We introduce DuoMorph, a design and fabrication method that synergistically integrates Fused Deposition Modeling(FDM) printing and pneumatic actuation to create novel shape-changing interfaces. In DuoMorph, the printed structures and heat-sealed pneumatic elements are mutually designed to actuate and constrain each other, enabling functions that are difficult for either component to achieve in isolation. Moreover, the entire hybrid structure can be fabricated through a single, seamless process using only a standard FDM printer—including both heat-sealing and 3D/4D printing. In this paper, we define a design space including four primitive categories that capture the fundamental ways in which printed and pneumatic components can interact. To support this process, we present a fabrication method and an accompanying design tool. Finally, we demonstrate the potential of DuoMorph through example applications and performance demonstrations.

To enable compute-intensive and delay-sensitive maritime services, unmanned surface vessels (USVs) can offload tasks to mobile edge computing (MEC) servers mounted on unmanned aerial vehicles (UAVs). However, jointly minimizing energy consumption and latency is challenging due to the strong coupling between communication, computation, and mobility under stringent quality-of-service (QoS) requirements. To capture this trade-off, we formulate a weighted energy–delay minimization problem that jointly optimizes one-to-one UAV–USV scheduling, task partitioning, and UAV trajectory. The resulting problem is particularly difficult due to a hybrid discrete–continuous decision space and strong temporal coupling under stringent feasibility constraints. To address this mixed-integer nonconvex optimization problem, we reformulate it as a Markov decision process (MDP) and develop a constraint-aware OU–TD3 algorithm that integrates differentiable scheduling relaxation, feasibility-aware action mapping, and adaptive OU–Gaussian mixed exploration for stable learning in high-dimensional continuous control. We further extend the formulation and solution to a cooperative multi-UAV MEC setting with signal-to-interference-plus-noise ratio (SINR)-coupled interference and coordination constraints. Extensive simulations with statistical evaluation demonstrate stable convergence and up to 54.2% cost reduction over baseline schemes, while maintaining robustness under realistic maritime disturbances.

With the trend of large‐scale renewable distributed energy sources (DERs) penetrating into the smart grids (SGs), the SGs entail heavy reliance on information and communication technologies (ICT) and increasing impact of social behaviors on system operation and management. The SGs can be viewed as cyber–physical–social systems (CPSSs). However, the deep coupling of cyber, physical, and social spaces leads the SGs to be more complex and openness, and thus, a higher risk of exposure to various threats. To study the threats, countermeasures, and challenges of the high‐DER‐penetrated SGs from a cyber–physical–social perspective, the key features of the SGs on devices, networks, and applications are first analyzed. On this basis, the threats faced by the SGs due to the widespread deployment of terminal devices, open network environments, and the increasing importance of social behaviors are analyzed. Subsequently, the limitations of the deployed security measures in current power systems are discussed, and an overview of the state‐of‐art countermeasures for the SGs security faced by the threats is organized in three stages: prevention, detection, and mitigation. Finally, the research challenges, key gaps, and future directions for security enhancement of the SGs are also discussed.

We print wax on the paper and turn the composite into a sequentially-controllable, moisture-triggered, rapidly-fabricated, and low-cost shape-changing interface. This technique relies on a sequential control method that harnesses two critical variables: gray levels and water amount. By integrating these variables within a bilayer structure, composed of a paper substrate and wax layer, we produce a diverse wax pattern using a solid inkjet printer. These patterns empower wax paper actuators with rapid control over sequential deformations, harnessing various bending degrees and response times, which helps to facilitate the potential of swift personal actuator customization. Our exploration encompasses the material mechanism, the sequential control method, fabrication procedures, primitive structures, and evaluations. Additionally, we introduce a user-friendly software tool for design and simulation. Lastly, we demonstrate our approach through applications across four domains: agricultural seeding, interactive toys and art, home decoration, and electrical control.

While it seems counterintuitive to think of degradation within an operating device as beneficial, one may argue that when rationally designed, the controlled breakdown of materials— physical, chemical, or biological—can be harnessed for specific functions. To apply this principle to the design of morphing devices, we introduce the concept of "Degrade to Function" (DtF). This concept aims to create eco-friendly and self-contained morphing devices that operate through a sequence of environmentally-triggered degradations. We explore its design considerations and implementation techniques by identifying environmental conditions and degradation types that can be exploited, evaluating potential materials capable of controlled degradation, suggesting designs for structures that can leverage degradation to achieve various transformations and functions, and developing sequential control approaches that integrate degradation triggers. To demonstrate the viability and versatility of this design strategy, we showcase several application examples across a range of environment conditions.

Wide-area protection systems (WAPSs) heavy depends on communication technologies to operate, which leaves space for cyberattacks. A well-designed stealthy and coordinated cyberattacks can disrupt the seamless operation of WAPS by compromising measurement signals, control signals, or both. In this paper, we present a distributed cyber-physical intrusion detection system (DCPIDS) that utilizes the bilateral data from both the cyber side and the physical side to accurately detect cyberattacks on both measurement and control signals in WAPSs. DCPIDS consists of multiple slave agents (SAs) scattered in every area of the power system for regional-area intrusion detection and a master agent (MA) embedded in the system protection center for system status awareness. For the SAs, a hybrid-based intrusion detection method is utilized to conduct regional-area intrusion detection. The proposed method receives the bilateral data to simultaneously detect data integrity attacks on measurement and control signals using three classification models and performs the identification of single and coordinated attacks using a rule-based approach. Further, to train the classification models in the proposed method, a NewStacking-based model training algorithm is adopted. The proposed algorithm combines different selected classifiers that operate on two different feature subsets, which improves the detection accuracy of the models and extends the generalization ability with better robustness. Experimental results reveal that the proposed algorithm has better performance than existing machine learning algorithms and state-of-art works, the proposed method can identify single and coordinated attacks with high accuracy, and our DCPIDS satisfies the real-time requirements for practical online application.

The development of the Industrial Internet will generate a large amount of valuable data, known as industrial big data (IBD). By mining and utilizing IBD, enterprises can improve production efficiency, reduce costs and risks, optimize management processes, and innovate services and business models. However, industrial big data comes from various institutions in all walks of life and has features such as multi-source, heterogeneity, and multi-modality. And data sharing and trading (DS&T) occur in the Industrial Internet environment without mutual trust. These characteristics pose new challenges to analytics methods and privacy and security protection technologies. Therefore, this paper aims to provide references for privacy-preserving and secure industrial big data analytics (IBDA) from three perspectives: research framework, platform architecture, and key technologies. Firstly, we review the current state of research on theories and technologies related to IBDA. Then, we reveal three challenges to secure and efficient IBDA. We take the analytics and utilization of IBD as systematic engineering, propose the research framework for privacy-preserving and secure IBDA, and point out the specific content to be studied. Further, we design the architecture of the IBDA platform with the idea of layering, including a function model, security architecture, and system architecture. Finally, detailed research proposals and potential technologies for IBD analytics and utilization are presented from three aspects: data fusion and analytics, data privacy and security protection, and blockchain.

Although fluidic computation has been utilized to develop interactive devices in the field of Human-Computer Interaction (HCI), the limited computation complexity of previous work hinders the exploration of richer interaction modalities. Based on the Fluidic Computation Kit we developed, this paper explores how unconventional mechanical computing can be leveraged to design shape-changing interfaces that integrate input sensing, output, and complex computation. After introducing the design space enabled by the Kit, we explain how to design four types of elementary computational components and six categories of operators. We end by providing several application scenarios which illustrate the Fluidic Computation Kit’s potential to build sophisticated circuits (e.g., a parallel processor) for use in the field of HCI.

While the majority of pneumatic interfaces are powered and controlled by traditional electric pumps and valves, alternative sustainable energy-harnessing technology has been attracting attention. This paper presents a novel solution to this challenge with the development of the Sustainflatable system, a self-sustaining pneumatic system that can harvest renewable energy sources such as wind, water flow, moisture, and sunlight, convert the energy into compressed air, and store it for later use in a programmable and intelligent way. The system is completely electronic-free, incorporating customized energy harvesting pumps, storage units with variable volume-pressure characteristics, and tailored valves that operate autonomously. Additionally, the paper provides a design tool to guide the development of the system and includes several environmental applications to showcase its capabilities.

It is expected that TCP/IP networks take the place of point-to-point fiber channels for the communications of WAPS. In TCP/IP networks, TCP does not guarantee real-time while UDP does not guarantee reliability. An efficient method is demanded for WAPS to guarantee the real-time and reliability of messages transmitted in TCP/IP networks under congestion states. To address the challenge, we propose a UDP-based reliable transmission (UDP-RT) scheme, which achieves low latency by adopting UDP at the transport layer and high reliability by adding the mechanisms of error correction, error detection, resending and timeout retransmission at the application layer. The error correction mechanism employs TPCs, which has low complexity and good performance at high code rate, to correct errors in a message. A blocking rule for TPCs considering the features of communication channels and messages of WAPS is presented. The error detection mechanism is for detecting whether all errors in the message are corrected by the error correction mechanism. The resending mechanism and the timeout retransmission mechanism (optional) is for ensuring the reliability in the two cases of message loss and not all errors corrected. Additionally, algorithms for UDP-RT are presented, and their correctness are validated through experiment. Our analyses demonstrate that the proposed scheme can meet the real-time requirements of WAPS businesses when network congesting and has higher reliability than the TCP transmission scheme and other UDP transmission schemes.

This paper presents a design space, a fabrication system and applications of creating fluidic chambers and channels at millimeter scale for tangible actuated interfaces. The ability to design and fabricate millifluidic chambers allows one to create high frequency actuation, sequential control of flows and high resolution design on thin film materials. We propose a four dimensional design space of creating these fluidic chambers, a novel heat sealing system that enables easy and precise millifluidics fabrication, and application demonstrations of the fabricated materials for haptics, ambient devices and robotics. As shape-change materials are increasingly integrated in designing novel interfaces, milliMorph enriches the library of fluid-driven shape-change materials, and demonstrates new design opportunities that is unique at millimeter scale for product and interaction design.

Room-temperature liquid metal GaIn25 (Eutectic Gallium- Indium alloy, 75% gallium and 25% indium) has distinctive properties of reversible deformation and controllable locomotion under an external electric field stimulus. Liquid metal's newly discovered properties imply great possibilities in developing new technique for interface design. In this paper, we present LIME, LIquid MEtal interfaces for non-rigid interaction. We first discuss the interaction potential of LIME interfaces. Then we introduce the development of LIME cells and the design of some LIME widgets.