frameworks for confined-space robotic manipulation. Full article

Major depressive disorder (MDD) was long framed as a single clinical entity arising from a linear stress–monoamine–hypothalamic–pituitary–adrenal (HPA) axis cascade. This view was shaped by forced swim and learned helplessness tests in animals and by short-term symptom-based trials using scales such as the Hamilton Depression Rating Scale (HAM-D) and the Montgomery–Åsberg Depression Rating Scale (MADRS). This “unitary cascade” view has been dismantled by advances in neuroimaging, immune–metabolic profiling, sleep phenotyping, and plasticity markers, which reveal divergent circuit-level, inflammatory, and chronobiological patterns across anxiety-linked, pain-burdened, and cognitively weighted depressive presentations, all characterized by high rates of non-response and relapse. Translationally, face-valid rodent assays that equated immobility with despair have yielded limited bedside benefit, whereas cross-species bridges—electroencephalography (EEG) motifs, rapid eye movement (REM) architecture, effort-based reward tasks, and inflammatory/metabolic panels—are beginning to provide mechanistically grounded, clinically actionable readouts. In current practice, depression care is shifting toward systems psychiatry: inflammation-high and metabolic-high archetypes, anhedonia- and circadian-dominant subgroups, formal treatment-resistant depression (TRD) staging, connectivity-guided neuromodulation, esketamine, selected pharmacogenomic panels, and early digital phenotyping, as endpoints broaden to functioning and durability. A central gap is that heterogeneity is acknowledged but rarely built into trial design or implementation. This perspective advances a plasticity-centered systems psychiatry in which a testable prediction is that manipulating defined prefrontal–striatal and prefrontal–limbic circuits in sex-balanced, chronic-stress models will reproduce human network-defined biotypes and treatment response, and proposes hybrid effectiveness–implementation platforms that embed immune–metabolic and sleep panels, circuit-sensitive tasks, and digital monitoring under a shared, preregistered data standard. Full article

Background: Scleral fixation of intraocular lenses (IOLs) is a valuable option in cases of aphakia or inadequate capsular support, yet conventional sutured and sutureless approaches can pose technical challenges and complication risks. The needle-guided scleral fixation technique offers a simplified, single-suture solution that enhances safety and reproducibility. Methods: In this retrospective interventional case series, 30 eyes with insufficient capsular support underwent IOL implantation using Meduri’s needle-guided single-suture technique at the G. Martino University Hospital, Messina. The surgical method employs a 24-gauge needle to guide a double-armed 10-0 polypropylene suture through the sclera for precise IOL anchorage, minimizing vitreous manipulation. Outcomes were assessed over 24 months, including best-corrected visual acuity (BCVA), IOL centration, intraocular pressure (IOP), and postoperative complications. Results: Mean BCVA improved from X to Y LogMAR at two years (p < 0.05). All IOLs remained well-centered without tilt or decentration. Mild conjunctival hyperemia occurred in 70% of cases, resolving spontaneously. No suture erosion, vitreous hemorrhage, or retinal detachment was observed. Conclusions: The needle-guided single-suture technique provides a stable, efficient, and reproducible method for posterior chamber IOL fixation in aphakic eyes lacking capsular support. Its minimal learning curve and reduced surgical complexity make it an attractive alternative to both traditional sutured and modern sutureless methods, particularly in centers without vitreoretinal expertise. Full article

This paper presents a systematic literature review (SLR) of research on strategic positioning of companies and the measurement of greenwashing in sustainability reporting. Its main aim is to synthesize and organize the existing literature, identify key research gaps, and outline directions for future studies. Drawing on a rigorous content analysis of 88 studies, we delineate strategic typologies of greenwashing in sustainability reporting and examine content-analysis-based measurement approaches used to detect it. Our SLR shows that most strategic typologies draw on theories such as legitimacy theory, impression management theory, signaling theory, and stakeholder theory. Several studies adopt a four-quadrant matrix with varying conceptual dimensions, while others classify strategic responses to institutional pressures along a passive–active continuum. However, the evidence suggests that to assume that companies uniformly pursue sustainability reporting strategies is a major oversimplification. The findings also indicate that the literature proposes a variety of innovative, content-analysis-based approaches aimed at capturing divergences between communicative claims and organizational realities—most notably, discrepancies between disclosure and measurable performance, and between symbolic and substantive sustainability actions, as well as the identification of selective or manipulative communication practices that may signal greenwashing. Analytical techniques commonly focus on linguistic and visual cues in sustainability reports, including tone (sentiment and narrative framing), readability (both traditional readability indices and machine learning–based textual complexity measures), and visual content (selective emphasis, imagery framing, and graphic distortions). We also synthesize studies that document empirically verified instances of greenwashing and contrast them with research that, in our view, relies on overly simplified or untested assumptions. Based on this SLR, we identify central theoretical and methodological priorities for advancing the study of greenwashing in sustainability reporting and propose a research agenda to guide future research. Full article

The rapid development of the Internet of Things (IoT), a network of interconnected devices and sensors, has improved operational efficiency, comfort, and sustainability in smart buildings. However, relying on interconnected systems also introduces cybersecurity vulnerabilities. For instance, attackers can exploit zero-day vulnerabilities (previously unknown security flaws), launch Distributed Denial of Service (DDoS) attacks (overwhelming network resources with traffic), or access sensitive Building Management Systems (BMS, centralized platforms for controlling building operations). By targeting critical assets such as Heating, Ventilation, and Air Conditioning (HVAC) systems, security cameras, and access control networks, they may compromise the safety and functionality of the entire building. To address these threats, this paper presents a cybersecure intelligent sensor framework to protect smart buildings from various IoT-related cyberattacks. The main component is an automated Intrusion Detection System (IDS, software that monitors network activity for suspicious actions), which uses machine learning algorithms to rapidly identify, classify, and respond to potential threats. Furthermore, the framework integrates intelligent sensor networks with AI-based analytics, enabling continuous monitoring of environmental and system data for behaviors that might indicate security breaches. By using predictive modeling (forecasting attacks based on prior data) and automated responses, the proposed system enhances resilience against attacks such as denial of service, unauthorized access, and data manipulation. Simulation and testing results show high detection rates, low false alarm frequencies, and fast response times, thereby supporting the cybersecurity of smart building infrastructures and minimizing downtime. Overall, the findings suggest that AI-enhanced cybersecurity systems offer promise for IoT-based smart building security. Full article

Modern manufacturing robots must dynamically balance multiple conflicting objectives amid rapidly evolving production demands. Traditional control approaches lack the adaptability required for real-time decision-making in Industry 4.0 environments. This study presents an adaptive multi-objective reinforcement learning (MORL) framework integrating dynamic preference weighting with Pareto-optimal policy discovery for real-time adaptation without manual reconfiguration. Experimental validation employed a UR5 manipulator with RG2 gripper performing quality-aware object sorting in CoppeliaSim with realistic physics (friction μ = 0.4, Bullet engine), manipulating 12 objects across four geometric types on a dynamic conveyor. Thirty independent runs per algorithm (seven baselines, 30,000+ manipulation cycles) demonstrated +24.59% to +34.75% improvements (p < 0.001, d = 0.89–1.52), achieving hypervolume 0.076 ± 0.015 (19.7% coefficient of variation—lowest among all methods) and 95% optimal performance within 180 episodes—five times faster than evolutionary baselines. Four independent verification methods (WFG, PyMOO, Monte Carlo, HSO) confirmed measurement reliability (<0.26% variance). The framework maintains edge computing compatibility (<2 GB RAM, <50 ms latency) and seamless integration with Manufacturing Execution Systems and digital twins. This research establishes new benchmarks for adaptive robotic control in sustainable Industry 4.0/5.0 manufacturing. Full article

The increasing use of blockchain smart contracts has introduced new security challenges, as small coding errors can lead to major financial losses. While rule-based static analyzers remain the most common detection tools, their limited adaptability often results in false positives and outdated vulnerability patterns. This study presents a comprehensive comparative analysis of machine learning (ML) and deep learning (DL) methods for smart contract vulnerability detection using the BCCC-SCsVuls-2024 benchmark dataset. Six models (Random Forest, k-Nearest Neighbors, Simple and Deep Multilayer Perceptron, and Simple and Deep one-dimensional Convolutional Neural Networks) were evaluated under a unified experimental framework combining RobustScaler normalization and Principal Component Analysis (PCA) for dimensionality reduction. Our experimental results from a five-fold cross-validation show that the Random Forest classifier achieved the best overall performance with an accuracy of 89.44% and an F1-score of 93.20%, outperforming both traditional and neural models in stability and generalization. PCA-based feature analysis revealed that opcode-level features, particularly stack and memory manipulation instructions (PUSH, DUP, SWAP, and RETURNDATASIZE), were the most influential in defining contract behavior. Full article

The Internet of Things (IoT) has established an exceptional ecosystem of interconnected devices where a vast multitude of heterogeneous devices can communicate, collect, and share data for enhanced decision-making processes. To effectively analyze this immense volume of data, researchers have deployed advanced machine learning algorithms and deep neural networks. However, these approaches typically rely on centralized data storage for training, which raises significant privacy concerns. Federated Learning (FL) addresses this issue by allowing devices to train local models on their own data and share only model updates. Despite this advantage, FL remains vulnerable to several security threats, including model poisoning, data manipulation, and Byzantine attacks. Therefore, robust and scalable authentication mechanisms are essential to ensure secure participation in FL environments. This study provides a comprehensive survey of authentication in FL. We examine the authentication process, discuss the associated key challenges, and analyze architectural considerations relevant to securing FL deployments. Existing authentication schemes are reviewed and evaluated in terms of their effectiveness, limitations, and practicality. To provide deeper insight, we classify these schemes along two dimensions as follows: their underlying enabling technologies, such as blockchain, cryptography, and AI-based methods, and the system contexts in which FL operates. Furthermore, we analyze the datasets and experimental environments used in current research, identify open research challenges, and highlight future research directions. To the best of our knowledge, this study presents the first structured and comprehensive analysis of authentication mechanisms in FL, offering a foundational reference for advancing secure and trustworthy federated learning systems. Full article

Inspired by the adaptive flexible motion coordination of biological systems, this study presents a bioinspired control strategy that enables robotic manipulators to achieve precise and compliant motion–force coordination for embodied intelligence and dexterous interaction in physically constrained environments. To this end, a learning-based motion–force hybrid control (LMFC) framework is proposed, which unifies learning and kinematic-level control to regulate both motion and interaction forces under incomplete or implicit kinematic information, thereby enhancing robustness and precision. The LMFC formulation recasts motion–force coordination as a time-varying quadratic programming (TVQP) problem, seamlessly incorporating multiple practical constraints—including joint limits, end-effector orientation maintenance, and obstacle avoidance—at the acceleration level, while determining control decisions at the velocity level. An RNN-based controller is further designed to integrate adaptive learning and control, enabling online estimation of uncertain kinematic parameters and mitigating joint drift. Simulation and experimental results demonstrate the effectiveness and practicality of the proposed framework, highlighting its potential for adaptive and compliant robotic control in constraint-rich environments. Full article