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Stochastic Trajectory Optimization for Robotic Skill Acquisition From a Suboptimal Demonstration

IEEE Robotics and Automation Letters 2025年第6期10卷 6127-6134页

作者： Ming, Chenlin Wang, Zitong Zhang, Boxuan Cao, Zhanxiang Duan, Xiaoming He, Jianping Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai China School of Computation Information and Technology Germany Shanghai Jiao Tong University Department of Computer Science and Engineering Shanghai China Shanghai Jiao Tong University State Key Laboratory of Submarine Geoscience the Department of Automation Shanghai200240 China

Learning from Demonstration (LfD) has emerged as a crucial method for robots to acquire new skills. However, when given suboptimal task trajectory demonstrations with shape characteristics reflecting human preferences but subpar dynamic attributes such as slow motion, robots not only need to mimic the behaviors but also optimize the dynamic performance. In this work, we leverage optimization-based methods to search for a superior-performing trajectory whose shape is similar to that of the demonstrated trajectory. Specifically, we use Dynamic Time Warping (DTW) to quantify the difference between two trajectories and combine it with additional performance metrics, such as collision cost, to construct the cost function. Moreover, we develop a multi-policy version of the Stochastic Trajectory Optimization for Motion Planning (STOMP), called MSTOMP, which is more stable and robust to parameter changes. To deal with the jitter in the demonstrated trajectory, we further utilize the gain-controlling method in the frequency domain to denoise the demonstration and propose a computationally more efficient metric, called Mean Square Error in the Spectrum (MSES), that measures the trajectories' differences in the frequency domain. We also theoretically highlight the connections between the time domain and the frequency domain methods. Finally, we verify our method in both simulation experiments and real-world experiments, showcasing its improved optimization performance and stability compared to existing methods. © 2016 IEEE.

关键词： Frequency domain analysis

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Designing Quantum-Resilient Blockchain Frameworks: Enhancing Transactional Security with Quantum Algorithms in Decentralized Ledgers

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International Journal of Advanced Computer Science and Applications 2025年第4期16卷 618-628页

作者： Kale, Meenal R. Baker El-Ebiary, Yousef A. Sathiya, L. Burugari, Vijay Kumar Yulduz, Erkiniy Muniyandy, Elangovan Alanazi, Rakan Department of Humanities Yeshwantrao Chavan College of Engineering Hingna Nagpur India Faculty of Informatics and Computing UniSZA University Malaysia Department of CSE Panimalar Engineering College Chennai India Dept of Computer Science and Engineering Koneru Lakshmaiah Education Foundation Vaddeswaram Andhra Pradesh Guntur India Automatic Control and Computer Engineering Department Turin Polytechnic University in Tashkent Tashkent Uzbekistan Department of Biosciences-Saveetha School of Engineering Saveetha Institute of Medical and Technical Sciences Chennai India Applied Science Research Center Applied Science Private University Amman Jordan Department of Information Technology Faculty of Computing and Information Technology Northern Border University Rafha Saudi Arabia

Quantum computing is progressing at a fast rate and there is a real threat that classical cryptographic methods can be compromised and therefore impact the security of blockchain networks. All of the ways used to secure blockchain like Rivest–Shamir–Adleman (RSA), Elliptic Curve Cryptography (ECC) and Secure Hash Algorithm 256-bit (SHA256) are the characteristic of the traditional cryptographic techniques vulnerable to attack by quantum algorithms: Shor’s and Grover’s algorithms: can efficiently break asymmetric encryption and speed up brute force attacks. Because of this vulnerability, there exists a need to develop an advance quantum resilient blockchain framework to protect the decentralized ledgers from the future threats of the quantum. This research proposes Post-Quantum Cryptography (PQC), Quantum Key Distribution (QKD) and Quantum Random Number Generation (QRNG) as a formidable architectural integration, to fortify security of blockchain. Classical encryption is replaced with PQC, QKD with secure key exchange by detecting eavesdropping, and QRNG with improving cryptographic randomness to remove the predictable key vulnerability. Only with a small loss of transaction efficiency, we increase transaction encryption accuracy, key exchange security, and resistance to quantum attacks. In this quantum enhanced blockchain design, the idea is to preserve the decentralization, transparency and security and at the same time overcome the future quantum threat. By going through rigorous analysis and comparative evaluation, we demonstrate that the approach saves blockchain networks from the emerging quantum risks to make sure that the decentralized finance, smart contracts and cross chain transactions. © (2025), (Science and information Organization). All rights reserved.

关键词： Quantum cryptography

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Design and Validation of Substrate Integrated Waveguide-based Blood Glucose Measurement Sensor

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IEEE Sensors Journal 2025年

作者： Alsultani, Ameer B. Chase, J. Geoffrey Benyo, Balazs Budapest University of Technology and Economics Faculty of Electrical Engineering and Information Technology Department of Control Engineering and information Technology Budapest Hungary University of Canterbury Department of Mechanical Engineering Christchurch New Zealand

The increasing global prevalence of diabetes necessitates the development of accurate, reliable, and miniaturised glucose sensing technologies. Microwave-based sensors offer a promising alternative to conventional electrochemical methods due to their less invasive nature and real-time monitoring capabilities. However, previous microwave glucose sensors have often lacked comprehensive validation, limiting their practical usability. Many existing studies rely on simplified simulations without detailed parametric studies or fail to establish a strong correlation between theoretical models and experimental results, resulting in discrepancies in sensor performance. This study introduces a Cross-Slot Substrate Integrated Waveguide (CSSIW) sensor that overcomes these limitations by implementing a rigorous multi-level validation approach, including analytical modeling, full-wave electromagnetic simulations, and experimental verification. The sensor’s X-slot structure enhances electric field concentration, significantly improving sensitivity while maintaining a compact form factor (13×9 mm). Through eigenmode analysis and parametric studies, the sensor’s resonant frequency shift is optimised to detect glucose concentration variations with high precision. Experimental validation using glucose solutions at physiological concentrations (20–200 mg/dL) demonstrates a sensitivity of 0.563 MHz/(mg/dL), closely aligning with simulated results (0.415 MHz/(mg/dL)), confirming its accuracy and robustness. Compared to previous works, this study addresses prior shortcomings by providing a detailed investigation of field interactions, quality factor evaluation, and environmental dependencies, ensuring a comprehensive understanding of the CSSIW sensor’s performance. The findings confirm that the proposed sensor achieves low insertion loss (1.13 dB), strong impedance matching (-18.7 dB return loss), and full physiological range coverage, making it a promising candidate for next-generation g

关键词： Substrate integrated waveguides

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Sim2Real Learning With Domain Randomization for Autonomous Guidewire Navigation in Robotic-Assisted Endovascular Procedures

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IEEE Transactions on Automation Science and engineering 2025年 22卷 13842-13854页

作者： Yao, Tianliang Wang, Haoyu Lu, Bo Ge, Jiajia Pei, Zhiqiang Kowarschik, Markus Sun, Lining Seneviratne, Lakmal Qi, Peng Tongji University College of Electronics and Information Engineering Shanghai Institute of Intelligent Science and Technology Department of Control Science and Engineering Shanghai200092 China Shanghai University of Engineering Science School of Electronic and Electrical Engineering Shanghai201620 China Soochow University Robotics and Microsystems Center School of Mechanical and Electrical Engineering Jiangsu Suzhou215131 China Advanced Therapies Siemens Healthineers Ltd. Shanghai201318 China University of Shanghai for Science and Technology Oriental Pan-Vascular Devices Innovation College Shanghai200093 China Bavaria Forchheim91301 Germany Khalifa University KUCARS Department of Mechanical and Nuclear Engineering Abu Dhabi United Arab Emirates Tongji University College of Electronics and Information Engineering Shanghai Institute of Intelligent Science and Technology State Key Laboratory of Cardiovascular Diseases and Medical Innovation Center Shanghai East Hospital Department of Control Science and Engineering School of Medicine Shanghai200092 China

Over the past decade, significant advancements have been made in the research and industrialization of robotic systems for endovascular procedures, yet their clinical application remains relatively limited. Physicians commonly report that these robots lack certain intelligent assistive capabilities during procedures. There has been increasing interest and attempts to apply learning-centered algorithms to the training and enhancement of surgical robot skills. This paper proposes an autonomous navigation algorithm for interventional guidewires that is initially trained solely in a virtual simulation environment and subsequently deployed to a real-world robot. Experimental results demonstrate the feasibility of this approach for real-world applications. The proposed approach can help physicians reduce the learning curve for guidewire manipulation and elevate the robot to a higher level of autonomous operation, thereby breaking through the current bottleneck in the level of intelligence for clinical applications of interventional robots. It also holds promise for bringing intelligent transformation to future interventional procedures. © 2004-2012 IEEE.

关键词： Adversarial machine learning

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Collaborative Marine Targets Search Algorithm for USVs and AAVs Under Energy Constraint

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IEEE Internet of Things Journal 2025年第9期12卷 12137-12152页

作者： Xue, Mingyao Huang, Haibin Zhuang, Yufei Si, Jinshuai Lü, Tengping Sharma, Sanjay Zhang, Lei School of Information Science and Engineering Harbin Institute of Technology at Weihai Weihai264209 China Weihai Skysailing Technology Company Ltd. Research and Development Department Weihai264200 China Weihai Key Laboratory of Autonomous Control and Cooperation Technology for Unmanned Marine Systems Weihai264200 China Wuhan 2nd Ship Design and Research Institute Information Research Office Wuhan430205 China

The collaborative search of unmanned surface vessel (USV) and autonomous aerial vehicle (AAV) for tasks with high timeliness or a large number of target points is a current research focus in the field of Marine Internet of Things technology, such as counter-mine search and data collection of ocean sensor nodes. However, the slower navigation speed of USVs cannot meet the timeliness requirements of search tasks. Moreover, AAVs have a short endurance, making it unsuitable for large-area target search missions. Combining the characteristics of long endurance of USVs and the high speed of AAVs, this article propose a heterogeneous collaborative search algorithm based on time sequence constraints (TimeSeries). Initially, a time-sliding window is designed to control the trigger time for each agent to select the next search target point. Only when the current search time of the agent is in the time-sliding window, the conditions for the next search will be satisfied, ensuring the fairness of the search. Second, considering the constraint of limited energy for USVs and AAVs, a mathematical model of energy consumption under the constraint of sea wind and ocean current environment is established, then an objective function based on energy constraint and target weight is designed. Finally, the discretized isomorphic agent collision avoidance constraint strategy and the communication radius constraint strategy among agents based on network topology are added to enhance the robustness of the cooperative system. Finally, several simulation experiments are designed and compared with other algorithms to show the effectiveness of the proposed algorithm. © 2014 IEEE.

关键词： Motion planning

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Conditional Disturbance Compensation-Based Fault-Tolerant Group Consensus control for MASs: An Event-Based Switching Method

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IEEE Transactions on Automation Science and engineering 2025年 22卷 13828-13841页

作者： Liu, Pei-Ming Guo, Xiang-Gui Wang, Jian-Liang Che, Wei-Wei Wu, Zheng-Guang University of Science and Technology Beijing Beijing Engineering Research Center of Industrial Spectrum Imaging School of Automation and Electrical Engineering Beijing100083 China University of Science and Technology Beijing Shunde Innovation School Foshan528000 China Beihang University Hangzhou Innovation Institute Autonomous Intelligent Systems Department Hangzhou310051 China Northeastern University College of Information Science and Engineering Shenyang266071 China Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Hangzhou310027 China

With respect to the group consensus control for multi-agent systems (MASs) with disturbances and actuator nonidentical and unknown direction faults (NUDFs), this paper proposes a novel fault-tolerant control scheme by incorporating an event-based switching function and a saturation function. The event-based switching function is implemented to directly switch to the desired working mode, thereby reducing invalid switching after a reverse fault. Concurrently, the saturation function, acting at the software level, can not only prevent the instantaneous impact of excessive reverse input caused by a reverse fault, but also eliminate input peaking and state chattering after switching the working mode. It is worth mentioning that the proposed switching-based fault-tolerant control method can avoid the control chocks and excessive control gains as in the existing methods by using Nussbaum functions and thus improve the transient performance. Additionally, for disturbances, the designed conditional disturbance compensation mechanism ensures a smaller steady-state error, and less energy consumption by utilizing beneficial disturbances and compensating for harmful ones. Besides, the conditional compensation mechanism also reduces the saturation error. Finally, the effectiveness of the proposed control scheme are verified through a simulation example of uncrewed aerial vehicles (UAVs). © 2004-2012 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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A Hybrid Compensation Topology with Constant Voltage and Constant Current for EV Bidirectional Wireless Charging

A Hybrid Compensation Topology with Constant Voltage and Con...

引用

26th International Conference on Industrial technology, ICIT 2025

作者： Tian, Shuo Wang, Helin Zhang, Hailong Qingdao University of Technology Department of Information and Control Engineering Qingdao China

ISBN: (纸本)9798331521950

A constant current (CC) and constant voltage (CV) charging topology applied to the bidirectional wireless power transfer system for electric vehicles (EVs) is presented in this paper. It only needs to adjust the switching state of a relay to realize the CC output of inductor-capacitor-capacitor - inductor-capacitor-capacitor (LCC-LCC) and CV output of inductor-capacitor-capacitor-series (LCC-S) and series- inductor-capacitor-capacitor (S-LCC). Compared with the other topologies, redundant components are not required, and the switching frequency is fixed under the operating process. Under the misalignment condition, the CC and CV output can be regulated by applying the phase-shift control. The proposed reconfigurable topology can realize bidirectional CC and CV charging without communication between primary and secondary side. A 6-KW prototype is built in the laboratory to verify the effectiveness of the topology, and the maximum effective is 94%. © 2025 IEEE.

关键词： bidirectional wireless charging Constant current charging constant voltage charging hybrid compensation topology LCC-LCC LCC-S S-LCC

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A Hybrid Compensation Topology with Constant Voltage and Constant Current for EV Bidirectional Wireless Charging

A Hybrid Compensation Topology with Constant Voltage and Con...

引用

IEEE International Conference on Industrial technology (ICIT)

作者： Shuo Tian Helin Wang Hailong Zhang Department of Information and Control Engineering Qingdao University of Technology Qingdao China

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

关键词： Analytical models Voltage measurement Switching frequency Current measurement Inductive charging Prototypes Switches Wireless power transfer Topology Relays

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A Zero-Sequence Current Analysis Approach for Rotating Machinery Fault Diagnosis of Induction Motor Drivetrain Based on Sparse Learning

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IEEE Transactions on Power Electronics 2025年第7期40卷 9800-9810页

作者： Liu, Zhao-Hua Long, Jun-Jie Wei, Hua-Liang Liu, Kan Zhang, Ying-Jie Li, Xiao-Hua Hunan University of Science and Technology School of Information and Electrical Engineering Xiangtan411201 China The University of Sheffield School of Electrical and Electronic Engineering Department of Automatic Control and Systems Engineering SheffieldS1 3JD United Kingdom Hunan University College of Mechanical and Vehicle Engineering Changsha410082 China Hunan University College of Computer Science and Electronic Engineering Changsha410082 China

Fault diagnosis of rotating machinery driven by induction motors has received increasing attention. Current diagnostic methods, which can be performed on existing inverters or current transformers of three-phase induction machines, have become a more economical and reliable alternative to vibration diagnostic methods. Existing references mainly focus on the stator current analysis of single-phase, but most single-phase current analysis methods utilize only a fraction of the total information accessible in the three-phase system. Field experience shows that zero-sequence current (ZSC) has more distinctive fault characteristics compared to single-phase current, and therefore it is better to use in mechanical fault detection and diagnostic tasks. This article proposes a novel sparse learning-based method for ZSC analysis for induction rotating motor drive fault diagnosis. First, it elaborates and compares the effectiveness of ZSC in revealing fault characteristics compared with single-phase current by analyzing the fault diagnosis mechanism of ZSC. In addition, the method proposes a correlation entropy-enhanced sparse learning method for the problem of high-frequency noise and interference in the ZSC signals, so as to enhance the learning of the features of the noise-containing signals. The diagnostic efficacy of the proposed method has been verified through experiments on two real datasets. © 1986-2012 IEEE.

关键词： Induction motors

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Significant changes in the physicochemical properties of BC-containing particles during the cold season in Beijing

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Journal of Environmental Sciences 2025年第5期151卷 667-676页

作者： Shuya Hu Linghan Zeng Gang Zhao Shiyi Chen Chunsheng Zhao Weilun Zhao Min Hu State Key Joint Laboratory of Environmental Simulation and Pollution Control International Joint Research Center for Atmospheric Research(IJRC)College of Environmental Sciences and EngineeringPeking UniversityBeijing 100871China Department of Atmospheric and Oceanic Sciences School of PhysicsPeking UniversityBeijing 100871China Collaborative Innovation Center of Atmospheric Environment and Equipment Technology Nanjing University of Information Science and TechnologyNanjing 210044China

The ambient air quality has improved significantly under strict emission controls in Beijing,China over the last *** carbon(BC),as a short-lived climate forcer in ambient aerosols,profoundly impacts the air quality and *** studies have demonstrated a decline in the mass concentration of *** this study,we characterized the chemical compositions and size distributions of BC-containing particles during the cold season of 2022 in Beijing using state-of-the-art instruments capable of exclusively measuring BCcontaining *** optical properties of BC-containing particles were further calculated based on the Mie ***,we compared the properties of BC-containing particles in 2022 with the results of previous *** results showed that the diameters of BC cores became larger while the coating thickness of BC-containing particles became thinner in *** the coating materials,the mass fraction of nitrate increased obviously,and even replaced organic matter as the dominant component during the peak of the pollution *** in chemical compositions and size distributions resulted in lower mass absorption cross-sections(MAC)of BC-containing particles from 10.5±1.1 m^(2)/g in 2016 to 7.3±0.8 m^(2)/g in 2022,reduced by 30.5%.Our results demonstrate the synergistic benefits of air pollution control in improving air quality and mitigating climate ***,the MAC of BC adopted in climate models should vary with the changing air pollution *** study emphasizes that it is imperative to conduct long-term observations of BC-containing particles to better estimate BC’s climate effects.

关键词： Black carbon Chemical composition Size distribution Light absorption ability

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