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Comprehensive Performance Optimization of a Novel Anthropomorphic Dexterous Hand

IEEE Robotics and automation Letters 2025年第7期10卷 6816-6823页

作者： Ma, Yifan Shang, Weiwei Zhang, Fei Pang, Shunxiang Dai, Shuqing Yi, Zhengkun Li, Guotao Cong, Shuang University of Science and Technology of China Department of Automation Jinzhai Road 96 Hefei 230027 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen 518055 China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing 100190 China

Grasp and in-hand manipulation of dexterous hands are essential for daily operational tasks. In this study, an optimized design method for a novel anthropomorphic dexterous hand is proposed, which improves the comprehensive performance of grasp and manipulability of the dexterous hand. The constraints of multi-fingered contact force and kinematics are established with full consideration of the applicability to the objects of different sizes and the shape characteristics of finger contact surface. The performance index of in-hand manipulation ability is proposed, and the optimization problem is constructed through the technique for order preference by similarity to ideal solution (TOPSIS) to achieve multi-objective optimization of precision grasp and in-hand manipulation. Finally, simulation and experiment verify the feasibility of our prototype and optimization method. The results show that the in-hand translation space and in-hand rotation range are increased by 20% and 8.5%, respectively. Our dexterous hand has excellent abilities of multi-fingered interaction and in-hand manipulation, which can perform 33 grasp gestures and two/three-fingered in-hand manipulation. This study provides a valuable reference for the design of dexterous hands with anthropomorphic functions. © 2016 IEEE.

关键词： design optimization Dexterous manipulation multifingered hands precision grasp

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Safety-Critical Randomized Event-Triggered Learning of Gaussian Process With Applications to Data-Driven Predictive Control

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IEEE Transactions on Automatic Control 2024年第6期70卷 3920-3935页

作者： Zheng, Kaikai Shi, Dawei Shi, Yang Beijing Institute of Technology MIIT Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing100081 China University of Victoria Department of Mechanical Engineering Faculty of Engineering VictoriaBCV8N 3P6 Canada

Safety and data efficiency are important concerns in data-driven control, especially for nonlinear systems with unknown dynamics and subject to disturbances. In this work, we consider a class of control-affine nonlinear systems with partially unknown dynamics and aim to introduce an event-triggered learning-based control approach with guaranteed safety and improved data utilization efficiency. Specifically, a randomized learning approach is employed to evaluate the safety of state trajectories by defining and estimating its confidence interval, with data from a multisample of randomly generated state trajectories. Using the proposed randomized learning algorithm, a nominal trajectory with a high probability safety guarantee is designed, thus ensuring the disturbed system states to remain within a pre-specified range around the nominal trajectory with a sufficiently high probability. Through removing irrelevant data, a local prediction model around the nominal trajectory is learned with satisfactory precision, and is updated online using an event-triggered learning strategy. Based on the learned model, an efficient data-driven predictive controller is designed to force the system states to evolve within the vicinity of the designed safety nominal trajectory. The effectiveness of the proposed event-triggered learning and data-driven control approaches is validated through comprehensive simulation studies. © 1963-2012 IEEE.

关键词： Predictive control systems

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Position Measurement Based Slave Torque Feedback Control for Teleoperation systems With Time-Varying Communication Delays

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 388-402页

作者： Xian Yang Jing Yan Changchun Hua Xinping Guan the Institute of Information Science and Engineering Yanshan University the Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Qinhuangdao 066004China IEEE the Institute of Electrical Engineering Yanshan UniversityQinhuangdao 066004China the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects *** the tracking control of teleoperation systems,velocity measurements are necessary to provide feedback ***,due to hardware technology and cost constraints,the velocity measurements are not always *** addition,the time-varying communication delay makes it challenging to achieve tracking *** paper provides a solution to the issue of real-time tracking for teleoperation systems,subjected to unavailable velocity signals and time-varying communication *** order to estimate the velocity information,immersion and invariance(I&I)technique is employed to develop an exponential stability velocity *** the proposed velocity observer,a linear relationship between position and observation state is constructed,through which the need of solving partial differential and certain integral equations can be ***,the mean value theorem is exploited to separate the observation error terms,and hence,all functions in our observer can be analytically *** the estimated velocity information,a slave-torque feedback control law is presented.A novel Lyapunov-Krasovskii functional is constructed to establish asymptotic tracking *** particular,the relationship between the controller design parameters and the allowable maximum delay values is ***,simulation and experimental results reveal that the proposed velocity observer and controller can guarantee that the observation errors and tracking error converge to zero.

关键词： Asymptotic stability bilateral teleoperation time-varying delay velocity observer

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Step-by-step Linearized Kalman Filter-Based Fault Detection of Workpiece Machining

Step-by-step Linearized Kalman Filter-Based Fault Detection ...

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2023 CAA Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2023

作者： Sun, Xiaohui Wu, Xinyu Wen, Chenglin Ma, Xue Tsinghua University Department of Automation Beijing China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Shenzhen China Guangdong University of Petrochemical Technology School of Automation Maoming China

ISBN: (纸本)9798350337754

This paper is concerned with step-by-step linearized Kalman filter to deal with multiplicative faults diagnosis problem for class of nonlinear systems. Multiplicative fault variables are defined as parameter variables to be estimated, and linear dynamic models between fault variables and all variables are established. The indirect linear state and measurement models of fault variables and the corresponding step-by-step linearized Kalman filters are established based on current estimated values of all variable and some obtained estimated values of future variables;further, combined with fault variables, a filter is designed for state variables in the linearized system. On basis of EKF, the redisual generation is obtained. The effectiveness of the novel filter is verified in workpiece machining process. © 2023 IEEE.

关键词： Fault detection

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Infrared Dim Small Target Detection Algorithm Based on Adaptive Attention Transformer Network

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Journal of Shanghai Jiaotong University (Science) 2025年 1-13页

作者： Ding, Leqi Xia, Yilin Wang, Biyun Cai, Yunze Department of Automation Shanghai Jiao Tong UniversityKey Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China National Key Laboratory of Air-based Information Perception and Fusion Henan Luoyang471009 China Shanghai Institute of Aerospace Control Technology Infrared Detection Technology R & D Center of China Aerospace Science and Technology Corporation Shanghai201109 China

This paper presents a novel algorithm for detecting infrared dim small targets in complex backgrounds by integrating both global and local feature information. The proposed method employs an adaptive attention transformer network which addresses challenges associated with computational complexity and information redundancy in traditional self-attention mechanisms. A global context aggregation module is designed to address the loss of small target features in high-level feature maps. This module compensates for spatial distribution information during the multi-scale feature fusion process, ensuring the preservation of target features. Comparison experiments were conducted on two datasets, NUAA-SIRST and IRSTD-1k. The proposed algorithm achieved 0.784 for mIoU and 0.878 for F-measure on NUAA-SIRST, 0.632 for mIoU and 0.807 for F-measure on IRST-1k, all of which are the highest values. The proposed algorithm shows a significant improvement over other existing detection algorithms, demonstrating its capability to accurately extract both local and global features of targets with high recall rates and low false alarm rates across various scenarios. The ablation study results highlight the significant improvements contributed by the key modules to the proposed algorithm. (Figure presented.) © Shanghai Jiao Tong University 2025.

关键词： A adaptive attention global context aggregation module infrared dim small target detection TP391.4 Transformer network

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Prototype for Current and Voltage Monitoring of Distribution Transformer Based on WiFi

Prototype for Current and Voltage Monitoring of Distribution...

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2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial automation, ICAMIMIA 2023

作者： Yudianto, Firman Herlambang, Teguh Adinugroho, Mukhtar Susanto, Fajar Annas Wulan, Tri Deviasari Farid, Imam Wahyudi Unusa Faculty of Business Economics and Digital Technology Department of Information System Indonesia Unusa Faculty of Business Economics and Digital Technology Department of Management Indonesia Its Vocational Faculty Department of Electrical Automation Engineering Indonesia

ISBN: (纸本)9798350309225

A transformer is a key component in the electrical power distribution system. To maintain the continuity and reliability of the power system, it is essential to ensure the reliability of the energy distribution system. Factors affecting the quality of electrical energy include current, voltage, and temperature. With an increase in load, the transformer's temperature and current can rise, and the increase in current can be influenced by excessive load, thus raising the transformer's temperature. The temperature rise can also be influenced by the environmental conditions inside the transformer room. Excessive temperature in the transformer room can lead to explosions. Therefore, this thesis research aims to design a prototype monitoring device based on WiFi for parameters such as current, voltage, and temperature, to provide real-time information about the transformer's condition. The results of this research show that the prototype monitoring device for the transformer provides values very close to manual calculations, with the largest error percentages being 2.18% for current measurement, 1.04% for voltage measurement, and 3.3% for temperature measurement. This prototype monitoring device also provides information to the user when the current value in the circuit reaches 2A, making it easier for the user to identify potential transformer faults before they lead to damage. The transformer's efficiency ranges from 99.54% to 99.82%. Maintenance is required for the transformer as it approaches high temperatures to ensure optimal transformer performance. © 2023 IEEE.

关键词： Temperature measurement

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High-Resolution Urban Flows Forecasting With Coarse-Grained Spatiotemporal Data

IEEE Transactions on Artificial Intelligence

引用

IEEE Transactions on Artificial Intelligence 2023年第2期4卷 315-327页

作者： Xu, Zhenyi Kang, Yu Cao, Yang Hefei Comprehensive National Science Center Institute of Artificial Intelligence Hefei230088 China Department of Automation University of Science and Technology of China Hefei230026 China Chinese Academy of Sciences Key Laboratory of Technology in GeoSpatial Information Processing and Application System Beijing100192 China

Urban flow monitoring and forecasting systems play important roles in smart city management. However, due to the long-lasting and enormous deployment cost of ubiquitous traffic monitoring devices (e.g., loop detectors, traffic video detection), it is very difficult to predict flow in high-resolution (HR) with limited monitoring devices. The existing spatiotemporal network based methods usually predict the urban flow in the same spatial scale without considering the spatial correlations between coarse-grained and fine-grained urban flows. To tackle these issues, we propose a HR spatiotemporal transformer network (HRSTT) to predict fine-grained urban flow. Specifically, residual convolution units are employed to constructs the high-level features of three-view temporal (e.g., closeness, period, and trend) flow data. Then, a transformer block is designed to jointly learn the spatiotemporal dynamic features of each temporal flow with self-attention mechanism. For the external factors (e.g., holidays, weather conditions) are extracted by embedding dense networks, which are fused with high level coarse-grained flow feature maps with gated-fusion scheme. Finally, the coarse-grained fusion feature maps are transferred to the distributional upsampling module, generating the fined-grained flow map of target predicted time. Furthermore, the proposed model is evaluated with several baselines on real-world TaxiBJ datasets, demonstrating the state-of-the-art performance of our approach on the fine-grained urban flow forecasting problem. © 2020 IEEE.

关键词： Deep neural networks

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Approximate state estimation with large-scale sensor networks under event-based sensor scheduling strategy 63

Approximate state estimation with large-scale sensor network...

引用

63rd IEEE Conference on Decision and Control, CDC 2024

作者： Liu, Xinhui Cheng, Meiqi Shi, Dawei Shi, Ling Beijing Institute of Technology Miit Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing100081 China Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Kowloon Hong Kong

ISBN: (纸本)9798350316339

In this paper, we investigate the issues of real-time sensor scheduling and state estimator design within large-scale sensor network systems. Specifically, data redundancy sometimes occurs in large-scale sensor arrays due to the excessive proximity of sensing units in the spatial domain, leading to high similarity in their measurement data. Currently, it is difficult to account for such redundancy in sensor scheduling algorithms found in existing literature, where the optimal subset of sensors is generally selected by optimizing objective functions formulated from certain performance criteria. To tackle this problem, we introduce an event-based sensor scheduling strategy, the triggering condition of which is designed founded on the similarity of sensor data, so as to identify the most informative subset of sensors for state estimation. To evaluate the impact of the sensor scheduling protocol on system observability, we propose a new notion of E(varepsilon)-observability, based on which an observability criterion is derived. In addition, we have designed a set-valued state estimation algorithm, which takes into account the intricate measurement information structure inherent within the sensor selection mechanism. The performance enhancement of the proposed estimator is also investigated. Finally, numerical experiments are conducted to validate the effectiveness of the proposed estimation algorithm and to verify the performance improvement. © 2024 IEEE.

关键词： Scheduling algorithms

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Output Linearization of Single-Input Single-Output Fuzzy system to Improve Accuracy and Performance

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Computers, Materials & Continua 2023年第5期75卷 2413-2427页

作者： Salah-ud-din Khokhar QinKe Peng Muhammad Yasir Noor Department of Automation Science and Technology(System Engineering Institute) School of Electronics and Information EngineeringXi’an Jiaotong UniversityXi’anShaanxi710049China Department of Computer Science G.C.UniversityLahore54000PunjabPakistan Department of Physics(Electronics) G.C.UniversityLahore54000PunjabPakistan

For fuzzy systems to be implemented effectively,the fuzzy membership function(MF)is essential.A fuzzy system(FS)that implements precise input and output MFs is presented to enhance the performance and accuracy of single-input single-output(SISO)FSs and introduce the most applicable input and output MFs protocol to linearize the fuzzy system’s *** a variety of non-linear techniques,a SISO FS is *** results of FS experiments conducted in comparable conditions are then *** simulated results and the results of the experimental setup agree fairly *** findings of the suggested model demonstrate that the relative error is abated to a sufficient range(≤±10%)and that the mean absolute percentage error(MPAE)is reduced by around 66.2%.The proposed strategy to reduceMAPE using an FS improves the system’s performance and control *** using the best input and output MFs protocol,the energy and financial efficiency of every SISO FS can be improved with very little tuning of *** proposed fuzzy system performed far better than other modern days approaches available in the literature.

关键词： Mean absolute percentage error membership functions relative error fuzzy system

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Vulnerability of EV Charging Stations to Cyber Attacks Manipulating Prices

Vulnerability of EV Charging Stations to Cyber Attacks Manip...

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2023 International Conference on Future Energy Solutions, FES 2023

作者： Akbarian, Amirhossein Bahrami, Mahdi Vakilian, Mehdi Lehtonen, Matti Sharif University of Technology Center of Excellence in Power System Management and Control Electrical Engineering Department Tehran Iran Aalto University Department of Electrical Engineering and Automation Espoo Finland

ISBN: (纸本)9798350332308

Electric vehicles (EVs) have experienced an unprecedented increase in their penetration;in well developed countries;due to the advancement of battery technology and the need to make transportation more environmentally friendly. As a result of this trend, EVs have become an integral part of those countries power grid ecosystem, where they may be used as both a source, and a consumer of energy. However, cybersecurity risks associated with large fleets of EVs within the power grids can significantly impact the normal operation of distribution systems. This paper considers the cyber-attack consequences, from attackers' perspective. The cyber attackers under study target the charging price (CP) by increasing the CP in off-peak hours and accordingly subsiding it in on-peak hours. A two-stage optimization framework is proposed to identify the most important ultra-fast charging stations (XFCs) under the cyber-attack, meanwhile, the EV users' response to the compromised CP is considered. Then, the proposed model is implemented on a modified IEEE 123-bus distribution test system, and the effectiveness of the model is proved through some case studies. In particular, they demonstrated that the amount of load shedding is increased by 8.198 MW when the EV user response is taken into account. © 2023 IEEE.

关键词： Crime

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