Search Results (250)

Cyber-physical infrastructures such as hospitals and smart campuses face hybrid threats that target both digital and physical domains. Traditional security solutions separate surveillance from network monitoring, leaving blind spots when attackers combine these vectors. This paper introduces ARGUS, an autonomous robotic platform designed to close this gap by correlating cyber and physical anomalies in real time. ARGUS integrates computer vision for facial and weapon detection with intrusion detection systems (Snort, Suricata) for monitoring malicious network activity. Operating through an edge-first microservice architecture, it ensures low latency and resilience without reliance on cloud services. Our evaluation covered five scenarios—access control, unauthorized entry, weapon detection, port scanning, and denial-of-service attacks—with each repeated ten times under varied conditions such as low light, occlusion, and crowding. Results show face recognition accuracy of 92.7% (500 samples), weapon detection accuracy of 89.3% (450 samples), and intrusion detection latency below one second, with minimal false positives. Audio analysis of high-risk sounds further enhanced situational awareness. Beyond performance, ARGUS addresses GDPR and ISO 27001 compliance and anticipates adversarial robustness. By unifying cyber and physical detection, ARGUS advances beyond state-of-the-art patrol robots, delivering comprehensive situational awareness and a practical path toward resilient, ethical robotic security. Full article

The increasing adoption of digital technologies, robotic systems, and IoT applications in sectors such as medicine, agriculture, and industry drives a surge in data generation and necessitates secure and efficient encryption. For resource-constrained systems, lightweight yet robust cryptographic algorithms are critical. This study addresses the security demands of IoRT systems by proposing an enhanced chaos-based encryption method. The approach integrates the lightweight structure of NIST-standardized Ascon-AEAD128 with the randomness of the Zaslavsky map. Ascon-AEAD128 is widely used on many hardware platforms; therefore, it must robustly resist both passive and active attacks. To overcome these challenges and enhance Ascon’s security, we integrate into Ascon the keys and nonces generated by the Zaslavsky chaotic map, which is deterministic, nonperiodic, and highly sensitive to initial conditions and parameter variations.This integration yields a chaos-based Ascon variant with a higher encryption security relative to the standard Ascon. In addition, we introduce exploratory variants that inject non-repeating chaotic values into the initialization vectors (IVs), the round constants (RCs), and the linear diffusion constants (LCs), while preserving the core permutation. Real-time tests are conducted using Raspberry Pi 3B devices and ROS 2–based IoRT robots. The algorithm’s performance is evaluated over 100 encryption runs on 12 grayscale/color images and variable-length text transmitted via MQTT. Statistical and differential analyses—including histogram, entropy, correlation, chi-square, NPCR, UACI, MSE, MAE, PSNR, and NIST SP 800-22 randomness tests—assess the encryption strength. The results indicate that the proposed method delivers consistent improvements in randomness and uniformity over standard Ascon-AEAD128, while remaining comparable to state-of-the-art chaotic encryption schemes across standard security metrics. These findings suggest that the algorithm is a promising option for resource-constrained IoRT applications. Full article

Artificial intelligence (AI) enhances anesthesiology by introducing adaptive systems that improve clinical precision, safety, and responsiveness. This review examines the integration of AI in anesthetic practice, with a focus on closed-loop systems that exemplify autonomous control. These platforms integrate continuous physiologic inputs, such as BIS, EEG, heart rate, and blood pressure, to titrate anesthetic agents in real time, providing more consistent and responsive management than manual methods. Predictive algorithms reduce intraoperative hypotension by up to 40%, and systems such as McSleepy demonstrate greater accuracy in maintaining anesthetic depth and shortening recovery times. In critical care, AI supports sedation management, reduces clinician cognitive load, and standardizes care delivery during high-acuity procedures. The review also addresses the ethical, legal, and logistical challenges to widespread adoption of AI. Key concerns include algorithmic bias, explainability, and accountability for machine-generated decisions and disparities in access due to infrastructure demands. Regulatory frameworks, such as HIPAA and GDPR, are discussed in the context of securing patient data and ensuring its ethical deployment. Additionally, AI may play a transformative role in global health through remote anesthesia delivery and telemonitoring, helping address anesthesiologist shortages in resource-limited settings. Ultimately, AI-guided closed-loop systems do not replace clinicians; instead, they extend their capacity to deliver safe, responsive, and personalized anesthesia. These technologies signal a shift toward robotic anesthesia, where machine autonomy complements human oversight. Continued interdisciplinary development and rigorous clinical validation will determine how AI integrates into both operating rooms and intensive care units. Full article

The land used for fruit cultivation now exceeds 120 million hectares globally, with an annual yield of nearly 940 million tons. Fruit picking, the most labor-intensive task in agricultural production, is gradually shifting toward automation using intelligent robotic systems. As the component in direct contact with crops, specialized picking end-effectors perform well for certain fruits but lack adaptability to diverse fruit types and canopy structures. This limitation has constrained technological progress and slowed industrial deployment. The diversity of fruit shapes and the wide variation in damage thresholds—2–4 N for strawberries, 15–40 N for apples, and about 180 N for kiwifruit—further highlight the challenge of universal end-effector design. This review examines two major technical pathways: separation mechanisms and grasping strategies. Research has focused on how fruits are detached and how they can be securely held. Recent advances and limitations in both approaches are systematically analyzed. Most prototypes have achieved picking success rates exceeding 80%, with average cycle times reduced to 4–5 s per fruit. However, most designs remain at Technology Readiness Levels (TRLs) 3–5, with only a few reaching TRLs 6–7 in greenhouse trials. A dedicated section also discusses advanced technologies, including tactile sensing, smart materials, and artificial intelligence, which are driving the next generation of picking end-effectors. Finally, challenges and future trends for highly universal agricultural end-effectors are summarized. Humanoid picking hands represent an important direction for the development of universal picking end-effectors. The insights from this review are expected to accelerate the industrialization and large-scale adoption of robotic picking systems. Full article

Autonomous ground vehicles (AGVs) are of major importance in exploration missions since they perform difficult tasks in changing or harmful environments. Mapping and exploration is crucial in hazardous areas, or areas inaccessible to humans, demanding autonomous navigation. This paper proposes a lightweight, low-cost AGV platform, which will be used in resource-constrained situations and aimed at scenarios like exploration missions (e.g., cave interiors, biohazard environments, or fire-stricken buildings) where there are serious security threats to humans. The proposed system relies on simple ultrasonic sensors when navigating and applied traversal algorithms (e.g., BFS, DFS, or $A^{*}$) during path planning. Since on-board microcomputers have limited memory, the traversal data and direction decisions are stored in a file located on an SD card, which supports long-term, energy-saving navigation and risk-free backtracking. A fish-eye camera set on a servo motor captures three photos ordered from left to right and stores them on the SD card for further off-line processing, integrating each frame into a low-frame-rate video. Moreover, when the battery level falls below 50%, the exploration path does not extend further and the AGV returns to the base station, thus combining a secure backtracking procedure with energy-efficient decisions. The resultant platform is low-cost, modular, and efficient at augmenting; thus it is suitable for exploring missions with applications in search and rescue, educational robotics, and real-time applications in low-infrastructure environments. Full article

As the industrial automation landscape advances, the integration of sophisticated perception and manipulation technologies into robotic systems has become crucial for enhancing operational efficiency and precision. This paper presents a significant enhancement to a robotic system by incorporating the Mask R-CNN deep learning algorithm and the Intel^® RealSense™ D435 camera with the UFactory xArm 5 robotic arm. The Mask R-CNN algorithm, known for its powerful object detection and segmentation capabilities, combined with the depth-sensing features of the D435, enables the robotic system to perform complex tasks with high accuracy. This integration facilitates the detection, manipulation, and precise placement of single objects, achieving 98% detection accuracy, 98% gripping accuracy, and 100% transport accuracy, resulting in a peak manipulation accuracy of 99%. Experimental evaluations demonstrate a 20% improvement in manipulation success rates with the incorporation of depth data, reflecting significant enhancements in operational flexibility and efficiency. Additionally, the system was evaluated under adversarial conditions where structured noise was introduced to test its stability, leading to only a minor reduction in performance. Furthermore, this study delves into cybersecurity concerns pertinent to robotic systems, addressing vulnerabilities such as physical attacks, network breaches, and operating system exploits. The study also addresses specific threats, including sabotage and service disruptions, and emphasizes the importance of implementing comprehensive cybersecurity measures to protect advanced robotic systems in manufacturing environments. To ensure truly robust, secure, and reliable robotic operations in industrial environments, this paper highlights the critical role of international cybersecurity standards and safety standards for the physical protection of industrial robot applications and their human operators. Full article

As global food security challenges escalate and post-harvest losses in perishable crops remain a critical pressure point, on-farm transport robots have emerged as a promising sustainable solution for transforming farm-to-storage logistics systems and reducing agricultural waste. However, farmer acceptance of robotic transport technologies remains heterogeneous and represents a critical barrier to achieving widespread adoption of these sustainable agricultural innovations. Existing research has yet to integrate task-technology fit (TTF), anticipated emotions, and anthropomorphism into a unified theoretical framework for understanding sustainable agricultural technology adoption. Drawing on TTF theory and the model of goal-directed behavior, this study proposes a comprehensive model integrating anticipated emotions as mediators and robot anthropomorphism as a moderator. We surveyed 320 farmers and employed PLS-SEM to test our hypotheses. Results indicate that farm transport task complexity, farmer technology readiness, and robot transport functionality significantly strengthen TTF ($\beta = 0.136$, 0.358, 0.382, respectively; all $p < 0.01$). TTF drives acceptance intention through a dual-path emotional mechanism: directly enhancing positive expectancy emotions ($\beta = 0.411$, $p < 0.001$) while reducing negative expectancy emotions ($\beta = -0.150$, $p < 0.05$). Crucially, higher anthropomorphism levels diminish both emotional mediation paths ($\beta = -0.053$ and $\beta = -0.027$, both $p < 0.01$), establishing important boundary conditions for sustainable agricultural technology design. These findings suggest that reducing post-harvest losses requires prioritizing functional consistency over overly anthropomorphic designs in agricultural robots, thereby promoting the development of agricultural technologies that are both emotionally resonant and highly functional. Full article

Orchard mobile robots (OMR) represent a critical research focus in the field of modern intelligent agricultural equipment, offering the potential to significantly enhance operational efficiency through the integration of path planning and tracking control navigation methods. However, the inherent complexity of orchard environments presents substantial challenges for robotic systems. Researchers have extensively investigated the robustness of various path planning and tracking control techniques for OMR in complex scenes, aiming to improve the robots’ security, stability, efficiency, and adaptability. This paper provides a comprehensive review of the state-of-the-art path planning and tracking control strategies for OMR in such environments. First, it discusses the advances in both global and local path planning methods designed for OMR navigating through complex orchard scenes. Second, it examines tracking control approaches in the context of different motion models, with an emphasis on the application characteristics and current trends in various scene types. Finally, the paper highlights the technical challenges faced by OMR in autonomous tasks within these complex environments and emphasizes the need for further research into navigation technologies that integrate artificial intelligence with end-to-end control systems. This fusion is identified as a promising direction for achieving efficient autonomous operations in orchard environments. Full article

Clean water security demands autonomous systems that sense, reason, and act at scale. We introduce AquaSurveil, a unified multi-agent platform coupling mobile robots, fixed IoT nodes, and privacy-preserving machine learning for continent-scale water health surveillance. The architecture blends Gaussian-process mapping with distributed particle filtering, multi-agent deep-reinforcement Voronoi coverage, GAN/LSTM anomaly detection, and sheaf-theoretic data fusion; components are tuned by Bayesian optimization and governed by Age-of-Information-aware power control. Evaluated on a 2.82-million-record dataset (1940–2023; five countries), AquaSurveil achieves up to 96% spatial-coverage efficiency, an ROC-AUC of 0.96 for anomaly detection, ≈95% state-estimation accuracy, and reduced energy consumption versus randomized patrols. These results demonstrate scalable, robust, and energy-aware water quality surveillance that unifies robotics, the IoT, and modern AI. Full article

With the growing adoption of circular economy principles in manufacturing, efficient disassembly and reassembly of end-of-life (EOL) products has become a key challenge in smart factories. This paper addresses the Disassembly and Assembly Line Balancing Problem (DALBP), which involves scheduling robotic tasks across workstations while minimizing total operation time and accounting for directional switching time between disassembly and assembly phases. To solve this problem, we propose an improved reinforcement learning algorithm, IQ($\lambda$), which extends the classical Q($\lambda$) method by incorporating eligibility trace decay, a dynamic Action Table mechanism to handle non-conflicting parallel tasks, and switching-aware reward shaping to penalize inefficient task transitions. Compared with standard Q($\lambda$), these modifications enhance the algorithm’s global search capability, accelerate convergence, and improve solution quality in complex DALBP scenarios. While the current implementation does not deploy live IoT infrastructure, the architecture is modular and designed to support future extensions involving edge-cloud coordination, trust-aware optimization, and privacy-preserving learning in Industrial Internet of Things (IIoT) environments. Four real-world disassembly-assembly cases (flashlight, copier, battery, and hammer drill) are used to evaluate the algorithm’s effectiveness. Experimental results show that IQ($\lambda$) consistently outperforms traditional Q-learning, Q($\lambda$), and Sarsa in terms of solution quality, convergence speed, and robustness. Furthermore, ablation studies and sensitivity analysis confirm the importance of the algorithm’s core design components. This work provides a scalable and extensible framework for intelligent scheduling in cyber-physical manufacturing systems and lays a foundation for future integration with secure, IoT-connected environments. Full article

A decentralized artificial intelligence (DAI) system is a human-oriented artificial intelligence (AI) system, which performs self-learning and shares its knowledge with other DAI systems like humans. A DAI device is an individual device (e.g., a mobile phone, a personal computer, a robot, a car, etc.) running a DAI system. A DAI device acquires validated knowledge data and raw data from a blockchain system as a trust anchor and improves its knowledge level by self-learning using the validated data. A DAI device using the proposed system reduces unreliable tasks, including the generation of unreliable products (e.g., deepfakes, fake news, and hallucinations), but the proposed system also prevents these malicious DAI devices from acquiring the validated data. This paper proposes a new architecture for a blockchain-based data management system for DAI devices, together with the service scenario and data flow, security threats, and security requirements. It also describes the key features and expected effects of the proposed system. This paper discusses the considerations for developing or operating the proposed system and concludes with future works. Full article

This paper delves into the potential of an optimized differential system within an underactuated tendon-driven soft robotic gripper, a crucial component that enhances the grasping abilities by allowing fingers to secure objects adapting to different shapes and geometries. The original version of the differential system exhibited a certain degree of deformability, which introduced some functional advantages. In particular, its flexibility allowed for more delicate grasping operations by acting as a force reducer and enabling a more gradual application of contact forces, an essential feature when handling fragile objects. Nonetheless, while these benefits are noteworthy, a rigid differential remains more effective for achieving firm and secure grasps. The primary goal of this study is to analyze the differential’s performance through FEM simulations and deformation experiments, assessing its structural behavior under various conditions. Additionally, the research explores an innovative differential geometry aimed at striking the ideal balance, ensuring a robust grasp while retaining a controlled degree of deformability. By refining the differential’s design, this study seeks to enhance the efficiency of underactuated soft robotic grippers, ultimately enhancing their capabilities in handling diverse objects ensuring a compliant and secure grasp with optimized efficiency. Full article

Pipelines, as critical infrastructure in energy transmission, municipal facilities, industrial production, and specialized equipment, are essential to national economic security and social stability. This paper systematically reviews the domestic and international research status of pipeline in-line inspection (ILI) technologies, with a focus on four major technological systems: electromagnetic, acoustic, optical, and robotic technologies. The operational principles, application scenarios, advantages, and limitations of each technology are analyzed in detail. Although existing technologies have achieved significant progress in defect detection accuracy and environmental adaptability, they still face challenges including insufficient adaptability to complex environments, the inherent trade-off between detection accuracy and efficiency, and high equipment costs. Future research directions are identified as follows: intelligent algorithm optimization for multi-physics collaborative detection, miniaturized and integrated design of inspection devices, and scenario-specific development for specialized environments. Through technological innovation and multidisciplinary integration, pipeline ILI technologies are expected to progressively realize efficient, precise, and low-cost lifecycle safety monitoring of pipelines. Full article

The increasing presence of high-rise buildings with curved and convex facades poses significant challenges for facade-cleaning robots, particularly in terms of mobility and anchoring. To address this, we propose a rope-riding mobile anchor (RMA) system capable of repositioning the anchor point of a cleaning robot on convex building surfaces. The RMA travels horizontally along a roof-mounted nylon rope using caterpillar tracks with U-shaped grooves, and employs a four-bar linkage mechanism to fix its position securely by increasing rope contact friction. This structural principle was selected for its simplicity, stability under heavy loads, and efficient actuation. Experimental results show that the RMA can support a payload of 50.5 kg without slippage under tensions up to 495.24 N, and contributes to reducing the power consumption of the cleaning robot during operation. These findings demonstrate the RMA’s effectiveness in extending the robot’s working range and enhancing safety and stability in facade-cleaning tasks on complex curved surfaces. Full article

The evolution of Industry 4.0 and the emerging paradigm of Industry 5.0 have introduced disruptive technologies that are reshaping modern manufacturing environments. Among these, Digital Twin (DT) and Industrial Metaverse (IM) technologies are increasingly recognized for their potential to enhance Occupational Health and Safety (OHS). However, a comprehensive understanding of how these technologies integrate to support OHS in manufacturing remains limited. This study systematically explores the transformative role of DT and IM in creating immersive, intelligent, and human-centric safety ecosystems. Following the PRISMA guidelines, a Systematic Literature Review (SLR) of 75 peer-reviewed studies from the SCOPUS and Web of Science databases was conducted. The review identifies key enabling technologies such as Virtual Reality (VR), Augmented Reality (AR), Extended Reality (XR), Internet of Things (IoT), Artificial Intelligence (AI), Cyber-Physical Systems (CPS), and Collaborative Robots (COBOTS), and highlights their applications in real-time monitoring, immersive safety training, and predictive hazard mitigation. A conceptual framework is proposed, illustrating a synergistic digital ecosystem that integrates predictive analytics, real-time monitoring, and immersive training to enhance the OHS. The findings highlight both the transformative benefits and the key adoption challenges of these technologies, including technical complexities, data security, privacy, ethical concerns, and organizational resistance. This study provides a foundational framework for future research and practical implementation in Industry 5.0. Full article