A learning automata based edge resource allocation approach for IoT-enabled smart cities

Authors: Sampa Sahoo, Kshira Sagar Sahoo, Bibhudatta Sahoo, Amir H. Gandomi

Source: Digital Communications and Networks, Vol 10, Iss 5, Pp 1258-1266 (2024)

Subject Terms: Automaton, Artificial intelligence, IoT Security, Internet of Things, FOS: Mechanical engineering, 7. Clean energy, Engineering, Self-Reconfigurable Robotic Systems and Modular Robotics, Reinforcement learning, Architecture, 11. Sustainability, Edge Computing, Resource allocation, Computer network, Computer Sciences, Internet of Things and Edge Computing, T58.5-58.64, Enhanced Data Rates for GSM Evolution, Physical Sciences, Multitier architecture, Art, IoT, Computer Networks and Communications, Computation offloading, Information technology, Smart environment, Edge device, Visual arts, Resource Allocation, Learning automata, 12. Responsible consumption, Computer Systems, Application layer, Distributed Coordination in Online Robotics Research, Cloud computing, Software deployment, Embedded system, Smart city, Mechanical Engineering, Edge computing, Computer science, Distributed computing, Mobile Edge Computing, Datorsystem, Operating system, Datavetenskap (datalogi), Smart Cities, Computer Science, FOS: Civil engineering

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http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-230972

Current study on multi-robot collaborative vision SLAM

Authors: Chenxi Bao, Yanping Hu, Yu Zhang

Source: Applied and Computational Engineering. 35:80-88

Subject Terms: Artificial intelligence, Human–computer interaction, Robot, Mechanical Engineering, Aerospace Engineering, FOS: Mechanical engineering, Simultaneous Localization and Mapping, Computer science, Cloud Robotics and Automation Research, Human-Robot Interaction, Engineering, Control and Systems Engineering, 13. Climate action, Localization, Physical Sciences, Self-Reconfigurable Robotic Systems and Modular Robotics, SLAM, Computer vision

Toward a Secure 5G-Enabled Internet of Things: A Survey on Requirements, Privacy, Security, Challenges, and Opportunities

Authors: Shams Forruque Ahmed, Md. Sakib Bin Alam, Shaila Afrin, Sabiha Jannat Rafa, Samanta Binte Taher, Maliha Kabir, S. M. Muyeen, Amir H. Gandomi

Source: IEEE Access, Vol 12, Pp 13125-13145 (2024)

Subject Terms: FOS: Computer and information sciences, IoT, IoT Security, Computer Networks and Communications, Flexibility (engineering), 5G-IoT technology, Internet of Things, FOS: Mechanical engineering, Quantum mechanics, 7. Clean energy, Engineering, Computer security, Self-Reconfigurable Robotic Systems and Modular Robotics, FOS: Mathematics, Software deployment, Risk analysis (engineering), Business, 5G-enabled IoT, SAFER, Internet of Things and Edge Computing, Mechanical Engineering, Physics, Statistics, Blockchain and Internet of Things Integration, IoT architecture, Power (physics), Computer science, Standardization, TK1-9971, Operating system, Reliability (semiconductor), Computer Science, Physical Sciences, Electrical engineering. Electronics. Nuclear engineering, 5G, Mathematics, Information Systems

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Access URL: https://doaj.org/article/c9663cac898d4a1385e3c98431d8956c
https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85182353208&origin=inward
https://hdl.handle.net/10576/62123

Self-Organizing Democratized Learning: Toward Large-Scale Distributed Learning Systems

Authors: Minh N. H. Nguyen, Shashi Raj Pandey, Tri Nguyen Dang, Eui‐Nam Huh, Nguyen H. Tran, Walid Saad, Choong Seon Hong

Source: Nguyen, M N H, Pandey, S R, Dang, T N, Huh, E-N, Tran, N H, Saad, W & Hong, C S 2023, 'Self-Organizing Democratized Learning : Toward Large-Scale Distributed Learning Systems', IEEE Transactions on Neural Networks and Learning Systems, vol. 34, no. 12, pp. 10698-10710. https://doi.org/10.1109/TNNLS.2022.3170872
Nguyen, M N H, Pandey, S R, Dang, T N, Huh, E-N, Tran, N H, Saad, W & Hong, C S 2023, ' Self-Organizing Democratized Learning : Toward Large-Scale Distributed Learning Systems ', IEEE Transactions on Neural Networks and Learning Systems . https://doi.org/10.1109/TNNLS.2022.3170872

Subject Terms: FOS: Computer and information sciences, Computer Science - Machine Learning, Artificial intelligence, Generalization, FOS: Mechanical engineering, Machine Learning (stat.ML), MNIST database, Participatory Sensing, Unsupervised learning, Mathematical analysis, Machine Learning (cs.LG), Engineering, Theoretical computer science, Philosophical considerations, Statistics - Machine Learning, Artificial Intelligence, Self-Reconfigurable Robotic Systems and Modular Robotics, Machine learning, FOS: Mathematics, distributed artificial intelligences (AIs), Distance learning, Learning systems, 9. Industry and infrastructure, Mechanical Engineering, Privacy-Preserving Techniques for Data Analysis and Machine Learning, Distributed Control, Computational modeling, Democratized learning, Deep learning, Crowdsourcing for Research and Data Collection, 16. Peace & justice, self-organization, Computer science, Computer Science Applications, Computer aided instruction, Task analysis, Computer Science, Physical Sciences, hierarchical learning, Federated Learning, Mathematics

File Description: application/pdf

Access URL: https://pubmed.ncbi.nlm.nih.gov/35536803
http://arxiv.org/abs/2007.03278
http://www.scopus.com/inward/record.url?scp=85132540104&partnerID=8YFLogxK
https://vbn.aau.dk/ws/files/698876079/Self-Organizing_Democratized_Learning_Toward_Large-Scale_Distributed_Learning_Systems.pdf
https://doi.org/10.1109/TNNLS.2022.3170872
https://vbn.aau.dk/da/publications/fd0271f3-0474-4ce5-86ec-fcf7348a90ef
https://vbn.aau.dk/da/publications/312a1b6d-ee50-4cfe-9952-e863be7b19c9
https://vbn.aau.dk/en/publications/fd0271f3-0474-4ce5-86ec-fcf7348a90ef
https://doi.org/10.1109/TNNLS.2022.3170872
http://hdl.handle.net/10919/110774
https://doi.org/10.1109/TNNLS.2022.3170872

From Unrolled Geometry to Complex Shapes in Equilibrium

Authors: Mara Capone, Carlos Alejandro Nome, Angela Cicala, Natália de Queiroz Nome

Source: Nexus Network Journal. 25:111-119

Subject Terms: 0211 other engineering and technologies, FOS: Mechanical engineering, Geometry, Applications of geometry Developable surfaces Digital fabrication Helicoid Kerf bending, 02 engineering and technology, 0201 civil engineering, Engineering, Self-Reconfigurable Robotic Systems and Modular Robotics, Architecture, FOS: Mathematics, Classical mechanics, Computer graphics (images), Mechanical Engineering, Physics, Computational Design, Computer science, Mechanical engineering, Process (computing), 4D Printing Technologies, Operating system, Tearing, Physical Sciences, Planar, FOS: Civil engineering, Mathematics, Parametric Architecture and Urban Design

Access URL: https://hdl.handle.net/11588/928143
https://hdl.handle.net/11588/928143
https://doi.org/10.1007/s00004-023-00730-3

Zone-sensitive RIZOBots in Action: Examining the Behavior of Mobile Robots In a Heterogeneous Environment

Authors: Osman Balcı, Sema Alaçam

Source: Blucher Design Proceedings. :397-408

Subject Terms: Artificial intelligence, Robot, Action (physics), Robot Navigation, FOS: Political science, FOS: Mechanical engineering, FOS: Law, Sampling-Based Motion Planning Algorithms, Quantum mechanics, Industrial and Manufacturing Engineering, Systems engineering, Design and Control of Warehouse Operations, Task (project management), Engineering, Self-Reconfigurable Robotic Systems and Modular Robotics, Mobile robot, Political science, Human–computer interaction, Mechanical Engineering, Physics, Obstacle, Computer science, Physical Sciences, Computer Science, Computer Vision and Pattern Recognition, Law

Human-Centric Functional Computing as an Approach to Human-Like Computation

Authors: Andy E Williams

Source: Artificial Intelligence and Applications. 1:112-121

Subject Terms: Computer Networks and Communications, Memristive Devices for Neuromorphic Computing, Ciphertext, FOS: Mechanical engineering, Encryption, Set (abstract data type), Space (punctuation), 7. Clean energy, 12. Responsible consumption, Engineering, Theoretical computer science, Self-Reconfigurable Robotic Systems and Modular Robotics, State (computer science), 11. Sustainability, FOS: Electrical engineering, electronic engineering, information engineering, FOS: Mathematics, Functional design, Electrical and Electronic Engineering, Brain-inspired Computing, Neuromorphic Computing, Software engineering, Human–computer interaction, 9. Industry and infrastructure, Mechanical Engineering, Functional encryption, Statistics, 16. Peace & justice, Computer science, Programming language, Algorithm, Operating system, Functional programming, Functional approach, Physical Sciences, Computer Science, Distributed Fault Tolerance and Consistency in Systems, State space, Mathematics

Robotics in the Construction Sector: Trends, Advances, and Challenges

Authors: Yuming Liu, Aidi Hizami Alias, Nuzul Azam Haron, Nabilah Abu Bakar, Hao Wang

Source: Journal of Intelligent & Robotic Systems. 110

Subject Terms: 0209 industrial biotechnology, Artificial intelligence, Robot, 9. Industry and infrastructure, Mechanical Engineering, 0211 other engineering and technologies, Off-Site Construction, FOS: Mechanical engineering, Construction Automation, 02 engineering and technology, Building and Construction, Robotics, Collective Construction, Computer science, 3D Concrete Printing Technology, Building Information Modeling in Construction Industry, Lean Construction, Engineering ethics, 12. Responsible consumption, Engineering, Physical Sciences, Self-Reconfigurable Robotic Systems and Modular Robotics, Construction

GPU implementation of evolving spiking neural P systems

Authors: Rogelio V. Gungon, Katreen Kyle M. Hernandez, Francis George C. Cabarle, Ren Tristan A. de la Cruz, Henry N. Adorna, Miguel Ángel Martínez del Amor, David Orellana-Martín, Ignacio Pérez–Hurtado

Contributors: Universidad de Sevilla. Departamento de Ciencia de la Computación e Inteligencia Artificial, Junta de Andalucía

Source: idUS. Depósito de Investigación de la Universidad de Sevilla
Universidad de Sevilla (US)

Subject Terms: Parallel computing, Artificial neural network, Artificial intelligence, General-purpose computing on graphics processing units, FOS: Mechanical engineering, CUDA, Membrane Computing, 02 engineering and technology, Evolutionary computing, DNA Nanotechnology and Bioanalytical Applications, 01 natural sciences, DNA-based Computing and Data Storage, Engineering, Biochemistry, Genetics and Molecular Biology, Self-Reconfigurable Robotic Systems and Modular Robotics, 0103 physical sciences, Membrane computing, FOS: Mathematics, 0202 electrical engineering, electronic engineering, information engineering, Molecular Biology, Arithmetic, Computer graphics (images), Mechanical Engineering, Computational science, Life Sciences, GPU computing, Computer science, Process (computing), Spiking Neural P Systems, Algorithm, Operating system, Graphics processing unit, Genetic algorithm, Spiking neural P systems, Physical Sciences, Computation, Graphics, P system, Binary number, Mathematics

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Access URL: https://hdl.handle.net/11441/144298
https://idus.us.es/handle//11441/144298

A new cloud autonomous system as a service for multi-mobile robots

Authors: Aida A. Nasr

Source: Neural Computing and Applications. 34:21223-21235

Subject Terms: Artificial intelligence, 0209 industrial biotechnology, Service Robots, Computer Networks and Communications, Robot, Economics, FOS: Mechanical engineering, 02 engineering and technology, 7. Clean energy, Cloud Robotics and Automation Research, Simulated annealing, Real-time computing, Engineering, Cluster analysis, Service (business), Self-Reconfigurable Robotic Systems and Modular Robotics, Mobile robot, 0202 electrical engineering, electronic engineering, information engineering, Edge Computing, Cloud computing, Internet of Things and Edge Computing, Mechanical Engineering, Economy, Computer science, Distributed computing, Mobile Edge Computing, Algorithm, Operating system, Cloud Robotics, Control and Systems Engineering, Physical Sciences, Computer Science, Motion planning

Multi-agent System for Monitoring Temperature in Sensing Surfaces including Hard and Soft Sensors

Authors: Fábio Augusto Dornelles do Amaral, Lucas Sakurada, Paulo Leitão, Jorge Larangeira

Contributors: Biblioteca Digital do IPB

Source: IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society. :1-6

Subject Terms: Real-time Optimization, Biomedical Engineering, FOS: Mechanical engineering, 02 engineering and technology, FOS: Medical engineering, Real-time computing, Distributed sensing, Filter (signal processing), Database, Engineering, Droplet Microfluidics Technology, Self-Reconfigurable Robotic Systems and Modular Robotics, Genetics, FOS: Mathematics, 0202 electrical engineering, electronic engineering, information engineering, Reconfigurability, Biology, Modular design, Soft sensors, Mechanical Engineering, Statistics, Scalability, Sampling (signal processing), Computer science, Distributed computing, Soft sensor, Process (computing), Operating system, Multi-agent system, Model Predictive Control in Industrial Processes, Control and Systems Engineering, FOS: Biological sciences, Physical Sciences, Data collection, Telecommunications, Computer vision, Modularity (biology), Mathematics

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Access URL: https://bibliotecadigital.ipb.pt/bitstream/10198/24625/1/Multi-agente.pdf
https://dblp.uni-trier.de/db/conf/iecon/iecon2021.html#AmaralSLL21
https://hdl.handle.net/10198/24625

Controllable assembly of synthetic constructs with programmable ternary DNA interaction

Authors: Huangchen Cui, Tianqing Zhang, Yuhan Kong, Hang Xing, Bryan Wei

Source: Nucleic Acids Res

Subject Terms: 0301 basic medicine, Cell biology, Mechanical Engineering, DNA Computing, FOS: Mechanical engineering, Life Sciences, DNA, DNA Nanotechnology and Bioanalytical Applications, 01 natural sciences, 0104 chemical sciences, Computational biology, 03 medical and health sciences, Engineering, DNA-based Computing and Data Storage, Biochemistry, Genetics and Molecular Biology, FOS: Biological sciences, Self-Reconfigurable Robotic Systems and Modular Robotics, Physical Sciences, Genetics, Nanotechnology, DNA nanotechnology, Synthetic Biology and Bioengineering, Molecular Biology, Biology

Access URL: https://pubmed.ncbi.nlm.nih.gov/35713533

A new formal approach for performance evaluation of green MAC protocol in energy harvesting WSNs

Authors: Siham Zroug, Laïd Kahloul, Samir Tigane, Nadia Hamani, Saber Benharzallah

Source: Telecommunication Systems. 84:53-67

Subject Terms: Alternative medicine, Time constraint, Economics, FOS: Political science, Wireless Energy Harvesting and Information Transfer, Energy-Efficient Protocols, FOS: Mechanical engineering, Acknowledgement, 7. Clean energy, Engineering, Optical Communication Networks and Energy Efficiency, Green Networking, Hierarchy, Market economy, Self-Reconfigurable Robotic Systems and Modular Robotics, Pathology, Political science, Modular design, Computer network, Ecology, Energy harvesting, Statistics, Physical Sciences, Protocol (science), Wireless, Telecommunications, Medicine, Communications protocol, Computer Networks and Communications, Wireless Energy Harvesting, Structural engineering, Mobile Sensor Deployment, FOS: Law, Node (physics), Real-time computing, FOS: Electrical engineering, electronic engineering, information engineering, FOS: Mathematics, Electrical and Electronic Engineering, Embedded system, Biology, Software engineering, Wireless Sensor Networks: Survey and Applications, Mechanical Engineering, Formal methods, Petri net, Computer science, Throughput, Distributed computing, Process (computing), Energy consumption, Operating system, FOS: Biological sciences, Electrical engineering, Computer Science, RF Energy Harvesting, Wireless Sensor Networks, Energy (signal processing), Law, Wireless sensor network, Mathematics

Hybrid Controller based on Null Space and Consensus Algorithms for Mobile Robot Formation

Authors: Gabriela M. Andaluz, Paulo Leica, Marco Herrera, Luis Morales, Oscar Camacho

Source: Zaguán. Repositorio Digital de la Universidad de Zaragoza
Universidad de Zaragoza
Emerging Science Journal, Vol 6, Iss 3, Pp 429-447 (2022)

Subject Terms: Artificial intelligence, 0209 industrial biotechnology, Kinematics, Computer Networks and Communications, Robot, Robot Navigation, consensus algorithms, FOS: Mechanical engineering, Formation Control, Control (management), null-space, 02 engineering and technology, Null (SQL), Sampling-Based Motion Planning Algorithms, Database, Engineering, mobile robots, Distributed Multi-Agent Coordination and Control, distributed control algorithms, Self-Reconfigurable Robotic Systems and Modular Robotics, Mobile robot, Machine learning, Control theory (sociology), T1-995, Classical mechanics, Stability (learning theory), Biology, Technology (General), H1-99, Mechanical Engineering, Physics, Controller (irrigation), Scalability, Computer science, Agronomy, Optimal Motion Planning, formation scalability, Social sciences (General), Algorithm, Computer Science, Physical Sciences, Computer Vision and Pattern Recognition

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https://doaj.org/article/7bbd009de9604b178302f2a577c32d43

Compliant Mechanism Soft Robot Design and Peristaltic Movement Optimization Using Random Search

Authors: L. A. Páramo-Carranza, A. López-González, Juan C. Tejada

Source: Journal of Robotics, Vol 2022 (2022)

Subject Terms: Artificial intelligence, 0209 industrial biotechnology, Robot, Biomedical Engineering, FOS: Mechanical engineering, Control (management), Soft Robotics, 02 engineering and technology, FOS: Medical engineering, Quantum mechanics, Engineering, Displacement (psychology), Self-Reconfigurable Robotic Systems and Modular Robotics, TJ1-1570, Control theory (sociology), Psychology, Mechanical engineering and machinery, Design and Control of Soft Robotic Systems, Mechanical Engineering, Physics, Mechanism (biology), Acoustics, Servomotor, Computer science, FOS: Psychology, 4D Printing Technologies, Kinematic Modeling, Physical Sciences, Psychotherapist, Bioinspired Robotics, Computer vision, Movement (music), Simulation

File Description: text/xhtml

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A Bioinspired Shape Memory Alloy Based Soft Robotic System for Deep‐Sea Exploration

Authors: Yi Xu, Jianliang Zhuo, Mingyu Fan, Xinge Li, Xunuo Cao, Dengfeng Ruan, Huifang Cao, Fanghao Zhou, Tuck‐Whye Wong, Tiefeng Li

Source: Advanced Intelligent Systems, Vol 6, Iss 5, Pp n/a-n/a (2024)

Subject Terms: shape‐memory alloys, 0301 basic medicine, Computer engineering. Computer hardware, Artificial intelligence, Robot, deep‐sea exploration, Biomedical Engineering, Wearable Nanogenerator Technology, Soft robotics, FOS: Mechanical engineering, Soft Robotics, FOS: Medical engineering, TK Electrical engineering. Electronics Nuclear engineering, TK7885-7895, 03 medical and health sciences, Engineering, Self-Reconfigurable Robotic Systems and Modular Robotics, bioinspired robotics, Stretchable Sensors, 14. Life underwater, Design and Control of Soft Robotic Systems, Shape-memory alloy, 0303 health sciences, Control engineering systems. Automatic machinery (General), Mechanical Engineering, Geology, FOS: Earth and related environmental sciences, Computer science, Materials science, TJ212-225, Physical Sciences, Bioinspired Robotics

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Quick insight into the dynamic dimensions of 4D printing in polymeric composite mechanics

Authors: Nabilah Afiqah Mohd Radzuan, Farhana Mohd Foudzi, Abu Bakar Sulong, M.S.H. Al-Furjan, Nishata Royan Rajendran Royan

Source: Reviews on Advanced Materials Science, Vol 63, Iss 1, Pp pp. 545-560 (2024)

Subject Terms: Composite material, Technology, Additive Manufacturing, FOS: Mechanical engineering, Naturwissenschaften, 4D printing, TP1-1185, 02 engineering and technology, Mechanical Metamaterials, Mechanics, 01 natural sciences, 12. Responsible consumption, Engineering, Self-Reconfigurable Robotic Systems and Modular Robotics, Polymer Composites, Chemical technology, Mechanical Engineering, Physics, Composite number, Technik, Additive Manufacturing and 3D Printing Technologies, Computer science, Materials science, 0104 chemical sciences, 3D Printing, 4D Printing Technologies, Sonstiges, Physical Sciences, Automotive Engineering, shape-memory materials, Shape Memory Polymers, 0210 nano-technology, polymeric composites, 4d printing, Polymer science

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3D-Printing for Cube Satellites (CubeSats): Philippines‘ Perspectives

Authors: Michael B. de Leon, Ulysses B. Ante, Madelene Velasco Villablanca, Arvin Oliver S. Ng, Joseph Alfred V. Garcia, Fred P. Liza, Rigoberto C. Advíncula, John Ryan C. Dizon

Source: Engineering Innovations. 1:13-27

Subject Terms: 0209 industrial biotechnology, nanosatellite, FOS: Mechanical engineering, Aerospace Engineering, 02 engineering and technology, 7. Clean energy, Systems engineering, Engineering, 0203 mechanical engineering, Self-Reconfigurable Robotic Systems and Modular Robotics, 11. Sustainability, FOS: Mathematics, Mechanical Engineering, CubeSat, Evolution and Applications of CubeSat Missions, Cube (algebra), 3D printing, Additive Manufacturing and 3D Printing Technologies, Computer science, Mechanical engineering, 3D Printing, Aerospace engineering, Satellite, Combinatorics, Automotive Engineering, Physical Sciences, Mathematics

A Survey on Snake Robot Locomotion

Authors: G. Seeja, Arockia Selvakumar Arockia Doss, V. Berlin Hency

Source: IEEE Access, Vol 10, Pp 112100-112116 (2022)

Subject Terms: Artificial intelligence, 0209 industrial biotechnology, Biomechanics of Bipedal Locomotion in Robots and Animals, Kinematics, Search and rescue, Robot, Biomedical Engineering, FOS: Mechanical engineering, locomotion control, Soft Robotics, 02 engineering and technology, FOS: Medical engineering, Engineering, Field (mathematics), Self-Reconfigurable Robotic Systems and Modular Robotics, Mobile robot, FOS: Mathematics, mathematical modelling, Classical mechanics, Design and Control of Soft Robotic Systems, Biology, Terrain, Snake-robots, Robot control, Human–computer interaction, Ecology, Mechanical Engineering, Robot locomotion, Physics, Pure mathematics, dynamics, Computer science, TK1-9971, Adaptability, kinematics, FOS: Biological sciences, mechanical design, Physical Sciences, Electrical engineering. Electronics. Nuclear engineering, Simulation, Mathematics

Access URL: https://doaj.org/article/7f1f4e193c944357b5ece649d372673d

Internet of Things-based smart vehicles design of bio-inspired algorithms using artificial intelligence charging system

Authors: Rituraj Jain, M. Kalyan Chakravarthi, Punam Kumari Kumar, O. Hemakesavulu, Edwin Ramirez-Asís, Guillermo Pelaez-Diaz, R Mahaveerakannan

Source: Nonlinear Engineering, Vol 11, Iss 1, Pp 582-589 (2022)

Subject Terms: FOS: Computer and information sciences, Artificial Intelligences, Artificial intelligence, electric motorcycle, Internet of Things, FOS: Mechanical engineering, 02 engineering and technology, Biochemistry, Gene, 7. Clean energy, Engineering, evolutionary-based algorithms, Self-Reconfigurable Robotic Systems and Modular Robotics, 11. Sustainability, FOS: Electrical engineering, electronic engineering, information engineering, 0202 electrical engineering, electronic engineering, information engineering, bio-inspired, Electrical and Electronic Engineering, Embedded system, swarm intelligence-based algorithm, Charging Infrastructure, Applications and Challenges of IoT, smart charging, Industrial Internet, Mechanical Engineering, Integration of Electric Vehicles in Power Systems, artificial intelligence, Engineering (General). Civil engineering (General), internet of things, Computer science, Algorithm, Chemistry, 13. Climate action, Physical Sciences, Computer Science, Transformation (genetics), TA1-2040, Information Systems

Access URL: https://doaj.org/article/975997d595cd4959ab41028b41dd377c