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International Test Conference in Asia (ITC-Asia)

作者： Zhengda Dou Albin Yan Jun Zhou Yuanjie Hu Yan Chen Tianming Ni Jie Cui Patrick Girard Xiaoqing Wen School of Computer Science and Technology Anhui University/Anhui Engineering Laboratory of IoT Security Technologies Hefei China College of Electrical Engineering Anhui Polytechnic University Wuhu China Laboratory of Informatics Robotics and Microelectronics of Montpellier University of Montpellier/CNRS Montpellier France Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan

ISBN: (数字)9781728189444

ISBN: (纸本)9781728189451

In this paper, a highly reliable SRAM cell, namely SESRS cell, is proposed. Since the cell has a special feedback mechanism among its internal nodes and has more access transistors compared to a standard SRAM cell, the SESRS cell provides the following advantages: (1) it can self-recover from single node upsets (SNUs) and double-node upsets (DNUs); (2) it can reduce power consumption by 49.78% and silicon area by 7.92%, compared with the only existing SRAM cell which can self-recover from all possible DNUs. Simulation results validate the robustness of the proposed SESRS cell. Moreover, compared with the state-of-the-art hardened SRAM cells, the proposed SESRS cell can reduce read access time by 61.93% on average.

关键词： SRAM cells Transistors Integrated circuit reliability Logic gates Standards Robustness Reliability engineering

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Position Sensorless Control of Permanent Magnet Synchronous Motor Based on Adaptive Sliding Mode Observer

Position Sensorless Control of Permanent Magnet Synchronous ...

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Chinese Automation Congress (CAC)

作者： Tao Zhang Yingjie Xiong Bolun Wang Hongyu Yan Xiyou Chen School of Electrical Engineering Dalian University of Technology Dalian China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China College Of Information Science and Engineering Northeastern University Shenyang China School of Artificial Intelligence Shenyang University of Technology Shenyang China

ISBN: (纸本)9781665426480

Permanent magnet synchronous motors(PMSM) are popular in AC motor applications due to their small size, high efficiency. They have appeared widely in various areas of life. Due to the high-frequency chattering problem caused by sliding mode observer sensorless control of PMSM, an SMO with piecewise control function is designed in this paper. At the same time, based on the back EMF output of the SMO, the gain of the SMO is adapted to reduce the system bucket vibration problem caused by the conventional SMO. Finally, a simulation experiment was carried out in MATLAB/SIMULINK and compared with the conventional SMO. The results show that the improved SMO has achieved a better control effect.

关键词： Vibrations Adaptation models AC motors Force Sensorless control Observers Permanent magnet motors

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Soft yet Effective Robots via Holistic Co-Design

arXiv

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arXiv 2025年

作者： Stölzle, Maximilian Pagliarani, Niccolò Stella, Francesco Hughes, Josie Laschi, Cecilia Rus, Daniela Cianchetti, Matteo Santina, Cosimo Della Zardini, Gioele Laboratory for Information & Decision Systems Massachusetts Institute of Technology CambridgeMA02139 United States Cognitive Robotics Delft University of Technology Mekelweg 2 CD Delft2628 Netherlands The BioRobotics Institute Scuola Superiore Sant’Anna Pisa56025 Italy Embodied AI AG Lausanne1015 Switzerland CREATE Lab EPFL Lausanne1015 Switzerland Advanced Robotics Centre Department of Mechanical Engineering National University of Singapore 117575 Singapore Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology CambridgeMA02139 United States

Soft robots promise inherent safety via their material compliance for seamless interactions with humans or delicate environments. Yet, their development is challenging because it requires integrating materials, geometry, actuation, and autonomy into complex mechatronic systems. Despite progress, the field struggles to balance task-specific performance with broader factors like durability and manufacturability—a difficulty that we find is compounded by traditional sequential design processes with their lack of feedback loops. In this perspective, we review emerging co-design approaches that simultaneously optimize the body and brain, enabling the discovery of unconventional designs highly tailored to the given tasks. We then identify three key shortcomings that limit the broader adoption of such co-design methods within the soft robotics domain. First, many rely on simulation-based evaluations focusing on a single metric, while real-world designs must satisfy diverse criteria. Second, current methods emphasize computational modeling without ensuring feasible realization, risking sim-to-real performance gaps. Third, high computational demands limit the exploration of the complete design space. Finally, we propose a holistic co-design framework that addresses these challenges by incorporating a broader range of design values, integrating real-world prototyping to refine evaluations, and boosting efficiency through surrogate metrics and model-based control strategies. This holistic framework, by simultaneously optimizing functionality, durability, and manufacturability, has the potential to enhance reliability and foster broader acceptance of soft robotics, transforming human-robot interactions. © 2025, CC BY.

关键词： Intellectual property core

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TRIDENT – Technology based impact assessment tool foR sustaInable, transparent Deep sEa miNing exploraTion and exploitation: A project overview

TRIDENT – Technology based impact assessment tool foR susta...

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OCEANS

作者： E. Silva D. Viegas A. Martins J. Almeida C. Almeida B. Neves P. Madureira A.J. Wheeler G. Salavasidis A. Phillips A. Schaap B. Murton A. Berry A. Weir G. Dooly E. Omerdic D. Toal P.C. Collins M. Miranda C. Petrioli C. Barrera Rodríguez D. Demoor C. Drouet G.El Serafy S.M. Jesus J. Dañobeitia V. Tegas S. Cusi L. Lopes B. Bodo L. Beguery S. VanDam J. Dumortier L. Neves V. Srivastava T.G. Dahlgren J. Thomassen Hestetun R. Eiras R. Caldeira C. Rossi J. Spearman L. Somoza F.J. González R. Bartolomé P. Bahurel INESC TEC Porto Portugal Instituto Superior Engenharia do Porto ISEP Portugal Portuguese Task Group for the Extension of the Continental Shelf EMEPC Portugal Department of Geosciences and Institute of Earth Sciences University of Évora Portugal SFI Centre for Research in Applied Geosciences School of Biological Earth & Environmental Sciences University College Cork Ireland Marine Autonomous and Robotic Systems National Oceanography Centre NOC United Kingdom Ocean Technology and Engineering NOC United Kingdom Ocean BioGeosciences NOC United Kingdom Marine Institute Ireland University of Limerick Centre for Robotics & Intelligent Systems CRIS Ireland School of Biological Science Queen’s University Belfast Northern Ireland Instituto Português do Mar e Atmosfera IPMA Portugal WSENSE Italy Head of Vehicle Base VIMAS Consortium for the Design Equipping and Exploitation of the Oceanic Platform of the Canary Islands Spain GREENOV-ITES France Unit of Coastal and Sea Systems Stichting Deltares& TU Delft The Netherlands LARSys University of Algarve Portugal EMSO-ERIC Italy Marine Technology Unit UTM-CSIC Spain La Palma Research Centre Spain Alseamar France Agora Partners Malha Technology Israel Timelex Belgium Gesi Belgium NORCE Norwegian Research Centre Norway Forum Oceano UPTEC POLO DO MAR Portugal ARDITI Portugal Center for Automation and Robotics UPM-CSIC Universidad Politécnica de Madrid Spain HRWallingford United Kingdom Geological Survey of Spain Marine Geology Resources and Extreme Environments IGME-CSIC Spain Institute for Marine Science ICM-CSIC Spain Mercator Ocean France

By creating a dependable, transparent, and cost-effective system for forecasting and ongoing environmental impact monitoring of exploration and exploitation activities in the deep sea, TRIDENT seeks to contribute to the sustainable exploitation of seabed mineral resources. In order to operate autonomously in remote locations under harsh conditions and send real-time data to authorities in charge of granting licenses and providing oversight, this system will create and integrate new technology and innovative solutions. The efficient monitoring and inspection system that will be created will abide by national and international legal frameworks. At the sea surface, mid-water, and the bottom, TRIDENT will identify all pertinent physical, chemical, geological, and biological characteristics that must be monitored. It will also look for data gaps and suggest procedures for addressing them. These are crucial actions to take in order to produce accurate indicators of excellent environmental status, statistically robust environmental baselines, and thresholds for significant impact, allowing for the standardization of methods and tools. In order to monitor environmental parameters on mining and reference areas at representative spatial and temporal scales, the project consortium will thereafter develop and test an integrated system of stationary and mobile observatory platforms outfitted with the most recent automatic sensors and samplers. The system will incorporate high-capacity data processing pipelines able to gather, transmit, process, and display monitoring data in close to real-time to facilitate prompt actions for preventing major harm to the environment. Last but not least, it will offer systemic and technological solutions for predicting probable impacts of applying the developed monitoring and mitigation techniques.

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ST-Booster: An Iterative SpatioTemporal Perception Booster for Vision-and-Language Navigation in Continuous Environments

arXiv

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arXiv 2025年

作者： Yue, Lu Zhou, Dongliang Xie, Liang Yin, Erwei Zhang, Feitian Department of Advanced Manufacturing and Robotics the State Key Laboratory of Turbulence and Complex Systems College of Engineering Peking University Beijing100871 China Defense Innovation Institute Academy of Military Sciences Beijing100071 China Tianjin Artificial Intelligence Innovation Center Tianjin300450 China Department of Computer Science Harbin Institute of Technology Shenzhen Xili University Town Shenzhen518055 China

Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires agents to navigate unknown, continuous spaces based on natural language instructions. Compared to discrete settings, VLN-CE poses two core perception challenges. First, the absence of predefined observation points leads to heterogeneous visual memories and weakened global spatial correlations. Second, cumulative reconstruction errors in three-dimensional scenes introduce structural noise, impairing local feature perception. To address these challenges, this paper proposes ST-Booster, an iterative spatiotemporal booster that enhances navigation performance through multi-granularity perception and instruction-aware reasoning. ST-Booster consists of three key modules — Hierarchical SpatioTemporal Encoding (HSTE), Multi-Granularity Aligned Fusion (MGAF), and Value-Guided Waypoint Generation (VGWG). HSTE encodes long-term global memory using topological graphs and captures short-term local details via grid maps. MGAF aligns these dual-map representations with instructions through geometry-aware knowledge fusion. The resulting representations are iteratively refined through pretraining tasks. During reasoning, VGWG generates Guided Attention Heatmaps (GAHs) to explicitly model environment-instruction relevance and optimize waypoint selection. Extensive comparative experiments and performance analyses are conducted, demonstrating that ST-Booster outperforms existing state-of-the-art methods, particularly in complex, disturbance-prone environments. Copyright © 2025, The Authors. All rights reserved.

关键词： Topology

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Dual-Interlocked-Storage-Cell-Based Double-Node-Upset Self-Recoverable Flip-Flop Design for Safety-Critical Applications

Dual-Interlocked-Storage-Cell-Based Double-Node-Upset Self-R...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Aibin Yan Zhelong Xu Jie Cui Zuobin Ying Zhengfeng Huang Huaguo Liang Patrick Girard Xiaoqing Wen School of Computer Science and Technology Anhui University / Anhui Engineering Laboratory of IoT Security Technologies Hefei China School of Electronic Science & Applied Physics Hefei University of Technology Hefei China Laboratory of Informatics Robotics and Microelectronics of Montpellier University of Montpellier / CNRS Montpellier France Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan

ISBN: (数字)9781728133201

ISBN: (纸本)9781728133218

This paper presents a novel dual-interlocked storage-cell (DICE)-based double-node-upset (DNU) self-recoverable, namely DURI-FF, in the nano-scale CMOS technology. The master latch of the DURI-FF cell consists of three transmission gates (TGs) and three interlocked DICEs with three common nodes. The common nodes are connected to TGs for value initialization. The slave latch of the DURI-FF cell comprises six TGs, six inverters and three interlocked DICEs. The outputs of the inverters respectively feed the internal nodes of the slave latch. The interlocked DICEs make the master latch and the slave latch DNU self-recoverable. Simulation results validate the DNU self-recoverability of the proposed DURI-FF cell. Moreover, compared with the state-of-the-art hardened flip-flop cells, the proposed DURI-FF cell achieves roughly 43% delay reduction at the cost of moderate silicon area and power dissipation.

关键词： Latches Inverters Flip-flops Logic gates CMOS technology Simulation Reliability

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Hamiltonian Identification of Quantum Networks from Sequential Boolean Measurements

Hamiltonian Identification of Quantum Networks from Sequenti...

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IEEE Conference on Decision and Control

作者： Biqiang Mu Hongsheng Qi Ian R. Petersen Guodong Shi Key Laboratory of Systems and Control Institute of Systems Science Chinese Academy of Sciences Beijing China Research School of Electrical Energy and Materials Engineering The Australian National University Canberra Australia Australian Center for Field Robotics School of Aerospace The University of Sydney NSW Australia

ISBN: (数字)9781728174471

ISBN: (纸本)9781728174488

Hamiltonian identification plays a key role in learning the dynamics of closed quantum systems. A novel strategy for Hamiltonian identification is developed in the paper by applying repeated projective measurements with a fixed period. The corresponding measurement outcome sequence forms a time-homogeneous Markov chain, the transition matrix of which is a quadratic function of the Hamiltonian. As a result, the identification method is achieved by two steps: 1) learning the transition matrix of the observed Markov chains; 2) identifying the Hamiltonian using the function relating it to the transition matrix, which is transformed to a manifold optimization problem. A simulation example is provided to show the efficacy of the proposed method.

关键词： Markov processes Qubit Maximum likelihood estimation Tomography Optimization Eigenvalues and eigenfunctions Mathematical model

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Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model

Passive Quadrupedal Gait Synchronization for Extra Robotic L...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Daniel J. Gonzalez H. Harry Asada Robotics Research Center in the Department of Electrical Engineering and Computer Science United States Military Academy West Point NY USA d’Arbeloff Laboratory for Information Systems and Technology in the Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA USA

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy backpack payload. It is desirable for the Human-XRL quadruped system to walk with the rear legs lead the front by 25% of the gait period, minimizing the energy lost from foot impacts while maximizing balance stability. Unlike quadrupedal robots, the XRL cannot command the human's limbs to coordinate quadrupedal locomotion. Using a pair of Rimless Wheel models, it is shown that the systems coupled with a spring and damper converge to the desired 25% phase difference. A Poincaré return map was generated using numerical simulation to examine the convergence properties to different coupler design parameters, and initial conditions. The Dynamically Coupled Double Rimless Wheel system was physically realized with a spring and dashpot chosen from the theoretical results, and initial experiments indicate that the desired synchronization properties may be achieved within several steps using this set of passive components alone.

关键词： Legged locomotion Wheels Synchronization Couplers Robot kinematics

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Continuity scaling: A rigorous framework for detecting and quantifying causality accurately

arXiv

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arXiv 2022年

作者： Ying, Xiong Leng, Si-Yang Ma, Huan-Fei Nie, Qing Lai, Ying-Cheng Lin, Wei School of Mathematical Sciences SCMS SCAM Fudan University Shanghai200433 China Research Institute for Intelligent Complex Systems CCSB LCNBI Fudan University Shanghai200433 China State Key Laboratory of Medical Neurobiology MOE Frontiers Center for Brain Science Institutes of Brain Science Fudan University Shanghai200032 China Institute of AI and Robotics Academy for Engineering and Technology Fudan University Shanghai200433 China School of Mathematical Sciences Soochow University Suzhou215006 China Department of Mathematics Department of Developmental and Cell Biology NSF-Simons Center for Multiscale Cell Fate Research University of California IrvineCA92697-3875 United States School of Electrical Computer and Energy Engineering Arizona State University TempeAZ85287-5706 United States Shanghai Artificial Intelligence Laboratory Shanghai200232 China

Data based detection and quantification of causation in complex, nonlinear dynamical systems is of paramount importance to science, engineering and beyond. Inspired by the widely used methodology in recent years, the cross-map-based techniques, we develop a general framework to advance towards a comprehensive understanding of dynamical causal mechanisms, which is consistent with the natural interpretation of causality. In particular, instead of measuring the smoothness of the cross map as conventionally implemented, we define causation through measuring the scaling law for the continuity of the investigated dynamical system directly. The uncovered scaling law enables accurate, reliable, and efficient detection of causation and assessment of its strength in general complex dynamical systems, outperforming those existing representative methods. The continuity scaling based framework is rigorously established and demonstrated using datasets from model complex systems and the real world. Copyright © 2022, The Authors. All rights reserved.

关键词： Dynamical systems

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Online collision avoidance for human-robot collaborative interaction concerning safety and efficient

TechRxiv

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TechRxiv 2020年

作者： Liu, Guoliang He, Haoyang Tian, Guohui Zhang, Jianhua Ji, Ze The School of Control Science and Engineering Shandong University Jinan250061 China School of Mechanical Engineering Hebei University of Technology Tianjin300131 China The Robotics and Autonomous Systems Laboratory School of Engineering Cardiff University CardiffCF10 3AT United Kingdom

With the development of robot technology and the arrival of industry 4.0 era, society pays more attention to collaboration and interaction between human and robots. However, safety is still main concern in the development of human-robot collaboration. In this paper, a novel real-time collision avoidance approach for mobile manipulator is proposed by considering the motion status of the human, which includes the relative minimum distance and velocity (both magnitude and direction) between the robot and the human. The distance and velocity of the human hand are first estimated online using a vision sensor, and then defined as danger factors in the potential function of the potential field. The novel potential function proposed in this paper considers not only the safety problem, but also the efficient problem, i.e., the manipulator can make smart control decision to avoid the collision according to the relative velocity in case of the cross over. To overcome the local minimum problem and choose a best motion direction, we propose a motion sampling mechanism for motion planning. For each sample, the robot calculates the potential function to evaluate the safety and efficiency, and chooses a direction which is best for avoidance. We finally demonstrate our idea on a real mobile manipulator platform in a simulated co-worker environment. © 2020, CC BY.

关键词： Collision avoidance

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