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arXiv 2025年

作者： An, Shan Meng, Ziyu Tang, Chao Zhou, Yuning Liu, Tengyu Ding, Fangqiang Zhang, Shufang Mu, Yao Song, Ran Zhang, Wei Hou, Zeng-Guang Zhang, Hong School of Electrical and Information Engineering Tianjin University Tianjin300072 China School of Control Science and Engineering Shandong University Jinan250061 China State Key Laboratory of General Artificial Intelligence Beijing100086 China Department of Mechanical and Process Engineering ETH Zurich Zurich8092 Switzerland Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen518055 China School of Informatics University of Edinburgh EH8 9AB United Kingdom Department of Computer Science University of Hong Kong 999077 Hong Kong State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China CASIA-MUST Joint Laboratory of Intelligence Science and Technology Institute of Systems Engineering Macau University of Science and Technology 999078 China

Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive force modulation, enables complex interactions similar to human hand dexterity. With recent advances in robotics and machine learning, there is a growing demand for these systems to operate in complex and unstructured environments. Traditional model-based approaches struggle to generalize across tasks and object variations due to the high-dimensionality and complex contact dynamics of dexterous manipulation. Although model-free methods such as reinforcement learning (RL) show promise, they require extensive training, large-scale interaction data, and carefully designed rewards for stability and effectiveness. Imitation learning (IL) offers an alternative by allowing robots to acquire dexterous manipulation skills directly from expert demonstrations, capturing fine-grained coordination and contact dynamics while bypassing the need for explicit modeling and large-scale trial-and-error. This survey provides an overview of dexterous manipulation methods based on imitation learning (IL), details recent advances, and addresses key challenges in the field. Additionally, it explores potential research directions to enhance IL-driven dexterous manipulation. Our goal is to offer researchers and practitioners a comprehensive introduction to this rapidly evolving domain. Copyright © 2025, The Authors. All rights reserved.

关键词： Grippers

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Virtual and remote laboratories in education process at FCFT STU

Virtual and remote laboratories in education process at FCFT...

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2011 14th International Conference on Interactive Collaborative Learning, ICL 2011 - 11th International Conference Virtual University, VU'11

作者： Kalúz, Martin Čirka, L'uboš Fikar, Miroslav Department of Information Engineering and Process Control Faculty of Chemical and Food Technology STU Bratislava Slovakia

ISBN: (纸本)9781457717475

This paper describes the progress in the development of virtual and remote laboratories at department of information engineering and process control, FCFT STU in Bratislava. Article is the overview of technical solutions used for online education purposes. These comprise software technologies, most commonly used in virtual and remote laboratory design at our department, as MATLAB Web Server, Java, C/C++, and Adobe Flash. We have created virtual laboratories as online Web applications, which provide features of mathematical computing and simulations of technological plants. We also describe a technology of remote control laboratory with a real experimental device. © 2011 IEEE.

关键词： Laboratories

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Scale-Free Multiple-Partite Models Towards information Networks

Scale-Free Multiple-Partite Models Towards Information Netwo...

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2016 IEEE Advanced information Management,Communicates,Electronic and Automation control Conference(IMCEC 2016)

作者： Bing YAO Fei MA Jing SU Xiaomin WANG Xiyang ZHAO Ming Yao College of Mathematics and Statistics Northwest Normal University Department of Information Process and Control Engineering Lanzhou Petrochemical College of Vocational Technology

ISBN: (纸本)9781509001668

Multiple-partite networks exist in the real world,such as engineering constructions consisted of workers and *** build up random multiple-partite network models and show their topological properties by means of well-known methods appeared in the Barab ′asi-Albert *** find some new characters of the Barab ′asi-Albert model and BA-type models,and show a connection between the degree distribution P(k) and the cumulative distribution Pcum(k),and discuss the velocities of the models for the goal of classifying network models.

关键词： scale-free network model multiple network graph theory probability engineering distributions BA type models velocity

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PI controller design for time delay systems

PI controller design for time delay systems

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9th IFAC Workshop on Time Delay Systems, TDS 2010

作者： Bakošová, M. Vaneková, K. Závacká, J. Department of Information Engineering and Process Control Institute of Information Engineering Slovak University of Technology in Bratislava Radlinského 9 812 37 Bratislava Slovakia

ISBN: (纸本)9783902661715

The paper presents an approach to PI controller design for systems with varying time delay, which can be interpreted as systems with interval parametric uncertainty. The transfer function of the controlled system is modified by approximation of the time delay term by its Pade expansion or Taylor expansion in the numerator. PI controllers, that are able to assure robust stability of the feedback closed loop with the modified controlled system are found by the graphical method. Then the pole-placement method is used to specify those controller parameters, which assure certain quality of the control performance. Designed PI controllers are implemented using PLC SIMATIC S7-300 and tested by experiments on a laboratory electronic equipment with varying time delay.

关键词： Robust control

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Factor analysis thermography for defect detection of panel paintings

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Quantitative InfraRed Thermography Journal 2023年第1期20卷 25-37页

作者： Liu, Kaixin Huang, Kai-Lun Sfarra, Stefano Yang, Jianguo Yi, Liu Yuan, Yao Institute of Process Equipment and Control Engineering Zhejiang University of Technology Hangzhou China Department of Chemical Engineering National Tsing Hua University Hsinchu Taiwan Department of Industrial and Information Engineering and Economics University of L’Aquila L’Aquila Italy

Active infrared thermography is an important non-destructive testing method used for revealing defect structures in materials. In many applications, thermographic data processing is necessary to extract defect features from a large number of thermal images. This work proposes to use a factor analysis thermography (FAT) method that automatically extracts defect features from thermograms via exploratory factor analysis, in tandem with a fuzzy c-means (FCM) clustering algorithm to segment the defects and background. By means of factor rotation, factor analysis minimises the complexity of factor loadings and makes the results more interpretable. Consequently, the defect information is extracted while large signal-to-noise ratios are obtained. Employing the FCM image segmentation algorithm on factor loading images reduces the interference of background on human visual detection. Additionally, the parameter selection is emphasised and addressed. Experiments on a panel painting illustrate that the proposed method promotes the accuracy and efficiency of thermographic detection of defects, compared with the popular principal component thermography (PCT) method. © 2021 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Nondestructive examination

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Fuzzy identification of the chemical reactor

Fuzzy identification of the chemical reactor

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CHISA 2006 - 17th International Congress of Chemical and process engineering

作者： Vasickaninova, A. Bakosova, M. Puna, D. Department of Information Engineering and Process Control Institute of Information Engineering Automation and Mathematics Slovak University of Technology Radlinského 9 81237 Bratislava Slovakia

No abstract available

ISBN: (纸本)8086059456

No abstract available

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Automatic code generation from a UML model to IEC 61131-3 and system configuration tools

Automatic code generation from a UML model to IEC 61131-3 an...

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5th International Conference on control and Automation, ICCA'05

作者： Vogel-Heuser, Birgit Witsch, Daniel Katzke, Uwe IEEE Department of Process Control Engineering Faculty of Electrical Information and Media Engineering University of Wuppertal D-42119 Wuppertal Germany

ISBN: (纸本)0780391381

An agile software development approach for embedded systems has been transferred to automation and process control. With using UML 1.4, an approach was developed, which allows to generate IEC 61131-3 code from an UML-model and to import it into soft-PLCs, automatically. The generated IEC 61131 code consists of ST and SFC. Besides, the system architecture is part of the UML-model, which bridges the gap between hard and software engineering. This approach was evaluated by using a sorting machine and by automation experts. The work is embedded in a development of UML for process automation and usability test of UML with automation engineers. © 2005 IEEE.

关键词： Automation

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Cost-optimal model predictive scheduling of home appliances

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IFAC-PapersOnLine 2017年第1期50卷 3344-3349页

作者： Bálint R. Magyar A. Hangos K.M. Department of Electrical Engineering and Information Systems Faculty of Information Technology University of Pannonia Veszprém Hungary Process Control Research Group HAS Research Institute for Computer Science and Control Budapest Hungary

A novel heuristic model-based optimal scheduling algorithm is proposed in this paper to operate heating and cooling type home appliances connected to smart grids where the price of the electrical energy is known in advance and temperature constraints are present. The properties and the use of the proposed algorithm are shown using a simple refrigerator model. The accuracy and the computational properties of the proposed method are compared to the schedule generated by the MPT toolbox. The algorithm works well with a relatively short prediction horizon using a fraction of the computing time needed for the MPT-based method. The robustness of the algorithm is also investigated with respect to the load of the refrigerator. It is shown that the designed schedule with an empty refrigerator is always suitable, yet not optimal, for any loaded case. © 2017

关键词： Demand side management Heuristics Model predictive control Scheduling algorithms Smart grids

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Youla-Kučera parameterisation approach to LQ tracking and disturbance rejection problem

Youla-Kučera parameterisation approach to LQ tracking and d...

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作者： Čirka, L. Fikar, M. Mikleš, J. Department of Information Engineering and Process Control FCFT STU Radlinského 9 SK-812 37 Bratislava Slovakia

The contribution is focused on the design of optimal LQ (Linear Quadratic) controller when the YK (Youla{Kučera) controller parameterisation is used. We provide a procedure for computing a deterministic optimal SISO (... 详细信息

ISBN: (纸本)008045108X

关键词： Parameterization

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Investigation of the trigger voltage walk-in effect in LDMOS for high-voltage ESD protection

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Journal of Semiconductors 2014年第9期35卷 56-59页

作者：梁海莲董树荣顾晓峰钟雷吴健于宗光 Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Department of Electronic Engineering Jiangnan University ESD Laboratory Department of Information Science and Electronic Engineering Zhejiang University China Electronic Technology Group Corporation No.58 Research Institute

The trigger voltage walkin effect has been investigated by designing two different laterally diffused metal-oxide-semiconductor （LDMOS） transistors with an embedded silicon controlled rectifier （SCR）. By inserting a P＋ implant region along the outer and the inner boundary of the N＋ region at the drain side of a conventional LDMOS transistor, we fabricate the LDMOS-SCR and the SCR-LDMOS devices with a different triggering order in a 0.5/zm bipolar-CMOS-DMOS process, respectively. First, we perform transmission line pulse （TLP） and DC-voltage degradation tests on the LDMOS-SCR. Results show that the trigger voltage walk-in effect can be attributed to the gate oxide trap generation and charge trapping. Then, we perform TLP tests on the SCR-LDMOS. Results indicate that the trigger voltage walk-in effect is remarkably reduced. In the SCR-LDMOS, the embedded SCR is triggered earlier than the LDMOS, and the ESD current is mainly discharged by the parasitic SCR structure. The electric potential between the drain and the gate decreases significantly after snapback, leading to decreased impact ionization rates and thus reduced trap generation and charge trapping. Finally, the above explanation of the different trigger voltage walk-in behavior in LDMOS-SCR and SCR-LDMOS devices is confirmed by TCAD simulation.

关键词： electrostatic discharge laterally diffused metal-oxide-semiconductor silicon control rectifier triggervoltage walk-in effect

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