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The recent technological advances in Automated Driving Systems (ADS) have fueled interest in the use and impact of vehicle fleetsinvolved in driverless passenger transport services. This research identifies key safety risks associated Level 4 ADS-equipped vehicleoperation for fleets employed for Mobility as a Service (MaaS) applications. The study goes beyond assessing the functional safety ofthe ADS-equipped vehicles to explore the role of fleet operators in ensuring the operational safety of the vehicle fleets through remote driving assistance functions. This work identifies key responsibilities of the fleet operators in implementing risk reductionmeasures related to organizational management of change, training remote supervisors, ensuring suitable working conditions, enforcing vehicle connectivity and dispatching requirements, and coordinating incident mitigation procedures, training, tools, and work conditions. The study employs a hazard identification methodology that combines traditional and innovative methods to analyze risks involving human, software, and hardware systems. The study identified twenty hazard scenarios arising from system failures, human errors, and unsafe interactions during different operational phases. These are ranked based on their impact on safety and resource intensity, enabling fleet operators to make better decisions regarding resource allocation. By implementing these actions, fleet operators can prevent and mitigate safety hazards in the operation of ADS-equipped fleets though remote monitoring and driving assistance functions. The hazards and risk mitigation activities identified in this report may also improve the operational safety of passenger vehicles equipped with ADS technology as they become more widely deployed in future large-scale commercialoperations.

In this paper, the designing and prototyping of a hybrid robotic lawnmower is presented. The main system components required for functionality are briefly described. All parts of the system are selected in order to enable coordinated operation of electrical and mechanical components. Robotic lawnmower prototyping is preceded by a design process that consists of a phase of selecting the main components and CAD modeling of parts and components. The goal is to position components and parts of the chassis with maximum compactness. The main subsystems of the prototype, the differential drive configuration, and the hybrid subsystem with a belt transmission for starting the alternator and the lawnmower blade are shown. The parts of the subsystem were tested and the final testing of the robotic lawnmower in the case of remote control was carried out. This prototype was made with total costs many times lower than similar commercial robotic lawnmowers. [ABSTRACT FROM AUTHOR]

IoT-based applications require effective anonymous authentication and key agreement (AKA) protocols to secure data and protect user privacy due to open communication channels and sensitive data. While AKA protocols for these applications have been extensively studied, achieving anonymity remains a challenge. AKA schemes using one-time pseudonyms face resynchronization issues after desynchronization attacks, and the high computational overhead of bilinear pairing and public key encryption limits its applicability. Existing schemes also lack essential security features, causing issues such as vulnerability to ephemeral secret leakage attacks and key compromise impersonation. To address these issues, we propose two novel AKA schemes, PUAKA and RCAKA, designed for different IoT traffic patterns. PUAKA improves end device anonymity in the periodic update pattern by updating one-time pseudonyms with authenticated session keys. RCAKA, for the remote control pattern, ensures anonymity while reducing communication and computation costs using shared signatures and temporary random numbers. A key contribution of RCAKA is its ability to resynchronize end devices with incomplete data in the periodic update pattern, supporting continued authentication. Both protocols' security is proven under the Real-or-Random model. The performance comparison results show that the proposed protocols exceed existing solutions in security features and communication costs while reducing computational overhead by 32% to 50%. [ABSTRACT FROM AUTHOR]

Objective: Four web-based experiments investigated flexibility of disembodiment of a virtual object that is no longer actively controlled. Emphasis was on possibilities to modify the timescale of this process. Background: Interactions with virtual objects are commonplace in settings like teleoperation, rehabilitation, and computer-aided design. These objects are quickly integrated into the operator's body schema (embodiment). Less is known about how long such embodiment lasts. Understanding the dynamics of this process is crucial because different applied settings either profit from fast or slow disembodiment. Method: To induce embodiment, participants moved a 2D virtual hand through operating a computer mouse or touchpad. After initial embodiment, participants either stopped or continued moving for a fixed period of time. Embodiment ratings were collected continuously during each trial. Results: Results across all experiments indicated that embodiment for the virtual hand gradually increased during active use and gradually decreased after stopping to use it. Disembodiment unfolded nearly twice as fast as embodiment and showed a curved decay pattern. These dynamics remained unaffected by anticipation of active control that would be required in an upcoming task. Conclusion: The results highlight the importance of continuously experiencing active control in virtual interactions if aiming at inducing stable embodiment of a virtual object. Application: Our findings suggest that applications of virtual disembodiment such as virtual tools or interventions to affect a person's body representation critically depend on continuous updating of sensorimotor experience. However, if switching between virtual objects, for example, during teleoperation or video gaming, after-effects are unlikely to affect performance. [ABSTRACT FROM AUTHOR]

Remote control of trains will be an intermediary step before reaching full automation. In trains, use cases for remote control have been studied only for the past few years. This research presents a project about remote control for the next generation of trains in France and how we carry out the design of a new teleoperation desk for future remote train drivers. We present an Ergonomic Work Analysis used to precisely understand driver's activity. This analysis allowed us to identify the needs of future drivers and to propose ways to overcome one of the main problems that drivers will face when remotely driving a train: loss and degradation of sense. We explain how innovative technologies developed within the Industry 4.0 can offer solutions to problems faced with remote-control. [ABSTRACT FROM AUTHOR]

Copyright of Automobile Technology & Material is the property of Automobile Technology & Material Editorial Office and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Construction machines, for example cranes, excavators, or bulldozers, are widely diffused systems operating outdoors in harsh and dangerous environments, such as building sites, forests, and mines. Typically, construction machines require the on-site presence of highly skilled users to manage the complexity of their control and the high power of hydraulic actuation. Construction machines could benefit from recent developments of robot avatar technology that has demonstrated the viability of remotizing human physical activities, leveraging on intuitive interfaces and controls. Similar approaches could also improve the overall usability of construction machines, making them safer and accessible for untrained users. With this in mind, we developed a novel system for the remote control of cranes through intuitive and immersive interfaces. To validate the solution, we evaluated the experience of approximately 80 untrained users that remotely operated a crane during the 33rd Edition of Bauma, the world's leading fair for construction machines. [ABSTRACT FROM AUTHOR]

This paper deals with a "digital twin" (DT) approach for processing, reprocessing, and scrapping (P/R/S) technology running on a modular production system (MPS) assisted by a mobile cyber–physical robotic system (MCPRS). The main hardware architecture consists of four line-shaped workstations (WSs), a wheeled mobile robot (WMR) equipped with a robotic manipulator (RM) and a mobile visual servoing system (MVSS) mounted on the end effector. The system architecture integrates a hierarchical control system where each of the four WSs, in the MPS, is controlled by a Programable Logic Controller (PLC), all connected via Profibus DP to a central PLC. In addition to the connection via Profibus of the four PLCs, related to the WSs, to the main PLC, there are also the connections of other devices to the local networks, LAN Profinet and LAN Ethernet. There are the connections to the Internet, Cloud and Virtual Private Network (VPN) via WAN Ethernet by open platform communication unified architecture (OPC-UA). The overall system follows a DT approach that enables task planning through augmented reality (AR) and uses virtual reality (VR) for visualization through Synchronized Hybrid Petri Net (SHPN) simulation. Timed Petri Nets (TPNs) are used to control the processes within the MPS's workstations. Continuous Petri Nets (CPNs) handle the movement of the MCPRS. Task planning in AR enables users to interact with the system in real time using AR technology to visualize and plan tasks. SHPN in VR is a combination of TPNs and CPNs used in the virtual representation of the system to synchronize tasks between the MPS and MCPRS. The workpiece (WP) visits stations successively as it is moved along the line for processing. If the processed WP does not pass the quality test, it is taken from the last WS and is transported, by MCPRS, to the first WS where it will be considered for reprocessing or scrapping. [ABSTRACT FROM AUTHOR]

Current teleoperated robotic systems for retinal surgery cannot effectively control subtle tool-to-tissue interaction forces. This limitation may lead to patient injury caused by the surgeon's mistakes. To improve the safety of retinal surgery, this paper proposes a haptic shared control framework for teleoperation based on a force-constrained supervisory controller. The supervisory controller leverages Control Barrier Functions (CBFs) and the interaction model to modify teleoperated inputs when they are deemed unsafe. This method ensures that the interaction forces at the slave robot's end-effector remain within the safe range without the robot's dynamic model and the safety margin. Additionally, the master robot provides haptic feedback to enhance the surgeon's situational awareness during surgery, reducing the risk of misjudgment. Finally, simulated membrane peeling experiments are conducted in a controlled intraocular surgical environment using a teleoperated robotic system controlled by a non-expert. The experimental results demonstrate that the proposed control framework significantly reduces the rate of force constraint violation. [ABSTRACT FROM AUTHOR]

A heavy machinery operators' ability to adhere to schedules is crucial for the success of construction projects. However, unforeseen delays often occur during projects, forcing operators to expedite their work. This pressure often presents challenges for teleoperators. Completing tasks remotely typically takes longer than performing the same tasks on-site due to reduced situational awareness and reliance on technology for perception and understanding in remote workplaces. These inherent aspects of teleoperation add complexity to tasks, especially under time-constrained conditions. This study explores operators' cognitive and task performance during teleoperation of challenging tasks under various time pressures. Thirty-one participants operated a virtual excavator under four different levels of time pressure during the experiments. Results show that appropriate time pressure enhances task performance in aspects of safety, productivity, and quality, whereas excessive pressure results in cognitive overload, disengagement, impaired situational awareness, increased errors, and reduced productivity. This research contributes to enhancing the understanding of teleoperation from the operator's perspective, addressing cognitive challenges to improve safety and efficiency during the remote operation of heavy machinery in construction. [ABSTRACT FROM AUTHOR]

An advance safety system has been developed to effectively address the critical risks associated with fire and gas leakages in both industrial and residential environments. This advanced system integrates a range of sensors, including flame sensors, gas sensors, and temperature sensors, all connected to a microcontroller. The microcontroller is responsible for processing data from these sensors to continuously monitor and evaluate environmental conditions for any signs of fire or gas leaks. Upon recognizing an anomaly, the system activates an alert mechanism that includes displaying status updates on an LCD screen, sounding an audible alarm via a buzzer, and sending instant notifications through SMS via a GSM module to prompt immediate response. A key innovation of this system is its utilization of the Message Queuing Telemetry Transport (MQTT) protocol for cloud-based monitoring and data management. This protocol supports real-time data transmission and analysis through the Ubidots platform, facilitating efficient and reliable communication between the system and cloud services. The lightweight and efficient MQTT protocol ensures seamless remote monitoring and control, while the cloud integration allows for continuous data storage and detailed analysis. This combination of real-time monitoring, remote access, and advanced alerting mechanisms provides a comprehensive solution for hazard recognition and management, significantly enhancing safety by enabling prompt responses and safeguarding both lives and property. [ABSTRACT FROM AUTHOR]

The forest sector is a significant contributor to Swedish society but requires continuous improvements in logging operations. Implementing innovations in operations is dependent on advances in other sectors, since forest machine manufacturers have only a fraction of the development capacity of, e.g., car or truck manufacturers. The aim of this study was to identify the most promising logging-machine systems, with different innovations, for implementation within ten years. The Delphi method was used to gather expert views on the importance of criteria in their decision making, their expectations regarding developments in external factors, and the most promising machine systems. Environmental and social criteria were ranked higher than economic criteria, but the rankings were relatively close. A future with greater and more stringent regulation was expected, but with scope to improve operations through technological developments such as automation and remote control. There was interest in new machine systems, but the established system dominated. Of the expected innovations, renewable energy sources were ranked highly, along with the automation of the work elements that are easiest to automate. The study provides stakeholders with a basis for decision making regarding which technologies to evaluate and test in the future. [ABSTRACT FROM AUTHOR]

In recent years, providing additional visual feedback about the interaction forces has been found to offer benefits to haptic-assisted teleoperation. However, there is limited insight into the effects of the design of force feedback-related visual cues and the type of visual display on the performance of teleoperation of robotic arms executing industrial tasks. In this study, we provide new insights into this interaction by extending these findings to the haptic assistance teleoperation of a simulated robotic arm in a virtual environment, in which the haptic assistance is comprised of a set of virtual fixtures. We design a novel method for providing visual cues about the interaction forces to complement the haptic assistance and augment visual feedback in virtual reality with a head-mounted display. We evaluate the visual cues method and head-mounted display method through human factors experiments in a teleoperated dross removal use case. The results show that both methods are beneficial for task performance, each of them having stronger points in different aspects of the operation. The visual cues method was found to significantly improve safety in terms of peak collision force, whereas the head-mounted display additionally improves the performance significantly. Furthermore, positive scores of the subjective analysis indicate an increased user acceptance of both methods. This work provides a new study on the importance of visual feedback related to (interaction) forces and spatial information for haptic assistance and provides two methods to take advantage of its potential benefits in the teleoperation of robotic arms. [ABSTRACT FROM AUTHOR]

This paper addresses the challenge of providing kinesthetic feedback in bilateral teleoperation by designing a wearable, lightweight (20 g), and compact haptic device, the HJ-Haptic, utilizing a honeycomb jamming mechanism for object stiffness rendering. The HJ-Haptic device can vary its stiffness, from 1.15 N/mm to 2.64 N/mm, using a 30 kPa vacuum pressure. We demonstrate its implementation in a teleoperation framework, enabling operators to adjust grip force based on a reliable haptic feedback on object stiffness. A three-point flexural test on the honeycomb jamming mechanism and teleoperated object-grasping tasks were conducted to evaluate the device's functionality. Our experiments demonstrated a small RMSE and strong correlations in teleoperated motion, stiffness rendering, and interaction force feedback. The HJ-Haptic effectively adjusts its stiffness in response to real-time gripper feedback, mimicking the sensation of direct object grasping with hands. The device's use of vacuum pressure ensures operator safety by preventing dangerous outcomes in case of gas leakage or material failure. Incorporating the HJ-Haptic into the teleoperation framework provided the reliable perception of object stiffness and stable teleoperation. This study highlights the potential of the honeycomb jamming mechanism for enhancing haptic feedback in various applications, including teleoperation scenarios, as well as interactions with extended-reality environments. [ABSTRACT FROM AUTHOR]

Copyright of Journal of Frontiers of Computer Science & Technology is the property of Beijing Journal of Computer Engineering & Applications Journal Co Ltd. and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Thanks to the self-floating, crosslinking, and initiating properties, the designed polysiloxane acrylate monomer PA-Si endows the hydrogel with compositional and crosslinking gradients along the vertical direction, resulting in top–down variations in contraction stress. The gradient hydrogels possess excellent NIR photoresponsive properties and hold remarkable potential for applications in light-driven bionic deformation. [Display omitted] • Gradient hydrogels were fabricated utilizing polysiloxane and organic co-crystal. • The self-floating property of polysiloxane gives the hydrogel a gradient structure. • Organic co-crystal endows hydrogels with photothermal conversion properties. • Gradient hydrogels possess near-infrared light response and cyclic stability. Creating gradient hydrogels for remote control of bionic systems continues to be challenging due to the complexity of the preparation process. Herein, we have proposed a strategy to prepare near-infrared photothermal conversion gradient hydrogel featuring self-floating-induced gradient structures through fast LED light-triggered photopolymerization. A judiciously designed polysiloxane acrylate crosslinker (PA-Si) possesses the self-floating, crosslinking, and initiating properties. The self-floating ability of the PA-Si enables the autonomous formation of compositional and crosslinking gradients within the hydrogel, resulting in top-down variations in contraction stress. The gradient hydrogel demonstrates excellent NIR light-driven response (50°/s), cyclic stability, and mechanical properties (4392.84 kJ/m3). Cargo four times its mass is grasped and lifted by the gradient hydrogel actuator under the NIR light irradiation, displaying impressive performance in light-driven bionics. This study delivers a convenient strategy for manufacturing gradient hydrogels with actuation capabilities and shows potential for application in soft actuators. [ABSTRACT FROM AUTHOR]

Stroke patients with hemiparesis often face significant challenges in accessing consistent and effective rehabilitation therapy due to limitations in mobility and the availability of specialized care. To address this, a new telerehabilitation system is introduced for stroke patients with hemiparesis. It consists of two internetconnected robots for remote wrist rehabilitation. A cloudbased website serves as a centralized interface for patients and doctors, allowing remote control of the system during therapy sessions. To enhance the haptic feedback and stability of the system, a torque/velocity control algorithm is implemented. These control algorithms incorporate damping and spring terms from an impedance control algorithm to synchronize and maintain the positions of both end effectors. Additionally, a wrist evaluation model has been introduced to calculate stiffness and damping coefficients, essential for monitoring patient progress and improving treatment efficacy. The wrist model is evaluated using multiple linear regression method. Experimental testing demonstrates the potential of the proposed approach in enhancing telerehabilitation system performance.

Developing remote control and supervision technology can help in addressing current and future safety issues at sea owing to human errors resulting from an individual’s watch-keeping. This paper presents a remote navigational watch-keeping system that uses virtual reality (VR) to reduce the risk of human errors and alleviate officers’ workload. The system creates a VR environment that replicates the state and navigational instruments of a ship, with limited connectivity via satellite, enabling an operator at an office onshore to have a comprehensive understanding of the surroundings as through the operator is on the navigational bridge. Two navigation experiences were used to evaluate the system. The results demonstrate that the proposed system is effective for double-checking purposes.

Abstract Musk, secreted by adult male forest musk deer, is a kind of precious Chinese traditional medicine for treating cardiovascular, cerebrovascular and neurogenic diseases. However, a lack of knowledge on musk biosynthetic mechanism and limited musk deer population have seriously hindered the development of the musk industry. Fortunately, given that muskrat musk has similar constituents and pharmacological action with deer musk, muskrat is an ideal model animal for exploring musk biosynthetic mechanism. To explore the biosynthetic mechanism of muskrat musk, in the current study, transcriptomic analysis in the liver, kidney and musk glands of male muskrats between musk secreting and non-musk secreting stages was conducted. The findings indicated that the role of muskrat liver on musk biosynthesis was altering sugar, lipid and amino acid metabolism as well as producing basic resources to support musk glands. Moreover, Tigar, Slc11a2, Gpt, Hmgcr, Slc27a4, and Elovl1 were identified as candidate genes for musk biosynthesis via a remotely controlled process. Expression of the Tigar, Slc11a2, and Gpt genes in the liver are downregulated to support the production of musk in muskrat musk gland. And the Hmgcr, Slc27a4, and Elovl1 genes in the musk gland participate in muskrat musk synthesis by influencing lipid metabolism in the musk secreting period. This study provided novel insights into the musk biosynthetic pathway in muskrat by transcriptomic analysis and preliminarily suggested the remote control of metabolism from the liver to musk gland during musk biosynthesis, which was useful to further understanding the musk biosynthetic process and improve musk production in the future.

Robotics holds the potential to streamline the execution of repetitive and dangerous tasks, which are difficult or impossible for a human operator. However, in complex scenarios, such as nuclear waste management or disaster response, full automation often proves unfeasible due to the diverse and intricate nature of tasks, coupled with the unpredictable hazards, and is typically prevented by stringent regulatory frameworks. Consequently, the predominant approach to managing activities in such settings remains human teleoperation. Teleoperation can be demanding, especially in high-stress situations, and involves a complex blend of both cognitive and physical workload. We present an experiment to explore a range of physiological and performance-related metrics for workload assessment during robotic teleoperation. Thirty-five participants performed a teleoperation task, during which we manipulated cognitive and physical workload conditions. We recorded multiple metrics, including brain activity using functional Near-Infrared Spectroscopy, galvanic skin responses, cardiovascular responses, subjective workload ratings, task and robot performance data. Our results suggest that robotic teleoperation performance may be the most robust metric for distinguishing between different levels of workload experienced during teleoperation, with most physiological measures becoming insignificant to distinguish high cognitive workload. [ABSTRACT FROM AUTHOR]

Artificial haptics has the potential to revolutionize the way we integrate physical and virtual technologies in our daily lives, with implications for teleoperation, motor skill acquisition, rehabilitation, gaming, interpersonal communication, and beyond. Here, we delve into the intricate interplay between the somatosensory system and engineered haptic inputs for perception and action. We critically examine the sensory feedback's fidelity and the cognitive demands of interfacing with these systems. We examine how artificial touch interfaces could be redesigned to better align with human sensory, motor, and cognitive systems, emphasizing the dynamic and context-dependent nature of sensory integration. We consider the various learning processes involved in adapting to artificial haptics, highlighting the need for interfaces that support both explicit and implicit learning mechanisms. We emphasize the need for technologies that are not only physiologically biomimetic but also behaviorally and cognitively congruent with the user, affording a range of alternative solutions to users' needs. [ABSTRACT FROM AUTHOR]

Introduction: In response to the high demand for dynamic characteristics and control in current electromechanical automatic control systems. Methods: This study first analyzes the dual motor system. A novel electromechanical control automation model based on a dual motor control algorithm is proposed through the control strategy of dual motor backlash elimination and digital proportional integral derivative control algorithm. Results and Discussion: The results indicated that the optimization of the model had a promoting effect on the control performance of the electromechanical automatic control system. Compared with other popular electromechanical control automation models of the same type, the performance of the research method was the best. During the no-load start-up phase, the maximum tracking error and synchronization error speed of the proposed new electromechanical control automation model showed a significant decreasing trend, with the maximum synchronization error between the two motors being only 0.02%. Under steady-state sudden load, the research model could reach a stable state within 3 s, with errors within ±5%. Conclusion: In summary, combining the dual motor control algorithm with the electromechanical control automation method can provide a theoretical basis and practical guidance for designing and implementing efficient dual motor electromechanical control systems. [ABSTRACT FROM AUTHOR]

Magnetostrictive materials are essential components in sensors, actuators, and energy‐storage devices due to their ability to convert mechanical stress into changes in magnetic properties and vice‐versa. However, their operation typically requires physical contact to apply stress or relies on magnetic field sources to control magnetic properties. This poses significant limitations to devices miniaturization and their integration into contactless technologies. This work reports on an approach that overcomes these limitations by using light to transfer mechanical stress to a magnetostrictive device, thereby achieving non‐contact and reversible opto‐mechanical control of its magnetic and electrical properties. The proposed solution combines a magnetostrictive Fe70Ga30 thin film with a photo‐responsive Liquid Crystalline Network (LCN). Magnetic properties are modulated by changing the light wavelength and illumination time. Remarkably, the stable shape change of the LCN induced by ultraviolet (UV) light leads to the retention of magnetic properties even after the light is switched off, resulting in a magnetic memory effect with an energy consumption advantage over the use of conventional magnetic field applicators. The memory effect is erased by visible light, which releases the mechanical stress in the photoresponsive layer. Therefore, this new composite material creates a fully reconfigurable magnetic system controlled by light. [ABSTRACT FROM AUTHOR]

In physical spaces, pointing interactions cannot rely on cursors, rays, or virtual hands for feedback as in virtual environments; users must rely solely on their perception and experience to capture targets. Currently, research on modeling target distribution for pointing interactions in physical space is relatively sparse. Area division is typically simplistic, and theoretical models are lacking. To address this issue, we propose two models for target distribution in physical space-pointing interactions: the single-target pointing endpoint distribution model (ST-PEDM) and the multi-target pointing endpoint distribution model (MT-PEDM). Based on these models, we have developed a basic region partitioning algorithm (BRPA) and an enhanced region partitioning algorithm (ERPA). We conducted experiments with 15 participants (11 males, and four females) to validate the proposed distribution models and region partitioning algorithm. The results indicate that these target distribution models accurately describe the distribution areas of targets, and the region partitioning algorithm demonstrates high precision and efficiency in determining user intentions during pointing interactions. At target distances of 200 cm and 300 cm, the accuracy without any algorithm is 60.54% and 42.39%, respectively. Using the BRPA algorithm, the accuracy is 72.94% and 68.57%, while, with the ERPA algorithm, the accuracy reaches 84.11% and 82.74%, respectively. This technology can be utilized in interaction scenarios involving handheld pointing devices, such as handheld remote controls. Additionally, it can be applied to the rapid capture control and trajectory planning of drone swarms. Users can quickly and accurately capture and control target drones using pointing interaction technology, issue commands, and transmit data through smart glasses, thereby achieving effective drone control and trajectory planning. [ABSTRACT FROM AUTHOR]

As an embodied and spatial medium, virtual reality is proving an attractive proposition for robot teleoperation in hazardous environments. This paper examines a nuclear decommissioning scenario in which a simulated team of semi-autonomous robots are used to characterise a chamber within a virtual nuclear facility. This study examines the potential utility and impact of sonification as a means of communicating salient operator data in such an environment. However, the question of what sound should be used and how it can be applied in different applications is far from resolved. This paper explores and compares two sonification design approaches. The first is inspired by the theory of cognitive metaphor to create sonifications that align with socially acquired contextual and ecological understanding of the application domain. The second adopts a computationalist approach using auditory mappings that are commonplace in the literature. The results suggest that the computationalist approach outperforms the cognitive metaphor approach in terms of predictability and mental workload. However, qualitative data analysis demonstrates that the cognitive metaphor approach resulted in sounds that were more intuitive, and were better implemented for spatialisation of data sources and data legibility when there was more than one sound source. [ABSTRACT FROM AUTHOR]

In industrial applications, hydraulic presses maintain workloads by controlling the hydraulic cylinder to extend and retract, ensuring optimum tracking performance in terms of position and force. Dealing with nonlinear and multinode systems, such as hydraulic systems, often requires an advanced approach that frequently includes machine learning and artificial intelligence methods. Introducing an adaptive control system to significantly improve the response of hydraulic presses is a challenge. Therefore, a polynomial regression model predictive control (PR-MPC) mechanism is proposed in this paper to compensate for external disturbances such as the forming processes and friction dynamics. Using polynomial regression modeling and least squares optimization, the approach produces highly accurate data-driven models with an R2 value of 0.948 to 0.999. The simplicity of polynomial regression facilitates the integration of smart algorithms into an expert system with additional decision-making rules. Remote adaptive control integrated within a 5G network is based on I 4.0 distributed system guidelines that provide insights into the behavior of the hydraulic press. The results of real-time experiments have shown that the PR-MPC mechanism integrated into the expert system reduces the absolute response error of the hydraulic press by up to 98.7% compared to the initial control system with a PID regulation. [ABSTRACT FROM AUTHOR]

Featured Application: Proof-of-concept versions of mixed-reality applications for controlling and monitoring a digital twin-based roadheader with timeliness, accuracy, and reliability, and the general architecture of a mixed-reality digital twin monitoring system for a roadheader is constructed. The working environment of the coal mine boom-type roadheader is harsh with large blind areas and numerous safety hazards for operators. Traditional on-site or remote control methods do not meet the requirements for intelligent tunneling. This paper proposes a digital twin monitoring system of an EBZ-type roadheader based on mixed reality (MR). First, the system integrates a five-dimensional digital twin model to establish the boom-type roadheader digital twin monitoring system. Second, the Unity3D software (v2020.3.25f1c1) and the MR Hololens (v22621.1133 produced by Microsoft) are used to build a digital twin human–machine interaction platform, achieving bidirectional mapping and driving of cutting operation data. Third, a twin data exchange program is designed by employing the Winform framework and the C/S communication architecture, making use of the socket communication protocol to transmit and store the cutting model data within the system. Finally, a physical prototype of the boom-type roadheader is built, and a validation experiment of the monitoring system's digital twin is conducted. The experimental results show that the average transmission error of the cutting model data of the twin monitoring system is below 0.757%, and the execution accuracy error is below 3.7%. This system can achieve bidirectional real-time mapping and control between the twins, which provides a new monitoring method for actual underground roadheader operations. It effectively eliminates the operator's blind areas and improves the intelligence level of roadheader monitoring. Beyond mining, this methodology can be extended to the monitoring and control of other mining equipment, predictive maintenance in manufacturing, and infrastructure management in smart cities. [ABSTRACT FROM AUTHOR]

Optically controllable delivery of microparticles excites interesting research and applications in various fields because of the noninvasive and noncontact features. However, long-distance delivery with a static low-power light source remains challenging. Here, the constant-force photonic projectile (CFPP) is employed to achieve long-distance delivery of microparticles with a low-power laser beam. The CFPP takes advantage of photon absorption to create a constant optical force within a large range, surpassing traditional tweezers. The concept of CFPP has been experimentally corroborated by remote control over micrometer-sized absorptive particles (APs) using a simple tilted focused beam. At the laser focus, strong photon absorption results in a large constant optical force that ejects the APs along the optical axis. Furthermore, the additional thermal convection field, which attracts particles from a distance into the working range of the CFPP, is utilized to collect the unbound APs for reuse. Finally, we demonstrate the concept of drug delivery by transporting a small microparticle onto a host particle at a remote location. The proposed CFPP provides a new perspective for drug delivery and heat-enhanced photodynamic therapy. [ABSTRACT FROM AUTHOR]

Introduction: Ergonomic issues are widespread among surgeons performing teleoperated robotic surgery. As the ergonomics of a teleoperation system depends on the controller handle, it needs to be designed wisely. While the importance of the controller handle in robot-assisted telemanipulation has been highlighted previously, most existing work on the usability of a human-robot system for surgery was of qualitative nature or did not focus on surgery-specific tasks. Methods: We investigated the influence of nine different grasp-type telemanipulator handles on the usability of a lambda.6 haptic input device for a virtual six degrees of freedom peg-in-hole task. User performance with different handles was assessed through four usability metrics: i) task completion time, ii) dimensionless jerk, iii) collision forces, and iv) perceived workload. We compared these usability results with those of a prior study examining only the functional rotational workspace of the same human-robot system. Results: The linear mixed-effect model (LMM) analysis showed that all four usability metrics were dependent on the telemanipulator handle. Moreover, the LMM analysis showed an additional contribution of the hole accessibility to the usability of the human-robot system. Discussion: In case contact forces between the follower end-effector and its surroundings are not critical, the fixed-hook -grasp handle showed the best results out of the nine tested handles. In case low contact forces are crucial, the tripod -grasp handle was most suitable. It can thus be deduced that different grasp-type telemanipulator handles affect system usability for a surgery-related, teleoperated six degrees of freedom placement task. Also, maximizing the functional rotational workspace can positively affect system usability. [ABSTRACT FROM AUTHOR]

The monitoring and control of an assembly/disassembly/replacement (A/D/R) multifunctional robotic cell (MRC) with the ABB 120 Industrial Robotic Manipulator (IRM), based on IoT (Internet of Things)-cloud, VPN (Virtual Private Network), and digital twin (DT) technology, are presented in this paper. The approach integrates modern principles of smart manufacturing as outlined in Industry/Education 4.0 (automation, data exchange, smart systems, machine learning, and predictive maintenance) and Industry/Education 5.0 (human–robot collaboration, customization, robustness, and sustainability). Artificial intelligence (AI), based on machine learning (ML), enhances system flexibility, productivity, and user-centered collaboration. Several IoT edge devices are engaged, connected to local networks, LAN-Profinet, and LAN-Ethernet and to the Internet via WAN-Ethernet and OPC-UA, for remote and local processing and data acquisition. The system is connected to the Internet via Wireless Area Network (WAN) and allows remote control via the cloud and VPN. IoT dashboards, as human–machine interfaces (HMIs), SCADA (Supervisory Control and Data Acquisition), and OPC-UA (Open Platform Communication-Unified Architecture), facilitate remote monitoring and control of the MRC, as well as the planning and management of A/D/R tasks. The assignment, planning, and execution of A/D/R tasks were carried out using an augmented reality (AR) tool. Synchronized timed Petri nets (STPN) were used as a digital twin akin to a virtual reality (VR) representation of A/D/R MRC operations. This integration of advanced technology into a laboratory mechatronic system, where the devices are organized in a decentralized, multilevel architecture, creates a smart, flexible, and scalable environment that caters to both industrial applications and educational frameworks. [ABSTRACT FROM AUTHOR]

In order to solve the problems such as low hit rate, difficult evaluation of underwater combat effectiveness and single working mode of the aviation homing depth charge in combat and training, this paper proposes a design of a buoy-type aviation homing depth charge which adds floating air bag, release cable, radio transmitting and receiving device to the structure of the ordinary aviation homing depth charge. It's helpful to improve the submarine search probability of depth charge, increase efficiency evaluation means, flexible control working mode, and efficient handling of special situation, etc. This paper also introduces its structure and work flow, four key technologies such as surface floating technology, data transmission technology, data cable technology, remote control technology, are analyzed, and its application prospects are prospected, which can provide reference for the development of aviation homing depth charge. [ABSTRACT FROM AUTHOR]

The control of bilateral teleoperation systems with time-varying delays is a challenging problem that is frequently addressed with advanced control techniques. Widely known controllers, like Proportional-Derivative (PD) and Proportional-Integral-Derivative (PID), are seldom employed independently and are typically combined with other approaches, or at least with gravity compensation. This work aims to address a gap in the analysis of bilateral systems by demonstrating that the standard PID control law alone can achieve regulation in these systems when a human operator moves any of the robots while exchanging delayed positions. Experimental results are consistent with the theoretical analysis. Additionally, to illustrate the high degree of robustness of the standard PID, further experiments are conducted in constrained motion, both with and without force feedback. [ABSTRACT FROM AUTHOR]

Antimicrobial materials are crucial for high‐touch surfaces to prevent the adhesion and proliferation of microorganisms, playing a key role in infection control measures. In this work, a magnetoelectric nanocomposite able to exert antimicrobial activity when magnetically stimulated, is obtained by solvent casting. The nanocomposites, composed of poly(hydroxybutyrate‐co‐hydroxyvalerate) (PHBV) and cobalt ferrite magnetostrictive nanoparticles (CFO NPs), respond to a variable magnetic field by mechanically stimulating the piezoelectric component of the material, thereby inducing an electrical polarization. The antimicrobial properties of the material are determined by exposing it to different frequencies (0.3 and 1 Hz) using a custom‐designed magnetic bioreactor, where the resulting electrical microenvironments are the contributing factor. The growth of Escherichia coli and Staphylococcus aureus over the nanocomposite is highly inhibited when magnetically stimulated (dynamic conditions) mainly at 0.3 Hz, in contrast to static conditions. The electric microenvironment is further measured upon magnetic stimulation, with PHBV films with 20% CFO inducing a voltage variation of ≈20 µV at the surface while the films with 10% CFO induced a voltage variation of ≈12 µV. This work demonstrated that magnetic stimulation, combined with magnetoelectric materials, can be used for remote antimicrobial control, thus preventing the spread of infections. [ABSTRACT FROM AUTHOR]

Drainage equipment is an important part of paddy field drainage and irrigation system, and its performance research and application are conducive to the promotion and implementation of high‐standard farmland construction. Aiming at the different water demand of rice in different growing stages, low water level control precision, large manual operation and extensive management of existing drainage machinery, a tilting‐plate drainage equipment using upper overflow mode was proposed in this paper. Based on the Geneva mechanism principle, a unique linkage mechanism is designed, which can realize water retaining operation and silt discharge operation through a single motor drive, and the relationship between the motor angle and the water retaining height is established. Through mechanical analysis and dynamic simulation of the mechanism, the motion characteristics of the water baffle, silt plate and the change of the motor torque are studied. A remote control system based on a 4G module is designed to control the drainage equipment easily through the user layer. The performance test of the prototype shows that the precision error of the optimized water retaining height control is less than 3.75%. The maximum height of water retaining operation is 180 mm, and the maximum load of silt discharge operation is 10 kg, which can meet the actual operation requirements. The design is beneficial to improve the precision and intelligence level of paddy field drainage management, and the research process can provide some help for the development and application of this kind of equipment. [ABSTRACT FROM AUTHOR]

The development of low-frequency and low-amplitude wave energy harvesters has been limited by the lack of an affordable scientific evaluation platform, due to the high cost and land requirements of ground-based water channels. A 3D-printed modular wave generator, combined with the commercially available laboratory-sized wave channel, is proposed to address this. A stepper motor and an Arduino are employed as the driving source and controller. This system utilises motor parameters, such as rotational speed and number of travelled steps, to accurately control generated wave frequency and amplitude. By minimising costs and enhancing sustainability through 3D printing technology, only minor modifications are needed to adapt it to different water tank dimensions. The system can generate stable waves with frequencies from 1 Hz to 2 Hz and amplitudes from 1.5 cm to 7.1 cm under the current setting. The generated wave frequency and amplitude can be further customised by selecting faster stepper motors, as demonstrated in this study. [ABSTRACT FROM AUTHOR]

This paper explores the management of digitalization projects within the railway industry. It aims to increase and understand the opportunities presented by digitalization and automation in rail operations. Employing a scoping review methodology, this research investigates the execution of European Rail Traffic Management System (ERTMS), remote train control (RTC), and automatic train operation (ATO) projects spanning from 2005 to 2023, with a particular emphasis on metro automation, the remote control of freight and passenger trains, fully automated trains, and highly assisted driving. The refined selection process yielded 30 papers. The analysis of the retrieved papers identified managerial issues, with stakeholder management, change management, and organizational management emerging as recurring themes. Despite the increasing trend in publications, the limited representation managerial issues in ERTMS, RTC, and ATO projects in scientific research persists, with implications for the industry's advancement. This research sheds light on the critical intersection of change management and digitalization within the railway industry by showing the impact of ERTMS, RTC, and ATO on organizational and scope dynamics. The need for human-centered systems is highlighted, showing the necessity of involving every echelon of the organization in the change management process. These findings provide insights for practitioners, researchers, and policymakers, emphasizing the need for understanding and addressing managerial aspects for successful and sustainable digitalization implementations. [ABSTRACT FROM AUTHOR]

Telerobotics involves the operation of robots from a distance, often using advanced communication technologies combining wireless and wired technologies and a variety of protocols. This application domain is crucial because it allows humans to interact with and control robotic systems safely and from a distance, often performing activities in hazardous or inaccessible environments. Thus, by enabling remote operations, telerobotics not only enhances safety but also expands the possibilities for medical and industrial applications. In some use cases, telerobotics bridges the gap between human skill and robotic precision, making the completion of complex tasks requiring high accuracy possible without being physically present. With the growing availability of high-speed networks around the world, especially with the advent of 5G cellular technologies, applications of telerobotics can now span a gamut of scenarios ranging from remote control in the same room to robotic control across the globe. However, there are a variety of factors that can impact the control precision of the robotic platform and user experience of the teleoperator. One such critical factor is latency, especially across large geographical areas or complex network topologies. Consequently, military telerobotics and remote operations, for example, rely on dedicated communications infrastructure for such tasks. However, this creates a barrier to entry for many other applications and domains, as the cost of dedicated infrastructure would be prohibitive. In this paper, we examine the network latency of robotic control over shared network resources in a variety of network settings, such as a local network, access-controlled networks through Wi-Fi and cellular, and a remote transatlantic connection between Finland and the United States. The aim of this study is to quantify and evaluate the constituent latency components that comprise the control feedback loop of this telerobotics experience—of a camera feed for an operator to observe the telerobotic platform's environment in one direction and the control communications from the operator to the robot in the reverse direction. The results show stable average round-trip latency of 6.6 ms for local network connection, 58.4 ms when connecting over Wi-Fi, 115.4 ms when connecting through cellular, and 240.7 ms when connecting from Finland to the United States over a VPN access-controlled network. These findings provide a better understanding of the capabilities and performance limitations of conducting telerobotics activities over commodity networks, and lay the foundation of our future work to use these insights for optimizing the overall user experience and the responsiveness of this control loop. [ABSTRACT FROM AUTHOR]

Irrigation systems are crucial for water management in paddy fields, but manual operation of canal gates often results in localized water shortages or excesses. Previous studies have developed remote monitoring and control systems using Wi-Fi and Internet protocols, but these approaches face difficulties when applied to large-scale irrigation areas. This paper presents a LoRaWAN-based remote monitoring and control system for canal gates of paddy field irrigation systems. The proposed system employs the LoRa technique to create a network of sensor nodes that covers a wide geographical area, making it well-suited for large irrigation systems. Unlike previous studies, which often implemented small-scale models, this system was deployed in a real-world setting in An Trach village, Da Nang. Experimental results showed that the proposed system can transmit data over distances up to 2 km and consumes less energy compared to the MQTT-4G-based solutions, making it ideal for large-scale irrigation systems. [ABSTRACT FROM AUTHOR]

With the global shift to electric vehicles, countries face unique challenges and opportunities shaped by their geographical and economic contexts. This paper presents a system that leverages smart transport technologies, the Internet of Things, and decision-making algorithms, such as PROMETHEE, to optimize charging stations and their positioning in diverse urban and rural settings. The system addresses key obstacles, including managing charging infrastructure, balancing energy consumption, and enhancing transport accessibility. By analyzing local conditions, the proposed solution incorporates innovative algorithms for electricity demand forecasting, charging station management, and integration with urban transport systems. This approach ensures a flexible, scalable, and sustainable electric vehicle management system that aligns with international standards and evolving technological trends. [ABSTRACT FROM AUTHOR]

The presence of observation and action delays in remote control scenarios significantly challenges the decision-making of agents that depend on immediate interactions, particularly within traditional deep reinforcement learning (DRL) algorithms. Existing approaches attempt to tackle this problem through various strategies, such as predicting delayed states, transforming delayed Markov Decision Processes (MDPs) into delay-free equivalents. However, both model-free and model-based methods require extensive online data, making them time-consuming and resource-intensive. To effectively handle time-delay challenges and develop a competent and robust RL algorithm, the Augmented Decision Transformer (ADT) is proposed as the first offline RL algorithm designed to enable agents to manage diverse tasks with various constant delays. It transforms a deterministic delayed MDP (DDMDP) into a standard MDP by simulating trajectories in delayed environments using offline dataset from undelayed environments. The Decision Transformer, an autoregressive model, is then employed to train a decision model based on expected rewards, past state sequences and past action sequences. Extensive experiments conducted on MuJoCo and Adroit tasks validate the robustness and efficiency of the ADT, with its average performance across all tasks being 56% better than the worst-performing comparative algorithms. The results demonstrate that the ADT can outperform state-of-the-art RL counterparts, achieving superior performance across various tasks with different delay conditions. [ABSTRACT FROM AUTHOR]

The interconnection of medical devices in an operating room (OR) represents a major step in optimizing clinical processes and increasing the quality of treatment. The IEEE 11073 Service-oriented Device Connectivity (SDC) standard family constitutes the foundation for manufacturerindependent information exchange and remote control of medical devices. However, integrating new SDC-capable devices into an existing OR network poses a major challenge for medical device manufacturers. Thus, suitable integration models are required. This work focuses on the definition of three possible integration models and their comparison according to architectural design patterns. Thereby, the use case of integrating a high-frequency (HF) surgical device to interconnect with existing SDC-capable devices is pursued. One of the models, which focuses on high expandability and low coupling, was successfully applied to interconnect an HF surgical device with an OR light in the research OR of Reutlingen University. The results indicate transferability to other integration scenarios and are intended to further promote manufacturer-independent integrated ORs. [ABSTRACT FROM AUTHOR]

Steel gates are widely used in river and sea engineering to ensure water retention and flow regulation. Due to the attachment and the alternation of dry and wet environments, water retention easily causes corrosion and destruction, while the attachment is mainly cleaned manually at present. Based on stable adsorption, wall adaptability, and movement ability, a split four-track cleaning robot was developed. The split structure combined with a body swing and torsion mechanism can increase the degree of freedom of attitude adjustment and realize stable crawling of the curved panel. Considering the impact force of the water jet during cleaning, mechanical analysis of robot instability and driving torque on a curved surface was constructed to solve the problem of safe adsorption and flexible movement. A remote control system is constructed to complete the cleaning operation, and the coordination relationship between cleaning and crawling speed is analyzed. The performance test results show that the robot can crawl flexibly and stably on a curved surface, and the crawling speed can be greater than 0.052 m/s when the load is less than 5 kg. A continuous cleaning process has an obvious effect on silt and shellfish attachments, and the robot can meet the actual operational needs. The design process can help in the development of this kind of robot. [ABSTRACT FROM AUTHOR]

Introduction: Long-distance robot teleoperation faces high latencies that pose cognitive challenges to human operators. Latency between command, execution, and feedback in teleoperation can impair performance and affect operators' mental state. The neural underpinnings of these effects are not well understood. Methods: This study aims to understand the cognitive impact of latency in teleoperation and the related mitigation methods, using functional Near-Infrared Spectroscopy (fNIRS) to analyze functional connectivity. A human subject experiment (n = 41) of a simulated remote robot manipulation task was performed. Three conditions were tested: no latency, with visual and haptic latency, with visual latency and no haptic latency. fNIRS and performance data were recorded and analyzed. Results: The presence of latency in teleoperation significantly increased functional connectivity within and between prefrontal and motor cortexes. Maintaining visual latency while providing real-time haptic feedback reduced the average functional connectivity in all cortical networks and showed a significantly different connectivity ratio within prefrontal and motor cortical networks. The performance results showed the worst performance in the all-delayed condition and best performance in no latency condition, which echoes the neural activity patterns. Conclusion: The study provides neurological evidence that latency in teleoperation increases cognitive load, anxiety, and challenges in motion planning and control. Real-time haptic feedback, however, positively influences neural pathways related to cognition, decision-making, and sensorimotor processes. This research can inform the design of ergonomic teleoperation systems that mitigate the effects of latency. [ABSTRACT FROM AUTHOR]