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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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A Novel Technology for Semiautomatic and Automatic Stem–Stake Coupling of Seedlings and Plants

IEEE Transactions on AgriFood Electronics

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IEEE Transactions on AgriFood Electronics 2025年第1期3卷 254-262页

作者： Shirzi, Moteaal Asadi Kermani, Mehrdad R. Western University Advanced Robotics and Mechatronic Systems Laboratory Electrical and Computer Engineering Department LondonN6A 5B9 Canada Western University Department of Electrical and Computer Engineering LondonN6A 3K7 Canada Advanced Robotics and Mechatronic Systems Laboratory LondonN6A 5B9 Canada

This article introduces a novel mechatronic system for coupling the stems of seedlings and plants to wooden stakes or ropes, a crucial process for supporting them during growth, transportation, and fruiting in plant propagation facilities and greenhouses. The stem–stake coupling device utilizes interconnected mechanisms and an impedance control method to adjust motor torque and speed, shaping metallic wire into clips of various shapes and dimensions, effectively securing plant stems to stakes or ropes. In a robotic system, a claw-shaped arm mechanism, a stereo camera, and real-time vision techniques are integrated into the stem–stake coupling device to identify the optimal coupling point and automate the coupling task. This innovation addresses the labor-intensive task of manual coupling, offering a scalable solution for growers through handheld devices or fully automated robotic systems. In the context of increasing labor shortages and rising costs, the technology offers a sustainable and efficient alternative with significant potential to enhance operational efficiency in greenhouses and propagation facilities. © 2023 IEEE.

关键词： Seed

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A Least-squares-based Iterative Method with Better Convergence for PF/OPF in Integrated Transmission and Distribution Networks

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CSEE Journal of Power and Energy Systems 2024年第3期10卷 953-962页

作者： Kunjie Tang Shufeng Dong Yonghua Song College of Electrical Engineering Zhejiang UniversityHangzhou 310027China State Key Laboratory of Internet of Things for Smart City and Department of Electrical and Computer Engineering University of MacaoMacao SARChina IEEE

The limitations of the conventional master-slavesplitting(MSS)method,which is commonly applied to power flow and optimal power flow in integrated transmission and distribution(I-T&D)networks,are first *** that the MSS method suffers from a slow convergence rate or even divergence under some circumstances,a least-squares-based iterative(LSI)method is *** with the MSS method,the LSI method modifies the iterative variables in each iteration by solving a least-squares problem with the information in previous iterations.A practical implementation and a parameter tuning strategy for the LSI method are ***,a LSI-PF method is proposed to solve I-T&D power flow and a LSIheterogeneous decomposition(LSI-HGD)method is proposed to solve optimal power *** experiments demonstrate that the proposed LSI-PF and LSI-HGD methods can achieve the same accuracy as the benchmark ***,these LSI methods,with appropriate settings,significantly enhance the convergence and efficiency of conventional ***,in some cases,where conventional methods diverge,these LSI methods can still converge.

关键词： Fixed-point theory integrated transmission and distribution networks least-squares-based iterative method master-slave-splitting method optimal power flow power flow

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Design of a Remote Controlled Puppet Robot Imitating a Manual Driven Puppet Using Deep Learning Pose Detection 12

Design of a Remote Controlled Puppet Robot Imitating a Manua...

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12th RSI International Conference on robotics and Mechatronics, ICRoM 2024

作者： Hamzeh, Hamed Shahroozi, Kiarash Nabipour, Ahmad Kazemi, Parham Malek-Zahedi, Mohammad Hallajian, Mehdi Moradia, Hadi School of Electrical and Computer Engineering College of Engineering University of Tehran Advanced Robotics and Intelligent Systems Laboratory Iran

ISBN: (纸本)9798331529734

Traditional puppet manipulation systems often require human operators to be physically present in tight and cramped locations. This leads to challenges in the positioning and effective operation of puppets, particularly in the presence of children in educational settings. In this paper, we present the design, development, and integration of a cost-effective robotic system for remotely manipulating puppets in real-time. Additionally, the system integrates a YOLOv8 Pose Detection model, trained on a custom dataset with an accuracy of 91.4%, enabling real-time gesture recognition and allowing the robot to be controlled by imitating the motions of a manually operated puppet. The system demonstrates the potential for many applications, including interactive entertainment, teleoperation, and education. © 2024 IEEE.

关键词： Gesture recognition

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Bifunctional nanoprobe for simultaneous detection of intracellular reactive oxygen species and temperature in single cells

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Microsystems & Nanoengineering 2024年第6期10卷 161-172页

作者： Yanmei Ma Weikang Hu Jian Hu Muyang Ruan Jie Hu Ming Yang Yi Zhang Hanhan Xie Chengzhi Hu Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518000China Department of Electrical and Electronic Engineering Southern University of Science and TechnologyShenzhen 518000China

Living cells can rapidly adjust their metabolic activities in response to external stimuli,leading to fluctuations in intracellular temperature and reactive oxygen species(ROS)*** these parameters is essential for understanding cellular metabolism,particularly during dynamic biological *** this study,we present a bifunctional nanoprobe capable of simultaneous measurement of ROS levels and temperature within single *** nanoprobe features two individually addressable nanoelectrodes,with platinum(Pt)and nickel(Ni)coatings on both *** the tip,these two metal layers form a nano-thermocouple,enabling precise intracellular temperature measurements,while the Pt layer facilitates selective ROS *** dual functionality allows for real-time monitoring of cellular responses during synergistic chemo-photothermal therapy of cancer cells and zebrafish embryos subjected to mitochondrial toxic *** results demonstrate that the nanoprobe effectively measures increases in temperature and ROS levels in HeLa cells undergoing chemo-photothermal therapy,as well as in chemically stimulated zebrafish *** providing detailed analysis of submicrometer-scale temperature and ROS variations within living cells,this nanoprobe offers valuable insights into cellular processes and holds promise for early disease detection and drug development.

关键词： metabolism simultaneous holds

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An analysis of parameters affecting ampacity in aircraft bipolar MVDC power cables via coupled electrical,thermal,and computational fluid dynamic modelling

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High Voltage 2024年第6期9卷 1208-1220页

作者： Arian Azizi Mona Ghassemi Zero Emission Realization of Optimized Energy Systems(ZEROES)LaboratoryDepartment of Electrical and Computer EngineeringThe University of Texas at DallasRichardsonTexasUSA

The next generation of aircraft,including more electric aircraft and all-electric aircraft(AEA),requires electric power systems with high power density and low system mass *** the voltage of the system to the range of a few kV,medium voltage(MV),is a reasonable approach to achieving high-power-density and low-system-mass EPSs for aircraft *** voltages,however,pose many challenges for aviation MV power cables such as arcs and arc tracking,partial discharges(PDs),and thermal *** this regard,thermal management is more challenging since heat transfer by convection is greatly reduced at wide-body aircraft's cruising altitudes due to the reduced air *** this paper,a finite element method(FEM)model is devel-oped in COMSOL Multiphysics for an aircraft bipolar MVDC(5 kV)power *** the model,the maximum permissible cable current at a low pressure of 18.8 kPa(at an altitude of 12.2 km from sea level,the usual cruising altitude for wide-body aircraft)is ***,an analytical model is developed based on analytical and proven empirical correlations governing conductive,radiative,and convective heat transfers at the steady state to estimate the ampacity of the bipolar cable system at reduced *** was shown that the proposed analytical model can be used for atmospheric pressure and systems with a larger number of poles,expanding its range of *** results of the FEM and analytical models correlate at wide ranges of parameters such as ambient temperature,duct size,distance between the positive and negative pole cables,and the overall diameter of the *** influence of horizontal and vertical arrangement of poles is included in the analytical *** results of this study can be used to design bipolar MVDC power cable systems for the envisaged wide-body AEA.

关键词： bipolar power thermal

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Best Linear Controllers for Decentralized Linear Quadratic Systems

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Journal of Systems Science & Complexity 2025年第1期38卷 210-237页

作者： AFSHARI Mohammad MAHAJAN Aditya Institute for Robotics and Inteligent Machines Georgia Institute of TechnologyAtlanta 30332-0530USA Department of Electrical and Computer Engineering McGill UniversityMontreal H3A 0G4Canada

In this paper,the authors revisit decentralized control of linear quadratic(LQ)*** of imposing an assumption that the process and observation noises are Gaussian,the authors assume that the controllers are restricted to be *** authors show that the multiple decentralized control models,the form of the best linear controllers is identical to the optimal controllers obtained under the Gaussian noise *** main contribution of the paper is the solution ***,optimal controllers for decentralized LQ systems are identified using dynamic programming,maximum principle,or spectral *** authors present an alternative approach which is based by combining elementary building blocks from linear systems,namely,completion of squares,state splitting,static reduction,orthogonal projection,(conditional)independence of state processes,and decentralized estimation.

关键词： Decentralized estimation decentralized stochastic control linear quadratic systems team theory

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Cavity-agnostic acoustofluidic manipulations enabled by guided flexural waves on a membrane acoustic waveguide actuator

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Microsystems & Nanoengineering 2024年第2期10卷 153-171页

作者： Philippe Vachon Srinivas Merugu Jaibir Sharma Amit Lal Eldwin J.Ng Yul Koh Joshua E.-Y.Lee Chengkuo Lee Department of Electrical and Computer Engineering National University of SingaporeSingaporeSingapore Institute of Microelectronics Agency for ScienceTechnology and Research(A*STAR)SingaporeSingapore SonicMEMS Laboratory School of Electrical and Computer EngineeringCornell UniversityIthacaNYUSA School of Electrical and Data Engineering University of Technology SydneyUltimoNSWAustralia

This article presents an in-depth exploration of the acoustofluidic capabilities of guided flexural waves(GFWs)generated by a membrane acoustic waveguide actuator(MAWA).By harnessing the potential of GFWs,cavity-agnostic advanced particle manipulation functions are achieved,unlocking new avenues for microfluidic systems and lab-on-a-chip *** localized acoustofluidic effects of GFWs arising from the evanescent nature of the acoustic fields they induce inside a liquid medium are numerically investigated to highlight their unique and promising *** traditional acoustofluidic technologies,the GFWs propagating on the MAWA’s membrane waveguide allow for cavity-agnostic particle manipulation,irrespective of the resonant properties of the fluidic ***,the acoustofluidic functions enabled by the device depend on the flexural mode populating the active region of the membrane *** demonstrations using two types of particles include in-sessile-droplet particle transport,mixing,and spatial separation based on particle diameter,along with streaming-induced counter-flow virtual channel generation in microfluidic PDMS *** experiments emphasize the versatility and potential applications of the MAWA as a microfluidic platform targeted at lab-on-a-chip development and showcase the MAWA’s compatibility with existing microfluidic systems.

关键词： waveguide fluid cavity

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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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Adaptive Robust Control Integrated With Gaussian Processes for Quadrotors: Enhanced Accuracy, Fault Tolerance and Anti-Disturbance

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3235-3248页

作者： Liang, Weisheng Amer, Abdelhakim Mehndiratta, Mohit Chen, Zheng Yao, Bin Kayacan, Erdal Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou310027 China Aarhus University Artificial Intelligence in Robotics Laboratory Department of Electrical and Computer Engineering Aarhus8000 Denmark GIM Robotics Espoo02650 Finland Zhejiang University Ocean College Ocean Research Center of Zhoushan Zhoushan316021 China Purdue University School of Mechanical Engineering West Lafayette47907 United States Department of Electrical Engineering and Information Technology Paderborn33098 Germany

With increasingly challenging applications for quadrotors, higher requirements are emerging for tracking accuracy and safety. While high accuracy is a prerequisite for complex tasks, safety is ensured through tolerance to actuator faults and resistance to external disturbances. In this article, adaptive robust control (ARC) integrated with Gaussian processes (GPs), i.e., ARC-GP, is proposed to achieve enhanced accuracy, fault tolerance, and anti-disturbance. These three requirements are interrelated and affected by uncertainties. The primary idea of this article is to categorize uncertainties into parametric and nonparametric types, which are then addressed through parameter adaptation and GP, respectively. First, a detailed dynamic model is established, including actuator models that reflect different types of faults corresponding to changes in different physical parameters. Then, parameter adaptation is designed, with direct and indirect methods adopted for different parameters. In particular, the actuator parameters are effectively estimated to achieve targeted fault compensation. Regarding GP for nonparametric uncertainties, its model parameters are also updated via parameter adaptation. The GP thereby also learns parameter estimation errors along with external disturbances. Accordingly, ARC controllers are designed, for which robust feedback terms are constructed to further mitigate uncertainties on the basis of the covariances predicted by GP. The experiments demonstrate that the proposed ARC-GP can actively tolerate various types of actuator faults and better resist wind disturbances. © 2013 IEEE.

关键词： Robust control

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