Perimeter security system based on distributed optical fiber sensor network plays a key role in the monitoring and protection of restricted areas and large industrial areas. At present, most of the distributed intrusion signal recognition algorithms rely on manual feature extraction methods and traditional classifiers such as traditional support vector machines, which generally have low recognition efficiency and accuracy. To solve these problems, a convolutional prototype network DWTCPLnet is proposed in this paper. Firstly, the original onedimensional intrusion interference signal is decomposed into five approximate coefficients in the frequency domain by discrete wavelet transform (DWT), and then combined with the original signal to form a new two-dimensional data. This two-dimensional data is then entered into DWT-CPLnet for training. At the same time, the training process of the network is restricted by the metric space of prototype learning. The experimental results indicate that the average recognition accuracy of DWT-CPLnet in 6 types of common intrusion disturbance signals (three natural disturbances: wind blowing, light rain, heavy rain; three manmade disturbances: knocking, impacting and slapping) can reach 99.59%, and also has the ability to identify unknown classes to meet the actual monitoring needs.

Deep learning has achieved advancements across a variety of forefront fields. However, its inherent 'black box' characteristic poses challenges to the comprehension and trustworthiness of the decision-making processes within neural networks. To mitigate these challenges, we introduce InnerSightNet, an inner information analysis algorithm designed to illuminate the inner workings of deep neural networks through the perspectives of community. This approach is aimed at deciphering the intricate patterns of neurons within deep neural networks, thereby shedding light on the networks' information processing and decision-making pathways. InnerSightNet operates in three primary phases, 'neuronization-aggregation-evaluation'. Initially, it transforms learnable units into a structured network of neurons. Subsequently, these neurons are aggregated into distinct communities according to representation attributes. The final phase involves the evaluation of these communities' roles and functionalities, to unpick the information flow and decision-making. By transcending focus on single-layer or individual neuron, InnerSightNet broadens the horizon for deep neural network interpretation. InnerSightNet offers a unique vantage point, enabling insights into the collective behavior of communities within the overarching architecture, thereby enhancing transparency and trust in deep learning systems.

Abstract Autonomous Underwater Vehicle (AUV) is an important tool for intelligent ocean applications, which can be applied to detect underwater environment and search target. Path planning is the key technology to realize AUV intelligence, which has important research significance. Aiming at the dynamic path planning problem, the Regional Ocean Modeling System (ROMS) was first applied to the AUV three‐dimensional (3D) dynamic path planning, and a Gate Recurrent Unit Proximal Policy Optimization with Local Vision (GPPO‐LV) model based on local vision is proposed. The 3D ocean current environment is constructed based on the ROMS simulation data. The local vision matrix is constructed based on underwater images, and the features of local vision are extracted using convolutional neural network. Furthermore, Gate Recurrent Unit (GRU) network is used to mine the hidden information between observation states. Finally, the Actor network for strategy output and the Critical network for action value evaluation are constructed, and strategies are optimized in the process of interaction with the environment. The experiment shows that under various unknown environments, AUV can carry out real‐time path planning under real ocean current data, and has good obstacle avoidance ability.

With the rapid development of Industrial Internet of Things (IIoT), the emergence of credible federated learning provides a more effective solution for it. In this article, we use the credible collaboration between large language models (LLMs) and reinforcement learning (RL) model to improve the autonomous decision-making efficiency of autonomous underwater vehicle (AUV), reduce resource and power consumption, and solve robust decision-making problem in open environments. First, considering the complex terrain and hydrodynamic environment in the ocean, we construct a 3-D ocean simulation environment with high accuracy and high reliability to simulate the behavioral constraints of AUV in the real ocean. Second, we integrate LLaMA model into the decision-making process of AUV, utilizing its powerful information processing capability for environmental analysis and action selection, so as to improve the decision-making generalization ability of AUV in dynamic ocean environments. Finally, we propose proximal policy advantage estimation (PPAE) method and achieve safe and efficient path planning for AUV based on LLMs decision output and dynamic field environment information. The experimental results show that our method achieves a good effect in improving the decision accuracy and robustness of the AUV, which proves the effectiveness of the LLMs in the application of underwater intelligent agent control decision.

In the decade, artificial intelligence has achieved great popularity and applications in medicine and healthcare. Various AI-based algorithms have shown astonishing performance. However, in various data-driven smart healthcare algorithms, the problem of incomplete dataset remains a huge challenge. In this paper, we propose a data completeness enhancement algorithm based on generative AI (i.e., GenAI-DAA) to solve the problems of the in-sufficient data for model training, the data imbalance, and the biases of the training samples. We first construct the cognitive field of the generative models and effectively understand the state of incomplete cognition in generative models. Secondly, on this basis, we propose a quest algorithm for abnormal samples in the cognitive field based on local outlier factor. By fine-grained value evaluation, abnormal samples are given more refined attention. Finally, integrating the above process through multiple cognitive adjustments, GenAI-DAA gradually improves the cognitive ability. GenAI-DAA can be summarized as "Quest $ \longrightarrow$ Estimate$ \longrightarrow$Tune-up". We have conducted extensive experiments to demonstrate the effectiveness of our proposed algorithm, and shown widely applications to some typical data-driven smart healthcare algorithms.

With the advancement of communication technology from 5G to 6G, future communication networks will no longer be limited to land and air, and the ocean will also become the battlefield for 6G networks. The expansion of the network has expanded the scope of Intelligent Autonomous Transport Systems (IATS). As a new type of underwater transport system, Autonomous Underwater Vehicle (AUV) has gained popularity due to their advantages of autonomy, endurance, and concealment. In practical applications, it is necessary to fully consider the impact of uncertain marine environments on AUV’s motion, and also design stable control unit to achieve AUV formation. The core of the control unit is the AUV formation control algorithm, which should enable AUV to complete path planning and obstacle avoidance while ensuring formation control. In order to solve the above problems, an Intelligent Multi-agent path planning and formation control algorithm based on Value-decomposition networks (IMV) is proposed in this paper. Specifically, a three-dimensional high-resolution marine simulation environment located in the Mariana Trench is established, the state transition function and reward function are well designed under uncertain conditions for stable Multi-Agent Reinforcement Learning (MARL) mechanism, a Value-Decomposition Networks (VDN) based training framework is constructed to improve the convergence speed of the proposed method. The experimental results verify the excellent performance of the IMV method proposed in this paper, demonstrating that our method can outperform other methods in the aspect of stability, adaptability, intelligence, and timeliness.

By combining transportation information with physical elements, transportation cyber-physical systems (T-CPS) take advantage of the strengths of information technology and show great potential in terms of efficiency, safety, and control. T-CPS covers land, air, and underwater domains involving vehicles, drones, and autonomous underwater vehicles (AUVs), facilitating our lives and creating productivity. However, underwater T-CPS faces greater difficulties and challenges than the first two areas. On the one side, underwater equipment is generally expensive and thus requires a high level of safety. On the other side, the complexity of the marine environment causes uncertainty in the control. To address these challenges, this paper proposes an expert experience-enhanced control approach designed to enhance AUV reliability and safety. Firstly, we model AUV cluster control, including the complex underwater environment and cooperative control strategy, and refine this problem into a Markov decision problem (MDP) model based on the leader-follower strategy. Subsequently, a multi-agent reinforcement learning cluster control algorithm is developed on the framework of Centralized Training Distributed Execution (CTDE) to improve the learning and exploration capabilities of AUVs. Finally, we propose an expert experience-enhanced strategy that reduces the impact of non-smooth environments and also ameliorates the limitation of relying exclusively on rule-based experience. Experiments compare the linear and triangular AUV formation control tasks, and the proposed approach shows promising superiority and possesses sound stability in dynamically changing environments.

An autonomous underwater vehicle (AUV) has shown impressive potential and promising exploitation prospects in numerous marine missions. Among its various applications, the most essential prerequisite is path planning. Although considerable endeavors have been made, there are several limitations. A complete and realistic ocean simulation environment is critically needed. As most of the existing methods are based on mathematical models, they suffer from a large gap with reality. At the same time, the dynamic and unknown environment places high demands on robustness and generalization. In order to overcome these limitations, we propose an information-assisted reinforcement learning path planning scheme. First, it performs numerical modeling based on real ocean current observations to establish a complete simulation environment with the grid method, including 3-D terrain, dynamic currents, local information, and so on. Next, we propose an information compression (IC) scheme to trim the mutual information (MI) between reinforcement learning neural network layers to improve generalization. A proof based on information theory provides solid support for this. Moreover, for the dynamic characteristics of the marine environment, we elaborately design a confidence evaluator (CE), which evaluates the correlation between two adjacent frames of ocean currents to provide confidence for the action. The performance of our method has been evaluated and proven by numerical results, which demonstrate a fair sensitivity to ocean currents and high robustness and generalization to cope with the dynamic and unknown underwater environment.

The Internet of Things (AIoT) is supporting the revolution of many industries. However, AIoT systems require a large amount of computing resources and electricity consumption as support, which leads to significant carbon emissions and energy consumption, which is not conducive to sustainable energy development. Reducing the demand for data in artificial intelligence through active learning (AL) is an effective solution. In this study, based on the interpretability of neural networks, we propose an interpretable AL algorithm. By improving the traditional heatmap display method, we use predicted probability entropy and posterior probability entropy to form an information class activation map information visualization method, thereby providing an explanation for the sources of information in AL. Meanwhile, we propose a Similarity-Loss AL sampling strategy to evaluate the information content of samples. The experimental results show that our proposed method has achieved good results in terms of interpretability and optimization of sampling in AL. In addition, the proposed Similarity-Loss sampling strategy has achieved the highest performance in current AL scenarios, contributing to achieving low-carbon and sustainable AIoT.

The Unmanned Aerial Vehicles (UAVs) are competent to perform a variety of applications, possessing great potential and promise. The Deep Neural Network (DNN) technology has enabled the UAV-assisted paradigm, accelerated the construction of smart cities, and propelled the development of the Internet of Things (IoT). UAVs play an increasingly important role in various applications, such as surveillance, environmental monitoring, emergency rescue, supplies delivery, for which a robust path planning technique is the foundation and prerequisite. However, existing methods lack comprehensive consideration of the complicated urban environment and do not provide an overall assessment of the robustness and generalization. Meanwhile, due to the resource constraints and hardware limitations of UAVs, the complexity of deploying the network needs to be reduced. This paper proposes a lightweight, reinforcement learning-based real-time path planning method for UAVs, Adaptive Soft Actor-Critic algorithm (ASAC), which optimizing training process, network architecture, and algorithmic models. First of all, we establish a framework of global training and local adaptation, where the structured environment model is constructed for interaction, and local dynamically varying information aids in improving generalization. Secondly, ASAC introduces a cross-layer connection approach that passes the original state information into the higher layers to avoid feature loss and improve learning efficiency. Finally, we propose an adaptive temperature coefficient, which flexibly adjusts the exploration probability of UAVs with the training phase and experience data accumulation. In addition, a series of comparison experiments have been conducted in conjunction with practical application requirements, and the results have fully proved the favorable superiority of ASAC.

Autonomous underwater vehicle (AUV) shows great potential in the Internet of Underwater Things (IoUT) system, in which the path planning algorithm plays a fundamental role. However, the complex underwater environment brings greater challenges to AUV path planning, especially the ocean current, which has a profound impact on time and energy consumption. This article focuses on the complex ocean current condition and proposes an underwater path planning method based on proximal policy optimization (UP4O). In this novel method, a deep reinforcement network is constructed to serve as a decision control to plan the moving direction of AUV. An information encoding module is developed to extract the features of the local obstacles. Furthermore, UP4O integrates the obstacle features with the current state information, including relative position, ocean current, and velocity, enabling the AUV to focus on the global direction and local obstacles at the same time. Additionally, to further adapt to the ocean current and shorten the time cost, UP4O expands the action space of AUV, realizing a fine and flexible action adjustment. The wide applicability of UP4O has been proved by numerous experiments. The proposed algorithm can always plan the time-saving and collision-free paths in complex underwater environments with various terrains and ocean current.

As one of the commonly used vehicles for underwater detection, underwater robots are facing a series of problems. The real underwater environment is large-scale, complex, real-time and dynamic, and many unknown obstacles may exist in the underwater environment. Under such complex conditions and lack of prior knowledge, the existing path planning methods are difficult to plan, therefore they cannot effectively meet the actual demands. In response to these problems, a three-dimensional marine environment including multiple obstacles is established with the real ocean current data in this paper, which is consistent with the actual application scenarios. Then, we propose an N-step Priority Double DQN (NPDDQN) path planning algorithm, which potently realizes obstacle avoidance in the complex environment. In addition, this study proposes an experience screening mechanism, which screens the explored positive experience and improves its reuse rate, thus efficiently improving the algorithm stability in the dynamic environment. This paper verifies the better performance of reinforcement learning compared with a variety of traditional methods in three-dimensional underwater path planning. Underwater robots based on the proposed method have good autonomy and stability, which provides a new method for path planning of underwater robots.Note to Practitioners—The goal of this study is to provide a new solution for obstacle avoidance in path planning of underwater robots, which is consistent with the dynamic and real-time demands of the real environment. Existing underwater path planning researches lack a consistent environment with the actual application, and therefore we firstly construct a three-dimensional ocean environment with real ocean current data to provide support for the algorithms. Additionally, most of the algorithms are pre-planning methods or require long-time calculation, and there is little research on obstacle avoidance. In the face of obstacle changes, underwater robots with poor adaptability will cause performance decline and even economic losses. The proposed algorithm learns through interaction with the environment, and therefore it does not require any prior experience, and has good adaptability as well as fast inference speed. Especially, in the dynamic environment, algorithm performance is difficult to guarantee due to less positive experience in exploration. The proposed experience screening mechanism improves the stability of the algorithm, so that the underwater robot maintains stable performance in different dynamic environments.

Abstract Virtual reality technology, with its continuous development, is gradually applied to healthcare, education, business, and other fields. In the application of the technology, position and attitude estimation, as a space positioning technology, is indispensable. Traditional pose estimation has the problems of high dependence on environment and great complexity. But convolutional neural network (CNN) and other technologies with computational intelligence provide a strong guarantee for the progress of pose estimation. This article, based on the theory of CNN in deep learning, as well as monocular vision system and target sample set with markers, proposes a method for estimation of target position and attitude, and at the same time, describes in detail a general way of making dataset with markers based on simulation environment. In this article, the comparative experiments of different network structures show that this measurement method can avoid manual extraction of complex image features, and realize fast, arbitrary and accurate measurement, which plays a key role in pose and attitude measurement. Moreover, the visual correspondence between the world coordinate system and the pixel coordinate system is proved effectively by quaternion.

The path planning of the autonomous underwater vehicle (AUV) has shown great potential in various Internet of Underwater Things (IoUT) applications. Although considerable efforts had been made, prior studies are confronted with some limitations. For one thing, existing work only uses the ocean current simulation model without introducing real ocean information, having not been supported by real data. For another, traditional path planning algorithms have strong environment dependence and lack flexibility: once the environment changes, they need to be remodeled and replanned. To overcome these challenges, this article proposes comprehensive ocean information D3QN (COID), an AUV path planning scheme exploiting comprehensive ocean information and reinforcement learning (RL), which consists of three steps. First, we introduce the comprehensive real ocean data, including weather, temperature, thermohaline, current, etc., and apply them into the regional ocean modeling system to generated reliable ocean current. Next, through well-designed state transition function and reward function, we build a 3-D grid model of ocean environment for RL. Furthermore, based on the framework of the double dueling deep$Q$network (D3QN), COID integrates local ocean current and position features to provide state input and uses priority sampling to accelerate network convergence. The performance of COID has been evaluated and proved by numerical results, which demonstrate efficient path planning and high flexibility for expansion into different ocean environments.

In 3-D attitude angle estimation, monocular vision-based methods are often utilized for the advantages of short-time and high efficiency. However, the limitations of these methods lie in the complexity of the algorithm and the specificity of the scene, which needs to match the characteristics of the cooperation object and the scene. In this article, we propose a fully connected attitude detection network (FADN), which combines neural network and traditional algorithms for 3-D attitude angle estimation. FADN provides a whole process from the input of a single frame image in the industrial video stream to the output of the corresponding 3-D attitude angle estimation. Benefiting from the end-to-end estimation framework, FADN avoids tedious matching algorithms and thus has certain portability. A series of comparative experiments based on the rendering software 3-D Studio Max (3d Max) have been carried out to evaluate the performance of FADN. The experimental results show that FADN has high estimation accuracy and fast running speed. At the same time, the simulation results reliably prove the feasibility of FADN, and also promote the research in real scenarios.

In diverse applications of the industrial Internet of Things (IIoT), the six degrees of freedom (6-DoF) information is essential, which determines the attitude and position of a 3-D object. Nevertheless, due to the complexity and variability of the scenarios, higher requirements are imposed on the 6-DoF estimation. Among them, occlusion is one of the knottiest problems, which causes significant performance degradation and needs to be solved urgently. Therefore, in this article, we propose a completely new and universal multibranch network (MBN) for industrial applications. Our method is based on monocular vision system and convolutional neural network (CNN) framework. First and foremost, it reduces occlusion interference by focusing on the physical area characteristics of the image. Compared with the traditional CNN-based method, it owns higher accuracy and lower estimation error under occlusion. Second, we propose five algorithms to process the predictions of the independent branches, further effectively improving performance. Third, we optimize the marker to solve the inequality problem in attitude angle estimation. Furthermore, we design and conduct a series of experiments, and the experimental results sufficiently prove the superiority of MBN.

Accurate measurement of position and attitude information is particularly important. Traditional measurement methods generally require high-precision measurement equipment for analysis, leading to high costs and limited applicability. Vision-based measurement schemes need to solve complex visual relationships. With the extensive development of neural networks in related fields, it has become possible to apply them to the object position and attitude. In this paper, we propose an object pose measurement scheme based on convolutional neural network and we have successfully implemented end-to-end position and attitude detection. Furthermore, to effectively expand the measurement range and reduce the number of training samples, we demonstrated the independence of objects in each dimension and proposed subadded training programs. At the same time, we generated generating image encoder to guarantee the detection performance of the training model in practical applications.