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Control Structures and Algorithms for Force Feedback Bilateral Teleoperation Systems: A Comprehensive Review

Computer Modeling in engineering & Sciences 2025年第2期142卷 973-1019页

作者： Jiawei Tian Yu Zhou Lirong Yin Salman A.AlQahtani Minyi Tang Siyu Lu Ruiyang Wang Wenfeng Zheng Department of Computer Science and Engineering Major in Bio Artificial IntelligenceHanyang UniversityAnsan-si15577Republic of Korea Department of Geography and Anthropology Louisiana State UniversityBaton RougeLA 70803USA Department of Computer Engineering College of Computer and Information SciencesKing Saud UniversityRiyadh11574Saudi Arabia School of Automation University of Electronic Science and Technology of ChinaChengdu610054China

Force feedback bilateral teleoperation represents a pivotal advancement in control technology,finding widespread application in hazardous material transportation,perilous environments,space and deep-sea exploration,and healthcare *** paper traces the evolutionary trajectory of force feedback bilateral teleoperation from its conceptual inception to its current *** elucidates the fundamental principles underpinning interaction forces and tactile exchanges,with a specific emphasis on the crucial role of tactile *** this review,a quantitative analysis of force feedback bilateral teleoperation development trends from 2011 to 2024 has been conducted,utilizing published journal article data as the primary source of *** review accentuates classical control frameworks and algorithms,while also delving into existing research advancements and prospec-tive breakthrough ***,it explores specific practical scenarios ranging from intricate surgeries to hazardous environment exploration,underscoring the technology’s potential to revolutionize industries by augmenting human manipulation of remote *** underscores the pivotal role of force feedback bilateral teleoperation as a transformative human-machine interface,capable of shaping flexible control strategies and addressing technological *** research endeavors in force feedback bilateral teleoperation are expected to prioritize the creation of more immersive experiences,overcoming technical hurdles,fortifying human-machine collaboration,and broadening application domains,particularly within the realms of medical intervention and hazardous *** the continuous progression of technology,the integration of human intelligence and robotic capabilities is expected to produce more innovations and breakthroughs in the field of automatic control.

关键词： Force feedback bilateral teleoperation robot development history application prospect

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Cost-Effective and Secure Scheme for Fog Computing-Enabled Internet of Vehicles Using CLC-to-PKI-Based Heterogeneous Signcryption

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年

作者： Ali, Ikram Chen, Yong Pan, Chengwei Chen, Songge University of Electronic Science and Technology of China School of Automation Engineering Chengdu611731 China

The Internet of Vehicles (IoV) relies on wireless technology for the transmission of messages, which exposes it to potential attacks. To address this, researchers have developed various methods to ensure secure message transmission between vehicles and infrastructure. However, these methods often require substantial computational power and communication resources, making them unsuitable for time-sensitive communications. To tackle this issue, we present an efficient certificateless cryptosystem (CLC) and a public key infrastructure (PKI)-based heterogeneous signcryption (HSC) scheme tailored for fog computing-enabled IoV, denoted as CPHSC-IoV. This scheme facilitates communication from a vehicle within the CLC setting to a roadside unit (RSU) equipped with fog computing devices within the PKI setting. It aims to secure the message by guaranteeing confidentiality, authentication, integrity, and non-repudiation all at once in a single logical process. When multiple messages are transmitted, the RSU initially aggregates these messages and then processes them together using the batch verification method, further improving performance. Our scheme is existentially unforgeable against adaptive chosen message attacks and indistinguishable against adaptive chosen ciphertext attacks in the random oracle model. Furthermore, it outperforms the recent relevant schemes in terms of computational overhead, communication/storage cost, and average transmission delay. © 2016 IEEE.

关键词： Fog computing

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Mobile-YOLO-SDD: A Lightweight YOLO for Real-time Steel Defect Detection

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Procedia CIRP 2024年 129卷 228-233页

作者： Shen Luo Yuanping Xu Ming Zhu Chaolong Zhang Chao Kong Jin Jin Tukun Li Xiangqian Jiang Benjun Guo School of Software Engineering Chengdu University of Information Technology Chengdu China School of Automation Chengdu University of Information Technology Chengdu China School of Computing and Engineering University of Huddersfield Huddersfield HD1 3DH UK

Defect detection is essential in the steel production process. Recent years have seen significant advancements in steel surface defect detection based on deep learning methods, notably exemplified by the YOLO series models capable of precise and rapid detection. However, challenges arise due to the high complexity of surface textures on steel and the low recognition rates for minor defects, making real-time and accurate detection difficult. This study introduces Mobile-YOLO-SDD (Steel Defect Detection), a lightweight YOLO-based model designed with high accuracy for real-time steel defect detection. Firstly, based on the effective YOLOv5 algorithm for steel defect detection, the backbone network is replaced with MobileNetV2 to reduce the model size and computational complexity. Then, the ECA (Efficient Channel Attention) module was integrated into the C3 module to reduce the number of parameters further while maintaining the defect detection rate in complex backgrounds. Finally, the K-Means++ algorithm regenerates anchor boxes and determines optimal sizes, enhancing their adaptability to actual targets. Experimental results on NEU-DET data demonstrate that the improved algorithm achieves a 60.6% reduction in model size, a 60.8% reduction in FLOPs, and a 1.8% improvement in mAP compared to YOLOv5s. These results confirm the effectiveness of Mobile-YOLO-SDD and lay the foundation for subsequent lightweight deployment of steel defect detection models.

关键词： YOLO MobileNetV2 ECA Surface defect detection Deep learning Steel defect detection K-Means++

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Real-time Testbed for Smart Substation Interoperability: A Case Study on Auxiliary Control System

Real-time Testbed for Smart Substation Interoperability: A C...

引用

2023 Panda Forum on Power and Energy, PandaFPE 2023

作者： Chang, Zhengwei Cai, Dongsheng Wu, Jie Guan, Zexiang Feng, Fuyong Zheng, Zhou Qu, Jia He, Muxing Abulanwar, Saved State Grid Sichuan Electric Power Company Electric Power Research Institute Chengdu China The College of Nuclear Technology and Automation Engineering Chengdu University of Technology Chengdu China Huaneng Tibet the Yarlung Zangbo River Hydropower Development Investment Co. Ltd Chengdu China Mansoura University Electrical Engineering Department Egypt

ISBN: (纸本)9798350321173

Smart substation auxiliary control system (SSACS) is an important part of the smart substation. Among them, the national grid technical standards have made corresponding provisions on the function, composition, communication, etc. of the auxiliary control system, but they are relatively general. And there are some differences in the division, functions, access methods, and other aspects of the subsystem. At the same time, there are great differences in the product realization of various manufacturers, which brings serious problems to the operation and maintenance of smart substations. A simulation-based test framework is proposed to design a test system for the smart substation auxiliary control system to strictly test the whole system. All the devices and IEC 61850 protocols are tested by the proposed simulators. The experiment results show the test system can effectively test the auxiliary control system. © 2023 IEEE.

关键词： Control systems

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RetVes segmentation: A pseudo-labeling and feature knowledge distillation optimization technique for retinal vessel channel enhancement

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Computers in Biology and Medicine 2024年 182卷 109150-109150页

作者： Ekong, Favour Yu, Yongbin Patamia, Rutherford Agbeshi Sarpong, Kwabena Ukwuoma, Chiagoziem C. Ukot, Akpanika Robert Cai, Jingye School of Information and Software Engineering University of Electronic Science and Technology of China Sichuan Chengdu610054 China College of Nuclear Technology and Automation Engineering Chengdu University of Technology Sichuan Chengdu610059 China Sichuan Engineering Technology Research Center for Industrial Internet Intelligent Monitoring and Application Chengdu University of Technology Sichuan Chengdu610059 China

Recent advancements in retinal vessel segmentation, which employ transformer-based and domain-adaptive approaches, show promise in addressing the complexity of ocular diseases such as diabetic retinopathy. However, current algorithms face challenges in effectively accommodating domain-specific variations and limitations of training datasets, which fail to represent real-world conditions comprehensively. Manual inspection by specialists remains time-consuming despite technological progress in medical imaging, underscoring the pressing need for automated and robust segmentation techniques. Additionally, these methods have deficiencies in handling unlabeled target sets, requiring extra preprocessing steps and manual intervention, which hinders their scalability and practical application in clinical settings. This research introduces a novel framework that employs semi-supervised domain adaptation and contrastive pre-training to address these limitations. The proposed model effectively learns from target data by implementing a novel pseudo-labeling approach and feature-based knowledge distillation within a temporal convolutional network (TCN) and extracts robust, domain-independent features. This approach enhances cross-domain adaptation, significantly enhancing the model's versatility and performance in clinical settings. The semi-supervised domain adaptation component overcomes the challenges posed by domain shifts, while pseudo-labeling utilizes the data's inherent structure for enhanced learning, which is particularly beneficial when labeled data is scarce. Evaluated on the DRIVE and CHASE_DB1 datasets, which contain clinical fundus images, the proposed model achieves outstanding performance, with accuracy, sensitivity, specificity, and AUC values of 0.9792, 0.8640, 0.9901, and 0.9868 on DRIVE, and 0.9830, 0.9058, 0.9888, and 0.9950 on CHASE_DB1, respectively, outperforming current state-of-the-art vessel segmentation methods. The partitioning of datasets into train

关键词： Sensitivity analysis

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Experimental Study on the Effect of Temperature on tan δ Measurement of 110 kV Voltage Transformer

Experimental Study on the Effect of Temperature on tan δ Me...

引用

IEEE International Conference on Power and Energy Systems (ICPES)

作者： Hong Gu Tianxiang Chen Lehui Cai Zhuofeng Jiang The college of Nuclear Technology and Automation Engineering Chengdu University of Technology Cheng Du China

ISBN: (数字)9798350391329

ISBN: (纸本)9798350391336

Voltage transformer as a substation important equipment, assuming the role of measurement, control and protection. Equipment in the operation process is susceptible to temperature and other factors that cause insulation defects, need to carry out regular insulation preventive testing. In this paper, we take 110 kV series-type voltage transformer as the research object, and use four different wiring methods to explore the changes of $\tan \delta$ value and capacitance under different ambient temperatures, insulating oil temperatures, and insulating oil moisture conditions, to verify the applicability and reasonableness of the relevant values in the Regulations, and to provide an effective basis for the series-type voltage transformer to determine the insulation faults of the equipment through the $\tan \delta$ value. The results show that the $\tan \delta$ value increases with the rise of temperature under different wiring methods, while the capacitance is basically unchanged; the end shielding method is the most sensitive to the moisture of insulating oil under different temperature conditions; when the insulation is normal, the conventional inverse wiring is more sensitive to the temperature change; when the insulation is faulty, the conventional positive wiring is more sensitive; to determine whether there are insulation defects of voltage transformers should be measured by the $\tan \delta$ value in lower temperature as the main criterion, and the Kegulations” will be used to determine whether there are insulation defects of the series type voltage transformer through the $\tan \delta$ value. Judgment of whether the voltage transformer insulation defects should be measured at lower temperatures $\tan \delta$ as the main criterion, Kegulations” in the relevant $\tan \delta$ value criterion should be adjusted in a timely manner.

关键词： Temperature measurement Temperature sensors Wiring Insulation Temperature Voltage measurement Voltage transformers Oils Moisture Capacitance

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Characterization of the Effect of Different Flame Clusters on Gap Leakage Current Under 10Kv Line

Characterization of the Effect of Different Flame Clusters o...

引用

IEEE International Conference on Power and Energy Systems (ICPES)

作者： Yi Zeng Tianxiang Chen Zhen Wang Haohan Yang The college of Nuclear Technology and Automation Engineering Chengdu University of Technology Cheng Du China

ISBN: (数字)9798350391329

ISBN: (纸本)9798350391336

In recent years, wildfires in the corridors of transmission and distribution lines have occurred frequently, posing a serious threat to the stable operation of the power grid. To study the influence of flame cluster number on the leakage current characteristics of gaps in 10 kV lines, experiments were conducted on the discharge characteristics of a 12 cm wire-board gap under different vegetation flame cluster conditions. The variations in leakage current amplitude under different capacitive current conditions were analyzed, clarifying two discharge forms under flaming conditions. The results indicate that the leakage current in single and multiple cluster vegetation flame conditions is inversely correlated with capacitive current and shows a negative correlation with the ash content of vegetation. Under capacitive currents of 1A and 5A, breakdown occurs in the gap under straw flame conditions, attributed to the highest ash and burning particle content in the straw. This demonstrates that temperature is not the primary factor affecting gap breakdown under straw flame conditions, with ash content being dominant. The findings provide technical references for using electrical signals from lines to warn of wildfires beneath and analyze the causes of incidents.

关键词： Wildfires Correlation Electric breakdown Shape Fires Vegetation Ash Capacitance Discharges (electric) Leakage currents

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Research on the Characteristics of Leakage Current Changes in Tree Line Faults of 10Kv Distribution Lines

Research on the Characteristics of Leakage Current Changes i...

引用

IEEE International Conference on Power and Energy Systems (ICPES)

作者： Zheng Wang Tianxiang Chen Haohan Yang Yi Zeng The college of Nuclear Technology and Automation Engineering Chengdu University of Technology Cheng Du China

ISBN: (数字)9798350391329

ISBN: (纸本)9798350391336

There are numerous cases of forest fires caused by tree line faults in distribution lines, and it is of great significance to study the characteristic signals when tree line faults occur to prevent mountain fire accidents. In this paper, through theoretical analyses and the construction of real experimental platform, we studied the change rule of leakage current when single-phase tree line fault occurs in different trees. Through the single-phase tree line fault experiment, the relationship between leakage current and tree species, capacitive current to ground and water content when different trees touch the line is studied. The results of the study show that: the occurrence of single-phase tree line fault leakage current for the first time to reach the maximum value of time and tree species, the first time to reach the maximum value of the water content of trees and ground capacitance related.

关键词： Moisture Vegetation Forestry Fault location Capacitance Leakage currents Accidents

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Research on the Time of Fire Initiation Caused by Tree Line Faults Under 35kV Transmission Lines

Research on the Time of Fire Initiation Caused by Tree Line ...

引用

IEEE International Conference on Power and Energy Systems (ICPES)

作者： Haohan Yang Tianxiang Chen Yi Zeng Zheng Wang The college of Nuclear Technology and Automation Engineering Chengdu University of Technology Cheng Du China

ISBN: (数字)9798350391329

ISBN: (纸本)9798350391336

In recent years, forest fires caused by transmission line tree line faults occur frequently, transmission line tree line faults affect the safety and reliability of power grid operation, a serious threat to the safety of natural resources and people's property. In this paper, for the 35kV transmission line tree line faults caused by hill fire, built a 35kV line tree line fault experimental platform, in the capacitance current of 248 mA and 132 mA conditions, respectively, selected bamboo, pine and cedar three typical trees as a research sample, to carry out the three kinds of trees tree line fault fire time experiments. The burning phenomena, charring channels, and infrared images of different trees were recorded and analyzed, and the corresponding laws were drawn up to summarize the longest and shortest fire starting times of different capacitance currents and different trees. The research in this paper can provide technical reference for the development of measures to prevent fire caused by tree line faults in 35kV transmission lines.

关键词： Natural resources Power transmission lines Vegetation Capacitance Transmission line measurements Power grids Safety Reliability Impedance Bamboo

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A Filter Bank Typical Correlation Analysis Method Based on Task-Related Components for SSVEP-BCI 6

A Filter Bank Typical Correlation Analysis Method Based on T...

引用

6th IEEE International Conference on Civil Aviation Safety and Information technology, ICCASIT 2024

作者： Liu, Qiuzheng Zhang, Yanghao Zhang, Kunchao Guo, Xiaoyang Du, Cong Yu, Yewei China Faw Corporation Limited Changchun Global R&d Center Changchun China University of Electronic Science and Technology of China School of Automation Engineering Chengdu China

ISBN: (纸本)9798350389418

Brain computer interface (BCI) systems have received widespread attention in recent years. Among them, the steady-state visual evoked potential (SSVEP)-BCI system has become the most widely studied and applied system due to its lack of user training, high signal-to-noise ratio, and high information transmission rate. The existing SSVEP signal processing methods have achieved certain results, but their lack of robustness to electroencephalogram (EEG) signals containing noise and artifacts, as well as insufficient utilization of harmonic information, make it difficult to improve their motion intention classification performance. This paper proposes a filter bank typical correlation analysis method based on task-related components (TC-FBCA) for designing SSVEP-BCI. The method extracts important EEG components by constructing task-related spatial filters, thereby improving the signal-to-noise ratio of EEG signals. Subsequently, the filtered EEG signal is decomposed into multiple sub bands, and typical correlation analysis is performed in each sub band to obtain the correlation coefficient of each band. Finally, we weighted the correlation coefficients of different frequency bands and selected the response frequency with the highest correlation coefficient as the subject's exercise intention. We design a steady-state visual stimulation EEG signal acquisition experiment to validate the performance of the proposed method. The experimental results show that the average classification accuracy of TC-FBCA on single-subject reaches 86.48 %, achieving the most advanced classification accuracy. In addition, we combine the SSVEP-BCI system with our lower limb exoskeleton robot to build a real-time control platform, and conduct online testing of TC-FBCA. The average accuracy reaches 8 2. 1 0 %, further demonstrating the effectiveness and practicality of our proposed method. © 2024 IEEE.

关键词： Brain computer interface

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