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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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A Two-Pronged Approach to Security of Discrete-Event Systems

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Journal of Systems Science & Complexity 2025年第1期38卷 178-209页

作者： MATSUI Shoma RUDIE Karen CAI Kai Department of Electrical and Computer Engineering&the Ingenuity Labs Research Institute Queen's UniversityKingston K7L 3N6Canada Department of Core Informatics Osaka Metropolitan UniversityOsaka 545-0051Japan

This paper investigates a security problem of simultaneously addressing two types of attacks:Eavesdropping and *** authors model the target system as a discrete-event system(DES)with subsets of concealable events and protectable events,in order to make the proposed methodology applicable to various practical systems and employ two existing works of DES security:Degree of opacity and state ***,the authors consider that all protectable events are observable,and some observable events are *** addition,protectable events cannot be protected once they are *** such a constraint,the goal is to figure out which events to conceal and which transitions to protect so that the prescribed requirements of degree of opacity and state protection are *** this work the authors decide which events to conceal as all transitions of a given event label are concealed or not *** proposed problem formulation also requires a solution to only involve absolutely necessary protectable events in order for the system to avoid superfluous protection *** authors first examine a general version of our security problem with an intuitive algorithm to compute acceptable solutions,and then present a special version which results in a reduced computation time compared to the general version.

关键词： Degree of opacity discrete-event systems security state protection

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Design and In-training Optimization of Binary Search ADC for Flexible Classifiers 25

Design and In-training Optimization of Binary Search ADC for...

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30th Asia and South Pacific Design Automation Conference, ASP-DAC 2025

作者： Lozano Duarte, Paula Carolina Afentaki, Florentia Zervakis, Georgios Tahoori, Mehdi Department of Computer Science Karlsruhe Inst. of Tech. Karlsruhe Germany Computer Engineering and Informatics Department Univ. of Patras Patras Greece

ISBN: (纸本)9798400706356

Flexible electronics (FE) offer distinct advantages, including mechanical flexibility and low process temperatures, enabling extremely low-cost production. To address the demands of applications such as smart sensors and wearables, flexible devices must be small and operate at low supply voltages. Additionally, target applications often require classifiers to operate directly on analog sensory input, necessitating the use of Analog to Digital Converters (ADCs) to process the sensory data. However, ADCs present serious challenges, particularly in terms of high area and power consumption, especially when considering stringent area and energy budget. In this work, we target common classifiers in this domain such as MLPs and SVMs and present a holistic approach to mitigate the elevated overhead of analog to digital interfacing in FE. First, we propose a novel design for Binary Search ADC that reduces area overhead 2× compared with the state-of-the-art Binary design and up to 5.4× compared with Flash ADC. Next, we present an in-training ADC optimization in which we keep the bare-minimum representations required and simplifying ADCs by removing unnecessary components. Our in-training optimization further reduces on average the area in terms of transistor count of the required ADCs by 5× for less than 1% accuracy loss. © 2025 Institute of Electrical and electronics Engineers Inc.. All rights reserved.

关键词： Budget control

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Unveiling the Pruning Risks on Privacy Vulnerabilities of Deep Neural Networks

Unveiling the Pruning Risks on Privacy Vulnerabilities of De...

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2025 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2025

作者： Kuang, Wenxin Liang, Qizhuang Sun, Peng Fu, Wei Hu, Qiao Hu, Yupeng College of Computer Science and Electronic Engineering Hunan University Changsha China Department of Information Security Naval University of Engineering Wuhan China

ISBN: (纸本)9798350368741

Large-scale deep neural networks (DNNs), such as large language models, have gained immense popularity due to their outstanding performance across various tasks. However, their application in resource-constrained scenarios faces significant challenges due to the high computational costs and memory usage of these models during inference. Model pruning emerges as a viable technique to mitigate these limitations by reducing the computational complexity of deep models. While existing research primarily focuses on maximizing inference efficiency without compromising accuracy, the privacy implications of pruning techniques remain largely unexplored. In this work, we systematically investigate the impact of popular pruning techniques on the privacy vulnerabilities of DNNs. We begin by applying common pruning schemes to various DNNs and evaluating their privacy risks, both before and after pruning, using model inversion attacks. We then analyze how the pruning rate and granularity affect these privacy vulnerabilities. Moreover, we conduct experiments on both original and pruned models equipped with defenses to confirm that the increase in privacy risks following pruning is not merely coincidental. Finally, we offer guidelines for the careful application of pruning techniques. Our findings serve as a cautionary note, highlighting the inherent privacy risks associated with current pruning schemes and providing valuable insights for developing pruning methods that are both efficient and secure. © 2025 IEEE.

关键词： Deep neural networks Model inversion attack Network pruning Privacy vulnerabilities

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Unlocking Domain Specificity: Fine-Tuning Llama 2 for Enhanced Performance on Custom Datasets

Unlocking Domain Specificity: Fine-Tuning Llama 2 for Enhanc...

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International IoT, electronics and Mechatronics Conference, IEMTRONICS 2024

作者： Bhattacharya, Swarnadwip Bhattacharjee, Anindita Das Roy, Pranab Singha Samanta, Tapas Department of Computer Science and Engineering Institute of Engineering and Management Kolkata700091 India Department of CSE IEM Centre of Excellence for InnovAI Institute of Engineering and Management Kolkata700091 India Department of Computer and Informatics Variable Energy Cyclotron Centre Kolkata700064 India

ISBN: (纸本)9789819747795

This paper aims to improve Llama 2’s performance by using personalized and modified datasets. Despite the impressive capabilities of large language models (LLMs) such as Llama 2, their effectiveness may be limited in specialized domains. The proposed method entails fine-tuning Llama 2 on custom datasets to optimize performance efficiently. The study focuses on the impact of quantization-aware low-rank adapter layers (QLoRA) on a single GPU’s resource-efficient fine-tuning performance. Furthermore, the study looks into the design of instruction datasets to guide the model toward desired behaviors. When Llama 2 is fine-tuned with QLoRA, performance improves significantly across tasks such as text summarization, question answering, and natural language generation in a variety of domains. The paper concludes by highlighting the broader implications of the findings. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Custom datasets Fine-tuning Instruction datasets Large language models (LLMs) Llama 2 Personalized datasets QLoRA Quantization-aware low-rank adapter layers (QLoRA) Resource-efficient fine-tuning Specialized domains

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Optimizing task scheduling in cloud environments: a hybrid golden search whale optimization algorithm approach

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Neural Computing and Applications 2025年 1-23页

作者： Acharya, Biswaranjan Panda, Sucheta Das, Satyabrata Majhi, Santosh Kumar Gerogiannis, Vassilis C. Kanavos, Andreas Department of Computer Science and Engineering Veer Surendra Sai University of Technology Odisha Burla India Bilaspur India Department of Digital Systems University of Thessaly Larissa Greece Department of Informatics Ionian University Corfu Greece

Managing fluctuating workloads and optimizing resource utilization in cloud environments pose significant challenges, particularly in fields requiring real-time data processing, such as healthcare. This paper introduces a novel hybrid metaheuristic technique, the Golden Search Whale Optimization Algorithm (GSWOA), specifically designed for scheduling independent dynamic biomedical data. GSWOA merges the strengths of Golden Search Optimization (GSO) and Whale Optimization Algorithm (WOA), optimizing numerical function optimization and achieving a balance between exploration and exploitation. The algorithm’s effectiveness was assessed using MATLAB by applying standard benchmark functions and further evaluated on a real-world biomedical dataset within the CloudSim environment. The performance evaluations demonstrate that GSWOA significantly outperforms existing metaheuristic and traditional scheduling techniques, achieving a 42.71% increase in resource utilization and a 14.17% reduction in makespan compared to conventional methods. These results highlight GSWOA’s potential to enhance scheduling efficiency substantially in cloud computing infrastructures, suggesting it is a powerful tool for complex task allocations. Future research will explore the scalability of GSWOA and its applicability across other data-intensive sectors. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Scheduling algorithms

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Multi-timescale Reward-based DRL Energy Management for Regenerative Braking Energy Storage System

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IEEE Transactions on Transportation Electrification 2025年第3期11卷 7488-7500页

作者： Chen, Junyu Zhao, Yue Wang, Minghao Yang, Kai Ge, Yinbo Wang, Ke Lin, Hongjian Pan, Pengyu Hu, Haitao He, Zhengyou Xu, Zhao Southwest Jiaotong University School of Electrical Engineering Chengdu611756 China The Hong Kong Polytechnic University Department of Electrical and Electronic Engineering Hong Kong Inner Mongolia Electric Power Research Institute Hohhot010020 China Department of Electrical and Computer Engineering China City University of HongKong Department of Electrical Engineering Hong Kong State Grid Sichuan Electric Power Research Institute Chengdu610041 China The Hong Kong Polytechnic University Research Institute of Smart Energy Department of Electrical and Electronic Engineering Hong Kong

The traditional model-based energy management strategy (EMS) for regenerative braking energy storage systems (RBESS) is obsoleting in the face of increasingly complex and un-certain operation conditions in railway power system (RPS). In this paper, a model-free deep reinforcement learning (DRL) method is proposed. First, the multi-objective energy manage-ment problem for RBESS is formulated to concurrently achieve the RBE utilization and power demand shaving of RPS. Then, this problem is modeled as a Markov decision process (MDP) to be solved by the DRL-based method. Specifically, the RBESS con-troller is modeled as an agent to interact with the environment modeled as the RPS integrated with RBESS. To coordinate the agent to learn the optimal strategies regarding multiple energy management objectives in different time scales, a multistage reward function involving the step reward and final reward is de-signed. Based on the above elements, the double deep Q-learning algorithm is applied to train the agent for optimizing the EMS. Finally, the proposed DRL-based EMS is tested on the OPAL-RT experimental platform by using the field load data. Case studies have demonstrated that the proposed method outperforms the traditional rule-based and optimization-based methods by over 5% in the energy management objective. © 2015 IEEE.

关键词： Deep reinforcement learning

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A Hybrid Transfer Learning Framework for Enhanced Oil Production Time Series Forecasting

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computers, Materials & Continua 2025年第2期82卷 3539-3561页

作者： Dalal A.L-Alimi Mohammed A.A.Al-qaness Robertas Damaševičius Department of Information Technology Gulf CollegesHafr Al-Batin2600Saudi Arabia College of Physics and Electronic Information Engineering Zhejiang Normal UniversityJinhua321004China College of Engineering and Information Technology Emirates International UniversitySana’a16881Yemen Department of Applied Informatics Vytautas Magnus UniversityAkademija44404Lithuania

Accurate forecasting of oil production is essential for optimizing resource management and minimizing operational risks in the energy sector. Traditional time-series forecasting techniques, despite their widespread application, often encounter difficulties in handling the complexities of oil production data, which is characterized by non-linear patterns, skewed distributions, and the presence of outliers. To overcome these limitations, deep learning methods have emerged as more robust alternatives. However, while deep neural networks offer improved accuracy, they demand substantial amounts of data for effective training. Conversely, shallow networks with fewer layers lack the capacity to model complex data distributions adequately. To address these challenges, this study introduces a novel hybrid model called Transfer LSTM to GRU (TLTG), which combines the strengths of deep and shallow networks using transfer learning. The TLTG model integrates Long Short-Term Memory (LSTM) networks and Gated Recurrent Units (GRU) to enhance predictive accuracy while maintaining computational efficiency. Gaussian transformation is applied to the input data to reduce outliers and skewness, creating a more normal-like distribution. The proposed approach is validated on datasets from various wells in the Tahe oil field, China. Experimental results highlight the superior performance of the TLTG model, achieving 100% accuracy and faster prediction times (200 s) compared to eight other approaches, demonstrating its effectiveness and efficiency.

关键词： Time series forecasting gaussian transformation quantile transformation long short-term memory gated recurrent units

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Structure learning of Bayesian networks using sparrow optimization algorithm

International Journal of Systematic Innovation

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International Journal of Systematic Innovation 2025年第2期9卷 14-25页

作者： Kareem, Shahab Wahhab Awla, Hoshang Qasim Mohammed, Amin Salih Department of Technical Information Systems Engineering Erbil Technical Engineering College Erbil Polytechnic University Erbil Iraq Department of Computer Technical Engineering Al-Qalam University College Kirkuk Iraq Department of Computer Science Faculty of Science Soran University Soran Iraq Department of Software and Informatics Salahaddin University Erbil Iraq

Bayesian networks are powerful analytical models in machine learning, used to represent probabilistic relationships among variables and create learning structures. These networks are made up of parameters that show conditional probabilities and a structure that shows how random variables interact with each other. The structure is shown by a directed acyclic graph. Despite the NP-hard nature of learning Bayesian network structures, there has been significant progress in improving the accuracy of approximation solutions. The main focus is on score-based search strategies, which make use of functions to evaluate network models and identify structures with high scores. This study is significantly focused on structure learning Bayesian networks using the Bayesian Dirichlet equivalent uniform scoring function and metaheuristic search strategies. To this end, this paper presents the sparrow optimization algorithm (SOA), a new metaheuristic algorithm derived from the foraging behavior of sparrows. SOA performs a concurrent optimization in the solution space by simultaneously performing a local and global search that leads to the discovery of near-optimal structures. The results from our experiments on several benchmark datasets show that SOA yields overall better performance than SA and greedy search algorithms. In particular, it is claimed that by applying the proposed approach of SOA, the convergence speed is significantly higher compared with the existing ones;F1 score is 0.35 and 0.05 for the Hamming distance with better results. Given these results, signed operators prove to be very efficient in SOA’s Bayesian network structure learning as a concept, especially for real-world use. © (2024), (Society of Sytematic Innovation). All Rights Reserved.

关键词： Bayesian Network Global and Local Search Search and Score Sparrow Search Optimization Algorithm Structure Learning

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Enhancing Multimodal Rumor Detection with Statistical Image Features and Modal Alignment via Contrastive Learning 21st

Enhancing Multimodal Rumor Detection with Statistical Image...

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21st Pacific Rim International Conference on Artificial Intelligence, PRICAI 2024

作者： Zhou, Chenyu Li, Xiuhong Li, Zhe Chen, Fan Sheng, Jiabao Chen, Bin Wang, Haoyu School of Computer Science and Technology Xinjiang University Xinjiang China Department of Electrical and Electronic Engineering The Hong Kong Polytechnic University Hong Kong Department of Electrical Engineering Stanford University CA United States Department of Health Technology and Informatics The Hong Kong Polytechnic University Hong Kong School of Mechanical Engineering University of Shanghai for Science and Technology Shanghai China School of Electronic and Electrical Engineering Shanghai University of Engineering Science Shanghai China

ISBN: (纸本)9789819601219

The swift proliferation of multimodal rumors on social media, particularly those with manipulated images and complex intermodal interactions, significantly challenges current detection methods. In response, we utilize statistical image features, including mean and variance, to capture spatial attributes effectively and improve the detection of image-tampered tweets. To tackle complex intermodal correlations, we introduce a contrastive learning approach that aligns features across modalities efficiently. Additionally, we introduce a cross-attention fusion module (CAFM) that enhances the integration of image and text modalities, thereby improving multimodal rumor detection performance. In conclusion, we propose the cross-attention fusion network (ConCAFN), leveraging contrastive learning for robust multimodal rumor detection. Extensive experiments on two real-world datasets confirm the model’s enhanced capability to detect multimodal rumors accurately, demonstrating our methods’ effectiveness. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Contrastive Learning

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