Repetitive gait training with lower-limb exoskeletons enhances neuroplasticity and reduces muscle atrophy by promoting patient engagement in active rehabilitation training. Importantly, the therapeutic efficacy of such engagement critically depends on providing patients with task difficulty levels matching their real-time walking capacities. To address this, a closed-loop Mobility-Matching Framework is proposed, integrating Hybrid Multi-attractor Dynamic Movement Primitives (Hm-DMP) with Policy Improvement with Path Integral (PI2) optimization, which achieves real-time trajectory adaptation. The Hm-DMP module preserves critical kinematic invariants of normative gait patterns during trajectory deformation through constrained multi-attractor modulation. Simultaneously, the PI2-driven optimizer iteratively adjusts joint trajectory keypoints of Hm-DMP by optimizing a hybrid cost function, enabling dynamic matching between training trajectories and patients’ real-time mobility. Experimental trials on the WEI-EXO platform demonstrate the proposed framework’s robustness to detect and respond to real-time changes in patient’ ambulatory capacity by optimizing assistance trajectories while preserving the normative gait kinematics. This closed-loop adaptation process facilitates personalized gait rehabilitation with exoskeletons, enhancing training efficacy and maintaining comfort across patients with diverse mobility levels.

Railway projects frequently pass through ecologically fragile regions and result in various ecological damages. The railway alignment determining the layout of structures plays an important role in ecological protection. This paper presents a railway alignment optimization model based on multiobjective bi-level programming (MBRAO). The upper level of MBRAO is a horizontal alignment optimization for the minimization of investment and ecological impacts from tunnel drainage and train noise. A multiobjective evolutionary algorithm based on decomposition (MOEA/D) solves the horizontal alignment optimization and naturally maintains population diversity. The lower level of MBRAO is a vertical alignment optimization for investment minimization. A self-adaptive differential evolution (DE) algorithm adjusting essential parameters based on optimization status solves the vertical alignment optimization efficiently. MBRAO is applied in multistage at both levels to find the suitable numbers of horizontal and vertical points of intersection. This paper introduces three kinds of vertical feature data generated corresponding to horizontal feature data to define different site modification costs on the bridge, subgrade, and tunnel structures. A real-world case study at Wolong Reserve is studied to verify the effectiveness of MBRAO based on a customized geographic information system (GIS).

Given that cloud servers are usually remotely located from the devices of mobile apps, the end-users of the apps can face delays. The Fog has been introduced to augment the apps with machines located at the network edge close to the end-users. However, edge machines are usually resource constrained. Thus, the execution of online data-analytics on edge machines may not be feasible if the time complexity of the data-analytics algorithm is high. To overcome this, multiple instances of the back-end should be deployed on edge and remote machines. In this case, the research question is how the switching of the app among the instances of the back-end can be dynamically decided based on the response time of the service instances. To answer this, we contribute an AI approach that trains machine-learning models of the response time of service instances. Our approach extends a back-end as a service into an AI self-back-end as a service that self-decides at runtime the right edge/remote instance that achieves the lowest response-time. We evaluate the accuracy and the efficiency of our approach by using real-word machine-learning datasets on an existing auction app.

In the production environment, a large part of microservice failures are related to the complex and dynamic interactions and runtime environments, such as those related to multiple instances, environmental configurations, and asynchronous interactions of microservices. Due to the complexity and dynamism of these failures, it is often hard to reproduce and diagnose them in testing environments. It is desirable yet still challenging that these failures can be detected and the faults can be located at runtime of the production environment to allow developers to resolve them efficiently. To address this challenge, in this paper, we propose MEPFL, an approach of latent error prediction and fault localization for microservice applications by learning from system trace logs. Based on a set of features defined on the system trace logs, MEPFL trains prediction models at both the trace level and the microservice level using the system trace logs collected from automatic executions of the target application and its faulty versions produced by fault injection. The prediction models thus can be used in the production environment to predict latent errors, faulty microservices, and fault types for trace instances captured at runtime. We implement MEPFL based on the infrastructure systems of container orchestrator and service mesh, and conduct a series of experimental studies with two opensource microservice applications (one of them being the largest open-source microservice application to our best knowledge). The results indicate that MEPFL can achieve high accuracy in intraapplication prediction of latent errors, faulty microservices, and fault types, and outperforms a state-of-the-art approach of failure diagnosis for distributed systems. The results also show that MEPFL can effectively predict latent errors caused by real-world fault cases.