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Stiffness adjusting ability is essential for soft robotic arms to perform complex tasks. A soft state enables dexterous operation and safe interaction, while a rigid state enables large force output or heavy weight carrying. However, making a compact integration of soft actuators with powerful stiffness adjusting mechanisms is challenging. This study aims to develop a piston-like particle jamming mechanism for enhanced stiffness adjustment of a soft robotic arm.

The arm has two pairs of differential tendons for spatial bending, and a jamming core consists of four jamming units with particles sealed inside braided tubes for stiffness adjustment. The jamming core is pushed and pulled smoothly along the tendons by a piston, which is then driven by a motor and a ball screw mechanism.

The tip displacement of the arm under 150 N jamming force and no more than 0.3 kg load is minimal. The maximum stiffening ratio measured in the experiment under 150 N jamming force is up to 6–25 depends on the bending direction and added load of the arm, which is superior to most of the vacuum powered jamming method.

The proposed robotic arm makes an innovative compact integration of tendon-driven robotic arm and motor-driven piston-like particle jamming mechanism. The jamming force is much larger compared to conventional vacuum-powered systems and results in a superior stiffening ability.

The purpose of this paper is to propose a casting process for the production of double-chamber soft fingers, which avoids the problems of air leakage and fracture caused by multistep casting. This proposed method facilitates the simultaneous casting of the inflation chamber and the jamming chamber.

An integrated molding technology based on the lost wax casting method is proposed for the manufacture of double-chamber soft fingers. The solid wax core is assembled with the mold, and then liquid silicone rubber is injected into it. After cooling and solidification, the mold is stripped off and heated in boiling water, so that the solid wax core melts and precipitates, and the integrated soft finger is obtained.

The performance and fatigue tests of the soft fingers produced by the proposed method have been carried out. The results show that the manufacturing method can significantly improve the fatigue resistance and stability of the soft fingers, while also avoiding the problems such as air leakage and cracking.

The improvement of the previous multistep casting method of soft fingers is proposed, and the integrated molding manufacturing method is proposed to avoid the problems caused by secondary bonding.

The Global Positioning System (GPS) is crucial for determining the positions of quadrotors, enabling safe flight and maintaining stability against environmental conditions. This study aims to investigate the effect of wind on the GPS of quadrotors experimentally.

This experimental study was conducted using an F450 frame, 980 kV motors and a Pixhawk flight controller to manage the quadrotor’s flight. To investigate the effects of wind on the quadrotor’s GPS during flight, a Pixhawk 4 Holybro flight controller was used. The experimental tests were performed on a predetermined route at different wind speeds.

Analysis of the data obtained from the flight tests showed that GPS signals were more affected as the wind speed increased. The percentage of GPS jamming levels reached 18% at high wind speeds.

Positioning services will be even more critical for quadrotors, which are expected to be used more frequently in public areas. This study is expected to be a reference for GPS-related research.

Winds pose a significant threat to the safe flight of quadrotors in many ways. This study experimentally investigates the effects of wind on the GPSs of quadrotors and to what extent it affects them at different wind speeds under real weather conditions. The obtained data shows that wind has a significant impact on GPS jamming.

Cross-layer approach in media access control (MAC) layer will address interference and jamming problems. Hybrid distributed MAC can be used for simultaneous voice, data transmissions in wireless sensor network (WSN) and Internet of Things (IoT) applications. Choosing the correct objective function in Nash equilibrium for game theory will address fairness index and resource allocation to the nodes. Game theory optimization for distributed may increase the network performance. The purpose of this study is to survey the various operations that can be carried out using distributive and adaptive MAC protocol. Hill climbing distributed MAC does not need a central coordination system and location-based transmission with neighbor awareness reduces transmission power.

Distributed MAC in wireless networks is used to address the challenges like network lifetime, reduced energy consumption and for improving delay performance. In this paper, a survey is made on various cooperative communications in MAC protocols, optimization techniques used to improve MAC performance in various applications and mathematical approaches involved in game theory optimization for MAC protocol.

Spatial reuse of channel improved by 3%–29%, and multichannel improves throughput by 8% using distributed MAC protocol. Nash equilibrium is found to perform well, which focuses on energy utility in the network by individual players. Fuzzy logic improves channel selection by 17% and secondary users’ involvement by 8%. Cross-layer approach in MAC layer will address interference and jamming problems. Hybrid distributed MAC can be used for simultaneous voice, data transmissions in WSN and IoT applications. Cross-layer and cooperative communication give energy savings of 27% and reduces hop distance by 4.7%. Choosing the correct objective function in Nash equilibrium for game theory will address fairness index and resource allocation to the nodes.

Other optimization techniques can be applied for WSN to analyze the performance.

Game theory optimization for distributed may increase the network performance. Optimal cuckoo search improves throughput by 90% and reduces delay by 91%. Stochastic approaches detect 80% attacks even in 90% malicious nodes.

Channel allocations in centralized or static manner must be based on traffic demands whether dynamic traffic or fluctuated traffic. Usage of multimedia devices also increased which in turn increased the demand for high throughput. Cochannel interference keep on changing or mitigations occur which can be handled by proper resource allocations. Network survival is by efficient usage of valid patis in the network by avoiding transmission failures and time slots’ effective usage.

Literature survey is carried out to find the methods which give better performance.

Automatic dependent surveillance-broadcast (ADS-B) is the foundational technology of the next generation air transportation system defined by Federal Aviation Authority and is one of the most precise ways for tracking aircraft position. ADS-B is intended to provide greater situational awareness to the pilots by displaying the traffic information like aircraft ID, altitude, speed and other critical parameters on the Cockpit Display of Traffic Information displays in the cockpit. Unfortunately, due to the initial proposed nature of ADS-B protocol, it is neither encrypted nor has any other innate security mechanisms, which makes it an easy target for malicious attacks. The system is vulnerable to various active and passive attacks like message ingestion, message deletion, eavesdropping, jamming, etc., which has become an area of concern for the aviation industry. The purpose of this study is to propose a method based on modified advanced encryption standard (AES) algorithm to secure the ADS=B messages and increase the integrity of ADS-B data transmissions.

Though there are various cryptographic and non-cryptographic methods proposed to secure ADS-B data transmissions, it is evident that most of these systems have limitations in terms of cost, implementation or feasibility. The new proposed method implements AES encryption techniques on the ADS-B data on the sender side and correlated decryption mechanism at the receiver end. The system is designed based on the flight schedule data available from any flight planning systems and implementing the AES algorithm on the ADS-B data from each aircraft in the flight schedule.

The suitable hardware was developed using Raspberry pi, ESP32 and Ra-02. Several runs were done to verify the original message, transmitted data and received data. During transmission, encryption algorithm was being developed, which has got very high secured transmission, and during the reception, the data was secured. Field test was conducted to validate the transmission and quality. Several trials were done to validate the transmission process. The authors have successfully shown that the ADS-B data can be encrypted using AES algorithm. The authors are successful in transmitting and receiving the ADS-B data packet using the discussed hardware and software methodology. One major advantage of using the proposed solution is that the information received is encrypted, and the receiver ADS-B system can decrypt the messages on the receiving end. This clearly proves that when the data is received by an unknown receiver, the messages cannot be decrypted, as the receiver is not capable of decrypting the AES-authenticated messages transmitted by the authenticated source. Also, AES encryption is highly unlikely to be decrypted if the encryption key and the associated decryption key are not known.

Implementation of the developed solution in actual onboard avionics systems is not within the scope of this research. Hence, assessing in the real-time distances is not covered.

The authors propose to extend this as a software solution to the onboard avionics systems by considering the required architectural changes. This solution can also bring in positive results for unmanned air vehicles in addition to the commercial aircrafts. Enhancement of security to the key operational and navigation data elements is going to be invaluable for future air traffic management and saving lives of people.

The proposed solution has been practically implemented by developing the hardware and software as part of this research. This has been clearly brought out in the paper. The implementation has been tested using the actual ADS-B data/messages received from using the ADS-B receiver. The solution works perfectly, and this brings immense value to the aircraft-to-aircraft and aircraft-to-ground communications, specifically while using ADS-B data for communicating the position information. With the proposed architecture and minor software updates to the onboard avionics, this solution can enhance safety of flights.

The electromechanical brake system is leading the latest development trend in railway braking technology. The tolerance stack-up generated during the assembly and production process catalyzes the slight geometric dimensioning and tolerancing between the motor stator and rotor inside the electromechanical cylinder. The tolerance leads to imprecise brake control, so it is necessary to diagnose the fault of the motor in the fully assembled electromechanical brake system. This paper aims to present improved variational mode decomposition (VMD) algorithm, which endeavors to elucidate and push the boundaries of mechanical synchronicity problems within the realm of the electromechanical brake system.

The VMD algorithm plays a pivotal role in the preliminary phase, employing mode decomposition techniques to decompose the motor speed signals. Afterward, the error energy algorithm precision is utilized to extract abnormal features, leveraging the practical intrinsic mode functions, eliminating extraneous noise and enhancing the signal’s fidelity. This refined signal then becomes the basis for fault analysis. In the analytical step, the cepstrum is employed to calculate the formant and envelope of the reconstructed signal. By scrutinizing the formant and envelope, the fault point within the electromechanical brake system is precisely identified, contributing to a sophisticated and accurate fault diagnosis.

This paper innovatively uses the VMD algorithm for the modal decomposition of electromechanical brake (EMB) motor speed signals and combines it with the error energy algorithm to achieve abnormal feature extraction. The signal is reconstructed according to the effective intrinsic mode functions (IMFS) component of removing noise, and the formant and envelope are calculated by cepstrum to locate the fault point. Experiments show that the empirical mode decomposition (EMD) algorithm can effectively decompose the original speed signal. After feature extraction, signal enhancement and fault identification, the motor mechanical fault point can be accurately located. This fault diagnosis method is an effective fault diagnosis algorithm suitable for EMB systems.

By using this improved VMD algorithm, the electromechanical brake system can precisely identify the rotational anomaly of the motor. This method can offer an online diagnosis analysis function during operation and contribute to an automated factory inspection strategy while parts are assembled. Compared with the conventional motor diagnosis method, this improved VMD algorithm can eliminate the need for additional acceleration sensors and save hardware costs. Moreover, the accumulation of online detection functions helps improve the reliability of train electromechanical braking systems.

The purpose of this study is to extensively explore the vehicular network paradigm, challenges faced by them and provide a reasonable solution for securing these vulnerable networks. Vehicle-to-everything (V2X) communication has brought the long-anticipated goal of safe, convenient and sustainable transportation closer to reality. The connected vehicle (CV) paradigm is critical to the intelligent transportation systems vision. It imagines a society free of a troublesome transportation system burdened by gridlock, fatal accidents and a polluted environment. The authors cannot overstate the importance of CVs in solving long-standing mobility issues and making travel safer and more convenient. It is high time to explore vehicular networks in detail to suggest solutions to the challenges encountered by these highly dynamic networks.

This paper compiles research on various V2X topics, from a comprehensive overview of V2X networks to their unique characteristics and challenges. In doing so, the authors identify multiple issues encountered by V2X communication networks due to their open communication nature and high mobility, especially from a security perspective. Thus, this paper proposes a trust-based model to secure vehicular networks. The proposed approach uses the communicating nodes’ behavior to establish trustworthy relationships. The proposed model only allows trusted nodes to communicate among themselves while isolating malicious nodes to achieve secure communication.

Despite the benefits offered by V2X networks, they have associated challenges. As the number of CVs on the roads increase, so does the attack surface. Connected cars provide numerous safety-critical applications that, if compromised, can result in fatal consequences. While cryptographic mechanisms effectively prevent external attacks, various studies propose trust-based models to complement cryptographic solutions for dealing with internal attacks. While numerous trust-based models have been proposed, there is room for improvement in malicious node detection and complexity. Optimizing the number of nodes considered in trust calculation can reduce the complexity of state-of-the-art solutions. The theoretical analysis of the proposed model exhibits an improvement in trust calculation, better malicious node detection and fewer computations.

The proposed model is the first to add another dimension to trust calculation by incorporating opinions about recommender nodes. The added dimension improves the trust calculation resulting in better performance in thwarting attacks and enhancing security while also reducing the trust calculation complexity.

In this paper, the authors take an amorphous flattened air-ground wireless self-assembling network system as the research object and focus on solving the wireless self-assembling network topology instability problem caused by unknown control communication faults during the operation of this system.

In the paper, the authors propose a neural network-based direct robust adaptive non-fragile fault-tolerant control algorithm suitable for the air-ground integrated wireless ad hoc network integrated system.

The simulation results show that the system eventually tends to be asymptotically stable, and the estimation error asymptotically tends to zero with the feedback adjustment of the designed controller. The system as a whole has good fault tolerance performance and autonomous learning approximation performance. The experimental results show that the wireless self-assembled network topology has good stability performance and can change flexibly and adaptively with scene changes. The stability performance of the wireless self-assembled network topology is improved by 66.7% at maximum.

The research results may lack generalisability because of the chosen research approach. Therefore, researchers are encouraged to test the proposed propositions further.

This paper designs a direct, robust, non-fragile adaptive neural network fault-tolerant controller based on the Lyapunov stability principle and neural network learning capability. By directly optimizing the feedback matrix K to approximate the robust fault-tolerant correction factor, the neural network adaptive adjustment factor enables the system as a whole to resist unknown control and communication failures during operation, thus achieving the goal of stable wireless self-assembled network topology.

Saudi Arabia's 2030 vision targets an increase of 34% in non-oil revenue participation in the GDP, thus the need for automation and digital transformation. The Company ER is a market leader producing high-quality dairy products in the Kingdom and is a pioneer in the production industry. The company has recently increased the capacity of its milk factory to meet its vision. An investment was made to automate the pallet handling procedures at the milk factory to provide increased production for daily consumption. The new automation transition in Company ER's milk factory provides a unique opportunity to utilize lean management tools to improve the current automated processes before commercialization.

OEE (overall equipment effectiveness) will monitor losses for different operational losses in the new automated system and indicate system improvements, with 85% as the target. Based on DMADV (design, measure, analyze, design and validate) methodology, this study analyzes the entire automated pallet handling system. It uses lean tools to identify areas for improvement, identify waste elements and propose solutions to achieve Company ER's OEE targets.

In this paper, the outcomes will be presented as documented solutions that address the losses encountered in the production system, showing a 12.8% increase in the system's OEE.

Owing the time and resource constraint, this study only involved automated pallet handling procedures in a milk production facility. Hence, the generalization of the result is slightly limited. More studies in several different processes and sectors are required.

This study provided a valuable tool for researchers for gaining deeper understanding regarding the lean manufacturing and its implementation. For practitioners, it is useful to evaluate the degree of lean manufacturing tools in their material handling systems.

This study is the first attempt to develop lean manufacturing constructs for evaluating the automated pallet handling procedures in a milk production facility.

The purpose of this study was to develop and implement a new model to improve maintenance management and the production system through the concepts: maintenance, lean philosophy and Industry 4.0.

The methodology employed in this study includes conducting a bibliographic survey of existing models exploring the joint application of the concepts under study, critically analyzing these models, developing a model proposal and subsequently analyzing the results obtained. The model is implemented on a belt conveyor of a feed mill to improve its performance.

The proposed model contributes to improve maintenance and production system management, proving to be a useful tool to improve real-time decision-making. After its application, it was possible to verify that it increased the performance of the conveyor belt, as well as improved the skills of the operators who operate on it.

Limitation about the distance between the devices that make up the model. The implementation of autonomous maintenance can highlight some challenges within the company. The implementation was only in the belt conveyor, being useful to introduce this in the remaining areas of the factory.

The study presents an innovative, versatile, low-cost and easy-to-apply model to improve maintenance management by combining the three concepts. The model can be easily adapted to monitor condition parameters such as temperature, noise, among others, through the correct choice of devices and proper programming. This work also contributed to help in real-time decision-making for both the maintenance and production departments.