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A trajectory-level robot skill learning method based on fuzzy systems

science China(Information sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

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Pose Estimation of an Autonomous Drilling Excavator

Pose Estimation of an Autonomous Drilling Excavator

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Joint International Conference of the 14th International Conference on Mechanisms and Mechanical Transmissions and 26th International Conference on robotics, MTM and robotics 2024

作者： Suiker, Marcel Husemann, Jörg Berns, Karsten Robotics Research Lab Department of Computer Science University of Kaiserslautern-Landau Kaiserslautern Germany

ISBN: (纸本)9783031875366

Due to the increase of automation in the field of construction, more and more automation approaches for excavators have been developed. A special case of excavators are drilling excavators. Therefore, a precise pose estimation is an essential task to achieve automation of the drilling process and has not been the subject of interest in research until now. This paper presents a new approach to calculating a pose of the excavator’s undercarriage for a given drilling position. The positioning uses information on the excavator’s workspace considering its kinematics, the terrain, and obstacles at the construction site. Essential to this approach is the computation of the terrain gradient, as well as the computation of the largest inscribed rectangle inside a computed candidate area. Experiments showed that the presented solution yields good results but takes a long time to find them. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Excavators

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Steganography in IoT: A Comprehensive Survey on Approaches, Challenges, and Future Directions

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IEEE Access 2025年 13卷 74840-74871页

作者： Driss, Maha Berriche, Lamia Atitallah, Safa Ben Rekik, Siwar College of Computer and Information Sciences Prince Sultan University Robotics and Internet-of-Things Laboratory Computer Science Department Riyadh11586 Saudi Arabia University of Manouba RIADI Laboratory Manouba2010 Tunisia Prince Sultan University College of Computer and Information Sciences Computer Science Department Riyadh11586 Saudi Arabia

The Internet of Things (IoT) has raised significant security concerns, especially with regard to secure data transfer among resource-constrained devices. While effective, traditional encryption techniques are often computationally expensive and easily identifiable, making them unsuitable for many IoT applications. Steganography is an intriguing approach that allows hiding sensitive information within seemingly ordinary data, preventing unauthorized parties from detecting and accessing it. Existing studies on IoT security lack a comprehensive analysis of steganographic techniques tailored for IoT-specific constraints. This study bridges this gap by providing a comprehensive review of steganographic methods for IoT, exploring approaches across many domains such as spatial, frequency, and hybrid methods used in images, videos, audio, text, network traffic, hybrid approaches, and quantum-based methods. We evaluated and validated the techniques employed using key metrics such as imperceptibility, robustness, and embedding capacity while emphasizing the computational restrictions, real-time processing requirements of IoT devices, and the vital requirement for energy-efficient algorithms. This survey also investigates the integration of steganography and cryptographic approaches, as well as advances in Machine Learning (ML), Deep Learning (DL), and quantum techniques that could revolutionize the field. The study ends with future research directions that underscore the importance of innovative steganographic techniques that strike a compromise between security, efficiency, and scalability in IoT applications. © 2013 IEEE.

关键词： Steganography

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FoundationGrasp: Generalizable Task-Oriented Grasping With Foundation Models

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IEEE Transactions on Automation science and Engineering 2025年 22卷 12418-12435页

作者： Tang, Chao Huang, Dehao Dong, Wenlong Xu, Ruinian Zhang, Hong Southern University of Science and Technology Shenzhen Key Laboratory of Robotics and Computer Vision Department of Electronic and Electrical Engineering Shenzhen518055 China Institute for Robotics and Intelligent Machines Georgia Institute of Technology AtlantaGA30332 United States

Task-oriented grasping (TOG), which refers to synthesizing grasps on an object that are configurationally compatible with the downstream manipulation task, is the first milestone towards tool manipulation. Analogous to the activation of two brain regions responsible for semantic and geometric reasoning during cognitive processes, modeling the intricate relationship between objects, tasks, and grasps neces-sitates rich semantic and geometric prior knowledge about these elements. Existing methods typically restrict the prior knowledge to a closed-set scope, limiting their generalization to novel objects and tasks out of the training set. To addresssuch a limitation, we propose FoundationGrasp, a foundationmodel-based TOG framework that leverages the open-ended knowledge from foundation models to learn generalizable TOG skills. Extensive experiments are conducted on the contributed Language and Vision Augmented TaskGrasp (LaViA-TaskGrasp)dataset, demonstrating the superiority of FoundationGrasp over existing methods when generalizing to novel object instances,object classes, and tasks out of the training set. Furthermore,the effectiveness of FoundationGrasp is validated in real-robot grasping and manipulation experiments on a 7-DoF robotic arm. © 2004-2012 IEEE.

关键词： Robotic arms

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Automated Parkinson’s Disease Diagnosis Using Decomposition Techniques and Deep Learning for Accurate Gait Analysis

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IEEE Access 2025年 13卷 74078-74091页

作者： Jeba Priya, S. Anand Deva Durai, C. Subathra, M.S.P. Thomas George, S. Jeyabose, Andrew Karunya Institute of Technology and Sciences Department of Computer Science and Engineering Tamil Nadu Coimbatore India King Khalid University College of Computer Science Department of Computer Science Abha Saudi Arabia Karunya Institute of Technology and Sciences Department of Biomedical Engineering Tamil Nadu Coimbatore India Karunya Institute of Technology and Sciences Department of Robotics Engineering Tamil Nadu Coimbatore India Manipal Academy of Higher Education Manipal Institute of Technology Department of Computer Science and Engineering Karnataka Manipal India

Parkinson's disease (PD) is a prevalent neurological disorder that significantly impacts posture and gait, leading to movement abnormalities due to malfunctions in the brain and nervous system. Gait signals are essential for identifying PD, and various techniques have been employed for classification, with a focus on spatiotemporal factors. Additionally, cognitive monitoring systems for PD symptoms have been developed. Recent advancements involve decomposing gait signals using techniques such as empirical mode decomposition (EMD), empirical wavelet transform (EWT), and variational mode decomposition (VMD) to streamline data for improved computational efficiency. Machine learning (ML) and deep learning (DL) algorithms are widely used to enhance classification accuracy. This study integrates decomposition techniques with ML algorithms such as support vector machines (SVMs), artificial neural networks (ANNs), decision trees (DTs), and k-nearest neighbors (k-NNs), as well as DL algorithms such as long short-term memory (LSTM), bidirectional long short-term memory (LSTM), and convolutional neural networks (CNNs), for PD classification. The combination of VMD with the 1D-CNN achieved the highest accuracy, sensitivity, and specificity, with values of 99.1 %, 100 %, and 100 %, respectively. This finding suggests a promising approach for further research in this field. The optimized VMD-1D-CNN combination demonstrated significant potential for accurately diagnosing PD based on gait dynamics. The successful application of these methods highlights the importance of advanced signal processing techniques in improving the detection and management of neurological disorders. © 2013 IEEE.

关键词： Wavelet decomposition

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A Hierarchical Progressive Perception System for Autonomous Luggage Trolley Collection

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IEEE Transactions on Automation science and Engineering 2025年 22卷 14484-14497页

作者： Sun, Zhirui Zhang, Zhe Zhao, Jieting Ye, Hanjing Wang, Jiankun Southern University of Science and Technology Shenzhen Key Laboratory of Robotics Perception and Intelligence Department of Electronic and Electrical Engineering Shenzhen518055 China Southern University of Science and Technology Jiaxing Research Institute Jiaxing314000 China Southern University of Science and Technology Shenzhen Key Laboratory of Robotics and Computer Vision Department of Electronic and Electrical Engineering Shenzhen518055 China

Advancements in intelligent vehicle technologies and autonomous driving are now used for tasks like collecting luggage trolleys at airports. The robotic autonomous luggage trolley collection system employs robots to gather and transport scattered luggage trolleys. However, existing methods for detecting and locating luggage trolleys often fail when they are not fully visible. To address this, we introduce the hierarchical progressive perception system, which enhances the detection and localization of luggage trolleys under partial occlusion. The proposed system integrates the hierarchical process structure and progressive perception strategy. This innovative structure processes the luggage trolley’s position and orientation separately. It can accurately determine the luggage trolley’s position with just one well-detected keypoint and estimate its orientation when partially occluded. Once the luggage trolley’s initial pose is detected, the progressive perception strategy continuously refines this information until the robot begins grasping. The proposed system only needs RGB images for labeling and training, eliminating the need for complex data collection and annotation. The experiments on detection and localization demonstrate that the proposed system is more reliable under partial occlusion compared to existing methods. Its effectiveness and robustness have also been confirmed through practical tests in actual luggage trolley collection tasks. © 2004-2012 IEEE.

关键词： Intelligent robots

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Heat Transfer Area Optimization for Heat Exchanger System

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computer Modeling in Engineering & sciences 2025年第4期143卷 335-349页

作者： Yu-Cheng Liao Fu-I Chou Po-Yuan Yang Jyh-Horng Chou Department of Electrical Engineering National Kaohsiung University of Science and TechnologyKaohsiung807Taiwan Department of Intelligent Robotics National Pingtung UniversityPingtung900Taiwan Department of Mechanical and Computer-Aided Engineering Feng Chia UniversityTaichung407Taiwan

This paper presents an allowable-tolerance-based group search optimization(AT-GSO),which combines the robust GSO(R-GSO)and the external quality design planning of the Taguchi ***-GSO algorithm is used to optimize the heat transfer area of the heat exchanger *** R-GSO algorithm integrates the GSO algorithm with the Taguchi method,utilizing the Taguchi method to determine the optimal producer in each iteration of the GSO algorithm to strengthen the robustness of the search process and the ability to find the global *** conventional parameter design optimization,it is typically assumed that the designed parameters can be applied accurately and consistently throughout ***,for systems that are sensitive to changes in design parameters,even minor inaccuracies can substantially reduce overall system ***,the permissible variations of the design parameters are considered in the tolerance-optimized design to ensure the robustness of the *** optimized design of the heat exchanger system assumes that the system’s operating temperature parameters are ***,fixing the systemoperating temperature parameters at a constant value is *** paper assumes that the system operating temperature parameters have an uncertainty error when optimizing the heat transfer area of the heat exchanger *** results show that the AT-GSO algorithm optimizes the heat exchanger system and finds the optimal operating temperature in the absence of tolerance and under three tolerance conditions.

关键词： Heat exchanger system allowable tolerance-based group search optimization Taguchi method tolerance design

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Nonlinear Dynamic Inversion-based Motion Planning of a Floating Satellite Platform

Nonlinear Dynamic Inversion-based Motion Planning of a Float...

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AIAA science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Banerjee, Avijit Tevetzidis, Ilias Satpute, Sumeet Gajanan Nikolakopoulos, George Robotics and AI research group Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå Sweden

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This article presents a nonlinear dynamic inversion-based motion plan for a levitating robotic satellite emulation platform. The frictionless motion of such a levitating platform has dynamic equivalency with a satellite’s realistic movement in space, thus evolving as an efficient demonstration tool as a hardware-in-loop satellite motion simulator. A brief design description of the emulation platform unified with various sensor and actuator units is presented, and an associated nonlinear mathematical model representing its coupled dynamic motion is described. The proposed control design architecture manipulates the associated nonlinear dynamics, which appear due to the coupling of translational and rotational movement of the robotic platform, thereby establishing an efficient trajectory tracking capability for various operating regions without the additional requirement of gain scheduling. In order to realize the control requirement through a set of ON-OFF thruster-based actuation units, which closely resembles the reaction control system of realistic satellite design, an optimal thrust allocation logic is proposed that accounts for various physical limitations of thrusters such as thrusters as its magnitude constraint and minimum on time. The efficacy of the proposed modelling and control scheme is experimentally validated in different realistic motion planning scenarios, such as point-to-point manoeuvres with terminal objectives and a superior path-following capability. The experimental studies are supported with related results. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Motion planning

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Quadtree-based Free-space Cell-decomposition for Pathplanning with RRT* Implementation

Quadtree-based Free-space Cell-decomposition for Pathplannin...

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AIAA science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Otte, Noah Satpute, Sumeet Gajanan Banerjee, Avijit Nikolakopoulos, George Robotics and AI research group Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå Sweden

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper introduces a novel, computationally efficient, random-search based path-planning algorithm specifically designed to enhance the dexterous accessibility of autonomous lunar rovers operating on highly cluttered obstacle-dense planetary surfaces. The proposed pathplanning framework employs a Quadtree-based cell decomposition to enhance the performance of sampling-based path-planning algorithms, specifically those in the category of Rapidlyexploring Random Trees (RRT) and its optimized variant, RRT*. In the process of generating the path through an occupancy grid map, the obstacle-free cells are utilized as discrete sampling points for the RRT* algorithm. A unique non-uniform sampling approach is employed to favour larger cells with a higher degree of safety, thereby enabling seamless navigation through the obstacle-dense map. Additionally, the non-uniform sampling approach enhances the overall computational efficiency of the framework, making it suitable for fast, lightweight onboard implementation. The efficacy of the proposed planning framework is demonstrated through numerous simulation scenarios. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Decision trees

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Modeling a fuzzy expert system for predicting customers’ behavioral intention for restaurant business through parallel prediction of perceived values and satisfactions

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International Journal of Information Technology (Singapore) 2025年第2期17卷 1007-1014页

作者： Akhtaruzzaman, M. Shahryer, Fahim Halder, Sachitra Tanvin, Jamal Uddin Department of Computer Science and Engineering Military Institute of Science and Technology (MIST) Mirpur Cantonment Dhaka 1216 Bangladesh Quantum Robotics and Automation Research Group (QRARG) Dhaka Bangladesh

This paper focuses on the modeling of a recommendation process for the restaurant industry. It is a challenge job for a restaurant owner to ascertain the intentions of customers to evaluate their services, further improve their profit margin. So, the objective of this study is to design a fuzzy-based prediction model of customers’ intentions for a fine dining experience. To facilitate a comparative analysis and to identify the optimal approach, various membership functions (MF) and de-fuzzification methods are employed along with the analysis of the correlational behavior among various input subsets. Results have shown that CoA method with triangular MF are well enough to implement the model. The fuzzy-correlation analysis presents various levels of membership strengths for a same recommendation score in some cases. Moreover, the evaluation of the proposed model based on a custom dataset shows prominent results with as 0.938. © Bharati Vidyapeeth's Institute of computer Applications and Management 2024.

关键词： Customer intension Customer satisfaction FIS Perceived value Recommendation

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