This article presents a quad-element MIMO antenna designed for multiband operation. The prototype of the design is fabricated and utilizes a vector network analyzer (VNA-AV3672D) to measure the S-parameters. The proposed antenna is capable of operating across three broad frequency bands: 3-15.5 GHz, encompassing the C band (4-8 GHz), X band (8-12.4 GHz), and a significant portion of the Ku band (12.4-15.5 GHz). Additionally, it covers two mm-wave bands, specifically 26.4-34.3 GHz and 36.1-48.9 GHz, which corresponds to 86% of the Ka-band (27-40 GHz). To enhance its performance, the design incorporates a partial ground plane and a top patch featuring a dual-sided reverse 3-stage stair and a straight stick symmetrically placed at the bottom. The introduction of a defected ground structure (DGS) on the ground plane serves to provide a wideband response. The DGS on the ground plane plays a crucial role in improving the electromagnetic interaction between the grounding surface and the top patch, contributing to the wideband characteristics of the antenna. The dimensions of the proposed MIMO antenna are 31.7 mm × 31.7 mm × 1.6 mm. Furthermore, the article delves into the assessment of various performance metrics related to antenna diversity, such as ECC, DG, TARC, MEG, CCL, and channel capacity, with corresponding values of 0.11, 8.87 dB, -6.6 dB, ±3 dB, 0.32 bits/sec/Hz, and 18.44 bits/sec/Hz, respectively. Additionally, the equivalent circuit analysis of the MIMO system is explored in the article. It's worth noting that the measured results exhibit a strong level of agreement with the simulated results, indicating the reliability of the proposed design. The MIMO antenna's ability to exhibit multiband response, good diversity performance, and consistent channel capacity across various frequency bands renders it highly suitable for integration into multi-band wireless devices. The developed MIMO system should be applicable on n77/n78/n79 5G NR (3.3-5 GHz); WLAN (4.9-5.725 GHz); Wi-Fi (5.15-5.85 GHz); LTE5537.5 (5.15-5.925 GHz); WiMAX (5.25-5.85 GHz); WLAN (5.725-5.875 GHz); long-distance radio telecommunication (4-8 GHz; C-band); satellite, radar, space communications and terrestrial broadband (8-12 GHz; X-band); and various satellite communications (27-40 GHz; Ka-band).
Existing methods for scoring student presentations predominantly rely on computer-based implementations and do not incorporate a robotic multi-classification model. This limitation can result in potential misclassification issues as these approaches lack active feature learning capabilities due to fixed camera positions. Moreover, these scoring methods often solely focus on facial expressions and neglect other crucial factors, such as eye contact, hand gestures and body movements, thereby leading to potential biases or inaccuracies in scoring. To address these limitations, this study introduces Robotics-based Presentation Skill Scoring (RPSS), which employs a multi-model analysis. RPSS captures and analyses four key presentation parameters in real time, namely facial expressions, eye contact, hand gestures and body movements, and applies the fuzzy Delphi method for criteria selection and the analytic hierarchy process for weighting, thereby enabling decision makers or managers to assign varying weights to each criterion based on its relative importance. RPSS identifies five academic facial expressions and evaluates eye contact to achieve a comprehensive assessment and enhance its scoring accuracy. Specific sub-models are employed for each presentation parameter, namely EfficientNet for facial emotions, DeepEC for eye contact and an integrated Kalman and heuristic approach for hand and body movements. The scores are determined based on predefined rules. RPSS is implemented on a robot, and the results highlight its practical applicability. Each sub-model is rigorously evaluated offline and compared against benchmarks for selection. Real-world evaluations are also conducted by incorporating a novel active learning approach to improve performance by leveraging the robot's mobility. In a comparative evaluation with human tutors, RPSS achieves a remarkable average agreement of 99%, showcasing its effectiveness in assessing students' presentation skills.
Smart home technologies have attracted more users in recent years due to significant advancements in their underlying enabler components, such as sensors, actuators, and processors, which are spreading in various domains and have become more affordable. However, these IoT-based solutions are prone to data leakage; this privacy issue has motivated researchers to seek a secure solution to overcome this challenge. In this regard, wireless signal eavesdropping is one of the most severe threats that enables attackers to obtain residents' sensitive information. Even if the system encrypts all communications, some cyber attacks can still steal information by interpreting the contextual data related to the transmitted signals. For example, a "fingerprint and timing-based snooping (FATS)" attack is a side-channel attack (SCA) developed to infer in-home activities passively from a remote location near the targeted house. An SCA is a sort of cyber attack that extracts valuable information from smart systems without accessing the content of data packets. This paper reviews the SCAs associated with cyber-physical systems, focusing on the proposed solutions to protect the privacy of smart homes against FATS attacks in detail. Moreover, this work clarifies shortcomings and future opportunities by analyzing the existing gaps in the reviewed methods.
One of the most dangerous kinds of attacks affecting computers is a distributed denial of services (DDoS) attack. The main goal of this attack is to bring the targeted machine down and make their services unavailable to legal users. This can be accomplished mainly by directing many machines to send a very large number of packets toward the specified machine to consume its resources and stop it from working. We implemented a method using Java based on entropy and sequential probabilities ratio test (ESPRT) methods to identify malicious flows and their switch interfaces that aid them in passing through. Entropy (E) is the first technique, and the sequential probabilities ratio test (SPRT) is the second technique. The entropy method alone compares its results with a certain threshold in order to make a decision. The accuracy and F-scores for entropy results thus changed when the threshold values changed. Using both entropy and SPRT removed the uncertainty associated with the entropy threshold. The false positive rate was also reduced when combining both techniques. Entropy-based detection methods divide incoming traffic into groups of traffic that have the same size. The size of these groups is determined by a parameter called window size. The Defense Advanced Research Projects Agency (DARPA) 1998, DARPA2000, and Canadian Institute for Cybersecurity (CIC-DDoS2019) databases were used to evaluate the implementation of this method. The metric of a confusion matrix was used to compare the ESPRT results with the results of other methods. The accuracy and f-scores for the DARPA 1998 dataset were 0.995 and 0.997, respectively, for the ESPRT method when the window size was set at 50 and 75 packets. The detection rate of ESPRT for the same dataset was 0.995 when the window size was set to 10 packets. The average accuracy for the DARPA 2000 dataset for ESPRT was 0.905, and the detection rate was 0.929. Finally, ESPRT was scalable to a multiple domain topology application.
The rapid growth of the Internet of Things (IoT) and the massive propagation of wireless technologies has revealed recent opportunities for development in various domains of real life, such as smart cities and E-Health applications. A slight defense against different forms of attack is offered for the current secure and lightweight Routing Protocol for Low Power and Lossy Networks (RPL) of IoT resource-constrained devices. Data packets are highly likely to be exposed in transmission during data packet routing. The RPL rank and version number attacks, which are two forms of RPL attacks, can have critical consequences for RPL networks. The studies conducted on these attacks have several security defects and performance shortcomings. In this research, we propose a Secure RPL Routing Protocol (SRPL-RP) for rank and version number attacks. This mainly detects, mitigates, and isolates attacks in RPL networks. The detection is based on a comparison of the rank strategy. The mitigation uses threshold and attack status tables, and the isolation adds them to a blacklist table and alerts nodes to skip them. SRPL-RP supports diverse types of network topologies and is comprehensively analyzed with multiple studies, such as Standard RPL with Attacks, Sink-Based Intrusion Detection Systems (SBIDS), and RPL+Shield. The analysis results showed that the SRPL-RP achieved significant improvements with a Packet Delivery Ratio (PDR) of 98.48%, a control message value of 991 packets/second, and an average energy consumption of 1231.75 joules. SRPL-RP provided a better accuracy rate of 98.30% under the attacks.
In the current study, we developed an adaptive algorithm that can predict oil mobilization in a porous medium on the basis of optical data. Associated mechanisms based on tuning the electromagnetic response of magnetic and dielectric nanoparticles are also discussed. This technique is a promising method in rational magnetophoresis toward fluid mobility via fiber Bragg grating (FBG). The obtained wavelength shift due to Fe3O4 injection was 75% higher than that of dielectric materials. This use of FBG magneto-optic sensors could be a remarkable breakthrough for fluid-flow tracking in oil reservoirs. Our computational algorithm, based on piecewise linear polynomials, was evaluated with an analytical technique for homogeneous cases and achieved 99.45% accuracy. Theoretical values obtained via coupled-mode theory agreed with our FBG experiment data of at a level of 95.23% accuracy.
Wireless sensor networks (WSNs) are often deployed in hostile environments, where an adversary can physically capture some of the sensor nodes. The adversary collects all the nodes' important credentials and subsequently replicate the nodes, which may expose the network to a number of other security attacks, and eventually compromise the entire network. This harmful attack where a single or more nodes illegitimately claims an identity as replicas is known as the node replication attack. The problem of node replication attack can be further aggravated due to the mobile nature in WSN. In this paper, we propose an extended version of multi-level replica detection technique built on Danger Theory (DT), which utilizes a hybrid approach (centralized and distributed) to shield the mobile wireless sensor networks (MWSNs) from clone attacks. The danger theory concept depends on a multi-level of detections; first stage (highlights the danger zone (DZ) by checking the abnormal behavior of mobile nodes), second stage (battery check and random number) and third stage (inform about replica to other networks). The DT method performance is highlighted through security parameters such as false negative, energy, detection time, communication overhead and delay in detection. The proposed approach also demonstrates that the hybrid DT method is capable and successful in detecting and mitigating any malicious activities initiated by the replica. Nowadays, crimes are vastly increasing and it is crucial to modify the systems accordingly. Indeed, it is understood that the communication needs to be secured by keen observation at each level of detection. The simulation results show that the proposed approach overcomes the weaknesses of the previous and existing centralized and distributed approaches and enhances the performance of MWSN in terms of communication and memory overhead.
Many receiver-based Preamble Sampling Medium Access Control (PS-MAC) protocols have been proposed to provide better performance for variable traffic in a wireless sensor network (WSN). However, most of these protocols cannot prevent the occurrence of incorrect traffic convergence that causes the receiver node to wake-up more frequently than the transmitter node. In this research, a new protocol is proposed to prevent the problem mentioned above. The proposed mechanism has four components, and they are Initial control frame message, traffic estimation function, control frame message, and adaptive function. The initial control frame message is used to initiate the message transmission by the receiver node. The traffic estimation function is proposed to reduce the wake-up frequency of the receiver node by using the proposed traffic status register (TSR), idle listening times (ILTn, ILTk), and "number of wake-up without receiving beacon message" (NWwbm). The control frame message aims to supply the essential information to the receiver node to get the next wake-up-interval (WUI) time for the transmitter node using the proposed adaptive function. The proposed adaptive function is used by the receiver node to calculate the next WUI time of each of the transmitter nodes. Several simulations are conducted based on the benchmark protocols. The outcome of the simulation indicates that the proposed mechanism can prevent the incorrect traffic convergence problem that causes frequent wake-up of the receiver node compared to the transmitter node. Moreover, the simulation results also indicate that the proposed mechanism could reduce energy consumption, produce minor latency, improve the throughput, and produce higher packet delivery ratio compared to other related works.
Autonomous vehicles have become a topic of interest in recent times due to the rapid advancement of automobile and computer vision technology. The ability of autonomous vehicles to drive safely and efficiently relies heavily on their ability to accurately recognize traffic signs. This makes traffic sign recognition a critical component of autonomous driving systems. To address this challenge, researchers have been exploring various approaches to traffic sign recognition, including machine learning and deep learning. Despite these efforts, the variability of traffic signs across different geographical regions, complex background scenes, and changes in illumination still poses significant challenges to the development of reliable traffic sign recognition systems. This paper provides a comprehensive overview of the latest advancements in the field of traffic sign recognition, covering various key areas, including preprocessing techniques, feature extraction methods, classification techniques, datasets, and performance evaluation. The paper also delves into the commonly used traffic sign recognition datasets and their associated challenges. Additionally, this paper sheds light on the limitations and future research prospects of traffic sign recognition.
Biosignal analysis is one of the most important topics that researchers have tried to develop during the last century to understand numerous human diseases. Electroencephalograms (EEGs) are one of the techniques which provides an electrical representation of biosignals that reflect changes in the activity of the human brain. Monitoring the levels of anesthesia is a very important subject, which has been proposed to avoid both patient awareness caused by inadequate dosage of anesthetic drugs and excessive use of anesthesia during surgery. This article reviews the bases of these techniques and their development within the last decades and provides a synopsis of the relevant methodologies and algorithms that are used to analyze EEG signals. In addition, it aims to present some of the physiological background of the EEG signal, developments in EEG signal processing, and the effective methods used to remove various types of noise. This review will hopefully increase efforts to develop methods that use EEG signals for determining and classifying the depth of anesthesia with a high data rate to produce a flexible and reliable detection device.
This study aims to optimize the object identification process, especially identifying trash in the house compound. Most object identification methods cannot distinguish whether the object is a real image (3D) or a photographic image on paper (2D). This is a problem if the detected object is moved from one place to another. If the object is 2D, the robot gripper only clamps empty objects. In this study, the Sequential_Camera_LiDAR (SCL) method is proposed. This method combines a Convolutional Neural Network (CNN) with LiDAR (Light Detection and Ranging), with an accuracy of ±2 mm. After testing 11 types of trash on four CNN architectures (AlexNet, VGG16, GoogleNet, and ResNet18), the accuracy results are 80.5%, 95.6%, 98.3%, and 97.5%. This result is perfect for object identification. However, it needs to be optimized using a LiDAR sensor to determine the object in 3D or 2D. Trash will be ignored if the fast scanning process with the LiDAR sensor detects non-real (2D) trash. If Real (3D), the trash object will be scanned in detail to determine the robot gripper position in lifting the trash object. The time efficiency generated by fast scanning is between 13.33% to 59.26% depending on the object's size. The larger the object, the greater the time efficiency. In conclusion, optimization using the combination of a CNN and a LiDAR sensor can identify trash objects correctly and determine whether the object is real (3D) or not (2D), so a decision may be made to move the trash object from the detection location.
Adults are constantly exposed to stressful conditions at their workplace, and this can lead to decreased job performance followed by detrimental clinical health problems. Advancement of sensor technologies has allowed the electroencephalography (EEG) devices to be portable and used in real-time to monitor mental health. However, real-time monitoring is not often practical in workplace environments with complex operations such as kindergarten, firefighting and offshore facilities. Integrating the EEG with virtual reality (VR) that emulates workplace conditions can be a tool to assess and monitor mental health of adults within their working environment. This paper evaluates the mental states induced when performing a stressful task in a VR-based offshore environment. The theta, alpha and beta frequency bands are analysed to assess changes in mental states due to physical discomfort, stress and concentration. During the VR trials, mental states of discomfort and disorientation are observed with the drop of theta activity, whilst the stress induced from the conditional tasks is reflected in the changes of low-alpha and high-beta activities. The deflection of frontal alpha asymmetry from negative to positive direction reflects the learning effects from emotion-focus to problem-solving strategies adopted to accomplish the VR task. This study highlights the need for an integrated VR-EEG system in workplace settings as a tool to monitor and assess mental health of working adults.
An on-chip optical humidity sensor using Nano-anatase TiO₂ coating is presented here. The coating material was prepared so that the result is in solution form, making the fabrication process quick and simple. Then, the solution was effortlessly spin-coated on an SU8 straight channel waveguide. Investigating the sensitivity and performance (response time) of the device revealed a great linearity in the wide range (35% to 98%) of relative humidity (RH). In addition, a variation of more than 14 dB in transmitted optical power was observed, with a response time of only ~0.7 s. The effect of coating concentration and UV treatment was examined on the performance and repeatability of the sensor. Interesting observations were found, and the attributed mechanisms were described. In addition, the proposed sensor was extensively compared with other state-of-the-art proposed counterparts from the literature and remarkable advantages were found. Since a high sensitivity of ~0.21 dB/%RH and high dynamic performances were demonstrated, this sensor is proposed for use in biomedical applications.
Combined computational and experimental strategies for the systematic design of chemical sensor arrays using carbonitrile neutral receptors are presented. Binding energies of acetonitrile, n-pentylcarbonitrile and malononitrile with Ca(II), Mg(II), Be(II) and H⁺ have been investigated with the B3LYP, G3, CBS-QB3, G4 and MQZVP methods, showing a general trend H⁺ > Be(II) > Mg(II) > Ca(II). Hydrogen bonding, donor-acceptor and cation-lone pair electron simple models were employed in evaluating the performance of computational methods. Mg(II) is bound to acetonitrile in water by 12.5 kcal/mol, and in the gas phase the receptor is more strongly bound by 33.3 kcal/mol to Mg(II) compared to Ca(II). Interaction of bound cations with carbonitrile reduces the energies of the MOs involved in the proposed σ-p conjugated network. The planar malononitrile-Be(II) complex possibly involves a π-network with a cationic methylene carbon. Fabricated potentiometric chemical sensors show distinct signal patterns that can be exploited in sensor array applications.
A real-time roundabout detection and navigation system for smart vehicles and cities using laser simulator-fuzzy logic algorithms and sensor fusion in a road environment is presented in this paper. A wheeled mobile robot (WMR) is supposed to navigate autonomously on the road in real-time and reach a predefined goal while discovering and detecting the road roundabout. A complete modeling and path planning of the road's roundabout intersection was derived to enable the WMR to navigate autonomously in indoor and outdoor terrains. A new algorithm, called Laser Simulator, has been introduced to detect various entities in a road roundabout setting, which is later integrated with fuzzy logic algorithm for making the right decision about the existence of the roundabout. The sensor fusion process involving the use of a Wi-Fi camera, laser range finder, and odometry was implemented to generate the robot's path planning and localization within the road environment. The local maps were built using the extracted data from the camera and laser range finder to estimate the road parameters such as road width, side curbs, and roundabout center, all in two-dimensional space. The path generation algorithm was fully derived within the local maps and tested with a WMR platform in real-time.
Augmented reality (AR) has gained enormous popularity and acceptance in the past few years. AR is indeed a combination of different immersive experiences and solutions that serve as integrated components to assemble and accelerate the augmented reality phenomena as a workable and marvelous adaptive solution for many realms. These solutions of AR include tracking as a means for keeping track of the point of reference to make virtual objects visible in a real scene. Similarly, display technologies combine the virtual and real world with the user's eye. Authoring tools provide platforms to develop AR applications by providing access to low-level libraries. The libraries can thereafter interact with the hardware of tracking sensors, cameras, and other technologies. In addition to this, advances in distributed computing and collaborative augmented reality also need stable solutions. The various participants can collaborate in an AR setting. The authors of this research have explored many solutions in this regard and present a comprehensive review to aid in doing research and improving different business transformations. However, during the course of this study, we identified that there is a lack of security solutions in various areas of collaborative AR (CAR), specifically in the area of distributed trust management in CAR. This research study also proposed a trusted CAR architecture with a use-case of tourism that can be used as a model for researchers with an interest in making secure AR-based remote communication sessions.
Data Streams create new challenges for fuzzy clustering algorithms, specifically Interval Type-2 Fuzzy C-Means (IT2FCM). One problem associated with IT2FCM is that it tends to be sensitive to initialization conditions and therefore, fails to return global optima. This problem has been addressed by optimizing IT2FCM using Ant Colony Optimization approach. However, IT2FCM-ACO obtain clusters for the whole dataset which is not suitable for clustering large streaming datasets that may be coming continuously and evolves with time. Thus, the clusters generated will also evolve with time. Additionally, the incoming data may not be available in memory all at once because of its size. Therefore, to encounter the challenges of a large data stream environment we propose improvising IT2FCM-ACO to generate clusters incrementally. The proposed algorithm produces clusters by determining appropriate cluster centers on a certain percentage of available datasets and then the obtained cluster centroids are combined with new incoming data points to generate another set of cluster centers. The process continues until all the data are scanned. The previous data points are released from memory which reduces time and space complexity. Thus, the proposed incremental method produces data partitions comparable to IT2FCM-ACO. The performance of the proposed method is evaluated on large real-life datasets. The results obtained from several fuzzy cluster validity index measures show the enhanced performance of the proposed method over other clustering algorithms. The proposed algorithm also improves upon the run time and produces excellent speed-ups for all datasets.
The swift advancement of the Internet of Things (IoT), coupled with the growing application of healthcare software in this area, has given rise to significant worries about the protection and confidentiality of critical health data. To address these challenges, blockchain technology has emerged as a promising solution, providing decentralized and immutable data storage and transparent transaction records. However, traditional blockchain systems still face limitations in terms of preserving data privacy. This paper proposes a novel approach to enhancing privacy preservation in IoT-based healthcare applications using homomorphic encryption techniques combined with blockchain technology. Homomorphic encryption facilitates the performance of calculations on encrypted data without requiring decryption, thus safeguarding the data's privacy throughout the computational process. The encrypted data can be processed and analyzed by authorized parties without revealing the actual contents, thereby protecting patient privacy. Furthermore, our approach incorporates smart contracts within the blockchain network to enforce access control and to define data-sharing policies. These smart contracts provide fine-grained permission settings, which ensure that only authorized entities can access and utilize the encrypted data. These settings protect the data from being viewed by unauthorized parties. In addition, our system generates an audit record of all data transactions, which improves both accountability and transparency. We have provided a comparative evaluation with the standard models, taking into account factors such as communication expense, transaction volume, and security. The findings of our experiments suggest that our strategy protects the confidentiality of the data while at the same time enabling effective data processing and analysis. In conclusion, the combination of homomorphic encryption and blockchain technology presents a solution that is both resilient and protective of users' privacy for healthcare applications integrated with IoT. This strategy offers a safe and open setting for the management and exchange of sensitive patient medical data, while simultaneously preserving the confidentiality of the patients involved.
This paper aims to develop a new mobile robot path planning algorithm, called generalized laser simulator (GLS), for navigating autonomously mobile robots in the presence of static and dynamic obstacles. This algorithm enables a mobile robot to identify a feasible path while finding the target and avoiding obstacles while moving in complex regions. An optimal path between the start and target point is found by forming a wave of points in all directions towards the target position considering target minimum and border maximum distance principles. The algorithm will select the minimum path from the candidate points to target while avoiding obstacles. The obstacle borders are regarded as the environment's borders for static obstacle avoidance. However, once dynamic obstacles appear in front of the GLS waves, the system detects them as new dynamic obstacle borders. Several experiments were carried out to validate the effectiveness and practicality of the GLS algorithm, including path-planning experiments in the presence of obstacles in a complex dynamic environment. The findings indicate that the robot could successfully find the correct path while avoiding obstacles. The proposed method is compared to other popular methods in terms of speed and path length in both real and simulated environments. According to the results, the GLS algorithm outperformed the original laser simulator (LS) method in path and success rate. With application of the all-direction border scan, it outperforms the A-star (A*) and PRM algorithms and provides safer and shorter paths. Furthermore, the path planning approach was validated for local planning in simulation and real-world tests, in which the proposed method produced the best path compared to the original LS algorithm.
Research on joint torque reduction in robot manipulators has received considerable attention in recent years. Minimizing the computational complexity of torque optimization and the ability to calculate the magnitude of the joint torque accurately will result in a safe operation without overloading the joint actuators. This paper presents a mechanical design for a three dimensional planar redundant manipulator with the advantage of the reduction in the number of motors needed to control the joint angle, leading to a decrease in the weight of the manipulator. Many efforts have been focused on decreasing the weight of manipulators, such as using lightweight joints design or setting the actuators at the base of the manipulator and using tendons for the transmission of power to these joints. By using the design of this paper, only three motors are needed to control any n degrees of freedom in a three dimensional planar redundant manipulator instead of n motors. Therefore this design is very effective to decrease the weight of the manipulator as well as the number of motors needed to control the manipulator. In this paper, the torque of all the joints are calculated for the proposed manipulator (with three motors) and the conventional three dimensional planar manipulator (with one motor for each degree of freedom) to show the effectiveness of the proposed manipulator for decreasing the weight of the manipulator and minimizing driving joint torques.