With the advent of 6G networks, integrated sensing and communication (ISAC) is a key enabling technology for native perception in complex industrial Internet of Things (IoT) environments, which demands accurate ISAC channel models. However, most existing models mainly capture correlation at the cluster level, making it difficult to characterize finer-grained parameter relationships and intra-cluster variations, and lack an effective mechanism for bidirectional parameter coupling between communication and sensing channels in industrial IoT scenarios. This paper proposes a shared-cluster geometry-based stochastic ISAC (SC-GBSM-ISAC) channel model for industrial IoT. The model is parameterized using channel measurements at 38 GHz and 132 GHz in a high-clutter indoor factory (InF (A)) scenario. Compared with existing ISAC channel models, the proposed model has the following features. First, a closed-loop “sensing–communication–sensing” channel modeling framework is constructed based on 3GPP TR 38.901, which integrates bidirectional parameter interaction between communication and sensing channels. Second, by selectively reusing sensing-target clusters to construct shared clusters for communication-channel modeling, the model introduces a physically consistent shared-scattering structure while preserving the statistical characteristics specified in 3GPP TR 38.901. Third, by combining scatterer information inferred from the communication channel with a scenario-dependent sensing probability model, the sensing background component is reconstructed. Finally, measurement-simulation comparisons in an independent low-clutter InF (B) scenario demonstrate that the proposed model effectively reproduces bidirectional parameter coupling and primary spatio-temporal statistical metrics at 38/132 GHz, validating its accuracy and cross-scenario consistency in the measured scenarios.

This paper presents an exhaustive comparison of channel measurements and appropriate channel statistics at 28 GHz, 38 GHz, and 130 GHz in the light of massive measurements conducted in an aircraft cabin environment. A total of 84 transmitter-receiver (Tx-Rx) positions are measured, covering both line-of-sight (LoS) and non-line-of-sight (NLoS) cases, with Tx-Rx distances ranging from 1 m to 10 m. The close-in and floating-intercept path loss models are presented for the cabin environment, and root-mean-square (RMS) delay spread (DS) and angular spread (AS) are compared and analyzed. The results indicate that the path loss exponent (PLE) is smaller than the free space PLE in the LoS aisle case over all measured frequencies. Moreover, the RMS DS and AS decrease as frequency increases in LoS and NLoS cases. This work can be applied to the design and optimization of the wireless communication system within the aircraft cabin.

This paper presents a comparative investigation of channel measurements and corresponding channel characteristics at 28 GHz, 38 GHz and 132 GHz in two different industrial environments, including a micro drilling-milling area and a large milling area. To depict the channel characteristics in industrial environments accurately, the close-in free space path-loss model and the alpha-beta-gamma model are used to examine path loss. Additionally, we analyze and compare the root mean square (RMS) delay spread (DS) and angular spread (AS) in different areas. The findings indicate the path loss exponent (PLE) has a dependency on the frequency, and all PLEs are less than the free space value 2.0 for the LoS case. Furthermore, RMS DS and AS exhibit distinct characteristics across various environments. This research provides valuable insights for design and optimization of industrial environmental systems.

Integrated Sensing and Communication (ISAC) has been considered a promising technology in the sixth generation (6G) system. An accurate channel model is a prerequisite for ISAC system design. This paper presents the first sensing and communication channel measurement campaign in typical indoor factory (inF) environments at 28 GHz and 38 GHz, in which over 720 spatial channel impulse responses are collected. The power-delay-angular profiles of multipath components are obtained, and the shared scatterers in communication and sensing channels are intuitively observed. A cluster centroid distance threshold-based cluster identification algorithm is novelly proposed to extract shared clusters from measured ISAC channels. Finally, the sharing proportional coefficient (SPC) is defined to measure the sharing feature of the ISAC channel. Results show that the channel SPC has an upward trend as the frequency increases. The observations presented in this work will offer promising support for ISAC wireless system evaluation.

The Terahertz (THz) band, which spans the frequency range from 0.1 to 10 THz, is widely regarded as a promising candidate for next-generation mobile communication. It has the potential to meet the demand for terabit-per-second data rates and facilitate network densification, making it a highly attractive field of research. In particular, the sub- THz band (100–300 GHz) is currently receiving significant attention in scientific research. This paper presents the characterization of Spatiotemporal channel measurements based on vector network analyzer in typical indoor scenarios at frequencies ranging from 215 to 225 GHz. The effects of both line-of-sight and non-line-of-sight conditions, caused by walls and pillars, are taken into consideration. Based on the directional measurements, the omnidirectional power angular delay profile is extracted. Char-acterization and analysis for multi path component parameters and cluster studies are also presented. The characterization of sub- THz channels extracted in this paper is instrumental in the development of channel modeling, system design, and performance assessment for sub- THz communication systems.

Orbital angular momentum (OAM) offers a novel and promising approach for resource reuse in wireless communication technology due to its theoretically infinite modality. This paper presents the large-scale fading characteristics of channel modeling. It comprehensively analyzes the path loss and Rician K-factor of OAM channels based on extensive measurements conducted at 30 GHz in multiple scenarios. Firstly, the paper introduces the traditional path loss fitting model. Building upon this, an innovative OAM model based on Laguerre-Gaussian (LG) beams is proposed, supported by actual measurements. Subsequently, the paper analyzes the absorption of OAM beams in different environments, including the lobby, office and corridor, utilizing measured data. It further characterizes the channel's distinct characteristics based on the observed performance in these diverse environments.

Terahertz (THz) communication technology holds significant potential for applications in the industrial internet of things (IIoT). Accurately characterizing the THz channel is critical for designing and optimizing communication systems in IIoT scenarios. However, the significantly higher frequencies in the THz band impede the effective utilization of channel models designed for microwave or millimeter-wave frequency bands. To overcome this challenge, extensive measurement campaigns are necessary to thoroughly investigate the characteristics of THz channels in indoor IIoT scenarios. This paper presents a measurement-based channel characterization in indoor IIoT scenarios at a frequency range of 215–225 GHz. We first present VNA-based channel measurement campaigns in micro drilling-milling and large milling areas. The measured data are further processed to obtain the channel impulse response. The key prop-agation channel parameters, e.g., path loss, power delay angle profile, delay spread, and angular spread, are calculated and analyzed in the line-of-sight case. Results demonstrate a favorable spatio-temporal consistency in multipath signal propagation and the physical spatial environment. Furthermore, significant correlations are observed between the channel characteristics and scatterer distribution within IIoT scenarios. The findings of this paper will make substantial contributions to the design and development of THz communication systems in IIoT scenarios.

Millimeter-wave (mmWave) and terahertz (THz) communication technologies have great application prospects in the Industrial Internet of Things (IIoT). However, the channels in industrial scenarios have not been fully investigated at multifrequency bands and in multiscenarios by using the same channel configurations, especially for the frequency ranges from mmWave to THz. In this article, channel measurements are conducted at 28, 38, 132, and 220 GHz in four industrial scenarios. The channel characteristics are extracted and modeled, including path loss, K factor, root mean square (RMS) delay spread, and angular spread (AS), and the correlation between K factor, RMS AS, and distance across the different frequencies in different scenarios. Specifically, we have extended the close-in path loss model to depict the excess loss caused by metal scatterers and modified AS model in the Third Generation Partnership Project (3GPP). Furthermore, cluster-level parameters at different frequencies are presented in our work. The results demonstrate that channel characteristics exhibit frequency dependence under the same measurement configuration. This study provides valuable guidance for the design and optimization of IIoT and contributes to the standardization process of 3GPP.

This paper presents the large-scale fading characteristics of Terahertz (THz) channel in indoor hotspot scenarios. A series of channel measurements at 219–224 GHz are conducted in a classroom and a hallway. In order to investigate the large-scale fading characteristics, the omnidirectional and best directional path loss are separately analyzed by close-in and floating-intercept models, and the Rician$K$-factor, root mean square delay spread and angular spread are analyzed to estimate the multi-path component richness, time and angle dispersion in various indoor scenarios. Further, these values are compared with what has been given in the Third Generation Partnership Project 38.901 in frequency bands lower than 100 GHz. In light of the results, the office area in hallway scenario shows the most severe path loss, and derives the highest time and angle dispersion. Besides, the measurement results enrich the datasets of THz channel propagation, which is helpful for the design and optimization of THz communication systems for sixth-generation.

This article develops a fuzzy-neural controller for the kinematic and collaborative control of multimanipulator systems. The entire control scheme is designed based on quadratic programming and implemented by a constructed fuzzy-neural controller. A hybrid minimum joint velocity-acceleration index is introduced to adjust the operating performance of each manipulator and reduce the kinetic energy consumption of the system. Besides, a simple but effective set of membership functions and rules are used to describe the variation of controller parameters caused by the operational complexity and vagueness during task executions. The stability and robustness of the controller are verified through theoretical analysis. Finally, simulations and experimental studies of the multimanipulator system are carried out supporting the practicality of our findings.

Sports intelligence receives constant attention, especially with the development of information technology. Existing tennis-launching machines, a kind of device launching tennis balls from a fixed point, have shortcomings such as limited launching height and low control accuracy, which are lack of considerable flexibility when applied in a practical situation. In this article, a tennis-training robot based on a redundant manipulator cooperated with a tennis-launching structure is presented to realize a high-precision and flexible ball-launching task. In order to construct a control scheme of the robotic system, the physical situation of tennis launching is modeled, and further transformed into a quadratic programming problem. Then, a recurrent neural network (RNN) is built to obtain the optimal solution. Furthermore, simulative experiments based on the CoppeliaSim platform using a FRANKA EMIKA manipulator are carried out to demonstrate the realizability of the designed application scenarios.