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Federated Services: A Smart Service Ecology with Federated Security for Aligned Data Supply and Scenario-Oriented Demands

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IEEE/CAA Journal of Automatica Sinica 2025年第5期12卷 925-936页

作者： Jia, Xiaofeng Li, Juanjuan Wang, Shouwen Qi, Hongwei Wang, Fei-Yue Qin, Rui Zhang, Min Liang, Xiaolong Beijing Big Data Centre Beijing100101 China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing100190 China Technology Company Ltd. Beijing100190 China Chinese Academy of Sciences State Key Laboratory for Management and Control of Complex Systems Beijing100190 China Macau University of Science and Technology Faculty of Innovation Engineering Macao999078 China

This paper introduces federated services as a smart service ecology with federated security to align distributed data supply with diversified service demands spanning digital and societal contexts. It presents the comprehensive researches on the theoretical foundation and technical system of federated services, aiming at advancing our understanding and implementation of this novel service paradigm. First, a thorough examination of the characteristics of federated security within federated services is conducted. Then, a five-layer technical framework is formulated under a decentralized intelligent architecture, ensuring secure, agile, and adaptable service provision. On this basis, the operational mechanisms underlying data federation and service confederation is analyzed, with emphasis on the smart supply-demand matching model. Furthermore, a scenario-oriented taxonomy of federated services accompanied by illustrative examples is proposed. Our work offers actionable insights and roadmap for realizing and advancing federated services, contributing to the refinement and wider adoption of this transformative service paradigm in the digital era. © 2014 Chinese Association of Automation.

关键词： Decentralized autonomous organizations and operations decentralized physical infrastructure networks federated security federated services multimodal large language models smart contracts

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Negative-pressure soft pneumatic actuators enabled by asymmetrically distributed bending units

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Extreme Mechanics Letters 2025年 77卷

作者： Fu, Zeyu Chen, Tianyu Zou, Haoran Zhu, Zhiwei Deng, Zichen Wang, Yifan School of Mechanics Civil Engineering and Architecture Northwestern Polytechnical University Xi'an710072 China MIIT Key Laboratory of Dynamics and Control of Complex Systems Northwestern Polytechnical University Xi'an710072 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore 639798 Singapore State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures Shijiazhuang Tiedao University Shijiazhuang050043 China

Soft pneumatic actuators are highly flexible and can adapt to complex environments, attracting significant attention for their ability to operate in settings where rigid actuators cannot. Most existing soft pneumatic actuators are powered by positive pressure, which has the disadvantage of volume increase during operation and risk of exploding under large pressures. In this study, we designed a new type of soft actuator by inducing asymmetric bending deformation throughout a holey structure under negative pressure. Using finite element analysis and a theoretical model, we studied the effects of various geometric parameters on the structure's bending behavior. We found that the displacement of the circle's center from the central axis is a parameter with the most significant impact on the bending behavior of the structure. By designing circular holes with offset from the central axis, the structure can bend toward the offset direction during subsequent bending deformation. Based on this deformation mechanism, we designed a soft gripper that bends upon actuation and effectively picks up objects. We further designed a bi-directional gripper that bends towards both sides and a circular gripper that contracts towards the center upon evacuation to hold objects. These soft grippers’ grasping capabilities are validated by experimental tests. Finally, by arranging the holes in a wavy pattern within the structure, we created a crawling robot that moves forward through cyclic negative pressure actuation. These findings highlight the potential of leveraging bending behaviors in asymmetrically distributed holey structures for the development of negative-pressure driven soft actuators and robots. © 2025 Elsevier Ltd

关键词： Pneumatic actuators

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Finite-time Bipartite Synchronization of Homogeneous and Heterogeneous Multiple Agents with Input Saturation: A TVRE-based Gain Approach

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IEEE Transactions on Automatic Control 2025年

作者： Zhou, Yuan Liu, Yongfang Zhao, Yu Li, Zhongkui Hong Kong Polytechnic University Department of Applied Mathematics Hung Hom Hong Kong Northwestern Polytechnical University School of Automation Xi'an China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Beijing100871 China

Pursuing faster convergence rates and smaller input magnitudes seem to be two conflicting goals in studying multi-agent systems. To give a trade-off between the two, this paper focuses on the bipartite synchronization problems over signed topologies and aims to achieve finite-time control for general linear agents subject to input saturation constraints. Firstly, this paper considers homogeneous agents and presents a class of bipartite synchronization protocols with saturation constraint, which exploits the solution of the time-varying Riccati equation (TVRE) to design the control gain. Then, a time-varying parameter scheduler is tactically designed for TVRE and achieves finite-time bipartite synchronization. Note that the design uses the solution computed online and brings a bit of conservatism in determining the settling time. So, for heterogeneous agents, this paper constructs a modified parameter scheduler computed off-line to reduce the conservatism. A class of finite-time bipartite synchronization generators and generator-based finite-time protocols are proposed. It shows that, in both designs, the control input subjects to the bound saturation during convergence even if the gain escapes to infinity towards the settling time. Moreover, the trade-off among the finite convergence time, the saturation bound of the input, and the initial domain are analyzed explicitly in theory. Finally, two simulations verify the validity of the theoretical results. © 1963-2012 IEEE.

关键词： Synchronization

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Design, Dynamic Modeling and Control of a 2-DOF Robotic Wrist Actuated by Twisted and Coiled Actuators

arXiv

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arXiv 2025年

作者： Zhang, Yunsong Zhou, Xinyu Zhang, Feitian Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory of Turbulence and Complex Systems Peking University Beijing100871 China Department of Electrical and Computer Engineering Michigan State University East LansingMI48824 United States

Robotic wrists play a pivotal role in the functionality of industrial manipulators and humanoid robots, facilitating manipulation and grasping tasks. In recent years, there has been a growing interest in integrating artificial muscle-driven actuators for robotic wrists, driven by advancements in technology offering high energy density, lightweight construction, and compact designs. However, in the study of robotic wrists driven by artificial muscles, dynamic model-based controllers are often overlooked, despite their critical importance for motion analysis and dynamic control of robots. This paper presents a novel design of a two-degree-of-freedom (2-DOF) robotic wrist driven by twisted and coiled actuators (TCA) utilizing a parallel mechanism with a 3RRRR configuration. The proposed robotic wrist is expected to feature lightweight structures and superior motion performance while mitigating friction issues. The Lagrangian dynamic model of the wrist is established, along with a nonlinear model predictive controller (NMPC) designed for trajectory tracking tasks. A prototype of the robotic wrist is developed, and extensive experiments are conducted to validate its superior motion performance and the proposed dynamic model. Subsequently, extensive comparative experiments between NMPC and PID controller were conducted under various operating conditions. The experimental results demonstrate the effectiveness and robustness of the dynamic model-based controller in the motion control of TCA-driven robotic wrists. Copyright © 2025, The Authors. All rights reserved.

关键词： Industrial manipulators

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Correction: CMAE-3D: Contrastive Masked AutoEncoders for Self-Supervised 3D Object Detection(International Journal of Computer Vision, 10.1007/s11263-024-02313-2)

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International Journal of Computer Vision 2025年第6期133卷 3803-3803页

作者： Zhang, Yanan Chen, Jiaxin Huang, Di State Key Laboratory of Complex and Critical Software Environment Beihang University Beijing100191 China School of Computer Science and Engineering Beihang University Beijing100191 China Hangzhou Innovation Institute Beihang University Hangzhou310051 China

The original version of this article unfortunately contained error in co-author’s affiliation. The first affiliation should be State key laboratory of complex and Critical software Environment, Beihang University, Beijing 100191, China instead of State key laboratory of complex and Critical software Environment, School of Computer Science and engineering, Beihang University, Beijing 100191, China. Also, the author Yanan Zhang is affiliated with School of Computer Science and engineering, Beihang University, Beijing 100191, China. The original article has been corrected. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2025.

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Passive scalar dispersion along porous stratum with natural convection

arXiv

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arXiv 2025年

作者： Hu, Chenglong Xu, Ke Yang, Yantao State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Peking University Beijing100871 China Department of Energy and Resources Engineering College of Engineering Peking University Beijing100871 China Institute of Energy Peking University Beijing100871 China Laoshan Laboratory Shandong Qingdao266299 China

We investigate horizontal dispersion of a passive scalar in a porous stratum with Rayleigh-Darcy convection initiated by a geothermal gradient. While increasing Rayleigh number (Ra) keeps enhancing convection, the horizontal dispersion coefficient (Dˆ) only scales with Ra in a narrow range, and saturates at Ra >∼ 2500. We rationalize this two-stage behavior: at low Ra, passive scalar migrates through bulk circumflex;at high Ra, boundary micro-plume layer becomes the dominant scalar pathway. Theory gives saturate Dˆ value proportional to the Lewis number Le and molecular diffusivity D0. Copyright © 2025, The Authors. All rights reserved.

关键词： Rayleigh number

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Adapting Human Mesh Recovery with Vision-Language Feedback

arXiv

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arXiv 2025年

作者： Xu, Chongyang Huang, Buzhen Zhang, Chengfang Feng, Ziliang Wang, Yangang College of Computer Science Sichuan University Chengdu610065 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education The School of Automation Southeast University Nanjing210096 China Intelligent Policing Key Laboratory of Sichuan Province Sichuan Police College Luzhou646000 China

Human mesh recovery can be approached using either regression-based or optimization-based methods. Regression models achieve high pose accuracy but struggle with model-to-image alignment due to the lack of explicit 2D-3D correspondences. In contrast, optimization-based methods align 3D models to 2D observations but are prone to local minima and depth ambiguity. In this work, we leverage large vision-language models (VLMs) to generate interactive body part descriptions, which serve as implicit constraints to enhance 3D perception and limit the optimization space. Specifically, we formulate monocular human mesh recovery as a distribution adaptation task by integrating both 2D observations and language descriptions. To bridge the gap between text and 3D pose signals, we first train a text encoder and a pose VQ-VAE, aligning texts to body poses in a shared latent space using contrastive learning. Subsequently, we employ a diffusion-based framework to refine the initial parameters guided by gradients derived from both 2D observations and text descriptions. Finally, the model can produce poses with accurate 3D perception and image consistency. Experimental results on multiple benchmarks validate its effectiveness. The code will be made publicly available. © 2025, CC BY.

关键词： Mesh generation

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Design Strategy of Curved-Beam Based Metamaterial with Unprecedented Lateral Deformation Mode Transition

SSRN

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SSRN 2025年

作者： Ji, Jinyu Zhang, Kai Guo, Xiaogang Fang, Daining State Key Laboratory for Turbulence and Complex Systems Center for Applied Physics and Technology College of Engineering Peking University Beijing100871 China Institute of Advanced Structure Technology Beijing Institute of Technology Beijing100081 China

Mechanical metamaterials with unconventional Poisson's ratios hold significant promise for applications in flexible electronics, impact protection, medical devices, and shape-shifting structures. However, tailoring metamaterials to achieve complex Poisson’s ratio curves under large deformations remains challenging, particularly for nonlinear and sign-switching behaviors. This study presents a novel class of variable thickness curved-beam metamaterials (VCBMs) based on B-splines, capable of exhibiting intricate nonlinear lateral deformation responses, including direction-reversing lateral displacement, under large tensile strains. To facilitate the customizable design of VCBM unit cells with complex Poisson’s ratio curves, an inverse design framework integrating a neural network (NN) and particle swarm optimization (PSO) is proposed. By leveraging VCBM unit cells characterized by sign-switching force-lateral displacement curves and a spatially non-uniform structural design approach, a heterogeneous metamaterial capable of unprecedented transitions in lateral deformation modes under uniaxial tensile loading is achieved. The proposed design methodology, validated through both experimental and numerical results, provides a versatile strategy for achieving stretching-induced configurational transitions in mechanical systems. © 2025, The Authors. All rights reserved.

关键词： Flexible electronics

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Quantum implicit representation of vortex filaments in turbulence

arXiv

引用

arXiv 2025年

作者： Zhu, Chenjia Wang, Ziteng Xiong, Shiying Zhao, Yaomin Yang, Yue Department of Engineering Mechanics School of Aeronautics and Astronautics Zhejiang University Hangzhou310027 China State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing100871 China HEDPS-CAPT Peking University Beijing100871 China

Entangled vortex filaments are essential to turbulence, serving as coherent structures that govern nonlinear fluid dynamics and support the reconstruction of fluid fields to reveal statistical properties. This study introduces an quantum implicit representation of vortex filaments in turbulence, employing a level-set method that models the filaments as the intersection of the real and imaginary zero iso-surfaces of a complex scalar field. Describing the fluid field via the wave function offers distinct advantages in capturing complex structures, topological properties, and fluid dynamics, while opening new avenues for innovative solutions through quantum computing platforms. The representation is reformulated into an eigenvalue problem for Hermitian matrices, enabling the conversion of velocity fields into complex scalar fields that embed the vortex filaments. The resulting optimization is addressed using a variational quantum eigensolver, with Pauli operator truncation and deep learning techniques applied to improve efficiency and reduce noise. The proposed quantum framework achieves a near-linear time complexity and a exponential storage reduction while maintaining a balance of accuracy, robustness, and versatility, presenting a promising tool for turbulence analysis, vortex dynamics research, and machine learning dataset generation. Copyright © 2025, The Authors. All rights reserved.

关键词： Vortex flow

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Stability and Stabilization of T-S Fuzzy systems with Sampled-Data Controller: A Fuzzy-Related Matrix Injection Method

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IEEE Transactions on Fuzzy systems 2025年

作者： Xiong, Du Zhang, Chuan-Ke Jin, Li Fan, Yu-Long He, Yong China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China

This paper addresses the stability and stabilization issues of Takagi-Sugeno (T-S) fuzzy systems under sampled-data control. In this paper, efforts are dedicated to developing a stability criterion and control strategy with high accuracy and low complexity, leveraging an improved looped functional and a fuzzy-related matrix injection method. First, an improved looped function containing quadratic information about the sampling sawtooth characteristic is employed to include as much system state information as possible in a simple form. In response to the nonlinear terms encountered in the functional derivatives, a fuzzy-related matrix injection method is proposed on the basis of linearization transformation. This method enables the unified treatment of reciprocally convex and quadratic terms, which is conducive to reducing estimation gaps. Based on the aforementioned techniques, stability and stabilization criteria for T-S fuzzy systems are derived. The efficacy and superiority of the proposed method are substantiated through rigorous theoretical analysis and illustrative instances. © 1993-2012 IEEE.

关键词： Sampled data control systems

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