High-level Protocol Research Articles

A ROS2-Based Gateway for Modular Hardware Usage in Heterogeneous Environments

The rise of robotics and the Internet of Things (IoT) could potentially represent a significant shift towards a more integrated and automated future, where the physical and digital domains may merge. However, the integration of these technologies presents certain challenges, including compatibility issues with existing systems and the need for greater interoperability between different devices. It would seem that the rigidity of traditional robotic designs may inadvertently make these difficulties worse, which in turn highlights the potential benefits of modular solutions. Furthermore, the mastery of new technologies may introduce additional complexity due to the varying approaches taken by robot manufacturers. In order to address these issues, this research proposes a Robot Operating System (ROS2)-based middleware, called the “ROS2-based gateway”, which aims to simplify the integration of robots in different environments. By focusing on the payload layer and enabling external communication, this middleware has the potential to enhance modularity and interoperability, thus accelerating the integration process. It offers users the option of selecting payloads and communication methods via a shell interface, which the middleware then configures, ensuring adaptability. The solution proposed in this article, based on the gateway concept, offers users and programmers the flexibility to specify which payloads they want to activate depending on the task at hand and the high-level protocols they wish to use to interact with the activated payloads. This approach allows for the optimisation of hardware resources (only the necessary payloads are activated), as well as enabling the programmer/user to utilise high-level communication protocols (such as RESTful, Kafka, etc.) to interact with the activated payloads, rather than low-level programming.

The influence of substituents in governing the strength of the P-X bonds of substituted halophosphines R1R2P-X (X = F and Cl).

In this study, the gas-phase homolytic P-F and P-Cl bond dissociation energies (BDEs) of a set of thirty fluorophosphine (R1R2P-F) and thirty chlorophosphine-type (R1R2P-Cl) molecules have been obtained using the high-level W2 thermochemical protocol. For the R1R2P-F species, the P-F BDEs (at 298K) differ by up to 117.0kJmol-1, with (H3Si)2P-F having the lowest BDE (439.5kJmol-1) and F2P-F having the largest BDE (556.5kJmol-1). In the case of the chlorophosphine-type molecules, the difference in BDEs is considerably smaller (i.e., 72.6kJmol-1), with (NC)2P-Cl having the lowest P-Cl BDE (299.8kJmol-1) and (HO)2P-Cl having the largest (372.4kJmol-1). We have further analyzed the effect of substituents in governing the P-F and P-Cl BDEs by considering the effect of substituents in the parent halogenated precursors (using molecule stabilization enthalpies) and the effect of substituents in the product radicals (using radical stabilization enthalpies). Finally, we have also assessed the performance of a wide range of DFT methods for their ability to compute the gas-phase P-F and P-Cl BDEs contained in this dataset. We find that, overall, the double hybrid functional DSD-PBEB95 offers the best performance for both bond types, with mean absolute deviations of just 2.1 (P-F BDEs) and 2.2 (P-Cl BDEs) kJmol-1.

High-level Ab InitioEvidence of Bipyramidal Cu5Clusters as FluxionalJahn-Teller Molecules.

Novel highly selective synthesis techniques have enable the production of atomically precise monodisperse metal clusters (AMCs) of subnanometer size. These AMCs exhibit `molecule-like' structures that have distinct physical and chemical properties, significantly different from those of nanoparticles and bulk material. In this work, we study copper pentamer Cu5clusters as model AMCs by applying both density functional theory (DFT) and high-level (wave-function-based) ab initiomethods, including those which are capable of accounting for the multi-state multi-reference character of the wavefunction at the conical intersection between different electronic states and augmenting the electronic basis set till convergence. After assessing the accuracy of a high-level multi-multireference ab initioprotocol for the well-known Cu3case, we apply it to demonstrate that bypiramidal Cu5clusters are distorted Jahn-Teller (JT) molecules. The method is further used to evaluate the accuracy of single-reference approaches, finding that the coupled cluster singles and doubles and perturbative triples CCSD(T) method are very closeto our ab initiopredictions.Finally, we discuss how JT effects and, more generally, conical intersections, are intimately connected to the fluxionality of AMCs, giving them a `floppy' character that ultimately facilitates their interaction with environmental molecules and thus enhances their functioning as catalysts.

A Systematic Exploration of B-F Bond Dissociation Enthalpies of Fluoroborane-Type Molecules at the CCSD(T)/CBS Level.

Fluoroborane-type molecules (R1R2B-F) are of interest in synthetic chemistry, but to date, apart from a handful of small species (such as H2BF, HBF2, and BF3), little is known concerning the effect of substituents in governing the strength of the B-F bonds of such species toward homolytic dissociation in the gas phase. In this study, we have calculated the bond dissociation enthalpies (BDEs) of thirty unique B-F bonds at the CCSD(T)/CBS level using the high-level W1w thermochemical protocol. The B-F bonds in all species considered are very strong, ranging from 545.9 kJ mol-1 in (H2B)2B-F to 729.2 kJ mol-1 HBF2. Nevertheless, these BDEs still vary over a wide range of 183.3 kJ mol-1. The structural properties that affect the BDEs are examined in detail, and the homolytic BDEs are rationalized based on molecule stabilization enthalpies and radical stabilization enthalpies. Since polar B-F bonds may represent a challenging test case for density functional theory (DFT) methods, we proceed to examine the performance of a wide range of DFT methods across the rungs of Jacob's Ladder for their ability to compute B-F BDEs. We find that only a handful of DFT methods can reproduce the CCSD(T)/CBS BDEs with mean absolute deviations (MADs) below the threshold of chemical accuracy (i.e., with average deviations below 4.2 kJ mol-1). The only functionals capable of achieving this feat were (MADs given in parentheses): ωB97M-V (4.0), BMK (3.5), DSD-BLYP (3.8), and DSD-PBEB95 (1.8 kJ mol-1).

Recent Developments in Inertial and Centrifugal Microfluidic Systems along with the Involved Forces for Cancer Cell Separation: A Review.

The treatment of cancers is a significant challenge in the healthcare context today. Spreading circulating tumor cells (CTCs) throughout the body will eventually lead to cancer metastasis and produce new tumors near the healthy tissues. Therefore, separating these invading cells and extracting cues from them is extremely important for determining the rate of cancer progression inside the body and for the development of individualized treatments, especially at the beginning of the metastasis process. The continuous and fast separation of CTCs has recently been achieved using numerous separation techniques, some of which involve multiple high-level operational protocols. Although a simple blood test can detect the presence of CTCs in the blood circulation system, the detection is still restricted due to the scarcity and heterogeneity of CTCs. The development of more reliable and effective techniques is thus highly desired. The technology of microfluidic devices is promising among many other bio-chemical and bio-physical technologies. This paper reviews recent developments in the two types of microfluidic devices, which are based on the size and/or density of cells, for separating cancer cells. The goal of this review is to identify knowledge or technology gaps and to suggest future works.

Italian pediatric intensive care units admitting critically ill cancer children: results from a national survey.

Pediatric patients affected by oncologic disease have a significant risk of clinical deterioration that requires admission to the intensive care unit. This study reported the results of a national survey describing the characteristics of Italian onco-hematological units (OHUs) and pediatric intensive care units (PICUs) that admit pediatric patients, focusing on the high-complexity treatments available before PICU admission, and evaluating the approach to the end-of-life (EOL) when cared in a PICU setting. A web-based electronic survey has been performed in April 2021, involving all Italian PICUs admitting pediatric patients with cancer participating in the study. Eighteen PICUs participated, with a median number of admissions per year of 350 (IQR 248-495). Availability of Extracorporeal Membrane Oxygenation therapy and the presence of intermediate care unit are the only statistically different characteristics between large or small PICUs. Different high-level treatments and protocols are performed in OHUs, non depending on the volume of PICU. Palliative sedation is mainly performed in the OHUs (78%), however, in 72% it is also performed in the PICU. In most centers protocols that address EOL comfort care and treatment algorithms are missing, non depending on PICU or OHU volume. A non-homogeneous availability of high-level treatments and in OHUs is described. Moreover, protocols addressing EOL comfort care and treatment algorithms in palliative care are lacking in many centers.

Comparison of Lasers and Desensitizing Agents in Dentinal Hypersensitivity Therapy.

The main objective of this review is to verify the validity of laser therapy in the treatment of dentin hypersensitivity, an extremely common problem in patients, with Nd: YAG lasers or high- and/or low-power diode lasers to obtain a definitive protocol for the treatment of hypersensitivity, given the multiplicity of laser treatments proposed by the numerous authors evaluated. The authors performed an electronic search on PubMed, favouring it as a search engine. Lasers represent a means of treating dentin hypersensitivity, used alone and/or in conjunction with specific products for the treatment of such a pathology. The selected articles that examined diode lasers were divided according to the wattage (w) used: low-level laser therapy protocols, i.e., those using a wattage of less than 1 W, and high-level laser therapy protocols, i.e., those using a wattage of 1 W or more. Regarding the Nd: YAG laser, it was not necessary to subdivide the studies in this way, as they used a wattage of 1 W or more. A total of 21 articles were included in the final selection. Laser therapy was found to be effective in the treatment of dentin hypersensitivity. However, the level of effectiveness depends on the laser used. The results obtained from this review show that both the Nd: YAG laser and the diode laser (high and low power) are effective in the treatment of dentin hypersensitivity. However, the high-power laser appears to be more effective in combination with fluoride varnish and the Nd: YAG laser achieved greater long-term benefits than the diode laser.

Preliminary Study: Disinfection of Colonoscope Using a Reprocessing System Based on a Hydrodynamic Model with Ozonated Water

ABSTRACT Endoscopes are flexible medical instruments that require a high-level disinfection protocol. This study aimed to develop a fluid-dynamic system with ozonated water to obtain high-level disinfection. A colonoscope replica with an internal flexible polytetrafluoroethylene (PTFE) tube was made. The set was then contaminated, washed, and disinfected with ozonated water. The replica was placed in a tank with a fluid-dynamic circuit. The endoscope was submerged into the tank and ozonated water was pumped through the working channel. Quantitative microbiological tests were carried out between the washing stage and disinfection in the fluid-dynamic system with ozonated water. The results indicated that the ozone concentration curve in the water from the 27- liter main tank reached the value of 0.95 mg/L after 20 minutes. No bacterial growth was detected after the replica remained in the hydrodynamic system with ozonated water for 15 minutes. The results showed that the fluid-dynamic system using ozonated water is promising as it enables high-level disinfection of the colonoscope.

MA-TEECM: Mutual Anonymous Authentication-Based Credential Migration Technology for Mobile Trusted Execution Environments

ARM TrustZone is the most widely used mobile trusted execution environment (TEE) technology today. Its hardware-enabled isolated execution environment provides reliable assurance of secure storage of credentials in mobile devices. However, the research on managing credentials stored in the TEE throughout the lifecycle of mobile devices has received little attention in recent years, and the credentials in TEE generally face usability problems caused by the mobile device lifecycle events. Aiming at the risk of information disclosure caused by the third-party service providers in the traditional credential migration scheme, this paper presents a mutual anonymous authentication-based credential migration framework for mobile trusted execution environments. First, we propose a peer-to-peer credential migration model between mobile terminals based on TrustZone and SGX, which solves the single point of failure caused by attacks on trusted third parties that act as credential transfer stations and managers in traditional solutions; Second, we propose an identity authentication protocol between TEEs based on mutual anonymous authentication, and a detailed authentication process is designed based on the universal mobile TEE model; Third, we build a formal verification model using High-Level Protocol Specification Language (HLPSL). Finally, the formal and informal security analysis indicate that the improved scheme meets the expected security requirements and is secure against several known attacks.

Multiplicative Complexity of XOR Based Regular Functions

XOR-AND Graphs (XAGs) are an enrichment of the classical AND-Inverter Graphs (AIGs) with XOR nodes. In particular, XAGs are networks composed by ANDs, XORs, and inverters. Besides several emerging technologies applications, XAGs are often exploited in cryptography-related applications based on the multiplicative complexity of a Boolean function. The multiplicative complexity of a function is the minimum number of AND gates (i.e., multiplications) that are sufficient to represent the function over the basis {AND, XOR, NOT}. In fact, the minimization of the number of AND gates is important for high-level cryptography protocols such as secure multiparty computation, where processing AND gates is more expensive than processing XOR gates. Moreover, it is an indicator of the degree of vulnerability of the circuit, as a small number of AND gates corresponds to a high vulnerability to algebraic attacks. In this paper we study the multiplicative complexity of Boolean functions characterized by two particular regularities, called autosymmetry and D-reducibility. Moreover, we exploit these regularities for decreasing the number of AND nodes in XAGs. The experimental results validate the proposed approaches.

Modular verification of op-based CRDTs in separation logic

Operation-based Conflict-free Replicated Data Types (op-based CRDTs) are a family of distributed data structures where all operations are designed to commute, so that replica states eventually converge. Additionally, op-based CRDTs require that operations be propagated between replicas in causal order. This paper presents a framework for verifying safety properties of CRDT implementations using separation logic. The framework consists of two libraries. One implements a Reliable Causal Broadcast (RCB) protocol so that replicas can exchange messages in causal order. A second “OpLib” library then uses RCB to simplify the creation and correctness proofs of op-based CRDTs. OpLib allows clients to implement new CRDTs as purely-functional data structures, without having to reason about network operations, concurrency control and mutable state, and without having to each time re-implement causal broadcast. Using OpLib, we have implemented 12 example CRDTs from the literature, including multiple versions of replicated registers and sets, two CRDT combinators for products and maps, and two example use cases of the map combinator. Our proofs are conducted in the Aneris distributed separation logic and are formalized in Coq. Our technique is the first work on verification of op-based CRDTs that satisfies both of the following properties: it is modular and targets executable implementations , as opposed to high-level protocols.

Improved methodology for assessment of communication protocols for distributed road traffic simulation

A computer simulation of road traffic is a commonly used tool, which can help to manage constantly intensifying road traffic. It can help to analyze behavior of existing road traffic networks or to predict the behavior of new designed road traffic structures. There are several existing simulators designed or adapted to run in a distributed computing environment in order to achieve a faster execution. In this environment, the inter-process communication ensured by a high-level communication protocol is one of the main bottlenecks limiting the speed of the entire computation. Various high-level communication protocols can have various efficiency, applicability, and scalability. This paper describes an improved methodology for testing and assessment of high-level communication protocols for micro-scale (or microscopic) distributed road traffic simulations. The methodology investigates the dependencies of the communication protocols’ performance on various features of the simulation and enables to easily calculate score for each of the tested protocols. Using the scores, the tested protocols can be directly compared. This can be useful when designing or improving a distributed road traffic simulation as the best protocol can be used in this simulation to improve its performance (e.g., its speedup or communication time). The improved version of the methodology is an evolution of its original version. It newly incorporates the assessment of the error introduced into the simulation by lossy communication protocols and reduces overall number of performed tests. The improved methodology was tested using a case study assessing several communication protocols of our own design.

A novel approach for securing data against adversary attacks in UAV embedded HetNet using identity based authentication scheme

AbstractUnmanned Aerial Vehicle (UAV) integrated Heterogeneous Network (HetNet) is currently considered as one of the promising technologies. This technology helps in fulfilling high demands of bandwidth, volume, and range as per user needs. In this paper, the work is carried out by authors to assure high security for the users in such a network by incorporating an authentication‐based security known as Identity based Scheme (IBA). The IBA based implemented networks improve the confidentiality of data and the authenticity of the users. Privacy and reliability come through the entity's capacity to authenticate, sign and transact authenticated data without central directory interference. Therefore,the primary scope of this research project is to create an identity‐based authentication mechanism in HetNets that are assisted by UAVs and to secure communication against potential intruder threats. In this way, the security assurance is increased and dreadful intruder attacks are minimized. Moreover, in this research work, the implementing zones would be areas of defence for observation of a region to locate an enemy or as certain strategic features. The security rules are formulated in the coded language known as High Level Protocol Specification Language (HLPSL) and outcomes are verified through Automated Validation Internet Security Protocols and Applications (AVISPA).

Safety at Construction Project: A Review

Abstract: This Paper has been prepared to assist in the importance of safety, their issues and precautions at construction projects like building, road, bridge and sewage etc. The objectives are to describe the processes or stages of safety measures to be followed at a construction project because prevention of accidents is a major aim of construction management, both for human and economic consideration. This safety measures suggest high level protocol at construction project to reducing accident, loss of time, escalation of project cost and loss of reputation of project. The report sought to determine the raw and practical safety issues observed at construction project and how to improve safety at sites so that loss of life, suffering, and damage resulting from avoidable accidents is prevented. In India, construction projects are gradually developing day by day and the fatalities or injures increased day by day according to nature of project so it is important to have an investigation and develop safety plan program.

Fault-Tolerant Cooperative Control for Multiple Vehicle Systems Based on Topology Reconfiguration.

In this article, the fault-tolerant synchronization and time-varying tracking control problem is investigated for nonlinear multivehicle systems (MVSs) in the presence of partial loss-of-control-effectiveness (LoCE) faults. Based on the graph theory, a two-level fault-tolerant cooperative control framework is proposed, namely, the low-level distributed nominal control scheme and the high-level topology reconfiguration protocols. The low-level scheme is developed to guarantee system performances in the fault-free scenario. With the low-level scheme, the high-level topology reconfiguration protocols, each of which corresponds to one partial LoCE fault scenario, are then proposed to mitigate the fault impact by adjusting the underlying topology. Accordingly, without modifying the structure or the design parameter of the low-level control scheme, the proposed framework can guarantee the synchronization and tracking errors of the MVS asymptotically convergent to zero in both fault-free and fault scenarios. Finally, the effectiveness of the proposed control method is verified via a simulation study of three degree-of-freedom helicopters.

The Research and implementation of high-speed Master-slave CAN-FD composite system based on Cortex-M7

All CAN bus is widely used in communication and control between electronic control units of automobiles. At present, the rapid development of intelligent network system has put forward higher requirements on the speed, capacity, reliability and stability of real-time data exchange.In this paper, the microcontroller based on Cortex-M7 architecture and the third-generation high-speed CAN transceiver are selected to build the interface module. According to the high-level CAN communication protocol, the control command is sent and the fault diagnosis and status monitoring is carried out in real time. At the same time, the industrial data from the signal processing module is received and stored. The test results show that the interface system is configured with several groups of filters of different interception modes based on the dual-channel CAN-FD communication, realizing higher transmission rate, longer data frames and multiple frame sending and receiving and is downward compatible with BxCAN. It has the characteristics of strong comprehensive performance, high reliability, portability and versatility. It also provides theoretical verification and data support for the optimization design and application of CAN bus in domestic industrial products.

КОНФИДЕНЦИАЛЬНОЕ МАШИННОЕ ОБУЧЕНИЕ НА ОСНОВЕ ЧЕТЫРЕХСТОРОННИХ ПРОТОКОЛОВ БЕЗОПАСНЫХ ВЫЧИСЛЕНИЙ

The paper is devoted to the analysis of privacy-preserving machine learning systems based on the concept of secure four-party computations. The advantages of the four-party computations over the two- and three-party computations are analyzed. The definitions are given that express the resistance of secure multi-party computation protocols against an active intruder. The Tetrad system is considered as an example of a secure four-party computations system with advanced functionality that most fully implements the properties of security against intruder actions. The concept of computations implemented in Tetrad based on the idea of mixed use of arithmetic as well as Boolean and garbled circuits in the function computations is analyzed. The multi-level architecture of the system is considered. The protocols related to various levels of architecture are analyzed in detail. For this purpose, an analysis of various forms of secret sharing is carried out. After that the basic protocols with shared secrets are considered. The systematization of protocols is completed with the analysis of high-level protocols used for the confidential implementation of model learning and inference procedures. This set of protocols allows performing high-level operations that are standard for machine learning systems, but with shared secrets. The paper concludes considering the advantages, disadvantages, features and limitations of four-party secure computations protocols for privacy-preserving machine learning.

Recent Advances in Microfluidic Platform for Physical and Immunological Detection and Capture of Circulating Tumor Cells.

CTCs (circulating tumor cells) are well-known for their use in clinical trials for tumor diagnosis. Capturing and isolating these CTCs from whole blood samples has enormous benefits in cancer diagnosis and treatment. In general, various approaches are being used to separate malignant cells, including immunomagnets, macroscale filters, centrifuges, dielectrophoresis, and immunological approaches. These procedures, on the other hand, are time-consuming and necessitate multiple high-level operational protocols. In addition, considering their low efficiency and throughput, the processes of capturing and isolating CTCs face tremendous challenges. Meanwhile, recent advances in microfluidic devices promise unprecedented advantages for capturing and isolating CTCs with greater efficiency, sensitivity, selectivity and accuracy. In this regard, this review article focuses primarily on the various fabrication methodologies involved in microfluidic devices and techniques specifically used to capture and isolate CTCs using various physical and biological methods as well as their conceptual ideas, advantages and disadvantages.

Mobile AC/DC test device for electric vehicle charging infrastructure communication

The large-scale deployment of charging infrastructure poses challenges to the distribution grid stability. In Hamburg, the project Electrify Buildings for Electric Vehicles (ELBE) implements and tests a demand side management communication protocol that allows the distribution grid operator to reduce the charging power of electric vehicle charging stations if necessary. For this purpose, a test device capable of testing the signal chain as well as a real load reduction is presented for DC charging infrastructure. The standardized high-level communication protocols are described. With the charger’s power electronics located in the DC charging station, the need for a battery emulation arises, which is also discussed. Finally, a novel concept for a mobile and modular test setup for combined testing signal and real load reduction of AC and DC charging infrastructure is presented.

WIDE: A witness-based data priority mechanism for vehicular forensics

In this paper, we present a WItness based Data priority mEchanism (WIDE) for vehicles in the vicinity of an accident to facilitate liability decisions. WIDE evaluates the integrity of data generated by these vehicles, called witnesses, in the event of an accident to assure the reliability of data to be used for making liability decisions and ensure that such data are received from credible witnesses. To achieve this, WIDE introduces a two-level integrity assessment to achieve end-to-end integrity by initially ascertaining the integrity of data-producing sensors, and validating that data generated have not been altered on transit by compromised road-side units (RSUs) by executing a practical byzantine fault tolerance (pBFT) protocol to reach consensus on data reliability. Furthermore, WIDE utilises a blockchain based reputation management system (BRMS) to ensure that only data from highly reputable witnesses are utilised as contributing evidence for facilitating liability decisions. Finally, we formally verify the proposed framework against data integrity requirements using the Automated Verification of Internet Security Protocols and Applications (AVISPA) with High-Level Protocol Specification Language (HLPSL). Qualitative arguments show that our proposed framework is secured against identified security attacks and assures the reliability of data utilised for making liability decisions, while quantitative evaluations demonstrate that our proposal is practical for fully autonomous vehicle forensics.